commit 167c52aeb6c8e45cdcf6a4a032da709f6ef468cb Author: HiepLM Date: Thu May 28 10:29:58 2026 +0700 git commit -m "first commit" diff --git a/.gitignore b/.gitignore new file mode 100755 index 0000000..8c2b884 --- /dev/null +++ b/.gitignore @@ -0,0 +1,14 @@ +# ---> VisualStudioCode +.vscode/* +!.vscode/settings.json +!.vscode/tasks.json +!.vscode/launch.json +!.vscode/extensions.json +!.vscode/*.code-snippets + +# Local History for Visual Studio Code +.history/ + +# Built Visual Studio Code Extensions +*.vsix + diff --git a/.gitmodules b/.gitmodules new file mode 100755 index 0000000..958eb4b --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +# [submodule "costmap_2d"] +# path = navigations/costmap_2d +# url = http://git.pnkx/HiepLM/costmap_2d.git \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100755 index 0000000..f42346b --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,9 @@ +{ + "ros.distro": "noetic", + "python.autoComplete.extraPaths": [ + "/opt/ros/noetic/lib/python3/dist-packages" + ], + "python.analysis.extraPaths": [ + "/opt/ros/noetic/lib/python3/dist-packages" + ] +} \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..744c4b2 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,69 @@ +# toplevel CMakeLists.txt for a catkin workspace +# catkin/cmake/toplevel.cmake + +cmake_minimum_required(VERSION 3.0.2) + +project(Project) + +set(CATKIN_TOPLEVEL TRUE) + +# search for catkin within the workspace +set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}") +execute_process(COMMAND ${_cmd} + RESULT_VARIABLE _res + OUTPUT_VARIABLE _out + ERROR_VARIABLE _err + OUTPUT_STRIP_TRAILING_WHITESPACE + ERROR_STRIP_TRAILING_WHITESPACE +) +if(NOT _res EQUAL 0 AND NOT _res EQUAL 2) + # searching for catkin resulted in an error + string(REPLACE ";" " " _cmd_str "${_cmd}") + message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}") +endif() + +# include catkin from workspace or via find_package() +if(_res EQUAL 0) + set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake") + # include all.cmake without add_subdirectory to let it operate in same scope + include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE) + add_subdirectory("${_out}") + +else() + # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument + # or CMAKE_PREFIX_PATH from the environment + if(NOT DEFINED CMAKE_PREFIX_PATH) + if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "") + if(NOT WIN32) + string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) + else() + set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) + endif() + endif() + endif() + + # list of catkin workspaces + set(catkin_search_path "") + foreach(path ${CMAKE_PREFIX_PATH}) + if(EXISTS "${path}/.catkin") + list(FIND catkin_search_path ${path} _index) + if(_index EQUAL -1) + list(APPEND catkin_search_path ${path}) + endif() + endif() + endforeach() + + # search for catkin in all workspaces + set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE) + find_package(catkin QUIET + NO_POLICY_SCOPE + PATHS ${catkin_search_path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + unset(CATKIN_TOPLEVEL_FIND_PACKAGE) + + if(NOT catkin_FOUND) + message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.") + endif() +endif() + +catkin_workspace() diff --git a/README.md b/README.md new file mode 100755 index 0000000..6e3109c --- /dev/null +++ b/README.md @@ -0,0 +1,125 @@ +# Example dynamic_logistics_warehouse +----------------------------------------------- +* Terminal 1 : + +```bash + +roslaunch mir_gazebo mir_empty_world.launch \ +world_name:=$(rospack find dynamic_logistics_warehouse)/worlds/warehouse.world robot_x:=9.0 robot_y:=25.0 2> >(grep -v TF_REPEATED_DATA buffer_core) + +``` + +* Terminal 2 : +```bash +### mapping: +roslaunch mir_navigation hector_mapping.launch +``` + +```bash +### localization: +roslaunch mir_navigation amcl.launch initial_pose_x:=0.00 initial_pose_y:=0.00 \ initial_pose_a:=0.0 2> >(grep -v TF_REPEATED_DATA buffer_core) + +``` +* Terminal 3 : + +```bash + +rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz 2> >(grep -v TF_REPEATED_DATA buffer_core) + +``` +* Terminal 4 : + +```bash +# navigation: +roslaunch mir_navigation start_planner.launch \ +map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/warehouse.yaml \ +empty_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/map_empty.yaml \ +virtual_walls_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/virtual_walls.yaml \ +with_virtual_walls:=true \ +preferred_zones_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/preferred_zones.yaml \ +with_preferred_zones:=true \ +unpreferred_zones_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/unpreferred_zones.yaml \ +with_unpreferred_zones:=true \ +critical_zones_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/critical_zones.yaml \ +with_critical_zones:=true \ +direction_zones_map_file:=$(rospack find dynamic_logistics_warehouse)/maps/warehouse/direction_zones.yaml \ +with_direction_zones:=true 2> >(grep -v TF_REPEATED_DATA buffer_core) +``` +```bash +roslaunch mir_navigation move_base.xml with_virtual_walls:=false +``` + +# Default + +```bash +### gazebo: +roslaunch mir_gazebo mir_maze_world.launch 2> >(grep -v TF_REPEATED_DATA buffer_core) +rosservice call /gazebo/unpause_physics # or click the "start" button in the Gazebo GUI + +### localization: +roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0 2> >(grep -v TF_REPEATED_DATA buffer_core) +# or alternatively: roslaunch mir_gazebo fake_localization.launch delta_x:=-10.0 delta_y:=-10.0 + +# navigation: +roslaunch mir_navigation start_planner.launch \ + map_file:=$(rospack find mir_gazebo)/maps/maze.yaml + +roslaunch mir_navigation start_planner.launch \ +map_file:=$(rospack find mir_gazebo)/maps/warehouse/maze.yaml \ +virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/warehouse/virtual_walls.yaml \ +with_virtual_walls:=true \ +preferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/preferred_zones.yaml \ +with_preferred_zones:=true \ +unpreferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/unpreferred_zones.yaml \ +with_unpreferred_zones:=true \ +critical_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/critical_zones.yaml \ +with_critical_zones:=true \ +direction_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/direction_zones.yaml \ +with_direction_zones:=true 2> >(grep -v TF_REPEATED_DATA buffer_core) + +# rviz +rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz 2> >(grep -v TF_REPEATED_DATA buffer_core) +``` + +# Multilpe mir +# start Gazebo + first MiR +roslaunch mir_gazebo mir_maze_world.launch tf_prefix:=mir + +# first MiR: start localization, navigation + rviz +roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0 tf_prefix:=mir + +roslaunch mir_navigation start_planner.launch \ +map_file:=$(rospack find mir_gazebo)/maps/warehouse/maze.yaml \ +virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/warehouse/virtual_walls.yaml \ +with_virtual_walls:=true \ +preferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/preferred_zones.yaml \ +with_preferred_zones:=true \ +unpreferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/unpreferred_zones.yaml \ +with_unpreferred_zones:=true \ +critical_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/critical_zones.yaml \ +with_critical_zones:=true \ +direction_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/direction_zones.yaml \ +with_direction_zones:=true prefix:=mir/ 2> >(grep -v TF_REPEATED_DATA buffer_core) + +ROS_NAMESPACE=mir rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz 2> >(grep -v TF_REPEATED_DATA buffer_core) + +# spawn second MiR into Gazebo +roslaunch mir_gazebo mir_gazebo_common.launch robot_x:=-2 robot_y:=-2 tf_prefix:=mir2 model_name:=mir2 __ns:=mir2 + +# second MiR: start localization, navigation + rviz +roslaunch mir_navigation amcl.launch initial_pose_x:=8.0 initial_pose_y:=8.0 tf_prefix:=mir2 + +roslaunch mir_navigation start_planner.launch \ +map_file:=$(rospack find mir_gazebo)/maps/warehouse/maze.yaml \ +virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/warehouse/virtual_walls.yaml \ +with_virtual_walls:=true \ +preferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/preferred_zones.yaml \ +with_preferred_zones:=true \ +unpreferred_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/unpreferred_zones.yaml \ +with_unpreferred_zones:=true \ +critical_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/critical_zones.yaml \ +with_critical_zones:=true \ +direction_zones_map_file:=$(rospack find mir_gazebo)/maps/warehouse/direction_zones.yaml \ +with_direction_zones:=true prefix:=mir2/ 2> >(grep -v TF_REPEATED_DATA buffer_core) + +ROS_NAMESPACE=mir2 rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz 2> >(grep -v TF_REPEATED_DATA buffer_core) \ No newline at end of file diff --git a/Setup.txt b/Setup.txt new file mode 100755 index 0000000..1623fff --- /dev/null +++ b/Setup.txt @@ -0,0 +1,17 @@ +sudo apt install libsuitesparse-dev +sudo apt install libspdlog-dev + +git clone https://github.com/gabime/spdlog.git -b master +mkdir build +cd build +cmake .. -DSPDLOG_BUILD_SHARED=OFF -DSPDLOG_BUILD_STATIC=ON -DCMAKE_CXX_FLAGS=-fPIC +make +sudo rm /usr/local/lib/libspdlog.a +sudo cp /path/to/spdlog/source/build/libspdlog.a /usr/local/lib/ + +git clone https://github.com/RainerKuemmerle/g2o.git -b master +mkdir build +cd build +cmake ../ +make +sudo make install \ No newline at end of file diff --git a/mir_robot/.dockerfilelintrc b/mir_robot/.dockerfilelintrc new file mode 100755 index 0000000..7957788 --- /dev/null +++ b/mir_robot/.dockerfilelintrc @@ -0,0 +1,2 @@ +rules: + apt-get-update_require_install: off diff --git a/mir_robot/.flake8 b/mir_robot/.flake8 new file mode 100755 index 0000000..cdffbdc --- /dev/null +++ b/mir_robot/.flake8 @@ -0,0 +1,10 @@ +[flake8] +# The line length here has to match the black config in pyproject.toml +max-line-length = 120 +exclude = + .git, + __pycache__ +extend-ignore = + # See https://github.com/PyCQA/pycodestyle/issues/373 + E203, + E741, diff --git a/mir_robot/.github/workflows/github-actions.yml b/mir_robot/.github/workflows/github-actions.yml new file mode 100755 index 0000000..e72a113 --- /dev/null +++ b/mir_robot/.github/workflows/github-actions.yml @@ -0,0 +1,42 @@ +name: Build and run ROS tests +on: [push, pull_request] +jobs: + build: + strategy: + matrix: + rosdistro: [noetic] + runs-on: ubuntu-latest + container: + image: ros:${{ matrix.rosdistro }}-ros-core + steps: + - name: Install apt dependencies + run: | + sudo apt-get update + sudo apt-get install -y build-essential clang-format-10 file git python3-catkin-lint python3-catkin-tools python3-pip python3-rosdep + - name: Install pip dependencies + run: pip install pre-commit + - name: Checkout repository + uses: actions/checkout@v3 + with: + path: src/mir_robot + - name: Use rosdep to install remaining dependencies + run: | + sudo rosdep init + rosdep update + rosdep install --from-paths src -i -y --rosdistro ${{ matrix.rosdistro }} + - name: Build + run: | + . /opt/ros/${{ matrix.rosdistro }}/setup.sh + catkin init + catkin config -j 1 -p 1 + catkin build --limit-status-rate 0.1 --no-notify + catkin build --limit-status-rate 0.1 --no-notify --make-args tests + - name: Run tests + run: | + . devel/setup.sh + catkin run_tests + catkin_test_results + - name: Run pre-commit hooks + run: | + cd src/mir_robot + pre-commit run -a diff --git a/mir_robot/.gitignore b/mir_robot/.gitignore new file mode 100755 index 0000000..0d20b64 --- /dev/null +++ b/mir_robot/.gitignore @@ -0,0 +1 @@ +*.pyc diff --git a/mir_robot/.mdl_style.rb b/mir_robot/.mdl_style.rb new file mode 100755 index 0000000..1d4dc49 --- /dev/null +++ b/mir_robot/.mdl_style.rb @@ -0,0 +1,25 @@ +# Style file for markdownlint + +all + +exclude_rule 'fenced-code-language' # Fenced code blocks should have a language specified +exclude_rule 'first-line-h1' # First line in file should be a top level header + +exclude_rule 'ul-style' + +exclude_rule 'no-multiple-blanks' + +exclude_rule 'header-style' + +exclude_rule 'no-bare-urls' # we need to use a bare URL in the README for the video to properly show on GitHub + +# Line lenght +rule 'MD013', :line_length => 120, :code_blocks => false, :tables => false + +# Unordered list indentation +rule 'MD007', :indent => 2 + +# Ordered list item prefix +rule 'MD029', :style => 'ordered' + +rule 'no-duplicate-header', :allow_different_nesting => true diff --git a/mir_robot/.mdlrc b/mir_robot/.mdlrc new file mode 100755 index 0000000..71eadf9 --- /dev/null +++ b/mir_robot/.mdlrc @@ -0,0 +1,2 @@ +git_recurse true +style ".mdl_style.rb" diff --git a/mir_robot/.pre-commit-config.yaml b/mir_robot/.pre-commit-config.yaml new file mode 100755 index 0000000..cae31a3 --- /dev/null +++ b/mir_robot/.pre-commit-config.yaml @@ -0,0 +1,116 @@ +# To use: +# +# pre-commit run -a +# +# Or: +# +# pre-commit install # (runs every time you commit in git) +# +# To update this file: +# +# pre-commit autoupdate +# +# See https://github.com/pre-commit/pre-commit + +repos: + # Standard hooks + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.1.0 + hooks: + - id: check-added-large-files + - id: check-case-conflict + - id: check-executables-have-shebangs + - id: check-docstring-first + - id: check-merge-conflict + - id: check-shebang-scripts-are-executable + - id: check-symlinks + - id: check-vcs-permalinks + - id: check-xml + - id: check-yaml + exclude: mobipick_description/config/joint_limits.yaml + - id: debug-statements + - id: end-of-file-fixer + exclude: &excludes | + (?x)^( + .*\.blend| + .*\.dae| + .*\.mtl| + .*\.obj| + .*\.pgm| + .*\.step| + .*\.stl + )$ + - id: fix-byte-order-marker + - id: mixed-line-ending + exclude: *excludes + - id: trailing-whitespace + exclude: *excludes + + - repo: https://github.com/psf/black + rev: 22.3.0 + hooks: + - id: black + + - repo: https://github.com/PyCQA/flake8.git + rev: 5.0.4 + hooks: + - id: flake8 + + - repo: https://github.com/detailyang/pre-commit-shell.git + rev: v1.0.6 + hooks: + - id: shell-lint + args: [--external-sources] + + - repo: https://github.com/markdownlint/markdownlint + rev: v0.11.0 + hooks: + - id: markdownlint + + - repo: https://github.com/pryorda/dockerfilelint-precommit-hooks + rev: v0.1.0 + hooks: + - id: dockerfilelint + + - repo: https://github.com/Lucas-C/pre-commit-hooks + rev: v1.3.1 + hooks: + - id: insert-license + files: \.py$ + exclude: | + (?x)^( + .*setup\.py| + .*__init__\.py| + .*test_copyright\.py| + .*test_pep257\.py| + mir_driver/nodes/tf_remove_child_frames\.py| + mir_navigation/mprim/genmprim_unicycle_highcost_5cm\.py + )$ + args: + - --license-filepath + - LICENSE + + - repo: https://github.com/pycqa/pydocstyle + rev: 6.1.1 + hooks: + - id: pydocstyle + args: + - --ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404 # same as https://github.com/ament/ament_lint/blob/bbdaa17224f3b8dfece53662b65d7d18b7404b6a/ament_pep257/ament_pep257/main.py#L43-L55 + + - repo: local + hooks: + - id: clang-format + name: clang-format + description: Format files with ClangFormat. + entry: clang-format-10 + language: system + files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$ + args: [ "-fallback-style=none", "-i" ] + - id: catkin_lint + name: catkin_lint + description: Check package.xml and cmake files + entry: catkin_lint . + language: system + always_run: true + pass_filenames: false + args: [ "--strict", "--skip-pkg", "mobipick_moveit_config" ] # have to skip this package because of the missing warehouse_ros_mongo dependency diff --git a/mir_robot/Dockerfile-noetic b/mir_robot/Dockerfile-noetic new file mode 100755 index 0000000..2dccaff --- /dev/null +++ b/mir_robot/Dockerfile-noetic @@ -0,0 +1,34 @@ +FROM ros:noetic-ros-core + +RUN apt-get update \ + && apt-get install -y --no-install-recommends build-essential python3-rosdep python3-catkin-lint python3-catkin-tools \ + && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* + +# Install pre-commit hooks to /root/.cache/pre-commit/ +RUN apt-get update -qq \ + && apt-get install -y -qq --no-install-recommends git python3-pip ruby shellcheck clang-format-10 python3-catkin-lint \ + && rm -rf /var/lib/apt/lists/* +RUN pip3 install pre-commit +RUN mkdir -p /tmp/pre-commit +COPY .pre-commit-config.yaml /tmp/pre-commit/ +RUN cd /tmp/pre-commit \ + && git init \ + && pre-commit install-hooks \ + && rm -rf /tmp/pre-commit + +# Create ROS workspace +COPY . /ws/src/mir_robot +WORKDIR /ws + +# Use rosdep to install all dependencies (including ROS itself) +RUN rosdep init \ + && rosdep update \ + && apt-get update \ + && DEBIAN_FRONTEND=noninteractive rosdep install --from-paths src -i -y --rosdistro noetic \ + && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/* + +RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \ + catkin init && \ + catkin config --install -j 1 -p 1 && \ + catkin build --limit-status-rate 0.1 --no-notify && \ + catkin build --limit-status-rate 0.1 --no-notify --make-args tests" diff --git a/mir_robot/LICENSE b/mir_robot/LICENSE new file mode 100755 index 0000000..74dc9f4 --- /dev/null +++ b/mir_robot/LICENSE @@ -0,0 +1,27 @@ +Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors + +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 the copyright holder 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 HOLDER 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. diff --git a/mir_robot/README.md b/mir_robot/README.md new file mode 100755 index 0000000..f278b45 --- /dev/null +++ b/mir_robot/README.md @@ -0,0 +1,388 @@ +mir_robot +========= + +This repo contains a ROS driver and ROS configuration files (URDF description, +Gazebo launch files, move_base config, bringup launch files, message and action +descriptions) for the [MiR robots](http://www.mobile-industrial-robots.com/). +This is a community project created by us ([DFKI](https://www.dfki.de/), the +German Research Center for Artificial Intelligence) to use the MiR Robots with +ROS. We are not affiliated with Mobile Industrial Robots. If you find a bug or +missing feature in this software, please report it on the +[issue tracker](https://github.com/DFKI-NI/mir_robot/issues). + +Supported MiR robots and software versions +------------------------------------------ + +This repo has been confirmed to work with the following robots: + +* MiR 100 +* MiR 200 +* MiR 500 + +It probably also works with the MiR250 and MiR1000. If you can test it on one +of those, please let us know if it works. + +This repo has been tested with the following MiR software versions: + +* 2.8.3.1 +* 2.13.4.1 + +You can try if it works with other versions, but these are the ones that are +known to work. + + +Package overview +---------------- + +* `mir_actions`: Action definitions for the MiR robot +* `mir_description`: URDF description of the MiR robot +* `mir_dwb_critics`: Plugins for the dwb_local_planner used in Gazebo +* `mir_driver`: A reverse ROS bridge for the MiR robot +* `mir_gazebo`: Simulation specific launch and configuration files for the MiR robot +* `mir_msgs`: Message definitions for the MiR robot +* `mir_navigation`: move_base launch and configuration files + + +Installation +------------ + +You can chose between binary and source install below. If you don't want to +modify the source, the binary install is preferred (if `mir_robot` binary +packages are available for your ROS distro). The instructions below use the ROS +distro `noetic` as an example; if you use a different distro (e.g. `melodic`), +replace all occurrences of the string `noetic` by your distro name in the +instructions. + +### Preliminaries + +If you haven't already installed ROS on your PC, you need to add the ROS apt +repository. This step is necessary for either binary or source install. + +``` +sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' +wget http://packages.ros.org/ros.key -O - | sudo apt-key add - +sudo apt-get update -qq +``` + +### Binary install + +For a binary install, it suffices to run this command: + +```bash +sudo apt install ros-noetic-mir-robot +``` + +See the tables at the end of this README for a list of ROS distros for which +binary packages are available. + +### Source install + +For a source install, run the commands below instead of the command from the +"binary install" section. + +```bash +# create a catkin workspace +mkdir -p ~/catkin_ws/src +cd ~/catkin_ws/src/ + +# clone mir_robot into the catkin workspace +git clone -b noetic https://github.com/DFKI-NI/mir_robot.git + +# use rosdep to install all dependencies (including ROS itself) +sudo apt-get update -qq +sudo apt-get install -qq -y python-rosdep +sudo rosdep init +rosdep update +rosdep install --from-paths ./ -i -y --rosdistro noetic + +# build all packages in the catkin workspace +source /opt/ros/noetic/setup.bash +catkin_init_workspace +cd ~/catkin_ws +catkin_make -DCMAKE_BUILD_TYPE=RelWithDebugInfo +``` + +In case you encounter problems, please compare the commands above to the build +step in [`.github/workflows/github-actions.yml`](.github/workflows/github-actions.yml); that should always have the most +recent list of commands. + +You should add the following line to the end of your `~/.bashrc`, and then +close and reopen all terminals: + +```bash +source ~/catkin_ws/devel/setup.bash +``` + +Gazebo demo (existing map) +-------------------------- + +https://user-images.githubusercontent.com/320188/145610491-2afeb46c-3729-4106-ab9c-6681b5dd9d2e.mp4 + +```bash +### gazebo: +roslaunch mir_gazebo mir_maze_world.launch +rosservice call /gazebo/unpause_physics # or click the "start" button in the Gazebo GUI + +### localization: +roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0 +# or alternatively: roslaunch mir_gazebo fake_localization.launch delta_x:=-10.0 delta_y:=-10.0 + +# navigation: +roslaunch mir_navigation start_planner.launch \ + map_file:=$(rospack find mir_gazebo)/maps/maze.yaml \ + virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml +rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz +``` + +Now, you can use the "2D Nav Goal" tool in RViz to set a navigation goal for move_base. + + +Gazebo demo (mapping) +--------------------- + +```bash +### gazebo: +roslaunch mir_gazebo mir_maze_world.launch +rosservice call /gazebo/unpause_physics # or click the "start" button in the Gazebo GUI + +### mapping: +roslaunch mir_navigation hector_mapping.launch + +# navigation: +roslaunch mir_navigation move_base.xml with_virtual_walls:=false +rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz +``` + +Gazebo demo (MiR 250 in warehouse Gazebo world) +----------------------------------------------- + +https://user-images.githubusercontent.com/320188/171613044-639f3ab2-fe84-4839-acfc-d0642f8869b3.mp4 + +This repo contains URDF descriptions for the MiR 100 (default) and the MiR 250. +You can switch to the MiR 250 by adding **`mir_type:=mir_250`** to the gazebo +roslaunch command. You can also select another Gazebo world using the +**`world_name`** argument. For example, the video above was generated using the +following commands: + +```bash +cd +git clone -b ros1 https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git +catkin build + +roslaunch mir_gazebo mir_empty_world.launch \ + world_name:=$(rospack find aws_robomaker_small_warehouse_world)/worlds/no_roof_small_warehouse.world \ + mir_type:=mir_250 +``` + +... and then running the remaining commands from the "mapping" section above. + + +Gazebo demo (multiple robots) +----------------------------- + +If you want to spawn multiple robots into Gazebo, you unfortunately have to +hard-code the name of the second robot into the `mir_empty_world.launch` file, +like this: + +```diff +diff --git i/mir_gazebo/launch/mir_empty_world.launch w/mir_gazebo/launch/mir_empty_world.launch +index 27b9159..7773fae 100644 +--- i/mir_gazebo/launch/mir_empty_world.launch ++++ w/mir_gazebo/launch/mir_empty_world.launch +@@ -17,6 +17,10 @@ + + + ++ ++ ++ ++ + + + +``` + +Then you can run the simulation like this: + +```bash +# start Gazebo + first MiR +roslaunch mir_gazebo mir_maze_world.launch tf_prefix:=mir + +# first MiR: start localization, navigation + rviz +roslaunch mir_navigation amcl.launch initial_pose_x:=10.0 initial_pose_y:=10.0 tf_prefix:=mir# +roslaunch mir_navigation start_planner.launch \ + map_file:=$(rospack find mir_gazebo)/maps/maze.yaml \ + virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml prefix:=mir/ +ROS_NAMESPACE=mir rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz + +# spawn second MiR into Gazebo +roslaunch mir_gazebo mir_gazebo_common.launch robot_x:=-2 robot_y:=-2 tf_prefix:=mir2 model_name:=mir2 __ns:=mir2 + +# second MiR: start localization, navigation + rviz +roslaunch mir_navigation amcl.launch initial_pose_x:=8.0 initial_pose_y:=8.0 tf_prefix:=mir2 +roslaunch mir_navigation start_planner.launch \ + map_file:=$(rospack find mir_gazebo)/maps/maze.yaml \ + virtual_walls_map_file:=$(rospack find mir_gazebo)/maps/maze_virtual_walls.yaml prefix:=mir2/ +ROS_NAMESPACE=mir2 rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz +``` + + +Running the driver on the real robot +------------------------------------ + +### Start up the robot + +* switch on MiR base + + +### Connect to the MiR web interface + +* connect to MiR_R??? wifi (password "mirex4you"), for example from your Android phone/tablet +* disable other network connections (mobile data / LAN / etc.) +* open mir.com (192.168.12.20) in Chrome (!) +* log in (admin/mir4you) + + +### Synchronize system time + +The internal robot PC's is not synchronized (for example via NTP), so it tends +to get out of sync quickly (about 1 second per day!). This causes TF transforms +timing out etc. and can be seen using `tf_monitor` (the "Max Delay" is about +3.3 seconds, but should be less than 0.1 seconds): + +``` +$ rosrun tf tf_monitor +Frames: +Frame: /back_laser_link published by unknown_publisher Average Delay: 3.22686 Max Delay: 3.34766 +Frame: /base_footprint published by unknown_publisher Average Delay: 3.34273 Max Delay: 3.38062 +Frame: /base_link published by unknown_publisher Average Delay: 3.22751 Max Delay: 3.34844 +Frame: /front_laser_link published by unknown_publisher Average Delay: 3.22661 Max Delay: 3.34159 +Frame: /imu_link published by unknown_publisher Average Delay: 3.22739 Max Delay: 3.34738 +Frame: /odom published by unknown_publisher Average Delay: 3.16493 Max Delay: 3.28667 +[...] + +All Broadcasters: +Node: unknown_publisher 418.344 Hz, Average Delay: 0.827575 Max Delay: 3.35237 +Node: unknown_publisher(static) 465.362 Hz, Average Delay: 0 Max Delay: 0 +``` + +To fix this: + +* go to "Service" -> "Configuration" -> "System settings" -> "Time settings" -> "Set device time on robot" + +Afterwards, the ROS software on the robot will restart, so you'll have to start `move_base` again (see below). + +If you have an external PC on the MiR platform, you can use `chrony` to automatically synchronize system time (see below). + + +### Start `move_base` on the robot + +* go to "Service" -> "Configuration" -> "Launch menu", start "Planner"; this starts `move_base` and `amcl` on the robot + + +### Teleoperate the robot (optional) + +* go to "Manual", press yellow button (LEDs change from yellow to blue); now the robot can be teleoperated + + +### Relocalize robot (optional) + +If the robot's localization is lost: + +* go to "Service" -> "Command view" -> "Set start position" and click + drag to current position of robot in the map +* click "Adjust" + + +### Start the ROS driver + +```bash +roslaunch mir_driver mir.launch +``` + +Advanced +-------- + +### Installing chrony to synchronize system time automatically + +If you have an external PC integrated into your robot that is on the same wired +network as the MiR PC, you can use `chrony` to automatically synchronize the +MiR's system time. Unfortunately, this method is not easy to install. + +Let's call the external PC `external-pc`. That PC's clock is our reference +clock. It is synced to an NTP clock whenever the `external-pc` has access to +the internet. To implement this synchronization solution, install `chrony` on +both the `external-pc` and the internal PC of the MiR, and set up the +`external-pc` as the chrony server and the internal MiR PC as the chrony +client. This way, the clocks on these systems always stay in sync without any +manual interaction. + +To install things on the internal MiR PC: + +* connect a monitor and keyboard to the ports that are exposed on one corner of the MiR +* boot into a live USB linux system +* `chroot` into the MiR PC +* download `chrony_2.1.1-1ubuntu0.1_amd64.deb`, + `libtomcrypt0_1.17-7ubuntu0.1_amd64.deb`, `libtommath0_0.42.0-1.2_amd64.deb` + and `timelimit_1.8-1_amd64.deb` from a PC that has internet and install them + in the `chroot` environment onto the MiR PC using `dpkg -i` +* set up `/etc/chrony/chrony.conf` + + +Troubleshooting +--------------- + +### Got a result when we were already in the DONE state + +Sometimes the move_base action will print the warning "Got a result when we +were already in the DONE state". This is caused by a race condition between the +`/move_base/result` and `/move_base/status` topics. When a status message with +status `SUCCEEDED` arrives before the corresponding result message, this +warning will be printed. It can be safely ignored. + + +### Gazebo prints errors: "No p gain specified for pid." + +These errors are expected and can be ignored. + +Unfortunately, we cannot set the PID gains (to silence the error) due to the +following behavior of Gazebo: + +1. When using the `PositionJointInterface`, you *must* set the PID values for the + joints using that interface, otherwise you will run into + [this bug](https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612). +2. When using the `VelocityJointInterface`, if you omit the PID values, Gazebo + just perfectly follows the commanded velocities. If you specify PID values, + Gazebo will use a PID controller to approximate following the commanded + velocities, so you have to tune the PID controllers. + +Since we just want Gazebo to follow our commanded velocities, we cannot set the +PID values for joints using the VelocityJointInterface, so the errors get +printed (but can be ignored). + + +GitHub Actions - Continuous Integration +--------------------------------------- + +| Noetic | +|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| +| [![Build Status](https://github.com/DFKI-NI/mir_robot/actions/workflows/github-actions.yml/badge.svg)](https://github.com/DFKI-NI/mir_robot/actions/workflows/github-actions.yml/) | + + +ROS Buildfarm +------------- + +| | Melodic source deb | Melodic binary deb | Noetic source deb | Noetic binary deb | +|--------------------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| +| [mir_actions](http://wiki.ros.org/mir_actions) | [![Build 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Status](http://build.ros.org/buildStatus/icon?job=Mdev__mir_robot__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__mir_robot__ubuntu_bionic_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mdoc__mir_robot__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdoc__mir_robot__ubuntu_bionic_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ndev__mir_robot__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__mir_robot__ubuntu_focal_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ndoc__mir_robot__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__mir_robot__ubuntu_focal_amd64) | diff --git a/mir_robot/diff_drive_controller/CHANGELOG.rst b/mir_robot/diff_drive_controller/CHANGELOG.rst new file mode 100755 index 0000000..35f3563 --- /dev/null +++ b/mir_robot/diff_drive_controller/CHANGELOG.rst @@ -0,0 +1,237 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package diff_drive_controller +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.21.2 (2023-09-03) +------------------- + +0.21.1 (2023-01-31) +------------------- +* Don't hardcode plugin library path +* Contributors: Jochen Sprickerhof + +0.21.0 (2022-10-21) +------------------- +* std::bind and placeholders instead of boost +* use boost::placeholders::_1/_2 in remaining instances, include boost/bind/bind.hpp instead of boost/bind.hpp, eliminated unnecessary bind.hpp include +* Contributors: Lucas Walter + +0.20.0 (2022-05-06) +------------------- +* Drop old C++ standard +* Use new boost bind placeholders +* Add to every .launch and .test file +* Contributors: Jochen Sprickerhof, Lucas Walter + +0.19.0 (2021-06-13) +------------------- +* fix NaN bug +* fix test to expose NaN bug +* Wait long enough for accumulator to be cleared +* Add test for `#532 `_ + Close `#540 `_ +* Contributors: Caio Amaral, Matt Reynolds, Melvin Wang + +0.18.1 (2020-12-03) +------------------- +* Fix null pointer checks in diff_drive_controller +* Use version-agnostic FindBoost for headers +* Contributors: David V. Lu, Matt Reynolds + +0.18.0 (2020-10-11) +------------------- +* Fix dependency on Boost +* Apply consistent format to CMakeLists.txt +* Update package.xml to format 3 +* Clean dependencies of diff_drive_controller package +* Apply waitForController method to all diff_drive_controller tests +* Move odom_pub setup to the end to allow consistent isControllerAlive check +* Contributors: Mateus Amarante + +0.17.0 (2020-05-12) +------------------- + +0.16.1 (2020-04-27) +------------------- + +0.16.0 (2020-04-16) +------------------- +* Fix warning dynamic_reconfigure +* Bump CMake version to prevent CMP0048 +* Add missing header guards +* Replace header guard with #pragma once +* Prefix every xacro tag with 'xacro:' +* Modernize xacro + - Remove '--inorder' + - Use 'xacro' over 'xacro.py' +* switch implementation of read and write methods of Diffbot class +* Refactor nan test + EXPECT_NE(x, bool) -> EXPECT_TRUE/FALSE(x) + EXPECT_EQ(x, double) -> EXPECT_DOUBLE_EQ(x, double) + + clang default reformat +* Check for nan cmd_vel +* Contributors: Anas Abou Allaban, Bence Magyar, Franz, Matt Reynolds, Raffaello Bonghi + +0.15.1 (2020-03-09) +------------------- +* Use nullptr +* add missing pluginlib deps. +* Update null link pointer error message +* Revert cmake include catkin_INCLUDE_DIRS as system +* Use C++11 `std::this_thread::sleep_for`. +* Contributors: Bence Magyar, Enrique Fernandez Perdomo, Matt Reynolds, Sean Yen + +0.15.0 (2019-03-26) +------------------- +* Default all controller builds to C++14 +* boost::chrono -> std::chrono +* boost::assign -> C++ initializer list +* boost::shared_ptr -> std::shared_ptr +* Using left/right multiplies for desired vel +* diff-drive publish joint trajectory controller state +* fix install destination for libraries (`#403 `_) +* Contributors: Bence Magyar, Gennaro Raiola, James Xu, Jeremie Deray, Jordan Palacios + +0.14.3 (2019-02-09) +------------------- +* use operators instead of aliases +* Fix typo descripion -> description +* Contributors: Daniel Ingram, James Xu + +0.14.2 (2018-10-23) +------------------- + +0.14.1 (2018-06-26) +------------------- +* Added 'multiplier' in DynamicParams ostream and changed boolean printing to 'enabled/disabled' +* isPublishngCmdVelOut to check getNumPublisheres until timeout +* Contributors: Kei Okada, Martin Ganeff + +0.14.0 (2018-04-27) +------------------- +* add dynamic_reconf to diff_drive_controller +* migrate to new pluginlib headers +* per wheel radius multiplier +* fix xacro macro warning +* [DiffDrive] Fix time-sensitive tests of diff_drive_controller +* separate include_directories as SYSTEM to avoid unrelated compilation warnings +* Contributors: Jeremie Deray, Mathias Lüdtke + +0.13.2 (2017-12-23) +------------------- + +0.13.1 (2017-11-06) +------------------- + +0.13.0 (2017-08-10) +------------------- +* Add test for allow_multiple_cmd_vel_publishers param +* add check for multiple publishers on cmd_vel +* Added tests for the odom_frame_id parameter. +* Parameterized diff_drive_controller's odom_frame_id +* Publish executed velocity if publish_cmd +* refactor to remove code duplication +* fixup pointer type for new convention +* Allow diff_drive_controller to use spheres as well as cylinders for wheel collision geometry. Cylinders are not well behaved on Gazebo/ODE heightfields, using spheres works around the issue. +* Contributors: Bence Magyar, Eric Tappan, Jeremie Deray, Karsten Knese, Tully Foote, mallanmba, tappan-at-git + +0.12.3 (2017-04-23) +------------------- + +0.12.2 (2017-04-21) +------------------- + +0.12.1 (2017-03-08) +------------------- +* Add exporting include dirs +* Contributors: Bence Magyar + +0.12.0 (2017-02-15) +------------------- +* Fix most catkin lint issues +* Change for format2 +* Add Enrique and Bence to maintainers +* Add urdf compatibility header +* Add --inorder to xacro calls +* Add missing xacro tags +* Use xacro instead of xacro.py +* Disable angular jerk limit test +* Replace boost::shared_ptr with urdf::XYConstSharedPtr when exists +* Contributors: Bence Magyar + +0.11.2 (2016-08-16) +------------------- + +0.11.1 (2016-05-23) +------------------- + +0.11.0 (2016-05-03) +------------------- + +0.10.0 (2015-11-20) +------------------- +* Address -Wunused-parameter warnings +* Limit jerk +* Add param velocity_rolling_window_size +* Minor fixes + 1. Coding style + 2. Tolerance to fall-back to Runge-Kutta 2 integration + 3. Remove unused variables +* Fix the following bugs in the testForward test: + 1. Check traveled distance in XY plane + 2. Use expected speed variable on test check +* Add test for NaN +* Add test for bad URDF +* Contributors: Adolfo Rodriguez Tsouroukdissian, Enrique Fernandez, Paul Mathieu + +0.9.2 (2015-05-04) +------------------ +* Allow the wheel separation and radius to be set from different sources + i.e. one can be set from the URDF, the other from the parameter server. + If wheel separation and wheel diameter is specified in the parameter server, don't look them up from urdf +* Contributors: Bence Magyar, Nils Berg + +0.9.1 (2014-11-03) +------------------ + +0.9.0 (2014-10-31) +------------------ +* Add support for multiple wheels per side +* Odometry computation: + - New option to compute in open loop fashion + - New option to skip publishing odom frame to tf +* Remove dependency on angles package +* Buildsystem fixes +* Contributors: Bence Magyar, Lukas Bulwahn, efernandez + +0.8.1 (2014-07-11) +------------------ + +0.8.0 (2014-05-12) +------------------ +* Add base_frame_id param (defaults to base_link) + The nav_msgs/Odometry message specifies the child_frame_id field, + which was previously not set. + This commit creates a parameter to replace the previously hard-coded + value of the child_frame_id of the published tf frame, and uses it + in the odom message as well. +* Contributors: enriquefernandez + +0.7.2 (2014-04-01) +------------------ + +0.7.1 (2014-03-31) +------------------ +* Changed test-depend to build-depend for release jobs. +* Contributors: Bence Magyar + +0.7.0 (2014-03-28) +------------------ +* diff_drive_controller: New controller for differential drive wheel systems. +* Control is in the form of a velocity command, that is split then sent on the two wheels of a differential drive +wheel base. +* Odometry is published to tf and to a dedicated nav__msgs/Odometry topic. +* Realtime-safe implementation. +* Implements task-space velocity and acceleration limits. +* Automatic stop after command time-out. +* Contributors: Bence Magyar, Paul Mathieu, Enrique Fernandez. diff --git a/mir_robot/diff_drive_controller/CMakeLists.txt b/mir_robot/diff_drive_controller/CMakeLists.txt new file mode 100755 index 0000000..93a7d95 --- /dev/null +++ b/mir_robot/diff_drive_controller/CMakeLists.txt @@ -0,0 +1,216 @@ +cmake_minimum_required(VERSION 3.0.2) +project(diff_drive_controller) + +# Load catkin and all dependencies required for this package +find_package(catkin REQUIRED COMPONENTS + controller_interface + control_msgs + dynamic_reconfigure + geometry_msgs + hardware_interface + nav_msgs + pluginlib + realtime_tools + tf + urdf +) + +find_package(Boost REQUIRED) + +# Declare a catkin package +generate_dynamic_reconfigure_options(cfg/DiffDriveController.cfg) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS + controller_interface + control_msgs + dynamic_reconfigure + geometry_msgs + hardware_interface + nav_msgs + realtime_tools + tf + LIBRARIES ${PROJECT_NAME} + DEPENDS Boost +) + + +########### +## Build ## +########### + +# Specify header include paths +include_directories( + include ${catkin_INCLUDE_DIRS} + include ${Boost_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/diff_drive_controller.cpp + src/odometry.cpp + src/speed_limiter.cpp +) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) +add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg) + + +############# +## Testing ## +############# + +if (CATKIN_ENABLE_TESTING) + find_package(controller_manager REQUIRED) + find_package(rosgraph_msgs REQUIRED) + find_package(std_srvs REQUIRED) + find_package(rostest REQUIRED) + + include_directories( + ${controller_manager_INCLUDE_DIRS} + ${rosgraph_msgs_INCLUDE_DIRS} + ${std_srvs_INCLUDE_DIRS} + ) + + set(test_LIBRARIES + ${controller_manager_LIBRARIES} + ${rosgraph_msgs_LIBRARIES} + ${std_srvs_LIBRARIES} + ) + + add_executable(diffbot test/diffbot.cpp) + target_link_libraries(diffbot ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_executable(skidsteerbot test/skidsteerbot.cpp) + target_link_libraries(skidsteerbot ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_dependencies(tests diffbot skidsteerbot) + + add_rostest_gtest(diff_drive_test + test/diff_drive_controller.test + test/diff_drive_test.cpp + ) + target_link_libraries(diff_drive_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_nan_test + test/diff_drive_controller_nan.test + test/diff_drive_nan_test.cpp + ) + target_link_libraries(diff_drive_nan_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_limits_test + test/diff_drive_controller_limits.test + test/diff_drive_limits_test.cpp + ) + target_link_libraries(diff_drive_limits_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_timeout_test + test/diff_drive_timeout.test + test/diff_drive_timeout_test.cpp + ) + target_link_libraries(diff_drive_timeout_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest(test/diff_drive_multipliers.test) + + add_rostest(test/diff_drive_left_right_multipliers.test) + + add_rostest_gtest(diff_drive_fail_test + test/diff_drive_wrong.test + test/diff_drive_fail_test.cpp + ) + target_link_libraries(diff_drive_fail_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_odom_tf_test + test/diff_drive_odom_tf.test + test/diff_drive_odom_tf_test.cpp + ) + target_link_libraries(diff_drive_odom_tf_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_default_cmd_vel_out_test + test/diff_drive_default_cmd_vel_out.test + test/diff_drive_default_cmd_vel_out_test.cpp + ) + target_link_libraries(diff_drive_default_cmd_vel_out_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_pub_cmd_vel_out_test + test/diff_drive_pub_cmd_vel_out.test + test/diff_drive_pub_cmd_vel_out_test.cpp + ) + target_link_libraries(diff_drive_pub_cmd_vel_out_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_default_wheel_joint_controller_state_test + test/diff_drive_default_wheel_joint_controller_state.test + test/diff_drive_default_wheel_joint_controller_state_test.cpp + ) + target_link_libraries(diff_drive_default_wheel_joint_controller_state_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_publish_wheel_joint_controller_state_test + test/diff_drive_publish_wheel_joint_controller_state.test + test/diff_drive_publish_wheel_joint_controller_state_test.cpp + ) + target_link_libraries(diff_drive_publish_wheel_joint_controller_state_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_default_odom_frame_test + test/diff_drive_default_odom_frame.test + test/diff_drive_default_odom_frame_test.cpp + ) + target_link_libraries(diff_drive_default_odom_frame_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_odom_frame_test + test/diff_drive_odom_frame.test + test/diff_drive_odom_frame_test.cpp + ) + target_link_libraries(diff_drive_odom_frame_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest_gtest(diff_drive_multiple_cmd_vel_publishers_test + test/diff_drive_multiple_cmd_vel_publishers.test + test/diff_drive_multiple_cmd_vel_publishers_test.cpp + ) + target_link_libraries(diff_drive_multiple_cmd_vel_publishers_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + + add_rostest(test/diff_drive_open_loop.test) + + add_rostest(test/skid_steer_controller.test) + + add_rostest(test/skid_steer_no_wheels.test) + + add_rostest(test/diff_drive_radius_sphere.test) + + add_rostest(test/diff_drive_radius_param.test) + + add_rostest(test/diff_drive_radius_param_fail.test) + + add_rostest(test/diff_drive_separation_param.test) + + add_rostest(test/diff_drive_bad_urdf.test) + + add_rostest(test/diff_drive_get_wheel_radius_fail.test) + + add_rostest_gtest(diff_drive_dyn_reconf_test + test/diff_drive_dyn_reconf.test + test/diff_drive_dyn_reconf_test.cpp + ) + target_link_libraries(diff_drive_dyn_reconf_test ${catkin_LIBRARIES} ${test_LIBRARIES}) + +endif() + + +############# +## Install ## +############# + +# Install headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +# Install library +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +# Install plugins +install(FILES diff_drive_controller_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/mir_robot/diff_drive_controller/README.md b/mir_robot/diff_drive_controller/README.md new file mode 100755 index 0000000..371baed --- /dev/null +++ b/mir_robot/diff_drive_controller/README.md @@ -0,0 +1,5 @@ +## Diff Drive Controller ## + +Controller for a differential drive mobile base. + +Detailed user documentation can be found in the controller's [ROS wiki page](http://wiki.ros.org/diff_drive_controller). diff --git a/mir_robot/diff_drive_controller/cfg/DiffDriveController.cfg b/mir_robot/diff_drive_controller/cfg/DiffDriveController.cfg new file mode 100755 index 0000000..31a1668 --- /dev/null +++ b/mir_robot/diff_drive_controller/cfg/DiffDriveController.cfg @@ -0,0 +1,18 @@ +#!/usr/bin/env python + +PACKAGE = 'diff_drive_controller' + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, bool_t, double_t + +gen = ParameterGenerator() + +# Kinematic parameters related +gen.add("left_wheel_radius_multiplier", double_t, 0, "Left wheel radius multiplier.", 1.0, 0.5, 1.5) +gen.add("right_wheel_radius_multiplier", double_t, 0, "Right wheel radius multiplier.", 1.0, 0.5, 1.5) +gen.add("wheel_separation_multiplier", double_t, 0, "Wheel separation multiplier.", 1.0, 0.5, 1.5) + +# Publication related +gen.add("publish_rate", double_t, 0, "Publish rate of odom.", 50.0, 0.0, 2000.0) +gen.add("enable_odom_tf", bool_t, 0, "Publish odom frame to tf.", True) + +exit(gen.generate(PACKAGE, "diff_drive_controller", "DiffDriveController")) diff --git a/mir_robot/diff_drive_controller/diff_drive_controller_plugins.xml b/mir_robot/diff_drive_controller/diff_drive_controller_plugins.xml new file mode 100755 index 0000000..a1c1d05 --- /dev/null +++ b/mir_robot/diff_drive_controller/diff_drive_controller_plugins.xml @@ -0,0 +1,9 @@ + + + + + The DiffDriveController tracks velocity commands. It expects 2 VelocityJointInterface type of hardware interfaces. + + + + diff --git a/mir_robot/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.h b/mir_robot/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.h new file mode 100755 index 0000000..798e6fa --- /dev/null +++ b/mir_robot/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.h @@ -0,0 +1,312 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, PAL Robotics, S.L. + * 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 PAL Robotics 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: Bence Magyar, Enrique Fernández + */ + +#pragma once + + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace diff_drive_controller{ + + /** + * This class makes some assumptions on the model of the robot: + * - the rotation axes of wheels are collinear + * - the wheels are identical in radius + * Additional assumptions to not duplicate information readily available in the URDF: + * - the wheels have the same parent frame + * - a wheel collision geometry is a cylinder or sphere in the urdf + * - a wheel joint frame center's vertical projection on the floor must lie within the contact patch + */ + class DiffDriveController + : public controller_interface::Controller + { + public: + DiffDriveController(); + + /** + * \brief Initialize controller + * \param hw Velocity joint interface for the wheels + * \param root_nh Node handle at root namespace + * \param controller_nh Node handle inside the controller namespace + */ + bool init(hardware_interface::VelocityJointInterface* hw, + ros::NodeHandle& root_nh, + ros::NodeHandle &controller_nh); + + /** + * \brief Updates controller, i.e. computes the odometry and sets the new velocity commands + * \param time Current time + * \param period Time since the last called to update + */ + void update(const ros::Time& time, const ros::Duration& period); + + /** + * \brief Starts controller + * \param time Current time + */ + void starting(const ros::Time& time); + + /** + * \brief Stops controller + * \param time Current time + */ + void stopping(const ros::Time& /*time*/); + + private: + std::string name_; + + /// Odometry related: + ros::Duration publish_period_; + ros::Time last_state_publish_time_; + bool open_loop_; + + /// Hardware handles: + std::vector left_wheel_joints_; + std::vector right_wheel_joints_; + + // Previous time + ros::Time time_previous_; + + /// Previous velocities from the encoders: + std::vector vel_left_previous_; + std::vector vel_right_previous_; + + /// Previous velocities from the encoders: + double vel_left_desired_previous_; + double vel_right_desired_previous_; + + /// Velocity command related: + struct Commands + { + double lin; + double ang; + ros::Time stamp; + + Commands() : lin(0.0), ang(0.0), stamp(0.0) {} + }; + realtime_tools::RealtimeBuffer command_; + Commands command_struct_; + ros::Subscriber sub_command_; + + /// Publish executed commands + std::shared_ptr > cmd_vel_pub_; + + /// Odometry related: + std::shared_ptr > odom_pub_; + std::shared_ptr > tf_odom_pub_; + Odometry odometry_; + + /// Controller state publisher + std::shared_ptr > controller_state_pub_; + + /// Wheel separation, wrt the midpoint of the wheel width: + double wheel_separation_; + + /// Wheel radius (assuming it's the same for the left and right wheels): + double wheel_radius_; + + /// Wheel separation and radius calibration multipliers: + double wheel_separation_multiplier_; + double left_wheel_radius_multiplier_; + double right_wheel_radius_multiplier_; + + /// Timeout to consider cmd_vel commands old: + double cmd_vel_timeout_; + + /// Whether to allow multiple publishers on cmd_vel topic or not: + bool allow_multiple_cmd_vel_publishers_; + + /// Frame to use for the robot base: + std::string base_frame_id_; + + /// Frame to use for odometry and odom tf: + std::string odom_frame_id_; + + /// Whether to publish odometry to tf or not: + bool enable_odom_tf_; + + /// Number of wheel joints: + size_t wheel_joints_size_; + + /// Speed limiters: + Commands last1_cmd_; + Commands last0_cmd_; + SpeedLimiter limiter_lin_; + SpeedLimiter limiter_ang_; + + /// Publish limited velocity: + bool publish_cmd_; + + /// Publish wheel data: + bool publish_wheel_joint_controller_state_; + + // A struct to hold dynamic parameters + // set from dynamic_reconfigure server + struct DynamicParams + { + bool update; + + double left_wheel_radius_multiplier; + double right_wheel_radius_multiplier; + double wheel_separation_multiplier; + + bool publish_cmd; + + double publish_rate; + bool enable_odom_tf; + + DynamicParams() + : left_wheel_radius_multiplier(1.0) + , right_wheel_radius_multiplier(1.0) + , wheel_separation_multiplier(1.0) + , publish_cmd(false) + , publish_rate(50) + , enable_odom_tf(true) + {} + + friend std::ostream& operator<<(std::ostream& os, const DynamicParams& params) + { + os << "DynamicParams:\n" + // + << "\tOdometry parameters:\n" + << "\t\tleft wheel radius multiplier: " << params.left_wheel_radius_multiplier << "\n" + << "\t\tright wheel radius multiplier: " << params.right_wheel_radius_multiplier << "\n" + << "\t\twheel separation multiplier: " << params.wheel_separation_multiplier << "\n" + // + << "\tPublication parameters:\n" + << "\t\tPublish executed velocity command: " << (params.publish_cmd?"enabled":"disabled") << "\n" + << "\t\tPublication rate: " << params.publish_rate << "\n" + << "\t\tPublish frame odom on tf: " << (params.enable_odom_tf?"enabled":"disabled"); + + return os; + } + }; + + realtime_tools::RealtimeBuffer dynamic_params_; + + /// Dynamic Reconfigure server + typedef dynamic_reconfigure::Server ReconfigureServer; + std::shared_ptr dyn_reconf_server_; + boost::recursive_mutex dyn_reconf_server_mutex_; + + private: + /** + * \brief Brakes the wheels, i.e. sets the velocity to 0 + */ + void brake(); + + /** + * \brief Velocity command callback + * \param command Velocity command message (twist) + */ + void cmdVelCallback(const geometry_msgs::Twist& command); + + /** + * \brief Get the wheel names from a wheel param + * \param [in] controller_nh Controller node handler + * \param [in] wheel_param Param name + * \param [out] wheel_names Vector with the whel names + * \return true if the wheel_param is available and the wheel_names are + * retrieved successfully from the param server; false otherwise + */ + bool getWheelNames(ros::NodeHandle& controller_nh, + const std::string& wheel_param, + std::vector& wheel_names); + + /** + * \brief Sets odometry parameters from the URDF, i.e. the wheel radius and separation + * \param root_nh Root node handle + * \param left_wheel_name Name of the left wheel joint + * \param right_wheel_name Name of the right wheel joint + */ + bool setOdomParamsFromUrdf(ros::NodeHandle& root_nh, + const std::string& left_wheel_name, + const std::string& right_wheel_name, + bool lookup_wheel_separation, + bool lookup_wheel_radius); + + /** + * \brief Sets the odometry publishing fields + * \param root_nh Root node handle + * \param controller_nh Node handle inside the controller namespace + */ + void setOdomPubFields(ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh); + + /** + * \brief Callback for dynamic_reconfigure server + * \param config The config set from dynamic_reconfigure server + * \param level not used at this time. + * \see dyn_reconf_server_ + */ + void reconfCallback(DiffDriveControllerConfig& config, uint32_t /*level*/); + + /** + * \brief Update the dynamic parameters in the RT loop + */ + void updateDynamicParams(); + + /** + * \brief + * \param time Current time + * \param period Time since the last called to update + * \param curr_cmd Current velocity command + * \param wheel_separation wheel separation with multiplier + * \param left_wheel_radius left wheel radius with multiplier + * \param right_wheel_radius right wheel radius with multiplier + */ + void publishWheelData(const ros::Time& time, + const ros::Duration& period, + Commands& curr_cmd, + double wheel_separation, + double left_wheel_radius, + double right_wheel_radius); + }; + +} // namespace diff_drive_controller diff --git a/mir_robot/diff_drive_controller/include/diff_drive_controller/odometry.h b/mir_robot/diff_drive_controller/include/diff_drive_controller/odometry.h new file mode 100755 index 0000000..39a5eb8 --- /dev/null +++ b/mir_robot/diff_drive_controller/include/diff_drive_controller/odometry.h @@ -0,0 +1,210 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, PAL Robotics, S.L. + * 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 PAL Robotics 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: Luca Marchionni + * Author: Bence Magyar + * Author: Enrique Fernández + * Author: Paul Mathieu + */ + +#pragma once + + +#include +#include +#include +#include +#include + +namespace diff_drive_controller +{ + namespace bacc = boost::accumulators; + + /** + * \brief The Odometry class handles odometry readings + * (2D pose and velocity with related timestamp) + */ + class Odometry + { + public: + + /// Integration function, used to integrate the odometry: + typedef boost::function IntegrationFunction; + + /** + * \brief Constructor + * Timestamp will get the current time value + * Value will be set to zero + * \param velocity_rolling_window_size Rolling window size used to compute the velocity mean + */ + Odometry(size_t velocity_rolling_window_size = 10); + + /** + * \brief Initialize the odometry + * \param time Current time + */ + void init(const ros::Time &time); + + /** + * \brief Updates the odometry class with latest wheels position + * \param left_pos Left wheel position [rad] + * \param right_pos Right wheel position [rad] + * \param time Current time + * \return true if the odometry is actually updated + */ + bool update(double left_pos, double right_pos, const ros::Time &time); + + /** + * \brief Updates the odometry class with latest velocity command + * \param linear Linear velocity [m/s] + * \param angular Angular velocity [rad/s] + * \param time Current time + */ + void updateOpenLoop(double linear, double angular, const ros::Time &time); + + /** + * \brief heading getter + * \return heading [rad] + */ + double getHeading() const + { + return heading_; + } + + /** + * \brief x position getter + * \return x position [m] + */ + double getX() const + { + return x_; + } + + /** + * \brief y position getter + * \return y position [m] + */ + double getY() const + { + return y_; + } + + /** + * \brief linear velocity getter + * \return linear velocity [m/s] + */ + double getLinear() const + { + return linear_; + } + + /** + * \brief angular velocity getter + * \return angular velocity [rad/s] + */ + double getAngular() const + { + return angular_; + } + + /** + * \brief Sets the wheel parameters: radius and separation + * \param wheel_separation Separation between left and right wheels [m] + * \param left_wheel_radius Left wheel radius [m] + * \param right_wheel_radius Right wheel radius [m] + */ + void setWheelParams(double wheel_separation, double left_wheel_radius, double right_wheel_radius); + + /** + * \brief Velocity rolling window size setter + * \param velocity_rolling_window_size Velocity rolling window size + */ + void setVelocityRollingWindowSize(size_t velocity_rolling_window_size); + + private: + + /// Rolling mean accumulator and window: + typedef bacc::accumulator_set > RollingMeanAcc; + typedef bacc::tag::rolling_window RollingWindow; + + /** + * \brief Integrates the velocities (linear and angular) using 2nd order Runge-Kutta + * \param linear Linear velocity [m] (linear displacement, i.e. m/s * dt) computed by encoders + * \param angular Angular velocity [rad] (angular displacement, i.e. m/s * dt) computed by encoders + */ + void integrateRungeKutta2(double linear, double angular); + + /** + * \brief Integrates the velocities (linear and angular) using exact method + * \param linear Linear velocity [m] (linear displacement, i.e. m/s * dt) computed by encoders + * \param angular Angular velocity [rad] (angular displacement, i.e. m/s * dt) computed by encoders + */ + void integrateExact(double linear, double angular); + + /** + * \brief Reset linear and angular accumulators + */ + void resetAccumulators(); + + /// Current timestamp: + ros::Time timestamp_; + + /// Current pose: + double x_; // [m] + double y_; // [m] + double heading_; // [rad] + + /// Current velocity: + double linear_; // [m/s] + double angular_; // [rad/s] + + /// Wheel kinematic parameters [m]: + double wheel_separation_; + double left_wheel_radius_; + double right_wheel_radius_; + + /// Previou wheel position/state [rad]: + double left_wheel_old_pos_; + double right_wheel_old_pos_; + + /// Rolling mean accumulators for the linar and angular velocities: + size_t velocity_rolling_window_size_; + RollingMeanAcc linear_acc_; + RollingMeanAcc angular_acc_; + + /// Integration funcion, used to integrate the odometry: + IntegrationFunction integrate_fun_; + }; +} diff --git a/mir_robot/diff_drive_controller/include/diff_drive_controller/speed_limiter.h b/mir_robot/diff_drive_controller/include/diff_drive_controller/speed_limiter.h new file mode 100755 index 0000000..32f6c4b --- /dev/null +++ b/mir_robot/diff_drive_controller/include/diff_drive_controller/speed_limiter.h @@ -0,0 +1,129 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, PAL Robotics, S.L. + * 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 PAL Robotics 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: Enrique Fernández + */ + +#pragma once + + +namespace diff_drive_controller +{ + + class SpeedLimiter + { + public: + + /** + * \brief Constructor + * \param [in] has_velocity_limits if true, applies velocity limits + * \param [in] has_acceleration_limits if true, applies acceleration limits + * \param [in] has_jerk_limits if true, applies jerk limits + * \param [in] min_velocity Minimum velocity [m/s], usually <= 0 + * \param [in] max_velocity Maximum velocity [m/s], usually >= 0 + * \param [in] min_acceleration Minimum acceleration [m/s^2], usually <= 0 + * \param [in] max_acceleration Maximum acceleration [m/s^2], usually >= 0 + * \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0 + * \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0 + */ + SpeedLimiter( + bool has_velocity_limits = false, + bool has_acceleration_limits = false, + bool has_jerk_limits = false, + double min_velocity = 0.0, + double max_velocity = 0.0, + double min_acceleration = 0.0, + double max_acceleration = 0.0, + double min_jerk = 0.0, + double max_jerk = 0.0 + ); + + /** + * \brief Limit the velocity and acceleration + * \param [in, out] v Velocity [m/s] + * \param [in] v0 Previous velocity to v [m/s] + * \param [in] v1 Previous velocity to v0 [m/s] + * \param [in] dt Time step [s] + * \return Limiting factor (1.0 if none) + */ + double limit(double& v, double v0, double v1, double dt); + + /** + * \brief Limit the velocity + * \param [in, out] v Velocity [m/s] + * \return Limiting factor (1.0 if none) + */ + double limit_velocity(double& v); + + /** + * \brief Limit the acceleration + * \param [in, out] v Velocity [m/s] + * \param [in] v0 Previous velocity [m/s] + * \param [in] dt Time step [s] + * \return Limiting factor (1.0 if none) + */ + double limit_acceleration(double& v, double v0, double dt); + + /** + * \brief Limit the jerk + * \param [in, out] v Velocity [m/s] + * \param [in] v0 Previous velocity to v [m/s] + * \param [in] v1 Previous velocity to v0 [m/s] + * \param [in] dt Time step [s] + * \return Limiting factor (1.0 if none) + * \see http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control + */ + double limit_jerk(double& v, double v0, double v1, double dt); + + public: + // Enable/Disable velocity/acceleration/jerk limits: + bool has_velocity_limits; + bool has_acceleration_limits; + bool has_jerk_limits; + + // Velocity limits: + double min_velocity; + double max_velocity; + + // Acceleration limits: + double min_acceleration; + double max_acceleration; + + // Jerk limits: + double min_jerk; + double max_jerk; + }; + +} // namespace diff_drive_controller diff --git a/mir_robot/diff_drive_controller/package.xml b/mir_robot/diff_drive_controller/package.xml new file mode 100755 index 0000000..1dc2794 --- /dev/null +++ b/mir_robot/diff_drive_controller/package.xml @@ -0,0 +1,51 @@ + + + + diff_drive_controller + 0.21.2 + Controller for a differential drive mobile base. + + Bence Magyar + Enrique Fernandez + + BSD + + https://github.com/ros-controls/ros_controllers/wiki + https://github.com/ros-controls/ros_controllers/issues + https://github.com/ros-controls/ros_controllers + + Bence Magyar + + catkin + + controller_interface + control_msgs + dynamic_reconfigure + geometry_msgs + hardware_interface + nav_msgs + realtime_tools + tf + + boost + pluginlib + urdf + + boost + + pluginlib + urdf + + controller_manager + rosgraph_msgs + rostest + rostopic + std_srvs + xacro + + + + + diff --git a/mir_robot/diff_drive_controller/src/diff_drive_controller.cpp b/mir_robot/diff_drive_controller/src/diff_drive_controller.cpp new file mode 100755 index 0000000..4d9045a --- /dev/null +++ b/mir_robot/diff_drive_controller/src/diff_drive_controller.cpp @@ -0,0 +1,837 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, PAL Robotics, S.L. + * 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 PAL Robotics 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: Bence Magyar, Enrique Fernández + */ + +#include +#include +#include +#include +#include +#include + +static double euclideanOfVectors(const urdf::Vector3& vec1, const urdf::Vector3& vec2) +{ + return std::sqrt(std::pow(vec1.x-vec2.x,2) + + std::pow(vec1.y-vec2.y,2) + + std::pow(vec1.z-vec2.z,2)); +} + +/* +* \brief Check that a link exists and has a geometry collision. +* \param link The link +* \return true if the link has a collision element with geometry +*/ +static bool hasCollisionGeometry(const urdf::LinkConstSharedPtr& link) +{ + if (!link) + { + ROS_ERROR("Link pointer is null."); + return false; + } + + if (!link->collision) + { + ROS_ERROR_STREAM("Link " << link->name << " does not have collision description. Add collision description for link to urdf."); + return false; + } + + if (!link->collision->geometry) + { + ROS_ERROR_STREAM("Link " << link->name << " does not have collision geometry description. Add collision geometry description for link to urdf."); + return false; + } + return true; +} + +/* + * \brief Check if the link is modeled as a cylinder + * \param link Link + * \return true if the link is modeled as a Cylinder; false otherwise + */ +static bool isCylinder(const urdf::LinkConstSharedPtr& link) +{ + if (!hasCollisionGeometry(link)) + { + return false; + } + + if (link->collision->geometry->type != urdf::Geometry::CYLINDER) + { + ROS_DEBUG_STREAM("Link " << link->name << " does not have cylinder geometry"); + return false; + } + + return true; +} + +/* + * \brief Check if the link is modeled as a sphere + * \param link Link + * \return true if the link is modeled as a Sphere; false otherwise + */ +static bool isSphere(const urdf::LinkConstSharedPtr& link) +{ + if (!hasCollisionGeometry(link)) + { + return false; + } + + if (link->collision->geometry->type != urdf::Geometry::SPHERE) + { + ROS_DEBUG_STREAM("Link " << link->name << " does not have sphere geometry"); + return false; + } + + return true; +} + +/* + * \brief Get the wheel radius + * \param [in] wheel_link Wheel link + * \param [out] wheel_radius Wheel radius [m] + * \return true if the wheel radius was found; false otherwise + */ +static bool getWheelRadius(const urdf::LinkConstSharedPtr& wheel_link, double& wheel_radius) +{ + if (isCylinder(wheel_link)) + { + wheel_radius = (static_cast(wheel_link->collision->geometry.get()))->radius; + return true; + } + else if (isSphere(wheel_link)) + { + wheel_radius = (static_cast(wheel_link->collision->geometry.get()))->radius; + return true; + } + + ROS_ERROR_STREAM("Wheel link " << wheel_link->name << " is NOT modeled as a cylinder or sphere!"); + return false; +} + +namespace diff_drive_controller{ + + DiffDriveController::DiffDriveController() + : open_loop_(false) + , command_struct_() + , wheel_separation_(0.0) + , wheel_radius_(0.0) + , wheel_separation_multiplier_(1.0) + , left_wheel_radius_multiplier_(1.0) + , right_wheel_radius_multiplier_(1.0) + , cmd_vel_timeout_(0.5) + , allow_multiple_cmd_vel_publishers_(true) + , base_frame_id_("base_link") + , odom_frame_id_("odom") + , enable_odom_tf_(true) + , wheel_joints_size_(0) + , publish_cmd_(false) + , publish_wheel_joint_controller_state_(false) + { + } + + bool DiffDriveController::init(hardware_interface::VelocityJointInterface* hw, + ros::NodeHandle& root_nh, + ros::NodeHandle &controller_nh) + { + const std::string complete_ns = controller_nh.getNamespace(); + std::size_t id = complete_ns.find_last_of("/"); + name_ = complete_ns.substr(id + 1); + + // Get joint names from the parameter server + std::vector left_wheel_names, right_wheel_names; + if (!getWheelNames(controller_nh, "left_wheel", left_wheel_names) || + !getWheelNames(controller_nh, "right_wheel", right_wheel_names)) + { + return false; + } + + if (left_wheel_names.size() != right_wheel_names.size()) + { + ROS_ERROR_STREAM_NAMED(name_, + "#left wheels (" << left_wheel_names.size() << ") != " << + "#right wheels (" << right_wheel_names.size() << ")."); + return false; + } + else + { + wheel_joints_size_ = left_wheel_names.size(); + + left_wheel_joints_.resize(wheel_joints_size_); + right_wheel_joints_.resize(wheel_joints_size_); + } + + // Odometry related: + double publish_rate; + controller_nh.param("publish_rate", publish_rate, 50.0); + ROS_INFO_STREAM_NAMED(name_, "Controller state will be published at " + << publish_rate << "Hz."); + publish_period_ = ros::Duration(1.0 / publish_rate); + + controller_nh.param("open_loop", open_loop_, open_loop_); + + controller_nh.param("wheel_separation_multiplier", wheel_separation_multiplier_, wheel_separation_multiplier_); + ROS_INFO_STREAM_NAMED(name_, "Wheel separation will be multiplied by " + << wheel_separation_multiplier_ << "."); + + if (controller_nh.hasParam("wheel_radius_multiplier")) + { + double wheel_radius_multiplier; + controller_nh.getParam("wheel_radius_multiplier", wheel_radius_multiplier); + + left_wheel_radius_multiplier_ = wheel_radius_multiplier; + right_wheel_radius_multiplier_ = wheel_radius_multiplier; + } + else + { + controller_nh.param("left_wheel_radius_multiplier", left_wheel_radius_multiplier_, left_wheel_radius_multiplier_); + controller_nh.param("right_wheel_radius_multiplier", right_wheel_radius_multiplier_, right_wheel_radius_multiplier_); + } + + ROS_INFO_STREAM_NAMED(name_, "Left wheel radius will be multiplied by " + << left_wheel_radius_multiplier_ << "."); + ROS_INFO_STREAM_NAMED(name_, "Right wheel radius will be multiplied by " + << right_wheel_radius_multiplier_ << "."); + + int velocity_rolling_window_size = 10; + controller_nh.param("velocity_rolling_window_size", velocity_rolling_window_size, velocity_rolling_window_size); + ROS_INFO_STREAM_NAMED(name_, "Velocity rolling window size of " + << velocity_rolling_window_size << "."); + + odometry_.setVelocityRollingWindowSize(velocity_rolling_window_size); + + // Twist command related: + controller_nh.param("cmd_vel_timeout", cmd_vel_timeout_, cmd_vel_timeout_); + ROS_INFO_STREAM_NAMED(name_, "Velocity commands will be considered old if they are older than " + << cmd_vel_timeout_ << "s."); + + controller_nh.param("allow_multiple_cmd_vel_publishers", allow_multiple_cmd_vel_publishers_, allow_multiple_cmd_vel_publishers_); + ROS_INFO_STREAM_NAMED(name_, "Allow mutiple cmd_vel publishers is " + << (allow_multiple_cmd_vel_publishers_?"enabled":"disabled")); + + controller_nh.param("base_frame_id", base_frame_id_, base_frame_id_); + ROS_INFO_STREAM_NAMED(name_, "Base frame_id set to " << base_frame_id_); + + controller_nh.param("odom_frame_id", odom_frame_id_, odom_frame_id_); + ROS_INFO_STREAM_NAMED(name_, "Odometry frame_id set to " << odom_frame_id_); + + controller_nh.param("enable_odom_tf", enable_odom_tf_, enable_odom_tf_); + ROS_INFO_STREAM_NAMED(name_, "Publishing to tf is " << (enable_odom_tf_?"enabled":"disabled")); + + // Velocity and acceleration limits: + controller_nh.param("linear/x/has_velocity_limits" , limiter_lin_.has_velocity_limits , limiter_lin_.has_velocity_limits ); + controller_nh.param("linear/x/has_acceleration_limits", limiter_lin_.has_acceleration_limits, limiter_lin_.has_acceleration_limits); + controller_nh.param("linear/x/has_jerk_limits" , limiter_lin_.has_jerk_limits , limiter_lin_.has_jerk_limits ); + controller_nh.param("linear/x/max_velocity" , limiter_lin_.max_velocity , limiter_lin_.max_velocity ); + controller_nh.param("linear/x/min_velocity" , limiter_lin_.min_velocity , -limiter_lin_.max_velocity ); + controller_nh.param("linear/x/max_acceleration" , limiter_lin_.max_acceleration , limiter_lin_.max_acceleration ); + controller_nh.param("linear/x/min_acceleration" , limiter_lin_.min_acceleration , -limiter_lin_.max_acceleration ); + controller_nh.param("linear/x/max_jerk" , limiter_lin_.max_jerk , limiter_lin_.max_jerk ); + controller_nh.param("linear/x/min_jerk" , limiter_lin_.min_jerk , -limiter_lin_.max_jerk ); + + controller_nh.param("angular/z/has_velocity_limits" , limiter_ang_.has_velocity_limits , limiter_ang_.has_velocity_limits ); + controller_nh.param("angular/z/has_acceleration_limits", limiter_ang_.has_acceleration_limits, limiter_ang_.has_acceleration_limits); + controller_nh.param("angular/z/has_jerk_limits" , limiter_ang_.has_jerk_limits , limiter_ang_.has_jerk_limits ); + controller_nh.param("angular/z/max_velocity" , limiter_ang_.max_velocity , limiter_ang_.max_velocity ); + controller_nh.param("angular/z/min_velocity" , limiter_ang_.min_velocity , -limiter_ang_.max_velocity ); + controller_nh.param("angular/z/max_acceleration" , limiter_ang_.max_acceleration , limiter_ang_.max_acceleration ); + controller_nh.param("angular/z/min_acceleration" , limiter_ang_.min_acceleration , -limiter_ang_.max_acceleration ); + controller_nh.param("angular/z/max_jerk" , limiter_ang_.max_jerk , limiter_ang_.max_jerk ); + controller_nh.param("angular/z/min_jerk" , limiter_ang_.min_jerk , -limiter_ang_.max_jerk ); + + // Publish limited velocity: + controller_nh.param("publish_cmd", publish_cmd_, publish_cmd_); + + // Publish wheel data: + controller_nh.param("publish_wheel_joint_controller_state", publish_wheel_joint_controller_state_, publish_wheel_joint_controller_state_); + + // If either parameter is not available, we need to look up the value in the URDF + bool lookup_wheel_separation = !controller_nh.getParam("wheel_separation", wheel_separation_); + bool lookup_wheel_radius = !controller_nh.getParam("wheel_radius", wheel_radius_); + + if (!setOdomParamsFromUrdf(root_nh, + left_wheel_names[0], + right_wheel_names[0], + lookup_wheel_separation, + lookup_wheel_radius)) + { + return false; + } + + // Regardless of how we got the separation and radius, use them + // to set the odometry parameters + const double ws = wheel_separation_multiplier_ * wheel_separation_; + const double lwr = left_wheel_radius_multiplier_ * wheel_radius_; + const double rwr = right_wheel_radius_multiplier_ * wheel_radius_; + odometry_.setWheelParams(ws, lwr, rwr); + ROS_INFO_STREAM_NAMED(name_, + "Odometry params : wheel separation " << ws + << ", left wheel radius " << lwr + << ", right wheel radius " << rwr); + + if (publish_cmd_) + { + cmd_vel_pub_.reset(new realtime_tools::RealtimePublisher(controller_nh, "cmd_vel_out", 100)); + } + + // Wheel joint controller state: + if (publish_wheel_joint_controller_state_) + { + controller_state_pub_.reset(new realtime_tools::RealtimePublisher(controller_nh, "wheel_joint_controller_state", 100)); + + const size_t num_wheels = wheel_joints_size_ * 2; + + controller_state_pub_->msg_.joint_names.resize(num_wheels); + + controller_state_pub_->msg_.desired.positions.resize(num_wheels); + controller_state_pub_->msg_.desired.velocities.resize(num_wheels); + controller_state_pub_->msg_.desired.accelerations.resize(num_wheels); + controller_state_pub_->msg_.desired.effort.resize(num_wheels); + + controller_state_pub_->msg_.actual.positions.resize(num_wheels); + controller_state_pub_->msg_.actual.velocities.resize(num_wheels); + controller_state_pub_->msg_.actual.accelerations.resize(num_wheels); + controller_state_pub_->msg_.actual.effort.resize(num_wheels); + + controller_state_pub_->msg_.error.positions.resize(num_wheels); + controller_state_pub_->msg_.error.velocities.resize(num_wheels); + controller_state_pub_->msg_.error.accelerations.resize(num_wheels); + controller_state_pub_->msg_.error.effort.resize(num_wheels); + + for (size_t i = 0; i < wheel_joints_size_; ++i) + { + controller_state_pub_->msg_.joint_names[i] = left_wheel_names[i]; + controller_state_pub_->msg_.joint_names[i + wheel_joints_size_] = right_wheel_names[i]; + } + + vel_left_previous_.resize(wheel_joints_size_, 0.0); + vel_right_previous_.resize(wheel_joints_size_, 0.0); + } + + setOdomPubFields(root_nh, controller_nh); + + // Get the joint object to use in the realtime loop + for (size_t i = 0; i < wheel_joints_size_; ++i) + { + ROS_INFO_STREAM_NAMED(name_, + "Adding left wheel with joint name: " << left_wheel_names[i] + << " and right wheel with joint name: " << right_wheel_names[i]); + left_wheel_joints_[i] = hw->getHandle(left_wheel_names[i]); // throws on failure + right_wheel_joints_[i] = hw->getHandle(right_wheel_names[i]); // throws on failure + } + + sub_command_ = controller_nh.subscribe("cmd_vel", 1, &DiffDriveController::cmdVelCallback, this); + + // Initialize dynamic parameters + DynamicParams dynamic_params; + dynamic_params.left_wheel_radius_multiplier = left_wheel_radius_multiplier_; + dynamic_params.right_wheel_radius_multiplier = right_wheel_radius_multiplier_; + dynamic_params.wheel_separation_multiplier = wheel_separation_multiplier_; + + dynamic_params.publish_rate = publish_rate; + dynamic_params.enable_odom_tf = enable_odom_tf_; + + dynamic_params_.writeFromNonRT(dynamic_params); + + // Initialize dynamic_reconfigure server + DiffDriveControllerConfig config; + config.left_wheel_radius_multiplier = left_wheel_radius_multiplier_; + config.right_wheel_radius_multiplier = right_wheel_radius_multiplier_; + config.wheel_separation_multiplier = wheel_separation_multiplier_; + + config.publish_rate = publish_rate; + config.enable_odom_tf = enable_odom_tf_; + + dyn_reconf_server_ = std::make_shared(dyn_reconf_server_mutex_, controller_nh); + + // Update parameters + dyn_reconf_server_mutex_.lock(); + dyn_reconf_server_->updateConfig(config); + dyn_reconf_server_mutex_.unlock(); + + dyn_reconf_server_->setCallback( + std::bind(&DiffDriveController::reconfCallback, this, std::placeholders::_1, std::placeholders::_2)); + return true; + } + + void DiffDriveController::update(const ros::Time& time, const ros::Duration& period) + { + // update parameter from dynamic reconf + updateDynamicParams(); + + // Apply (possibly new) multipliers: + const double ws = wheel_separation_multiplier_ * wheel_separation_; + const double lwr = left_wheel_radius_multiplier_ * wheel_radius_; + const double rwr = right_wheel_radius_multiplier_ * wheel_radius_; + + odometry_.setWheelParams(ws, lwr, rwr); + + // COMPUTE AND PUBLISH ODOMETRY + if (open_loop_) + { + odometry_.updateOpenLoop(last0_cmd_.lin, last0_cmd_.ang, time); + } + else + { + double left_pos = 0.0; + double right_pos = 0.0; + for (size_t i = 0; i < wheel_joints_size_; ++i) + { + const double lp = left_wheel_joints_[i].getPosition(); + const double rp = right_wheel_joints_[i].getPosition(); + if (std::isnan(lp) || std::isnan(rp)) + return; + + left_pos += lp; + right_pos += rp; + } + left_pos /= wheel_joints_size_; + right_pos /= wheel_joints_size_; + + // Estimate linear and angular velocity using joint information + odometry_.update(left_pos, right_pos, time); + } + + // Publish odometry message + if (last_state_publish_time_ + publish_period_ < time) + { + last_state_publish_time_ += publish_period_; + // Compute and store orientation info + const geometry_msgs::Quaternion orientation( + tf::createQuaternionMsgFromYaw(odometry_.getHeading())); + + // Populate odom message and publish + if (odom_pub_->trylock()) + { + odom_pub_->msg_.header.stamp = time; + odom_pub_->msg_.pose.pose.position.x = odometry_.getX(); + odom_pub_->msg_.pose.pose.position.y = odometry_.getY(); + odom_pub_->msg_.pose.pose.orientation = orientation; + odom_pub_->msg_.twist.twist.linear.x = odometry_.getLinear(); + odom_pub_->msg_.twist.twist.angular.z = odometry_.getAngular(); + odom_pub_->unlockAndPublish(); + } + + // Publish tf /odom frame + if (enable_odom_tf_ && tf_odom_pub_->trylock()) + { + geometry_msgs::TransformStamped& odom_frame = tf_odom_pub_->msg_.transforms[0]; + odom_frame.header.stamp = time; + odom_frame.transform.translation.x = odometry_.getX(); + odom_frame.transform.translation.y = odometry_.getY(); + odom_frame.transform.rotation = orientation; + tf_odom_pub_->unlockAndPublish(); + } + } + + // MOVE ROBOT + // Retreive current velocity command and time step: + Commands curr_cmd = *(command_.readFromRT()); + const double dt = (time - curr_cmd.stamp).toSec(); + + // Brake if cmd_vel has timeout: + if (dt > cmd_vel_timeout_) + { + curr_cmd.lin = 0.0; + curr_cmd.ang = 0.0; + } + + // Limit velocities and accelerations: + const double cmd_dt(period.toSec()); + + limiter_lin_.limit(curr_cmd.lin, last0_cmd_.lin, last1_cmd_.lin, cmd_dt); + limiter_ang_.limit(curr_cmd.ang, last0_cmd_.ang, last1_cmd_.ang, cmd_dt); + + last1_cmd_ = last0_cmd_; + last0_cmd_ = curr_cmd; + + // Publish limited velocity: + if (publish_cmd_ && cmd_vel_pub_ && cmd_vel_pub_->trylock()) + { + cmd_vel_pub_->msg_.header.stamp = time; + cmd_vel_pub_->msg_.twist.linear.x = curr_cmd.lin; + cmd_vel_pub_->msg_.twist.angular.z = curr_cmd.ang; + cmd_vel_pub_->unlockAndPublish(); + } + + // Compute wheels velocities: + const double vel_left = (curr_cmd.lin - curr_cmd.ang * ws / 2.0)/lwr; + const double vel_right = (curr_cmd.lin + curr_cmd.ang * ws / 2.0)/rwr; + + // Set wheels velocities: + for (size_t i = 0; i < wheel_joints_size_; ++i) + { + left_wheel_joints_[i].setCommand(vel_left); + right_wheel_joints_[i].setCommand(vel_right); + } + + publishWheelData(time, period, curr_cmd, ws, lwr, rwr); + time_previous_ = time; + } + + void DiffDriveController::starting(const ros::Time& time) + { + brake(); + + // Register starting time used to keep fixed rate + last_state_publish_time_ = time; + time_previous_ = time; + + odometry_.init(time); + } + + void DiffDriveController::stopping(const ros::Time& /*time*/) + { + brake(); + } + + void DiffDriveController::brake() + { + const double vel = 0.0; + for (size_t i = 0; i < wheel_joints_size_; ++i) + { + left_wheel_joints_[i].setCommand(vel); + right_wheel_joints_[i].setCommand(vel); + } + } + + void DiffDriveController::cmdVelCallback(const geometry_msgs::Twist& command) + { + if (isRunning()) + { + // check that we don't have multiple publishers on the command topic + if (!allow_multiple_cmd_vel_publishers_ && sub_command_.getNumPublishers() > 1) + { + ROS_ERROR_STREAM_THROTTLE_NAMED(1.0, name_, "Detected " << sub_command_.getNumPublishers() + << " publishers. Only 1 publisher is allowed. Going to brake."); + brake(); + return; + } + + if(!std::isfinite(command.angular.z) || !std::isfinite(command.linear.x)) + { + ROS_WARN_THROTTLE(1.0, "Received NaN in velocity command. Ignoring."); + return; + } + + command_struct_.ang = command.angular.z; + command_struct_.lin = command.linear.x; + command_struct_.stamp = ros::Time::now(); + command_.writeFromNonRT (command_struct_); + ROS_DEBUG_STREAM_NAMED(name_, + "Added values to command. " + << "Ang: " << command_struct_.ang << ", " + << "Lin: " << command_struct_.lin << ", " + << "Stamp: " << command_struct_.stamp); + } + else + { + ROS_ERROR_NAMED(name_, "Can't accept new commands. Controller is not running."); + } + } + + bool DiffDriveController::getWheelNames(ros::NodeHandle& controller_nh, + const std::string& wheel_param, + std::vector& wheel_names) + { + XmlRpc::XmlRpcValue wheel_list; + if (!controller_nh.getParam(wheel_param, wheel_list)) + { + ROS_ERROR_STREAM_NAMED(name_, + "Couldn't retrieve wheel param '" << wheel_param << "'."); + return false; + } + + if (wheel_list.getType() == XmlRpc::XmlRpcValue::TypeArray) + { + if (wheel_list.size() == 0) + { + ROS_ERROR_STREAM_NAMED(name_, + "Wheel param '" << wheel_param << "' is an empty list"); + return false; + } + + for (int i = 0; i < wheel_list.size(); ++i) + { + if (wheel_list[i].getType() != XmlRpc::XmlRpcValue::TypeString) + { + ROS_ERROR_STREAM_NAMED(name_, + "Wheel param '" << wheel_param << "' #" << i << + " isn't a string."); + return false; + } + } + + wheel_names.resize(wheel_list.size()); + for (int i = 0; i < wheel_list.size(); ++i) + { + wheel_names[i] = static_cast(wheel_list[i]); + } + } + else if (wheel_list.getType() == XmlRpc::XmlRpcValue::TypeString) + { + wheel_names.push_back(wheel_list); + } + else + { + ROS_ERROR_STREAM_NAMED(name_, + "Wheel param '" << wheel_param << + "' is neither a list of strings nor a string."); + return false; + } + + return true; + } + + bool DiffDriveController::setOdomParamsFromUrdf(ros::NodeHandle& root_nh, + const std::string& left_wheel_name, + const std::string& right_wheel_name, + bool lookup_wheel_separation, + bool lookup_wheel_radius) + { + if (!(lookup_wheel_separation || lookup_wheel_radius)) + { + // Short-circuit in case we don't need to look up anything, so we don't have to parse the URDF + return true; + } + + // Parse robot description + const std::string model_param_name = "robot_description"; + bool res = root_nh.hasParam(model_param_name); + std::string robot_model_str=""; + if (!res || !root_nh.getParam(model_param_name,robot_model_str)) + { + ROS_ERROR_NAMED(name_, "Robot description couldn't be retrieved from param server."); + return false; + } + + urdf::ModelInterfaceSharedPtr model(urdf::parseURDF(robot_model_str)); + + urdf::JointConstSharedPtr left_wheel_joint(model->getJoint(left_wheel_name)); + urdf::JointConstSharedPtr right_wheel_joint(model->getJoint(right_wheel_name)); + + if (!left_wheel_joint) + { + ROS_ERROR_STREAM_NAMED(name_, left_wheel_name + << " couldn't be retrieved from model description"); + return false; + } + + if (!right_wheel_joint) + { + ROS_ERROR_STREAM_NAMED(name_, right_wheel_name + << " couldn't be retrieved from model description"); + return false; + } + + if (lookup_wheel_separation) + { + // Get wheel separation + ROS_INFO_STREAM("left wheel to origin: " << left_wheel_joint->parent_to_joint_origin_transform.position.x << "," + << left_wheel_joint->parent_to_joint_origin_transform.position.y << ", " + << left_wheel_joint->parent_to_joint_origin_transform.position.z); + ROS_INFO_STREAM("right wheel to origin: " << right_wheel_joint->parent_to_joint_origin_transform.position.x << "," + << right_wheel_joint->parent_to_joint_origin_transform.position.y << ", " + << right_wheel_joint->parent_to_joint_origin_transform.position.z); + + wheel_separation_ = euclideanOfVectors(left_wheel_joint->parent_to_joint_origin_transform.position, + right_wheel_joint->parent_to_joint_origin_transform.position); + + } + + if (lookup_wheel_radius) + { + // Get wheel radius + if (!getWheelRadius(model->getLink(left_wheel_joint->child_link_name), wheel_radius_)) + { + ROS_ERROR_STREAM_NAMED(name_, "Couldn't retrieve " << left_wheel_name << " wheel radius"); + return false; + } + } + + return true; + } + + void DiffDriveController::setOdomPubFields(ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh) + { + // Get and check params for covariances + XmlRpc::XmlRpcValue pose_cov_list; + controller_nh.getParam("pose_covariance_diagonal", pose_cov_list); + ROS_ASSERT(pose_cov_list.getType() == XmlRpc::XmlRpcValue::TypeArray); + ROS_ASSERT(pose_cov_list.size() == 6); + for (int i = 0; i < pose_cov_list.size(); ++i) + ROS_ASSERT(pose_cov_list[i].getType() == XmlRpc::XmlRpcValue::TypeDouble); + + XmlRpc::XmlRpcValue twist_cov_list; + controller_nh.getParam("twist_covariance_diagonal", twist_cov_list); + ROS_ASSERT(twist_cov_list.getType() == XmlRpc::XmlRpcValue::TypeArray); + ROS_ASSERT(twist_cov_list.size() == 6); + for (int i = 0; i < twist_cov_list.size(); ++i) + ROS_ASSERT(twist_cov_list[i].getType() == XmlRpc::XmlRpcValue::TypeDouble); + + // Setup odometry realtime publisher + odom message constant fields + odom_pub_.reset(new realtime_tools::RealtimePublisher(controller_nh, "odom", 100)); + odom_pub_->msg_.header.frame_id = odom_frame_id_; + odom_pub_->msg_.child_frame_id = base_frame_id_; + odom_pub_->msg_.pose.pose.position.z = 0; + odom_pub_->msg_.pose.covariance = { + static_cast(pose_cov_list[0]), 0., 0., 0., 0., 0., + 0., static_cast(pose_cov_list[1]), 0., 0., 0., 0., + 0., 0., static_cast(pose_cov_list[2]), 0., 0., 0., + 0., 0., 0., static_cast(pose_cov_list[3]), 0., 0., + 0., 0., 0., 0., static_cast(pose_cov_list[4]), 0., + 0., 0., 0., 0., 0., static_cast(pose_cov_list[5]) }; + odom_pub_->msg_.twist.twist.linear.y = 0; + odom_pub_->msg_.twist.twist.linear.z = 0; + odom_pub_->msg_.twist.twist.angular.x = 0; + odom_pub_->msg_.twist.twist.angular.y = 0; + odom_pub_->msg_.twist.covariance = { + static_cast(twist_cov_list[0]), 0., 0., 0., 0., 0., + 0., static_cast(twist_cov_list[1]), 0., 0., 0., 0., + 0., 0., static_cast(twist_cov_list[2]), 0., 0., 0., + 0., 0., 0., static_cast(twist_cov_list[3]), 0., 0., + 0., 0., 0., 0., static_cast(twist_cov_list[4]), 0., + 0., 0., 0., 0., 0., static_cast(twist_cov_list[5]) }; + tf_odom_pub_.reset(new realtime_tools::RealtimePublisher(root_nh, "/tf", 100)); + tf_odom_pub_->msg_.transforms.resize(1); + tf_odom_pub_->msg_.transforms[0].transform.translation.z = 0.0; + tf_odom_pub_->msg_.transforms[0].child_frame_id = base_frame_id_; + tf_odom_pub_->msg_.transforms[0].header.frame_id = odom_frame_id_; + } + + void DiffDriveController::reconfCallback(DiffDriveControllerConfig& config, uint32_t /*level*/) + { + DynamicParams dynamic_params; + dynamic_params.left_wheel_radius_multiplier = config.left_wheel_radius_multiplier; + dynamic_params.right_wheel_radius_multiplier = config.right_wheel_radius_multiplier; + dynamic_params.wheel_separation_multiplier = config.wheel_separation_multiplier; + + dynamic_params.publish_rate = config.publish_rate; + + dynamic_params.enable_odom_tf = config.enable_odom_tf; + + dynamic_params_.writeFromNonRT(dynamic_params); + + ROS_INFO_STREAM_NAMED(name_, "Dynamic Reconfigure:\n" << dynamic_params); + } + + void DiffDriveController::updateDynamicParams() + { + // Retreive dynamic params: + const DynamicParams dynamic_params = *(dynamic_params_.readFromRT()); + + left_wheel_radius_multiplier_ = dynamic_params.left_wheel_radius_multiplier; + right_wheel_radius_multiplier_ = dynamic_params.right_wheel_radius_multiplier; + wheel_separation_multiplier_ = dynamic_params.wheel_separation_multiplier; + + publish_period_ = ros::Duration(1.0 / dynamic_params.publish_rate); + enable_odom_tf_ = dynamic_params.enable_odom_tf; + } + + void DiffDriveController::publishWheelData(const ros::Time& time, const ros::Duration& period, Commands& curr_cmd, + double wheel_separation, double left_wheel_radius, double right_wheel_radius) + { + if (publish_wheel_joint_controller_state_ && controller_state_pub_->trylock()) + { + const double cmd_dt(period.toSec()); + + // Compute desired wheels velocities, that is before applying limits: + const double vel_left_desired = (curr_cmd.lin - curr_cmd.ang * wheel_separation / 2.0) / left_wheel_radius; + const double vel_right_desired = (curr_cmd.lin + curr_cmd.ang * wheel_separation / 2.0) / right_wheel_radius; + controller_state_pub_->msg_.header.stamp = time; + + for (size_t i = 0; i < wheel_joints_size_; ++i) + { + const double control_duration = (time - time_previous_).toSec(); + + const double left_wheel_acc = (left_wheel_joints_[i].getVelocity() - vel_left_previous_[i]) / control_duration; + const double right_wheel_acc = (right_wheel_joints_[i].getVelocity() - vel_right_previous_[i]) / control_duration; + + // Actual + controller_state_pub_->msg_.actual.positions[i] = left_wheel_joints_[i].getPosition(); + controller_state_pub_->msg_.actual.velocities[i] = left_wheel_joints_[i].getVelocity(); + controller_state_pub_->msg_.actual.accelerations[i] = left_wheel_acc; + controller_state_pub_->msg_.actual.effort[i] = left_wheel_joints_[i].getEffort(); + + controller_state_pub_->msg_.actual.positions[i + wheel_joints_size_] = right_wheel_joints_[i].getPosition(); + controller_state_pub_->msg_.actual.velocities[i + wheel_joints_size_] = right_wheel_joints_[i].getVelocity(); + controller_state_pub_->msg_.actual.accelerations[i + wheel_joints_size_] = right_wheel_acc; + controller_state_pub_->msg_.actual.effort[i+ wheel_joints_size_] = right_wheel_joints_[i].getEffort(); + + // Desired + controller_state_pub_->msg_.desired.positions[i] += vel_left_desired * cmd_dt; + controller_state_pub_->msg_.desired.velocities[i] = vel_left_desired; + controller_state_pub_->msg_.desired.accelerations[i] = (vel_left_desired - vel_left_desired_previous_) * cmd_dt; + controller_state_pub_->msg_.desired.effort[i] = std::numeric_limits::quiet_NaN(); + + controller_state_pub_->msg_.desired.positions[i + wheel_joints_size_] += vel_right_desired * cmd_dt; + controller_state_pub_->msg_.desired.velocities[i + wheel_joints_size_] = vel_right_desired; + controller_state_pub_->msg_.desired.accelerations[i + wheel_joints_size_] = (vel_right_desired - vel_right_desired_previous_) * cmd_dt; + controller_state_pub_->msg_.desired.effort[i+ wheel_joints_size_] = std::numeric_limits::quiet_NaN(); + + // Error + controller_state_pub_->msg_.error.positions[i] = controller_state_pub_->msg_.desired.positions[i] - + controller_state_pub_->msg_.actual.positions[i]; + controller_state_pub_->msg_.error.velocities[i] = controller_state_pub_->msg_.desired.velocities[i] - + controller_state_pub_->msg_.actual.velocities[i]; + controller_state_pub_->msg_.error.accelerations[i] = controller_state_pub_->msg_.desired.accelerations[i] - + controller_state_pub_->msg_.actual.accelerations[i]; + controller_state_pub_->msg_.error.effort[i] = controller_state_pub_->msg_.desired.effort[i] - + controller_state_pub_->msg_.actual.effort[i]; + + controller_state_pub_->msg_.error.positions[i + wheel_joints_size_] = controller_state_pub_->msg_.desired.positions[i + wheel_joints_size_] - + controller_state_pub_->msg_.actual.positions[i + wheel_joints_size_]; + controller_state_pub_->msg_.error.velocities[i + wheel_joints_size_] = controller_state_pub_->msg_.desired.velocities[i + wheel_joints_size_] - + controller_state_pub_->msg_.actual.velocities[i + wheel_joints_size_]; + controller_state_pub_->msg_.error.accelerations[i + wheel_joints_size_] = controller_state_pub_->msg_.desired.accelerations[i + wheel_joints_size_] - + controller_state_pub_->msg_.actual.accelerations[i + wheel_joints_size_]; + controller_state_pub_->msg_.error.effort[i+ wheel_joints_size_] = controller_state_pub_->msg_.desired.effort[i + wheel_joints_size_] - + controller_state_pub_->msg_.actual.effort[i + wheel_joints_size_]; + + // Save previous velocities to compute acceleration + vel_left_previous_[i] = left_wheel_joints_[i].getVelocity(); + vel_right_previous_[i] = right_wheel_joints_[i].getVelocity(); + vel_left_desired_previous_ = vel_left_desired; + vel_right_desired_previous_ = vel_right_desired; + } + + controller_state_pub_->unlockAndPublish(); + } + } + +} // namespace diff_drive_controller + +PLUGINLIB_EXPORT_CLASS(diff_drive_controller::DiffDriveController, controller_interface::ControllerBase); diff --git a/mir_robot/diff_drive_controller/src/odometry.cpp b/mir_robot/diff_drive_controller/src/odometry.cpp new file mode 100755 index 0000000..fafbb74 --- /dev/null +++ b/mir_robot/diff_drive_controller/src/odometry.cpp @@ -0,0 +1,174 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, PAL Robotics, S.L. + * 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 PAL Robotics 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: Luca Marchionni + * Author: Bence Magyar + * Author: Enrique Fernández + * Author: Paul Mathieu + */ + +#include + +namespace diff_drive_controller +{ + namespace bacc = boost::accumulators; + + Odometry::Odometry(size_t velocity_rolling_window_size) + : timestamp_(0.0) + , x_(0.0) + , y_(0.0) + , heading_(0.0) + , linear_(0.0) + , angular_(0.0) + , wheel_separation_(0.0) + , left_wheel_radius_(0.0) + , right_wheel_radius_(0.0) + , left_wheel_old_pos_(0.0) + , right_wheel_old_pos_(0.0) + , velocity_rolling_window_size_(velocity_rolling_window_size) + , linear_acc_(RollingWindow::window_size = velocity_rolling_window_size) + , angular_acc_(RollingWindow::window_size = velocity_rolling_window_size) + , integrate_fun_(std::bind(&Odometry::integrateExact, this, std::placeholders::_1, std::placeholders::_2)) + { + } + + void Odometry::init(const ros::Time& time) + { + // Reset accumulators and timestamp: + resetAccumulators(); + timestamp_ = time; + } + + bool Odometry::update(double left_pos, double right_pos, const ros::Time &time) + { + /// Get current wheel joint positions: + const double left_wheel_cur_pos = left_pos * left_wheel_radius_; + const double right_wheel_cur_pos = right_pos * right_wheel_radius_; + + /// Estimate velocity of wheels using old and current position: + const double left_wheel_est_vel = left_wheel_cur_pos - left_wheel_old_pos_; + const double right_wheel_est_vel = right_wheel_cur_pos - right_wheel_old_pos_; + + /// Update old position with current: + left_wheel_old_pos_ = left_wheel_cur_pos; + right_wheel_old_pos_ = right_wheel_cur_pos; + + /// Compute linear and angular diff: + const double linear = (right_wheel_est_vel + left_wheel_est_vel) * 0.5 ; + const double angular = (right_wheel_est_vel - left_wheel_est_vel) / wheel_separation_; + + /// Integrate odometry: + integrate_fun_(linear, angular); + + /// We cannot estimate the speed with very small time intervals: + const double dt = (time - timestamp_).toSec(); + if (dt < 0.0001) + return false; // Interval too small to integrate with + + timestamp_ = time; + + /// Estimate speeds using a rolling mean to filter them out: + linear_acc_(linear/dt); + angular_acc_(angular/dt); + + linear_ = bacc::rolling_mean(linear_acc_); + angular_ = bacc::rolling_mean(angular_acc_); + + return true; + } + + void Odometry::updateOpenLoop(double linear, double angular, const ros::Time &time) + { + /// Save last linear and angular velocity: + linear_ = linear; + angular_ = angular; + + /// Integrate odometry: + const double dt = (time - timestamp_).toSec(); + timestamp_ = time; + integrate_fun_(linear * dt, angular * dt); + } + + void Odometry::setWheelParams(double wheel_separation, double left_wheel_radius, double right_wheel_radius) + { + wheel_separation_ = wheel_separation; + left_wheel_radius_ = left_wheel_radius; + right_wheel_radius_ = right_wheel_radius; + } + + void Odometry::setVelocityRollingWindowSize(size_t velocity_rolling_window_size) + { + velocity_rolling_window_size_ = velocity_rolling_window_size; + + resetAccumulators(); + } + + void Odometry::integrateRungeKutta2(double linear, double angular) + { + const double direction = heading_ + angular * 0.5; + + /// Runge-Kutta 2nd order integration: + x_ += linear * cos(direction); + y_ += linear * sin(direction); + heading_ += angular; + } + + /** + * \brief Other possible integration method provided by the class + * \param linear + * \param angular + */ + void Odometry::integrateExact(double linear, double angular) + { + if (fabs(angular) < 1e-6) + integrateRungeKutta2(linear, angular); + else + { + /// Exact integration (should solve problems when angular is zero): + const double heading_old = heading_; + const double r = linear/angular; + heading_ += angular; + x_ += r * (sin(heading_) - sin(heading_old)); + y_ += -r * (cos(heading_) - cos(heading_old)); + } + } + + void Odometry::resetAccumulators() + { + linear_acc_ = RollingMeanAcc(RollingWindow::window_size = velocity_rolling_window_size_); + angular_acc_ = RollingMeanAcc(RollingWindow::window_size = velocity_rolling_window_size_); + } + +} // namespace diff_drive_controller diff --git a/mir_robot/diff_drive_controller/src/speed_limiter.cpp b/mir_robot/diff_drive_controller/src/speed_limiter.cpp new file mode 100755 index 0000000..630ec82 --- /dev/null +++ b/mir_robot/diff_drive_controller/src/speed_limiter.cpp @@ -0,0 +1,137 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, PAL Robotics, S.L. + * 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 PAL Robotics 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: Enrique Fernández + */ + +#include + +#include + +template +T clamp(T x, T min, T max) +{ + return std::min(std::max(min, x), max); +} + +namespace diff_drive_controller +{ + + SpeedLimiter::SpeedLimiter( + bool has_velocity_limits, + bool has_acceleration_limits, + bool has_jerk_limits, + double min_velocity, + double max_velocity, + double min_acceleration, + double max_acceleration, + double min_jerk, + double max_jerk + ) + : has_velocity_limits(has_velocity_limits) + , has_acceleration_limits(has_acceleration_limits) + , has_jerk_limits(has_jerk_limits) + , min_velocity(min_velocity) + , max_velocity(max_velocity) + , min_acceleration(min_acceleration) + , max_acceleration(max_acceleration) + , min_jerk(min_jerk) + , max_jerk(max_jerk) + { + } + + double SpeedLimiter::limit(double& v, double v0, double v1, double dt) + { + const double tmp = v; + + limit_jerk(v, v0, v1, dt); + limit_acceleration(v, v0, dt); + limit_velocity(v); + + return tmp != 0.0 ? v / tmp : 1.0; + } + + double SpeedLimiter::limit_velocity(double& v) + { + const double tmp = v; + + if (has_velocity_limits) + { + v = clamp(v, min_velocity, max_velocity); + } + + return tmp != 0.0 ? v / tmp : 1.0; + } + + double SpeedLimiter::limit_acceleration(double& v, double v0, double dt) + { + const double tmp = v; + + if (has_acceleration_limits) + { + const double dv_min = min_acceleration * dt; + const double dv_max = max_acceleration * dt; + + const double dv = clamp(v - v0, dv_min, dv_max); + + v = v0 + dv; + } + + return tmp != 0.0 ? v / tmp : 1.0; + } + + double SpeedLimiter::limit_jerk(double& v, double v0, double v1, double dt) + { + const double tmp = v; + + if (has_jerk_limits) + { + const double dv = v - v0; + const double dv0 = v0 - v1; + + const double dt2 = 2. * dt * dt; + + const double da_min = min_jerk * dt2; + const double da_max = max_jerk * dt2; + + const double da = clamp(dv - dv0, da_min, da_max); + + v = v0 + dv0 + da; + } + + return tmp != 0.0 ? v / tmp : 1.0; + } + +} // namespace diff_drive_controller diff --git a/mir_robot/diff_drive_controller/test/diff_drive_bad_urdf.test b/mir_robot/diff_drive_controller/test/diff_drive_bad_urdf.test new file mode 100755 index 0000000..a5f44f2 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_bad_urdf.test @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_common.launch b/mir_robot/diff_drive_controller/test/diff_drive_common.launch new file mode 100755 index 0000000..94bbabc --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_common.launch @@ -0,0 +1,35 @@ + + + + True + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_controller.test b/mir_robot/diff_drive_controller/test/diff_drive_controller.test new file mode 100755 index 0000000..3542517 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_controller.test @@ -0,0 +1,14 @@ + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_controller_limits.test b/mir_robot/diff_drive_controller/test/diff_drive_controller_limits.test new file mode 100755 index 0000000..949ad82 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_controller_limits.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_controller_nan.test b/mir_robot/diff_drive_controller/test/diff_drive_controller_nan.test new file mode 100755 index 0000000..fb6f9dd --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_controller_nan.test @@ -0,0 +1,20 @@ + + + + + + + diffbot_controller: + publish_cmd: True + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_default_cmd_vel_out.test b/mir_robot/diff_drive_controller/test/diff_drive_default_cmd_vel_out.test new file mode 100755 index 0000000..0f9c5ef --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_default_cmd_vel_out.test @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_default_cmd_vel_out_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_default_cmd_vel_out_test.cpp new file mode 100755 index 0000000..907187b --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_default_cmd_vel_out_test.cpp @@ -0,0 +1,69 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2017, PAL Robotics. +// +// 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 PAL Robotics, Inc. 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 Jeremie Deray + +#include "test_common.h" + +// TEST CASES +TEST_F(DiffDriveControllerTest, testDefaultCmdVelOutTopic) +{ + // wait for ROS + waitForController(); + // msgs are published in the same loop + // thus if odom is published cmd_vel_out + // should be as well (if enabled) + waitForOdomMsgs(); + + EXPECT_FALSE(isPublishingCmdVelOut()); + + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(0.1).sleep(); + + cmd_vel.linear.x = 0.1; + publish(cmd_vel); + ros::Duration(0.1).sleep(); + + EXPECT_FALSE(isPublishingCmdVelOut()); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_default_cmd_vel_out_topic_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_default_odom_frame.test b/mir_robot/diff_drive_controller/test/diff_drive_default_odom_frame.test new file mode 100755 index 0000000..e6c1738 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_default_odom_frame.test @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_default_odom_frame_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_default_odom_frame_test.cpp new file mode 100755 index 0000000..c06fcc0 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_default_odom_frame_test.cpp @@ -0,0 +1,69 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2015, Locus Robotics Corp. +// +// 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 PAL Robotics, Inc. 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 Eric Tappan + +#include "test_common.h" +#include + +// TEST CASES +TEST_F(DiffDriveControllerTest, testOdomFrame) +{ + // wait for ROS + waitForController(); + + // set up tf listener + tf::TransformListener listener; + ros::Duration(2.0).sleep(); + // check the original odom frame doesn't exist + EXPECT_TRUE(listener.frameExists("odom")); +} + +TEST_F(DiffDriveControllerTest, testOdomTopic) +{ + // wait for ROS + waitForController(); + waitForOdomMsgs(); + + // get an odom message + nav_msgs::Odometry odom_msg = getLastOdom(); + // check its frame_id + ASSERT_STREQ(odom_msg.header.frame_id.c_str(), "odom"); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_default_odom_frame_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_default_wheel_joint_controller_state.test b/mir_robot/diff_drive_controller/test/diff_drive_default_wheel_joint_controller_state.test new file mode 100755 index 0000000..4b17188 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_default_wheel_joint_controller_state.test @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_default_wheel_joint_controller_state_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_default_wheel_joint_controller_state_test.cpp new file mode 100755 index 0000000..cb29465 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_default_wheel_joint_controller_state_test.cpp @@ -0,0 +1,65 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2018, PAL Robotics. +// +// 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 PAL Robotics, Inc. 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 Jeremie Deray + +#include "test_common.h" + +// TEST CASES +TEST_F(DiffDriveControllerTest, testDefaultJointTrajectoryControllerStateTopic) +{ + // wait for ROS + waitForController(); + + EXPECT_FALSE(isPublishingJointTrajectoryControllerState()); + + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(0.1).sleep(); + + cmd_vel.linear.x = 0.1; + publish(cmd_vel); + ros::Duration(0.1).sleep(); + + EXPECT_FALSE(isPublishingJointTrajectoryControllerState()); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_default_wheel_joint_controller_state_topic_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_dyn_reconf.test b/mir_robot/diff_drive_controller/test/diff_drive_dyn_reconf.test new file mode 100755 index 0000000..bb670ed --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_dyn_reconf.test @@ -0,0 +1,20 @@ + + + + + + + + diffbot_controller: + enable_odom_tf: False + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_dyn_reconf_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_dyn_reconf_test.cpp new file mode 100755 index 0000000..94842cd --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_dyn_reconf_test.cpp @@ -0,0 +1,176 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2018, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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 Jeremie Deray + +#include "test_common.h" +#include + +#include + +// TEST CASES +TEST_F(DiffDriveControllerTest, testDynReconfServerAlive) +{ + // wait for ROS + waitForController(); + + // Expect server is alive + EXPECT_TRUE(ros::service::exists("diffbot_controller/set_parameters", true)); + + dynamic_reconfigure::ReconfigureRequest srv_req; + dynamic_reconfigure::ReconfigureResponse srv_resp; + + // Expect server is callable (get-fashion) + EXPECT_TRUE(ros::service::call("diffbot_controller/set_parameters", srv_req, srv_resp)); + + EXPECT_EQ(1, srv_resp.config.bools.size()); + + if (!srv_resp.config.bools.empty()) + { + EXPECT_EQ("enable_odom_tf", srv_resp.config.bools[0].name); + // expect false since it is set to false in the .test + EXPECT_EQ(false, srv_resp.config.bools[0].value); + } + + EXPECT_EQ(4, srv_resp.config.doubles.size()); + + if (srv_resp.config.doubles.size() >= 4) + { + EXPECT_EQ("left_wheel_radius_multiplier", srv_resp.config.doubles[0].name); + EXPECT_EQ(1, srv_resp.config.doubles[0].value); + + EXPECT_EQ("right_wheel_radius_multiplier", srv_resp.config.doubles[1].name); + EXPECT_EQ(1, srv_resp.config.doubles[1].value); + + EXPECT_EQ("wheel_separation_multiplier", srv_resp.config.doubles[2].name); + EXPECT_EQ(1, srv_resp.config.doubles[2].value); + + EXPECT_EQ("publish_rate", srv_resp.config.doubles[3].name); + EXPECT_EQ(50, srv_resp.config.doubles[3].value); + } + + dynamic_reconfigure::DoubleParameter double_param; + double_param.name = "left_wheel_radius_multiplier"; + double_param.value = 0.95; + + srv_req.config.doubles.push_back(double_param); + + double_param.name = "right_wheel_radius_multiplier"; + double_param.value = 0.95; + + srv_req.config.doubles.push_back(double_param); + + double_param.name = "wheel_separation_multiplier"; + double_param.value = 0.95; + + srv_req.config.doubles.push_back(double_param); + + double_param.name = "publish_rate"; + double_param.value = 150; + + srv_req.config.doubles.push_back(double_param); + + dynamic_reconfigure::BoolParameter bool_param; + bool_param.name = "enable_odom_tf"; + bool_param.value = false; + + srv_req.config.bools.push_back(bool_param); + + // Expect server is callable (set-fashion) + EXPECT_TRUE(ros::service::call("diffbot_controller/set_parameters", srv_req, srv_resp)); + + EXPECT_EQ(1, srv_resp.config.bools.size()); + + if (!srv_resp.config.bools.empty()) + { + EXPECT_EQ("enable_odom_tf", srv_resp.config.bools[0].name); + EXPECT_EQ(false, srv_resp.config.bools[0].value); + } + + EXPECT_EQ(4, srv_resp.config.doubles.size()); + + if (srv_resp.config.doubles.size() >= 4) + { + EXPECT_EQ("left_wheel_radius_multiplier", srv_resp.config.doubles[0].name); + EXPECT_EQ(0.95, srv_resp.config.doubles[0].value); + + EXPECT_EQ("right_wheel_radius_multiplier", srv_resp.config.doubles[1].name); + EXPECT_EQ(0.95, srv_resp.config.doubles[1].value); + + EXPECT_EQ("wheel_separation_multiplier", srv_resp.config.doubles[2].name); + EXPECT_EQ(0.95, srv_resp.config.doubles[2].value); + + EXPECT_EQ("publish_rate", srv_resp.config.doubles[3].name); + EXPECT_EQ(150, srv_resp.config.doubles[3].value); + } +} + +// TEST CASES +TEST_F(DiffDriveControllerTest, testDynReconfEnableTf) +{ + // wait for ROS + while(!isControllerAlive() && ros::ok()) + { + ros::Duration(0.1).sleep(); + } + if (!ros::ok()) + FAIL() << "Something went wrong while executing test"; + + // set up tf listener + tf::TransformListener listener; + ros::Duration(2.0).sleep(); + // check the odom frame doesn't exist + EXPECT_FALSE(listener.frameExists("odom")); + + dynamic_reconfigure::ReconfigureRequest srv_req; + dynamic_reconfigure::ReconfigureResponse srv_resp; + + dynamic_reconfigure::BoolParameter bool_param; + bool_param.name = "enable_odom_tf"; + bool_param.value = true; + + srv_req.config.bools.push_back(bool_param); + + EXPECT_TRUE(ros::service::call("diffbot_controller/set_parameters", srv_req, srv_resp)); + + ros::Duration(2.0).sleep(); + // check the odom frame doesn't exist + EXPECT_TRUE(listener.frameExists("odom")); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_dyn_reconf_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_fail_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_fail_test.cpp new file mode 100755 index 0000000..bb1ee6c --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_fail_test.cpp @@ -0,0 +1,60 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2013, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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 Paul Mathieu + +#include "test_common.h" + +// TEST CASES +TEST_F(DiffDriveControllerTest, testWrongJointName) +{ + // the controller should never be alive + int secs = 0; + while(!isControllerAlive() && ros::ok() && secs < 5) + { + ros::Duration(1.0).sleep(); + secs++; + } + if (!ros::ok()) + FAIL() << "Something went wrong while executing test."; + + // give up and assume controller load failure after 5 seconds + EXPECT_GE(secs, 5); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_fail_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_get_wheel_radius_fail.test b/mir_robot/diff_drive_controller/test/diff_drive_get_wheel_radius_fail.test new file mode 100755 index 0000000..fae7a83 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_get_wheel_radius_fail.test @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_left_right_multipliers.test b/mir_robot/diff_drive_controller/test/diff_drive_left_right_multipliers.test new file mode 100755 index 0000000..f1432fb --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_left_right_multipliers.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_limits_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_limits_test.cpp new file mode 100755 index 0000000..5215075 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_limits_test.cpp @@ -0,0 +1,231 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2013, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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 Paul Mathieu + +#include "test_common.h" + +// TEST CASES +TEST_F(DiffDriveControllerTest, testLinearJerkLimits) +{ + // wait for ROS + waitForController(); + + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(2.0).sleep(); + // get initial odom + nav_msgs::Odometry old_odom = getLastOdom(); + // send a big command + cmd_vel.linear.x = 10.0; + publish(cmd_vel); + // wait for a while + ros::Duration(0.5).sleep(); + + nav_msgs::Odometry new_odom = getLastOdom(); + + // check if the robot speed is now 0.37m.s-1 + EXPECT_NEAR(new_odom.twist.twist.linear.x, 0.37, JERK_LINEAR_VELOCITY_TOLERANCE); + EXPECT_LT(fabs(new_odom.twist.twist.angular.z - old_odom.twist.twist.angular.z), EPS); + + cmd_vel.linear.x = 0.0; + publish(cmd_vel); +} + +TEST_F(DiffDriveControllerTest, testLinearAccelerationLimits) +{ + // wait for ROS + while(!isControllerAlive()) + { + ros::Duration(0.1).sleep(); + } + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(2.0).sleep(); + // get initial odom + nav_msgs::Odometry old_odom = getLastOdom(); + // send a big command + cmd_vel.linear.x = 10.0; + publish(cmd_vel); + // wait for a while + ros::Duration(0.5).sleep(); + + nav_msgs::Odometry new_odom = getLastOdom(); + + // check if the robot speed is now 0.5 m.s-1, which is 1.0m.s-2 * 0.5s + EXPECT_LT(fabs(new_odom.twist.twist.linear.x - old_odom.twist.twist.linear.x), 0.5 + VELOCITY_TOLERANCE); + EXPECT_LT(fabs(new_odom.twist.twist.angular.z - old_odom.twist.twist.angular.z), EPS); + + cmd_vel.linear.x = 0.0; + publish(cmd_vel); +} + +TEST_F(DiffDriveControllerTest, testLinearVelocityLimits) +{ + // wait for ROS + while(!isControllerAlive()) + { + ros::Duration(0.1).sleep(); + } + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(2.0).sleep(); + // get initial odom + nav_msgs::Odometry old_odom = getLastOdom(); + // send a big command + cmd_vel.linear.x = 10.0; + publish(cmd_vel); + // wait for a while + ros::Duration(5.0).sleep(); + + nav_msgs::Odometry new_odom = getLastOdom(); + + // check if the robot speed is now 1.0 m.s-1, the limit + EXPECT_LT(fabs(new_odom.twist.twist.linear.x - old_odom.twist.twist.linear.x), 1.0 + VELOCITY_TOLERANCE); + EXPECT_LT(fabs(new_odom.twist.twist.angular.z - old_odom.twist.twist.angular.z), EPS); + + cmd_vel.linear.x = 0.0; + publish(cmd_vel); +} + +/* This test has been failing on Travis for a long time due to timing issues however it works well when ran manually +TEST_F(DiffDriveControllerTest, testAngularJerkLimits) +{ + // wait for ROS + while(!isControllerAlive()) + { + ros::Duration(0.1).sleep(); + } + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(2.0).sleep(); + // get initial odom + nav_msgs::Odometry old_odom = getLastOdom(); + // send a big command + cmd_vel.angular.z = 10.0; + publish(cmd_vel); + // wait for a while + ros::Duration(0.5).sleep(); + + nav_msgs::Odometry new_odom = getLastOdom(); + + // check if the robot speed is now 0.7rad.s-1 + EXPECT_NEAR(new_odom.twist.twist.angular.z, 0.7, JERK_ANGULAR_VELOCITY_TOLERANCE); + EXPECT_LT(fabs(new_odom.twist.twist.linear.x - old_odom.twist.twist.linear.x), EPS); + + cmd_vel.angular.z = 0.0; + publish(cmd_vel); +} +*/ + +TEST_F(DiffDriveControllerTest, testAngularAccelerationLimits) +{ + // wait for ROS + while(!isControllerAlive()) + { + ros::Duration(0.1).sleep(); + } + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(2.0).sleep(); + // get initial odom + nav_msgs::Odometry old_odom = getLastOdom(); + // send a big command + cmd_vel.angular.z = 10.0; + publish(cmd_vel); + // wait for a while + ros::Duration(0.5).sleep(); + + nav_msgs::Odometry new_odom = getLastOdom(); + + // check if the robot speed is now 1.0rad.s-1, which is 2.0rad.s-2 * 0.5s + EXPECT_LT(fabs(new_odom.twist.twist.angular.z - old_odom.twist.twist.angular.z), 1.0 + VELOCITY_TOLERANCE); + EXPECT_LT(fabs(new_odom.twist.twist.linear.x - old_odom.twist.twist.linear.x), EPS); + + cmd_vel.angular.z = 0.0; + publish(cmd_vel); +} + +TEST_F(DiffDriveControllerTest, testAngularVelocityLimits) +{ + // wait for ROS + while(!isControllerAlive()) + { + ros::Duration(0.1).sleep(); + } + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(2.0).sleep(); + // get initial odom + nav_msgs::Odometry old_odom = getLastOdom(); + // send a big command + cmd_vel.angular.z = 10.0; + publish(cmd_vel); + // wait for a while + ros::Duration(5.0).sleep(); + + nav_msgs::Odometry new_odom = getLastOdom(); + + // check if the robot speed is now 2.0rad.s-1, the limit + EXPECT_LT(fabs(new_odom.twist.twist.angular.z - old_odom.twist.twist.angular.z), 2.0 + VELOCITY_TOLERANCE); + EXPECT_LT(fabs(new_odom.twist.twist.linear.x - old_odom.twist.twist.linear.x), EPS); + + cmd_vel.angular.z = 0.0; + publish(cmd_vel); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_limits_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + //ros::Duration(0.5).sleep(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_multiple_cmd_vel_publishers.test b/mir_robot/diff_drive_controller/test/diff_drive_multiple_cmd_vel_publishers.test new file mode 100755 index 0000000..6681cce --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_multiple_cmd_vel_publishers.test @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_multiple_cmd_vel_publishers_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_multiple_cmd_vel_publishers_test.cpp new file mode 100755 index 0000000..929abd1 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_multiple_cmd_vel_publishers_test.cpp @@ -0,0 +1,72 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2014, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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 Bence Magyar + +#include "test_common.h" + +// TEST CASES +TEST_F(DiffDriveControllerTest, breakWithMultiplePublishers) +{ + // wait for ROS + waitForController(); + waitForOdomMsgs(); + + nav_msgs::Odometry old_odom = getLastOdom(); + //TODO: we should be programatically publish from 2 different nodes + // not the current hacky solution with the launch files + ros::Duration(1.0).sleep(); + nav_msgs::Odometry new_odom = getLastOdom(); + + const double dx = new_odom.pose.pose.position.x - old_odom.pose.pose.position.x; + const double dy = new_odom.pose.pose.position.y - old_odom.pose.pose.position.y; + const double dz = new_odom.pose.pose.position.z - old_odom.pose.pose.position.z; + EXPECT_NEAR(sqrt(dx*dx + dy*dy), 0.0, POSITION_TOLERANCE); + EXPECT_LT(fabs(dz), EPS); + + // convert to rpy and test that way + double roll_old, pitch_old, yaw_old; + double roll_new, pitch_new, yaw_new; + tf::Matrix3x3(tfQuatFromGeomQuat(old_odom.pose.pose.orientation)).getRPY(roll_old, pitch_old, yaw_old); + tf::Matrix3x3(tfQuatFromGeomQuat(new_odom.pose.pose.orientation)).getRPY(roll_new, pitch_new, yaw_new); + EXPECT_LT(fabs(roll_new - roll_old), EPS); + EXPECT_LT(fabs(pitch_new - pitch_old), EPS); + EXPECT_LT(fabs(yaw_new - yaw_old), EPS); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_multiple_publishers_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_multipliers.test b/mir_robot/diff_drive_controller/test/diff_drive_multipliers.test new file mode 100755 index 0000000..e6d9f9e --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_multipliers.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_nan_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_nan_test.cpp new file mode 100755 index 0000000..769b42d --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_nan_test.cpp @@ -0,0 +1,131 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2014, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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 Enrique Fernandez + +#include "test_common.h" + +// NaN +#include + +// TEST CASES +TEST_F(DiffDriveControllerTest, testNaN) { + // wait for ROS + waitForController(); + + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(2.0).sleep(); + + // send a command + cmd_vel.linear.x = 0.1; + ros::Duration(2.0).sleep(); + + // stop robot (will generate NaN) + stop(); + ros::Duration(2.0).sleep(); + + nav_msgs::Odometry odom = getLastOdom(); + + EXPECT_FALSE(std::isnan(odom.twist.twist.linear.x)); + EXPECT_FALSE(std::isnan(odom.twist.twist.angular.z)); + EXPECT_FALSE(std::isnan(odom.pose.pose.position.x)); + EXPECT_FALSE(std::isnan(odom.pose.pose.position.y)); + EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.z)); + EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.w)); + + // start robot + start(); + ros::Duration(2.0).sleep(); + + odom = getLastOdom(); + + EXPECT_FALSE(std::isnan(odom.twist.twist.linear.x)); + EXPECT_FALSE(std::isnan(odom.twist.twist.angular.z)); + EXPECT_FALSE(std::isnan(odom.pose.pose.position.x)); + EXPECT_FALSE(std::isnan(odom.pose.pose.position.y)); + EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.z)); + EXPECT_FALSE(std::isnan(odom.pose.pose.orientation.w)); +} + +TEST_F(DiffDriveControllerTest, testNaNCmd) { + // wait for ROS + while (!isControllerAlive()) { + ros::Duration(0.1).sleep(); + } + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(0.1).sleep(); + + // send NaN + for (int i = 0; i < 10; ++i) { + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = NAN; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut(); + EXPECT_FALSE(std::isnan(odom_msg.twist.linear.x)); + EXPECT_FALSE(std::isnan(odom_msg.twist.angular.z)); + ros::Duration(0.1).sleep(); + } + for (int i = 0; i < 10; ++i) { + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = NAN; + publish(cmd_vel); + geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut(); + EXPECT_FALSE(std::isnan(odom_msg.twist.linear.x)); + EXPECT_FALSE(std::isnan(odom_msg.twist.angular.z)); + ros::Duration(0.1).sleep(); + } + + nav_msgs::Odometry odom = getLastOdom(); + EXPECT_DOUBLE_EQ(odom.twist.twist.linear.x, 0.0); + EXPECT_DOUBLE_EQ(odom.pose.pose.position.x, 0.0); + EXPECT_DOUBLE_EQ(odom.pose.pose.position.y, 0.0); + + geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut(); + EXPECT_DOUBLE_EQ(odom_msg.twist.linear.x, 0.0); +} + +int main(int argc, char **argv) { + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_nan_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_odom_frame.test b/mir_robot/diff_drive_controller/test/diff_drive_odom_frame.test new file mode 100755 index 0000000..7ac4072 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_odom_frame.test @@ -0,0 +1,20 @@ + + + + + + + + diffbot_controller: + odom_frame_id: new_odom + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_odom_frame_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_odom_frame_test.cpp new file mode 100755 index 0000000..ea86e40 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_odom_frame_test.cpp @@ -0,0 +1,83 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2015, Locus Robotics Corp. +// +// 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 PAL Robotics, Inc. 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 Eric Tappan + +#include "test_common.h" +#include + +// TEST CASES +TEST_F(DiffDriveControllerTest, testNoOdomFrame) +{ + // wait for ROS + waitForController(); + + // set up tf listener + tf::TransformListener listener; + ros::Duration(2.0).sleep(); + // check the original odom frame doesn't exist + EXPECT_FALSE(listener.frameExists("odom")); +} + +TEST_F(DiffDriveControllerTest, testNewOdomFrame) +{ + // wait for ROS + waitForController(); + + // set up tf listener + tf::TransformListener listener; + ros::Duration(2.0).sleep(); + // check the new_odom frame does exist + EXPECT_TRUE(listener.frameExists("new_odom")); +} + +TEST_F(DiffDriveControllerTest, testOdomTopic) +{ + // wait for ROS + waitForController(); + + // wait until we received first odom msg + waitForOdomMsgs(); + + // get an odom message + nav_msgs::Odometry odom_msg = getLastOdom(); + // check its frame_id + ASSERT_STREQ(odom_msg.header.frame_id.c_str(), "new_odom"); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_odom_frame_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_odom_tf.test b/mir_robot/diff_drive_controller/test/diff_drive_odom_tf.test new file mode 100755 index 0000000..117a630 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_odom_tf.test @@ -0,0 +1,20 @@ + + + + + + + + diffbot_controller: + enable_odom_tf: False + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_odom_tf_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_odom_tf_test.cpp new file mode 100755 index 0000000..fef3096 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_odom_tf_test.cpp @@ -0,0 +1,57 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2014, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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 Bence Magyar + +#include "test_common.h" +#include + +// TEST CASES +TEST_F(DiffDriveControllerTest, testNoOdomFrame) +{ + // wait for ROS + waitForController(); + + // set up tf listener + tf::TransformListener listener; + ros::Duration(2.0).sleep(); + // check the odom frame doesn't exist + EXPECT_FALSE(listener.frameExists("odom")); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_odom_tf_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_open_loop.test b/mir_robot/diff_drive_controller/test/diff_drive_open_loop.test new file mode 100755 index 0000000..c6484b3 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_open_loop.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_pub_cmd_vel_out.test b/mir_robot/diff_drive_controller/test/diff_drive_pub_cmd_vel_out.test new file mode 100755 index 0000000..3734c37 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_pub_cmd_vel_out.test @@ -0,0 +1,20 @@ + + + + + + + diffbot_controller: + publish_cmd: True + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_pub_cmd_vel_out_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_pub_cmd_vel_out_test.cpp new file mode 100755 index 0000000..88c4e11 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_pub_cmd_vel_out_test.cpp @@ -0,0 +1,74 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2017, PAL Robotics. +// +// 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 PAL Robotics, Inc. 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 Jeremie Deray + +#include "test_common.h" + +// TEST CASES +TEST_F(DiffDriveControllerTest, testCmdVelOutTopic) +{ + // wait for ROS + waitForController(); + // msgs are published in the same loop + // thus if odom is published cmd_vel_out + // should be as well (if enabled) + waitForOdomMsgs(); + + EXPECT_TRUE(isPublishingCmdVelOut()); + + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(0.1).sleep(); + + cmd_vel.linear.x = 0.1; + publish(cmd_vel); + ros::Duration(0.1).sleep(); + + EXPECT_TRUE(isPublishingCmdVelOut()); + + // get a twist message + geometry_msgs::TwistStamped odom_msg = getLastCmdVelOut(); + + EXPECT_GT(fabs(odom_msg.twist.linear.x), 0); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_pub_cmd_vel_out_topic_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_publish_wheel_joint_controller_state.test b/mir_robot/diff_drive_controller/test/diff_drive_publish_wheel_joint_controller_state.test new file mode 100755 index 0000000..d4f9fff --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_publish_wheel_joint_controller_state.test @@ -0,0 +1,21 @@ + + + + + + + + diffbot_controller: + publish_wheel_joint_controller_state: True + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_publish_wheel_joint_controller_state_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_publish_wheel_joint_controller_state_test.cpp new file mode 100755 index 0000000..300353d --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_publish_wheel_joint_controller_state_test.cpp @@ -0,0 +1,65 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2018, PAL Robotics. +// +// 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 PAL Robotics, Inc. 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 Jeremie Deray + +#include "test_common.h" + +// TEST CASES +TEST_F(DiffDriveControllerTest, testPublishJointTrajectoryControllerStateTopic) +{ + // wait for ROS + waitForController(); + + EXPECT_TRUE(isPublishingJointTrajectoryControllerState()); + + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(0.1).sleep(); + + cmd_vel.linear.x = 0.1; + publish(cmd_vel); + ros::Duration(0.1).sleep(); + + EXPECT_TRUE(isPublishingJointTrajectoryControllerState()); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_publish_wheel_joint_controller_state_topic_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_radius_param.test b/mir_robot/diff_drive_controller/test/diff_drive_radius_param.test new file mode 100755 index 0000000..3baa691 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_radius_param.test @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_radius_param_fail.test b/mir_robot/diff_drive_controller/test/diff_drive_radius_param_fail.test new file mode 100755 index 0000000..9fb9ac7 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_radius_param_fail.test @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_radius_sphere.test b/mir_robot/diff_drive_controller/test/diff_drive_radius_sphere.test new file mode 100755 index 0000000..24e1b75 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_radius_sphere.test @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_separation_param.test b/mir_robot/diff_drive_controller/test/diff_drive_separation_param.test new file mode 100755 index 0000000..07c7afb --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_separation_param.test @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_test.cpp new file mode 100755 index 0000000..d89fde9 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_test.cpp @@ -0,0 +1,154 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2013, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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 Bence Magyar + +#include "test_common.h" +#include + +// TEST CASES +TEST_F(DiffDriveControllerTest, testForward) +{ + // wait for ROS + waitForController(); + + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(2.0).sleep(); + // get initial odom + nav_msgs::Odometry old_odom = getLastOdom(); + // send a velocity command of 0.1 m/s + cmd_vel.linear.x = 0.1; + publish(cmd_vel); + // wait for 10s + ros::Duration(10.0).sleep(); + + nav_msgs::Odometry new_odom = getLastOdom(); + + const ros::Duration actual_elapsed_time = new_odom.header.stamp - old_odom.header.stamp; + + const double expected_distance = cmd_vel.linear.x * actual_elapsed_time.toSec(); + + // check if the robot traveled 1 meter in XY plane, changes in z should be ~~0 + const double dx = new_odom.pose.pose.position.x - old_odom.pose.pose.position.x; + const double dy = new_odom.pose.pose.position.y - old_odom.pose.pose.position.y; + const double dz = new_odom.pose.pose.position.z - old_odom.pose.pose.position.z; + EXPECT_NEAR(sqrt(dx*dx + dy*dy), expected_distance, POSITION_TOLERANCE); + EXPECT_LT(fabs(dz), EPS); + + // convert to rpy and test that way + double roll_old, pitch_old, yaw_old; + double roll_new, pitch_new, yaw_new; + tf::Matrix3x3(tfQuatFromGeomQuat(old_odom.pose.pose.orientation)).getRPY(roll_old, pitch_old, yaw_old); + tf::Matrix3x3(tfQuatFromGeomQuat(new_odom.pose.pose.orientation)).getRPY(roll_new, pitch_new, yaw_new); + EXPECT_LT(fabs(roll_new - roll_old), EPS); + EXPECT_LT(fabs(pitch_new - pitch_old), EPS); + EXPECT_LT(fabs(yaw_new - yaw_old), EPS); + EXPECT_NEAR(fabs(new_odom.twist.twist.linear.x), cmd_vel.linear.x, EPS); + EXPECT_LT(fabs(new_odom.twist.twist.linear.y), EPS); + EXPECT_LT(fabs(new_odom.twist.twist.linear.z), EPS); + + EXPECT_LT(fabs(new_odom.twist.twist.angular.x), EPS); + EXPECT_LT(fabs(new_odom.twist.twist.angular.y), EPS); + EXPECT_LT(fabs(new_odom.twist.twist.angular.z), EPS); +} + +TEST_F(DiffDriveControllerTest, testTurn) +{ + // wait for ROS + waitForController(); + + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + ros::Duration(2.0).sleep(); + // get initial odom + nav_msgs::Odometry old_odom = getLastOdom(); + // send a velocity command + cmd_vel.angular.z = M_PI/10.0; + publish(cmd_vel); + // wait for 10s + ros::Duration(10.0).sleep(); + + nav_msgs::Odometry new_odom = getLastOdom(); + + // check if the robot rotated PI around z, changes in the other fields should be ~~0 + EXPECT_LT(fabs(new_odom.pose.pose.position.x - old_odom.pose.pose.position.x), EPS); + EXPECT_LT(fabs(new_odom.pose.pose.position.y - old_odom.pose.pose.position.y), EPS); + EXPECT_LT(fabs(new_odom.pose.pose.position.z - old_odom.pose.pose.position.z), EPS); + + const ros::Duration actual_elapsed_time = new_odom.header.stamp - old_odom.header.stamp; + const double expected_rotation = cmd_vel.angular.z * actual_elapsed_time.toSec(); + + // convert to rpy and test that way + double roll_old, pitch_old, yaw_old; + double roll_new, pitch_new, yaw_new; + tf::Matrix3x3(tfQuatFromGeomQuat(old_odom.pose.pose.orientation)).getRPY(roll_old, pitch_old, yaw_old); + tf::Matrix3x3(tfQuatFromGeomQuat(new_odom.pose.pose.orientation)).getRPY(roll_new, pitch_new, yaw_new); + EXPECT_LT(fabs(roll_new - roll_old), EPS); + EXPECT_LT(fabs(pitch_new - pitch_old), EPS); + EXPECT_NEAR(fabs(yaw_new - yaw_old), expected_rotation, ORIENTATION_TOLERANCE); + + EXPECT_LT(fabs(new_odom.twist.twist.linear.x), EPS); + EXPECT_LT(fabs(new_odom.twist.twist.linear.y), EPS); + EXPECT_LT(fabs(new_odom.twist.twist.linear.z), EPS); + + EXPECT_LT(fabs(new_odom.twist.twist.angular.x), EPS); + EXPECT_LT(fabs(new_odom.twist.twist.angular.y), EPS); + EXPECT_NEAR(fabs(new_odom.twist.twist.angular.z), expected_rotation/actual_elapsed_time.toSec(), EPS); +} + +TEST_F(DiffDriveControllerTest, testOdomFrame) +{ + // wait for ROS + waitForController(); + + // set up tf listener + tf::TransformListener listener; + ros::Duration(2.0).sleep(); + // check the odom frame exist + EXPECT_TRUE(listener.frameExists("odom")); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + //ros::Duration(0.5).sleep(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_timeout.test b/mir_robot/diff_drive_controller/test/diff_drive_timeout.test new file mode 100755 index 0000000..b55a16f --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_timeout.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diff_drive_timeout_test.cpp b/mir_robot/diff_drive_controller/test/diff_drive_timeout_test.cpp new file mode 100755 index 0000000..1f822ce --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_timeout_test.cpp @@ -0,0 +1,70 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2013, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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 Paul Mathieu + +#include "test_common.h" + +// TEST CASES +TEST_F(DiffDriveControllerTest, testTimeout) +{ + // wait for ROS + waitForController(); + + // zero everything before test + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.angular.z = 0.0; + publish(cmd_vel); + // give some time to the controller to react to the command + ros::Duration(0.1).sleep(); + // get initial odom + nav_msgs::Odometry old_odom = getLastOdom(); + // send a velocity command of 1 m/s + cmd_vel.linear.x = 1.0; + publish(cmd_vel); + // wait a bit + ros::Duration(3.0).sleep(); + + nav_msgs::Odometry new_odom = getLastOdom(); + + // check if the robot has stopped after 0.5s, thus covering less than 0.5s*1.0m.s-1 + some (big) tolerance + EXPECT_LT(fabs(new_odom.pose.pose.position.x - old_odom.pose.pose.position.x), 0.8); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "diff_drive_test"); + + ros::AsyncSpinner spinner(1); + spinner.start(); + int ret = RUN_ALL_TESTS(); + spinner.stop(); + ros::shutdown(); + return ret; +} diff --git a/mir_robot/diff_drive_controller/test/diff_drive_wrong.test b/mir_robot/diff_drive_controller/test/diff_drive_wrong.test new file mode 100755 index 0000000..6efbf73 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diff_drive_wrong.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/diffbot.cpp b/mir_robot/diff_drive_controller/test/diffbot.cpp new file mode 100755 index 0000000..0b69273 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot.cpp @@ -0,0 +1,93 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2013, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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. +////////////////////////////////////////////////////////////////////////////// + +// NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials + +#include "diffbot.h" +#include +#include +#include +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "diffbot"); + ros::NodeHandle nh; + + // This should be set in launch files as well + nh.setParam("/use_sim_time", true); + + Diffbot<> robot; + ROS_WARN_STREAM("period: " << robot.getPeriod().toSec()); + controller_manager::ControllerManager cm(&robot, nh); + + ros::Publisher clock_publisher = nh.advertise("/clock", 1); + + ros::AsyncSpinner spinner(1); + spinner.start(); + + std::chrono::system_clock::time_point begin = std::chrono::system_clock::now(); + std::chrono::system_clock::time_point end = std::chrono::system_clock::now(); + + ros::Time internal_time(0); + const ros::Duration dt = robot.getPeriod(); + double elapsed_secs = 0; + + while(ros::ok()) + { + begin = std::chrono::system_clock::now(); + + robot.read(); + cm.update(internal_time, dt); + + robot.write(); + + end = std::chrono::system_clock::now(); + + elapsed_secs = std::chrono::duration_cast >((end - begin)).count(); + + if (dt.toSec() - elapsed_secs < 0.0) + { + ROS_WARN_STREAM_THROTTLE( + 0.1, "Control cycle is taking to much time, elapsed: " << elapsed_secs); + } + else + { + ROS_DEBUG_STREAM_THROTTLE(1.0, "Control cycle is, elapsed: " << elapsed_secs); + std::this_thread::sleep_for(std::chrono::duration(dt.toSec() - elapsed_secs)); + } + + rosgraph_msgs::Clock clock; + clock.clock = ros::Time(internal_time); + clock_publisher.publish(clock); + internal_time += dt; + } + spinner.stop(); + + return 0; +} diff --git a/mir_robot/diff_drive_controller/test/diffbot.h b/mir_robot/diff_drive_controller/test/diffbot.h new file mode 100755 index 0000000..6c8b9cd --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot.h @@ -0,0 +1,143 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2013, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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. +////////////////////////////////////////////////////////////////////////////// + +// NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials + +#pragma once + + +// ROS +#include +#include + +// ros_control +#include +#include +#include +#include +#include + +// NaN +#include + +// ostringstream +#include + +template +class Diffbot : public hardware_interface::RobotHW +{ +public: + Diffbot() + : running_(true) + , start_srv_(nh_.advertiseService("start", &Diffbot::start_callback, this)) + , stop_srv_(nh_.advertiseService("stop", &Diffbot::stop_callback, this)) + { + // Intialize raw data + std::fill_n(pos_, NUM_JOINTS, 0.0); + std::fill_n(vel_, NUM_JOINTS, 0.0); + std::fill_n(eff_, NUM_JOINTS, 0.0); + std::fill_n(cmd_, NUM_JOINTS, 0.0); + + // Connect and register the joint state and velocity interface + for (unsigned int i = 0; i < NUM_JOINTS; ++i) + { + std::ostringstream os; + os << "wheel_" << i << "_joint"; + + hardware_interface::JointStateHandle state_handle(os.str(), &pos_[i], &vel_[i], &eff_[i]); + jnt_state_interface_.registerHandle(state_handle); + + hardware_interface::JointHandle vel_handle(jnt_state_interface_.getHandle(os.str()), &cmd_[i]); + jnt_vel_interface_.registerHandle(vel_handle); + } + + registerInterface(&jnt_state_interface_); + registerInterface(&jnt_vel_interface_); + } + + ros::Time getTime() const {return ros::Time::now();} + ros::Duration getPeriod() const {return ros::Duration(0.01);} + + void read() + { + // Read the joint state of the robot into the hardware interface + if (running_) + { + for (unsigned int i = 0; i < NUM_JOINTS; ++i) + { + // Note that pos_[i] will be NaN for one more cycle after we start(), + // but that is consistent with the knowledge we have about the state + // of the robot. + pos_[i] += vel_[i]*getPeriod().toSec(); // update position + vel_[i] = cmd_[i]; // might add smoothing here later + } + } + else + { + std::fill_n(pos_, NUM_JOINTS, std::numeric_limits::quiet_NaN()); + std::fill_n(vel_, NUM_JOINTS, std::numeric_limits::quiet_NaN()); + } + } + + void write() + { + // Write the commands to the joints + std::ostringstream os; + for (unsigned int i = 0; i < NUM_JOINTS - 1; ++i) + { + os << cmd_[i] << ", "; + } + os << cmd_[NUM_JOINTS - 1]; + + ROS_INFO_STREAM("Commands for joints: " << os.str()); + } + + bool start_callback(std_srvs::Empty::Request& /*req*/, std_srvs::Empty::Response& /*res*/) + { + running_ = true; + return true; + } + + bool stop_callback(std_srvs::Empty::Request& /*req*/, std_srvs::Empty::Response& /*res*/) + { + running_ = false; + return true; + } + +private: + hardware_interface::JointStateInterface jnt_state_interface_; + hardware_interface::VelocityJointInterface jnt_vel_interface_; + double cmd_[NUM_JOINTS]; + double pos_[NUM_JOINTS]; + double vel_[NUM_JOINTS]; + double eff_[NUM_JOINTS]; + bool running_; + + ros::NodeHandle nh_; + ros::ServiceServer start_srv_; + ros::ServiceServer stop_srv_; +}; diff --git a/mir_robot/diff_drive_controller/test/diffbot.xacro b/mir_robot/diff_drive_controller/test/diffbot.xacro new file mode 100755 index 0000000..c9b96c2 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot.xacro @@ -0,0 +1,77 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Green + + + + Gazebo/Purple + + + diff --git a/mir_robot/diff_drive_controller/test/diffbot_bad.xacro b/mir_robot/diff_drive_controller/test/diffbot_bad.xacro new file mode 100755 index 0000000..ec88c38 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_bad.xacro @@ -0,0 +1,142 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + 1 + 1 + + + + + Gazebo/Green + + + + Gazebo/Red + + + + Gazebo/Blue + + + + Gazebo/Purple + + + diff --git a/mir_robot/diff_drive_controller/test/diffbot_controllers.yaml b/mir_robot/diff_drive_controller/test/diffbot_controllers.yaml new file mode 100755 index 0000000..f89c38c --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_controllers.yaml @@ -0,0 +1,8 @@ +diffbot_controller: + type: "diff_drive_controller/DiffDriveController" + left_wheel: 'wheel_0_joint' + right_wheel: 'wheel_1_joint' + publish_rate: 50.0 # defaults to 50 + pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + cmd_vel_timeout: 20.0 # we test this separately, give plenty for the other tests diff --git a/mir_robot/diff_drive_controller/test/diffbot_left_right_multipliers.yaml b/mir_robot/diff_drive_controller/test/diffbot_left_right_multipliers.yaml new file mode 100755 index 0000000..26b21eb --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_left_right_multipliers.yaml @@ -0,0 +1,4 @@ +diffbot_controller: + wheel_separation_multiplier: 2.3 + left_wheel_radius_multiplier: 1.4 + right_wheel_radius_multiplier: 1.4 diff --git a/mir_robot/diff_drive_controller/test/diffbot_limits.yaml b/mir_robot/diff_drive_controller/test/diffbot_limits.yaml new file mode 100755 index 0000000..78f0bf9 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_limits.yaml @@ -0,0 +1,19 @@ +diffbot_controller: + linear: + x: + has_velocity_limits: true + min_velocity: -0.5 + max_velocity: 1.0 + has_acceleration_limits: true + min_acceleration: -0.5 + max_acceleration: 1.0 + has_jerk_limits: true + max_jerk: 5.0 + angular: + z: + has_velocity_limits: true + max_velocity: 2.0 + has_acceleration_limits: true + max_acceleration: 2.0 + has_jerk_limits: true + max_jerk: 10.0 diff --git a/mir_robot/diff_drive_controller/test/diffbot_multipliers.yaml b/mir_robot/diff_drive_controller/test/diffbot_multipliers.yaml new file mode 100755 index 0000000..d2ef5d5 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_multipliers.yaml @@ -0,0 +1,3 @@ +diffbot_controller: + wheel_separation_multiplier: 2.3 + wheel_radius_multiplier: 1.4 diff --git a/mir_robot/diff_drive_controller/test/diffbot_open_loop.yaml b/mir_robot/diff_drive_controller/test/diffbot_open_loop.yaml new file mode 100755 index 0000000..19224f3 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_open_loop.yaml @@ -0,0 +1,2 @@ +diffbot_controller: + open_loop: true diff --git a/mir_robot/diff_drive_controller/test/diffbot_sphere_wheels.xacro b/mir_robot/diff_drive_controller/test/diffbot_sphere_wheels.xacro new file mode 100755 index 0000000..90b2962 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_sphere_wheels.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Green + + + + Gazebo/Purple + + + diff --git a/mir_robot/diff_drive_controller/test/diffbot_square_wheels.xacro b/mir_robot/diff_drive_controller/test/diffbot_square_wheels.xacro new file mode 100755 index 0000000..a87ef57 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_square_wheels.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Green + + + + Gazebo/Purple + + + diff --git a/mir_robot/diff_drive_controller/test/diffbot_timeout.yaml b/mir_robot/diff_drive_controller/test/diffbot_timeout.yaml new file mode 100755 index 0000000..4ecfa18 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_timeout.yaml @@ -0,0 +1,2 @@ +diffbot_controller: + cmd_vel_timeout: 0.5 diff --git a/mir_robot/diff_drive_controller/test/diffbot_wrong.yaml b/mir_robot/diff_drive_controller/test/diffbot_wrong.yaml new file mode 100755 index 0000000..516fd75 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/diffbot_wrong.yaml @@ -0,0 +1,8 @@ +diffbot_controller: + type: "diff_drive_controller/DiffDriveController" + left_wheel: 'this_joint_does_not_exist' + right_wheel: 'right_wheel_joint' + publish_rate: 50.0 # defaults to 50 + pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + cmd_vel_timeout: 20.0 # we test this separately, give plenty for the other tests diff --git a/mir_robot/diff_drive_controller/test/skid_steer_common.launch b/mir_robot/diff_drive_controller/test/skid_steer_common.launch new file mode 100755 index 0000000..378ccdb --- /dev/null +++ b/mir_robot/diff_drive_controller/test/skid_steer_common.launch @@ -0,0 +1,35 @@ + + + + True + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/skid_steer_controller.test b/mir_robot/diff_drive_controller/test/skid_steer_controller.test new file mode 100755 index 0000000..1c47937 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/skid_steer_controller.test @@ -0,0 +1,14 @@ + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/skid_steer_no_wheels.test b/mir_robot/diff_drive_controller/test/skid_steer_no_wheels.test new file mode 100755 index 0000000..bb0d9bc --- /dev/null +++ b/mir_robot/diff_drive_controller/test/skid_steer_no_wheels.test @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/skidsteerbot.cpp b/mir_robot/diff_drive_controller/test/skidsteerbot.cpp new file mode 100755 index 0000000..05852f3 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/skidsteerbot.cpp @@ -0,0 +1,93 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2013, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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. +////////////////////////////////////////////////////////////////////////////// + +// NOTE: The contents of this file have been taken largely from the ros_control wiki tutorials + +#include "diffbot.h" +#include +#include +#include +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "skidsteerbot"); + ros::NodeHandle nh; + + // This should be set in launch files as well + nh.setParam("/use_sim_time", true); + + Diffbot<6> robot; + ROS_WARN_STREAM("period: " << robot.getPeriod().toSec()); + controller_manager::ControllerManager cm(&robot, nh); + + ros::Publisher clock_publisher = nh.advertise("/clock", 1); + + //ros::Rate rate(1.0 / robot.getPeriod().toSec()); + ros::AsyncSpinner spinner(1); + spinner.start(); + + std::chrono::system_clock::time_point begin = std::chrono::system_clock::now(); + std::chrono::system_clock::time_point end = std::chrono::system_clock::now(); + + ros::Time internal_time(0); + const ros::Duration dt = robot.getPeriod(); + double elapsed_secs = 0; + + while(ros::ok()) + { + begin = std::chrono::system_clock::now(); + + robot.read(); + cm.update(internal_time, dt); + robot.write(); + + end = std::chrono::system_clock::now(); + + elapsed_secs = std::chrono::duration_cast >((end - begin)).count(); + + if (dt.toSec() - elapsed_secs < 0.0) + { + ROS_WARN_STREAM_THROTTLE( + 0.1, "Control cycle is taking to much time, elapsed: " << elapsed_secs); + } + else + { + ROS_DEBUG_STREAM_THROTTLE(1.0, "Control cycle is, elapsed: " << elapsed_secs); + std::this_thread::sleep_for(std::chrono::duration(dt.toSec() - elapsed_secs)); + } + + rosgraph_msgs::Clock clock; + clock.clock = ros::Time(internal_time); + clock_publisher.publish(clock); + internal_time += dt; + } + spinner.stop(); + + return 0; +} diff --git a/mir_robot/diff_drive_controller/test/skidsteerbot.xacro b/mir_robot/diff_drive_controller/test/skidsteerbot.xacro new file mode 100755 index 0000000..f2b36ef --- /dev/null +++ b/mir_robot/diff_drive_controller/test/skidsteerbot.xacro @@ -0,0 +1,90 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Green + + + + Gazebo/Purple + + + diff --git a/mir_robot/diff_drive_controller/test/skidsteerbot_controllers.yaml b/mir_robot/diff_drive_controller/test/skidsteerbot_controllers.yaml new file mode 100755 index 0000000..ab49424 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/skidsteerbot_controllers.yaml @@ -0,0 +1,8 @@ +skidsteerbot_controller: + type: "diff_drive_controller/DiffDriveController" + left_wheel: ['wheel_0_joint', 'wheel_1_joint', 'wheel_2_joint'] + right_wheel: ['wheel_3_joint', 'wheel_4_joint', 'wheel_5_joint'] + publish_rate: 50.0 # defaults to 50 + pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + cmd_vel_timeout: 20.0 # we test this separately, give plenty for the other tests diff --git a/mir_robot/diff_drive_controller/test/skidsteerbot_no_wheels.yaml b/mir_robot/diff_drive_controller/test/skidsteerbot_no_wheels.yaml new file mode 100755 index 0000000..37f0d99 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/skidsteerbot_no_wheels.yaml @@ -0,0 +1,8 @@ +skidsteerbot_controller: + type: "diff_drive_controller/DiffDriveController" + left_wheel: [] + right_wheel: ['wheel_3_joint', 'wheel_4_joint', 'wheel_5_joint'] + publish_rate: 50.0 # defaults to 50 + pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + cmd_vel_timeout: 20.0 # we test this separately, give plenty for the other tests diff --git a/mir_robot/diff_drive_controller/test/sphere_wheel.xacro b/mir_robot/diff_drive_controller/test/sphere_wheel.xacro new file mode 100755 index 0000000..bd8dd47 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/sphere_wheel.xacro @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + Gazebo/Red + + + diff --git a/mir_robot/diff_drive_controller/test/square_wheel.xacro b/mir_robot/diff_drive_controller/test/square_wheel.xacro new file mode 100755 index 0000000..56680a0 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/square_wheel.xacro @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + Gazebo/Red + + + diff --git a/mir_robot/diff_drive_controller/test/test_common.h b/mir_robot/diff_drive_controller/test/test_common.h new file mode 100755 index 0000000..a726d75 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/test_common.h @@ -0,0 +1,162 @@ +/////////////////////////////////////////////////////////////////////////////// +// Copyright (C) 2013, PAL Robotics S.L. +// +// 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 PAL Robotics, Inc. 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 Bence Magyar + +#pragma once + + +#include + +#include + +#include + +#include +#include +#include +#include + +#include + +// Floating-point value comparison threshold +const double EPS = 0.01; +const double POSITION_TOLERANCE = 0.01; // 1 cm-s precision +const double VELOCITY_TOLERANCE = 0.02; // 2 cm-s-1 precision +const double JERK_LINEAR_VELOCITY_TOLERANCE = 0.10; // 10 cm-s-1 precision +const double JERK_ANGULAR_VELOCITY_TOLERANCE = 0.05; // 3 deg-s-1 precision +const double ORIENTATION_TOLERANCE = 0.03; // 0.57 degree precision + +class DiffDriveControllerTest : public ::testing::Test +{ +public: + + DiffDriveControllerTest() + : received_first_odom(false) + , cmd_pub(nh.advertise("cmd_vel", 100)) + , odom_sub(nh.subscribe("odom", 100, &DiffDriveControllerTest::odomCallback, this)) + , vel_out_sub(nh.subscribe("cmd_vel_out", 100, &DiffDriveControllerTest::cmdVelOutCallback, this)) + , joint_traj_controller_state_sub(nh.subscribe("wheel_joint_controller_state", 100, &DiffDriveControllerTest::jointTrajectoryControllerStateCallback, this)) + , start_srv(nh.serviceClient("start")) + , stop_srv(nh.serviceClient("stop")) + { + } + + ~DiffDriveControllerTest() + { + odom_sub.shutdown(); + joint_traj_controller_state_sub.shutdown(); + } + + nav_msgs::Odometry getLastOdom(){ return last_odom; } + geometry_msgs::TwistStamped getLastCmdVelOut(){ return last_cmd_vel_out; } + control_msgs::JointTrajectoryControllerState getLastJointTrajectoryControllerState(){ return last_joint_traj_controller_state; } + void publish(geometry_msgs::Twist cmd_vel){ cmd_pub.publish(cmd_vel); } + bool isControllerAlive()const{ return (odom_sub.getNumPublishers() > 0); } + bool isPublishingCmdVelOut(const ros::Duration &timeout=ros::Duration(1)) const + { + ros::Time start = ros::Time::now(); + int get_num_publishers = vel_out_sub.getNumPublishers(); + while ( (get_num_publishers == 0) && (ros::Time::now() < start + timeout) ) { + ros::Duration(0.1).sleep(); + get_num_publishers = vel_out_sub.getNumPublishers(); + } + return (get_num_publishers > 0); + } + bool isPublishingJointTrajectoryControllerState(){ return (joint_traj_controller_state_sub.getNumPublishers() > 0); } + bool hasReceivedFirstOdom()const{ return received_first_odom; } + + void start(){ std_srvs::Empty srv; start_srv.call(srv); } + void stop(){ std_srvs::Empty srv; stop_srv.call(srv); } + + void waitForController() const + { + while(!isControllerAlive() && ros::ok()) + { + ROS_DEBUG_STREAM_THROTTLE(0.5, "Waiting for controller."); + ros::Duration(0.1).sleep(); + } + if (!ros::ok()) + FAIL() << "Something went wrong while executing test."; + } + + void waitForOdomMsgs() const + { + while(!hasReceivedFirstOdom() && ros::ok()) + { + ROS_DEBUG_STREAM_THROTTLE(0.5, "Waiting for odom messages to be published."); + ros::Duration(0.01).sleep(); + } + if (!ros::ok()) + FAIL() << "Something went wrong while executing test."; + } + +private: + bool received_first_odom; + ros::NodeHandle nh; + ros::Publisher cmd_pub; + ros::Subscriber odom_sub; + ros::Subscriber vel_out_sub; + nav_msgs::Odometry last_odom; + geometry_msgs::TwistStamped last_cmd_vel_out; + ros::Subscriber joint_traj_controller_state_sub; + control_msgs::JointTrajectoryControllerState last_joint_traj_controller_state; + + ros::ServiceClient start_srv; + ros::ServiceClient stop_srv; + + void odomCallback(const nav_msgs::Odometry& odom) + { + ROS_INFO_STREAM("Callback received: pos.x: " << odom.pose.pose.position.x + << ", orient.z: " << odom.pose.pose.orientation.z + << ", lin_est: " << odom.twist.twist.linear.x + << ", ang_est: " << odom.twist.twist.angular.z); + last_odom = odom; + received_first_odom = true; + } + + void jointTrajectoryControllerStateCallback(const control_msgs::JointTrajectoryControllerState& joint_traj_controller_state) + { + ROS_INFO_STREAM("Joint trajectory controller state callback."); + ROS_DEBUG_STREAM("Joint trajectory controller state callback received:\n" << + joint_traj_controller_state); + + last_joint_traj_controller_state = joint_traj_controller_state; + } + + void cmdVelOutCallback(const geometry_msgs::TwistStamped& cmd_vel_out) + { + ROS_INFO_STREAM("Callback received: lin: " << cmd_vel_out.twist.linear.x + << ", ang: " << cmd_vel_out.twist.angular.z); + last_cmd_vel_out = cmd_vel_out; + } +}; + +inline tf::Quaternion tfQuatFromGeomQuat(const geometry_msgs::Quaternion& quat) +{ + return tf::Quaternion(quat.x, quat.y, quat.z, quat.w); +} diff --git a/mir_robot/diff_drive_controller/test/view_diffbot.launch b/mir_robot/diff_drive_controller/test/view_diffbot.launch new file mode 100755 index 0000000..212993f --- /dev/null +++ b/mir_robot/diff_drive_controller/test/view_diffbot.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/view_skidsteerbot.launch b/mir_robot/diff_drive_controller/test/view_skidsteerbot.launch new file mode 100755 index 0000000..4460cee --- /dev/null +++ b/mir_robot/diff_drive_controller/test/view_skidsteerbot.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/diff_drive_controller/test/wheel.xacro b/mir_robot/diff_drive_controller/test/wheel.xacro new file mode 100755 index 0000000..1e8dd89 --- /dev/null +++ b/mir_robot/diff_drive_controller/test/wheel.xacro @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1 + + + + Gazebo/Red + + + diff --git a/mir_robot/mir_actions/CHANGELOG.rst b/mir_robot/mir_actions/CHANGELOG.rst new file mode 100755 index 0000000..73e3752 --- /dev/null +++ b/mir_robot/mir_actions/CHANGELOG.rst @@ -0,0 +1,70 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mir_actions +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2023-01-20) +------------------ +* Update MirMoveBase action to 2.10.3.1 +* Don't set cmake_policy CMP0048 +* Contributors: Martin Günther + +1.1.6 (2022-06-02) +------------------ +* Rename mir_100 -> mir + This is in preparation of mir_250 support. +* Contributors: Martin Günther + +1.1.5 (2022-02-11) +------------------ + +1.1.4 (2021-12-10) +------------------ + +1.1.3 (2021-06-11) +------------------ +* Merge branch 'melodic-2.8' into noetic +* Remove RelativeMove action + It was removed in MiR software 2.4.0. +* Update mir_actions to MiR 2.8.3 +* Adjust to changed MirMoveBase action (MiR >= 2.4.0) + See `#45 `_. +* Contributors: Martin Günther + +1.1.2 (2021-05-12) +------------------ + +1.1.1 (2021-02-11) +------------------ +* Contributors: Martin Günther + +1.1.0 (2020-06-30) +------------------ +* Initial release into noetic +* Contributors: Martin Günther + +1.0.6 (2020-06-30) +------------------ +* Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +1.0.5 (2020-05-01) +------------------ + +1.0.4 (2019-05-06) +------------------ +* Update mir_msgs and mir_actions to MiR 2.3.1 +* Contributors: Martin Günther + +1.0.3 (2019-03-04) +------------------ + +1.0.2 (2018-07-30) +------------------ + +1.0.1 (2018-07-17) +------------------ + +1.0.0 (2018-07-12) +------------------ +* Initial release +* Contributors: Martin Günther diff --git a/mir_robot/mir_actions/CMakeLists.txt b/mir_robot/mir_actions/CMakeLists.txt new file mode 100755 index 0000000..551eed4 --- /dev/null +++ b/mir_robot/mir_actions/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 3.5.1) +project(mir_actions) + +find_package(catkin REQUIRED COMPONENTS + actionlib + geometry_msgs + message_generation + mir_msgs + nav_msgs +) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +# Generate actions in the 'action' folder +add_action_files( + FILES + MirMoveBase.action +) + +# Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs + mir_msgs + nav_msgs +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS + actionlib + geometry_msgs + message_runtime + mir_msgs + nav_msgs +) diff --git a/mir_robot/mir_actions/action/MirMoveBase.action b/mir_robot/mir_actions/action/MirMoveBase.action new file mode 100755 index 0000000..ef9d472 --- /dev/null +++ b/mir_robot/mir_actions/action/MirMoveBase.action @@ -0,0 +1,130 @@ +#goal definition +#move type +int16 BASE_MOVE = 0 +int16 GLOBAL_MOVE = 1 +int16 RELATIVE_MOVE = 2 +int16 RELATIVE_MARKER_MOVE = 3 +int16 DOCKING_MOVE = 4 +int16 DOCKING_GLOBAL_MOVE = 5 +int16 PATH_TYPE = 6 +int16 move_task + +#shared parameters +geometry_msgs/PoseStamped target_pose +string target_guid + +#global move parameters +float64 goal_dist_threshold +float64 goal_orientation_threshold +nav_msgs/Path path +float32 max_plan_time +bool clear_costmaps +bool pause_command +bool continue_command + +#relative move parameters +float64 yaw +bool collision_detection +bool collision_avoidance +float64 disable_collision_check_dist +float64 max_linear_speed +float64 max_rotational_speed +float64 pid_dist_offset +float64 target_offset +bool only_collision_detection +float64 timeout + +#docking move parameters +int32 pattern_type +int32 pattern_value +bool only_track +bool same_goal +string pose_frame +geometry_msgs/Pose2D pose +geometry_msgs/Pose2D offset +float64 bar_length +float64 bar_distance +float64 shelf_leg_asymmetry_x +float64 tolerance + +#Path type +mir_msgs/MirLocalPlannerPathTypes path_type +geometry_msgs/PoseStamped start_pose +# float64 timeout + + +--- +#result definition + +#shared states +int16 UNDEFINED = 0 +int16 GOAL_REACHED = 1 +int16 FAILED = -1 + +#global move states +int16 MARKER_VISIBLE = 2 +int16 FAILED_NO_PATH = -2 +int16 FAILED_GOAL_IN_STATIC_OBSTACLE = -3 +int16 FAILED_GOAL_IN_FORBIDDEN_AREA = -4 +int16 FAILED_GOAL_IN_DYNAMIC_OBSTACLE = -5 +int16 FAILED_ROBOT_IN_COLLISION = -6 +int16 FAILED_ROBOT_IN_FORBIDDEN_AREA = -7 +int16 FAILED_UNKNOWN_TRAILER = -8 +int16 FAILED_TO_PASS_GLOBAL_PLAN = -9 +int16 FAILED_NO_VALID_RECOVERY_CONTROL = -10 +int16 FAILED_UNKNOWN_PLANNER_ERROR = -11 +int16 FAILED_ROBOT_OSCILLATING = -12 +int16 FAILED_SOFTWARE_ERROR = -13 + +#relative move states +int16 FAILED_TIMEOUT = -14 +int16 FAILED_COLLISION = -15 +int16 INVALID_GOAL = -16 + +#docking move states +int16 FAILED_MARKER_TRACKING_ERROR = -17 + +#shared results +int16 end_state +geometry_msgs/PoseStamped end_pose + +#docking results +geometry_msgs/Pose2D pose + +#feedback for UI +string message + +--- +#feedback +#shared +int8 NOT_READY = -1 +int8 UNKNOWN = -2 +int8 WAITING_FOR_FLEET = -3 +int8 COLLISION = -4 + +#global move states +int8 PLANNING = 0 +int8 CONTROLLING = 1 +int8 CLEARING = 2 + +#relative move states +int8 DOCKING = 3 + +#shared feedback +int8 state + +#global move feedback +geometry_msgs/PoseStamped base_position + +#relative move feedback +geometry_msgs/PoseStamped current_goal +geometry_msgs/PoseStamped dist_to_goal + +#docking move feedback +geometry_msgs/Pose2D pose +bool marker_inversion + +#path_types + #reverse_trolly +int8 MOVING_FORWARD = 10 +int8 MOVING_BACKWARD = 11 diff --git a/mir_robot/mir_actions/package.xml b/mir_robot/mir_actions/package.xml new file mode 100755 index 0000000..77f6533 --- /dev/null +++ b/mir_robot/mir_actions/package.xml @@ -0,0 +1,25 @@ + + + mir_actions + 1.1.7 + Action definitions for the MiR robot + + Martin Günther + Martin Günther + + BSD + + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot/issues + + catkin + + actionlib + geometry_msgs + mir_msgs + nav_msgs + + message_generation + message_runtime + diff --git a/mir_robot/mir_description/CHANGELOG.rst b/mir_robot/mir_description/CHANGELOG.rst new file mode 100755 index 0000000..5402ae9 --- /dev/null +++ b/mir_robot/mir_description/CHANGELOG.rst @@ -0,0 +1,133 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mir_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2023-01-20) +------------------ +* Don't set cmake_policy CMP0048 +* Contributors: Martin Günther + +1.1.6 (2022-06-02) +------------------ +* URDF: Downsize inertia box, move to lower back +* URDF: Pull out inertia properties +* URDF: Update masses according to data sheet +* URDF: Add mir_250 +* Add arg mir_type to launch files and urdfs +* Add mir_250 meshes +* URDF: Make wheels black +* Add mir_100_v1.urdf.xacro for backwards compatibility +* Rename mir_100 -> mir +* Refactor URDF to prepare for MiR250 support +* Gazebo: Don't manually specify wheel params for diffdrive controller +* Simplify mir_100 collision mesh further +* Contributors: Martin Günther + +1.1.5 (2022-02-11) +------------------ +* Remove xacro comment to work around xacro bug + Since xacro 1.14.11, xacro now also evaluates expressions in comments + and throws an error if the substition argument is undefined. In xacro + 1.14.12, this error was changed to a warning. + This commit removes that warning. + Workaround for https://github.com/ros/xacro/issues/309 . +* xacro: drop --inorder option + In-order processing became default in ROS Melodic. +* Add gazebo_plugins to dependency list (`#103 `_) + This is needed for the ground truth pose via p3d plugin. +* Contributors: Martin Günther, moooeeeep + +1.1.4 (2021-12-10) +------------------ +* Replace gazebo_plugins IMU with hector_gazebo_plugins +* Use cylinders instead of STLs for wheel collision geometries + Fixes `#99 `_. +* mir_debug_urdf.launch: Fix GUI display +* Contributors: Martin Günther + +1.1.3 (2021-06-11) +------------------ +* Merge branch 'melodic-2.8' into noetic +* Rename tf frame and topic 'odom_comb' -> 'odom' + This is how they are called on the real MiR since MiR software 2.0. +* Contributors: Martin Günther + +1.1.2 (2021-05-12) +------------------ +* Fix laser scan frame_id with gazebo_plugins 2.9.2 +* Contributors: Martin Günther + +1.1.1 (2021-02-11) +------------------ +* Add prepend_prefix_to_laser_frame to URDF and launch files + Fixes `#65 `_. +* Add tf_prefix to URDF and launch files +* Fix typo in robot_namespace +* Add missing 'xacro:' xml namespace prefixes + Macro calls without 'xacro:' prefix are deprecated in Melodic and will + be forbidden in Noetic. +* Contributors: Martin Günther + +1.1.0 (2020-06-30) +------------------ +* Initial release into noetic +* Contributors: Martin Günther + +1.0.6 (2020-06-30) +------------------ +* Update to non-deprecated robot_state_publisher node +* Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +1.0.5 (2020-05-01) +------------------ +* Switch from Gazebo GPU laser to normal laser plugin + The GPU laser plugin has caused multiple people problems before, because + it is not compatible with all GPUS: `#1 `_ + `#32 `_ + `#46 `_ + `#52 `_ + The normal laser plugin directly uses the physics engine, so it doesn't + depend on any specific GPU. Also, it doesn't slow down the simulation + noticeably (maybe 1-2%). +* Contributors: Martin Günther + +1.0.4 (2019-05-06) +------------------ +* Add legacyModeNS param to gazebo_ros_control plugin + This enables the new behavior of the plugin (pid_gains parameter are now + in the proper namespace). +* re-added gazebo friction parameters for the wheels (`#19 `_) +* Contributors: Martin Günther, niniemann + +1.0.3 (2019-03-04) +------------------ +* Merge pull request `#16 `_ from niniemann/add-prefix-argument-to-configs + Add prefix argument to configs +* removed prefix from plugin frameName in sick urdf + The gazebo plugins automatically use tf_prefix, even if none is set + (in that case it defaults to the robot namespace). That's why we can + remove the prefix from the plugins configuration, assuming that the + robot namespace will be equal to the prefix. +* adds $(arg prefix) to a lot of configs + This is an important step to be able to re-parameterize move base, + the diffdrive controller, ekf, amcl and the costmaps for adding a + tf prefix to the robots links +* workaround eval in xacro for indigo support +* adds tf_prefix argument to imu.gazebo.urdf.xacro +* Add TFs for ultrasound sensors +* Contributors: Martin Günther, Nils Niemann + +1.0.2 (2018-07-30) +------------------ + +1.0.1 (2018-07-17) +------------------ +* gazebo: Remove leading slashes in TF frames + TF2 doesn't like it (e.g., robot_localization). +* Contributors: Martin Günther + +1.0.0 (2018-07-12) +------------------ +* Initial release +* Contributors: Martin Günther diff --git a/mir_robot/mir_description/CMakeLists.txt b/mir_robot/mir_description/CMakeLists.txt new file mode 100755 index 0000000..1437510 --- /dev/null +++ b/mir_robot/mir_description/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.5.1) +project(mir_description) + +find_package(catkin REQUIRED COMPONENTS + roslaunch +) + +################################### +## catkin specific configuration ## +################################### +catkin_package() + +############# +## Install ## +############# + +# Mark other files for installation (e.g. launch and bag files, etc.) +install(DIRECTORY + config + launch + meshes + rviz + urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +############# +## Testing ## +############# + +roslaunch_add_file_check(launch) diff --git a/mir_robot/mir_description/config/diffdrive_controller.yaml b/mir_robot/mir_description/config/diffdrive_controller.yaml new file mode 100755 index 0000000..161b63a --- /dev/null +++ b/mir_robot/mir_description/config/diffdrive_controller.yaml @@ -0,0 +1,44 @@ +# ----------------------------------- +mobile_base_controller: + type : "diff_drive_controller/DiffDriveController" + left_wheel : '$(arg prefix)left_wheel_joint' + right_wheel : '$(arg prefix)right_wheel_joint' + publish_rate: 41.2 # this is what the real MiR platform publishes (default: 50) + # These covariances are exactly what the real MiR platform publishes + pose_covariance_diagonal : [0.00001, 0.00001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + twist_covariance_diagonal: [0.1, 0.1, 1000000.0, 1000000.0, 1000000.0, 1000.0] + enable_odom_tf: false + + # Wheel separation and diameter. These are both optional. + # diff_drive_controller will attempt to read either one or both from the + # URDF if not specified as a parameter. + # We don't set the value here because it's different for each MiR type (100, 250, ...), and + # the plugin figures out the correct values. + #wheel_separation : 0.445208 + #wheel_radius : 0.0625 + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 0.5 + + # frame_ids (same as real MiR platform) + base_frame_id: $(arg prefix)base_footprint # default: base_link + odom_frame_id: $(arg prefix)odom # default: odom + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : false + max_velocity : 2.0 # m/s; move_base max_vel_x: 0.8 + has_acceleration_limits: true + max_acceleration : 3.0 # m/s^2; move_base acc_lim_x: 1.5 + angular: + z: + has_velocity_limits : false + max_velocity : 2.0 # rad/s; move_base max_rot_vel: 1.0 + has_acceleration_limits: true + max_acceleration : 2.0 # rad/s^2; move_base acc_lim_th: 2.0 diff --git a/mir_robot/mir_description/config/joint_state_controller.yaml b/mir_robot/mir_description/config/joint_state_controller.yaml new file mode 100755 index 0000000..2487d71 --- /dev/null +++ b/mir_robot/mir_description/config/joint_state_controller.yaml @@ -0,0 +1,4 @@ +# Publish all joint states ----------------------------------- +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/mir_robot/mir_description/launch/mir_debug_urdf.launch b/mir_robot/mir_description/launch/mir_debug_urdf.launch new file mode 100755 index 0000000..e2a698c --- /dev/null +++ b/mir_robot/mir_description/launch/mir_debug_urdf.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_description/launch/upload_mir_urdf.launch b/mir_robot/mir_description/launch/upload_mir_urdf.launch new file mode 100755 index 0000000..7f6a559 --- /dev/null +++ b/mir_robot/mir_description/launch/upload_mir_urdf.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/mir_robot/mir_description/meshes/collision/caster_wheel_base.stl b/mir_robot/mir_description/meshes/collision/caster_wheel_base.stl new file mode 100755 index 0000000..365f113 Binary files /dev/null and b/mir_robot/mir_description/meshes/collision/caster_wheel_base.stl differ diff --git a/mir_robot/mir_description/meshes/collision/mir_100_base.stl b/mir_robot/mir_description/meshes/collision/mir_100_base.stl new file mode 100755 index 0000000..a49e167 Binary files /dev/null and b/mir_robot/mir_description/meshes/collision/mir_100_base.stl differ diff --git a/mir_robot/mir_description/meshes/collision/mir_250_base.stl b/mir_robot/mir_description/meshes/collision/mir_250_base.stl new file mode 100755 index 0000000..9c20e60 Binary files /dev/null and b/mir_robot/mir_description/meshes/collision/mir_250_base.stl differ diff --git a/mir_robot/mir_description/meshes/visual/caster_wheel_base.stl b/mir_robot/mir_description/meshes/visual/caster_wheel_base.stl new file mode 100755 index 0000000..cc79f23 Binary files /dev/null and b/mir_robot/mir_description/meshes/visual/caster_wheel_base.stl differ diff --git a/mir_robot/mir_description/meshes/visual/mir_100_base.stl b/mir_robot/mir_description/meshes/visual/mir_100_base.stl new file mode 100755 index 0000000..7dbeb44 Binary files /dev/null and b/mir_robot/mir_description/meshes/visual/mir_100_base.stl differ diff --git a/mir_robot/mir_description/meshes/visual/mir_250_base.stl b/mir_robot/mir_description/meshes/visual/mir_250_base.stl new file mode 100755 index 0000000..d06f993 Binary files /dev/null and b/mir_robot/mir_description/meshes/visual/mir_250_base.stl differ diff --git a/mir_robot/mir_description/meshes/visual/sick_lms-100.stl b/mir_robot/mir_description/meshes/visual/sick_lms-100.stl new file mode 100755 index 0000000..9cd840a Binary files /dev/null and b/mir_robot/mir_description/meshes/visual/sick_lms-100.stl differ diff --git a/mir_robot/mir_description/meshes/visual/wheel.stl b/mir_robot/mir_description/meshes/visual/wheel.stl new file mode 100755 index 0000000..104a847 Binary files /dev/null and b/mir_robot/mir_description/meshes/visual/wheel.stl differ diff --git a/mir_robot/mir_description/package.xml b/mir_robot/mir_description/package.xml new file mode 100755 index 0000000..2b45785 --- /dev/null +++ b/mir_robot/mir_description/package.xml @@ -0,0 +1,34 @@ + + + mir_description + 1.1.7 + URDF description of the MiR robot + + Martin Günther + Martin Günther + + BSD + + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot/issues + + catkin + + roslaunch + + diff_drive_controller + diff_drive_controller + + gazebo_plugins + gazebo_ros_control + hector_gazebo_plugins + joint_state_controller + joint_state_publisher + joint_state_publisher_gui + position_controllers + robot_state_publisher + rviz + urdf + xacro + diff --git a/mir_robot/mir_description/rviz/mir_description.rviz b/mir_robot/mir_description/rviz/mir_description.rviz new file mode 100755 index 0000000..c17b041 --- /dev/null +++ b/mir_robot/mir_description/rviz/mir_description.rviz @@ -0,0 +1,210 @@ +Panels: + - Class: rviz/Displays + Help Height: 81 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 535 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + surface: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_footprint + 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: 2.20704937 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.023150593 + Y: -0.0341755934 + Z: -2.6775524e-09 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.515398085 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.490397513 + 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: 59 + Y: 29 diff --git a/mir_robot/mir_description/urdf/include/common.gazebo.xacro b/mir_robot/mir_description/urdf/include/common.gazebo.xacro new file mode 100755 index 0000000..87a1390 --- /dev/null +++ b/mir_robot/mir_description/urdf/include/common.gazebo.xacro @@ -0,0 +1,15 @@ + + + + + + + + ${robot_namespace} + + 0.001 + false + + + + diff --git a/mir_robot/mir_description/urdf/include/common_properties.urdf.xacro b/mir_robot/mir_description/urdf/include/common_properties.urdf.xacro new file mode 100755 index 0000000..3c1a28d --- /dev/null +++ b/mir_robot/mir_description/urdf/include/common_properties.urdf.xacro @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_description/urdf/include/imu.gazebo.urdf.xacro b/mir_robot/mir_description/urdf/include/imu.gazebo.urdf.xacro new file mode 100755 index 0000000..abd6cec --- /dev/null +++ b/mir_robot/mir_description/urdf/include/imu.gazebo.urdf.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + ${update_rate} + ${link} + ${imu_frame} + ${imu_topic} + 0.0 0.0 0.0 + ${sqrt(5e-05)} ${sqrt(0.0001)} ${sqrt(0.00013)} + 0.0 0.0 0.0 + ${sqrt(8e-06)} ${sqrt(8e-06)} ${sqrt(3e-07)} + 0.0 + ${sqrt(0.1)} + + + + diff --git a/mir_robot/mir_description/urdf/include/mir.gazebo.xacro b/mir_robot/mir_description/urdf/include/mir.gazebo.xacro new file mode 100755 index 0000000..5293163 --- /dev/null +++ b/mir_robot/mir_description/urdf/include/mir.gazebo.xacro @@ -0,0 +1,62 @@ + + + + + + + false + true + 1000.0 + ${left_wheel_joint} + ${right_wheel_joint} + ${wheel_separation} + ${2*wheel_radius} + 10 + 1 + map + mobile_base_controller/cmd_vel + mobile_base_controller/odom + base_footprint + 2.8 + true + false + world + Debug + + + + + + + + + + + 0.01 + + + + + + + + + + + + + + + + true + 50.0 + ${prefix}base_footprint + base_pose_ground_truth + 0.01 + map + 0 0 0 + 0 0 0 + + + + diff --git a/mir_robot/mir_description/urdf/include/mir.transmission.xacro b/mir_robot/mir_description/urdf/include/mir.transmission.xacro new file mode 100755 index 0000000..0fe6ae0 --- /dev/null +++ b/mir_robot/mir_description/urdf/include/mir.transmission.xacro @@ -0,0 +1,22 @@ + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + hardware_interface/VelocityJointInterface + 1 + + + + + + + + + + diff --git a/mir_robot/mir_description/urdf/include/mir_100_v1.urdf.xacro b/mir_robot/mir_description/urdf/include/mir_100_v1.urdf.xacro new file mode 100755 index 0000000..a7cb30f --- /dev/null +++ b/mir_robot/mir_description/urdf/include/mir_100_v1.urdf.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + diff --git a/mir_robot/mir_description/urdf/include/mir_v1.urdf.xacro b/mir_robot/mir_description/urdf/include/mir_v1.urdf.xacro new file mode 100755 index 0000000..98804e6 --- /dev/null +++ b/mir_robot/mir_description/urdf/include/mir_v1.urdf.xacro @@ -0,0 +1,308 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Grey + + + Gazebo/FlatBlack + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/White + + + Gazebo/DarkGrey + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_description/urdf/include/sick_s300.urdf.xacro b/mir_robot/mir_description/urdf/include/sick_s300.urdf.xacro new file mode 100755 index 0000000..be37319 --- /dev/null +++ b/mir_robot/mir_description/urdf/include/sick_s300.urdf.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + 12.5 + + + + 541 + 1 + + -2.094395102 + 2.181661565 + + + + 0.05 + 29.0 + 0.01 + + + gaussian + + 0.0 + 0.01 + + + + ${prefix}${link} + ${topic} + + + + + diff --git a/mir_robot/mir_description/urdf/mir.urdf.xacro b/mir_robot/mir_description/urdf/mir.urdf.xacro new file mode 100755 index 0000000..17c0cb2 --- /dev/null +++ b/mir_robot/mir_description/urdf/mir.urdf.xacro @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_driver/CHANGELOG.rst b/mir_robot/mir_driver/CHANGELOG.rst new file mode 100755 index 0000000..5aad22d --- /dev/null +++ b/mir_robot/mir_driver/CHANGELOG.rst @@ -0,0 +1,137 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mir_driver +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2023-01-20) +------------------ +* Don't set cmake_policy CMP0048 +* Fix pydocstyle errors +* Add license headers +* Fix flake8 warnings +* Contributors: Martin Günther + +1.1.6 (2022-06-02) +------------------ +* Add arg mir_type to launch files and urdfs +* Rename mir_100 -> mir + This is in preparation of mir_250 support. +* Contributors: Martin Günther + +1.1.5 (2022-02-11) +------------------ + +1.1.4 (2021-12-10) +------------------ + +1.1.3 (2021-06-11) +------------------ +* Merge branch 'melodic-2.8' into noetic +* Subscribe to move_base_simple/goal in relative namespace +* Use absolute topics for /tf, /tf_static, /map etc. +* Rename tf frame and topic 'odom_comb' -> 'odom' + This is how they are called on the real MiR since MiR software 2.0. +* Fix handling of tf_static topic + This does two things: + 1. Make the tf_static topic latched. + 2. Cache all transforms, publish as one message. +* Increase queue_size for publishers + subscribers to 10 + One case where this was a problem was the tf_static topic: Since + multiple messages are being published at once, the subscriber often + missed one. The tf_static topic will be fixed anyway in the next commit, + but let's increase the queue_size anyway to avoid such bugs in the + future. +* Update topic list to 2.8.3.1 +* Reformat python code using black +* Remove outdated topics + These topics don't exist on MiR software 2.8.3 any more (most of them + have been removed a long time ago). + Fixes `#37 `_. +* Remove MirStatus + This message was removed in MiR software 2.0 (Renamed to RobotStatus). +* Use same MirMoveBase params as real MiR (2.8.3) + This shouldn't make a difference (it used to work before). Just removing + one more potential source of error. +* Fix: Converts move_base_simple/goal into a move_base action. (`#62 `_) + At least MIR software version 2.8 does not react properly to move_base_simple/goal messages. This implements a workaround. + Closes `#60 `_. +* Fix: Adds subscription to "tf_static". (`#58 `_) + Some transformations are published on this topic and are needed to + obtain a full tf tree. E.g. "base_footprint" to "base_link" +* Minor: Removes /particlecloud from the list of published topics. (`#57 `_) +* Fix: Add missing dict_filter keyword argument for cmd_vel msgs (`#56 `_) +* Remove relative_move_action (MiR => 2.4.0) + This action was merged into the generic MirMoveBaseAction in MiR + software 2.4.0. +* Adjust to changed MirMoveBase action (MiR >= 2.4.0) + See `#45 `_. +* Adjust cmd_vel topic to TwistStamped (MiR >= 2.7) + See `#45 `_. +* Contributors: Martin Günther, matthias-mayr + +1.1.2 (2021-05-12) +------------------ + +1.1.1 (2021-02-11) +------------------ +* Fix subscribing twice to same topic (TF etc) + There was a flaw in the subscriber logic that caused the mir_bridge to + subscribe multiple times to the same topic from the MiR, especially for + latched topics. This can be seen by repeated lines in the output: + starting to stream messages on topic 'tf' + starting to stream messages on topic 'tf' + starting to stream messages on topic 'tf' + Probably related to `#64 `_. +* Contributors: Martin Günther + +1.1.0 (2020-06-30) +------------------ +* Initial release into noetic +* Adapt to changes in websocket-client >= 0.49 + Ubuntu 16.04 has python-websocket 0.18 + Ubuntu 20.04 has python3-websocket 0.53 +* Update scripts to Python3 (Noetic) +* Contributors: Martin Günther + +1.0.6 (2020-06-30) +------------------ +* Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +1.0.5 (2020-05-01) +------------------ +* Add optional prefix parameter to fake_mir_joint_publisher (`#47 `_) +* tf_remove_child_frames: Don't publish empty TFs +* Add sdc21x0 package, MC/currents topic +* Contributors: Martin Günther, Nils Niemann + +1.0.4 (2019-05-06) +------------------ +* Remove garbage file +* Contributors: Martin Günther + +1.0.3 (2019-03-04) +------------------ +* Make disable_map work with MiR software 2.0 + See `#5 `_. +* mir_driver: Optionally disable the map topic + TF frame (`#6 `_) + This is useful when running one's own SLAM / localization nodes. + Fixes `#5 `_. +* Split scan_rep117 topic into two separate topics + This fixes the problem that the back laser scanner was ignored in the + navigation costmap in Gazebo (probably because in Gazebo, both laser + scanners have the exact same timestamp). +* Contributors: Martin Günther + +1.0.2 (2018-07-30) +------------------ + +1.0.1 (2018-07-17) +------------------ +* mir_driver: Remove leading slashes in TF frames +* mir_driver: Install launch directory +* Contributors: Martin Günther + +1.0.0 (2018-07-12) +------------------ +* Initial release +* Contributors: Martin Günther diff --git a/mir_robot/mir_driver/CMakeLists.txt b/mir_robot/mir_driver/CMakeLists.txt new file mode 100755 index 0000000..c1d06fc --- /dev/null +++ b/mir_robot/mir_driver/CMakeLists.txt @@ -0,0 +1,67 @@ +cmake_minimum_required(VERSION 3.5.1) +project(mir_driver) + +find_package(catkin REQUIRED COMPONENTS + actionlib_msgs + diagnostic_msgs + dynamic_reconfigure + geometry_msgs + mir_actions + mir_msgs + move_base_msgs + nav_msgs + rosgraph_msgs + roslaunch + rospy + rospy_message_converter + sensor_msgs + std_msgs + tf + visualization_msgs +) + +catkin_python_setup() + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS + actionlib_msgs + diagnostic_msgs + dynamic_reconfigure + geometry_msgs + mir_actions + mir_msgs + move_base_msgs + nav_msgs + rosgraph_msgs + rospy_message_converter + sensor_msgs + std_msgs + tf + visualization_msgs +) + +############# +## Install ## +############# + +catkin_install_python(PROGRAMS + nodes/fake_mir_joint_publisher.py + nodes/mir_bridge.py + nodes/rep117_filter.py + nodes/tf_remove_child_frames.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +# Mark other files for installation (e.g. launch and bag files, etc.) +install(DIRECTORY + launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +############# +## Testing ## +############# + +roslaunch_add_file_check(launch) diff --git a/mir_robot/mir_driver/launch/mir.launch b/mir_robot/mir_driver/launch/mir.launch new file mode 100755 index 0000000..144b4b9 --- /dev/null +++ b/mir_robot/mir_driver/launch/mir.launch @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - base_link + - front_laser_link + - back_laser_link + - camera_top_link + - camera_top_depth_optical_frame + - camera_floor_link + - camera_floor_depth_optical_frame + - imu_link + + + + + + + + + + + + + + + + + + + + + - odom + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_driver/nodes/fake_mir_joint_publisher.py b/mir_robot/mir_driver/nodes/fake_mir_joint_publisher.py new file mode 100755 index 0000000..2ad4830 --- /dev/null +++ b/mir_robot/mir_driver/nodes/fake_mir_joint_publisher.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors +# +# 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 the copyright holder 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 HOLDER 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: Martin Günther + +import rospy +from sensor_msgs.msg import JointState + + +def fake_mir_joint_publisher(): + rospy.init_node('fake_mir_joint_publisher') + prefix = rospy.get_param('~prefix', '') + pub = rospy.Publisher('joint_states', JointState, queue_size=10) + r = rospy.Rate(50.0) + while not rospy.is_shutdown(): + js = JointState() + js.header.stamp = rospy.Time.now() + js.name = [ + prefix + 'left_wheel_joint', + prefix + 'right_wheel_joint', + prefix + 'fl_caster_rotation_joint', + prefix + 'fl_caster_wheel_joint', + prefix + 'fr_caster_rotation_joint', + prefix + 'fr_caster_wheel_joint', + prefix + 'bl_caster_rotation_joint', + prefix + 'bl_caster_wheel_joint', + prefix + 'br_caster_rotation_joint', + prefix + 'br_caster_wheel_joint', + ] + js.position = [0.0 for _ in js.name] + js.velocity = [0.0 for _ in js.name] + js.effort = [0.0 for _ in js.name] + pub.publish(js) + r.sleep() + + +if __name__ == '__main__': + try: + fake_mir_joint_publisher() + except rospy.ROSInterruptException: + pass diff --git a/mir_robot/mir_driver/nodes/mir_bridge.py b/mir_robot/mir_driver/nodes/mir_bridge.py new file mode 100755 index 0000000..0c61a63 --- /dev/null +++ b/mir_robot/mir_driver/nodes/mir_bridge.py @@ -0,0 +1,529 @@ +#!/usr/bin/env python3 +# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors +# +# 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 the copyright holder 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 HOLDER 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: Martin Günther + +import rospy + +import copy +import sys +from collections.abc import Iterable + +from mir_driver import rosbridge +from rospy_message_converter import message_converter + +from actionlib import SimpleActionClient +import actionlib_msgs.msg +import diagnostic_msgs.msg +import dynamic_reconfigure.msg +import geometry_msgs.msg +import mir_actions.msg +import mir_msgs.msg +import move_base_msgs.msg +import nav_msgs.msg +import rosgraph_msgs.msg +import sdc21x0.msg +import sensor_msgs.msg +import std_msgs.msg +import tf2_msgs.msg +import visualization_msgs.msg + +from collections import OrderedDict + +tf_prefix = '' +static_transforms = OrderedDict() + + +class TopicConfig(object): + def __init__(self, topic, topic_type, latch=False, dict_filter=None): + self.topic = topic + self.topic_type = topic_type + self.latch = latch + self.dict_filter = dict_filter + + +# remap mir_actions/MirMoveBaseAction => move_base_msgs/MoveBaseAction +def _move_base_goal_dict_filter(msg_dict): + filtered_msg_dict = copy.deepcopy(msg_dict) + filtered_msg_dict['goal']['move_task'] = mir_actions.msg.MirMoveBaseGoal.GLOBAL_MOVE + filtered_msg_dict['goal']['goal_dist_threshold'] = 0.25 + filtered_msg_dict['goal']['clear_costmaps'] = True + return filtered_msg_dict + + +def _move_base_feedback_dict_filter(msg_dict): + # filter out slots from the dict that are not in our message definition + # e.g., MiRMoveBaseFeedback has the field "state", which MoveBaseFeedback doesn't + filtered_msg_dict = copy.deepcopy(msg_dict) + filtered_msg_dict['feedback'] = { + key: msg_dict['feedback'][key] for key in move_base_msgs.msg.MoveBaseFeedback.__slots__ + } + return filtered_msg_dict + + +def _move_base_result_dict_filter(msg_dict): + filtered_msg_dict = copy.deepcopy(msg_dict) + filtered_msg_dict['result'] = {key: msg_dict['result'][key] for key in move_base_msgs.msg.MoveBaseResult.__slots__} + return filtered_msg_dict + + +def _cmd_vel_dict_filter(msg_dict): + """ + Convert Twist to TwistStamped. + + Convert a geometry_msgs/Twist message dict (as sent from the ROS side) to + a geometry_msgs/TwistStamped message dict (as expected by the MiR on + software version >=2.7). + """ + header = std_msgs.msg.Header(frame_id='', stamp=rospy.Time.now()) + filtered_msg_dict = { + 'header': message_converter.convert_ros_message_to_dictionary(header), + 'twist': copy.deepcopy(msg_dict), + } + return filtered_msg_dict + + +def _tf_dict_filter(msg_dict): + filtered_msg_dict = copy.deepcopy(msg_dict) + for transform in filtered_msg_dict['transforms']: + transform['child_frame_id'] = tf_prefix + '/' + transform['child_frame_id'].strip('/') + return filtered_msg_dict + + +def _tf_static_dict_filter(msg_dict): + """ + Cache tf_static messages (simulate latching). + + The tf_static topic needs special handling. Publishers on tf_static are *latched*, which means that the ROS master + caches the last message that was sent by each publisher on that topic, and will forward it to new subscribers. + However, since the mir_driver node appears to the ROS master as a single node with a single publisher on tf_static, + and there are multiple actual publishers hiding behind it on the MiR side, only one of those messages will be + cached. Therefore, we need to implement the caching ourselves and make sure that we always publish the full set of + transforms as a single message. + """ + global static_transforms + + # prepend tf_prefix + filtered_msg_dict = _tf_dict_filter(msg_dict) + + # The following code was copied + modified from https://github.com/tradr-project/static_transform_mux . + + # Process the incoming transforms, merge them with our cache. + for transform in filtered_msg_dict['transforms']: + key = transform['child_frame_id'] + rospy.loginfo( + "[%s] tf_static: updated transform %s->%s.", + rospy.get_name(), + transform['header']['frame_id'], + transform['child_frame_id'], + ) + static_transforms[key] = transform + + # Return the cached messages. + filtered_msg_dict['transforms'] = static_transforms.values() + rospy.loginfo( + "[%s] tf_static: sent %i transforms: %s", + rospy.get_name(), + len(static_transforms), + str(static_transforms.keys()), + ) + return filtered_msg_dict + + +def _prepend_tf_prefix_dict_filter(msg_dict): + # filtered_msg_dict = copy.deepcopy(msg_dict) + if not isinstance(msg_dict, dict): # can happen during recursion + return + for (key, value) in msg_dict.items(): + if key == 'header': + try: + # prepend frame_id + frame_id = value['frame_id'].strip('/') + if frame_id != 'map': + # prepend tf_prefix, then remove leading '/' (e.g., when tf_prefix is empty) + value['frame_id'] = (tf_prefix + '/' + frame_id).strip('/') + else: + value['frame_id'] = frame_id + + except TypeError: + pass # value is not a dict + except KeyError: + pass # value doesn't have key 'frame_id' + elif isinstance(value, dict): + _prepend_tf_prefix_dict_filter(value) + elif isinstance(value, Iterable): # an Iterable other than dict (e.g., a list) + for item in value: + _prepend_tf_prefix_dict_filter(item) + return msg_dict + + +def _remove_tf_prefix_dict_filter(msg_dict): + # filtered_msg_dict = copy.deepcopy(msg_dict) + if not isinstance(msg_dict, dict): # can happen during recursion + return + for (key, value) in msg_dict.items(): + if key == 'header': + try: + # remove frame_id + s = value['frame_id'].strip('/') + if s.find(tf_prefix) == 0: + value['frame_id'] = (s[len(tf_prefix) :]).strip('/') # strip off tf_prefix, then strip leading '/' + except TypeError: + pass # value is not a dict + except KeyError: + pass # value doesn't have key 'frame_id' + elif isinstance(value, dict): + _remove_tf_prefix_dict_filter(value) + elif isinstance(value, Iterable): # an Iterable other than dict (e.g., a list) + for item in value: + _remove_tf_prefix_dict_filter(item) + return msg_dict + + +# topics we want to publish to ROS (and subscribe to from the MiR) +PUB_TOPICS = [ + # TopicConfig('LightCtrl/bms_data', mir_msgs.msg.BMSData), + # TopicConfig('LightCtrl/charging_state', mir_msgs.msg.ChargingState), + TopicConfig('LightCtrl/us_list', sensor_msgs.msg.Range), + # TopicConfig('MC/battery_currents', mir_msgs.msg.BatteryCurrents), + # TopicConfig('MC/battery_voltage', std_msgs.msg.Float64), + TopicConfig('MC/currents', sdc21x0.msg.MotorCurrents), + # TopicConfig('MC/encoders', sdc21x0.msg.StampedEncoders), + TopicConfig('MissionController/CheckArea/visualization_marker', visualization_msgs.msg.Marker), + # TopicConfig('MissionController/goal_position_guid', std_msgs.msg.String), + # TopicConfig('MissionController/prompt_user', mir_msgs.msg.UserPrompt), + TopicConfig('SickPLC/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + TopicConfig('SickPLC/parameter_updates', dynamic_reconfigure.msg.Config), + # TopicConfig('active_mapping_guid', std_msgs.msg.String), + TopicConfig('amcl_pose', geometry_msgs.msg.PoseWithCovarianceStamped), + TopicConfig('b_raw_scan', sensor_msgs.msg.LaserScan), + TopicConfig('b_scan', sensor_msgs.msg.LaserScan), + TopicConfig('camera_floor/background', sensor_msgs.msg.PointCloud2), + TopicConfig('camera_floor/depth/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + TopicConfig('camera_floor/depth/parameter_updates', dynamic_reconfigure.msg.Config), + TopicConfig('camera_floor/depth/points', sensor_msgs.msg.PointCloud2), + TopicConfig('camera_floor/filter/visualization_marker', visualization_msgs.msg.Marker), + TopicConfig('camera_floor/floor', sensor_msgs.msg.PointCloud2), + TopicConfig('camera_floor/obstacles', sensor_msgs.msg.PointCloud2), + TopicConfig('check_area/polygon', geometry_msgs.msg.PolygonStamped), + # TopicConfig('check_pose_area/polygon', geometry_msgs.msg.PolygonStamped), + # TopicConfig('data_events/area_events', mir_data_msgs.msg.AreaEventEvent), + # TopicConfig('data_events/maps', mir_data_msgs.msg.MapEvent), + # TopicConfig('data_events/positions', mir_data_msgs.msg.PositionEvent), + # TopicConfig('data_events/registers', mir_data_msgs.msg.PLCRegisterEvent), + # TopicConfig('data_events/sounds', mir_data_msgs.msg.SoundEvent), + TopicConfig('diagnostics', diagnostic_msgs.msg.DiagnosticArray), + TopicConfig('diagnostics_agg', diagnostic_msgs.msg.DiagnosticArray), + TopicConfig('diagnostics_toplevel_state', diagnostic_msgs.msg.DiagnosticStatus), + TopicConfig('f_raw_scan', sensor_msgs.msg.LaserScan), + TopicConfig('f_scan', sensor_msgs.msg.LaserScan), + TopicConfig('imu_data', sensor_msgs.msg.Imu), + TopicConfig('laser_back/driver/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + TopicConfig('laser_back/driver/parameter_updates', dynamic_reconfigure.msg.Config), + TopicConfig('laser_front/driver/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + TopicConfig('laser_front/driver/parameter_updates', dynamic_reconfigure.msg.Config), + # TopicConfig('localization_score', std_msgs.msg.Float64), + TopicConfig('/map', nav_msgs.msg.OccupancyGrid, latch=True), + TopicConfig('/map_metadata', nav_msgs.msg.MapMetaData), + # TopicConfig('marker_tracking_node/feedback', mir_marker_tracking.msg.MarkerTrackingActionFeedback), + # TopicConfig( + # 'marker_tracking_node/laser_line_extract/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription + # ), + # TopicConfig('marker_tracking_node/laser_line_extract/parameter_updates', dynamic_reconfigure.msg.Config), + # TopicConfig('marker_tracking_node/laser_line_extract/visualization_marker', visualization_msgs.msg.Marker), + # TopicConfig('marker_tracking_node/result', mir_marker_tracking.msg.MarkerTrackingActionResult), + # TopicConfig('marker_tracking_node/status', actionlib_msgs.msg.GoalStatusArray), + # TopicConfig('mirEventTrigger/events', mir_msgs.msg.Events), + TopicConfig('mir_amcl/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + TopicConfig('mir_amcl/parameter_updates', dynamic_reconfigure.msg.Config), + TopicConfig('mir_amcl/selected_points', sensor_msgs.msg.PointCloud2), + TopicConfig('mir_log', rosgraph_msgs.msg.Log), + # TopicConfig('mir_sound/sound_event', mir_msgs.msg.SoundEvent), + TopicConfig('mir_status_msg', std_msgs.msg.String), + # TopicConfig('mirspawn/node_events', mirSpawn.msg.LaunchItem), + TopicConfig('mirwebapp/grid_map_metadata', mir_msgs.msg.LocalMapStat), + TopicConfig('mirwebapp/laser_map_metadata', mir_msgs.msg.LocalMapStat), + # TopicConfig('mirwebapp/web_path', mir_msgs.msg.WebPath), + # really mir_actions/MirMoveBaseActionFeedback: + TopicConfig( + 'move_base/feedback', move_base_msgs.msg.MoveBaseActionFeedback, dict_filter=_move_base_feedback_dict_filter + ), + # really mir_actions/MirMoveBaseActionResult: + TopicConfig('move_base/result', move_base_msgs.msg.MoveBaseActionResult, dict_filter=_move_base_result_dict_filter), + TopicConfig('move_base/status', actionlib_msgs.msg.GoalStatusArray), + # TopicConfig('move_base_node/MIRPlannerROS/cost_cloud', sensor_msgs.msg.PointCloud2), + # TopicConfig('move_base_node/MIRPlannerROS/global_plan', nav_msgs.msg.Path), + # TopicConfig('move_base_node/MIRPlannerROS/len_to_goal', std_msgs.msg.Float64), + TopicConfig('move_base_node/MIRPlannerROS/local_plan', nav_msgs.msg.Path), + # TopicConfig('move_base_node/MIRPlannerROS/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + # TopicConfig('move_base_node/MIRPlannerROS/parameter_updates', dynamic_reconfigure.msg.Config), + TopicConfig('move_base_node/MIRPlannerROS/updated_global_plan', mir_msgs.msg.PlanSegments), + # TopicConfig('move_base_node/MIRPlannerROS/visualization_marker', visualization_msgs.msg.MarkerArray), + TopicConfig('move_base_node/SBPLLatticePlanner/plan', nav_msgs.msg.Path), + # TopicConfig( + # 'move_base_node/SBPLLatticePlanner/sbpl_lattice_planner_stats', sbpl_lattice_planner.msg.SBPLLatticePlannerStats + # ), + # TopicConfig('move_base_node/SBPLLatticePlanner/visualization_marker', visualization_msgs.msg.MarkerArray), + TopicConfig('move_base_node/current_goal', geometry_msgs.msg.PoseStamped), + # TopicConfig('move_base_node/global_costmap/inflated_obstacles', nav_msgs.msg.GridCells), + # TopicConfig('move_base_node/global_costmap/obstacles', nav_msgs.msg.GridCells), + # TopicConfig('move_base_node/global_costmap/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + # TopicConfig('move_base_node/global_costmap/parameter_updates', dynamic_reconfigure.msg.Config), + # TopicConfig('move_base_node/global_costmap/robot_footprint', geometry_msgs.msg.PolygonStamped), + # TopicConfig('move_base_node/global_costmap/unknown_space', nav_msgs.msg.GridCells), + # TopicConfig('move_base_node/global_plan', nav_msgs.msg.Path), + TopicConfig('move_base_node/local_costmap/inflated_obstacles', nav_msgs.msg.GridCells), + TopicConfig('move_base_node/local_costmap/obstacles', nav_msgs.msg.GridCells), + # TopicConfig('move_base_node/local_costmap/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + # TopicConfig('move_base_node/local_costmap/parameter_updates', dynamic_reconfigure.msg.Config), + TopicConfig('move_base_node/local_costmap/robot_footprint', geometry_msgs.msg.PolygonStamped), + # TopicConfig('move_base_node/local_costmap/safety_zone', geometry_msgs.msg.PolygonStamped), + # TopicConfig('move_base_node/local_costmap/unknown_space', nav_msgs.msg.GridCells), + # TopicConfig('move_base_node/mir_escape_recovery/visualization_marker', visualization_msgs.msg.Marker), + # TopicConfig('move_base_node/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + # TopicConfig('move_base_node/parameter_updates', dynamic_reconfigure.msg.Config), + TopicConfig('move_base_node/time_to_coll', std_msgs.msg.Float64), + TopicConfig('move_base_node/traffic_costmap/inflated_obstacles', nav_msgs.msg.GridCells), + TopicConfig('move_base_node/traffic_costmap/obstacles', nav_msgs.msg.GridCells), + TopicConfig('move_base_node/traffic_costmap/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + TopicConfig('move_base_node/traffic_costmap/parameter_updates', dynamic_reconfigure.msg.Config), + TopicConfig('move_base_node/traffic_costmap/robot_footprint', geometry_msgs.msg.PolygonStamped), + TopicConfig('move_base_node/traffic_costmap/unknown_space', nav_msgs.msg.GridCells), + TopicConfig('move_base_node/visualization_marker', visualization_msgs.msg.Marker), + TopicConfig('move_base_simple/visualization_marker', visualization_msgs.msg.Marker), + TopicConfig('odom', nav_msgs.msg.Odometry), + TopicConfig('odom_enc', nav_msgs.msg.Odometry), + # TopicConfig('one_way_map', nav_msgs.msg.OccupancyGrid), + # TopicConfig('param_update', std_msgs.msg.String), + # TopicConfig('particlevizmarker', visualization_msgs.msg.MarkerArray), + # TopicConfig('resource_tracker/needed_resources', mir_msgs.msg.ResourcesState), + TopicConfig('robot_mode', mir_msgs.msg.RobotMode), + TopicConfig('robot_pose', geometry_msgs.msg.Pose), + TopicConfig('robot_state', mir_msgs.msg.RobotState), + # TopicConfig('robot_status', mir_msgs.msg.RobotStatus), + TopicConfig('/rosout', rosgraph_msgs.msg.Log), + TopicConfig('/rosout_agg', rosgraph_msgs.msg.Log), + TopicConfig('scan', sensor_msgs.msg.LaserScan), + # TopicConfig('scan_filter/parameter_descriptions', dynamic_reconfigure.msg.ConfigDescription), + # TopicConfig('scan_filter/parameter_updates', dynamic_reconfigure.msg.Config), + TopicConfig('scan_filter/visualization_marker', visualization_msgs.msg.Marker), + # TopicConfig('session_importer_node/info', mirSessionImporter.msg.SessionImportInfo), + # TopicConfig('set_mc_PID', std_msgs.msg.Float64MultiArray), + TopicConfig('/tf', tf2_msgs.msg.TFMessage, dict_filter=_tf_dict_filter), + TopicConfig('/tf_static', tf2_msgs.msg.TFMessage, dict_filter=_tf_static_dict_filter, latch=True), + # TopicConfig('traffic_map', nav_msgs.msg.OccupancyGrid), + # TopicConfig('wifi_diagnostics', diagnostic_msgs.msg.DiagnosticArray), + # TopicConfig('wifi_diagnostics/cur_ap', mir_wifi_msgs.msg.APInfo), + # TopicConfig('wifi_diagnostics/roam_events', mir_wifi_msgs.msg.WifiRoamEvent), + # TopicConfig('wifi_diagnostics/wifi_ap_interface_stats', mir_wifi_msgs.msg.WifiInterfaceStats), + # TopicConfig('wifi_diagnostics/wifi_ap_rssi', mir_wifi_msgs.msg.APRssiStats), + # TopicConfig('wifi_diagnostics/wifi_ap_time_stats', mir_wifi_msgs.msg.APTimeStats), + # TopicConfig('wifi_watchdog/ping', mir_wifi_msgs.msg.APPingStats), +] + +# topics we want to subscribe to from ROS (and publish to the MiR) +SUB_TOPICS = [ + # really geometry_msgs.msg.TwistStamped: + TopicConfig('cmd_vel', geometry_msgs.msg.Twist, dict_filter=_cmd_vel_dict_filter), + TopicConfig('initialpose', geometry_msgs.msg.PoseWithCovarianceStamped), + TopicConfig('light_cmd', std_msgs.msg.String), + TopicConfig('mir_cmd', std_msgs.msg.String), + TopicConfig('move_base/cancel', actionlib_msgs.msg.GoalID), + # really mir_actions/MirMoveBaseActionGoal: + TopicConfig('move_base/goal', move_base_msgs.msg.MoveBaseActionGoal, dict_filter=_move_base_goal_dict_filter), +] + + +class PublisherWrapper(rospy.SubscribeListener): + def __init__(self, topic_config, robot): + self.topic_config = topic_config + self.robot = robot + self.connected = False + # Use topic_config.topic directly here. If it does not have a leading slash, it will use the private namespace. + self.pub = rospy.Publisher( + name=topic_config.topic, + data_class=topic_config.topic_type, + subscriber_listener=self, + latch=topic_config.latch, + queue_size=10, + ) + rospy.loginfo( + "[%s] publishing topic '%s' [%s]", rospy.get_name(), topic_config.topic, topic_config.topic_type._type + ) + # latched topics must be subscribed immediately + if topic_config.latch: + self.peer_subscribe("", None, None) + + def peer_subscribe(self, topic_name, topic_publish, peer_publish): + if not self.connected: + self.connected = True + rospy.loginfo("[%s] starting to stream messages on topic '%s'", rospy.get_name(), self.topic_config.topic) + absolute_topic = '/' + self.topic_config.topic.lstrip('/') # ensure exactly 1 leading slash for MiR comm + self.robot.subscribe(topic=absolute_topic, callback=self.callback) + + def peer_unsubscribe(self, topic_name, num_peers): + pass + # doesn't work: once ubsubscribed, robot doesn't let us subscribe again + # if self.connected and self.pub.get_num_connections() == 0 and not self.topic_config.latch: + # self.connected = False + # rospy.loginfo("[%s] stopping to stream messages on topic '%s'", rospy.get_name(), self.topic_config.topic) + # absolute_topic = '/' + self.topic_config.topic.lstrip('/') # ensure exactly 1 leading slash for MiR comm + # self.robot.unsubscribe(topic=absolute_topic) + + def callback(self, msg_dict): + msg_dict = _prepend_tf_prefix_dict_filter(msg_dict) + if self.topic_config.dict_filter is not None: + msg_dict = self.topic_config.dict_filter(msg_dict) + msg = message_converter.convert_dictionary_to_ros_message(self.topic_config.topic_type._type, msg_dict) + self.pub.publish(msg) + + +class SubscriberWrapper(object): + def __init__(self, topic_config, robot): + self.topic_config = topic_config + self.robot = robot + # Use topic_config.topic directly here. If it does not have a leading slash, it will use the private namespace. + self.sub = rospy.Subscriber( + name=topic_config.topic, data_class=topic_config.topic_type, callback=self.callback, queue_size=10 + ) + rospy.loginfo( + "[%s] subscribing to topic '%s' [%s]", rospy.get_name(), topic_config.topic, topic_config.topic_type._type + ) + + def callback(self, msg): + msg_dict = message_converter.convert_ros_message_to_dictionary(msg) + msg_dict = _remove_tf_prefix_dict_filter(msg_dict) + if self.topic_config.dict_filter is not None: + msg_dict = self.topic_config.dict_filter(msg_dict) + absolute_topic = '/' + self.topic_config.topic.lstrip('/') # ensure exactly 1 leading slash for MiR comm + self.robot.publish(absolute_topic, msg_dict) + + +class MiRBridge(object): + def __init__(self): + try: + hostname = rospy.get_param('~hostname') + except KeyError: + rospy.logfatal('[%s] parameter "hostname" is not set!', rospy.get_name()) + sys.exit(-1) + port = rospy.get_param('~port', 9090) + + global tf_prefix + tf_prefix = rospy.get_param('~tf_prefix', '').strip('/') + + rospy.loginfo('[%s] trying to connect to %s:%i...', rospy.get_name(), hostname, port) + self.robot = rosbridge.RosbridgeSetup(hostname, port) + + r = rospy.Rate(10) + i = 1 + while not self.robot.is_connected(): + if rospy.is_shutdown(): + sys.exit(0) + if self.robot.is_errored(): + rospy.logfatal('[%s] connection error to %s:%i, giving up!', rospy.get_name(), hostname, port) + sys.exit(-1) + if i % 10 == 0: + rospy.logwarn('[%s] still waiting for connection to %s:%i...', rospy.get_name(), hostname, port) + i += 1 + r.sleep() + + rospy.loginfo('[%s] ... connected.', rospy.get_name()) + + topics = self.get_topics() + published_topics = [topic_name for (topic_name, _, has_publishers, _) in topics if has_publishers] + subscribed_topics = [topic_name for (topic_name, _, _, has_subscribers) in topics if has_subscribers] + + for pub_topic in PUB_TOPICS: + PublisherWrapper(pub_topic, self.robot) + absolute_topic = '/' + pub_topic.topic.lstrip('/') # ensure exactly 1 leading slash for MiR comm + if absolute_topic not in published_topics: + rospy.logwarn("[%s] topic '%s' is not published by the MiR!", rospy.get_name(), pub_topic.topic) + + for sub_topic in SUB_TOPICS: + SubscriberWrapper(sub_topic, self.robot) + absolute_topic = '/' + sub_topic.topic.lstrip('/') # ensure exactly 1 leading slash for MiR comm + if absolute_topic not in subscribed_topics: + rospy.logwarn("[%s] topic '%s' is not yet subscribed to by the MiR!", rospy.get_name(), sub_topic.topic) + + # At least with software version 2.8 there were issues when forwarding a simple goal to the robot + # This workaround converts it into an action. Check https://github.com/DFKI-NI/mir_robot/issues/60 for details. + self._move_base_client = SimpleActionClient('move_base', move_base_msgs.msg.MoveBaseAction) + rospy.Subscriber("move_base_simple/goal", geometry_msgs.msg.PoseStamped, self._move_base_simple_goal_callback) + + def get_topics(self): + srv_response = self.robot.callService('/rosapi/topics', msg={}) + topic_names = sorted(srv_response['topics']) + topics = [] + + for topic_name in topic_names: + srv_response = self.robot.callService("/rosapi/topic_type", msg={'topic': topic_name}) + topic_type = srv_response['type'] + + srv_response = self.robot.callService("/rosapi/publishers", msg={'topic': topic_name}) + has_publishers = True if len(srv_response['publishers']) > 0 else False + + srv_response = self.robot.callService("/rosapi/subscribers", msg={'topic': topic_name}) + has_subscribers = True if len(srv_response['subscribers']) > 0 else False + + topics.append([topic_name, topic_type, has_publishers, has_subscribers]) + + print('Publishers:') + for (topic_name, topic_type, has_publishers, has_subscribers) in topics: + if has_publishers: + print((' * %s [%s]' % (topic_name, topic_type))) + + print('\nSubscribers:') + for (topic_name, topic_type, has_publishers, has_subscribers) in topics: + if has_subscribers: + print((' * %s [%s]' % (topic_name, topic_type))) + + return topics + + def _move_base_simple_goal_callback(self, msg): + if not self._move_base_client.wait_for_server(rospy.Duration(2)): + rospy.logwarn("Could not connect to 'move_base' server after two seconds. Dropping goal.") + rospy.logwarn("Did you activate 'planner' in the MIR web interface?") + return + goal = move_base_msgs.msg.MoveBaseGoal() + goal.target_pose.header = copy.deepcopy(msg.header) + goal.target_pose.pose = copy.deepcopy(msg.pose) + self._move_base_client.send_goal(goal) + + +def main(): + rospy.init_node('mir_bridge') + MiRBridge() + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/mir_robot/mir_driver/nodes/rep117_filter.py b/mir_robot/mir_driver/nodes/rep117_filter.py new file mode 100755 index 0000000..d8d66f8 --- /dev/null +++ b/mir_robot/mir_driver/nodes/rep117_filter.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python3 + +# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors +# +# 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 the copyright holder 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 HOLDER 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: Martin Günther + +import rospy +from sensor_msgs.msg import LaserScan + +pub = None + + +def callback(msg): + """ + Convert laser scans to REP 117 standard. + + See http://www.ros.org/reps/rep-0117.html + """ + ranges_out = [] + for dist in msg.ranges: + if dist < msg.range_min: + # assume "reading too close to measure", + # although it could also be "reading invalid" (nan) + ranges_out.append(float("-inf")) + + elif dist > msg.range_max: + # assume "reading of no return (outside sensor range)", + # although it could also be "reading invalid" (nan) + ranges_out.append(float("inf")) + else: + ranges_out.append(dist) + + msg.ranges = ranges_out + pub.publish(msg) + + +def main(): + global pub + rospy.init_node('rep117_filter') + + pub = rospy.Publisher('scan_filtered', LaserScan, queue_size=10) + rospy.Subscriber('scan', LaserScan, callback) + rospy.spin() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException: + pass diff --git a/mir_robot/mir_driver/nodes/tf_remove_child_frames.py b/mir_robot/mir_driver/nodes/tf_remove_child_frames.py new file mode 100755 index 0000000..26dcfe1 --- /dev/null +++ b/mir_robot/mir_driver/nodes/tf_remove_child_frames.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +# Copyright 2016 The Cartographer Authors +# Copyright 2018 DFKI GmbH +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import rospy +from tf.msg import tfMessage + + +def main(): + rospy.init_node('tf_remove_child_frames') + remove_frames = rospy.get_param('~remove_frames', []) + + # filter tf_in topic + tf_pub = rospy.Publisher('tf_out', tfMessage, queue_size=1) + + def tf_cb(msg): + msg.transforms = [t for t in msg.transforms if t.child_frame_id.lstrip('/') not in remove_frames] + if len(msg.transforms) > 0: + tf_pub.publish(msg) + + rospy.Subscriber('tf_in', tfMessage, tf_cb) + + # filter tf_static_in topic + tf_static_pub = rospy.Publisher('tf_static_out', tfMessage, queue_size=1, latch=True) + + def tf_static_cb(msg): + msg.transforms = [t for t in msg.transforms if t.child_frame_id.lstrip('/') not in remove_frames] + if len(msg.transforms) > 0: + tf_static_pub.publish(msg) + + rospy.Subscriber('tf_static_in', tfMessage, tf_static_cb) + + rospy.spin() + + +if __name__ == '__main__': + main() diff --git a/mir_robot/mir_driver/package.xml b/mir_robot/mir_driver/package.xml new file mode 100755 index 0000000..134dcf0 --- /dev/null +++ b/mir_robot/mir_driver/package.xml @@ -0,0 +1,40 @@ + + + mir_driver + 1.1.7 + A reverse ROS bridge for the MiR robot + + Martin Günther + Martin Günther + + BSD + Apache 2.0 + + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot/issues + + catkin + + roslaunch + + actionlib_msgs + diagnostic_msgs + dynamic_reconfigure + geometry_msgs + mir_actions + mir_msgs + move_base_msgs + nav_msgs + python3-websocket + rosgraph_msgs + rospy + rospy_message_converter + sensor_msgs + std_msgs + tf + visualization_msgs + + mir_description + robot_state_publisher + diff --git a/mir_robot/mir_driver/setup.py b/mir_robot/mir_driver/setup.py new file mode 100755 index 0000000..6f789db --- /dev/null +++ b/mir_robot/mir_driver/setup.py @@ -0,0 +1,9 @@ +# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup(packages=['mir_driver'], package_dir={'': 'src'}) + +setup(**setup_args) diff --git a/mir_robot/mir_driver/src/mir_driver/__init__.py b/mir_robot/mir_driver/src/mir_driver/__init__.py new file mode 100755 index 0000000..e69de29 diff --git a/mir_robot/mir_driver/src/mir_driver/rosbridge.py b/mir_robot/mir_driver/src/mir_driver/rosbridge.py new file mode 100755 index 0000000..e96fb94 --- /dev/null +++ b/mir_robot/mir_driver/src/mir_driver/rosbridge.py @@ -0,0 +1,214 @@ +# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors +# +# 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 the copyright holder 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 HOLDER 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 websocket +import threading + +import json +import traceback +import time + +import string +import random + + +class RosbridgeSetup: + def __init__(self, host, port): + self.callbacks = {} + self.service_callbacks = {} + self.resp = None + self.connection = RosbridgeWSConnection(host, port) + self.connection.registerCallback(self.onMessageReceived) + + def publish(self, topic, obj): + pub = {"op": "publish", "topic": topic, "msg": obj} + self.send(pub) + + def subscribe(self, topic, callback, throttle_rate=-1): + if self.addCallback(topic, callback): + sub = {"op": "subscribe", "topic": topic} + if throttle_rate > 0: + sub['throttle_rate'] = throttle_rate + + self.send(sub) + + def unhook(self, callback): + keys_for_deletion = [] + for key, values in self.callbacks.items(): + for value in values: + if callback == value: + print("Found!") + values.remove(value) + if len(values) == 0: + keys_for_deletion.append(key) + + for key in keys_for_deletion: + self.unsubscribe(key) + self.callbacks.pop(key) + + def unsubscribe(self, topic): + unsub = {"op": "unsubscribe", "topic": topic} + self.send(unsub) + + def callService(self, serviceName, callback=None, msg=None): + id = self.generate_id() + call = {"op": "call_service", "id": id, "service": serviceName} + if msg is not None: + call['args'] = msg + + if callback is None: + self.resp = None + + def internalCB(msg): + self.resp = msg + return None + + self.addServiceCallback(id, internalCB) + self.send(call) + + while self.resp is None: + time.sleep(0.01) + + return self.resp + + self.addServiceCallback(id, callback) + self.send(call) + return None + + def send(self, obj): + try: + self.connection.sendString(json.dumps(obj)) + except Exception: + traceback.print_exc() + raise + + def generate_id(self, chars=16): + return ''.join(random.SystemRandom().choice(string.ascii_letters + string.digits) for _ in range(chars)) + + def addServiceCallback(self, id, callback): + self.service_callbacks[id] = callback + + def addCallback(self, topic, callback): + if topic in self.callbacks: + self.callbacks[topic].append(callback) + return False + + self.callbacks[topic] = [callback] + return True + + def is_connected(self): + return self.connection.connected + + def is_errored(self): + return self.connection.errored + + def onMessageReceived(self, message): + try: + # Load the string into a JSON object + obj = json.loads(message) + # print "Received: ", obj + + if 'op' in obj: + option = obj['op'] + if option == "publish": # A message from a topic we have subscribed to.. + topic = obj["topic"] + msg = obj["msg"] + if topic in self.callbacks: + for callback in self.callbacks[topic]: + try: + callback(msg) + except Exception: + print("exception on callback", callback, "from", topic) + traceback.print_exc() + raise + elif option == "service_response": + if "id" in obj: + id = obj["id"] + values = obj["values"] + if id in self.service_callbacks: + try: + # print 'id:', id, 'func:', self.service_callbacks[id] + self.service_callbacks[id](values) + except Exception: + print("exception on callback ID:", id) + traceback.print_exc() + raise + else: + print("Missing ID!") + else: + print("Recieved unknown option - it was: ", option) + else: + print("No OP key!") + except Exception: + print("exception in onMessageReceived") + print("message", message) + traceback.print_exc() + raise + + +class RosbridgeWSConnection: + def __init__(self, host, port): + self.ws = websocket.WebSocketApp( + ("ws://%s:%d/" % (host, port)), on_message=self.on_message, on_error=self.on_error, on_close=self.on_close + ) + self.ws.on_open = self.on_open + self.run_thread = threading.Thread(target=self.run) + self.run_thread.start() + self.connected = False + self.errored = False + self.callbacks = [] + + def on_open(self): + print("### ROS bridge connected ###") + self.connected = True + + def sendString(self, message): + if not self.connected: + print("Error: not connected, could not send message") + # TODO: throw exception + else: + self.ws.send(message) + + def on_error(self, error): + self.errored = True + print("Error: %s" % error) + + def on_close(self): + self.connected = False + print("### ROS bridge closed ###") + + def run(self, *args): + self.ws.run_forever() + + def on_message(self, message): + # Call the handlers + for callback in self.callbacks: + callback(message) + + def registerCallback(self, callback): + self.callbacks.append(callback) diff --git a/mir_robot/mir_dwb_critics/CHANGELOG.rst b/mir_robot/mir_dwb_critics/CHANGELOG.rst new file mode 100755 index 0000000..4351079 --- /dev/null +++ b/mir_robot/mir_dwb_critics/CHANGELOG.rst @@ -0,0 +1,78 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mir_dwb_critics +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2023-01-20) +------------------ +* Don't set cmake_policy CMP0048 +* Drop old C++ compiler flags +* Add license headers +* Contributors: Martin Günther + +1.1.6 (2022-06-02) +------------------ + +1.1.5 (2022-02-11) +------------------ + +1.1.4 (2021-12-10) +------------------ + +1.1.3 (2021-06-11) +------------------ +* Merge branch 'melodic-2.8' into noetic +* Reformat python code using black +* Contributors: Martin Günther + +1.1.2 (2021-05-12) +------------------ + +1.1.1 (2021-02-11) +------------------ +* Fix bug in path_dist_pruned + With some paths, the previous code crashed with "terminate called after throwing an instance + of 'std::bad_alloc'". +* Contributors: Martin Günther + +1.1.0 (2020-06-30) +------------------ +* Initial release into noetic +* Update scripts to Python3 (Noetic) +* Contributors: Martin Günther + +1.0.6 (2020-06-30) +------------------ +* Add missing matplotlib dependency +* Fix some catkin_lint warnings +* Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +1.0.5 (2020-05-01) +------------------ +* mir_dwb_critics: Add plot_dwb_scores.py +* mir_dwb_critics: Improve print_dwb_scores output +* added PathDistPrunedCritic for dwb (`#42 `_) + which works exactly like the original PathDistCritic, except that it + searches for a local minimum in the distance from the global path to the robots + current position. It then prunes the global_path from the start up to + this point, therefore approximately cutting of a segment of the path + that the robot already followed. +* Contributors: Martin Günther, Nils Niemann + +1.0.4 (2019-05-06) +------------------ + +1.0.3 (2019-03-04) +------------------ +* PathProgressCritic: Add heading score +* Add package: mir_dwb_critics +* Contributors: Martin Günther + +1.0.2 (2018-07-30) +------------------ + +1.0.1 (2018-07-17) +------------------ + +1.0.0 (2018-07-12) +------------------ diff --git a/mir_robot/mir_dwb_critics/CMakeLists.txt b/mir_robot/mir_dwb_critics/CMakeLists.txt new file mode 100755 index 0000000..89e5c9c --- /dev/null +++ b/mir_robot/mir_dwb_critics/CMakeLists.txt @@ -0,0 +1,55 @@ +cmake_minimum_required(VERSION 3.5.1) +project(mir_dwb_critics) + +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror") + +find_package(catkin REQUIRED COMPONENTS + angles + costmap_queue + dwb_critics + dwb_local_planner + geometry_msgs + nav_2d_msgs + nav_2d_utils + nav_core2 + nav_grid_iterators + pluginlib + roscpp + sensor_msgs +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS angles costmap_queue dwb_critics dwb_local_planner geometry_msgs nav_2d_msgs nav_2d_utils nav_core2 nav_grid_iterators pluginlib roscpp sensor_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/path_angle.cpp + src/path_progress.cpp + src/path_dist_pruned.cpp +) +add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + +install(PROGRAMS + nodes/print_dwb_scores.py + nodes/plot_dwb_scores.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(FILES default_critics.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/mir_robot/mir_dwb_critics/default_critics.xml b/mir_robot/mir_dwb_critics/default_critics.xml new file mode 100755 index 0000000..8c056bf --- /dev/null +++ b/mir_robot/mir_dwb_critics/default_critics.xml @@ -0,0 +1,13 @@ + + + + Scores trajectories based on how far along the global path they end up. + + + TODO + + + Scores trajectories based on the distance to the global path, only taking the parts into account that are still ahead of the robot. + + + diff --git a/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_angle.h b/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_angle.h new file mode 100755 index 0000000..0c70097 --- /dev/null +++ b/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_angle.h @@ -0,0 +1,71 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, DFKI GmbH + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef MIR_DWB_CRITICS_PATH_ANGLE_H_ +#define MIR_DWB_CRITICS_PATH_ANGLE_H_ + +#include +#include + +namespace mir_dwb_critics +{ +/** + * @class PathAngleCritic + * @brief Scores trajectories based on the difference between the path's current angle and the trajectory's angle + * + * This trajectory critic helps to ensure that the robot is roughly aligned with the path (i.e., + * if the path specifies a forward motion, the robot should point forward along the path and vice versa). + * This critic is not a replacement for the PathAlignCritic: The PathAlignCritic tries to point the robot + * towards a point on the path that is in front of the trajectory's end point, so it helps guiding the + * robot back towards the path. The PathAngleCritic on the other hand uses the path point that is closest + * to the robot's current position (not the trajectory end point, or even a point in front of that) as a + * reference, so it always lags behind. Also, it tries to keep the robot parallel to the path, not towards + * it. For these reasons, the error is squared, so that the PathAngleCritic really only affects the final + * score if the error is large. The PathAlignCritic doesn't take the path orientation into account though, + * so that's why the PathAngleCritic is a useful addition. + */ +class PathAngleCritic: public dwb_local_planner::TrajectoryCritic +{ +public: + virtual bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, + const nav_2d_msgs::Path2D& global_plan) override; + + virtual double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; + +protected: + double desired_angle_; +}; + +} // namespace mir_dwb_critics +#endif // MIR_DWB_CRITICS_PATH_ANGLE_H_ diff --git a/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_dist_pruned.h b/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_dist_pruned.h new file mode 100755 index 0000000..81e5738 --- /dev/null +++ b/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_dist_pruned.h @@ -0,0 +1,56 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, DFKI GmbH + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef MIR_DWB_CRITICS_PATH_DISTANCE_PRUNED_H_ +#define MIR_DWB_CRITICS_PATH_DISTANCE_PRUNED_H_ + +#include +#include + +namespace mir_dwb_critics +{ +/** + * @class PathDistPrunedCritic + * @brief Scores trajectories based on how far from the global path they end up, + * where the global path is pruned to only include waypoints ahead of the + * robot. + */ +class PathDistPrunedCritic : public dwb_critics::PathDistCritic { +public: + virtual bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, + const nav_2d_msgs::Path2D& global_plan) override; +}; + +} // namespace mir_dwb_critics +#endif // MIR_DWB_CRITICS_DISTANCE_PRUNED_H_ diff --git a/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_progress.h b/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_progress.h new file mode 100755 index 0000000..a5942df --- /dev/null +++ b/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_progress.h @@ -0,0 +1,86 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, DFKI GmbH + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef MIR_DWB_CRITICS_PATH_PROGRESS_H_ +#define MIR_DWB_CRITICS_PATH_PROGRESS_H_ + +#include +#include +#include +#include +#include + +namespace mir_dwb_critics { +/** + * @class PathProgressCritic + * @brief Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal. + * + * This trajectory critic helps ensure progress along the global path. It + * calculates an intermediate goal that is as far as possible along the global + * path as long as the path continues to move in one direction (+/- + * angle_threshold). + */ +class PathProgressCritic : public dwb_critics::MapGridCritic { + public: + bool prepare(const geometry_msgs::Pose2D &pose, + const nav_2d_msgs::Twist2D &vel, + const geometry_msgs::Pose2D &goal, + const nav_2d_msgs::Path2D &global_plan) override; + + void onInit() override; + void reset() override; + double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; + + protected: + bool getGoalPose(const geometry_msgs::Pose2D &robot_pose, + const nav_2d_msgs::Path2D &global_plan, + unsigned int &x, + unsigned int &y, + double &desired_angle); + + unsigned int getGoalIndex(const geometry_msgs::Pose2D &robot_pose, + const std::vector &plan, + unsigned int start_index, + unsigned int last_valid_index) const; + + double xy_local_goal_tolerance_; + double angle_threshold_; + double heading_scale_; + + std::vector reached_intermediate_goals_; + double desired_angle_; + ros::Publisher reached_intermediate_goals_pub_, current_goal_pub_, closet_robot_goal_pub_; +}; + +} // namespace mir_dwb_critics +#endif // MIR_DWB_CRITICS_PATH_PROGRESS_H_ diff --git a/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_progress_default.h b/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_progress_default.h new file mode 100755 index 0000000..b6f9ffa --- /dev/null +++ b/mir_robot/mir_dwb_critics/include/mir_dwb_critics/path_progress_default.h @@ -0,0 +1,81 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, DFKI GmbH + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef MIR_DWB_CRITICS_PATH_PROGRESS_H_ +#define MIR_DWB_CRITICS_PATH_PROGRESS_H_ + +#include +#include + +namespace mir_dwb_critics { +/** + * @class PathProgressCritic + * @brief Calculates an intermediate goal along the global path and scores trajectories on the distance to that goal. + * + * This trajectory critic helps ensure progress along the global path. It + * calculates an intermediate goal that is as far as possible along the global + * path as long as the path continues to move in one direction (+/- + * angle_threshold). + */ +class PathProgressCritic : public dwb_critics::MapGridCritic { + public: + bool prepare(const geometry_msgs::Pose2D &pose, + const nav_2d_msgs::Twist2D &vel, + const geometry_msgs::Pose2D &goal, + const nav_2d_msgs::Path2D &global_plan) override; + + void onInit() override; + void reset() override; + double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; + + protected: + bool getGoalPose(const geometry_msgs::Pose2D &robot_pose, + const nav_2d_msgs::Path2D &global_plan, + unsigned int &x, + unsigned int &y, + double &desired_angle); + + unsigned int getGoalIndex(const std::vector &plan, + unsigned int start_index, + unsigned int last_valid_index) const; + + double xy_local_goal_tolerance_; + double angle_threshold_; + double heading_scale_; + + std::vector reached_intermediate_goals_; + double desired_angle_; +}; + +} // namespace mir_dwb_critics +#endif // MIR_DWB_CRITICS_PATH_PROGRESS_H_ \ No newline at end of file diff --git a/mir_robot/mir_dwb_critics/nodes/plot_dwb_scores.py b/mir_robot/mir_dwb_critics/nodes/plot_dwb_scores.py new file mode 100755 index 0000000..840558f --- /dev/null +++ b/mir_robot/mir_dwb_critics/nodes/plot_dwb_scores.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors +# +# 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 the copyright holder 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 HOLDER 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: Martin Günther + +import os +import tkinter +import matplotlib.pyplot as plt +import numpy as np + +import rospy +from dwb_msgs.msg import LocalPlanEvaluation + +fig = None +rects = None +max_score = 0.0 + + +def eval_cb(msg): + global fig, rects, max_score + labels = [s.name for s in msg.twists[msg.best_index].scores] + scaled_scores = [s.scale * s.raw_score for s in msg.twists[msg.best_index].scores] + + # reverse labels + scaled_scores to show the critics in the correct order top to bottom + labels.reverse() + scaled_scores.reverse() + + if not fig: + # init + y = np.arange(len(labels)) # the label locations + height = 0.35 # the height of the bars + + fig, ax = plt.subplots() + rects = ax.barh(y - height / 2, scaled_scores, height, label='scaled score') + + ax.set_ylabel('DWB Critics') + ax.set_title('Scaled scores') + ax.set_yticks(y) + ax.set_yticklabels(labels) + + fig.tight_layout() + fig.canvas.set_window_title('DWB Scores') + + # update axis limit + if max_score < max(scaled_scores): + max_score = max(scaled_scores) + plt.xlim(0.0, max_score) + + for rect, h in zip(rects, scaled_scores): + rect.set_width(h) + try: + fig.canvas.draw() + fig.canvas.flush_events() + except tkinter.TclError: + rospy.loginfo('Window was closed, exiting.') + os._exit(0) + + +def main(): + rospy.init_node('plot_dwb_scores') + rospy.Subscriber('move_base_node/DWBLocalPlanner/evaluation', LocalPlanEvaluation, eval_cb) + rospy.loginfo('plot_dwb_scores ready.') + plt.ion() + rospy.spin() + + +if __name__ == '__main__': + main() diff --git a/mir_robot/mir_dwb_critics/nodes/print_dwb_scores.py b/mir_robot/mir_dwb_critics/nodes/print_dwb_scores.py new file mode 100755 index 0000000..94bbb86 --- /dev/null +++ b/mir_robot/mir_dwb_critics/nodes/print_dwb_scores.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python3 +# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors +# +# 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 the copyright holder 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 HOLDER 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: Martin Günther + +import rospy + +from dwb_msgs.msg import LocalPlanEvaluation + + +def eval_cb(msg): + print('\n\n=========================================================\n\n') + for heading, i in zip(['best trajectory', 'worst trajectory'], [msg.best_index, msg.worst_index]): + print('### {}\n'.format(heading)) + print('Name | Raw | Scale | Scaled Score') + print('---------------------|-----------|---------|-------------') + for s in msg.twists[i].scores: + print('{:20} | {:9.4f} | {:7.4f} | {:12.4f}'.format(s.name, s.raw_score, s.scale, s.raw_score * s.scale)) + print('---------------------------------------- total: {:9.4f}'.format(msg.twists[i].total)) + print() + + +def main(): + rospy.init_node('print_dwb_scores', anonymous=True) + rospy.Subscriber('move_base_node/DWBLocalPlanner/evaluation', LocalPlanEvaluation, eval_cb) + rospy.loginfo('print_dwb_scores ready.') + rospy.spin() + + +if __name__ == '__main__': + main() diff --git a/mir_robot/mir_dwb_critics/package.xml b/mir_robot/mir_dwb_critics/package.xml new file mode 100755 index 0000000..652df8a --- /dev/null +++ b/mir_robot/mir_dwb_critics/package.xml @@ -0,0 +1,38 @@ + + + mir_dwb_critics + 1.1.7 + + Trajectory critics for the dwb_local_planner that work well together with the SBPL global planner on the MiR robot + + + Martin Günther + Martin Günther + + BSD + + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot/issues + + catkin + + angles + costmap_queue + dwb_critics + dwb_local_planner + geometry_msgs + nav_2d_msgs + nav_2d_utils + nav_core2 + nav_grid_iterators + pluginlib + roscpp + sensor_msgs + + python3-matplotlib + + + + + diff --git a/mir_robot/mir_dwb_critics/src/path_angle.cpp b/mir_robot/mir_dwb_critics/src/path_angle.cpp new file mode 100755 index 0000000..f4d9e26 --- /dev/null +++ b/mir_robot/mir_dwb_critics/src/path_angle.cpp @@ -0,0 +1,93 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, DFKI GmbH + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include + +namespace mir_dwb_critics { + +bool PathAngleCritic::prepare(const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D &vel, + const geometry_msgs::Pose2D &goal, const nav_2d_msgs::Path2D &global_plan) { + const nav_core2::Costmap &costmap = *costmap_; + const nav_grid::NavGridInfo &info = costmap.getInfo(); + nav_2d_msgs::Path2D adjusted_global_plan = nav_2d_utils::adjustPlanResolution(global_plan, info.resolution); + + if (global_plan.poses.empty()) { + ROS_ERROR_NAMED("PathAngleCritic", "The global plan was empty."); + return false; + } + + // find the angle of the plan at the pose on the plan closest to the robot + double distance_min = std::numeric_limits::infinity(); + bool started_path = false; + for (unsigned int i = 0; i < adjusted_global_plan.poses.size(); i++) { + double g_x = adjusted_global_plan.poses[i].x; + double g_y = adjusted_global_plan.poses[i].y; + unsigned int map_x, map_y; + if (worldToGridBounded(info, g_x, g_y, map_x, map_y) && costmap(map_x, map_y) != costmap.NO_INFORMATION) { + double distance = nav_2d_utils::poseDistance(adjusted_global_plan.poses[i], pose); + if (distance_min > distance) { + // still getting closer + desired_angle_ = adjusted_global_plan.poses[i].theta; + distance_min = distance; + started_path = true; + } else { + // plan is going away from the robot again + break; + } + } else if (started_path) { + // Off the costmap after being on the costmap. + break; + } + // else, we have not yet found a point on the costmap, so we just continue + } + + if (!started_path) { + ROS_ERROR_NAMED("PathAngleCritic", "None of the points of the global plan were in the local costmap."); + return false; + } + return true; +} + +double PathAngleCritic::scoreTrajectory(const dwb_msgs::Trajectory2D &traj) { + double diff = fabs(remainder(traj.poses.back().theta - desired_angle_, 2 * M_PI)); + return diff * diff; +} + +} // namespace mir_dwb_critics + +PLUGINLIB_EXPORT_CLASS(mir_dwb_critics::PathAngleCritic, dwb_local_planner::TrajectoryCritic) diff --git a/mir_robot/mir_dwb_critics/src/path_dist_pruned.cpp b/mir_robot/mir_dwb_critics/src/path_dist_pruned.cpp new file mode 100755 index 0000000..d0ccc16 --- /dev/null +++ b/mir_robot/mir_dwb_critics/src/path_dist_pruned.cpp @@ -0,0 +1,101 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, DFKI GmbH + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include + +#include "mir_dwb_critics/path_dist_pruned.h" + +namespace mir_dwb_critics { + +bool PathDistPrunedCritic::prepare( + const geometry_msgs::Pose2D &pose, + const nav_2d_msgs::Twist2D &vel, + const geometry_msgs::Pose2D &goal, + const nav_2d_msgs::Path2D &global_plan) { + + const nav_core2::Costmap &costmap = *costmap_; + const nav_grid::NavGridInfo &info = costmap.getInfo(); + + auto plan = nav_2d_utils::adjustPlanResolution(global_plan, info.resolution).poses; + + + // --- stolen from PathProgressCritic::getGoalPose --- + // find the "start pose", i.e. the pose on the plan closest to the robot that is also on the local map + unsigned int start_index = 0; + double distance_to_start = std::numeric_limits::infinity(); + bool started_path = false; + for (unsigned int i = 0; i < plan.size(); i++) { + double g_x = plan[i].x; + double g_y = plan[i].y; + unsigned int map_x, map_y; + if (worldToGridBounded(info, g_x, g_y, map_x, map_y) + && costmap(map_x, map_y) != nav_core2::Costmap::NO_INFORMATION) { + // Still on the costmap. Continue. + double distance = nav_2d_utils::poseDistance(plan[i], pose); + if (distance_to_start > distance) { + start_index = i; + distance_to_start = distance; + started_path = true; + } else { + // Plan is going away from the robot again. It's possible that it comes back and we would find a pose that's + // even closer to the robot, but then we would skip over parts of the plan. + break; + } + } else if (started_path) { + // Off the costmap after being on the costmap. + break; + } + // else, we have not yet found a point on the costmap, so we just continue + } + + if (!started_path) { + ROS_ERROR_NAMED("PathDistPrunedCritic", "None of the points of the global plan were in the local costmap."); + return false; + } + // --------------------------------------------------- + + // remove the first part of the path, everything before start_index, to + // disregard that part in the PathDistCritic implementation. + nav_2d_msgs::Path2D global_plan_pruned; + global_plan_pruned.header = global_plan.header; + global_plan_pruned.poses = std::vector( + plan.begin() + start_index, + plan.end()); + + return dwb_critics::PathDistCritic::prepare(pose, vel, goal, global_plan_pruned); +} + +} // namespace mir_dwb_critics + +PLUGINLIB_EXPORT_CLASS(mir_dwb_critics::PathDistPrunedCritic, dwb_local_planner::TrajectoryCritic) diff --git a/mir_robot/mir_dwb_critics/src/path_progress.cpp b/mir_robot/mir_dwb_critics/src/path_progress.cpp new file mode 100755 index 0000000..2e4b28f --- /dev/null +++ b/mir_robot/mir_dwb_critics/src/path_progress.cpp @@ -0,0 +1,302 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, DFKI GmbH + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include + +namespace mir_dwb_critics +{ + bool PathProgressCritic::prepare(const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D &vel, + const geometry_msgs::Pose2D &goal, + const nav_2d_msgs::Path2D &global_plan) + { + dwb_critics::MapGridCritic::reset(); + + unsigned int local_goal_x, local_goal_y; + if (!getGoalPose(pose, global_plan, local_goal_x, local_goal_y, desired_angle_)) + { + return false; + } + // Enqueue just the last pose + cell_values_.setValue(local_goal_x, local_goal_y, 0.0); + queue_->enqueueCell(local_goal_x, local_goal_y); + + // MapGridCritic::propogateManhattanDistances + propogateManhattanDistances(); + + return true; + } + + void PathProgressCritic::onInit() + { + dwb_critics::MapGridCritic::onInit(); + critic_nh_.param("xy_local_goal_tolerance", xy_local_goal_tolerance_, 0.20); + critic_nh_.param("angle_threshold", angle_threshold_, M_PI_4); + critic_nh_.param("heading_scale", heading_scale_, 1.0); + reached_intermediate_goals_pub_ = critic_nh_.advertise("reached_intermediate_goals", 1); + current_goal_pub_ = critic_nh_.advertise("current_goal", 1); + closet_robot_goal_pub_ = critic_nh_.advertise("closet_robot_goal", 1); + // divide heading scale by position scale because the sum will be multiplied by scale again + heading_scale_ /= getScale(); + } + + void PathProgressCritic::reset() + { + reached_intermediate_goals_.clear(); + } + + double PathProgressCritic::scoreTrajectory(const dwb_msgs::Trajectory2D &traj) + { + double position_score = MapGridCritic::scoreTrajectory(traj); + double heading_diff = fabs(remainder(traj.poses.back().theta - desired_angle_, 2 * M_PI)); + double heading_score = heading_diff * heading_diff; + return position_score + heading_scale_ * heading_score; + } + + bool PathProgressCritic::getGoalPose(const geometry_msgs::Pose2D &robot_pose, const nav_2d_msgs::Path2D &global_plan, + unsigned int &x, unsigned int &y, double &desired_angle) + { + const nav_core2::Costmap &costmap = *costmap_; + const nav_grid::NavGridInfo &info = costmap.getInfo(); + + if (global_plan.poses.empty()) + { + ROS_ERROR_NAMED("PathProgressCritic", "The global plan was empty."); + return false; + } + // Chuyển đổi dữ liệu kế hoạch đường đi 'nav_2d_msgs::Path2D' sang 'std::vector' + std::vector plan = nav_2d_utils::adjustPlanResolution(global_plan, info.resolution).poses; + + // find the "start pose", i.e. the pose on the plan closest to the robot that is also on the local map + // Tìm điểm pose bắt đầu trên kế hoạch đường đi gần nhất với robot đồng thời có tồn tại trong local map + unsigned int start_index = 0; // số vị trí pose trong kế hoạch đường đi + double distance_to_start = std::numeric_limits::infinity(); // Xét giá trị là vô cùng oo + bool started_path = false; + for (unsigned int i = 0; i < plan.size(); i++) + { + double g_x = plan[i].x; + double g_y = plan[i].y; + unsigned int map_x, map_y; + if (worldToGridBounded(info, g_x, g_y, map_x, map_y) // chuyển tọa độ từ đơn vị mét sang pixel + && costmap(map_x, map_y) != nav_core2::Costmap::NO_INFORMATION) + { // chi phí phải khác -1 + // Still on the costmap. Continue. + double distance = nav_2d_utils::poseDistance(plan[i], robot_pose); // Tính khoảng cách từ vị trí của robot đến pose đang xét + if (distance_to_start > distance) + { + start_index = i; + distance_to_start = distance; + started_path = true; + } + // else + // { + // // Plan is going away from the robot again. It's possible that it comes back and we would find a pose that's + // // even closer to the robot, but then we would skip over parts of the plan. + // ss <<" index_max_ " << index_max_; + // break; + // } + } + else if (started_path) + { + // Off the costmap after being on the costmap. + break; + } + // else, we have not yet found a point on the costmap, so we just continue + } + + geometry_msgs::PoseStamped pose; + pose.header.stamp = ros::Time::now(); + pose.header.frame_id = global_plan.header.frame_id; + pose.pose.position.x = plan[start_index].x; + pose.pose.position.y = plan[start_index].y; + tf2::Quaternion temp; + temp.setRPY(0, 0, plan[start_index].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(); + + closet_robot_goal_pub_.publish(pose); + + // Nếu khồng tìm được điểm gần với robot nhất thì trả về false + if (!started_path) + { + ROS_ERROR_NAMED("PathProgressCritic", "None of the points of the global plan were in the local costmap."); + return false; + } + // current_index_ = start_index; + // find the "last valid pose", i.e. the last pose on the plan after the start pose that is still on the local map + // Tìm điểm pose cuôi cùng sau điểm pose bắt đầu và có tồn tại trong local map + unsigned int last_valid_index = start_index; + for (unsigned int i = start_index + 1; i < plan.size(); i++) + { + double g_x = plan[i].x; + double g_y = plan[i].y; + unsigned int map_x, map_y; + if (worldToGridBounded(info, g_x, g_y, map_x, map_y) && costmap(map_x, map_y) != nav_core2::Costmap::NO_INFORMATION) + { + // Still on the costmap. Continue. + last_valid_index = i; + } + else + { + // Off the costmap after being on the costmap. + break; + } + } + // find the "goal pose" by walking along the plan as long as each step leads far enough away from the starting point, + // i.e. is within angle_threshold_ of the starting direction. + // Tìm điểm mục tiêu chạy từ điểm start pose đến last valid pose dọc thep plan + unsigned int goal_index = start_index; + + while (goal_index < last_valid_index && critic_nh_.ok()) + { + // Tìm kiếm vị trí điểm mục tiêu phù hợp + goal_index = getGoalIndex(robot_pose, plan, start_index, last_valid_index); + + // check if goal already reached + bool goal_already_reached = false; + + geometry_msgs::PoseArray poseArrayMsg; + poseArrayMsg.header.stamp = ros::Time::now(); + poseArrayMsg.header.frame_id = global_plan.header.frame_id; + for (const auto &pose2D : reached_intermediate_goals_) + { + geometry_msgs::Pose pose; + pose.position.x = pose2D.x; + pose.position.y = pose2D.y; + tf2::Quaternion temp; + temp.setRPY(0, 0, pose2D.theta); + pose.orientation.x = temp.getX(); + pose.orientation.y = temp.getY(); + pose.orientation.z = temp.getZ(); + pose.orientation.w = temp.getW(); + poseArrayMsg.poses.push_back(pose); + } + reached_intermediate_goals_pub_.publish(poseArrayMsg); + + for (auto &reached_intermediate_goal : reached_intermediate_goals_) + { + double distance = nav_2d_utils::poseDistance(reached_intermediate_goal, plan[goal_index]); + if (distance < xy_local_goal_tolerance_) + { + goal_already_reached = true; + // choose a new start_index by walking along the plan until we're outside xy_local_goal_tolerance_ and try again + // (start_index is now > goal_index) + for (start_index = goal_index; start_index <= last_valid_index; ++start_index) + { + distance = nav_2d_utils::poseDistance(reached_intermediate_goal, plan[start_index]); + if (distance >= xy_local_goal_tolerance_) + { + break; + } + } + break; + } + } + + pose.header.stamp = ros::Time::now(); + pose.header.frame_id = global_plan.header.frame_id; + pose.pose.position.x = plan[goal_index].x; + pose.pose.position.y = plan[goal_index].y; + tf2::Quaternion temp; + temp.setRPY(0, 0, plan[goal_index].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(); + + current_goal_pub_.publish(pose); + + if (!goal_already_reached) + { + // new goal not in reached_intermediate_goals_ + double distance = nav_2d_utils::poseDistance(plan[goal_index], robot_pose); + if (distance < xy_local_goal_tolerance_) + { + // the robot has currently reached the goal + reached_intermediate_goals_.push_back(plan[goal_index]); + ROS_DEBUG_NAMED("PathProgressCritic", "Number of reached_intermediate goals: %zu", reached_intermediate_goals_.size()); + } + else + { + // we've found a new goal! + break; + } + } + } + + if (start_index > goal_index) + start_index = goal_index; + ROS_ASSERT(goal_index <= last_valid_index); + + // save goal in x, y + worldToGridBounded(info, plan[goal_index].x, plan[goal_index].y, x, y); + desired_angle = plan[start_index].theta; + return true; + } + + unsigned int PathProgressCritic::getGoalIndex(const geometry_msgs::Pose2D &robot_pose, + const std::vector &plan, + unsigned int start_index, + unsigned int last_valid_index) const + { + if (start_index >= last_valid_index) + return last_valid_index; + + unsigned int goal_index = start_index; + + for (unsigned int i = start_index + 1; i <= last_valid_index; ++i) + { + const double current_direction_x = plan[i].x - plan[i - 1].x; + const double current_direction_y = plan[i].y - plan[i - 1].y; + if (fabs(current_direction_x) > 1e-9 || fabs(current_direction_y) > 1e-9) + { + double current_angle = atan2(current_direction_y, current_direction_x); + if (fabs(remainder(robot_pose.theta - current_angle, 2 * M_PI)) > angle_threshold_) + break; + + goal_index = i; + } + } + if (nav_2d_utils::poseDistance(plan[goal_index], plan[last_valid_index]) <= xy_local_goal_tolerance_) + goal_index = last_valid_index; + return goal_index; + } + +} // namespace mir_dwb_critics + +PLUGINLIB_EXPORT_CLASS(mir_dwb_critics::PathProgressCritic, dwb_local_planner::TrajectoryCritic) diff --git a/mir_robot/mir_dwb_critics/src/path_progress_default.cpp b/mir_robot/mir_dwb_critics/src/path_progress_default.cpp new file mode 100755 index 0000000..a64b583 --- /dev/null +++ b/mir_robot/mir_dwb_critics/src/path_progress_default.cpp @@ -0,0 +1,221 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, DFKI GmbH + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include + +namespace mir_dwb_critics { +bool PathProgressCritic::prepare(const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D &vel, + const geometry_msgs::Pose2D &goal, + const nav_2d_msgs::Path2D &global_plan) { + dwb_critics::MapGridCritic::reset(); + + unsigned int local_goal_x, local_goal_y; + if (!getGoalPose(pose, global_plan, local_goal_x, local_goal_y, desired_angle_)) { + return false; + } + + // Enqueue just the last pose + cell_values_.setValue(local_goal_x, local_goal_y, 0.0); + queue_->enqueueCell(local_goal_x, local_goal_y); + + propogateManhattanDistances(); + + return true; +} + +void PathProgressCritic::onInit() { + dwb_critics::MapGridCritic::onInit(); + critic_nh_.param("xy_local_goal_tolerance", xy_local_goal_tolerance_, 0.20); + critic_nh_.param("angle_threshold", angle_threshold_, M_PI_4); + critic_nh_.param("heading_scale", heading_scale_, 1.0); + + // divide heading scale by position scale because the sum will be multiplied by scale again + heading_scale_ /= getScale(); +} + +void PathProgressCritic::reset() { + reached_intermediate_goals_.clear(); +} + +double PathProgressCritic::scoreTrajectory(const dwb_msgs::Trajectory2D &traj) { + double position_score = MapGridCritic::scoreTrajectory(traj); + double heading_diff = fabs(remainder(traj.poses.back().theta - desired_angle_, 2 * M_PI)); + double heading_score = heading_diff * heading_diff; + + return position_score + heading_scale_ * heading_score; +} + +bool PathProgressCritic::getGoalPose(const geometry_msgs::Pose2D &robot_pose, const nav_2d_msgs::Path2D &global_plan, + unsigned int &x, unsigned int &y, double &desired_angle) { + const nav_core2::Costmap &costmap = *costmap_; + const nav_grid::NavGridInfo &info = costmap.getInfo(); + + if (global_plan.poses.empty()) { + ROS_ERROR_NAMED("PathProgressCritic", "The global plan was empty."); + return false; + } + + std::vector plan = nav_2d_utils::adjustPlanResolution(global_plan, info.resolution).poses; + + // find the "start pose", i.e. the pose on the plan closest to the robot that is also on the local map + unsigned int start_index = 0; + double distance_to_start = std::numeric_limits::infinity(); + bool started_path = false; + for (unsigned int i = 0; i < plan.size(); i++) { + double g_x = plan[i].x; + double g_y = plan[i].y; + unsigned int map_x, map_y; + if (worldToGridBounded(info, g_x, g_y, map_x, map_y) + && costmap(map_x, map_y) != nav_core2::Costmap::NO_INFORMATION) { + // Still on the costmap. Continue. + double distance = nav_2d_utils::poseDistance(plan[i], robot_pose); + if (distance_to_start > distance) { + start_index = i; + distance_to_start = distance; + started_path = true; + } else { + // Plan is going away from the robot again. It's possible that it comes back and we would find a pose that's + // even closer to the robot, but then we would skip over parts of the plan. + break; + } + } else if (started_path) { + // Off the costmap after being on the costmap. + break; + } + // else, we have not yet found a point on the costmap, so we just continue + } + + if (!started_path) { + ROS_ERROR_NAMED("PathProgressCritic", "None of the points of the global plan were in the local costmap."); + return false; + } + + // find the "last valid pose", i.e. the last pose on the plan after the start pose that is still on the local map + unsigned int last_valid_index = start_index; + for (unsigned int i = start_index + 1; i < plan.size(); i++) { + double g_x = plan[i].x; + double g_y = plan[i].y; + unsigned int map_x, map_y; + if (worldToGridBounded(info, g_x, g_y, map_x, map_y) + && costmap(map_x, map_y) != nav_core2::Costmap::NO_INFORMATION) { + // Still on the costmap. Continue. + last_valid_index = i; + } else { + // Off the costmap after being on the costmap. + break; + } + } + + // find the "goal pose" by walking along the plan as long as each step leads far enough away from the starting point, + // i.e. is within angle_threshold_ of the starting direction. + unsigned int goal_index = start_index; + + while (goal_index < last_valid_index) { + goal_index = getGoalIndex(plan, start_index, last_valid_index); + + // check if goal already reached + bool goal_already_reached = false; + for (auto &reached_intermediate_goal : reached_intermediate_goals_) { + double distance = nav_2d_utils::poseDistance(reached_intermediate_goal, plan[goal_index]); + if (distance < xy_local_goal_tolerance_) { + goal_already_reached = true; + // choose a new start_index by walking along the plan until we're outside xy_local_goal_tolerance_ and try again + // (start_index is now > goal_index) + for (start_index = goal_index; start_index <= last_valid_index; ++start_index) { + distance = nav_2d_utils::poseDistance(reached_intermediate_goal, plan[start_index]); + if (distance >= xy_local_goal_tolerance_) { + break; + } + } + break; + } + } + if (!goal_already_reached) { + // new goal not in reached_intermediate_goals_ + double distance = nav_2d_utils::poseDistance(plan[goal_index], robot_pose); + if (distance < xy_local_goal_tolerance_) { + // the robot has currently reached the goal + reached_intermediate_goals_.push_back(plan[goal_index]); + ROS_DEBUG_NAMED("PathProgressCritic", "Number of reached_intermediate goals: %zu", reached_intermediate_goals_.size()); + } else { + // we've found a new goal! + break; + } + } + } + if (start_index > goal_index) + start_index = goal_index; + ROS_ASSERT(goal_index <= last_valid_index); + + // save goal in x, y + worldToGridBounded(info, plan[goal_index].x, plan[goal_index].y, x, y); + desired_angle = plan[start_index].theta; + return true; +} + +unsigned int PathProgressCritic::getGoalIndex(const std::vector &plan, + unsigned int start_index, + unsigned int last_valid_index) const { + if (start_index >= last_valid_index) + return last_valid_index; + + unsigned int goal_index = start_index; + const double start_direction_x = plan[start_index + 1].x - plan[start_index].x; + const double start_direction_y = plan[start_index + 1].y - plan[start_index].y; + if (fabs(start_direction_x) > 1e-9 || fabs(start_direction_y) > 1e-9) { // make sure that atan2 is defined + double start_angle = atan2(start_direction_y, start_direction_x); + + for (unsigned int i = start_index + 1; i <= last_valid_index; ++i) { + const double current_direction_x = plan[i].x - plan[i - 1].x; + const double current_direction_y = plan[i].y - plan[i - 1].y; + if (fabs(current_direction_x) > 1e-9 || fabs(current_direction_y) > 1e-9) { + double current_angle = atan2(current_direction_y, current_direction_x); + + // goal pose is found if plan doesn't point far enough away from the starting point + if (fabs(remainder(start_angle - current_angle, 2 * M_PI)) > angle_threshold_) + break; + + goal_index = i; + } + } + } + return goal_index; +} + +} // namespace mir_dwb_critics + +PLUGINLIB_EXPORT_CLASS(mir_dwb_critics::PathProgressCritic, dwb_local_planner::TrajectoryCritic) \ No newline at end of file diff --git a/mir_robot/mir_gazebo/CHANGELOG.rst b/mir_robot/mir_gazebo/CHANGELOG.rst new file mode 100755 index 0000000..84ed916 --- /dev/null +++ b/mir_robot/mir_gazebo/CHANGELOG.rst @@ -0,0 +1,104 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mir_gazebo +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2023-01-20) +------------------ +* Don't set cmake_policy CMP0048 +* Contributors: Martin Günther + +1.1.6 (2022-06-02) +------------------ +* Add arg mir_type to launch files and urdfs +* Rename mir_100 -> mir + This is in preparation of mir_250 support. +* Contributors: Martin Günther + +1.1.5 (2022-02-11) +------------------ + +1.1.4 (2021-12-10) +------------------ +* Remove outdated comment +* Contributors: Martin Günther + +1.1.3 (2021-06-11) +------------------ +* Merge branch 'melodic-2.8' into noetic +* Rename tf frame and topic 'odom_comb' -> 'odom' + This is how they are called on the real MiR since MiR software 2.0. +* Contributors: Martin Günther + +1.1.2 (2021-05-12) +------------------ +* Fix laser scan frame_id with gazebo_plugins 2.9.2 +* Contributors: Martin Günther + +1.1.1 (2021-02-11) +------------------ +* mir_gazebo: Add model_name arg +* Move joint_state_publisher to mir_gazebo_common.launch +* Add optional namespace to launch files +* Add prepend_prefix_to_laser_frame to URDF and launch files + Fixes `#65 `_. +* Add tf_prefix to URDF and launch files +* Contributors: Martin Günther + +1.1.0 (2020-06-30) +------------------ +* Initial release into noetic +* Contributors: Martin Günther + +1.0.6 (2020-06-30) +------------------ +* Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +1.0.5 (2020-05-01) +------------------ + +1.0.4 (2019-05-06) +------------------ +* Fix gazebo launch file + Before this commit, the mobile base plugin couldn't initialize, because + subst_value didn't work. +* Contributors: Martin Günther + +1.0.3 (2019-03-04) +------------------ +* Add hector_mapping +* fake_localization.launch: Add frame id args +* Merge pull request `#16 `_ from niniemann/add-prefix-argument-to-configs + Add prefix argument to configs +* adds $(arg prefix) to a lot of configs + This is an important step to be able to re-parameterize move base, + the diffdrive controller, ekf, amcl and the costmaps for adding a + tf prefix to the robots links +* Fix translation error in odom_comb (`#12 `_) + Previously, the ekf localization only computed a correct orientation, but the translation still followed the pure odometry data. This led to strange errors where the robot would move sideways (despite only having a diff drive). + This PR changes the ekf configuration to not use any position information from the odometry, but to integrate the velocities, which fixes this problem. +* Split scan_rep117 topic into two separate topics + This fixes the problem that the back laser scanner was ignored in the + navigation costmap in Gazebo (probably because in Gazebo, both laser + scanners have the exact same timestamp). +* Contributors: Martin Günther, Nils Niemann + +1.0.2 (2018-07-30) +------------------ +* mir_gazebo: Install config directory +* Contributors: Martin Günther + +1.0.1 (2018-07-17) +------------------ +* gazebo: Replace robot_pose_ekf with robot_localization + robot_pose_ekf is deprecated, and has been removed from the navigation + stack starting in melodic. +* gazebo: Adjust ekf.yaml +* gazebo: Copy robot_localization/ekf_template.yaml + ... for modification. +* Contributors: Martin Günther + +1.0.0 (2018-07-12) +------------------ +* Initial release +* Contributors: Martin Günther diff --git a/mir_robot/mir_gazebo/CMakeLists.txt b/mir_robot/mir_gazebo/CMakeLists.txt new file mode 100755 index 0000000..d8e5ac0 --- /dev/null +++ b/mir_robot/mir_gazebo/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 3.5.1) +project(mir_gazebo) + +find_package(catkin REQUIRED COMPONENTS + roslaunch +) + +################################### +## catkin specific configuration ## +################################### +catkin_package() + +############# +## Install ## +############# + +# Mark other files for installation (e.g. launch and bag files, etc.) +install(DIRECTORY + config + launch + maps + sdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +############# +## Testing ## +############# + +roslaunch_add_file_check(launch) diff --git a/mir_robot/mir_gazebo/config/ekf.yaml b/mir_robot/mir_gazebo/config/ekf.yaml new file mode 100755 index 0000000..6c2c1a6 --- /dev/null +++ b/mir_robot/mir_gazebo/config/ekf.yaml @@ -0,0 +1,217 @@ +# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin +# computation until it receives at least one message from one of the inputs. It will then run continuously at the +# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. +frequency: 40 + +# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict +# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the +# filter will generate new output. Defaults to 1 / frequency if not specified. +sensor_timeout: 0.1 + +# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is +# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar +# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected +# by, for example, an IMU. Defaults to false if unspecified. +two_d_mode: true + +# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for +# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if +# unspecified. +transform_time_offset: 0.0 + +# Use this parameter to specify how long the tf listener should wait for a transform to become available. +# Defaults to 0.0 if unspecified. +transform_timeout: 0.0 + +# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is +# unhappy with any settings or data. +print_diagnostics: true + +# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by +# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious +# effects on the performance of the node. Defaults to false if unspecified. +debug: false + +# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path. +debug_out_file: /path/to/debug/file.txt + +# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified. +publish_tf: true + +# Whether to publish the acceleration state. Defaults to false if unspecified. +publish_acceleration: false + +# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and +# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames. +# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be +# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom +# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your +# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based +# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame. +# ekf_localization_node and ukf_localization_node are not concerned with the earth frame. +# Here is how to use the following settings: +# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. +# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of +# odom_frame. +# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set +# "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes. +# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates +# from landmark observations) then: +# 3a. Set your "world_frame" to your map_frame value +# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state +# estimation node from robot_localization! However, that instance should *not* fuse the global data. +map_frame: map # Defaults to "map" if unspecified +odom_frame: $(arg tf_prefix)odom # Defaults to "odom" if unspecified +base_link_frame: $(arg tf_prefix)base_footprint # Defaults to "base_link" if unspecified +world_frame: $(arg tf_prefix)odom # Defaults to the value of odom_frame if unspecified + +# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry, +# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped, +# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0, +# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no +# default values, and must be specified. +odom0: odom + +# Each sensor reading updates some or all of the filter's state. These options give you greater control over which +# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only +# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the +# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types +# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message +# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false +# if unspecified, effectively making this parameter required for each sensor. +# see http://docs.ros.org/melodic/api/robot_localization/html/configuring_robot_localization.html +odom0_config: [false, false, false, # x y z + false, false, false, # roll pitch yaw + true, true, false, # vx vy vz + false, false, true, # vroll vpitch vyaw + false, false, false] # ax ay az + +# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase +# the size of the subscription queue so that more measurements are fused. +odom0_queue_size: 10 + +# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result +# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's +# algorithm. +odom0_nodelay: false + +# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under- +# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they +# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also +# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't +# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose +# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then +# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true +# for twist measurements has no effect. +odom0_differential: false + +# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" +# for all future measurements. While you can achieve the same effect with the differential paremeter, the key +# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before +# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true. +odom0_relative: false + +# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to +# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to +# numeric_limits::max() if unspecified. It is strongly recommended that these parameters be removed if not +# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation. +# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying +# the thresholds. +#odom0_pose_rejection_threshold: 5 +#odom0_twist_rejection_threshold: 1 + +# Further input parameter examples +# see http://docs.ros.org/melodic/api/robot_localization/html/configuring_robot_localization.html +imu0: imu_data +imu0_config: [false, false, false, # x y z + false, false, true, # roll pitch yaw + false, false, false, # vx vy vz + false, false, true, # vroll vpitch vyaw + true, false, false] # ax ay az +imu0_nodelay: false +imu0_differential: false +imu0_relative: true +imu0_queue_size: 10 +#imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names +#imu0_twist_rejection_threshold: 0.8 # +#imu0_linear_acceleration_rejection_threshold: 0.8 # + +# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set +# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame. +imu0_remove_gravitational_acceleration: false + +# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no +# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During +# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be +# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When +# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially +# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance +# for the velocity variable in question, or decrease the variance of the variable in question in the measurement +# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we +# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during +# predicition. Note that if an acceleration measurement for the variable in question is available from one of the +# inputs, the control term will be ignored. +# Whether or not we use the control input during predicition. Defaults to false. +use_control: false +# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to +# false. +stamped_control: false +# The last issued control command will be used in prediction for this period. Defaults to 0.2. +control_timeout: 0.2 +# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw. +control_config: [true, false, false, false, false, true] +# Places limits on how large the acceleration term will be. Should match your robot's kinematics. +acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] +# Acceleration and deceleration limits are not always the same for robots. +deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] +# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these +# gains +acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] +# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these +# gains +deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] + +# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is +# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each +# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be. +# However, if users find that a given variable is slow to converge, one approach is to increase the +# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error +# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are +# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if +# unspecified. +process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] + +# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal +# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in +# question. Users should take care not to use large values for variables that will not be measured directly. The values +# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below +#if unspecified. +initial_estimate_covariance: [100.0,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 100.0,0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10.0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10.0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] diff --git a/mir_robot/mir_gazebo/launch/fake_localization.launch b/mir_robot/mir_gazebo/launch/fake_localization.launch new file mode 100755 index 0000000..3bbbfe1 --- /dev/null +++ b/mir_robot/mir_gazebo/launch/fake_localization.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_gazebo/launch/includes/ekf.launch.xml b/mir_robot/mir_gazebo/launch/includes/ekf.launch.xml new file mode 100755 index 0000000..bcf3362 --- /dev/null +++ b/mir_robot/mir_gazebo/launch/includes/ekf.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/mir_robot/mir_gazebo/launch/includes/spawn_maze.launch.xml b/mir_robot/mir_gazebo/launch/includes/spawn_maze.launch.xml new file mode 100755 index 0000000..604f501 --- /dev/null +++ b/mir_robot/mir_gazebo/launch/includes/spawn_maze.launch.xml @@ -0,0 +1,5 @@ + + + + diff --git a/mir_robot/mir_gazebo/launch/mir_empty_world.launch b/mir_robot/mir_gazebo/launch/mir_empty_world.launch new file mode 100755 index 0000000..cc6e640 --- /dev/null +++ b/mir_robot/mir_gazebo/launch/mir_empty_world.launch @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_gazebo/launch/mir_gazebo_common.launch b/mir_robot/mir_gazebo/launch/mir_gazebo_common.launch new file mode 100755 index 0000000..60559b5 --- /dev/null +++ b/mir_robot/mir_gazebo/launch/mir_gazebo_common.launch @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [mir/joint_states] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_gazebo/launch/mir_maze_world.launch b/mir_robot/mir_gazebo/launch/mir_maze_world.launch new file mode 100755 index 0000000..4758715 --- /dev/null +++ b/mir_robot/mir_gazebo/launch/mir_maze_world.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/mir_robot/mir_gazebo/maps/maps_new/Direction_Zones_0.png b/mir_robot/mir_gazebo/maps/maps_new/Direction_Zones_0.png new file mode 100755 index 0000000..b7d235d Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/Direction_Zones_0.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/Driection_Zones_180.png b/mir_robot/mir_gazebo/maps/maps_new/Driection_Zones_180.png new file mode 100755 index 0000000..9e2763b Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/Driection_Zones_180.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/Driection_Zones_270.png b/mir_robot/mir_gazebo/maps/maps_new/Driection_Zones_270.png new file mode 100755 index 0000000..c2c0b9b Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/Driection_Zones_270.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/Driection_Zones_90.png b/mir_robot/mir_gazebo/maps/maps_new/Driection_Zones_90.png new file mode 100755 index 0000000..1bfce3f Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/Driection_Zones_90.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/critical_zones.png b/mir_robot/mir_gazebo/maps/maps_new/critical_zones.png new file mode 100755 index 0000000..1f51952 Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/critical_zones.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/maze.png b/mir_robot/mir_gazebo/maps/maps_new/maze.png new file mode 100755 index 0000000..41d6fa1 Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/maze.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/maze.psd b/mir_robot/mir_gazebo/maps/maps_new/maze.psd new file mode 100755 index 0000000..9c02fea Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/maze.psd differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/maze.yaml b/mir_robot/mir_gazebo/maps/maps_new/maze.yaml new file mode 100755 index 0000000..79220e7 --- /dev/null +++ b/mir_robot/mir_gazebo/maps/maps_new/maze.yaml @@ -0,0 +1,6 @@ +image: maze.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/maps_new/maze_virtual_walls.png b/mir_robot/mir_gazebo/maps/maps_new/maze_virtual_walls.png new file mode 100755 index 0000000..e5dd8bb Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/maze_virtual_walls.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/maze_virtual_walls.yaml b/mir_robot/mir_gazebo/maps/maps_new/maze_virtual_walls.yaml new file mode 100755 index 0000000..89320ac --- /dev/null +++ b/mir_robot/mir_gazebo/maps/maps_new/maze_virtual_walls.yaml @@ -0,0 +1,6 @@ +image: maze_virtual_walls.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/maps_new/maze_with_samp.png b/mir_robot/mir_gazebo/maps/maps_new/maze_with_samp.png new file mode 100755 index 0000000..cdfba6e Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/maze_with_samp.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/preferred_zones.png b/mir_robot/mir_gazebo/maps/maps_new/preferred_zones.png new file mode 100755 index 0000000..b71b21c Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/preferred_zones.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/unpreferred_zones.png b/mir_robot/mir_gazebo/maps/maps_new/unpreferred_zones.png new file mode 100755 index 0000000..b71b21c Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/unpreferred_zones.png differ diff --git a/mir_robot/mir_gazebo/maps/maps_new/virtual_walls.png b/mir_robot/mir_gazebo/maps/maps_new/virtual_walls.png new file mode 100755 index 0000000..6bed1a4 Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maps_new/virtual_walls.png differ diff --git a/mir_robot/mir_gazebo/maps/maze.png b/mir_robot/mir_gazebo/maps/maze.png new file mode 100755 index 0000000..41d6fa1 Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maze.png differ diff --git a/mir_robot/mir_gazebo/maps/maze.yaml b/mir_robot/mir_gazebo/maps/maze.yaml new file mode 100755 index 0000000..79220e7 --- /dev/null +++ b/mir_robot/mir_gazebo/maps/maze.yaml @@ -0,0 +1,6 @@ +image: maze.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/maze_virtual_walls.png b/mir_robot/mir_gazebo/maps/maze_virtual_walls.png new file mode 100755 index 0000000..e5dd8bb Binary files /dev/null and b/mir_robot/mir_gazebo/maps/maze_virtual_walls.png differ diff --git a/mir_robot/mir_gazebo/maps/maze_virtual_walls.yaml b/mir_robot/mir_gazebo/maps/maze_virtual_walls.yaml new file mode 100755 index 0000000..89320ac --- /dev/null +++ b/mir_robot/mir_gazebo/maps/maze_virtual_walls.yaml @@ -0,0 +1,6 @@ +image: maze_virtual_walls.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/warehouse/critical_zones.png b/mir_robot/mir_gazebo/maps/warehouse/critical_zones.png new file mode 100755 index 0000000..1f51952 Binary files /dev/null and b/mir_robot/mir_gazebo/maps/warehouse/critical_zones.png differ diff --git a/mir_robot/mir_gazebo/maps/warehouse/critical_zones.yaml b/mir_robot/mir_gazebo/maps/warehouse/critical_zones.yaml new file mode 100755 index 0000000..7e08db5 --- /dev/null +++ b/mir_robot/mir_gazebo/maps/warehouse/critical_zones.yaml @@ -0,0 +1,6 @@ +image: critical_zones.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/warehouse/direction_zones.png b/mir_robot/mir_gazebo/maps/warehouse/direction_zones.png new file mode 100755 index 0000000..33c0ea0 Binary files /dev/null and b/mir_robot/mir_gazebo/maps/warehouse/direction_zones.png differ diff --git a/mir_robot/mir_gazebo/maps/warehouse/direction_zones.yaml b/mir_robot/mir_gazebo/maps/warehouse/direction_zones.yaml new file mode 100755 index 0000000..26b9fdf --- /dev/null +++ b/mir_robot/mir_gazebo/maps/warehouse/direction_zones.yaml @@ -0,0 +1,6 @@ +image: direction_zones.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/warehouse/map_empty.png b/mir_robot/mir_gazebo/maps/warehouse/map_empty.png new file mode 100755 index 0000000..5ca33cc Binary files /dev/null and b/mir_robot/mir_gazebo/maps/warehouse/map_empty.png differ diff --git a/mir_robot/mir_gazebo/maps/warehouse/map_empty.yaml b/mir_robot/mir_gazebo/maps/warehouse/map_empty.yaml new file mode 100755 index 0000000..95f5242 --- /dev/null +++ b/mir_robot/mir_gazebo/maps/warehouse/map_empty.yaml @@ -0,0 +1,6 @@ +image: map_empty.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/warehouse/maze.png b/mir_robot/mir_gazebo/maps/warehouse/maze.png new file mode 100755 index 0000000..41d6fa1 Binary files /dev/null and b/mir_robot/mir_gazebo/maps/warehouse/maze.png differ diff --git a/mir_robot/mir_gazebo/maps/warehouse/maze.psd b/mir_robot/mir_gazebo/maps/warehouse/maze.psd new file mode 100755 index 0000000..8572a03 Binary files /dev/null and b/mir_robot/mir_gazebo/maps/warehouse/maze.psd differ diff --git a/mir_robot/mir_gazebo/maps/warehouse/maze.yaml b/mir_robot/mir_gazebo/maps/warehouse/maze.yaml new file mode 100755 index 0000000..79220e7 --- /dev/null +++ b/mir_robot/mir_gazebo/maps/warehouse/maze.yaml @@ -0,0 +1,6 @@ +image: maze.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/warehouse/maze_with_samp.png b/mir_robot/mir_gazebo/maps/warehouse/maze_with_samp.png new file mode 100755 index 0000000..cdfba6e Binary files /dev/null and b/mir_robot/mir_gazebo/maps/warehouse/maze_with_samp.png differ diff --git a/mir_robot/mir_gazebo/maps/warehouse/preferred_zones.png b/mir_robot/mir_gazebo/maps/warehouse/preferred_zones.png new file mode 100755 index 0000000..5ca33cc Binary files /dev/null and b/mir_robot/mir_gazebo/maps/warehouse/preferred_zones.png differ diff --git a/mir_robot/mir_gazebo/maps/warehouse/preferred_zones.yaml b/mir_robot/mir_gazebo/maps/warehouse/preferred_zones.yaml new file mode 100755 index 0000000..18e426b --- /dev/null +++ b/mir_robot/mir_gazebo/maps/warehouse/preferred_zones.yaml @@ -0,0 +1,6 @@ +image: preferred_zones.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/warehouse/unpreferred_zones.png b/mir_robot/mir_gazebo/maps/warehouse/unpreferred_zones.png new file mode 100755 index 0000000..b71b21c Binary files /dev/null and b/mir_robot/mir_gazebo/maps/warehouse/unpreferred_zones.png differ diff --git a/mir_robot/mir_gazebo/maps/warehouse/unpreferred_zones.yaml b/mir_robot/mir_gazebo/maps/warehouse/unpreferred_zones.yaml new file mode 100755 index 0000000..b8d48e5 --- /dev/null +++ b/mir_robot/mir_gazebo/maps/warehouse/unpreferred_zones.yaml @@ -0,0 +1,6 @@ +image: unpreferred_zones.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/maps/warehouse/virtual_walls.png b/mir_robot/mir_gazebo/maps/warehouse/virtual_walls.png new file mode 100755 index 0000000..aaa1786 Binary files /dev/null and b/mir_robot/mir_gazebo/maps/warehouse/virtual_walls.png differ diff --git a/mir_robot/mir_gazebo/maps/warehouse/virtual_walls.yaml b/mir_robot/mir_gazebo/maps/warehouse/virtual_walls.yaml new file mode 100755 index 0000000..7ad4500 --- /dev/null +++ b/mir_robot/mir_gazebo/maps/warehouse/virtual_walls.yaml @@ -0,0 +1,6 @@ +image: virtual_walls.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/mir_robot/mir_gazebo/package.xml b/mir_robot/mir_gazebo/package.xml new file mode 100755 index 0000000..255e358 --- /dev/null +++ b/mir_robot/mir_gazebo/package.xml @@ -0,0 +1,31 @@ + + + mir_gazebo + 1.1.7 + Simulation specific launch and configuration files for the MiR robot. + + Martin Günther + Martin Günther + + BSD + + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot/issues + + catkin + + roslaunch + + controller_manager + fake_localization + gazebo_ros + joint_state_publisher + mir_description + mir_driver + robot_localization + robot_state_publisher + rostopic + rqt_robot_steering + topic_tools + diff --git a/mir_robot/mir_gazebo/sdf/maze/model.config b/mir_robot/mir_gazebo/sdf/maze/model.config new file mode 100755 index 0000000..9a00866 --- /dev/null +++ b/mir_robot/mir_gazebo/sdf/maze/model.config @@ -0,0 +1,11 @@ + + + maze + 1.0 + model.sdf + + Martin Günther + martin.guenther@dfki.de + + + diff --git a/mir_robot/mir_gazebo/sdf/maze/model.sdf b/mir_robot/mir_gazebo/sdf/maze/model.sdf new file mode 100755 index 0000000..b31cc0b --- /dev/null +++ b/mir_robot/mir_gazebo/sdf/maze/model.sdf @@ -0,0 +1,345 @@ + + + + -0.078283 0.098984 0 0 -0 0 + + + + + 20 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 20 0.15 2.5 + + + + + 1 1 1 1 + + + 0.030536 9.925 0 0 -0 0 + + + + + + 20 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 20 0.15 2.5 + + + + + 1 1 1 1 + + + 9.95554 0 0 0 0 -1.5708 + + + + + + 20 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 20 0.15 2.5 + + + + + 1 1 1 1 + + + 0.030536 -9.925 0 0 -0 3.14159 + + + + + + 1.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1.5 0.15 2.5 + + + + + 1 1 1 1 + + + 5.35089 3.21906 0 0 -0 3.14159 + + + + + + 5.25 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 5.25 0.15 2.5 + + + + + 1 1 1 1 + + + 4.67589 5.76906 0 0 -0 1.5708 + + + + + + 5.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 5.5 0.15 2.5 + + + + + 1 1 1 1 + + + 7.10914 4.73454 0 0 0 -1.5708 + + + + + + 3 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 3 0.15 2.5 + + + + + 1 1 1 1 + + + 8.53414 2.05954 0 0 -0 0 + + + + + + 20 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 20 0.15 2.5 + + + + + 1 1 1 1 + + + -9.89446 0 0 0 -0 1.5708 + + + + + + 5.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 5.5 0.15 2.5 + + + + + 1 1 1 1 + + + -4.35914 -2.82889 0 0 0 -1.5708 + + + + + + 5.75 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 5.75 0.15 2.5 + + + + + 1 1 1 1 + + + -7.15914 -5.50389 0 0 -0 3.14159 + + + + + + 16 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 16 0.15 2.5 + + + + + 1 1 1 1 + + + -1.89911 1.86906 0 0 -0 0 + + + + + + 1.5 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 1.5 0.15 2.5 + + + + + 1 1 1 1 + + + 6.02589 2.54406 0 0 -0 1.5708 + + + + + + 0.15 0.15 2.5 + + + 0 0 1.25 0 -0 0 + + + 0 0 1.25 0 -0 0 + + + 0.15 0.15 2.5 + + + + + 1 1 1 1 + + + 6.02589 3.21906 0 0 -0 0 + + 1 + + diff --git a/mir_robot/mir_msgs/CHANGELOG.rst b/mir_robot/mir_msgs/CHANGELOG.rst new file mode 100755 index 0000000..e48c07d --- /dev/null +++ b/mir_robot/mir_msgs/CHANGELOG.rst @@ -0,0 +1,101 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mir_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2023-01-20) +------------------ +* Build new msgs (`#117 `_) + Need to build new msg files. The files were added in a previous commit, but not added here for build and installation. +* Update MirMoveBase action to 2.10.3.1 +* Update BMSData.msg to MiR software 2.13.2 + This is an "unsafe" change (it breaks compatibility with MiR versions <= + 2.13.2), but since BMSData is not published by the mir_driver currently, + it should be ok. +* Add new messages added in MiR software 2.13.4.1 + This does not break compatibility with earlier versions (like 2.8.3.1), + because these messages did not exist before. + Actually, these messages were added in 2.10.3.1 (all other messages) and + 2.13.0.4 (ServiceResponseHeader.msg). +* Update Brake, Gripper + Height State msg to 2.13.4.1 + These are "unsafe" message changes (fields have been removed), but it + should be ok because these are only used in HookExtendedStatus, and that + message isn't forwarded by the mir_driver. +* Partially update messages to MiR software 2.13.4.1 + This only contains the "safe" changes, where fields were added. Also, it + doesn't include the move of some messages to mir_hook_shared_interface, + but keeps them here. +* Don't set cmake_policy CMP0048 +* Contributors: Martin Günther, moooeeeep + +1.1.6 (2022-06-02) +------------------ +* Rename mir_100 -> mir + This is in preparation of mir_250 support. +* Contributors: Martin Günther + +1.1.5 (2022-02-11) +------------------ + +1.1.4 (2021-12-10) +------------------ +* mir_msgs: Build all messages (`#98 `_) +* Contributors: Martin Günther + +1.1.3 (2021-06-11) +------------------ +* Merge branch 'melodic-2.8' into noetic +* Update BMSData msg to MiR software 2.8.3.1 +* Remove MirStatus + This message was removed in MiR software 2.0 (Renamed to RobotStatus). +* Update mir_msgs to 2.8.2.2 +* Contributors: Felix, Martin Günther + +1.1.2 (2021-05-12) +------------------ + +1.1.1 (2021-02-11) +------------------ +* Contributors: Martin Günther + +1.1.0 (2020-06-30) +------------------ +* Initial release into noetic +* Contributors: Martin Günther + +1.0.6 (2020-06-30) +------------------ +* Fix some catkin_lint warnings +* Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +1.0.5 (2020-05-01) +------------------ + +1.0.4 (2019-05-06) +------------------ +* Update mir_msgs and mir_actions to MiR 2.3.1 + The following changes were made to the actual mir_msgs: + * rename mirMsgs -> mir_msgs + * rename proximity -> Proximity + * rename serial -> Serial + * keep MirStatus msg (was replaced by RobotStatus in MiR software 2.0) +* Contributors: Martin Günther + +1.0.3 (2019-03-04) +------------------ +* mir_msgs: Compile new msgs + rename mirMsgs -> mir_msgs +* mir_msgs: Add geometry_msgs dependency + Now that we have an actual msg package dependency, we don't need the std_msgs placeholder any more. +* mir_msgs: Add new messages on kinetic +* Contributors: Martin Günther + +1.0.2 (2018-07-30) +------------------ + +1.0.1 (2018-07-17) +------------------ + +1.0.0 (2018-07-12) +------------------ +* Initial release +* Contributors: Martin Günther diff --git a/mir_robot/mir_msgs/CMakeLists.txt b/mir_robot/mir_msgs/CMakeLists.txt new file mode 100755 index 0000000..1ffbb0e --- /dev/null +++ b/mir_robot/mir_msgs/CMakeLists.txt @@ -0,0 +1,88 @@ +cmake_minimum_required(VERSION 3.5.1) +project(mir_msgs) + +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + message_generation +) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +# Generate messages in the 'msg' folder +add_message_files( + FILES + AngleMeasurment.msg + BMSData.msg + BatteryCurrents.msg + BrakeState.msg + ChargingState.msg + Device.msg + Devices.msg + EncoderTestEntry.msg + Encoders.msg + Error.msg + Event.msg + Events.msg + ExternalRobot.msg + ExternalRobots.msg + Gpio.msg + GripperState.msg + HeightState.msg + HookData.msg + HookExtendedStatus.msg + HookStatus.msg + IOs.msg + JoystickVel.msg + LocalMapStat.msg + MirExtra.msg + MirLocalPlannerPathTypes.msg + MissionCtrlCommand.msg + MissionCtrlState.msg + MovingState.msg + PalletLifterStatus.msg + Path.msg + Pendant.msg + PlanSegment.msg + PlanSegments.msg + Pose2D.msg + PowerBoardMotorStatus.msg + PrecisionDockingStatus.msg + Proximity.msg + ResourceState.msg + ResourcesAcquisition.msg + ResourcesState.msg + RobotMode.msg + RobotState.msg + RobotStatus.msg + SafetyStatus.msg + Serial.msg + ServiceResponseHeader.msg + SkidDetectionDiff.msg + SkidDetectionStampedFloat.msg + SoundEvent.msg + StampedEncoders.msg + TimeDebug.msg + Trolley.msg + Twist2D.msg + UserPrompt.msg + WebPath.msg + WorldMap.msg + WorldModel.msg +) + +# Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS + geometry_msgs + message_runtime +) diff --git a/mir_robot/mir_msgs/msg/AngleMeasurment.msg b/mir_robot/mir_msgs/msg/AngleMeasurment.msg new file mode 100755 index 0000000..0d80882 --- /dev/null +++ b/mir_robot/mir_msgs/msg/AngleMeasurment.msg @@ -0,0 +1,2 @@ +float64 angle #radians +time timestamp diff --git a/mir_robot/mir_msgs/msg/BMSData.msg b/mir_robot/mir_msgs/msg/BMSData.msg new file mode 100755 index 0000000..fea7a63 --- /dev/null +++ b/mir_robot/mir_msgs/msg/BMSData.msg @@ -0,0 +1,134 @@ +float64 pack_voltage +float64 charge_current +float64 discharge_current +float64 state_of_charge +float64 remaining_time_to_full_charge +int32 remaining_capacity +int32 state_of_health +int32 DISCHARGING=1 #bit 0 +int32 CHARGING=2 #bit 1 +int32 OV=4 #bit 2 Over voltage +int32 UV=8 #bit 3 Under voltage +int32 COC=16 #bit 4 Charge over current +int32 DOC=32 #bit 5 Discharge over current +int32 DOT=64 #bit 6 Discharge over temperature +int32 DUT=128 #bit 7 Discharge under temperature +int32 SC=512 #bit 9 +int32 COT=1024 #bit 10 Charge over temperature +int32 CUT=2048 #bit 11 Charge under temperature +int32 FW_STATUS_MSK=2031616 # to get Battery_Firmware_Status do the following: +int32 FW_STATUS_SHIFT=16 # batt_fw_stat=(status_flags & FW_STATUS_MSK)>>FW_STATUS_SHIFT +int32 FW_UPD_OK=0 #Battery firmware update finished OK. +int32 FW_UPD_RUNNING=1 #Battery firmware update running. +int32 FW_UPD_FAILED_BOOT=2 #Battery firmware update failed in Bootloader (Robot must not drive) +int32 FW_UPD_FAILED_APP=3 #Battery firmware update failed updating the application (Robot can drive with old FW) +int32 FW_UPD_FAILED_PARAM=4 #Battery firmware update failed uploading parameters (Robot can drive with old fw and parameters.) +int32 FW_STATUS_LOW_BATT=5 #Battery firmware update skipped battery too low or high (Robot can drive with old parameters.) +int32 FW_STATUS_FILE_CORRUPTED=6 #Battery firmware file corrupted (Robot can drive with old parameters.) +int32 FW_STATUS_CURRENT_TO_HIGH=7 #Battery firmware file corrupted (Robot can drive with old parameters.) +int32 FW_STATUS_NO_CAN=8 #Battery firmware update skipped no CAN communication (Robot can drive with old fw and parameters.) +int32 FW_BATTERY_IMBALANCE_HIGH=9 #Battery firmware update is enforced and the battery will be shut off by the new firmware +int32 status_flags +int32 temperature +uint32[] cell_voltage # In Mk2 robots and above the BMS provides data for 8 battery cells. 2Gen robots have BMS for 13 battery cells +uint32 cell_voltage_diff + +string WST_serial + +# Exteded diagnosticts for BMZ battery +uint32 bmz_flag # Flag for enabling extended diagnosticts +uint32 battery_type +uint32 BATT_TYPE_UNKNOWN=0 #type is unknown / no communucation +uint32 BATT_TYPE_BMZ=1 #BMZ battery +uint32 BATT_TYPE_WST=2 #WST battery +uint32 BATT_TYPE_SBS=3 #SBS battery +uint32 BATT_TYPE_SBS_SLIDE=4 #SBS SLIDE battery +uint32 BATT_TYPE_NO_BMS=255 #WST No BMS battery +float64 full_voltage +int32 full_capacity +int32 temperature2 +int32 temperature_pcb +int32 cycle_count +int32 dsg_overcurrent_counter +int32 chg_overcurrent_counter +int32 hw_major +int32 hw_minor +int32 fw_major +int32 fw_minor +int32 fw_patch +int32 fw_parameters_ok +int32 rec_fw_major +int32 rec_fw_minor +int32 rec_fw_patch +int32 bl_major +int32 bl_minor +uint32 status_enabled +uint32 status_current_limitation +uint32 status_switch_off_warn1 +uint32 status_switch_off_warn2 +uint32 status_fully_discharged +uint32 status_nearly_discharged +uint32 status_chargefet_on +uint32 status_dischargefet_on +uint32 status_discharging +uint32 status_fully_charged +uint32 status_charging +uint32 status_temp_charging_err +uint32 status_cell_over_voltage +uint32 status_cell_under_voltage +uint32 status_charge_over_current +uint32 status_shortcircuit +uint32 status_discharge_over_current +float64 status_chargefet_voltage +float64 status_dischargefet_voltage +uint32 status_temp_discharging_err +uint32 status_charger_detected +uint32 mnfct_bms_revision +uint32 mnfct_asn_revision +uint32 mnfct_year +uint32 mnfct_week +uint32 mnfct_model +uint32 mnfct_serial +uint32 afe_i2c_error_count +uint32 app_error_count +uint32 fet_disable_state + +float64 last_battery_msg_time + +# SBS battery states +uint32 SBS_battery_status +uint32 SBS_battery_status_raw +uint32 SBS_InitState1=1 +uint32 SBS_InitState2=2 +uint32 SBS_InitState3=3 +uint32 SBS_InitState4=4 +uint32 SBS_Idle=5 +uint32 SBS_Discharge=6 +uint32 SBS_Charge=7 +uint32 SBS_Fault=10 +uint32 SBS_CriticalError=11 +uint32 SBS_PrepareDeepsleep=99 +uint32 SBS_Deepsleep=100 + +string SBS_serial_1 +string SBS_serial_2 + +uint32 SBS_arti_nr_1 +uint32 SBS_arti_nr_2 +uint32 SBS_arti_nr_3 + +uint32 SBS_curr_flow_passive_state + +# Overcurrent counters +uint8 CHG_OC1_Count +uint8 CHG_OC2_Count +uint8 DSG_OC1_Count +uint8 DSG_OC2_Count +uint8 DSG_OC3_Count +uint8 AFE_OC1_Count +uint8 AFE_OC2_Count +uint8 CHG_LatchClear_Count +uint8 DSG_LatchClear_Count + +uint8 chg_oc_warning +uint8 dsg_oc_warning diff --git a/mir_robot/mir_msgs/msg/BatteryCurrents.msg b/mir_robot/mir_msgs/msg/BatteryCurrents.msg new file mode 100755 index 0000000..d81b7dd --- /dev/null +++ b/mir_robot/mir_msgs/msg/BatteryCurrents.msg @@ -0,0 +1,2 @@ +float64 battery1_current +float64 battery2_current diff --git a/mir_robot/mir_msgs/msg/BrakeState.msg b/mir_robot/mir_msgs/msg/BrakeState.msg new file mode 100755 index 0000000..3c22250 --- /dev/null +++ b/mir_robot/mir_msgs/msg/BrakeState.msg @@ -0,0 +1,10 @@ +uint8 UNKNOWN = 0 +uint8 INITIALIZING = 1 +uint8 HOMING = 2 +uint8 ACTIVE = 3 +uint8 INACTIVE = 4 +uint8 ACTIVATING = 5 +uint8 DEACTIVATING = 6 +uint8 ERROR = 7 + +uint8 state diff --git a/mir_robot/mir_msgs/msg/ChargingState.msg b/mir_robot/mir_msgs/msg/ChargingState.msg new file mode 100755 index 0000000..c2b50be --- /dev/null +++ b/mir_robot/mir_msgs/msg/ChargingState.msg @@ -0,0 +1,9 @@ +bool charging_relay +float64 charging_current +uint32 charging_current_raw +float64 last_time_current + +float64 charging_voltage +uint32 charging_voltage_raw +bool is_voltage_low +float64 last_time_voltage diff --git a/mir_robot/mir_msgs/msg/Device.msg b/mir_robot/mir_msgs/msg/Device.msg new file mode 100755 index 0000000..f3eefc0 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Device.msg @@ -0,0 +1,2 @@ +string name +string serial diff --git a/mir_robot/mir_msgs/msg/Devices.msg b/mir_robot/mir_msgs/msg/Devices.msg new file mode 100755 index 0000000..77d98e8 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Devices.msg @@ -0,0 +1 @@ +mir_msgs/Device[] devices diff --git a/mir_robot/mir_msgs/msg/EncoderTestEntry.msg b/mir_robot/mir_msgs/msg/EncoderTestEntry.msg new file mode 100755 index 0000000..e8e8ba2 --- /dev/null +++ b/mir_robot/mir_msgs/msg/EncoderTestEntry.msg @@ -0,0 +1,6 @@ +float64 command_velocity +float64 command_distance +float64 left_dist +float64 right_dist +string suggested_direction +string user_direction diff --git a/mir_robot/mir_msgs/msg/Encoders.msg b/mir_robot/mir_msgs/msg/Encoders.msg new file mode 100755 index 0000000..9fff122 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Encoders.msg @@ -0,0 +1,3 @@ +float32 time_delta # Time since last encoder update. +int32 left_wheel # Encoder counts (absolute or relative) +int32 right_wheel # Encoder counts (absolute or relative) diff --git a/mir_robot/mir_msgs/msg/Error.msg b/mir_robot/mir_msgs/msg/Error.msg new file mode 100755 index 0000000..aa32383 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Error.msg @@ -0,0 +1,34 @@ +# Definition of offsets indicating what type an error is +int32 HARDWARE_ERROR = 0 +int32 CPU_LOAD_ERROR = 100 +int32 MEMORY_ERROR = 200 +int32 ETHERNET_ERROR = 300 +int32 HDD_ERROR = 400 +int32 BATTERY_ERROR = 500 +int32 IMU_ERROR = 600 +int32 MOTOR_ERROR = 700 +int32 LASER_ERROR = 800 +int32 CAMERA_ERROR = 900 +int32 SAFETY_SYSTEM_ERROR = 1000 +int32 POWERBOARD_ERROR = 2000 +int32 POWERSUPPLY_ERROR = 2100 +int32 CANBUS_ERROR = 2200 +int32 HOOK_ERROR = 5000 +int32 HOOK_CAMERA_ERROR = 5100 +int32 HOOK_ACTUATOR_ERROR = 5200 +int32 HOOK_BRAKE_ERROR = 5300 +int32 HOOK_ENCODER_ERROR = 5400 +int32 MISSING_ERROR = 9000 +int32 SOFTWARE_ERROR = 10000 +int32 MISSION_ERROR = 10100 +int32 LOCALIZATION_ERROR = 10200 +int32 MAPPING_ERROR = 10300 +int32 ODOM_FUSION_ERROR = 10400 +int32 EVACUATION_ERROR = 12000 + + +time timestamp # Timestamp for when the error occurred +int32 code # Error code +string description # Error description +string module # Module in which the error occurred +bool nolog # Do not trigger an error log if set to true diff --git a/mir_robot/mir_msgs/msg/Event.msg b/mir_robot/mir_msgs/msg/Event.msg new file mode 100755 index 0000000..a183c83 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Event.msg @@ -0,0 +1,13 @@ +uint32 EV_SPEED=1 +uint32 EV_BLINK=2 +uint32 EV_SOUND=3 +uint32 EV_DOOR=4 +uint32 EV_AMCLOFF=5 +uint32 EV_FWDDIST=6 +uint32 EV_IO=7 +uint32 EV_FLEETLCK=8 # Fleet +uint32 EV_EMERGENCY=9 # Fleet +uint32 eventType # The area event type +string area_guid # The area unique identifier +string area_name # The name of the area +geometry_msgs/Point[] polygon # An array of corner points that define the edges of the area diff --git a/mir_robot/mir_msgs/msg/Events.msg b/mir_robot/mir_msgs/msg/Events.msg new file mode 100755 index 0000000..770319d --- /dev/null +++ b/mir_robot/mir_msgs/msg/Events.msg @@ -0,0 +1,2 @@ +Header header +Event[] events diff --git a/mir_robot/mir_msgs/msg/ExternalRobot.msg b/mir_robot/mir_msgs/msg/ExternalRobot.msg new file mode 100755 index 0000000..8997d71 --- /dev/null +++ b/mir_robot/mir_msgs/msg/ExternalRobot.msg @@ -0,0 +1,15 @@ +Header header +uint32 id +uint32 MIR100=1 +uint32 MIR500=3 +uint32 type_id +string name +float64 robot_length +float64 robot_width +string footprint +string ip +uint32 map_id +int32 priority +geometry_msgs/Pose pose +geometry_msgs/Pose extrapolated_pose +geometry_msgs/Twist twist diff --git a/mir_robot/mir_msgs/msg/ExternalRobots.msg b/mir_robot/mir_msgs/msg/ExternalRobots.msg new file mode 100755 index 0000000..a04f3f5 --- /dev/null +++ b/mir_robot/mir_msgs/msg/ExternalRobots.msg @@ -0,0 +1,2 @@ +Header header +mir_msgs/ExternalRobot[] robots diff --git a/mir_robot/mir_msgs/msg/Gpio.msg b/mir_robot/mir_msgs/msg/Gpio.msg new file mode 100755 index 0000000..5fdb189 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Gpio.msg @@ -0,0 +1,9 @@ +uint8 POWERBOARD_GPIO = 0 +uint8 POWERBOARD_RESET_SWITCH_LED = 1 +uint8 PENDANT_INPUT = 5 +uint8 AUTO_MODE_SWITCH = 10 +uint8 MANUAL_MODE_SWITCH = 11 +uint8 STOP_BUTTON = 12 + +uint8 ioport +uint8 dat diff --git a/mir_robot/mir_msgs/msg/GripperState.msg b/mir_robot/mir_msgs/msg/GripperState.msg new file mode 100755 index 0000000..ee86c12 --- /dev/null +++ b/mir_robot/mir_msgs/msg/GripperState.msg @@ -0,0 +1,9 @@ +uint8 LOCK_UNKNOWN = 0 +uint8 LOCK_HOMING = 1 +uint8 LOCK_OPEN = 2 +uint8 LOCK_OPENING = 3 +uint8 LOCK_CLOSED = 4 +uint8 LOCK_CLOSING = 6 +uint8 LOCK_ERROR = 9 + +uint8 state diff --git a/mir_robot/mir_msgs/msg/HeightState.msg b/mir_robot/mir_msgs/msg/HeightState.msg new file mode 100755 index 0000000..a882157 --- /dev/null +++ b/mir_robot/mir_msgs/msg/HeightState.msg @@ -0,0 +1,7 @@ +uint8 HEIGHT_UNKNOWN = 0 +uint8 HEIGHT_HOMING = 1 +uint8 HEIGHT_IDLE = 2 +uint8 HEIGHT_CHANGING = 3 +uint8 HEIGHT_ERROR = 4 + +uint8 state diff --git a/mir_robot/mir_msgs/msg/HookData.msg b/mir_robot/mir_msgs/msg/HookData.msg new file mode 100755 index 0000000..46a1578 --- /dev/null +++ b/mir_robot/mir_msgs/msg/HookData.msg @@ -0,0 +1,6 @@ +AngleMeasurment angle +float64 height +float64 length +uint8 brake_state +uint8 gripper_state +uint8 height_state diff --git a/mir_robot/mir_msgs/msg/HookExtendedStatus.msg b/mir_robot/mir_msgs/msg/HookExtendedStatus.msg new file mode 100755 index 0000000..86d121a --- /dev/null +++ b/mir_robot/mir_msgs/msg/HookExtendedStatus.msg @@ -0,0 +1,11 @@ +bool available + +BrakeState brake + +GripperState gripper + +HeightState height + +float32 angle + +string qr_marker_name diff --git a/mir_robot/mir_msgs/msg/HookStatus.msg b/mir_robot/mir_msgs/msg/HookStatus.msg new file mode 100755 index 0000000..7e1aad4 --- /dev/null +++ b/mir_robot/mir_msgs/msg/HookStatus.msg @@ -0,0 +1,8 @@ +bool available +float32 length +float32 height +float32 angle +bool braked + +bool trolley_attached +Trolley trolley diff --git a/mir_robot/mir_msgs/msg/IOs.msg b/mir_robot/mir_msgs/msg/IOs.msg new file mode 100755 index 0000000..5ef8fe5 --- /dev/null +++ b/mir_robot/mir_msgs/msg/IOs.msg @@ -0,0 +1,12 @@ +string module_guid +bool connected +uint8 DONE=0 +uint8 STARTED=1 +uint8 ERROR=3 +uint8 status +int8 num_inputs +bool[] input_state +int8 num_outputs +bool[] output_state +string ip +string error diff --git a/mir_robot/mir_msgs/msg/JoystickVel.msg b/mir_robot/mir_msgs/msg/JoystickVel.msg new file mode 100755 index 0000000..f905658 --- /dev/null +++ b/mir_robot/mir_msgs/msg/JoystickVel.msg @@ -0,0 +1,2 @@ +string joystick_token +geometry_msgs/Twist speed_command diff --git a/mir_robot/mir_msgs/msg/LocalMapStat.msg b/mir_robot/mir_msgs/msg/LocalMapStat.msg new file mode 100755 index 0000000..4d216c0 --- /dev/null +++ b/mir_robot/mir_msgs/msg/LocalMapStat.msg @@ -0,0 +1,3 @@ +int32 idx +int32 x +int32 y diff --git a/mir_robot/mir_msgs/msg/MirExtra.msg b/mir_robot/mir_msgs/msg/MirExtra.msg new file mode 100755 index 0000000..dc25e37 --- /dev/null +++ b/mir_robot/mir_msgs/msg/MirExtra.msg @@ -0,0 +1,7 @@ +# MirExtra - to publish data on a topic +Header header +float32 time_delta # Time since last encoder update. +float32 r_rpm # rmp speed from right encoder +float32 l_rpm # rmp speed from left encoder +float32 vel # calc velocity +float32 ang # calculated angle speed diff --git a/mir_robot/mir_msgs/msg/MirLocalPlannerPathTypes.msg b/mir_robot/mir_msgs/msg/MirLocalPlannerPathTypes.msg new file mode 100755 index 0000000..3425728 --- /dev/null +++ b/mir_robot/mir_msgs/msg/MirLocalPlannerPathTypes.msg @@ -0,0 +1,6 @@ +uint8 REVERSE_TROLLEY_STANDARD=1 +uint8 REVERSE_TROLLEY_FAST=2 +uint8 REVERSE_TROLLEY_COMPACT=3 + + +uint8 path_type diff --git a/mir_robot/mir_msgs/msg/MissionCtrlCommand.msg b/mir_robot/mir_msgs/msg/MissionCtrlCommand.msg new file mode 100755 index 0000000..9af9214 --- /dev/null +++ b/mir_robot/mir_msgs/msg/MissionCtrlCommand.msg @@ -0,0 +1,9 @@ +uint8 CMD_GET_STATUS = 0 +uint8 CMD_WAIT_POS_LOCK = 1 +uint8 CMD_WAIT_AREA_LOCK = 2 +uint8 CMD_CONTINUE = 3 +uint8 CMD_LOAD_MISSION = 4 + +string description +int32 cmd +int32 mission_id diff --git a/mir_robot/mir_msgs/msg/MissionCtrlState.msg b/mir_robot/mir_msgs/msg/MissionCtrlState.msg new file mode 100755 index 0000000..972f936 --- /dev/null +++ b/mir_robot/mir_msgs/msg/MissionCtrlState.msg @@ -0,0 +1,11 @@ +uint8 STATE_IDLE = 0 +uint8 STATE_WAIT_POS_LOCK = 1 +uint8 STATE_WAIT_AREA_LOCK = 2 +uint8 STATE_WAIT_MAP_TRANSITION = 10 +uint8 STATE_WAIT_LIFT_START_FLOOR = 11 +uint8 STATE_WAIT_LIFT_END_FLOOR = 12 +uint8 STATE_WAIT_LIFT_END_FLOOR_CONTINUE = 13 + + +int32 state +int32 pos_id diff --git a/mir_robot/mir_msgs/msg/MovingState.msg b/mir_robot/mir_msgs/msg/MovingState.msg new file mode 100755 index 0000000..6e495e5 --- /dev/null +++ b/mir_robot/mir_msgs/msg/MovingState.msg @@ -0,0 +1,6 @@ +uint8 UNKNOWN=0 +uint8 MOVING=1 +uint8 STOPPED=2 +uint8 STANDING_STILL=3 + +uint8 moving_state # Current robot moving state diff --git a/mir_robot/mir_msgs/msg/PalletLifterStatus.msg b/mir_robot/mir_msgs/msg/PalletLifterStatus.msg new file mode 100755 index 0000000..46acbab --- /dev/null +++ b/mir_robot/mir_msgs/msg/PalletLifterStatus.msg @@ -0,0 +1,7 @@ +uint8 PALLET_LIFT_STATE_DISABLED = 0 +uint8 PALLET_LIFT_STATE_MOVING = 1 +uint8 PALLET_LIFT_STATE_DOWN = 2 +uint8 PALLET_LIFT_STATE_UP = 3 + +bool is_enabled +uint8 state diff --git a/mir_robot/mir_msgs/msg/Path.msg b/mir_robot/mir_msgs/msg/Path.msg new file mode 100755 index 0000000..390bd76 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Path.msg @@ -0,0 +1,2 @@ +Header header +mir_msgs/Pose2D[] poses diff --git a/mir_robot/mir_msgs/msg/Pendant.msg b/mir_robot/mir_msgs/msg/Pendant.msg new file mode 100755 index 0000000..47dae77 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Pendant.msg @@ -0,0 +1,3 @@ +float32 x +float32 y +uint8 gpio_bits diff --git a/mir_robot/mir_msgs/msg/PlanSegment.msg b/mir_robot/mir_msgs/msg/PlanSegment.msg new file mode 100755 index 0000000..675fdb5 --- /dev/null +++ b/mir_robot/mir_msgs/msg/PlanSegment.msg @@ -0,0 +1,5 @@ +bool forward_motion +int32 start_idx +float64 length +float64 remaining_length +geometry_msgs/PoseStamped[] path diff --git a/mir_robot/mir_msgs/msg/PlanSegments.msg b/mir_robot/mir_msgs/msg/PlanSegments.msg new file mode 100755 index 0000000..73e62c9 --- /dev/null +++ b/mir_robot/mir_msgs/msg/PlanSegments.msg @@ -0,0 +1 @@ +mir_msgs/PlanSegment[] p_segments diff --git a/mir_robot/mir_msgs/msg/Pose2D.msg b/mir_robot/mir_msgs/msg/Pose2D.msg new file mode 100755 index 0000000..b8285c2 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Pose2D.msg @@ -0,0 +1,3 @@ +float32 x +float32 y +float32 orientation diff --git a/mir_robot/mir_msgs/msg/PowerBoardMotorStatus.msg b/mir_robot/mir_msgs/msg/PowerBoardMotorStatus.msg new file mode 100755 index 0000000..e78aab8 --- /dev/null +++ b/mir_robot/mir_msgs/msg/PowerBoardMotorStatus.msg @@ -0,0 +1,32 @@ +uint16 LeftMotor_CtrlWord +int32 LeftMotor_Speed +int32 LeftMotor_Encoder +uint16 LeftMotor_Status +uint8 LeftMotor_Error +uint32 LeftMotor_ErrorHist1 +uint32 LeftMotor_ErrorHist2 +int32 LeftMotor_Current +uint16 LeftMotor_I2t_Motor +uint16 LeftMotor_I2t_Controller +int16 LeftMotor_Temperature +uint16 RightMotor_CtrlWord +int32 RightMotor_Speed +int32 RightMotor_Encoder +uint16 RightMotor_Status +uint8 RightMotor_Error +uint32 RightMotor_ErrorHist1 +uint32 RightMotor_ErrorHist2 +int32 RightMotor_Current +uint16 RightMotor_I2t_Motor +uint16 RightMotor_I2t_Controller +int16 RightMotor_Temperature +#Status bits for brake feedback. +uint8 BRAKE_STATUS_BRAKED_BIT=1 # is "1" if brake is supposed to be braked +uint8 BRAKE_STATUS_FB_BIT=4 # is "1" if brake feedback sensor is activated (brake is released) +uint8 BRAKE_STATUS_TRANSITION_BIT=128 +# So error combinations are - (Any combination with the TRANSITION bit set are valid) +# BRAKED FB TRANSITION STATUSWORD +# 0 0 0 0x00 Brake is suppused to be released, but FB indicate braked. We are not in transition. +# 1 1 0 0x05 Brake is suppused to be braked, but FB indicate released. We are not in transition. +uint8 Brake_LeftStatus +uint8 Brake_RightStatus diff --git a/mir_robot/mir_msgs/msg/PrecisionDockingStatus.msg b/mir_robot/mir_msgs/msg/PrecisionDockingStatus.msg new file mode 100755 index 0000000..db614f8 --- /dev/null +++ b/mir_robot/mir_msgs/msg/PrecisionDockingStatus.msg @@ -0,0 +1,5 @@ +bool connected +bool motor_forward +bool motor_back +bool left_docking +bool right_docking diff --git a/mir_robot/mir_msgs/msg/Proximity.msg b/mir_robot/mir_msgs/msg/Proximity.msg new file mode 100755 index 0000000..d78ba80 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Proximity.msg @@ -0,0 +1,2 @@ +Header header +uint16[] ranges diff --git a/mir_robot/mir_msgs/msg/ResourceState.msg b/mir_robot/mir_msgs/msg/ResourceState.msg new file mode 100755 index 0000000..f93f208 --- /dev/null +++ b/mir_robot/mir_msgs/msg/ResourceState.msg @@ -0,0 +1,15 @@ +string[] assigned # A list of IPs of all assigned robots (Areas can have more than one robot assigned at a time) +uint32 ROBOT_POSITION=0 +uint32 STAGING_POSITION=1 +uint32 CHARGING_STATION=2 +uint32 AREA=3 +uint32 ELEVATOR_ENTRY_POSITION=26 +uint32 ELEVATOR_POSITION=25 +uint32 type # The resource type +uint32 path_idx # The index from the global path in which the robot gets into the position +float32 distance # The distance from the robot to the resource +geometry_msgs/Point collision_point # The collision point with the resource +geometry_msgs/Point[] resource_geometry # The resource_geometry +string[] queue # The queue for a resource. It's a list of robots ips. +string name # The name of the resource +string guid # The guid of the resource diff --git a/mir_robot/mir_msgs/msg/ResourcesAcquisition.msg b/mir_robot/mir_msgs/msg/ResourcesAcquisition.msg new file mode 100755 index 0000000..783d172 --- /dev/null +++ b/mir_robot/mir_msgs/msg/ResourcesAcquisition.msg @@ -0,0 +1,4 @@ +Header header +geometry_msgs/PoseStamped[] path +string position_guid +string token diff --git a/mir_robot/mir_msgs/msg/ResourcesState.msg b/mir_robot/mir_msgs/msg/ResourcesState.msg new file mode 100755 index 0000000..0fa2508 --- /dev/null +++ b/mir_robot/mir_msgs/msg/ResourcesState.msg @@ -0,0 +1,3 @@ +Header header +ResourceState[] resources +string token diff --git a/mir_robot/mir_msgs/msg/RobotMode.msg b/mir_robot/mir_msgs/msg/RobotMode.msg new file mode 100755 index 0000000..34cbb3a --- /dev/null +++ b/mir_robot/mir_msgs/msg/RobotMode.msg @@ -0,0 +1,9 @@ +# The robot operates in different mode +uint8 ROBOT_MODE_NONE = 0 # start mode +uint8 ROBOT_MODE_MAPPING = 3 # in mapping a new map is made +uint8 ROBOT_MODE_MAPPING_FINALIZING = 4 # in mapping the recorded map is being finalised +uint8 ROBOT_MODE_MISSION = 7 # primary mode when executing a mission (action list) +uint8 ROBOT_MODE_CHANGING = 255 # a transition mode - to say that a transition is in progress + +uint8 robotMode +string robotModeString diff --git a/mir_robot/mir_msgs/msg/RobotState.msg b/mir_robot/mir_msgs/msg/RobotState.msg new file mode 100755 index 0000000..f78c555 --- /dev/null +++ b/mir_robot/mir_msgs/msg/RobotState.msg @@ -0,0 +1,17 @@ +# The robot has to be in a predefined state +uint8 ROBOT_STATE_NONE = 0 +uint8 ROBOT_STATE_STARTING = 1 +uint8 ROBOT_STATE_SHUTTINGDOWN = 2 +uint8 ROBOT_STATE_READY = 3 # ready to execute +uint8 ROBOT_STATE_PAUSE = 4 # pause from executing +uint8 ROBOT_STATE_EXECUTING = 5 # when running in mission/taxa/bus +uint8 ROBOT_STATE_ABORTED = 6 +uint8 ROBOT_STATE_COMPLETED = 7 # done executing +uint8 ROBOT_STATE_DOCKED = 8 # in the dock and charging the batteries +uint8 ROBOT_STATE_DOCKING = 9 +uint8 ROBOT_STATE_EMERGENCYSTOP = 10 # the robot has emg-stop activated +uint8 ROBOT_STATE_MANUALCONTROL = 11 # a pause state, where the robot can move +uint8 ROBOT_STATE_ERROR = 12 # a general error state, requires a error handle + +uint8 robotState +string robotStateString diff --git a/mir_robot/mir_msgs/msg/RobotStatus.msg b/mir_robot/mir_msgs/msg/RobotStatus.msg new file mode 100755 index 0000000..b2d8b04 --- /dev/null +++ b/mir_robot/mir_msgs/msg/RobotStatus.msg @@ -0,0 +1,29 @@ +Header header +float32 battery_percentage +int32 battery_time_remaining +float32 battery_voltage +float32 distance_to_next_target +Error[] errors +string footprint +HookStatus hook_status +HookData hook_data +string map_id +bool unloaded_map_changes +int32 mission_queue_id +string mission_text +int32 mode_id +string mode_text +float64 moved +Pose2D position +string robot_name +string session_id +string software_version +uint8 state_id +string state_text +int32 uptime +Twist2D velocity +mir_msgs/UserPrompt user_prompt +bool safety_system_muted +bool joystick_low_speed_mode_enabled +string joystick_web_session_id +string mode_key_state diff --git a/mir_robot/mir_msgs/msg/SafetyStatus.msg b/mir_robot/mir_msgs/msg/SafetyStatus.msg new file mode 100755 index 0000000..1595194 --- /dev/null +++ b/mir_robot/mir_msgs/msg/SafetyStatus.msg @@ -0,0 +1,40 @@ +bool is_connected + +bool is_firmware_ok +int32 firmware_version + +bool in_protective_stop +bool in_emergency_stop +bool sto_feedback +bool is_restart_required + +bool is_safety_muted +float64 max_lin_speed +float64 max_rot_speed + +# Defines for filling out the mute_mask +uint8 MUTE_FRONT_RIGHT = 1 +uint8 MUTE_FRONT_CENTER = 2 +uint8 MUTE_FRONT_LEFT = 4 +uint8 MUTE_LEFT_CENTER = 8 +uint8 MUTE_REAR_LEFT = 16 +uint8 MUTE_REAR_CENTER = 32 +uint8 MUTE_REAR_RIGHT = 64 +uint8 MUTE_RIGHT_CENTER = 128 + +uint8 MUTE_FRONT = 7 +uint8 MUTE_LEFT = 28 +uint8 MUTE_REAR = 112 +uint8 MUTE_RIGHT = 193 +uint8 MUTE_SIDES = 221 +uint8 MUTE_ALL = 255 + +uint8 mute_mask +uint8 partial_mute_mask + +bool is_limited_speed_active +bool is_lifter_down +bool in_sleep_mode + +bool in_manual_mode +bool is_manual_mode_restart_required diff --git a/mir_robot/mir_msgs/msg/Serial.msg b/mir_robot/mir_msgs/msg/Serial.msg new file mode 100755 index 0000000..9741bda --- /dev/null +++ b/mir_robot/mir_msgs/msg/Serial.msg @@ -0,0 +1,2 @@ +Header header +string data diff --git a/mir_robot/mir_msgs/msg/ServiceResponseHeader.msg b/mir_robot/mir_msgs/msg/ServiceResponseHeader.msg new file mode 100755 index 0000000..2369083 --- /dev/null +++ b/mir_robot/mir_msgs/msg/ServiceResponseHeader.msg @@ -0,0 +1,2 @@ +bool success +string error diff --git a/mir_robot/mir_msgs/msg/SkidDetectionDiff.msg b/mir_robot/mir_msgs/msg/SkidDetectionDiff.msg new file mode 100755 index 0000000..6168b08 --- /dev/null +++ b/mir_robot/mir_msgs/msg/SkidDetectionDiff.msg @@ -0,0 +1,14 @@ +time time_stamp +float64 enc_acc_x +float64 enc_acc_y +float64 enc_rot_th + + +float64 imu_acc_x +float64 imu_acc_y +float64 imu_rot_th + + +float64 diff_acc_x +float64 diff_acc_y +float64 diff_rot_th diff --git a/mir_robot/mir_msgs/msg/SkidDetectionStampedFloat.msg b/mir_robot/mir_msgs/msg/SkidDetectionStampedFloat.msg new file mode 100755 index 0000000..e02869c --- /dev/null +++ b/mir_robot/mir_msgs/msg/SkidDetectionStampedFloat.msg @@ -0,0 +1,2 @@ +time time_stamp +float64 value diff --git a/mir_robot/mir_msgs/msg/SoundEvent.msg b/mir_robot/mir_msgs/msg/SoundEvent.msg new file mode 100755 index 0000000..73b21ef --- /dev/null +++ b/mir_robot/mir_msgs/msg/SoundEvent.msg @@ -0,0 +1,16 @@ +time time_stamp +string sound_guid +string message + +uint8 START=0 +uint8 STOP =1 +uint8 MUTE=2 +uint8 UNMUTE=3 +uint8 PAUSE=4 +uint8 UNPAUSE=5 +uint8 FINISH=6 +uint8 MUTEABLE=7 +uint8 REQ_PLAY=10 + + +uint8 event diff --git a/mir_robot/mir_msgs/msg/StampedEncoders.msg b/mir_robot/mir_msgs/msg/StampedEncoders.msg new file mode 100755 index 0000000..ff8193c --- /dev/null +++ b/mir_robot/mir_msgs/msg/StampedEncoders.msg @@ -0,0 +1,2 @@ +Header header +Encoders encoders diff --git a/mir_robot/mir_msgs/msg/TimeDebug.msg b/mir_robot/mir_msgs/msg/TimeDebug.msg new file mode 100755 index 0000000..4384e6b --- /dev/null +++ b/mir_robot/mir_msgs/msg/TimeDebug.msg @@ -0,0 +1,2 @@ +string[] description +float64[] time_elapsed diff --git a/mir_robot/mir_msgs/msg/Trolley.msg b/mir_robot/mir_msgs/msg/Trolley.msg new file mode 100755 index 0000000..03d00a1 --- /dev/null +++ b/mir_robot/mir_msgs/msg/Trolley.msg @@ -0,0 +1,5 @@ +int32 id +float32 length +float32 width +float32 height +float32 offset_locked_wheels diff --git a/mir_robot/mir_msgs/msg/Twist2D.msg b/mir_robot/mir_msgs/msg/Twist2D.msg new file mode 100755 index 0000000..2be144e --- /dev/null +++ b/mir_robot/mir_msgs/msg/Twist2D.msg @@ -0,0 +1,2 @@ +float32 linear +float32 angular diff --git a/mir_robot/mir_msgs/msg/UserPrompt.msg b/mir_robot/mir_msgs/msg/UserPrompt.msg new file mode 100755 index 0000000..b3e2c45 --- /dev/null +++ b/mir_robot/mir_msgs/msg/UserPrompt.msg @@ -0,0 +1,6 @@ +bool has_request +string guid +string user_group +string question +string[] options +duration timeout diff --git a/mir_robot/mir_msgs/msg/WebPath.msg b/mir_robot/mir_msgs/msg/WebPath.msg new file mode 100755 index 0000000..9a3fd5a --- /dev/null +++ b/mir_robot/mir_msgs/msg/WebPath.msg @@ -0,0 +1,3 @@ +int32 seq +float32[] x +float32[] y diff --git a/mir_robot/mir_msgs/msg/WorldMap.msg b/mir_robot/mir_msgs/msg/WorldMap.msg new file mode 100755 index 0000000..2716ccb --- /dev/null +++ b/mir_robot/mir_msgs/msg/WorldMap.msg @@ -0,0 +1,4 @@ +mir_msgs/ResourcesState positions +mir_msgs/ResourcesState areas +mir_msgs/ExternalRobots robots +int32 map_id diff --git a/mir_robot/mir_msgs/msg/WorldModel.msg b/mir_robot/mir_msgs/msg/WorldModel.msg new file mode 100755 index 0000000..762c470 --- /dev/null +++ b/mir_robot/mir_msgs/msg/WorldModel.msg @@ -0,0 +1,3 @@ +Header header +mir_msgs/WorldMap[] world_map # world model for a particular map +bool enable_resource_tracking diff --git a/mir_robot/mir_msgs/package.xml b/mir_robot/mir_msgs/package.xml new file mode 100755 index 0000000..c1c67e4 --- /dev/null +++ b/mir_robot/mir_msgs/package.xml @@ -0,0 +1,22 @@ + + + mir_msgs + 1.1.7 + Message definitions for the MiR robot + + Martin Günther + Martin Günther + + BSD + + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot/issues + + catkin + + geometry_msgs + + message_generation + message_runtime + diff --git a/mir_robot/mir_navigation/CHANGELOG.rst b/mir_robot/mir_navigation/CHANGELOG.rst new file mode 100755 index 0000000..79e1011 --- /dev/null +++ b/mir_robot/mir_navigation/CHANGELOG.rst @@ -0,0 +1,182 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mir_navigation +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2023-01-20) +------------------ +* Don't set cmake_policy CMP0048 +* Add license headers +* Fix flake8 warnings +* Contributors: Martin Günther + +1.1.6 (2022-06-02) +------------------ +* navigation: Reduce footprint to actual size + This reduces the footprint: + * 18 mm in front + * 42 mm in the back + * 27 mm at the sides + Now the footprint exactly matches the bounding box of the mesh, with no + padding. This should make navigation in tight spaces easier; let's hope + it doesn't lead to collisions. +* navigation: Move footprint_padding to proper namespace + The footprint_padding parameter in the upper namespace was ignored, + needed to be moved into local_costmap/global_costmap to take effect. +* genmprim: Remove obsolete plt.hold() + This fixes the following error: + AttributeError: module 'matplotlib.pyplot' has no attribute 'hold' +* mir_navigation: Remove static_map parameter + This fixes the following warning: + [ WARN] local_costmap: Pre-Hydro parameter "static_map" unused since "plugins" is provided +* Contributors: Martin Günther + +1.1.5 (2022-02-11) +------------------ + +1.1.4 (2021-12-10) +------------------ + +1.1.3 (2021-06-11) +------------------ +* Merge branch 'melodic-2.8' into noetic +* Rename tf frame and topic 'odom_comb' -> 'odom' + This is how they are called on the real MiR since MiR software 2.0. +* Reformat python code using black +* Contributors: Martin Günther + +1.1.2 (2021-05-12) +------------------ +* Uncomment available dependencies in noetic (`#79 `_) +* Contributors: Oscar Lima + +1.1.1 (2021-02-11) +------------------ +* Add optional namespace to launch files +* Add prefix to start_planner.launch (`#67 `_) +* Update scripts to Python3 (Noetic) +* Contributors: Martin Günther + +1.1.0 (2020-06-30) +------------------ +* Initial release into noetic +* Remove hector_mapping dependency (not released in noetic) +* Update scripts to Python3 (Noetic) +* Contributors: Martin Günther + +1.0.6 (2020-06-30) +------------------ +* Add missing matplotlib dependency +* plot_mprim: Fix color display +* Fix bug in genmprim_unicycle_highcost_5cm + In Python3, np.arange doesn't accept floats. +* Fix some catkin_lint warnings +* Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +1.0.5 (2020-05-01) +------------------ +* Rename hector_mapping.launch, add dependency +* genmprim.py: Improve plotting +* genmprim.py: Make executable +* SBPL: Reduce allocated_time + initial_epsilon params + This leads to shorter planning times, but will perhaps fail on larger + maps. +* Update mprim file to mir-software 2.0.17 + This was updated in 2.0.17 and hasn't changed through 2.6 at least. +* Add genmprim_unicycle matlab + python script, fix mprim file +* Adjust dwb params: split_path, finer trajectories (`#43 `_) + - use split_path option to enforce following complex paths + - more trajectory samples over a smaller simulated time. This fixes a + problem where the robot would stop too far away from the goal, as all + possible trajectories either overshot the goal, or were too short to + reach into the next gridcell of the critics. + - remove Oscillation critic (never helped) +* added PathDistPrunedCritic for dwb (`#42 `_) + which works exactly like the original PathDistCritic, except that it + searches for a local minimum in the distance from the global path to the robots + current position. It then prunes the global_path from the start up to + this point, therefore approximately cutting of a segment of the path + that the robot already followed. +* Add default local_planner to move_base launch file + This makes the hector_mapping Gazebo demo work with the instructions + from the README (see `#32 `_). +* Contributors: Martin Günther, Nils Niemann + +1.0.4 (2019-05-06) +------------------ +* Rviz config: Add planned paths + costmap from real MiR +* Contributors: Martin Günther + +1.0.3 (2019-03-04) +------------------ +* fix frame_id for melodic (`#18 `_) +* Tune dwb parameters +* PathProgressCritic: Add heading score +* Use dwb_local_planner in move_base config +* Move footprint param to move_base root namespace + This allows other move_base plugins, such as dwb_local_planner, to + access this parameter. +* Add hector_mapping +* amcl.launch: Change default, remap service + This is required if amcl.launch is started within a namespace. +* teb_local_planner: Fix odom topic name +* Merge pull request `#16 `_ from niniemann/add-prefix-argument-to-configs + Add prefix argument to configs +* adds $(arg prefix) to a lot of configs + This is an important step to be able to re-parameterize move base, + the diffdrive controller, ekf, amcl and the costmaps for adding a + tf prefix to the robots links +* mir_navigation: Adjust helper node topics +* Add amcl launchfile (`#11 `_) + * added amcl.launch + * changed amcl params to default mir amcl parameters +* Merge pull request `#13 `_ from niniemann/fix-virtual-walls + The previous configuration of the local costmap didn't work for me -- obstacles seen in the laser scans were not added, or were overridden by the virtual\_walls\_map layer. Reordering the layers and loading the virtual walls before the obstacles fixes this for me. + Also, I added a `with_virtual_walls` parameter to `start_maps.launch` and `start_planner.launch`. +* added with_virtual_walls parameter to start_maps and start_planner +* reorder local costmap plugins +* Revert "mir_navigation: Disable virtual walls if no map file set" + This reverts commit 0cfda301b2bb1e8b3458e698efd24a7901e5d132. + The reason is that the `eval` keyword was introduced in kinetic, so it + doesn't work in indigo. +* mir_navigation: Update rviz config +* mir_navigation: Disable virtual walls if no map file set +* mir_navigation: Rename virtual_walls args + files +* mir_navigation: Remove parameter first_map_only + This parameter must be set to false (the default) when running SLAM + (otherwise the map updates won't be received), and when running a static + map_server it doesn't matter; even then, it should be false to allow + restarting the map_server with a different map. Therefore this commit + removes it altogether and leaves it at the default of "false". +* split parameter files between mapping/planning (`#10 `_) + The differences are simple: When mapping, first_map_only must be + set to false, and the virtual walls plugin must not be loaded + (else move_base will wait for a topic that is not going to be + published). +* Document move_base params, add max_planning_retries + Setting max_planning_retries to 10 makes the planner fail faster if the + planning problem is infeasible. By default, there's an infinite number + of retries, so we had to wait until the planner_patience ran out (5 s). +* Update rviz config + Make topics relative, so that ROS_NAMESPACE=... works. +* Switch to binary sbpl_lattice_planner dependency + ... instead of compiling from source. +* Split scan_rep117 topic into two separate topics + This fixes the problem that the back laser scanner was ignored in the + navigation costmap in Gazebo (probably because in Gazebo, both laser + scanners have the exact same timestamp). +* mir_navigation: Add clear_params to move_base launch +* mir_navigation: marking + clearing were switched + Other than misleading names, this had no effect. +* Contributors: Martin Günther, Nils Niemann, Noël Martignoni + +1.0.2 (2018-07-30) +------------------ + +1.0.1 (2018-07-17) +------------------ + +1.0.0 (2018-07-12) +------------------ +* Initial release +* Contributors: Martin Günther diff --git a/mir_robot/mir_navigation/CMakeLists.txt b/mir_robot/mir_navigation/CMakeLists.txt new file mode 100755 index 0000000..f1ce57f --- /dev/null +++ b/mir_robot/mir_navigation/CMakeLists.txt @@ -0,0 +1,76 @@ +cmake_minimum_required(VERSION 3.5.1) +project(mir_navigation) + +find_package(catkin REQUIRED COMPONENTS + roslaunch + move_base + amcl + nav_core_adapter + base_local_planner + dwb_local_planner + dwb_plugins + dwb_critics + sbpl_lattice_planner + teb_local_planner + map_server +) + +################################### +## catkin specific configuration ## +################################### +catkin_package() + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +# Mark executable scripts (Python etc.) for installation +# in contrast to setup.py, you can choose the destination +install(PROGRAMS + mprim/genmprim_unicycle_highcost_5cm.py + nodes/acc_finder.py + nodes/min_max_finder.py + scripts/plot_mprim.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark executables and/or libraries for installation +# install(TARGETS mir_navigation mir_navigation_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +# Mark other files for installation (e.g. launch and bag files, etc.) +install(DIRECTORY + config + launch + mprim + rviz + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mir_navigation.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) + +roslaunch_add_file_check(launch) diff --git a/mir_robot/mir_navigation/config/base_local_planner_params.yaml b/mir_robot/mir_navigation/config/base_local_planner_params.yaml new file mode 100755 index 0000000..2f0f44e --- /dev/null +++ b/mir_robot/mir_navigation/config/base_local_planner_params.yaml @@ -0,0 +1,44 @@ +base_local_planner: base_local_planner/TrajectoryPlannerROS +TrajectoryPlannerROS: + # Robot configuration + acc_lim_x: 1.5 + acc_lim_y: 0 + acc_lim_theta: 2.0 + max_vel_x: 0.8 + min_vel_x: 0.1 + max_vel_theta: 1.0 + min_vel_theta: -1.0 + min_in_place_vel_theta: 0.2 + escape_vel: -0.1 + holonomic_robot: false + + # Goal tolerance + yaw_goal_tolerance: 0.03 + xy_goal_tolerance: 0.08 + latch_xy_goal_tolerance: true + + # Forward simulaton parameters + sim_time: 1.2 + sim_granularity: 0.025 + angular_sim_granularity: 0.04 + vx_samples: 15 + vtheta_samples: 20 + controller_frequency: 10 + + # Trajectory scoring parameters + meter_scoring: true + pdist_scale: 2.2 #0.6 + gdist_scale: 0.8 #0.8 + occdist_scale: 0.1 + heading_lookahead: 0.325 + heading_scoring: true + heading_scoring_timestep: 0.8 + dwa: true + publish_cost_grid: false + global_frame_id: map + + # Oscillation prevention parameter + oscillation_reset_dist: 0.05 + + # Global plan parameters + prune_plan: true diff --git a/mir_robot/mir_navigation/config/costmap_common_params.yaml b/mir_robot/mir_navigation/config/costmap_common_params.yaml new file mode 100755 index 0000000..f1fc59f --- /dev/null +++ b/mir_robot/mir_navigation/config/costmap_common_params.yaml @@ -0,0 +1,65 @@ +robot_base_frame: $(arg prefix)base_footprint +transform_tolerance: 0.2 +obstacle_range: 3.0 +#mark_threshold: 1 +publish_voxel_map: true +footprint_padding: 0.0 +navigation_map: + map_topic: /map +virtual_walls_map: + map_topic: /virtual_walls/map + use_maximum: true + lethal_cost_threshold: 100 +preferred_zones_map: + map_topic: /preferred_zones/map + lethal_cost_threshold: 100 + use_maximum: true +unpreferred_zones_map: + map_topic: /unpreferred_zones/map + lethal_cost_threshold: 100 + use_maximum: true +critical_zones_map: + map_topic: /critical_zones/map + lethal_cost_threshold: 100 + use_maximum: true + # subscribe_to_updates: true +direction_zones_map: + map_topic: /direction_zones/map + base_frame_id: $(arg prefix)base_footprint + lethal_cost_threshold: 100 + use_maximum: true + # subscribe_to_updates: true +obstacles: + observation_sources: b_scan_marking b_scan_clearing f_scan_marking f_scan_clearing + b_scan_marking: + topic: b_scan_rep117 + data_type: LaserScan + clearing: false + marking: true + inf_is_valid: false + min_obstacle_height: 0.13 + max_obstacle_height: 0.25 + b_scan_clearing: + topic: b_scan_rep117 + data_type: LaserScan + clearing: true + marking: false + inf_is_valid: false + min_obstacle_height: 0.13 + max_obstacle_height: 0.25 + f_scan_marking: + topic: f_scan_rep117 + data_type: LaserScan + clearing: false + marking: true + inf_is_valid: false + min_obstacle_height: 0.13 + max_obstacle_height: 0.25 + f_scan_clearing: + topic: f_scan_rep117 + data_type: LaserScan + clearing: true + marking: false + inf_is_valid: false + min_obstacle_height: 0.13 + max_obstacle_height: 0.25 diff --git a/mir_robot/mir_navigation/config/costmap_global_params.yaml b/mir_robot/mir_navigation/config/costmap_global_params.yaml new file mode 100755 index 0000000..2e39cbb --- /dev/null +++ b/mir_robot/mir_navigation/config/costmap_global_params.yaml @@ -0,0 +1,14 @@ +global_costmap: + global_frame: map + update_frequency: 1.0 + publish_frequency: 1.0 + raytrace_range: 2.0 + resolution: 0.05 + z_resolution: 0.2 + rolling_window: false + z_voxels: 10 + inflation: + cost_scaling_factor: 4.0 # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius. + inflation_radius: 0.8 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius. + + # plugins are loaded via costmap_global_params_plugins_[mapping|planning].yaml diff --git a/mir_robot/mir_navigation/config/costmap_global_params_plugins.yaml b/mir_robot/mir_navigation/config/costmap_global_params_plugins.yaml new file mode 100755 index 0000000..d5765b0 --- /dev/null +++ b/mir_robot/mir_navigation/config/costmap_global_params_plugins.yaml @@ -0,0 +1,13 @@ +global_costmap: + frame_id: map + plugins: + - {name: navigation_map, type: "costmap_2d::StaticLayer" } + - {name: virtual_walls_map, type: "costmap_2d::StaticLayer" } + - {name: obstacles, type: "costmap_2d::VoxelLayer" } + - {name: preferred_zones_map, type: "costmap_2d::PreferredLayer" } + - {name: unpreferred_zones_map, type: "costmap_2d::UnPreferredLayer" } + - {name: direction_zones_map, type: "costmap_2d::DirectionalLayer" } + - {name: inflation, type: "costmap_2d::InflationLayer" } + - {name: critical_zones_map, type: "costmap_2d::CriticalLayer" } + # obstacles: + # track_unknown_space: true \ No newline at end of file diff --git a/mir_robot/mir_navigation/config/costmap_local_params.yaml b/mir_robot/mir_navigation/config/costmap_local_params.yaml new file mode 100755 index 0000000..1d3dfd4 --- /dev/null +++ b/mir_robot/mir_navigation/config/costmap_local_params.yaml @@ -0,0 +1,18 @@ +local_costmap: + global_frame: $(arg prefix)odom + update_frequency: 5.0 + publish_frequency: 5.0 + rolling_window: true + raytrace_range: 2.0 + resolution: 0.05 + z_resolution: 0.15 + z_voxels: 8 + inflation: + cost_scaling_factor: 5.0 # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius. + inflation_radius: 0.8 # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius. + width: 10.0 + height: 10.0 + origin_x: 0.0 + origin_y: 0.0 + + # plugins are loaded via costmap_local_params_plugins_[mapping|planning].yaml diff --git a/mir_robot/mir_navigation/config/costmap_local_params_plugins.yaml b/mir_robot/mir_navigation/config/costmap_local_params_plugins.yaml new file mode 100755 index 0000000..f25e579 --- /dev/null +++ b/mir_robot/mir_navigation/config/costmap_local_params_plugins.yaml @@ -0,0 +1,7 @@ +local_costmap: + frame_id: odom + plugins: + - {name: virtual_walls_map, type: "costmap_2d::StaticLayer" } # các ô chi phí xung quanh "tường ảo" sẽ được tăng lên giá trị cao hơn, tạo ra một vùng an toàn xung quanh các vật cản. + - {name: obstacles, type: "costmap_2d::VoxelLayer" } # các ô chi phí xung quanh các "vật cản" sẽ được tăng lên giá trị cao hơn, tạo ra một vùng an toàn xung quanh các vật cản. + - {name: inflation, type: "costmap_2d::InflationLayer" } # các ô chi phí xung quanh các "vật cản" sẽ được tăng lên giá trị cao hơn, tạo ra một vùng an toàn xung quanh các vật cản. + # - {name: critical_zones_map, type: "costmap_2d::CriticalLayer" } \ No newline at end of file diff --git a/mir_robot/mir_navigation/config/dwa_local_planner_params.yaml b/mir_robot/mir_navigation/config/dwa_local_planner_params.yaml new file mode 100755 index 0000000..b8d766a --- /dev/null +++ b/mir_robot/mir_navigation/config/dwa_local_planner_params.yaml @@ -0,0 +1,55 @@ +base_local_planner: dwa_local_planner/DWAPlannerROS +DWAPlannerROS: + # Robot configuration + max_vel_x: 0.8 + min_vel_x: -0.2 + + max_vel_y: 0.0 # diff drive robot + min_vel_y: 0.0 # diff drive robot + + max_trans_vel: 0.8 # choose slightly less than the base's capability + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.03 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 1.0 # choose slightly less than the base's capability + min_rot_vel: 0.1 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + acc_lim_x: 1.5 + acc_lim_y: 0.0 # diff drive robot + acc_limit_trans: 1.5 + acc_lim_theta: 2.0 + + # Goal tolerance + yaw_goal_tolerance: 0.03 # yaw_goal_tolerance > (sim_time * min_rot_vel) / 2 (from Navigation Tuning Guide) + xy_goal_tolerance: 0.08 # xy_goal_tolerance > (sim_time * min_vel_x) / 2 + latch_xy_goal_tolerance: true + + # Forward simulation + sim_time: 1.2 + vx_samples: 15 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 20 + + # Trajectory scoring + path_distance_bias: 64.0 # default: 32.0 mir: 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 12.0 # default: 24.0 mir: 48.0 - weighting for how much it should attempt to reach its goal + occdist_scale: 0.5 # default: 0.01 mir: 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # default: 0.325 mir: 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # default: 0.2 mir: 0.2 - amount of time a robot must stop before colliding for a valid traj. + scaling_speed: 0.25 # default: 0.25 mir: 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # default: 0.2 mir: 0.2 - how much to scale the robot's footprint when at speed. + prune_plan: true + + # Oscillation prevention + oscillation_reset_dist: 0.05 # 0.05 - how far to travel before resetting oscillation flags, in m + oscillation_reset_angle: 0.2 # 0.2 - the angle the robot must turn before resetting Oscillation flags, in rad + + # Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: /odom # or /odom diff --git a/mir_robot/mir_navigation/config/dwb_local_planner_params.yaml b/mir_robot/mir_navigation/config/dwb_local_planner_params.yaml new file mode 100755 index 0000000..99c0ad8 --- /dev/null +++ b/mir_robot/mir_navigation/config/dwb_local_planner_params.yaml @@ -0,0 +1,102 @@ +base_local_planner: nav_core_adapter::LocalPlannerAdapter +LocalPlannerAdapter: + planner_name: dwb_local_planner::DWBLocalPlanner +DWBLocalPlanner: + # Robot configuration + max_vel_x: 1.5 + min_vel_x: -0.3 + + max_vel_y: 0.0 # diff drive robot + min_vel_y: 0.0 # diff drive robot + + max_speed_xy: 2.0 # max_trans_vel: 0.8 # choose slightly less than the base's capability + min_speed_xy: 0.1 # min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + + max_vel_theta: 1.0 # max_rot_vel: 1.0 # choose slightly less than the base's capability + min_speed_theta: 0.1 # min_rot_vel: 0.1 default: 0.4 # this is the min angular velocity when there is negligible translational velocity + + acc_lim_x: 0.4 + acc_lim_y: 0.0 # diff drive robot + acc_lim_theta: 1.0 + decel_lim_x: -1.0 + decel_lim_y: -0.0 + decel_lim_theta: -1.0 + + # Goal tolerance + yaw_goal_tolerance: 0.03 # yaw_goal_tolerance > (sim_time * min_rot_vel) / 2 (from Navigation Tuning Guide) + xy_goal_tolerance: 0.05 # xy_goal_tolerance > (sim_time * min_vel_x) / 2 + # latch_xy_goal_tolerance: true + + # Whether to split the path into segments or not + # Requires https://github.com/locusrobotics/robot_navigation/pull/50 + split_path: true + + # Forward simulation (trajectory generation) + trajectory_generator_name: dwb_plugins::StandardTrajectoryGenerator # or dwb_plugins::LimitedAccelGenerator + sim_time: 1.2 + vx_samples: 12 + vy_samples: 1 # diff drive robot, there is only one sample + vtheta_samples: 12 + discretize_by_time: true + angular_granularity: 0.05 + linear_granularity: 0.1 + # sim_period + include_last_point: true + + # Goal checking + goal_checker_name: dwb_plugins::SimpleGoalChecker + # stateful: true + + # Critics (trajectory scoring) + # default_critic_namespaces: [dwb_critics, mir_dwb_critics] + critics: [RotateToGoal, ObstacleFootprint, PathAlign, PathDistPruned, PathProgress] + # critics: [MetratronikTechnik] + # MetratronikTechnik: + # scale: 0.01 + # sq_window: 1.0 + # xy_goal_tolerance: 0.02 + # trans_stopped_velocity: 0.3 + # slowing_factor: 1.0 + # angle_threshold: 0.436332313 + # Lm: 0.25 + RotateToGoal: + scale: 100.0 + trans_stopped_velocity: 0.25 + lookahead_time: -1.0 + slowing_factor: 10.0 + ObstacleFootprint: + scale: 0.01 # default: 0.01 mir: 0.01 - weighting for how much the controller should avoid obstacles + max_scaling_factor: 0.5 # default: 0.2 mir: 0.2 - how much to scale the robot's footprint when at speed. + scaling_speed: 0.25 # default: 0.25 mir: 0.25 - absolute velocity at which to start scaling the robot's footprint + sum_scores: false # if true, return sum of scores of all trajectory points instead of only last one + PathAlign: + scale: 16.0 + forward_point_distance: 0.325 # default: 0.325 mir: 0.325 - how far along to place an additional scoring point + PathDistPruned: + scale: 0.01 # default: 32.0 mir: 32.0 - weighting for how much it should stick to the global path plan + class: 'mir_dwb_critics::PathDistPruned' + PathProgress: + scale: 24.0 # default: 24.0 mir: 48.0 - weighting for how much it should attempt to reach its goal + heading_scale: 0.01 + class: 'mir_dwb_critics::PathProgress' + xy_local_goal_tolerance: 0.5 + angle_threshold: 0.523598776 # 30 degrees + # angle_threshold: 0.785398163 # 45 degrees + + # Prune already passed poses from plan + prune_plan: true + prune_distance: 1.0 # Old poses farther away than prune_distance (in m) will be pruned. + # If the robot ever gets away further than this distance from the plan, + # the error "Resulting plan has 0 poses in it" will be thrown and + # replanning will be triggered. + + # Debugging + publish_cost_grid_pc: true + debug_trajectory_details: false + publish_evaluation: true + publish_global_plan: true + publish_input_params: true + publish_local_plan: true + publish_trajectories: true + publish_transformed_plan: true + marker_lifetime: 0.5 \ No newline at end of file diff --git a/mir_robot/mir_navigation/config/eband_local_planner_params.yaml b/mir_robot/mir_navigation/config/eband_local_planner_params.yaml new file mode 100755 index 0000000..148af01 --- /dev/null +++ b/mir_robot/mir_navigation/config/eband_local_planner_params.yaml @@ -0,0 +1,44 @@ +base_local_planner: eband_local_planner/EBandPlannerROS +EBandPlannerROS: + # Robot configuration + max_vel_lin: 0.8 # choose slightly less than the base's capability + min_vel_lin: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.03 + + max_vel_th: 1.0 # choose slightly less than the base's capability + min_vel_th: 0.1 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.1 + + min_in_place_vel_th: 0.1 # Minimum in-place angular velocity + in_place_trans_vel: 0.0 # Minimum in place linear velocity + + max_acceleration: 1.5 # Maximum allowable acceleration + max_translational_acceleration: 1.5 # Maximum linear acceleration + max_rotational_acceleration: 2.0 # Maximum angular acceleration + + # Goal tolerance + yaw_goal_tolerance: 0.03 # yaw_goal_tolerance > (sim_time * min_rot_vel) / 2 (from Navigation Tuning Guide) + xy_goal_tolerance: 0.08 # xy_goal_tolerance > (sim_time * min_vel_x) / 2 + + # Elastic Band Parameters + eband_min_relative_overlap: 0.7 # Min distance that denotes connectivity between consecutive bubbles + eband_tiny_bubble_distance: 0.01 # Bubble geometric bound regarding tiny bubble distance + eband_tiny_bubble_expansion: 0.01 # Bubble geometric bound regarding tiny bubble expansion + eband_internal_force_gain: 1.0 # Force gain of forces between consecutive bubbles that tend to stretch the elastic band + eband_external_force_gain: 2.0 # Force gain of forces that tend to move the bubbles away from obstacles + num_iterations_eband_optimization: 3 # Number of iterations for eband optimization + eband_equilibrium_approx_max_recursion_depth: 4 # Number of iterations for reaching the equilibrium between internal and external forces + eband_equilibrium_relative_overshoot: 0.75 # Maximum relative equlibrium overshoot + eband_significant_force_lower_bound: 0.15 # Minimum magnitude of force that is considered significant and used in the calculations + costmap_weight: 10.0 # Costmap weight factor used in the calculation of distance to obstacles + + # Trajectory Controller Parameters + k_prop: 4.0 # Proportional gain of the PID controller + k_damp: 3.5 # Damping gain of the PID controller + Ctrl_Rate: 10.0 # Control rate + virtual_mass: 0.75 # Virtual mass + rotation_correction_threshold: 0.5 # Rotation correction threshold + differential_drive: True # Denotes whether to use the differential drive mode + bubble_velocity_multiplier: 2.0 # Multiplier of bubble radius + rotation_threshold_multiplier: 1.0 # Multiplier of rotation threshold + disallow_hysteresis: False # Determines whether to try getting closer to the goal, in case of going past the tolerance diff --git a/mir_robot/mir_navigation/config/mir_local_planner_params.yaml b/mir_robot/mir_navigation/config/mir_local_planner_params.yaml new file mode 100755 index 0000000..ba7f82d --- /dev/null +++ b/mir_robot/mir_navigation/config/mir_local_planner_params.yaml @@ -0,0 +1,81 @@ +base_local_planner: mirLocalPlanner/MIRPlannerROS +MIRPlannerROS: + # Robot configuration + max_vel_x: 0.8 + min_vel_x: -0.2 + + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 1.0 # choose slightly less than the base's capability + min_rot_vel: 0.1 # this is the min angular velocity when there is negligible translational velocity + + acc_lim_x: 1.5 + acc_lim_y: 0.0 # diff drive robot + acc_lim_th: 2.0 + min_inplace_rot: 0.15 + max_inplace_rot: 0.6 + min_in_place_rotational_vel: 0.2 + escape_vel: -0.1 + holonomic_robot: false + + # Goal tolerance + yaw_goal_tolerance: 0.03 # yaw_goal_tolerance > (sim_time * min_rot_vel) / 2 (from Navigation Tuning Guide) + xy_goal_tolerance: 0.08 # xy_goal_tolerance > (sim_time * min_vel_x) / 2 + + # Forward simulaton + sim_time: 1.2 + sim_granularity: 0.025 + vx_samples: 15 + vth_samples: 20 + vtheta_samples: 20 + + # Trajectory scoring + path_distance_bias: 0.4 # weighting for how much it should stick to the global path plan + goal_distance_bias: 0.6 # weighting for how much it should attempt to reach its goal + occdist_scale: 0.01 # weighting for how much the controller should avoid obstacles + forward_point_distance: 0.325 # how far along to place an additional scoring point + stop_time_buffer: 0.2 # amount of time a robot must stop before colliding for a valid traj. + scaling_speed: 0.25 # absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # how much to scale the robot's footprint when at speed. + heading_lookahead: 0.325 + dwa: true + + # Oscillation prevention + oscillation_reset_dist: 0.05 # how far to travel before resetting oscillation flags, in m + + + # Debugging + publish_visualization: false + publish_cost_grid_pc: false + global_frame_id: odom + + # MiR specific parameters + tau_p: 5.0 # The proportional value in the CTE PID tracking + tau_i: 0.1 # The integral value in the CTE PID tracking + tau_d: 0.5 # The differential value in the CTE PID tracking + tau_w: 9.0 # The proportional angle value in the CTE tracking + + k_rho: 1.0 # The proportional value to goal in Goal tracking + k_alfa: 8.0 # The diff angle between the robot and the goal in the Goal tracking + k_beta: -2.5 # The angle to the goal from the robot in the Goal tracking + + blocked_path_dist: 3.0 # At what distance should the planner react when the path is blocked + blocked_path_dev: 60.0 # How far can we move from the planned path when it is blocked + blocked_path_action: new_plan # Which action to take, when path is blocked + occ_path_dist: 3.0 # At what distance should the planner react when the path is near obstacle + occ_path_dev: 15.0 # How far can we move from the planned path when the path is near a obstacle + occ_path_level: 120.0 # Threshold level for a obstacle + + cte_look_ahead: 0.2 # The max/min distance to add for the CTE tracking + + penalize_negative_x: true # Whether to penalize trajectories that have negative x velocities. + + # non-dynamic parameters + dist_towards_obstacles: 1.5 + dist_towards_obstacles_trolley: 1.75 + goal_seek_tolerance: 2.0 + goal_seek_tolerance_trolley: 0.25 diff --git a/mir_robot/mir_navigation/config/move_base_common_params.yaml b/mir_robot/mir_navigation/config/move_base_common_params.yaml new file mode 100755 index 0000000..e8df96c --- /dev/null +++ b/mir_robot/mir_navigation/config/move_base_common_params.yaml @@ -0,0 +1,46 @@ +### footprint +# footprint: [[0.488,-0.293],[0.488,0.293],[-0.412,0.293],[-0.412,-0.293]] # mir 100 +footprint: [[0.405,-0.293],[0.405,0.293],[-0.412,0.293],[-0.412,-0.293]] # mir 250 +# footprint: [[0.394,-0.385],[0.394,0.385],[-0.363,0.385],[-0.363,-0.385]] + +### replanning +controller_frequency: 15.0 # run controller at 5.0 Hz +controller_patience: 2.0 # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan +planner_frequency: 0.0 # don't continually replan (only when controller failed) +planner_patience: 5.0 # if the first planning attempt failed, abort planning retries after 5.0 s... +max_planning_retries: 5 # ... or after 10 attempts (whichever happens first) +oscillation_timeout: 30.0 # abort controller and trigger recovery behaviors after 30.0 s +oscillation_distance: 0.3 +### recovery behaviors +recovery_behavior_enabled: true +recovery_behaviors: [ + {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, + {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, + # {name: particular, type: twist_recovery/TwistRecovery}, + # {name: by_pass, type: direction_zones_recovery/DirectionZonesRecovery}, + ] + +conservative_reset: + reset_distance: 3.0 # clear obstacles farther away than 3.0 m + force_updating: true + # invert_area_to_clear: true + +aggressive_reset: + reset_distance: 3.0 + force_updating: true + +particular: + linear_x: -0.3 + linear_y: 0.0 + angular_z: 0.0 + duration: 1.5 + +# advoicedance: +# use_local_frame: false +# plan_topic: /move_base_node/SBPLLatticePlanner/plan +# planning_distance: 4.0 + +by_pass: + reset_distance: 8.0 + force_updating: true + affected_maps: global diff --git a/mir_robot/mir_navigation/config/pose_local_planner_params.yaml b/mir_robot/mir_navigation/config/pose_local_planner_params.yaml new file mode 100755 index 0000000..238e113 --- /dev/null +++ b/mir_robot/mir_navigation/config/pose_local_planner_params.yaml @@ -0,0 +1,46 @@ +base_local_planner: pose_follower/PoseFollower +PoseFollower: + k_trans: 2.0 + k_rot: 1.0 + + # within this distance to the goal, finally rotate to the goal heading (also, we've reached our goal only if we're within this dist) + tolerance_trans: 0.3 + + # we've reached our goal only if we're within this angular distance + tolerance_rot: 0.3 + + # we've reached our goal only if we're within range for this long and stopped + tolerance_timeout: 0.5 + + # set this to true if you're using a holonomic robot + holonomic: false + + # number of samples (scaling factors of our current desired twist) to check the validity of + samples: 10 + + # go no faster than this + max_vel_lin: 0.3 + max_vel_th: 0.5 + + # minimum velocities to keep from getting stuck + min_vel_lin: 0.03 + min_vel_th: 0.1 + + # if we're rotating in place, go at least this fast to avoid getting stuck + min_in_place_vel_th: 0.1 + + # when we're near the end and would be trying to go no faster than this translationally, just rotate in place instead + in_place_trans_vel: 0.1 + + # we're "stopped" if we're going slower than these velocities + trans_stopped_velocity: 0.03 + rot_stopped_velocity: 0.1 + + # if this is true, we don't care whether we go backwards or forwards + allow_backwards: true + + # if this is true, turn in place to face the new goal instead of arcing toward it + turn_in_place_first: true + + # if turn_in_place_first is true, turn in place if our heading is more than this far from facing the goal location + max_heading_diff_before_moving: 0.2 diff --git a/mir_robot/mir_navigation/config/sbpl_global_params.yaml b/mir_robot/mir_navigation/config/sbpl_global_params.yaml new file mode 100755 index 0000000..a7c6da7 --- /dev/null +++ b/mir_robot/mir_navigation/config/sbpl_global_params.yaml @@ -0,0 +1,10 @@ +base_global_planner: SBPLLatticePlanner +SBPLLatticePlanner: + environment_type: XYThetaLattice + planner_type: ARAPlanner + allocated_time: 10.0 + initial_epsilon: 1.0 + force_scratch_limit: 10000 + forward_search: true + nominalvel_mpersecs: 0.3 + timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s diff --git a/mir_robot/mir_navigation/config/teb_local_planner_params.yaml b/mir_robot/mir_navigation/config/teb_local_planner_params.yaml new file mode 100755 index 0000000..5e395af --- /dev/null +++ b/mir_robot/mir_navigation/config/teb_local_planner_params.yaml @@ -0,0 +1,105 @@ +# NOTE: When using the teb_local_planner, make sure to set the local costmap +# resolution high (for example 0.1 m), otherwise the optimization will take +# forever (around 10 minutes for each iteration). +base_local_planner: teb_local_planner/TebLocalPlannerROS +TebLocalPlannerROS: + # Trajectory + teb_autosize: true # Enable the automatic resizing of the trajectory during optimization (based on the temporal resolution of the trajectory, recommended) + dt_ref: 0.3 # Temporal resolution of the planned trajectory (usually it is set to the magnitude of the 1/control_rate) + dt_hysteresis: 0.1 # Hysteresis that is utilized for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref + global_plan_overwrite_orientation: false # Some global planners are not considering the orientation at local subgoals between start and global goal, therefore determine it automatically + allow_init_with_backwards_motion: false # If true, the underlying trajectories might be initialized with backwards motions in case the goal is behind the start within the local costmap (this is only recommended if the robot is equipped with rear sensors) + max_global_plan_lookahead_dist: 3.0 # Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if 0 or negative: disabled; the length is also bounded by the local costmap size] + force_reinit_new_goal_dist: 1.0 # Force the planner to reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting) + feasibility_check_no_poses: 5 # Specify up to which pose on the predicted plan the feasibility should be checked each sampling interval + global_plan_viapoint_sep: -0.1 # Min. separation between each two consecutive via-points extracted from the global plan [if negative: disabled] + via_points_ordered: false # If true, the planner adheres to the order of via-points in the storage container + exact_arc_length: false # If true, the planner uses the exact arc length in velocity, acceleration and turning rate computations [-> increased cpu time], otherwise the euclidean approximation is used. + publish_feedback: false # Publish planner feedback containing the full trajectory and a list of active obstacles (should be enabled only for evaluation or debugging purposes) + + # Robot + max_vel_x: 0.8 # Maximum translational velocity of the robot + max_vel_x_backwards: 0.2 # Maximum translational velocity of the robot for driving backwards + max_vel_y: 0.0 # Maximum strafing velocity of the robot (should be zero for non-holonomic robots!) + max_vel_theta: 1.0 # Maximum angular velocity of the robot + acc_lim_x: 1.5 # Maximum translational acceleration of the robot + acc_lim_y: 0.0 # Maximum strafing acceleration of the robot + acc_lim_theta: 2.0 # Maximum angular acceleration of the robot + min_turning_radius: 0.0 # Minimum turning radius of a carlike robot (diff-drive robot: zero) + wheelbase: 1.0 # The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots! + cmd_angle_instead_rotvel: false # Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance') + is_footprint_dynamic: false # If true, update the footprint before checking trajectory feasibility + footprint_model: + type: "polygon" + vertices: [[0.506,-0.32],[0.506,0.32],[-0.454,0.32],[-0.454,-0.32]] + + # Goal tolerance + xy_goal_tolerance: 0.03 # Allowed final euclidean distance to the goal position + yaw_goal_tolerance: 0.08 # Allowed final orientation error to the goal orientation + free_goal_vel: false # Allow the robot's velocity to be nonzero for planning purposes (the robot can arrive at the goal with max speed) + + # Obstacles + min_obstacle_dist: 0.4 # Minimum desired separation from obstacles + inflation_dist: 0.1 # Buffer zone around obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect) + dynamic_obstacle_inflation_dist: 0.6 # Buffer zone around predicted locations of dynamic obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect) + include_dynamic_obstacles: false # Specify whether the movement of dynamic obstacles should be predicted by a constant velocity model (this also changes the homotopy class search). If false, all obstacles are considered to be static. + include_costmap_obstacles: true # Specify whether the obstacles in the costmap should be taken into account directly (this is necessary if no seperate clustering and detection is implemented) + legacy_obstacle_association: false # If true, the old association strategy is used (for each obstacle, find the nearest TEB pose), otherwise the new one (for each teb pose, find only 'relevant' obstacles). + obstacle_association_force_inclusion_factor: 1.5 # The non-legacy obstacle association technique tries to connect only relevant obstacles with the discretized trajectory during optimization, all obstacles within a specifed distance are forced to be included (as a multiple of min_obstacle_dist), e.g. choose 2.0 in order to consider obstacles within a radius of 2.0*min_obstacle_dist. + obstacle_association_cutoff_factor: 5.0 # See obstacle_association_force_inclusion_factor, but beyond a multiple of [value]*min_obstacle_dist all obstacles are ignored during optimization. obstacle_association_force_inclusion_factor is processed first. + costmap_obstacles_behind_robot_dist: 1.5 # Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters) + obstacle_poses_affected: 10 # The obstacle position is attached to the closest pose on the trajectory to reduce computational effort, but take a number of neighbors into account as well + #costmap_converter_plugin: "" # + #costmap_converter_spin_thread: true # + #costmap_converter_rate: 5 # + + # Optimization + no_inner_iterations: 5 # Number of solver iterations called in each outerloop iteration + no_outer_iterations: 4 # Each outerloop iteration automatically resizes the trajectory and invokes the internal optimizer with no_inner_iterations + optimization_activate: true # Activate the optimization + optimization_verbose: false # Print verbose information + penalty_epsilon: 0.1 # Add a small safty margin to penalty functions for hard-constraint approximations + weight_max_vel_x: 2.0 # Optimization weight for satisfying the maximum allowed translational velocity + weight_max_vel_y: 2.0 # Optimization weight for satisfying the maximum allowed strafing velocity (in use only for holonomic robots) + weight_max_vel_theta: 1.0 # Optimization weight for satisfying the maximum allowed angular velocity + weight_acc_lim_x: 1.0 # Optimization weight for satisfying the maximum allowed translational acceleration + weight_acc_lim_y: 1.0 # Optimization weight for satisfying the maximum allowed strafing acceleration (in use only for holonomic robots) + weight_acc_lim_theta: 1.0 # Optimization weight for satisfying the maximum allowed angular acceleration + weight_kinematics_nh: 1000.0 # Optimization weight for satisfying the non-holonomic kinematics + weight_kinematics_forward_drive: 1.0 # Optimization weight for forcing the robot to choose only forward directions (positive transl. velocities, only diffdrive robot) + weight_kinematics_turning_radius: 1.0 # Optimization weight for enforcing a minimum turning radius (carlike robots) + weight_optimaltime: 1.0 # Optimization weight for contracting the trajectory w.r.t transition time + weight_obstacle: 50.0 # Optimization weight for satisfying a minimum seperation from obstacles + weight_inflation: 0.1 # Optimization weight for the inflation penalty (should be small) + weight_dynamic_obstacle: 50.0 # Optimization weight for satisfying a minimum seperation from dynamic obstacles + weight_dynamic_obstacle_inflation: 0.1 # Optimization weight for the inflation penalty of dynamic obstacles (should be small) + weight_viapoint: 1.0 # Optimization weight for minimizing the distance to via-points + weight_adapt_factor: 2.0 # Some special weights (currently 'weight_obstacle') are repeatedly scaled by this factor in each outer TEB iteration (weight_new: weight_old * factor); Increasing weights iteratively instead of setting a huge value a-priori leads to better numerical conditions of the underlying optimization problem. + + # Homotopy Class Planner +# enable_homotopy_class_planning: true # + enable_multithreading: true # Activate multiple threading for planning multiple trajectories in parallel +# simple_exploration: false # + max_number_classes: 2 # Specify the maximum number of allowed alternative homotopy classes (limits computational effort) + selection_cost_hysteresis: 1.0 # Specify how much trajectory cost must a new candidate have w.r.t. a previously selected trajectory in order to be selected (selection if new_cost < old_cost*factor) + selection_prefer_initial_plan: 0.95 # Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan.) + selection_obst_cost_scale: 100.0 # Extra scaling of obstacle cost terms just for selecting the 'best' candidate (new_obst_cost: obst_cost*factor) + selection_viapoint_cost_scale: 1.0 # Extra scaling of via-point cost terms just for selecting the 'best' candidate. (new_viapt_cost: viapt_cost*factor) + selection_alternative_time_cost: false # If true, time cost is replaced by the total transition time. + roadmap_graph_no_samples: 15 # Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off + roadmap_graph_area_width: 5.0 # Specify the width of the area in which sampled will be generated between start and goal [m] (the height equals the start-goal distance) + roadmap_graph_area_length_scale: 1.0 # The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal!) + h_signature_prescaler: 1.0 # Scale number of obstacle value in order to allow huge number of obstacles. Do not choose it extremly low, otherwise obstacles cannot be distinguished from each other (0.2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_navigation/launch/hector_mapping.launch b/mir_robot/mir_navigation/launch/hector_mapping.launch new file mode 100755 index 0000000..ea5c4b8 --- /dev/null +++ b/mir_robot/mir_navigation/launch/hector_mapping.launch @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_navigation/launch/move_base.xml b/mir_robot/mir_navigation/launch/move_base.xml new file mode 100755 index 0000000..a04a764 --- /dev/null +++ b/mir_robot/mir_navigation/launch/move_base.xml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_navigation/launch/start_maps.launch b/mir_robot/mir_navigation/launch/start_maps.launch new file mode 100755 index 0000000..ea954c0 --- /dev/null +++ b/mir_robot/mir_navigation/launch/start_maps.launch @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_navigation/launch/start_planner.launch b/mir_robot/mir_navigation/launch/start_planner.launch new file mode 100755 index 0000000..863b88b --- /dev/null +++ b/mir_robot/mir_navigation/launch/start_planner.launch @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mir_robot/mir_navigation/mprim/genmprim_unicycle_highcost_5cm.m b/mir_robot/mir_navigation/mprim/genmprim_unicycle_highcost_5cm.m new file mode 100755 index 0000000..2810593 --- /dev/null +++ b/mir_robot/mir_navigation/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/mir_robot/mir_navigation/mprim/genmprim_unicycle_highcost_5cm.py b/mir_robot/mir_navigation/mprim/genmprim_unicycle_highcost_5cm.py new file mode 100755 index 0000000..a77f83c --- /dev/null +++ b/mir_robot/mir_navigation/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_5cm.mprim' + genmprim_unicycle(outfilename, visualize=True, separate_plots= False) diff --git a/mir_robot/mir_navigation/mprim/unicycle_5cm.mprim b/mir_robot/mir_navigation/mprim/unicycle_5cm.mprim new file mode 100755 index 0000000..cb56cd0 --- /dev/null +++ b/mir_robot/mir_navigation/mprim/unicycle_5cm.mprim @@ -0,0 +1,1203 @@ +resolution_m: 0.050000 +numberofangles: 16 +totalnumberofprimitives: 80 +primID: 0 +startangle_c: 0 +endpose_c: 1 0 0 +additionalactioncostmult: 1 +intermediateposes: 10 +0.0000 0.0000 0.0000 +0.0056 0.0000 0.0000 +0.0111 0.0000 0.0000 +0.0167 0.0000 0.0000 +0.0222 0.0000 0.0000 +0.0278 0.0000 0.0000 +0.0333 0.0000 0.0000 +0.0389 0.0000 0.0000 +0.0444 0.0000 0.0000 +0.0500 0.0000 0.0000 +primID: 1 +startangle_c: 0 +endpose_c: 8 0 0 +additionalactioncostmult: 1 +intermediateposes: 10 +0.0000 0.0000 0.0000 +0.0444 0.0000 0.0000 +0.0889 0.0000 0.0000 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+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/mir_robot/mir_navigation/nodes/acc_finder.py b/mir_robot/mir_navigation/nodes/acc_finder.py new file mode 100755 index 0000000..6295112 --- /dev/null +++ b/mir_robot/mir_navigation/nodes/acc_finder.py @@ -0,0 +1,104 @@ +#!/usr/bin/env python3 +# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors +# +# 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 the copyright holder 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 HOLDER 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: Martin Günther + +import rospy + +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry + +LIN_MAX = 1.0 +ANG_MAX = 1.5 # adjust this value to the rough maximum angular velocity + +state = 'stopped' +start = rospy.Time(0) + + +def odom_cb(msg): + global state + + twist = msg.twist.twist + t = (rospy.Time.now() - start).to_sec() + + if state == 'wait_for_stop': + if -0.05 < twist.linear.x < 0.05 and -0.1 < twist.angular.z < 0.1: + state = 'stopped' + rospy.loginfo('state transition --> %s', state) + return + + if state == 'backward' and twist.linear.x < -0.9 * LIN_MAX: + rospy.loginfo('backward from 0 to %f m/s in %f sec', twist.linear.x, t) + elif state == 'forward' and twist.linear.x > 0.9 * LIN_MAX: + rospy.loginfo('forward from 0 to %f m/s in %f sec', twist.linear.x, t) + elif state == 'turning_clockwise' and twist.angular.z < -0.9 * ANG_MAX: + rospy.loginfo('turning_clockwise from 0 to %f rad/s in %f sec', twist.angular.z, t) + elif state == 'turning_counter_clockwise' and twist.angular.z > 0.9 * ANG_MAX: + rospy.loginfo('turning_counter_clockwise from 0 to %f rad/s in %f sec', twist.angular.z, t) + else: + return + + state = 'wait_for_stop' + rospy.loginfo('state transition --> %s', state) + + +def cmd_vel_cb(msg): + global state, start + + if state != 'stopped': + return + + if msg.linear.x <= -LIN_MAX: + start = rospy.Time.now() + state = 'backward' + elif msg.linear.x >= LIN_MAX: + start = rospy.Time.now() + state = 'forward' + elif msg.angular.z <= -ANG_MAX: + start = rospy.Time.now() + state = 'turning_clockwise' + elif msg.angular.z >= ANG_MAX: + start = rospy.Time.now() + state = 'turning_counter_clockwise' + else: + return + + rospy.loginfo('state transition --> %s', state) + + +def main(): + rospy.init_node('acc_finder', anonymous=True) + rospy.Subscriber('odom', Odometry, odom_cb) + rospy.Subscriber('cmd_vel', Twist, cmd_vel_cb) + rospy.loginfo('acc_finder node ready and listening. now use teleop to move your robot to the limits!') + rospy.spin() + + +if __name__ == '__main__': + main() diff --git a/mir_robot/mir_navigation/nodes/min_max_finder.py b/mir_robot/mir_navigation/nodes/min_max_finder.py new file mode 100755 index 0000000..7124463 --- /dev/null +++ b/mir_robot/mir_navigation/nodes/min_max_finder.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python3 +# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors +# +# 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 the copyright holder 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 HOLDER 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: Martin Günther + +import rospy + +from nav_msgs.msg import Odometry + +lin_min = 0.0 +lin_max = 0.0 +ang_min = 0.0 +ang_max = 0.0 + + +def odom_cb(msg): + global lin_min, lin_max, ang_min, ang_max + if lin_min > msg.twist.twist.linear.x: + lin_min = msg.twist.twist.linear.x + if lin_max < msg.twist.twist.linear.x: + lin_max = msg.twist.twist.linear.x + if ang_min > msg.twist.twist.angular.z: + ang_min = msg.twist.twist.angular.z + if ang_max < msg.twist.twist.angular.z: + ang_max = msg.twist.twist.angular.z + + rospy.loginfo('linear: [%f, %f] angular: [%f, %f]', lin_min, lin_max, ang_min, ang_max) + + +def main(): + rospy.init_node('min_max_finder', anonymous=True) + rospy.Subscriber('odom', Odometry, odom_cb) + rospy.loginfo('min_max_finde node ready and listening. now use teleop to move your robot to the limits!') + rospy.spin() + + +if __name__ == '__main__': + main() diff --git a/mir_robot/mir_navigation/package.xml b/mir_robot/mir_navigation/package.xml new file mode 100755 index 0000000..261e238 --- /dev/null +++ b/mir_robot/mir_navigation/package.xml @@ -0,0 +1,61 @@ + + + mir_navigation + 1.1.7 + Launch and configuration files for move_base, localization etc. on the MiR robot. + + Martin Günther + Martin Günther + + BSD + + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot/issues + + catkin + + roslaunch + amcl + amcl + + base_local_planner + base_local_planner + + dwa_local_planner + + dwb_critics + dwb_critics + + dwb_local_planner + dwb_local_planner + + dwb_plugins + dwb_plugins + + + hector_mapping + + map_server + map_server + + mir_driver + mir_driver + + mir_dwb_critics + mir_gazebo + + move_base + move_base + + nav_core_adapter + nav_core_adapter + + python3-matplotlib + + sbpl_lattice_planner + sbpl_lattice_planner + + teb_local_planner + teb_local_planner + diff --git a/mir_robot/mir_navigation/rviz/navigation.rviz b/mir_robot/mir_navigation/rviz/navigation.rviz new file mode 100755 index 0000000..223d7de --- /dev/null +++ b/mir_robot/mir_navigation/rviz/navigation.rviz @@ -0,0 +1,784 @@ +Panels: + - Class: rviz/Displays + Help Height: 81 + Name: Displays + Property Tree Widget: + Expanded: + - /Grid1/Offset1 + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1 + - /Global Map1/Costmap1 + - /Global Map1/Full Plan1 + - /Local Map1 + - /Local Map1/DWB Markers1/Namespaces1 + Splitter Ratio: 0.42881646752357483 + Tree Height: 641 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 50 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + surface: + Alpha: 1 + Show Axes: false + Show Trail: false + us_1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + us_2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + back_laser_link: + Value: true + base_footprint: + Value: true + base_link: + Value: true + bl_caster_rotation_link: + Value: true + bl_caster_wheel_link: + Value: true + br_caster_rotation_link: + Value: true + br_caster_wheel_link: + Value: true + fl_caster_rotation_link: + Value: true + fl_caster_wheel_link: + Value: true + fr_caster_rotation_link: + Value: true + fr_caster_wheel_link: + Value: true + front_laser_link: + Value: true + imu_frame: + Value: true + imu_link: + Value: true + left_wheel_link: + Value: true + map: + Value: true + odom: + Value: true + right_wheel_link: + Value: true + surface: + Value: true + us_1_frame: + Value: true + us_2_frame: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + odom: + base_footprint: + base_link: + back_laser_link: + {} + bl_caster_rotation_link: + bl_caster_wheel_link: + {} + br_caster_rotation_link: + br_caster_wheel_link: + {} + fl_caster_rotation_link: + fl_caster_wheel_link: + {} + fr_caster_rotation_link: + fr_caster_wheel_link: + {} + front_laser_link: + {} + imu_link: + imu_frame: + {} + left_wheel_link: + {} + right_wheel_link: + {} + surface: + {} + us_1_frame: + {} + us_2_frame: + {} + Update Interval: 0 + 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: 239; 41; 41 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.20000000298023224 + Style: Points + Topic: scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Bumper Hit + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Spheres + Topic: mobile_base/sensors/bumper_pointcloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base_node/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 252; 175; 62 + Enabled: false + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.029999999329447746 + Name: Global Plan (DWB) + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base_node/DWBLocalPlanner/global_plan + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 239; 41; 41 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.029999999329447746 + Name: Full Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Axes + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base_node/SBPLLatticePlanner/plan + Unreliable: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 0; 12; 255 + Enabled: false + Name: Footprint + Queue Size: 10 + Topic: move_base_node/global_costmap/footprint + Unreliable: true + Value: false + - Class: rviz/Marker + Enabled: false + Marker Topic: /move_base_node/SBPLLatticePlanner/footprint_markers + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: move_base_node/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/GridCells + Color: 25; 255; 0 + Enabled: false + Name: Costmap (MiR) + Queue Size: 10 + Topic: move_base_node/local_costmap/obstacles + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 12; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.20000000298023224 + Line Style: Lines + Line Width: 0.05000000074505806 + Name: Local Plan (DWB) + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Axes + Queue Size: 10 + Radius: 0.019999999552965164 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: move_base_node/DWBLocalPlanner/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 25; 0 + Enabled: false + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.029999999329447746 + Name: TransformedToLocalPath + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base_node/DWBLocalPlanner/transformed_global_plan + Unreliable: false + Value: false + - Alpha: 1 + Class: rviz/Polygon + Color: 204; 0; 0 + Enabled: true + Name: Footprint + Queue Size: 10 + Topic: move_base_node/local_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.30000001192092896 + Autocompute Intensity Bounds: false + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 40 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Cost Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: move_base_node/DWBLocalPlanner/cost_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: move_base_node/DWBLocalPlanner/markers + Name: DWB Markers + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: Local Map + - Alpha: 1 + Arrow Length: 0.20000000298023224 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: false + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: Amcl Particle Swarm + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: particlecloud + Unreliable: false + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /move_base_node/WaypointsSBPLPlanner/waypoints + Name: Waypoints + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 1 + Arrow Length: 2 + Axes Length: 0.20000000298023224 + Axes Radius: 0.019999999552965164 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: false + Head Length: 0.10000000149011612 + Head Radius: 0.029999999329447746 + Name: waypoints + Queue Size: 6 + Shaft Length: 0.33000001311302185 + Shaft Radius: 0.019999999552965164 + Shape: Axes + Topic: /move_base_node/DWBLocalPlanner/PathProgress/reached_intermediate_goals + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 0.30000001192092896 + Axes Radius: 0.019999999552965164 + Class: rviz/Pose + Color: 114; 159; 207 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose_closet + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Axes + Topic: /move_base_node/DWBLocalPlanner/PathProgress/closet_robot_goal + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 0.30000001192092896 + Axes Radius: 0.019999999552965164 + Class: rviz/Pose + Color: 46; 52; 54 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Axes + Topic: /move_base_simple/goal + Unreliable: true + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Directional zones + Topic: /direction_zones/map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Forbidden zones + Topic: /virtual_walls/map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Critical zones + Topic: /critical_zones/map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Preferred zones + Topic: /preferred_zones/map + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Unpreferred zones + Topic: /unpreferred_zones/map + Unreliable: false + Use Timestamp: false + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: move_base_simple/goal + - Class: rviz/Measure + - Class: rviz/PublishPoint + Single click: false + Topic: clicked_point + Value: true + Views: + Current: + Angle: -3.145003080368042 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: -52.603572845458984 + Target Frame: + X: 8.760619163513184 + Y: 10.58740234375 + Saved: + - Angle: -0.004999996162950993 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 23.103717803955078 + Target Frame: + X: 17.860042572021484 + Y: 15.485589981079102 + - Angle: -0.004999996162950993 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 23.103717803955078 + Target Frame: + X: 17.860042572021484 + Y: 15.485589981079102 + - Angle: -0.004999996162950993 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 23.103717803955078 + Target Frame: + X: 17.860042572021484 + Y: 15.485589981079102 + - Angle: -0.004999996162950993 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 23.103717803955078 + Target Frame: + X: 17.860042572021484 + Y: 15.485589981079102 + - Angle: -0.004999995231628418 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 52.42099380493164 + Target Frame: + X: 0.5443607568740845 + Y: -0.26071029901504517 + - Angle: -1.5799980163574219 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 131.970703125 + Target Frame: + X: -1.8128122091293335 + Y: -5.972503662109375 +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000004fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d0000039e0000000000fffffffaffffffff0100000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730000000000ffffffff0000009d00fffffffb000000100044006900730070006c0061007900730300000431000000830000043800000311000000010000010f00000374fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000374000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000041800fffffffb0000000800540069006d00650100000000000004500000000000000000000004350000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1077 + X: 0 + Y: 27 diff --git a/mir_robot/mir_navigation/scripts/plot_mprim.py b/mir_robot/mir_navigation/scripts/plot_mprim.py new file mode 100755 index 0000000..0537302 --- /dev/null +++ b/mir_robot/mir_navigation/scripts/plot_mprim.py @@ -0,0 +1,92 @@ +#!/usr/bin/env python3 +# Copyright (c) 2018-2022, Martin Günther (DFKI GmbH) and contributors +# +# 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 the copyright holder 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 HOLDER 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: Martin Günther + +import matplotlib.pyplot as plt +import numpy as np +import sys + + +def get_value(strline, name): + if strline.find(name) < 0: + raise Exception("File format not matching the parser expectation", name) + + return strline.replace(name, "", 1) + + +def get_pose(line): + ss = line.split() + return np.array([float(ss[0]), float(ss[1]), float(ss[2])]) + + +class MPrim: + def __init__(self, f): + self.primID = int(get_value(f.readline(), "primID:")) + self.startAngle = int(get_value(f.readline(), "startangle_c:")) + self.endPose = get_pose(get_value(f.readline(), "endpose_c:")) + self.cost = float(get_value(f.readline(), "additionalactioncostmult:")) + self.nrPoses = int(get_value(f.readline(), "intermediateposes:")) + poses = [] + for _ in range(self.nrPoses): + poses.append(f.readline()) + self.poses = np.loadtxt(poses, delimiter=" ") + self.cmap = plt.get_cmap("nipy_spectral") + + def plot(self, nr_angles): + plt.plot(self.poses[:, 0], self.poses[:, 1], c=self.cmap(float(self.startAngle) / nr_angles)) + + +class MPrims: + def __init__(self, filename): + f = open(filename, "r") + + self.resolution = float(get_value(f.readline(), "resolution_m:")) + self.nrAngles = int(get_value(f.readline(), "numberofangles:")) + self.nrPrims = int(get_value(f.readline(), "totalnumberofprimitives:")) + + self.prims = [] + for _ in range(self.nrPrims): + self.prims.append(MPrim(f)) + + f.close() + + def plot(self): + fig = plt.figure() + ax = fig.add_subplot(111) + ax.set_xticks(np.arange(-1, 1, self.resolution)) + ax.set_yticks(np.arange(-1, 1, self.resolution)) + for prim in self.prims: + prim.plot(self.nrAngles) + plt.grid() + plt.show() + + +prims = MPrims(sys.argv[1]) +prims.plot() diff --git a/mir_robot/mir_robot/CHANGELOG.rst b/mir_robot/mir_robot/CHANGELOG.rst new file mode 100755 index 0000000..0795532 --- /dev/null +++ b/mir_robot/mir_robot/CHANGELOG.rst @@ -0,0 +1,61 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mir_robot +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2023-01-20) +------------------ + +1.1.6 (2022-06-02) +------------------ +* Rename mir_100 -> mir + This is in preparation of mir_250 support. +* Contributors: Martin Günther + +1.1.5 (2022-02-11) +------------------ + +1.1.4 (2021-12-10) +------------------ + +1.1.3 (2021-06-11) +------------------ + +1.1.2 (2021-05-12) +------------------ + +1.1.1 (2021-02-11) +------------------ +* Contributors: Martin Günther + +1.1.0 (2020-06-30) +------------------ +* Initial release into noetic +* Contributors: Martin Günther + +1.0.6 (2020-06-30) +------------------ +* Set cmake_policy CMP0048 to fix warning +* Add sdc21x0 dependency to mir_robot meta package +* Contributors: Martin Günther + +1.0.5 (2020-05-01) +------------------ + +1.0.4 (2019-05-06) +------------------ + +1.0.3 (2019-03-04) +------------------ +* Add package: mir_dwb_critics +* Contributors: Martin Günther + +1.0.2 (2018-07-30) +------------------ +* Add metapackage +* Contributors: Martin Günther + +1.0.1 (2018-07-17) +------------------ + +1.0.0 (2018-07-12) +------------------ diff --git a/mir_robot/mir_robot/CMakeLists.txt b/mir_robot/mir_robot/CMakeLists.txt new file mode 100755 index 0000000..559abf9 --- /dev/null +++ b/mir_robot/mir_robot/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.5.1) +project(mir_robot) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/mir_robot/mir_robot/package.xml b/mir_robot/mir_robot/package.xml new file mode 100755 index 0000000..2d0d5cd --- /dev/null +++ b/mir_robot/mir_robot/package.xml @@ -0,0 +1,32 @@ + + + mir_robot + 1.1.7 + + URDF description, Gazebo simulation, navigation, bringup launch files, message and action descriptions for the MiR robot. + + + Martin Günther + Martin Günther + + BSD + + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot/issues + + catkin + + mir_actions + mir_description + mir_driver + mir_dwb_critics + mir_gazebo + mir_msgs + mir_navigation + sdc21x0 + + + + + diff --git a/mir_robot/pyproject.toml b/mir_robot/pyproject.toml new file mode 100755 index 0000000..d374d61 --- /dev/null +++ b/mir_robot/pyproject.toml @@ -0,0 +1,4 @@ +[tool.black] +line-length = 120 +target-version = ['py38'] +skip-string-normalization = true diff --git a/mir_robot/sdc21x0/CHANGELOG.rst b/mir_robot/sdc21x0/CHANGELOG.rst new file mode 100755 index 0000000..99c80fd --- /dev/null +++ b/mir_robot/sdc21x0/CHANGELOG.rst @@ -0,0 +1,60 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package sdc21x0 +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.1.7 (2023-01-20) +------------------ +* Don't set cmake_policy CMP0048 +* Contributors: Martin Günther + +1.1.6 (2022-06-02) +------------------ + +1.1.5 (2022-02-11) +------------------ + +1.1.4 (2021-12-10) +------------------ + +1.1.3 (2021-06-11) +------------------ + +1.1.2 (2021-05-12) +------------------ + +1.1.1 (2021-02-11) +------------------ +* Contributors: Martin Günther + +1.1.0 (2020-06-30) +------------------ +* Initial release into noetic +* Contributors: Martin Günther + +1.0.6 (2020-06-30) +------------------ +* Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +1.0.5 (2020-05-01) +------------------ +* Add sdc21x0 package, MC/currents topic +* Contributors: Martin Günther + +* Add sdc21x0 package, MC/currents topic +* Contributors: Martin Günther + +1.0.4 (2019-05-06) +------------------ + +1.0.3 (2019-03-04) +------------------ + +1.0.2 (2018-07-30) +------------------ + +1.0.1 (2018-07-17) +------------------ + +1.0.0 (2018-07-12) +------------------ diff --git a/mir_robot/sdc21x0/CMakeLists.txt b/mir_robot/sdc21x0/CMakeLists.txt new file mode 100755 index 0000000..7b5353c --- /dev/null +++ b/mir_robot/sdc21x0/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 3.5.1) +project(sdc21x0) + +find_package(catkin REQUIRED COMPONENTS + message_generation + std_msgs +) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +# Generate messages in the 'msg' folder +add_message_files( + FILES + Encoders.msg + MotorCurrents.msg + StampedEncoders.msg +) + +# Generate services in the 'srv' folder +add_service_files( + FILES + Flags.srv +) + +# Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS + message_runtime + std_msgs +) diff --git a/mir_robot/sdc21x0/msg/Encoders.msg b/mir_robot/sdc21x0/msg/Encoders.msg new file mode 100755 index 0000000..9fff122 --- /dev/null +++ b/mir_robot/sdc21x0/msg/Encoders.msg @@ -0,0 +1,3 @@ +float32 time_delta # Time since last encoder update. +int32 left_wheel # Encoder counts (absolute or relative) +int32 right_wheel # Encoder counts (absolute or relative) diff --git a/mir_robot/sdc21x0/msg/MotorCurrents.msg b/mir_robot/sdc21x0/msg/MotorCurrents.msg new file mode 100755 index 0000000..233a16b --- /dev/null +++ b/mir_robot/sdc21x0/msg/MotorCurrents.msg @@ -0,0 +1,2 @@ +float32 left_motor +float32 right_motor diff --git a/mir_robot/sdc21x0/msg/StampedEncoders.msg b/mir_robot/sdc21x0/msg/StampedEncoders.msg new file mode 100755 index 0000000..ff8193c --- /dev/null +++ b/mir_robot/sdc21x0/msg/StampedEncoders.msg @@ -0,0 +1,2 @@ +Header header +Encoders encoders diff --git a/mir_robot/sdc21x0/package.xml b/mir_robot/sdc21x0/package.xml new file mode 100755 index 0000000..632ab86 --- /dev/null +++ b/mir_robot/sdc21x0/package.xml @@ -0,0 +1,22 @@ + + + sdc21x0 + 1.1.7 + Message definitions for the sdc21x0 motor controller + + Martin Günther + Martin Günther + + BSD + + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot + https://github.com/DFKI-NI/mir_robot/issues + + catkin + + std_msgs + + message_generation + message_runtime + diff --git a/mir_robot/sdc21x0/srv/Flags.srv b/mir_robot/sdc21x0/srv/Flags.srv new file mode 100755 index 0000000..576a737 --- /dev/null +++ b/mir_robot/sdc21x0/srv/Flags.srv @@ -0,0 +1,3 @@ +int32 digitalPort +--- +bool response diff --git a/move_base.png b/move_base.png new file mode 100755 index 0000000..75ad018 Binary files /dev/null and b/move_base.png differ diff --git a/navigations/.vscode/settings.json b/navigations/.vscode/settings.json new file mode 100755 index 0000000..87e1fc2 --- /dev/null +++ b/navigations/.vscode/settings.json @@ -0,0 +1,20 @@ +{ + "files.associations": { + "iterator": "cpp", + "cmath": "cpp", + "complex": "cpp", + "*.ipp": "cpp", + "array": "cpp", + "string_view": "cpp", + "unordered_map": "cpp", + "unordered_set": "cpp", + "random": "cpp", + "typeindex": "cpp", + "typeinfo": "cpp", + "functional": "cpp", + "bitset": "cpp", + "initializer_list": "cpp", + "utility": "cpp", + "list": "cpp" + } +} \ No newline at end of file diff --git a/navigations/amcl/CHANGELOG.rst b/navigations/amcl/CHANGELOG.rst new file mode 100755 index 0000000..2faef83 --- /dev/null +++ b/navigations/amcl/CHANGELOG.rst @@ -0,0 +1,258 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package amcl +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [AMCL] Add option to force nomotion update after initialpose (`#1226 `_) + * Adds a new boolean parameter force_update_after_initialpose. When set to true, an update is forced on the next laser scan callback, such as when the /request_nomotion_update service is called. This often results in an improved robot pose after a manual (not very precise) re-localization - without a need for the robot to move. + * Fixes a bunch of compiler warnings (unused variable now, catching exceptions by value), normalizes how tf exceptions are caught +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner, Stephan + +1.17.2 (2022-06-20) +------------------- +* Update pf.c (`#1161 `_) + `#1160 `_ AMCL miscalculates orientation covariance for clusters +* Improved Overall readablity (`#1177 `_) +* fix crashes in AMCL (`#1152 `_) + * fix: catch runtime_error from roscore + * ignore malformed message from laser, otherwise it will crash +* Fixes `#1117 `_ (`#1118 `_) +* Fixed the risk of divide by zero. (`#1099 `_) +* (AMCL) add missing test dep on tf2_py (`#1091 `_) +* (AMCL)(Noetic) use robot pose in tests (`#1087 `_) +* (amcl) fix missing '#if NEW_UNIFORM_SAMPLING' (`#1079 `_) +* Contributors: David V. Lu!!, Matthijs van der Burgh, Noriaki Ando, Supernovae, christofschroeter, easylyou + +1.17.1 (2020-08-27) +------------------- +* (AMCL) add resample limit cache [Noetic] (`#1014 `_) +* Contributors: Matthijs van der Burgh + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* map is not subscriptable in python3 +* fix python3 errors in basic_localization.py +* use upstream pykdl +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* Implement selective resampling (`#921 `_) (`#971 `_) + Co-authored-by: Adi Vardi +* Add CLI option to trigger global localization before processing a bagfile (`#816 `_) (`#970 `_) + Co-authored-by: alain-m +* Fix some reconfigure parameters not being applied [amcl]. (`#952 `_) +* amcl: include missing CMake functions to fix build (`#946 `_) +* Set proper limits for the z-weights [amcl]. (`#953 `_) +* Merge pull request `#965 `_ from nlimpert/nlimpert/fix_missing_cmake_include + Add missing CMake include(CheckSymbolExists) for CMake >= 3.15 +* amcl: add missing CMake include(CheckSymbolExists) + Starting with CMake 3.15 an explicit include(CheckSymbolExists) + is required to use the check_symbol_exists macro. +* Contributors: Ben Wolsieffer, Michael Ferguson, Nicolas Limpert, Patrick Chin + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Fix typo in amcl_laser model header (`#918 `_) +* Merge pull request `#849 `_ from seanyen/amcl_windows_fix + [Windows][melodic] AMCL Windows build bring up. +* revert unrelated changes. +* AMCL windows build bring up. + * Add HAVE_UNISTD and HAVE_DRAND48 and portable_utils.hpp for better cross compiling. + * Variable length array is not supported in MSVC, conditionally disable it. + * Fix install location for shared lib and executables on Windows. + * Use isfinite for better cross compiling. +* feat: AMCL Diagnostics (`#807 `_) + Diagnostic task that monitors the estimated standard deviation of the filter. + By: reinzor +* fix typo for parameter beam_skip_error_threshold but bandaged for other users in AMCL (`#790 `_) + * fix typo but bandage for other users +* Merge pull request `#785 `_ from mintar/amcl_c++11 + amcl: Add compile option C++11 +* amcl: Set C++ standard 11 if not set + This is required to build the melodic-devel branch of the navigation + stack on kinetic. Melodic sets CMAKE_CXX_STANDARD=14, but kinetic + doesn't set that variable at all. +* Contributors: Hadi Tabatabaee, Martin Günther, Michael Ferguson, Rein Appeldoorn, Sean Yen, Steven Macenski + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* update amcl to have proper depends + * add geometry_msgs + * add tf2_msgs + * fix alphabetical order +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- +* Merge pull request `#770 `_ from ros-planning/fix_debians + Fix debian builds (closes `#769 `_) +* make AMCL depend on sensor_msgs + previously, amcl depended on TF, which depended on + sensor_msgs. +* Contributors: Michael Ferguson + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Merge pull request `#734 `_ from ros-planning/melodic_731 + AMCL dynamic reconfigure: Extend parameter range (Forward port `#731 `_) +* Merge pull request `#728 `_ from ros-planning/melodic_tf2_conversion + switch AMCL to use TF2 +* fix swapped odom1/4 in omni model, fixes `#499 `_ +* Merge pull request `#730 `_ from Glowcloud/melodic-devel + Fix for Potential Memory Leak in AmclNode::reconfigureCB `#729 `_ +* Fix for Potential Memory Leak in AmclNode::reconfigureCB +* switch AMCL to use TF2 +* Merge pull request `#727 `_ from ros-planning/melodic_668 + Update laser_model_type enum on AMCL.cfg (Melodic port of `#668 `_) +* Update laser_model_type enum on AMCL.cfg + Adding likelihood_field_prob laser model option on AMCL.cfg to be able to control dynamic parameters with this laser sensor model. +* Merge pull request `#723 `_ from moriarty/melodic-buildfarm-errors + Melodic buildfarm errors +* include for std::shared_ptr +* Merge pull request `#718 `_ from moriarty/tf2-buffer-ptr + [melodic] tf2_buffer\_ -> tf2_buffer_ptr\_ +* [melodic] tf2_buffer\_ -> tf2_buffer_ptr\_ + Change required due to changes in upstream dependencies: + `ros/geometry#163 `_: "Maintain & expose tf2 Buffer in shared_ptr for tf" + fixes `ros-planning/navigation#717 `_ (for compile errors at least.) +* Contributors: Alexander Moriarty, Glowcloud, Martin Ganeff, Michael Ferguson, Miguel Cordero, Vincent Rabaud, maracuya-robotics + +1.15.2 (2018-03-22) +------------------- +* Fix minor typo (`#682 `_) + This typo caused some confusion because we were searching for a semicolon in our configuration. +* Merge pull request `#677 `_ from ros-planning/lunar_634 + removing recomputation of cluster stats causing assertion error (`#634 `_) +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Remove Dead Code [Lunar] (`#646 `_) + * Clean up navfn + * Cleanup amcl +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson, stevemacenski + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* Reference Issue `#592 `_ Added warning to AMCL when map is published on ... (`#604 `_) +* rebase fixups +* convert packages to format2 +* recompute cluster stat when force_publication +* Fix CMakeLists + package.xmls (`#548 `_) +* amcl: fix compilation with gcc v7 +* Added deps to amcl costmap_2d move_base (`#512 `_) +* fix order of parameters (closes `#553 `_) +* Fix potential string overflow and resource leak +* Contributors: Dmitry Rozhkov, Laurent GEORGE, Martin Günther, Michael Ferguson, Mikael Arguedas, Peter Harliman Liem, mryellow, vik748 + +1.14.0 (2016-05-20) +------------------- +* Allow AMCL to run from bag file to allow very fast testing. +* Fixes interpretation of a delayed initialpose message (see `#424 `_). + The tf lookup as it was before this change was very likely to fail as + ros::Time::now() was used to look up a tf without waiting on the tf's + availability. Additionally, the computation of the "new pose" by + multiplying the delta that the robot moved from the initialpose's + timestamp to ros::Time::now() was wrong. That delta has to by multiplied + from the right to the "old pose". + This commit also changes the reference frame to look up this delta to be + the odom frame as this one is supposed to be smooth and therefore the + best reference to get relative robot motion in the robot (base link) frame. +* New unit test for proper interpretation of a delayed initialpose message. + Modifies the set_pose.py script to be able to send an initial pose with + a user defined time stamp at a user defined time. Adds a rostest to + exercise this new option. + This reveals the issues mentioned in `#424 `_ (the new test fails). +* Contributors: Derek King, Stephan Wirth + +1.13.1 (2015-10-29) +------------------- +* adds the set_map service to amcl +* fix pthread_mutex_lock on shutdown +* Contributors: Michael Ferguson, Stephan Wirth + +1.13.0 (2015-03-17) +------------------- +* amcl_node will now save latest pose on shutdown +* Contributors: Ian Danforth + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- +* Bug fix to remove particle weights being reset when motion model is updated +* Integrated new sensor model which calculates the observation likelihood in a probabilistic manner + Also includes the option to do beam-skipping (to better handle observations from dynamic obstacles) +* Pose pulled from parameter server when new map received +* Contributors: Steven Kordell, hes3pal + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* removes useless this->z_max = z_max assignment +* Fix warning string. +* Contributors: Jeremiah Via, enriquefernandez + +1.11.5 (2014-01-30) +------------------- +* Fix for `#160 `_ +* Download test data from download.ros.org instead of willow +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* amcl_pose and particle cloud are now published latched +* Fixed or commented out failing amcl tests. + diff --git a/navigations/amcl/CMakeLists.txt b/navigations/amcl/CMakeLists.txt new file mode 100755 index 0000000..6307119 --- /dev/null +++ b/navigations/amcl/CMakeLists.txt @@ -0,0 +1,168 @@ +cmake_minimum_required(VERSION 3.1) +project(amcl) + +include(CheckIncludeFile) +include(CheckSymbolExists) + +find_package(catkin REQUIRED + COMPONENTS + diagnostic_updater + dynamic_reconfigure + geometry_msgs + message_filters + nav_msgs + rosbag + roscpp + sensor_msgs + std_srvs + tf2 + tf2_geometry_msgs + tf2_msgs + tf2_ros +) + +find_package(Boost REQUIRED) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/AMCL.cfg +) + +catkin_package( + CATKIN_DEPENDS + diagnostic_updater + dynamic_reconfigure + geometry_msgs + nav_msgs + rosbag + roscpp + sensor_msgs + std_srvs + tf2 + tf2_msgs + tf2_ros + INCLUDE_DIRS include + LIBRARIES amcl_sensors amcl_map amcl_pf +) + +include_directories(include) +include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) +include_directories(src/include) + +check_include_file(unistd.h HAVE_UNISTD_H) +if (HAVE_UNISTD_H) + add_definitions(-DHAVE_UNISTD_H) +endif (HAVE_UNISTD_H) + +check_symbol_exists(drand48 stdlib.h HAVE_DRAND48) +if (HAVE_DRAND48) + add_definitions(-DHAVE_DRAND48) +endif (HAVE_DRAND48) + +add_library(amcl_pf + src/amcl/pf/pf.c + src/amcl/pf/pf_kdtree.c + src/amcl/pf/pf_pdf.c + src/amcl/pf/pf_vector.c + src/amcl/pf/eig3.c + src/amcl/pf/pf_draw.c) + +add_library(amcl_map + src/amcl/map/map.c + src/amcl/map/map_cspace.cpp + src/amcl/map/map_range.c + src/amcl/map/map_store.c + src/amcl/map/map_draw.c) + +add_library(amcl_sensors + src/amcl/sensors/amcl_sensor.cpp + src/amcl/sensors/amcl_odom.cpp + src/amcl/sensors/amcl_laser.cpp) +target_link_libraries(amcl_sensors amcl_map amcl_pf) + + +add_executable(amcl + src/amcl_node.cpp) +add_dependencies(amcl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +target_link_libraries(amcl + amcl_sensors amcl_map amcl_pf + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} +) + +install(TARGETS + amcl + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(TARGETS + amcl_sensors amcl_map amcl_pf + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +install(DIRECTORY include/amcl/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +install(DIRECTORY examples/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples +) + +## Configure Tests +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + + # Bags + catkin_download_test_data(${PROJECT_NAME}_basic_localization_stage_indexed.bag + http://download.ros.org/data/amcl/basic_localization_stage_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 41fe43af189ec71e5e48eb9ed661a655) + catkin_download_test_data(${PROJECT_NAME}_global_localization_stage_indexed.bag + http://download.ros.org/data/amcl/global_localization_stage_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 752f711cf4f6e8d1d660675e2da096b0) + catkin_download_test_data(${PROJECT_NAME}_small_loop_prf_indexed.bag + http://download.ros.org/data/amcl/small_loop_prf_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 e4ef0fc006872b43f12ed8a7ce7dcd81) + catkin_download_test_data(${PROJECT_NAME}_small_loop_crazy_driving_prg_indexed.bag + http://download.ros.org/data/amcl/small_loop_crazy_driving_prg_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 4a58d1a7962914009d99000d06e5939c) + catkin_download_test_data(${PROJECT_NAME}_texas_greenroom_loop_indexed.bag + http://download.ros.org/data/amcl/texas_greenroom_loop_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 6e3432115cccdca1247f6c807038e13d) + catkin_download_test_data(${PROJECT_NAME}_texas_willow_hallway_loop_indexed.bag + http://download.ros.org/data/amcl/texas_willow_hallway_loop_indexed.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 27deb742fdcd3af44cf446f39f2688a8) + catkin_download_test_data(${PROJECT_NAME}_rosie_localization_stage.bag + http://download.ros.org/data/amcl/rosie_localization_stage.bag + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 3347bf3835724cfa45e958c5c1846066) + + # Maps + catkin_download_test_data(${PROJECT_NAME}_willow-full.pgm + http://download.ros.org/data/amcl/willow-full.pgm + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 b84465cdbbfe3e2fb9eb4579e0bcaf0e) + catkin_download_test_data(${PROJECT_NAME}_willow-full-0.05.pgm + http://download.ros.org/data/amcl/willow-full-0.05.pgm + DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test + MD5 b61694296e08965096c5e78611fd9765) + + # Tests + add_rostest(test/set_initial_pose.xml) + add_rostest(test/set_initial_pose_delayed.xml) + add_rostest(test/basic_localization_stage.xml) + add_rostest(test/global_localization_stage.xml) + add_rostest(test/small_loop_prf.xml) + add_rostest(test/small_loop_crazy_driving_prg.xml) + add_rostest(test/texas_greenroom_loop.xml) + add_rostest(test/rosie_multilaser.xml) + add_rostest(test/texas_willow_hallway_loop.xml) +endif() diff --git a/navigations/amcl/cfg/AMCL.cfg b/navigations/amcl/cfg/AMCL.cfg new file mode 100755 index 0000000..4695df7 --- /dev/null +++ b/navigations/amcl/cfg/AMCL.cfg @@ -0,0 +1,77 @@ +#!/usr/bin/env python + +PACKAGE = 'amcl' + +from math import pi +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, int_t, double_t, str_t, bool_t + +gen = ParameterGenerator() + +gen.add("min_particles", int_t, 0, "Minimum allowed number of particles.", 100, 0, 1000) +gen.add("max_particles", int_t, 0, "Mamimum allowed number of particles.", 5000, 0, 10000) + +gen.add("kld_err", double_t, 0, "Maximum error between the true distribution and the estimated distribution.", .01, 0, 1) +gen.add("kld_z", double_t, 0, "Upper standard normal quantile for (1 - p), where p is the probability that the error on the estimated distribution will be less than kld_err.", .99, 0, 1) + +gen.add("update_min_d", double_t, 0, "Translational movement required before performing a filter update.", .2, 0, 5) +gen.add("update_min_a", double_t, 0, "Rotational movement required before performing a filter update.", pi/6, 0, 2*pi) + +gen.add("resample_interval", int_t, 0, "Number of filter updates required before resampling.", 2, 0, 20) + +gen.add("transform_tolerance", double_t, 0, "Time with which to post-date the transform that is published, to indicate that this transform is valid into the future.", .1, 0, 2) + +gen.add("recovery_alpha_slow", double_t, 0, "Exponential decay rate for the slow average weight filter, used in deciding when to recover by adding random poses. A good value might be 0.001.", 0, 0, .5) +gen.add("recovery_alpha_fast", double_t, 0, "Exponential decay rate for the fast average weight filter, used in deciding when to recover by adding random poses. A good value might be 0.1.", 0, 0, 1) + +gen.add("do_beamskip", bool_t, 0, "When true skips laser scans when a scan doesnt work for a majority of particles", False) +gen.add("beam_skip_distance", double_t, 0, "Distance from a valid map point before scan is considered invalid", 0.5, 0, 2) +gen.add("beam_skip_threshold", double_t, 0, "Ratio of samples for which the scans are valid to consider as valid scan", 0.3, 0, 1) + +gen.add("tf_broadcast", bool_t, 0, "When true (the default), publish results via TF. When false, do not.", True) +gen.add("force_update_after_initialpose", bool_t, 0, "When true, force a pose update after a new /initialpose is received.", False) +gen.add("force_update_after_set_map", bool_t, 0, "When true, force a pose update after a new map (and pose) has been set via the /set_map service.", False) +gen.add("gui_publish_rate", double_t, 0, "Maximum rate (Hz) at which scans and paths are published for visualization, -1.0 to disable.", -1, -1, 100) +gen.add("save_pose_rate", double_t, 0, "Maximum rate (Hz) at which to store the last estimated pose and covariance to the parameter server, in the variables ~initial_pose_* and ~initial_cov_*. This saved pose will be used on subsequent runs to initialize the filter. -1.0 to disable.", .5, -1, 10) + +gen.add("use_map_topic", bool_t, 0, "When set to true, AMCL will subscribe to the map topic rather than making a service call to receive its map.", False) +gen.add("first_map_only", bool_t, 0, "When set to true, AMCL will only use the first map it subscribes to, rather than updating each time a new one is received.", False) + +# Laser Model Parameters +gen.add("laser_min_range", double_t, 0, "Minimum scan range to be considered; -1.0 will cause the laser's reported minimum range to be used.", -1, -1, 1000) +gen.add("laser_max_range", double_t, 0, "Maximum scan range to be considered; -1.0 will cause the laser's reported maximum range to be used.", -1, -1, 1000) + +gen.add("laser_max_beams", int_t, 0, "How many evenly-spaced beams in each scan to be used when updating the filter.", 30, 0, 250) + +gen.add("laser_z_hit", double_t, 0, "Mixture weight for the z_hit part of the model.", .95, 0, 1) +gen.add("laser_z_short", double_t, 0, "Mixture weight for the z_short part of the model.", .1, 0, 1) +gen.add("laser_z_max", double_t, 0, "Mixture weight for the z_max part of the model.", .05, 0, 1) +gen.add("laser_z_rand", double_t, 0, "Mixture weight for the z_rand part of the model.", .05, 0, 1) + +gen.add("laser_sigma_hit", double_t, 0, "Standard deviation for Gaussian model used in z_hit part of the model.", .2, 0, 10) +gen.add("laser_lambda_short", double_t, 0, "Exponential decay parameter for z_short part of model.", .1, 0, 10) +gen.add("laser_likelihood_max_dist", double_t, 0, "Maximum distance to do obstacle inflation on map, for use in likelihood_field model.", 2, 0, 20) + +lmt = gen.enum([gen.const("beam_const", str_t, "beam", "Use beam laser model"), gen.const("likelihood_field_const", str_t, "likelihood_field", "Use likelihood_field laser model"), gen.const("likelihood_field_prob", str_t, "likelihood_field_prob", "Use likelihood_field_prob laser model")], "Laser Models") +gen.add("laser_model_type", str_t, 0, "Which model to use, either beam, likelihood_field or likelihood_field_prob.", "likelihood_field", edit_method=lmt) + +# Odometry Model Parameters +odt = gen.enum([gen.const("diff_const", str_t, "diff", "Use diff odom model"), + gen.const("omni_const", str_t, "omni", "Use omni odom model"), + gen.const("diff_corrected_const", str_t, "diff-corrected", "Use corrected diff odom model"), + gen.const("omni_corrected_const", str_t, "omni-corrected", "Use corrected omni odom model")], + "Odom Models") +gen.add("odom_model_type", str_t, 0, "Which model to use, diff, omni, diff-corrected, or omni-corrected", "diff", edit_method=odt) + +gen.add("odom_alpha1", double_t, 0, "Specifies the expected noise in odometry's rotation estimate from the rotational component of the robot's motion.", .2, 0, 10) +gen.add("odom_alpha2", double_t, 0, "Specifies the expected noise in odometry's rotation estimate from the translational component of the robot's motion.", .2, 0, 10) +gen.add("odom_alpha3", double_t, 0, "Specifies the expected noise in odometry's translation estimate from the translational component of the robot's motion.", .2, 0, 10) +gen.add("odom_alpha4", double_t, 0, "Specifies the expected noise in odometry's translation estimate from the rotational component of the robot's motion.", .2, 0, 10) +gen.add("odom_alpha5", double_t, 0, "Translation-related noise parameter (only used if model is omni).", .2, 0, 10) + +gen.add("odom_frame_id", str_t, 0, "Which frame to use for odometry.", "odom") +gen.add("base_frame_id", str_t, 0, "Which frame to use for the robot base.", "base_link") +gen.add("global_frame_id", str_t, 0, "The name of the coordinate frame published by the localization system.", "map") + +gen.add("restore_defaults", bool_t, 0, "Retsore the default configuration", False) + +exit(gen.generate(PACKAGE, "amcl_node", "AMCL")) diff --git a/navigations/amcl/examples/amcl_diff.launch b/navigations/amcl/examples/amcl_diff.launch new file mode 100755 index 0000000..6e23ebd --- /dev/null +++ b/navigations/amcl/examples/amcl_diff.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/examples/amcl_omni.launch b/navigations/amcl/examples/amcl_omni.launch new file mode 100755 index 0000000..a9137b2 --- /dev/null +++ b/navigations/amcl/examples/amcl_omni.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/include/amcl/map/map.h b/navigations/amcl/include/amcl/map/map.h new file mode 100755 index 0000000..17aabf9 --- /dev/null +++ b/navigations/amcl/include/amcl/map/map.h @@ -0,0 +1,150 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Global map (grid-based) + * Author: Andrew Howard + * Date: 6 Feb 2003 + * CVS: $Id: map.h 1713 2003-08-23 04:03:43Z inspectorg $ + **************************************************************************/ + +#ifndef MAP_H +#define MAP_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +// Forward declarations +struct _rtk_fig_t; + + +// Limits +#define MAP_WIFI_MAX_LEVELS 8 + + +// Description for a single map cell. +typedef struct +{ + // Occupancy state (-1 = free, 0 = unknown, +1 = occ) + int occ_state; + + // Distance to the nearest occupied cell + double occ_dist; + + // Wifi levels + //int wifi_levels[MAP_WIFI_MAX_LEVELS]; + +} map_cell_t; + + +// Description for a map +typedef struct +{ + // Map origin; the map is a viewport onto a conceptual larger map. + double origin_x, origin_y; + + // Map scale (m/cell) + double scale; + + // Map dimensions (number of cells) + int size_x, size_y; + + // The map data, stored as a grid + map_cell_t *cells; + + // Max distance at which we care about obstacles, for constructing + // likelihood field + double max_occ_dist; + +} map_t; + + + +/************************************************************************** + * Basic map functions + **************************************************************************/ + +// Create a new (empty) map +map_t *map_alloc(void); + +// Destroy a map +void map_free(map_t *map); + +// Get the cell at the given point +map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa); + +// Load an occupancy map +int map_load_occ(map_t *map, const char *filename, double scale, int negate); + +// Load a wifi signal strength map +//int map_load_wifi(map_t *map, const char *filename, int index); + +// Update the cspace distances +void map_update_cspace(map_t *map, double max_occ_dist); + + +/************************************************************************** + * Range functions + **************************************************************************/ + +// Extract a single range reading from the map +double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range); + + +/************************************************************************** + * GUI/diagnostic functions + **************************************************************************/ + +// Draw the occupancy grid +void map_draw_occ(map_t *map, struct _rtk_fig_t *fig); + +// Draw the cspace map +void map_draw_cspace(map_t *map, struct _rtk_fig_t *fig); + +// Draw a wifi map +void map_draw_wifi(map_t *map, struct _rtk_fig_t *fig, int index); + + +/************************************************************************** + * Map manipulation macros + **************************************************************************/ + +// Convert from map index to world coords +#define MAP_WXGX(map, i) (map->origin_x + ((i) - map->size_x / 2) * map->scale) +#define MAP_WYGY(map, j) (map->origin_y + ((j) - map->size_y / 2) * map->scale) + +// Convert from world coords to map coords +#define MAP_GXWX(map, x) (floor((x - map->origin_x) / map->scale + 0.5) + map->size_x / 2) +#define MAP_GYWY(map, y) (floor((y - map->origin_y) / map->scale + 0.5) + map->size_y / 2) + +// Test to see if the given map coords lie within the absolute map bounds. +#define MAP_VALID(map, i, j) ((i >= 0) && (i < map->size_x) && (j >= 0) && (j < map->size_y)) + +// Compute the cell index for the given map coords. +#define MAP_INDEX(map, i, j) ((i) + (j) * map->size_x) + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/navigations/amcl/include/amcl/pf/eig3.h b/navigations/amcl/include/amcl/pf/eig3.h new file mode 100755 index 0000000..b708cb1 --- /dev/null +++ b/navigations/amcl/include/amcl/pf/eig3.h @@ -0,0 +1,11 @@ + +/* Eigen-decomposition for symmetric 3x3 real matrices. + Public domain, copied from the public domain Java library JAMA. */ + +#ifndef _eig_h + +/* Symmetric matrix A => eigenvectors in columns of V, corresponding + eigenvalues in d. */ +void eigen_decomposition(double A[3][3], double V[3][3], double d[3]); + +#endif diff --git a/navigations/amcl/include/amcl/pf/pf.h b/navigations/amcl/include/amcl/pf/pf.h new file mode 100755 index 0000000..ba778d1 --- /dev/null +++ b/navigations/amcl/include/amcl/pf/pf.h @@ -0,0 +1,210 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Simple particle filter for localization. + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf.h 3293 2005-11-19 08:37:45Z gerkey $ + *************************************************************************/ + +#ifndef PF_H +#define PF_H + +#include "pf_vector.h" +#include "pf_kdtree.h" + +#ifdef __cplusplus +extern "C" { +#endif + +// Forward declarations +struct _pf_t; +struct _rtk_fig_t; +struct _pf_sample_set_t; + +// Function prototype for the initialization model; generates a sample pose from +// an appropriate distribution. +typedef pf_vector_t (*pf_init_model_fn_t) (void *init_data); + +// Function prototype for the action model; generates a sample pose from +// an appropriate distribution +typedef void (*pf_action_model_fn_t) (void *action_data, + struct _pf_sample_set_t* set); + +// Function prototype for the sensor model; determines the probability +// for the given set of sample poses. +typedef double (*pf_sensor_model_fn_t) (void *sensor_data, + struct _pf_sample_set_t* set); + + +// Information for a single sample +typedef struct +{ + // Pose represented by this sample + pf_vector_t pose; + + // Weight for this pose + double weight; + +} pf_sample_t; + + +// Information for a cluster of samples +typedef struct +{ + // Number of samples + int count; + + // Total weight of samples in this cluster + double weight; + + // Cluster statistics + pf_vector_t mean; + pf_matrix_t cov; + + // Workspace + double m[4], c[2][2]; + +} pf_cluster_t; + + +// Information for a set of samples +typedef struct _pf_sample_set_t +{ + // The samples + int sample_count; + pf_sample_t *samples; + + // A kdtree encoding the histogram + pf_kdtree_t *kdtree; + + // Clusters + int cluster_count, cluster_max_count; + pf_cluster_t *clusters; + + // Filter statistics + pf_vector_t mean; + pf_matrix_t cov; + int converged; + double n_effective; +} pf_sample_set_t; + + +// Information for an entire filter +typedef struct _pf_t +{ + // This min and max number of samples + int min_samples, max_samples; + + // Population size parameters + double pop_err, pop_z; + + // Resample limit cache + int *limit_cache; + + // The sample sets. We keep two sets and use [current_set] + // to identify the active set. + int current_set; + pf_sample_set_t sets[2]; + + // Running averages, slow and fast, of likelihood + double w_slow, w_fast; + + // Decay rates for running averages + double alpha_slow, alpha_fast; + + // Function used to draw random pose samples + pf_init_model_fn_t random_pose_fn; + void *random_pose_data; + + double dist_threshold; //distance threshold in each axis over which the pf is considered to not be converged + int converged; + + // boolean parameter to enamble/diable selective resampling + int selective_resampling; +} pf_t; + + +// Create a new filter +pf_t *pf_alloc(int min_samples, int max_samples, + double alpha_slow, double alpha_fast, + pf_init_model_fn_t random_pose_fn, void *random_pose_data); + +// Free an existing filter +void pf_free(pf_t *pf); + +// Initialize the filter using a guassian +void pf_init(pf_t *pf, pf_vector_t mean, pf_matrix_t cov); + +// Initialize the filter using some model +void pf_init_model(pf_t *pf, pf_init_model_fn_t init_fn, void *init_data); + +// Update the filter with some new action +void pf_update_action(pf_t *pf, pf_action_model_fn_t action_fn, void *action_data); + +// Update the filter with some new sensor observation +void pf_update_sensor(pf_t *pf, pf_sensor_model_fn_t sensor_fn, void *sensor_data); + +// Resample the distribution +void pf_update_resample(pf_t *pf); + +// set selective resampling parameter +void pf_set_selective_resampling(pf_t *pf, int selective_resampling); + +// Compute the CEP statistics (mean and variance). +void pf_get_cep_stats(pf_t *pf, pf_vector_t *mean, double *var); + +// Compute the statistics for a particular cluster. Returns 0 if +// there is no such cluster. +int pf_get_cluster_stats(pf_t *pf, int cluster, double *weight, + pf_vector_t *mean, pf_matrix_t *cov); + +// Re-compute the cluster statistics for a sample set +void pf_cluster_stats(pf_t *pf, pf_sample_set_t *set); + + +// Display the sample set +void pf_draw_samples(pf_t *pf, struct _rtk_fig_t *fig, int max_samples); + +// Draw the histogram (kdtree) +void pf_draw_hist(pf_t *pf, struct _rtk_fig_t *fig); + +// Draw the CEP statistics +void pf_draw_cep_stats(pf_t *pf, struct _rtk_fig_t *fig); + +// Draw the cluster statistics +void pf_draw_cluster_stats(pf_t *pf, struct _rtk_fig_t *fig); + +//calculate if the particle filter has converged - +//and sets the converged flag in the current set and the pf +int pf_update_converged(pf_t *pf); + +//sets the current set and pf converged values to zero +void pf_init_converged(pf_t *pf); + +void pf_copy_set(pf_sample_set_t* set_a, pf_sample_set_t* set_b); + +#ifdef __cplusplus +} +#endif + + +#endif diff --git a/navigations/amcl/include/amcl/pf/pf_kdtree.h b/navigations/amcl/include/amcl/pf/pf_kdtree.h new file mode 100755 index 0000000..2368fa3 --- /dev/null +++ b/navigations/amcl/include/amcl/pf/pf_kdtree.h @@ -0,0 +1,109 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: KD tree functions + * Author: Andrew Howard + * Date: 18 Dec 2002 + * CVS: $Id: pf_kdtree.h 6532 2008-06-11 02:45:56Z gbiggs $ + *************************************************************************/ + +#ifndef PF_KDTREE_H +#define PF_KDTREE_H + +#ifdef INCLUDE_RTKGUI +#include "rtk.h" +#endif + + +// Info for a node in the tree +typedef struct pf_kdtree_node +{ + // Depth in the tree + int leaf, depth; + + // Pivot dimension and value + int pivot_dim; + double pivot_value; + + // The key for this node + int key[3]; + + // The value for this node + double value; + + // The cluster label (leaf nodes) + int cluster; + + // Child nodes + struct pf_kdtree_node *children[2]; + +} pf_kdtree_node_t; + + +// A kd tree +typedef struct +{ + // Cell size + double size[3]; + + // The root node of the tree + pf_kdtree_node_t *root; + + // The number of nodes in the tree + int node_count, node_max_count; + pf_kdtree_node_t *nodes; + + // The number of leaf nodes in the tree + int leaf_count; + +} pf_kdtree_t; + + +// Create a tree +extern pf_kdtree_t *pf_kdtree_alloc(int max_size); + +// Destroy a tree +extern void pf_kdtree_free(pf_kdtree_t *self); + +// Clear all entries from the tree +extern void pf_kdtree_clear(pf_kdtree_t *self); + +// Insert a pose into the tree +extern void pf_kdtree_insert(pf_kdtree_t *self, pf_vector_t pose, double value); + +// Cluster the leaves in the tree +extern void pf_kdtree_cluster(pf_kdtree_t *self); + +// Determine the probability estimate for the given pose +extern double pf_kdtree_get_prob(pf_kdtree_t *self, pf_vector_t pose); + +// Determine the cluster label for the given pose +extern int pf_kdtree_get_cluster(pf_kdtree_t *self, pf_vector_t pose); + + +#ifdef INCLUDE_RTKGUI + +// Draw the tree +extern void pf_kdtree_draw(pf_kdtree_t *self, rtk_fig_t *fig); + +#endif + +#endif diff --git a/navigations/amcl/include/amcl/pf/pf_pdf.h b/navigations/amcl/include/amcl/pf/pf_pdf.h new file mode 100755 index 0000000..2f2ad87 --- /dev/null +++ b/navigations/amcl/include/amcl/pf/pf_pdf.h @@ -0,0 +1,85 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Useful pdf functions + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_pdf.h 6345 2008-04-17 01:36:39Z gerkey $ + *************************************************************************/ + +#ifndef PF_PDF_H +#define PF_PDF_H + +#include "pf_vector.h" + +//#include +//#include + +#ifdef __cplusplus +extern "C" { +#endif + +/************************************************************************** + * Gaussian + *************************************************************************/ + +// Gaussian PDF info +typedef struct +{ + // Mean, covariance and inverse covariance + pf_vector_t x; + pf_matrix_t cx; + //pf_matrix_t cxi; + double cxdet; + + // Decomposed covariance matrix (rotation * diagonal) + pf_matrix_t cr; + pf_vector_t cd; + + // A random number generator + //gsl_rng *rng; + +} pf_pdf_gaussian_t; + + +// Create a gaussian pdf +pf_pdf_gaussian_t *pf_pdf_gaussian_alloc(pf_vector_t x, pf_matrix_t cx); + +// Destroy the pdf +void pf_pdf_gaussian_free(pf_pdf_gaussian_t *pdf); + +// Compute the value of the pdf at some point [z]. +//double pf_pdf_gaussian_value(pf_pdf_gaussian_t *pdf, pf_vector_t z); + +// Draw randomly from a zero-mean Gaussian distribution, with standard +// deviation sigma. +// We use the polar form of the Box-Muller transformation, explained here: +// http://www.taygeta.com/random/gaussian.html +double pf_ran_gaussian(double sigma); + +// Generate a sample from the pdf. +pf_vector_t pf_pdf_gaussian_sample(pf_pdf_gaussian_t *pdf); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/navigations/amcl/include/amcl/pf/pf_vector.h b/navigations/amcl/include/amcl/pf/pf_vector.h new file mode 100755 index 0000000..6162ba3 --- /dev/null +++ b/navigations/amcl/include/amcl/pf/pf_vector.h @@ -0,0 +1,94 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Vector functions + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_vector.h 6345 2008-04-17 01:36:39Z gerkey $ + *************************************************************************/ + +#ifndef PF_VECTOR_H +#define PF_VECTOR_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include + +// The basic vector +typedef struct +{ + double v[3]; +} pf_vector_t; + + +// The basic matrix +typedef struct +{ + double m[3][3]; +} pf_matrix_t; + + +// Return a zero vector +pf_vector_t pf_vector_zero(); + +// Check for NAN or INF in any component +int pf_vector_finite(pf_vector_t a); + +// Print a vector +void pf_vector_fprintf(pf_vector_t s, FILE *file, const char *fmt); + +// Simple vector addition +pf_vector_t pf_vector_add(pf_vector_t a, pf_vector_t b); + +// Simple vector subtraction +pf_vector_t pf_vector_sub(pf_vector_t a, pf_vector_t b); + +// Transform from local to global coords (a + b) +pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b); + +// Transform from global to local coords (a - b) +pf_vector_t pf_vector_coord_sub(pf_vector_t a, pf_vector_t b); + + +// Return a zero matrix +pf_matrix_t pf_matrix_zero(); + +// Check for NAN or INF in any component +int pf_matrix_finite(pf_matrix_t a); + +// Print a matrix +void pf_matrix_fprintf(pf_matrix_t s, FILE *file, const char *fmt); + +// Compute the matrix inverse. Will also return the determinant, +// which should be checked for underflow (indicated singular matrix). +//pf_matrix_t pf_matrix_inverse(pf_matrix_t a, double *det); + +// Decompose a covariance matrix [a] into a rotation matrix [r] and a +// diagonal matrix [d] such that a = r * d * r^T. +void pf_matrix_unitary(pf_matrix_t *r, pf_matrix_t *d, pf_matrix_t a); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/navigations/amcl/include/amcl/sensors/amcl_laser.h b/navigations/amcl/include/amcl/sensors/amcl_laser.h new file mode 100755 index 0000000..391c921 --- /dev/null +++ b/navigations/amcl/include/amcl/sensors/amcl_laser.h @@ -0,0 +1,156 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey et al. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: LASER sensor model for AMCL +// Author: Andrew Howard +// Date: 17 Aug 2003 +// CVS: $Id: amcl_laser.h 6443 2008-05-15 19:46:11Z gerkey $ +// +/////////////////////////////////////////////////////////////////////////// + +#ifndef AMCL_LASER_H +#define AMCL_LASER_H + +#include "amcl_sensor.h" +#include "../map/map.h" + +namespace amcl +{ + +typedef enum +{ + LASER_MODEL_BEAM, + LASER_MODEL_LIKELIHOOD_FIELD, + LASER_MODEL_LIKELIHOOD_FIELD_PROB +} laser_model_t; + +// Laser sensor data +class AMCLLaserData : public AMCLSensorData +{ + public: + AMCLLaserData () {ranges=NULL;}; + virtual ~AMCLLaserData() {delete [] ranges;}; + // Laser range data (range, bearing tuples) + public: int range_count; + public: double range_max; + public: double (*ranges)[2]; +}; + + +// Laseretric sensor model +class AMCLLaser : public AMCLSensor +{ + // Default constructor + public: AMCLLaser(size_t max_beams, map_t* map); + + public: virtual ~AMCLLaser(); + + public: void SetModelBeam(double z_hit, + double z_short, + double z_max, + double z_rand, + double sigma_hit, + double lambda_short, + double chi_outlier); + + public: void SetModelLikelihoodField(double z_hit, + double z_rand, + double sigma_hit, + double max_occ_dist); + + //a more probabilistically correct model - also with the option to do beam skipping + public: void SetModelLikelihoodFieldProb(double z_hit, + double z_rand, + double sigma_hit, + double max_occ_dist, + bool do_beamskip, + double beam_skip_distance, + double beam_skip_threshold, + double beam_skip_error_threshold); + + // Update the filter based on the sensor model. Returns true if the + // filter has been updated. + public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data); + + // Set the laser's pose after construction + public: void SetLaserPose(pf_vector_t& laser_pose) + {this->laser_pose = laser_pose;} + + // Determine the probability for the given pose + private: static double BeamModel(AMCLLaserData *data, + pf_sample_set_t* set); + // Determine the probability for the given pose + private: static double LikelihoodFieldModel(AMCLLaserData *data, + pf_sample_set_t* set); + + // Determine the probability for the given pose - more probablistic model + private: static double LikelihoodFieldModelProb(AMCLLaserData *data, + pf_sample_set_t* set); + + private: void reallocTempData(int max_samples, int max_obs); + + private: laser_model_t model_type; + + // Current data timestamp + private: double time; + + // The laser map + private: map_t *map; + + // Laser offset relative to robot + private: pf_vector_t laser_pose; + + // Max beams to consider + private: int max_beams; + + // Beam skipping parameters (used by LikelihoodFieldModelProb model) + private: bool do_beamskip; + private: double beam_skip_distance; + private: double beam_skip_threshold; + //threshold for the ratio of invalid beams - at which all beams are integrated to the likelihoods + //this would be an error condition + private: double beam_skip_error_threshold; + + //temp data that is kept before observations are integrated to each particle (requried for beam skipping) + private: int max_samples; + private: int max_obs; + private: double **temp_obs; + + // Laser model params + // + // Mixture params for the components of the model; must sum to 1 + private: double z_hit; + private: double z_short; + private: double z_max; + private: double z_rand; + // + // Stddev of Gaussian model for laser hits. + private: double sigma_hit; + // Decay rate of exponential model for short readings. + private: double lambda_short; + // Threshold for outlier rejection (unused) + private: double chi_outlier; +}; + + +} + +#endif diff --git a/navigations/amcl/include/amcl/sensors/amcl_laser.puml b/navigations/amcl/include/amcl/sensors/amcl_laser.puml new file mode 100755 index 0000000..3c161b9 --- /dev/null +++ b/navigations/amcl/include/amcl/sensors/amcl_laser.puml @@ -0,0 +1,54 @@ +@startuml + +class Player { + + Player() +} + +class AMCLLaserData { + + AMCLLaserData() + + ~AMCLLaserData() + # range_count: int + # range_max: double + # ranges: double[][] + +} + +class AMCLLaser { + - model_type: laser_model_t + - time: double + - map: map_t + - laser_pose: pf_vector_t + - max_beams: int + - do_beamskip: bool + - beam_skip_distance: double + - beam_skip_threshold: double + - beam_skip_error_threshold: double + - max_samples: int + - max_obs: int + - temp_obs: double[][] + - z_hit: double + - z_short: double + - z_max: double + - z_rand: double + - sigma_hit: double + - lambda_short: double + - chi_outlier: double + + + AMCLLaser(max_beams: size_t, map: map_t) + + ~AMCLLaser() + + SetModelBeam(z_hit: double, z_short: double, z_max: double, z_rand: double, sigma_hit: double, lambda_short: double, chi_outlier: double) + + SetModelLikelihoodField(z_hit: double, z_rand: double, sigma_hit: double, max_occ_dist: double) + + SetModelLikelihoodFieldProb(z_hit: double, z_rand: double, sigma_hit: double, max_occ_dist: double, do_beamskip: bool, beam_skip_distance: double, beam_skip_threshold: double, beam_skip_error_threshold: double) + + UpdateSensor(pf: pf_t, data: AMCLSensorData): bool + + SetLaserPose(laser_pose: pf_vector_t) + + BeamModel(data: AMCLLaserData, set: pf_sample_set_t): double + + LikelihoodFieldModel(data: AMCLLaserData, set: pf_sample_set_t): double + + LikelihoodFieldModelProb(data: AMCLLaserData, set: pf_sample_set_t): double + + reallocTempData(max_samples: int, max_obs: int) +} + +Player --|> AMCLSensor + +AMCLLaserData --|> AMCLSensorData + +@enduml \ No newline at end of file diff --git a/navigations/amcl/include/amcl/sensors/amcl_odom.h b/navigations/amcl/include/amcl/sensors/amcl_odom.h new file mode 100755 index 0000000..d50244a --- /dev/null +++ b/navigations/amcl/include/amcl/sensors/amcl_odom.h @@ -0,0 +1,98 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey et al. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: Odometry sensor model for AMCL +// Author: Andrew Howard +// Date: 17 Aug 2003 +// CVS: $Id: amcl_odom.h 4135 2007-08-23 19:58:48Z gerkey $ +// +/////////////////////////////////////////////////////////////////////////// + +#ifndef AMCL_ODOM_H +#define AMCL_ODOM_H + +#include "amcl_sensor.h" +#include "../pf/pf_pdf.h" + +namespace amcl +{ + +typedef enum +{ + ODOM_MODEL_DIFF, + ODOM_MODEL_OMNI, + ODOM_MODEL_DIFF_CORRECTED, + ODOM_MODEL_OMNI_CORRECTED +} odom_model_t; + +// Odometric sensor data +class AMCLOdomData : public AMCLSensorData +{ + // Odometric pose + public: pf_vector_t pose; + + // Change in odometric pose + public: pf_vector_t delta; +}; + + +// Odometric sensor model +class AMCLOdom : public AMCLSensor +{ + // Default constructor + public: AMCLOdom(); + + public: void SetModelDiff(double alpha1, + double alpha2, + double alpha3, + double alpha4); + + public: void SetModelOmni(double alpha1, + double alpha2, + double alpha3, + double alpha4, + double alpha5); + + public: void SetModel( odom_model_t type, + double alpha1, + double alpha2, + double alpha3, + double alpha4, + double alpha5 = 0 ); + + // Update the filter based on the action model. Returns true if the filter + // has been updated. + public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data); + + // Current data timestamp + private: double time; + + // Model type + private: odom_model_t model_type; + + // Drift parameters + private: double alpha1, alpha2, alpha3, alpha4, alpha5; +}; + + +} + +#endif diff --git a/navigations/amcl/include/amcl/sensors/amcl_odom.puml b/navigations/amcl/include/amcl/sensors/amcl_odom.puml new file mode 100755 index 0000000..8991b0f --- /dev/null +++ b/navigations/amcl/include/amcl/sensors/amcl_odom.puml @@ -0,0 +1,54 @@ +@startuml + +class Player { + + Player() +} + +class AMCLSensor { + - is_action: bool + - pose: pf_vector_t + + + AMCLSensor() + + ~AMCLSensor() + + UpdateAction(pf: pf_t, data: AMCLSensorData): bool + + InitSensor(pf: pf_t, data: AMCLSensorData): bool + + UpdateSensor(pf: pf_t, data: AMCLSensorData): bool +} + +class AMCLSensorData { + - sensor: AMCLSensor + + + AMCLSensorData() + + ~AMCLSensorData() +} + +class AMCLOdomData { + - pose: pf_vector_t + - delta: pf_vector_t + + + AMCLOdomData() +} + +class AMCLOdom { + - time: double + - model_type: odom_model_t + - alpha1: double + - alpha2: double + - alpha3: double + - alpha4: double + - alpha5: double + + + AMCLOdom() + + SetModelDiff(alpha1: double, alpha2: double, alpha3: double, alpha4: double) + + SetModelOmni(alpha1: double, alpha2: double, alpha3: double, alpha4: double, alpha5: double) + + SetModel(type: odom_model_t, alpha1: double, alpha2: double, alpha3: double, alpha4: double, alpha5: double = 0) + + UpdateAction(pf: pf_t, data: AMCLSensorData): bool +} + +Player --|> AMCLSensor + +AMCLSensorData --|> AMCLSensor +AMCLOdomData --|> AMCLSensorData +AMCLOdom --|> AMCLSensor + +@enduml diff --git a/navigations/amcl/include/amcl/sensors/amcl_sensor.h b/navigations/amcl/include/amcl/sensors/amcl_sensor.h new file mode 100755 index 0000000..fe0875a --- /dev/null +++ b/navigations/amcl/include/amcl/sensors/amcl_sensor.h @@ -0,0 +1,97 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey et al. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: Adaptive Monte-Carlo localization +// Author: Andrew Howard +// Date: 6 Feb 2003 +// CVS: $Id: amcl_sensor.h 6443 2008-05-15 19:46:11Z gerkey $ +// +/////////////////////////////////////////////////////////////////////////// + +#ifndef AMCL_SENSOR_H +#define AMCL_SENSOR_H + +#include "../pf/pf.h" + +namespace amcl +{ + +// Forward declarations +class AMCLSensorData; + + +// Base class for all AMCL sensors +class AMCLSensor +{ + // Default constructor + public: AMCLSensor(); + + // Default destructor + public: virtual ~AMCLSensor(); + + // Update the filter based on the action model. Returns true if the filter + // has been updated. + public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data); + + // Initialize the filter based on the sensor model. Returns true if the + // filter has been initialized. + public: virtual bool InitSensor(pf_t *pf, AMCLSensorData *data); + + // Update the filter based on the sensor model. Returns true if the + // filter has been updated. + public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data); + + // Flag is true if this is the action sensor + public: bool is_action; + + // Action pose (action sensors only) + public: pf_vector_t pose; + + // AMCL Base + //protected: AdaptiveMCL & AMCL; + +#ifdef INCLUDE_RTKGUI + // Setup the GUI + public: virtual void SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig); + + // Finalize the GUI + public: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig); + + // Draw sensor data + public: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data); +#endif +}; + + + +// Base class for all AMCL sensor measurements +class AMCLSensorData +{ + // Pointer to sensor that generated the data + public: AMCLSensor *sensor; + virtual ~AMCLSensorData() {} + + // Data timestamp + public: double time; +}; + +} + +#endif diff --git a/navigations/amcl/include/amcl/sensors/amcl_sensor.puml b/navigations/amcl/include/amcl/sensors/amcl_sensor.puml new file mode 100755 index 0000000..7197de0 --- /dev/null +++ b/navigations/amcl/include/amcl/sensors/amcl_sensor.puml @@ -0,0 +1,29 @@ +@startuml + +class Player { + + Player() +} + +class AMCLSensor { + - is_action: bool + - pose: pf_vector_t + + + AMCLSensor() + + ~AMCLSensor() + + UpdateAction(pf: pf_t, data: AMCLSensorData): bool + + InitSensor(pf: pf_t, data: AMCLSensorData): bool + + UpdateSensor(pf: pf_t, data: AMCLSensorData): bool +} + +class AMCLSensorData { + - sensor: AMCLSensor + + + AMCLSensorData() + + ~AMCLSensorData() +} + +Player --|> AMCLSensor + +AMCLSensorData --|> AMCLSensor + +@enduml \ No newline at end of file diff --git a/navigations/amcl/package.xml b/navigations/amcl/package.xml new file mode 100755 index 0000000..8bed780 --- /dev/null +++ b/navigations/amcl/package.xml @@ -0,0 +1,47 @@ + + + + amcl + 1.17.3 + +

+ amcl is a probabilistic localization system for a robot moving in + 2D. It implements the adaptive (or KLD-sampling) Monte Carlo + localization approach (as described by Dieter Fox), which uses a + particle filter to track the pose of a robot against a known map. +

+

+ This node is derived, with thanks, from Andrew Howard's excellent + 'amcl' Player driver. +

+ + http://wiki.ros.org/amcl + Brian P. Gerkey + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + LGPL + + catkin + + message_filters + tf2_geometry_msgs + + diagnostic_updater + dynamic_reconfigure + geometry_msgs + nav_msgs + rosbag + roscpp + sensor_msgs + std_srvs + tf2 + tf2_msgs + tf2_ros + + map_server + rostest + python3-pykdl + tf2_py + diff --git a/navigations/amcl/src/amcl/map/map.c b/navigations/amcl/src/amcl/map/map.c new file mode 100755 index 0000000..23c9662 --- /dev/null +++ b/navigations/amcl/src/amcl/map/map.c @@ -0,0 +1,84 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Global map (grid-based) + * Author: Andrew Howard + * Date: 6 Feb 2003 + * CVS: $Id: map.c 1713 2003-08-23 04:03:43Z inspectorg $ +**************************************************************************/ + +#include +#include +#include +#include +#include + +#include "amcl/map/map.h" + + +// Create a new map +map_t *map_alloc(void) +{ + map_t *map; + + map = (map_t*) malloc(sizeof(map_t)); + + // Assume we start at (0, 0) + map->origin_x = 0; + map->origin_y = 0; + + // Make the size odd + map->size_x = 0; + map->size_y = 0; + map->scale = 0; + + // Allocate storage for main map + map->cells = (map_cell_t*) NULL; + + return map; +} + + +// Destroy a map +void map_free(map_t *map) +{ + free(map->cells); + free(map); + return; +} + + +// Get the cell at the given point +map_cell_t *map_get_cell(map_t *map, double ox, double oy, double oa) +{ + int i, j; + map_cell_t *cell; + + i = MAP_GXWX(map, ox); + j = MAP_GYWY(map, oy); + + if (!MAP_VALID(map, i, j)) + return NULL; + + cell = map->cells + MAP_INDEX(map, i, j); + return cell; +} + diff --git a/navigations/amcl/src/amcl/map/map_cspace.cpp b/navigations/amcl/src/amcl/map/map_cspace.cpp new file mode 100755 index 0000000..3eafd9d --- /dev/null +++ b/navigations/amcl/src/amcl/map/map_cspace.cpp @@ -0,0 +1,176 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +#include +#include +#include +#include +#include "amcl/map/map.h" + +class CellData +{ + public: + map_t* map_; + unsigned int i_, j_; + unsigned int src_i_, src_j_; +}; + +class CachedDistanceMap +{ + public: + CachedDistanceMap(double scale, double max_dist) : + distances_(NULL), scale_(scale), max_dist_(max_dist) + { + cell_radius_ = max_dist / scale; + distances_ = new double *[cell_radius_+2]; + for(int i=0; i<=cell_radius_+1; i++) + { + distances_[i] = new double[cell_radius_+2]; + for(int j=0; j<=cell_radius_+1; j++) + { + distances_[i][j] = sqrt(i*i + j*j); + } + } + } + ~CachedDistanceMap() + { + if(distances_) + { + for(int i=0; i<=cell_radius_+1; i++) + delete[] distances_[i]; + delete[] distances_; + } + } + double** distances_; + double scale_; + double max_dist_; + int cell_radius_; +}; + + +bool operator<(const CellData& a, const CellData& b) +{ + return a.map_->cells[MAP_INDEX(a.map_, a.i_, a.j_)].occ_dist > a.map_->cells[MAP_INDEX(b.map_, b.i_, b.j_)].occ_dist; +} + +CachedDistanceMap* +get_distance_map(double scale, double max_dist) +{ + static CachedDistanceMap* cdm = NULL; + + if(!cdm || (cdm->scale_ != scale) || (cdm->max_dist_ != max_dist)) + { + if(cdm) + delete cdm; + cdm = new CachedDistanceMap(scale, max_dist); + } + + return cdm; +} + +void enqueue(map_t* map, int i, int j, + int src_i, int src_j, + std::priority_queue& Q, + CachedDistanceMap* cdm, + unsigned char* marked) +{ + if(marked[MAP_INDEX(map, i, j)]) + return; + + int di = abs(i - src_i); + int dj = abs(j - src_j); + double distance = cdm->distances_[di][dj]; + + if(distance > cdm->cell_radius_) + return; + + map->cells[MAP_INDEX(map, i, j)].occ_dist = distance * map->scale; + + CellData cell; + cell.map_ = map; + cell.i_ = i; + cell.j_ = j; + cell.src_i_ = src_i; + cell.src_j_ = src_j; + + Q.push(cell); + + marked[MAP_INDEX(map, i, j)] = 1; +} + +// Update the cspace distance values +void map_update_cspace(map_t *map, double max_occ_dist) +{ + unsigned char* marked; + std::priority_queue Q; + + marked = new unsigned char[map->size_x*map->size_y]; + memset(marked, 0, sizeof(unsigned char) * map->size_x*map->size_y); + + map->max_occ_dist = max_occ_dist; + + CachedDistanceMap* cdm = get_distance_map(map->scale, map->max_occ_dist); + + // Enqueue all the obstacle cells + CellData cell; + cell.map_ = map; + for(int i=0; isize_x; i++) + { + cell.src_i_ = cell.i_ = i; + for(int j=0; jsize_y; j++) + { + if(map->cells[MAP_INDEX(map, i, j)].occ_state == +1) + { + map->cells[MAP_INDEX(map, i, j)].occ_dist = 0.0; + cell.src_j_ = cell.j_ = j; + marked[MAP_INDEX(map, i, j)] = 1; + Q.push(cell); + } + else + map->cells[MAP_INDEX(map, i, j)].occ_dist = max_occ_dist; + } + } + + while(!Q.empty()) + { + CellData current_cell = Q.top(); + if(current_cell.i_ > 0) + enqueue(map, current_cell.i_-1, current_cell.j_, + current_cell.src_i_, current_cell.src_j_, + Q, cdm, marked); + if(current_cell.j_ > 0) + enqueue(map, current_cell.i_, current_cell.j_-1, + current_cell.src_i_, current_cell.src_j_, + Q, cdm, marked); + if((int)current_cell.i_ < map->size_x - 1) + enqueue(map, current_cell.i_+1, current_cell.j_, + current_cell.src_i_, current_cell.src_j_, + Q, cdm, marked); + if((int)current_cell.j_ < map->size_y - 1) + enqueue(map, current_cell.i_, current_cell.j_+1, + current_cell.src_i_, current_cell.src_j_, + Q, cdm, marked); + + Q.pop(); + } + + delete[] marked; +} diff --git a/navigations/amcl/src/amcl/map/map_draw.c b/navigations/amcl/src/amcl/map/map_draw.c new file mode 100755 index 0000000..b1201fd --- /dev/null +++ b/navigations/amcl/src/amcl/map/map_draw.c @@ -0,0 +1,158 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Local map GUI functions + * Author: Andrew Howard + * Date: 18 Jan 2003 + * CVS: $Id: map_draw.c 7057 2008-10-02 00:44:06Z gbiggs $ +**************************************************************************/ + +#ifdef INCLUDE_RTKGUI + +#include +#include +#include +#include + +#include +#include "amcl/map/map.h" + + +//////////////////////////////////////////////////////////////////////////// +// Draw the occupancy map +void map_draw_occ(map_t *map, rtk_fig_t *fig) +{ + int i, j; + int col; + map_cell_t *cell; + uint16_t *image; + uint16_t *pixel; + + image = malloc(map->size_x * map->size_y * sizeof(image[0])); + + // Draw occupancy + for (j = 0; j < map->size_y; j++) + { + for (i = 0; i < map->size_x; i++) + { + cell = map->cells + MAP_INDEX(map, i, j); + pixel = image + (j * map->size_x + i); + + col = 127 - 127 * cell->occ_state; + *pixel = RTK_RGB16(col, col, col); + } + } + + // Draw the entire occupancy map as an image + rtk_fig_image(fig, map->origin_x, map->origin_y, 0, + map->scale, map->size_x, map->size_y, 16, image, NULL); + + free(image); + + return; +} + + +//////////////////////////////////////////////////////////////////////////// +// Draw the cspace map +void map_draw_cspace(map_t *map, rtk_fig_t *fig) +{ + int i, j; + int col; + map_cell_t *cell; + uint16_t *image; + uint16_t *pixel; + + image = malloc(map->size_x * map->size_y * sizeof(image[0])); + + // Draw occupancy + for (j = 0; j < map->size_y; j++) + { + for (i = 0; i < map->size_x; i++) + { + cell = map->cells + MAP_INDEX(map, i, j); + pixel = image + (j * map->size_x + i); + + col = 255 * cell->occ_dist / map->max_occ_dist; + + *pixel = RTK_RGB16(col, col, col); + } + } + + // Draw the entire occupancy map as an image + rtk_fig_image(fig, map->origin_x, map->origin_y, 0, + map->scale, map->size_x, map->size_y, 16, image, NULL); + + free(image); + + return; +} + + +//////////////////////////////////////////////////////////////////////////// +// Draw a wifi map +void map_draw_wifi(map_t *map, rtk_fig_t *fig, int index) +{ + int i, j; + int level, col; + map_cell_t *cell; + uint16_t *image, *mask; + uint16_t *ipix, *mpix; + + image = malloc(map->size_x * map->size_y * sizeof(image[0])); + mask = malloc(map->size_x * map->size_y * sizeof(mask[0])); + + // Draw wifi levels + for (j = 0; j < map->size_y; j++) + { + for (i = 0; i < map->size_x; i++) + { + cell = map->cells + MAP_INDEX(map, i, j); + ipix = image + (j * map->size_x + i); + mpix = mask + (j * map->size_x + i); + + level = cell->wifi_levels[index]; + + if (cell->occ_state == -1 && level != 0) + { + col = 255 * (100 + level) / 100; + *ipix = RTK_RGB16(col, col, col); + *mpix = 1; + } + else + { + *mpix = 0; + } + } + } + + // Draw the entire occupancy map as an image + rtk_fig_image(fig, map->origin_x, map->origin_y, 0, + map->scale, map->size_x, map->size_y, 16, image, mask); + + free(mask); + free(image); + + return; +} + + +#endif diff --git a/navigations/amcl/src/amcl/map/map_range.c b/navigations/amcl/src/amcl/map/map_range.c new file mode 100755 index 0000000..658619f --- /dev/null +++ b/navigations/amcl/src/amcl/map/map_range.c @@ -0,0 +1,120 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Range routines + * Author: Andrew Howard + * Date: 18 Jan 2003 + * CVS: $Id: map_range.c 1347 2003-05-05 06:24:33Z inspectorg $ +**************************************************************************/ + +#include +#include +#include +#include + +#include "amcl/map/map.h" + +// Extract a single range reading from the map. Unknown cells and/or +// out-of-bound cells are treated as occupied, which makes it easy to +// use Stage bitmap files. +double map_calc_range(map_t *map, double ox, double oy, double oa, double max_range) +{ + // Bresenham raytracing + int x0,x1,y0,y1; + int x,y; + int xstep, ystep; + char steep; + int tmp; + int deltax, deltay, error, deltaerr; + + x0 = MAP_GXWX(map,ox); + y0 = MAP_GYWY(map,oy); + + x1 = MAP_GXWX(map,ox + max_range * cos(oa)); + y1 = MAP_GYWY(map,oy + max_range * sin(oa)); + + if(abs(y1-y0) > abs(x1-x0)) + steep = 1; + else + steep = 0; + + if(steep) + { + tmp = x0; + x0 = y0; + y0 = tmp; + + tmp = x1; + x1 = y1; + y1 = tmp; + } + + deltax = abs(x1-x0); + deltay = abs(y1-y0); + error = 0; + deltaerr = deltay; + + x = x0; + y = y0; + + if(x0 < x1) + xstep = 1; + else + xstep = -1; + if(y0 < y1) + ystep = 1; + else + ystep = -1; + + if(steep) + { + if(!MAP_VALID(map,y,x) || map->cells[MAP_INDEX(map,y,x)].occ_state > -1) + return sqrt((x-x0)*(x-x0) + (y-y0)*(y-y0)) * map->scale; + } + else + { + if(!MAP_VALID(map,x,y) || map->cells[MAP_INDEX(map,x,y)].occ_state > -1) + return sqrt((x-x0)*(x-x0) + (y-y0)*(y-y0)) * map->scale; + } + + while(x != (x1 + xstep * 1)) + { + x += xstep; + error += deltaerr; + if(2*error >= deltax) + { + y += ystep; + error -= deltax; + } + + if(steep) + { + if(!MAP_VALID(map,y,x) || map->cells[MAP_INDEX(map,y,x)].occ_state > -1) + return sqrt((x-x0)*(x-x0) + (y-y0)*(y-y0)) * map->scale; + } + else + { + if(!MAP_VALID(map,x,y) || map->cells[MAP_INDEX(map,x,y)].occ_state > -1) + return sqrt((x-x0)*(x-x0) + (y-y0)*(y-y0)) * map->scale; + } + } + return max_range; +} diff --git a/navigations/amcl/src/amcl/map/map_store.c b/navigations/amcl/src/amcl/map/map_store.c new file mode 100755 index 0000000..b6d6ddb --- /dev/null +++ b/navigations/amcl/src/amcl/map/map_store.c @@ -0,0 +1,215 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Global map storage functions + * Author: Andrew Howard + * Date: 6 Feb 2003 + * CVS: $Id: map_store.c 2951 2005-08-19 00:48:20Z gerkey $ +**************************************************************************/ + +#include +#include +#include +#include +#include + +#include "amcl/map/map.h" + + +//////////////////////////////////////////////////////////////////////////// +// Load an occupancy grid +int map_load_occ(map_t *map, const char *filename, double scale, int negate) +{ + FILE *file; + char magic[3]; + int i, j; + int ch, occ; + int width, height, depth; + map_cell_t *cell; + + // Open file + file = fopen(filename, "r"); + if (file == NULL) + { + fprintf(stderr, "%s: %s\n", strerror(errno), filename); + return -1; + } + + // Read ppm header + + if ((fscanf(file, "%2s \n", magic) != 1) || (strcmp(magic, "P5") != 0)) + { + fprintf(stderr, "incorrect image format; must be PGM/binary"); + fclose(file); + return -1; + } + + // Ignore comments + while ((ch = fgetc(file)) == '#') + while (fgetc(file) != '\n'); + ungetc(ch, file); + + // Read image dimensions + if(fscanf(file, " %d %d \n %d \n", &width, &height, &depth) != 3) + { + fprintf(stderr, "Failed ot read image dimensions"); + return -1; + } + + // Allocate space in the map + if (map->cells == NULL) + { + map->scale = scale; + map->size_x = width; + map->size_y = height; + map->cells = calloc(width * height, sizeof(map->cells[0])); + } + else + { + if (width != map->size_x || height != map->size_y) + { + //PLAYER_ERROR("map dimensions are inconsistent with prior map dimensions"); + return -1; + } + } + + // Read in the image + for (j = height - 1; j >= 0; j--) + { + for (i = 0; i < width; i++) + { + ch = fgetc(file); + + // Black-on-white images + if (!negate) + { + if (ch < depth / 4) + occ = +1; + else if (ch > 3 * depth / 4) + occ = -1; + else + occ = 0; + } + + // White-on-black images + else + { + if (ch < depth / 4) + occ = -1; + else if (ch > 3 * depth / 4) + occ = +1; + else + occ = 0; + } + + if (!MAP_VALID(map, i, j)) + continue; + cell = map->cells + MAP_INDEX(map, i, j); + cell->occ_state = occ; + } + } + + fclose(file); + + return 0; +} + + +//////////////////////////////////////////////////////////////////////////// +// Load a wifi signal strength map +/* +int map_load_wifi(map_t *map, const char *filename, int index) +{ + FILE *file; + char magic[3]; + int i, j; + int ch, level; + int width, height, depth; + map_cell_t *cell; + + // Open file + file = fopen(filename, "r"); + if (file == NULL) + { + fprintf(stderr, "%s: %s\n", strerror(errno), filename); + return -1; + } + + // Read ppm header + fscanf(file, "%10s \n", magic); + if (strcmp(magic, "P5") != 0) + { + fprintf(stderr, "incorrect image format; must be PGM/binary"); + return -1; + } + + // Ignore comments + while ((ch = fgetc(file)) == '#') + while (fgetc(file) != '\n'); + ungetc(ch, file); + + // Read image dimensions + fscanf(file, " %d %d \n %d \n", &width, &height, &depth); + + // Allocate space in the map + if (map->cells == NULL) + { + map->size_x = width; + map->size_y = height; + map->cells = calloc(width * height, sizeof(map->cells[0])); + } + else + { + if (width != map->size_x || height != map->size_y) + { + //PLAYER_ERROR("map dimensions are inconsistent with prior map dimensions"); + return -1; + } + } + + // Read in the image + for (j = height - 1; j >= 0; j--) + { + for (i = 0; i < width; i++) + { + ch = fgetc(file); + + if (!MAP_VALID(map, i, j)) + continue; + + if (ch == 0) + level = 0; + else + level = ch * 100 / 255 - 100; + + cell = map->cells + MAP_INDEX(map, i, j); + cell->wifi_levels[index] = level; + } + } + + fclose(file); + + return 0; +} +*/ + + + diff --git a/navigations/amcl/src/amcl/pf/eig3.c b/navigations/amcl/src/amcl/pf/eig3.c new file mode 100755 index 0000000..3e8aee6 --- /dev/null +++ b/navigations/amcl/src/amcl/pf/eig3.c @@ -0,0 +1,274 @@ + +/* Eigen decomposition code for symmetric 3x3 matrices, copied from the public + domain Java Matrix library JAMA. */ + +#include + +#ifndef MAX +#define MAX(a, b) ((a)>(b)?(a):(b)) +#endif + +#ifdef _MSC_VER +#define n 3 +#else +static int n = 3; +#endif + +static double hypot2(double x, double y) { + return sqrt(x*x+y*y); +} + +// Symmetric Householder reduction to tridiagonal form. + +static void tred2(double V[n][n], double d[n], double e[n]) { + +// This is derived from the Algol procedures tred2 by +// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for +// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding +// Fortran subroutine in EISPACK. + + int i,j,k; + double f,g,h,hh; + for (j = 0; j < n; j++) { + d[j] = V[n-1][j]; + } + + // Householder reduction to tridiagonal form. + + for (i = n-1; i > 0; i--) { + + // Scale to avoid under/overflow. + + double scale = 0.0; + double h = 0.0; + for (k = 0; k < i; k++) { + scale = scale + fabs(d[k]); + } + if (scale == 0.0) { + e[i] = d[i-1]; + for (j = 0; j < i; j++) { + d[j] = V[i-1][j]; + V[i][j] = 0.0; + V[j][i] = 0.0; + } + } else { + + // Generate Householder vector. + + for (k = 0; k < i; k++) { + d[k] /= scale; + h += d[k] * d[k]; + } + f = d[i-1]; + g = sqrt(h); + if (f > 0) { + g = -g; + } + e[i] = scale * g; + h = h - f * g; + d[i-1] = f - g; + for (j = 0; j < i; j++) { + e[j] = 0.0; + } + + // Apply similarity transformation to remaining columns. + + for (j = 0; j < i; j++) { + f = d[j]; + V[j][i] = f; + g = e[j] + V[j][j] * f; + for (k = j+1; k <= i-1; k++) { + g += V[k][j] * d[k]; + e[k] += V[k][j] * f; + } + e[j] = g; + } + f = 0.0; + for (j = 0; j < i; j++) { + e[j] /= h; + f += e[j] * d[j]; + } + hh = f / (h + h); + for (j = 0; j < i; j++) { + e[j] -= hh * d[j]; + } + for (j = 0; j < i; j++) { + f = d[j]; + g = e[j]; + for (k = j; k <= i-1; k++) { + V[k][j] -= (f * e[k] + g * d[k]); + } + d[j] = V[i-1][j]; + V[i][j] = 0.0; + } + } + d[i] = h; + } + + // Accumulate transformations. + + for (i = 0; i < n-1; i++) { + V[n-1][i] = V[i][i]; + V[i][i] = 1.0; + h = d[i+1]; + if (h != 0.0) { + for (k = 0; k <= i; k++) { + d[k] = V[k][i+1] / h; + } + for (j = 0; j <= i; j++) { + g = 0.0; + for (k = 0; k <= i; k++) { + g += V[k][i+1] * V[k][j]; + } + for (k = 0; k <= i; k++) { + V[k][j] -= g * d[k]; + } + } + } + for (k = 0; k <= i; k++) { + V[k][i+1] = 0.0; + } + } + for (j = 0; j < n; j++) { + d[j] = V[n-1][j]; + V[n-1][j] = 0.0; + } + V[n-1][n-1] = 1.0; + e[0] = 0.0; +} + +// Symmetric tridiagonal QL algorithm. + +static void tql2(double V[n][n], double d[n], double e[n]) { + +// This is derived from the Algol procedures tql2, by +// Bowdler, Martin, Reinsch, and Wilkinson, Handbook for +// Auto. Comp., Vol.ii-Linear Algebra, and the corresponding +// Fortran subroutine in EISPACK. + + int i,j,m,l,k; + double g,p,r,dl1,h,f,tst1,eps; + double c,c2,c3,el1,s,s2; + + for (i = 1; i < n; i++) { + e[i-1] = e[i]; + } + e[n-1] = 0.0; + + f = 0.0; + tst1 = 0.0; + eps = pow(2.0,-52.0); + for (l = 0; l < n; l++) { + + // Find small subdiagonal element + + tst1 = MAX(tst1,fabs(d[l]) + fabs(e[l])); + m = l; + while (m < n) { + if (fabs(e[m]) <= eps*tst1) { + break; + } + m++; + } + + // If m == l, d[l] is an eigenvalue, + // otherwise, iterate. + + if (m > l) { + int iter = 0; + do { + iter = iter + 1; // (Could check iteration count here.) + + // Compute implicit shift + + g = d[l]; + p = (d[l+1] - g) / (2.0 * e[l]); + r = hypot2(p,1.0); + if (p < 0) { + r = -r; + } + d[l] = e[l] / (p + r); + d[l+1] = e[l] * (p + r); + dl1 = d[l+1]; + h = g - d[l]; + for (i = l+2; i < n; i++) { + d[i] -= h; + } + f = f + h; + + // Implicit QL transformation. + + p = d[m]; + c = 1.0; + c2 = c; + c3 = c; + el1 = e[l+1]; + s = 0.0; + s2 = 0.0; + for (i = m-1; i >= l; i--) { + c3 = c2; + c2 = c; + s2 = s; + g = c * e[i]; + h = c * p; + r = hypot2(p,e[i]); + e[i+1] = s * r; + s = e[i] / r; + c = p / r; + p = c * d[i] - s * g; + d[i+1] = h + s * (c * g + s * d[i]); + + // Accumulate transformation. + + for (k = 0; k < n; k++) { + h = V[k][i+1]; + V[k][i+1] = s * V[k][i] + c * h; + V[k][i] = c * V[k][i] - s * h; + } + } + p = -s * s2 * c3 * el1 * e[l] / dl1; + e[l] = s * p; + d[l] = c * p; + + // Check for convergence. + + } while (fabs(e[l]) > eps*tst1); + } + d[l] = d[l] + f; + e[l] = 0.0; + } + + // Sort eigenvalues and corresponding vectors. + + for (i = 0; i < n-1; i++) { + k = i; + p = d[i]; + for (j = i+1; j < n; j++) { + if (d[j] < p) { + k = j; + p = d[j]; + } + } + if (k != i) { + d[k] = d[i]; + d[i] = p; + for (j = 0; j < n; j++) { + p = V[j][i]; + V[j][i] = V[j][k]; + V[j][k] = p; + } + } + } +} + +void eigen_decomposition(double A[n][n], double V[n][n], double d[n]) { + int i,j; + double e[n]; + for (i = 0; i < n; i++) { + for (j = 0; j < n; j++) { + V[i][j] = A[i][j]; + } + } + tred2(V, d, e); + tql2(V, d, e); +} diff --git a/navigations/amcl/src/amcl/pf/pf.c b/navigations/amcl/src/amcl/pf/pf.c new file mode 100755 index 0000000..2e0b44b --- /dev/null +++ b/navigations/amcl/src/amcl/pf/pf.c @@ -0,0 +1,763 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Simple particle filter for localization. + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf.c 6345 2008-04-17 01:36:39Z gerkey $ + *************************************************************************/ + +#include +#include +#include +#include + +#include "amcl/pf/pf.h" +#include "amcl/pf/pf_pdf.h" +#include "amcl/pf/pf_kdtree.h" +#include "portable_utils.hpp" + + +// Compute the required number of samples, given that there are k bins +// with samples in them. +static int pf_resample_limit(pf_t *pf, int k); + + + +// Create a new filter +pf_t *pf_alloc(int min_samples, int max_samples, + double alpha_slow, double alpha_fast, + pf_init_model_fn_t random_pose_fn, void *random_pose_data) +{ + int i, j; + pf_t *pf; + pf_sample_set_t *set; + pf_sample_t *sample; + + srand48(time(NULL)); + + pf = calloc(1, sizeof(pf_t)); + + pf->random_pose_fn = random_pose_fn; + pf->random_pose_data = random_pose_data; + + pf->min_samples = min_samples; + pf->max_samples = max_samples; + + // Control parameters for the population size calculation. [err] is + // the max error between the true distribution and the estimated + // distribution. [z] is the upper standard normal quantile for (1 - + // p), where p is the probability that the error on the estimated + // distrubition will be less than [err]. + pf->pop_err = 0.01; + pf->pop_z = 3; + pf->dist_threshold = 0.5; + + // Number of leaf nodes is never higher than the max number of samples + pf->limit_cache = calloc(max_samples, sizeof(int)); + + pf->current_set = 0; + for (j = 0; j < 2; j++) + { + set = pf->sets + j; + + set->sample_count = max_samples; + set->samples = calloc(max_samples, sizeof(pf_sample_t)); + + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + sample->pose.v[0] = 0.0; + sample->pose.v[1] = 0.0; + sample->pose.v[2] = 0.0; + sample->weight = 1.0 / max_samples; + } + + // HACK: is 3 times max_samples enough? + set->kdtree = pf_kdtree_alloc(3 * max_samples); + + set->cluster_count = 0; + set->cluster_max_count = max_samples; + set->clusters = calloc(set->cluster_max_count, sizeof(pf_cluster_t)); + + set->mean = pf_vector_zero(); + set->cov = pf_matrix_zero(); + } + + pf->w_slow = 0.0; + pf->w_fast = 0.0; + + pf->alpha_slow = alpha_slow; + pf->alpha_fast = alpha_fast; + + //set converged to 0 + pf_init_converged(pf); + + return pf; +} + +// Free an existing filter +void pf_free(pf_t *pf) +{ + int i; + + free(pf->limit_cache); + + for (i = 0; i < 2; i++) + { + free(pf->sets[i].clusters); + pf_kdtree_free(pf->sets[i].kdtree); + free(pf->sets[i].samples); + } + free(pf); + + return; +} + +// Initialize the filter using a gaussian +void pf_init(pf_t *pf, pf_vector_t mean, pf_matrix_t cov) +{ + int i; + pf_sample_set_t *set; + pf_sample_t *sample; + pf_pdf_gaussian_t *pdf; + + set = pf->sets + pf->current_set; + + // Create the kd tree for adaptive sampling + pf_kdtree_clear(set->kdtree); + + set->sample_count = pf->max_samples; + + pdf = pf_pdf_gaussian_alloc(mean, cov); + + // Compute the new sample poses + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + sample->weight = 1.0 / pf->max_samples; + sample->pose = pf_pdf_gaussian_sample(pdf); + + // Add sample to histogram + pf_kdtree_insert(set->kdtree, sample->pose, sample->weight); + } + + pf->w_slow = pf->w_fast = 0.0; + + pf_pdf_gaussian_free(pdf); + + // Re-compute cluster statistics + pf_cluster_stats(pf, set); + + //set converged to 0 + pf_init_converged(pf); + + return; +} + + +// Initialize the filter using some model +void pf_init_model(pf_t *pf, pf_init_model_fn_t init_fn, void *init_data) +{ + int i; + pf_sample_set_t *set; + pf_sample_t *sample; + + set = pf->sets + pf->current_set; + + // Create the kd tree for adaptive sampling + pf_kdtree_clear(set->kdtree); + + set->sample_count = pf->max_samples; + + // Compute the new sample poses + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + sample->weight = 1.0 / pf->max_samples; + sample->pose = (*init_fn) (init_data); + + // Add sample to histogram + pf_kdtree_insert(set->kdtree, sample->pose, sample->weight); + } + + pf->w_slow = pf->w_fast = 0.0; + + // Re-compute cluster statistics + pf_cluster_stats(pf, set); + + //set converged to 0 + pf_init_converged(pf); + + return; +} + +void pf_init_converged(pf_t *pf){ + pf_sample_set_t *set; + set = pf->sets + pf->current_set; + set->converged = 0; + pf->converged = 0; +} + +int pf_update_converged(pf_t *pf) +{ + int i; + pf_sample_set_t *set; + pf_sample_t *sample; + double total; + + set = pf->sets + pf->current_set; + double mean_x = 0, mean_y = 0; + + for (i = 0; i < set->sample_count; i++){ + sample = set->samples + i; + + mean_x += sample->pose.v[0]; + mean_y += sample->pose.v[1]; + } + mean_x /= set->sample_count; + mean_y /= set->sample_count; + + for (i = 0; i < set->sample_count; i++){ + sample = set->samples + i; + if(fabs(sample->pose.v[0] - mean_x) > pf->dist_threshold || + fabs(sample->pose.v[1] - mean_y) > pf->dist_threshold){ + set->converged = 0; + pf->converged = 0; + return 0; + } + } + set->converged = 1; + pf->converged = 1; + return 1; +} + +// Update the filter with some new action +void pf_update_action(pf_t *pf, pf_action_model_fn_t action_fn, void *action_data) +{ + pf_sample_set_t *set; + + set = pf->sets + pf->current_set; + + (*action_fn) (action_data, set); + + return; +} + + +#include +// Update the filter with some new sensor observation +void pf_update_sensor(pf_t *pf, pf_sensor_model_fn_t sensor_fn, void *sensor_data) +{ + int i; + pf_sample_set_t *set; + pf_sample_t *sample; + double total; + + set = pf->sets + pf->current_set; + + // Compute the sample weights + total = (*sensor_fn) (sensor_data, set); + + set->n_effective = 0; + + if (total > 0.0) + { + // Normalize weights + double w_avg=0.0; + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + w_avg += sample->weight; + sample->weight /= total; + set->n_effective += sample->weight*sample->weight; + } + // Update running averages of likelihood of samples (Prob Rob p258) + w_avg /= set->sample_count; + if(pf->w_slow == 0.0) + pf->w_slow = w_avg; + else + pf->w_slow += pf->alpha_slow * (w_avg - pf->w_slow); + if(pf->w_fast == 0.0) + pf->w_fast = w_avg; + else + pf->w_fast += pf->alpha_fast * (w_avg - pf->w_fast); + //printf("w_avg: %e slow: %e fast: %e\n", + //w_avg, pf->w_slow, pf->w_fast); + } + else + { + // Handle zero total + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + sample->weight = 1.0 / set->sample_count; + } + } + + set->n_effective = 1.0/set->n_effective; + return; +} + +// copy set a to set b +void copy_set(pf_sample_set_t* set_a, pf_sample_set_t* set_b) +{ + int i; + double total; + pf_sample_t *sample_a, *sample_b; + + // Clean set b's kdtree + pf_kdtree_clear(set_b->kdtree); + + // Copy samples from set a to create set b + total = 0; + set_b->sample_count = 0; + + for(i = 0; i < set_a->sample_count; i++) + { + sample_b = set_b->samples + set_b->sample_count++; + + sample_a = set_a->samples + i; + + assert(sample_a->weight > 0); + + // Copy sample a to sample b + sample_b->pose = sample_a->pose; + sample_b->weight = sample_a->weight; + + total += sample_b->weight; + + // Add sample to histogram + pf_kdtree_insert(set_b->kdtree, sample_b->pose, sample_b->weight); + } + + // Normalize weights + for (i = 0; i < set_b->sample_count; i++) + { + sample_b = set_b->samples + i; + sample_b->weight /= total; + } + + set_b->converged = set_a->converged; +} + +// Resample the distribution +void pf_update_resample(pf_t *pf) +{ + int i; + double total; + pf_sample_set_t *set_a, *set_b; + pf_sample_t *sample_a, *sample_b; + + //double r,c,U; + //int m; + //double count_inv; + double* c; + + double w_diff; + + set_a = pf->sets + pf->current_set; + set_b = pf->sets + (pf->current_set + 1) % 2; + + if (pf->selective_resampling != 0) + { + if (set_a->n_effective > 0.5*(set_a->sample_count)) + { + // copy set a to b + copy_set(set_a,set_b); + + // Re-compute cluster statistics + pf_cluster_stats(pf, set_b); + + // Use the newly created sample set + pf->current_set = (pf->current_set + 1) % 2; + return; + } + } + + // Build up cumulative probability table for resampling. + // TODO: Replace this with a more efficient procedure + // (e.g., http://www.network-theory.co.uk/docs/gslref/GeneralDiscreteDistributions.html) + c = (double*)malloc(sizeof(double)*(set_a->sample_count+1)); + c[0] = 0.0; + for(i=0;isample_count;i++) + c[i+1] = c[i]+set_a->samples[i].weight; + + // Create the kd tree for adaptive sampling + pf_kdtree_clear(set_b->kdtree); + + // Draw samples from set a to create set b. + total = 0; + set_b->sample_count = 0; + + w_diff = 1.0 - pf->w_fast / pf->w_slow; + if(w_diff < 0.0) + w_diff = 0.0; + //printf("w_diff: %9.6f\n", w_diff); + + // Can't (easily) combine low-variance sampler with KLD adaptive + // sampling, so we'll take the more traditional route. + /* + // Low-variance resampler, taken from Probabilistic Robotics, p110 + count_inv = 1.0/set_a->sample_count; + r = drand48() * count_inv; + c = set_a->samples[0].weight; + i = 0; + m = 0; + */ + while(set_b->sample_count < pf->max_samples) + { + sample_b = set_b->samples + set_b->sample_count++; + + if(drand48() < w_diff) + sample_b->pose = (pf->random_pose_fn)(pf->random_pose_data); + else + { + // Can't (easily) combine low-variance sampler with KLD adaptive + // sampling, so we'll take the more traditional route. + /* + // Low-variance resampler, taken from Probabilistic Robotics, p110 + U = r + m * count_inv; + while(U>c) + { + i++; + // Handle wrap-around by resetting counters and picking a new random + // number + if(i >= set_a->sample_count) + { + r = drand48() * count_inv; + c = set_a->samples[0].weight; + i = 0; + m = 0; + U = r + m * count_inv; + continue; + } + c += set_a->samples[i].weight; + } + m++; + */ + + // Naive discrete event sampler + double r; + r = drand48(); + for(i=0;isample_count;i++) + { + if((c[i] <= r) && (r < c[i+1])) + break; + } + assert(isample_count); + + sample_a = set_a->samples + i; + + assert(sample_a->weight > 0); + + // Add sample to list + sample_b->pose = sample_a->pose; + } + + sample_b->weight = 1.0; + total += sample_b->weight; + + // Add sample to histogram + pf_kdtree_insert(set_b->kdtree, sample_b->pose, sample_b->weight); + + // See if we have enough samples yet + if (set_b->sample_count > pf_resample_limit(pf, set_b->kdtree->leaf_count)) + break; + } + + // Reset averages, to avoid spiraling off into complete randomness. + if(w_diff > 0.0) + pf->w_slow = pf->w_fast = 0.0; + + //fprintf(stderr, "\n\n"); + + // Normalize weights + for (i = 0; i < set_b->sample_count; i++) + { + sample_b = set_b->samples + i; + sample_b->weight /= total; + } + + // Re-compute cluster statistics + pf_cluster_stats(pf, set_b); + + // Use the newly created sample set + pf->current_set = (pf->current_set + 1) % 2; + + pf_update_converged(pf); + + free(c); + return; +} + + +// Compute the required number of samples, given that there are k bins +// with samples in them. This is taken directly from Fox et al. +int pf_resample_limit(pf_t *pf, int k) +{ + double a, b, c, x; + int n; + + // Return max_samples in case k is outside expected range, this shouldn't + // happen, but is added to prevent any runtime errors + if (k < 1 || k > pf->max_samples) + return pf->max_samples; + + // Return value if cache is valid, which means value is non-zero positive + if (pf->limit_cache[k-1] > 0) + return pf->limit_cache[k-1]; + + if (k == 1) + { + pf->limit_cache[k-1] = pf->max_samples; + return pf->max_samples; + } + + a = 1; + b = 2 / (9 * ((double) k - 1)); + c = sqrt(2 / (9 * ((double) k - 1))) * pf->pop_z; + x = a - b + c; + + n = (int) ceil((k - 1) / (2 * pf->pop_err) * x * x * x); + + if (n < pf->min_samples) + { + pf->limit_cache[k-1] = pf->min_samples; + return pf->min_samples; + } + if (n > pf->max_samples) + { + pf->limit_cache[k-1] = pf->max_samples; + return pf->max_samples; + } + + pf->limit_cache[k-1] = n; + return n; +} + + +// Re-compute the cluster statistics for a sample set +void pf_cluster_stats(pf_t *pf, pf_sample_set_t *set) +{ + int i, j, k, cidx; + pf_sample_t *sample; + pf_cluster_t *cluster; + + // Workspace + double m[4], c[2][2]; + size_t count; + double weight; + + // Cluster the samples + pf_kdtree_cluster(set->kdtree); + + // Initialize cluster stats + set->cluster_count = 0; + + for (i = 0; i < set->cluster_max_count; i++) + { + cluster = set->clusters + i; + cluster->count = 0; + cluster->weight = 0; + cluster->mean = pf_vector_zero(); + cluster->cov = pf_matrix_zero(); + + for (j = 0; j < 4; j++) + cluster->m[j] = 0.0; + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + cluster->c[j][k] = 0.0; + } + + // Initialize overall filter stats + count = 0; + weight = 0.0; + set->mean = pf_vector_zero(); + set->cov = pf_matrix_zero(); + for (j = 0; j < 4; j++) + m[j] = 0.0; + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + c[j][k] = 0.0; + + // Compute cluster stats + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + + //printf("%d %f %f %f\n", i, sample->pose.v[0], sample->pose.v[1], sample->pose.v[2]); + + // Get the cluster label for this sample + cidx = pf_kdtree_get_cluster(set->kdtree, sample->pose); + assert(cidx >= 0); + if (cidx >= set->cluster_max_count) + continue; + if (cidx + 1 > set->cluster_count) + set->cluster_count = cidx + 1; + + cluster = set->clusters + cidx; + + cluster->count += 1; + cluster->weight += sample->weight; + + count += 1; + weight += sample->weight; + + // Compute mean + cluster->m[0] += sample->weight * sample->pose.v[0]; + cluster->m[1] += sample->weight * sample->pose.v[1]; + cluster->m[2] += sample->weight * cos(sample->pose.v[2]); + cluster->m[3] += sample->weight * sin(sample->pose.v[2]); + + m[0] += sample->weight * sample->pose.v[0]; + m[1] += sample->weight * sample->pose.v[1]; + m[2] += sample->weight * cos(sample->pose.v[2]); + m[3] += sample->weight * sin(sample->pose.v[2]); + + // Compute covariance in linear components + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + { + cluster->c[j][k] += sample->weight * sample->pose.v[j] * sample->pose.v[k]; + c[j][k] += sample->weight * sample->pose.v[j] * sample->pose.v[k]; + } + } + + // Normalize + for (i = 0; i < set->cluster_count; i++) + { + cluster = set->clusters + i; + + cluster->mean.v[0] = cluster->m[0] / cluster->weight; + cluster->mean.v[1] = cluster->m[1] / cluster->weight; + cluster->mean.v[2] = atan2(cluster->m[3], cluster->m[2]); + + cluster->cov = pf_matrix_zero(); + + // Covariance in linear components + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + cluster->cov.m[j][k] = cluster->c[j][k] / cluster->weight - + cluster->mean.v[j] * cluster->mean.v[k]; + + // Covariance in angular components; I think this is the correct + // formula for circular statistics. + cluster->cov.m[2][2] = -2 * log(sqrt(cluster->m[2] * cluster->m[2] + + cluster->m[3] * cluster->m[3]) / cluster->weight); + + //printf("cluster %d %d %f (%f %f %f)\n", i, cluster->count, cluster->weight, + //cluster->mean.v[0], cluster->mean.v[1], cluster->mean.v[2]); + //pf_matrix_fprintf(cluster->cov, stdout, "%e"); + } + + assert(fabs(weight) >= DBL_EPSILON); + if (fabs(weight) < DBL_EPSILON) + { + printf("ERROR : divide-by-zero exception : weight is zero\n"); + return; + } + // Compute overall filter stats + set->mean.v[0] = m[0] / weight; + set->mean.v[1] = m[1] / weight; + set->mean.v[2] = atan2(m[3], m[2]); + + // Covariance in linear components + for (j = 0; j < 2; j++) + for (k = 0; k < 2; k++) + set->cov.m[j][k] = c[j][k] / weight - set->mean.v[j] * set->mean.v[k]; + + // Covariance in angular components; I think this is the correct + // formula for circular statistics. + set->cov.m[2][2] = -2 * log(sqrt(m[2] * m[2] + m[3] * m[3])); + + return; +} + +void pf_set_selective_resampling(pf_t *pf, int selective_resampling) +{ + pf->selective_resampling = selective_resampling; +} + +// Compute the CEP statistics (mean and variance). +void pf_get_cep_stats(pf_t *pf, pf_vector_t *mean, double *var) +{ + int i; + double mn, mx, my, mrr; + pf_sample_set_t *set; + pf_sample_t *sample; + + set = pf->sets + pf->current_set; + + mn = 0.0; + mx = 0.0; + my = 0.0; + mrr = 0.0; + + for (i = 0; i < set->sample_count; i++) + { + sample = set->samples + i; + + mn += sample->weight; + mx += sample->weight * sample->pose.v[0]; + my += sample->weight * sample->pose.v[1]; + mrr += sample->weight * sample->pose.v[0] * sample->pose.v[0]; + mrr += sample->weight * sample->pose.v[1] * sample->pose.v[1]; + } + + assert(fabs(mn) >= DBL_EPSILON); + if (fabs(mn) < DBL_EPSILON) + { + printf("ERROR : divide-by-zero exception : mn is zero\n"); + return; + } + + mean->v[0] = mx / mn; + mean->v[1] = my / mn; + mean->v[2] = 0.0; + + *var = mrr / mn - (mx * mx / (mn * mn) + my * my / (mn * mn)); + + return; +} + + +// Get the statistics for a particular cluster. +int pf_get_cluster_stats(pf_t *pf, int clabel, double *weight, + pf_vector_t *mean, pf_matrix_t *cov) +{ + pf_sample_set_t *set; + pf_cluster_t *cluster; + + set = pf->sets + pf->current_set; + + if (clabel >= set->cluster_count) + return 0; + cluster = set->clusters + clabel; + + *weight = cluster->weight; + *mean = cluster->mean; + *cov = cluster->cov; + + return 1; +} + + diff --git a/navigations/amcl/src/amcl/pf/pf_draw.c b/navigations/amcl/src/amcl/pf/pf_draw.c new file mode 100755 index 0000000..0c445af --- /dev/null +++ b/navigations/amcl/src/amcl/pf/pf_draw.c @@ -0,0 +1,163 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Particle filter; drawing routines + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_draw.c 7057 2008-10-02 00:44:06Z gbiggs $ + *************************************************************************/ + +#ifdef INCLUDE_RTKGUI + +#include +#include +#include + + +#include "rtk.h" + +#include "pf.h" +#include "pf_pdf.h" +#include "pf_kdtree.h" + + +// Draw the statistics +void pf_draw_statistics(pf_t *pf, rtk_fig_t *fig); + + +// Draw the sample set +void pf_draw_samples(pf_t *pf, rtk_fig_t *fig, int max_samples) +{ + int i; + double px, py, pa; + pf_sample_set_t *set; + pf_sample_t *sample; + + set = pf->sets + pf->current_set; + max_samples = MIN(max_samples, set->sample_count); + + for (i = 0; i < max_samples; i++) + { + sample = set->samples + i; + + px = sample->pose.v[0]; + py = sample->pose.v[1]; + pa = sample->pose.v[2]; + + //printf("%f %f\n", px, py); + + rtk_fig_point(fig, px, py); + rtk_fig_arrow(fig, px, py, pa, 0.1, 0.02); + //rtk_fig_rectangle(fig, px, py, 0, 0.1, 0.1, 0); + } + + return; +} + + +// Draw the hitogram (kd tree) +void pf_draw_hist(pf_t *pf, rtk_fig_t *fig) +{ + pf_sample_set_t *set; + + set = pf->sets + pf->current_set; + + rtk_fig_color(fig, 0.0, 0.0, 1.0); + pf_kdtree_draw(set->kdtree, fig); + + return; +} + + +// Draw the CEP statistics +void pf_draw_cep_stats(pf_t *pf, rtk_fig_t *fig) +{ + pf_vector_t mean; + double var; + + pf_get_cep_stats(pf, &mean, &var); + var = sqrt(var); + + rtk_fig_color(fig, 0, 0, 1); + rtk_fig_ellipse(fig, mean.v[0], mean.v[1], mean.v[2], 3 * var, 3 * var, 0); + + return; +} + + +// Draw the cluster statistics +void pf_draw_cluster_stats(pf_t *pf, rtk_fig_t *fig) +{ + int i; + pf_cluster_t *cluster; + pf_sample_set_t *set; + pf_vector_t mean; + pf_matrix_t cov; + pf_matrix_t r, d; + double weight, o, d1, d2; + + set = pf->sets + pf->current_set; + + for (i = 0; i < set->cluster_count; i++) + { + cluster = set->clusters + i; + + weight = cluster->weight; + mean = cluster->mean; + cov = cluster->cov; + + // Compute unitary representation S = R D R^T + pf_matrix_unitary(&r, &d, cov); + + /* Debugging + printf("mean = \n"); + pf_vector_fprintf(mean, stdout, "%e"); + printf("cov = \n"); + pf_matrix_fprintf(cov, stdout, "%e"); + printf("r = \n"); + pf_matrix_fprintf(r, stdout, "%e"); + printf("d = \n"); + pf_matrix_fprintf(d, stdout, "%e"); + */ + + // Compute the orientation of the error ellipse (first eigenvector) + o = atan2(r.m[1][0], r.m[0][0]); + d1 = 6 * sqrt(d.m[0][0]); + d2 = 6 * sqrt(d.m[1][1]); + + if (d1 > 1e-3 && d2 > 1e-3) + { + // Draw the error ellipse + rtk_fig_ellipse(fig, mean.v[0], mean.v[1], o, d1, d2, 0); + rtk_fig_line_ex(fig, mean.v[0], mean.v[1], o, d1); + rtk_fig_line_ex(fig, mean.v[0], mean.v[1], o + M_PI / 2, d2); + } + + // Draw a direction indicator + rtk_fig_arrow(fig, mean.v[0], mean.v[1], mean.v[2], 0.50, 0.10); + rtk_fig_arrow(fig, mean.v[0], mean.v[1], mean.v[2] + 3 * sqrt(cov.m[2][2]), 0.50, 0.10); + rtk_fig_arrow(fig, mean.v[0], mean.v[1], mean.v[2] - 3 * sqrt(cov.m[2][2]), 0.50, 0.10); + } + + return; +} + +#endif diff --git a/navigations/amcl/src/amcl/pf/pf_kdtree.c b/navigations/amcl/src/amcl/pf/pf_kdtree.c new file mode 100755 index 0000000..b625b83 --- /dev/null +++ b/navigations/amcl/src/amcl/pf/pf_kdtree.c @@ -0,0 +1,486 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: kd-tree functions + * Author: Andrew Howard + * Date: 18 Dec 2002 + * CVS: $Id: pf_kdtree.c 7057 2008-10-02 00:44:06Z gbiggs $ + *************************************************************************/ + +#include +#include +#include +#include + + +#include "amcl/pf/pf_vector.h" +#include "amcl/pf/pf_kdtree.h" + + +// Compare keys to see if they are equal +static int pf_kdtree_equal(pf_kdtree_t *self, int key_a[], int key_b[]); + +// Insert a node into the tree +static pf_kdtree_node_t *pf_kdtree_insert_node(pf_kdtree_t *self, pf_kdtree_node_t *parent, + pf_kdtree_node_t *node, int key[], double value); + +// Recursive node search +static pf_kdtree_node_t *pf_kdtree_find_node(pf_kdtree_t *self, pf_kdtree_node_t *node, int key[]); + +// Recursively label nodes in this cluster +static void pf_kdtree_cluster_node(pf_kdtree_t *self, pf_kdtree_node_t *node, int depth); + +// Recursive node printing +//static void pf_kdtree_print_node(pf_kdtree_t *self, pf_kdtree_node_t *node); + + +#ifdef INCLUDE_RTKGUI + +// Recursively draw nodes +static void pf_kdtree_draw_node(pf_kdtree_t *self, pf_kdtree_node_t *node, rtk_fig_t *fig); + +#endif + + + +//////////////////////////////////////////////////////////////////////////////// +// Create a tree +pf_kdtree_t *pf_kdtree_alloc(int max_size) +{ + pf_kdtree_t *self; + + self = calloc(1, sizeof(pf_kdtree_t)); + + self->size[0] = 0.50; + self->size[1] = 0.50; + self->size[2] = (10 * M_PI / 180); + + self->root = NULL; + + self->node_count = 0; + self->node_max_count = max_size; + self->nodes = calloc(self->node_max_count, sizeof(pf_kdtree_node_t)); + + self->leaf_count = 0; + + return self; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Destroy a tree +void pf_kdtree_free(pf_kdtree_t *self) +{ + free(self->nodes); + free(self); + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Clear all entries from the tree +void pf_kdtree_clear(pf_kdtree_t *self) +{ + self->root = NULL; + self->leaf_count = 0; + self->node_count = 0; + + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Insert a pose into the tree. +void pf_kdtree_insert(pf_kdtree_t *self, pf_vector_t pose, double value) +{ + int key[3]; + + key[0] = floor(pose.v[0] / self->size[0]); + key[1] = floor(pose.v[1] / self->size[1]); + key[2] = floor(pose.v[2] / self->size[2]); + + self->root = pf_kdtree_insert_node(self, NULL, self->root, key, value); + + // Test code + /* + printf("find %d %d %d\n", key[0], key[1], key[2]); + assert(pf_kdtree_find_node(self, self->root, key) != NULL); + + pf_kdtree_print_node(self, self->root); + + printf("\n"); + + for (i = 0; i < self->node_count; i++) + { + node = self->nodes + i; + if (node->leaf) + { + printf("find %d %d %d\n", node->key[0], node->key[1], node->key[2]); + assert(pf_kdtree_find_node(self, self->root, node->key) == node); + } + } + printf("\n\n"); + */ + + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Determine the probability estimate for the given pose. TODO: this +// should do a kernel density estimate rather than a simple histogram. +double pf_kdtree_get_prob(pf_kdtree_t *self, pf_vector_t pose) +{ + int key[3]; + pf_kdtree_node_t *node; + + key[0] = floor(pose.v[0] / self->size[0]); + key[1] = floor(pose.v[1] / self->size[1]); + key[2] = floor(pose.v[2] / self->size[2]); + + node = pf_kdtree_find_node(self, self->root, key); + if (node == NULL) + return 0.0; + return node->value; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Determine the cluster label for the given pose +int pf_kdtree_get_cluster(pf_kdtree_t *self, pf_vector_t pose) +{ + int key[3]; + pf_kdtree_node_t *node; + + key[0] = floor(pose.v[0] / self->size[0]); + key[1] = floor(pose.v[1] / self->size[1]); + key[2] = floor(pose.v[2] / self->size[2]); + + node = pf_kdtree_find_node(self, self->root, key); + if (node == NULL) + return -1; + return node->cluster; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Compare keys to see if they are equal +int pf_kdtree_equal(pf_kdtree_t *self, int key_a[], int key_b[]) +{ + //double a, b; + + if (key_a[0] != key_b[0]) + return 0; + if (key_a[1] != key_b[1]) + return 0; + + if (key_a[2] != key_b[2]) + return 0; + + /* TODO: make this work (pivot selection needs fixing, too) + // Normalize angles + a = key_a[2] * self->size[2]; + a = atan2(sin(a), cos(a)) / self->size[2]; + b = key_b[2] * self->size[2]; + b = atan2(sin(b), cos(b)) / self->size[2]; + + if ((int) a != (int) b) + return 0; + */ + + return 1; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Insert a node into the tree +pf_kdtree_node_t *pf_kdtree_insert_node(pf_kdtree_t *self, pf_kdtree_node_t *parent, + pf_kdtree_node_t *node, int key[], double value) +{ + int i; + int split, max_split; + + // If the node doesnt exist yet... + if (node == NULL) + { + assert(self->node_count < self->node_max_count); + node = self->nodes + self->node_count++; + memset(node, 0, sizeof(pf_kdtree_node_t)); + + node->leaf = 1; + + if (parent == NULL) + node->depth = 0; + else + node->depth = parent->depth + 1; + + for (i = 0; i < 3; i++) + node->key[i] = key[i]; + + node->value = value; + self->leaf_count += 1; + } + + // If the node exists, and it is a leaf node... + else if (node->leaf) + { + // If the keys are equal, increment the value + if (pf_kdtree_equal(self, key, node->key)) + { + node->value += value; + } + + // The keys are not equal, so split this node + else + { + // Find the dimension with the largest variance and do a mean + // split + max_split = 0; + node->pivot_dim = -1; + for (i = 0; i < 3; i++) + { + split = abs(key[i] - node->key[i]); + if (split > max_split) + { + max_split = split; + node->pivot_dim = i; + } + } + assert(node->pivot_dim >= 0); + + node->pivot_value = (key[node->pivot_dim] + node->key[node->pivot_dim]) / 2.0; + + if (key[node->pivot_dim] < node->pivot_value) + { + node->children[0] = pf_kdtree_insert_node(self, node, NULL, key, value); + node->children[1] = pf_kdtree_insert_node(self, node, NULL, node->key, node->value); + } + else + { + node->children[0] = pf_kdtree_insert_node(self, node, NULL, node->key, node->value); + node->children[1] = pf_kdtree_insert_node(self, node, NULL, key, value); + } + + node->leaf = 0; + self->leaf_count -= 1; + } + } + + // If the node exists, and it has children... + else + { + assert(node->children[0] != NULL); + assert(node->children[1] != NULL); + + if (key[node->pivot_dim] < node->pivot_value) + pf_kdtree_insert_node(self, node, node->children[0], key, value); + else + pf_kdtree_insert_node(self, node, node->children[1], key, value); + } + + return node; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Recursive node search +pf_kdtree_node_t *pf_kdtree_find_node(pf_kdtree_t *self, pf_kdtree_node_t *node, int key[]) +{ + if (node->leaf) + { + //printf("find : leaf %p %d %d %d\n", node, node->key[0], node->key[1], node->key[2]); + + // If the keys are the same... + if (pf_kdtree_equal(self, key, node->key)) + return node; + else + return NULL; + } + else + { + //printf("find : brch %p %d %f\n", node, node->pivot_dim, node->pivot_value); + + assert(node->children[0] != NULL); + assert(node->children[1] != NULL); + + // If the keys are different... + if (key[node->pivot_dim] < node->pivot_value) + return pf_kdtree_find_node(self, node->children[0], key); + else + return pf_kdtree_find_node(self, node->children[1], key); + } + + return NULL; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Recursive node printing +/* +void pf_kdtree_print_node(pf_kdtree_t *self, pf_kdtree_node_t *node) +{ + if (node->leaf) + { + printf("(%+02d %+02d %+02d)\n", node->key[0], node->key[1], node->key[2]); + printf("%*s", node->depth * 11, ""); + } + else + { + printf("(%+02d %+02d %+02d) ", node->key[0], node->key[1], node->key[2]); + pf_kdtree_print_node(self, node->children[0]); + pf_kdtree_print_node(self, node->children[1]); + } + return; +} +*/ + + +//////////////////////////////////////////////////////////////////////////////// +// Cluster the leaves in the tree +void pf_kdtree_cluster(pf_kdtree_t *self) +{ + int i; + int queue_count, cluster_count; + pf_kdtree_node_t **queue, *node; + + queue_count = 0; + queue = calloc(self->node_count, sizeof(queue[0])); + + // Put all the leaves in a queue + for (i = 0; i < self->node_count; i++) + { + node = self->nodes + i; + if (node->leaf) + { + node->cluster = -1; + assert(queue_count < self->node_count); + queue[queue_count++] = node; + + // TESTING; remove + assert(node == pf_kdtree_find_node(self, self->root, node->key)); + } + } + + cluster_count = 0; + + // Do connected components for each node + while (queue_count > 0) + { + node = queue[--queue_count]; + + // If this node has already been labelled, skip it + if (node->cluster >= 0) + continue; + + // Assign a label to this cluster + node->cluster = cluster_count++; + + // Recursively label nodes in this cluster + pf_kdtree_cluster_node(self, node, 0); + } + + free(queue); + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Recursively label nodes in this cluster +void pf_kdtree_cluster_node(pf_kdtree_t *self, pf_kdtree_node_t *node, int depth) +{ + int i; + int nkey[3]; + pf_kdtree_node_t *nnode; + + for (i = 0; i < 3 * 3 * 3; i++) + { + nkey[0] = node->key[0] + (i / 9) - 1; + nkey[1] = node->key[1] + ((i % 9) / 3) - 1; + nkey[2] = node->key[2] + ((i % 9) % 3) - 1; + + nnode = pf_kdtree_find_node(self, self->root, nkey); + if (nnode == NULL) + continue; + + assert(nnode->leaf); + + // This node already has a label; skip it. The label should be + // consistent, however. + if (nnode->cluster >= 0) + { + assert(nnode->cluster == node->cluster); + continue; + } + + // Label this node and recurse + nnode->cluster = node->cluster; + + pf_kdtree_cluster_node(self, nnode, depth + 1); + } + return; +} + + + +#ifdef INCLUDE_RTKGUI + +//////////////////////////////////////////////////////////////////////////////// +// Draw the tree +void pf_kdtree_draw(pf_kdtree_t *self, rtk_fig_t *fig) +{ + if (self->root != NULL) + pf_kdtree_draw_node(self, self->root, fig); + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Recursively draw nodes +void pf_kdtree_draw_node(pf_kdtree_t *self, pf_kdtree_node_t *node, rtk_fig_t *fig) +{ + double ox, oy; + char text[64]; + + if (node->leaf) + { + ox = (node->key[0] + 0.5) * self->size[0]; + oy = (node->key[1] + 0.5) * self->size[1]; + + rtk_fig_rectangle(fig, ox, oy, 0.0, self->size[0], self->size[1], 0); + + //snprintf(text, sizeof(text), "%0.3f", node->value); + //rtk_fig_text(fig, ox, oy, 0.0, text); + + snprintf(text, sizeof(text), "%d", node->cluster); + rtk_fig_text(fig, ox, oy, 0.0, text); + } + else + { + assert(node->children[0] != NULL); + assert(node->children[1] != NULL); + pf_kdtree_draw_node(self, node->children[0], fig); + pf_kdtree_draw_node(self, node->children[1], fig); + } + + return; +} + +#endif diff --git a/navigations/amcl/src/amcl/pf/pf_pdf.c b/navigations/amcl/src/amcl/pf/pf_pdf.c new file mode 100755 index 0000000..06310a5 --- /dev/null +++ b/navigations/amcl/src/amcl/pf/pf_pdf.c @@ -0,0 +1,147 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Useful pdf functions + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_pdf.c 6348 2008-04-17 02:53:17Z gerkey $ + *************************************************************************/ + +#include +#include +#include +#include +//#include +//#include + +#include "amcl/pf/pf_pdf.h" +#include "portable_utils.hpp" + +// Random number generator seed value +static unsigned int pf_pdf_seed; + + +/************************************************************************** + * Gaussian + *************************************************************************/ + +// Create a gaussian pdf +pf_pdf_gaussian_t *pf_pdf_gaussian_alloc(pf_vector_t x, pf_matrix_t cx) +{ + pf_matrix_t cd; + pf_pdf_gaussian_t *pdf; + + pdf = calloc(1, sizeof(pf_pdf_gaussian_t)); + + pdf->x = x; + pdf->cx = cx; + //pdf->cxi = pf_matrix_inverse(cx, &pdf->cxdet); + + // Decompose the convariance matrix into a rotation + // matrix and a diagonal matrix. + pf_matrix_unitary(&pdf->cr, &cd, pdf->cx); + pdf->cd.v[0] = sqrt(cd.m[0][0]); + pdf->cd.v[1] = sqrt(cd.m[1][1]); + pdf->cd.v[2] = sqrt(cd.m[2][2]); + + // Initialize the random number generator + //pdf->rng = gsl_rng_alloc(gsl_rng_taus); + //gsl_rng_set(pdf->rng, ++pf_pdf_seed); + srand48(++pf_pdf_seed); + + return pdf; +} + + +// Destroy the pdf +void pf_pdf_gaussian_free(pf_pdf_gaussian_t *pdf) +{ + //gsl_rng_free(pdf->rng); + free(pdf); + return; +} + + +/* +// Compute the value of the pdf at some point [x]. +double pf_pdf_gaussian_value(pf_pdf_gaussian_t *pdf, pf_vector_t x) +{ + int i, j; + pf_vector_t z; + double zz, p; + + z = pf_vector_sub(x, pdf->x); + + zz = 0; + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + zz += z.v[i] * pdf->cxi.m[i][j] * z.v[j]; + + p = 1 / (2 * M_PI * pdf->cxdet) * exp(-zz / 2); + + return p; +} +*/ + + +// Generate a sample from the pdf. +pf_vector_t pf_pdf_gaussian_sample(pf_pdf_gaussian_t *pdf) +{ + int i, j; + pf_vector_t r; + pf_vector_t x; + + // Generate a random vector + for (i = 0; i < 3; i++) + { + //r.v[i] = gsl_ran_gaussian(pdf->rng, pdf->cd.v[i]); + r.v[i] = pf_ran_gaussian(pdf->cd.v[i]); + } + + for (i = 0; i < 3; i++) + { + x.v[i] = pdf->x.v[i]; + for (j = 0; j < 3; j++) + x.v[i] += pdf->cr.m[i][j] * r.v[j]; + } + + return x; +} + +// Draw randomly from a zero-mean Gaussian distribution, with standard +// deviation sigma. +// We use the polar form of the Box-Muller transformation, explained here: +// http://www.taygeta.com/random/gaussian.html +double pf_ran_gaussian(double sigma) +{ + double x1, x2, w, r; + + do + { + do { r = drand48(); } while (r==0.0); + x1 = 2.0 * r - 1.0; + do { r = drand48(); } while (r==0.0); + x2 = 2.0 * r - 1.0; + w = x1*x1 + x2*x2; + } while(w > 1.0 || w==0.0); + + return(sigma * x2 * sqrt(-2.0*log(w)/w)); +} diff --git a/navigations/amcl/src/amcl/pf/pf_vector.c b/navigations/amcl/src/amcl/pf/pf_vector.c new file mode 100755 index 0000000..23d7ccb --- /dev/null +++ b/navigations/amcl/src/amcl/pf/pf_vector.c @@ -0,0 +1,276 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/************************************************************************** + * Desc: Vector functions + * Author: Andrew Howard + * Date: 10 Dec 2002 + * CVS: $Id: pf_vector.c 6345 2008-04-17 01:36:39Z gerkey $ + *************************************************************************/ + +#include +//#include +//#include +//#include + +#include "amcl/pf/pf_vector.h" +#include "amcl/pf/eig3.h" + + +// Return a zero vector +pf_vector_t pf_vector_zero() +{ + pf_vector_t c; + + c.v[0] = 0.0; + c.v[1] = 0.0; + c.v[2] = 0.0; + + return c; +} + + +// Check for NAN or INF in any component +int pf_vector_finite(pf_vector_t a) +{ + int i; + + for (i = 0; i < 3; i++) + if (!isfinite(a.v[i])) + return 0; + + return 1; +} + + +// Print a vector +void pf_vector_fprintf(pf_vector_t a, FILE *file, const char *fmt) +{ + int i; + + for (i = 0; i < 3; i++) + { + fprintf(file, fmt, a.v[i]); + fprintf(file, " "); + } + fprintf(file, "\n"); + + return; +} + + +// Simple vector addition +pf_vector_t pf_vector_add(pf_vector_t a, pf_vector_t b) +{ + pf_vector_t c; + + c.v[0] = a.v[0] + b.v[0]; + c.v[1] = a.v[1] + b.v[1]; + c.v[2] = a.v[2] + b.v[2]; + + return c; +} + + +// Simple vector subtraction +pf_vector_t pf_vector_sub(pf_vector_t a, pf_vector_t b) +{ + pf_vector_t c; + + c.v[0] = a.v[0] - b.v[0]; + c.v[1] = a.v[1] - b.v[1]; + c.v[2] = a.v[2] - b.v[2]; + + return c; +} + + +// Transform from local to global coords (a + b) +pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b) +{ + pf_vector_t c; + + c.v[0] = b.v[0] + a.v[0] * cos(b.v[2]) - a.v[1] * sin(b.v[2]); + c.v[1] = b.v[1] + a.v[0] * sin(b.v[2]) + a.v[1] * cos(b.v[2]); + c.v[2] = b.v[2] + a.v[2]; + c.v[2] = atan2(sin(c.v[2]), cos(c.v[2])); + + return c; +} + + +// Transform from global to local coords (a - b) +pf_vector_t pf_vector_coord_sub(pf_vector_t a, pf_vector_t b) +{ + pf_vector_t c; + + c.v[0] = +(a.v[0] - b.v[0]) * cos(b.v[2]) + (a.v[1] - b.v[1]) * sin(b.v[2]); + c.v[1] = -(a.v[0] - b.v[0]) * sin(b.v[2]) + (a.v[1] - b.v[1]) * cos(b.v[2]); + c.v[2] = a.v[2] - b.v[2]; + c.v[2] = atan2(sin(c.v[2]), cos(c.v[2])); + + return c; +} + + +// Return a zero matrix +pf_matrix_t pf_matrix_zero() +{ + int i, j; + pf_matrix_t c; + + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + c.m[i][j] = 0.0; + + return c; +} + + +// Check for NAN or INF in any component +int pf_matrix_finite(pf_matrix_t a) +{ + int i, j; + + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + if (!isfinite(a.m[i][j])) + return 0; + + return 1; +} + + +// Print a matrix +void pf_matrix_fprintf(pf_matrix_t a, FILE *file, const char *fmt) +{ + int i, j; + + for (i = 0; i < 3; i++) + { + for (j = 0; j < 3; j++) + { + fprintf(file, fmt, a.m[i][j]); + fprintf(file, " "); + } + fprintf(file, "\n"); + } + return; +} + + +/* +// Compute the matrix inverse +pf_matrix_t pf_matrix_inverse(pf_matrix_t a, double *det) +{ + double lndet; + int signum; + gsl_permutation *p; + gsl_matrix_view A, Ai; + + pf_matrix_t ai; + + A = gsl_matrix_view_array((double*) a.m, 3, 3); + Ai = gsl_matrix_view_array((double*) ai.m, 3, 3); + + // Do LU decomposition + p = gsl_permutation_alloc(3); + gsl_linalg_LU_decomp(&A.matrix, p, &signum); + + // Check for underflow + lndet = gsl_linalg_LU_lndet(&A.matrix); + if (lndet < -1000) + { + //printf("underflow in matrix inverse lndet = %f", lndet); + gsl_matrix_set_zero(&Ai.matrix); + } + else + { + // Compute inverse + gsl_linalg_LU_invert(&A.matrix, p, &Ai.matrix); + } + + gsl_permutation_free(p); + + if (det) + *det = exp(lndet); + + return ai; +} +*/ + + +// Decompose a covariance matrix [a] into a rotation matrix [r] and a diagonal +// matrix [d] such that a = r d r^T. +void pf_matrix_unitary(pf_matrix_t *r, pf_matrix_t *d, pf_matrix_t a) +{ + int i, j; + /* + gsl_matrix *aa; + gsl_vector *eval; + gsl_matrix *evec; + gsl_eigen_symmv_workspace *w; + + aa = gsl_matrix_alloc(3, 3); + eval = gsl_vector_alloc(3); + evec = gsl_matrix_alloc(3, 3); + */ + + double aa[3][3]; + double eval[3]; + double evec[3][3]; + + for (i = 0; i < 3; i++) + { + for (j = 0; j < 3; j++) + { + //gsl_matrix_set(aa, i, j, a.m[i][j]); + aa[i][j] = a.m[i][j]; + } + } + + // Compute eigenvectors/values + /* + w = gsl_eigen_symmv_alloc(3); + gsl_eigen_symmv(aa, eval, evec, w); + gsl_eigen_symmv_free(w); + */ + + eigen_decomposition(aa,evec,eval); + + *d = pf_matrix_zero(); + for (i = 0; i < 3; i++) + { + //d->m[i][i] = gsl_vector_get(eval, i); + d->m[i][i] = eval[i]; + for (j = 0; j < 3; j++) + { + //r->m[i][j] = gsl_matrix_get(evec, i, j); + r->m[i][j] = evec[i][j]; + } + } + + //gsl_matrix_free(evec); + //gsl_vector_free(eval); + //gsl_matrix_free(aa); + + return; +} + diff --git a/navigations/amcl/src/amcl/sensors/amcl_laser.cpp b/navigations/amcl/src/amcl/sensors/amcl_laser.cpp new file mode 100755 index 0000000..f8aa35c --- /dev/null +++ b/navigations/amcl/src/amcl/sensors/amcl_laser.cpp @@ -0,0 +1,510 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: AMCL laser routines +// Author: Andrew Howard +// Date: 6 Feb 2003 +// CVS: $Id: amcl_laser.cc 7057 2008-10-02 00:44:06Z gbiggs $ +// +/////////////////////////////////////////////////////////////////////////// + +#include // required by Darwin +#include +#include +#include +#ifdef HAVE_UNISTD_H +#include +#endif + +#include "amcl/sensors/amcl_laser.h" + +using namespace amcl; + +//////////////////////////////////////////////////////////////////////////////// +// Default constructor +AMCLLaser::AMCLLaser(size_t max_beams, map_t* map) : AMCLSensor(), + max_samples(0), max_obs(0), + temp_obs(NULL) +{ + this->time = 0.0; + + this->max_beams = max_beams; + this->map = map; + + return; +} + +AMCLLaser::~AMCLLaser() +{ + if(temp_obs){ + for(int k=0; k < max_samples; k++){ + delete [] temp_obs[k]; + } + delete []temp_obs; + } +} + +void +AMCLLaser::SetModelBeam(double z_hit, + double z_short, + double z_max, + double z_rand, + double sigma_hit, + double lambda_short, + double chi_outlier) +{ + this->model_type = LASER_MODEL_BEAM; + this->z_hit = z_hit; + this->z_short = z_short; + this->z_max = z_max; + this->z_rand = z_rand; + this->sigma_hit = sigma_hit; + this->lambda_short = lambda_short; + this->chi_outlier = chi_outlier; +} + +void +AMCLLaser::SetModelLikelihoodField(double z_hit, + double z_rand, + double sigma_hit, + double max_occ_dist) +{ + this->model_type = LASER_MODEL_LIKELIHOOD_FIELD; + this->z_hit = z_hit; + this->z_rand = z_rand; + this->sigma_hit = sigma_hit; + + map_update_cspace(this->map, max_occ_dist); +} + +void +AMCLLaser::SetModelLikelihoodFieldProb(double z_hit, + double z_rand, + double sigma_hit, + double max_occ_dist, + bool do_beamskip, + double beam_skip_distance, + double beam_skip_threshold, + double beam_skip_error_threshold) +{ + this->model_type = LASER_MODEL_LIKELIHOOD_FIELD_PROB; + this->z_hit = z_hit; + this->z_rand = z_rand; + this->sigma_hit = sigma_hit; + this->do_beamskip = do_beamskip; + this->beam_skip_distance = beam_skip_distance; + this->beam_skip_threshold = beam_skip_threshold; + this->beam_skip_error_threshold = beam_skip_error_threshold; + map_update_cspace(this->map, max_occ_dist); +} + + +//////////////////////////////////////////////////////////////////////////////// +// Apply the laser sensor model +bool AMCLLaser::UpdateSensor(pf_t *pf, AMCLSensorData *data) +{ + if (this->max_beams < 2) + return false; + + // Apply the laser sensor model + if(this->model_type == LASER_MODEL_BEAM) + pf_update_sensor(pf, (pf_sensor_model_fn_t) BeamModel, data); + else if(this->model_type == LASER_MODEL_LIKELIHOOD_FIELD) + pf_update_sensor(pf, (pf_sensor_model_fn_t) LikelihoodFieldModel, data); + else if(this->model_type == LASER_MODEL_LIKELIHOOD_FIELD_PROB) + pf_update_sensor(pf, (pf_sensor_model_fn_t) LikelihoodFieldModelProb, data); + else + pf_update_sensor(pf, (pf_sensor_model_fn_t) BeamModel, data); + + return true; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Determine the probability for the given pose +double AMCLLaser::BeamModel(AMCLLaserData *data, pf_sample_set_t* set) +{ + AMCLLaser *self; + int i, j, step; + double z, pz; + double p; + double map_range; + double obs_range, obs_bearing; + double total_weight; + pf_sample_t *sample; + pf_vector_t pose; + + self = (AMCLLaser*) data->sensor; + + total_weight = 0.0; + + // Compute the sample weights + for (j = 0; j < set->sample_count; j++) + { + sample = set->samples + j; + pose = sample->pose; + + // Take account of the laser pose relative to the robot + pose = pf_vector_coord_add(self->laser_pose, pose); + + p = 1.0; + + step = (data->range_count - 1) / (self->max_beams - 1); + for (i = 0; i < data->range_count; i += step) + { + obs_range = data->ranges[i][0]; + obs_bearing = data->ranges[i][1]; + + // Compute the range according to the map + map_range = map_calc_range(self->map, pose.v[0], pose.v[1], + pose.v[2] + obs_bearing, data->range_max); + pz = 0.0; + + // Part 1: good, but noisy, hit + z = obs_range - map_range; + pz += self->z_hit * exp(-(z * z) / (2 * self->sigma_hit * self->sigma_hit)); + + // Part 2: short reading from unexpected obstacle (e.g., a person) + if(z < 0) + pz += self->z_short * self->lambda_short * exp(-self->lambda_short*obs_range); + + // Part 3: Failure to detect obstacle, reported as max-range + if(obs_range == data->range_max) + pz += self->z_max * 1.0; + + // Part 4: Random measurements + if(obs_range < data->range_max) + pz += self->z_rand * 1.0/data->range_max; + + // TODO: outlier rejection for short readings + + assert(pz <= 1.0); + assert(pz >= 0.0); + // p *= pz; + // here we have an ad-hoc weighting scheme for combining beam probs + // works well, though... + p += pz*pz*pz; + } + + sample->weight *= p; + total_weight += sample->weight; + } + + return(total_weight); +} + +double AMCLLaser::LikelihoodFieldModel(AMCLLaserData *data, pf_sample_set_t* set) +{ + AMCLLaser *self; + int i, j, step; + double z, pz; + double p; + double obs_range, obs_bearing; + double total_weight; + pf_sample_t *sample; + pf_vector_t pose; + pf_vector_t hit; + + self = (AMCLLaser*) data->sensor; + + total_weight = 0.0; + + // Compute the sample weights + for (j = 0; j < set->sample_count; j++) + { + sample = set->samples + j; + pose = sample->pose; + + // Take account of the laser pose relative to the robot + pose = pf_vector_coord_add(self->laser_pose, pose); + + p = 1.0; + + // Pre-compute a couple of things + double z_hit_denom = 2 * self->sigma_hit * self->sigma_hit; + double z_rand_mult = 1.0/data->range_max; + + step = (data->range_count - 1) / (self->max_beams - 1); + + // Step size must be at least 1 + if(step < 1) + step = 1; + + for (i = 0; i < data->range_count; i += step) + { + obs_range = data->ranges[i][0]; + obs_bearing = data->ranges[i][1]; + + // This model ignores max range readings + if(obs_range >= data->range_max) + continue; + + // Check for NaN + if(obs_range != obs_range) + continue; + + pz = 0.0; + + // Compute the endpoint of the beam + hit.v[0] = pose.v[0] + obs_range * cos(pose.v[2] + obs_bearing); + hit.v[1] = pose.v[1] + obs_range * sin(pose.v[2] + obs_bearing); + + // Convert to map grid coords. + int mi, mj; + mi = MAP_GXWX(self->map, hit.v[0]); + mj = MAP_GYWY(self->map, hit.v[1]); + + // Part 1: Get distance from the hit to closest obstacle. + // Off-map penalized as max distance + if(!MAP_VALID(self->map, mi, mj)) + z = self->map->max_occ_dist; + else + z = self->map->cells[MAP_INDEX(self->map,mi,mj)].occ_dist; + // Gaussian model + // NOTE: this should have a normalization of 1/(sqrt(2pi)*sigma) + pz += self->z_hit * exp(-(z * z) / z_hit_denom); + // Part 2: random measurements + pz += self->z_rand * z_rand_mult; + + // TODO: outlier rejection for short readings + + assert(pz <= 1.0); + assert(pz >= 0.0); + // p *= pz; + // here we have an ad-hoc weighting scheme for combining beam probs + // works well, though... + p += pz*pz*pz; + } + + sample->weight *= p; + total_weight += sample->weight; + } + + return(total_weight); +} + +double AMCLLaser::LikelihoodFieldModelProb(AMCLLaserData *data, pf_sample_set_t* set) +{ + AMCLLaser *self; + int i, j, step; + double z, pz; + double log_p; + double obs_range, obs_bearing; + double total_weight; + pf_sample_t *sample; + pf_vector_t pose; + pf_vector_t hit; + + self = (AMCLLaser*) data->sensor; + + total_weight = 0.0; + + step = ceil((data->range_count) / static_cast(self->max_beams)); + + // Step size must be at least 1 + if(step < 1) + step = 1; + + // Pre-compute a couple of things + double z_hit_denom = 2 * self->sigma_hit * self->sigma_hit; + double z_rand_mult = 1.0/data->range_max; + + double max_dist_prob = exp(-(self->map->max_occ_dist * self->map->max_occ_dist) / z_hit_denom); + + //Beam skipping - ignores beams for which a majority of particles do not agree with the map + //prevents correct particles from getting down weighted because of unexpected obstacles + //such as humans + + bool do_beamskip = self->do_beamskip; + double beam_skip_distance = self->beam_skip_distance; + double beam_skip_threshold = self->beam_skip_threshold; + + //we only do beam skipping if the filter has converged + if(do_beamskip && !set->converged){ + do_beamskip = false; + } + + //we need a count the no of particles for which the beam agreed with the map + int *obs_count = new int[self->max_beams](); + + //we also need a mask of which observations to integrate (to decide which beams to integrate to all particles) + bool *obs_mask = new bool[self->max_beams](); + + int beam_ind = 0; + + //realloc indicates if we need to reallocate the temp data structure needed to do beamskipping + bool realloc = false; + + if(do_beamskip){ + if(self->max_obs < self->max_beams){ + realloc = true; + } + + if(self->max_samples < set->sample_count){ + realloc = true; + } + + if(realloc){ + self->reallocTempData(set->sample_count, self->max_beams); + fprintf(stderr, "Reallocing temp weights %d - %d\n", self->max_samples, self->max_obs); + } + } + + // Compute the sample weights + for (j = 0; j < set->sample_count; j++) + { + sample = set->samples + j; + pose = sample->pose; + + // Take account of the laser pose relative to the robot + pose = pf_vector_coord_add(self->laser_pose, pose); + + log_p = 0; + + beam_ind = 0; + + for (i = 0; i < data->range_count; i += step, beam_ind++) + { + obs_range = data->ranges[i][0]; + obs_bearing = data->ranges[i][1]; + + // This model ignores max range readings + if(obs_range >= data->range_max){ + continue; + } + + // Check for NaN + if(obs_range != obs_range){ + continue; + } + + pz = 0.0; + + // Compute the endpoint of the beam + hit.v[0] = pose.v[0] + obs_range * cos(pose.v[2] + obs_bearing); + hit.v[1] = pose.v[1] + obs_range * sin(pose.v[2] + obs_bearing); + + // Convert to map grid coords. + int mi, mj; + mi = MAP_GXWX(self->map, hit.v[0]); + mj = MAP_GYWY(self->map, hit.v[1]); + + // Part 1: Get distance from the hit to closest obstacle. + // Off-map penalized as max distance + + if(!MAP_VALID(self->map, mi, mj)){ + pz += self->z_hit * max_dist_prob; + } + else{ + z = self->map->cells[MAP_INDEX(self->map,mi,mj)].occ_dist; + if(z < beam_skip_distance){ + obs_count[beam_ind] += 1; + } + pz += self->z_hit * exp(-(z * z) / z_hit_denom); + } + + // Gaussian model + // NOTE: this should have a normalization of 1/(sqrt(2pi)*sigma) + + // Part 2: random measurements + pz += self->z_rand * z_rand_mult; + + assert(pz <= 1.0); + assert(pz >= 0.0); + + // TODO: outlier rejection for short readings + + if(!do_beamskip){ + log_p += log(pz); + } + else{ + self->temp_obs[j][beam_ind] = pz; + } + } + if(!do_beamskip){ + sample->weight *= exp(log_p); + total_weight += sample->weight; + } + } + + if(do_beamskip){ + int skipped_beam_count = 0; + for (beam_ind = 0; beam_ind < self->max_beams; beam_ind++){ + if((obs_count[beam_ind] / static_cast(set->sample_count)) > beam_skip_threshold){ + obs_mask[beam_ind] = true; + } + else{ + obs_mask[beam_ind] = false; + skipped_beam_count++; + } + } + + //we check if there is at least a critical number of beams that agreed with the map + //otherwise it probably indicates that the filter converged to a wrong solution + //if that's the case we integrate all the beams and hope the filter might converge to + //the right solution + bool error = false; + + if(skipped_beam_count >= (beam_ind * self->beam_skip_error_threshold)){ + fprintf(stderr, "Over %f%% of the observations were not in the map - pf may have converged to wrong pose - integrating all observations\n", (100 * self->beam_skip_error_threshold)); + error = true; + } + + for (j = 0; j < set->sample_count; j++) + { + sample = set->samples + j; + pose = sample->pose; + + log_p = 0; + + for (beam_ind = 0; beam_ind < self->max_beams; beam_ind++){ + if(error || obs_mask[beam_ind]){ + log_p += log(self->temp_obs[j][beam_ind]); + } + } + + sample->weight *= exp(log_p); + + total_weight += sample->weight; + } + } + + delete [] obs_count; + delete [] obs_mask; + return(total_weight); +} + +void AMCLLaser::reallocTempData(int new_max_samples, int new_max_obs){ + if(temp_obs){ + for(int k=0; k < max_samples; k++){ + delete [] temp_obs[k]; + } + delete []temp_obs; + } + max_obs = new_max_obs; + max_samples = fmax(max_samples, new_max_samples); + + temp_obs = new double*[max_samples](); + for(int k=0; k < max_samples; k++){ + temp_obs[k] = new double[max_obs](); + } +} diff --git a/navigations/amcl/src/amcl/sensors/amcl_odom.cpp b/navigations/amcl/src/amcl/sensors/amcl_odom.cpp new file mode 100755 index 0000000..5aa846f --- /dev/null +++ b/navigations/amcl/src/amcl/sensors/amcl_odom.cpp @@ -0,0 +1,310 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: AMCL odometry routines +// Author: Andrew Howard +// Date: 6 Feb 2003 +// CVS: $Id: amcl_odom.cc 7057 2008-10-02 00:44:06Z gbiggs $ +// +/////////////////////////////////////////////////////////////////////////// + +#include + +#include // required by Darwin +#include + +#include "amcl/sensors/amcl_odom.h" + +using namespace amcl; + +static double +normalize(double z) +{ + return atan2(sin(z),cos(z)); +} +static double +angle_diff(double a, double b) +{ + double d1, d2; + a = normalize(a); + b = normalize(b); + d1 = a-b; + d2 = 2*M_PI - fabs(d1); + if(d1 > 0) + d2 *= -1.0; + if(fabs(d1) < fabs(d2)) + return(d1); + else + return(d2); +} + +//////////////////////////////////////////////////////////////////////////////// +// Default constructor +AMCLOdom::AMCLOdom() : AMCLSensor() +{ + this->time = 0.0; +} + +void +AMCLOdom::SetModelDiff(double alpha1, + double alpha2, + double alpha3, + double alpha4) +{ + this->model_type = ODOM_MODEL_DIFF; + this->alpha1 = alpha1; + this->alpha2 = alpha2; + this->alpha3 = alpha3; + this->alpha4 = alpha4; +} + +void +AMCLOdom::SetModelOmni(double alpha1, + double alpha2, + double alpha3, + double alpha4, + double alpha5) +{ + this->model_type = ODOM_MODEL_OMNI; + this->alpha1 = alpha1; + this->alpha2 = alpha2; + this->alpha3 = alpha3; + this->alpha4 = alpha4; + this->alpha5 = alpha5; +} + +void +AMCLOdom::SetModel( odom_model_t type, + double alpha1, + double alpha2, + double alpha3, + double alpha4, + double alpha5 ) +{ + this->model_type = type; + this->alpha1 = alpha1; + this->alpha2 = alpha2; + this->alpha3 = alpha3; + this->alpha4 = alpha4; + this->alpha5 = alpha5; +} + +//////////////////////////////////////////////////////////////////////////////// +// Apply the action model +bool AMCLOdom::UpdateAction(pf_t *pf, AMCLSensorData *data) +{ + AMCLOdomData *ndata; + ndata = (AMCLOdomData*) data; + + // Compute the new sample poses + pf_sample_set_t *set; + + set = pf->sets + pf->current_set; + pf_vector_t old_pose = pf_vector_sub(ndata->pose, ndata->delta); + + switch( this->model_type ) + { + case ODOM_MODEL_OMNI: + { + double delta_trans, delta_rot, delta_bearing; + double delta_trans_hat, delta_rot_hat, delta_strafe_hat; + + delta_trans = sqrt(ndata->delta.v[0]*ndata->delta.v[0] + + ndata->delta.v[1]*ndata->delta.v[1]); + delta_rot = ndata->delta.v[2]; + + // Precompute a couple of things + double trans_hat_stddev = (alpha3 * (delta_trans*delta_trans) + + alpha1 * (delta_rot*delta_rot)); + double rot_hat_stddev = (alpha4 * (delta_rot*delta_rot) + + alpha2 * (delta_trans*delta_trans)); + double strafe_hat_stddev = (alpha1 * (delta_rot*delta_rot) + + alpha5 * (delta_trans*delta_trans)); + + for (int i = 0; i < set->sample_count; i++) + { + pf_sample_t* sample = set->samples + i; + + delta_bearing = angle_diff(atan2(ndata->delta.v[1], ndata->delta.v[0]), + old_pose.v[2]) + sample->pose.v[2]; + double cs_bearing = cos(delta_bearing); + double sn_bearing = sin(delta_bearing); + + // Sample pose differences + delta_trans_hat = delta_trans + pf_ran_gaussian(trans_hat_stddev); + delta_rot_hat = delta_rot + pf_ran_gaussian(rot_hat_stddev); + delta_strafe_hat = 0 + pf_ran_gaussian(strafe_hat_stddev); + // Apply sampled update to particle pose + sample->pose.v[0] += (delta_trans_hat * cs_bearing + + delta_strafe_hat * sn_bearing); + sample->pose.v[1] += (delta_trans_hat * sn_bearing - + delta_strafe_hat * cs_bearing); + sample->pose.v[2] += delta_rot_hat ; + } + } + break; + case ODOM_MODEL_DIFF: + { + // Implement sample_motion_odometry (Prob Rob p 136) + double delta_rot1, delta_trans, delta_rot2; + double delta_rot1_hat, delta_trans_hat, delta_rot2_hat; + double delta_rot1_noise, delta_rot2_noise; + + // Avoid computing a bearing from two poses that are extremely near each + // other (happens on in-place rotation). + if(sqrt(ndata->delta.v[1]*ndata->delta.v[1] + + ndata->delta.v[0]*ndata->delta.v[0]) < 0.01) + delta_rot1 = 0.0; + else + delta_rot1 = angle_diff(atan2(ndata->delta.v[1], ndata->delta.v[0]), + old_pose.v[2]); + delta_trans = sqrt(ndata->delta.v[0]*ndata->delta.v[0] + + ndata->delta.v[1]*ndata->delta.v[1]); + delta_rot2 = angle_diff(ndata->delta.v[2], delta_rot1); + + // We want to treat backward and forward motion symmetrically for the + // noise model to be applied below. The standard model seems to assume + // forward motion. + delta_rot1_noise = std::min(fabs(angle_diff(delta_rot1,0.0)), + fabs(angle_diff(delta_rot1,M_PI))); + delta_rot2_noise = std::min(fabs(angle_diff(delta_rot2,0.0)), + fabs(angle_diff(delta_rot2,M_PI))); + + for (int i = 0; i < set->sample_count; i++) + { + pf_sample_t* sample = set->samples + i; + + // Sample pose differences + delta_rot1_hat = angle_diff(delta_rot1, + pf_ran_gaussian(this->alpha1*delta_rot1_noise*delta_rot1_noise + + this->alpha2*delta_trans*delta_trans)); + delta_trans_hat = delta_trans - + pf_ran_gaussian(this->alpha3*delta_trans*delta_trans + + this->alpha4*delta_rot1_noise*delta_rot1_noise + + this->alpha4*delta_rot2_noise*delta_rot2_noise); + delta_rot2_hat = angle_diff(delta_rot2, + pf_ran_gaussian(this->alpha1*delta_rot2_noise*delta_rot2_noise + + this->alpha2*delta_trans*delta_trans)); + + // Apply sampled update to particle pose + sample->pose.v[0] += delta_trans_hat * + cos(sample->pose.v[2] + delta_rot1_hat); + sample->pose.v[1] += delta_trans_hat * + sin(sample->pose.v[2] + delta_rot1_hat); + sample->pose.v[2] += delta_rot1_hat + delta_rot2_hat; + } + } + break; + case ODOM_MODEL_OMNI_CORRECTED: + { + double delta_trans, delta_rot, delta_bearing; + double delta_trans_hat, delta_rot_hat, delta_strafe_hat; + + delta_trans = sqrt(ndata->delta.v[0]*ndata->delta.v[0] + + ndata->delta.v[1]*ndata->delta.v[1]); + delta_rot = ndata->delta.v[2]; + + // Precompute a couple of things + double trans_hat_stddev = sqrt( alpha3 * (delta_trans*delta_trans) + + alpha4 * (delta_rot*delta_rot) ); + double rot_hat_stddev = sqrt( alpha1 * (delta_rot*delta_rot) + + alpha2 * (delta_trans*delta_trans) ); + double strafe_hat_stddev = sqrt( alpha4 * (delta_rot*delta_rot) + + alpha5 * (delta_trans*delta_trans) ); + + for (int i = 0; i < set->sample_count; i++) + { + pf_sample_t* sample = set->samples + i; + + delta_bearing = angle_diff(atan2(ndata->delta.v[1], ndata->delta.v[0]), + old_pose.v[2]) + sample->pose.v[2]; + double cs_bearing = cos(delta_bearing); + double sn_bearing = sin(delta_bearing); + + // Sample pose differences + delta_trans_hat = delta_trans + pf_ran_gaussian(trans_hat_stddev); + delta_rot_hat = delta_rot + pf_ran_gaussian(rot_hat_stddev); + delta_strafe_hat = 0 + pf_ran_gaussian(strafe_hat_stddev); + // Apply sampled update to particle pose + sample->pose.v[0] += (delta_trans_hat * cs_bearing + + delta_strafe_hat * sn_bearing); + sample->pose.v[1] += (delta_trans_hat * sn_bearing - + delta_strafe_hat * cs_bearing); + sample->pose.v[2] += delta_rot_hat ; + } + } + break; + case ODOM_MODEL_DIFF_CORRECTED: + { + // Implement sample_motion_odometry (Prob Rob p 136) + double delta_rot1, delta_trans, delta_rot2; + double delta_rot1_hat, delta_trans_hat, delta_rot2_hat; + double delta_rot1_noise, delta_rot2_noise; + + // Avoid computing a bearing from two poses that are extremely near each + // other (happens on in-place rotation). + if(sqrt(ndata->delta.v[1]*ndata->delta.v[1] + + ndata->delta.v[0]*ndata->delta.v[0]) < 0.01) + delta_rot1 = 0.0; + else + delta_rot1 = angle_diff(atan2(ndata->delta.v[1], ndata->delta.v[0]), + old_pose.v[2]); + delta_trans = sqrt(ndata->delta.v[0]*ndata->delta.v[0] + + ndata->delta.v[1]*ndata->delta.v[1]); + delta_rot2 = angle_diff(ndata->delta.v[2], delta_rot1); + + // We want to treat backward and forward motion symmetrically for the + // noise model to be applied below. The standard model seems to assume + // forward motion. + delta_rot1_noise = std::min(fabs(angle_diff(delta_rot1,0.0)), + fabs(angle_diff(delta_rot1,M_PI))); + delta_rot2_noise = std::min(fabs(angle_diff(delta_rot2,0.0)), + fabs(angle_diff(delta_rot2,M_PI))); + + for (int i = 0; i < set->sample_count; i++) + { + pf_sample_t* sample = set->samples + i; + + // Sample pose differences + delta_rot1_hat = angle_diff(delta_rot1, + pf_ran_gaussian(sqrt(this->alpha1*delta_rot1_noise*delta_rot1_noise + + this->alpha2*delta_trans*delta_trans))); + delta_trans_hat = delta_trans - + pf_ran_gaussian(sqrt(this->alpha3*delta_trans*delta_trans + + this->alpha4*delta_rot1_noise*delta_rot1_noise + + this->alpha4*delta_rot2_noise*delta_rot2_noise)); + delta_rot2_hat = angle_diff(delta_rot2, + pf_ran_gaussian(sqrt(this->alpha1*delta_rot2_noise*delta_rot2_noise + + this->alpha2*delta_trans*delta_trans))); + + // Apply sampled update to particle pose + sample->pose.v[0] += delta_trans_hat * + cos(sample->pose.v[2] + delta_rot1_hat); + sample->pose.v[1] += delta_trans_hat * + sin(sample->pose.v[2] + delta_rot1_hat); + sample->pose.v[2] += delta_rot1_hat + delta_rot2_hat; + } + } + break; + } + return true; +} diff --git a/navigations/amcl/src/amcl/sensors/amcl_sensor.cpp b/navigations/amcl/src/amcl/sensors/amcl_sensor.cpp new file mode 100755 index 0000000..48e190d --- /dev/null +++ b/navigations/amcl/src/amcl/sensors/amcl_sensor.cpp @@ -0,0 +1,95 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * gerkey@usc.edu kaspers@robotics.usc.edu + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: AMCL sensor +// Author: Andrew Howard +// Date: 6 Feb 2003 +// CVS: $Id: amcl_sensor.cc 7057 2008-10-02 00:44:06Z gbiggs $ +// +/////////////////////////////////////////////////////////////////////////// + + +#include "amcl/sensors/amcl_sensor.h" + +using namespace amcl; + +//////////////////////////////////////////////////////////////////////////////// +// Default constructor +AMCLSensor::AMCLSensor() +{ + return; +} + +AMCLSensor::~AMCLSensor() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Apply the action model +bool AMCLSensor::UpdateAction(pf_t *pf, AMCLSensorData *data) +{ + return false; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Initialize the filter +bool AMCLSensor::InitSensor(pf_t *pf, AMCLSensorData *data) +{ + return false; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Apply the sensor model +bool AMCLSensor::UpdateSensor(pf_t *pf, AMCLSensorData *data) +{ + return false; +} + + +#ifdef INCLUDE_RTKGUI + +//////////////////////////////////////////////////////////////////////////////// +// Setup the GUI +void AMCLSensor::SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig) +{ + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Shutdown the GUI +void AMCLSensor::ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig) +{ + return; +} + + +//////////////////////////////////////////////////////////////////////////////// +// Draw sensor data +void AMCLSensor::UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data) +{ + return; +} + +#endif diff --git a/navigations/amcl/src/amcl_node.cpp b/navigations/amcl/src/amcl_node.cpp new file mode 100755 index 0000000..b0e11d1 --- /dev/null +++ b/navigations/amcl/src/amcl_node.cpp @@ -0,0 +1,1656 @@ +/* + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +/* Author: Brian Gerkey */ + +#include +#include +#include +#include +#include + +#include +#include + +// Signal handling +#include + +#include "amcl/map/map.h" +#include "amcl/pf/pf.h" +#include "amcl/sensors/amcl_odom.h" +#include "amcl/sensors/amcl_laser.h" +#include "portable_utils.hpp" + +#include "ros/assert.h" + +// roscpp +#include "ros/ros.h" + +// Messages that I need +#include "sensor_msgs/LaserScan.h" +#include "geometry_msgs/PoseWithCovarianceStamped.h" +#include "geometry_msgs/PoseArray.h" +#include "geometry_msgs/Pose.h" +#include "geometry_msgs/PoseStamped.h" +#include "nav_msgs/GetMap.h" +#include "nav_msgs/SetMap.h" +#include "std_srvs/Empty.h" + +// For transform support +#include "tf2/LinearMath/Transform.h" +#include "tf2/convert.h" +#include "tf2/utils.h" +#include "tf2_geometry_msgs/tf2_geometry_msgs.h" +#include "tf2_ros/buffer.h" +#include "tf2_ros/message_filter.h" +#include "tf2_ros/transform_broadcaster.h" +#include "tf2_ros/transform_listener.h" +#include "message_filters/subscriber.h" + +// Dynamic_reconfigure +#include "dynamic_reconfigure/server.h" +#include "amcl/AMCLConfig.h" + +// Allows AMCL to run from bag file +#include +#include +#include + +// For monitoring the estimator +#include + +#define NEW_UNIFORM_SAMPLING 1 + +using namespace amcl; + +// Pose hypothesis +typedef struct +{ + // Total weight (weights sum to 1) + double weight; + + // Mean of pose esimate + pf_vector_t pf_pose_mean; + + // Covariance of pose estimate + pf_matrix_t pf_pose_cov; + +} amcl_hyp_t; + +static double +normalize(double z) +{ + return atan2(sin(z),cos(z)); +} +static double +angle_diff(double a, double b) +{ + double d1, d2; + a = normalize(a); + b = normalize(b); + d1 = a-b; + d2 = 2*M_PI - fabs(d1); + if(d1 > 0) + d2 *= -1.0; + if(fabs(d1) < fabs(d2)) + return(d1); + else + return(d2); +} + +static const std::string scan_topic_ = "scan"; + +/* This function is only useful to have the whole code work + * with old rosbags that have trailing slashes for their frames + */ +inline +std::string stripSlash(const std::string& in) +{ + std::string out = in; + if ( ( !in.empty() ) && (in[0] == '/') ) + out.erase(0,1); + return out; +} + +class AmclNode +{ + public: + AmclNode(); + ~AmclNode(); + + /** + * @brief Uses TF and LaserScan messages from bag file to drive AMCL instead + * @param in_bag_fn input bagfile + * @param trigger_global_localization whether to trigger global localization + * before starting to process the bagfile + */ + void runFromBag(const std::string &in_bag_fn, bool trigger_global_localization = false); + + int process(); + void savePoseToServer(); + + private: + std::shared_ptr tfb_; + std::shared_ptr tfl_; + std::shared_ptr tf_; + + bool sent_first_transform_; + + tf2::Transform latest_tf_; + bool latest_tf_valid_; + + // Pose-generating function used to uniformly distribute particles over + // the map + static pf_vector_t uniformPoseGenerator(void* arg); +#if NEW_UNIFORM_SAMPLING + static std::vector > free_space_indices; +#endif + // Callbacks + bool globalLocalizationCallback(std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res); + bool nomotionUpdateCallback(std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res); + bool setMapCallback(nav_msgs::SetMap::Request& req, + nav_msgs::SetMap::Response& res); + + void laserReceived(const sensor_msgs::LaserScanConstPtr& laser_scan); + void initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg); + void handleInitialPoseMessage(const geometry_msgs::PoseWithCovarianceStamped& msg); + void mapReceived(const nav_msgs::OccupancyGridConstPtr& msg); + + void handleMapMessage(const nav_msgs::OccupancyGrid& msg); + void freeMapDependentMemory(); + map_t* convertMap( const nav_msgs::OccupancyGrid& map_msg ); + void updatePoseFromServer(); + void applyInitialPose(); + + //parameter for which odom to use + std::string odom_frame_id_; + + //paramater to store latest odom pose + geometry_msgs::PoseStamped latest_odom_pose_; + + //parameter for which base to use + std::string base_frame_id_; + std::string global_frame_id_; + + bool use_map_topic_; + bool first_map_only_; + + ros::Duration gui_publish_period; + ros::Time save_pose_last_time; + ros::Duration save_pose_period; + + geometry_msgs::PoseWithCovarianceStamped last_published_pose; + + map_t* map_; + char* mapdata; + int sx, sy; + double resolution; + + message_filters::Subscriber* laser_scan_sub_; + tf2_ros::MessageFilter* laser_scan_filter_; + ros::Subscriber initial_pose_sub_; + std::vector< AMCLLaser* > lasers_; + std::vector< bool > lasers_update_; + std::map< std::string, int > frame_to_laser_; + + // Particle filter + pf_t *pf_; + double pf_err_, pf_z_; + bool pf_init_; + pf_vector_t pf_odom_pose_; + double d_thresh_, a_thresh_; + int resample_interval_; + int resample_count_; + double laser_min_range_; + double laser_max_range_; + + //Nomotion update control + bool m_force_update; // used to temporarily let amcl update samples even when no motion occurs... + + AMCLOdom* odom_; + AMCLLaser* laser_; + + ros::Duration cloud_pub_interval; + ros::Time last_cloud_pub_time; + + // For slowing play-back when reading directly from a bag file + ros::WallDuration bag_scan_period_; + + void requestMap(); + + // Helper to get odometric pose from transform system + bool getOdomPose(geometry_msgs::PoseStamped& pose, + double& x, double& y, double& yaw, + const ros::Time& t, const std::string& f); + + //time for tolerance on the published transform, + //basically defines how long a map->odom transform is good for + ros::Duration transform_tolerance_; + + ros::NodeHandle nh_; + ros::NodeHandle private_nh_; + ros::Publisher pose_pub_; + ros::Publisher particlecloud_pub_; + ros::ServiceServer global_loc_srv_; + ros::ServiceServer nomotion_update_srv_; //to let amcl update samples without requiring motion + ros::ServiceServer set_map_srv_; + ros::Subscriber initial_pose_sub_old_; + ros::Subscriber map_sub_; + + diagnostic_updater::Updater diagnosic_updater_; + void standardDeviationDiagnostics(diagnostic_updater::DiagnosticStatusWrapper& diagnostic_status); + double std_warn_level_x_; + double std_warn_level_y_; + double std_warn_level_yaw_; + + amcl_hyp_t* initial_pose_hyp_; + bool first_map_received_; + bool first_reconfigure_call_; + + boost::recursive_mutex configuration_mutex_; + dynamic_reconfigure::Server *dsrv_; + amcl::AMCLConfig default_config_; + ros::Timer check_laser_timer_; + + int max_beams_, min_particles_, max_particles_; + double alpha1_, alpha2_, alpha3_, alpha4_, alpha5_; + double alpha_slow_, alpha_fast_; + double z_hit_, z_short_, z_max_, z_rand_, sigma_hit_, lambda_short_; + //beam skip related params + bool do_beamskip_; + double beam_skip_distance_, beam_skip_threshold_, beam_skip_error_threshold_; + double laser_likelihood_max_dist_; + odom_model_t odom_model_type_; + double init_pose_[3]; + double init_cov_[3]; + laser_model_t laser_model_type_; + bool tf_broadcast_; + bool force_update_after_initialpose_; + bool force_update_after_set_map_; + bool selective_resampling_; + + void reconfigureCB(amcl::AMCLConfig &config, uint32_t level); + + ros::Time last_laser_received_ts_; + ros::Duration laser_check_interval_; + void checkLaserReceived(const ros::TimerEvent& event); +}; + +#if NEW_UNIFORM_SAMPLING +std::vector > AmclNode::free_space_indices; +#endif + +#define USAGE "USAGE: amcl" + +boost::shared_ptr amcl_node_ptr; + +void sigintHandler(int sig) +{ + // Save latest pose as we're shutting down. + amcl_node_ptr->savePoseToServer(); + ros::shutdown(); +} + +int +main(int argc, char** argv) +{ + ros::init(argc, argv, "amcl"); + ros::NodeHandle nh; + + // Override default sigint handler + signal(SIGINT, sigintHandler); + + // Make our node available to sigintHandler + amcl_node_ptr.reset(new AmclNode()); + + if (argc == 1) + { + // run using ROS input + ros::spin(); + } + else if ((argc >= 3) && (std::string(argv[1]) == "--run-from-bag")) + { + if (argc == 3) + { + amcl_node_ptr->runFromBag(argv[2]); + } + else if ((argc == 4) && (std::string(argv[3]) == "--global-localization")) + { + amcl_node_ptr->runFromBag(argv[2], true); + } + } + + // Without this, our boost locks are not shut down nicely + amcl_node_ptr.reset(); + + // To quote Morgan, Hooray! + return(0); +} + +AmclNode::AmclNode() : + sent_first_transform_(false), + latest_tf_valid_(false), + map_(NULL), + pf_(NULL), + resample_count_(0), + odom_(NULL), + laser_(NULL), + private_nh_("~"), + initial_pose_hyp_(NULL), + first_map_received_(false), + first_reconfigure_call_(true) +{ + boost::recursive_mutex::scoped_lock l(configuration_mutex_); + + // Grab params off the param server + private_nh_.param("use_map_topic", use_map_topic_, false); + private_nh_.param("first_map_only", first_map_only_, false); + + double tmp; + private_nh_.param("gui_publish_rate", tmp, -1.0); + gui_publish_period = ros::Duration(1.0/tmp); + private_nh_.param("save_pose_rate", tmp, 0.5); + save_pose_period = ros::Duration(1.0/tmp); + + private_nh_.param("laser_min_range", laser_min_range_, -1.0); + private_nh_.param("laser_max_range", laser_max_range_, -1.0); + private_nh_.param("laser_max_beams", max_beams_, 30); + private_nh_.param("min_particles", min_particles_, 100); + private_nh_.param("max_particles", max_particles_, 5000); + private_nh_.param("kld_err", pf_err_, 0.01); + private_nh_.param("kld_z", pf_z_, 0.99); + private_nh_.param("odom_alpha1", alpha1_, 0.2); + private_nh_.param("odom_alpha2", alpha2_, 0.2); + private_nh_.param("odom_alpha3", alpha3_, 0.2); + private_nh_.param("odom_alpha4", alpha4_, 0.2); + private_nh_.param("odom_alpha5", alpha5_, 0.2); + + private_nh_.param("do_beamskip", do_beamskip_, false); + private_nh_.param("beam_skip_distance", beam_skip_distance_, 0.5); + private_nh_.param("beam_skip_threshold", beam_skip_threshold_, 0.3); + if (private_nh_.hasParam("beam_skip_error_threshold_")) + { + private_nh_.param("beam_skip_error_threshold_", beam_skip_error_threshold_); + } + else + { + private_nh_.param("beam_skip_error_threshold", beam_skip_error_threshold_, 0.9); + } + + private_nh_.param("laser_z_hit", z_hit_, 0.95); + private_nh_.param("laser_z_short", z_short_, 0.1); + private_nh_.param("laser_z_max", z_max_, 0.05); + private_nh_.param("laser_z_rand", z_rand_, 0.05); + private_nh_.param("laser_sigma_hit", sigma_hit_, 0.2); + private_nh_.param("laser_lambda_short", lambda_short_, 0.1); + private_nh_.param("laser_likelihood_max_dist", laser_likelihood_max_dist_, 2.0); + std::string tmp_model_type; + private_nh_.param("laser_model_type", tmp_model_type, std::string("likelihood_field")); + if(tmp_model_type == "beam") + laser_model_type_ = LASER_MODEL_BEAM; + else if(tmp_model_type == "likelihood_field") + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD; + else if(tmp_model_type == "likelihood_field_prob"){ + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD_PROB; + } + else + { + ROS_WARN("Unknown laser model type \"%s\"; defaulting to likelihood_field model", + tmp_model_type.c_str()); + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD; + } + + private_nh_.param("odom_model_type", tmp_model_type, std::string("diff")); + if(tmp_model_type == "diff") + odom_model_type_ = ODOM_MODEL_DIFF; + else if(tmp_model_type == "omni") + odom_model_type_ = ODOM_MODEL_OMNI; + else if(tmp_model_type == "diff-corrected") + odom_model_type_ = ODOM_MODEL_DIFF_CORRECTED; + else if(tmp_model_type == "omni-corrected") + odom_model_type_ = ODOM_MODEL_OMNI_CORRECTED; + else + { + ROS_WARN("Unknown odom model type \"%s\"; defaulting to diff model", + tmp_model_type.c_str()); + odom_model_type_ = ODOM_MODEL_DIFF; + } + + private_nh_.param("update_min_d", d_thresh_, 0.2); + private_nh_.param("update_min_a", a_thresh_, M_PI/6.0); + private_nh_.param("odom_frame_id", odom_frame_id_, std::string("odom")); + private_nh_.param("base_frame_id", base_frame_id_, std::string("base_link")); + private_nh_.param("global_frame_id", global_frame_id_, std::string("map")); + private_nh_.param("resample_interval", resample_interval_, 2); + private_nh_.param("selective_resampling", selective_resampling_, false); + double tmp_tol; + private_nh_.param("transform_tolerance", tmp_tol, 0.1); + private_nh_.param("recovery_alpha_slow", alpha_slow_, 0.001); + private_nh_.param("recovery_alpha_fast", alpha_fast_, 0.1); + private_nh_.param("tf_broadcast", tf_broadcast_, true); + private_nh_.param("force_update_after_initialpose", force_update_after_initialpose_, false); + private_nh_.param("force_update_after_set_map", force_update_after_set_map_, false); + + // For diagnostics + private_nh_.param("std_warn_level_x", std_warn_level_x_, 0.2); + private_nh_.param("std_warn_level_y", std_warn_level_y_, 0.2); + private_nh_.param("std_warn_level_yaw", std_warn_level_yaw_, 0.1); + + transform_tolerance_.fromSec(tmp_tol); + + { + double bag_scan_period; + private_nh_.param("bag_scan_period", bag_scan_period, -1.0); + bag_scan_period_.fromSec(bag_scan_period); + } + + odom_frame_id_ = stripSlash(odom_frame_id_); + base_frame_id_ = stripSlash(base_frame_id_); + global_frame_id_ = stripSlash(global_frame_id_); + + updatePoseFromServer(); + + cloud_pub_interval.fromSec(1.0); + tfb_.reset(new tf2_ros::TransformBroadcaster()); + tf_.reset(new tf2_ros::Buffer()); + tfl_.reset(new tf2_ros::TransformListener(*tf_)); + + pose_pub_ = nh_.advertise("amcl_pose", 2, true); + particlecloud_pub_ = nh_.advertise("particlecloud", 2, true); + global_loc_srv_ = nh_.advertiseService("global_localization", + &AmclNode::globalLocalizationCallback, + this); + nomotion_update_srv_= nh_.advertiseService("request_nomotion_update", &AmclNode::nomotionUpdateCallback, this); + set_map_srv_= nh_.advertiseService("set_map", &AmclNode::setMapCallback, this); + + laser_scan_sub_ = new message_filters::Subscriber(nh_, scan_topic_, 100); + laser_scan_filter_ = + new tf2_ros::MessageFilter(*laser_scan_sub_, + *tf_, + odom_frame_id_, + 100, + nh_); + laser_scan_filter_->registerCallback(boost::bind(&AmclNode::laserReceived, + this, _1)); + initial_pose_sub_ = nh_.subscribe("initialpose", 2, &AmclNode::initialPoseReceived, this); + + if(use_map_topic_) { + map_sub_ = nh_.subscribe("map", 1, &AmclNode::mapReceived, this); + ROS_INFO("Subscribed to map topic."); + } else { + requestMap(); + } + m_force_update = false; + + dsrv_ = new dynamic_reconfigure::Server(ros::NodeHandle("~")); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&AmclNode::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); + + // 15s timer to warn on lack of receipt of laser scans, #5209 + laser_check_interval_ = ros::Duration(15.0); + check_laser_timer_ = nh_.createTimer(laser_check_interval_, + boost::bind(&AmclNode::checkLaserReceived, this, _1)); + + diagnosic_updater_.setHardwareID("None"); + diagnosic_updater_.add("Standard deviation", this, &AmclNode::standardDeviationDiagnostics); +} + +void AmclNode::reconfigureCB(AMCLConfig &config, uint32_t level) +{ + boost::recursive_mutex::scoped_lock cfl(configuration_mutex_); + + //we don't want to do anything on the first call + //which corresponds to startup + if(first_reconfigure_call_) + { + first_reconfigure_call_ = false; + default_config_ = config; + return; + } + + if(config.restore_defaults) { + config = default_config_; + //avoid looping + config.restore_defaults = false; + } + + d_thresh_ = config.update_min_d; + a_thresh_ = config.update_min_a; + + resample_interval_ = config.resample_interval; + + laser_min_range_ = config.laser_min_range; + laser_max_range_ = config.laser_max_range; + + gui_publish_period = ros::Duration(1.0/config.gui_publish_rate); + save_pose_period = ros::Duration(1.0/config.save_pose_rate); + + transform_tolerance_.fromSec(config.transform_tolerance); + + max_beams_ = config.laser_max_beams; + alpha1_ = config.odom_alpha1; + alpha2_ = config.odom_alpha2; + alpha3_ = config.odom_alpha3; + alpha4_ = config.odom_alpha4; + alpha5_ = config.odom_alpha5; + + z_hit_ = config.laser_z_hit; + z_short_ = config.laser_z_short; + z_max_ = config.laser_z_max; + z_rand_ = config.laser_z_rand; + sigma_hit_ = config.laser_sigma_hit; + lambda_short_ = config.laser_lambda_short; + laser_likelihood_max_dist_ = config.laser_likelihood_max_dist; + + if(config.laser_model_type == "beam") + laser_model_type_ = LASER_MODEL_BEAM; + else if(config.laser_model_type == "likelihood_field") + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD; + else if(config.laser_model_type == "likelihood_field_prob") + laser_model_type_ = LASER_MODEL_LIKELIHOOD_FIELD_PROB; + + if(config.odom_model_type == "diff") + odom_model_type_ = ODOM_MODEL_DIFF; + else if(config.odom_model_type == "omni") + odom_model_type_ = ODOM_MODEL_OMNI; + else if(config.odom_model_type == "diff-corrected") + odom_model_type_ = ODOM_MODEL_DIFF_CORRECTED; + else if(config.odom_model_type == "omni-corrected") + odom_model_type_ = ODOM_MODEL_OMNI_CORRECTED; + + if(config.min_particles > config.max_particles) + { + ROS_WARN("You've set min_particles to be greater than max particles, this isn't allowed so they'll be set to be equal."); + config.max_particles = config.min_particles; + } + + min_particles_ = config.min_particles; + max_particles_ = config.max_particles; + alpha_slow_ = config.recovery_alpha_slow; + alpha_fast_ = config.recovery_alpha_fast; + tf_broadcast_ = config.tf_broadcast; + force_update_after_initialpose_ = config.force_update_after_initialpose; + force_update_after_set_map_ = config.force_update_after_set_map; + + do_beamskip_= config.do_beamskip; + beam_skip_distance_ = config.beam_skip_distance; + beam_skip_threshold_ = config.beam_skip_threshold; + + // Clear queued laser objects so that their parameters get updated + lasers_.clear(); + lasers_update_.clear(); + frame_to_laser_.clear(); + + if( pf_ != NULL ) + { + pf_free( pf_ ); + pf_ = NULL; + } + pf_ = pf_alloc(min_particles_, max_particles_, + alpha_slow_, alpha_fast_, + (pf_init_model_fn_t)AmclNode::uniformPoseGenerator, + (void *)map_); + pf_set_selective_resampling(pf_, selective_resampling_); + pf_err_ = config.kld_err; + pf_z_ = config.kld_z; + pf_->pop_err = pf_err_; + pf_->pop_z = pf_z_; + + // Initialize the filter + pf_vector_t pf_init_pose_mean = pf_vector_zero(); + pf_init_pose_mean.v[0] = last_published_pose.pose.pose.position.x; + pf_init_pose_mean.v[1] = last_published_pose.pose.pose.position.y; + pf_init_pose_mean.v[2] = tf2::getYaw(last_published_pose.pose.pose.orientation); + pf_matrix_t pf_init_pose_cov = pf_matrix_zero(); + pf_init_pose_cov.m[0][0] = last_published_pose.pose.covariance[6*0+0]; + pf_init_pose_cov.m[1][1] = last_published_pose.pose.covariance[6*1+1]; + pf_init_pose_cov.m[2][2] = last_published_pose.pose.covariance[6*5+5]; + pf_init(pf_, pf_init_pose_mean, pf_init_pose_cov); + pf_init_ = false; + + // Instantiate the sensor objects + // Odometry + delete odom_; + odom_ = new AMCLOdom(); + ROS_ASSERT(odom_); + odom_->SetModel( odom_model_type_, alpha1_, alpha2_, alpha3_, alpha4_, alpha5_ ); + // Laser + delete laser_; + laser_ = new AMCLLaser(max_beams_, map_); + ROS_ASSERT(laser_); + if(laser_model_type_ == LASER_MODEL_BEAM) + laser_->SetModelBeam(z_hit_, z_short_, z_max_, z_rand_, + sigma_hit_, lambda_short_, 0.0); + else if(laser_model_type_ == LASER_MODEL_LIKELIHOOD_FIELD_PROB){ + ROS_INFO("Initializing likelihood field model; this can take some time on large maps..."); + laser_->SetModelLikelihoodFieldProb(z_hit_, z_rand_, sigma_hit_, + laser_likelihood_max_dist_, + do_beamskip_, beam_skip_distance_, + beam_skip_threshold_, beam_skip_error_threshold_); + ROS_INFO("Done initializing likelihood field model with probabilities."); + } + else if(laser_model_type_ == LASER_MODEL_LIKELIHOOD_FIELD){ + ROS_INFO("Initializing likelihood field model; this can take some time on large maps..."); + laser_->SetModelLikelihoodField(z_hit_, z_rand_, sigma_hit_, + laser_likelihood_max_dist_); + ROS_INFO("Done initializing likelihood field model."); + } + + odom_frame_id_ = stripSlash(config.odom_frame_id); + base_frame_id_ = stripSlash(config.base_frame_id); + global_frame_id_ = stripSlash(config.global_frame_id); + + delete laser_scan_filter_; + laser_scan_filter_ = + new tf2_ros::MessageFilter(*laser_scan_sub_, + *tf_, + odom_frame_id_, + 100, + nh_); + laser_scan_filter_->registerCallback(boost::bind(&AmclNode::laserReceived, + this, _1)); + + initial_pose_sub_ = nh_.subscribe("initialpose", 2, &AmclNode::initialPoseReceived, this); +} + + +void AmclNode::runFromBag(const std::string &in_bag_fn, bool trigger_global_localization) +{ + rosbag::Bag bag; + bag.open(in_bag_fn, rosbag::bagmode::Read); + std::vector topics; + topics.push_back(std::string("tf")); + std::string scan_topic_name = "base_scan"; // TODO determine what topic this actually is from ROS + topics.push_back(scan_topic_name); + rosbag::View view(bag, rosbag::TopicQuery(topics)); + + ros::Publisher laser_pub = nh_.advertise(scan_topic_name, 100); + ros::Publisher tf_pub = nh_.advertise("/tf", 100); + + // Sleep for a second to let all subscribers connect + ros::WallDuration(1.0).sleep(); + + ros::WallTime start(ros::WallTime::now()); + + // Wait for map + while (ros::ok()) + { + { + boost::recursive_mutex::scoped_lock cfl(configuration_mutex_); + if (map_) + { + ROS_INFO("Map is ready"); + break; + } + } + ROS_INFO("Waiting for the map..."); + ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(1.0)); + } + + if (trigger_global_localization) + { + std_srvs::Empty empty_srv; + globalLocalizationCallback(empty_srv.request, empty_srv.response); + } + + BOOST_FOREACH(rosbag::MessageInstance const msg, view) + { + if (!ros::ok()) + { + break; + } + + // Process any ros messages or callbacks at this point + ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration()); + + tf2_msgs::TFMessage::ConstPtr tf_msg = msg.instantiate(); + if (tf_msg != NULL) + { + tf_pub.publish(msg); + for (size_t ii=0; iitransforms.size(); ++ii) + { + tf_->setTransform(tf_msg->transforms[ii], "rosbag_authority"); + } + continue; + } + + sensor_msgs::LaserScan::ConstPtr base_scan = msg.instantiate(); + if (base_scan != NULL) + { + laser_pub.publish(msg); + laser_scan_filter_->add(base_scan); + if (bag_scan_period_ > ros::WallDuration(0)) + { + bag_scan_period_.sleep(); + } + continue; + } + + ROS_WARN_STREAM("Unsupported message type" << msg.getTopic()); + } + + bag.close(); + + double runtime = (ros::WallTime::now() - start).toSec(); + ROS_INFO("Bag complete, took %.1f seconds to process, shutting down", runtime); + + const geometry_msgs::Quaternion & q(last_published_pose.pose.pose.orientation); + double yaw, pitch, roll; + tf2::Matrix3x3(tf2::Quaternion(q.x, q.y, q.z, q.w)).getEulerYPR(yaw,pitch,roll); + ROS_INFO("Final location %.3f, %.3f, %.3f with stamp=%f", + last_published_pose.pose.pose.position.x, + last_published_pose.pose.pose.position.y, + yaw, last_published_pose.header.stamp.toSec() + ); + + ros::shutdown(); +} + + +void AmclNode::savePoseToServer() +{ + // We need to apply the last transform to the latest odom pose to get + // the latest map pose to store. We'll take the covariance from + // last_published_pose. + tf2::Transform odom_pose_tf2; + tf2::convert(latest_odom_pose_.pose, odom_pose_tf2); + tf2::Transform map_pose = latest_tf_.inverse() * odom_pose_tf2; + + double yaw = tf2::getYaw(map_pose.getRotation()); + + ROS_DEBUG("Saving pose to server. x: %.3f, y: %.3f", map_pose.getOrigin().x(), map_pose.getOrigin().y() ); + + private_nh_.setParam("initial_pose_x", map_pose.getOrigin().x()); + private_nh_.setParam("initial_pose_y", map_pose.getOrigin().y()); + private_nh_.setParam("initial_pose_a", yaw); + private_nh_.setParam("initial_cov_xx", + last_published_pose.pose.covariance[6*0+0]); + private_nh_.setParam("initial_cov_yy", + last_published_pose.pose.covariance[6*1+1]); + private_nh_.setParam("initial_cov_aa", + last_published_pose.pose.covariance[6*5+5]); +} + +void AmclNode::updatePoseFromServer() +{ + init_pose_[0] = 0.0; + init_pose_[1] = 0.0; + init_pose_[2] = 0.0; + init_cov_[0] = 0.5 * 0.5; + init_cov_[1] = 0.5 * 0.5; + init_cov_[2] = (M_PI/12.0) * (M_PI/12.0); + // Check for NAN on input from param server, #5239 + double tmp_pos; + private_nh_.param("initial_pose_x", tmp_pos, init_pose_[0]); + if(!std::isnan(tmp_pos)) + init_pose_[0] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial pose X position"); + private_nh_.param("initial_pose_y", tmp_pos, init_pose_[1]); + if(!std::isnan(tmp_pos)) + init_pose_[1] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial pose Y position"); + private_nh_.param("initial_pose_a", tmp_pos, init_pose_[2]); + if(!std::isnan(tmp_pos)) + init_pose_[2] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial pose Yaw"); + private_nh_.param("initial_cov_xx", tmp_pos, init_cov_[0]); + if(!std::isnan(tmp_pos)) + init_cov_[0] =tmp_pos; + else + ROS_WARN("ignoring NAN in initial covariance XX"); + private_nh_.param("initial_cov_yy", tmp_pos, init_cov_[1]); + if(!std::isnan(tmp_pos)) + init_cov_[1] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial covariance YY"); + private_nh_.param("initial_cov_aa", tmp_pos, init_cov_[2]); + if(!std::isnan(tmp_pos)) + init_cov_[2] = tmp_pos; + else + ROS_WARN("ignoring NAN in initial covariance AA"); +} + +void +AmclNode::checkLaserReceived(const ros::TimerEvent& event) +{ + ros::Duration d = ros::Time::now() - last_laser_received_ts_; + if(d > laser_check_interval_) + { + ROS_WARN("No laser scan received (and thus no pose updates have been published) for %f seconds. Verify that data is being published on the %s topic.", + d.toSec(), + ros::names::resolve(scan_topic_).c_str()); + } +} + +void +AmclNode::requestMap() +{ + boost::recursive_mutex::scoped_lock ml(configuration_mutex_); + + // get map via RPC + nav_msgs::GetMap::Request req; + nav_msgs::GetMap::Response resp; + ROS_INFO("Requesting the map..."); + while(!ros::service::call("static_map", req, resp)) + { + ROS_WARN("Request for map failed; trying again..."); + ros::Duration d(0.5); + d.sleep(); + } + handleMapMessage( resp.map ); +} + +void +AmclNode::mapReceived(const nav_msgs::OccupancyGridConstPtr& msg) +{ + if( first_map_only_ && first_map_received_ ) { + return; + } + + handleMapMessage( *msg ); + + first_map_received_ = true; +} + +void +AmclNode::handleMapMessage(const nav_msgs::OccupancyGrid& msg) +{ + boost::recursive_mutex::scoped_lock cfl(configuration_mutex_); + + ROS_INFO("Received a %d X %d map @ %.3f m/pix\n", + msg.info.width, + msg.info.height, + msg.info.resolution); + + if(msg.header.frame_id != global_frame_id_) + ROS_WARN("Frame_id of map received:'%s' doesn't match global_frame_id:'%s'. This could cause issues with reading published topics", + msg.header.frame_id.c_str(), + global_frame_id_.c_str()); + + freeMapDependentMemory(); + // Clear queued laser objects because they hold pointers to the existing + // map, #5202. + lasers_.clear(); + lasers_update_.clear(); + frame_to_laser_.clear(); + + map_ = convertMap(msg); + +#if NEW_UNIFORM_SAMPLING + // Index of free space + free_space_indices.resize(0); + for(int i = 0; i < map_->size_x; i++) + for(int j = 0; j < map_->size_y; j++) + if(map_->cells[MAP_INDEX(map_,i,j)].occ_state == -1) + free_space_indices.push_back(std::make_pair(i,j)); +#endif + // Create the particle filter + pf_ = pf_alloc(min_particles_, max_particles_, + alpha_slow_, alpha_fast_, + (pf_init_model_fn_t)AmclNode::uniformPoseGenerator, + (void *)map_); + pf_set_selective_resampling(pf_, selective_resampling_); + pf_->pop_err = pf_err_; + pf_->pop_z = pf_z_; + + // Initialize the filter + updatePoseFromServer(); + pf_vector_t pf_init_pose_mean = pf_vector_zero(); + pf_init_pose_mean.v[0] = init_pose_[0]; + pf_init_pose_mean.v[1] = init_pose_[1]; + pf_init_pose_mean.v[2] = init_pose_[2]; + pf_matrix_t pf_init_pose_cov = pf_matrix_zero(); + pf_init_pose_cov.m[0][0] = init_cov_[0]; + pf_init_pose_cov.m[1][1] = init_cov_[1]; + pf_init_pose_cov.m[2][2] = init_cov_[2]; + pf_init(pf_, pf_init_pose_mean, pf_init_pose_cov); + pf_init_ = false; + + // Instantiate the sensor objects + // Odometry + delete odom_; + odom_ = new AMCLOdom(); + ROS_ASSERT(odom_); + odom_->SetModel( odom_model_type_, alpha1_, alpha2_, alpha3_, alpha4_, alpha5_ ); + // Laser + delete laser_; + laser_ = new AMCLLaser(max_beams_, map_); + ROS_ASSERT(laser_); + if(laser_model_type_ == LASER_MODEL_BEAM) + laser_->SetModelBeam(z_hit_, z_short_, z_max_, z_rand_, + sigma_hit_, lambda_short_, 0.0); + else if(laser_model_type_ == LASER_MODEL_LIKELIHOOD_FIELD_PROB){ + ROS_INFO("Initializing likelihood field model; this can take some time on large maps..."); + laser_->SetModelLikelihoodFieldProb(z_hit_, z_rand_, sigma_hit_, + laser_likelihood_max_dist_, + do_beamskip_, beam_skip_distance_, + beam_skip_threshold_, beam_skip_error_threshold_); + ROS_INFO("Done initializing likelihood field model."); + } + else + { + ROS_INFO("Initializing likelihood field model; this can take some time on large maps..."); + laser_->SetModelLikelihoodField(z_hit_, z_rand_, sigma_hit_, + laser_likelihood_max_dist_); + ROS_INFO("Done initializing likelihood field model."); + } + + // In case the initial pose message arrived before the first map, + // try to apply the initial pose now that the map has arrived. + applyInitialPose(); + +} + +void +AmclNode::freeMapDependentMemory() +{ + if( map_ != NULL ) { + map_free( map_ ); + map_ = NULL; + } + if( pf_ != NULL ) { + pf_free( pf_ ); + pf_ = NULL; + } + delete odom_; + odom_ = NULL; + delete laser_; + laser_ = NULL; +} + +/** + * Convert an OccupancyGrid map message into the internal + * representation. This allocates a map_t and returns it. + */ +map_t* +AmclNode::convertMap( const nav_msgs::OccupancyGrid& map_msg ) +{ + map_t* map = map_alloc(); + ROS_ASSERT(map); + + map->size_x = map_msg.info.width; + map->size_y = map_msg.info.height; + map->scale = map_msg.info.resolution; + map->origin_x = map_msg.info.origin.position.x + (map->size_x / 2) * map->scale; + map->origin_y = map_msg.info.origin.position.y + (map->size_y / 2) * map->scale; + // Convert to player format + map->cells = (map_cell_t*)malloc(sizeof(map_cell_t)*map->size_x*map->size_y); + ROS_ASSERT(map->cells); + for(int i=0;isize_x * map->size_y;i++) + { + if(map_msg.data[i] == 0) + map->cells[i].occ_state = -1; + else if(map_msg.data[i] == 100) + map->cells[i].occ_state = +1; + else + map->cells[i].occ_state = 0; + } + + return map; +} + +AmclNode::~AmclNode() +{ + delete dsrv_; + freeMapDependentMemory(); + delete laser_scan_filter_; + delete laser_scan_sub_; + // TODO: delete everything allocated in constructor +} + +bool +AmclNode::getOdomPose(geometry_msgs::PoseStamped& odom_pose, + double& x, double& y, double& yaw, + const ros::Time& t, const std::string& f) +{ + // Get the robot's pose + geometry_msgs::PoseStamped ident; + ident.header.frame_id = stripSlash(f); + ident.header.stamp = t; + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + try + { + this->tf_->transform(ident, odom_pose, odom_frame_id_); + } + catch(const tf2::TransformException& e) + { + ROS_WARN("Failed to compute odom pose, skipping scan (%s)", e.what()); + return false; + } + x = odom_pose.pose.position.x; + y = odom_pose.pose.position.y; + yaw = tf2::getYaw(odom_pose.pose.orientation); + + return true; +} + + +pf_vector_t +AmclNode::uniformPoseGenerator(void* arg) +{ + map_t* map = (map_t*)arg; +#if NEW_UNIFORM_SAMPLING + unsigned int rand_index = drand48() * free_space_indices.size(); + std::pair free_point = free_space_indices[rand_index]; + pf_vector_t p; + p.v[0] = MAP_WXGX(map, free_point.first); + p.v[1] = MAP_WYGY(map, free_point.second); + p.v[2] = drand48() * 2 * M_PI - M_PI; +#else + double min_x, max_x, min_y, max_y; + + min_x = (map->size_x * map->scale)/2.0 - map->origin_x; + max_x = (map->size_x * map->scale)/2.0 + map->origin_x; + min_y = (map->size_y * map->scale)/2.0 - map->origin_y; + max_y = (map->size_y * map->scale)/2.0 + map->origin_y; + + pf_vector_t p; + + ROS_DEBUG("Generating new uniform sample"); + for(;;) + { + p.v[0] = min_x + drand48() * (max_x - min_x); + p.v[1] = min_y + drand48() * (max_y - min_y); + p.v[2] = drand48() * 2 * M_PI - M_PI; + // Check that it's a free cell + int i,j; + i = MAP_GXWX(map, p.v[0]); + j = MAP_GYWY(map, p.v[1]); + if(MAP_VALID(map,i,j) && (map->cells[MAP_INDEX(map,i,j)].occ_state == -1)) + break; + } +#endif + return p; +} + +bool +AmclNode::globalLocalizationCallback(std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res) +{ + if( map_ == NULL ) { + return true; + } + boost::recursive_mutex::scoped_lock gl(configuration_mutex_); + ROS_INFO("Initializing with uniform distribution"); + pf_init_model(pf_, (pf_init_model_fn_t)AmclNode::uniformPoseGenerator, + (void *)map_); + ROS_INFO("Global initialisation done!"); + pf_init_ = false; + return true; +} + +// force nomotion updates (amcl updating without requiring motion) +bool +AmclNode::nomotionUpdateCallback(std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res) +{ + m_force_update = true; + //ROS_INFO("Requesting no-motion update"); + return true; +} + +bool +AmclNode::setMapCallback(nav_msgs::SetMap::Request& req, + nav_msgs::SetMap::Response& res) +{ + handleMapMessage(req.map); + handleInitialPoseMessage(req.initial_pose); + if (force_update_after_set_map_) + { + m_force_update = true; + } + res.success = true; + return true; +} + +void +AmclNode::laserReceived(const sensor_msgs::LaserScanConstPtr& laser_scan) +{ + std::string laser_scan_frame_id = stripSlash(laser_scan->header.frame_id); + last_laser_received_ts_ = ros::Time::now(); + if( map_ == NULL ) { + return; + } + boost::recursive_mutex::scoped_lock lr(configuration_mutex_); + int laser_index = -1; + + // Do we have the base->base_laser Tx yet? + if(frame_to_laser_.find(laser_scan_frame_id) == frame_to_laser_.end()) + { + ROS_DEBUG("Setting up laser %d (frame_id=%s)\n", (int)frame_to_laser_.size(), laser_scan_frame_id.c_str()); + lasers_.push_back(new AMCLLaser(*laser_)); + lasers_update_.push_back(true); + laser_index = frame_to_laser_.size(); + + geometry_msgs::PoseStamped ident; + ident.header.frame_id = laser_scan_frame_id; + ident.header.stamp = ros::Time(); + tf2::toMsg(tf2::Transform::getIdentity(), ident.pose); + + geometry_msgs::PoseStamped laser_pose; + try + { + this->tf_->transform(ident, laser_pose, base_frame_id_); + } + catch(const tf2::TransformException& e) + { + ROS_ERROR("Couldn't transform from %s to %s, " + "even though the message notifier is in use", + laser_scan_frame_id.c_str(), + base_frame_id_.c_str()); + return; + } + + pf_vector_t laser_pose_v; + laser_pose_v.v[0] = laser_pose.pose.position.x; + laser_pose_v.v[1] = laser_pose.pose.position.y; + // laser mounting angle gets computed later -> set to 0 here! + laser_pose_v.v[2] = 0; + lasers_[laser_index]->SetLaserPose(laser_pose_v); + ROS_DEBUG("Received laser's pose wrt robot: %.3f %.3f %.3f", + laser_pose_v.v[0], + laser_pose_v.v[1], + laser_pose_v.v[2]); + + frame_to_laser_[laser_scan_frame_id] = laser_index; + } else { + // we have the laser pose, retrieve laser index + laser_index = frame_to_laser_[laser_scan_frame_id]; + } + + // Where was the robot when this scan was taken? + pf_vector_t pose; + if(!getOdomPose(latest_odom_pose_, pose.v[0], pose.v[1], pose.v[2], + laser_scan->header.stamp, base_frame_id_)) + { + ROS_ERROR("Couldn't determine robot's pose associated with laser scan"); + return; + } + + + pf_vector_t delta = pf_vector_zero(); + + if(pf_init_) + { + // Compute change in pose + //delta = pf_vector_coord_sub(pose, pf_odom_pose_); + delta.v[0] = pose.v[0] - pf_odom_pose_.v[0]; + delta.v[1] = pose.v[1] - pf_odom_pose_.v[1]; + delta.v[2] = angle_diff(pose.v[2], pf_odom_pose_.v[2]); + + // See if we should update the filter + bool update = fabs(delta.v[0]) > d_thresh_ || + fabs(delta.v[1]) > d_thresh_ || + fabs(delta.v[2]) > a_thresh_; + update = update || m_force_update; + m_force_update=false; + + // Set the laser update flags + if(update) + for(unsigned int i=0; i < lasers_update_.size(); i++) + lasers_update_[i] = true; + } + + bool force_publication = false; + if(!pf_init_) + { + // Pose at last filter update + pf_odom_pose_ = pose; + + // Filter is now initialized + pf_init_ = true; + + // Should update sensor data + for(unsigned int i=0; i < lasers_update_.size(); i++) + lasers_update_[i] = true; + + force_publication = true; + + resample_count_ = 0; + } + // If the robot has moved, update the filter + else if(pf_init_ && lasers_update_[laser_index]) + { + //printf("pose\n"); + //pf_vector_fprintf(pose, stdout, "%.3f"); + + AMCLOdomData odata; + odata.pose = pose; + // HACK + // Modify the delta in the action data so the filter gets + // updated correctly + odata.delta = delta; + + // Use the action data to update the filter + odom_->UpdateAction(pf_, (AMCLSensorData*)&odata); + + // Pose at last filter update + //this->pf_odom_pose = pose; + } + + bool resampled = false; + // If the robot has moved, update the filter + if(lasers_update_[laser_index]) + { + AMCLLaserData ldata; + ldata.sensor = lasers_[laser_index]; + ldata.range_count = laser_scan->ranges.size(); + + // To account for lasers that are mounted upside-down, we determine the + // min, max, and increment angles of the laser in the base frame. + // + // Construct min and max angles of laser, in the base_link frame. + tf2::Quaternion q; + q.setRPY(0.0, 0.0, laser_scan->angle_min); + geometry_msgs::QuaternionStamped min_q, inc_q; + min_q.header.stamp = laser_scan->header.stamp; + min_q.header.frame_id = stripSlash(laser_scan->header.frame_id); + tf2::convert(q, min_q.quaternion); + + q.setRPY(0.0, 0.0, laser_scan->angle_min + laser_scan->angle_increment); + inc_q.header = min_q.header; + tf2::convert(q, inc_q.quaternion); + try + { + tf_->transform(min_q, min_q, base_frame_id_); + tf_->transform(inc_q, inc_q, base_frame_id_); + } + catch(const tf2::TransformException& e) + { + ROS_WARN("Unable to transform min/max laser angles into base frame: %s", + e.what()); + return; + } + + double angle_min = tf2::getYaw(min_q.quaternion); + double angle_increment = tf2::getYaw(inc_q.quaternion) - angle_min; + + // wrapping angle to [-pi .. pi] + angle_increment = fmod(angle_increment + 5*M_PI, 2*M_PI) - M_PI; + + ROS_DEBUG("Laser %d angles in base frame: min: %.3f inc: %.3f", laser_index, angle_min, angle_increment); + + // Apply range min/max thresholds, if the user supplied them + if(laser_max_range_ > 0.0) + ldata.range_max = std::min(laser_scan->range_max, (float)laser_max_range_); + else + ldata.range_max = laser_scan->range_max; + double range_min; + if(laser_min_range_ > 0.0) + range_min = std::max(laser_scan->range_min, (float)laser_min_range_); + else + range_min = laser_scan->range_min; + + if(ldata.range_max <= 0.0 || range_min < 0.0) { + ROS_ERROR("range_max or range_min from laser is negative! ignore this message."); + return; // ignore this. + } + + // The AMCLLaserData destructor will free this memory + ldata.ranges = new double[ldata.range_count][2]; + ROS_ASSERT(ldata.ranges); + for(int i=0;iranges[i] <= range_min) + ldata.ranges[i][0] = ldata.range_max; + else if(laser_scan->ranges[i] > ldata.range_max) + ldata.ranges[i][0] = std::numeric_limits::max(); + else + ldata.ranges[i][0] = laser_scan->ranges[i]; + // Compute bearing + ldata.ranges[i][1] = angle_min + + (i * angle_increment); + } + + lasers_[laser_index]->UpdateSensor(pf_, (AMCLSensorData*)&ldata); + + lasers_update_[laser_index] = false; + + pf_odom_pose_ = pose; + + // Resample the particles + if(!(++resample_count_ % resample_interval_)) + { + pf_update_resample(pf_); + resampled = true; + } + + pf_sample_set_t* set = pf_->sets + pf_->current_set; + ROS_DEBUG("Num samples: %d\n", set->sample_count); + + // Publish the resulting cloud + // TODO: set maximum rate for publishing + if (!m_force_update) + { + geometry_msgs::PoseArray cloud_msg; + cloud_msg.header.stamp = ros::Time::now(); + cloud_msg.header.frame_id = global_frame_id_; + cloud_msg.poses.resize(set->sample_count); + for(int i=0;isample_count;i++) + { + cloud_msg.poses[i].position.x = set->samples[i].pose.v[0]; + cloud_msg.poses[i].position.y = set->samples[i].pose.v[1]; + cloud_msg.poses[i].position.z = 0; + tf2::Quaternion q; + q.setRPY(0, 0, set->samples[i].pose.v[2]); + tf2::convert(q, cloud_msg.poses[i].orientation); + } + particlecloud_pub_.publish(cloud_msg); + } + } + + if(resampled || force_publication) + { + // Read out the current hypotheses + double max_weight = 0.0; + int max_weight_hyp = -1; + std::vector hyps; + hyps.resize(pf_->sets[pf_->current_set].cluster_count); + for(int hyp_count = 0; + hyp_count < pf_->sets[pf_->current_set].cluster_count; hyp_count++) + { + double weight; + pf_vector_t pose_mean; + pf_matrix_t pose_cov; + if (!pf_get_cluster_stats(pf_, hyp_count, &weight, &pose_mean, &pose_cov)) + { + ROS_ERROR("Couldn't get stats on cluster %d", hyp_count); + break; + } + + hyps[hyp_count].weight = weight; + hyps[hyp_count].pf_pose_mean = pose_mean; + hyps[hyp_count].pf_pose_cov = pose_cov; + + if(hyps[hyp_count].weight > max_weight) + { + max_weight = hyps[hyp_count].weight; + max_weight_hyp = hyp_count; + } + } + + if(max_weight > 0.0) + { + ROS_DEBUG("Max weight pose: %.3f %.3f %.3f", + hyps[max_weight_hyp].pf_pose_mean.v[0], + hyps[max_weight_hyp].pf_pose_mean.v[1], + hyps[max_weight_hyp].pf_pose_mean.v[2]); + + /* + puts(""); + pf_matrix_fprintf(hyps[max_weight_hyp].pf_pose_cov, stdout, "%6.3f"); + puts(""); + */ + + geometry_msgs::PoseWithCovarianceStamped p; + // Fill in the header + p.header.frame_id = global_frame_id_; + p.header.stamp = laser_scan->header.stamp; + // Copy in the pose + p.pose.pose.position.x = hyps[max_weight_hyp].pf_pose_mean.v[0]; + p.pose.pose.position.y = hyps[max_weight_hyp].pf_pose_mean.v[1]; + + tf2::Quaternion q; + q.setRPY(0, 0, hyps[max_weight_hyp].pf_pose_mean.v[2]); + tf2::convert(q, p.pose.pose.orientation); + // Copy in the covariance, converting from 3-D to 6-D + pf_sample_set_t* set = pf_->sets + pf_->current_set; + for(int i=0; i<2; i++) + { + for(int j=0; j<2; j++) + { + // Report the overall filter covariance, rather than the + // covariance for the highest-weight cluster + //p.covariance[6*i+j] = hyps[max_weight_hyp].pf_pose_cov.m[i][j]; + p.pose.covariance[6*i+j] = set->cov.m[i][j]; + } + } + // Report the overall filter covariance, rather than the + // covariance for the highest-weight cluster + //p.covariance[6*5+5] = hyps[max_weight_hyp].pf_pose_cov.m[2][2]; + p.pose.covariance[6*5+5] = set->cov.m[2][2]; + + /* + printf("cov:\n"); + for(int i=0; i<6; i++) + { + for(int j=0; j<6; j++) + printf("%6.3f ", p.covariance[6*i+j]); + puts(""); + } + */ + + pose_pub_.publish(p); + last_published_pose = p; + + ROS_DEBUG("New pose: %6.3f %6.3f %6.3f", + hyps[max_weight_hyp].pf_pose_mean.v[0], + hyps[max_weight_hyp].pf_pose_mean.v[1], + hyps[max_weight_hyp].pf_pose_mean.v[2]); + + // subtracting base to odom from map to base and send map to odom instead + geometry_msgs::PoseStamped odom_to_map; + try + { + tf2::Quaternion q; + q.setRPY(0, 0, hyps[max_weight_hyp].pf_pose_mean.v[2]); + tf2::Transform tmp_tf(q, tf2::Vector3(hyps[max_weight_hyp].pf_pose_mean.v[0], + hyps[max_weight_hyp].pf_pose_mean.v[1], + 0.0)); + + geometry_msgs::PoseStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = base_frame_id_; + tmp_tf_stamped.header.stamp = laser_scan->header.stamp; + tf2::toMsg(tmp_tf.inverse(), tmp_tf_stamped.pose); + + this->tf_->transform(tmp_tf_stamped, odom_to_map, odom_frame_id_); + } + catch(const tf2::TransformException&) + { + ROS_DEBUG("Failed to subtract base to odom transform"); + return; + } + + tf2::convert(odom_to_map.pose, latest_tf_); + latest_tf_valid_ = true; + + if (tf_broadcast_ == true) + { + // We want to send a transform that is good up until a + // tolerance time so that odom can be used + ros::Time transform_expiration = (laser_scan->header.stamp + + transform_tolerance_); + geometry_msgs::TransformStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = global_frame_id_; + tmp_tf_stamped.header.stamp = transform_expiration; + tmp_tf_stamped.child_frame_id = odom_frame_id_; + tf2::convert(latest_tf_.inverse(), tmp_tf_stamped.transform); + + this->tfb_->sendTransform(tmp_tf_stamped); + sent_first_transform_ = true; + } + } + else + { + ROS_ERROR("No pose!"); + } + } + else if(latest_tf_valid_) + { + if (tf_broadcast_ == true) + { + // Nothing changed, so we'll just republish the last transform, to keep + // everybody happy. + ros::Time transform_expiration = (laser_scan->header.stamp + + transform_tolerance_); + geometry_msgs::TransformStamped tmp_tf_stamped; + tmp_tf_stamped.header.frame_id = global_frame_id_; + tmp_tf_stamped.header.stamp = transform_expiration; + tmp_tf_stamped.child_frame_id = odom_frame_id_; + tf2::convert(latest_tf_.inverse(), tmp_tf_stamped.transform); + this->tfb_->sendTransform(tmp_tf_stamped); + } + + // Is it time to save our last pose to the param server + ros::Time now = ros::Time::now(); + if((save_pose_period.toSec() > 0.0) && + (now - save_pose_last_time) >= save_pose_period) + { + this->savePoseToServer(); + save_pose_last_time = now; + } + } + + diagnosic_updater_.update(); +} + +void +AmclNode::initialPoseReceived(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg) +{ + handleInitialPoseMessage(*msg); + if (force_update_after_initialpose_) + { + m_force_update = true; + } +} + +void +AmclNode::handleInitialPoseMessage(const geometry_msgs::PoseWithCovarianceStamped& msg) +{ + boost::recursive_mutex::scoped_lock prl(configuration_mutex_); + if(msg.header.frame_id == "") + { + // This should be removed at some point + ROS_WARN("Received initial pose with empty frame_id. You should always supply a frame_id."); + } + // We only accept initial pose estimates in the global frame, #5148. + else if(stripSlash(msg.header.frame_id) != global_frame_id_) + { + ROS_WARN("Ignoring initial pose in frame \"%s\"; initial poses must be in the global frame, \"%s\"", + stripSlash(msg.header.frame_id).c_str(), + global_frame_id_.c_str()); + return; + } + + // In case the client sent us a pose estimate in the past, integrate the + // intervening odometric change. + geometry_msgs::TransformStamped tx_odom; + try + { + // wait a little for the latest tf to become available + tx_odom = tf_->lookupTransform(base_frame_id_, msg.header.stamp, + base_frame_id_, ros::Time::now(), + odom_frame_id_, ros::Duration(0.5)); + } + catch(const tf2::TransformException& e) + { + // If we've never sent a transform, then this is normal, because the + // global_frame_id_ frame doesn't exist. We only care about in-time + // transformation for on-the-move pose-setting, so ignoring this + // startup condition doesn't really cost us anything. + if(sent_first_transform_) + ROS_WARN("Failed to transform initial pose in time (%s)", e.what()); + tf2::convert(tf2::Transform::getIdentity(), tx_odom.transform); + } + + tf2::Transform tx_odom_tf2; + tf2::convert(tx_odom.transform, tx_odom_tf2); + tf2::Transform pose_old, pose_new; + tf2::convert(msg.pose.pose, pose_old); + pose_new = pose_old * tx_odom_tf2; + + // Transform into the global frame + + ROS_INFO("Setting pose (%.6f): %.3f %.3f %.3f", + ros::Time::now().toSec(), + pose_new.getOrigin().x(), + pose_new.getOrigin().y(), + tf2::getYaw(pose_new.getRotation())); + // Re-initialize the filter + pf_vector_t pf_init_pose_mean = pf_vector_zero(); + pf_init_pose_mean.v[0] = pose_new.getOrigin().x(); + pf_init_pose_mean.v[1] = pose_new.getOrigin().y(); + pf_init_pose_mean.v[2] = tf2::getYaw(pose_new.getRotation()); + pf_matrix_t pf_init_pose_cov = pf_matrix_zero(); + // Copy in the covariance, converting from 6-D to 3-D + for(int i=0; i<2; i++) + { + for(int j=0; j<2; j++) + { + pf_init_pose_cov.m[i][j] = msg.pose.covariance[6*i+j]; + } + } + pf_init_pose_cov.m[2][2] = msg.pose.covariance[6*5+5]; + + delete initial_pose_hyp_; + initial_pose_hyp_ = new amcl_hyp_t(); + initial_pose_hyp_->pf_pose_mean = pf_init_pose_mean; + initial_pose_hyp_->pf_pose_cov = pf_init_pose_cov; + applyInitialPose(); +} + +/** + * If initial_pose_hyp_ and map_ are both non-null, apply the initial + * pose to the particle filter state. initial_pose_hyp_ is deleted + * and set to NULL after it is used. + */ +void +AmclNode::applyInitialPose() +{ + boost::recursive_mutex::scoped_lock cfl(configuration_mutex_); + if( initial_pose_hyp_ != NULL && map_ != NULL ) { + pf_init(pf_, initial_pose_hyp_->pf_pose_mean, initial_pose_hyp_->pf_pose_cov); + pf_init_ = false; + + delete initial_pose_hyp_; + initial_pose_hyp_ = NULL; + } +} + +void +AmclNode::standardDeviationDiagnostics(diagnostic_updater::DiagnosticStatusWrapper& diagnostic_status) +{ + double std_x = sqrt(last_published_pose.pose.covariance[6*0+0]); + double std_y = sqrt(last_published_pose.pose.covariance[6*1+1]); + double std_yaw = sqrt(last_published_pose.pose.covariance[6*5+5]); + + diagnostic_status.add("std_x", std_x); + diagnostic_status.add("std_y", std_y); + diagnostic_status.add("std_yaw", std_yaw); + diagnostic_status.add("std_warn_level_x", std_warn_level_x_); + diagnostic_status.add("std_warn_level_y", std_warn_level_y_); + diagnostic_status.add("std_warn_level_yaw", std_warn_level_yaw_); + + if (std_x > std_warn_level_x_ || std_y > std_warn_level_y_ || std_yaw > std_warn_level_yaw_) + { + diagnostic_status.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Too large"); + } + else + { + diagnostic_status.summary(diagnostic_msgs::DiagnosticStatus::OK, "OK"); + } +} diff --git a/navigations/amcl/src/include/portable_utils.hpp b/navigations/amcl/src/include/portable_utils.hpp new file mode 100755 index 0000000..8570393 --- /dev/null +++ b/navigations/amcl/src/include/portable_utils.hpp @@ -0,0 +1,28 @@ +#ifndef PORTABLE_UTILS_H +#define PORTABLE_UTILS_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef HAVE_DRAND48 +// Some system (e.g., Windows) doesn't come with drand48(), srand48(). +// Use rand, and srand for such system. +static double drand48(void) +{ + return ((double)rand())/RAND_MAX; +} + +static void srand48(long int seedval) +{ + srand(seedval); +} +#endif + +#ifdef __cplusplus +} +#endif + +#endif \ No newline at end of file diff --git a/navigations/amcl/test/basic_localization.py b/navigations/amcl/test/basic_localization.py new file mode 100755 index 0000000..4f5fa4a --- /dev/null +++ b/navigations/amcl/test/basic_localization.py @@ -0,0 +1,101 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import sys +import time +from math import fmod, pi + +import unittest +import rospy +import rostest + +import tf2_py as tf2 +import tf2_ros +import PyKDL +from std_srvs.srv import Empty + + +class TestBasicLocalization(unittest.TestCase): + def setUp(self): + self.tf = None + self.target_x = None + self.target_y = None + self.target_a = None + self.tfBuffer = None + + def print_pose_diff(self): + a_curr = self.compute_angle() + a_diff = self.wrap_angle(a_curr - self.target_a) + print('Curr:\t %16.6f %16.6f %16.6f' % (self.tf.translation.x, self.tf.translation.y, a_curr)) + print('Target:\t %16.6f %16.6f %16.6f' % (self.target_x, self.target_y, self.target_a)) + print('Diff:\t %16.6f %16.6f %16.6f' % ( + abs(self.tf.translation.x - self.target_x), abs(self.tf.translation.y - self.target_y), a_diff)) + + def get_pose(self): + try: + tf_stamped = self.tfBuffer.lookup_transform("map", "base_link", rospy.Time()) + self.tf = tf_stamped.transform + self.print_pose_diff() + except (tf2.LookupException, tf2.ExtrapolationException): + pass + + @staticmethod + def wrap_angle(angle): + """ + Wrap angle to [-pi, pi) + :param angle: Angle to be wrapped + :return: wrapped angle + """ + angle += pi + while angle < 0: + angle += 2*pi + return fmod(angle, 2*pi) - pi + + def compute_angle(self): + rot = self.tf.rotation + a_curr = PyKDL.Rotation.Quaternion(rot.x, rot.y, rot.z, rot.w).GetRPY()[2] + a_diff = self.wrap_angle(a_curr - self.target_a) + return self.target_a + a_diff + + def test_basic_localization(self): + global_localization = int(sys.argv[1]) + self.target_x = float(sys.argv[2]) + self.target_y = float(sys.argv[3]) + self.target_a = self.wrap_angle(float(sys.argv[4])) + tolerance_d = float(sys.argv[5]) + tolerance_a = float(sys.argv[6]) + target_time = float(sys.argv[7]) + + rospy.init_node('test', anonymous=True) + while rospy.rostime.get_time() == 0.0: + print('Waiting for initial time publication') + time.sleep(0.1) + + if global_localization == 1: + print('Waiting for service global_localization') + rospy.wait_for_service('global_localization') + global_localization = rospy.ServiceProxy('global_localization', Empty) + global_localization() + + start_time = rospy.rostime.get_time() + self.tfBuffer = tf2_ros.Buffer() + listener = tf2_ros.TransformListener(self.tfBuffer) + + while (rospy.rostime.get_time() - start_time) < target_time: + print('Waiting for end time %.6f (current: %.6f)' % (target_time, (rospy.rostime.get_time() - start_time))) + self.get_pose() + time.sleep(0.1) + + print("Final pose:") + self.get_pose() + a_curr = self.compute_angle() + + self.assertNotEqual(self.tf, None) + self.assertAlmostEqual(self.tf.translation.x, self.target_x, delta=tolerance_d) + self.assertAlmostEqual(self.tf.translation.y, self.target_y, delta=tolerance_d) + self.assertAlmostEqual(a_curr, self.target_a, delta=tolerance_a) + + +if __name__ == '__main__': + rostest.run('amcl', 'amcl_localization', TestBasicLocalization, sys.argv) \ No newline at end of file diff --git a/navigations/amcl/test/basic_localization_stage.xml b/navigations/amcl/test/basic_localization_stage.xml new file mode 100755 index 0000000..3184121 --- /dev/null +++ b/navigations/amcl/test/basic_localization_stage.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/global_localization_stage.xml b/navigations/amcl/test/global_localization_stage.xml new file mode 100755 index 0000000..8fca2ae --- /dev/null +++ b/navigations/amcl/test/global_localization_stage.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/rosie_multilaser.xml b/navigations/amcl/test/rosie_multilaser.xml new file mode 100755 index 0000000..ade665a --- /dev/null +++ b/navigations/amcl/test/rosie_multilaser.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/set_initial_pose.xml b/navigations/amcl/test/set_initial_pose.xml new file mode 100755 index 0000000..58d8432 --- /dev/null +++ b/navigations/amcl/test/set_initial_pose.xml @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/set_initial_pose_delayed.xml b/navigations/amcl/test/set_initial_pose_delayed.xml new file mode 100755 index 0000000..cae2ec3 --- /dev/null +++ b/navigations/amcl/test/set_initial_pose_delayed.xml @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/set_pose.py b/navigations/amcl/test/set_pose.py new file mode 100755 index 0000000..74592ed --- /dev/null +++ b/navigations/amcl/test/set_pose.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python + +import rospy + +import math +import PyKDL +from geometry_msgs.msg import PoseWithCovarianceStamped + + +class PoseSetter(rospy.SubscribeListener): + def __init__(self, pose, stamp, publish_time): + self.pose = pose + self.stamp = stamp + self.publish_time = publish_time + + def peer_subscribe(self, topic_name, topic_publish, peer_publish): + p = PoseWithCovarianceStamped() + p.header.frame_id = "map" + p.header.stamp = self.stamp + p.pose.pose.position.x = self.pose[0] + p.pose.pose.position.y = self.pose[1] + (p.pose.pose.orientation.x, + p.pose.pose.orientation.y, + p.pose.pose.orientation.z, + p.pose.pose.orientation.w) = PyKDL.Rotation.RPY(0, 0, self.pose[2]).GetQuaternion() + p.pose.covariance[6*0+0] = 0.5 * 0.5 + p.pose.covariance[6*1+1] = 0.5 * 0.5 + p.pose.covariance[6*3+3] = math.pi/12.0 * math.pi/12.0 + # wait for the desired publish time + while rospy.get_rostime() < self.publish_time: + rospy.sleep(0.01) + peer_publish(p) + + +if __name__ == '__main__': + pose = list(map(float, rospy.myargv()[1:4])) + t_stamp = rospy.Time() + t_publish = rospy.Time() + if len(rospy.myargv()) > 4: + t_stamp = rospy.Time.from_sec(float(rospy.myargv()[4])) + if len(rospy.myargv()) > 5: + t_publish = rospy.Time.from_sec(float(rospy.myargv()[5])) + rospy.init_node('pose_setter', anonymous=True) + rospy.loginfo("Going to publish pose {} with stamp {} at {}".format(pose, t_stamp.to_sec(), t_publish.to_sec())) + pub = rospy.Publisher("initialpose", PoseWithCovarianceStamped, PoseSetter(pose, stamp=t_stamp, publish_time=t_publish), queue_size=1) + rospy.spin() diff --git a/navigations/amcl/test/small_loop_crazy_driving_prg.xml b/navigations/amcl/test/small_loop_crazy_driving_prg.xml new file mode 100755 index 0000000..7169c1c --- /dev/null +++ b/navigations/amcl/test/small_loop_crazy_driving_prg.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/small_loop_crazy_driving_prg_corrected.xml b/navigations/amcl/test/small_loop_crazy_driving_prg_corrected.xml new file mode 100755 index 0000000..ce4f2d4 --- /dev/null +++ b/navigations/amcl/test/small_loop_crazy_driving_prg_corrected.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/small_loop_prf.xml b/navigations/amcl/test/small_loop_prf.xml new file mode 100755 index 0000000..eadbd10 --- /dev/null +++ b/navigations/amcl/test/small_loop_prf.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/texas_greenroom_loop.xml b/navigations/amcl/test/texas_greenroom_loop.xml new file mode 100755 index 0000000..7fea530 --- /dev/null +++ b/navigations/amcl/test/texas_greenroom_loop.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/texas_greenroom_loop_corrected.xml b/navigations/amcl/test/texas_greenroom_loop_corrected.xml new file mode 100755 index 0000000..90ee389 --- /dev/null +++ b/navigations/amcl/test/texas_greenroom_loop_corrected.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/texas_willow_hallway_loop.xml b/navigations/amcl/test/texas_willow_hallway_loop.xml new file mode 100755 index 0000000..c223308 --- /dev/null +++ b/navigations/amcl/test/texas_willow_hallway_loop.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/amcl/test/texas_willow_hallway_loop_corrected.xml b/navigations/amcl/test/texas_willow_hallway_loop_corrected.xml new file mode 100755 index 0000000..bd01194 --- /dev/null +++ b/navigations/amcl/test/texas_willow_hallway_loop_corrected.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/base_local_planner/CHANGELOG.rst b/navigations/base_local_planner/CHANGELOG.rst new file mode 100755 index 0000000..257807e --- /dev/null +++ b/navigations/base_local_planner/CHANGELOG.rst @@ -0,0 +1,214 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package base_local_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- +* Commit 89a8593 removed footprint scaling. This brings it back. (`#886 `_) (`#1204 `_) + Co-authored-by: Frank Höller +* Contributors: Michael Ferguson + +1.17.1 (2020-08-27) +------------------- +* occdist_scale should not be scaled by the costmap resolution as it doesn't multiply a value that includes a distance. (`#1000 `_) +* Contributors: wjwagner + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- +* Fix Unknown CMake command check_include_file (navfn & base_local_planner) (`#975 `_) +* Contributors: Sam Pfeiffer + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* Fixes gdist- and pdist_scale node paramter names (`#936 `_) + Renames goal and path distance dynamic reconfigure parameter + names in the cfg file in order to actually make the parameters + used by the trajectory planner changeable. + Fixes `#935 `_ +* don't include a main() function in base_local_planner library (`#969 `_) +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: David Leins, Sean Yen, ipa-fez + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Provide different negative values for unknown and out-of-map costs (`#833 `_) +* Merge pull request `#857 `_ from jspricke/add_include + Add missing header +* Add missing header +* [kinetic] Fix for adjusting plan resolution (`#819 `_) + * Fix for adjusting plan resolution + * Simpler math expression +* Contributors: David V. Lu!!, Jochen Sprickerhof, Jorge Santos Simón, Michael Ferguson, Steven Macenski + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* add explicit sensor_msgs, tf2 depends for base_local_planner +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Remove PCL `#765 `_ +* Switch to TF2 `#755 `_ +* Fix trajectory obstacle scoring in dwa_local_planner. +* Make trajectory scoring scales consistent. +* unify parameter names between base_local_planner and dwa_local_planner + addresses parts of `#90 `_ +* fix param to min_in_place_vel_theta, closes `#487 `_ +* add const to getLocalPlane, fixes `#709 `_ +* Merge pull request `#732 `_ from marting87/small_typo_fixes + Small typo fixes in ftrajectory_planner_ros and robot_pose_ekf +* Fixed typos for base_local_planner +* Contributors: Alexander Moriarty, David V. Lu, Martin Ganeff, Michael Ferguson, Pavlo Kolomiiets, Rein Appeldoorn, Vincent Rabaud, moriarty + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* CostmapModel: Make lineCost and pointCost public (`#658 `_) + Make the methods `lineCost` and `pointCost` of the CostmapModel class + public so they can be used outside of the class. + Both methods are not changing the instance, so this should not cause any + problems. To emphasise their constness, add the actual `const` keyword. +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Felix Widmaier, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* set message_generation build and runtime dependency +* convert packages to format2 +* cleaner logic, fixes `#156 `_ +* Merge pull request `#596 `_ from ros-planning/lunar_548 +* Add cost function to prevent unnecessary spinning +* Fix CMakeLists + package.xmls (`#548 `_) +* add missing deps on libpcl +* import only PCL common +* pcl proagate -lQt5::Widgets flag so we need to find_package Qt5Widgets (`#578 `_) +* make rostest in CMakeLists optional (`ros/rosdistro#3010 `_) +* remove GCC warnings +* Contributors: Lukas Bulwahn, Martin Günther, Michael Ferguson, Mikael Arguedas, Morgan Quigley, Vincent Rabaud, lengly + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* base_local_planner: some fixes in goal_functions +* Merge pull request `#348 `_ from mikeferguson/trajectory_planner_fixes +* fix stuck_left/right calculation +* fix calculation of heading diff +* Contributors: Gael Ecorchard, Michael Ferguson + +1.13.0 (2015-03-17) +------------------- +* remove previously deprecated param +* Contributors: Michael Ferguson + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- +* Fixed setting child_frame_id in base_local_planner::OdometryHelperRos +* Contributors: Mani Monajjemi + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- +* Bugfix uninitialised occ_cost variable usage + This fixes `#256 `_. +* base_local_planner: adds waitForTransform +* Fixed issue causing trajectory planner returning false to isGoalReach ed even when it's control thread finishes executing +* Contributors: Daniel Stonier, Marcus Liebhardt, hes3pal + +1.11.11 (2014-07-23) +-------------------- +* Minor code cleanup +* Contributors: Enrique Fernández Perdomo + +1.11.10 (2014-06-25) +-------------------- +* Remove unnecessary colons +* renames acc_lim_th to acc_lim_theta, add warning if using acc_lim_th +* uses odom child_frame_id to set robot_vel frame_id +* Contributors: David Lu!!, Michael Ferguson, Enrique Fernández Perdomo + +1.11.9 (2014-06-10) +------------------- +* uses ::hypot(x, y) instead of sqrt(x*x, y*y) +* No need to use `limits->` +* Contributors: Enrique Fernández Perdomo + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* fixes latch_xy_goal_tolerance param not taken +* update build to find eigen using cmake_modules +* Trajectory: fix constness of getter methods +* Use hypot() instead of sqrt(x*x, y*y) +* Fix bug in distance calculation for trajectory rollout +* Some documentation fixes in SimpleTrajectoryGenerator +* Contributors: Michael Ferguson, Siegfried-A. Gevatter Pujals, enriquefernandez + +1.11.5 (2014-01-30) +------------------- +* Merge pull request `#152 `_ from KaijenHsiao/hydro-devel + uncommented trajectory_planner_ros from catkin_package LIBRARIES so other packages can find it +* Fix negative score bug, add ability to sum scores +* Ignore pyc files from running in devel +* Correct type of prefer_forward penalty member variable +* uncommented trajectory_planner_ros from catkin_package LIBRARIES so other packages can find it +* Better handling of frame param in MapGridVisualizer +* check for CATKIN_ENABLE_TESTING +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* Changed new Odom-Helper::initialize() function to setOdomTopic(). +* Converted to a pointcloud pointer in Observation in more places. diff --git a/navigations/base_local_planner/CMakeLists.txt b/navigations/base_local_planner/CMakeLists.txt new file mode 100755 index 0000000..b942aac --- /dev/null +++ b/navigations/base_local_planner/CMakeLists.txt @@ -0,0 +1,165 @@ +cmake_minimum_required(VERSION 3.0.2) +project(base_local_planner) + +include(CheckIncludeFile) + +find_package(catkin REQUIRED + COMPONENTS + angles + cmake_modules + costmap_2d + dynamic_reconfigure + geometry_msgs + message_generation + nav_core + nav_msgs + pluginlib + roscpp + rospy + sensor_msgs + std_msgs + tf2 + tf2_geometry_msgs + tf2_ros + voxel_grid + ) + +find_package(Boost REQUIRED + COMPONENTS + thread + ) + +find_package(Eigen3 REQUIRED) +remove_definitions(-DDISABLE_LIBUSB-1.0) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_python_setup() + +# messages +add_message_files( + DIRECTORY msg + FILES + Position2DInt.msg +) + +generate_messages( + DEPENDENCIES + std_msgs +) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/BaseLocalPlanner.cfg +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES + base_local_planner + trajectory_planner_ros + CATKIN_DEPENDS + angles + costmap_2d + dynamic_reconfigure + geometry_msgs + message_runtime + nav_core + nav_msgs + pluginlib + roscpp + sensor_msgs + std_msgs + tf2 + tf2_ros + voxel_grid +) + +check_include_file(sys/time.h HAVE_SYS_TIME_H) +if (HAVE_SYS_TIME_H) + add_definitions(-DHAVE_SYS_TIME_H) +endif (HAVE_SYS_TIME_H) + +#uncomment for profiling +#set(ROS_COMPILE_FLAGS "-g -pg" ${ROS_COMPILE_FLAGS}) +#set(ROS_LINK_FLAGS "-g -pg" ${ROS_LINK_FLAGS}) +#set(ROS_COMPILE_FLAGS "-g" ${ROS_COMPILE_FLAGS}) +#set(ROS_LINK_FLAGS "-g" ${ROS_LINK_FLAGS}) + +add_library(base_local_planner + src/footprint_helper.cpp + src/goal_functions.cpp + src/map_cell.cpp + src/map_grid.cpp + src/map_grid_visualizer.cpp + src/map_grid_cost_function.cpp + src/latched_stop_rotate_controller.cpp + src/local_planner_util.cpp + src/odometry_helper_ros.cpp + src/obstacle_cost_function.cpp + src/oscillation_cost_function.cpp + src/prefer_forward_cost_function.cpp + src/point_grid.cpp + src/costmap_model.cpp + src/simple_scored_sampling_planner.cpp + src/simple_trajectory_generator.cpp + src/trajectory.cpp + src/twirling_cost_function.cpp + src/voxel_grid_model.cpp) +add_dependencies(base_local_planner base_local_planner_gencfg) +add_dependencies(base_local_planner base_local_planner_generate_messages_cpp) +add_dependencies(base_local_planner nav_msgs_generate_messages_cpp) +target_link_libraries(base_local_planner + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ${Eigen_LIBRARIES} + ) + +add_library(trajectory_planner_ros + src/trajectory_planner.cpp + src/trajectory_planner_ros.cpp) +add_dependencies(trajectory_planner_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(trajectory_planner_ros + base_local_planner) + +add_executable(point_grid src/point_grid_node.cpp) +add_dependencies(point_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(point_grid ${catkin_LIBRARIES} base_local_planner) + +install(TARGETS + base_local_planner + trajectory_planner_ros + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(FILES blp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) + +if(CATKIN_ENABLE_TESTING) + find_package(rostest) + catkin_add_gtest(base_local_planner_utest + test/gtest_main.cpp + test/utest.cpp + test/velocity_iterator_test.cpp + test/footprint_helper_test.cpp + test/trajectory_generator_test.cpp + test/map_grid_test.cpp) + target_link_libraries(base_local_planner_utest + base_local_planner trajectory_planner_ros + ) + + catkin_add_gtest(line_iterator + test/line_iterator_test.cpp) +endif() diff --git a/navigations/base_local_planner/blp_plugin.xml b/navigations/base_local_planner/blp_plugin.xml new file mode 100755 index 0000000..ed0175a --- /dev/null +++ b/navigations/base_local_planner/blp_plugin.xml @@ -0,0 +1,7 @@ + + + + A implementation of a local planner using either a DWA or Trajectory Rollout approach based on configuration parameters. + + + diff --git a/navigations/base_local_planner/cfg/BaseLocalPlanner.cfg b/navigations/base_local_planner/cfg/BaseLocalPlanner.cfg new file mode 100755 index 0000000..fcb7b3d --- /dev/null +++ b/navigations/base_local_planner/cfg/BaseLocalPlanner.cfg @@ -0,0 +1,57 @@ +#!/usr/bin/env python + +PACKAGE = 'base_local_planner' + +from math import pi + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, double_t, int_t, bool_t, str_t + +gen = ParameterGenerator() + +# gen.add("inscribed_radius", double_t, 0, "The radius of the inscribed circle of the robot", 1, 0) +# gen.add("circumscribed_radius", double_t, 0, "The radius of the circumscribed circle of the robot", 1, 0) + +gen.add("acc_lim_x", double_t, 0, "The acceleration limit of the robot in the x direction", 2.5, 0, 20.0) +gen.add("acc_lim_y", double_t, 0, "The acceleration limit of the robot in the y direction", 2.5, 0, 20.0) +gen.add("acc_lim_theta", double_t, 0, "The acceleration limit of the robot in the theta direction", 3.2, 0, 20.0) + +gen.add("max_vel_x", double_t, 0, "The maximum x velocity for the robot in m/s", 0.55, 0, 20.0) +gen.add("min_vel_x", double_t, 0, "The minimum x velocity for the robot in m/s", 0.0, 0, 20.0) + +gen.add("max_vel_theta", double_t, 0, "The absolute value of the maximum rotational velocity for the robot in rad/s", 1.0, 0, 20.0) +gen.add("min_vel_theta", double_t, 0, "The absolute value of the minimum rotational velocity for the robot in rad/s", -1.0, -20.0, 0.0) +gen.add("min_in_place_vel_theta", double_t, 0, "The absolute value of the minimum in-place rotational velocity the controller will explore", 0.4, 0, 20.0) + +gen.add("sim_time", double_t, 0, "The amount of time to roll trajectories out for in seconds", 1.7, 0, 10) +gen.add("sim_granularity", double_t, 0, "The granularity with which to check for collisions along each trajectory in meters", 0.025, 0, 5) +gen.add("angular_sim_granularity", double_t, 0, "The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things", 0.025, 0, pi/2) + +gen.add("path_distance_bias", double_t, 0, "The weight for the path distance part of the cost function", 0.6, 0, 5) +gen.add("goal_distance_bias", double_t, 0, "The weight for the goal distance part of the cost function", 0.8, 0, 5) +gen.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.01, 0, 5) + +gen.add("oscillation_reset_dist", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", 0.05, 0, 5) +gen.add("escape_reset_dist", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", 0.10, 0, 5) +gen.add("escape_reset_theta", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", pi/2, 0, 5) + +gen.add("vx_samples", int_t, 0, "The number of samples to use when exploring the x velocity space", 20, 1, 300) +gen.add("vtheta_samples", int_t, 0, "The number of samples to use when exploring the theta velocity space", 20, 1, 300) + +gen.add("heading_lookahead", double_t, 0, "How far the robot should look ahead of itself when differentiating between different rotational velocities", 0.325, 0, 5) + +gen.add("holonomic_robot", bool_t, 0, "Set this to true if the robot being controlled can take y velocities and false otherwise", True) + +gen.add("escape_vel", double_t, 0, "The velocity to use while backing up", -0.1, -2, 2) + +gen.add("dwa", bool_t, 0, "Set this to true to use the Dynamic Window Approach, false to use acceleration limits", False) + +gen.add("heading_scoring", bool_t, 0, "Set this to true to use the Dynamic Window Approach, false to use acceleration limits", False) +gen.add("heading_scoring_timestep", double_t, 0, "How far to look ahead in time when we score heading based trajectories", 0.1, 0, 1) + +gen.add("simple_attractor", bool_t, 0, "Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation", False) + +gen.add("y_vels", str_t, 0, "A comma delimited list of the y velocities the controller will explore", "-0.3,-0.1,0.1,-0.3") + +gen.add("restore_defaults", bool_t, 0, "Retore to the default configuration", False) + +exit(gen.generate(PACKAGE, "base_local_planner", "BaseLocalPlanner")) diff --git a/navigations/base_local_planner/cfg/LocalPlannerLimits.cfg b/navigations/base_local_planner/cfg/LocalPlannerLimits.cfg new file mode 100755 index 0000000..954982e --- /dev/null +++ b/navigations/base_local_planner/cfg/LocalPlannerLimits.cfg @@ -0,0 +1,10 @@ +#!/usr/bin/env python +# Generic Local Planner configuration + +# from dynamic_reconfigure.parameter_generator_catkin import * + + +# if __name__ == "__main__": +# gen = ParameterGenerator() +# add_generic_localplanner_params(gen) +# exit(gen.generate(PACKAGE, "base_local_planner", "LocalPlannerLimits")) diff --git a/navigations/base_local_planner/include/base_local_planner/costmap_model.h b/navigations/base_local_planner/include/base_local_planner/costmap_model.h new file mode 100755 index 0000000..21586b8 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/costmap_model.h @@ -0,0 +1,102 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_COSTMAP_MODEL_ +#define TRAJECTORY_ROLLOUT_COSTMAP_MODEL_ + +#include +// For obstacle data access +#include + +namespace base_local_planner { + /** + * @class CostmapModel + * @brief A class that implements the WorldModel interface to provide grid + * based collision checks for the trajectory controller using the costmap. + */ + class CostmapModel : public WorldModel { + public: + /** + * @brief Constructor for the CostmapModel + * @param costmap The costmap that should be used + * @return + */ + CostmapModel(const costmap_2d::Costmap2D& costmap); + + /** + * @brief Destructor for the world model + */ + virtual ~CostmapModel(){} + using WorldModel::footprintCost; + + /** + * @brief Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise: + * -1 if footprint covers at least a lethal obstacle cell, or + * -2 if footprint covers at least a no-information cell, or + * -3 if footprint is [partially] outside of the map + */ + virtual double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius); + + /** + * @brief Rasterizes a line in the costmap grid and checks for collisions + * @param x0 The x position of the first cell in grid coordinates + * @param y0 The y position of the first cell in grid coordinates + * @param x1 The x position of the second cell in grid coordinates + * @param y1 The y position of the second cell in grid coordinates + * @return A positive cost for a legal line... negative otherwise + */ + double lineCost(int x0, int x1, int y0, int y1) const; + + /** + * @brief Checks the cost of a point in the costmap + * @param x The x position of the point in cell coordinates + * @param y The y position of the point in cell coordinates + * @return A positive cost for a legal point... negative otherwise + */ + double pointCost(int x, int y) const; + + private: + const costmap_2d::Costmap2D& costmap_; ///< @brief Allows access of costmap obstacle information + + }; +}; +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/footprint_helper.h b/navigations/base_local_planner/include/base_local_planner/footprint_helper.h new file mode 100755 index 0000000..9f47ebc --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/footprint_helper.h @@ -0,0 +1,87 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef FOOTPRINT_HELPER_H_ +#define FOOTPRINT_HELPER_H_ + +#include + +#include +#include +#include +#include + +namespace base_local_planner { + +class FootprintHelper { +public: + FootprintHelper(); + virtual ~FootprintHelper(); + + /** + * @brief Used to get the cells that make up the footprint of the robot + * @param x_i The x position of the robot + * @param y_i The y position of the robot + * @param theta_i The orientation of the robot + * @param fill If true: returns all cells in the footprint of the robot. If false: returns only the cells that make up the outline of the footprint. + * @return The cells that make up either the outline or entire footprint of the robot depending on fill + */ + std::vector getFootprintCells( + Eigen::Vector3f pos, + std::vector footprint_spec, + const costmap_2d::Costmap2D&, + bool fill); + + /** + * @brief Use Bresenham's algorithm to trace a line between two points in a grid + * @param x0 The x coordinate of the first point + * @param x1 The x coordinate of the second point + * @param y0 The y coordinate of the first point + * @param y1 The y coordinate of the second point + * @param pts Will be filled with the cells that lie on the line in the grid + */ + void getLineCells(int x0, int x1, int y0, int y1, std::vector& pts); + + /** + * @brief Fill the outline of a polygon, in this case the robot footprint, in a grid + * @param footprint The list of cells making up the footprint in the grid, will be modified to include all cells inside the footprint + */ + void getFillCells(std::vector& footprint); +}; + +} /* namespace base_local_planner */ +#endif /* FOOTPRINT_HELPER_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/goal_functions.h b/navigations/base_local_planner/include/base_local_planner/goal_functions.h new file mode 100755 index 0000000..c873555 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/goal_functions.h @@ -0,0 +1,153 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_ +#define BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +namespace base_local_planner { + + /** + * @brief return squared distance to check if the goal position has been achieved + * @param global_pose The pose of the robot in the global frame + * @param goal_x The desired x value for the goal + * @param goal_y The desired y value for the goal + * @return distance to goal + */ + double getGoalPositionDistance(const geometry_msgs::PoseStamped& global_pose, double goal_x, double goal_y); + + /** + * @brief return angle difference to goal to check if the goal orientation has been achieved + * @param global_pose The pose of the robot in the global frame + * @param goal_x The desired x value for the goal + * @param goal_y The desired y value for the goal + * @return angular difference + */ + double getGoalOrientationAngleDifference(const geometry_msgs::PoseStamped& global_pose, double goal_th); + + /** + * @brief Publish a plan for visualization purposes + * @param path The plan to publish + * @param pub The published to use + * @param r,g,b,a The color and alpha value to use when publishing + */ + void publishPlan(const std::vector& path, const ros::Publisher& pub); + + /** + * @brief Trim off parts of the global plan that are far enough behind the robot + * @param global_pose The pose of the robot in the global frame + * @param plan The plan to be pruned + * @param global_plan The plan to be pruned in the frame of the planner + */ + void prunePlan(const geometry_msgs::PoseStamped& global_pose, std::vector& plan, std::vector& global_plan); + + /** + * @brief Transforms the global plan of the robot from the planner frame to the frame of the costmap, + * selects only the (first) part of the plan that is within the costmap area. + * @param tf A reference to a transform listener + * @param global_plan The plan to be transformed + * @param robot_pose The pose of the robot in the global frame (same as costmap) + * @param costmap A reference to the costmap being used so the window size for transforming can be computed + * @param global_frame The frame to transform the plan to + * @param transformed_plan Populated with the transformed plan + */ + bool transformGlobalPlan(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const geometry_msgs::PoseStamped& global_robot_pose, + const costmap_2d::Costmap2D& costmap, + const std::string& global_frame, + std::vector& transformed_plan); + + /** + * @brief Returns last pose in plan + * @param tf A reference to a transform listener + * @param global_plan The plan being followed + * @param global_frame The global frame of the local planner + * @param goal_pose the pose to copy into + * @return True if achieved, false otherwise + */ + bool getGoalPose(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const std::string& global_frame, + geometry_msgs::PoseStamped &goal_pose); + + /** + * @brief Check if the goal pose has been achieved + * @param tf A reference to a transform listener + * @param global_plan The plan being followed + * @param costmap_ros A reference to the costmap object being used by the planner + * @param global_frame The global frame of the local planner + * @param base_odom The current odometry information for the robot + * @param rot_stopped_vel The rotational velocity below which the robot is considered stopped + * @param trans_stopped_vel The translational velocity below which the robot is considered stopped + * @param xy_goal_tolerance The translational tolerance on reaching the goal + * @param yaw_goal_tolerance The rotational tolerance on reaching the goal + * @return True if achieved, false otherwise + */ + bool isGoalReached(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const costmap_2d::Costmap2D& costmap, + const std::string& global_frame, + geometry_msgs::PoseStamped& global_pose, + const nav_msgs::Odometry& base_odom, + double rot_stopped_vel, double trans_stopped_vel, + double xy_goal_tolerance, double yaw_goal_tolerance); + + /** + * @brief Check whether the robot is stopped or not + * @param base_odom The current odometry information for the robot + * @param rot_stopped_velocity The rotational velocity below which the robot is considered stopped + * @param trans_stopped_velocity The translational velocity below which the robot is considered stopped + * @return True if the robot is stopped, false otherwise + */ + bool stopped(const nav_msgs::Odometry& base_odom, + const double& rot_stopped_velocity, + const double& trans_stopped_velocity); +}; +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/latched_stop_rotate_controller.h b/navigations/base_local_planner/include/base_local_planner/latched_stop_rotate_controller.h new file mode 100755 index 0000000..a396b94 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/latched_stop_rotate_controller.h @@ -0,0 +1,93 @@ +/* + * latched_stop_rotate_controller.h + * + * Created on: Apr 16, 2012 + * Author: tkruse + */ + +#ifndef LATCHED_STOP_ROTATE_CONTROLLER_H_ +#define LATCHED_STOP_ROTATE_CONTROLLER_H_ + +#include + +#include + +#include +#include + +namespace base_local_planner { + +class LatchedStopRotateController { +public: + LatchedStopRotateController(const std::string& name = ""); + virtual ~LatchedStopRotateController(); + + bool isPositionReached(LocalPlannerUtil* planner_util, + const geometry_msgs::PoseStamped& global_pose); + + bool isGoalReached(LocalPlannerUtil* planner_util, + OdometryHelperRos& odom_helper, + const geometry_msgs::PoseStamped& global_pose); + + void resetLatching() { + xy_tolerance_latch_ = false; + } + + /** + * @brief Stop the robot taking into account acceleration limits + * @param global_pose The pose of the robot in the global frame + * @param robot_vel The velocity of the robot + * @param cmd_vel The velocity commands to be filled + * @return True if a valid trajectory was found, false otherwise + */ + bool stopWithAccLimits(const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& robot_vel, + geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + boost::function obstacle_check); + + /** + * @brief Once a goal position is reached... rotate to the goal orientation + * @param global_pose The pose of the robot in the global frame + * @param robot_vel The velocity of the robot + * @param goal_th The desired th value for the goal + * @param cmd_vel The velocity commands to be filled + * @return True if a valid trajectory was found, false otherwise + */ + bool rotateToGoal(const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& robot_vel, + double goal_th, + geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + base_local_planner::LocalPlannerLimits& limits, + boost::function obstacle_check); + + bool computeVelocityCommandsStopRotate(geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + LocalPlannerUtil* planner_util, + OdometryHelperRos& odom_helper, + const geometry_msgs::PoseStamped& global_pose, + boost::function obstacle_check); + +private: + inline double sign(double x){ + return x < 0.0 ? -1.0 : 1.0; + } + + + // whether to latch at all, and whether in this turn we have already been in goal area + bool latch_xy_goal_tolerance_, xy_tolerance_latch_; + bool rotating_to_goal_; +}; + +} /* namespace base_local_planner */ +#endif /* LATCHED_STOP_ROTATE_CONTROLLER_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/line_iterator.h b/navigations/base_local_planner/include/base_local_planner/line_iterator.h new file mode 100755 index 0000000..c2f770e --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/line_iterator.h @@ -0,0 +1,143 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ +#ifndef LINE_ITERATOR_H +#define LINE_ITERATOR_H + +#include + +namespace base_local_planner +{ + +/** An iterator implementing Bresenham Ray-Tracing. */ +class LineIterator +{ +public: + LineIterator( int x0, int y0, int x1, int y1 ) + : x0_( x0 ) + , y0_( y0 ) + , x1_( x1 ) + , y1_( y1 ) + , x_( x0 ) // X and Y start of at first endpoint. + , y_( y0 ) + , deltax_( abs( x1 - x0 )) + , deltay_( abs( y1 - y0 )) + , curpixel_( 0 ) + { + if( x1_ >= x0_ ) // The x-values are increasing + { + xinc1_ = 1; + xinc2_ = 1; + } + else // The x-values are decreasing + { + xinc1_ = -1; + xinc2_ = -1; + } + + if( y1_ >= y0_) // The y-values are increasing + { + yinc1_ = 1; + yinc2_ = 1; + } + else // The y-values are decreasing + { + yinc1_ = -1; + yinc2_ = -1; + } + + if( deltax_ >= deltay_ ) // There is at least one x-value for every y-value + { + xinc1_ = 0; // Don't change the x when numerator >= denominator + yinc2_ = 0; // Don't change the y for every iteration + den_ = deltax_; + num_ = deltax_ / 2; + numadd_ = deltay_; + numpixels_ = deltax_; // There are more x-values than y-values + } + else // There is at least one y-value for every x-value + { + xinc2_ = 0; // Don't change the x for every iteration + yinc1_ = 0; // Don't change the y when numerator >= denominator + den_ = deltay_; + num_ = deltay_ / 2; + numadd_ = deltax_; + numpixels_ = deltay_; // There are more y-values than x-values + } + } + + bool isValid() const + { + return curpixel_ <= numpixels_; + } + + void advance() + { + num_ += numadd_; // Increase the numerator by the top of the fraction + if( num_ >= den_ ) // Check if numerator >= denominator + { + num_ -= den_; // Calculate the new numerator value + x_ += xinc1_; // Change the x as appropriate + y_ += yinc1_; // Change the y as appropriate + } + x_ += xinc2_; // Change the x as appropriate + y_ += yinc2_; // Change the y as appropriate + + curpixel_++; + } + + int getX() const { return x_; } + int getY() const { return y_; } + + int getX0() const { return x0_; } + int getY0() const { return y0_; } + + int getX1() const { return x1_; } + int getY1() const { return y1_; } + +private: + int x0_; ///< X coordinate of first end point. + int y0_; ///< Y coordinate of first end point. + int x1_; ///< X coordinate of second end point. + int y1_; ///< Y coordinate of second end point. + + int x_; ///< X coordinate of current point. + int y_; ///< Y coordinate of current point. + + int deltax_; ///< Difference between Xs of endpoints. + int deltay_; ///< Difference between Ys of endpoints. + + int curpixel_; ///< index of current point in line loop. + + int xinc1_, xinc2_, yinc1_, yinc2_; + int den_, num_, numadd_, numpixels_; +}; + +} // end namespace base_local_planner + +#endif // LINE_ITERATOR_H diff --git a/navigations/base_local_planner/include/base_local_planner/local_planner_limits.h b/navigations/base_local_planner/include/base_local_planner/local_planner_limits.h new file mode 100755 index 0000000..d94b87d --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/local_planner_limits.h @@ -0,0 +1,121 @@ +/*********************************************************** + * 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. + ***********************************************************/ + + +#ifndef __base_local_planner__LOCALPLANNERLIMITS_H__ +#define __base_local_planner__LOCALPLANNERLIMITS_H__ + +#include + +namespace base_local_planner +{ +class LocalPlannerLimits +{ +public: + + double max_vel_trans; + double min_vel_trans; + double max_vel_x; + double min_vel_x; + double max_vel_y; + double min_vel_y; + double max_vel_theta; + double min_vel_theta; + double acc_lim_x; + double acc_lim_y; + double acc_lim_theta; + double acc_lim_trans; + bool prune_plan; + double xy_goal_tolerance; + double yaw_goal_tolerance; + double trans_stopped_vel; + double theta_stopped_vel; + bool restore_defaults; + + LocalPlannerLimits() {} + + LocalPlannerLimits( + double nmax_vel_trans, + double nmin_vel_trans, + double nmax_vel_x, + double nmin_vel_x, + double nmax_vel_y, + double nmin_vel_y, + double nmax_vel_theta, + double nmin_vel_theta, + double nacc_lim_x, + double nacc_lim_y, + double nacc_lim_theta, + double nacc_lim_trans, + double nxy_goal_tolerance, + double nyaw_goal_tolerance, + bool nprune_plan = true, + double ntrans_stopped_vel = 0.1, + double ntheta_stopped_vel = 0.1): + max_vel_trans(nmax_vel_trans), + min_vel_trans(nmin_vel_trans), + max_vel_x(nmax_vel_x), + min_vel_x(nmin_vel_x), + max_vel_y(nmax_vel_y), + min_vel_y(nmin_vel_y), + max_vel_theta(nmax_vel_theta), + min_vel_theta(nmin_vel_theta), + acc_lim_x(nacc_lim_x), + acc_lim_y(nacc_lim_y), + acc_lim_theta(nacc_lim_theta), + acc_lim_trans(nacc_lim_trans), + prune_plan(nprune_plan), + xy_goal_tolerance(nxy_goal_tolerance), + yaw_goal_tolerance(nyaw_goal_tolerance), + trans_stopped_vel(ntrans_stopped_vel), + theta_stopped_vel(ntheta_stopped_vel) {} + + ~LocalPlannerLimits() {} + + /** + * @brief Get the acceleration limits of the robot + * @return The acceleration limits of the robot + */ + Eigen::Vector3f getAccLimits() { + Eigen::Vector3f acc_limits; + acc_limits[0] = acc_lim_x; + acc_limits[1] = acc_lim_y; + acc_limits[2] = acc_lim_theta; + return acc_limits; + } + +}; + +} +#endif // __LOCALPLANNERLIMITS_H__ diff --git a/navigations/base_local_planner/include/base_local_planner/local_planner_util.h b/navigations/base_local_planner/include/base_local_planner/local_planner_util.h new file mode 100755 index 0000000..a0dbb70 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/local_planner_util.h @@ -0,0 +1,111 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + *********************************************************************/ + +#ifndef ABSTRACT_LOCAL_PLANNER_ODOM_H_ +#define ABSTRACT_LOCAL_PLANNER_ODOM_H_ + +#include + +#include + +#include +#include + +#include + + +namespace base_local_planner { + +/** + * @class LocalPlannerUtil + * @brief Helper class implementing infrastructure code many local planner implementations may need. + */ +class LocalPlannerUtil { + +private: + // things we get from move_base + std::string name_; + std::string global_frame_; + + costmap_2d::Costmap2D* costmap_; + tf2_ros::Buffer* tf_; + + + std::vector global_plan_; + + + boost::mutex limits_configuration_mutex_; + bool setup_; + LocalPlannerLimits default_limits_; + LocalPlannerLimits limits_; + bool initialized_; + +public: + + /** + * @brief Callback to update the local planner's parameters + */ + void reconfigureCB(LocalPlannerLimits &config, bool restore_defaults); + + LocalPlannerUtil() : initialized_(false) {} + + ~LocalPlannerUtil() { + } + + void initialize(tf2_ros::Buffer* tf, + costmap_2d::Costmap2D* costmap, + std::string global_frame); + + bool getGoal(geometry_msgs::PoseStamped& goal_pose); + + bool setPlan(const std::vector& orig_global_plan); + + bool getLocalPlan(const geometry_msgs::PoseStamped& global_pose, std::vector& transformed_plan); + + costmap_2d::Costmap2D* getCostmap(); + + LocalPlannerLimits getCurrentLimits(); + + std::string getGlobalFrame(){ return global_frame_; } +}; + + + + +}; + +#endif /* ABSTRACT_LOCAL_PLANNER_ODOM_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/map_cell.h b/navigations/base_local_planner/include/base_local_planner/map_cell.h new file mode 100755 index 0000000..6bb797b --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/map_cell.h @@ -0,0 +1,67 @@ +/********************************************************************* + * 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. + *********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_MAP_CELL_H_ +#define TRAJECTORY_ROLLOUT_MAP_CELL_H_ + +#include + +namespace base_local_planner { + /** + * @class MapCell + * @brief Stores path distance and goal distance information used for scoring trajectories + */ + class MapCell{ + public: + /** + * @brief Default constructor + */ + MapCell(); + + /** + * @brief Copy constructor + * @param mc The MapCell to be copied + */ + MapCell(const MapCell& mc); + + unsigned int cx, cy; ///< @brief Cell index in the grid map + + double target_dist; ///< @brief Distance to planner's path + + bool target_mark; ///< @brief Marks for computing path/goal distances + + bool within_robot; ///< @brief Mark for cells within the robot footprint + }; +}; + +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/map_grid.h b/navigations/base_local_planner/include/base_local_planner/map_grid.h new file mode 100755 index 0000000..05239b2 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/map_grid.h @@ -0,0 +1,200 @@ +/********************************************************************* + * 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. + *********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_MAP_GRID_H_ +#define TRAJECTORY_ROLLOUT_MAP_GRID_H_ + +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace base_local_planner{ + /** + * @class MapGrid + * @brief A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. + */ + class MapGrid{ + public: + /** + * @brief Creates a 0x0 map by default + */ + MapGrid(); + + /** + * @brief Creates a map of size_x by size_y + * @param size_x The width of the map + * @param size_y The height of the map + */ + MapGrid(unsigned int size_x, unsigned int size_y); + + + /** + * @brief Returns a map cell accessed by (col, row) + * @param x The x coordinate of the cell + * @param y The y coordinate of the cell + * @return A reference to the desired cell + */ + inline MapCell& operator() (unsigned int x, unsigned int y){ + return map_[size_x_ * y + x]; + } + + /** + * @brief Returns a map cell accessed by (col, row) + * @param x The x coordinate of the cell + * @param y The y coordinate of the cell + * @return A copy of the desired cell + */ + inline MapCell operator() (unsigned int x, unsigned int y) const { + return map_[size_x_ * y + x]; + } + + inline MapCell& getCell(unsigned int x, unsigned int y){ + return map_[size_x_ * y + x]; + } + + /** + * @brief Destructor for a MapGrid + */ + ~MapGrid(){} + + /** + * @brief Copy constructor for a MapGrid + * @param mg The MapGrid to copy + */ + MapGrid(const MapGrid& mg); + + /** + * @brief Assignment operator for a MapGrid + * @param mg The MapGrid to assign from + */ + MapGrid& operator= (const MapGrid& mg); + + /** + * @brief reset path distance fields for all cells + */ + void resetPathDist(); + + /** + * @brief check if we need to resize + * @param size_x The desired width + * @param size_y The desired height + */ + void sizeCheck(unsigned int size_x, unsigned int size_y); + + /** + * @brief Utility to share initialization code across constructors + */ + void commonInit(); + + /** + * @brief Returns a 1D index into the MapCell array for a 2D index + * @param x The desired x coordinate + * @param y The desired y coordinate + * @return The associated 1D index + */ + size_t getIndex(int x, int y); + + /** + * return a value that indicates cell is in obstacle + */ + inline double obstacleCosts() { + return map_.size(); + } + + /** + * returns a value indicating cell was not reached by wavefront + * propagation of set cells. (is behind walls, regarding the region covered by grid) + */ + inline double unreachableCellCosts() { + return map_.size() + 1; + } + + /** + * @brief Used to update the distance of a cell in path distance computation + * @param current_cell The cell we're currently in + * @param check_cell The cell to be updated + */ + inline bool updatePathCell(MapCell* current_cell, MapCell* check_cell, + const costmap_2d::Costmap2D& costmap); + + /** + * increase global plan resolution to match that of the costmap by adding points linearly between global plan points + * This is necessary where global planners produce plans with few points. + * @param global_plan_in input + * @param global_plan_output output + * @param resolution desired distance between waypoints + */ + static void adjustPlanResolution(const std::vector& global_plan_in, + std::vector& global_plan_out, double resolution); + + /** + * @brief Compute the distance from each cell in the local map grid to the planned path + * @param dist_queue A queue of the initial cells on the path + */ + void computeTargetDistance(std::queue& dist_queue, const costmap_2d::Costmap2D& costmap); + + /** + * @brief Compute the distance from each cell in the local map grid to the local goal point + * @param goal_queue A queue containing the local goal cell + */ + void computeGoalDistance(std::queue& dist_queue, const costmap_2d::Costmap2D& costmap); + + /** + * @brief Update what cells are considered path based on the global plan + */ + void setTargetCells(const costmap_2d::Costmap2D& costmap, const std::vector& global_plan); + + /** + * @brief Update what cell is considered the next local goal + */ + void setLocalGoal(const costmap_2d::Costmap2D& costmap, + const std::vector& global_plan); + + double goal_x_, goal_y_; /**< @brief The goal distance was last computed from */ + + unsigned int size_x_, size_y_; ///< @brief The dimensions of the grid + + private: + + std::vector map_; ///< @brief Storage for the MapCells + + }; +}; + +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/map_grid_cost_function.h b/navigations/base_local_planner/include/base_local_planner/map_grid_cost_function.h new file mode 100755 index 0000000..421bd00 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/map_grid_cost_function.h @@ -0,0 +1,139 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef MAP_GRID_COST_FUNCTION_H_ +#define MAP_GRID_COST_FUNCTION_H_ + +#include + +#include +#include + +namespace base_local_planner { + +/** + * when scoring a trajectory according to the values in mapgrid, we can take + *return the value of the last point (if no of the earlier points were in + * return collision), the sum for all points, or the product of all (non-zero) points + */ +enum CostAggregationType { Last, Sum, Product}; + +/** + * This class provides cost based on a map_grid of a small area of the world. + * The map_grid covers a the costmap, the costmap containing the information + * about sensed obstacles. The map_grid is used by setting + * certain cells to distance 0, and then propagating distances around them, + * filling up the area reachable around them. + * + * The approach using grid_maps is used for computational efficiency, allowing to + * score hundreds of trajectories very quickly. + * + * This can be used to favor trajectories which stay on a given path, or which + * approach a given goal. + * @param costmap_ros Reference to object giving updates of obstacles around robot + * @param xshift where the scoring point is with respect to robot center pose + * @param yshift where the scoring point is with respect to robot center pose + * @param is_local_goal_function, scores for local goal rather than whole path + * @param aggregationType how to combine costs along trajectory + */ +class MapGridCostFunction: public base_local_planner::TrajectoryCostFunction { +public: + MapGridCostFunction(costmap_2d::Costmap2D* costmap, + double xshift = 0.0, + double yshift = 0.0, + bool is_local_goal_function = false, + CostAggregationType aggregationType = Last); + + ~MapGridCostFunction() {} + + /** + * set line segments on the grid with distance 0, resets the grid + */ + void setTargetPoses(std::vector target_poses); + + void setXShift(double xshift) {xshift_ = xshift;} + void setYShift(double yshift) {yshift_ = yshift;} + + /** @brief If true, failures along the path cause the entire path to be rejected. + * + * Default is true. */ + void setStopOnFailure(bool stop_on_failure) {stop_on_failure_ = stop_on_failure;} + + /** + * propagate distances + */ + bool prepare(); + + double scoreTrajectory(Trajectory &traj); + + /** + * return a value that indicates cell is in obstacle + */ + double obstacleCosts() { + return map_.obstacleCosts(); + } + + /** + * returns a value indicating cell was not reached by wavefront + * propagation of set cells. (is behind walls, regarding the region covered by grid) + */ + double unreachableCellCosts() { + return map_.unreachableCellCosts(); + } + + // used for easier debugging + double getCellCosts(unsigned int cx, unsigned int cy); + +private: + std::vector target_poses_; + costmap_2d::Costmap2D* costmap_; + + base_local_planner::MapGrid map_; + CostAggregationType aggregationType_; + /// xshift and yshift allow scoring for different + // ooints of robots than center, like fron or back + // this can help with alignment or keeping specific + // wheels on tracks both default to 0 + double xshift_; + double yshift_; + // if true, we look for a suitable local goal on path, else we use the full path for costs + bool is_local_goal_function_; + bool stop_on_failure_; +}; + +} /* namespace base_local_planner */ +#endif /* MAP_GRID_COST_FUNCTION_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/map_grid_visualizer.h b/navigations/base_local_planner/include/base_local_planner/map_grid_visualizer.h new file mode 100755 index 0000000..43d1bd0 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/map_grid_visualizer.h @@ -0,0 +1,71 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2010, Eric Perko + * 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 Eric Perko 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. + *********************************************************************/ +#ifndef MAP_GRID_VISUALIZER_H_ +#define MAP_GRID_VISUALIZER_H_ + +#include +#include +#include + +namespace base_local_planner { + class MapGridVisualizer { + public: + /** + * @brief Default constructor + */ + MapGridVisualizer(); + + /** + * @brief Initializes the MapGridVisualizer + * @param name The name to be appended to ~/ in order to get the proper namespace for parameters + * @param costmap The costmap instance to use to get the size of the map to generate a point cloud for + * @param cost_function The function to use to compute the cost values to be inserted into each point in the output PointCloud as well as whether to include a given point or not + */ + void initialize(const std::string& name, std::string frame, boost::function cost_function); + + /** + * @brief Build and publish a PointCloud if the publish_cost_grid_pc parameter was true. Only include points for which the cost_function at (cx,cy) returns true. + */ + void publishCostCloud(const costmap_2d::Costmap2D* costmap_p_); + + private: + std::string name_; ///< @brief The name to get parameters relative to. + boost::function cost_function_; ///< @brief The function to be used to generate the cost components for the output PointCloud + ros::NodeHandle ns_nh_; + std::string frame_id_; + ros::Publisher pub_; + }; +}; + +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/obstacle_cost_function.h b/navigations/base_local_planner/include/base_local_planner/obstacle_cost_function.h new file mode 100755 index 0000000..e5563df --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/obstacle_cost_function.h @@ -0,0 +1,89 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef OBSTACLE_COST_FUNCTION_H_ +#define OBSTACLE_COST_FUNCTION_H_ + +#include + +#include +#include + +namespace base_local_planner { + +/** + * class ObstacleCostFunction + * @brief Uses costmap 2d to assign negative costs if robot footprint + * is in obstacle on any point of the trajectory. + */ +class ObstacleCostFunction : public TrajectoryCostFunction { + +public: + ObstacleCostFunction(costmap_2d::Costmap2D* costmap); + ~ObstacleCostFunction(); + + bool prepare(); + double scoreTrajectory(Trajectory &traj); + + void setSumScores(bool score_sums){ sum_scores_=score_sums; } + + void setParams(double max_trans_vel, double max_scaling_factor, double scaling_speed); + void setFootprint(std::vector footprint_spec); + + // helper functions, made static for easy unit testing + static double getScalingFactor(Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor); + static double footprintCost( + const double& x, + const double& y, + const double& th, + double scale, + std::vector footprint_spec, + costmap_2d::Costmap2D* costmap, + base_local_planner::WorldModel* world_model); + +private: + costmap_2d::Costmap2D* costmap_; + std::vector footprint_spec_; + base_local_planner::WorldModel* world_model_; + double max_trans_vel_; + bool sum_scores_; + //footprint scaling with velocity; + double max_scaling_factor_, scaling_speed_; +}; + +} /* namespace base_local_planner */ +#endif /* OBSTACLE_COST_FUNCTION_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/odometry_helper_ros.h b/navigations/base_local_planner/include/base_local_planner/odometry_helper_ros.h new file mode 100755 index 0000000..affce7a --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/odometry_helper_ros.h @@ -0,0 +1,92 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef ODOMETRY_HELPER_ROS2_H_ +#define ODOMETRY_HELPER_ROS2_H_ + +#include +#include +#include +#include + +namespace base_local_planner { + +class OdometryHelperRos { +public: + + /** @brief Constructor. + * @param odom_topic The topic on which to subscribe to Odometry + * messages. If the empty string is given (the default), no + * subscription is done. */ + OdometryHelperRos(std::string odom_topic = ""); + ~OdometryHelperRos() {} + + /** + * @brief Callback for receiving odometry data + * @param msg An Odometry message + */ + void odomCallback(const nav_msgs::Odometry::ConstPtr& msg); + + void getOdom(nav_msgs::Odometry& base_odom); + + void getRobotVel(geometry_msgs::PoseStamped& robot_vel); + + /** @brief Set the odometry topic. This overrides what was set in the constructor, if anything. + * + * This unsubscribes from the old topic (if any) and subscribes to the new one (if any). + * + * If odom_topic is the empty string, this just unsubscribes from the previous topic. */ + void setOdomTopic(std::string odom_topic); + + /** @brief Return the current odometry topic. */ + std::string getOdomTopic() const { return odom_topic_; } + +private: + //odom topic + std::string odom_topic_; + + // we listen on odometry on the odom topic + ros::Subscriber odom_sub_; + nav_msgs::Odometry base_odom_; + boost::mutex odom_mutex_; + // global tf frame id + std::string frame_id_; ///< The frame_id associated this data +}; + +} /* namespace base_local_planner */ +#define CHUNKY 1 +#endif /* ODOMETRY_HELPER_ROS2_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/oscillation_cost_function.h b/navigations/base_local_planner/include/base_local_planner/oscillation_cost_function.h new file mode 100755 index 0000000..5a8f98a --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/oscillation_cost_function.h @@ -0,0 +1,89 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef OSCILLATION_COST_FUNCTION_H_ +#define OSCILLATION_COST_FUNCTION_H_ + +#include +#include + +namespace base_local_planner { + +class OscillationCostFunction: public base_local_planner::TrajectoryCostFunction { +public: + OscillationCostFunction(); + virtual ~OscillationCostFunction(); + + double scoreTrajectory(Trajectory &traj); + + bool prepare() {return true;}; + + /** + * @brief Reset the oscillation flags for the local planner + */ + void resetOscillationFlags(); + + + void updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory* traj, double min_vel_trans); + + void setOscillationResetDist(double dist, double angle); + +private: + + void resetOscillationFlagsIfPossible(const Eigen::Vector3f& pos, const Eigen::Vector3f& prev); + + /** + * @brief Given a trajectory that's selected, set flags if needed to + * prevent the robot from oscillating + * @param t The selected trajectory + * @return True if a flag was set, false otherwise + */ + bool setOscillationFlags(base_local_planner::Trajectory* t, double min_vel_trans); + + // flags + bool strafe_pos_only_, strafe_neg_only_, strafing_pos_, strafing_neg_; + bool rot_pos_only_, rot_neg_only_, rotating_pos_, rotating_neg_; + bool forward_pos_only_, forward_neg_only_, forward_pos_, forward_neg_; + + // param + double oscillation_reset_dist_, oscillation_reset_angle_; + + Eigen::Vector3f prev_stationary_pos_; +}; + +} /* namespace base_local_planner */ +#endif /* OSCILLATION_COST_FUNCTION_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/planar_laser_scan.h b/navigations/base_local_planner/include/base_local_planner/planar_laser_scan.h new file mode 100755 index 0000000..ce99a70 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/planar_laser_scan.h @@ -0,0 +1,57 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_PLANAR_LASER_SCAN_H_ +#define TRAJECTORY_ROLLOUT_PLANAR_LASER_SCAN_H_ + +#include +#include + +namespace base_local_planner { + /** + * @class PlanarLaserScan + * @brief Stores a scan from a planar laser that can be used to clear freespace + */ + class PlanarLaserScan { + public: + PlanarLaserScan() {} + geometry_msgs::Point32 origin; + sensor_msgs::PointCloud cloud; + double angle_min, angle_max, angle_increment; + }; +}; + +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/point_grid.h b/navigations/base_local_planner/include/base_local_planner/point_grid.h new file mode 100755 index 0000000..2df7ea4 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/point_grid.h @@ -0,0 +1,326 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef POINT_GRID_H_ +#define POINT_GRID_H_ +#include +#include +#include +#include +#include +#include + +#include + +namespace base_local_planner { + /** + * @class PointGrid + * @brief A class that implements the WorldModel interface to provide + * free-space collision checks for the trajectory controller. This class + * stores points binned into a grid and performs point-in-polygon checks when + * necessary to determine the legality of a footprint at a given + * position/orientation. + */ + class PointGrid : public WorldModel { + public: + /** + * @brief Constuctor for a grid that stores points in the plane + * @param width The width in meters of the grid + * @param height The height in meters of the gird + * @param resolution The resolution of the grid in meters/cell + * @param origin The origin of the bottom left corner of the grid + * @param max_z The maximum height for an obstacle to be added to the grid + * @param obstacle_range The maximum distance for obstacles to be added to the grid + * @param min_separation The minimum distance between points in the grid + */ + PointGrid(double width, double height, double resolution, geometry_msgs::Point origin, + double max_z, double obstacle_range, double min_separation); + + /** + * @brief Destructor for a point grid + */ + virtual ~PointGrid(){} + + /** + * @brief Returns the points that lie within the cells contained in the specified range. Some of these points may be outside the range itself. + * @param lower_left The lower left corner of the range search + * @param upper_right The upper right corner of the range search + * @param points A vector of pointers to lists of the relevant points + */ + void getPointsInRange(const geometry_msgs::Point& lower_left, const geometry_msgs::Point& upper_right, std::vector< std::list* >& points); + + /** + * @brief Checks if any points in the grid lie inside a convex footprint + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise + */ + virtual double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius); + + using WorldModel::footprintCost; + + /** + * @brief Inserts observations from sensors into the point grid + * @param footprint The footprint of the robot in its current location + * @param observations The observations from various sensors + * @param laser_scans The laser scans used to clear freespace (the point grid only uses the first scan which is assumed to be the base laser) + */ + void updateWorld(const std::vector& footprint, + const std::vector& observations, const std::vector& laser_scans); + + /** + * @brief Convert from world coordinates to grid coordinates + * @param pt A point in world space + * @param gx The x coordinate of the corresponding grid cell to be set by the function + * @param gy The y coordinate of the corresponding grid cell to be set by the function + * @return True if the conversion was successful, false otherwise + */ + inline bool gridCoords(geometry_msgs::Point pt, unsigned int& gx, unsigned int& gy) const { + if(pt.x < origin_.x || pt.y < origin_.y){ + gx = 0; + gy = 0; + return false; + } + gx = (int) ((pt.x - origin_.x)/resolution_); + gy = (int) ((pt.y - origin_.y)/resolution_); + + if(gx >= width_ || gy >= height_){ + gx = 0; + gy = 0; + return false; + } + + return true; + } + + /** + * @brief Get the bounds in world coordinates of a cell in the point grid, assumes a legal cell when called + * @param gx The x coordinate of the grid cell + * @param gy The y coordinate of the grid cell + * @param lower_left The lower left bounds of the cell in world coordinates to be filled in + * @param upper_right The upper right bounds of the cell in world coordinates to be filled in + */ + inline void getCellBounds(unsigned int gx, unsigned int gy, geometry_msgs::Point& lower_left, geometry_msgs::Point& upper_right) const { + lower_left.x = gx * resolution_ + origin_.x; + lower_left.y = gy * resolution_ + origin_.y; + + upper_right.x = lower_left.x + resolution_; + upper_right.y = lower_left.y + resolution_; + } + + + /** + * @brief Compute the squared distance between two points + * @param pt1 The first point + * @param pt2 The second point + * @return The squared distance between the two points + */ + inline double sq_distance(const geometry_msgs::Point32& pt1, const geometry_msgs::Point32& pt2){ + return (pt1.x - pt2.x) * (pt1.x - pt2.x) + (pt1.y - pt2.y) * (pt1.y - pt2.y); + } + + /** + * @brief Convert from world coordinates to grid coordinates + * @param pt A point in world space + * @param gx The x coordinate of the corresponding grid cell to be set by the function + * @param gy The y coordinate of the corresponding grid cell to be set by the function + * @return True if the conversion was successful, false otherwise + */ + inline bool gridCoords(const geometry_msgs::Point32& pt, unsigned int& gx, unsigned int& gy) const { + if(pt.x < origin_.x || pt.y < origin_.y){ + gx = 0; + gy = 0; + return false; + } + gx = (int) ((pt.x - origin_.x)/resolution_); + gy = (int) ((pt.y - origin_.y)/resolution_); + + if(gx >= width_ || gy >= height_){ + gx = 0; + gy = 0; + return false; + } + + return true; + } + + /** + * @brief Converts cell coordinates to an index value that can be used to look up the correct grid cell + * @param gx The x coordinate of the cell + * @param gy The y coordinate of the cell + * @return The index of the cell in the stored cell list + */ + inline unsigned int gridIndex(unsigned int gx, unsigned int gy) const { + /* + * (0, 0) ---------------------- (width, 0) + * | | + * | | + * | | + * | | + * | | + * (0, height) ----------------- (width, height) + */ + return(gx + gy * width_); + } + + /** + * @brief Check the orientation of a pt c with respect to the vector a->b + * @param a The start point of the vector + * @param b The end point of the vector + * @param c The point to compute orientation for + * @return orient(a, b, c) < 0 ----> Right, orient(a, b, c) > 0 ----> Left + */ + inline double orient(const geometry_msgs::Point& a, const geometry_msgs::Point& b, const geometry_msgs::Point32& c){ + double acx = a.x - c.x; + double bcx = b.x - c.x; + double acy = a.y - c.y; + double bcy = b.y - c.y; + return acx * bcy - acy * bcx; + } + + /** + * @brief Check the orientation of a pt c with respect to the vector a->b + * @param a The start point of the vector + * @param b The end point of the vector + * @param c The point to compute orientation for + * @return orient(a, b, c) < 0 ----> Right, orient(a, b, c) > 0 ----> Left + */ + template + inline double orient(const T& a, const T& b, const T& c){ + double acx = a.x - c.x; + double bcx = b.x - c.x; + double acy = a.y - c.y; + double bcy = b.y - c.y; + return acx * bcy - acy * bcx; + } + + /** + * @brief Check if two line segmenst intersect + * @param v1 The first point of the first segment + * @param v2 The second point of the first segment + * @param u1 The first point of the second segment + * @param u2 The second point of the second segment + * @return True if the segments intersect, false otherwise + */ + inline bool segIntersect(const geometry_msgs::Point32& v1, const geometry_msgs::Point32& v2, + const geometry_msgs::Point32& u1, const geometry_msgs::Point32& u2){ + return (orient(v1, v2, u1) * orient(v1, v2, u2) < 0) && (orient(u1, u2, v1) * orient(u1, u2, v2) < 0); + } + + /** + * @brief Find the intersection point of two lines + * @param v1 The first point of the first segment + * @param v2 The second point of the first segment + * @param u1 The first point of the second segment + * @param u2 The second point of the second segment + * @param result The point to be filled in + */ + void intersectionPoint(const geometry_msgs::Point& v1, const geometry_msgs::Point& v2, + const geometry_msgs::Point& u1, const geometry_msgs::Point& u2, + geometry_msgs::Point& result); + + /** + * @brief Check if a point is in a polygon + * @param pt The point to be checked + * @param poly The polygon to check against + * @return True if the point is in the polygon, false otherwise + */ + bool ptInPolygon(const geometry_msgs::Point32& pt, const std::vector& poly); + + /** + * @brief Insert a point into the point grid + * @param pt The point to be inserted + */ + void insert(const geometry_msgs::Point32& pt); + + /** + * @brief Find the distance between a point and its nearest neighbor in the grid + * @param pt The point used for comparison + * @return The distance between the point passed in and its nearest neighbor in the point grid + */ + double nearestNeighborDistance(const geometry_msgs::Point32& pt); + + /** + * @brief Find the distance between a point and its nearest neighbor in a cell + * @param pt The point used for comparison + * @param gx The x coordinate of the cell + * @param gy The y coordinate of the cell + * @return The distance between the point passed in and its nearest neighbor in the cell + */ + double getNearestInCell(const geometry_msgs::Point32& pt, unsigned int gx, unsigned int gy); + + /** + * @brief Removes points from the grid that lie within the polygon + * @param poly A specification of the polygon to clear from the grid + */ + void removePointsInPolygon(const std::vector poly); + + /** + * @brief Removes points from the grid that lie within a laser scan + * @param laser_scan A specification of the laser scan to use for clearing + */ + void removePointsInScanBoundry(const PlanarLaserScan& laser_scan); + + /** + * @brief Checks to see if a point is within a laser scan specification + * @param pt The point to check + * @param laser_scan The specification of the scan to check against + * @return True if the point is contained within the scan, false otherwise + */ + bool ptInScan(const geometry_msgs::Point32& pt, const PlanarLaserScan& laser_scan); + + /** + * @brief Get the points in the point grid + * @param cloud The point cloud to insert the points into + */ + void getPoints(sensor_msgs::PointCloud2& cloud); + + private: + double resolution_; ///< @brief The resolution of the grid in meters/cell + geometry_msgs::Point origin_; ///< @brief The origin point of the grid + unsigned int width_; ///< @brief The width of the grid in cells + unsigned int height_; ///< @brief The height of the grid in cells + std::vector< std::list > cells_; ///< @brief Storage for the cells in the grid + double max_z_; ///< @brief The height cutoff for adding points as obstacles + double sq_obstacle_range_; ///< @brief The square distance at which we no longer add obstacles to the grid + double sq_min_separation_; ///< @brief The minimum square distance required between points in the grid + std::vector< std::list* > points_; ///< @brief The lists of points returned by a range search, made a member to save on memory allocation + }; +}; +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/prefer_forward_cost_function.h b/navigations/base_local_planner/include/base_local_planner/prefer_forward_cost_function.h new file mode 100755 index 0000000..23ab6f1 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/prefer_forward_cost_function.h @@ -0,0 +1,64 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef PREFER_FORWARD_COST_FUNCTION_H_ +#define PREFER_FORWARD_COST_FUNCTION_H_ + +#include + +namespace base_local_planner { + +class PreferForwardCostFunction: public base_local_planner::TrajectoryCostFunction { +public: + + PreferForwardCostFunction(double penalty) : penalty_(penalty) {} + ~PreferForwardCostFunction() {} + + double scoreTrajectory(Trajectory &traj); + + bool prepare() {return true;}; + + void setPenalty(double penalty) { + penalty_ = penalty; + } + +private: + double penalty_; +}; + +} /* namespace base_local_planner */ +#endif /* PREFER_FORWARD_COST_FUNCTION_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/simple_scored_sampling_planner.h b/navigations/base_local_planner/include/base_local_planner/simple_scored_sampling_planner.h new file mode 100755 index 0000000..8e4aff7 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/simple_scored_sampling_planner.h @@ -0,0 +1,109 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef SIMPLE_SCORED_SAMPLING_PLANNER_H_ +#define SIMPLE_SCORED_SAMPLING_PLANNER_H_ + +#include +#include +#include +#include +#include + +namespace base_local_planner { + +/** + * @class SimpleScoredSamplingPlanner + * @brief Generates a local plan using the given generator and cost functions. + * Assumes less cost are best, and negative costs indicate infinite costs + * + * This is supposed to be a simple and robust implementation of + * the TrajectorySearch interface. More efficient search may well be + * possible using search heuristics, parallel search, etc. + */ +class SimpleScoredSamplingPlanner : public base_local_planner::TrajectorySearch { +public: + + ~SimpleScoredSamplingPlanner() {} + + SimpleScoredSamplingPlanner() {} + + /** + * Takes a list of generators and critics. Critics return costs > 0, or negative costs for invalid trajectories. + * Generators other than the first are fallback generators, meaning they only get to generate if the previous + * generator did not find a valid trajectory. + * Will use every generator until it stops returning trajectories or count reaches max_samples. + * Then resets count and tries for the next in the list. + * passing max_samples = -1 (default): Each Sampling planner will continue to call + * generator until generator runs out of samples (or forever if that never happens) + */ + SimpleScoredSamplingPlanner(std::vector gen_list, std::vector& critics, int max_samples = -1); + + /** + * runs all scoring functions over the trajectory creating a weigthed sum + * of positive costs, aborting as soon as a negative cost are found or costs greater + * than positive best_traj_cost accumulated + */ + double scoreTrajectory(Trajectory& traj, double best_traj_cost); + + /** + * Calls generator until generator has no more samples or max_samples is reached. + * For each generated traj, calls critics in turn. If any critic returns negative + * value, that value is assumed as costs, else the costs are the sum of all critics + * result. Returns true and sets the traj parameter to the first trajectory with + * minimal non-negative costs if sampling yields trajectories with non-negative costs, + * else returns false. + * + * @param traj The container to write the result to + * @param all_explored pass NULL or a container to collect all trajectories for debugging (has a penalty) + */ + bool findBestTrajectory(Trajectory& traj, std::vector* all_explored = 0); + + +private: + std::vector gen_list_; + std::vector critics_; + + int max_samples_; +}; + + + + +} // namespace + +#endif /* SIMPLE_SCORED_SAMPLING_PLANNER_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/simple_trajectory_generator.h b/navigations/base_local_planner/include/base_local_planner/simple_trajectory_generator.h new file mode 100755 index 0000000..18a6fd0 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/simple_trajectory_generator.h @@ -0,0 +1,160 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef SIMPLE_TRAJECTORY_GENERATOR_H_ +#define SIMPLE_TRAJECTORY_GENERATOR_H_ + +#include +#include +#include + +namespace base_local_planner { + +/** + * generates trajectories based on equi-distant discretisation of the degrees of freedom. + * This is supposed to be a simple and robust implementation of the TrajectorySampleGenerator + * interface, more efficient implementations are thinkable. + * + * This can be used for both dwa and trajectory rollout approaches. + * As an example, assuming these values: + * sim_time = 1s, sim_period=200ms, dt = 200ms, + * vsamples_x=5, + * acc_limit_x = 1m/s^2, vel_x=0 (robot at rest, values just for easy calculations) + * dwa_planner will sample max-x-velocities from 0m/s to 0.2m/s. + * trajectory rollout approach will sample max-x-velocities 0m/s up to 1m/s + * trajectory rollout approach does so respecting the acceleration limit, so it gradually increases velocity + */ +class SimpleTrajectoryGenerator: public base_local_planner::TrajectorySampleGenerator { +public: + + SimpleTrajectoryGenerator() { + limits_ = NULL; + } + + ~SimpleTrajectoryGenerator() {} + + /** + * @param pos current robot position + * @param vel current robot velocity + * @param limits Current velocity limits + * @param vsamples: in how many samples to divide the given dimension + * @param use_acceleration_limits: if true use physical model, else idealized robot model + * @param additional_samples (deprecated): Additional velocity samples to generate individual trajectories from. + * @param discretize_by_time if true, the trajectory is split according in chunks of the same duration, else of same length + */ + void initialise( + const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, + const Eigen::Vector3f& goal, + base_local_planner::LocalPlannerLimits* limits, + const Eigen::Vector3f& vsamples, + std::vector additional_samples, + bool discretize_by_time = false); + + /** + * @param pos current robot position + * @param vel current robot velocity + * @param limits Current velocity limits + * @param vsamples: in how many samples to divide the given dimension + * @param use_acceleration_limits: if true use physical model, else idealized robot model + * @param discretize_by_time if true, the trajectory is split according in chunks of the same duration, else of same length + */ + void initialise( + const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, + const Eigen::Vector3f& goal, + base_local_planner::LocalPlannerLimits* limits, + const Eigen::Vector3f& vsamples, + bool discretize_by_time = false); + + /** + * This function is to be called only when parameters change + * + * @param sim_granularity granularity of collision detection + * @param angular_sim_granularity angular granularity of collision detection + * @param use_dwa whether to use DWA or trajectory rollout + * @param sim_period distance between points in one trajectory + */ + void setParameters(double sim_time, + double sim_granularity, + double angular_sim_granularity, + bool use_dwa = false, + double sim_period = 0.0); + + /** + * Whether this generator can create more trajectories + */ + bool hasMoreTrajectories(); + + /** + * Whether this generator can create more trajectories + */ + bool nextTrajectory(Trajectory &traj); + + + static Eigen::Vector3f computeNewPositions(const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, double dt); + + static Eigen::Vector3f computeNewVelocities(const Eigen::Vector3f& sample_target_vel, + const Eigen::Vector3f& vel, Eigen::Vector3f acclimits, double dt); + + bool generateTrajectory( + Eigen::Vector3f pos, + Eigen::Vector3f vel, + Eigen::Vector3f sample_target_vel, + base_local_planner::Trajectory& traj); + +protected: + + unsigned int next_sample_index_; + // to store sample params of each sample between init and generation + std::vector sample_params_; + base_local_planner::LocalPlannerLimits* limits_; + Eigen::Vector3f pos_; + Eigen::Vector3f vel_; + + // whether velocity of trajectory changes over time or not + bool continued_acceleration_; + bool discretize_by_time_; + + double sim_time_, sim_granularity_, angular_sim_granularity_; + bool use_dwa_; + double sim_period_; // only for dwa +}; + +} /* namespace base_local_planner */ +#endif /* SIMPLE_TRAJECTORY_GENERATOR_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/trajectory.h b/navigations/base_local_planner/include/base_local_planner/trajectory.h new file mode 100755 index 0000000..da0223d --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/trajectory.h @@ -0,0 +1,118 @@ +/********************************************************************* + * 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. + *********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_H_ +#define TRAJECTORY_ROLLOUT_TRAJECTORY_H_ + +#include + +namespace base_local_planner { + /** + * @class Trajectory + * @brief Holds a trajectory generated by considering an x, y, and theta velocity + */ + class Trajectory { + public: + /** + * @brief Default constructor + */ + Trajectory(); + + /** + * @brief Constructs a trajectory + * @param xv The x velocity used to seed the trajectory + * @param yv The y velocity used to seed the trajectory + * @param thetav The theta velocity used to seed the trajectory + * @param num_pts The expected number of points for a trajectory + */ + Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts); + + double xv_, yv_, thetav_; ///< @brief The x, y, and theta velocities of the trajectory + + double cost_; ///< @brief The cost/score of the trajectory + + double time_delta_; ///< @brief The time gap between points + + /** + * @brief Get a point within the trajectory + * @param index The index of the point to get + * @param x Will be set to the x position of the point + * @param y Will be set to the y position of the point + * @param th Will be set to the theta position of the point + */ + void getPoint(unsigned int index, double& x, double& y, double& th) const; + + /** + * @brief Set a point within the trajectory + * @param index The index of the point to set + * @param x The x position + * @param y The y position + * @param th The theta position + */ + void setPoint(unsigned int index, double x, double y, double th); + + /** + * @brief Add a point to the end of a trajectory + * @param x The x position + * @param y The y position + * @param th The theta position + */ + void addPoint(double x, double y, double th); + + /** + * @brief Get the last point of the trajectory + * @param x Will be set to the x position of the point + * @param y Will be set to the y position of the point + * @param th Will be set to the theta position of the point + */ + void getEndpoint(double& x, double& y, double& th) const; + + /** + * @brief Clear the trajectory's points + */ + void resetPoints(); + + /** + * @brief Return the number of points in the trajectory + * @return The number of points in the trajectory + */ + unsigned int getPointsSize() const; + + private: + std::vector x_pts_; ///< @brief The x points in the trajectory + std::vector y_pts_; ///< @brief The y points in the trajectory + std::vector th_pts_; ///< @brief The theta points in the trajectory + + }; +}; +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/trajectory_cost_function.h b/navigations/base_local_planner/include/base_local_planner/trajectory_cost_function.h new file mode 100755 index 0000000..17e71a3 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/trajectory_cost_function.h @@ -0,0 +1,86 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef TRAJECTORYCOSTFUNCTION_H_ +#define TRAJECTORYCOSTFUNCTION_H_ + +#include + +namespace base_local_planner { + +/** + * @class TrajectoryCostFunction + * @brief Provides an interface for critics of trajectories + * During each sampling run, a batch of many trajectories will be scored using such a cost function. + * The prepare method is called before each batch run, and then for each + * trajectory of the sampling set, score_trajectory may be called. + */ +class TrajectoryCostFunction { +public: + + /** + * + * General updating of context values if required. + * Subclasses may overwrite. Return false in case there is any error. + */ + virtual bool prepare() = 0; + + /** + * return a score for trajectory traj + */ + virtual double scoreTrajectory(Trajectory &traj) = 0; + + double getScale() { + return scale_; + } + + void setScale(double scale) { + scale_ = scale; + } + + virtual ~TrajectoryCostFunction() {} + +protected: + TrajectoryCostFunction(double scale = 1.0): scale_(scale) {} + +private: + double scale_; +}; + +} + +#endif /* TRAJECTORYCOSTFUNCTION_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/trajectory_inc.h b/navigations/base_local_planner/include/base_local_planner/trajectory_inc.h new file mode 100755 index 0000000..4d121b5 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/trajectory_inc.h @@ -0,0 +1,47 @@ +/********************************************************************* + * 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. + *********************************************************************/ +#ifndef TRAJECTORY_INC_H_ +#define TRAJECTORY_INC_H_ + +#include + +#ifndef DBL_MAX /* Max decimal value of a double */ +#define DBL_MAX std::numeric_limits::max() // 1.7976931348623157e+308 +#endif + +#ifndef DBL_MIN //Min decimal value of a double +#define DBL_MIN std::numeric_limits::min() // 2.2250738585072014e-308 +#endif + +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/trajectory_planner.h b/navigations/base_local_planner/include/base_local_planner/trajectory_planner.h new file mode 100755 index 0000000..19785d9 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/trajectory_planner.h @@ -0,0 +1,385 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_H_ +#define TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_H_ + +#include +#include + +//for obstacle data access +#include +#include +#include + +#include +#include +#include +#include + +//we'll take in a path as a vector of poses +#include +#include + +//for creating a local cost grid +#include +#include + +namespace base_local_planner { + /** + * @class TrajectoryPlanner + * @brief Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world. + */ + class TrajectoryPlanner{ + friend class TrajectoryPlannerTest; //Need this for gtest to work + public: + /** + * @brief Constructs a trajectory controller + * @param world_model The WorldModel the trajectory controller uses to check for collisions + * @param costmap A reference to the Costmap the controller should use + * @param footprint_spec A polygon representing the footprint of the robot. (Must be convex) + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @param acc_lim_x The acceleration limit of the robot in the x direction + * @param acc_lim_y The acceleration limit of the robot in the y direction + * @param acc_lim_theta The acceleration limit of the robot in the theta direction + * @param sim_time The number of seconds to "roll-out" each trajectory + * @param sim_granularity The distance between simulation points should be small enough that the robot doesn't hit things + * @param vx_samples The number of trajectories to sample in the x dimension + * @param vtheta_samples The number of trajectories to sample in the theta dimension + * @param path_distance_bias A scaling factor for how close the robot should stay to the path + * @param goal_distance_bias A scaling factor for how aggresively the robot should pursue a local goal + * @param occdist_scale A scaling factor for how much the robot should prefer to stay away from obstacles + * @param heading_lookahead How far the robot should look ahead of itself when differentiating between different rotational velocities + * @param oscillation_reset_dist The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past + * @param escape_reset_dist The distance the robot must travel before it can exit escape mode + * @param escape_reset_theta The distance the robot must rotate before it can exit escape mode + * @param holonomic_robot Set this to true if the robot being controlled can take y velocities and false otherwise + * @param max_vel_x The maximum x velocity the controller will explore + * @param min_vel_x The minimum x velocity the controller will explore + * @param max_vel_th The maximum rotational velocity the controller will explore + * @param min_vel_th The minimum rotational velocity the controller will explore + * @param min_in_place_vel_th The absolute value of the minimum in-place rotational velocity the controller will explore + * @param backup_vel The velocity to use while backing up + * @param dwa Set this to true to use the Dynamic Window Approach, false to use acceleration limits + * @param heading_scoring Set this to true to score trajectories based on the robot's heading after 1 timestep + * @param heading_scoring_timestep How far to look ahead in time when we score heading based trajectories + * @param meter_scoring adapt parameters to costmap resolution + * @param simple_attractor Set this to true to allow simple attraction to a goal point instead of intelligent cost propagation + * @param y_vels A vector of the y velocities the controller will explore + * @param angular_sim_granularity The distance between simulation points for angular velocity should be small enough that the robot doesn't hit things + */ + TrajectoryPlanner(WorldModel& world_model, + const costmap_2d::Costmap2D& costmap, + std::vector footprint_spec, + double acc_lim_x = 1.0, double acc_lim_y = 1.0, double acc_lim_theta = 1.0, + double sim_time = 1.0, double sim_granularity = 0.025, + int vx_samples = 20, int vtheta_samples = 20, + double path_distance_bias = 0.6, double goal_distance_bias = 0.8, double occdist_scale = 0.2, + double heading_lookahead = 0.325, double oscillation_reset_dist = 0.05, + double escape_reset_dist = 0.10, double escape_reset_theta = M_PI_2, + bool holonomic_robot = true, + double max_vel_x = 0.5, double min_vel_x = 0.1, + double max_vel_th = 1.0, double min_vel_th = -1.0, double min_in_place_vel_th = 0.4, + double backup_vel = -0.1, + bool dwa = false, bool heading_scoring = false, double heading_scoring_timestep = 0.1, + bool meter_scoring = true, + bool simple_attractor = false, + std::vector y_vels = std::vector(0), + double stop_time_buffer = 0.2, + double sim_period = 0.1, double angular_sim_granularity = 0.025); + + /** + * @brief Destructs a trajectory controller + */ + ~TrajectoryPlanner(); + + /** + * @brief Reconfigures the trajectory planner + */ + void reconfigure(BaseLocalPlannerConfig &cfg); + + /** + * @brief Given the current position, orientation, and velocity of the robot, return a trajectory to follow + * @param global_pose The current pose of the robot in world space + * @param global_vel The current velocity of the robot in world space + * @param drive_velocities Will be set to velocities to send to the robot base + * @return The selected path or trajectory + */ + Trajectory findBestPath(const geometry_msgs::PoseStamped& global_pose, + geometry_msgs::PoseStamped& global_vel, geometry_msgs::PoseStamped& drive_velocities); + + /** + * @brief Update the plan that the controller is following + * @param new_plan A new plan for the controller to follow + * @param compute_dists Wheter or not to compute path/goal distances when a plan is updated + */ + void updatePlan(const std::vector& new_plan, bool compute_dists = false); + + /** + * @brief Accessor for the goal the robot is currently pursuing in world corrdinates + * @param x Will be set to the x position of the local goal + * @param y Will be set to the y position of the local goal + */ + void getLocalGoal(double& x, double& y); + + /** + * @brief Generate and score a single trajectory + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param vx The x velocity of the robot + * @param vy The y velocity of the robot + * @param vtheta The theta velocity of the robot + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @return True if the trajectory is legal, false otherwise + */ + bool checkTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp); + + /** + * @brief Generate and score a single trajectory + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param vx The x velocity of the robot + * @param vy The y velocity of the robot + * @param vtheta The theta velocity of the robot + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @return The score (as double) + */ + double scoreTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp); + + /** + * @brief Compute the components and total cost for a map grid cell + * @param cx The x coordinate of the cell in the map grid + * @param cy The y coordinate of the cell in the map grid + * @param path_cost Will be set to the path distance component of the cost function + * @param goal_cost Will be set to the goal distance component of the cost function + * @param occ_cost Will be set to the costmap value of the cell + * @param total_cost Will be set to the value of the overall cost function, taking into account the scaling parameters + * @return True if the cell is traversible and therefore a legal location for the robot to move to + */ + bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost); + + /** @brief Set the footprint specification of the robot. */ + void setFootprint( std::vector footprint ) { footprint_spec_ = footprint; } + + /** @brief Return the footprint specification of the robot. */ + geometry_msgs::Polygon getFootprintPolygon() const { return costmap_2d::toPolygon(footprint_spec_); } + std::vector getFootprint() const { return footprint_spec_; } + + private: + /** + * @brief Create the trajectories we wish to explore, score them, and return the best option + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param vx The x velocity of the robot + * @param vy The y velocity of the robot + * @param vtheta The theta velocity of the robot + * @param acc_x The x acceleration limit of the robot + * @param acc_y The y acceleration limit of the robot + * @param acc_theta The theta acceleration limit of the robot + * @return + */ + Trajectory createTrajectories(double x, double y, double theta, double vx, double vy, double vtheta, + double acc_x, double acc_y, double acc_theta); + + /** + * @brief Generate and score a single trajectory + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param vx The x velocity of the robot + * @param vy The y velocity of the robot + * @param vtheta The theta velocity of the robot + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @param acc_x The x acceleration limit of the robot + * @param acc_y The y acceleration limit of the robot + * @param acc_theta The theta acceleration limit of the robot + * @param impossible_cost The cost value of a cell in the local map grid that is considered impassable + * @param traj Will be set to the generated trajectory with its associated score + */ + void generateTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y, + double acc_theta, double impossible_cost, Trajectory& traj); + + /** + * @brief Checks the legality of the robot footprint at a position and orientation using the world model + * @param x_i The x position of the robot + * @param y_i The y position of the robot + * @param theta_i The orientation of the robot + * @return + */ + double footprintCost(double x_i, double y_i, double theta_i); + + base_local_planner::FootprintHelper footprint_helper_; + + MapGrid path_map_; ///< @brief The local map grid where we propagate path distance + MapGrid goal_map_; ///< @brief The local map grid where we propagate goal distance + const costmap_2d::Costmap2D& costmap_; ///< @brief Provides access to cost map information + WorldModel& world_model_; ///< @brief The world model that the controller uses for collision detection + + std::vector footprint_spec_; ///< @brief The footprint specification of the robot + + std::vector global_plan_; ///< @brief The global path for the robot to follow + + bool stuck_left, stuck_right; ///< @brief Booleans to keep the robot from oscillating during rotation + bool rotating_left, rotating_right; ///< @brief Booleans to keep track of the direction of rotation for the robot + + bool stuck_left_strafe, stuck_right_strafe; ///< @brief Booleans to keep the robot from oscillating during strafing + bool strafe_right, strafe_left; ///< @brief Booleans to keep track of strafe direction for the robot + + bool escaping_; ///< @brief Boolean to keep track of whether we're in escape mode + bool meter_scoring_; + + double goal_x_,goal_y_; ///< @brief Storage for the local goal the robot is pursuing + + double final_goal_x_, final_goal_y_; ///< @brief The end position of the plan. + bool final_goal_position_valid_; ///< @brief True if final_goal_x_ and final_goal_y_ have valid data. Only false if an empty path is sent. + + double sim_time_; ///< @brief The number of seconds each trajectory is "rolled-out" + double sim_granularity_; ///< @brief The distance between simulation points + double angular_sim_granularity_; ///< @brief The distance between angular simulation points + + int vx_samples_; ///< @brief The number of samples we'll take in the x dimenstion of the control space + int vtheta_samples_; ///< @brief The number of samples we'll take in the theta dimension of the control space + + double path_distance_bias_, goal_distance_bias_, occdist_scale_; ///< @brief Scaling factors for the controller's cost function + double acc_lim_x_, acc_lim_y_, acc_lim_theta_; ///< @brief The acceleration limits of the robot + + double prev_x_, prev_y_; ///< @brief Used to calculate the distance the robot has traveled before reseting oscillation booleans + double escape_x_, escape_y_, escape_theta_; ///< @brief Used to calculate the distance the robot has traveled before reseting escape booleans + + Trajectory traj_one, traj_two; ///< @brief Used for scoring trajectories + + double heading_lookahead_; ///< @brief How far the robot should look ahead of itself when differentiating between different rotational velocities + double oscillation_reset_dist_; ///< @brief The distance the robot must travel before it can explore rotational velocities that were unsuccessful in the past + double escape_reset_dist_, escape_reset_theta_; ///< @brief The distance the robot must travel before it can leave escape mode + bool holonomic_robot_; ///< @brief Is the robot holonomic or not? + + double max_vel_x_, min_vel_x_, max_vel_th_, min_vel_th_, min_in_place_vel_th_; ///< @brief Velocity limits for the controller + + double backup_vel_; ///< @brief The velocity to use while backing up + + bool dwa_; ///< @brief Should we use the dynamic window approach? + bool heading_scoring_; ///< @brief Should we score based on the rollout approach or the heading approach + double heading_scoring_timestep_; ///< @brief How far to look ahead in time when we score a heading + bool simple_attractor_; ///< @brief Enables simple attraction to a goal point + + std::vector y_vels_; ///< @brief Y velocities to explore + + double stop_time_buffer_; ///< @brief How long before hitting something we're going to enforce that the robot stop + double sim_period_; ///< @brief The number of seconds to use to compute max/min vels for dwa + + double inscribed_radius_, circumscribed_radius_; + + boost::mutex configuration_mutex_; + + /** + * @brief Compute x position based on velocity + * @param xi The current x position + * @param vx The current x velocity + * @param vy The current y velocity + * @param theta The current orientation + * @param dt The timestep to take + * @return The new x position + */ + inline double computeNewXPosition(double xi, double vx, double vy, double theta, double dt){ + return xi + (vx * cos(theta) + vy * cos(M_PI_2 + theta)) * dt; + } + + /** + * @brief Compute y position based on velocity + * @param yi The current y position + * @param vx The current x velocity + * @param vy The current y velocity + * @param theta The current orientation + * @param dt The timestep to take + * @return The new y position + */ + inline double computeNewYPosition(double yi, double vx, double vy, double theta, double dt){ + return yi + (vx * sin(theta) + vy * sin(M_PI_2 + theta)) * dt; + } + + /** + * @brief Compute orientation based on velocity + * @param thetai The current orientation + * @param vth The current theta velocity + * @param dt The timestep to take + * @return The new orientation + */ + inline double computeNewThetaPosition(double thetai, double vth, double dt){ + return thetai + vth * dt; + } + + //compute velocity based on acceleration + /** + * @brief Compute velocity based on acceleration + * @param vg The desired velocity, what we're accelerating up to + * @param vi The current velocity + * @param a_max An acceleration limit + * @param dt The timestep to take + * @return The new velocity + */ + inline double computeNewVelocity(double vg, double vi, double a_max, double dt){ + if((vg - vi) >= 0) { + return std::min(vg, vi + a_max * dt); + } + return std::max(vg, vi - a_max * dt); + } + + void getMaxSpeedToStopInTime(double time, double& vx, double& vy, double& vth){ + vx = acc_lim_x_ * std::max(time, 0.0); + vy = acc_lim_y_ * std::max(time, 0.0); + vth = acc_lim_theta_ * std::max(time, 0.0); + } + + double lineCost(int x0, int x1, int y0, int y1); + double pointCost(int x, int y); + double headingDiff(int cell_x, int cell_y, double x, double y, double heading); + }; +}; + +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/trajectory_planner_ros.h b/navigations/base_local_planner/include/base_local_planner/trajectory_planner_ros.h new file mode 100755 index 0000000..0394945 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/trajectory_planner_ros.h @@ -0,0 +1,231 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_ +#define TRAJECTORY_ROLLOUT_TRAJECTORY_PLANNER_ROS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include + +#include + +#include + +#include + +#include + +#include +#include + +#include + +namespace base_local_planner { + /** + * @class TrajectoryPlannerROS + * @brief A ROS wrapper for the trajectory controller that queries the param server to construct a controller + */ + class TrajectoryPlannerROS : public nav_core::BaseLocalPlanner { + public: + /** + * @brief Default constructor for the ros wrapper + */ + TrajectoryPlannerROS(); + + /** + * @brief Constructs the ros wrapper + * @param name The name to give this instance of the trajectory planner + * @param tf A pointer to a transform listener + * @param costmap The cost map to use for assigning costs to trajectories + */ + TrajectoryPlannerROS(std::string name, + tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Constructs the ros wrapper + * @param name The name to give this instance of the trajectory planner + * @param tf A pointer to a transform listener + * @param costmap The cost map to use for assigning costs to trajectories + */ + void initialize(std::string name, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Destructor for the wrapper + */ + ~TrajectoryPlannerROS(); + + /** + * @brief Given the current position, orientation, and velocity of the robot, + * compute velocity commands to send to the base + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @return True if a valid trajectory was found, false otherwise + */ + bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel); + + /** + * @brief Set the plan that the controller is following + * @param orig_global_plan The plan to pass to the controller + * @return True if the plan was updated successfully, false otherwise + */ + bool setPlan(const std::vector& orig_global_plan); + + /** + * @brief Check if the goal pose has been achieved + * @return True if achieved, false otherwise + */ + bool isGoalReached(); + + /** + * @brief Generate and score a single trajectory + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @param update_map Whether or not to update the map for the planner + * when computing the legality of the trajectory, this is useful to set + * to false if you're going to be doing a lot of trajectory checking over + * a short period of time + * @return True if the trajectory is legal, false otherwise + */ + bool checkTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true); + + /** + * @brief Generate and score a single trajectory + * @param vx_samp The x velocity used to seed the trajectory + * @param vy_samp The y velocity used to seed the trajectory + * @param vtheta_samp The theta velocity used to seed the trajectory + * @param update_map Whether or not to update the map for the planner + * when computing the legality of the trajectory, this is useful to set + * to false if you're going to be doing a lot of trajectory checking over + * a short period of time + * @return score of trajectory (double) + */ + double scoreTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map = true); + + bool isInitialized() { + return initialized_; + } + + /** @brief Return the inner TrajectoryPlanner object. Only valid after initialize(). */ + TrajectoryPlanner* getPlanner() const { return tc_; } + + private: + /** + * @brief Callback to update the local planner's parameters based on dynamic reconfigure + */ + void reconfigureCB(BaseLocalPlannerConfig &config, uint32_t level); + + /** + * @brief Once a goal position is reached... rotate to the goal orientation + * @param global_pose The pose of the robot in the global frame + * @param robot_vel The velocity of the robot + * @param goal_th The desired th value for the goal + * @param cmd_vel The velocity commands to be filled + * @return True if a valid trajectory was found, false otherwise + */ + bool rotateToGoal(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, double goal_th, geometry_msgs::Twist& cmd_vel); + + /** + * @brief Stop the robot taking into account acceleration limits + * @param global_pose The pose of the robot in the global frame + * @param robot_vel The velocity of the robot + * @param cmd_vel The velocity commands to be filled + * @return True if a valid trajectory was found, false otherwise + */ + bool stopWithAccLimits(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, geometry_msgs::Twist& cmd_vel); + + std::vector loadYVels(ros::NodeHandle node); + + double sign(double x){ + return x < 0.0 ? -1.0 : 1.0; + } + + WorldModel* world_model_; ///< @brief The world model that the controller will use + TrajectoryPlanner* tc_; ///< @brief The trajectory controller + + costmap_2d::Costmap2DROS* costmap_ros_; ///< @brief The ROS wrapper for the costmap the controller will use + costmap_2d::Costmap2D* costmap_; ///< @brief The costmap the controller will use + MapGridVisualizer map_viz_; ///< @brief The map grid visualizer for outputting the potential field generated by the cost function + tf2_ros::Buffer* tf_; ///< @brief Used for transforming point clouds + std::string global_frame_; ///< @brief The frame in which the controller will run + double max_sensor_range_; ///< @brief Keep track of the effective maximum range of our sensors + nav_msgs::Odometry base_odom_; ///< @brief Used to get the velocity of the robot + std::string robot_base_frame_; ///< @brief Used as the base frame id of the robot + double rot_stopped_velocity_, trans_stopped_velocity_; + double xy_goal_tolerance_, yaw_goal_tolerance_, min_in_place_vel_th_; + std::vector global_plan_; + bool prune_plan_; + boost::recursive_mutex odom_lock_; + + double max_vel_th_, min_vel_th_; + double acc_lim_x_, acc_lim_y_, acc_lim_theta_; + double sim_period_; + bool rotating_to_goal_; + bool reached_goal_; + bool latch_xy_goal_tolerance_, xy_tolerance_latch_; + + ros::Publisher g_plan_pub_, l_plan_pub_; + + dynamic_reconfigure::Server *dsrv_; + base_local_planner::BaseLocalPlannerConfig default_config_; + bool setup_; + + + bool initialized_; + base_local_planner::OdometryHelperRos odom_helper_; + + std::vector footprint_spec_; + }; +}; +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/trajectory_sample_generator.h b/navigations/base_local_planner/include/base_local_planner/trajectory_sample_generator.h new file mode 100755 index 0000000..b67a0f1 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/trajectory_sample_generator.h @@ -0,0 +1,74 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef TRAJECTORY_SAMPLE_GENERATOR_H_ +#define TRAJECTORY_SAMPLE_GENERATOR_H_ + +#include + +namespace base_local_planner { + +/** + * @class TrajectorySampleGenerator + * @brief Provides an interface for navigation trajectory generators + */ +class TrajectorySampleGenerator { +public: + + /** + * Whether this generator can create more trajectories + */ + virtual bool hasMoreTrajectories() = 0; + + /** + * Whether this generator can create more trajectories + */ + virtual bool nextTrajectory(Trajectory &traj) = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~TrajectorySampleGenerator() {} + +protected: + TrajectorySampleGenerator() {} + +}; + +} // end namespace + +#endif /* TRAJECTORY_SAMPLE_GENERATOR_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/trajectory_search.h b/navigations/base_local_planner/include/base_local_planner/trajectory_search.h new file mode 100755 index 0000000..a473cd3 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/trajectory_search.h @@ -0,0 +1,71 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef TRAJECTORY_SEARCH_H_ +#define TRAJECTORY_SEARCH_H_ + +#include + +namespace base_local_planner { + +/** + * @class TrajectorySearch + * @brief Interface for modules finding a trajectory to use for navigation commands next + */ +class TrajectorySearch { +public: + /** + * searches the space of allowed trajectory and + * returns one considered the optimal given the + * constraints of the particular search. + * + * @param traj The container to write the result to + * @param all_explored pass NULL or a container to collect all trajectories for debugging (has a penalty) + */ + virtual bool findBestTrajectory(Trajectory& traj, std::vector* all_explored) = 0; + + virtual ~TrajectorySearch() {} + +protected: + TrajectorySearch() {} + +}; + + +} + +#endif /* TRAJECTORY_SEARCH_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/twirling_cost_function.h b/navigations/base_local_planner/include/base_local_planner/twirling_cost_function.h new file mode 100755 index 0000000..5ce02e1 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/twirling_cost_function.h @@ -0,0 +1,64 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Open Source Robotics Foundation, 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 Willow Garage, Inc. 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: Morgan Quigley + *********************************************************************/ + +#ifndef TWIRLING_COST_FUNCTION_H +#define TWIRLING_COST_FUNCTION_H + +#include + +namespace base_local_planner { + +/** + * This class provides a cost based on how much a robot "twirls" on its + * way to the goal. With differential-drive robots, there isn't a choice, + * but with holonomic or near-holonomic robots, sometimes a robot spins + * more than you'd like on its way to a goal. This class provides a way + * to assign a penalty purely to rotational velocities. + */ +class TwirlingCostFunction: public base_local_planner::TrajectoryCostFunction { +public: + + TwirlingCostFunction() {} + ~TwirlingCostFunction() {} + + double scoreTrajectory(Trajectory &traj); + + bool prepare() {return true;}; +}; + +} /* namespace base_local_planner */ +#endif /* TWIRLING_COST_FUNCTION_H_ */ diff --git a/navigations/base_local_planner/include/base_local_planner/velocity_iterator.h b/navigations/base_local_planner/include/base_local_planner/velocity_iterator.h new file mode 100755 index 0000000..f4fc490 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/velocity_iterator.h @@ -0,0 +1,99 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef DWA_LOCAL_PLANNER_VELOCITY_ITERATOR_H_ +#define DWA_LOCAL_PLANNER_VELOCITY_ITERATOR_H_ +#include +#include +#include + +namespace base_local_planner { + + /** + * We use the class to get even sized samples between min and max, inluding zero if it is not included (and range goes from negative to positive + */ + class VelocityIterator { + public: + VelocityIterator(double min, double max, int num_samples): + current_index(0) + { + if (min == max) { + samples_.push_back(min); + } else { + num_samples = std::max(2, num_samples); + + // e.g. for 4 samples, split distance in 3 even parts + double step_size = (max - min) / double(std::max(1, (num_samples - 1))); + + // we make sure to avoid rounding errors around min and max. + double current; + double next = min; + for (int j = 0; j < num_samples - 1; ++j) { + current = next; + next += step_size; + samples_.push_back(current); + // if 0 is among samples, this is never true. Else it inserts a 0 between the positive and negative samples + if ((current < 0) && (next > 0)) { + samples_.push_back(0.0); + } + } + samples_.push_back(max); + } + } + + double getVelocity(){ + return samples_.at(current_index); + } + + VelocityIterator& operator++(int){ + current_index++; + return *this; + } + + void reset(){ + current_index = 0; + } + + bool isFinished(){ + return current_index >= samples_.size(); + } + + private: + std::vector samples_; + unsigned int current_index; + }; +}; +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/voxel_grid_model.h b/navigations/base_local_planner/include/base_local_planner/voxel_grid_model.h new file mode 100755 index 0000000..4ecb288 --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/voxel_grid_model.h @@ -0,0 +1,179 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_ +#define TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_ +#include +#include +#include +#include +#include +#include + +//voxel grid stuff +#include + +namespace base_local_planner { + /** + * @class VoxelGridModel + * @brief A class that implements the WorldModel interface to provide grid + * based collision checks for the trajectory controller using a 3D voxel grid. + */ + class VoxelGridModel : public WorldModel { + public: + /** + * @brief Constructor for the VoxelGridModel + * @param size_x The x size of the map + * @param size_y The y size of the map + * @param size_z The z size of the map... up to 32 cells + * @param xy_resolution The horizontal resolution of the map in meters/cell + * @param z_resolution The vertical resolution of the map in meters/cell + * @param origin_x The x value of the origin of the map + * @param origin_y The y value of the origin of the map + * @param origin_z The z value of the origin of the map + * @param max_z The maximum height for an obstacle to be added to the grid + * @param obstacle_range The maximum distance for obstacles to be added to the grid + */ + VoxelGridModel(double size_x, double size_y, double size_z, double xy_resolution, double z_resolution, + double origin_x, double origin_y, double origin_z, double max_z, double obstacle_range); + + /** + * @brief Destructor for the world model + */ + virtual ~VoxelGridModel(){} + + /** + * @brief Checks if any obstacles in the voxel grid lie inside a convex footprint that is rasterized into the grid + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise + */ + virtual double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius); + + using WorldModel::footprintCost; + + /** + * @brief The costmap already keeps track of world observations, so for this world model this method does nothing + * @param footprint The footprint of the robot in its current location + * @param observations The observations from various sensors + * @param laser_scan The scans used to clear freespace + */ + void updateWorld(const std::vector& footprint, + const std::vector& observations, const std::vector& laser_scans); + + /** + * @brief Function copying the Voxel points into a point cloud + * @param cloud the point cloud to copy data to. It has the usual x,y,z channels + */ + void getPoints(sensor_msgs::PointCloud2& cloud); + + private: + /** + * @brief Rasterizes a line in the costmap grid and checks for collisions + * @param x0 The x position of the first cell in grid coordinates + * @param y0 The y position of the first cell in grid coordinates + * @param x1 The x position of the second cell in grid coordinates + * @param y1 The y position of the second cell in grid coordinates + * @return A positive cost for a legal line... negative otherwise + */ + double lineCost(int x0, int x1, int y0, int y1); + + /** + * @brief Checks the cost of a point in the costmap + * @param x The x position of the point in cell coordinates + * @param y The y position of the point in cell coordinates + * @return A positive cost for a legal point... negative otherwise + */ + double pointCost(int x, int y); + + void removePointsInScanBoundry(const PlanarLaserScan& laser_scan, double raytrace_range); + + inline bool worldToMap3D(double wx, double wy, double wz, unsigned int& mx, unsigned int& my, unsigned int& mz){ + if(wx < origin_x_ || wy < origin_y_ || wz < origin_z_) + return false; + mx = (int) ((wx - origin_x_) / xy_resolution_); + my = (int) ((wy - origin_y_) / xy_resolution_); + mz = (int) ((wz - origin_z_) / z_resolution_); + return true; + } + + inline bool worldToMap2D(double wx, double wy, unsigned int& mx, unsigned int& my){ + if(wx < origin_x_ || wy < origin_y_) + return false; + mx = (int) ((wx - origin_x_) / xy_resolution_); + my = (int) ((wy - origin_y_) / xy_resolution_); + return true; + } + + inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double& wx, double& wy, double& wz){ + //returns the center point of the cell + wx = origin_x_ + (mx + 0.5) * xy_resolution_; + wy = origin_y_ + (my + 0.5) * xy_resolution_; + wz = origin_z_ + (mz + 0.5) * z_resolution_; + } + + inline void mapToWorld2D(unsigned int mx, unsigned int my, double& wx, double& wy){ + //returns the center point of the cell + wx = origin_x_ + (mx + 0.5) * xy_resolution_; + wy = origin_y_ + (my + 0.5) * xy_resolution_; + } + + inline double dist(double x0, double y0, double z0, double x1, double y1, double z1){ + return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0)); + } + + inline void insert(const geometry_msgs::Point32& pt){ + unsigned int cell_x, cell_y, cell_z; + if(!worldToMap3D(pt.x, pt.y, pt.z, cell_x, cell_y, cell_z)) + return; + obstacle_grid_.markVoxel(cell_x, cell_y, cell_z); + } + + voxel_grid::VoxelGrid obstacle_grid_; + double xy_resolution_; + double z_resolution_; + double origin_x_; + double origin_y_; + double origin_z_; + double max_z_; ///< @brief The height cutoff for adding points as obstacles + double sq_obstacle_range_; ///< @brief The square distance at which we no longer add obstacles to the grid + + }; +}; +#endif diff --git a/navigations/base_local_planner/include/base_local_planner/world_model.h b/navigations/base_local_planner/include/base_local_planner/world_model.h new file mode 100755 index 0000000..b4ca3bb --- /dev/null +++ b/navigations/base_local_planner/include/base_local_planner/world_model.h @@ -0,0 +1,114 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TRAJECTORY_ROLLOUT_WORLD_MODEL_H_ +#define TRAJECTORY_ROLLOUT_WORLD_MODEL_H_ + +#include +#include +#include +#include +#include + +namespace base_local_planner { + /** + * @class WorldModel + * @brief An interface the trajectory controller uses to interact with the + * world regardless of the underlying world model. + */ + class WorldModel{ + public: + /** + * @brief Subclass will implement this method to check a footprint at a given position and orientation for legality in the world + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise: + * -1 if footprint covers at least a lethal obstacle cell, or + * -2 if footprint covers at least a no-information cell, or + * -3 if footprint is partially or totally outside of the map + */ + virtual double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius) = 0; + + double footprintCost(double x, double y, double theta, const std::vector& footprint_spec, double inscribed_radius = 0.0, double circumscribed_radius=0.0){ + + double cos_th = cos(theta); + double sin_th = sin(theta); + std::vector oriented_footprint; + for(unsigned int i = 0; i < footprint_spec.size(); ++i){ + geometry_msgs::Point new_pt; + new_pt.x = x + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th); + new_pt.y = y + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th); + oriented_footprint.push_back(new_pt); + } + + geometry_msgs::Point robot_position; + robot_position.x = x; + robot_position.y = y; + + if(inscribed_radius==0.0){ + costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius, circumscribed_radius); + } + + return footprintCost(robot_position, oriented_footprint, inscribed_radius, circumscribed_radius); + } + + /** + * @brief Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid + * @param position The position of the robot in world coordinates + * @param footprint The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @return Positive if all the points lie outside the footprint, negative otherwise + */ + double footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius, double extra) { + return footprintCost(position, footprint, inscribed_radius, circumscribed_radius); + } + + /** + * @brief Subclass will implement a destructor + */ + virtual ~WorldModel(){} + + protected: + WorldModel(){} + }; + +}; +#endif diff --git a/navigations/base_local_planner/msg/Position2DInt.msg b/navigations/base_local_planner/msg/Position2DInt.msg new file mode 100755 index 0000000..7d5c799 --- /dev/null +++ b/navigations/base_local_planner/msg/Position2DInt.msg @@ -0,0 +1,2 @@ +int64 x +int64 y \ No newline at end of file diff --git a/navigations/base_local_planner/package.xml b/navigations/base_local_planner/package.xml new file mode 100755 index 0000000..78b7126 --- /dev/null +++ b/navigations/base_local_planner/package.xml @@ -0,0 +1,52 @@ + + + + base_local_planner + 1.17.3 + + + This package provides implementations of the Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane. Given a plan to follow and a costmap, the controller produces velocity commands to send to a mobile base. This package supports both holonomic and non-holonomic robots, any robot footprint that can be represented as a convex polygon or circle, and exposes its configuration as ROS parameters that can be set in a launch file. This package's ROS wrapper adheres to the BaseLocalPlanner interface specified in the nav_core package. + + + Eitan Marder-Eppstein + Eric Perko + contradict@gmail.com + Michael Ferguson + David V. Lu!! + Aaron Hoy + BSD + http://wiki.ros.org/base_local_planner + + catkin + python-setuptools + python3-setuptools + + cmake_modules + message_generation + tf2_geometry_msgs + + angles + costmap_2d + dynamic_reconfigure + eigen + geometry_msgs + nav_core + nav_msgs + pluginlib + sensor_msgs + std_msgs + rosconsole + roscpp + rospy + tf2 + tf2_ros + visualization_msgs + voxel_grid + + message_runtime + + rosunit + + + + diff --git a/navigations/base_local_planner/setup.py b/navigations/base_local_planner/setup.py new file mode 100755 index 0000000..d175406 --- /dev/null +++ b/navigations/base_local_planner/setup.py @@ -0,0 +1,10 @@ +#!/usr/bin/env python +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages = ['local_planner_limits'], + package_dir = {'': 'src'}, + ) + +setup(**d) diff --git a/navigations/base_local_planner/src/costmap_model.cpp b/navigations/base_local_planner/src/costmap_model.cpp new file mode 100755 index 0000000..2f7896f --- /dev/null +++ b/navigations/base_local_planner/src/costmap_model.cpp @@ -0,0 +1,145 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include + +using namespace std; +using namespace costmap_2d; + +namespace base_local_planner { + CostmapModel::CostmapModel(const Costmap2D& ma) : costmap_(ma) {} + + double CostmapModel::footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius){ + // returns: + // -1 if footprint covers at least a lethal obstacle cell, or + // -2 if footprint covers at least a no-information cell, or + // -3 if footprint is [partially] outside of the map, or + // a positive value for traversable space + + //used to put things into grid coordinates + unsigned int cell_x, cell_y; + + //get the cell coord of the center point of the robot + if(!costmap_.worldToMap(position.x, position.y, cell_x, cell_y)) + return -3.0; + + //if number of points in the footprint is less than 3, we'll just assume a circular robot + if(footprint.size() < 3){ + unsigned char cost = costmap_.getCost(cell_x, cell_y); + if(cost == NO_INFORMATION) + return -2.0; + if(cost == LETHAL_OBSTACLE || cost == INSCRIBED_INFLATED_OBSTACLE) + return -1.0; + return cost; + } + + //now we really have to lay down the footprint in the costmap grid + unsigned int x0, x1, y0, y1; + double line_cost = 0.0; + double footprint_cost = 0.0; + + //we need to rasterize each line in the footprint + for(unsigned int i = 0; i < footprint.size() - 1; ++i){ + //get the cell coord of the first point + if(!costmap_.worldToMap(footprint[i].x, footprint[i].y, x0, y0)) + return -3.0; + + //get the cell coord of the second point + if(!costmap_.worldToMap(footprint[i + 1].x, footprint[i + 1].y, x1, y1)) + return -3.0; + + line_cost = lineCost(x0, x1, y0, y1); + footprint_cost = std::max(line_cost, footprint_cost); + + //if there is an obstacle that hits the line... we know that we can return false right away + if(line_cost < 0) + return line_cost; + } + + //we also need to connect the first point in the footprint to the last point + //get the cell coord of the last point + if(!costmap_.worldToMap(footprint.back().x, footprint.back().y, x0, y0)) + return -3.0; + + //get the cell coord of the first point + if(!costmap_.worldToMap(footprint.front().x, footprint.front().y, x1, y1)) + return -3.0; + + line_cost = lineCost(x0, x1, y0, y1); + footprint_cost = std::max(line_cost, footprint_cost); + + if(line_cost < 0) + return line_cost; + + //if all line costs are legal... then we can return that the footprint is legal + return footprint_cost; + + } + + //calculate the cost of a ray-traced line + double CostmapModel::lineCost(int x0, int x1, int y0, int y1) const { + double line_cost = 0.0; + double point_cost = -1.0; + + for( LineIterator line( x0, y0, x1, y1 ); line.isValid(); line.advance() ) + { + point_cost = pointCost( line.getX(), line.getY() ); //Score the current point + + if(point_cost < 0) + return point_cost; + + if(line_cost < point_cost) + line_cost = point_cost; + } + + return line_cost; + } + + double CostmapModel::pointCost(int x, int y) const { + unsigned char cost = costmap_.getCost(x, y); + //if the cell is in an obstacle the path is invalid + if(cost == NO_INFORMATION) + return -2; + if(cost == LETHAL_OBSTACLE) + return -1; + + return cost; + } + +}; diff --git a/navigations/base_local_planner/src/footprint_helper.cpp b/navigations/base_local_planner/src/footprint_helper.cpp new file mode 100755 index 0000000..d94da1c --- /dev/null +++ b/navigations/base_local_planner/src/footprint_helper.cpp @@ -0,0 +1,248 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#include + +namespace base_local_planner { + +FootprintHelper::FootprintHelper() { + // TODO Auto-generated constructor stub + +} + +FootprintHelper::~FootprintHelper() { + // TODO Auto-generated destructor stub +} + +void FootprintHelper::getLineCells(int x0, int x1, int y0, int y1, std::vector& pts) { + //Bresenham Ray-Tracing + int deltax = abs(x1 - x0); // The difference between the x's + int deltay = abs(y1 - y0); // The difference between the y's + int x = x0; // Start x off at the first pixel + int y = y0; // Start y off at the first pixel + + int xinc1, xinc2, yinc1, yinc2; + int den, num, numadd, numpixels; + + base_local_planner::Position2DInt pt; + + if (x1 >= x0) // The x-values are increasing + { + xinc1 = 1; + xinc2 = 1; + } + else // The x-values are decreasing + { + xinc1 = -1; + xinc2 = -1; + } + + if (y1 >= y0) // The y-values are increasing + { + yinc1 = 1; + yinc2 = 1; + } + else // The y-values are decreasing + { + yinc1 = -1; + yinc2 = -1; + } + + if (deltax >= deltay) // There is at least one x-value for every y-value + { + xinc1 = 0; // Don't change the x when numerator >= denominator + yinc2 = 0; // Don't change the y for every iteration + den = deltax; + num = deltax / 2; + numadd = deltay; + numpixels = deltax; // There are more x-values than y-values + } + else // There is at least one y-value for every x-value + { + xinc2 = 0; // Don't change the x for every iteration + yinc1 = 0; // Don't change the y when numerator >= denominator + den = deltay; + num = deltay / 2; + numadd = deltax; + numpixels = deltay; // There are more y-values than x-values + } + + for (int curpixel = 0; curpixel <= numpixels; curpixel++) + { + pt.x = x; //Draw the current pixel + pt.y = y; + pts.push_back(pt); + + num += numadd; // Increase the numerator by the top of the fraction + if (num >= den) // Check if numerator >= denominator + { + num -= den; // Calculate the new numerator value + x += xinc1; // Change the x as appropriate + y += yinc1; // Change the y as appropriate + } + x += xinc2; // Change the x as appropriate + y += yinc2; // Change the y as appropriate + } +} + + +void FootprintHelper::getFillCells(std::vector& footprint){ + //quick bubble sort to sort pts by x + base_local_planner::Position2DInt swap, pt; + unsigned int i = 0; + while (i < footprint.size() - 1) { + if (footprint[i].x > footprint[i + 1].x) { + swap = footprint[i]; + footprint[i] = footprint[i + 1]; + footprint[i + 1] = swap; + if(i > 0) { + --i; + } + } else { + ++i; + } + } + + i = 0; + base_local_planner::Position2DInt min_pt; + base_local_planner::Position2DInt max_pt; + unsigned int min_x = footprint[0].x; + unsigned int max_x = footprint[footprint.size() -1].x; + //walk through each column and mark cells inside the footprint + for (unsigned int x = min_x; x <= max_x; ++x) { + if (i >= footprint.size() - 1) { + break; + } + if (footprint[i].y < footprint[i + 1].y) { + min_pt = footprint[i]; + max_pt = footprint[i + 1]; + } else { + min_pt = footprint[i + 1]; + max_pt = footprint[i]; + } + + i += 2; + while (i < footprint.size() && footprint[i].x == x) { + if(footprint[i].y < min_pt.y) { + min_pt = footprint[i]; + } else if(footprint[i].y > max_pt.y) { + max_pt = footprint[i]; + } + ++i; + } + + //loop though cells in the column + for (unsigned int y = min_pt.y; y < max_pt.y; ++y) { + pt.x = x; + pt.y = y; + footprint.push_back(pt); + } + } +} + +/** + * get the cellsof a footprint at a given position + */ +std::vector FootprintHelper::getFootprintCells( + Eigen::Vector3f pos, + std::vector footprint_spec, + const costmap_2d::Costmap2D& costmap, + bool fill){ + double x_i = pos[0]; + double y_i = pos[1]; + double theta_i = pos[2]; + std::vector footprint_cells; + + //if we have no footprint... do nothing + if (footprint_spec.size() <= 1) { + unsigned int mx, my; + if (costmap.worldToMap(x_i, y_i, mx, my)) { + Position2DInt center; + center.x = mx; + center.y = my; + footprint_cells.push_back(center); + } + return footprint_cells; + } + + //pre-compute cos and sin values + double cos_th = cos(theta_i); + double sin_th = sin(theta_i); + double new_x, new_y; + unsigned int x0, y0, x1, y1; + unsigned int last_index = footprint_spec.size() - 1; + + for (unsigned int i = 0; i < last_index; ++i) { + //find the cell coordinates of the first segment point + new_x = x_i + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th); + new_y = y_i + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th); + if(!costmap.worldToMap(new_x, new_y, x0, y0)) { + return footprint_cells; + } + + //find the cell coordinates of the second segment point + new_x = x_i + (footprint_spec[i + 1].x * cos_th - footprint_spec[i + 1].y * sin_th); + new_y = y_i + (footprint_spec[i + 1].x * sin_th + footprint_spec[i + 1].y * cos_th); + if (!costmap.worldToMap(new_x, new_y, x1, y1)) { + return footprint_cells; + } + + getLineCells(x0, x1, y0, y1, footprint_cells); + } + + //we need to close the loop, so we also have to raytrace from the last pt to first pt + new_x = x_i + (footprint_spec[last_index].x * cos_th - footprint_spec[last_index].y * sin_th); + new_y = y_i + (footprint_spec[last_index].x * sin_th + footprint_spec[last_index].y * cos_th); + if (!costmap.worldToMap(new_x, new_y, x0, y0)) { + return footprint_cells; + } + new_x = x_i + (footprint_spec[0].x * cos_th - footprint_spec[0].y * sin_th); + new_y = y_i + (footprint_spec[0].x * sin_th + footprint_spec[0].y * cos_th); + if(!costmap.worldToMap(new_x, new_y, x1, y1)) { + return footprint_cells; + } + + getLineCells(x0, x1, y0, y1, footprint_cells); + + if(fill) { + getFillCells(footprint_cells); + } + + return footprint_cells; +} + +} /* namespace base_local_planner */ diff --git a/navigations/base_local_planner/src/goal_functions.cpp b/navigations/base_local_planner/src/goal_functions.cpp new file mode 100755 index 0000000..ca705a7 --- /dev/null +++ b/navigations/base_local_planner/src/goal_functions.cpp @@ -0,0 +1,245 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include +#include +#ifdef _MSC_VER +#define GOAL_ATTRIBUTE_UNUSED +#else +#define GOAL_ATTRIBUTE_UNUSED __attribute__ ((unused)) +#endif + +namespace base_local_planner { + + double getGoalPositionDistance(const geometry_msgs::PoseStamped& global_pose, double goal_x, double goal_y) { + return hypot(goal_x - global_pose.pose.position.x, goal_y - global_pose.pose.position.y); + } + + double getGoalOrientationAngleDifference(const geometry_msgs::PoseStamped& global_pose, double goal_th) { + double yaw = tf2::getYaw(global_pose.pose.orientation); + return angles::shortest_angular_distance(yaw, goal_th); + } + + void publishPlan(const std::vector& path, const ros::Publisher& pub) { + //given an empty path we won't do anything + if(path.empty()) + return; + + //create a path message + nav_msgs::Path gui_path; + gui_path.poses.resize(path.size()); + gui_path.header.frame_id = path[0].header.frame_id; + gui_path.header.stamp = path[0].header.stamp; + + // Extract the plan in world co-ordinates, we assume the path is all in the same frame + for(unsigned int i=0; i < path.size(); i++){ + gui_path.poses[i] = path[i]; + } + + pub.publish(gui_path); + } + + void prunePlan(const geometry_msgs::PoseStamped& global_pose, std::vector& plan, std::vector& global_plan){ + ROS_ASSERT(global_plan.size() >= plan.size()); + std::vector::iterator it = plan.begin(); + std::vector::iterator global_it = global_plan.begin(); + while(it != plan.end()){ + const geometry_msgs::PoseStamped& w = *it; + // Fixed error bound of 2 meters for now. Can reduce to a portion of the map size or based on the resolution + double x_diff = global_pose.pose.position.x - w.pose.position.x; + double y_diff = global_pose.pose.position.y - w.pose.position.y; + double distance_sq = x_diff * x_diff + y_diff * y_diff; + if(distance_sq < 1){ + ROS_DEBUG("Nearest waypoint to <%f, %f> is <%f, %f>\n", global_pose.pose.position.x, global_pose.pose.position.y, w.pose.position.x, w.pose.position.y); + break; + } + it = plan.erase(it); + global_it = global_plan.erase(global_it); + } + } + + bool transformGlobalPlan( + const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const geometry_msgs::PoseStamped& global_pose, + const costmap_2d::Costmap2D& costmap, + const std::string& global_frame, + std::vector& transformed_plan){ + transformed_plan.clear(); + + if (global_plan.empty()) { + ROS_ERROR("Received plan with zero length"); + return false; + } + + const geometry_msgs::PoseStamped& plan_pose = global_plan[0]; + try { + // get plan_to_global_transform from plan frame to global_frame + geometry_msgs::TransformStamped plan_to_global_transform = tf.lookupTransform(global_frame, ros::Time(), + plan_pose.header.frame_id, plan_pose.header.stamp, plan_pose.header.frame_id, ros::Duration(0.5)); + + //let's get the pose of the robot in the frame of the plan + geometry_msgs::PoseStamped robot_pose; + tf.transform(global_pose, robot_pose, plan_pose.header.frame_id); + + //we'll discard points on the plan that are outside the local costmap + double dist_threshold = std::max(costmap.getSizeInCellsX() * costmap.getResolution() / 2.0, + costmap.getSizeInCellsY() * costmap.getResolution() / 2.0); + + unsigned int i = 0; + double sq_dist_threshold = dist_threshold * dist_threshold; + double sq_dist = 0; + + //we need to loop to a point on the plan that is within a certain distance of the robot + while(i < (unsigned int)global_plan.size()) { + double x_diff = robot_pose.pose.position.x - global_plan[i].pose.position.x; + double y_diff = robot_pose.pose.position.y - global_plan[i].pose.position.y; + sq_dist = x_diff * x_diff + y_diff * y_diff; + if (sq_dist <= sq_dist_threshold) { + break; + } + ++i; + } + + geometry_msgs::PoseStamped newer_pose; + + //now we'll transform until points are outside of our distance threshold + while(i < (unsigned int)global_plan.size() && sq_dist <= sq_dist_threshold) { + const geometry_msgs::PoseStamped& pose = global_plan[i]; + tf2::doTransform(pose, newer_pose, plan_to_global_transform); + + transformed_plan.push_back(newer_pose); + + double x_diff = robot_pose.pose.position.x - global_plan[i].pose.position.x; + double y_diff = robot_pose.pose.position.y - global_plan[i].pose.position.y; + sq_dist = x_diff * x_diff + y_diff * y_diff; + + ++i; + } + } + catch(tf2::LookupException& ex) { + ROS_ERROR("No Transform available Error: %s\n", ex.what()); + return false; + } + catch(tf2::ConnectivityException& ex) { + ROS_ERROR("Connectivity Error: %s\n", ex.what()); + return false; + } + catch(tf2::ExtrapolationException& ex) { + ROS_ERROR("Extrapolation Error: %s\n", ex.what()); + if (!global_plan.empty()) + ROS_ERROR("Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str()); + + return false; + } + + return true; + } + + bool getGoalPose(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const std::string& global_frame, geometry_msgs::PoseStamped &goal_pose) { + if (global_plan.empty()) + { + ROS_ERROR("Received plan with zero length"); + return false; + } + + const geometry_msgs::PoseStamped& plan_goal_pose = global_plan.back(); + try{ + geometry_msgs::TransformStamped transform = tf.lookupTransform(global_frame, ros::Time(), + plan_goal_pose.header.frame_id, plan_goal_pose.header.stamp, + plan_goal_pose.header.frame_id, ros::Duration(0.5)); + + tf2::doTransform(plan_goal_pose, goal_pose, transform); + } + catch(tf2::LookupException& ex) { + ROS_ERROR("No Transform available Error: %s\n", ex.what()); + return false; + } + catch(tf2::ConnectivityException& ex) { + ROS_ERROR("Connectivity Error: %s\n", ex.what()); + return false; + } + catch(tf2::ExtrapolationException& ex) { + ROS_ERROR("Extrapolation Error: %s\n", ex.what()); + if (global_plan.size() > 0) + ROS_ERROR("Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str()); + + return false; + } + return true; + } + + bool isGoalReached(const tf2_ros::Buffer& tf, + const std::vector& global_plan, + const costmap_2d::Costmap2D& costmap GOAL_ATTRIBUTE_UNUSED, + const std::string& global_frame, + geometry_msgs::PoseStamped& global_pose, + const nav_msgs::Odometry& base_odom, + double rot_stopped_vel, double trans_stopped_vel, + double xy_goal_tolerance, double yaw_goal_tolerance){ + + //we assume the global goal is the last point in the global plan + geometry_msgs::PoseStamped goal_pose; + getGoalPose(tf, global_plan, global_frame, goal_pose); + + double goal_x = goal_pose.pose.position.x; + double goal_y = goal_pose.pose.position.y; + double goal_th = tf2::getYaw(goal_pose.pose.orientation); + + //check to see if we've reached the goal position + if(getGoalPositionDistance(global_pose, goal_x, goal_y) <= xy_goal_tolerance) { + //check to see if the goal orientation has been reached + if(fabs(getGoalOrientationAngleDifference(global_pose, goal_th)) <= yaw_goal_tolerance) { + //make sure that we're actually stopped before returning success + if(stopped(base_odom, rot_stopped_vel, trans_stopped_vel)) + return true; + } + } + + return false; + } + + bool stopped(const nav_msgs::Odometry& base_odom, + const double& rot_stopped_velocity, const double& trans_stopped_velocity){ + return fabs(base_odom.twist.twist.angular.z) <= rot_stopped_velocity + && fabs(base_odom.twist.twist.linear.x) <= trans_stopped_velocity + && fabs(base_odom.twist.twist.linear.y) <= trans_stopped_velocity; + } +}; diff --git a/navigations/base_local_planner/src/latched_stop_rotate_controller.cpp b/navigations/base_local_planner/src/latched_stop_rotate_controller.cpp new file mode 100755 index 0000000..9977a87 --- /dev/null +++ b/navigations/base_local_planner/src/latched_stop_rotate_controller.cpp @@ -0,0 +1,278 @@ +/* + * latched_stop_rotate_controller.cpp + * + * Created on: Apr 16, 2012 + * Author: tkruse + */ + +#include + +#include + +#include + +#include +#include + +#include +#include + +#include + +namespace base_local_planner { + +LatchedStopRotateController::LatchedStopRotateController(const std::string& name) { + ros::NodeHandle private_nh("~/" + name); + private_nh.param("latch_xy_goal_tolerance", latch_xy_goal_tolerance_, false); + + rotating_to_goal_ = false; +} + +LatchedStopRotateController::~LatchedStopRotateController() {} + + +/** + * returns true if we have passed the goal position. + * Meaning we might have overshot on the position beyond tolerance, yet still return true. + * Also goal orientation might not yet be true + */ +bool LatchedStopRotateController::isPositionReached(LocalPlannerUtil* planner_util, + const geometry_msgs::PoseStamped& global_pose) { + double xy_goal_tolerance = planner_util->getCurrentLimits().xy_goal_tolerance; + + //we assume the global goal is the last point in the global plan + geometry_msgs::PoseStamped goal_pose; + if ( ! planner_util->getGoal(goal_pose)) { + return false; + } + + double goal_x = goal_pose.pose.position.x; + double goal_y = goal_pose.pose.position.y; + + //check to see if we've reached the goal position + if ((latch_xy_goal_tolerance_ && xy_tolerance_latch_) || + base_local_planner::getGoalPositionDistance(global_pose, goal_x, goal_y) <= xy_goal_tolerance) { + xy_tolerance_latch_ = true; + return true; + } + return false; +} + + +/** + * returns true if we have passed the goal position and have reached goal orientation. + * Meaning we might have overshot on the position beyond tolerance, yet still return true. + */ +bool LatchedStopRotateController::isGoalReached(LocalPlannerUtil* planner_util, + OdometryHelperRos& odom_helper, + const geometry_msgs::PoseStamped& global_pose) { + double xy_goal_tolerance = planner_util->getCurrentLimits().xy_goal_tolerance; + double theta_stopped_vel = planner_util->getCurrentLimits().theta_stopped_vel; + double trans_stopped_vel = planner_util->getCurrentLimits().trans_stopped_vel; + + //copy over the odometry information + nav_msgs::Odometry base_odom; + odom_helper.getOdom(base_odom); + + //we assume the global goal is the last point in the global plan + geometry_msgs::PoseStamped goal_pose; + if ( ! planner_util->getGoal(goal_pose)) { + return false; + } + + double goal_x = goal_pose.pose.position.x; + double goal_y = goal_pose.pose.position.y; + + base_local_planner::LocalPlannerLimits limits = planner_util->getCurrentLimits(); + + //check to see if we've reached the goal position + if ((latch_xy_goal_tolerance_ && xy_tolerance_latch_) || + base_local_planner::getGoalPositionDistance(global_pose, goal_x, goal_y) <= xy_goal_tolerance) { + //if the user wants to latch goal tolerance, if we ever reach the goal location, we'll + //just rotate in place + if (latch_xy_goal_tolerance_ && ! xy_tolerance_latch_) { + ROS_DEBUG("Goal position reached (check), stopping and turning in place"); + xy_tolerance_latch_ = true; + } + double goal_th = tf2::getYaw(goal_pose.pose.orientation); + double angle = base_local_planner::getGoalOrientationAngleDifference(global_pose, goal_th); + //check to see if the goal orientation has been reached + if (fabs(angle) <= limits.yaw_goal_tolerance) { + //make sure that we're actually stopped before returning success + if (base_local_planner::stopped(base_odom, theta_stopped_vel, trans_stopped_vel)) { + return true; + } + } + } + return false; +} + +bool LatchedStopRotateController::stopWithAccLimits(const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& robot_vel, + geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + boost::function obstacle_check) { + + //slow down with the maximum possible acceleration... we should really use the frequency that we're running at to determine what is feasible + //but we'll use a tenth of a second to be consistent with the implementation of the local planner. + double vx = sign(robot_vel.pose.position.x) * std::max(0.0, (fabs(robot_vel.pose.position.x) - acc_lim[0] * sim_period)); + double vy = sign(robot_vel.pose.position.y) * std::max(0.0, (fabs(robot_vel.pose.position.y) - acc_lim[1] * sim_period)); + + double vel_yaw = tf2::getYaw(robot_vel.pose.orientation); + double vth = sign(vel_yaw) * std::max(0.0, (fabs(vel_yaw) - acc_lim[2] * sim_period)); + + //we do want to check whether or not the command is valid + double yaw = tf2::getYaw(global_pose.pose.orientation); + bool valid_cmd = obstacle_check(Eigen::Vector3f(global_pose.pose.position.x, global_pose.pose.position.y, yaw), + Eigen::Vector3f(robot_vel.pose.position.x, robot_vel.pose.position.y, vel_yaw), + Eigen::Vector3f(vx, vy, vth)); + + //if we have a valid command, we'll pass it on, otherwise we'll command all zeros + if(valid_cmd){ + ROS_DEBUG_NAMED("latched_stop_rotate", "Slowing down... using vx, vy, vth: %.2f, %.2f, %.2f", vx, vy, vth); + cmd_vel.linear.x = vx; + cmd_vel.linear.y = vy; + cmd_vel.angular.z = vth; + return true; + } + ROS_WARN("Stopping cmd in collision"); + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + return false; +} + +bool LatchedStopRotateController::rotateToGoal( + const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& robot_vel, + double goal_th, + geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + base_local_planner::LocalPlannerLimits& limits, + boost::function obstacle_check) { + double yaw = tf2::getYaw(global_pose.pose.orientation); + double vel_yaw = tf2::getYaw(robot_vel.pose.orientation); + cmd_vel.linear.x = 0; + cmd_vel.linear.y = 0; + double ang_diff = angles::shortest_angular_distance(yaw, goal_th); + + double v_theta_samp = std::min(limits.max_vel_theta, std::max(limits.min_vel_theta, fabs(ang_diff))); + + //take the acceleration limits of the robot into account + double max_acc_vel = fabs(vel_yaw) + acc_lim[2] * sim_period; + double min_acc_vel = fabs(vel_yaw) - acc_lim[2] * sim_period; + + v_theta_samp = std::min(std::max(fabs(v_theta_samp), min_acc_vel), max_acc_vel); + + //we also want to make sure to send a velocity that allows us to stop when we reach the goal given our acceleration limits + double max_speed_to_stop = sqrt(2 * acc_lim[2] * fabs(ang_diff)); + v_theta_samp = std::min(max_speed_to_stop, fabs(v_theta_samp)); + + v_theta_samp = std::min(limits.max_vel_theta, std::max(limits.min_vel_theta, v_theta_samp)); + + if (ang_diff < 0) { + v_theta_samp = - v_theta_samp; + } + + //we still want to lay down the footprint of the robot and check if the action is legal + bool valid_cmd = obstacle_check(Eigen::Vector3f(global_pose.pose.position.x, global_pose.pose.position.y, yaw), + Eigen::Vector3f(robot_vel.pose.position.x, robot_vel.pose.position.y, vel_yaw), + Eigen::Vector3f( 0.0, 0.0, v_theta_samp)); + + if (valid_cmd) { + ROS_DEBUG_NAMED("dwa_local_planner", "Moving to desired goal orientation, th cmd: %.2f, valid_cmd: %d", v_theta_samp, valid_cmd); + cmd_vel.angular.z = v_theta_samp; + return true; + } + ROS_WARN("Rotation cmd in collision"); + cmd_vel.angular.z = 0.0; + return false; + +} + +bool LatchedStopRotateController::computeVelocityCommandsStopRotate(geometry_msgs::Twist& cmd_vel, + Eigen::Vector3f acc_lim, + double sim_period, + LocalPlannerUtil* planner_util, + OdometryHelperRos& odom_helper_, + const geometry_msgs::PoseStamped& global_pose, + boost::function obstacle_check) { + //we assume the global goal is the last point in the global plan + geometry_msgs::PoseStamped goal_pose; + if ( ! planner_util->getGoal(goal_pose)) { + ROS_ERROR("Could not get goal pose"); + return false; + } + + base_local_planner::LocalPlannerLimits limits = planner_util->getCurrentLimits(); + + //if the user wants to latch goal tolerance, if we ever reach the goal location, we'll + //just rotate in place + if (latch_xy_goal_tolerance_ && ! xy_tolerance_latch_ ) { + ROS_INFO("Goal position reached, stopping and turning in place"); + xy_tolerance_latch_ = true; + } + //check to see if the goal orientation has been reached + double goal_th = tf2::getYaw(goal_pose.pose.orientation); + double angle = base_local_planner::getGoalOrientationAngleDifference(global_pose, goal_th); + if (fabs(angle) <= limits.yaw_goal_tolerance) { + //set the velocity command to zero + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + rotating_to_goal_ = false; + } else { + ROS_DEBUG("Angle: %f Tolerance: %f", angle, limits.yaw_goal_tolerance); + geometry_msgs::PoseStamped robot_vel; + odom_helper_.getRobotVel(robot_vel); + nav_msgs::Odometry base_odom; + odom_helper_.getOdom(base_odom); + + //if we're not stopped yet... we want to stop... taking into account the acceleration limits of the robot + if ( ! rotating_to_goal_ && !base_local_planner::stopped(base_odom, limits.theta_stopped_vel, limits.trans_stopped_vel)) { + if ( ! stopWithAccLimits( + global_pose, + robot_vel, + cmd_vel, + acc_lim, + sim_period, + obstacle_check)) { + ROS_INFO("Error when stopping."); + return false; + } + ROS_DEBUG("Stopping..."); + } + //if we're stopped... then we want to rotate to goal + else { + //set this so that we know its OK to be moving + rotating_to_goal_ = true; + if ( ! rotateToGoal( + global_pose, + robot_vel, + goal_th, + cmd_vel, + acc_lim, + sim_period, + limits, + obstacle_check)) { + ROS_INFO("Error when rotating."); + return false; + } + ROS_DEBUG("Rotating..."); + } + } + + return true; + +} + + +} /* namespace base_local_planner */ diff --git a/navigations/base_local_planner/src/local_planner_limits/.gitignore b/navigations/base_local_planner/src/local_planner_limits/.gitignore new file mode 100755 index 0000000..0d20b64 --- /dev/null +++ b/navigations/base_local_planner/src/local_planner_limits/.gitignore @@ -0,0 +1 @@ +*.pyc diff --git a/navigations/base_local_planner/src/local_planner_limits/__init__.py b/navigations/base_local_planner/src/local_planner_limits/__init__.py new file mode 100755 index 0000000..03fa1de --- /dev/null +++ b/navigations/base_local_planner/src/local_planner_limits/__init__.py @@ -0,0 +1,41 @@ +# Generic set of parameters to use with base local planners +# To use: +# +# from local_planner_limits import add_generic_localplanner_params +# gen = ParameterGenerator() +# add_generic_localplanner_params(gen) +# ... +# +# Using these standard parameters instead of your own allows easier switching of local planners + +# need this only for dataype declarations +from dynamic_reconfigure.parameter_generator_catkin import double_t, bool_t + + +def add_generic_localplanner_params(gen): + # velocities + gen.add("max_vel_trans", double_t, 0, "The absolute value of the maximum translational velocity for the robot in m/s", 0.55, 0) + gen.add("min_vel_trans", double_t, 0, "The absolute value of the minimum translational velocity for the robot in m/s", 0.1, 0) + + gen.add("max_vel_x", double_t, 0, "The maximum x velocity for the robot in m/s", 0.55) + gen.add("min_vel_x", double_t, 0, "The minimum x velocity for the robot in m/s", 0.0) + + gen.add("max_vel_y", double_t, 0, "The maximum y velocity for the robot in m/s", 0.1) + gen.add("min_vel_y", double_t, 0, "The minimum y velocity for the robot in m/s", -0.1) + + gen.add("max_vel_theta", double_t, 0, "The absolute value of the maximum rotational velocity for the robot in rad/s", 1.0, 0) + gen.add("min_vel_theta", double_t, 0, "The absolute value of the minimum rotational velocity for the robot in rad/s", 0.4, 0) + + # acceleration + gen.add("acc_lim_x", double_t, 0, "The acceleration limit of the robot in the x direction", 2.5, 0, 20.0) + gen.add("acc_lim_y", double_t, 0, "The acceleration limit of the robot in the y direction", 2.5, 0, 20.0) + gen.add("acc_lim_theta", double_t, 0, "The acceleration limit of the robot in the theta direction", 3.2, 0, 20.0) + gen.add("acc_lim_trans", double_t, 0, "The absolute value of the maximum translational acceleration for the robot in m/s^2", 0.1, 0) + + gen.add("prune_plan", bool_t, 0, "Start following closest point of global plan, not first point (if different).", False) + + gen.add("xy_goal_tolerance", double_t, 0, "Within what maximum distance we consider the robot to be in goal", 0.1) + gen.add("yaw_goal_tolerance", double_t, 0, "Within what maximum angle difference we consider the robot to face goal direction", 0.1) + + gen.add("trans_stopped_vel", double_t, 0, "Below what maximum velocity we consider the robot to be stopped in translation", 0.1) + gen.add("theta_stopped_vel", double_t, 0, "Below what maximum rotation velocity we consider the robot to be stopped in rotation", 0.1) diff --git a/navigations/base_local_planner/src/local_planner_util.cpp b/navigations/base_local_planner/src/local_planner_util.cpp new file mode 100755 index 0000000..fa4b1e2 --- /dev/null +++ b/navigations/base_local_planner/src/local_planner_util.cpp @@ -0,0 +1,128 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + *********************************************************************/ + +#include + +#include + +namespace base_local_planner { + +void LocalPlannerUtil::initialize( + tf2_ros::Buffer* tf, + costmap_2d::Costmap2D* costmap, + std::string global_frame) { + if(!initialized_) { + tf_ = tf; + costmap_ = costmap; + global_frame_ = global_frame; + initialized_ = true; + } + else{ + ROS_WARN("Planner utils have already been initialized, doing nothing."); + } +} + +void LocalPlannerUtil::reconfigureCB(LocalPlannerLimits &config, bool restore_defaults) +{ + if(setup_ && restore_defaults) { + config = default_limits_; + } + + if(!setup_) { + default_limits_ = config; + setup_ = true; + } + boost::mutex::scoped_lock l(limits_configuration_mutex_); + limits_ = LocalPlannerLimits(config); +} + +costmap_2d::Costmap2D* LocalPlannerUtil::getCostmap() { + return costmap_; +} + +LocalPlannerLimits LocalPlannerUtil::getCurrentLimits() { + boost::mutex::scoped_lock l(limits_configuration_mutex_); + return limits_; +} + + +bool LocalPlannerUtil::getGoal(geometry_msgs::PoseStamped& goal_pose) { + //we assume the global goal is the last point in the global plan + return base_local_planner::getGoalPose(*tf_, + global_plan_, + global_frame_, + goal_pose); +} + +bool LocalPlannerUtil::setPlan(const std::vector& orig_global_plan) { + if(!initialized_){ + ROS_ERROR("Planner utils have not been initialized, please call initialize() first"); + return false; + } + + //reset the global plan + global_plan_.clear(); + + global_plan_ = orig_global_plan; + + return true; +} + +bool LocalPlannerUtil::getLocalPlan(const geometry_msgs::PoseStamped& global_pose, std::vector& transformed_plan) { + //get the global plan in our frame + if(!base_local_planner::transformGlobalPlan( + *tf_, + global_plan_, + global_pose, + *costmap_, + global_frame_, + transformed_plan)) { + ROS_WARN("Could not transform the global plan to the frame of the controller"); + return false; + } + + //now we'll prune the plan based on the position of the robot + if(limits_.prune_plan) { + base_local_planner::prunePlan(global_pose, transformed_plan, global_plan_); + } + return true; +} + + + + +} // namespace diff --git a/navigations/base_local_planner/src/map_cell.cpp b/navigations/base_local_planner/src/map_cell.cpp new file mode 100755 index 0000000..13a35fc --- /dev/null +++ b/navigations/base_local_planner/src/map_cell.cpp @@ -0,0 +1,52 @@ +/********************************************************************* + * 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. + *********************************************************************/ + +#include + +namespace base_local_planner{ + + MapCell::MapCell() + : cx(0), cy(0), + target_dist(DBL_MAX), + target_mark(false), + within_robot(false) + {} + + MapCell::MapCell(const MapCell& mc) + : cx(mc.cx), cy(mc.cy), + target_dist(mc.target_dist), + target_mark(mc.target_mark), + within_robot(mc.within_robot) + {} +}; diff --git a/navigations/base_local_planner/src/map_grid.cpp b/navigations/base_local_planner/src/map_grid.cpp new file mode 100755 index 0000000..a100a8a --- /dev/null +++ b/navigations/base_local_planner/src/map_grid.cpp @@ -0,0 +1,309 @@ +/********************************************************************* + * 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. + *********************************************************************/ +#include +#include +using namespace std; + +namespace base_local_planner{ + + MapGrid::MapGrid() + : size_x_(0), size_y_(0) + { + } + + MapGrid::MapGrid(unsigned int size_x, unsigned int size_y) + : size_x_(size_x), size_y_(size_y) + { + commonInit(); + } + + MapGrid::MapGrid(const MapGrid& mg){ + size_y_ = mg.size_y_; + size_x_ = mg.size_x_; + map_ = mg.map_; + } + + void MapGrid::commonInit(){ + //don't allow construction of zero size grid + ROS_ASSERT(size_y_ != 0 && size_x_ != 0); + + map_.resize(size_y_ * size_x_); + + //make each cell aware of its location in the grid + for(unsigned int i = 0; i < size_y_; ++i){ + for(unsigned int j = 0; j < size_x_; ++j){ + unsigned int id = size_x_ * i + j; + map_[id].cx = j; + map_[id].cy = i; + } + } + } + + size_t MapGrid::getIndex(int x, int y){ + return size_x_ * y + x; + } + + MapGrid& MapGrid::operator= (const MapGrid& mg){ + size_y_ = mg.size_y_; + size_x_ = mg.size_x_; + map_ = mg.map_; + return *this; + } + + void MapGrid::sizeCheck(unsigned int size_x, unsigned int size_y){ + if(map_.size() != size_x * size_y) + map_.resize(size_x * size_y); + + if(size_x_ != size_x || size_y_ != size_y){ + size_x_ = size_x; + size_y_ = size_y; + + for(unsigned int i = 0; i < size_y_; ++i){ + for(unsigned int j = 0; j < size_x_; ++j){ + int index = size_x_ * i + j; + map_[index].cx = j; + map_[index].cy = i; + } + } + } + } + + + inline bool MapGrid::updatePathCell(MapCell* current_cell, MapCell* check_cell, + const costmap_2d::Costmap2D& costmap){ + + //if the cell is an obstacle set the max path distance + unsigned char cost = costmap.getCost(check_cell->cx, check_cell->cy); + if(! getCell(check_cell->cx, check_cell->cy).within_robot && + (cost == costmap_2d::LETHAL_OBSTACLE || + cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE || + cost == costmap_2d::NO_INFORMATION)){ + check_cell->target_dist = obstacleCosts(); + return false; + } + + double new_target_dist = current_cell->target_dist + 1; + if (new_target_dist < check_cell->target_dist) { + check_cell->target_dist = new_target_dist; + } + return true; + } + + + //reset the path_dist and goal_dist fields for all cells + void MapGrid::resetPathDist(){ + for(unsigned int i = 0; i < map_.size(); ++i) { + map_[i].target_dist = unreachableCellCosts(); + map_[i].target_mark = false; + map_[i].within_robot = false; + } + } + + void MapGrid::adjustPlanResolution(const std::vector& global_plan_in, + std::vector& global_plan_out, double resolution) { + if (global_plan_in.size() == 0) { + return; + } + double last_x = global_plan_in[0].pose.position.x; + double last_y = global_plan_in[0].pose.position.y; + global_plan_out.push_back(global_plan_in[0]); + + double min_sq_resolution = resolution * resolution; + + for (unsigned int i = 1; i < global_plan_in.size(); ++i) { + double loop_x = global_plan_in[i].pose.position.x; + double loop_y = global_plan_in[i].pose.position.y; + double sqdist = (loop_x - last_x) * (loop_x - last_x) + (loop_y - last_y) * (loop_y - last_y); + if (sqdist > min_sq_resolution) { + int steps = ceil((sqrt(sqdist)) / resolution); + // add a points in-between + double deltax = (loop_x - last_x) / steps; + double deltay = (loop_y - last_y) / steps; + // TODO: Interpolate orientation + for (int j = 1; j < steps; ++j) { + geometry_msgs::PoseStamped pose; + pose.pose.position.x = last_x + j * deltax; + pose.pose.position.y = last_y + j * deltay; + pose.pose.position.z = global_plan_in[i].pose.position.z; + pose.pose.orientation = global_plan_in[i].pose.orientation; + pose.header = global_plan_in[i].header; + global_plan_out.push_back(pose); + } + } + global_plan_out.push_back(global_plan_in[i]); + last_x = loop_x; + last_y = loop_y; + } + } + + //update what map cells are considered path based on the global_plan + void MapGrid::setTargetCells(const costmap_2d::Costmap2D& costmap, + const std::vector& global_plan) { + sizeCheck(costmap.getSizeInCellsX(), costmap.getSizeInCellsY()); + + bool started_path = false; + + queue path_dist_queue; + + std::vector adjusted_global_plan; + adjustPlanResolution(global_plan, adjusted_global_plan, costmap.getResolution()); + if (adjusted_global_plan.size() != global_plan.size()) { + ROS_DEBUG("Adjusted global plan resolution, added %zu points", adjusted_global_plan.size() - global_plan.size()); + } + unsigned int i; + // put global path points into local map until we reach the border of the local map + for (i = 0; i < adjusted_global_plan.size(); ++i) { + double g_x = adjusted_global_plan[i].pose.position.x; + double g_y = adjusted_global_plan[i].pose.position.y; + unsigned int map_x, map_y; + if (costmap.worldToMap(g_x, g_y, map_x, map_y) && costmap.getCost(map_x, map_y) != costmap_2d::NO_INFORMATION) { + MapCell& current = getCell(map_x, map_y); + current.target_dist = 0.0; + current.target_mark = true; + path_dist_queue.push(¤t); + started_path = true; + } else if (started_path) { + break; + } + } + if (!started_path) { + ROS_ERROR("None of the %d first of %zu (%zu) points of the global plan were in the local costmap and free", + i, adjusted_global_plan.size(), global_plan.size()); + return; + } + + computeTargetDistance(path_dist_queue, costmap); + } + + //mark the point of the costmap as local goal where global_plan first leaves the area (or its last point) + void MapGrid::setLocalGoal(const costmap_2d::Costmap2D& costmap, + const std::vector& global_plan) { + sizeCheck(costmap.getSizeInCellsX(), costmap.getSizeInCellsY()); + + int local_goal_x = -1; + int local_goal_y = -1; + bool started_path = false; + + std::vector adjusted_global_plan; + adjustPlanResolution(global_plan, adjusted_global_plan, costmap.getResolution()); + + // skip global path points until we reach the border of the local map + for (unsigned int i = 0; i < adjusted_global_plan.size(); ++i) { + double g_x = adjusted_global_plan[i].pose.position.x; + double g_y = adjusted_global_plan[i].pose.position.y; + unsigned int map_x, map_y; + if (costmap.worldToMap(g_x, g_y, map_x, map_y) && costmap.getCost(map_x, map_y) != costmap_2d::NO_INFORMATION) { + local_goal_x = map_x; + local_goal_y = map_y; + started_path = true; + } else { + if (started_path) { + break; + }// else we might have a non pruned path, so we just continue + } + } + if (!started_path) { + ROS_ERROR("None of the points of the global plan were in the local costmap, global plan points too far from robot"); + return; + } + + queue path_dist_queue; + if (local_goal_x >= 0 && local_goal_y >= 0) { + MapCell& current = getCell(local_goal_x, local_goal_y); + costmap.mapToWorld(local_goal_x, local_goal_y, goal_x_, goal_y_); + current.target_dist = 0.0; + current.target_mark = true; + path_dist_queue.push(¤t); + } + + computeTargetDistance(path_dist_queue, costmap); + } + + + + void MapGrid::computeTargetDistance(queue& dist_queue, const costmap_2d::Costmap2D& costmap){ + MapCell* current_cell; + MapCell* check_cell; + unsigned int last_col = size_x_ - 1; + unsigned int last_row = size_y_ - 1; + while(!dist_queue.empty()){ + current_cell = dist_queue.front(); + + + dist_queue.pop(); + + if(current_cell->cx > 0){ + check_cell = current_cell - 1; + if(!check_cell->target_mark){ + //mark the cell as visisted + check_cell->target_mark = true; + if(updatePathCell(current_cell, check_cell, costmap)) { + dist_queue.push(check_cell); + } + } + } + + if(current_cell->cx < last_col){ + check_cell = current_cell + 1; + if(!check_cell->target_mark){ + check_cell->target_mark = true; + if(updatePathCell(current_cell, check_cell, costmap)) { + dist_queue.push(check_cell); + } + } + } + + if(current_cell->cy > 0){ + check_cell = current_cell - size_x_; + if(!check_cell->target_mark){ + check_cell->target_mark = true; + if(updatePathCell(current_cell, check_cell, costmap)) { + dist_queue.push(check_cell); + } + } + } + + if(current_cell->cy < last_row){ + check_cell = current_cell + size_x_; + if(!check_cell->target_mark){ + check_cell->target_mark = true; + if(updatePathCell(current_cell, check_cell, costmap)) { + dist_queue.push(check_cell); + } + } + } + } + } + +}; diff --git a/navigations/base_local_planner/src/map_grid_cost_function.cpp b/navigations/base_local_planner/src/map_grid_cost_function.cpp new file mode 100755 index 0000000..bb35116 --- /dev/null +++ b/navigations/base_local_planner/src/map_grid_cost_function.cpp @@ -0,0 +1,131 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#include + +namespace base_local_planner { + +MapGridCostFunction::MapGridCostFunction(costmap_2d::Costmap2D* costmap, + double xshift, + double yshift, + bool is_local_goal_function, + CostAggregationType aggregationType) : + costmap_(costmap), + map_(costmap->getSizeInCellsX(), costmap->getSizeInCellsY()), + aggregationType_(aggregationType), + xshift_(xshift), + yshift_(yshift), + is_local_goal_function_(is_local_goal_function), + stop_on_failure_(true) {} + +void MapGridCostFunction::setTargetPoses(std::vector target_poses) { + target_poses_ = target_poses; +} + +bool MapGridCostFunction::prepare() { + map_.resetPathDist(); + + if (is_local_goal_function_) { + map_.setLocalGoal(*costmap_, target_poses_); + } else { + map_.setTargetCells(*costmap_, target_poses_); + } + return true; +} + +double MapGridCostFunction::getCellCosts(unsigned int px, unsigned int py) { + double grid_dist = map_(px, py).target_dist; + return grid_dist; +} + +double MapGridCostFunction::scoreTrajectory(Trajectory &traj) { + double cost = 0.0; + if (aggregationType_ == Product) { + cost = 1.0; + } + double px, py, pth; + unsigned int cell_x, cell_y; + double grid_dist; + + for (unsigned int i = 0; i < traj.getPointsSize(); ++i) { + traj.getPoint(i, px, py, pth); + + // translate point forward if specified + if (xshift_ != 0.0) { + px = px + xshift_ * cos(pth); + py = py + xshift_ * sin(pth); + } + // translate point sideways if specified + if (yshift_ != 0.0) { + px = px + yshift_ * cos(pth + M_PI_2); + py = py + yshift_ * sin(pth + M_PI_2); + } + + //we won't allow trajectories that go off the map... shouldn't happen that often anyways + if ( ! costmap_->worldToMap(px, py, cell_x, cell_y)) { + //we're off the map + ROS_WARN("Off Map %f, %f", px, py); + return -4.0; + } + grid_dist = getCellCosts(cell_x, cell_y); + //if a point on this trajectory has no clear path to the goal... it may be invalid + if (stop_on_failure_) { + if (grid_dist == map_.obstacleCosts()) { + return -3.0; + } else if (grid_dist == map_.unreachableCellCosts()) { + return -2.0; + } + } + + switch( aggregationType_ ) { + case Last: + cost = grid_dist; + break; + case Sum: + cost += grid_dist; + break; + case Product: + if (cost > 0) { + cost *= grid_dist; + } + break; + } + } + return cost; +} + +} /* namespace base_local_planner */ diff --git a/navigations/base_local_planner/src/map_grid_visualizer.cpp b/navigations/base_local_planner/src/map_grid_visualizer.cpp new file mode 100755 index 0000000..5f865ec --- /dev/null +++ b/navigations/base_local_planner/src/map_grid_visualizer.cpp @@ -0,0 +1,95 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2010, Eric Perko + * 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 Eric Perko 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. + *********************************************************************/ +#include +#include +#include + +#include +#include + +namespace base_local_planner { + MapGridVisualizer::MapGridVisualizer() {} + + + void MapGridVisualizer::initialize(const std::string& name, std::string frame_id, boost::function cost_function) { + name_ = name; + frame_id_ = frame_id; + cost_function_ = cost_function; + + ns_nh_ = ros::NodeHandle("~/" + name_); + pub_ = ns_nh_.advertise("cost_cloud", 1); + } + + void MapGridVisualizer::publishCostCloud(const costmap_2d::Costmap2D* costmap_p_) { + sensor_msgs::PointCloud2 cost_cloud; + cost_cloud.header.frame_id = frame_id_; + cost_cloud.header.stamp = ros::Time::now(); + + sensor_msgs::PointCloud2Modifier cloud_mod(cost_cloud); + cloud_mod.setPointCloud2Fields(7, "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "path_cost", 1, sensor_msgs::PointField::FLOAT32, + "goal_cost", 1, sensor_msgs::PointField::FLOAT32, + "occ_cost", 1, sensor_msgs::PointField::FLOAT32, + "total_cost", 1, sensor_msgs::PointField::FLOAT32); + + unsigned int x_size = costmap_p_->getSizeInCellsX(); + unsigned int y_size = costmap_p_->getSizeInCellsY(); + double z_coord = 0.0; + double x_coord, y_coord; + + cloud_mod.resize(x_size * y_size); + sensor_msgs::PointCloud2Iterator iter_x(cost_cloud, "x"); + + float path_cost, goal_cost, occ_cost, total_cost; + for (unsigned int cx = 0; cx < x_size; cx++) { + for (unsigned int cy = 0; cy < y_size; cy++) { + costmap_p_->mapToWorld(cx, cy, x_coord, y_coord); + if (cost_function_(cx, cy, path_cost, goal_cost, occ_cost, total_cost)) { + iter_x[0] = x_coord; + iter_x[1] = y_coord; + iter_x[2] = z_coord; + iter_x[3] = path_cost; + iter_x[4] = goal_cost; + iter_x[5] = occ_cost; + iter_x[6] = total_cost; + ++iter_x; + } + } + } + pub_.publish(cost_cloud); + ROS_DEBUG("Cost PointCloud published"); + } +}; diff --git a/navigations/base_local_planner/src/obstacle_cost_function.cpp b/navigations/base_local_planner/src/obstacle_cost_function.cpp new file mode 100755 index 0000000..c71716d --- /dev/null +++ b/navigations/base_local_planner/src/obstacle_cost_function.cpp @@ -0,0 +1,152 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#include +#include +#include +#include + +namespace base_local_planner { + +ObstacleCostFunction::ObstacleCostFunction(costmap_2d::Costmap2D* costmap) + : costmap_(costmap), sum_scores_(false) { + if (costmap != NULL) { + world_model_ = new base_local_planner::CostmapModel(*costmap_); + } +} + +ObstacleCostFunction::~ObstacleCostFunction() { + if (world_model_ != NULL) { + delete world_model_; + } +} + + +void ObstacleCostFunction::setParams(double max_trans_vel, double max_scaling_factor, double scaling_speed) { + // TODO: move this to prepare if possible + max_trans_vel_ = max_trans_vel; + max_scaling_factor_ = max_scaling_factor; + scaling_speed_ = scaling_speed; +} + +void ObstacleCostFunction::setFootprint(std::vector footprint_spec) { + footprint_spec_ = footprint_spec; +} + +bool ObstacleCostFunction::prepare() { + return true; +} + +double ObstacleCostFunction::scoreTrajectory(Trajectory &traj) { + double cost = 0; + double scale = getScalingFactor(traj, scaling_speed_, max_trans_vel_, max_scaling_factor_); + double px, py, pth; + if (footprint_spec_.size() == 0) { + // Bug, should never happen + ROS_ERROR("Footprint spec is empty, maybe missing call to setFootprint?"); + return -9; + } + + for (unsigned int i = 0; i < traj.getPointsSize(); ++i) { + traj.getPoint(i, px, py, pth); + double f_cost = footprintCost(px, py, pth, + scale, footprint_spec_, + costmap_, world_model_); + + if(f_cost < 0){ + return f_cost; + } + + if(sum_scores_) + cost += f_cost; + else + cost = std::max(cost, f_cost); + } + return cost; +} + +double ObstacleCostFunction::getScalingFactor(Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor) { + double vmag = hypot(traj.xv_, traj.yv_); + + //if we're over a certain speed threshold, we'll scale the robot's + //footprint to make it either slow down or stay further from walls + double scale = 1.0; + if (vmag > scaling_speed) { + //scale up to the max scaling factor linearly... this could be changed later + double ratio = (vmag - scaling_speed) / (max_trans_vel - scaling_speed); + scale = max_scaling_factor * ratio + 1.0; + } + return scale; +} + +double ObstacleCostFunction::footprintCost ( + const double& x, + const double& y, + const double& th, + double scale, + std::vector footprint_spec, + costmap_2d::Costmap2D* costmap, + base_local_planner::WorldModel* world_model) { + + std::vector scaled_footprint; + for(unsigned int i = 0; i < footprint_spec.size(); ++i) { + geometry_msgs::Point new_pt; + new_pt.x = scale * footprint_spec[i].x; + new_pt.y = scale * footprint_spec[i].y; + scaled_footprint.push_back(new_pt); + } + + //check if the footprint is legal + // TODO: Cache inscribed radius + double footprint_cost = world_model->footprintCost(x, y, th, scaled_footprint); + + if (footprint_cost < 0) { + return -6.0; + } + unsigned int cell_x, cell_y; + + //we won't allow trajectories that go off the map... shouldn't happen that often anyways + if ( ! costmap->worldToMap(x, y, cell_x, cell_y)) { + return -7.0; + } + + double occ_cost = std::max(std::max(0.0, footprint_cost), double(costmap->getCost(cell_x, cell_y))); + + return occ_cost; +} + +} /* namespace base_local_planner */ diff --git a/navigations/base_local_planner/src/odometry_helper_ros.cpp b/navigations/base_local_planner/src/odometry_helper_ros.cpp new file mode 100755 index 0000000..cc497c4 --- /dev/null +++ b/navigations/base_local_planner/src/odometry_helper_ros.cpp @@ -0,0 +1,106 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ +#include +#include +#include +#include + +namespace base_local_planner { + +OdometryHelperRos::OdometryHelperRos(std::string odom_topic) { + setOdomTopic( odom_topic ); +} + +void OdometryHelperRos::odomCallback(const nav_msgs::Odometry::ConstPtr& msg) { + ROS_INFO_ONCE("odom received!"); + + //we assume that the odometry is published in the frame of the base + boost::mutex::scoped_lock lock(odom_mutex_); + base_odom_.twist.twist.linear.x = msg->twist.twist.linear.x; + base_odom_.twist.twist.linear.y = msg->twist.twist.linear.y; + base_odom_.twist.twist.angular.z = msg->twist.twist.angular.z; + base_odom_.child_frame_id = msg->child_frame_id; +// ROS_DEBUG_NAMED("dwa_local_planner", "In the odometry callback with velocity values: (%.2f, %.2f, %.2f)", +// base_odom_.twist.twist.linear.x, base_odom_.twist.twist.linear.y, base_odom_.twist.twist.angular.z); +} + +//copy over the odometry information +void OdometryHelperRos::getOdom(nav_msgs::Odometry& base_odom) { + boost::mutex::scoped_lock lock(odom_mutex_); + base_odom = base_odom_; +} + + +void OdometryHelperRos::getRobotVel(geometry_msgs::PoseStamped& robot_vel) { + // Set current velocities from odometry + geometry_msgs::Twist global_vel; + { + boost::mutex::scoped_lock lock(odom_mutex_); + global_vel.linear.x = base_odom_.twist.twist.linear.x; + global_vel.linear.y = base_odom_.twist.twist.linear.y; + global_vel.angular.z = base_odom_.twist.twist.angular.z; + + robot_vel.header.frame_id = base_odom_.child_frame_id; + } + robot_vel.pose.position.x = global_vel.linear.x; + robot_vel.pose.position.y = global_vel.linear.y; + robot_vel.pose.position.z = 0; + tf2::Quaternion q; + q.setRPY(0, 0, global_vel.angular.z); + tf2::convert(q, robot_vel.pose.orientation); + robot_vel.header.stamp = ros::Time(); +} + +void OdometryHelperRos::setOdomTopic(std::string odom_topic) +{ + if( odom_topic != odom_topic_ ) + { + odom_topic_ = odom_topic; + + if( odom_topic_ != "" ) + { + ros::NodeHandle gn; + odom_sub_ = gn.subscribe( odom_topic_, 1, [this](auto& msg){ odomCallback(msg); }); + } + else + { + odom_sub_.shutdown(); + } + } +} + +} /* namespace base_local_planner */ diff --git a/navigations/base_local_planner/src/oscillation_cost_function.cpp b/navigations/base_local_planner/src/oscillation_cost_function.cpp new file mode 100755 index 0000000..d24531d --- /dev/null +++ b/navigations/base_local_planner/src/oscillation_cost_function.cpp @@ -0,0 +1,178 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#include + +#include + +namespace base_local_planner { + +OscillationCostFunction::OscillationCostFunction() { +} + +OscillationCostFunction::~OscillationCostFunction() { + prev_stationary_pos_ = Eigen::Vector3f::Zero(); +} + +void OscillationCostFunction::setOscillationResetDist(double dist, double angle) { + oscillation_reset_dist_ = dist; + oscillation_reset_angle_ = angle; +} + +void OscillationCostFunction::updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory* traj, double min_vel_trans) { + if (traj->cost_ >= 0) { + if (setOscillationFlags(traj, min_vel_trans)) { + prev_stationary_pos_ = pos; + } + //if we've got restrictions... check if we can reset any oscillation flags + if(forward_pos_only_ || forward_neg_only_ + || strafe_pos_only_ || strafe_neg_only_ + || rot_pos_only_ || rot_neg_only_){ + resetOscillationFlagsIfPossible(pos, prev_stationary_pos_); + } + } +} + +void OscillationCostFunction::resetOscillationFlagsIfPossible(const Eigen::Vector3f& pos, const Eigen::Vector3f& prev) { + double x_diff = pos[0] - prev[0]; + double y_diff = pos[1] - prev[1]; + double sq_dist = x_diff * x_diff + y_diff * y_diff; + + double th_diff = pos[2] - prev[2]; + + //if we've moved far enough... we can reset our flags + if (sq_dist > oscillation_reset_dist_ * oscillation_reset_dist_ || + fabs(th_diff) > oscillation_reset_angle_) { + resetOscillationFlags(); + } +} + +void OscillationCostFunction::resetOscillationFlags() { + strafe_pos_only_ = false; + strafe_neg_only_ = false; + strafing_pos_ = false; + strafing_neg_ = false; + + rot_pos_only_ = false; + rot_neg_only_ = false; + rotating_pos_ = false; + rotating_neg_ = false; + + forward_pos_only_ = false; + forward_neg_only_ = false; + forward_pos_ = false; + forward_neg_ = false; +} + +bool OscillationCostFunction::setOscillationFlags(base_local_planner::Trajectory* t, double min_vel_trans) { + bool flag_set = false; + //set oscillation flags for moving forward and backward + if (t->xv_ < 0.0) { + if (forward_pos_) { + forward_neg_only_ = true; + flag_set = true; + } + forward_pos_ = false; + forward_neg_ = true; + } + if (t->xv_ > 0.0) { + if (forward_neg_) { + forward_pos_only_ = true; + flag_set = true; + } + forward_neg_ = false; + forward_pos_ = true; + } + + //we'll only set flags for strafing and rotating when we're not moving forward at all + if (fabs(t->xv_) <= min_vel_trans) { + //check negative strafe + if (t->yv_ < 0) { + if (strafing_pos_) { + strafe_neg_only_ = true; + flag_set = true; + } + strafing_pos_ = false; + strafing_neg_ = true; + } + + //check positive strafe + if (t->yv_ > 0) { + if (strafing_neg_) { + strafe_pos_only_ = true; + flag_set = true; + } + strafing_neg_ = false; + strafing_pos_ = true; + } + + //check negative rotation + if (t->thetav_ < 0) { + if (rotating_pos_) { + rot_neg_only_ = true; + flag_set = true; + } + rotating_pos_ = false; + rotating_neg_ = true; + } + + //check positive rotation + if (t->thetav_ > 0) { + if (rotating_neg_) { + rot_pos_only_ = true; + flag_set = true; + } + rotating_neg_ = false; + rotating_pos_ = true; + } + } + return flag_set; +} + +double OscillationCostFunction::scoreTrajectory(Trajectory &traj) { + if ((forward_pos_only_ && traj.xv_ < 0.0) || + (forward_neg_only_ && traj.xv_ > 0.0) || + (strafe_pos_only_ && traj.yv_ < 0.0) || + (strafe_neg_only_ && traj.yv_ > 0.0) || + (rot_pos_only_ && traj.thetav_ < 0.0) || + (rot_neg_only_ && traj.thetav_ > 0.0)) { + return -5.0; + } + return 0.0; +} + +} /* namespace base_local_planner */ diff --git a/navigations/base_local_planner/src/point_grid.cpp b/navigations/base_local_planner/src/point_grid.cpp new file mode 100755 index 0000000..8fef01a --- /dev/null +++ b/navigations/base_local_planner/src/point_grid.cpp @@ -0,0 +1,556 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ + +#include +#include +#ifdef HAVE_SYS_TIME_H +#include +#endif + +#include +#include +#include + +using namespace std; +using namespace costmap_2d; + +namespace base_local_planner { + +PointGrid::PointGrid(double size_x, double size_y, double resolution, geometry_msgs::Point origin, double max_z, double obstacle_range, double min_seperation) : + resolution_(resolution), origin_(origin), max_z_(max_z), sq_obstacle_range_(obstacle_range * obstacle_range), sq_min_separation_(min_seperation * min_seperation) + { + width_ = (int) (size_x / resolution_); + height_ = (int) (size_y / resolution_); + cells_.resize(width_ * height_); + } + + double PointGrid::footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius){ + //the half-width of the circumscribed sqaure of the robot is equal to the circumscribed radius + double outer_square_radius = circumscribed_radius; + + //get all the points inside the circumscribed square of the robot footprint + geometry_msgs::Point c_lower_left, c_upper_right; + c_lower_left.x = position.x - outer_square_radius; + c_lower_left.y = position.y - outer_square_radius; + + c_upper_right.x = position.x + outer_square_radius; + c_upper_right.y = position.y + outer_square_radius; + + //This may return points that are still outside of the cirumscribed square because it returns the cells + //contained by the range + getPointsInRange(c_lower_left, c_upper_right, points_); + + //if there are no points in the circumscribed square... we don't have to check against the footprint + if(points_.empty()) + return 1.0; + + //compute the half-width of the inner square from the inscribed radius of the robot + double inner_square_radius = sqrt((inscribed_radius * inscribed_radius) / 2.0); + + //we'll also check against the inscribed square + geometry_msgs::Point i_lower_left, i_upper_right; + i_lower_left.x = position.x - inner_square_radius; + i_lower_left.y = position.y - inner_square_radius; + + i_upper_right.x = position.x + inner_square_radius; + i_upper_right.y = position.y + inner_square_radius; + + //if there are points, we have to do a more expensive check + for(unsigned int i = 0; i < points_.size(); ++i){ + list* cell_points = points_[i]; + if(cell_points != NULL){ + for(list::iterator it = cell_points->begin(); it != cell_points->end(); ++it){ + const geometry_msgs::Point32& pt = *it; + //first, we'll check to make sure we're in the outer square + //printf("(%.2f, %.2f) ... l(%.2f, %.2f) ... u(%.2f, %.2f)\n", pt.x, pt.y, c_lower_left.x, c_lower_left.y, c_upper_right.x, c_upper_right.y); + if(pt.x > c_lower_left.x && pt.x < c_upper_right.x && pt.y > c_lower_left.y && pt.y < c_upper_right.y){ + //do a quick check to see if the point lies in the inner square of the robot + if(pt.x > i_lower_left.x && pt.x < i_upper_right.x && pt.y > i_lower_left.y && pt.y < i_upper_right.y) + return -1.0; + + //now we really have to do a full footprint check on the point + if(ptInPolygon(pt, footprint)) + return -1.0; + } + } + } + } + + //if we get through all the points and none of them are in the footprint it's legal + return 1.0; + } + + bool PointGrid::ptInPolygon(const geometry_msgs::Point32& pt, const std::vector& poly){ + if(poly.size() < 3) + return false; + + //a point is in a polygon iff the orientation of the point + //with respect to sides of the polygon is the same for every + //side of the polygon + bool all_left = false; + bool all_right = false; + for(unsigned int i = 0; i < poly.size() - 1; ++i){ + //if pt left of a->b + if(orient(poly[i], poly[i + 1], pt) > 0){ + if(all_right) + return false; + all_left = true; + } + //if pt right of a->b + else{ + if(all_left) + return false; + all_right = true; + } + } + //also need to check the last point with the first point + if(orient(poly[poly.size() - 1], poly[0], pt) > 0){ + if(all_right) + return false; + } + else{ + if(all_left) + return false; + } + + return true; + } + + void PointGrid::getPointsInRange(const geometry_msgs::Point& lower_left, const geometry_msgs::Point& upper_right, + vector< list* >& points){ + points.clear(); + + //compute the other corners of the box so we can get cells indicies for them + geometry_msgs::Point upper_left, lower_right; + upper_left.x = lower_left.x; + upper_left.y = upper_right.y; + lower_right.x = upper_right.x; + lower_right.y = lower_left.y; + + //get the grid coordinates of the cells matching the corners of the range + unsigned int gx, gy; + + //if the grid coordinates are outside the bounds of the grid... return + if(!gridCoords(lower_left, gx, gy)) + return; + //get the associated index + unsigned int lower_left_index = gridIndex(gx, gy); + + if(!gridCoords(lower_right, gx, gy)) + return; + unsigned int lower_right_index = gridIndex(gx, gy); + + if(!gridCoords(upper_left, gx, gy)) + return; + unsigned int upper_left_index = gridIndex(gx, gy); + + //compute x_steps and y_steps + unsigned int x_steps = lower_right_index - lower_left_index + 1; + unsigned int y_steps = (upper_left_index - lower_left_index) / width_ + 1; + /* + * (0, 0) ---------------------- (width, 0) + * | | + * | | + * | | + * | | + * | | + * (0, height) ----------------- (width, height) + */ + //get an iterator + vector< list >::iterator cell_iterator = cells_.begin() + lower_left_index; + //printf("Index: %d, Width: %d, x_steps: %d, y_steps: %d\n", lower_left_index, width_, x_steps, y_steps); + for(unsigned int i = 0; i < y_steps; ++i){ + for(unsigned int j = 0; j < x_steps; ++j){ + list& cell = *cell_iterator; + //if the cell contains any points... we need to push them back to our list + if(!cell.empty()){ + points.push_back(&cell); + } + if(j < x_steps - 1) + cell_iterator++; //move a cell in the x direction + } + cell_iterator += width_ - (x_steps - 1); //move down a row + } + } + + void PointGrid::insert(const geometry_msgs::Point32& pt){ + //get the grid coordinates of the point + unsigned int gx, gy; + + //if the grid coordinates are outside the bounds of the grid... return + if(!gridCoords(pt, gx, gy)) + return; + + //if the point is too close to its nearest neighbor... return + if(nearestNeighborDistance(pt) < sq_min_separation_) + return; + + //get the associated index + unsigned int pt_index = gridIndex(gx, gy); + + //insert the point into the grid at the correct location + cells_[pt_index].push_back(pt); + //printf("Index: %d, size: %d\n", pt_index, cells_[pt_index].size()); + } + + double PointGrid::getNearestInCell(const geometry_msgs::Point32& pt, unsigned int gx, unsigned int gy){ + unsigned int index = gridIndex(gx, gy); + double min_sq_dist = DBL_MAX; + //loop through the points in the cell and find the minimum distance to the passed point + for(list::const_iterator it = cells_[index].begin(); it != cells_[index].end(); ++it){ + min_sq_dist = min(min_sq_dist, sq_distance(pt, *it)); + } + return min_sq_dist; + } + + + double PointGrid::nearestNeighborDistance(const geometry_msgs::Point32& pt){ + //get the grid coordinates of the point + unsigned int gx, gy; + + gridCoords(pt, gx, gy); + + //get the bounds of the grid cell in world coords + geometry_msgs::Point lower_left, upper_right; + getCellBounds(gx, gy, lower_left, upper_right); + + //now we need to check what cells could contain the nearest neighbor + geometry_msgs::Point32 check_point; + double sq_dist = DBL_MAX; + double neighbor_sq_dist = DBL_MAX; + + //left + if(gx > 0){ + check_point.x = lower_left.x; + check_point.y = pt.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx - 1, gy)); + } + + //upper left + if(gx > 0 && gy < height_ - 1){ + check_point.x = lower_left.x; + check_point.y = upper_right.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx - 1, gy + 1)); + } + + //top + if(gy < height_ - 1){ + check_point.x = pt.x; + check_point.y = upper_right.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx, gy + 1)); + } + + //upper right + if(gx < width_ - 1 && gy < height_ - 1){ + check_point.x = upper_right.x; + check_point.y = upper_right.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx + 1, gy + 1)); + } + + //right + if(gx < width_ - 1){ + check_point.x = upper_right.x; + check_point.y = pt.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx + 1, gy)); + } + + //lower right + if(gx < width_ - 1 && gy > 0){ + check_point.x = upper_right.x; + check_point.y = lower_left.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx + 1, gy - 1)); + } + + //bottom + if(gy > 0){ + check_point.x = pt.x; + check_point.y = lower_left.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx, gy - 1)); + } + + //lower left + if(gx > 0 && gy > 0){ + check_point.x = lower_left.x; + check_point.y = lower_left.y; + sq_dist = sq_distance(pt, check_point); + if(sq_dist < sq_min_separation_) + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx - 1, gy - 1)); + } + + //we must also check within the cell we're in for a nearest neighbor + neighbor_sq_dist = min(neighbor_sq_dist, getNearestInCell(pt, gx, gy)); + + return neighbor_sq_dist; + } + + void PointGrid::updateWorld(const std::vector& footprint, + const vector& observations, const vector& laser_scans){ + //for our 2D point grid we only remove freespace based on the first laser scan + if(laser_scans.empty()) + return; + + removePointsInScanBoundry(laser_scans[0]); + + //iterate through all observations and update the grid + for(vector::const_iterator it = observations.begin(); it != observations.end(); ++it){ + const Observation& obs = *it; + const sensor_msgs::PointCloud2& cloud = *(obs.cloud_); + + sensor_msgs::PointCloud2ConstIterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(cloud, "z"); + + geometry_msgs::Point32 pt; + for(; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z){ + //filter out points that are too high + if(*iter_z > max_z_) + continue; + + //compute the squared distance from the hitpoint to the pointcloud's origin + double sq_dist = (*iter_x - obs.origin_.x) * (*iter_x - obs.origin_.x) + + (*iter_y - obs.origin_.y) * (*iter_y - obs.origin_.y) + + (*iter_z - obs.origin_.z) * (*iter_z - obs.origin_.z); + + if(sq_dist >= sq_obstacle_range_) + continue; + + //insert the point + pt.x = *iter_x; + pt.y = *iter_y; + pt.z = *iter_z; + insert(pt); + } + } + + //remove the points that are in the footprint of the robot + removePointsInPolygon(footprint); + } + + void PointGrid::removePointsInScanBoundry(const PlanarLaserScan& laser_scan){ + if(laser_scan.cloud.points.size() == 0) + return; + + //compute the containing square of the scan + geometry_msgs::Point lower_left, upper_right; + lower_left.x = laser_scan.origin.x; + lower_left.y = laser_scan.origin.y; + upper_right.x = laser_scan.origin.x; + upper_right.y = laser_scan.origin.y; + + for(unsigned int i = 0; i < laser_scan.cloud.points.size(); ++i){ + lower_left.x = min((double)lower_left.x, (double)laser_scan.cloud.points[i].x); + lower_left.y = min((double)lower_left.y, (double)laser_scan.cloud.points[i].y); + upper_right.x = max((double)upper_right.x, (double)laser_scan.cloud.points[i].x); + upper_right.y = max((double)upper_right.y, (double)laser_scan.cloud.points[i].y); + } + + getPointsInRange(lower_left, upper_right, points_); + + //if there are no points in the containing square... we don't have to do anything + if(points_.empty()) + return; + + //if there are points, we have to check them against the scan explicitly to remove them + for(unsigned int i = 0; i < points_.size(); ++i){ + list* cell_points = points_[i]; + if(cell_points != NULL){ + list::iterator it = cell_points->begin(); + while(it != cell_points->end()){ + const geometry_msgs::Point32& pt = *it; + + //check if the point is in the polygon and if it is, erase it from the grid + if(ptInScan(pt, laser_scan)){ + it = cell_points->erase(it); + } + else + it++; + } + } + } + } + + bool PointGrid::ptInScan(const geometry_msgs::Point32& pt, const PlanarLaserScan& laser_scan){ + if(!laser_scan.cloud.points.empty()){ + //compute the angle of the point relative to that of the scan + double v1_x = laser_scan.cloud.points[0].x - laser_scan.origin.x; + double v1_y = laser_scan.cloud.points[0].y - laser_scan.origin.y; + double v2_x = pt.x - laser_scan.origin.x; + double v2_y = pt.y - laser_scan.origin.y; + + double perp_dot = v1_x * v2_y - v1_y * v2_x; + double dot = v1_x * v2_x + v1_y * v2_y; + + //get the signed angle + double vector_angle = atan2(perp_dot, dot); + + //we want all angles to be between 0 and 2PI + if(vector_angle < 0) + vector_angle = 2 * M_PI + vector_angle; + + double total_rads = laser_scan.angle_max - laser_scan.angle_min; + + //if this point lies outside of the scan field of view... it is not in the scan + if(vector_angle < 0 || vector_angle >= total_rads) + return false; + + //compute the index of the point in the scan + unsigned int index = (unsigned int) (vector_angle / laser_scan.angle_increment); + + //make sure we have a legal index... we always should at this point, but just in case + if(index >= laser_scan.cloud.points.size() - 1){ + return false; + } + + //if the point lies to the left of the line between the two scan points bounding it, it is within the scan + if(orient(laser_scan.cloud.points[index], laser_scan.cloud.points[index + 1], pt) > 0){ + return true; + } + + //otherwise it is not + return false; + } + else + return false; + } + + void PointGrid::getPoints(sensor_msgs::PointCloud2& cloud){ + sensor_msgs::PointCloud2Modifier modifier(cloud); + modifier.setPointCloud2FieldsByString(1, "xyz"); + + size_t n = 0; + for(unsigned int i = 0; i < cells_.size(); ++i){ + for(list::iterator it = cells_[i].begin(); it != cells_[i].end(); ++it){ + ++n; + } + } + modifier.resize(n); + + sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(cloud, "z"); + + for(unsigned int i = 0; i < cells_.size(); ++i){ + for(list::iterator it = cells_[i].begin(); it != cells_[i].end(); ++it, ++iter_x, ++iter_y, ++iter_z){ + *iter_x = it->x; + *iter_y = it->y; + *iter_z = it->z; + } + } + } + + void PointGrid::removePointsInPolygon(const std::vector poly){ + if(poly.size() == 0) + return; + + geometry_msgs::Point lower_left, upper_right; + lower_left.x = poly[0].x; + lower_left.y = poly[0].y; + upper_right.x = poly[0].x; + upper_right.y = poly[0].y; + + //compute the containing square of the polygon + for(unsigned int i = 1; i < poly.size(); ++i){ + lower_left.x = min(lower_left.x, poly[i].x); + lower_left.y = min(lower_left.y, poly[i].y); + upper_right.x = max(upper_right.x, poly[i].x); + upper_right.y = max(upper_right.y, poly[i].y); + } + + ROS_DEBUG("Lower: (%.2f, %.2f), Upper: (%.2f, %.2f)\n", lower_left.x, lower_left.y, upper_right.x, upper_right.y); + getPointsInRange(lower_left, upper_right, points_); + + //if there are no points in the containing square... we don't have to do anything + if(points_.empty()) + return; + + //if there are points, we have to check them against the polygon explicitly to remove them + for(unsigned int i = 0; i < points_.size(); ++i){ + list* cell_points = points_[i]; + if(cell_points != NULL){ + list::iterator it = cell_points->begin(); + while(it != cell_points->end()){ + const geometry_msgs::Point32& pt = *it; + + //check if the point is in the polygon and if it is, erase it from the grid + if(ptInPolygon(pt, poly)){ + it = cell_points->erase(it); + } + else + it++; + } + } + } + } + + void PointGrid::intersectionPoint(const geometry_msgs::Point& v1, const geometry_msgs::Point& v2, + const geometry_msgs::Point& u1, const geometry_msgs::Point& u2, geometry_msgs::Point& result){ + //generate the equation for line 1 + double a1 = v2.y - v1.y; + double b1 = v1.x - v2.x; + double c1 = a1 * v1.x + b1 * v1.y; + + //generate the equation for line 2 + double a2 = u2.y - u1.y; + double b2 = u1.x - u2.x; + double c2 = a2 * u1.x + b2 * u1.y; + + double det = a1 * b2 - a2 * b1; + + //the lines are parallel + if(det == 0) + return; + + result.x = (b2 * c1 - b1 * c2) / det; + result.y = (a1 * c2 - a2 * c1) / det; + } + +}; diff --git a/navigations/base_local_planner/src/point_grid_node.cpp b/navigations/base_local_planner/src/point_grid_node.cpp new file mode 100755 index 0000000..6534a35 --- /dev/null +++ b/navigations/base_local_planner/src/point_grid_node.cpp @@ -0,0 +1,221 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ + +#include +#include +#ifdef HAVE_SYS_TIME_H +#include +#endif + +#include +#include +#include + +using namespace std; +using namespace costmap_2d; + +void printPoint(const geometry_msgs::Point& pt){ + printf("(%.2f, %.2f, %.2f)", pt.x, pt.y, pt.z); +} + +void printPSHeader(){ + printf("%%!PS\n"); + printf("%%%%Creator: Eitan Marder-Eppstein (Willow Garage)\n"); + printf("%%%%EndComments\n"); +} + +void printPSFooter(){ + printf("showpage\n%%%%EOF\n"); +} + +void printPolygonPS(const std::vector& poly, double line_width){ + if(poly.size() < 2) + return; + + printf("%.2f setlinewidth\n", line_width); + printf("newpath\n"); + printf("%.4f\t%.4f\tmoveto\n", poly[0].x * 10, poly[0].y * 10); + for(unsigned int i = 1; i < poly.size(); ++i) + printf("%.4f\t%.4f\tlineto\n", poly[i].x * 10, poly[i].y * 10); + printf("%.4f\t%.4f\tlineto\n", poly[0].x * 10, poly[0].y * 10); + printf("closepath stroke\n"); + +} + +using namespace base_local_planner; + +int main(int argc, char** argv){ + geometry_msgs::Point origin; + origin.x = 0.0; + origin.y = 0.0; + PointGrid pg(50.0, 50.0, 0.2, origin, 2.0, 3.0, 0.0); + /* + double x = 10.0; + double y = 10.0; + for(int i = 0; i < 100; ++i){ + for(int j = 0; j < 100; ++j){ + pcl::PointXYZ pt; + pt.x = x; + pt.y = y; + pt.z = 1.0; + pg.insert(pt); + x += .03; + } + y += .03; + x = 10.0; + } + */ + std::vector footprint, footprint2, footprint3; + geometry_msgs::Point pt; + + pt.x = 1.0; + pt.y = 1.0; + footprint.push_back(pt); + + pt.x = 1.0; + pt.y = 1.65; + footprint.push_back(pt); + + pt.x = 1.325; + pt.y = 1.75; + footprint.push_back(pt); + + pt.x = 1.65; + pt.y = 1.65; + footprint.push_back(pt); + + pt.x = 1.65; + pt.y = 1.0; + footprint.push_back(pt); + + pt.x = 1.325; + pt.y = 1.00; + footprint2.push_back(pt); + + pt.x = 1.325; + pt.y = 1.75; + footprint2.push_back(pt); + + pt.x = 1.65; + pt.y = 1.75; + footprint2.push_back(pt); + + pt.x = 1.65; + pt.y = 1.00; + footprint2.push_back(pt); + + pt.x = 0.99; + pt.y = 0.99; + footprint3.push_back(pt); + + pt.x = 0.99; + pt.y = 1.66; + footprint3.push_back(pt); + + pt.x = 1.3255; + pt.y = 1.85; + footprint3.push_back(pt); + + pt.x = 1.66; + pt.y = 1.66; + footprint3.push_back(pt); + + pt.x = 1.66; + pt.y = 0.99; + footprint3.push_back(pt); + + pt.x = 1.325; + pt.y = 1.325; + + geometry_msgs::Point32 point; + point.x = 1.2; + point.y = 1.2; + point.z = 1.0; + +#ifdef HAVE_SYS_TIME_H + struct timeval start, end; + double start_t, end_t, t_diff; +#endif + + printPSHeader(); + +#ifdef HAVE_SYS_TIME_H + gettimeofday(&start, NULL); +#endif + + for(unsigned int i = 0; i < 2000; ++i){ + pg.insert(point); + } + +#ifdef HAVE_SYS_TIME_H + gettimeofday(&end, NULL); + start_t = start.tv_sec + double(start.tv_usec) / 1e6; + end_t = end.tv_sec + double(end.tv_usec) / 1e6; + t_diff = end_t - start_t; + printf("%%Insertion Time: %.9f \n", t_diff); +#endif + + vector obs; + vector scan; + +#ifdef HAVE_SYS_TIME_H + gettimeofday(&start, NULL); +#endif + pg.updateWorld(footprint, obs, scan); + + double legal = pg.footprintCost(pt, footprint, 0.0, .95); + pg.updateWorld(footprint, obs, scan); + double legal2 = pg.footprintCost(pt, footprint, 0.0, .95); + +#ifdef HAVE_SYS_TIME_H + gettimeofday(&end, NULL); + start_t = start.tv_sec + double(start.tv_usec) / 1e6; + end_t = end.tv_sec + double(end.tv_usec) / 1e6; + t_diff = end_t - start_t; + + printf("%%Footprint calc: %.9f \n", t_diff); +#endif + + if(legal >= 0.0) + printf("%%Legal footprint %.4f, %.4f\n", legal, legal2); + else + printf("%%Illegal footprint\n"); + + printPSFooter(); + + return 0; +} diff --git a/navigations/base_local_planner/src/prefer_forward_cost_function.cpp b/navigations/base_local_planner/src/prefer_forward_cost_function.cpp new file mode 100755 index 0000000..9329578 --- /dev/null +++ b/navigations/base_local_planner/src/prefer_forward_cost_function.cpp @@ -0,0 +1,28 @@ +/* + * prefer_forward_cost_function.cpp + * + * Created on: Apr 4, 2012 + * Author: tkruse + */ + +#include + +#include + +namespace base_local_planner { + + +double PreferForwardCostFunction::scoreTrajectory(Trajectory &traj) { + // backward motions bad on a robot without backward sensors + if (traj.xv_ < 0.0) { + return penalty_; + } + // strafing motions also bad on such a robot + if (traj.xv_ < 0.1 && fabs(traj.thetav_) < 0.2) { + return penalty_; + } + // the more we rotate, the less we progress forward + return fabs(traj.thetav_) * 10; +} + +} /* namespace base_local_planner */ diff --git a/navigations/base_local_planner/src/simple_scored_sampling_planner.cpp b/navigations/base_local_planner/src/simple_scored_sampling_planner.cpp new file mode 100755 index 0000000..61e191c --- /dev/null +++ b/navigations/base_local_planner/src/simple_scored_sampling_planner.cpp @@ -0,0 +1,145 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#include + +#include + +namespace base_local_planner { + + SimpleScoredSamplingPlanner::SimpleScoredSamplingPlanner(std::vector gen_list, std::vector& critics, int max_samples) { + max_samples_ = max_samples; + gen_list_ = gen_list; + critics_ = critics; + } + + double SimpleScoredSamplingPlanner::scoreTrajectory(Trajectory& traj, double best_traj_cost) { + double traj_cost = 0; + int gen_id = 0; + for(std::vector::iterator score_function = critics_.begin(); score_function != critics_.end(); ++score_function) { + TrajectoryCostFunction* score_function_p = *score_function; + if (score_function_p->getScale() == 0) { + continue; + } + double cost = score_function_p->scoreTrajectory(traj); + if (cost < 0) { + ROS_DEBUG("Velocity %.3lf, %.3lf, %.3lf discarded by cost function %d with cost: %f", traj.xv_, traj.yv_, traj.thetav_, gen_id, cost); + traj_cost = cost; + break; + } + if (cost != 0) { + cost *= score_function_p->getScale(); + } + traj_cost += cost; + if (best_traj_cost > 0) { + // since we keep adding positives, once we are worse than the best, we will stay worse + if (traj_cost > best_traj_cost) { + break; + } + } + gen_id ++; + } + + + return traj_cost; + } + + bool SimpleScoredSamplingPlanner::findBestTrajectory(Trajectory& traj, std::vector* all_explored) { + Trajectory loop_traj; + Trajectory best_traj; + double loop_traj_cost, best_traj_cost = -1; + bool gen_success; + int count, count_valid; + for (std::vector::iterator loop_critic = critics_.begin(); loop_critic != critics_.end(); ++loop_critic) { + TrajectoryCostFunction* loop_critic_p = *loop_critic; + if (loop_critic_p->prepare() == false) { + ROS_WARN("A scoring function failed to prepare"); + return false; + } + } + + for (std::vector::iterator loop_gen = gen_list_.begin(); loop_gen != gen_list_.end(); ++loop_gen) { + count = 0; + count_valid = 0; + TrajectorySampleGenerator* gen_ = *loop_gen; + while (gen_->hasMoreTrajectories()) { + gen_success = gen_->nextTrajectory(loop_traj); + if (gen_success == false) { + // TODO use this for debugging + continue; + } + loop_traj_cost = scoreTrajectory(loop_traj, best_traj_cost); + if (all_explored != NULL) { + loop_traj.cost_ = loop_traj_cost; + all_explored->push_back(loop_traj); + } + + if (loop_traj_cost >= 0) { + count_valid++; + if (best_traj_cost < 0 || loop_traj_cost < best_traj_cost) { + best_traj_cost = loop_traj_cost; + best_traj = loop_traj; + } + } + count++; + if (max_samples_ > 0 && count >= max_samples_) { + break; + } + } + if (best_traj_cost >= 0) { + traj.xv_ = best_traj.xv_; + traj.yv_ = best_traj.yv_; + traj.thetav_ = best_traj.thetav_; + traj.cost_ = best_traj_cost; + traj.resetPoints(); + double px, py, pth; + for (unsigned int i = 0; i < best_traj.getPointsSize(); i++) { + best_traj.getPoint(i, px, py, pth); + traj.addPoint(px, py, pth); + } + } + ROS_DEBUG("Evaluated %d trajectories, found %d valid", count, count_valid); + if (best_traj_cost >= 0) { + // do not try fallback generators + break; + } + } + return best_traj_cost >= 0; + } + + +}// namespace diff --git a/navigations/base_local_planner/src/simple_trajectory_generator.cpp b/navigations/base_local_planner/src/simple_trajectory_generator.cpp new file mode 100755 index 0000000..2af290a --- /dev/null +++ b/navigations/base_local_planner/src/simple_trajectory_generator.cpp @@ -0,0 +1,282 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#include + +#include + +#include + +namespace base_local_planner { + +void SimpleTrajectoryGenerator::initialise( + const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, + const Eigen::Vector3f& goal, + base_local_planner::LocalPlannerLimits* limits, + const Eigen::Vector3f& vsamples, + std::vector additional_samples, + bool discretize_by_time) { + initialise(pos, vel, goal, limits, vsamples, discretize_by_time); + // add static samples if any + sample_params_.insert(sample_params_.end(), additional_samples.begin(), additional_samples.end()); +} + + +void SimpleTrajectoryGenerator::initialise( + const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, + const Eigen::Vector3f& goal, + base_local_planner::LocalPlannerLimits* limits, + const Eigen::Vector3f& vsamples, + bool discretize_by_time) { + /* + * We actually generate all velocity sample vectors here, from which to generate trajectories later on + */ + double max_vel_th = limits->max_vel_theta; + double min_vel_th = -1.0 * max_vel_th; + discretize_by_time_ = discretize_by_time; + Eigen::Vector3f acc_lim = limits->getAccLimits(); + pos_ = pos; + vel_ = vel; + limits_ = limits; + next_sample_index_ = 0; + sample_params_.clear(); + + double min_vel_x = limits->min_vel_x; + double max_vel_x = limits->max_vel_x; + double min_vel_y = limits->min_vel_y; + double max_vel_y = limits->max_vel_y; + + // if sampling number is zero in any dimension, we don't generate samples generically + if (vsamples[0] * vsamples[1] * vsamples[2] > 0) { + //compute the feasible velocity space based on the rate at which we run + Eigen::Vector3f max_vel = Eigen::Vector3f::Zero(); + Eigen::Vector3f min_vel = Eigen::Vector3f::Zero(); + + if ( ! use_dwa_) { + // there is no point in overshooting the goal, and it also may break the + // robot behavior, so we limit the velocities to those that do not overshoot in sim_time + double dist = hypot(goal[0] - pos[0], goal[1] - pos[1]); + max_vel_x = std::max(std::min(max_vel_x, dist / sim_time_), min_vel_x); + max_vel_y = std::max(std::min(max_vel_y, dist / sim_time_), min_vel_y); + + // if we use continous acceleration, we can sample the max velocity we can reach in sim_time_ + max_vel[0] = std::min(max_vel_x, vel[0] + acc_lim[0] * sim_time_); + max_vel[1] = std::min(max_vel_y, vel[1] + acc_lim[1] * sim_time_); + max_vel[2] = std::min(max_vel_th, vel[2] + acc_lim[2] * sim_time_); + + min_vel[0] = std::max(min_vel_x, vel[0] - acc_lim[0] * sim_time_); + min_vel[1] = std::max(min_vel_y, vel[1] - acc_lim[1] * sim_time_); + min_vel[2] = std::max(min_vel_th, vel[2] - acc_lim[2] * sim_time_); + } else { + // with dwa do not accelerate beyond the first step, we only sample within velocities we reach in sim_period + max_vel[0] = std::min(max_vel_x, vel[0] + acc_lim[0] * sim_period_); + max_vel[1] = std::min(max_vel_y, vel[1] + acc_lim[1] * sim_period_); + max_vel[2] = std::min(max_vel_th, vel[2] + acc_lim[2] * sim_period_); + + min_vel[0] = std::max(min_vel_x, vel[0] - acc_lim[0] * sim_period_); + min_vel[1] = std::max(min_vel_y, vel[1] - acc_lim[1] * sim_period_); + min_vel[2] = std::max(min_vel_th, vel[2] - acc_lim[2] * sim_period_); + } + + Eigen::Vector3f vel_samp = Eigen::Vector3f::Zero(); + VelocityIterator x_it(min_vel[0], max_vel[0], vsamples[0]); + VelocityIterator y_it(min_vel[1], max_vel[1], vsamples[1]); + VelocityIterator th_it(min_vel[2], max_vel[2], vsamples[2]); + for(; !x_it.isFinished(); x_it++) { + vel_samp[0] = x_it.getVelocity(); + for(; !y_it.isFinished(); y_it++) { + vel_samp[1] = y_it.getVelocity(); + for(; !th_it.isFinished(); th_it++) { + vel_samp[2] = th_it.getVelocity(); + //ROS_DEBUG("Sample %f, %f, %f", vel_samp[0], vel_samp[1], vel_samp[2]); + sample_params_.push_back(vel_samp); + } + th_it.reset(); + } + y_it.reset(); + } + } +} + +void SimpleTrajectoryGenerator::setParameters( + double sim_time, + double sim_granularity, + double angular_sim_granularity, + bool use_dwa, + double sim_period) { + sim_time_ = sim_time; + sim_granularity_ = sim_granularity; + angular_sim_granularity_ = angular_sim_granularity; + use_dwa_ = use_dwa; + continued_acceleration_ = ! use_dwa_; + sim_period_ = sim_period; +} + +/** + * Whether this generator can create more trajectories + */ +bool SimpleTrajectoryGenerator::hasMoreTrajectories() { + return next_sample_index_ < sample_params_.size(); +} + +/** + * Create and return the next sample trajectory + */ +bool SimpleTrajectoryGenerator::nextTrajectory(Trajectory &comp_traj) { + bool result = false; + if (hasMoreTrajectories()) { + if (generateTrajectory( + pos_, + vel_, + sample_params_[next_sample_index_], + comp_traj)) { + result = true; + } + } + next_sample_index_++; + return result; +} + +/** + * @param pos current position of robot + * @param vel desired velocity for sampling + */ +bool SimpleTrajectoryGenerator::generateTrajectory( + Eigen::Vector3f pos, + Eigen::Vector3f vel, + Eigen::Vector3f sample_target_vel, + base_local_planner::Trajectory& traj) { + double vmag = hypot(sample_target_vel[0], sample_target_vel[1]); + double eps = 1e-4; + traj.cost_ = -1.0; // placed here in case we return early + //trajectory might be reused so we'll make sure to reset it + traj.resetPoints(); + + // make sure that the robot would at least be moving with one of + // the required minimum velocities for translation and rotation (if set) + if ((limits_->min_vel_trans >= 0 && vmag + eps < limits_->min_vel_trans) && + (limits_->min_vel_theta >= 0 && fabs(sample_target_vel[2]) + eps < limits_->min_vel_theta)) { + return false; + } + // make sure we do not exceed max diagonal (x+y) translational velocity (if set) + if (limits_->max_vel_trans >=0 && vmag - eps > limits_->max_vel_trans) { + return false; + } + + int num_steps; + if (discretize_by_time_) { + num_steps = ceil(sim_time_ / sim_granularity_); + } else { + //compute the number of steps we must take along this trajectory to be "safe" + double sim_time_distance = vmag * sim_time_; // the distance the robot would travel in sim_time if it did not change velocity + double sim_time_angle = fabs(sample_target_vel[2]) * sim_time_; // the angle the robot would rotate in sim_time + num_steps = + ceil(std::max(sim_time_distance / sim_granularity_, + sim_time_angle / angular_sim_granularity_)); + } + + if (num_steps == 0) { + return false; + } + + //compute a timestep + double dt = sim_time_ / num_steps; + traj.time_delta_ = dt; + + Eigen::Vector3f loop_vel; + if (continued_acceleration_) { + // assuming the velocity of the first cycle is the one we want to store in the trajectory object + loop_vel = computeNewVelocities(sample_target_vel, vel, limits_->getAccLimits(), dt); + traj.xv_ = loop_vel[0]; + traj.yv_ = loop_vel[1]; + traj.thetav_ = loop_vel[2]; + } else { + // assuming sample_vel is our target velocity within acc limits for one timestep + loop_vel = sample_target_vel; + traj.xv_ = sample_target_vel[0]; + traj.yv_ = sample_target_vel[1]; + traj.thetav_ = sample_target_vel[2]; + } + + //simulate the trajectory and check for collisions, updating costs along the way + for (int i = 0; i < num_steps; ++i) { + + //add the point to the trajectory so we can draw it later if we want + traj.addPoint(pos[0], pos[1], pos[2]); + + if (continued_acceleration_) { + //calculate velocities + loop_vel = computeNewVelocities(sample_target_vel, loop_vel, limits_->getAccLimits(), dt); + //ROS_WARN_NAMED("Generator", "Flag: %d, Loop_Vel %f, %f, %f", continued_acceleration_, loop_vel[0], loop_vel[1], loop_vel[2]); + } + + //update the position of the robot using the velocities passed in + pos = computeNewPositions(pos, loop_vel, dt); + + } // end for simulation steps + + return true; // trajectory has at least one point +} + +Eigen::Vector3f SimpleTrajectoryGenerator::computeNewPositions(const Eigen::Vector3f& pos, + const Eigen::Vector3f& vel, double dt) { + Eigen::Vector3f new_pos = Eigen::Vector3f::Zero(); + new_pos[0] = pos[0] + (vel[0] * cos(pos[2]) + vel[1] * cos(M_PI_2 + pos[2])) * dt; + new_pos[1] = pos[1] + (vel[0] * sin(pos[2]) + vel[1] * sin(M_PI_2 + pos[2])) * dt; + new_pos[2] = pos[2] + vel[2] * dt; + return new_pos; +} + +/** + * change vel using acceleration limits to converge towards sample_target-vel + */ +Eigen::Vector3f SimpleTrajectoryGenerator::computeNewVelocities(const Eigen::Vector3f& sample_target_vel, + const Eigen::Vector3f& vel, Eigen::Vector3f acclimits, double dt) { + Eigen::Vector3f new_vel = Eigen::Vector3f::Zero(); + for (int i = 0; i < 3; ++i) { + if (vel[i] < sample_target_vel[i]) { + new_vel[i] = std::min(double(sample_target_vel[i]), vel[i] + acclimits[i] * dt); + } else { + new_vel[i] = std::max(double(sample_target_vel[i]), vel[i] - acclimits[i] * dt); + } + } + return new_vel; +} + +} /* namespace base_local_planner */ diff --git a/navigations/base_local_planner/src/trajectory.cpp b/navigations/base_local_planner/src/trajectory.cpp new file mode 100755 index 0000000..4d395fb --- /dev/null +++ b/navigations/base_local_planner/src/trajectory.cpp @@ -0,0 +1,80 @@ +/********************************************************************* + * 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. + *********************************************************************/ +#include + +namespace base_local_planner { + Trajectory::Trajectory() + : xv_(0.0), yv_(0.0), thetav_(0.0), cost_(-1.0) + { + } + + Trajectory::Trajectory(double xv, double yv, double thetav, double time_delta, unsigned int num_pts) + : xv_(xv), yv_(yv), thetav_(thetav), cost_(-1.0), time_delta_(time_delta), x_pts_(num_pts), y_pts_(num_pts), th_pts_(num_pts) + { + } + + void Trajectory::getPoint(unsigned int index, double& x, double& y, double& th) const { + x = x_pts_[index]; + y = y_pts_[index]; + th = th_pts_[index]; + } + + void Trajectory::setPoint(unsigned int index, double x, double y, double th){ + x_pts_[index] = x; + y_pts_[index] = y; + th_pts_[index] = th; + } + + void Trajectory::addPoint(double x, double y, double th){ + x_pts_.push_back(x); + y_pts_.push_back(y); + th_pts_.push_back(th); + } + + void Trajectory::resetPoints(){ + x_pts_.clear(); + y_pts_.clear(); + th_pts_.clear(); + } + + void Trajectory::getEndpoint(double& x, double& y, double& th) const { + x = x_pts_.back(); + y = y_pts_.back(); + th = th_pts_.back(); + } + + unsigned int Trajectory::getPointsSize() const { + return x_pts_.size(); + } +}; diff --git a/navigations/base_local_planner/src/trajectory_planner.cpp b/navigations/base_local_planner/src/trajectory_planner.cpp new file mode 100755 index 0000000..69bad75 --- /dev/null +++ b/navigations/base_local_planner/src/trajectory_planner.cpp @@ -0,0 +1,1001 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ + +#include +#include +#include +#include +#include +#include + + + +#include + +#include + +//for computing path distance +#include +#include +#include + +using namespace std; +using namespace costmap_2d; + +namespace base_local_planner{ + + void TrajectoryPlanner::reconfigure(BaseLocalPlannerConfig &cfg) + { + BaseLocalPlannerConfig config(cfg); + + boost::mutex::scoped_lock l(configuration_mutex_); + + acc_lim_x_ = config.acc_lim_x; + acc_lim_y_ = config.acc_lim_y; + acc_lim_theta_ = config.acc_lim_theta; + + max_vel_x_ = config.max_vel_x; + min_vel_x_ = config.min_vel_x; + + max_vel_th_ = config.max_vel_theta; + min_vel_th_ = config.min_vel_theta; + min_in_place_vel_th_ = config.min_in_place_vel_theta; + + sim_time_ = config.sim_time; + sim_granularity_ = config.sim_granularity; + angular_sim_granularity_ = config.angular_sim_granularity; + + path_distance_bias_ = config.path_distance_bias; + goal_distance_bias_ = config.goal_distance_bias; + occdist_scale_ = config.occdist_scale; + + if (meter_scoring_) { + //if we use meter scoring, then we want to multiply the biases by the resolution of the costmap + double resolution = costmap_.getResolution(); + goal_distance_bias_ *= resolution; + path_distance_bias_ *= resolution; + } + + oscillation_reset_dist_ = config.oscillation_reset_dist; + escape_reset_dist_ = config.escape_reset_dist; + escape_reset_theta_ = config.escape_reset_theta; + + vx_samples_ = config.vx_samples; + vtheta_samples_ = config.vtheta_samples; + + if (vx_samples_ <= 0) { + config.vx_samples = 1; + vx_samples_ = config.vx_samples; + ROS_WARN("You've specified that you don't want any samples in the x dimension. We'll at least assume that you want to sample one value... so we're going to set vx_samples to 1 instead"); + } + if(vtheta_samples_ <= 0) { + config.vtheta_samples = 1; + vtheta_samples_ = config.vtheta_samples; + ROS_WARN("You've specified that you don't want any samples in the theta dimension. We'll at least assume that you want to sample one value... so we're going to set vtheta_samples to 1 instead"); + } + + heading_lookahead_ = config.heading_lookahead; + + holonomic_robot_ = config.holonomic_robot; + + backup_vel_ = config.escape_vel; + + dwa_ = config.dwa; + + heading_scoring_ = config.heading_scoring; + heading_scoring_timestep_ = config.heading_scoring_timestep; + + simple_attractor_ = config.simple_attractor; + + //y-vels + string y_string = config.y_vels; + vector y_strs; + boost::split(y_strs, y_string, boost::is_any_of(", "), boost::token_compress_on); + + vectory_vels; + for(vector::iterator it=y_strs.begin(); it != y_strs.end(); ++it) { + istringstream iss(*it); + double temp; + iss >> temp; + y_vels.push_back(temp); + //ROS_INFO("Adding y_vel: %e", temp); + } + + y_vels_ = y_vels; + + } + + TrajectoryPlanner::TrajectoryPlanner(WorldModel& world_model, + const Costmap2D& costmap, + std::vector footprint_spec, + double acc_lim_x, double acc_lim_y, double acc_lim_theta, + double sim_time, double sim_granularity, + int vx_samples, int vtheta_samples, + double path_distance_bias, double goal_distance_bias, double occdist_scale, + double heading_lookahead, double oscillation_reset_dist, + double escape_reset_dist, double escape_reset_theta, + bool holonomic_robot, + double max_vel_x, double min_vel_x, + double max_vel_th, double min_vel_th, double min_in_place_vel_th, + double backup_vel, + bool dwa, bool heading_scoring, double heading_scoring_timestep, bool meter_scoring, bool simple_attractor, + vector y_vels, double stop_time_buffer, double sim_period, double angular_sim_granularity) + : path_map_(costmap.getSizeInCellsX(), costmap.getSizeInCellsY()), + goal_map_(costmap.getSizeInCellsX(), costmap.getSizeInCellsY()), + costmap_(costmap), + world_model_(world_model), footprint_spec_(footprint_spec), + sim_time_(sim_time), sim_granularity_(sim_granularity), angular_sim_granularity_(angular_sim_granularity), + vx_samples_(vx_samples), vtheta_samples_(vtheta_samples), + path_distance_bias_(path_distance_bias), goal_distance_bias_(goal_distance_bias), occdist_scale_(occdist_scale), + acc_lim_x_(acc_lim_x), acc_lim_y_(acc_lim_y), acc_lim_theta_(acc_lim_theta), + prev_x_(0), prev_y_(0), escape_x_(0), escape_y_(0), escape_theta_(0), heading_lookahead_(heading_lookahead), + oscillation_reset_dist_(oscillation_reset_dist), escape_reset_dist_(escape_reset_dist), + escape_reset_theta_(escape_reset_theta), holonomic_robot_(holonomic_robot), + max_vel_x_(max_vel_x), min_vel_x_(min_vel_x), + max_vel_th_(max_vel_th), min_vel_th_(min_vel_th), min_in_place_vel_th_(min_in_place_vel_th), + backup_vel_(backup_vel), + dwa_(dwa), heading_scoring_(heading_scoring), heading_scoring_timestep_(heading_scoring_timestep), + simple_attractor_(simple_attractor), y_vels_(y_vels), stop_time_buffer_(stop_time_buffer), sim_period_(sim_period) + { + //the robot is not stuck to begin with + stuck_left = false; + stuck_right = false; + stuck_left_strafe = false; + stuck_right_strafe = false; + rotating_left = false; + rotating_right = false; + strafe_left = false; + strafe_right = false; + + escaping_ = false; + final_goal_position_valid_ = false; + + + costmap_2d::calculateMinAndMaxDistances(footprint_spec_, inscribed_radius_, circumscribed_radius_); + } + + TrajectoryPlanner::~TrajectoryPlanner(){} + + bool TrajectoryPlanner::getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost) { + MapCell cell = path_map_(cx, cy); + MapCell goal_cell = goal_map_(cx, cy); + if (cell.within_robot) { + return false; + } + occ_cost = costmap_.getCost(cx, cy); + if (cell.target_dist == path_map_.obstacleCosts() || + cell.target_dist == path_map_.unreachableCellCosts() || + occ_cost >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE) { + return false; + } + path_cost = cell.target_dist; + goal_cost = goal_cell.target_dist; + total_cost = path_distance_bias_ * path_cost + goal_distance_bias_ * goal_cost + occdist_scale_ * occ_cost; + return true; + } + + /** + * create and score a trajectory given the current pose of the robot and selected velocities + */ + void TrajectoryPlanner::generateTrajectory( + double x, double y, double theta, + double vx, double vy, double vtheta, + double vx_samp, double vy_samp, double vtheta_samp, + double acc_x, double acc_y, double acc_theta, + double impossible_cost, + Trajectory& traj) { + + // make sure the configuration doesn't change mid run + boost::mutex::scoped_lock l(configuration_mutex_); + + double x_i = x; + double y_i = y; + double theta_i = theta; + + double vx_i, vy_i, vtheta_i; + + vx_i = vx; + vy_i = vy; + vtheta_i = vtheta; + + //compute the magnitude of the velocities + double vmag = hypot(vx_samp, vy_samp); + + //compute the number of steps we must take along this trajectory to be "safe" + int num_steps; + if(!heading_scoring_) { + num_steps = int(max((vmag * sim_time_) / sim_granularity_, fabs(vtheta_samp) / angular_sim_granularity_) + 0.5); + } else { + num_steps = int(sim_time_ / sim_granularity_ + 0.5); + } + + //we at least want to take one step... even if we won't move, we want to score our current position + if(num_steps == 0) { + num_steps = 1; + } + + double dt = sim_time_ / num_steps; + double time = 0.0; + + //create a potential trajectory + traj.resetPoints(); + traj.xv_ = vx_samp; + traj.yv_ = vy_samp; + traj.thetav_ = vtheta_samp; + traj.cost_ = -1.0; + + //initialize the costs for the trajectory + double path_dist = 0.0; + double goal_dist = 0.0; + double occ_cost = 0.0; + double heading_diff = 0.0; + + for(int i = 0; i < num_steps; ++i){ + //get map coordinates of a point + unsigned int cell_x, cell_y; + + //we don't want a path that goes off the know map + if(!costmap_.worldToMap(x_i, y_i, cell_x, cell_y)){ + traj.cost_ = -1.0; + return; + } + + //check the point on the trajectory for legality + double footprint_cost = footprintCost(x_i, y_i, theta_i); + + //if the footprint hits an obstacle this trajectory is invalid + if(footprint_cost < 0){ + traj.cost_ = -1.0; + return; + //TODO: Really look at getMaxSpeedToStopInTime... dues to discretization errors and high acceleration limits, + //it can actually cause the robot to hit obstacles. There may be something to be done to fix, but I'll have to + //come back to it when I have time. Right now, pulling it out as it'll just make the robot a bit more conservative, + //but safe. + /* + double max_vel_x, max_vel_y, max_vel_th; + //we want to compute the max allowable speeds to be able to stop + //to be safe... we'll make sure we can stop some time before we actually hit + getMaxSpeedToStopInTime(time - stop_time_buffer_ - dt, max_vel_x, max_vel_y, max_vel_th); + + //check if we can stop in time + if(fabs(vx_samp) < max_vel_x && fabs(vy_samp) < max_vel_y && fabs(vtheta_samp) < max_vel_th){ + ROS_ERROR("v: (%.2f, %.2f, %.2f), m: (%.2f, %.2f, %.2f) t:%.2f, st: %.2f, dt: %.2f", vx_samp, vy_samp, vtheta_samp, max_vel_x, max_vel_y, max_vel_th, time, stop_time_buffer_, dt); + //if we can stop... we'll just break out of the loop here.. no point in checking future points + break; + } + else{ + traj.cost_ = -1.0; + return; + } + */ + } + + occ_cost = std::max(std::max(occ_cost, footprint_cost), double(costmap_.getCost(cell_x, cell_y))); + + //do we want to follow blindly + if (simple_attractor_) { + goal_dist = (x_i - global_plan_[global_plan_.size() -1].pose.position.x) * + (x_i - global_plan_[global_plan_.size() -1].pose.position.x) + + (y_i - global_plan_[global_plan_.size() -1].pose.position.y) * + (y_i - global_plan_[global_plan_.size() -1].pose.position.y); + } else { + + bool update_path_and_goal_distances = true; + + // with heading scoring, we take into account heading diff, and also only score + // path and goal distance for one point of the trajectory + if (heading_scoring_) { + if (time >= heading_scoring_timestep_ && time < heading_scoring_timestep_ + dt) { + heading_diff = headingDiff(cell_x, cell_y, x_i, y_i, theta_i); + } else { + update_path_and_goal_distances = false; + } + } + + if (update_path_and_goal_distances) { + //update path and goal distances + path_dist = path_map_(cell_x, cell_y).target_dist; + goal_dist = goal_map_(cell_x, cell_y).target_dist; + + //if a point on this trajectory has no clear path to goal it is invalid + if(impossible_cost <= goal_dist || impossible_cost <= path_dist){ +// ROS_DEBUG("No path to goal with goal distance = %f, path_distance = %f and max cost = %f", +// goal_dist, path_dist, impossible_cost); + traj.cost_ = -2.0; + return; + } + } + } + + + //the point is legal... add it to the trajectory + traj.addPoint(x_i, y_i, theta_i); + + //calculate velocities + vx_i = computeNewVelocity(vx_samp, vx_i, acc_x, dt); + vy_i = computeNewVelocity(vy_samp, vy_i, acc_y, dt); + vtheta_i = computeNewVelocity(vtheta_samp, vtheta_i, acc_theta, dt); + + //calculate positions + x_i = computeNewXPosition(x_i, vx_i, vy_i, theta_i, dt); + y_i = computeNewYPosition(y_i, vx_i, vy_i, theta_i, dt); + theta_i = computeNewThetaPosition(theta_i, vtheta_i, dt); + + //increment time + time += dt; + } // end for i < numsteps + + //ROS_INFO("OccCost: %f, vx: %.2f, vy: %.2f, vtheta: %.2f", occ_cost, vx_samp, vy_samp, vtheta_samp); + double cost = -1.0; + if (!heading_scoring_) { + cost = path_distance_bias_ * path_dist + goal_dist * goal_distance_bias_ + occdist_scale_ * occ_cost; + } else { + cost = occdist_scale_ * occ_cost + path_distance_bias_ * path_dist + 0.3 * heading_diff + goal_dist * goal_distance_bias_; + } + traj.cost_ = cost; + } + + double TrajectoryPlanner::headingDiff(int cell_x, int cell_y, double x, double y, double heading){ + unsigned int goal_cell_x, goal_cell_y; + + // find a clear line of sight from the robot's cell to a farthest point on the path + for (int i = global_plan_.size() - 1; i >=0; --i) { + if (costmap_.worldToMap(global_plan_[i].pose.position.x, global_plan_[i].pose.position.y, goal_cell_x, goal_cell_y)) { + if (lineCost(cell_x, goal_cell_x, cell_y, goal_cell_y) >= 0) { + double gx, gy; + costmap_.mapToWorld(goal_cell_x, goal_cell_y, gx, gy); + return fabs(angles::shortest_angular_distance(heading, atan2(gy - y, gx - x))); + } + } + } + return DBL_MAX; + } + + //calculate the cost of a ray-traced line + double TrajectoryPlanner::lineCost(int x0, int x1, + int y0, int y1){ + //Bresenham Ray-Tracing + int deltax = abs(x1 - x0); // The difference between the x's + int deltay = abs(y1 - y0); // The difference between the y's + int x = x0; // Start x off at the first pixel + int y = y0; // Start y off at the first pixel + + int xinc1, xinc2, yinc1, yinc2; + int den, num, numadd, numpixels; + + double line_cost = 0.0; + double point_cost = -1.0; + + if (x1 >= x0) // The x-values are increasing + { + xinc1 = 1; + xinc2 = 1; + } + else // The x-values are decreasing + { + xinc1 = -1; + xinc2 = -1; + } + + if (y1 >= y0) // The y-values are increasing + { + yinc1 = 1; + yinc2 = 1; + } + else // The y-values are decreasing + { + yinc1 = -1; + yinc2 = -1; + } + + if (deltax >= deltay) // There is at least one x-value for every y-value + { + xinc1 = 0; // Don't change the x when numerator >= denominator + yinc2 = 0; // Don't change the y for every iteration + den = deltax; + num = deltax / 2; + numadd = deltay; + numpixels = deltax; // There are more x-values than y-values + } else { // There is at least one y-value for every x-value + xinc2 = 0; // Don't change the x for every iteration + yinc1 = 0; // Don't change the y when numerator >= denominator + den = deltay; + num = deltay / 2; + numadd = deltax; + numpixels = deltay; // There are more y-values than x-values + } + + for (int curpixel = 0; curpixel <= numpixels; curpixel++) { + point_cost = pointCost(x, y); //Score the current point + + if (point_cost < 0) { + return -1; + } + + if (line_cost < point_cost) { + line_cost = point_cost; + } + + num += numadd; // Increase the numerator by the top of the fraction + if (num >= den) { // Check if numerator >= denominator + num -= den; // Calculate the new numerator value + x += xinc1; // Change the x as appropriate + y += yinc1; // Change the y as appropriate + } + x += xinc2; // Change the x as appropriate + y += yinc2; // Change the y as appropriate + } + + return line_cost; + } + + double TrajectoryPlanner::pointCost(int x, int y){ + unsigned char cost = costmap_.getCost(x, y); + //if the cell is in an obstacle the path is invalid + if(cost == LETHAL_OBSTACLE || cost == INSCRIBED_INFLATED_OBSTACLE || cost == NO_INFORMATION){ + return -1; + } + + return cost; + } + + void TrajectoryPlanner::updatePlan(const vector& new_plan, bool compute_dists){ + global_plan_.resize(new_plan.size()); + for(unsigned int i = 0; i < new_plan.size(); ++i){ + global_plan_[i] = new_plan[i]; + } + + if( global_plan_.size() > 0 ){ + geometry_msgs::PoseStamped& final_goal_pose = global_plan_[ global_plan_.size() - 1 ]; + final_goal_x_ = final_goal_pose.pose.position.x; + final_goal_y_ = final_goal_pose.pose.position.y; + final_goal_position_valid_ = true; + } else { + final_goal_position_valid_ = false; + } + + if (compute_dists) { + //reset the map for new operations + path_map_.resetPathDist(); + goal_map_.resetPathDist(); + + //make sure that we update our path based on the global plan and compute costs + path_map_.setTargetCells(costmap_, global_plan_); + goal_map_.setLocalGoal(costmap_, global_plan_); + ROS_DEBUG("Path/Goal distance computed"); + } + } + + bool TrajectoryPlanner::checkTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp){ + Trajectory t; + + double cost = scoreTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp); + + //if the trajectory is a legal one... the check passes + if(cost >= 0) { + return true; + } + ROS_WARN("Invalid Trajectory %f, %f, %f, cost: %f", vx_samp, vy_samp, vtheta_samp, cost); + + //otherwise the check fails + return false; + } + + double TrajectoryPlanner::scoreTrajectory(double x, double y, double theta, double vx, double vy, + double vtheta, double vx_samp, double vy_samp, double vtheta_samp) { + Trajectory t; + double impossible_cost = path_map_.obstacleCosts(); + generateTrajectory(x, y, theta, + vx, vy, vtheta, + vx_samp, vy_samp, vtheta_samp, + acc_lim_x_, acc_lim_y_, acc_lim_theta_, + impossible_cost, t); + + // return the cost. + return double( t.cost_ ); + } + + /* + * create the trajectories we wish to score + */ + Trajectory TrajectoryPlanner::createTrajectories(double x, double y, double theta, + double vx, double vy, double vtheta, + double acc_x, double acc_y, double acc_theta) { + //compute feasible velocity limits in robot space + double max_vel_x = max_vel_x_, max_vel_theta; + double min_vel_x, min_vel_theta; + + if( final_goal_position_valid_ ){ + double final_goal_dist = hypot( final_goal_x_ - x, final_goal_y_ - y ); + max_vel_x = min( max_vel_x, final_goal_dist / sim_time_ ); + } + + //should we use the dynamic window approach? + if (dwa_) { + max_vel_x = max(min(max_vel_x, vx + acc_x * sim_period_), min_vel_x_); + min_vel_x = max(min_vel_x_, vx - acc_x * sim_period_); + + max_vel_theta = min(max_vel_th_, vtheta + acc_theta * sim_period_); + min_vel_theta = max(min_vel_th_, vtheta - acc_theta * sim_period_); + } else { + max_vel_x = max(min(max_vel_x, vx + acc_x * sim_time_), min_vel_x_); + min_vel_x = max(min_vel_x_, vx - acc_x * sim_time_); + + max_vel_theta = min(max_vel_th_, vtheta + acc_theta * sim_time_); + min_vel_theta = max(min_vel_th_, vtheta - acc_theta * sim_time_); + } + + + //we want to sample the velocity space regularly + double dvx = (max_vel_x - min_vel_x) / (vx_samples_ - 1); + double dvtheta = (max_vel_theta - min_vel_theta) / (vtheta_samples_ - 1); + + double vx_samp = min_vel_x; + double vtheta_samp = min_vel_theta; + double vy_samp = 0.0; + + //keep track of the best trajectory seen so far + Trajectory* best_traj = &traj_one; + best_traj->cost_ = -1.0; + + Trajectory* comp_traj = &traj_two; + comp_traj->cost_ = -1.0; + + Trajectory* swap = NULL; + + //any cell with a cost greater than the size of the map is impossible + double impossible_cost = path_map_.obstacleCosts(); + + //if we're performing an escape we won't allow moving forward + if (!escaping_) { + //loop through all x velocities + for(int i = 0; i < vx_samples_; ++i) { + vtheta_samp = 0; + //first sample the straight trajectory + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + + vtheta_samp = min_vel_theta; + //next sample all theta trajectories + for(int j = 0; j < vtheta_samples_ - 1; ++j){ + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + vtheta_samp += dvtheta; + } + vx_samp += dvx; + } + + //only explore y velocities with holonomic robots + if (holonomic_robot_) { + //explore trajectories that move forward but also strafe slightly + vx_samp = 0.1; + vy_samp = 0.1; + vtheta_samp = 0.0; + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + + vx_samp = 0.1; + vy_samp = -0.1; + vtheta_samp = 0.0; + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + } + } // end if not escaping + + //next we want to generate trajectories for rotating in place + vtheta_samp = min_vel_theta; + vx_samp = 0.0; + vy_samp = 0.0; + + //let's try to rotate toward open space + double heading_dist = DBL_MAX; + + for(int i = 0; i < vtheta_samples_; ++i) { + //enforce a minimum rotational velocity because the base can't handle small in-place rotations + double vtheta_samp_limited = vtheta_samp > 0 ? max(vtheta_samp, min_in_place_vel_th_) + : min(vtheta_samp, -1.0 * min_in_place_vel_th_); + + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp_limited, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it... + //note if we can legally rotate in place we prefer to do that rather than move with y velocity + if(comp_traj->cost_ >= 0 + && (comp_traj->cost_ <= best_traj->cost_ || best_traj->cost_ < 0 || best_traj->yv_ != 0.0) + && (vtheta_samp > dvtheta || vtheta_samp < -1 * dvtheta)){ + double x_r, y_r, th_r; + comp_traj->getEndpoint(x_r, y_r, th_r); + x_r += heading_lookahead_ * cos(th_r); + y_r += heading_lookahead_ * sin(th_r); + unsigned int cell_x, cell_y; + + //make sure that we'll be looking at a legal cell + if (costmap_.worldToMap(x_r, y_r, cell_x, cell_y)) { + double ahead_gdist = goal_map_(cell_x, cell_y).target_dist; + if (ahead_gdist < heading_dist) { + //if we haven't already tried rotating left since we've moved forward + if (vtheta_samp < 0 && !stuck_left) { + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + heading_dist = ahead_gdist; + } + //if we haven't already tried rotating right since we've moved forward + else if(vtheta_samp > 0 && !stuck_right) { + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + heading_dist = ahead_gdist; + } + } + } + } + + vtheta_samp += dvtheta; + } + + //do we have a legal trajectory + if (best_traj->cost_ >= 0) { + // avoid oscillations of in place rotation and in place strafing + if ( ! (best_traj->xv_ > 0)) { + if (best_traj->thetav_ < 0) { + if (rotating_right) { + stuck_right = true; + } + rotating_right = true; + } else if (best_traj->thetav_ > 0) { + if (rotating_left){ + stuck_left = true; + } + rotating_left = true; + } else if(best_traj->yv_ > 0) { + if (strafe_right) { + stuck_right_strafe = true; + } + strafe_right = true; + } else if(best_traj->yv_ < 0){ + if (strafe_left) { + stuck_left_strafe = true; + } + strafe_left = true; + } + + //set the position we must move a certain distance away from + prev_x_ = x; + prev_y_ = y; + } + + double dist = hypot(x - prev_x_, y - prev_y_); + if (dist > oscillation_reset_dist_) { + rotating_left = false; + rotating_right = false; + strafe_left = false; + strafe_right = false; + stuck_left = false; + stuck_right = false; + stuck_left_strafe = false; + stuck_right_strafe = false; + } + + dist = hypot(x - escape_x_, y - escape_y_); + if(dist > escape_reset_dist_ || + fabs(angles::shortest_angular_distance(escape_theta_, theta)) > escape_reset_theta_){ + escaping_ = false; + } + + return *best_traj; + } + + //only explore y velocities with holonomic robots + if (holonomic_robot_) { + //if we can't rotate in place or move forward... maybe we can move sideways and rotate + vtheta_samp = min_vel_theta; + vx_samp = 0.0; + + //loop through all y velocities + for(unsigned int i = 0; i < y_vels_.size(); ++i){ + vtheta_samp = 0; + vy_samp = y_vels_[i]; + //sample completely horizontal trajectories + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ <= best_traj->cost_ || best_traj->cost_ < 0)){ + double x_r, y_r, th_r; + comp_traj->getEndpoint(x_r, y_r, th_r); + x_r += heading_lookahead_ * cos(th_r); + y_r += heading_lookahead_ * sin(th_r); + unsigned int cell_x, cell_y; + + //make sure that we'll be looking at a legal cell + if(costmap_.worldToMap(x_r, y_r, cell_x, cell_y)) { + double ahead_gdist = goal_map_(cell_x, cell_y).target_dist; + if (ahead_gdist < heading_dist) { + //if we haven't already tried strafing left since we've moved forward + if (vy_samp > 0 && !stuck_left_strafe) { + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + heading_dist = ahead_gdist; + } + //if we haven't already tried rotating right since we've moved forward + else if(vy_samp < 0 && !stuck_right_strafe) { + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + heading_dist = ahead_gdist; + } + } + } + } + } + } + + //do we have a legal trajectory + if (best_traj->cost_ >= 0) { + if (!(best_traj->xv_ > 0)) { + if (best_traj->thetav_ < 0) { + if (rotating_right){ + stuck_right = true; + } + rotating_left = true; + } else if(best_traj->thetav_ > 0) { + if(rotating_left){ + stuck_left = true; + } + rotating_right = true; + } else if(best_traj->yv_ > 0) { + if(strafe_right){ + stuck_right_strafe = true; + } + strafe_left = true; + } else if(best_traj->yv_ < 0) { + if(strafe_left){ + stuck_left_strafe = true; + } + strafe_right = true; + } + + //set the position we must move a certain distance away from + prev_x_ = x; + prev_y_ = y; + + } + + double dist = hypot(x - prev_x_, y - prev_y_); + if(dist > oscillation_reset_dist_) { + rotating_left = false; + rotating_right = false; + strafe_left = false; + strafe_right = false; + stuck_left = false; + stuck_right = false; + stuck_left_strafe = false; + stuck_right_strafe = false; + } + + dist = hypot(x - escape_x_, y - escape_y_); + if(dist > escape_reset_dist_ || fabs(angles::shortest_angular_distance(escape_theta_, theta)) > escape_reset_theta_) { + escaping_ = false; + } + + return *best_traj; + } + + //and finally, if we can't do anything else, we want to generate trajectories that move backwards slowly + vtheta_samp = 0.0; + vx_samp = backup_vel_; + vy_samp = 0.0; + generateTrajectory(x, y, theta, vx, vy, vtheta, vx_samp, vy_samp, vtheta_samp, + acc_x, acc_y, acc_theta, impossible_cost, *comp_traj); + + //if the new trajectory is better... let's take it + /* + if(comp_traj->cost_ >= 0 && (comp_traj->cost_ < best_traj->cost_ || best_traj->cost_ < 0)){ + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + } + */ + + //we'll allow moving backwards slowly even when the static map shows it as blocked + swap = best_traj; + best_traj = comp_traj; + comp_traj = swap; + + double dist = hypot(x - prev_x_, y - prev_y_); + if (dist > oscillation_reset_dist_) { + rotating_left = false; + rotating_right = false; + strafe_left = false; + strafe_right = false; + stuck_left = false; + stuck_right = false; + stuck_left_strafe = false; + stuck_right_strafe = false; + } + + //only enter escape mode when the planner has given a valid goal point + if (!escaping_ && best_traj->cost_ > -2.0) { + escape_x_ = x; + escape_y_ = y; + escape_theta_ = theta; + escaping_ = true; + } + + dist = hypot(x - escape_x_, y - escape_y_); + + if (dist > escape_reset_dist_ || + fabs(angles::shortest_angular_distance(escape_theta_, theta)) > escape_reset_theta_) { + escaping_ = false; + } + + + //if the trajectory failed because the footprint hits something, we're still going to back up + if(best_traj->cost_ == -1.0) + best_traj->cost_ = 1.0; + + return *best_traj; + + } + + //given the current state of the robot, find a good trajectory + Trajectory TrajectoryPlanner::findBestPath(const geometry_msgs::PoseStamped& global_pose, + geometry_msgs::PoseStamped& global_vel, geometry_msgs::PoseStamped& drive_velocities) { + + Eigen::Vector3f pos(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation)); + Eigen::Vector3f vel(global_vel.pose.position.x, global_vel.pose.position.y, tf2::getYaw(global_vel.pose.orientation)); + + //reset the map for new operations + path_map_.resetPathDist(); + goal_map_.resetPathDist(); + + //temporarily remove obstacles that are within the footprint of the robot + std::vector footprint_list = + footprint_helper_.getFootprintCells( + pos, + footprint_spec_, + costmap_, + true); + + //mark cells within the initial footprint of the robot + for (unsigned int i = 0; i < footprint_list.size(); ++i) { + path_map_(footprint_list[i].x, footprint_list[i].y).within_robot = true; + } + + //make sure that we update our path based on the global plan and compute costs + path_map_.setTargetCells(costmap_, global_plan_); + goal_map_.setLocalGoal(costmap_, global_plan_); + ROS_DEBUG("Path/Goal distance computed"); + + //rollout trajectories and find the minimum cost one + Trajectory best = createTrajectories(pos[0], pos[1], pos[2], + vel[0], vel[1], vel[2], + acc_lim_x_, acc_lim_y_, acc_lim_theta_); + ROS_DEBUG("Trajectories created"); + + /* + //If we want to print a ppm file to draw goal dist + char buf[4096]; + sprintf(buf, "base_local_planner.ppm"); + FILE *fp = fopen(buf, "w"); + if(fp){ + fprintf(fp, "P3\n"); + fprintf(fp, "%d %d\n", map_.size_x_, map_.size_y_); + fprintf(fp, "255\n"); + for(int j = map_.size_y_ - 1; j >= 0; --j){ + for(unsigned int i = 0; i < map_.size_x_; ++i){ + int g_dist = 255 - int(map_(i, j).goal_dist); + int p_dist = 255 - int(map_(i, j).path_dist); + if(g_dist < 0) + g_dist = 0; + if(p_dist < 0) + p_dist = 0; + fprintf(fp, "%d 0 %d ", g_dist, 0); + } + fprintf(fp, "\n"); + } + fclose(fp); + } + */ + + if(best.cost_ < 0){ + drive_velocities.pose.position.x = 0; + drive_velocities.pose.position.y = 0; + drive_velocities.pose.position.z = 0; + drive_velocities.pose.orientation.w = 1; + drive_velocities.pose.orientation.x = 0; + drive_velocities.pose.orientation.y = 0; + drive_velocities.pose.orientation.z = 0; + } + else{ + drive_velocities.pose.position.x = best.xv_; + drive_velocities.pose.position.y = best.yv_; + drive_velocities.pose.position.z = 0; + tf2::Quaternion q; + q.setRPY(0, 0, best.thetav_); + tf2::convert(q, drive_velocities.pose.orientation); + } + + return best; + } + + //we need to take the footprint of the robot into account when we calculate cost to obstacles + double TrajectoryPlanner::footprintCost(double x_i, double y_i, double theta_i){ + //check if the footprint is legal + return world_model_.footprintCost(x_i, y_i, theta_i, footprint_spec_, inscribed_radius_, circumscribed_radius_); + } + + + void TrajectoryPlanner::getLocalGoal(double& x, double& y){ + x = path_map_.goal_x_; + y = path_map_.goal_y_; + } + +}; + + diff --git a/navigations/base_local_planner/src/trajectory_planner_ros.cpp b/navigations/base_local_planner/src/trajectory_planner_ros.cpp new file mode 100755 index 0000000..e1ff245 --- /dev/null +++ b/navigations/base_local_planner/src/trajectory_planner_ros.cpp @@ -0,0 +1,621 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ + +#include + +#ifdef HAVE_SYS_TIME_H +#include +#endif + +#include + +#include +#include + +#include + +#include + +#include +#include + +#include +#include + +//register this planner as a BaseLocalPlanner plugin +PLUGINLIB_EXPORT_CLASS(base_local_planner::TrajectoryPlannerROS, nav_core::BaseLocalPlanner) + +namespace base_local_planner { + + void TrajectoryPlannerROS::reconfigureCB(BaseLocalPlannerConfig &config, uint32_t level) { + if (setup_ && config.restore_defaults) { + config = default_config_; + //Avoid looping + config.restore_defaults = false; + } + if ( ! setup_) { + default_config_ = config; + setup_ = true; + } + tc_->reconfigure(config); + reached_goal_ = false; + } + + TrajectoryPlannerROS::TrajectoryPlannerROS() : + world_model_(NULL), tc_(NULL), costmap_ros_(NULL), tf_(NULL), setup_(false), initialized_(false), odom_helper_("odom") {} + + TrajectoryPlannerROS::TrajectoryPlannerROS(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) : + world_model_(NULL), tc_(NULL), costmap_ros_(NULL), tf_(NULL), setup_(false), initialized_(false), odom_helper_("odom") { + + //initialize the planner + initialize(name, tf, costmap_ros); + } + + void TrajectoryPlannerROS::initialize( + std::string name, + tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros){ + if (! isInitialized()) { + + ros::NodeHandle private_nh("~/" + name); + g_plan_pub_ = private_nh.advertise("global_plan", 1); + l_plan_pub_ = private_nh.advertise("local_plan", 1); + + + tf_ = tf; + costmap_ros_ = costmap_ros; + rot_stopped_velocity_ = 1e-2; + trans_stopped_velocity_ = 1e-2; + double sim_time, sim_granularity, angular_sim_granularity; + int vx_samples, vtheta_samples; + double path_distance_bias, goal_distance_bias, occdist_scale, heading_lookahead, oscillation_reset_dist, escape_reset_dist, escape_reset_theta; + bool holonomic_robot, dwa, simple_attractor, heading_scoring; + double heading_scoring_timestep; + double max_vel_x, min_vel_x; + double backup_vel; + double stop_time_buffer; + std::string world_model_type; + rotating_to_goal_ = false; + + //initialize the copy of the costmap the controller will use + costmap_ = costmap_ros_->getCostmap(); + + + global_frame_ = costmap_ros_->getGlobalFrameID(); + robot_base_frame_ = costmap_ros_->getBaseFrameID(); + private_nh.param("prune_plan", prune_plan_, true); + + private_nh.param("yaw_goal_tolerance", yaw_goal_tolerance_, 0.05); + private_nh.param("xy_goal_tolerance", xy_goal_tolerance_, 0.10); + private_nh.param("acc_lim_x", acc_lim_x_, 2.5); + private_nh.param("acc_lim_y", acc_lim_y_, 2.5); + private_nh.param("acc_lim_theta", acc_lim_theta_, 3.2); + + private_nh.param("stop_time_buffer", stop_time_buffer, 0.2); + + private_nh.param("latch_xy_goal_tolerance", latch_xy_goal_tolerance_, false); + + //Since I screwed up nicely in my documentation, I'm going to add errors + //informing the user if they've set one of the wrong parameters + if(private_nh.hasParam("acc_limit_x")) + ROS_ERROR("You are using acc_limit_x where you should be using acc_lim_x. Please change your configuration files appropriately. The documentation used to be wrong on this, sorry for any confusion."); + + if(private_nh.hasParam("acc_limit_y")) + ROS_ERROR("You are using acc_limit_y where you should be using acc_lim_y. Please change your configuration files appropriately. The documentation used to be wrong on this, sorry for any confusion."); + + if(private_nh.hasParam("acc_limit_th")) + ROS_ERROR("You are using acc_limit_th where you should be using acc_lim_th. Please change your configuration files appropriately. The documentation used to be wrong on this, sorry for any confusion."); + + //Assuming this planner is being run within the navigation stack, we can + //just do an upward search for the frequency at which its being run. This + //also allows the frequency to be overwritten locally. + std::string controller_frequency_param_name; + if(!private_nh.searchParam("controller_frequency", controller_frequency_param_name)) + sim_period_ = 0.05; + else + { + double controller_frequency = 0; + private_nh.param(controller_frequency_param_name, controller_frequency, 20.0); + if(controller_frequency > 0) + sim_period_ = 1.0 / controller_frequency; + else + { + ROS_WARN("A controller_frequency less than 0 has been set. Ignoring the parameter, assuming a rate of 20Hz"); + sim_period_ = 0.05; + } + } + ROS_INFO("Sim period is set to %.2f", sim_period_); + + private_nh.param("sim_time", sim_time, 1.0); + private_nh.param("sim_granularity", sim_granularity, 0.025); + private_nh.param("angular_sim_granularity", angular_sim_granularity, sim_granularity); + private_nh.param("vx_samples", vx_samples, 3); + private_nh.param("vtheta_samples", vtheta_samples, 20); + + path_distance_bias = nav_core::loadParameterWithDeprecation(private_nh, + "path_distance_bias", + "pdist_scale", + 0.6); + goal_distance_bias = nav_core::loadParameterWithDeprecation(private_nh, + "goal_distance_bias", + "gdist_scale", + 0.6); + // values of the deprecated params need to be applied to the current params, as defaults + // of defined for dynamic reconfigure will override them otherwise. + if (private_nh.hasParam("pdist_scale") & !private_nh.hasParam("path_distance_bias")) + { + private_nh.setParam("path_distance_bias", path_distance_bias); + } + if (private_nh.hasParam("gdist_scale") & !private_nh.hasParam("goal_distance_bias")) + { + private_nh.setParam("goal_distance_bias", goal_distance_bias); + } + + private_nh.param("occdist_scale", occdist_scale, 0.01); + + bool meter_scoring; + if ( ! private_nh.hasParam("meter_scoring")) { + ROS_WARN("Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settings robust against changes of costmap resolution."); + } else { + private_nh.param("meter_scoring", meter_scoring, false); + + if(meter_scoring) { + //if we use meter scoring, then we want to multiply the biases by the resolution of the costmap + double resolution = costmap_->getResolution(); + goal_distance_bias *= resolution; + path_distance_bias *= resolution; + } else { + ROS_WARN("Trajectory Rollout planner initialized with param meter_scoring set to false. Set it to true to make your settings robust against changes of costmap resolution."); + } + } + + private_nh.param("heading_lookahead", heading_lookahead, 0.325); + private_nh.param("oscillation_reset_dist", oscillation_reset_dist, 0.05); + private_nh.param("escape_reset_dist", escape_reset_dist, 0.10); + private_nh.param("escape_reset_theta", escape_reset_theta, M_PI_4); + private_nh.param("holonomic_robot", holonomic_robot, true); + private_nh.param("max_vel_x", max_vel_x, 0.5); + private_nh.param("min_vel_x", min_vel_x, 0.1); + + double max_rotational_vel; + private_nh.param("max_rotational_vel", max_rotational_vel, 1.0); + max_vel_th_ = max_rotational_vel; + min_vel_th_ = -1.0 * max_rotational_vel; + + min_in_place_vel_th_ = nav_core::loadParameterWithDeprecation(private_nh, + "min_in_place_vel_theta", + "min_in_place_rotational_vel", 0.4); + reached_goal_ = false; + backup_vel = -0.1; + if(private_nh.getParam("backup_vel", backup_vel)) + ROS_WARN("The backup_vel parameter has been deprecated in favor of the escape_vel parameter. To switch, just change the parameter name in your configuration files."); + + //if both backup_vel and escape_vel are set... we'll use escape_vel + private_nh.getParam("escape_vel", backup_vel); + + if(backup_vel >= 0.0) + ROS_WARN("You've specified a positive escape velocity. This is probably not what you want and will cause the robot to move forward instead of backward. You should probably change your escape_vel parameter to be negative"); + + private_nh.param("world_model", world_model_type, std::string("costmap")); + private_nh.param("dwa", dwa, true); + private_nh.param("heading_scoring", heading_scoring, false); + private_nh.param("heading_scoring_timestep", heading_scoring_timestep, 0.8); + + simple_attractor = false; + + //parameters for using the freespace controller + double min_pt_separation, max_obstacle_height, grid_resolution; + private_nh.param("point_grid/max_sensor_range", max_sensor_range_, 2.0); + private_nh.param("point_grid/min_pt_separation", min_pt_separation, 0.01); + private_nh.param("point_grid/max_obstacle_height", max_obstacle_height, 2.0); + private_nh.param("point_grid/grid_resolution", grid_resolution, 0.2); + + ROS_ASSERT_MSG(world_model_type == "costmap", "At this time, only costmap world models are supported by this controller"); + world_model_ = new CostmapModel(*costmap_); + std::vector y_vels = loadYVels(private_nh); + + footprint_spec_ = costmap_ros_->getRobotFootprint(); + + tc_ = new TrajectoryPlanner(*world_model_, *costmap_, footprint_spec_, + acc_lim_x_, acc_lim_y_, acc_lim_theta_, sim_time, sim_granularity, vx_samples, vtheta_samples, path_distance_bias, + goal_distance_bias, occdist_scale, heading_lookahead, oscillation_reset_dist, escape_reset_dist, escape_reset_theta, holonomic_robot, + max_vel_x, min_vel_x, max_vel_th_, min_vel_th_, min_in_place_vel_th_, backup_vel, + dwa, heading_scoring, heading_scoring_timestep, meter_scoring, simple_attractor, y_vels, stop_time_buffer, sim_period_, angular_sim_granularity); + + map_viz_.initialize(name, + global_frame_, + [this](int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost){ + return tc_->getCellCosts(cx, cy, path_cost, goal_cost, occ_cost, total_cost); + }); + initialized_ = true; + + dsrv_ = new dynamic_reconfigure::Server(private_nh); + dynamic_reconfigure::Server::CallbackType cb = [this](auto& config, auto level){ reconfigureCB(config, level); }; + dsrv_->setCallback(cb); + + } else { + ROS_WARN("This planner has already been initialized, doing nothing"); + } + } + + std::vector TrajectoryPlannerROS::loadYVels(ros::NodeHandle node){ + std::vector y_vels; + + std::string y_vel_list; + if(node.getParam("y_vels", y_vel_list)){ + typedef boost::tokenizer > tokenizer; + boost::char_separator sep("[], "); + tokenizer tokens(y_vel_list, sep); + + for(tokenizer::iterator i = tokens.begin(); i != tokens.end(); i++){ + y_vels.push_back(atof((*i).c_str())); + } + } + else{ + //if no values are passed in, we'll provide defaults + y_vels.push_back(-0.3); + y_vels.push_back(-0.1); + y_vels.push_back(0.1); + y_vels.push_back(0.3); + } + + return y_vels; + } + + TrajectoryPlannerROS::~TrajectoryPlannerROS() { + //make sure to clean things up + delete dsrv_; + + if(tc_ != NULL) + delete tc_; + + if(world_model_ != NULL) + delete world_model_; + } + + bool TrajectoryPlannerROS::stopWithAccLimits(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, geometry_msgs::Twist& cmd_vel){ + //slow down with the maximum possible acceleration... we should really use the frequency that we're running at to determine what is feasible + //but we'll use a tenth of a second to be consistent with the implementation of the local planner. + double vx = sign(robot_vel.pose.position.x) * std::max(0.0, (fabs(robot_vel.pose.position.x) - acc_lim_x_ * sim_period_)); + double vy = sign(robot_vel.pose.position.y) * std::max(0.0, (fabs(robot_vel.pose.position.y) - acc_lim_y_ * sim_period_)); + + double vel_yaw = tf2::getYaw(robot_vel.pose.orientation); + double vth = sign(vel_yaw) * std::max(0.0, (fabs(vel_yaw) - acc_lim_theta_ * sim_period_)); + + //we do want to check whether or not the command is valid + double yaw = tf2::getYaw(global_pose.pose.orientation); + bool valid_cmd = tc_->checkTrajectory(global_pose.pose.position.x, global_pose.pose.position.y, yaw, + robot_vel.pose.position.x, robot_vel.pose.position.y, vel_yaw, vx, vy, vth); + + //if we have a valid command, we'll pass it on, otherwise we'll command all zeros + if(valid_cmd){ + ROS_DEBUG("Slowing down... using vx, vy, vth: %.2f, %.2f, %.2f", vx, vy, vth); + cmd_vel.linear.x = vx; + cmd_vel.linear.y = vy; + cmd_vel.angular.z = vth; + return true; + } + + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + return false; + } + + bool TrajectoryPlannerROS::rotateToGoal(const geometry_msgs::PoseStamped& global_pose, const geometry_msgs::PoseStamped& robot_vel, double goal_th, geometry_msgs::Twist& cmd_vel){ + double yaw = tf2::getYaw(global_pose.pose.orientation); + double vel_yaw = tf2::getYaw(robot_vel.pose.orientation); + cmd_vel.linear.x = 0; + cmd_vel.linear.y = 0; + double ang_diff = angles::shortest_angular_distance(yaw, goal_th); + + double v_theta_samp = ang_diff > 0.0 ? std::min(max_vel_th_, + std::max(min_in_place_vel_th_, ang_diff)) : std::max(min_vel_th_, + std::min(-1.0 * min_in_place_vel_th_, ang_diff)); + + //take the acceleration limits of the robot into account + double max_acc_vel = fabs(vel_yaw) + acc_lim_theta_ * sim_period_; + double min_acc_vel = fabs(vel_yaw) - acc_lim_theta_ * sim_period_; + + v_theta_samp = sign(v_theta_samp) * std::min(std::max(fabs(v_theta_samp), min_acc_vel), max_acc_vel); + + //we also want to make sure to send a velocity that allows us to stop when we reach the goal given our acceleration limits + double max_speed_to_stop = sqrt(2 * acc_lim_theta_ * fabs(ang_diff)); + + v_theta_samp = sign(v_theta_samp) * std::min(max_speed_to_stop, fabs(v_theta_samp)); + + // Re-enforce min_in_place_vel_th_. It is more important than the acceleration limits. + v_theta_samp = v_theta_samp > 0.0 + ? std::min( max_vel_th_, std::max( min_in_place_vel_th_, v_theta_samp )) + : std::max( min_vel_th_, std::min( -1.0 * min_in_place_vel_th_, v_theta_samp )); + + //we still want to lay down the footprint of the robot and check if the action is legal + bool valid_cmd = tc_->checkTrajectory(global_pose.pose.position.x, global_pose.pose.position.y, yaw, + robot_vel.pose.position.x, robot_vel.pose.position.y, vel_yaw, 0.0, 0.0, v_theta_samp); + + ROS_DEBUG("Moving to desired goal orientation, th cmd: %.2f, valid_cmd: %d", v_theta_samp, valid_cmd); + + if(valid_cmd){ + cmd_vel.angular.z = v_theta_samp; + return true; + } + + cmd_vel.angular.z = 0.0; + return false; + + } + + bool TrajectoryPlannerROS::setPlan(const std::vector& orig_global_plan){ + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + + //reset the global plan + global_plan_.clear(); + global_plan_ = orig_global_plan; + + //when we get a new plan, we also want to clear any latch we may have on goal tolerances + xy_tolerance_latch_ = false; + //reset the at goal flag + reached_goal_ = false; + return true; + } + + bool TrajectoryPlannerROS::computeVelocityCommands(geometry_msgs::Twist& cmd_vel){ + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + + std::vector local_plan; + geometry_msgs::PoseStamped global_pose; + if (!costmap_ros_->getRobotPose(global_pose)) { + return false; + } + + std::vector transformed_plan; + //get the global plan in our frame + if (!transformGlobalPlan(*tf_, global_plan_, global_pose, *costmap_, global_frame_, transformed_plan)) { + ROS_WARN("Could not transform the global plan to the frame of the controller"); + return false; + } + + //now we'll prune the plan based on the position of the robot + if(prune_plan_) + prunePlan(global_pose, transformed_plan, global_plan_); + + geometry_msgs::PoseStamped drive_cmds; + drive_cmds.header.frame_id = robot_base_frame_; + + geometry_msgs::PoseStamped robot_vel; + odom_helper_.getRobotVel(robot_vel); + + /* For timing uncomment + struct timeval start, end; + double start_t, end_t, t_diff; + gettimeofday(&start, NULL); + */ + + //if the global plan passed in is empty... we won't do anything + if(transformed_plan.empty()) + return false; + + const geometry_msgs::PoseStamped& goal_point = transformed_plan.back(); + //we assume the global goal is the last point in the global plan + const double goal_x = goal_point.pose.position.x; + const double goal_y = goal_point.pose.position.y; + + const double yaw = tf2::getYaw(goal_point.pose.orientation); + + double goal_th = yaw; + + //check to see if we've reached the goal position + if (xy_tolerance_latch_ || (getGoalPositionDistance(global_pose, goal_x, goal_y) <= xy_goal_tolerance_)) { + + //if the user wants to latch goal tolerance, if we ever reach the goal location, we'll + //just rotate in place + if (latch_xy_goal_tolerance_) { + xy_tolerance_latch_ = true; + } + + double angle = getGoalOrientationAngleDifference(global_pose, goal_th); + //check to see if the goal orientation has been reached + if (fabs(angle) <= yaw_goal_tolerance_) { + //set the velocity command to zero + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + rotating_to_goal_ = false; + xy_tolerance_latch_ = false; + reached_goal_ = true; + } else { + //we need to call the next two lines to make sure that the trajectory + //planner updates its path distance and goal distance grids + tc_->updatePlan(transformed_plan); + Trajectory path = tc_->findBestPath(global_pose, robot_vel, drive_cmds); + map_viz_.publishCostCloud(costmap_); + + //copy over the odometry information + nav_msgs::Odometry base_odom; + odom_helper_.getOdom(base_odom); + + //if we're not stopped yet... we want to stop... taking into account the acceleration limits of the robot + if ( ! rotating_to_goal_ && !base_local_planner::stopped(base_odom, rot_stopped_velocity_, trans_stopped_velocity_)) { + if ( ! stopWithAccLimits(global_pose, robot_vel, cmd_vel)) { + return false; + } + } + //if we're stopped... then we want to rotate to goal + else{ + //set this so that we know its OK to be moving + rotating_to_goal_ = true; + if(!rotateToGoal(global_pose, robot_vel, goal_th, cmd_vel)) { + return false; + } + } + } + + //publish an empty plan because we've reached our goal position + publishPlan(transformed_plan, g_plan_pub_); + publishPlan(local_plan, l_plan_pub_); + + //we don't actually want to run the controller when we're just rotating to goal + return true; + } + + tc_->updatePlan(transformed_plan); + + //compute what trajectory to drive along + Trajectory path = tc_->findBestPath(global_pose, robot_vel, drive_cmds); + + map_viz_.publishCostCloud(costmap_); + /* For timing uncomment + gettimeofday(&end, NULL); + start_t = start.tv_sec + double(start.tv_usec) / 1e6; + end_t = end.tv_sec + double(end.tv_usec) / 1e6; + t_diff = end_t - start_t; + ROS_INFO("Cycle time: %.9f", t_diff); + */ + + //pass along drive commands + cmd_vel.linear.x = drive_cmds.pose.position.x; + cmd_vel.linear.y = drive_cmds.pose.position.y; + cmd_vel.angular.z = tf2::getYaw(drive_cmds.pose.orientation); + + //if we cannot move... tell someone + if (path.cost_ < 0) { + ROS_DEBUG_NAMED("trajectory_planner_ros", + "The rollout planner failed to find a valid plan. This means that the footprint of the robot was in collision for all simulated trajectories."); + local_plan.clear(); + publishPlan(transformed_plan, g_plan_pub_); + publishPlan(local_plan, l_plan_pub_); + return false; + } + + ROS_DEBUG_NAMED("trajectory_planner_ros", "A valid velocity command of (%.2f, %.2f, %.2f) was found for this cycle.", + cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z); + + // Fill out the local plan + for (unsigned int i = 0; i < path.getPointsSize(); ++i) { + double p_x, p_y, p_th; + path.getPoint(i, p_x, p_y, p_th); + geometry_msgs::PoseStamped pose; + pose.header.frame_id = global_frame_; + pose.header.stamp = ros::Time::now(); + pose.pose.position.x = p_x; + pose.pose.position.y = p_y; + pose.pose.position.z = 0.0; + tf2::Quaternion q; + q.setRPY(0, 0, p_th); + tf2::convert(q, pose.pose.orientation); + local_plan.push_back(pose); + } + + //publish information to the visualizer + publishPlan(transformed_plan, g_plan_pub_); + publishPlan(local_plan, l_plan_pub_); + return true; + } + + bool TrajectoryPlannerROS::checkTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map){ + geometry_msgs::PoseStamped global_pose; + if(costmap_ros_->getRobotPose(global_pose)){ + if(update_map){ + //we need to give the planne some sort of global plan, since we're only checking for legality + //we'll just give the robots current position + std::vector plan; + plan.push_back(global_pose); + tc_->updatePlan(plan, true); + } + + //copy over the odometry information + nav_msgs::Odometry base_odom; + { + boost::recursive_mutex::scoped_lock lock(odom_lock_); + base_odom = base_odom_; + } + + return tc_->checkTrajectory(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation), + base_odom.twist.twist.linear.x, + base_odom.twist.twist.linear.y, + base_odom.twist.twist.angular.z, vx_samp, vy_samp, vtheta_samp); + + } + ROS_WARN("Failed to get the pose of the robot. No trajectories will pass as legal in this case."); + return false; + } + + + double TrajectoryPlannerROS::scoreTrajectory(double vx_samp, double vy_samp, double vtheta_samp, bool update_map){ + // Copy of checkTrajectory that returns a score instead of True / False + geometry_msgs::PoseStamped global_pose; + if(costmap_ros_->getRobotPose(global_pose)){ + if(update_map){ + //we need to give the planne some sort of global plan, since we're only checking for legality + //we'll just give the robots current position + std::vector plan; + plan.push_back(global_pose); + tc_->updatePlan(plan, true); + } + + //copy over the odometry information + nav_msgs::Odometry base_odom; + { + boost::recursive_mutex::scoped_lock lock(odom_lock_); + base_odom = base_odom_; + } + + return tc_->scoreTrajectory(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation), + base_odom.twist.twist.linear.x, + base_odom.twist.twist.linear.y, + base_odom.twist.twist.angular.z, vx_samp, vy_samp, vtheta_samp); + + } + ROS_WARN("Failed to get the pose of the robot. No trajectories will pass as legal in this case."); + return -1.0; + } + + bool TrajectoryPlannerROS::isGoalReached() { + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + //return flag set in controller + return reached_goal_; + } +}; diff --git a/navigations/base_local_planner/src/twirling_cost_function.cpp b/navigations/base_local_planner/src/twirling_cost_function.cpp new file mode 100755 index 0000000..3f29135 --- /dev/null +++ b/navigations/base_local_planner/src/twirling_cost_function.cpp @@ -0,0 +1,18 @@ +/* + * twirling_cost_function.cpp + * + * Created on: Apr 20, 2016 + * Author: Morgan Quigley + */ + +#include + +#include + +namespace base_local_planner { + +double TwirlingCostFunction::scoreTrajectory(Trajectory &traj) { + return fabs(traj.thetav_); // add cost for making the robot spin +} + +} /* namespace base_local_planner */ diff --git a/navigations/base_local_planner/src/voxel_grid_model.cpp b/navigations/base_local_planner/src/voxel_grid_model.cpp new file mode 100755 index 0000000..32596aa --- /dev/null +++ b/navigations/base_local_planner/src/voxel_grid_model.cpp @@ -0,0 +1,314 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include + +using namespace std; +using namespace costmap_2d; + +namespace base_local_planner { + VoxelGridModel::VoxelGridModel(double size_x, double size_y, double size_z, double xy_resolution, double z_resolution, + double origin_x, double origin_y, double origin_z, double max_z, double obstacle_range) : + obstacle_grid_(size_x, size_y, size_z), xy_resolution_(xy_resolution), z_resolution_(z_resolution), + origin_x_(origin_x), origin_y_(origin_y), origin_z_(origin_z), + max_z_(max_z), sq_obstacle_range_(obstacle_range * obstacle_range) {} + + double VoxelGridModel::footprintCost(const geometry_msgs::Point& position, const std::vector& footprint, + double inscribed_radius, double circumscribed_radius){ + if(footprint.size() < 3) + return -1.0; + + //now we really have to lay down the footprint in the costmap grid + unsigned int x0, x1, y0, y1; + double line_cost = 0.0; + + //we need to rasterize each line in the footprint + for(unsigned int i = 0; i < footprint.size() - 1; ++i){ + //get the cell coord of the first point + if(!worldToMap2D(footprint[i].x, footprint[i].y, x0, y0)) + return -1.0; + + //get the cell coord of the second point + if(!worldToMap2D(footprint[i + 1].x, footprint[i + 1].y, x1, y1)) + return -1.0; + + line_cost = lineCost(x0, x1, y0, y1); + + //if there is an obstacle that hits the line... we know that we can return false right away + if(line_cost < 0) + return -1.0; + } + + //we also need to connect the first point in the footprint to the last point + //get the cell coord of the last point + if(!worldToMap2D(footprint.back().x, footprint.back().y, x0, y0)) + return -1.0; + + //get the cell coord of the first point + if(!worldToMap2D(footprint.front().x, footprint.front().y, x1, y1)) + return -1.0; + + line_cost = lineCost(x0, x1, y0, y1); + + if(line_cost < 0) + return -1.0; + + //if all line costs are legal... then we can return that the footprint is legal + return 0.0; + } + + //calculate the cost of a ray-traced line + double VoxelGridModel::lineCost(int x0, int x1, + int y0, int y1){ + //Bresenham Ray-Tracing + int deltax = abs(x1 - x0); // The difference between the x's + int deltay = abs(y1 - y0); // The difference between the y's + int x = x0; // Start x off at the first pixel + int y = y0; // Start y off at the first pixel + + int xinc1, xinc2, yinc1, yinc2; + int den, num, numadd, numpixels; + + double line_cost = 0.0; + double point_cost = -1.0; + + if (x1 >= x0) // The x-values are increasing + { + xinc1 = 1; + xinc2 = 1; + } + else // The x-values are decreasing + { + xinc1 = -1; + xinc2 = -1; + } + + if (y1 >= y0) // The y-values are increasing + { + yinc1 = 1; + yinc2 = 1; + } + else // The y-values are decreasing + { + yinc1 = -1; + yinc2 = -1; + } + + if (deltax >= deltay) // There is at least one x-value for every y-value + { + xinc1 = 0; // Don't change the x when numerator >= denominator + yinc2 = 0; // Don't change the y for every iteration + den = deltax; + num = deltax / 2; + numadd = deltay; + numpixels = deltax; // There are more x-values than y-values + } + else // There is at least one y-value for every x-value + { + xinc2 = 0; // Don't change the x for every iteration + yinc1 = 0; // Don't change the y when numerator >= denominator + den = deltay; + num = deltay / 2; + numadd = deltax; + numpixels = deltay; // There are more y-values than x-values + } + + for (int curpixel = 0; curpixel <= numpixels; curpixel++) + { + point_cost = pointCost(x, y); //Score the current point + + if(point_cost < 0) + return -1; + + if(line_cost < point_cost) + line_cost = point_cost; + + num += numadd; // Increase the numerator by the top of the fraction + if (num >= den) // Check if numerator >= denominator + { + num -= den; // Calculate the new numerator value + x += xinc1; // Change the x as appropriate + y += yinc1; // Change the y as appropriate + } + x += xinc2; // Change the x as appropriate + y += yinc2; // Change the y as appropriate + } + + return line_cost; + } + + double VoxelGridModel::pointCost(int x, int y){ + //if the cell is in an obstacle the path is invalid + if(obstacle_grid_.getVoxelColumn(x, y)){ + return -1; + } + + return 1; + } + + void VoxelGridModel::updateWorld(const std::vector& footprint, + const vector& observations, const vector& laser_scans){ + + //remove points in the laser scan boundry + for(unsigned int i = 0; i < laser_scans.size(); ++i) + removePointsInScanBoundry(laser_scans[i], 10.0); + + //iterate through all observations and update the grid + for(vector::const_iterator it = observations.begin(); it != observations.end(); ++it){ + const Observation& obs = *it; + const sensor_msgs::PointCloud2& cloud = *(obs.cloud_); + + sensor_msgs::PointCloud2ConstIterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2ConstIterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2ConstIterator iter_z(cloud, "z"); + + geometry_msgs::Point32 pt; + + for(; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z){ + //filter out points that are too high + if(*iter_z > max_z_) + continue; + + //compute the squared distance from the hitpoint to the pointcloud's origin + double sq_dist = (*iter_x - obs.origin_.x) * (*iter_x - obs.origin_.x) + + (*iter_y - obs.origin_.y) * (*iter_y - obs.origin_.y) + + (*iter_z - obs.origin_.z) * (*iter_z - obs.origin_.z); + + if(sq_dist >= sq_obstacle_range_) + continue; + + //insert the point + pt.x = *iter_x; + pt.y = *iter_y; + pt.z = *iter_z; + insert(pt); + } + } + + //remove the points that are in the footprint of the robot + //removePointsInPolygon(footprint); + } + + void VoxelGridModel::removePointsInScanBoundry(const PlanarLaserScan& laser_scan, double raytrace_range){ + if(laser_scan.cloud.points.size() == 0) + return; + + unsigned int sensor_x, sensor_y, sensor_z; + double ox = laser_scan.origin.x; + double oy = laser_scan.origin.y; + double oz = laser_scan.origin.z; + + if(!worldToMap3D(ox, oy, oz, sensor_x, sensor_y, sensor_z)) + return; + + for(unsigned int i = 0; i < laser_scan.cloud.points.size(); ++i){ + double wpx = laser_scan.cloud.points[i].x; + double wpy = laser_scan.cloud.points[i].y; + double wpz = laser_scan.cloud.points[i].z; + + double distance = dist(ox, oy, oz, wpx, wpy, wpz); + double scaling_fact = raytrace_range / distance; + scaling_fact = scaling_fact > 1.0 ? 1.0 : scaling_fact; + wpx = scaling_fact * (wpx - ox) + ox; + wpy = scaling_fact * (wpy - oy) + oy; + wpz = scaling_fact * (wpz - oz) + oz; + + //we can only raytrace to a maximum z height + if(wpz >= max_z_){ + //we know we want the vector's z value to be max_z + double a = wpx - ox; + double b = wpy - oy; + double c = wpz - oz; + double t = (max_z_ - .01 - oz) / c; + wpx = ox + a * t; + wpy = oy + b * t; + wpz = oz + c * t; + } + //and we can only raytrace down to the floor + else if(wpz < 0.0){ + //we know we want the vector's z value to be 0.0 + double a = wpx - ox; + double b = wpy - oy; + double c = wpz - oz; + double t = (0.0 - oz) / c; + wpx = ox + a * t; + wpy = oy + b * t; + wpz = oz + c * t; + } + + unsigned int point_x, point_y, point_z; + if(worldToMap3D(wpx, wpy, wpz, point_x, point_y, point_z)){ + obstacle_grid_.clearVoxelLine(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z); + } + } + } + + void VoxelGridModel::getPoints(sensor_msgs::PointCloud2& cloud){ + size_t n = 0; + + for(unsigned int i = 0; i < obstacle_grid_.sizeX(); ++i) + for(unsigned int j = 0; j < obstacle_grid_.sizeY(); ++j) + for(unsigned int k = 0; k < obstacle_grid_.sizeZ(); ++k) + if(obstacle_grid_.getVoxel(i, j, k)) + ++n; + + sensor_msgs::PointCloud2Modifier modifier(cloud); + modifier.setPointCloud2FieldsByString(1, "xyz"); + modifier.resize(n); + + sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(cloud, "z"); + + for(unsigned int i = 0; i < obstacle_grid_.sizeX(); ++i){ + for(unsigned int j = 0; j < obstacle_grid_.sizeY(); ++j){ + for(unsigned int k = 0; k < obstacle_grid_.sizeZ(); ++k){ + if(obstacle_grid_.getVoxel(i, j, k)){ + double wx, wy, wz; + mapToWorld3D(i, j, k, wx, wy, wz); + *iter_x = wx; + *iter_y = wy; + *iter_z = wz; + ++iter_x; + ++iter_y; + ++iter_z; + } + } + } + } + } +}; diff --git a/navigations/base_local_planner/test/footprint_helper_test.cpp b/navigations/base_local_planner/test/footprint_helper_test.cpp new file mode 100755 index 0000000..5d3f768 --- /dev/null +++ b/navigations/base_local_planner/test/footprint_helper_test.cpp @@ -0,0 +1,145 @@ +/* + * footprint_helper_test.cpp + * + * Created on: May 2, 2012 + * Author: tkruse + */ + +#include + +#include + +#include + +#include +#include +#include + +#include "wavefront_map_accessor.h" + +namespace base_local_planner { + + +class FootprintHelperTest : public testing::Test { +public: + FootprintHelper fh; + + FootprintHelperTest() { + } + + virtual void TestBody(){} + + void correctLineCells() { + std::vector footprint; + fh.getLineCells(0, 10, 0, 10, footprint); + EXPECT_EQ(11, footprint.size()); + EXPECT_EQ(footprint[0].x, 0); + EXPECT_EQ(footprint[0].y, 0); + EXPECT_EQ(footprint[5].x, 5); + EXPECT_EQ(footprint[5].y, 5); + EXPECT_EQ(footprint[10].x, 10); + EXPECT_EQ(footprint[10].y, 10); + } + + void correctFootprint(){ + MapGrid* mg = new MapGrid (10, 10); + WavefrontMapAccessor* wa = new WavefrontMapAccessor(mg, .25); + const costmap_2d::Costmap2D& map = *wa; + + std::vector footprint_spec; + geometry_msgs::Point pt; + //create a square footprint + pt.x = 2; + pt.y = 2; + footprint_spec.push_back(pt); + pt.x = 2; + pt.y = -2; + footprint_spec.push_back(pt); + pt.x = -2; + pt.y = -2; + footprint_spec.push_back(pt); + pt.x = -2; + pt.y = 2; + footprint_spec.push_back(pt); + + Eigen::Vector3f pos(4.5, 4.5, 0); + //just create a basic footprint + std::vector footprint = fh.getFootprintCells(pos, footprint_spec, map, false); + + EXPECT_EQ(20, footprint.size()); + //we expect the front line to be first + EXPECT_EQ(footprint[0].x, 6); EXPECT_EQ(footprint[0].y, 6); + EXPECT_EQ(footprint[1].x, 6); EXPECT_EQ(footprint[1].y, 5); + EXPECT_EQ(footprint[2].x, 6); EXPECT_EQ(footprint[2].y, 4); + EXPECT_EQ(footprint[3].x, 6); EXPECT_EQ(footprint[3].y, 3); + EXPECT_EQ(footprint[4].x, 6); EXPECT_EQ(footprint[4].y, 2); + + //next the right line + EXPECT_EQ(footprint[5].x, 6); EXPECT_EQ(footprint[5].y, 2); + EXPECT_EQ(footprint[6].x, 5); EXPECT_EQ(footprint[6].y, 2); + EXPECT_EQ(footprint[7].x, 4); EXPECT_EQ(footprint[7].y, 2); + EXPECT_EQ(footprint[8].x, 3); EXPECT_EQ(footprint[8].y, 2); + EXPECT_EQ(footprint[9].x, 2); EXPECT_EQ(footprint[9].y, 2); + + //next the back line + EXPECT_EQ(footprint[10].x, 2); EXPECT_EQ(footprint[10].y, 2); + EXPECT_EQ(footprint[11].x, 2); EXPECT_EQ(footprint[11].y, 3); + EXPECT_EQ(footprint[12].x, 2); EXPECT_EQ(footprint[12].y, 4); + EXPECT_EQ(footprint[13].x, 2); EXPECT_EQ(footprint[13].y, 5); + EXPECT_EQ(footprint[14].x, 2); EXPECT_EQ(footprint[14].y, 6); + + //finally the left line + EXPECT_EQ(footprint[15].x, 2); EXPECT_EQ(footprint[15].y, 6); + EXPECT_EQ(footprint[16].x, 3); EXPECT_EQ(footprint[16].y, 6); + EXPECT_EQ(footprint[17].x, 4); EXPECT_EQ(footprint[17].y, 6); + EXPECT_EQ(footprint[18].x, 5); EXPECT_EQ(footprint[18].y, 6); + EXPECT_EQ(footprint[19].x, 6); EXPECT_EQ(footprint[19].y, 6); + + + pos = Eigen::Vector3f(4.5, 4.5, M_PI_2); + //check that rotation of the footprint works + footprint = fh.getFootprintCells(pos, footprint_spec, map, false); + + //first the left line + EXPECT_EQ(footprint[0].x, 2); EXPECT_EQ(footprint[0].y, 6); + EXPECT_EQ(footprint[1].x, 3); EXPECT_EQ(footprint[1].y, 6); + EXPECT_EQ(footprint[2].x, 4); EXPECT_EQ(footprint[2].y, 6); + EXPECT_EQ(footprint[3].x, 5); EXPECT_EQ(footprint[3].y, 6); + EXPECT_EQ(footprint[4].x, 6); EXPECT_EQ(footprint[4].y, 6); + + //next the front line + EXPECT_EQ(footprint[5].x, 6); EXPECT_EQ(footprint[5].y, 6); + EXPECT_EQ(footprint[6].x, 6); EXPECT_EQ(footprint[6].y, 5); + EXPECT_EQ(footprint[7].x, 6); EXPECT_EQ(footprint[7].y, 4); + EXPECT_EQ(footprint[8].x, 6); EXPECT_EQ(footprint[8].y, 3); + EXPECT_EQ(footprint[9].x, 6); EXPECT_EQ(footprint[9].y, 2); + + //next the right line + EXPECT_EQ(footprint[10].x, 6); EXPECT_EQ(footprint[10].y, 2); + EXPECT_EQ(footprint[11].x, 5); EXPECT_EQ(footprint[11].y, 2); + EXPECT_EQ(footprint[12].x, 4); EXPECT_EQ(footprint[12].y, 2); + EXPECT_EQ(footprint[13].x, 3); EXPECT_EQ(footprint[13].y, 2); + EXPECT_EQ(footprint[14].x, 2); EXPECT_EQ(footprint[14].y, 2); + + //next the back line + EXPECT_EQ(footprint[15].x, 2); EXPECT_EQ(footprint[15].y, 2); + EXPECT_EQ(footprint[16].x, 2); EXPECT_EQ(footprint[16].y, 3); + EXPECT_EQ(footprint[17].x, 2); EXPECT_EQ(footprint[17].y, 4); + EXPECT_EQ(footprint[18].x, 2); EXPECT_EQ(footprint[18].y, 5); + EXPECT_EQ(footprint[19].x, 2); EXPECT_EQ(footprint[19].y, 6); + } + +}; + + +TEST(FootprintHelperTest, correctFootprint){ + FootprintHelperTest tct; + tct.correctFootprint(); +} + +TEST(FootprintHelperTest, correctLineCells){ + FootprintHelperTest tct; + tct.correctLineCells(); +} + +} diff --git a/navigations/base_local_planner/test/gtest_main.cpp b/navigations/base_local_planner/test/gtest_main.cpp new file mode 100755 index 0000000..8d5005c --- /dev/null +++ b/navigations/base_local_planner/test/gtest_main.cpp @@ -0,0 +1,18 @@ +/* + * gtest_main.cpp + * + * Created on: Apr 6, 2012 + * Author: tkruse + */ + +#include + +#include + +int main(int argc, char **argv) { + std::cout << "Running main() from gtest_main.cc\n"; + + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + diff --git a/navigations/base_local_planner/test/line_iterator_test.cpp b/navigations/base_local_planner/test/line_iterator_test.cpp new file mode 100755 index 0000000..2ff7c42 --- /dev/null +++ b/navigations/base_local_planner/test/line_iterator_test.cpp @@ -0,0 +1,81 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#include + +#include "base_local_planner/line_iterator.h" + +TEST( LineIterator, south ) +{ + base_local_planner::LineIterator line( 1, 2, 1, 4 ); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( 1, line.getX() ); + EXPECT_EQ( 2, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( 1, line.getX() ); + EXPECT_EQ( 3, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( 1, line.getX() ); + EXPECT_EQ( 4, line.getY() ); + line.advance(); + EXPECT_FALSE( line.isValid() ); +} + +TEST( LineIterator, north_north_west ) +{ + base_local_planner::LineIterator line( 0, 0, -2, -4 ); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( 0, line.getX() ); + EXPECT_EQ( 0, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( -1, line.getX() ); + EXPECT_EQ( -1, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( -1, line.getX() ); + EXPECT_EQ( -2, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( -2, line.getX() ); + EXPECT_EQ( -3, line.getY() ); + line.advance(); + EXPECT_TRUE( line.isValid() ); + EXPECT_EQ( -2, line.getX() ); + EXPECT_EQ( -4, line.getY() ); + line.advance(); + EXPECT_FALSE( line.isValid() ); +} + +int main( int argc, char **argv ) { + testing::InitGoogleTest( &argc, argv ); + return RUN_ALL_TESTS(); +} diff --git a/navigations/base_local_planner/test/map_grid_test.cpp b/navigations/base_local_planner/test/map_grid_test.cpp new file mode 100755 index 0000000..59b63f2 --- /dev/null +++ b/navigations/base_local_planner/test/map_grid_test.cpp @@ -0,0 +1,206 @@ +/* + * map_grid_test.cpp + * + * Created on: May 2, 2012 + * Author: tkruse + */ +#include + +#include + +#include +#include + +#include "wavefront_map_accessor.h" + +namespace base_local_planner { + +TEST(MapGridTest, initNull){ + MapGrid map_grid; + EXPECT_EQ(0, map_grid.size_x_); + EXPECT_EQ(0, map_grid.size_y_); +} + +TEST(MapGridTest, operatorBrackets){ + MapGrid map_grid(10, 10); + map_grid(3, 5).target_dist = 5; + EXPECT_EQ(5, map_grid.getCell(3, 5).target_dist); +} + +TEST(MapGridTest, copyConstructor){ + MapGrid map_grid(10, 10); + map_grid(3, 5).target_dist = 5; + MapGrid map_grid2; + map_grid2 = map_grid; + EXPECT_EQ(5, map_grid(3, 5).target_dist); +} + +TEST(MapGridTest, getIndex){ + MapGrid map_grid(10, 10); + EXPECT_EQ(53, map_grid.getIndex(3, 5)); +} + +TEST(MapGridTest, reset){ + MapGrid map_grid(10, 10); + map_grid(0, 0).target_dist = 1; + map_grid(0, 0).target_mark = true; + map_grid(0, 0).within_robot = true; + map_grid(3, 5).target_dist = 1; + map_grid(3, 5).target_mark = true; + map_grid(3, 5).within_robot = true; + map_grid(9, 9).target_dist = 1; + map_grid(9, 9).target_mark = true; + map_grid(9, 9).within_robot = true; + EXPECT_EQ(1, map_grid(0, 0).target_dist); + EXPECT_EQ(true, map_grid(0, 0).target_mark); + EXPECT_EQ(true, map_grid(0, 0).within_robot); + EXPECT_EQ(1, map_grid(3, 5).target_dist); + EXPECT_EQ(true, map_grid(3, 5).target_mark); + EXPECT_EQ(true, map_grid(3, 5).within_robot); + EXPECT_EQ(1, map_grid(9, 9).target_dist); + EXPECT_EQ(true, map_grid(9, 9).target_mark); + EXPECT_EQ(true, map_grid(9, 9).within_robot); + + map_grid.resetPathDist(); + + EXPECT_EQ(map_grid.unreachableCellCosts(), map_grid(9, 9).target_dist); + EXPECT_EQ(false, map_grid(9, 9).target_mark); + EXPECT_EQ(false, map_grid(9, 9).within_robot); + EXPECT_EQ(map_grid.unreachableCellCosts(), map_grid(3, 5).target_dist); + EXPECT_EQ(false, map_grid(3, 5).target_mark); + EXPECT_EQ(false, map_grid(3, 5).within_robot); + EXPECT_EQ(map_grid.unreachableCellCosts(), map_grid(0, 0).target_dist); + EXPECT_EQ(false, map_grid(0, 0).target_mark); + EXPECT_EQ(false, map_grid(0, 0).within_robot); +} + + +TEST(MapGridTest, properGridConstruction){ + MapGrid mg(10, 10); + MapCell mc; + + for(int i = 0; i < 10; ++i){ + for(int j = 0; j < 10; ++j){ + EXPECT_FLOAT_EQ(mg(i, j).cx, i); + EXPECT_FLOAT_EQ(mg(i, j).cy, j); + } + } +} + +TEST(MapGridTest, sizeCheck){ + MapGrid mg(10, 10); + MapCell mc; + + mg.sizeCheck(20, 25); + + for(int i = 0; i < 20; ++i){ + for(int j = 0; j < 25; ++j){ + EXPECT_FLOAT_EQ(mg(i, j).cx, i); + EXPECT_FLOAT_EQ(mg(i, j).cy, j); + } + } +} + +TEST(MapGridTest, adjustPlanEmpty){ + MapGrid mg(10, 10); + const std::vector global_plan_in; + std::vector global_plan_out; + double resolution = 0; + mg.adjustPlanResolution(global_plan_in, global_plan_out, resolution); + EXPECT_EQ(0, global_plan_out.size()); +} + +TEST(MapGridTest, adjustPlan){ + MapGrid mg(10, 10); + std::vector global_plan_in; + std::vector global_plan_out; + double resolution = 1; + geometry_msgs::PoseStamped start; + start.pose.position.x = 1; + start.pose.position.y = 1; + geometry_msgs::PoseStamped end; + end.pose.position.x = 5; + end.pose.position.y = 5; + global_plan_in.push_back(start); + global_plan_in.push_back(end); + mg.adjustPlanResolution(global_plan_in, global_plan_out, resolution); + + EXPECT_EQ(1, global_plan_out[0].pose.position.x); + EXPECT_EQ(1, global_plan_out[0].pose.position.y); + EXPECT_EQ(5, global_plan_out.back().pose.position.x); + EXPECT_EQ(5, global_plan_out.back().pose.position.y); + + for (unsigned int i = 1; i < global_plan_out.size(); ++i) + { + geometry_msgs::Point& p0 = global_plan_out[i - 1].pose.position; + geometry_msgs::Point& p1 = global_plan_out[i].pose.position; + double d = hypot(p0.x - p1.x, p0.y - p1.y); + EXPECT_LT(d, resolution); + } +} + +TEST(MapGridTest, adjustPlan2){ + std::vector base_plan, result; + + // Push two points, at (0,0) and (0,1). Gap is 1 meter + base_plan.push_back(geometry_msgs::PoseStamped()); + base_plan.push_back(geometry_msgs::PoseStamped()); + base_plan.back().pose.position.y = 1.0; + + // resolution >= 1, path won't change + MapGrid::adjustPlanResolution(base_plan, result, 2.0); + EXPECT_EQ(2, result.size()); + result.clear(); + MapGrid::adjustPlanResolution(base_plan, result, 1.0); + EXPECT_EQ(2, result.size()); + result.clear(); + + // 0.5 <= resolution < 1.0, one point should be added in the middle + MapGrid::adjustPlanResolution(base_plan, result, 0.8); + EXPECT_EQ(3, result.size()); + result.clear(); + MapGrid::adjustPlanResolution(base_plan, result, 0.5); + EXPECT_EQ(3, result.size()); + result.clear(); + + // 0.333 <= resolution < 0.5, two points should be added in the middle + MapGrid::adjustPlanResolution(base_plan, result, 0.34); + EXPECT_EQ(4, result.size()); + result.clear(); + + // 0.25 <= resolution < 0.333, three points should be added in the middle + MapGrid::adjustPlanResolution(base_plan, result, 0.32); + EXPECT_EQ(5, result.size()); + result.clear(); + + MapGrid::adjustPlanResolution(base_plan, result, 0.1); + EXPECT_EQ(11, result.size()); + result.clear(); +} + +TEST(MapGridTest, distancePropagation){ + MapGrid mg(10, 10); + + WavefrontMapAccessor* wa = new WavefrontMapAccessor(&mg, .25); + std::queue dist_queue; + mg.computeTargetDistance(dist_queue, *wa); + EXPECT_EQ(false, mg(0, 0).target_mark); + + MapCell& mc = mg.getCell(0, 0); + mc.target_dist = 0.0; + mc.target_mark = true; + dist_queue.push(&mc); + mg.computeTargetDistance(dist_queue, *wa); + EXPECT_EQ(true, mg(0, 0).target_mark); + EXPECT_EQ(0.0, mg(0, 0).target_dist); + EXPECT_EQ(true, mg(1, 1).target_mark); + EXPECT_EQ(2.0, mg(1, 1).target_dist); + EXPECT_EQ(true, mg(0, 4).target_mark); + EXPECT_EQ(4.0, mg(0, 4).target_dist); + EXPECT_EQ(true, mg(4, 0).target_mark); + EXPECT_EQ(4.0, mg(4, 0).target_dist); + EXPECT_EQ(true, mg(9, 9).target_mark); + EXPECT_EQ(18.0, mg(9, 9).target_dist); +} + +} diff --git a/navigations/base_local_planner/test/trajectory_generator_test.cpp b/navigations/base_local_planner/test/trajectory_generator_test.cpp new file mode 100755 index 0000000..6aa3c5d --- /dev/null +++ b/navigations/base_local_planner/test/trajectory_generator_test.cpp @@ -0,0 +1,26 @@ +/* + * footprint_helper_test.cpp + * + * Created on: May 2, 2012 + * Author: tkruse + */ + +#include + +#include + +#include + +namespace base_local_planner { + +class TrajectoryGeneratorTest : public testing::Test { +public: + SimpleTrajectoryGenerator tg; + + TrajectoryGeneratorTest() { + } + + virtual void TestBody(){} +}; + +} diff --git a/navigations/base_local_planner/test/utest.cpp b/navigations/base_local_planner/test/utest.cpp new file mode 100755 index 0000000..dea4c2d --- /dev/null +++ b/navigations/base_local_planner/test/utest.cpp @@ -0,0 +1,215 @@ +/********************************************************************* + * 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. + *********************************************************************/ +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "wavefront_map_accessor.h" + +using namespace std; + +namespace base_local_planner { + +class TrajectoryPlannerTest : public testing::Test { + public: + TrajectoryPlannerTest(MapGrid* g, WavefrontMapAccessor* wave, const costmap_2d::Costmap2D& map, std::vector footprint_spec); + void correctFootprint(); + void footprintObstacles(); + void checkGoalDistance(); + void checkPathDistance(); + virtual void TestBody(){} + + MapGrid* map_; + WavefrontMapAccessor* wa; + CostmapModel cm; + TrajectoryPlanner tc; +}; + +TrajectoryPlannerTest::TrajectoryPlannerTest(MapGrid* g, WavefrontMapAccessor* wave, const costmap_2d::Costmap2D& map, std::vector footprint_spec) +: map_(g), wa(wave), cm(map), tc(cm, map, footprint_spec, 0.0, 1.0, 1.0, 1.0, 1.0, 2.0) +{} + + + +void TrajectoryPlannerTest::footprintObstacles(){ + //place an obstacle + map_->operator ()(4, 6).target_dist = 1; + wa->synchronize(); + EXPECT_EQ(wa->getCost(4,6), costmap_2d::LETHAL_OBSTACLE); + Trajectory traj(0, 0, 0, 0.1, 30); + //tc->generateTrajectory(4.5, 4.5, M_PI_2, 0, 0, 0, 4, 0, 0, 4, 0, 0, DBL_MAX, traj, 2, 30); + tc.generateTrajectory(4.5, 4.5, M_PI_2, 0, 0, 0, 4, 0, 0, 4, 0, 0, DBL_MAX, traj); + //we expect this path to hit the obstacle + EXPECT_FLOAT_EQ(traj.cost_, -1.0); + + //place a wall next to the footprint of the robot + tc.path_map_(7, 1).target_dist = 1; + tc.path_map_(7, 3).target_dist = 1; + tc.path_map_(7, 4).target_dist = 1; + tc.path_map_(7, 5).target_dist = 1; + tc.path_map_(7, 6).target_dist = 1; + tc.path_map_(7, 7).target_dist = 1; + wa->synchronize(); + + //try to rotate into it + //tc->generateTrajectory(4.5, 4.5, M_PI_2, 0, 0, 0, 0, 0, M_PI_2, 0, 0, M_PI_4, 100, traj, 2, 30); + tc.generateTrajectory(4.5, 4.5, M_PI_2, 0, 0, 0, 0, 0, M_PI_2, 0, 0, M_PI_4, 100, traj); + //we expect this path to hit the obstacle + EXPECT_FLOAT_EQ(traj.cost_, -1.0); +} + +void TrajectoryPlannerTest::checkGoalDistance(){ + //let's box a cell in and make sure that its distance gets set to max + map_->operator ()(1, 2).target_dist = 1; + map_->operator ()(1, 1).target_dist = 1; + map_->operator ()(1, 0).target_dist = 1; + map_->operator ()(2, 0).target_dist = 1; + map_->operator ()(3, 0).target_dist = 1; + map_->operator ()(3, 1).target_dist = 1; + map_->operator ()(3, 2).target_dist = 1; + map_->operator ()(2, 2).target_dist = 1; + wa->synchronize(); + + //set a goal + tc.path_map_.resetPathDist(); + queue target_dist_queue; + MapCell& current = tc.path_map_(4, 9); + current.target_dist = 0.0; + current.target_mark = true; + target_dist_queue.push(¤t); + tc.path_map_.computeTargetDistance(target_dist_queue, tc.costmap_); + + EXPECT_FLOAT_EQ(tc.path_map_(4, 8).target_dist, 1.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 7).target_dist, 2.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 6).target_dist, 100.0); //there's an obstacle here placed above + EXPECT_FLOAT_EQ(tc.path_map_(4, 5).target_dist, 6.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 4).target_dist, 7.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 3).target_dist, 8.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 2).target_dist, 9.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 1).target_dist, 10.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 0).target_dist, 11.0); + EXPECT_FLOAT_EQ(tc.path_map_(5, 8).target_dist, 2.0); + EXPECT_FLOAT_EQ(tc.path_map_(9, 4).target_dist, 10.0); + + //check the boxed in cell + EXPECT_FLOAT_EQ(100.0, tc.path_map_(2, 2).target_dist); + +} + +void TrajectoryPlannerTest::checkPathDistance(){ + tc.path_map_.resetPathDist(); + queue target_dist_queue; + MapCell& current = tc.path_map_(4, 9); + current.target_dist = 0.0; + current.target_mark = true; + target_dist_queue.push(¤t); + tc.path_map_.computeTargetDistance(target_dist_queue, tc.costmap_); + + EXPECT_FLOAT_EQ(tc.path_map_(4, 8).target_dist, 1.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 7).target_dist, 2.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 6).target_dist, 100.0); //there's an obstacle here placed above + EXPECT_FLOAT_EQ(tc.path_map_(4, 5).target_dist, 6.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 4).target_dist, 7.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 3).target_dist, 8.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 2).target_dist, 9.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 1).target_dist, 10.0); + EXPECT_FLOAT_EQ(tc.path_map_(4, 0).target_dist, 11.0); + EXPECT_FLOAT_EQ(tc.path_map_(5, 8).target_dist, 2.0); + EXPECT_FLOAT_EQ(tc.path_map_(9, 4).target_dist, 10.0); + + //check the boxed in cell + EXPECT_FLOAT_EQ(tc.path_map_(2, 2).target_dist, 100.0); + +} + + +TrajectoryPlannerTest* tct = NULL; + +TrajectoryPlannerTest* setup_testclass_singleton() { + if (tct == NULL) { + MapGrid* mg = new MapGrid (10, 10); + WavefrontMapAccessor* wa = new WavefrontMapAccessor(mg, .25); + const costmap_2d::Costmap2D& map = *wa; + std::vector footprint_spec; + geometry_msgs::Point pt; + //create a square footprint + pt.x = 2; + pt.y = 2; + footprint_spec.push_back(pt); + pt.x = 2; + pt.y = -2; + footprint_spec.push_back(pt); + pt.x = -2; + pt.y = -2; + footprint_spec.push_back(pt); + pt.x = -2; + pt.y = 2; + footprint_spec.push_back(pt); + + tct = new base_local_planner::TrajectoryPlannerTest(mg, wa, map, footprint_spec); + } + return tct; +} + +//make sure that trajectories that intersect obstacles are invalidated +TEST(TrajectoryPlannerTest, footprintObstacles){ + TrajectoryPlannerTest* tct = setup_testclass_singleton(); + tct->footprintObstacles(); +} + +//make sure that goal distance is being computed as expected +TEST(TrajectoryPlannerTest, checkGoalDistance){ + TrajectoryPlannerTest* tct = setup_testclass_singleton(); + tct->checkGoalDistance(); +} + +//make sure that path distance is being computed as expected +TEST(TrajectoryPlannerTest, checkPathDistance){ + TrajectoryPlannerTest* tct = setup_testclass_singleton(); + tct->checkPathDistance(); +} + +}; //namespace diff --git a/navigations/base_local_planner/test/velocity_iterator_test.cpp b/navigations/base_local_planner/test/velocity_iterator_test.cpp new file mode 100755 index 0000000..44bc113 --- /dev/null +++ b/navigations/base_local_planner/test/velocity_iterator_test.cpp @@ -0,0 +1,178 @@ +/********************************************************************* + * 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. + *********************************************************************/ + + + + +#include + +#include + + +namespace base_local_planner { + +TEST(VelocityIteratorTest, testsingle) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(0.0, 0.0, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(1, i); + EXPECT_EQ(0, result[0]); +} + +TEST(VelocityIteratorTest, testsingle_pos) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(2.2, 2.2, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(1, i); + EXPECT_EQ(2.2, result[0]); +} + +TEST(VelocityIteratorTest, testsingle_neg) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-3.3, -3.3, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(1, i); + EXPECT_EQ(-3.3, result[0]); +} + +TEST(VelocityIteratorTest, test1) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-30, 30, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(3, i); + double expected [3]= {-30.0, 0.0, 30.0}; + for (int j = 0; j < 3; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test1_pos) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(10, 30, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(2, i); + double expected [2]= {10.0, 30.0}; + for (int j = 0; j < 2; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test1_neg) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-30, -10, 1); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(2, i); + double expected [2]= {-30.0, -10.0}; + for (int j = 0; j < 2; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test3) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-30, 30, 3); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(3, i); + double expected [3]= {-30.0, 0.0, 30}; + for (int j = 0; j < 3; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test4) { + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-30, 30, 4); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(5, i); + double expected [5]= {-30.0, -10.0, 0.0, 10.0, 30}; + for (int j = 0; j < 5; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test_shifted) { + // test where zero is not in the middle + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-10, 50, 4); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(5, i); + double expected [5]= {-10.0, 0.0, 10.0, 30, 50}; + for (int j = 0; j < 5; ++j) { + EXPECT_EQ(expected[j], result[j]); + } +} + +TEST(VelocityIteratorTest, test_cranky) { + // test where one value is almost zero (nothing to do about that) + double result[5]; + int i = 0; + for(base_local_planner::VelocityIterator x_it(-10.00001, 10, 3); !x_it.isFinished(); x_it++) { + result[i] = x_it.getVelocity(); + i++; + } + EXPECT_EQ(4, i); + for (int j = 0; j < 5; ++j) { + double expected [5]= {-10.00001, -0.000005, 0.0, 10.0}; + EXPECT_FLOAT_EQ(expected[j], result[j]); + } +} + +} // namespace diff --git a/navigations/base_local_planner/test/wavefront_map_accessor.h b/navigations/base_local_planner/test/wavefront_map_accessor.h new file mode 100755 index 0000000..a7b3454 --- /dev/null +++ b/navigations/base_local_planner/test/wavefront_map_accessor.h @@ -0,0 +1,50 @@ +/* + * wavefront_map_accessor.h + * + * Created on: May 2, 2012 + * Author: tkruse + */ + +#ifndef WAVEFRONT_MAP_ACCESSOR_H_ +#define WAVEFRONT_MAP_ACCESSOR_H_ +#include +namespace base_local_planner { + +/** + * Map_grids rely on costmaps to identify obstacles. We need a costmap that we can easily manipulate for unit tests. + * This class has a grid map where we can set grid cell state, and a synchronize method to make the costmap match. + */ +class WavefrontMapAccessor : public costmap_2d::Costmap2D { + public: + WavefrontMapAccessor(MapGrid* map, double outer_radius) + : costmap_2d::Costmap2D(map->size_x_, map->size_y_, 1, 0, 0), + map_(map), outer_radius_(outer_radius) { + synchronize(); + } + + virtual ~WavefrontMapAccessor(){}; + + void synchronize(){ + // Write Cost Data from the map + for(unsigned int x = 0; x < size_x_; x++){ + for (unsigned int y = 0; y < size_y_; y++){ + unsigned int ind = x + (y * size_x_); + if(map_->operator ()(x, y).target_dist == 1) { + costmap_[ind] = costmap_2d::LETHAL_OBSTACLE; + } else { + costmap_[ind] = 0; + } + } + } + } + + private: + MapGrid* map_; + double outer_radius_; +}; + +} + + + +#endif /* WAVEFRONT_MAP_ACCESSOR_H_ */ diff --git a/navigations/carrot_planner/CHANGELOG.rst b/navigations/carrot_planner/CHANGELOG.rst new file mode 100755 index 0000000..12fa2fe --- /dev/null +++ b/navigations/carrot_planner/CHANGELOG.rst @@ -0,0 +1,133 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package carrot_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- +* Fix carrot planner (`#1056 `_) + * fix memory leak of world_model\_ + * fix uninitialized raw pointers + * move the angles header into cpp + * add missing angles dependency + Co-authored-by: Dima Dorezyuk +* Contributors: Dima Dorezyuk + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: Sean Yen + +1.16.3 (2019-11-15) +------------------- + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* fix depends of carrot_planner + * declare direct dependency on tf2 + * alphabetize the depends in CMake +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Contributors: Michael Ferguson, Rein Appeldoorn, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Contributors: Martin Günther, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/navigations/carrot_planner/CMakeLists.txt b/navigations/carrot_planner/CMakeLists.txt new file mode 100755 index 0000000..f0a9632 --- /dev/null +++ b/navigations/carrot_planner/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 3.0.2) +project(carrot_planner) + +find_package(catkin REQUIRED + COMPONENTS + angles + base_local_planner + costmap_2d + nav_core + pluginlib + roscpp + tf2 + tf2_geometry_msgs + tf2_ros +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES carrot_planner + CATKIN_DEPENDS + angles + base_local_planner + costmap_2d + nav_core + pluginlib + roscpp + tf2 + tf2_ros +) + +add_library(carrot_planner src/carrot_planner.cpp) +add_dependencies(carrot_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(carrot_planner + ${catkin_LIBRARIES} + ) + +install(TARGETS carrot_planner + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) + +install(FILES bgp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + + diff --git a/navigations/carrot_planner/bgp_plugin.xml b/navigations/carrot_planner/bgp_plugin.xml new file mode 100755 index 0000000..cde6b32 --- /dev/null +++ b/navigations/carrot_planner/bgp_plugin.xml @@ -0,0 +1,7 @@ + + + + A simple planner that seeks to place a legal carrot in-front of the robot + + + diff --git a/navigations/carrot_planner/include/carrot_planner/carrot_planner.h b/navigations/carrot_planner/include/carrot_planner/carrot_planner.h new file mode 100755 index 0000000..c240de4 --- /dev/null +++ b/navigations/carrot_planner/include/carrot_planner/carrot_planner.h @@ -0,0 +1,107 @@ +/********************************************************************* +* +* 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef CARROT_PLANNER_H_ +#define CARROT_PLANNER_H_ +#include +#include +#include +#include + +#include + +#include +#include + +namespace carrot_planner{ + /** + * @class CarrotPlanner + * @brief Provides a simple global planner that will compute a valid goal point for the local planner by walking back along the vector between the robot and the user-specified goal point until a valid cost is found. + */ + class CarrotPlanner : public nav_core::BaseGlobalPlanner { + public: + /** + * @brief Constructor for the CarrotPlanner + */ + CarrotPlanner(); + /** + * @brief Constructor for the CarrotPlanner + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + CarrotPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Destructor + */ + ~CarrotPlanner(); + + /** + * @brief Initialization function for the CarrotPlanner + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @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 + */ + bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan); + + private: + costmap_2d::Costmap2DROS* costmap_ros_; + double step_size_, min_dist_from_robot_; + costmap_2d::Costmap2D* costmap_; + base_local_planner::WorldModel* world_model_; ///< @brief The world model that the controller will use + + /** + * @brief Checks the legality of the robot footprint at a position and orientation using the world model + * @param x_i The x position of the robot + * @param y_i The y position of the robot + * @param theta_i The orientation of the robot + * @return + */ + double footprintCost(double x_i, double y_i, double theta_i); + + bool initialized_; + }; +}; +#endif diff --git a/navigations/carrot_planner/package.xml b/navigations/carrot_planner/package.xml new file mode 100755 index 0000000..db21567 --- /dev/null +++ b/navigations/carrot_planner/package.xml @@ -0,0 +1,39 @@ + + + + carrot_planner + 1.17.3 + + + This planner attempts to find a legal place to put a carrot for the robot to follow. It does this by moving back along the vector between the robot and the goal point. + + + Eitan Marder-Eppstein + Sachin Chitta + contradict@gmail.com + Aaron Hoy + David V. Lu!! + Michael Ferguson + BSD + http://wiki.ros.org/carrot_planner + + catkin + + tf2_geometry_msgs + + angles + base_local_planner + costmap_2d + eigen + nav_core + pluginlib + roscpp + tf2 + tf2_ros + + + + + + + diff --git a/navigations/carrot_planner/src/carrot_planner.cpp b/navigations/carrot_planner/src/carrot_planner.cpp new file mode 100755 index 0000000..4d6fb9b --- /dev/null +++ b/navigations/carrot_planner/src/carrot_planner.cpp @@ -0,0 +1,175 @@ +/********************************************************************* +* +* 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 Willow Garage, Inc. 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. +* +* Authors: Eitan Marder-Eppstein, Sachin Chitta +*********************************************************************/ +#include +#include +#include +#include +#include +#include + +//register this planner as a BaseGlobalPlanner plugin +PLUGINLIB_EXPORT_CLASS(carrot_planner::CarrotPlanner, nav_core::BaseGlobalPlanner) + +namespace carrot_planner { + + CarrotPlanner::CarrotPlanner() + : costmap_ros_(NULL), costmap_(NULL), world_model_(NULL), initialized_(false){} + + CarrotPlanner::CarrotPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros) + : costmap_ros_(NULL), costmap_(NULL), world_model_(NULL), initialized_(false){ + initialize(name, costmap_ros); + } + + CarrotPlanner::~CarrotPlanner() { + // deleting a nullptr is a noop + delete world_model_; + } + + void CarrotPlanner::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){ + if(!initialized_){ + costmap_ros_ = costmap_ros; + costmap_ = costmap_ros_->getCostmap(); + + ros::NodeHandle private_nh("~/" + name); + private_nh.param("step_size", step_size_, costmap_->getResolution()); + private_nh.param("min_dist_from_robot", min_dist_from_robot_, 0.10); + world_model_ = new base_local_planner::CostmapModel(*costmap_); + + initialized_ = true; + } + else + ROS_WARN("This planner has already been initialized... doing nothing"); + } + + //we need to take the footprint of the robot into account when we calculate cost to obstacles + double CarrotPlanner::footprintCost(double x_i, double y_i, double theta_i){ + if(!initialized_){ + ROS_ERROR("The planner has not been initialized, please call initialize() to use the planner"); + return -1.0; + } + + std::vector footprint = costmap_ros_->getRobotFootprint(); + //if we have no footprint... do nothing + if(footprint.size() < 3) + return -1.0; + + //check if the footprint is legal + double footprint_cost = world_model_->footprintCost(x_i, y_i, theta_i, footprint); + return footprint_cost; + } + + + bool CarrotPlanner::makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan){ + + if(!initialized_){ + ROS_ERROR("The planner has not been initialized, please call initialize() to use the planner"); + return false; + } + + ROS_DEBUG("Got a start: %.2f, %.2f, and a goal: %.2f, %.2f", start.pose.position.x, start.pose.position.y, goal.pose.position.x, goal.pose.position.y); + + plan.clear(); + costmap_ = costmap_ros_->getCostmap(); + + if(goal.header.frame_id != costmap_ros_->getGlobalFrameID()){ + ROS_ERROR("This planner as configured will only accept goals in the %s frame, but a goal was sent in the %s frame.", + costmap_ros_->getGlobalFrameID().c_str(), goal.header.frame_id.c_str()); + return false; + } + + const double start_yaw = tf2::getYaw(start.pose.orientation); + const double goal_yaw = tf2::getYaw(goal.pose.orientation); + + //we want to step back along the vector created by the robot's position and the goal pose until we find a legal cell + double goal_x = goal.pose.position.x; + double goal_y = goal.pose.position.y; + double start_x = start.pose.position.x; + double start_y = start.pose.position.y; + + double diff_x = goal_x - start_x; + double diff_y = goal_y - start_y; + double diff_yaw = angles::normalize_angle(goal_yaw-start_yaw); + + double target_x = goal_x; + double target_y = goal_y; + double target_yaw = goal_yaw; + + bool done = false; + double scale = 1.0; + double dScale = 0.01; + + while(!done) + { + if(scale < 0) + { + target_x = start_x; + target_y = start_y; + target_yaw = start_yaw; + ROS_WARN("The carrot planner could not find a valid plan for this goal"); + break; + } + target_x = start_x + scale * diff_x; + target_y = start_y + scale * diff_y; + target_yaw = angles::normalize_angle(start_yaw + scale * diff_yaw); + + double footprint_cost = footprintCost(target_x, target_y, target_yaw); + if(footprint_cost >= 0) + { + done = true; + } + scale -=dScale; + } + + plan.push_back(start); + geometry_msgs::PoseStamped new_goal = goal; + tf2::Quaternion goal_quat; + goal_quat.setRPY(0, 0, target_yaw); + + new_goal.pose.position.x = target_x; + new_goal.pose.position.y = target_y; + + new_goal.pose.orientation.x = goal_quat.x(); + new_goal.pose.orientation.y = goal_quat.y(); + new_goal.pose.orientation.z = goal_quat.z(); + new_goal.pose.orientation.w = goal_quat.w(); + + plan.push_back(new_goal); + return (done); + } + +}; diff --git a/navigations/clear_costmap_recovery/CHANGELOG.rst b/navigations/clear_costmap_recovery/CHANGELOG.rst new file mode 100755 index 0000000..d3d40a9 --- /dev/null +++ b/navigations/clear_costmap_recovery/CHANGELOG.rst @@ -0,0 +1,163 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package clear_costmap_recovery +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- +* check if the layer is derived from costmap_2d::CostmapLayer (`#1054 `_) + Co-authored-by: Dima Dorezyuk +* Add invert_area_to_clear to clear costmap recovery behavior (`#1030 `_) +* Contributors: Dima Dorezyuk, G.Doisy + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Merge pull request `#877 `_ from SteveMacenski/layer_clear_area-melodic + [melodic] moving clearing area method to costmap_layer so other applications can clear other types. +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Add force_updating and affected_maps parameters to tailor clear costmaps recovey (`#838 `_) + behavior +* clear area in layer for melodic +* Contributors: Jorge Santos Simón, Michael Ferguson, Steven Macenski, stevemacenski + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Contributors: Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* import only PCL common +* remove GCC warnings +* Contributors: Martin Günther, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* proper locking during costmap update +* Contributors: Michael Ferguson + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- +* Fix the build (layers library is exported by costmap_2d) +* Contributors: Michael Ferguson + +1.11.12 (2014-10-01) +-------------------- +* Clarify debug messages +* Initial Clearing Costmap parameter change +* Contributors: David Lu!!, Michael Ferguson + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.5 (2014-01-30) +------------------- +* Misc. other commits from Groovy Branch +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* Fix bounds setting diff --git a/navigations/clear_costmap_recovery/CMakeLists.txt b/navigations/clear_costmap_recovery/CMakeLists.txt new file mode 100755 index 0000000..f0753b2 --- /dev/null +++ b/navigations/clear_costmap_recovery/CMakeLists.txt @@ -0,0 +1,66 @@ +cmake_minimum_required(VERSION 3.0.2) +project(clear_costmap_recovery) + +find_package(catkin REQUIRED + COMPONENTS + cmake_modules + costmap_2d + nav_core + pluginlib + roscpp + tf2_ros + ) + +find_package(Eigen3 REQUIRED) +remove_definitions(-DDISABLE_LIBUSB-1.0) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES clear_costmap_recovery + CATKIN_DEPENDS + costmap_2d + nav_core + pluginlib + roscpp + tf2_ros +) + +add_library(clear_costmap_recovery src/clear_costmap_recovery.cpp) +add_dependencies(clear_costmap_recovery ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(clear_costmap_recovery ${catkin_LIBRARIES}) + + +## Configure Tests +if(CATKIN_ENABLE_TESTING) + # Find package test dependencies + find_package(rostest REQUIRED) + + # Add the test folder to the include directories + include_directories(test) + + # Create targets for test executables + add_rostest_gtest(clear_tester test/clear_tests.launch test/clear_tester.cpp) + target_link_libraries(clear_tester clear_costmap_recovery ${GTEST_LIBRARIES}) +endif() + + +install(TARGETS clear_costmap_recovery + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(FILES ccr_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) diff --git a/navigations/clear_costmap_recovery/ccr_plugin.xml b/navigations/clear_costmap_recovery/ccr_plugin.xml new file mode 100755 index 0000000..93f2af2 --- /dev/null +++ b/navigations/clear_costmap_recovery/ccr_plugin.xml @@ -0,0 +1,7 @@ + + + + A recovery behavior that reverts the costmap to the static map outside of a user specified window. + + + diff --git a/navigations/clear_costmap_recovery/include/clear_costmap_recovery/clear_costmap_recovery.h b/navigations/clear_costmap_recovery/include/clear_costmap_recovery/clear_costmap_recovery.h new file mode 100755 index 0000000..c7be30a --- /dev/null +++ b/navigations/clear_costmap_recovery/include/clear_costmap_recovery/clear_costmap_recovery.h @@ -0,0 +1,88 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef CLEAR_COSTMAP_RECOVERY_H_ +#define CLEAR_COSTMAP_RECOVERY_H_ +#include +#include +#include +#include + +namespace clear_costmap_recovery{ + /** + * @class ClearCostmapRecovery + * @brief A recovery behavior that reverts the navigation stack's costmaps to the static map outside of a user-specified region. + */ + class ClearCostmapRecovery : public nav_core::RecoveryBehavior { + public: + /** + * @brief Constructor, make sure to call initialize in addition to actually initialize the object + * @param + * @return + */ + ClearCostmapRecovery(); + + /** + * @brief Initialization function for the ClearCostmapRecovery recovery behavior + * @param tf A pointer to a transform listener + * @param global_costmap A pointer to the global_costmap used by the navigation stack + * @param local_costmap A pointer to the local_costmap used by the navigation stack + */ + void initialize(std::string name, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap); + + /** + * @brief Run the ClearCostmapRecovery recovery behavior. Reverts the + * costmap to the static map outside of a user-specified window and + * clears unknown space around the robot. + */ + void runBehavior(); + + private: + void clear(costmap_2d::Costmap2DROS* costmap); + void clearMap(boost::shared_ptr costmap, double pose_x, double pose_y); + costmap_2d::Costmap2DROS* global_costmap_, *local_costmap_; + std::string name_; + tf2_ros::Buffer* tf_; + bool initialized_; + bool force_updating_; ///< force costmap update after clearing, so we don't need to wait for update thread + double reset_distance_; + bool invert_area_to_clear_; + std::string affected_maps_; ///< clear only local, global or both costmaps + std::set clearable_layers_; ///< Layer names which will be cleared. + }; +}; +#endif diff --git a/navigations/clear_costmap_recovery/package.xml b/navigations/clear_costmap_recovery/package.xml new file mode 100755 index 0000000..69ebf07 --- /dev/null +++ b/navigations/clear_costmap_recovery/package.xml @@ -0,0 +1,37 @@ + + + + clear_costmap_recovery + 1.17.3 + + + This package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/clear_costmap_recovery + + catkin + + cmake_modules + + costmap_2d + eigen + nav_core + pluginlib + roscpp + tf2_ros + + rostest + + + + + + + diff --git a/navigations/clear_costmap_recovery/src/clear_costmap_recovery.cpp b/navigations/clear_costmap_recovery/src/clear_costmap_recovery.cpp new file mode 100755 index 0000000..98fc9c1 --- /dev/null +++ b/navigations/clear_costmap_recovery/src/clear_costmap_recovery.cpp @@ -0,0 +1,204 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + *********************************************************************/ +#include +#include +#include +#include + +// register this planner as a RecoveryBehavior plugin +PLUGINLIB_EXPORT_CLASS(clear_costmap_recovery::ClearCostmapRecovery, nav_core::RecoveryBehavior) + +using costmap_2d::NO_INFORMATION; + +namespace clear_costmap_recovery +{ + ClearCostmapRecovery::ClearCostmapRecovery() : global_costmap_(NULL), local_costmap_(NULL), + tf_(NULL), initialized_(false) {} + + void ClearCostmapRecovery::initialize(std::string name, tf2_ros::Buffer *tf, + costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap) + { + if (!initialized_) + { + name_ = name; + tf_ = tf; + global_costmap_ = global_costmap; + local_costmap_ = local_costmap; + + // get some parameters from the parameter server + ros::NodeHandle private_nh("~/" + name_); + + private_nh.param("reset_distance", reset_distance_, 3.0); + private_nh.param("invert_area_to_clear", invert_area_to_clear_, false); + private_nh.param("force_updating", force_updating_, false); + private_nh.param("affected_maps", affected_maps_, std::string("both")); + if (affected_maps_ != "local" && affected_maps_ != "global" && affected_maps_ != "both") + { + ROS_WARN("Wrong value for affected_maps parameter: '%s'; valid values are 'local', 'global' or 'both'; " + "defaulting to 'both'", + affected_maps_.c_str()); + affected_maps_ = "both"; + } + + std::vector clearable_layers_default, clearable_layers; + clearable_layers_default.push_back(std::string("obstacles")); + private_nh.param("layer_names", clearable_layers, clearable_layers_default); + + for (unsigned i = 0; i < clearable_layers.size(); i++) + { + ROS_INFO("Recovery behavior will clear layer '%s'", clearable_layers[i].c_str()); + clearable_layers_.insert(clearable_layers[i]); + } + initialized_ = true; + } + else + { + ROS_ERROR("You should not call initialize twice on this object, doing nothing "); + } + } + + void ClearCostmapRecovery::runBehavior() + { + if (!initialized_) + { + ROS_ERROR("This object must be initialized before runBehavior is called"); + return; + } + + if (global_costmap_ == NULL || local_costmap_ == NULL) + { + ROS_ERROR("The costmaps passed to the ClearCostmapRecovery object cannot be NULL. Doing nothing."); + return; + } + + if (!invert_area_to_clear_) + { + ROS_WARN("%s is Clearing %s costmap%s outside a square (%.2fm) large centered on the robot.", name_.c_str(),affected_maps_.c_str(), + affected_maps_ == "both" ? "s" : "", reset_distance_); + } + else + { + ROS_WARN("%s is Clearing %s costmap%s inside a square (%.2fm) large centered on the robot.", name_.c_str(), affected_maps_.c_str(), + affected_maps_ == "both" ? "s" : "", reset_distance_); + } + + ros::WallTime t0 = ros::WallTime::now(); + if (affected_maps_ == "global" || affected_maps_ == "both") + { + clear(global_costmap_); + + if (force_updating_) + global_costmap_->updateMap(); + + ROS_DEBUG("Global costmap cleared in %fs", (ros::WallTime::now() - t0).toSec()); + } + + t0 = ros::WallTime::now(); + if (affected_maps_ == "local" || affected_maps_ == "both") + { + clear(local_costmap_); + + if (force_updating_) + local_costmap_->updateMap(); + + ROS_DEBUG("Local costmap cleared in %fs", (ros::WallTime::now() - t0).toSec()); + } + } + + void ClearCostmapRecovery::clear(costmap_2d::Costmap2DROS *costmap) + { + std::vector> *plugins = costmap->getLayeredCostmap()->getPlugins(); + + geometry_msgs::PoseStamped pose; + + if (!costmap->getRobotPose(pose)) + { + ROS_ERROR("Cannot clear map because pose cannot be retrieved"); + return; + } + + double x = pose.pose.position.x; + double y = pose.pose.position.y; + + for (std::vector>::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) + { + boost::shared_ptr plugin = *pluginp; + std::string name = plugin->getName(); + int slash = name.rfind('/'); + if (slash != std::string::npos) + { + name = name.substr(slash + 1); + } + + if (clearable_layers_.count(name) != 0) + { + // check if the value is convertable + if (!dynamic_cast(plugin.get())) + { + ROS_ERROR_STREAM("Layer " << name << " is not derived from costmap_2d::CostmapLayer"); + continue; + } + + boost::shared_ptr costmap; + costmap = boost::static_pointer_cast(plugin); + clearMap(costmap, x, y); + } + } + } + + void ClearCostmapRecovery::clearMap(boost::shared_ptr costmap, + double pose_x, double pose_y) + { + boost::unique_lock lock(*(costmap->getMutex())); + + double start_point_x = pose_x - reset_distance_ / 2; + double start_point_y = pose_y - reset_distance_ / 2; + double end_point_x = start_point_x + reset_distance_; + double end_point_y = start_point_y + reset_distance_; + + int start_x, start_y, end_x, end_y; + costmap->worldToMapNoBounds(start_point_x, start_point_y, start_x, start_y); + costmap->worldToMapNoBounds(end_point_x, end_point_y, end_x, end_y); + costmap->clearArea(start_x, start_y, end_x, end_y, invert_area_to_clear_); + + double ox = costmap->getOriginX(), oy = costmap->getOriginY(); + double width = costmap->getSizeInMetersX(), height = costmap->getSizeInMetersY(); + costmap->addExtraBounds(ox, oy, ox + width, oy + height); + return; + } + +}; diff --git a/navigations/clear_costmap_recovery/test/clear_tester.cpp b/navigations/clear_costmap_recovery/test/clear_tester.cpp new file mode 100755 index 0000000..4e89dbf --- /dev/null +++ b/navigations/clear_costmap_recovery/test/clear_tester.cpp @@ -0,0 +1,95 @@ +#include +#include +#include + +#include +#include + +tf2_ros::Buffer* transformer; +tf2_ros::TransformListener* tfl; + +using costmap_2d::LETHAL_OBSTACLE; + +void testClearBehavior(std::string name, + double distance, + bool obstacles, + bool static_map, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap){ + clear_costmap_recovery::ClearCostmapRecovery clear = clear_costmap_recovery::ClearCostmapRecovery(); + + ros::NodeHandle clr("~/" + name); + clr.setParam("reset_distance", distance); + + std::vector clearable_layers; + if(obstacles) + clearable_layers.push_back( std::string("obstacles") ); + if(static_map) + clearable_layers.push_back( std::string("static_map") ); + + clr.setParam("layer_names", clearable_layers); + + clear.initialize(name, transformer, global_costmap, local_costmap); + + clear.runBehavior(); +} + +void testCountLethal(std::string name, double distance, bool obstacles, bool static_map, int global_lethal, int local_lethal=0) +{ + costmap_2d::Costmap2DROS global(name + "/global", *transformer); + costmap_2d::Costmap2DROS local(name + "/local" , *transformer); + boost::shared_ptr olayer; + + std::vector >* plugins = global.getLayeredCostmap()->getPlugins(); + for (std::vector >::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) { + boost::shared_ptr plugin = *pluginp; + if(plugin->getName().find("obstacles")!=std::string::npos){ + olayer = boost::static_pointer_cast(plugin); + addObservation(&(*olayer), 5.0, 0.0, MAX_Z/2, 0, 0, MAX_Z/2); + addObservation(&(*olayer), 0.0, 5.0, MAX_Z/2, 0, 0, MAX_Z/2); + } + } + + global.updateMap(); + local.updateMap(); + olayer->clearStaticObservations(true, true); + + testClearBehavior("clear", distance, obstacles, static_map, &global, &local); + + global.updateMap(); + local.updateMap(); + + printMap(*global.getCostmap()); + ASSERT_EQ(countValues(*global.getCostmap(), LETHAL_OBSTACLE), global_lethal); + ASSERT_EQ(countValues( *local.getCostmap(), LETHAL_OBSTACLE), local_lethal); + +} + +TEST(ClearTester, basicTest){ + testCountLethal("base", 3.0, true, false, 20); +} + +TEST(ClearTester, bigRadiusTest){ + testCountLethal("base", 20.0, true, false, 22); +} + +TEST(ClearTester, clearNoLayersTest){ + testCountLethal("base", 20.0, false, false, 22); +} + +TEST(ClearTester, clearBothTest){ + testCountLethal("base", 3.0, true, true, 0); +} + +TEST(ClearTester, clearBothTest2){ + testCountLethal("base", 12.0, true, true, 6); +} + + +int main(int argc, char** argv){ + ros::init(argc, argv, "clear_tests"); + testing::InitGoogleTest(&argc, argv); + transformer = new tf2_ros::Buffer(ros::Duration(10)); + tfl = new tf2_ros::TransformListener(*transformer); + return RUN_ALL_TESTS(); +} diff --git a/navigations/clear_costmap_recovery/test/clear_tests.launch b/navigations/clear_costmap_recovery/test/clear_tests.launch new file mode 100755 index 0000000..acebad2 --- /dev/null +++ b/navigations/clear_costmap_recovery/test/clear_tests.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/navigations/clear_costmap_recovery/test/params.yaml b/navigations/clear_costmap_recovery/test/params.yaml new file mode 100755 index 0000000..7ebca4e --- /dev/null +++ b/navigations/clear_costmap_recovery/test/params.yaml @@ -0,0 +1,13 @@ +base: + global: + plugins: + - {name: static_map, type: "costmap_2d::StaticLayer"} + - {name: obstacles, type: "costmap_2d::ObstacleLayer"} + - {name: inflation, type: "costmap_2d::InflationLayer"} + obstacles: + track_unknown_space: true + local: + plugins: [] + robot_radius: .5 +clear: + clearing_distance: 7.0 diff --git a/navigations/costmap_2d b/navigations/costmap_2d new file mode 160000 index 0000000..f97f0e7 --- /dev/null +++ b/navigations/costmap_2d @@ -0,0 +1 @@ +Subproject commit f97f0e7f3f22c721e85a95b864a63a7a7e4833e8 diff --git a/navigations/costmap_converter/.gitlab-ci.yml b/navigations/costmap_converter/.gitlab-ci.yml new file mode 100755 index 0000000..9833056 --- /dev/null +++ b/navigations/costmap_converter/.gitlab-ci.yml @@ -0,0 +1,23 @@ +build-kinetic: + variables: + ROSDISTRO: "kinetic" + CATKIN_WS: "/root/catkin_ws" + stage: build + image: osrf/ros:$ROSDISTRO-desktop-full + before_script: + - apt-get -qq update + - apt-get -qq install git-core python-catkin-tools curl + - mkdir -p $CATKIN_WS/src + - cp -a . $CATKIN_WS/src/ + - cd $CATKIN_WS + - rosdep update + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROSDISTRO --as-root=apt:false + script: + - source /ros_entrypoint.sh + - cd $CATKIN_WS + - catkin build -i -s --no-status + only: + - master + tags: + - ubuntu + - docker \ No newline at end of file diff --git a/navigations/costmap_converter/.travis.yml b/navigations/costmap_converter/.travis.yml new file mode 100755 index 0000000..dfa1f14 --- /dev/null +++ b/navigations/costmap_converter/.travis.yml @@ -0,0 +1,109 @@ +# Generic .travis.yml file for running continuous integration on Travis-CI with +# any ROS package. +# +# This installs ROS on a clean Travis-CI virtual machine, creates a ROS +# workspace, resolves all listed dependencies, and sets environment variables +# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are +# no compilation errors), and runs all the tests. If any of the compilation/test +# phases fail, the build is marked as a failure. +# +# We handle two types of package dependencies: +# - packages (ros and otherwise) available through apt-get. These are installed +# using rosdep, based on the information in the ROS package.xml. +# - dependencies that must be checked out from source. These are handled by +# 'wstool', and should be listed in a file named dependencies.rosinstall. +# +# There are two variables you may want to change: +# - ROS_DISTRO (default is indigo). Note that packages must be available for +# ubuntu 14.04 trusty. +# - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo +# root). This should list all necessary repositories in wstool format (see +# the ros wiki). If the file does not exists then nothing happens. +# +# See the README.md for more information. +# +# Author: Felix Duvallet + +# NOTE: The build lifecycle on Travis.ci is something like this: +# before_install +# install +# before_script +# script +# after_success or after_failure +# after_script +# OPTIONAL before_deploy +# OPTIONAL deploy +# OPTIONAL after_deploy + +################################################################################ + +# Use ubuntu trusty (14.04) with sudo privileges. +dist: trusty +sudo: required +language: + - generic +cache: + - apt + +# Configuration variables. All variables are global now, but this can be used to +# trigger a build matrix for different ROS distributions if desired. +env: + global: + - ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...] + - CI_SOURCE_PATH=$(pwd) + - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall + - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options + - ROS_PARALLEL_JOBS='-j8 -l6' + matrix: + - ROS_DISTRO=indigo + - ROS_DISTRO=jade + + +################################################################################ + +# Install system dependencies, namely a very barebones ROS setup. +before_install: + - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" + - wget http://packages.ros.org/ros.key -O - | sudo apt-key add - + - sudo apt-get update -qq + - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin + - source /opt/ros/$ROS_DISTRO/setup.bash + # Prepare rosdep to install dependencies. + - sudo rosdep init + - rosdep update + +# Create a catkin workspace with the package under integration. +install: + - mkdir -p ~/catkin_ws/src + - cd ~/catkin_ws/src + - catkin_init_workspace + # Create the devel/setup.bash (run catkin_make with an empty workspace) and + # source it to set the path variables. + - cd ~/catkin_ws + - catkin_make + - source devel/setup.bash + # Add the package under integration to the workspace using a symlink. + - cd ~/catkin_ws/src + - ln -s $CI_SOURCE_PATH . + +# Install all dependencies, using wstool and rosdep. +# wstool looks for a ROSINSTALL_FILE defined in the environment variables. +before_script: + # source dependencies: install using wstool. + - cd ~/catkin_ws/src + - wstool init + - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi + - wstool up + # package depdencies: install using rosdep. + - cd ~/catkin_ws + - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO + +# Compile and test. If the CATKIN_OPTIONS file exists, use it as an argument to +# catkin_make. +script: + - cd ~/catkin_ws + - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS ) + # Testing: Use both run_tests (to see the output) and test (to error out). + - catkin_make run_tests # This always returns 0, but looks pretty. + - catkin_make test # This will return non-zero if a test fails. + diff --git a/navigations/costmap_converter/CHANGELOG.rst b/navigations/costmap_converter/CHANGELOG.rst new file mode 100755 index 0000000..a0d3f14 --- /dev/null +++ b/navigations/costmap_converter/CHANGELOG.rst @@ -0,0 +1,95 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package costmap_converter +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.0.13 (2020-05-13) +------------------- +* Changed minimum CMake version to 3.1 +* Fixed wrong return type of method pointToNeighborCells +* OpenCV 4 compatibility fix (Thanks to daviddudas) +* Contributors: Christoph Rösmann, daviddudas + +0.0.12 (2019-12-02) +------------------- +* CostmapToPolygons: Simplification of the polygon by Douglas-Peucker algorithm (reduces the density of points in the polygon). +* Bugfixes +* Contributors: Rainer Kümmerle + +0.0.11 (2019-10-26) +------------------- +* rostest integration to avoid running a roscore separately for unit testing +* Contributors: Christoph Rösmann + +0.0.10 (2019-10-26) +------------------- +* Runtime improvements for CostmapToPolygonsDBSMCCH (`#12 `_) + * Grid lookup for regionQuery + * use a grid structure for looking up nearest neighbors + * parameters in a struct + * guard the parameters by drawing a copy from dynamic reconfigure + * Adding some test cases for regionQuery and dbScan + * Avoid computing sqrt at the end of convexHull2 + * Add doxygen comments for the neighbor lookup + * Change the param read to one liners + * Add test on empty map for dbScan +* Contributors: Rainer Kümmerle + +0.0.9 (2018-05-28) +------------------ +* Moved plugin loader for static costmap conversion to BaseCostmapToDynamicObstacles. + The corresponding ROS parameter `static_converter_plugin` is now defined in the CostmapToDynamicObstacles namespace. +* Contributors: Christoph Rösmann + +0.0.8 (2018-05-17) +------------------ +* Standalone converter subscribes now to costmap updates. Fixes `#1 `_ +* Adds radius field for circular obstacles to ObstacleMsg +* Stacked costmap conversion (`#7 `_). + E.g., it is now possible combine a dynamic obstacle and static obstacle converter plugin. +* Contributors: Christoph Rösmann, Franz Albers + +0.0.7 (2017-09-20) +------------------ +* Fixed some compilation issues (C++11 compiler flags and opencv2 on indigo/jade). +* Dynamic obstacle plugin: obstacle velocity is now published for both x and y coordinates rather than the absolute value + +0.0.6 (2017-09-18) +------------------ +* This pull request adds the costmap to dynamic obstacles plugin (written by Franz Albers). + It detects the dynamic foreground of the costmap (based on the temporal evolution of the costmap) + including blobs representing the obstacles. Furthermore, Kalman-based tracking is applied to estimate + the current velocity for each obstacle. + **Note, this plugin is still experimental.** +* New message types are introduced: costmap\_converter::ObstacleMsg and costmap\_converter::ObstacleArrayMsg. + These types extend the previous polygon representation by additional velocity, orientation and id information. +* The API has been extended to provide obstacles via the new ObstacleArrayMsg type instead of vector of polygons. +* Contributors: Franz Albers, Christoph Rösmann + +0.0.5 (2016-02-01) +------------------ +* Major changes regarding the line detection based on the convex hull + (it should be much more robust now). +* Concave hull plugin added. +* The cluster size can now be limited from above using a specific parameter. + This implicitly avoids large clusters forming a 'L' or 'U'. +* All parameters can now be adjusted using dynamic_reconfigure (rqt_reconfigure). +* Some parameter names changed. +* Line plugin based on ransac: line inliers must now be placed inbetween the start and end of a line. + +0.0.4 (2016-01-11) +------------------ +* Fixed conversion from map to world coordinates if the costmap is not quadratic. + +0.0.3 (2015-12-23) +------------------ +* The argument list of the initialize method requires a nodehandle from now on. This facilitates the handling of parameter namespaces for multiple instantiations of the plugin. +* This change is pushed immediately as a single release to avoid API breaks (since version 0.0.2 is not on the official repos up to now). + +0.0.2 (2015-12-22) +------------------ +* Added a plugin for converting the costmap to lines using ransac + +0.0.1 (2015-12-21) +------------------ +* First release of the package including a pluginlib interface, two plugins (costmap to polygons and costmap to lines) and a standalone conversion node. + diff --git a/navigations/costmap_converter/CMakeLists.txt b/navigations/costmap_converter/CMakeLists.txt new file mode 100755 index 0000000..9ae9e9a --- /dev/null +++ b/navigations/costmap_converter/CMakeLists.txt @@ -0,0 +1,244 @@ +cmake_minimum_required(VERSION 3.1) +project(costmap_converter) + +# Set to Release in order to speed up the program significantly +set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + std_msgs + message_generation + costmap_2d + dynamic_reconfigure + pluginlib + cv_bridge +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) +find_package(OpenCV REQUIRED) + +###set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}) +###find_package(Eigen3 REQUIRED) +###set(EXTERNAL_INCLUDE_DIRS ${Eigen3_INCLUDE_DIRS}) + +if (CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) +endif() + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +## C++11 support +IF(NOT MSVC) + include(CheckCXXCompilerFlag) + CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) + CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) +if(COMPILER_SUPPORTS_CXX11) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +elseif(COMPILER_SUPPORTS_CXX0X) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +else() + message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support which is required + by linked third party packages starting from ROS Jade. Ignore this message for ROS Indigo.") +endif() +endif() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files( + FILES + ObstacleMsg.msg + ObstacleArrayMsg.msg +) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs std_msgs +) + +#add dynamic reconfigure api +#find_package(catkin REQUIRED dynamic_reconfigure) +generate_dynamic_reconfigure_options( + cfg/dynamic_reconfigure/CostmapToPolygonsDBSMCCH.cfg + cfg/dynamic_reconfigure/CostmapToPolygonsDBSConcaveHull.cfg + cfg/dynamic_reconfigure/CostmapToLinesDBSMCCH.cfg + cfg/dynamic_reconfigure/CostmapToLinesDBSRANSAC.cfg + cfg/dynamic_reconfigure/CostmapToDynamicObstacles.cfg +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include + LIBRARIES costmap_converter + CATKIN_DEPENDS + geometry_msgs + pluginlib + roscpp + std_msgs + message_runtime + dynamic_reconfigure + costmap_2d + #DEPENDS +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} +) + +## Declare a cpp library +add_library(costmap_converter src/costmap_to_polygons.cpp + src/costmap_to_polygons_concave.cpp + src/costmap_to_lines_convex_hull.cpp + src/costmap_to_lines_ransac.cpp + src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp + src/costmap_to_dynamic_obstacles/background_subtractor.cpp + src/costmap_to_dynamic_obstacles/blob_detector.cpp + src/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.cpp + src/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.cpp + src/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.cpp +) +target_link_libraries(costmap_converter ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) +# target_compile_features(costmap_converter PUBLIC cxx_nullptr cxx_range_for) + +# Dynamic reconfigure: make sure configure headers raare built before any node using them +add_dependencies(costmap_converter ${PROJECT_NAME}_gencfg) +# Generate messages before compiling the lib +add_dependencies(costmap_converter ${PROJECT_NAME}_generate_messages_cpp) + +## Declare a cpp executable +add_executable(standalone_converter src/costmap_converter_node.cpp) +target_link_libraries(standalone_converter ${catkin_LIBRARIES} ) +add_dependencies(standalone_converter costmap_converter) + +# (un)set: cmake -DCVV_DEBUG_MODE=OFF .. +option(CVV_DEBUG_MODE "cvvisual-debug-mode" ON) +if(CVV_DEBUG_MODE MATCHES ON) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DCVVISUAL_DEBUGMODE") +endif() + + + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation + +## Mark executables and/or libraries for installation +install(TARGETS costmap_converter + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) +install(TARGETS standalone_converter + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + #FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +## Mark other files for installation (e.g. launch and bag files, etc.) +install(FILES + plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY + cfg + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN ".svn" EXCLUDE +) + + +############# +## Testing ## +############# + +if (CATKIN_ENABLE_TESTING) + add_rostest_gtest(test_costmap_polygons test/costmap_polygons.test test/costmap_polygons.cpp) + if(TARGET test_costmap_polygons) + target_link_libraries(test_costmap_polygons costmap_converter) + endif() +endif() + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_drawing.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/navigations/costmap_converter/README.md b/navigations/costmap_converter/README.md new file mode 100755 index 0000000..9e3fd2a --- /dev/null +++ b/navigations/costmap_converter/README.md @@ -0,0 +1,30 @@ +costmap_converter ROS Package +============================= + +A ros package that includes plugins and nodes to convert occupied costmap2d cells to primitive types + +Build status of the *master* branch: +- ROS Buildfarm Noetic: [![Noetic Build Status](http://build.ros.org/buildStatus/icon?job=Ndev__costmap_converter__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__costmap_converter__ubuntu_focal_amd64/) +- ROS Buildfarm Melodic: [![Melodic Build Status](http://build.ros.org/buildStatus/icon?job=Mdev__costmap_converter__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__costmap_converter__ubuntu_bionic_amd64/) + + +### Contributors + +- Christoph Rösmann +- Franz Albers (*CostmapToDynamicObstacles* plugin) +- Otniel Rinaldo + + +### License + +The *costmap_converter* package is licensed under the BSD license. +It depends on other ROS packages, which are listed in the package.xml. They are also BSD licensed. + +Some third-party dependencies are included that are licensed under different terms: + - *MultitargetTracker*, GNU GPLv3, https://github.com/Smorodov/Multitarget-tracker + (partially required for the *CostmapToDynamicObstacles* plugin) + +All packages included are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the licenses for more details. + + + diff --git a/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToDynamicObstacles.cfg b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToDynamicObstacles.cfg new file mode 100755 index 0000000..7e18a9e --- /dev/null +++ b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToDynamicObstacles.cfg @@ -0,0 +1,136 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + +################################################################## +###################### Foreground detection ###################### +gen.add("alpha_slow", double_t, 0, + "Foreground detection: Learning rate of the slow filter", + 0.3, 0.0, 1.0) + +gen.add("alpha_fast", double_t, 0, + "Foreground detection: Learning rate of the fast filter", + 0.85, 0.0, 1.0) + +gen.add("beta", double_t, 0, + "Foreground detection: Weighting coefficient between a pixels value and the mean of its nearest neighbors", + 0.85, 0.0, 1.0) + +gen.add("min_sep_between_slow_and_fast_filter", int_t, 0, + "Foreground detection: Minimal difference between the fast and the slow filter to recognize a obstacle as dynamic", + 80, 0, 255) + +gen.add("min_occupancy_probability", int_t, 0, + "Foreground detection: Minimal value of the fast filter to recognize a obstacle as dynamic", + 180, 0, 255) + +gen.add("max_occupancy_neighbors", int_t, 0, + "Foreground detection: Maximal mean value of the nearest neighbors of a pixel in the slow filter", + 80, 0, 255) + +gen.add("morph_size", int_t, 0, + "Foreground detection: Size of the structuring element for the closing operation", + 1, 0, 10) + +gen.add("publish_static_obstacles", bool_t, 0, + "Include static obstacles as single-point polygons", + True) + +############################################################ +###################### Blob detection ###################### + +# These parameters are commented out, because the input image for the blob detection is already binary -> irrelevant +#gen.add("threshold_step", double_t, 0, +# "Blob detection: Distance between neighboring thresholds", +# 256.0, 0.0, 256.0) +# +#gen.add("min_threshold", double_t, 0, +# "Blob detection: Convert the source image to binary images by applying several thresholds, starting at min_threshold", +# 1, 0, 255) +# +#gen.add("max_threshold", double_t, 0, +# "Blob detection: Convert the source image to binary images by applying several thresholds, ending at max_threshold", +# 255, 0, 255) +# +#gen.add("min_repeatability", int_t, 0, +# "Blob detection: Minimal number of detections of a blob in the several thresholds to be considered as real blob", +# 1, 1, 10) +# +gen.add("min_distance_between_blobs", double_t, 0, + "Blob detection: Minimal distance between centers of two blobs to be considered as seperate blobs", + 10, 0.0, 300.0) + +gen.add("filter_by_area", bool_t, 0, + "Blob detection: Filter blobs based on number of pixels", + True) + +gen.add("min_area", int_t, 0, + "Blob detection: Minimal number of pixels a blob consists of", + 3, 0, 300) + +gen.add("max_area", int_t, 0, + "Blob detection: Maximal number of pixels a blob consists of", + 300, 0, 300) + +gen.add("filter_by_circularity", bool_t, 0, + "Blob detection: Filter blobs based on their circularity", + True) + +gen.add("min_circularity", double_t, 0, + "Blob detection: Minimal circularity value (0 in case of a line)", + 0.2, 0.0, 1.0) + +gen.add("max_circularity", double_t, 0, + "Blob detection: Maximal circularity value (1 in case of a circle)", + 1.0, 0.0, 1.0) + +gen.add("filter_by_inertia", bool_t, 0, + "Blob detection: Filter blobs based on their inertia ratio", + True) + +gen.add("min_inertia_ratio", double_t, 0, + "Blob detection: Minimal inertia ratio", + 0.2, 0.0, 1.0) + +gen.add("max_inertia_ratio", double_t, 0, + "Blob detection: Maximal inertia ratio", + 1.0, 0.0, 1.0) + +gen.add("filter_by_convexity", bool_t, 0, + "Blob detection: Filter blobs based on their convexity (Blob area / area of its convex hull)", + False) + +gen.add("min_convexity", double_t, 0, + "Blob detection: Minimum convexity ratio", + 0.0, 0.0, 1.0) + +gen.add("max_convexity", double_t, 0, + "Blob detection: Maximal convexity ratio", + 1.0, 0.0, 1.0) + +################################################################ +#################### Tracking ################################## +gen.add("dt", double_t, 0, + "Tracking: Time for one timestep of the kalman filter", + 0.2, 0.1, 3.0) + +gen.add("dist_thresh", double_t, 0, + "Tracking: Maximum distance between two points to be considered in the assignment problem", + 20.0, 0.0, 150.0) + +gen.add("max_allowed_skipped_frames", int_t, 0, + "Tracking: Maximum number of frames a object is tracked while it is not seen", + 3, 0, 10) + +gen.add("max_trace_length", int_t, 0, + "Tracking: Maximum number of Points in a objects trace", + 10, 1, 100) + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToDynamicObstacles")) diff --git a/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSMCCH.cfg b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSMCCH.cfg new file mode 100755 index 0000000..1dd917c --- /dev/null +++ b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSMCCH.cfg @@ -0,0 +1,41 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +gen.add("cluster_max_distance", double_t, 0, + "Parameter for DB_Scan, maximum distance to neighbors [m]", + 0.4, 0.0, 10.0) + +gen.add("cluster_min_pts", int_t, 0, + "Parameter for DB_Scan: minimum number of points that define a cluster", + 2, 1, 20) + +gen.add("cluster_max_pts", int_t, 0, + "Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)", + 30, 2, 200) + +gen.add("convex_hull_min_pt_separation", double_t, 0, + "Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)", + 0.1, 0.0, 10.0) + +gen.add("support_pts_max_dist", double_t, 0, + "Minimum distance from a point to the line to be counted as support point", + 0.3, 0.0, 10.0) + +gen.add("support_pts_max_dist_inbetween", double_t, 0, + "A line is only defined, if the distance between two consecutive support points is less than this treshold. Set to 0 in order to deactivate this check.", + 1.0, 0.0, 10.0) + +gen.add("min_support_pts", int_t, 0, + "Minimum number of support points to represent a line", + 2, 0, 50) + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToLinesDBSMCCH")) diff --git a/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSRANSAC.cfg b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSRANSAC.cfg new file mode 100755 index 0000000..2c5b322 --- /dev/null +++ b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToLinesDBSRANSAC.cfg @@ -0,0 +1,54 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +gen.add("cluster_max_distance", double_t, 0, + "Parameter for DB_Scan, maximum distance to neighbors [m]", + 0.4, 0.0, 10.0) + +gen.add("cluster_min_pts", int_t, 0, + "Parameter for DB_Scan: minimum number of points that define a cluster", + 2, 1, 20) + +gen.add("cluster_max_pts", int_t, 0, + "Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)", + 30, 2, 200) + +gen.add("ransac_inlier_distance", double_t, 0, + "Maximum distance to the line segment for inliers", + 0.2, 0.0, 10.0) + +gen.add("ransac_min_inliers", int_t, 0, + "Minimum numer of inliers required to form a line", + 10, 0, 100) + +gen.add("ransac_no_iterations", int_t, 0, + "Number of ransac iterations", + 2000, 1, 10000) + +gen.add("ransac_remainig_outliers", int_t, 0, + "Repeat ransac until the number of outliers is as specified here", + 3, 0, 50) + +gen.add("ransac_convert_outlier_pts", bool_t, 0, + "Convert remaining outliers to single points.", + True) + +gen.add("ransac_filter_remaining_outlier_pts", bool_t, 0, + "Filter the interior of remaining outliers and keep only keypoints of their convex hull", + False) + +gen.add("convex_hull_min_pt_separation", double_t, 0, + "Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)", + 0.1, 0.0, 10.0) + + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToLinesDBSRANSAC")) diff --git a/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSConcaveHull.cfg b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSConcaveHull.cfg new file mode 100755 index 0000000..7e4d49f --- /dev/null +++ b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSConcaveHull.cfg @@ -0,0 +1,33 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +gen.add("cluster_max_distance", double_t, 0, + "Parameter for DB_Scan, maximum distance to neighbors [m]", + 0.4, 0.0, 10.0) + +gen.add("cluster_min_pts", int_t, 0, + "Parameter for DB_Scan: minimum number of points that define a cluster", + 2, 1, 20) + +gen.add("cluster_max_pts", int_t, 0, + "Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)", + 30, 2, 200) + +gen.add("convex_hull_min_pt_separation", double_t, 0, + "Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)", + 0.1, 0.0, 10.0) + +gen.add("concave_hull_depth", double_t, 0, + "Smaller depth: sharper surface, depth -> high value: convex hull", + 2.0, 0.0, 100.0) + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToPolygonsDBSConcaveHull")) diff --git a/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSMCCH.cfg b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSMCCH.cfg new file mode 100755 index 0000000..d5cc11a --- /dev/null +++ b/navigations/costmap_converter/cfg/dynamic_reconfigure/CostmapToPolygonsDBSMCCH.cfg @@ -0,0 +1,29 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +gen.add("cluster_max_distance", double_t, 0, + "Parameter for DB_Scan, maximum distance to neighbors [m]", + 0.4, 0.0, 10.0) + +gen.add("cluster_min_pts", int_t, 0, + "Parameter for DB_Scan: minimum number of points that define a cluster", + 2, 1, 20) + +gen.add("cluster_max_pts", int_t, 0, + "Parameter for DB_Scan: maximum number of points that define a cluster (limit cluster size to avoid large L- and U-shapes)", + 30, 2, 200) + +gen.add("convex_hull_min_pt_separation", double_t, 0, + "Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all)", + 0.1, 0.0, 10.0) + +exit(gen.generate("costmap_converter", "standalone_converter", "CostmapToPolygonsDBSMCCH")) diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_converter_interface.h b/navigations/costmap_converter/include/costmap_converter/costmap_converter_interface.h new file mode 100755 index 0000000..922180a --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_converter_interface.h @@ -0,0 +1,368 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016 + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#ifndef COSTMAP_CONVERTER_INTERFACE_H_ +#define COSTMAP_CONVERTER_INTERFACE_H_ + +//#include +#include +#include +#include +#include +#include +#include +#include + + +namespace costmap_converter +{ +//! Typedef for a shared dynamic obstacle container +typedef boost::shared_ptr ObstacleArrayPtr; +//! Typedef for a shared dynamic obstacle container (read-only access) +typedef boost::shared_ptr< const ObstacleArrayMsg > ObstacleArrayConstPtr; + +//! Typedef for a shared polygon container +typedef boost::shared_ptr< std::vector > PolygonContainerPtr; +//! Typedef for a shared polygon container (read-only access) +typedef boost::shared_ptr< const std::vector > PolygonContainerConstPtr; + + +/** + * @class BaseCostmapToPolygons + * @brief This abstract class defines the interface for plugins that convert the costmap into polygon types + * + * Plugins must accept a costmap_2d::Costmap2D datatype as information source. + * The interface provides two different use cases: + * 1. Manual call to conversion routines: setCostmap2D(), compute() and getPolygons() + * (in subsequent calls setCostmap2D() can be substituted by updateCostmap2D()) + * 2. Repeatedly process costmap with a specific rate (startWorker() and stopWorker()): + * Make sure that the costmap is valid while the worker is active (you can specify your own spinner or activate a threaded spinner). + * Costmaps can be obtained by invoking getPolygons(). + */ +class BaseCostmapToPolygons +{ +public: + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(ros::NodeHandle nh) = 0; + + /** + * @brief Destructor + */ + virtual ~BaseCostmapToPolygons() + { + stopWorker(); + } + + + /** + * @brief Pass a pointer to the costap to the plugin. + * @warning The plugin should handle the costmap's mutex locking. + * @sa updateCostmap2D + * @param costmap Pointer to the costmap2d source + */ + virtual void setCostmap2D(costmap_2d::Costmap2D* costmap) = 0; + + /** + * @brief Get updated data from the previously set Costmap2D + * @warning The plugin should handle the costmap's mutex locking. + * @sa setCostmap2D + */ + virtual void updateCostmap2D() = 0; + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute() = 0; + + /** + * @brief Get a shared instance of the current polygon container + * + * If this method is not implemented by any subclass (plugin) the returned shared + * pointer is empty. + * @remarks If compute() or startWorker() has not been called before, this method returns an empty instance! + * @warning The underlying plugin must ensure that this method is thread safe. + * @return Shared instance of the current polygon container + */ + virtual PolygonContainerConstPtr getPolygons(){return PolygonContainerConstPtr();} + + /** + * @brief Get a shared instance of the current obstacle container + * If this method is not overwritten by the underlying plugin, the obstacle container just imports getPolygons(). + * @remarks If compute() or startWorker() has not been called before, this method returns an empty instance! + * @warning The underlying plugin must ensure that this method is thread safe. + * @return Shared instance of the current obstacle container + * @sa getPolygons + */ + virtual ObstacleArrayConstPtr getObstacles() + { + ObstacleArrayPtr obstacles = boost::make_shared(); + PolygonContainerConstPtr polygons = getPolygons(); + if (polygons) + { + for (const geometry_msgs::Polygon& polygon : *polygons) + { + obstacles->obstacles.emplace_back(); + obstacles->obstacles.back().polygon = polygon; + } + } + return obstacles; + } + + /** + * @brief Set name of robot's odometry topic + * + * Some plugins might require odometry information + * to compensate the robot's ego motion + * @param odom_topic topic name + */ + virtual void setOdomTopic(const std::string& odom_topic) {} + + /** + * @brief Determines whether an additional plugin for subsequent costmap conversion is specified + * + * @return false, since all plugins for static costmap conversion are independent + */ + virtual bool stackedCostmapConversion() {return false;} + + /** + * @brief Instantiate a worker that repeatedly coverts the most recent costmap to polygons. + * The worker is implemented as a timer event that is invoked at a specific \c rate. + * The passed \c costmap pointer must be valid at the complete time and must be lockable. + * By specifying the argument \c spin_thread the timer event is invoked in a separate + * thread and callback queue or otherwise it is called from the global callback queue (of the + * node in which the plugin is used). + * @param rate The rate that specifies how often the costmap should be updated + * @param costmap Pointer to the underlying costmap (must be valid and lockable as long as the worker is active + * @param spin_thread if \c true,the timer is invoked in a separate thread, otherwise in the default callback queue) + */ + void startWorker(ros::Rate rate, costmap_2d::Costmap2D* costmap, bool spin_thread = false) + { + setCostmap2D(costmap); + + if (spin_thread_) + { + { + boost::mutex::scoped_lock terminate_lock(terminate_mutex_); + need_to_terminate_ = true; + } + spin_thread_->join(); + delete spin_thread_; + } + + if (spin_thread) + { + ROS_DEBUG_NAMED("costmap_converter", "Spinning up a thread for the CostmapToPolygons plugin"); + need_to_terminate_ = false; + spin_thread_ = new boost::thread(boost::bind(&BaseCostmapToPolygons::spinThread, this)); + nh_.setCallbackQueue(&callback_queue_); + } + else + { + spin_thread_ = NULL; + nh_.setCallbackQueue(ros::getGlobalCallbackQueue()); + } + + worker_timer_ = nh_.createTimer(rate, &BaseCostmapToPolygons::workerCallback, this); + } + + /** + * @brief Stop the worker that repeatedly converts the costmap to polygons + */ + void stopWorker() + { + worker_timer_.stop(); + if (spin_thread_) + { + { + boost::mutex::scoped_lock terminate_lock(terminate_mutex_); + need_to_terminate_ = true; + } + spin_thread_->join(); + delete spin_thread_; + } + } + +protected: + + /** + * @brief Protected constructor that should be called by subclasses + */ + BaseCostmapToPolygons() : nh_("~costmap_to_polygons"), spin_thread_(NULL), need_to_terminate_(false) {} + + /** + * @brief Blocking method that checks for new timer events (active if startWorker() is called with spin_thread enabled) + */ + void spinThread() + { + while (nh_.ok()) + { + { + boost::mutex::scoped_lock terminate_lock(terminate_mutex_); + if (need_to_terminate_) + break; + } + callback_queue_.callAvailable(ros::WallDuration(0.1f)); + } + } + + /** + * @brief The callback of the worker that performs the actual work (updating the costmap and converting it to polygons) + */ + void workerCallback(const ros::TimerEvent&) + { + updateCostmap2D(); + compute(); + } + +private: + ros::Timer worker_timer_; + ros::NodeHandle nh_; + boost::thread* spin_thread_; + ros::CallbackQueue callback_queue_; + boost::mutex terminate_mutex_; + bool need_to_terminate_; +}; + + +/** + * @class BaseCostmapToDynamicPolygons + * @brief This class extends the BaseCostmapToPolygongs class for dynamic costmap conversion plugins in order to incorporate a subsequent costmap converter plugin for static obstacles + * + * This class should not be instantiated. + */ +class BaseCostmapToDynamicObstacles : public BaseCostmapToPolygons +{ +public: + + /** + * @brief Load underlying static costmap conversion plugin via plugin-loader + * @param plugin_name Exact class name of the plugin to be loaded, e.g. + * costmap_converter::CostmapToPolygonsDBSMCCH + * @param nh_parent NodeHandle which is extended by the namespace of the static conversion plugin + */ + void loadStaticCostmapConverterPlugin(const std::string& plugin_name, ros::NodeHandle nh_parent) + { + try + { + static_costmap_converter_ = static_converter_loader_.createInstance(plugin_name); + + if(boost::dynamic_pointer_cast(static_costmap_converter_)) + { + throw pluginlib::PluginlibException("The specified plugin for static costmap conversion is a dynamic plugin. Specify a static plugin."); + } + std::string raw_plugin_name = static_converter_loader_.getName(plugin_name); + static_costmap_converter_->initialize(ros::NodeHandle(nh_parent, raw_plugin_name)); + setStaticCostmapConverterPlugin(static_costmap_converter_); + ROS_INFO_STREAM("CostmapToDynamicObstacles: underlying costmap conversion plugin for static obstacles " << plugin_name << " loaded."); + } + catch(const pluginlib::PluginlibException& ex) + { + ROS_WARN("CostmapToDynamicObstacles: The specified costmap converter plugin cannot be loaded. Continuing without subsequent conversion of static obstacles. Error message: %s", ex.what()); + static_costmap_converter_.reset(); + } + } + + /** + * @brief Set the underlying plugin for subsequent costmap conversion of the static background of the costmap + * @param static_costmap_converter shared pointer to the static costmap conversion plugin + */ + void setStaticCostmapConverterPlugin(boost::shared_ptr static_costmap_converter) + { + static_costmap_converter_ = static_costmap_converter; + } + + /** + * @brief Set the costmap for the underlying plugin + * @param static_costmap Costmap2D, which contains the static part of the original costmap + */ + void setStaticCostmap(boost::shared_ptr static_costmap) + { + static_costmap_converter_->setCostmap2D(static_costmap.get()); + } + + /** + * @brief Apply the underlying plugin for static costmap conversion + */ + void convertStaticObstacles() + { + static_costmap_converter_->compute(); + } + + /** + * @brief Get the converted polygons from the underlying plugin + * @return Shared instance of the underlying plugins polygon container + */ + PolygonContainerConstPtr getStaticPolygons() + { + return static_costmap_converter_->getPolygons(); + } + + /** + * @brief Determines whether an additional plugin for subsequent costmap conversion is specified + * + * @return true, if a plugin for subsequent costmap conversion is specified + */ + bool stackedCostmapConversion() + { + if(static_costmap_converter_) + return true; + else + return false; + } + +protected: + /** + * @brief Protected constructor that should be called by subclasses + */ + BaseCostmapToDynamicObstacles() : static_converter_loader_("costmap_converter", "costmap_converter::BaseCostmapToPolygons"), static_costmap_converter_() {} + +private: + pluginlib::ClassLoader static_converter_loader_; + boost::shared_ptr static_costmap_converter_; +}; + + +} + + + +#endif // end COSTMAP_CONVERTER_INTERFACE_H_ diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/background_subtractor.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/background_subtractor.h new file mode 100755 index 0000000..3e3d716 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/background_subtractor.h @@ -0,0 +1,115 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017 + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following code makes use of the OpenCV library. + * OpenCV is licensed under the terms of the 3-clause BSD License. + * + * Authors: Franz Albers, Christoph Rösmann + *********************************************************************/ + +#ifndef BACKGROUNDSUBTRACTOR_H_ +#define BACKGROUNDSUBTRACTOR_H_ + +#include + +/** + * @class BackgroundSubtractor + * @brief Perform background subtraction to extract the "moving" foreground + * + * This class is based on OpenCV's background subtraction class cv::BackgroundSubtractor. + * It has been modified in order to incorporate a specialized bandpass filter. + * + * See http://docs.opencv.org/3.2.0/d7/df6/classcv_1_1BackgroundSubtractor.html for the original class. + */ +class BackgroundSubtractor +{ +public: + struct Params + { + double alpha_slow; //!< Filter constant (learning rate) of the slow filter part + double alpha_fast; //!< Filter constant (learning rate) of the fast filter part + double beta; + double min_sep_between_fast_and_slow_filter; + double min_occupancy_probability; + double max_occupancy_neighbors; + int morph_size; + }; + + //! Constructor that accepts a specific parameter configuration + BackgroundSubtractor(const Params& parameters); + + /** + * @brief Computes a foreground mask + * @param[in] image Next video frame + * @param[out] fg_mask Foreground mask as an 8-bit binary image + * @param[in] shift_x Translation along the x axis between the current and previous image + * @param[in] shift_y Translation along the y axis between the current and previous image + */ + void apply(const cv::Mat& image, cv::Mat& fg_mask, int shift_x = 0, int shift_y = 0); + + /** + * @brief OpenCV Visualization + * @param name Id/name of the opencv window + * @param image Image to be visualized + */ + void visualize(const std::string& name, const cv::Mat& image); + + /** + * @brief Export vector of matrices to yaml file + * @remarks This method is intended for debugging purposes + * @param filename Desired filename including path and excluding file suffix + * @param mat_vec Vector of cv::Mat to be exported + */ + void writeMatToYAML(const std::string& filename, const std::vector& mat_vec); + + //! Update internal parameters + void updateParameters(const Params& parameters); + +private: + //! Transform/shift all internal matrices/grids according to a given translation vector + void transformToCurrentFrame(int shift_x, int shift_y); + + cv::Mat occupancy_grid_fast_; + cv::Mat occupancy_grid_slow_; + cv::Mat current_frame_; + + int previous_shift_x_; + int previous_shift_y_; + + Params params_; +}; + +#endif // BACKGROUNDSUBTRACTOR_H_ diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/blob_detector.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/blob_detector.h new file mode 100755 index 0000000..ac9b80a --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/blob_detector.h @@ -0,0 +1,111 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017 + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following code makes use of the OpenCV library. + * OpenCV is licensed under the terms of the 3-clause BSD License. + * + * Authors: Franz Albers, Christoph Rösmann + *********************************************************************/ + +#ifndef BLOBDETECTOR_H_ +#define BLOBDETECTOR_H_ + +// Basically the OpenCV SimpleBlobDetector, extended with getContours() + +#include + +/** + * @class BlobDetector + * @brief Detect blobs in image (specialized for dynamic obstacles in the costmap) + * + * This class is based on OpenCV's blob detector cv::SimpleBlobDetector. + * It has been modified and specialized for dynamic obstacle tracking in the costmap: + * -> The modified version also returns contours of the blob. + * + * See http://docs.opencv.org/trunk/d0/d7a/classcv_1_1SimpleBlobDetector.html for the original class. + */ +class BlobDetector : public cv::SimpleBlobDetector +{ +public: + //! Default constructor which optionally accepts custom parameters + BlobDetector(const cv::SimpleBlobDetector::Params& parameters = cv::SimpleBlobDetector::Params()); + + //! Create shared instance of the blob detector with given parameters + static cv::Ptr create(const BlobDetector::Params& params); + + /** + * @brief Detects keypoints in an image and extracts contours + * + * In contrast to the original detect method, this extended version + * also extracts contours. Contours can be accessed by getContours() + * after invoking this method. + * + * @todo The mask option is currently not implemented. + * + * @param image image + * @param keypoints The detected keypoints. + * @param mask Mask specifying where to look for keypoints (optional). It must be a 8-bit integer + * matrix with non-zero values in the region of interest. + */ + virtual void detect(const cv::Mat& image, std::vector& keypoints, + const cv::Mat& mask = cv::Mat()); + + /** + * @brief Access contours extracted during detection stage + * @return Read-only reference to the contours set of the previous detect() run + */ + const std::vector>& getContours() { return contours_; } + + //! Update internal parameters + void updateParameters(const cv::SimpleBlobDetector::Params& parameters); + +protected: + struct Center + { + cv::Point2d location; + double radius; + double confidence; + }; + + virtual void findBlobs(const cv::Mat& image, const cv::Mat& binary_image, std::vector
& centers, + std::vector>& cur_contours) const; + + std::vector> contours_; + + Params params_; +}; + +#endif // BLOBDETECTOR_H_ diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.h new file mode 100755 index 0000000..47873c2 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.h @@ -0,0 +1,212 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017 + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following code makes use of the OpenCV library. + * OpenCV is licensed under the terms of the 3-clause BSD License. + * + * Authors: Franz Albers, Christoph Rösmann + *********************************************************************/ + +#ifndef COSTMAP_TO_DYNAMIC_OBSTACLES_H_ +#define COSTMAP_TO_DYNAMIC_OBSTACLES_H_ + +// ROS +#include +#include +#include +#include + +// OpenCV +#include +#include +#include + +// dynamic reconfigure +#include +#include + +// Own includes +#include +#include +#include + +// STL +#include + +namespace costmap_converter { + +/** + * @class CostmapToDynamicObstacles + * @brief This class converts the costmap_2d into dynamic obstacles. + * + * Static obstacles are treated as point obstacles. + */ +class CostmapToDynamicObstacles : public BaseCostmapToDynamicObstacles +{ +public: + /** + * @brief Constructor + */ + CostmapToDynamicObstacles(); + + /** + * @brief Destructor + */ + virtual ~CostmapToDynamicObstacles(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(ros::NodeHandle nh); + + /** + * @brief This method performs the actual work (conversion of the costmap to + * obstacles) + */ + virtual void compute(); + + /** + * @brief Pass a pointer to the costmap to the plugin. + * @sa updateCostmap2D + * @param costmap Pointer to the costmap2d source + */ + virtual void setCostmap2D(costmap_2d::Costmap2D* costmap); + + /** + * @brief Get updated data from the previously set Costmap2D + * @sa setCostmap2D + */ + virtual void updateCostmap2D(); + + /** + * @brief Get a shared instance of the current obstacle container + * @remarks If compute() or startWorker() has not been called before, this + * method returns an empty instance! + * @return Shared instance of the current obstacle container + */ + ObstacleArrayConstPtr getObstacles(); + + /** + * @brief Set name of robot's odometry topic + * + * @warning The method must be called before initialize() + * + * Some plugins might require odometry information + * to compensate the robot's ego motion + * @param odom_topic topic name + */ + virtual void setOdomTopic(const std::string& odom_topic) + { + odom_topic_ = odom_topic; + } + + /** + * @brief OpenCV Visualization + * @param name Id/name of the opencv window + * @param image Image to be visualized + */ + void visualize(const std::string& name, const cv::Mat& image); + +protected: + /** + * @brief Converts the estimated velocity of a tracked object to m/s and + * returns it + * @param idx Index of the tracked object in the tracker + * @return Point_t, which represents velocity in [m/s] of object(idx) in x,y,z + * coordinates + */ + Point_t getEstimatedVelocityOfObject(unsigned int idx); + + /** + * @brief Gets the last observed contour of a object and converts it from [px] + * to [m] + * @param[in] idx Index of the tracked object in the tracker + * @param[out] contour vector of Point_t, which represents the last observed contour in [m] + * in x,y,z coordinates + */ + void getContour(unsigned int idx, std::vector& contour); + + /** + * @brief Thread-safe update of the internal obstacle container (that is + * shared using getObstacles() from outside this + * class) + * @param obstacles Updated obstacle container + */ + void updateObstacleContainer(ObstacleArrayPtr obstacles); + +private: + boost::mutex mutex_; + costmap_2d::Costmap2D* costmap_; + cv::Mat costmap_mat_; + ObstacleArrayPtr obstacles_; + cv::Mat fg_mask_; + std::unique_ptr bg_sub_; + cv::Ptr blob_det_; + std::vector keypoints_; + std::unique_ptr tracker_; + ros::Subscriber odom_sub_; + Point_t ego_vel_; + + std::string odom_topic_ = "/odom"; + bool publish_static_obstacles_ = true; + + dynamic_reconfigure::Server* + dynamic_recfg_; //!< Dynamic reconfigure server to allow config + //! modifications at runtime + + /** + * @brief Callback for the odometry messages of the observing robot. + * + * Used to convert the velocity of obstacles to the /map frame. + * @param msg The Pointer to the nav_msgs::Odometry of the observing robot + */ + void odomCallback(const nav_msgs::Odometry::ConstPtr &msg); + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without + * restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ + void reconfigureCB(CostmapToDynamicObstaclesConfig &config, uint32_t level); +}; + +} // end namespace costmap_converter + +#endif /* COSTMAP_TO_DYNAMIC_OBSTACLES_H_ */ diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.h new file mode 100755 index 0000000..ca0f01e --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.h @@ -0,0 +1,96 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#pragma once +#include "Kalman.h" +#include "HungarianAlg.h" +#include "defines.h" +#include +#include +#include +#include + +// -------------------------------------------------------------------------- +class CTrack +{ +public: + CTrack(const Point_t& p, const std::vector& contour, track_t dt, size_t trackID) + : track_id(trackID), + skipped_frames(0), + prediction(p), + lastContour(contour), + KF(p, dt) + { + } + + track_t CalcDist(const Point_t& p) + { + Point_t diff = prediction - p; + return std::sqrt(diff.x * diff.x + diff.y * diff.y + diff.z * diff.z); + } + + void Update(const Point_t& p, const std::vector& contour, bool dataCorrect, size_t max_trace_length) + { + KF.Prediction(); + prediction = KF.Update(p, dataCorrect); + + if (dataCorrect) + { + lastContour = contour; + } + + if (trace.size() > max_trace_length) + { + trace.erase(trace.begin(), trace.end() - max_trace_length); + } + + trace.push_back(prediction); + } + + // Returns contour in [px], not in [m]! + std::vector getLastContour() const + { + return lastContour; + } + + // Returns velocity in [px/s], not in [m/s]! + Point_t getEstimatedVelocity() const + { + return KF.LastVelocity; + } + + std::vector trace; + size_t track_id; + size_t skipped_frames; + +private: + Point_t prediction; + std::vector lastContour; // Contour liegt immer auf ganzen Pixeln -> Integer Punkt + TKalmanFilter KF; +}; + +// -------------------------------------------------------------------------- +class CTracker +{ +public: + struct Params{ + track_t dt; // time for one step of the filter + track_t dist_thresh;// distance threshold. Pairs of points with higher distance are not considered in the assignment problem + int max_allowed_skipped_frames; // Maximum number of frames the track is maintained without seeing the object in the measurement data + int max_trace_length; // Maximum trace length + }; + + CTracker(const Params& parameters); + ~CTracker(void); + + std::vector> tracks; + void Update(const std::vector& detectedCentroid, const std::vector > &contour); + + void updateParameters(const Params ¶meters); + +private: + // Aggregated parameters for the tracker object + Params params; + // ID for the upcoming CTrack object + size_t NextTrackID; +}; diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.h new file mode 100755 index 0000000..0985ae7 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.h @@ -0,0 +1,60 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#include +#include +#include +#include +#include "defines.h" + +// http://community.topcoder.com/tc?module=Static&d1=tutorials&d2=hungarianAlgorithm + +typedef std::vector assignments_t; +typedef std::vector distMatrix_t; + +class AssignmentProblemSolver +{ +private: + // -------------------------------------------------------------------------- + // Computes the optimal assignment (minimum overall costs) using Munkres algorithm. + // -------------------------------------------------------------------------- + void assignmentoptimal(assignments_t& assignment, track_t& cost, const distMatrix_t& distMatrixIn, size_t nOfRows, + size_t nOfColumns); + void buildassignmentvector(assignments_t& assignment, bool* starMatrix, size_t nOfRows, size_t nOfColumns); + void computeassignmentcost(const assignments_t& assignment, track_t& cost, const distMatrix_t& distMatrixIn, + size_t nOfRows); + void step2a(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim); + void step2b(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim); + void step3(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim); + void step4(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim, size_t row, + size_t col); + void step5(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, bool* newStarMatrix, bool* primeMatrix, + bool* coveredColumns, bool* coveredRows, size_t nOfRows, size_t nOfColumns, size_t minDim); + // -------------------------------------------------------------------------- + // Computes a suboptimal solution. Good for cases with many forbidden assignments. + // -------------------------------------------------------------------------- + void assignmentsuboptimal1(assignments_t& assignment, track_t& cost, const distMatrix_t& distMatrixIn, size_t nOfRows, + size_t nOfColumns); + // -------------------------------------------------------------------------- + // Computes a suboptimal solution. Good for cases with many forbidden assignments. + // -------------------------------------------------------------------------- + void assignmentsuboptimal2(assignments_t& assignment, track_t& cost, const distMatrix_t& distMatrixIn, size_t nOfRows, + size_t nOfColumns); + +public: + enum TMethod + { + optimal, + many_forbidden_assignments, + without_forbidden_assignments + }; + + AssignmentProblemSolver(); + ~AssignmentProblemSolver(); + track_t Solve(const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns, assignments_t& assignment, + TMethod Method = optimal); +}; diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.h new file mode 100755 index 0000000..34a5319 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.h @@ -0,0 +1,20 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#pragma once +#include "defines.h" +#include + +// http://www.morethantechnical.com/2011/06/17/simple-kalman-filter-for-tracking-using-opencv-2-2-w-code/ +class TKalmanFilter +{ +public: + TKalmanFilter(Point_t p, track_t deltatime = 0.2); + ~TKalmanFilter(); + void Prediction(); + Point_t Update(Point_t p, bool DataCorrect); + cv::KalmanFilter* kalman; + track_t dt; + Point_t LastPosition; // contour in [px] + Point_t LastVelocity; // velocity in [px/s] +}; diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/README.md b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/README.md new file mode 100755 index 0000000..3fb4614 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/README.md @@ -0,0 +1,13 @@ +Multitarget Tracker +=================== + +This code is mostly copied from the (MultitargetTracker)[https://github.com/Smorodov/Multitarget-tracker]. +It is utilized for the *CostmapToDynamicObstacles* plugin. + +The *MultitargetTracker* is licensed under (GNU GPLv3)[https://www.gnu.org/licenses/gpl-3.0.txt]. +The package itself depends on other third party packages with different licenses (refer to the package repository). + +TODO: Include the whole package as external CMake project. + + + diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/defines.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/defines.h new file mode 100755 index 0000000..203004f --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_dynamic_obstacles/multitarget_tracker/defines.h @@ -0,0 +1,9 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#pragma once +#include + +typedef float track_t; +typedef cv::Point3_ Point_t; +#define Mat_t CV_32FC diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_lines_convex_hull.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_lines_convex_hull.h new file mode 100755 index 0000000..810b726 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_lines_convex_hull.h @@ -0,0 +1,137 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#ifndef COSTMAP_TO_LINES_CONVEX_HULL_H_ +#define COSTMAP_TO_LINES_CONVEX_HULL_H_ + +#include +#include + +// dynamic reconfigure +#include + +namespace costmap_converter +{ + +/** + * @class CostmapToLinesDBSMCCH + * @brief This class converts the costmap_2d into a set of lines (and points) + * + * The conversion is performed in three stages: + * 1. Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) + * Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, + * A density-based algorithm for discovering clusters in large spatial databases with noise. + * Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9. + * + * 2. In the subsequent stage, the convex hull of each cluster is determined using the monotone chain algorithm aka Andrew's algorithm: + * C++ implementation example: http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull ( GNU Free Documentation License 1.2 ) + * Reference: A. M. Andrew, "Another Efficient Algorithm for Convex Hulls in Two Dimensions", Info. Proc. Letters 9, 216-219 (1979). + * + * 3. In the third step extract lines from each polygon (convex hull) if there exist at least a predefined number of support points. + * + * The output is a container of polygons (but each polygon does only contain a single vertex (point) or two vertices (line) + */ + class CostmapToLinesDBSMCCH : public CostmapToPolygonsDBSMCCH + { + public: + + /** + * @brief Constructor + */ + CostmapToLinesDBSMCCH(); + + /** + * @brief Destructor + */ + virtual ~CostmapToLinesDBSMCCH(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(ros::NodeHandle nh); + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute(); + + + protected: + + /** + * @brief Extract points and lines from a given cluster by checking all keypoint pairs of the convex hull for a minimum number of support points + * @param cluster list of points in the cluster + * @param polygon convex hull of the cluster \c cluster + * @param[out] lines back_inserter object to a sequence of polygon msgs (new lines will be pushed back) + */ + void extractPointsAndLines(std::vector& cluster, const geometry_msgs::Polygon& polygon, std::back_insert_iterator< std::vector > lines); + + + + protected: + + double support_pts_max_dist_inbetween_; + double support_pts_max_dist_; + int min_support_pts_; + + private: + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ + void reconfigureCB(CostmapToLinesDBSMCCHConfig& config, uint32_t level); + + dynamic_reconfigure::Server* dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + + }; + + + + + + + + +} //end namespace teb_local_planner + +#endif /* COSTMAP_TO_LINES_CONVEX_HULL_H_ */ diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_lines_ransac.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_lines_ransac.h new file mode 100755 index 0000000..4c37650 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_lines_ransac.h @@ -0,0 +1,187 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef COSTMAP_TO_LINES_RANSAC_H_ +#define COSTMAP_TO_LINES_RANSAC_H_ + +#include +#include +#include +#include + +#include + +namespace costmap_converter +{ + +/** + * @class CostmapToLinesDBSRANSAC + * @brief This class converts the costmap_2d into a set of lines (and points) + * + * The conversion is performed in two stages: + * 1. Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) + * Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, + * A density-based algorithm for discovering clusters in large spatial databases with noise. + * Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9. + * + * 2. The RANSAC algorithm is used to find straight line segment models (https://en.wikipedia.org/wiki/RANSAC) + * RANSAC is called repeatedly to find multiple lines per cluster until the number of inliners is below a specific threshold. + * In that case the remaining outliers are used as points or keypoints of their convex hull are used as points (depending on a paramter). + * The latter one applies as a filter. The convex assumption is not strict in practice, since the remaining regions/cluster (line inliers are removed) + * should be dense and small. For details about the convex hull algorithm, refer to costmap_converter::CostmapToPolygonsDBSMCCH. + * Resulting lines of RANSAC are currently not refined by linear regression. + * + * The output is a container of polygons (but each polygon does only contain a single vertex (point) or two vertices (line) + */ + class CostmapToLinesDBSRANSAC : public CostmapToPolygonsDBSMCCH + { + public: + + /** + * @brief Constructor + */ + CostmapToLinesDBSRANSAC(); + + /** + * @brief Destructor + */ + virtual ~CostmapToLinesDBSRANSAC(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(ros::NodeHandle nh); + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute(); + + + /** + * @brief Check if the candidate point is an inlier. + * @param point generic 2D point type defining the reference point + * @param line_start generic 2D point type defining the start of the line + * @param line_end generic 2D point type defining the end of the line + * @param min_distance minimum distance allowed + * @tparam Point generic point type that should provide (writable) x and y member fiels. + * @tparam LinePoint generic point type that should provide (writable) x and y member fiels. + * @return \c true if inlier, \c false otherwise + */ + template + static bool isInlier(const Point& point, const LinePoint& line_start, const LinePoint& line_end, double min_distance); + + protected: + + double ransac_inlier_distance_; //!< Maximum distance to the line segment for inliers + int ransac_min_inliers_; //!< Minimum numer of inliers required to form a line + int ransac_no_iterations_; //!< Number of ransac iterations + int ransac_remainig_outliers_; //!< Repeat ransac until the number of outliers is as specified here + bool ransac_convert_outlier_pts_; //!< If \c true, convert remaining outliers to single points. + bool ransac_filter_remaining_outlier_pts_; //!< If \c true, filter the interior of remaining outliers and keep only keypoints of their convex hull + + + boost::random::mt19937 rnd_generator_; //!< Random number generator for ransac with default seed + + + /** + * @brief Find a straight line segment in a point cloud with RANSAC (without linear regression). + * @param data set of 2D data points + * @param inlier_distance maximum distance that inliers must satisfy + * @param no_iterations number of RANSAC iterations + * @param min_inliers minimum number of inliers to return true + * @param[out] best_model start and end of the best straight line segment + * @param[out] inliers inlier keypoints are written to this container [optional] + * @param[out] outliers outlier keypoints are written to this container [optional] + * @return \c false, if \c min_inliers is not satisfied, \c true otherwise + */ + bool lineRansac(const std::vector& data, double inlier_distance, int no_iterations, int min_inliers, + std::pair& best_model, std::vector* inliers = NULL, + std::vector* outliers = NULL); + + /** + * @brief Perform a simple linear regression in order to fit a straight line 'y = slope*x + intercept' + * @param data set of 2D data points + * @param[out] slope The slope of the fitted line + * @param[out] intercept The intercept / offset of the line + * @param[out] mean_x_out mean of the x-values of the data [optional] + * @param[out] mean_y_out mean of the y-values of the data [optional] + * @return \c true, if a valid line has been fitted, \c false otherwise. + */ + bool linearRegression(const std::vector& data, double& slope, double& intercept, + double* mean_x_out = NULL, double* mean_y_out = NULL); + + + +// void adjustLineLength(const std::vector& data, const KeyPoint& linept1, const KeyPoint& linept2, +// KeyPoint& line_start, KeyPoint& line_end); + + private: + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ + void reconfigureCB(CostmapToLinesDBSRANSACConfig& config, uint32_t level); + + dynamic_reconfigure::Server* dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + + }; + + + +template +bool CostmapToLinesDBSRANSAC::isInlier(const Point& point, const LinePoint& line_start, const LinePoint& line_end, double min_distance) +{ + bool is_inbetween = false; + double distance = computeDistanceToLineSegment(point, line_start, line_end, &is_inbetween); + if (!is_inbetween) + return false; + if (distance <= min_distance) + return true; + return false; +} + + +} //end namespace teb_local_planner + +#endif /* COSTMAP_TO_LINES_RANSAC_H_ */ diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_polygons.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_polygons.h new file mode 100755 index 0000000..021c641 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_polygons.h @@ -0,0 +1,336 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#ifndef COSTMAP_TO_POLYGONS_H_ +#define COSTMAP_TO_POLYGONS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// dynamic reconfigure +#include +#include + + +namespace costmap_converter +{ + +/** + * @class CostmapToPolygonsDBSMCCH + * @brief This class converts the costmap_2d into a set of convex polygons (and points) + * + * The conversion is performed in two stages: + * 1. Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) + * Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, + * A density-based algorithm for discovering clusters in large spatial databases with noise. + * Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9. + * + * 2. In the subsequent stage, clusters are converted into convex polgons using the monotone chain algorithm aka Andrew's algorithm: + * C++ implementation example: http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull ( GNU Free Documentation License 1.2 ) + * Reference: A. M. Andrew, "Another Efficient Algorithm for Convex Hulls in Two Dimensions", Info. Proc. Letters 9, 216-219 (1979). + * + * All single points that do not define a cluster (noise) are also treated as polygon (represented as a single vertex) + */ +class CostmapToPolygonsDBSMCCH : public BaseCostmapToPolygons +{ + public: + + /** + * @struct KeyPoint + * @brief Defines a keypoint in metric coordinates of the map + */ + struct KeyPoint + { + //! Default constructor + KeyPoint() {} + //! Constructor with point initialization + KeyPoint(double x_, double y_) : x(x_), y(y_) {} + double x; //!< x coordinate [m] + double y; //!< y coordinate [m] + + //! Convert keypoint to geometry_msgs::Point message type + void toPointMsg(geometry_msgs::Point& point) const {point.x=x; point.y=y; point.z=0;} + //! Convert keypoint to geometry_msgs::Point32 message type + void toPointMsg(geometry_msgs::Point32& point) const {point.x=x; point.y=y; point.z=0;} + }; + + /** + * @struct Parameters + * @brief Defines the parameters of the algorithm + */ + struct Parameters + { + Parameters() : max_distance_(0.4), min_pts_(2), max_pts_(30), min_keypoint_separation_(0.1) {} + // DBSCAN parameters + double max_distance_; //!< Parameter for DB_Scan, maximum distance to neighbors [m] + int min_pts_; //!< Parameter for DB_Scan: minimum number of points that define a cluster + int max_pts_; //!< Parameter for DB_Scan: maximum number of points that define a cluster (to avoid large L- and U-shapes) + + // convex hull parameters + double min_keypoint_separation_; //!< Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all) + }; + + /** + * @brief Constructor + */ + CostmapToPolygonsDBSMCCH(); + + /** + * @brief Destructor + */ + virtual ~CostmapToPolygonsDBSMCCH(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(ros::NodeHandle nh); + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute(); + + /** + * @brief Pass a pointer to the costap to the plugin. + * @sa updateCostmap2D + * @param costmap Pointer to the costmap2d source + */ + virtual void setCostmap2D(costmap_2d::Costmap2D* costmap); + + /** + * @brief Get updated data from the previously set Costmap2D + * @sa setCostmap2D + */ + virtual void updateCostmap2D(); + + + /** + * @brief Convert a generi point type to a geometry_msgs::Polygon + * @param point generic 2D point type + * @param[out] polygon already instantiated polygon that will be filled with a single point + * @tparam Point generic point type that should provide (writable) x and y member fiels. + */ + template< typename Point> + static void convertPointToPolygon(const Point& point, geometry_msgs::Polygon& polygon) + { + polygon.points.resize(1); + polygon.points.front().x = point.x; + polygon.points.front().y = point.y; + polygon.points.front().z = 0; + } + + /** + * @brief Get a shared instance of the current polygon container + * @remarks If compute() or startWorker() has not been called before, this method returns an empty instance! + * @return Shared instance of the current polygon container + */ + PolygonContainerConstPtr getPolygons(); + + + + protected: + + /** + * @brief DBSCAN algorithm for clustering + * + * Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) + * Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, + * A density-based algorithm for discovering clusters in large spatial databases with noise. + * Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9. + * + * @param[out] clusters clusters will added to this output-argument (a sequence of keypoints for each cluster) + * the first cluster (clusters[0]) will contain all noise points (that does not fulfil the min_pts condition + */ + void dbScan(std::vector< std::vector >& clusters); + + /** + * @brief Helper function for dbScan to search for neighboring points + * + * @param curr_index index to the current item in \c occupied_cells + * @param[out] neighbor_indices list of neighbors (indices of \c occupied cells) + */ + void regionQuery(int curr_index, std::vector& neighbor_indices); + + /** + * @brief helper function for adding a point to the lookup data structures + */ + void addPoint(double x, double y) + { + int idx = occupied_cells_.size(); + occupied_cells_.emplace_back(x, y); + int cx, cy; + pointToNeighborCells(occupied_cells_.back(), cx, cy); + int nidx = neighborCellsToIndex(cx, cy); + if (nidx >= 0) + neighbor_lookup_[nidx].push_back(idx); + } + + /** + * @brief Compute the convex hull for a single cluster (monotone chain algorithm) + * + * Clusters are converted into convex polgons using the monotone chain algorithm aka Andrew's algorithm: + * C++ implementation example: http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull ( GNU Free Documentation License 1.2 ) + * Reference: A. M. Andrew, "Another Efficient Algorithm for Convex Hulls in Two Dimensions", Info. Proc. Letters 9, 216-219 (1979). + * @remarks The algorithm seems to cut edges, thus we give a try to convexHull2(). + * @todo Evaluate and figure out whether convexHull() or convexHull2() is better suited (performance, quality, ...) + * @remarks The last point is the same as the first one + * @param cluster list of keypoints that should be converted into a polygon + * @param[out] polygon the resulting convex polygon + */ + void convexHull(std::vector& cluster, geometry_msgs::Polygon& polygon); + + /** + * @brief Compute the convex hull for a single cluster + * + * Clusters are converted into convex polgons using an algorithm provided here: + * https://bitbucket.org/vostreltsov/concave-hull/overview + * The convex hull algorithm is part of the concave hull algorithm. + * The license is WTFPL 2.0 and permits any usage. + * + * @remarks The last point is the same as the first one + * @param cluster list of keypoints that should be converted into a polygon + * @param[out] polygon the resulting convex polygon + * @todo Evaluate and figure out whether convexHull() or convexHull2() is better suited (performance, quality, ...) + */ + void convexHull2(std::vector& cluster, geometry_msgs::Polygon& polygon); + + /** + * @brief Simplify a polygon by removing points. + * + * We apply the Douglas-Peucker Algorithm to simplify the edges of the polygon. + * Internally, the parameter min_keypoint_separation is used for deciding whether + * a point is considered close to an edge and to be merged into the line. + */ + void simplifyPolygon(geometry_msgs::Polygon& polygon); + + /** + * @brief 2D Cross product of two vectors defined by two points and a common origin + * @param O Origin + * @param A First point + * @param B Second point + * @tparam P1 2D Point type with x and y member fields + * @tparam P2 2D Point type with x and y member fields + * @tparam P3 2D Point type with x and y member fields + */ + template + long double cross(const P1& O, const P2& A, const P3& B) + { + return (long double)(A.x - O.x) * (long double)(B.y - O.y) - (long double)(A.y - O.y) * (long double)(B.x - O.x); + } + + + /** + * @brief Thread-safe update of the internal polygon container (that is shared using getPolygons() from outside this class) + * @param polygons Updated polygon container + */ + void updatePolygonContainer(PolygonContainerPtr polygons); + + + std::vector occupied_cells_; //!< List of occupied cells in the current map (updated by updateCostmap2D()) + + std::vector > neighbor_lookup_; //! array of cells for neighbor lookup + int neighbor_size_x_; //! size of the neighbour lookup in x (number of cells) + int neighbor_size_y_; //! size of the neighbour lookup in y (number of cells) + double offset_x_; //! offset [meters] in x for the lookup grid + double offset_y_; //! offset [meters] in y for the lookup grid + + /** + * @brief convert a 2d cell coordinate into the 1D index of the array + * @param cx the x index of the cell + * @param cy the y index of the cell + */ + int neighborCellsToIndex(int cx, int cy) + { + if (cx < 0 || cx >= neighbor_size_x_ || cy < 0 || cy >= neighbor_size_y_) + return -1; + return cy * neighbor_size_x_ + cx; + } + + /** + * @brief compute the cell indices of a keypoint + * @param kp key point given in world coordinates [m, m] + * @param cx output cell index in x direction + * @param cy output cell index in y direction + */ + void pointToNeighborCells(const KeyPoint& kp, int& cx, int& cy) + { + cx = int((kp.x - offset_x_) / parameter_.max_distance_); + cy = int((kp.y - offset_y_) / parameter_.max_distance_); + } + + + Parameters parameter_; //< active parameters throughout computation + Parameters parameter_buffered_; //< the buffered parameters that are offered to dynamic reconfigure + boost::mutex parameter_mutex_; //!< Mutex that keeps track about the ownership of the shared polygon instance + + private: + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ + void reconfigureCB(CostmapToPolygonsDBSMCCHConfig& config, uint32_t level); + + + PolygonContainerPtr polygons_; //!< Current shared container of polygons + boost::mutex mutex_; //!< Mutex that keeps track about the ownership of the shared polygon instance + + dynamic_reconfigure::Server* dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + + costmap_2d::Costmap2D *costmap_; //!< Pointer to the costmap2d + +}; + + +} //end namespace teb_local_planner + +#endif /* COSTMAP_TO_POLYGONS_H_ */ diff --git a/navigations/costmap_converter/include/costmap_converter/costmap_to_polygons_concave.h b/navigations/costmap_converter/include/costmap_converter/costmap_to_polygons_concave.h new file mode 100755 index 0000000..8c61140 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/costmap_to_polygons_concave.h @@ -0,0 +1,202 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef COSTMAP_TO_POLYGONS_CONCAVE_H_ +#define COSTMAP_TO_POLYGONS_CONCAVE_H_ + +#include +#include + +// dynamic reconfigure +#include +#include + + +namespace costmap_converter +{ + +/** + * @class CostmapToPolygonsDBSConcaveHull + * @brief This class converts the costmap_2d into a set of non-convex polygons (and points) + * + * All single points that do not define a cluster (noise) are also treated as polygon (represented as a single vertex) + * @todo change the class hierarchy to a clearer and more generic one + */ +class CostmapToPolygonsDBSConcaveHull : public CostmapToPolygonsDBSMCCH +{ + public: + + + + /** + * @brief Constructor + */ + CostmapToPolygonsDBSConcaveHull(); + + /** + * @brief Destructor + */ + virtual ~CostmapToPolygonsDBSConcaveHull(); + + /** + * @brief Initialize the plugin + * @param nh Nodehandle that defines the namespace for parameters + */ + virtual void initialize(ros::NodeHandle nh); + + + /** + * @brief This method performs the actual work (conversion of the costmap to polygons) + */ + virtual void compute(); + + protected: + + + /** + * @brief Compute the concave hull for a single cluster + * + * @remarks The last point is the same as the first one + * @param cluster list of keypoints that should be converted into a polygon + * @param depth Smaller depth: sharper surface, depth -> high value: convex hull + * @param[out] polygon the resulting convex polygon + */ + void concaveHull(std::vector& cluster, double depth, geometry_msgs::Polygon& polygon); + + void concaveHullClusterCut(std::vector& cluster, double depth, geometry_msgs::Polygon& polygon); + + template + std::size_t findNearestInnerPoint(PointLine line_start, PointLine line_end, const std::vector& cluster, const std::vector& hull, bool* found); + + + template + bool checkLineIntersection(const Point1& line1_start, const Point2& line1_end, const Point3& line2_start, const Point4& line2_end); + + template + bool checkLineIntersection(const std::vector& hull, const Point1& current_line_start, + const Point2& current_line_end, const Point3& test_line_start, const Point4& test_line_end); + + double concave_hull_depth_; + + private: + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ + void reconfigureCB(CostmapToPolygonsDBSConcaveHullConfig& config, uint32_t level); + + dynamic_reconfigure::Server* dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + + +}; + + +template +std::size_t CostmapToPolygonsDBSConcaveHull::findNearestInnerPoint(PointLine line_start, PointLine line_end, const std::vector& cluster, const std::vector& hull, bool* found) +{ + std::size_t nearsest_idx = 0; + double distance = 0; + *found = false; + + for (std::size_t i = 0; i < cluster.size(); ++i) + { + // Skip points that are already in the hull + if (std::find_if( hull.begin(), hull.end(), boost::bind(isApprox2d, _1, boost::cref(cluster[i]), 1e-5) ) != hull.end() ) + continue; + + double dist = computeDistanceToLineSegment(cluster[i], line_start, line_end); + bool skip = false; + for (int j = 0; !skip && j < (int)hull.size() - 1; ++j) + { + double dist_temp = computeDistanceToLineSegment(cluster[i], hull[j], hull[j + 1]); + skip |= dist_temp < dist; + } + if (skip) + continue; + + if (!(*found) || dist < distance) + { + nearsest_idx = i; + distance = dist; + *found = true; + } + } + return nearsest_idx; +} + + +template +bool CostmapToPolygonsDBSConcaveHull::checkLineIntersection(const Point1& line1_start, const Point2& line1_end, const Point3& line2_start, const Point4& line2_end) +{ + double dx1 = line1_end.x - line1_start.x; + double dy1 = line1_end.y - line1_start.y; + double dx2 = line2_end.x - line2_start.x; + double dy2 = line2_end.y - line2_start.y; + double s = (-dy1 * (line1_start.x - line2_start.x) + dx1 * (line1_start.y - line2_start.y)) / (-dx2 * dy1 + dx1 * dy2); + double t = ( dx2 * (line1_start.y - line2_start.y) - dy2 * (line1_start.x - line2_start.x)) / (-dx2 * dy1 + dx1 * dy2); + return (s > 0 && s < 1 && t > 0 && t < 1); +} + + +template +bool CostmapToPolygonsDBSConcaveHull::checkLineIntersection(const std::vector& hull, const Point1& current_line_start, + const Point2& current_line_end, const Point3& test_line_start, const Point4& test_line_end) +{ + for (int i = 0; i < (int)hull.size() - 2; i++) + { + if (isApprox2d(current_line_start, hull[i], 1e-5) && isApprox2d(current_line_end, hull[i+1], 1e-5)) + { + continue; + } + + if (checkLineIntersection(test_line_start, test_line_end, hull[i], hull[i+1])) + { + return true; + } + } + return false; +} + + +} //end namespace teb_local_planner + +#endif /* COSTMAP_TO_POLYGONS_CONCAVE_H_ */ diff --git a/navigations/costmap_converter/include/costmap_converter/misc.h b/navigations/costmap_converter/include/costmap_converter/misc.h new file mode 100755 index 0000000..b3500a7 --- /dev/null +++ b/navigations/costmap_converter/include/costmap_converter/misc.h @@ -0,0 +1,157 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef MISC_H_ +#define MISC_H_ + +#include +#include + +namespace costmap_converter +{ + +/** + * @brief Calculate the distance between a point and a straight line (with infinite length) + * @param point generic 2D point type defining the reference point + * @param line_pt1 generic 2D point as part of the line + * @param line_pt2 generic 2D point as part of the line + * @tparam Point generic point type that should provide x and y member fiels. + * @tparam LinePoint generic point type that should provide x and y member fiels. + * @return (minimum) euclidean distance to the line segment + */ +template +inline double computeDistanceToLine(const Point& point, const LinePoint& line_pt1, const LinePoint& line_pt2) +{ + double dx = line_pt2.x - line_pt1.x; + double dy = line_pt2.y - line_pt1.y; + + double length = std::sqrt(dx*dx + dy*dy); + + if (length>0) + return std::abs(dy * point.x - dx * point.y + line_pt2.x * line_pt1.y - line_pt2.y * line_pt1.x) / length; + + return std::sqrt(std::pow(point.x - line_pt1.x, 2) + std::pow(point.y - line_pt1.y, 2)); +} + + +/** + * @brief Calculate the squared distance between a point and a straight line segment + * @param point generic 2D point type defining the reference point + * @param line_start generic 2D point type defining the start of the line + * @param line_end generic 2D point type defining the end of the line + * @param[out] is_inbetween write \c true, if the point is placed inbetween start and end [optional] + * @tparam Point generic point type that should provide x and y member fiels. + * @tparam LinePoint generic point type that should provide x and y member fiels. + * @return (minimum) squared euclidean distance to the line segment + */ +template +inline double computeSquaredDistanceToLineSegment(const Point& point, const LinePoint& line_start, const LinePoint& line_end, bool* is_inbetween=NULL) +{ + double dx = line_end.x - line_start.x; + double dy = line_end.y - line_start.y; + + double length_sqr = dx*dx + dy*dy; + + double u = 0; + + if (length_sqr > 0) + u = ((point.x - line_start.x) * dx + (point.y - line_start.y) * dy) / length_sqr; + + if (is_inbetween) + *is_inbetween = (u>=0 && u<=1); + + if (u <= 0) + return std::pow(point.x-line_start.x,2) + std::pow(point.y-line_start.y,2); + + if (u >= 1) + return std::pow(point.x-line_end.x,2) + std::pow(point.y-line_end.y,2); + + return std::pow(point.x - (line_start.x+u*dx) ,2) + std::pow(point.y - (line_start.y+u*dy),2); +} + +/** + * @brief Calculate the distance between a point and a straight line segment + * @param point generic 2D point type defining the reference point + * @param line_start generic 2D point type defining the start of the line + * @param line_end generic 2D point type defining the end of the line + * @param[out] is_inbetween write \c true, if the point is placed inbetween start and end [optional] + * @tparam Point generic point type that should provide x and y member fiels. + * @tparam LinePoint generic point type that should provide x and y member fiels. + * @return (minimum) euclidean distance to the line segment + */ +template +inline double computeDistanceToLineSegment(const Point& point, const LinePoint& line_start, const LinePoint& line_end, bool* is_inbetween=NULL) +{ + return std::sqrt(computeSquaredDistanceToLineSegment(point, line_start, line_end, is_inbetween)); +} + + +/** + * @brief Calculate the distance between two 2d points + * @param pt1 generic 2D point + * @param pt2 generic 2D point + * @tparam Point1 generic point type that should provide x and y member fiels. + * @tparam Point2 generic point type that should provide x and y member fiels. + * @return euclidean distance to the line segment + */ +template +inline double norm2d(const Point1& pt1, const Point2& pt2) +{ + return std::sqrt( std::pow(pt2.x - pt1.x, 2) + std::pow(pt2.y - pt1.y, 2) ); +} + +/** + * @brief Check if two points are approximately defining the same one + * @param pt1 generic 2D point + * @param pt2 generic 2D point + * @param threshold define the minimum threshold |pt1.x-pt2.y| < tresh && |pt1.y-pt2.y| < tresh + * @tparam Point1 generic point type that should provide x and y member fiels. + * @tparam Point2 generic point type that should provide x and y member fiels. + * @return \c true, if similar, \c false otherwise + */ +template +inline bool isApprox2d(const Point1& pt1, const Point2& pt2, double threshold) +{ + return ( std::abs(pt2.x-pt1.x) + + costmap_converter + 0.0.13 + + A ros package that includes plugins and nodes to convert occupied costmap2d cells to primitive types. + + + Christoph Rösmann + + Christoph Rösmann + Franz Albers + Otniel Rinaldo + + BSD + + http://wiki.ros.org/costmap_converter + + catkin + + message_generation + + message_runtime + message_runtime + + rostest + + geometry_msgs + roscpp + std_msgs + costmap_2d + dynamic_reconfigure + pluginlib + cv_bridge + + + + + + diff --git a/navigations/costmap_converter/plugins.xml b/navigations/costmap_converter/plugins.xml new file mode 100755 index 0000000..682f96f --- /dev/null +++ b/navigations/costmap_converter/plugins.xml @@ -0,0 +1,38 @@ + + + + + This class converts costmap2d obstacles into a vector of convex polygons. + Clustering is performed with DBScan. Convex polygons are detected using the Monotone Chain Convex Hull algorithm. + + + + + + This class converts costmap2d obstacles into a vector of lines (represented as polygon msg). + Clustering is performed with DBScan. Clusters are transformed into convex polygons using the Monotone Chain Convex Hull algorithm. + The resulting keypoints are used for possible line candidates. + A line is only defined if there exist a specified number of support points between each keypoint pair. + + + + + + This class converts costmap2d obstacles into a vector of lines (represented as polygon msg). + Clustering is performed with DBScan. For each cluster RANSAC is applied sequentally to fit multiple line models. + + + + + + This class converts costmap2d obstacles into a vector of non-convex (concave) polygons. + + + + + + This class detects and tracks obstacles from a sequence of costmaps. + + + + diff --git a/navigations/costmap_converter/src/costmap_converter_node.cpp b/navigations/costmap_converter/src/costmap_converter_node.cpp new file mode 100755 index 0000000..4127084 --- /dev/null +++ b/navigations/costmap_converter/src/costmap_converter_node.cpp @@ -0,0 +1,296 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include + + + +class CostmapStandaloneConversion +{ +public: + CostmapStandaloneConversion() : converter_loader_("costmap_converter", "costmap_converter::BaseCostmapToPolygons"), n_("~") + { + // load converter plugin from parameter server, otherwise set default + std::string converter_plugin = "costmap_converter::CostmapToPolygonsDBSMCCH"; + n_.param("converter_plugin", converter_plugin, converter_plugin); + + try + { + converter_ = converter_loader_.createInstance(converter_plugin); + } + catch(const pluginlib::PluginlibException& ex) + { + ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what()); + ros::shutdown(); + } + + ROS_INFO_STREAM("Standalone costmap converter:" << converter_plugin << " loaded."); + + std::string costmap_topic = "/move_base/local_costmap/costmap"; + n_.param("costmap_topic", costmap_topic, costmap_topic); + + std::string costmap_update_topic = "/move_base/local_costmap/costmap_updates"; + n_.param("costmap_update_topic", costmap_update_topic, costmap_update_topic); + + std::string obstacles_topic = "costmap_obstacles"; + n_.param("obstacles_topic", obstacles_topic, obstacles_topic); + + std::string polygon_marker_topic = "costmap_polygon_markers"; + n_.param("polygon_marker_topic", polygon_marker_topic, polygon_marker_topic); + + costmap_sub_ = n_.subscribe(costmap_topic, 1, &CostmapStandaloneConversion::costmapCallback, this); + costmap_update_sub_ = n_.subscribe(costmap_update_topic, 1, &CostmapStandaloneConversion::costmapUpdateCallback, this); + obstacle_pub_ = n_.advertise(obstacles_topic, 1000); + marker_pub_ = n_.advertise(polygon_marker_topic, 10); + + occupied_min_value_ = 100; + n_.param("occupied_min_value", occupied_min_value_, occupied_min_value_); + + std::string odom_topic = "/odom"; + n_.param("odom_topic", odom_topic, odom_topic); + + if (converter_) + { + converter_->setOdomTopic(odom_topic); + converter_->initialize(n_); + converter_->setCostmap2D(&map_); + //converter_->startWorker(ros::Rate(5), &map, true); + } + } + + + void costmapCallback(const nav_msgs::OccupancyGridConstPtr& msg) + { + ROS_INFO_ONCE("Got first costmap callback. This message will be printed once"); + + if (msg->info.width != map_.getSizeInCellsX() || msg->info.height != map_.getSizeInCellsY() || msg->info.resolution != map_.getResolution()) + { + ROS_INFO("New map format, resizing and resetting map..."); + map_.resizeMap(msg->info.width, msg->info.height, msg->info.resolution, msg->info.origin.position.x, msg->info.origin.position.y); + } + else + { + map_.updateOrigin(msg->info.origin.position.x, msg->info.origin.position.y); + } + + + for (std::size_t i=0; i < msg->data.size(); ++i) + { + unsigned int mx, my; + map_.indexToCells((unsigned int)i, mx, my); + map_.setCost(mx, my, msg->data[i] >= occupied_min_value_ ? 255 : 0 ); + } + + // convert + converter_->updateCostmap2D(); + converter_->compute(); + costmap_converter::ObstacleArrayConstPtr obstacles = converter_->getObstacles(); + + if (!obstacles) + return; + + obstacle_pub_.publish(obstacles); + + frame_id_ = msg->header.frame_id; + + publishAsMarker(frame_id_, *obstacles, marker_pub_); + } + + void costmapUpdateCallback(const map_msgs::OccupancyGridUpdateConstPtr& update) + { + unsigned int di = 0; + for (unsigned int y = 0; y < update->height ; ++y) + { + for (unsigned int x = 0; x < update->width ; ++x) + { + map_.setCost(x, y, update->data[di++] >= occupied_min_value_ ? 255 : 0 ); + } + } + + // convert + // TODO(roesmann): currently, the converter updates the complete costmap and not the part which is updated in this callback + converter_->updateCostmap2D(); + converter_->compute(); + costmap_converter::ObstacleArrayConstPtr obstacles = converter_->getObstacles(); + + if (!obstacles) + return; + + obstacle_pub_.publish(obstacles); + + publishAsMarker(frame_id_, *obstacles, marker_pub_); + } + + void publishAsMarker(const std::string& frame_id, const std::vector& polygonStamped, ros::Publisher& marker_pub) + { + visualization_msgs::Marker line_list; + line_list.header.frame_id = frame_id; + line_list.header.stamp = ros::Time::now(); + line_list.ns = "Polygons"; + line_list.action = visualization_msgs::Marker::ADD; + line_list.pose.orientation.w = 1.0; + + line_list.id = 0; + line_list.type = visualization_msgs::Marker::LINE_LIST; + + line_list.scale.x = 0.1; + line_list.color.g = 1.0; + line_list.color.a = 1.0; + + for (std::size_t i=0; i converter_loader_; + boost::shared_ptr converter_; + + ros::NodeHandle n_; + ros::Subscriber costmap_sub_; + ros::Subscriber costmap_update_sub_; + ros::Publisher obstacle_pub_; + ros::Publisher marker_pub_; + + std::string frame_id_; + int occupied_min_value_; + + costmap_2d::Costmap2D map_; + +}; + + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "costmap_converter"); + + CostmapStandaloneConversion convert_process; + + ros::spin(); + + return 0; +} + + diff --git a/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/background_subtractor.cpp b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/background_subtractor.cpp new file mode 100755 index 0000000..37256bc --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/background_subtractor.cpp @@ -0,0 +1,115 @@ +#include +//#include +#include + +BackgroundSubtractor::BackgroundSubtractor(const Params ¶meters): params_(parameters) +{ +} + +void BackgroundSubtractor::apply(const cv::Mat& image, cv::Mat& fg_mask, int shift_x, int shift_y) +{ + current_frame_ = image; + + // occupancy grids are empty only once in the beginning -> initialize variables + if (occupancy_grid_fast_.empty() && occupancy_grid_slow_.empty()) + { + occupancy_grid_fast_ = current_frame_; + occupancy_grid_slow_ = current_frame_; + previous_shift_x_ = shift_x; + previous_shift_y_ = shift_y; + return; + } + + // Shift previous occupancy grid to new location (match current_frame_) + int shift_relative_to_previous_pos_x_ = shift_x - previous_shift_x_; + int shift_relative_to_previous_pos_y_ = shift_y - previous_shift_y_; + previous_shift_x_ = shift_x; + previous_shift_y_ = shift_y; + + // if(shift_relative_to_previous_pos_x_ != 0 || shift_relative_to_previous_pos_y_ != 0) + transformToCurrentFrame(shift_relative_to_previous_pos_x_, shift_relative_to_previous_pos_y_); + + // cvv::debugFilter(occupancy_grid_fast_, currentFrame_, CVVISUAL_LOCATION); + + // Calculate normalized sum (mean) of nearest neighbors + int size = 3; // 3, 5, 7, .... + cv::Mat nearest_neighbor_mean_fast(occupancy_grid_fast_.size(), CV_8UC1); + cv::Mat nearest_neighbor_mean_slow(occupancy_grid_slow_.size(), CV_8UC1); + cv::boxFilter(occupancy_grid_fast_, nearest_neighbor_mean_fast, -1, cv::Size(size, size), cv::Point(-1, -1), true, + cv::BORDER_REPLICATE); + cv::boxFilter(occupancy_grid_slow_, nearest_neighbor_mean_slow, -1, cv::Size(size, size), cv::Point(-1, -1), true, + cv::BORDER_REPLICATE); + // cv::GaussianBlur(occupancy_grid_fast_, nearest_neighbor_mean_fast, cv::Size(size,size), 1, 1, cv::BORDER_REPLICATE); + // cv::GaussianBlur(occupancy_grid_fast_, nearest_neighbor_mean_fast, cv::Size(size,size), 1, 1, cv::BORDER_REPLICATE); + + // compute time mean value for each pixel according to learningrate alpha + // occupancy_grid_fast_ = beta*(alpha_fast*current_frame_ + (1.0-alpha_fast)*occupancy_grid_fast_) + (1-beta)*nearest_neighbor_mean_fast; + cv::addWeighted(current_frame_, params_.alpha_fast, occupancy_grid_fast_, (1 - params_.alpha_fast), 0, occupancy_grid_fast_); + cv::addWeighted(occupancy_grid_fast_, params_.beta, nearest_neighbor_mean_fast, (1 - params_.beta), 0, occupancy_grid_fast_); + // occupancy_grid_slow_ = beta*(alpha_slow*current_frame_ + (1.0-alpha_slow)*occupancy_grid_slow) + (1-beta)*nearest_neighbor_mean_slow; + cv::addWeighted(current_frame_, params_.alpha_slow, occupancy_grid_slow_, (1 - params_.alpha_slow), 0, occupancy_grid_slow_); + cv::addWeighted(occupancy_grid_slow_, params_.beta, nearest_neighbor_mean_slow, (1 - params_.beta), 0, occupancy_grid_slow_); + + // 1) Obstacles should be detected after a minimum response of the fast filter + // occupancy_grid_fast_ > min_occupancy_probability + cv::threshold(occupancy_grid_fast_, occupancy_grid_fast_, params_.min_occupancy_probability, 0 /*unused*/, cv::THRESH_TOZERO); + // 2) Moving obstacles have a minimum difference between the responses of the slow and fast filter + // occupancy_grid_fast_-occupancy_grid_slow_ > min_sep_between_fast_and_slow_filter + cv::threshold(occupancy_grid_fast_ - occupancy_grid_slow_, fg_mask, params_.min_sep_between_fast_and_slow_filter, 255, + cv::THRESH_BINARY); + // 3) Dismiss static obstacles + // nearest_neighbor_mean_slow < max_occupancy_neighbors + cv::threshold(nearest_neighbor_mean_slow, nearest_neighbor_mean_slow, params_.max_occupancy_neighbors, 255, cv::THRESH_BINARY_INV); + cv::bitwise_and(nearest_neighbor_mean_slow, fg_mask, fg_mask); + + //visualize("Current frame", currentFrame_); + cv::Mat setBorderToZero = cv::Mat(current_frame_.size(), CV_8UC1, 0.0); + int border = 5; + setBorderToZero(cv::Rect(border, border, current_frame_.cols-2*border, current_frame_.rows-2*border)) = 255; + + cv::bitwise_and(setBorderToZero, fg_mask, fg_mask); + + // cv::imwrite("/home/albers/Desktop/currentFrame.png", currentFrame_); + // visualize("Foreground mask", fgMask); + + // Closing Operation + cv::Mat element = cv::getStructuringElement(cv::MORPH_ELLIPSE, + cv::Size(2*params_.morph_size + 1, 2*params_.morph_size + 1), + cv::Point(params_.morph_size, params_.morph_size)); + cv::dilate(fg_mask, fg_mask, element); + cv::dilate(fg_mask, fg_mask, element); + cv::erode(fg_mask, fg_mask, element); +} + +void BackgroundSubtractor::transformToCurrentFrame(int shift_x, int shift_y) +{ + // TODO: initialize with current_frame (first observed image) rather than zeros + + // Translate (shift) image in costmap coordinates + // in cv::Mat: shift X -> to the left; shift y -> to the top + cv::Mat temp_fast, temp_slow; + cv::Mat translation_mat = (cv::Mat_(2, 3, CV_64F) << 1, 0, -shift_x, 0, 1, -shift_y); + cv::warpAffine(occupancy_grid_fast_, temp_fast, translation_mat, occupancy_grid_fast_.size()); // can't operate in-place + cv::warpAffine(occupancy_grid_slow_, temp_slow, translation_mat, occupancy_grid_slow_.size()); // can't operate in-place + + // cvv::debugFilter(occupancy_grid_fast_, temp_fast); + + occupancy_grid_fast_ = temp_fast; + occupancy_grid_slow_ = temp_slow; +} + +void BackgroundSubtractor::visualize(const std::string& name, const cv::Mat& image) +{ + if (!image.empty()) + { + cv::Mat im = image.clone(); + cv::flip(im, im, 0); + cv::imshow(name, im); + cv::waitKey(1); + } +} + +void BackgroundSubtractor::updateParameters(const Params ¶meters) +{ + params_ = parameters; +} diff --git a/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/blob_detector.cpp b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/blob_detector.cpp new file mode 100755 index 0000000..c7352f4 --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/blob_detector.cpp @@ -0,0 +1,193 @@ +#include +#include +#include + +BlobDetector::BlobDetector(const SimpleBlobDetector::Params& parameters) : params_(parameters) {} + +cv::Ptr BlobDetector::create(const cv::SimpleBlobDetector::Params& params) +{ + return cv::Ptr (new BlobDetector(params)); // compatibility with older versions + //return cv::makePtr(params); +} + +void BlobDetector::detect(const cv::Mat& image, std::vector& keypoints, const cv::Mat&) +{ + // TODO: support mask + contours_.clear(); + + keypoints.clear(); + cv::Mat grayscale_image; + if (image.channels() == 3) + cv::cvtColor(image, grayscale_image, cv::COLOR_BGR2GRAY); + else + grayscale_image = image; + + if (grayscale_image.type() != CV_8UC1) + { + //CV_Error(cv::Error::StsUnsupportedFormat, "Blob detector only supports 8-bit images!"); + std::cerr << "Blob detector only supports 8-bit images!\n"; + } + + std::vector> centers; + std::vector> contours; + for (double thresh = params_.minThreshold; thresh < params_.maxThreshold; thresh += params_.thresholdStep) + { + cv::Mat binarized_image; + cv::threshold(grayscale_image, binarized_image, thresh, 255, cv::THRESH_BINARY); + + std::vector
cur_centers; + std::vector> cur_contours, new_contours; + findBlobs(grayscale_image, binarized_image, cur_centers, cur_contours); + std::vector> new_centers; + for (std::size_t i = 0; i < cur_centers.size(); ++i) + { + bool isNew = true; + for (std::size_t j = 0; j < centers.size(); ++j) + { + double dist = cv::norm(centers[j][centers[j].size() / 2].location - cur_centers[i].location); + isNew = dist >= params_.minDistBetweenBlobs && dist >= centers[j][centers[j].size() / 2].radius && + dist >= cur_centers[i].radius; + if (!isNew) + { + centers[j].push_back(cur_centers[i]); + + size_t k = centers[j].size() - 1; + while (k > 0 && centers[j][k].radius < centers[j][k - 1].radius) + { + centers[j][k] = centers[j][k - 1]; + k--; + } + centers[j][k] = cur_centers[i]; + + break; + } + } + if (isNew) + { + new_centers.push_back(std::vector
(1, cur_centers[i])); + new_contours.push_back(cur_contours[i]); + } + } + std::copy(new_centers.begin(), new_centers.end(), std::back_inserter(centers)); + std::copy(new_contours.begin(), new_contours.end(), std::back_inserter(contours)); + } + + for (size_t i = 0; i < centers.size(); ++i) + { + if (centers[i].size() < params_.minRepeatability) + continue; + cv::Point2d sum_point(0, 0); + double normalizer = 0; + for (std::size_t j = 0; j < centers[i].size(); ++j) + { + sum_point += centers[i][j].confidence * centers[i][j].location; + normalizer += centers[i][j].confidence; + } + sum_point *= (1. / normalizer); + cv::KeyPoint kpt(sum_point, (float)(centers[i][centers[i].size() / 2].radius)); + keypoints.push_back(kpt); + contours_.push_back(contours[i]); + } +} + +void BlobDetector::findBlobs(const cv::Mat& image, const cv::Mat& binary_image, std::vector
& centers, + std::vector>& cur_contours) const +{ + (void)image; + centers.clear(); + cur_contours.clear(); + + std::vector> contours; + cv::Mat tmp_binary_image = binary_image.clone(); + cv::findContours(tmp_binary_image, contours, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE); + + for (std::size_t contour_idx = 0; contour_idx < contours.size(); ++contour_idx) + { + Center center; + center.confidence = 1; + cv::Moments moms = cv::moments(cv::Mat(contours[contour_idx])); + if (params_.filterByArea) + { + double area = moms.m00; + if (area < params_.minArea || area >= params_.maxArea) + continue; + } + + if (params_.filterByCircularity) + { + double area = moms.m00; + double perimeter = cv::arcLength(cv::Mat(contours[contour_idx]), true); + double ratio = 4 * CV_PI * area / (perimeter * perimeter); + if (ratio < params_.minCircularity || ratio >= params_.maxCircularity) + continue; + } + + if (params_.filterByInertia) + { + double denominator = std::sqrt(std::pow(2 * moms.mu11, 2) + std::pow(moms.mu20 - moms.mu02, 2)); + const double eps = 1e-2; + double ratio; + if (denominator > eps) + { + double cosmin = (moms.mu20 - moms.mu02) / denominator; + double sinmin = 2 * moms.mu11 / denominator; + double cosmax = -cosmin; + double sinmax = -sinmin; + + double imin = 0.5 * (moms.mu20 + moms.mu02) - 0.5 * (moms.mu20 - moms.mu02) * cosmin - moms.mu11 * sinmin; + double imax = 0.5 * (moms.mu20 + moms.mu02) - 0.5 * (moms.mu20 - moms.mu02) * cosmax - moms.mu11 * sinmax; + ratio = imin / imax; + } + else + { + ratio = 1; + } + + if (ratio < params_.minInertiaRatio || ratio >= params_.maxInertiaRatio) + continue; + + center.confidence = ratio * ratio; + } + + if (params_.filterByConvexity) + { + std::vector hull; + cv::convexHull(cv::Mat(contours[contour_idx]), hull); + double area = cv::contourArea(cv::Mat(contours[contour_idx])); + double hullArea = cv::contourArea(cv::Mat(hull)); + double ratio = area / hullArea; + if (ratio < params_.minConvexity || ratio >= params_.maxConvexity) + continue; + } + + if (moms.m00 == 0.0) + continue; + center.location = cv::Point2d(moms.m10 / moms.m00, moms.m01 / moms.m00); + + if (params_.filterByColor) + { + if (binary_image.at(cvRound(center.location.y), cvRound(center.location.x)) != params_.blobColor) + continue; + } + + // compute blob radius + { + std::vector dists; + for (std::size_t point_idx = 0; point_idx < contours[contour_idx].size(); ++point_idx) + { + cv::Point2d pt = contours[contour_idx][point_idx]; + dists.push_back(cv::norm(center.location - pt)); + } + std::sort(dists.begin(), dists.end()); + center.radius = (dists[(dists.size() - 1) / 2] + dists[dists.size() / 2]) / 2.; + } + + centers.push_back(center); + cur_contours.push_back(contours[contour_idx]); + } +} + +void BlobDetector::updateParameters(const Params& parameters) +{ + params_ = parameters; +} diff --git a/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp new file mode 100755 index 0000000..92cc442 --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/costmap_to_dynamic_obstacles.cpp @@ -0,0 +1,476 @@ +#include + +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToDynamicObstacles, costmap_converter::BaseCostmapToPolygons) + +namespace costmap_converter +{ + +CostmapToDynamicObstacles::CostmapToDynamicObstacles() : BaseCostmapToDynamicObstacles() +{ + ego_vel_.x = ego_vel_.y = ego_vel_.z = 0; + costmap_ = nullptr; + dynamic_recfg_ = nullptr; +} + +CostmapToDynamicObstacles::~CostmapToDynamicObstacles() +{ + if(dynamic_recfg_ != nullptr) + delete dynamic_recfg_; +} + +void CostmapToDynamicObstacles::initialize(ros::NodeHandle nh) +{ + costmap_ = nullptr; + + // We need the odometry from the robot to compensate the ego motion + ros::NodeHandle gn; // create odom topic w.r.t. global node handle + odom_sub_ = gn.subscribe(odom_topic_, 1, &CostmapToDynamicObstacles::odomCallback, this); + + nh.param("publish_static_obstacles", publish_static_obstacles_, publish_static_obstacles_); + + ////////////////////////////////// + // Foreground detection parameters + BackgroundSubtractor::Params bg_sub_params; + + bg_sub_params.alpha_slow = 0.3; + nh.param("alpha_slow", bg_sub_params.alpha_slow, bg_sub_params.alpha_slow); + + bg_sub_params.alpha_fast = 0.85; + nh.param("alpha_fast", bg_sub_params.alpha_fast, bg_sub_params.alpha_fast); + + bg_sub_params.beta = 0.85; + nh.param("beta", bg_sub_params.beta, bg_sub_params.beta); + + bg_sub_params.min_occupancy_probability = 180; + nh.param("min_occupancy_probability", bg_sub_params.min_occupancy_probability, bg_sub_params.min_occupancy_probability); + + bg_sub_params.min_sep_between_fast_and_slow_filter = 80; + nh.param("min_sep_between_slow_and_fast_filter", bg_sub_params.min_sep_between_fast_and_slow_filter, bg_sub_params.min_sep_between_fast_and_slow_filter); + + bg_sub_params.max_occupancy_neighbors = 100; + nh.param("max_occupancy_neighbors", bg_sub_params.max_occupancy_neighbors, bg_sub_params.max_occupancy_neighbors); + + bg_sub_params.morph_size = 1; + nh.param("morph_size", bg_sub_params.morph_size, bg_sub_params.morph_size); + + bg_sub_ = std::unique_ptr(new BackgroundSubtractor(bg_sub_params)); + + //////////////////////////// + // Blob detection parameters + BlobDetector::Params blob_det_params; + + blob_det_params.filterByColor = true; // actually filterByIntensity, always true + blob_det_params.blobColor = 255; // Extract light blobs + blob_det_params.thresholdStep = 256; // Input for blob detection is already a binary image + blob_det_params.minThreshold = 127; + blob_det_params.maxThreshold = 255; + blob_det_params.minRepeatability = 1; + + blob_det_params.minDistBetweenBlobs = 10; + nh.param("min_distance_between_blobs", blob_det_params.minDistBetweenBlobs, blob_det_params.minDistBetweenBlobs); + + blob_det_params.filterByArea = true; + nh.param("filter_by_area", blob_det_params.filterByArea, blob_det_params.filterByArea); + + blob_det_params.minArea = 3; // Filter out blobs with less pixels + nh.param("min_area", blob_det_params.minArea, blob_det_params.minArea); + + blob_det_params.maxArea = 300; + nh.param("max_area", blob_det_params.maxArea, blob_det_params.maxArea); + + blob_det_params.filterByCircularity = true; // circularity = 4*pi*area/perimeter^2 + nh.param("filter_by_circularity", blob_det_params.filterByCircularity, blob_det_params.filterByCircularity); + + blob_det_params.minCircularity = 0.2; + nh.param("min_circularity", blob_det_params.minCircularity, blob_det_params.minCircularity); + + blob_det_params.maxCircularity = 1; // maximal 1 (in case of a circle) + nh.param("max_circularity", blob_det_params.maxCircularity, blob_det_params.maxCircularity); + + blob_det_params.filterByInertia = true; // Filter blobs based on their elongation + nh.param("filter_by_intertia", blob_det_params.filterByInertia, blob_det_params.filterByInertia); + + blob_det_params.minInertiaRatio = 0.2; // minimal 0 (in case of a line) + nh.param("min_inertia_ratio", blob_det_params.minInertiaRatio, blob_det_params.minInertiaRatio); + + blob_det_params.maxInertiaRatio = 1; // maximal 1 (in case of a circle) + nh.param("max_intertia_ratio", blob_det_params.maxInertiaRatio, blob_det_params.maxInertiaRatio); + + blob_det_params.filterByConvexity = false; // Area of the Blob / Area of its convex hull + nh.param("filter_by_convexity", blob_det_params.filterByConvexity, blob_det_params.filterByConvexity); + + blob_det_params.minConvexity = 0; // minimal 0 + nh.param("min_convexity", blob_det_params.minConvexity, blob_det_params.minConvexity); + + blob_det_params.maxConvexity = 1; // maximal 1 + nh.param("max_convexity", blob_det_params.maxConvexity, blob_det_params.maxConvexity); + + blob_det_ = BlobDetector::create(blob_det_params); + + //////////////////////////////////// + // Tracking parameters + CTracker::Params tracker_params; + tracker_params.dt = 0.2; + nh.param("dt", tracker_params.dt, tracker_params.dt); + + tracker_params.dist_thresh = 60.0; + nh.param("dist_thresh", tracker_params.dist_thresh, tracker_params.dist_thresh); + + tracker_params.max_allowed_skipped_frames = 3; + nh.param("max_allowed_skipped_frames", tracker_params.max_allowed_skipped_frames, tracker_params.max_allowed_skipped_frames); + + tracker_params.max_trace_length = 10; + nh.param("max_trace_length", tracker_params.max_trace_length, tracker_params.max_trace_length); + + tracker_ = std::unique_ptr(new CTracker(tracker_params)); + + + //////////////////////////////////// + // Static costmap conversion parameters + std::string static_converter_plugin = "costmap_converter::CostmapToPolygonsDBSMCCH"; + nh.param("static_converter_plugin", static_converter_plugin, static_converter_plugin); + loadStaticCostmapConverterPlugin(static_converter_plugin, nh); + + + // setup dynamic reconfigure + dynamic_recfg_ = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToDynamicObstacles::reconfigureCB, this, _1, _2); + dynamic_recfg_->setCallback(cb); +} + +void CostmapToDynamicObstacles::compute() +{ + if (costmap_mat_.empty()) + return; + + /////////////////////////// Foreground detection //////////////////////////////////// + // Dynamic obstacles are separated from static obstacles + int origin_x = round(costmap_->getOriginX() / costmap_->getResolution()); + int origin_y = round(costmap_->getOriginY() / costmap_->getResolution()); + // ROS_INFO("Origin x [m]: %f Origin_y [m]: %f", costmap_->getOriginX(), costmap_->getOriginY()); + // ROS_INFO("Origin x [px]: %d \t Origin_y [px]: %d", originX, originY); + + bg_sub_->apply(costmap_mat_, fg_mask_, origin_x, origin_y); + + // if no foreground object is detected, no ObstacleMsgs need to be published + if (fg_mask_.empty()) + return; + + cv::Mat bg_mat; + if (publish_static_obstacles_) + { + // Get static obstacles + bg_mat = costmap_mat_ - fg_mask_; + // visualize("bg_mat", bg_mat); + } + + + /////////////////////////////// Blob detection ///////////////////////////////////// + // Centers and contours of Blobs are detected + blob_det_->detect(fg_mask_, keypoints_); + std::vector> contours = blob_det_->getContours(); + + + ////////////////////////////// Tracking //////////////////////////////////////////// + // Objects are assigned to objects from previous frame based on Hungarian Algorithm + // Object velocities are estimated using a Kalman Filter + std::vector detected_centers(keypoints_.size()); + for (int i = 0; i < keypoints_.size(); i++) + { + detected_centers.at(i).x = keypoints_.at(i).pt.x; + detected_centers.at(i).y = keypoints_.at(i).pt.y; + detected_centers.at(i).z = 0; // Currently unused! + } + + tracker_->Update(detected_centers, contours); + + + ///////////////////////////////////// Output /////////////////////////////////////// + /* + cv::Mat fg_mask_with_keypoints = cv::Mat::zeros(fg_mask.size(), CV_8UC3); + cv::cvtColor(fg_mask, fg_mask_with_keypoints, cv::COLOR_GRAY2BGR); + + for (int i = 0; i < (int)tracker_->tracks.size(); ++i) + cv::rectangle(fg_mask_with_keypoints, cv::boundingRect(tracker_->tracks[i]->getLastContour()), + cv::Scalar(0, 0, 255), 1); + + //visualize("fgMaskWithKeyPoints", fgMaskWithKeypoints); + //cv::imwrite("/home/albers/Desktop/fgMask.png", fgMask); + //cv::imwrite("/home/albers/Desktop/fgMaskWithKeyPoints.png", fgMaskWithKeypoints); + */ + + //////////////////////////// Fill ObstacleContainerPtr ///////////////////////////// + ObstacleArrayPtr obstacles(new ObstacleArrayMsg); + // header.seq is automatically filled + obstacles->header.stamp = ros::Time::now(); + obstacles->header.frame_id = "/map"; //Global frame /map + + // For all tracked objects + for (unsigned int i = 0; i < (unsigned int)tracker_->tracks.size(); ++i) + { + geometry_msgs::Polygon polygon; + + // TODO directly create polygon inside getContour and avoid copy + std::vector contour; + getContour(i, contour); // this method also transforms map to world coordinates + + // convert contour to polygon + for (const Point_t& pt : contour) + { + polygon.points.emplace_back(); + polygon.points.back().x = pt.x; + polygon.points.back().y = pt.y; + polygon.points.back().z = 0; + } + + obstacles->obstacles.emplace_back(); + obstacles->obstacles.back().polygon = polygon; + + // Set obstacle ID + obstacles->obstacles.back().id = tracker_->tracks.at(i)->track_id; + + // Set orientation + geometry_msgs::QuaternionStamped orientation; + + Point_t vel = getEstimatedVelocityOfObject(i); + double yaw = std::atan2(vel.y, vel.x); + //ROS_INFO("yaw: %f", yaw); + obstacles->obstacles.back().orientation = tf::createQuaternionMsgFromYaw(yaw); + + // Set velocity + geometry_msgs::TwistWithCovariance velocities; + //velocities.twist.linear.x = std::sqrt(vel.x*vel.x + vel.y*vel.y); + //velocities.twist.linear.y = 0; + velocities.twist.linear.x = vel.x; + velocities.twist.linear.y = vel.y; // TODO(roesmann): don't we need to consider the transformation between opencv's and costmap's coordinate frames? + velocities.twist.linear.z = 0; + velocities.twist.angular.x = 0; + velocities.twist.angular.y = 0; + velocities.twist.angular.z = 0; + + // TODO: use correct covariance matrix + velocities.covariance = {1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, + 0, 0, 0, 1, 0, 0, + 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 1}; + + obstacles->obstacles.back().velocities = velocities; + } + + ////////////////////////// Static obstacles //////////////////////////// + if (publish_static_obstacles_) + { + uchar* img_data = bg_mat.data; + int width = bg_mat.cols; + int height = bg_mat.rows; + int stride = bg_mat.step; + + if (stackedCostmapConversion()) + { + // Create new costmap with static obstacles (background) + boost::shared_ptr static_costmap(new costmap_2d::Costmap2D(costmap_->getSizeInCellsX(), + costmap_->getSizeInCellsY(), + costmap_->getResolution(), + costmap_->getOriginX(), + costmap_->getOriginY())); + for(int i = 0; i < height; i++) + { + for(int j = 0; j < width; j++) + { + static_costmap->setCost(j, i, img_data[i * stride + j]); + } + } + + // Apply static obstacle conversion plugin + setStaticCostmap(static_costmap); + convertStaticObstacles(); + + // Store converted static obstacles for publishing + auto static_polygons = getStaticPolygons(); + for (auto it = static_polygons->begin(); it != static_polygons->end(); ++it) + { + obstacles->obstacles.emplace_back(); + obstacles->obstacles.back().polygon = *it; + obstacles->obstacles.back().velocities.twist.linear.x = 0; + obstacles->obstacles.back().velocities.twist.linear.y = 0; + obstacles->obstacles.back().id = -1; + } + } + // Otherwise leave static obstacles point-shaped + else + { + for(int i = 0; i < height; i++) + { + for(int j = 0; j < width; j++) + { + uchar value = img_data[i * stride + j]; + if (value > 0) + { + // obstacle found + obstacles->obstacles.emplace_back(); + geometry_msgs::Point32 pt; + pt.x = (double)j*costmap_->getResolution() + costmap_->getOriginX(); + pt.y = (double)i*costmap_->getResolution() + costmap_->getOriginY(); + obstacles->obstacles.back().polygon.points.push_back(pt); + obstacles->obstacles.back().velocities.twist.linear.x = 0; + obstacles->obstacles.back().velocities.twist.linear.y = 0; + obstacles->obstacles.back().id = -1; + } + } + } + } + } + + updateObstacleContainer(obstacles); +} + +void CostmapToDynamicObstacles::setCostmap2D(costmap_2d::Costmap2D* costmap) +{ + if (!costmap) + return; + + costmap_ = costmap; + + updateCostmap2D(); +} + +void CostmapToDynamicObstacles::updateCostmap2D() +{ + if (!costmap_->getMutex()) + { + ROS_ERROR("Cannot update costmap since the mutex pointer is null"); + return; + } + costmap_2d::Costmap2D::mutex_t::scoped_lock lock(*costmap_->getMutex()); + + // Initialize costmapMat_ directly with the unsigned char array of costmap_ + //costmap_mat_ = cv::Mat(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY(), CV_8UC1, + // costmap_->getCharMap()).clone(); // Deep copy: TODO + costmap_mat_ = cv::Mat(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY(), CV_8UC1, + costmap_->getCharMap()); +} + +ObstacleArrayConstPtr CostmapToDynamicObstacles::getObstacles() +{ + boost::mutex::scoped_lock lock(mutex_); + return obstacles_; +} + +void CostmapToDynamicObstacles::updateObstacleContainer(ObstacleArrayPtr obstacles) +{ + boost::mutex::scoped_lock lock(mutex_); + obstacles_ = obstacles; +} + +Point_t CostmapToDynamicObstacles::getEstimatedVelocityOfObject(unsigned int idx) +{ + // vel [px/s] * costmapResolution [m/px] = vel [m/s] + Point_t vel = tracker_->tracks.at(idx)->getEstimatedVelocity() * costmap_->getResolution() + ego_vel_; + + //ROS_INFO("vel x: %f, vel y: %f, vel z: %f", vel.x, vel.y, vel.z); + // velocity in /map frame + return vel; +} + +void CostmapToDynamicObstacles::odomCallback(const nav_msgs::Odometry::ConstPtr& msg) +{ + ROS_INFO_ONCE("CostmapToDynamicObstacles: odom received."); + + tf::Quaternion pose; + tf::quaternionMsgToTF(msg->pose.pose.orientation, pose); + + tf::Vector3 twistLinear; + tf::vector3MsgToTF(msg->twist.twist.linear, twistLinear); + + // velocity of the robot in x, y and z coordinates + tf::Vector3 vel = tf::quatRotate(pose, twistLinear); + ego_vel_.x = vel.x(); + ego_vel_.y = vel.y(); + ego_vel_.z = vel.z(); +} + +void CostmapToDynamicObstacles::reconfigureCB(CostmapToDynamicObstaclesConfig& config, uint32_t level) +{ + publish_static_obstacles_ = config.publish_static_obstacles; + + // BackgroundSubtraction Parameters + BackgroundSubtractor::Params bg_sub_params; + bg_sub_params.alpha_slow = config.alpha_slow; + bg_sub_params.alpha_fast = config.alpha_fast; + bg_sub_params.beta = config.beta; + bg_sub_params.min_sep_between_fast_and_slow_filter = config.min_sep_between_slow_and_fast_filter; + bg_sub_params.min_occupancy_probability = config.min_occupancy_probability; + bg_sub_params.max_occupancy_neighbors = config.max_occupancy_neighbors; + bg_sub_params.morph_size = config.morph_size; + bg_sub_->updateParameters(bg_sub_params); + + // BlobDetector Parameters + BlobDetector::Params blob_det_params; + // necessary, because blobDetParams are otherwise initialized with default values for dark blobs + blob_det_params.filterByColor = true; // actually filterByIntensity, always true + blob_det_params.blobColor = 255; // Extract light blobs + blob_det_params.thresholdStep = 256; // Input for blobDetection is already a binary image + blob_det_params.minThreshold = 127; + blob_det_params.maxThreshold = 255; + blob_det_params.minRepeatability = 1; + blob_det_params.minDistBetweenBlobs = config.min_distance_between_blobs; // TODO: Currently not working as expected + blob_det_params.filterByArea = config.filter_by_area; + blob_det_params.minArea = config.min_area; + blob_det_params.maxArea = config.max_area; + blob_det_params.filterByCircularity = config.filter_by_circularity; + blob_det_params.minCircularity = config.min_circularity; + blob_det_params.maxCircularity = config.max_circularity; + blob_det_params.filterByInertia = config.filter_by_inertia; + blob_det_params.minInertiaRatio = config.min_inertia_ratio; + blob_det_params.maxInertiaRatio = config.max_inertia_ratio; + blob_det_params.filterByConvexity = config.filter_by_convexity; + blob_det_params.minConvexity = config.min_convexity; + blob_det_params.maxConvexity = config.max_convexity; + blob_det_->updateParameters(blob_det_params); + + // Tracking Parameters + CTracker::Params tracking_params; + tracking_params.dt = config.dt; + tracking_params.dist_thresh = config.dist_thresh; + tracking_params.max_allowed_skipped_frames = config.max_allowed_skipped_frames; + tracking_params.max_trace_length = config.max_trace_length; + tracker_->updateParameters(tracking_params); +} + +void CostmapToDynamicObstacles::getContour(unsigned int idx, std::vector& contour) +{ + assert(!tracker_->tracks.empty() && idx < tracker_->tracks.size()); + + contour.clear(); + + // contour [px] * costmapResolution [m/px] = contour [m] + std::vector contour2i = tracker_->tracks.at(idx)->getLastContour(); + + contour.reserve(contour2i.size()); + + Point_t costmap_origin(costmap_->getOriginX(), costmap_->getOriginY(), 0); + + for (std::size_t i = 0; i < contour2i.size(); ++i) + { + contour.push_back((Point_t(contour2i.at(i).x, contour2i.at(i).y, 0.0)*costmap_->getResolution()) + + costmap_origin); // Shift to /map + } + +} + +void CostmapToDynamicObstacles::visualize(const std::string& name, const cv::Mat& image) +{ + if (!image.empty()) + { + cv::Mat im = image.clone(); + cv::flip(im, im, 0); + cv::imshow(name, im); + cv::waitKey(1); + } +} +} diff --git a/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.cpp b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.cpp new file mode 100755 index 0000000..68af0a8 --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Ctracker.cpp @@ -0,0 +1,130 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#include + +// --------------------------------------------------------------------------- +// Tracker. Manage tracks. Create, remove, update. +// --------------------------------------------------------------------------- +CTracker::CTracker(const Params ¶meters) + : params(parameters), + NextTrackID(0) +{ +} +// --------------------------------------------------------------------------- +// +// --------------------------------------------------------------------------- +void CTracker::Update(const std::vector& detectedCentroid, const std::vector< std::vector >& contours) +{ + // Each contour has a centroid + assert(detectedCentroid.size() == contours.size()); + + // ----------------------------------- + // If there is no tracks yet, then every cv::Point begins its own track. + // ----------------------------------- + if (tracks.size() == 0) + { + // If no tracks yet + for (size_t i = 0; i < detectedCentroid.size(); ++i) + { + tracks.push_back( + std::unique_ptr(new CTrack(detectedCentroid[i], contours[i], params.dt, NextTrackID++))); + } + } + + size_t N = tracks.size(); + size_t M = detectedCentroid.size(); + + assignments_t assignment; + + if (!tracks.empty()) + { + // Distance matrix of N-th Track to the M-th detectedCentroid + distMatrix_t Cost(N * M); + + // calculate distance between the blobs centroids + for (size_t i = 0; i < tracks.size(); i++) + { + for (size_t j = 0; j < detectedCentroid.size(); j++) + { + Cost[i + j * N] = tracks[i]->CalcDist(detectedCentroid[j]); + } + } + + // ----------------------------------- + // Solving assignment problem (tracks and predictions of Kalman filter) + // ----------------------------------- + AssignmentProblemSolver APS; + APS.Solve(Cost, N, M, assignment, AssignmentProblemSolver::optimal); + + // ----------------------------------- + // clean assignment from pairs with large distance + // ----------------------------------- + for (size_t i = 0; i < assignment.size(); i++) + { + if (assignment[i] != -1) + { + if (Cost[i + assignment[i] * N] > params.dist_thresh) + { + assignment[i] = -1; + tracks[i]->skipped_frames = 1; + } + } + else + { + // If track have no assigned detect, then increment skipped frames counter. + tracks[i]->skipped_frames++; + } + } + + // ----------------------------------- + // If track didn't get detects long time, remove it. + // ----------------------------------- + for (int i = 0; i < static_cast(tracks.size()); i++) + { + if (tracks[i]->skipped_frames > params.max_allowed_skipped_frames) + { + tracks.erase(tracks.begin() + i); + assignment.erase(assignment.begin() + i); + i--; + } + } + } + + // ----------------------------------- + // Search for unassigned detects and start new tracks for them. + // ----------------------------------- + for (size_t i = 0; i < detectedCentroid.size(); ++i) + { + if (find(assignment.begin(), assignment.end(), i) == assignment.end()) + { + tracks.push_back(std::unique_ptr(new CTrack(detectedCentroid[i], contours[i], params.dt, NextTrackID++))); + } + } + + // Update Kalman Filters state + + for (size_t i = 0; i < assignment.size(); i++) + { + // If track updated less than one time, than filter state is not correct. + + if (assignment[i] != -1) // If we have assigned detect, then update using its coordinates, + { + tracks[i]->skipped_frames = 0; + tracks[i]->Update(detectedCentroid[assignment[i]], contours[assignment[i]], true, params.max_trace_length); + } + else // if not continue using predictions + { + tracks[i]->Update(Point_t(), std::vector(), false, params.max_trace_length); + } + } +} + +void CTracker::updateParameters(const Params ¶meters) +{ + params = parameters; +} +// --------------------------------------------------------------------------- +// +// --------------------------------------------------------------------------- +CTracker::~CTracker(void) {} diff --git a/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.cpp b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.cpp new file mode 100755 index 0000000..33ef4b9 --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/HungarianAlg.cpp @@ -0,0 +1,732 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#include +#include + +AssignmentProblemSolver::AssignmentProblemSolver() {} + +AssignmentProblemSolver::~AssignmentProblemSolver() {} + +track_t AssignmentProblemSolver::Solve(const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns, + std::vector& assignment, TMethod Method) +{ + assignment.resize(nOfRows, -1); + + track_t cost = 0; + + switch (Method) + { + case optimal: + assignmentoptimal(assignment, cost, distMatrixIn, nOfRows, nOfColumns); + break; + + case many_forbidden_assignments: + assignmentsuboptimal1(assignment, cost, distMatrixIn, nOfRows, nOfColumns); + break; + + case without_forbidden_assignments: + assignmentsuboptimal2(assignment, cost, distMatrixIn, nOfRows, nOfColumns); + break; + } + + return cost; +} +// -------------------------------------------------------------------------- +// Computes the optimal assignment (minimum overall costs) using Munkres algorithm. +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::assignmentoptimal(assignments_t& assignment, track_t& cost, + const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns) +{ + // Generate distance cv::Matrix + // and check cv::Matrix elements positiveness :) + + // Total elements number + size_t nOfElements = nOfRows * nOfColumns; + // Memory allocation + track_t* distMatrix = (track_t*)malloc(nOfElements * sizeof(track_t)); + // Pointer to last element + track_t* distMatrixEnd = distMatrix + nOfElements; + + for (size_t row = 0; row < nOfElements; row++) + { + track_t value = distMatrixIn[row]; + assert(value >= 0); + distMatrix[row] = value; + } + + // Memory allocation + bool* coveredColumns = (bool*)calloc(nOfColumns, sizeof(bool)); + bool* coveredRows = (bool*)calloc(nOfRows, sizeof(bool)); + bool* starMatrix = (bool*)calloc(nOfElements, sizeof(bool)); + bool* primeMatrix = (bool*)calloc(nOfElements, sizeof(bool)); + bool* newStarMatrix = (bool*)calloc(nOfElements, sizeof(bool)); /* used in step4 */ + + /* preliminary steps */ + if (nOfRows <= nOfColumns) + { + for (size_t row = 0; row < nOfRows; row++) + { + /* find the smallest element in the row */ + track_t* distMatrixTemp = distMatrix + row; + track_t minValue = *distMatrixTemp; + distMatrixTemp += nOfRows; + while (distMatrixTemp < distMatrixEnd) + { + track_t value = *distMatrixTemp; + if (value < minValue) + { + minValue = value; + } + distMatrixTemp += nOfRows; + } + /* subtract the smallest element from each element of the row */ + distMatrixTemp = distMatrix + row; + while (distMatrixTemp < distMatrixEnd) + { + *distMatrixTemp -= minValue; + distMatrixTemp += nOfRows; + } + } + /* Steps 1 and 2a */ + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if (distMatrix[row + nOfRows * col] == 0) + { + if (!coveredColumns[col]) + { + starMatrix[row + nOfRows * col] = true; + coveredColumns[col] = true; + break; + } + } + } + } + } + else /* if(nOfRows > nOfColumns) */ + { + for (size_t col = 0; col < nOfColumns; col++) + { + /* find the smallest element in the column */ + track_t* distMatrixTemp = distMatrix + nOfRows * col; + track_t* columnEnd = distMatrixTemp + nOfRows; + track_t minValue = *distMatrixTemp++; + while (distMatrixTemp < columnEnd) + { + track_t value = *distMatrixTemp++; + if (value < minValue) + { + minValue = value; + } + } + /* subtract the smallest element from each element of the column */ + distMatrixTemp = distMatrix + nOfRows * col; + while (distMatrixTemp < columnEnd) + { + *distMatrixTemp++ -= minValue; + } + } + /* Steps 1 and 2a */ + for (size_t col = 0; col < nOfColumns; col++) + { + for (size_t row = 0; row < nOfRows; row++) + { + if (distMatrix[row + nOfRows * col] == 0) + { + if (!coveredRows[row]) + { + starMatrix[row + nOfRows * col] = true; + coveredColumns[col] = true; + coveredRows[row] = true; + break; + } + } + } + } + + for (size_t row = 0; row < nOfRows; row++) + { + coveredRows[row] = false; + } + } + /* move to step 2b */ + step2b(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, (nOfRows <= nOfColumns) ? nOfRows : nOfColumns); + /* compute cost and remove invalid assignments */ + computeassignmentcost(assignment, cost, distMatrixIn, nOfRows); + /* free allocated memory */ + free(distMatrix); + free(coveredColumns); + free(coveredRows); + free(starMatrix); + free(primeMatrix); + free(newStarMatrix); + return; +} +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::buildassignmentvector(assignments_t& assignment, bool* starMatrix, size_t nOfRows, + size_t nOfColumns) +{ + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if (starMatrix[row + nOfRows * col]) + { + assignment[row] = static_cast(col); + break; + } + } + } +} +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::computeassignmentcost(const assignments_t& assignment, track_t& cost, + const distMatrix_t& distMatrixIn, size_t nOfRows) +{ + for (size_t row = 0; row < nOfRows; row++) + { + const int col = assignment[row]; + if (col >= 0) + { + cost += distMatrixIn[row + nOfRows * col]; + } + } +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step2a(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim) +{ + bool* starMatrixTemp, *columnEnd; + /* cover every column containing a starred zero */ + for (size_t col = 0; col < nOfColumns; col++) + { + starMatrixTemp = starMatrix + nOfRows * col; + columnEnd = starMatrixTemp + nOfRows; + while (starMatrixTemp < columnEnd) + { + if (*starMatrixTemp++) + { + coveredColumns[col] = true; + break; + } + } + } + /* move to step 3 */ + step2b(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step2b(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim) +{ + /* count covered columns */ + size_t nOfCoveredColumns = 0; + for (size_t col = 0; col < nOfColumns; col++) + { + if (coveredColumns[col]) + { + nOfCoveredColumns++; + } + } + if (nOfCoveredColumns == minDim) + { + /* algorithm finished */ + buildassignmentvector(assignment, starMatrix, nOfRows, nOfColumns); + } + else + { + /* move to step 3 */ + step3(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); + } +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step3(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim) +{ + bool zerosFound = true; + while (zerosFound) + { + zerosFound = false; + for (size_t col = 0; col < nOfColumns; col++) + { + if (!coveredColumns[col]) + { + for (size_t row = 0; row < nOfRows; row++) + { + if ((!coveredRows[row]) && (distMatrix[row + nOfRows * col] == 0)) + { + /* prime zero */ + primeMatrix[row + nOfRows * col] = true; + /* find starred zero in current row */ + size_t starCol = 0; + for (; starCol < nOfColumns; starCol++) + { + if (starMatrix[row + nOfRows * starCol]) + { + break; + } + } + if (starCol == nOfColumns) /* no starred zero found */ + { + /* move to step 4 */ + step4(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, + nOfRows, nOfColumns, minDim, row, col); + return; + } + else + { + coveredRows[row] = true; + coveredColumns[starCol] = false; + zerosFound = true; + break; + } + } + } + } + } + } + /* move to step 5 */ + step5(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step4(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim, size_t row, size_t col) +{ + const size_t nOfElements = nOfRows * nOfColumns; + /* generate temporary copy of starMatrix */ + for (size_t n = 0; n < nOfElements; n++) + { + newStarMatrix[n] = starMatrix[n]; + } + /* star current zero */ + newStarMatrix[row + nOfRows * col] = true; + /* find starred zero in current column */ + size_t starCol = col; + size_t starRow = 0; + for (; starRow < nOfRows; starRow++) + { + if (starMatrix[starRow + nOfRows * starCol]) + { + break; + } + } + while (starRow < nOfRows) + { + /* unstar the starred zero */ + newStarMatrix[starRow + nOfRows * starCol] = false; + /* find primed zero in current row */ + size_t primeRow = starRow; + size_t primeCol = 0; + for (; primeCol < nOfColumns; primeCol++) + { + if (primeMatrix[primeRow + nOfRows * primeCol]) + { + break; + } + } + /* star the primed zero */ + newStarMatrix[primeRow + nOfRows * primeCol] = true; + /* find starred zero in current column */ + starCol = primeCol; + for (starRow = 0; starRow < nOfRows; starRow++) + { + if (starMatrix[starRow + nOfRows * starCol]) + { + break; + } + } + } + /* use temporary copy as new starMatrix */ + /* delete all primes, uncover all rows */ + for (size_t n = 0; n < nOfElements; n++) + { + primeMatrix[n] = false; + starMatrix[n] = newStarMatrix[n]; + } + for (size_t n = 0; n < nOfRows; n++) + { + coveredRows[n] = false; + } + /* move to step 2a */ + step2a(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); +} + +// -------------------------------------------------------------------------- +// +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::step5(assignments_t& assignment, track_t* distMatrix, bool* starMatrix, + bool* newStarMatrix, bool* primeMatrix, bool* coveredColumns, bool* coveredRows, + size_t nOfRows, size_t nOfColumns, size_t minDim) +{ + /* find smallest uncovered element h */ + float h = std::numeric_limits::max(); + for (size_t row = 0; row < nOfRows; row++) + { + if (!coveredRows[row]) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if (!coveredColumns[col]) + { + const float value = distMatrix[row + nOfRows * col]; + if (value < h) + { + h = value; + } + } + } + } + } + /* add h to each covered row */ + for (size_t row = 0; row < nOfRows; row++) + { + if (coveredRows[row]) + { + for (size_t col = 0; col < nOfColumns; col++) + { + distMatrix[row + nOfRows * col] += h; + } + } + } + /* subtract h from each uncovered column */ + for (size_t col = 0; col < nOfColumns; col++) + { + if (!coveredColumns[col]) + { + for (size_t row = 0; row < nOfRows; row++) + { + distMatrix[row + nOfRows * col] -= h; + } + } + } + /* move to step 3 */ + step3(assignment, distMatrix, starMatrix, newStarMatrix, primeMatrix, coveredColumns, coveredRows, nOfRows, + nOfColumns, minDim); +} + +// -------------------------------------------------------------------------- +// Computes a suboptimal solution. Good for cases without forbidden assignments. +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::assignmentsuboptimal2(assignments_t& assignment, track_t& cost, + const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns) +{ + /* make working copy of distance Matrix */ + const size_t nOfElements = nOfRows * nOfColumns; + float* distMatrix = (float*)malloc(nOfElements * sizeof(float)); + for (size_t n = 0; n < nOfElements; n++) + { + distMatrix[n] = distMatrixIn[n]; + } + + /* recursively search for the minimum element and do the assignment */ + for (;;) + { + /* find minimum distance observation-to-track pair */ + float minValue = std::numeric_limits::max(); + size_t tmpRow = 0; + size_t tmpCol = 0; + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + const float value = distMatrix[row + nOfRows * col]; + if (value != std::numeric_limits::max() && (value < minValue)) + { + minValue = value; + tmpRow = row; + tmpCol = col; + } + } + } + + if (minValue != std::numeric_limits::max()) + { + assignment[tmpRow] = static_cast(tmpCol); + cost += minValue; + for (size_t n = 0; n < nOfRows; n++) + { + distMatrix[n + nOfRows * tmpCol] = std::numeric_limits::max(); + } + for (size_t n = 0; n < nOfColumns; n++) + { + distMatrix[tmpRow + nOfRows * n] = std::numeric_limits::max(); + } + } + else + { + break; + } + } + + free(distMatrix); +} +// -------------------------------------------------------------------------- +// Computes a suboptimal solution. Good for cases with many forbidden assignments. +// -------------------------------------------------------------------------- +void AssignmentProblemSolver::assignmentsuboptimal1(assignments_t& assignment, track_t& cost, + const distMatrix_t& distMatrixIn, size_t nOfRows, size_t nOfColumns) +{ + /* make working copy of distance Matrix */ + const size_t nOfElements = nOfRows * nOfColumns; + float* distMatrix = (float*)malloc(nOfElements * sizeof(float)); + for (size_t n = 0; n < nOfElements; n++) + { + distMatrix[n] = distMatrixIn[n]; + } + + /* allocate memory */ + int* nOfValidObservations = (int*)calloc(nOfRows, sizeof(int)); + int* nOfValidTracks = (int*)calloc(nOfColumns, sizeof(int)); + + /* compute number of validations */ + bool infiniteValueFound = false; + bool finiteValueFound = false; + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if (distMatrix[row + nOfRows * col] != std::numeric_limits::max()) + { + nOfValidTracks[col] += 1; + nOfValidObservations[row] += 1; + finiteValueFound = true; + } + else + { + infiniteValueFound = true; + } + } + } + + if (infiniteValueFound) + { + if (!finiteValueFound) + { + free(nOfValidTracks); + free(nOfValidObservations); + free(distMatrix); + return; + } + bool repeatSteps = true; + + while (repeatSteps) + { + repeatSteps = false; + + /* step 1: reject assignments of multiply validated tracks to singly validated observations */ + for (size_t col = 0; col < nOfColumns; col++) + { + bool singleValidationFound = false; + for (size_t row = 0; row < nOfRows; row++) + { + if (distMatrix[row + nOfRows * col] != std::numeric_limits::max() && + (nOfValidObservations[row] == 1)) + { + singleValidationFound = true; + break; + } + + if (singleValidationFound) + { + for (size_t row = 0; row < nOfRows; row++) + if ((nOfValidObservations[row] > 1) && + distMatrix[row + nOfRows * col] != std::numeric_limits::max()) + { + distMatrix[row + nOfRows * col] = std::numeric_limits::max(); + nOfValidObservations[row] -= 1; + nOfValidTracks[col] -= 1; + repeatSteps = true; + } + } + } + } + + /* step 2: reject assignments of multiply validated observations to singly validated tracks */ + if (nOfColumns > 1) + { + for (size_t row = 0; row < nOfRows; row++) + { + bool singleValidationFound = false; + for (size_t col = 0; col < nOfColumns; col++) + { + if (distMatrix[row + nOfRows * col] != std::numeric_limits::max() && (nOfValidTracks[col] == 1)) + { + singleValidationFound = true; + break; + } + } + + if (singleValidationFound) + { + for (size_t col = 0; col < nOfColumns; col++) + { + if ((nOfValidTracks[col] > 1) && distMatrix[row + nOfRows * col] != std::numeric_limits::max()) + { + distMatrix[row + nOfRows * col] = std::numeric_limits::max(); + nOfValidObservations[row] -= 1; + nOfValidTracks[col] -= 1; + repeatSteps = true; + } + } + } + } + } + } /* while(repeatSteps) */ + + /* for each multiply validated track that validates only with singly validated */ + /* observations, choose the observation with minimum distance */ + for (size_t row = 0; row < nOfRows; row++) + { + if (nOfValidObservations[row] > 1) + { + bool allSinglyValidated = true; + float minValue = std::numeric_limits::max(); + size_t tmpCol = 0; + for (size_t col = 0; col < nOfColumns; col++) + { + const float value = distMatrix[row + nOfRows * col]; + if (value != std::numeric_limits::max()) + { + if (nOfValidTracks[col] > 1) + { + allSinglyValidated = false; + break; + } + else if ((nOfValidTracks[col] == 1) && (value < minValue)) + { + tmpCol = col; + minValue = value; + } + } + } + + if (allSinglyValidated) + { + assignment[row] = static_cast(tmpCol); + cost += minValue; + for (size_t n = 0; n < nOfRows; n++) + { + distMatrix[n + nOfRows * tmpCol] = std::numeric_limits::max(); + } + for (size_t n = 0; n < nOfColumns; n++) + { + distMatrix[row + nOfRows * n] = std::numeric_limits::max(); + } + } + } + } + + // for each multiply validated observation that validates only with singly validated track, choose the track with + // minimum distance + for (size_t col = 0; col < nOfColumns; col++) + { + if (nOfValidTracks[col] > 1) + { + bool allSinglyValidated = true; + float minValue = std::numeric_limits::max(); + size_t tmpRow = 0; + for (size_t row = 0; row < nOfRows; row++) + { + const float value = distMatrix[row + nOfRows * col]; + if (value != std::numeric_limits::max()) + { + if (nOfValidObservations[row] > 1) + { + allSinglyValidated = false; + break; + } + else if ((nOfValidObservations[row] == 1) && (value < minValue)) + { + tmpRow = row; + minValue = value; + } + } + } + + if (allSinglyValidated) + { + assignment[tmpRow] = static_cast(col); + cost += minValue; + for (size_t n = 0; n < nOfRows; n++) + { + distMatrix[n + nOfRows * col] = std::numeric_limits::max(); + } + for (size_t n = 0; n < nOfColumns; n++) + { + distMatrix[tmpRow + nOfRows * n] = std::numeric_limits::max(); + } + } + } + } + } /* if(infiniteValueFound) */ + + /* now, recursively search for the minimum element and do the assignment */ + for (;;) + { + /* find minimum distance observation-to-track pair */ + float minValue = std::numeric_limits::max(); + size_t tmpRow = 0; + size_t tmpCol = 0; + for (size_t row = 0; row < nOfRows; row++) + { + for (size_t col = 0; col < nOfColumns; col++) + { + const float value = distMatrix[row + nOfRows * col]; + if (value != std::numeric_limits::max() && (value < minValue)) + { + minValue = value; + tmpRow = row; + tmpCol = col; + } + } + } + + if (minValue != std::numeric_limits::max()) + { + assignment[tmpRow] = static_cast(tmpCol); + cost += minValue; + for (size_t n = 0; n < nOfRows; n++) + { + distMatrix[n + nOfRows * tmpCol] = std::numeric_limits::max(); + } + for (size_t n = 0; n < nOfColumns; n++) + { + distMatrix[tmpRow + nOfRows * n] = std::numeric_limits::max(); + } + } + else + { + break; + } + } + + /* free allocated memory */ + free(nOfValidObservations); + free(nOfValidTracks); + free(distMatrix); +} diff --git a/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.cpp b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.cpp new file mode 100755 index 0000000..7bf8e71 --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/Kalman.cpp @@ -0,0 +1,99 @@ +// Based on https://github.com/Smorodov/Multitarget-tracker/tree/master/Tracker, GPLv3 +// Refer to README.md in this directory. + +#include +#include "opencv2/opencv.hpp" +#include +#include + +//--------------------------------------------------------------------------- +//--------------------------------------------------------------------------- +TKalmanFilter::TKalmanFilter(Point_t pt, track_t deltatime) +{ + // time increment (lower values makes target more "massive") + dt = deltatime; + + // 6 state variables [x y z xdot ydot zdot], 3 measurements [x y z] + kalman = new cv::KalmanFilter(6, 3, 0); + // Transition cv::Matrix + kalman->transitionMatrix = (cv::Mat_(6, 6) << + 1, 0, 0, dt, 0, 0, + 0, 1, 0, 0, dt, 0, + 0, 0, 1, 0, 0, dt, + 0, 0, 0, 1, 0, 0, + 0, 0, 0, 0, 1, 0, + 0, 0, 0, 0, 0, 1); + // init... + LastPosition = pt; + kalman->statePre.at(0) = pt.x; + kalman->statePre.at(1) = pt.y; + kalman->statePre.at(2) = pt.z; + + kalman->statePre.at(3) = 0; + kalman->statePre.at(4) = 0; + kalman->statePre.at(5) = 0; + + kalman->statePost.at(0) = pt.x; + kalman->statePost.at(1) = pt.y; + kalman->statePost.at(2) = pt.z; + + // Nur x, y und z Koordinaten messbar! + kalman->measurementMatrix = (cv::Mat_(3, 6) << + 1, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0); + + float sigma = 0.5; // Assume standard deviation for acceleration, todo: dynamic reconfigure + float c1 = pow(dt,4.0)/4.0; + float c2 = pow(dt,2.0); + float c3 = pow(dt,3.0)/2.0; + kalman->processNoiseCov = sigma*sigma*(cv::Mat_(6, 6) << + c1, 0, 0, c3, 0, 0, + 0, c1, 0, 0, c3, 0, + 0, 0, c1, 0, 0, c3, + c3, 0, 0, c2, 0, 0, + 0, c3, 0, 0, c2, 0, + 0, 0, c3, 0, 0, c2); + + cv::setIdentity(kalman->measurementNoiseCov, cv::Scalar::all(5e-2)); + + cv::setIdentity(kalman->errorCovPost, cv::Scalar::all(1000000)); +} +//--------------------------------------------------------------------------- +TKalmanFilter::~TKalmanFilter() { delete kalman; } + +//--------------------------------------------------------------------------- +void TKalmanFilter::Prediction() +{ + cv::Mat prediction = kalman->predict(); + LastPosition = Point_t(prediction.at(0), prediction.at(1), prediction.at(2)); + LastVelocity = Point_t(prediction.at(3), prediction.at(4), prediction.at(5)); +} + +//--------------------------------------------------------------------------- +Point_t TKalmanFilter::Update(Point_t p, bool DataCorrect) +{ + cv::Mat measurement(3, 1, Mat_t(1)); + if (!DataCorrect) + { + measurement.at(0) = LastPosition.x; // update using prediction + measurement.at(1) = LastPosition.y; + measurement.at(2) = LastPosition.z; + } + else + { + measurement.at(0) = p.x; // update using measurements + measurement.at(1) = p.y; + measurement.at(2) = p.z; + } + // Correction + cv::Mat estimated = kalman->correct(measurement); + LastPosition.x = estimated.at(0); // update using measurements + LastPosition.y = estimated.at(1); + LastPosition.z = estimated.at(2); + LastVelocity.x = estimated.at(3); + LastVelocity.y = estimated.at(4); + LastVelocity.z = estimated.at(5); + return LastPosition; +} +//--------------------------------------------------------------------------- diff --git a/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/README.md b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/README.md new file mode 100755 index 0000000..3fb4614 --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_dynamic_obstacles/multitarget_tracker/README.md @@ -0,0 +1,13 @@ +Multitarget Tracker +=================== + +This code is mostly copied from the (MultitargetTracker)[https://github.com/Smorodov/Multitarget-tracker]. +It is utilized for the *CostmapToDynamicObstacles* plugin. + +The *MultitargetTracker* is licensed under (GNU GPLv3)[https://www.gnu.org/licenses/gpl-3.0.txt]. +The package itself depends on other third party packages with different licenses (refer to the package repository). + +TODO: Include the whole package as external CMake project. + + + diff --git a/navigations/costmap_converter/src/costmap_to_lines_convex_hull.cpp b/navigations/costmap_converter/src/costmap_to_lines_convex_hull.cpp new file mode 100755 index 0000000..19e71b8 --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_lines_convex_hull.cpp @@ -0,0 +1,289 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#include +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToLinesDBSMCCH, costmap_converter::BaseCostmapToPolygons) + +namespace costmap_converter +{ + +CostmapToLinesDBSMCCH::CostmapToLinesDBSMCCH() : CostmapToPolygonsDBSMCCH() +{ + dynamic_recfg_ = NULL; +} + +CostmapToLinesDBSMCCH::~CostmapToLinesDBSMCCH() +{ + if (dynamic_recfg_ != NULL) + delete dynamic_recfg_; +} + +void CostmapToLinesDBSMCCH::initialize(ros::NodeHandle nh) +{ + // DB SCAN + nh.param("cluster_max_distance", parameter_.max_distance_, 0.4); + nh.param("cluster_min_pts", parameter_.min_pts_, 2); + nh.param("cluster_max_pts", parameter_.max_pts_, 30); + // convex hull + nh.param("convex_hull_min_pt_separation", parameter_.min_keypoint_separation_, 0.1); + parameter_buffered_ = parameter_; + + // Line extraction + nh.param("support_pts_max_dist", support_pts_max_dist_, 0.3); + nh.param("support_pts_max_dist_inbetween", support_pts_max_dist_inbetween_, 1.0); + nh.param("min_support_pts", min_support_pts_, 2); + + // setup dynamic reconfigure + dynamic_recfg_ = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToLinesDBSMCCH::reconfigureCB, this, _1, _2); + dynamic_recfg_->setCallback(cb); + + // deprecated + if (nh.hasParam("support_pts_min_dist_") || nh.hasParam("support_pts_min_dist")) + ROS_WARN("CostmapToLinesDBSMCCH: Parameter 'support_pts_min_dist' is deprecated and not included anymore."); + if (nh.hasParam("min_support_pts_")) + ROS_WARN("CostmapToLinesDBSMCCH: Parameter 'min_support_pts_' is not found. Remove the underscore."); +} + +void CostmapToLinesDBSMCCH::compute() +{ + std::vector< std::vector > clusters; + dbScan(clusters); + + // Create new polygon container + PolygonContainerPtr polygons(new std::vector()); + + + // add convex hulls to polygon container + for (int i = 1; i push_back( geometry_msgs::Polygon() ); + convertPointToPolygon(clusters.front()[i], polygons->back()); + } + } + + // replace shared polygon container + updatePolygonContainer(polygons); +} + +typedef CostmapToLinesDBSMCCH CL; +bool sort_keypoint_x(const std::size_t& i, const std::size_t& j, const std::vector& cluster) +{ return (cluster[i].x& cluster) +{ return (cluster[i].y& cluster, const geometry_msgs::Polygon& polygon, + std::back_insert_iterator< std::vector > lines) +{ + if (polygon.points.empty()) + return; + + if (polygon.points.size() < 2) + { + lines = polygon; // our polygon is just a point, push back onto the output sequence + return; + } + int n = (int)polygon.points.size(); + + for (int i=1; ix - vertex1->x; + double dy = vertex2->y - vertex1->y; +// double norm = std::sqrt(dx*dx + dy*dy); +// dx /= norm; +// dy /= norm; +// for (int j=i; j<(int)polygon.points.size() - 2; ++j) +// { +// const geometry_msgs::Point32* vertex_jp2 = &polygon.points[j+2]; +// double dx2 = vertex_jp2->x - vertex2->x; +// double dy2 = vertex_jp2->y - vertex2->y; +// double norm2 = std::sqrt(dx2*dx2 + dy2*dy2); +// dx2 /= norm2; +// dy2 /= norm2; +// if (std::abs(dx*dx2 + dy*dy2) < 0.05) //~3 degree +// { +// vertex2 = &polygon.points[j+2]; +// i = j; // DO NOT USE "i" afterwards +// } +// else break; +// } + + //Search support points + std::vector support_points; // store indices of cluster + + for (std::size_t k = 0; k < cluster.size(); ++k) + { + bool is_inbetween = false; + double dist_line_to_point = computeDistanceToLineSegment( cluster[k], *vertex1, *vertex2, &is_inbetween ); + + if(is_inbetween && dist_line_to_point <= support_pts_max_dist_) + { + support_points.push_back(k); + continue; + } + } + + // now check if the inlier models a line by checking the minimum distance between all support points (avoid lines over gaps) + // and by checking if the minium number of points is reached // deactivate by setting support_pts_max_dist_inbetween_==0 + bool is_line=true; + if (support_pts_max_dist_inbetween_!=0) + { + if ((int)support_points.size() >= min_support_pts_ + 2) // +2 since start and goal are included + { + // sort points + if (std::abs(dx) >= std::abs(dy)) + std::sort(support_points.begin(), support_points.end(), boost::bind(sort_keypoint_x, _1, _2, boost::cref(cluster))); + else + std::sort(support_points.begin(), support_points.end(), boost::bind(sort_keypoint_y, _1, _2, boost::cref(cluster))); + + // now calculate distances + for (int k = 1; k < int(support_points.size()); ++k) + { + double dist_x = cluster[support_points[k]].x - cluster[support_points[k-1]].x; + double dist_y = cluster[support_points[k]].y - cluster[support_points[k-1]].y; + double dist = std::sqrt( dist_x*dist_x + dist_y*dist_y); + if (dist > support_pts_max_dist_inbetween_) + { + is_line = false; + break; + } + } + + } + else + is_line = false; + } + + if (is_line) + { + // line found: + geometry_msgs::Polygon line; + line.points.push_back(*vertex1); + line.points.push_back(*vertex2); + lines = line; // back insertion + + // remove inlier from list + // iterate in reverse order, otherwise indices are not valid after erasing elements + std::vector::reverse_iterator support_it = support_points.rbegin(); + for (; support_it != support_points.rend(); ++support_it) + { + cluster.erase(cluster.begin() + *support_it); + } + } + else + { + // remove goal, since it will be added in the subsequent iteration + //support_points.pop_back(); + // old: +// // add vertex 1 as single point +// geometry_msgs::Polygon point; +// point.points.push_back(*vertex1); +// lines = point; // back insertion + + // add complete inlier set as points +// for (int k = 0; k < int(support_points.size()); ++k) +// { +// geometry_msgs::Polygon polygon; +// convertPointToPolygon(cluster[support_points[k]], polygon); +// lines = polygon; // back insertion +// } + + // remove inlier from list and add them as point obstacles + // iterate in reverse order, otherwise indices are not valid after erasing elements + std::vector::reverse_iterator support_it = support_points.rbegin(); + for (; support_it != support_points.rend(); ++support_it) + { + geometry_msgs::Polygon polygon; + convertPointToPolygon(cluster[*support_it], polygon); + lines = polygon; // back insertion + + cluster.erase(cluster.begin() + *support_it); + } + } + } + + // add all remaining cluster points, that do not belong to a line + for (int i=0; i<(int)cluster.size();++i) + { + geometry_msgs::Polygon polygon; + convertPointToPolygon(cluster[i], polygon); + lines = polygon; // back insertion + } + +} + +void CostmapToLinesDBSMCCH::reconfigureCB(CostmapToLinesDBSMCCHConfig& config, uint32_t level) +{ + boost::mutex::scoped_lock lock(parameter_mutex_); + parameter_buffered_.max_distance_ = config.cluster_max_distance; + parameter_buffered_.min_pts_ = config.cluster_min_pts; + parameter_buffered_.max_pts_ = config.cluster_max_pts; + parameter_buffered_.min_keypoint_separation_ = config.cluster_min_pts; + support_pts_max_dist_ = config.support_pts_max_dist; + support_pts_max_dist_inbetween_ = config.support_pts_max_dist_inbetween; + min_support_pts_ = config.min_support_pts; +} + + + +}//end namespace costmap_converter + + diff --git a/navigations/costmap_converter/src/costmap_to_lines_ransac.cpp b/navigations/costmap_converter/src/costmap_to_lines_ransac.cpp new file mode 100755 index 0000000..648098c --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_lines_ransac.cpp @@ -0,0 +1,342 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToLinesDBSRANSAC, costmap_converter::BaseCostmapToPolygons) + +namespace costmap_converter +{ + +CostmapToLinesDBSRANSAC::CostmapToLinesDBSRANSAC() : CostmapToPolygonsDBSMCCH() +{ + dynamic_recfg_ = NULL; +} + +CostmapToLinesDBSRANSAC::~CostmapToLinesDBSRANSAC() +{ + if (dynamic_recfg_ != NULL) + delete dynamic_recfg_; +} + +void CostmapToLinesDBSRANSAC::initialize(ros::NodeHandle nh) +{ + // DB SCAN + nh.param("cluster_max_distance", parameter_.max_distance_, 0.4); + nh.param("cluster_min_pts", parameter_.min_pts_, 2); + nh.param("cluster_max_pts", parameter_.max_pts_, 30); + // convex hull (only necessary if outlier filtering is enabled) + nh.param("convex_hull_min_pt_separation", parameter_.min_keypoint_separation_, 0.1); + parameter_buffered_ = parameter_; + + // ransac + nh.param("ransac_inlier_distance", ransac_inlier_distance_, 0.2); + nh.param("ransac_min_inliers", ransac_min_inliers_, 10); + nh.param("ransac_no_iterations", ransac_no_iterations_, 2000); + nh.param("ransac_remainig_outliers", ransac_remainig_outliers_, 3); + nh.param("ransac_convert_outlier_pts", ransac_convert_outlier_pts_, true); + nh.param("ransac_filter_remaining_outlier_pts", ransac_filter_remaining_outlier_pts_, false); + + // setup dynamic reconfigure + dynamic_recfg_ = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToLinesDBSRANSAC::reconfigureCB, this, _1, _2); + dynamic_recfg_->setCallback(cb); +} + +void CostmapToLinesDBSRANSAC::compute() +{ + std::vector< std::vector > clusters; + dbScan(clusters); + + // Create new polygon container + PolygonContainerPtr polygons(new std::vector()); + + + // fit lines using ransac for each cluster + for (int i = 1; i ransac_remainig_outliers_) + { +// std::vector inliers; + std::vector outliers; + std::pair model; + if (!lineRansac(clusters[i], ransac_inlier_distance_, ransac_no_iterations_, ransac_min_inliers_, model, NULL, &outliers ) ) + break; + + // add to polygon container + geometry_msgs::Polygon line; + line.points.resize(2); + model.first.toPointMsg(line.points.front()); + model.second.toPointMsg(line.points.back()); + polygons->push_back(line); + + clusters[i] = outliers; + } + // create point polygons for remaining outliers + if (ransac_convert_outlier_pts_) + { + if (ransac_filter_remaining_outlier_pts_) + { + // take edge points of a convex polygon + // these points define a cluster and since all lines are extracted, + // we remove points from the interior... + geometry_msgs::Polygon polygon; + convexHull2(clusters[i], polygon); + for (int j=0; j < (int)polygon.points.size(); ++j) + { + polygons->push_back(geometry_msgs::Polygon()); + convertPointToPolygon(polygon.points[j], polygons->back()); + } + } + else + { + for (int j = 0; j < (int)clusters[i].size(); ++j) + { + polygons->push_back(geometry_msgs::Polygon()); + convertPointToPolygon(clusters[i][j], polygons->back()); + } + } + + } + + + } + + // add our non-cluster points to the polygon container (as single points) + if (!clusters.empty()) + { + for (int i=0; i < clusters.front().size(); ++i) + { + polygons->push_back( geometry_msgs::Polygon() ); + convertPointToPolygon(clusters.front()[i], polygons->back()); + } + } + + // replace shared polygon container + updatePolygonContainer(polygons); +} + + +bool CostmapToLinesDBSRANSAC::lineRansac(const std::vector& data, double inlier_distance, int no_iterations, + int min_inliers, std::pair& best_model, + std::vector* inliers, std::vector* outliers) +{ + if (data.size() < 2 || data.size() < min_inliers) + { + return false; + } + + boost::random::uniform_int_distribution<> distribution(0, data.size()-1); + + std::pair best_model_idx; + int best_no_inliers = -1; + + + for (int i=0; i < no_iterations; ++i) + { + // choose random points to define a line candidate + int start_idx = distribution(rnd_generator_); + int end_idx = start_idx; + while (end_idx == start_idx) + end_idx = distribution(rnd_generator_); + + + // compute inliers + int no_inliers = 0; + for (int j=0; j<(int)data.size(); ++j) + { + if ( isInlier(data[j], data[start_idx], data[end_idx], inlier_distance) ) + ++no_inliers; + } + + if (no_inliers > best_no_inliers) + { + best_no_inliers = no_inliers; + best_model_idx.first = start_idx; + best_model_idx.second = end_idx; + } + } + + best_model.first = data[best_model_idx.first]; + best_model.second = data[best_model_idx.second]; + + if (best_no_inliers < min_inliers) + return false; + + // Now repeat the calculation for the best model in order to obtain the inliers and outliers set + // This might be faster if no_iterations is large, but TEST + if (inliers || outliers) + { + if (inliers) + inliers->clear(); + if (outliers) + outliers->clear(); + + int no_inliers = 0; + for (int i=0; i<(int)data.size(); ++i) + { + if ( isInlier( data[i], best_model.first, best_model.second, inlier_distance ) ) + { + if (inliers) + inliers->push_back( data[i] ); + } + else + { + if (outliers) + outliers->push_back( data[i] ); + } + } + } + + return true; +} + +bool CostmapToLinesDBSRANSAC::linearRegression(const std::vector& data, double& slope, double& intercept, + double* mean_x_out, double* mean_y_out) +{ + if (data.size() < 2) + { + ROS_ERROR("CostmapToLinesDBSRANSAC: at least 2 data points required for linear regression"); + return false; + } + + double mean_x = 0; + double mean_y = 0; + for (int i=0; i<(int)data.size(); ++i) + { + mean_x += data[i].x; + mean_y += data[i].y; + } + mean_x /= double(data.size()); + mean_y /= double(data.size()); + + if (mean_x_out) + *mean_x_out = mean_x; + + if (mean_y_out) + *mean_y_out = mean_y; + + double numerator = 0.0; + double denominator = 0.0; + + for(int i=0; i<(int)data.size(); ++i) + { + double dx = data[i].x - mean_x; + numerator += dx * (data[i].y - mean_y); + denominator += dx*dx; + } + + if (denominator == 0) + { + ROS_ERROR("CostmapToLinesDBSRANSAC: linear regression failed, denominator 0"); + return false; + } + else + slope = numerator / denominator; + + intercept = mean_y - slope * mean_x; + return true; +} + + +void CostmapToLinesDBSRANSAC::reconfigureCB(CostmapToLinesDBSRANSACConfig& config, uint32_t level) +{ + boost::mutex::scoped_lock lock(parameter_mutex_); + parameter_buffered_.max_distance_ = config.cluster_max_distance; + parameter_buffered_.min_pts_ = config.cluster_min_pts; + parameter_buffered_.max_pts_ = config.cluster_max_pts; + parameter_buffered_.min_keypoint_separation_ = config.cluster_min_pts; + ransac_inlier_distance_ = config.ransac_inlier_distance; + ransac_min_inliers_ = config.ransac_min_inliers; + ransac_no_iterations_ = config.ransac_no_iterations; + ransac_remainig_outliers_ = config.ransac_remainig_outliers; + ransac_convert_outlier_pts_ = config.ransac_convert_outlier_pts; + ransac_filter_remaining_outlier_pts_ = config.ransac_filter_remaining_outlier_pts; +} + + +/* +void CostmapToLinesDBSRANSAC::adjustLineLength(const std::vector& data, const KeyPoint& linept1, const KeyPoint& linept2, + KeyPoint& line_start, KeyPoint& line_end) +{ + line_start = linept1; + line_end = linept2; + + // infinite line is defined by linept1 and linept2 + double dir_x = line_end.x - line_start.x; + double dir_y = line_end.y - line_start.y; + double norm = std::sqrt(dir_x*dir_x + dir_y*dir_y); + dir_x /= norm; + dir_y /= norm; + + // project data onto the line and check if the distance is increased in both directions + for (int i=0; i < (int) data.size(); ++i) + { + double dx = data[i].x - line_start.x; + double dy = data[i].y - line_start.y; + // check scalar product at start + double extension = dx*dir_x + dy*dir_y; + if (extension<0) + { + line_start.x -= dir_x*extension; + line_start.y -= dir_y*extension; + } + else + { + dx = data[i].x - line_end.x; + dy = data[i].y - line_end.y; + // check scalar product at end + double extension = dx*dir_x + dy*dir_y; + if (extension>0) + { + line_end.x += dir_x*extension; + line_end.y += dir_y*extension; + } + } + } + +}*/ + + +}//end namespace costmap_converter + + diff --git a/navigations/costmap_converter/src/costmap_to_polygons.cpp b/navigations/costmap_converter/src/costmap_to_polygons.cpp new file mode 100755 index 0000000..537dcb5 --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_polygons.cpp @@ -0,0 +1,503 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#include +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToPolygonsDBSMCCH, costmap_converter::BaseCostmapToPolygons) + +namespace +{ + +/** + * @brief Douglas-Peucker Algorithm for fitting lines into ordered set of points + * + * Douglas-Peucker Algorithm, see https://en.wikipedia.org/wiki/Ramer%E2%80%93Douglas%E2%80%93Peucker_algorithm + * + * @param begin iterator pointing to the begin of the range of points + * @param end interator pointing to the end of the range of points + * @param epsilon distance criteria for removing points if it is closer to the line segment than this + * @param result the simplified polygon + */ +std::vector douglasPeucker(std::vector::iterator begin, + std::vector::iterator end, double epsilon) +{ + if (std::distance(begin, end) <= 2) + { + return std::vector(begin, end); + } + + // Find the point with the maximum distance from the line [begin, end) + double dmax = std::numeric_limits::lowest(); + std::vector::iterator max_dist_it; + std::vector::iterator last = std::prev(end); + for (auto it = std::next(begin); it != last; ++it) + { + double d = costmap_converter::computeSquaredDistanceToLineSegment(*it, *begin, *last); + if (d > dmax) + { + max_dist_it = it; + dmax = d; + } + } + + if (dmax < epsilon * epsilon) + { // termination criterion reached, line is good enough + std::vector result; + result.push_back(*begin); + result.push_back(*last); + return result; + } + + // Recursive calls for the two splitted parts + auto firstLineSimplified = douglasPeucker(begin, std::next(max_dist_it), epsilon); + auto secondLineSimplified = douglasPeucker(max_dist_it, end, epsilon); + + // Combine the two lines into one line and return the merged line. + // Note that we have to skip the first point of the second line, as it is duplicated above. + firstLineSimplified.insert(firstLineSimplified.end(), + std::make_move_iterator(std::next(secondLineSimplified.begin())), + std::make_move_iterator(secondLineSimplified.end())); + return firstLineSimplified; +} + +} // end namespace + +namespace costmap_converter +{ + +CostmapToPolygonsDBSMCCH::CostmapToPolygonsDBSMCCH() : BaseCostmapToPolygons() +{ + costmap_ = NULL; + dynamic_recfg_ = NULL; + neighbor_size_x_ = neighbor_size_y_ = -1; + offset_x_ = offset_y_ = 0.; +} + +CostmapToPolygonsDBSMCCH::~CostmapToPolygonsDBSMCCH() +{ + if (dynamic_recfg_ != NULL) + delete dynamic_recfg_; +} + +void CostmapToPolygonsDBSMCCH::initialize(ros::NodeHandle nh) +{ + costmap_ = NULL; + + nh.param("cluster_max_distance", parameter_.max_distance_, 0.4); + nh.param("cluster_min_pts", parameter_.min_pts_, 2); + nh.param("cluster_max_pts", parameter_.max_pts_, 30); + nh.param("convex_hull_min_pt_separation", parameter_.min_keypoint_separation_, 0.1); + + parameter_buffered_ = parameter_; + + // setup dynamic reconfigure + dynamic_recfg_ = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToPolygonsDBSMCCH::reconfigureCB, this, _1, _2); + dynamic_recfg_->setCallback(cb); +} + + +void CostmapToPolygonsDBSMCCH::compute() +{ + std::vector< std::vector > clusters; + dbScan(clusters); + + // Create new polygon container + PolygonContainerPtr polygons(new std::vector()); + + + // add convex hulls to polygon container + for (std::size_t i = 1; i push_back( geometry_msgs::Polygon() ); + convexHull2(clusters[i], polygons->back() ); + } + + // add our non-cluster points to the polygon container (as single points) + if (!clusters.empty()) + { + for (std::size_t i=0; i < clusters.front().size(); ++i) + { + polygons->push_back( geometry_msgs::Polygon() ); + convertPointToPolygon(clusters.front()[i], polygons->back()); + } + } + + // replace shared polygon container + updatePolygonContainer(polygons); +} + +void CostmapToPolygonsDBSMCCH::setCostmap2D(costmap_2d::Costmap2D *costmap) +{ + if (!costmap) + return; + + costmap_ = costmap; + + updateCostmap2D(); +} + +void CostmapToPolygonsDBSMCCH::updateCostmap2D() +{ + occupied_cells_.clear(); + + if (!costmap_->getMutex()) + { + ROS_ERROR("Cannot update costmap since the mutex pointer is null"); + return; + } + + { // get a copy of our parameters from dynamic reconfigure + boost::mutex::scoped_lock lock(parameter_mutex_); + parameter_ = parameter_buffered_; + } + + costmap_2d::Costmap2D::mutex_t::scoped_lock lock(*costmap_->getMutex()); + + // allocate neighbor lookup + int cells_x = int(costmap_->getSizeInMetersX() / parameter_.max_distance_) + 1; + int cells_y = int(costmap_->getSizeInMetersY() / parameter_.max_distance_) + 1; + + if (cells_x != neighbor_size_x_ || cells_y != neighbor_size_y_) { + neighbor_size_x_ = cells_x; + neighbor_size_y_ = cells_y; + neighbor_lookup_.resize(neighbor_size_x_ * neighbor_size_y_); + } + offset_x_ = costmap_->getOriginX(); + offset_y_ = costmap_->getOriginY(); + for (auto& n : neighbor_lookup_) + n.clear(); + + // get indices of obstacle cells + for(std::size_t i = 0; i < costmap_->getSizeInCellsX(); i++) + { + for(std::size_t j = 0; j < costmap_->getSizeInCellsY(); j++) + { + int value = costmap_->getCost(i,j); + if(value >= costmap_2d::LETHAL_OBSTACLE) + { + double x, y; + costmap_->mapToWorld((unsigned int)i, (unsigned int)j, x, y); + addPoint(x, y); + } + } + } +} + + +void CostmapToPolygonsDBSMCCH::dbScan(std::vector< std::vector >& clusters) +{ + std::vector visited(occupied_cells_.size(), false); + + clusters.clear(); + + //DB Scan Algorithm + int cluster_id = 0; // current cluster_id + clusters.push_back(std::vector()); + for(int i = 0; i< (int)occupied_cells_.size(); i++) + { + if(!visited[i]) //keypoint has not been visited before + { + visited[i] = true; // mark as visited + std::vector neighbors; + regionQuery(i, neighbors); //Find neighbors around the keypoint + if((int)neighbors.size() < parameter_.min_pts_) //If not enough neighbors are found, mark as noise + { + clusters[0].push_back(occupied_cells_[i]); + } + else + { + ++cluster_id; // increment current cluster_id + clusters.push_back(std::vector()); + + // Expand the cluster + clusters[cluster_id].push_back(occupied_cells_[i]); + for(int j = 0; j<(int)neighbors.size(); j++) + { + if ((int)clusters[cluster_id].size() == parameter_.max_pts_) + break; + + if(!visited[neighbors[j]]) //keypoint has not been visited before + { + visited[neighbors[j]] = true; // mark as visited + std::vector further_neighbors; + regionQuery(neighbors[j], further_neighbors); //Find more neighbors around the new keypoint +// if(further_neighbors.size() < min_pts_) +// { +// clusters[0].push_back(occupied_cells[neighbors[j]]); +// } +// else + if ((int)further_neighbors.size() >= parameter_.min_pts_) + { + // neighbors found + neighbors.insert(neighbors.end(), further_neighbors.begin(), further_neighbors.end()); //Add these newfound P' neighbour to P neighbour vector "nb_indeces" + clusters[cluster_id].push_back(occupied_cells_[neighbors[j]]); + } + } + } + } + } + } +} + +void CostmapToPolygonsDBSMCCH::regionQuery(int curr_index, std::vector& neighbors) +{ + neighbors.clear(); + + double dist_sqr_threshold = parameter_.max_distance_ * parameter_.max_distance_; + const KeyPoint& kp = occupied_cells_[curr_index]; + int cx, cy; + pointToNeighborCells(kp, cx,cy); + + // loop over the neighboring cells for looking up the points + const int offsets[9][2] = {{-1, -1}, {0, -1}, {1, -1}, + {-1, 0}, {0, 0}, {1, 0}, + {-1, 1}, {0, 1}, {1, 1}}; + for (int i = 0; i < 9; ++i) + { + int idx = neighborCellsToIndex(cx + offsets[i][0], cy + offsets[i][1]); + if (idx < 0 || idx >= int(neighbor_lookup_.size())) + continue; + const std::vector& pointIndicesToCheck = neighbor_lookup_[idx]; + for (int point_idx : pointIndicesToCheck) { + if (point_idx == curr_index) // point is not a neighbor to itself + continue; + const KeyPoint& other = occupied_cells_[point_idx]; + double dx = other.x - kp.x; + double dy = other.y - kp.y; + double dist_sqr = dx*dx + dy*dy; + if (dist_sqr <= dist_sqr_threshold) + neighbors.push_back(point_idx); + } + } +} + +bool isXCoordinateSmaller(const CostmapToPolygonsDBSMCCH::KeyPoint& p1, const CostmapToPolygonsDBSMCCH::KeyPoint& p2) +{ + return p1.x < p2.x || (p1.x == p2.x && p1.y < p2.y); +} + +void CostmapToPolygonsDBSMCCH::convexHull(std::vector& cluster, geometry_msgs::Polygon& polygon) +{ + //Monotone Chain ConvexHull Algorithm source from http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull + + int k = 0; + int n = cluster.size(); + + // sort points according to x coordinate (TODO. is it already sorted due to the map representation?) + std::sort(cluster.begin(), cluster.end(), isXCoordinateSmaller); + + polygon.points.resize(2*n); + + // lower hull + for (int i = 0; i < n; ++i) + { + while (k >= 2 && cross(polygon.points[k-2], polygon.points[k-1], cluster[i]) <= 0) + { + --k; + } + cluster[i].toPointMsg(polygon.points[k]); + ++k; + } + + // upper hull + for (int i = n-2, t = k+1; i >= 0; --i) + { + while (k >= t && cross(polygon.points[k-2], polygon.points[k-1], cluster[i]) <= 0) + { + --k; + } + cluster[i].toPointMsg(polygon.points[k]); + ++k; + } + + + polygon.points.resize(k); // original + // TEST we skip the last point, since in our definition the polygon vertices do not contain the start/end vertex twice. +// polygon.points.resize(k-1); // TODO remove last point from the algorithm above to reduce computational cost + + simplifyPolygon(polygon); +} + + + +void CostmapToPolygonsDBSMCCH::convexHull2(std::vector& cluster, geometry_msgs::Polygon& polygon) +{ + std::vector& P = cluster; + std::vector& points = polygon.points; + + // Sort P by x and y + std::sort(P.begin(), P.end(), isXCoordinateSmaller); + + // the output array H[] will be used as the stack + int i; // array scan index + + // Get the indices of points with min x-coord and min|max y-coord + int minmin = 0, minmax; + double xmin = P[0].x; + for (i = 1; i < (int)P.size(); i++) + if (P[i].x != xmin) break; + minmax = i - 1; + if (minmax == (int)P.size() - 1) + { // degenerate case: all x-coords == xmin + points.push_back(geometry_msgs::Point32()); + P[minmin].toPointMsg(points.back()); + if (P[minmax].y != P[minmin].y) // a nontrivial segment + { + points.push_back(geometry_msgs::Point32()); + P[minmax].toPointMsg(points.back()); + } + // add polygon endpoint + points.push_back(geometry_msgs::Point32()); + P[minmin].toPointMsg(points.back()); + return; + } + + // Get the indices of points with max x-coord and min|max y-coord + int maxmin, maxmax = (int)P.size() - 1; + double xmax = P.back().x; + for (i = P.size() - 2; i >= 0; i--) + if (P[i].x != xmax) break; + maxmin = i+1; + + // Compute the lower hull on the stack H + // push minmin point onto stack + points.push_back(geometry_msgs::Point32()); + P[minmin].toPointMsg(points.back()); + i = minmax; + while (++i <= maxmin) + { + // the lower line joins P[minmin] with P[maxmin] + if (cross(P[minmin], P[maxmin], P[i]) >= 0 && i < maxmin) + continue; // ignore P[i] above or on the lower line + + while (points.size() > 1) // there are at least 2 points on the stack + { + // test if P[i] is left of the line at the stack top + if (cross(points[points.size() - 2], points.back(), P[i]) > 0) + break; // P[i] is a new hull vertex + points.pop_back(); // pop top point off stack + } + // push P[i] onto stack + points.push_back(geometry_msgs::Point32()); + P[i].toPointMsg(points.back()); + } + + // Next, compute the upper hull on the stack H above the bottom hull + if (maxmax != maxmin) // if distinct xmax points + { + // push maxmax point onto stack + points.push_back(geometry_msgs::Point32()); + P[maxmax].toPointMsg(points.back()); + } + int bot = (int)points.size(); // the bottom point of the upper hull stack + i = maxmin; + while (--i >= minmax) + { + // the upper line joins P[maxmax] with P[minmax] + if (cross( P[maxmax], P[minmax], P[i]) >= 0 && i > minmax) + continue; // ignore P[i] below or on the upper line + + while ((int)points.size() > bot) // at least 2 points on the upper stack + { + // test if P[i] is left of the line at the stack top + if (cross(points[points.size() - 2], points.back(), P[i]) > 0) + break; // P[i] is a new hull vertex + points.pop_back(); // pop top point off stack + } + // push P[i] onto stack + points.push_back(geometry_msgs::Point32()); + P[i].toPointMsg(points.back()); + } + if (minmax != minmin) + { + // push joining endpoint onto stack + points.push_back(geometry_msgs::Point32()); + P[minmin].toPointMsg(points.back()); + } + + simplifyPolygon(polygon); +} + +void CostmapToPolygonsDBSMCCH::simplifyPolygon(geometry_msgs::Polygon& polygon) +{ + size_t triangleThreshold = 3; + // check if first and last point are the same. If yes, a triangle has 4 points + if (polygon.points.size() > 1 + && std::abs(polygon.points.front().x - polygon.points.back().x) < 1e-5 + && std::abs(polygon.points.front().y - polygon.points.back().y) < 1e-5) + { + triangleThreshold = 4; + } + if (polygon.points.size() <= triangleThreshold) // nothing to do for triangles or lines + return; + // TODO Reason about better start conditions for splitting lines, e.g., by + // https://en.wikipedia.org/wiki/Rotating_calipers + polygon.points = douglasPeucker(polygon.points.begin(), polygon.points.end(), parameter_.min_keypoint_separation_);; +} + +void CostmapToPolygonsDBSMCCH::updatePolygonContainer(PolygonContainerPtr polygons) +{ + boost::mutex::scoped_lock lock(mutex_); + polygons_ = polygons; +} + + +PolygonContainerConstPtr CostmapToPolygonsDBSMCCH::getPolygons() +{ + boost::mutex::scoped_lock lock(mutex_); + PolygonContainerConstPtr polygons = polygons_; + return polygons; +} + +void CostmapToPolygonsDBSMCCH::reconfigureCB(CostmapToPolygonsDBSMCCHConfig& config, uint32_t level) +{ + boost::mutex::scoped_lock lock(parameter_mutex_); + parameter_buffered_.max_distance_ = config.cluster_max_distance; + parameter_buffered_.min_pts_ = config.cluster_min_pts; + parameter_buffered_.max_pts_ = config.cluster_max_pts; + parameter_buffered_.min_keypoint_separation_ = config.convex_hull_min_pt_separation; +} + +}//end namespace costmap_converter + + diff --git a/navigations/costmap_converter/src/costmap_to_polygons_concave.cpp b/navigations/costmap_converter/src/costmap_to_polygons_concave.cpp new file mode 100755 index 0000000..c84717f --- /dev/null +++ b/navigations/costmap_converter/src/costmap_to_polygons_concave.cpp @@ -0,0 +1,220 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann, Otniel Rinaldo + *********************************************************************/ + +#include + +#include + +PLUGINLIB_EXPORT_CLASS(costmap_converter::CostmapToPolygonsDBSConcaveHull, costmap_converter::BaseCostmapToPolygons) + +namespace costmap_converter +{ + +CostmapToPolygonsDBSConcaveHull::CostmapToPolygonsDBSConcaveHull() : CostmapToPolygonsDBSMCCH() +{ + dynamic_recfg_ = NULL; +} + +CostmapToPolygonsDBSConcaveHull::~CostmapToPolygonsDBSConcaveHull() +{ + if (dynamic_recfg_ != NULL) + delete dynamic_recfg_; +} + +void CostmapToPolygonsDBSConcaveHull::initialize(ros::NodeHandle nh) +{ + nh.param("cluster_max_distance", parameter_.max_distance_, 0.4); + nh.param("cluster_min_pts", parameter_.min_pts_, 2); + nh.param("cluster_max_pts", parameter_.max_pts_, 30); + nh.param("convex_hull_min_pt_separation", parameter_.min_keypoint_separation_, 0.1); + parameter_buffered_ = parameter_; + + nh.param("concave_hull_depth", concave_hull_depth_, 2.0); + + // setup dynamic reconfigure + dynamic_recfg_ = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&CostmapToPolygonsDBSConcaveHull::reconfigureCB, this, _1, _2); + dynamic_recfg_->setCallback(cb); +} + + +void CostmapToPolygonsDBSConcaveHull::compute() +{ + std::vector< std::vector > clusters; + dbScan(clusters); + + // Create new polygon container + PolygonContainerPtr polygons(new std::vector()); + + + // add convex hulls to polygon container + for (int i = 1; i push_back( geometry_msgs::Polygon() ); + concaveHull(clusters[i], concave_hull_depth_, polygons->back() ); + } + + // add our non-cluster points to the polygon container (as single points) + if (!clusters.empty()) + { + for (int i=0; i < clusters.front().size(); ++i) + { + polygons->push_back( geometry_msgs::Polygon() ); + convertPointToPolygon(clusters.front()[i], polygons->back()); + } + } + + // replace shared polygon container + updatePolygonContainer(polygons); +} + + +void CostmapToPolygonsDBSConcaveHull::concaveHull(std::vector& cluster, double depth, geometry_msgs::Polygon& polygon) +{ + // start with convex hull + convexHull2(cluster, polygon); + + std::vector& concave_list = polygon.points; + + for (int i = 0; i < (int)concave_list.size() - 1; ++i) + { + + // find nearest inner point pk from line (vertex1 -> vertex2) + const geometry_msgs::Point32& vertex1 = concave_list[i]; + const geometry_msgs::Point32& vertex2 = concave_list[i+1]; + + bool found; + size_t nearest_idx = findNearestInnerPoint(vertex1, vertex2, cluster, concave_list, &found); + if (!found) + continue; + + double line_length = norm2d(vertex1, vertex2); + + double dst1 = norm2d(cluster[nearest_idx], vertex1); + double dst2 = norm2d(cluster[nearest_idx], vertex2); + double dd = std::min(dst1, dst2); + if (dd<1e-8) + continue; + + if (line_length / dd > depth) + { + // Check that new candidate edge will not intersect existing edges. + bool intersects = checkLineIntersection(concave_list, vertex1, vertex2, vertex1, cluster[nearest_idx]); + intersects |= checkLineIntersection(concave_list, vertex1, vertex2, cluster[nearest_idx], vertex2); + if (!intersects) + { + geometry_msgs::Point32 new_point; + cluster[nearest_idx].toPointMsg(new_point); + concave_list.insert(concave_list.begin() + i + 1, new_point); + i--; + } + } + } +} + + +void CostmapToPolygonsDBSConcaveHull::concaveHullClusterCut(std::vector& cluster, double depth, geometry_msgs::Polygon& polygon) +{ + // start with convex hull + convexHull2(cluster, polygon); + + std::vector& concave_list = polygon.points; + + // get line length + double mean_length = 0; + for (int i = 0; i < (int)concave_list.size() - 1; ++i) + { + mean_length += norm2d(concave_list[i],concave_list[i+1]); + } + mean_length /= double(concave_list.size()); + + for (int i = 0; i < (int)concave_list.size() - 1; ++i) + { + + // find nearest inner point pk from line (vertex1 -> vertex2) + const geometry_msgs::Point32& vertex1 = concave_list[i]; + const geometry_msgs::Point32& vertex2 = concave_list[i+1]; + + double line_length = norm2d(vertex1, vertex2); + + bool found; + size_t nearest_idx = findNearestInnerPoint(vertex1, vertex2, cluster, concave_list, &found); + if (!found) + { + continue; + } + + + double dst1 = norm2d(cluster[nearest_idx], vertex1); + double dst2 = norm2d(cluster[nearest_idx], vertex2); + double dd = std::min(dst1, dst2); + if (dd<1e-8) + continue; + + if (line_length / dd > depth) + { + // Check that new candidate edge will not intersect existing edges. + bool intersects = checkLineIntersection(concave_list, vertex1, vertex2, vertex1, cluster[nearest_idx]); + intersects |= checkLineIntersection(concave_list, vertex1, vertex2, cluster[nearest_idx], vertex2); + if (!intersects) + { + geometry_msgs::Point32 new_point; + cluster[nearest_idx].toPointMsg(new_point); + concave_list.insert(concave_list.begin() + i + 1, new_point); + i--; + } + } + } +} + + + + +void CostmapToPolygonsDBSConcaveHull::reconfigureCB(CostmapToPolygonsDBSConcaveHullConfig& config, uint32_t level) +{ + boost::mutex::scoped_lock lock(parameter_mutex_); + parameter_buffered_.max_distance_ = config.cluster_max_distance; + parameter_buffered_.min_pts_ = config.cluster_min_pts; + parameter_buffered_.max_pts_ = config.cluster_max_pts; + parameter_buffered_.min_keypoint_separation_ = config.cluster_min_pts; + concave_hull_depth_ = config.concave_hull_depth; +} + +}//end namespace costmap_converter + + diff --git a/navigations/costmap_converter/test/costmap_polygons.cpp b/navigations/costmap_converter/test/costmap_polygons.cpp new file mode 100755 index 0000000..2ea98cd --- /dev/null +++ b/navigations/costmap_converter/test/costmap_polygons.cpp @@ -0,0 +1,232 @@ +#include +#include +#include + +#include + +namespace { +geometry_msgs::Point32 create_point(double x, double y) +{ + geometry_msgs::Point32 result; + result.x = x; + result.y = y; + result.z = 0.; + return result; +} +} // end namespace + +// make things accesible in the test +class CostmapToPolygons : public costmap_converter::CostmapToPolygonsDBSMCCH +{ + public: + const std::vector& points() const {return occupied_cells_;} + costmap_converter::CostmapToPolygonsDBSMCCH::Parameters& parameters() {return parameter_;} + using costmap_converter::CostmapToPolygonsDBSMCCH::addPoint; + using costmap_converter::CostmapToPolygonsDBSMCCH::regionQuery; + using costmap_converter::CostmapToPolygonsDBSMCCH::dbScan; + using costmap_converter::CostmapToPolygonsDBSMCCH::convexHull2; + using costmap_converter::CostmapToPolygonsDBSMCCH::simplifyPolygon; +}; + +class CostmapToPolygonsDBSMCCHTest : public ::testing::Test +{ + protected: + void SetUp() override { + // parameters + costmap_to_polygons.parameters().max_distance_ = 0.5; + costmap_to_polygons.parameters().max_pts_ = 100; + costmap_to_polygons.parameters().min_pts_ = 2; + costmap_to_polygons.parameters().min_keypoint_separation_ = 0.1; + + costmap.reset(new costmap_2d::Costmap2D(100, 100, 0.1, -5., -5.)); + costmap_to_polygons.setCostmap2D(costmap.get()); + + std::random_device rand_dev; + std::mt19937 generator(rand_dev()); + std::uniform_real_distribution<> random_angle(-M_PI, M_PI); + std::uniform_real_distribution<> random_dist(0., costmap_to_polygons.parameters().max_distance_); + + costmap_to_polygons.addPoint(0., 0.); + costmap_to_polygons.addPoint(1.3, 1.3); + + // adding random points + double center_x = costmap_to_polygons.points()[0].x; + double center_y = costmap_to_polygons.points()[0].y; + for (int i = 0; i < costmap_to_polygons.parameters().max_pts_ - 1; ++i) + { + double alpha = random_angle(generator); + double dist = random_dist(generator); + double wx = center_x + std::cos(alpha) * dist; + double wy = center_y + std::sin(alpha) * dist; + costmap_to_polygons.addPoint(wx, wy); + } + + // some noisy points not belonging to a cluster + costmap_to_polygons.addPoint(-1, -1); + costmap_to_polygons.addPoint(-2, -2); + + // adding random points + center_x = costmap_to_polygons.points()[1].x; + center_y = costmap_to_polygons.points()[1].y; + for (int i = 0; i < costmap_to_polygons.parameters().max_pts_/2; ++i) + { + double alpha = random_angle(generator); + double dist = random_dist(generator); + double wx = center_x + std::cos(alpha) * dist; + double wy = center_y + std::sin(alpha) * dist; + costmap_to_polygons.addPoint(wx, wy); + } + } + + void regionQueryTrivial(int curr_index, std::vector& neighbor_indices) + { + neighbor_indices.clear(); + const auto& query_point = costmap_to_polygons.points()[curr_index]; + for (int i = 0; i < int(costmap_to_polygons.points().size()); ++i) + { + if (i == curr_index) + continue; + const auto& kp = costmap_to_polygons.points()[i]; + double dx = query_point.x - kp.x; + double dy = query_point.y - kp.y; + double dist = sqrt(dx*dx + dy*dy); + if (dist < costmap_to_polygons.parameters().max_distance_) + neighbor_indices.push_back(i); + } + } + + CostmapToPolygons costmap_to_polygons; + std::shared_ptr costmap; +}; + +TEST_F(CostmapToPolygonsDBSMCCHTest, regionQuery) +{ + std::vector neighbors, neighbors_trivial; + costmap_to_polygons.regionQuery(0, neighbors); + regionQueryTrivial(0, neighbors_trivial); + ASSERT_EQ(costmap_to_polygons.parameters().max_pts_ - 1, int(neighbors.size())); + ASSERT_EQ(neighbors_trivial.size(), neighbors.size()); + std::sort(neighbors.begin(), neighbors.end()); + ASSERT_EQ(neighbors_trivial, neighbors); + + costmap_to_polygons.regionQuery(1, neighbors); + regionQueryTrivial(1, neighbors_trivial); + ASSERT_EQ(costmap_to_polygons.parameters().max_pts_/2, int(neighbors.size())); + ASSERT_EQ(neighbors_trivial.size(), neighbors.size()); + std::sort(neighbors.begin(), neighbors.end()); + ASSERT_EQ(neighbors_trivial, neighbors); +} + +TEST_F(CostmapToPolygonsDBSMCCHTest, dbScan) +{ + std::vector< std::vector > clusters; + costmap_to_polygons.dbScan(clusters); + + ASSERT_EQ(3, clusters.size()); + ASSERT_EQ(2, clusters[0].size()); // noisy points not belonging to a cluster + ASSERT_EQ(costmap_to_polygons.parameters().max_pts_, clusters[1].size()); // first cluster at (0,0) + ASSERT_EQ(costmap_to_polygons.parameters().max_pts_/2 + 1, clusters[2].size()); // second cluster at (1,1) +} + +TEST(CostmapToPolygonsDBSMCCH, EmptyMap) +{ + std::shared_ptr costmap = + std::make_shared(costmap_2d::Costmap2D(100, 100, 0.1, -5., -5.)); + CostmapToPolygons costmap_to_polygons; + costmap_to_polygons.setCostmap2D(costmap.get()); + + std::vector< std::vector > clusters; + costmap_to_polygons.dbScan(clusters); + ASSERT_EQ(1, clusters.size()); // noise cluster exists + ASSERT_EQ(0, clusters[0].size()); // noise clsuter is empty +} + +TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon) +{ + const double simplification_threshold = 0.1; + CostmapToPolygons costmap_to_polygons; + costmap_to_polygons.parameters().min_keypoint_separation_ = simplification_threshold; + + geometry_msgs::Polygon polygon; + polygon.points.push_back(create_point(0., 0.)); + polygon.points.push_back(create_point(1., 0.)); + + // degenerate case with just two points + geometry_msgs::Polygon original_polygon = polygon; + costmap_to_polygons.simplifyPolygon(polygon); + ASSERT_EQ(2, polygon.points.size()); + for (size_t i = 0; i < polygon.points.size(); ++i) + { + ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x); + ASSERT_FLOAT_EQ(original_polygon.points[i].y, polygon.points[i].y); + } + + // degenerate case with three points + polygon.points.push_back(create_point(1., simplification_threshold / 2.)); + original_polygon = polygon; + costmap_to_polygons.simplifyPolygon(polygon); + ASSERT_EQ(3, polygon.points.size()); + for (size_t i = 0; i < polygon.points.size(); ++i) + { + ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x); + ASSERT_FLOAT_EQ(original_polygon.points[i].y, polygon.points[i].y); + } + + polygon.points.push_back(create_point(1., 1.)); + original_polygon = polygon; + // remove the point that has to be removed by the simplification + original_polygon.points.erase(original_polygon.points.begin()+2); + costmap_to_polygons.simplifyPolygon(polygon); + ASSERT_EQ(3, polygon.points.size()); + for (size_t i = 0; i < polygon.points.size(); ++i) + { + ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x); + ASSERT_FLOAT_EQ(original_polygon.points[i].y, polygon.points[i].y); + } +} + +TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygonPerfectLines) +{ + const double simplification_threshold = 0.1; + CostmapToPolygons costmap_to_polygons; + costmap_to_polygons.parameters().min_keypoint_separation_ = simplification_threshold; + + geometry_msgs::Polygon polygon; + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(i*1., 0.)); + geometry_msgs::Point32 lastPoint = polygon.points.back(); + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(lastPoint.x, lastPoint.y + i * 1.)); + lastPoint = polygon.points.back(); + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(lastPoint.x + i * 1., lastPoint.y)); + lastPoint = polygon.points.back(); + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(lastPoint.x, lastPoint.y + i * 1.)); + lastPoint = polygon.points.back(); + for (int i = 0; i <= 100; ++i) + polygon.points.push_back(create_point(lastPoint.x + i * 1., lastPoint.y)); + + costmap_to_polygons.simplifyPolygon(polygon); + ASSERT_EQ(6, polygon.points.size()); + ASSERT_FLOAT_EQ( 0., polygon.points[0].x); + ASSERT_FLOAT_EQ( 0., polygon.points[0].y); + ASSERT_FLOAT_EQ(100., polygon.points[1].x); + ASSERT_FLOAT_EQ( 0., polygon.points[1].y); + ASSERT_FLOAT_EQ(100., polygon.points[2].x); + ASSERT_FLOAT_EQ(100., polygon.points[2].y); + ASSERT_FLOAT_EQ(200., polygon.points[3].x); + ASSERT_FLOAT_EQ(100., polygon.points[3].y); + ASSERT_FLOAT_EQ(200., polygon.points[4].x); + ASSERT_FLOAT_EQ(200., polygon.points[4].y); + ASSERT_FLOAT_EQ(300., polygon.points[5].x); + ASSERT_FLOAT_EQ(200., polygon.points[5].y); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "CostmapConverterTester"); + ros::NodeHandle nh; + return RUN_ALL_TESTS(); +} \ No newline at end of file diff --git a/navigations/costmap_converter/test/costmap_polygons.test b/navigations/costmap_converter/test/costmap_polygons.test new file mode 100755 index 0000000..8f42354 --- /dev/null +++ b/navigations/costmap_converter/test/costmap_polygons.test @@ -0,0 +1,3 @@ + + + diff --git a/navigations/costmap_queue/CMakeLists.txt b/navigations/costmap_queue/CMakeLists.txt new file mode 100755 index 0000000..b76d121 --- /dev/null +++ b/navigations/costmap_queue/CMakeLists.txt @@ -0,0 +1,46 @@ +cmake_minimum_required(VERSION 3.0.2) +project(costmap_queue) + +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror") + +find_package(catkin REQUIRED COMPONENTS + nav_core2 + roscpp +) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS nav_core2 roscpp + LIBRARIES ${PROJECT_NAME} +) + +include_directories( + include ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/costmap_queue.cpp + src/limited_costmap_queue.cpp +) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + +if (CATKIN_ENABLE_TESTING) + catkin_add_gtest(mbq_test test/mbq_test.cpp) + target_link_libraries(mbq_test ${catkin_LIBRARIES}) + + catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp) + target_link_libraries(${PROJECT_NAME}_utest ${PROJECT_NAME} ${catkin_LIBRARIES}) + + find_package(roslint REQUIRED) + roslint_cpp() + roslint_add_test() +endif (CATKIN_ENABLE_TESTING) + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/navigations/costmap_queue/README.md b/navigations/costmap_queue/README.md new file mode 100755 index 0000000..2b34cbf --- /dev/null +++ b/navigations/costmap_queue/README.md @@ -0,0 +1,22 @@ +# costmap_queue + +This package contains helper classes that implement one particular common costmap operation: figuring out the distance of every cell to a subset of those cells. + +## Inflation Example +Let's assume you have a grid `G` and you know that there are lethal obstacles in a subset of those cells `O`. You want to mark all cells within distance `r` with one value, and all cells within a greater distance `r2` with another. + +One costly way to do this would be to to iterate through all the cells `g` in `G`, calculate the distance from `g` to each cell in `O`, find the minimum distance, and compare to `r` and `r2`. This is roughly quadratic with the number of cells. + +The more efficient way to do it is to start with all the cells in `O` in a queue. For each cell you dequeue, you calculate the distance to its origin cell from `O` and then enqueue all of its neighbors. This approach is roughly linear with the number of cells, although you need to be careful to not incur too many costs from resorting the queue. + +## Map Based Queue +While this operation could be done with the standard priority queue implementation, it can be optimized by using a custom priority queue based on `std::map`. This relies on the fact that many of the items inserted into the queue will have the same priority. In the `costmap_queue`, the priorities used are distances on the grid, of which there are a finite number. Thus by grouping all of the elements of the same weight into a vector together, and storing them in the `std::map` with their priority, we can eliminate the need to resort after each individual item is popped. This is based on the [optimizations to the Inflation algorithm](https://github.com/ros-planning/navigation/pull/525). + +Also, since the same (or similar) distances will be used in the `costmap_queue` from iteration to iteration, additional time can be saved by not destroying the vectors in the map, and reusing them iteration to iteration. + +## Costmap Queue +The `CostmapQueue` class operates on a `nav_core2::Costmap`. First, you must enqueue all of the "subset" of cells (i.e. `O` in the above example) using `enqueueCell`. Then, while the queue is not empty (i.e. `isEmpty` is false), you can call `costmap_queue::CellData cell = q.getNextCell();` to get the next cell in the queue. + +The `CellData` class contains 5 values: `x_` and `y_` are the coordinates for the current cell, `src_x_` and `src_y_` are the coordinates for the original cell, and `distance_` is the distance between them. + +By default, `CostmapQueue` will iterate through all the cells in the `Costmap`. If you want to limit it to only cells within a certain distance, you can use `LimitedCostmapQueue` instead. diff --git a/navigations/costmap_queue/include/costmap_queue/costmap_queue.h b/navigations/costmap_queue/include/costmap_queue/costmap_queue.h new file mode 100755 index 0000000..e2d97cd --- /dev/null +++ b/navigations/costmap_queue/include/costmap_queue/costmap_queue.h @@ -0,0 +1,190 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef COSTMAP_QUEUE_COSTMAP_QUEUE_H +#define COSTMAP_QUEUE_COSTMAP_QUEUE_H + +#include +#include +#include +#include +#include +#include +#include + +namespace costmap_queue +{ +/** + * @class CellData + * @brief Storage for cell information used during queue expansion + */ +class CellData +{ +public: + /** + * @brief Real Constructor + * @param d The distance to the nearest obstacle + * @param x The x coordinate of the cell in the cost map + * @param y The y coordinate of the cell in the cost map + * @param sx The x coordinate of the closest source cell in the costmap + * @param sy The y coordinate of the closest source cell in the costmap + */ + CellData(const double d, const unsigned int x, const unsigned int y, const unsigned int sx, const unsigned int sy) : + distance_(d), x_(x), y_(y), src_x_(sx), src_y_(sy) + { + } + + /** + * @brief Default Constructor - Should be used sparingly + */ + CellData() : + distance_(std::numeric_limits::max()), x_(0), y_(0), src_x_(0), src_y_(0) + { + } + + double distance_; + unsigned int x_, y_; + unsigned int src_x_, src_y_; +}; + +/** + * @class CostmapQueue + * @brief A tool for finding the cells closest to some set of originating cells. + * + * A common operation with costmaps is to define a set of cells in the costmap, and then + * perform some operation on all the other cells based on which cell in the original set + * the other cells are closest to. This operation is done in the inflation layer to figure out + * how far each cell is from an obstacle, and is also used in a number of Trajectory cost functions. + * + * It is implemented with a queue. The standard operation is to enqueueCell the original set, and then + * retreive the other cells with the isEmpty/getNextCell iterator-like functionality. getNextCell + * returns an object that contains the coordinates of this cell and the origin cell, as well as + * the distance between them. By default, the Euclidean distance is used for ordering, but passing in + * manhattan=true to the constructor will use the Manhattan distance. + * + * The validCellToQueue overridable-function allows for deriving classes to limit the queue traversal + * to a subset of all costmap cells. LimitedCostmapQueue does this by ignoring distances above a limit. + * + */ +class CostmapQueue : public MapBasedQueue +{ +public: + /** + * @brief constructor + * @param costmap Costmap which defines the size/number of cells + * @param manhattan If true, sort cells by Manhattan distance, otherwise use Euclidean distance + */ + explicit CostmapQueue(nav_core2::Costmap& costmap, bool manhattan = false); + + /** + * @brief Clear the queue + */ + void reset() override; + + /** + * @brief Add a cell the queue + * @param x X coordinate of the cell + * @param y Y coordinate of the cell + */ + void enqueueCell(unsigned int x, unsigned int y); + + /** + * @brief Get the next cell to examine, and enqueue its neighbors as needed + * @return The next cell + * + * NB: Assumes that isEmpty has been called before this call and returned false + */ + CellData getNextCell(); + + /** + * @brief Get the maximum x or y distance we'll need to calculate the distance between + */ + virtual int getMaxDistance() const { return std::max(costmap_.getWidth(), costmap_.getHeight()); } + + /** + * @brief Check to see if we should add this cell to the queue. Always true unless overridden. + * @param cell The cell to check + * @return True, unless overriden + */ + virtual bool validCellToQueue(const CellData& cell) { return true; } + + /** + * @brief convenience definition for a pointer + */ + using Ptr = std::shared_ptr; +protected: + /** + * @brief Enqueue a cell with the given coordinates and the given source cell + */ + void enqueueCell(unsigned int cur_x, unsigned int cur_y, unsigned int src_x, unsigned int src_y); + + /** + * @brief Compute the cached distances + */ + void computeCache(); + + nav_core2::Costmap& costmap_; + + // This really should be VectorNavGrid, but since + // vector is wacky, it would result in compile errors. + nav_grid::VectorNavGrid seen_; + bool manhattan_; +protected: + /** + * @brief Lookup pre-computed distances + * @param cur_x The x coordinate of the current cell + * @param cur_y The y coordinate of the current cell + * @param src_x The x coordinate of the source cell + * @param src_y The y coordinate of the source cell + * @return Precomputed distance + * + * NB: Note that while abs() has the correct behavior i.e. abs(2 - 5) ==> 3. + * std::abs() without explicit casting does not have the correct behavior + * i.e. std::abs(2 - 5) ==> (the unsigned version of) -3. + * We're using explicit casting here to ensure the behavior is not compiler dependent. + * std::abs(static_cast(2) - static_cast(5)) ==> 3. + */ + inline double distanceLookup(const unsigned int cur_x, const unsigned int cur_y, + const unsigned int src_x, const unsigned int src_y) + { + unsigned int dx = std::abs(static_cast(cur_x) - static_cast(src_x)); + unsigned int dy = std::abs(static_cast(cur_y) - static_cast(src_y)); + return cached_distances_[dx][dy]; + } + std::vector > cached_distances_; + int cached_max_distance_; +}; +} // namespace costmap_queue + +#endif // COSTMAP_QUEUE_COSTMAP_QUEUE_H diff --git a/navigations/costmap_queue/include/costmap_queue/limited_costmap_queue.h b/navigations/costmap_queue/include/costmap_queue/limited_costmap_queue.h new file mode 100755 index 0000000..a85dd9f --- /dev/null +++ b/navigations/costmap_queue/include/costmap_queue/limited_costmap_queue.h @@ -0,0 +1,61 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef COSTMAP_QUEUE_LIMITED_COSTMAP_QUEUE_H +#define COSTMAP_QUEUE_LIMITED_COSTMAP_QUEUE_H + +#include + +namespace costmap_queue +{ + +/** + * @class LimitedCostmapQueue + * @brief Extension of Costmap Queue where distances are limited to a given distance from source cells. + */ +class LimitedCostmapQueue : public CostmapQueue +{ +public: + /** + * @brief Constructor with limit as an integer number of cells. + */ + LimitedCostmapQueue(nav_core2::Costmap& costmap, const int cell_distance_limit); + bool validCellToQueue(const CellData& cell) override; + int getMaxDistance() const override; +protected: + int max_distance_; +}; +} // namespace costmap_queue + +#endif // COSTMAP_QUEUE_LIMITED_COSTMAP_QUEUE_H diff --git a/navigations/costmap_queue/include/costmap_queue/map_based_queue.h b/navigations/costmap_queue/include/costmap_queue/map_based_queue.h new file mode 100755 index 0000000..4c76093 --- /dev/null +++ b/navigations/costmap_queue/include/costmap_queue/map_based_queue.h @@ -0,0 +1,173 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef COSTMAP_QUEUE_MAP_BASED_QUEUE_H +#define COSTMAP_QUEUE_MAP_BASED_QUEUE_H + +#include +#include +#include +#include +#include + +namespace costmap_queue +{ +/** + * @brief Templatized interface for a priority queue + * + * This is faster than the std::priority_queue implementation in certain cases because iterating does + * not require resorting after every element is examined. + * Based on https://github.com/ros-planning/navigation/pull/525 + * The relative speed of this against the priority queue depends how many items with each + * priority are inserted into the queue. + * + * One additional speed up depends on the patterns of priorities during each iteration of the queue. + * If the same priorities are inserted into the queue on every iteration, then it is quicker to + * set reset_bins = false, such that the priority bins are not reset and will not have to be recreated + * on each iteration. + */ +template +class MapBasedQueue +{ +public: + /** + * @brief Default Constructor + */ + explicit MapBasedQueue(bool reset_bins = true) : reset_bins_(reset_bins), item_count_(0) + { + reset(); + } + + /** + * @brief Clear the queue + */ + virtual void reset() + { + if (reset_bins_ || item_count_ > 0) + { + item_bins_.clear(); + item_count_ = 0; + } + iter_ = last_insert_iter_ = item_bins_.end(); + } + + /** + * @brief Add a new item to the queue with a set priority + * @param priority Priority of the item + * @param item Payload item + */ + void enqueue(const double priority, item_t item) + { + // We keep track of the last priority we inserted. If this items priority matches the previous insertion + // we can avoid searching through all the bins. + if (last_insert_iter_ == item_bins_.end() || last_insert_iter_->first != priority) + { + last_insert_iter_ = item_bins_.find(priority); + + // If not found, create a new bin + if (last_insert_iter_ == item_bins_.end()) + { + auto map_item = std::make_pair(priority, std::move(std::vector())); + + // Inserts an item if it doesn't exist. Returns an iterator to the item whether it existed or was inserted. + std::pair insert_result = item_bins_.insert(std::move(map_item)); + last_insert_iter_ = insert_result.first; + } + } + + // Add the item to the vector for this map key + last_insert_iter_->second.push_back(item); + item_count_++; + + // Use short circuiting to check if we want to update the iterator + if (iter_ == item_bins_.end() || priority < iter_->first) + { + iter_ = last_insert_iter_; + } + } + + /** + * @brief Check to see if there is anything in the queue + * @return True if there is nothing in the queue + * + * Must be called prior to front/pop. + */ + bool isEmpty() + { + return item_count_ == 0; + } + + /** + * @brief Return the item at the front of the queue + * @return The item at the front of the queue + */ + item_t& front() + { + if (iter_ == item_bins_.end()) + { + throw std::out_of_range("front() called on empty costmap_queue::MapBasedQueue!"); + } + + return iter_->second.back(); + } + + /** + * @brief Remove (and destroy) the item at the front of the queue + */ + void pop() + { + if (iter_ != item_bins_.end() && !iter_->second.empty()) + { + iter_->second.pop_back(); + item_count_--; + } + + auto not_empty = [](const typename ItemMap::value_type& key_val) { return !key_val.second.empty(); }; + iter_ = std::find_if(iter_, item_bins_.end(), not_empty); + } + +protected: + using ItemMap = std::map>; + using ItemMapIterator = typename ItemMap::iterator; + + bool reset_bins_; + + ItemMap item_bins_; + unsigned int item_count_; + ItemMapIterator iter_; + ItemMapIterator last_insert_iter_; +}; +} // namespace costmap_queue + +#endif // COSTMAP_QUEUE_MAP_BASED_QUEUE_H diff --git a/navigations/costmap_queue/package.xml b/navigations/costmap_queue/package.xml new file mode 100755 index 0000000..9390403 --- /dev/null +++ b/navigations/costmap_queue/package.xml @@ -0,0 +1,17 @@ + + + costmap_queue + 0.3.0 + Tool for iterating through the cells of a costmap to find the closest distance to a subset of cells. + + David V. Lu!! + + BSD + + catkin + nav_core2 + roscpp + roslint + rosunit + + diff --git a/navigations/costmap_queue/src/costmap_queue.cpp b/navigations/costmap_queue/src/costmap_queue.cpp new file mode 100755 index 0000000..61c7ec6 --- /dev/null +++ b/navigations/costmap_queue/src/costmap_queue.cpp @@ -0,0 +1,125 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include + +namespace costmap_queue +{ + +CostmapQueue::CostmapQueue(nav_core2::Costmap& costmap, bool manhattan) : + MapBasedQueue(false), costmap_(costmap), seen_(0), manhattan_(manhattan), cached_max_distance_(-1) +{ + reset(); +} + +void CostmapQueue::reset() +{ + seen_.setInfo(costmap_.getInfo()); + seen_.reset(); + computeCache(); + MapBasedQueue::reset(); +} + +void CostmapQueue::enqueueCell(unsigned int x, unsigned int y) +{ + enqueueCell(x, y, x, y); +} + +void CostmapQueue::enqueueCell(unsigned int cur_x, unsigned int cur_y, + unsigned int src_x, unsigned int src_y) +{ + if (seen_(cur_x, cur_y)) return; + + // we compute our distance table one cell further than the inflation radius dictates so we can make the check below + double distance = distanceLookup(cur_x, cur_y, src_x, src_y); + CellData data(distance, cur_x, cur_y, src_x, src_y); + if (validCellToQueue(data)) + { + seen_.setValue(cur_x, cur_y, 1); + enqueue(distance, data); + } +} + +CellData CostmapQueue::getNextCell() +{ + // get the highest priority cell and pop it off the priority queue + CellData current_cell = front(); + pop(); + + unsigned int mx = current_cell.x_; + unsigned int my = current_cell.y_; + unsigned int sx = current_cell.src_x_; + unsigned int sy = current_cell.src_y_; + + // attempt to put the neighbors of the current cell onto the queue + if (mx > 0) + enqueueCell(mx - 1, my, sx, sy); + if (my > 0) + enqueueCell(mx, my - 1, sx, sy); + if (mx < costmap_.getWidth() - 1) + enqueueCell(mx + 1, my, sx, sy); + if (my < costmap_.getHeight() - 1) + enqueueCell(mx, my + 1, sx, sy); + + return current_cell; +} + +void CostmapQueue::computeCache() +{ + int max_distance = getMaxDistance(); + if (max_distance == cached_max_distance_) return; + cached_distances_.clear(); + + cached_distances_.resize(max_distance + 2); + + for (unsigned int i = 0; i < cached_distances_.size(); ++i) + { + cached_distances_[i].resize(max_distance + 2); + for (unsigned int j = 0; j < cached_distances_[i].size(); ++j) + { + if (manhattan_) + { + cached_distances_[i][j] = i + j; + } + else + { + cached_distances_[i][j] = hypot(i, j); + } + } + } + cached_max_distance_ = max_distance; +} + +} // namespace costmap_queue diff --git a/navigations/costmap_queue/src/limited_costmap_queue.cpp b/navigations/costmap_queue/src/limited_costmap_queue.cpp new file mode 100755 index 0000000..603a55e --- /dev/null +++ b/navigations/costmap_queue/src/limited_costmap_queue.cpp @@ -0,0 +1,56 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include + +namespace costmap_queue +{ + +LimitedCostmapQueue::LimitedCostmapQueue(nav_core2::Costmap& costmap, const int distance_limit) : + CostmapQueue(costmap) +{ + max_distance_ = distance_limit; + reset(); +} + +int LimitedCostmapQueue::getMaxDistance() const +{ + return max_distance_; +} + +bool LimitedCostmapQueue::validCellToQueue(const CellData& cell) +{ + return cell.distance_ <= max_distance_; +} + +} // namespace costmap_queue diff --git a/navigations/costmap_queue/test/mbq_test.cpp b/navigations/costmap_queue/test/mbq_test.cpp new file mode 100755 index 0000000..4fad77a --- /dev/null +++ b/navigations/costmap_queue/test/mbq_test.cpp @@ -0,0 +1,118 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include + +using costmap_queue::MapBasedQueue; + +void letter_test(MapBasedQueue& q, const char test_letter) +{ + ASSERT_FALSE(q.isEmpty()); + char c = q.front(); + EXPECT_EQ(c, test_letter); + q.pop(); +} + +TEST(MapBasedQueue, emptyQueue) +{ + MapBasedQueue q; + EXPECT_TRUE(q.isEmpty()); + q.enqueue(1.0, 'A'); + EXPECT_FALSE(q.isEmpty()); +} + +TEST(MapBasedQueue, checkOrdering) +{ + MapBasedQueue q; + q.enqueue(1.0, 'A'); + q.enqueue(3.0, 'B'); + q.enqueue(2.0, 'C'); + q.enqueue(5.0, 'D'); + q.enqueue(0.0, 'E'); + + std::string expected = "EACBD"; + for (unsigned int i = 0; i < expected.size(); i++) + { + letter_test(q, expected[i]); + } + EXPECT_TRUE(q.isEmpty()); +} + +TEST(MapBasedQueue, checkDynamicOrdering) +{ + MapBasedQueue q; + q.enqueue(1.0, 'A'); + q.enqueue(3.0, 'B'); + q.enqueue(2.0, 'C'); + q.enqueue(5.0, 'D'); + + std::string expected = "ACB"; + for (unsigned int i = 0; i < expected.size(); i++) + { + letter_test(q, expected[i]); + } + + q.enqueue(0.0, 'E'); + letter_test(q, 'E'); +} + +TEST(MapBasedQueue, checkDynamicOrdering2) +{ + MapBasedQueue q; + q.enqueue(1.0, 'A'); + q.enqueue(2.0, 'B'); + letter_test(q, 'A'); + q.enqueue(3.0, 'C'); + letter_test(q, 'B'); +} + +TEST(MapBasedQueue, checkDynamicOrdering3) +{ + MapBasedQueue q; + q.enqueue(1.0, 'A'); + q.enqueue(2.0, 'B'); + q.enqueue(5.0, 'D'); + letter_test(q, 'A'); + letter_test(q, 'B'); + q.enqueue(1.0, 'C'); + letter_test(q, 'C'); + letter_test(q, 'D'); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/costmap_queue/test/utest.cpp b/navigations/costmap_queue/test/utest.cpp new file mode 100755 index 0000000..2cc018f --- /dev/null +++ b/navigations/costmap_queue/test/utest.cpp @@ -0,0 +1,208 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include +#include +#include + + +nav_core2::BasicCostmap costmap; + +TEST(CostmapQueue, basicQueue) +{ + costmap_queue::CostmapQueue q(costmap); + int count = 0; + q.enqueueCell(0, 0); + while (!q.isEmpty()) + { + costmap_queue::CellData cell = q.getNextCell(); + EXPECT_FLOAT_EQ(cell.distance_, hypot(cell.x_, cell.y_)); + count++; + } + EXPECT_EQ(count, 25); +} + +TEST(CostmapQueue, reverseQueue) +{ + costmap_queue::CostmapQueue q(costmap); + int count = 0; + q.enqueueCell(4, 4); + while (!q.isEmpty()) + { + costmap_queue::CellData cell = q.getNextCell(); + EXPECT_FLOAT_EQ(cell.distance_, hypot(4.0 - static_cast(cell.x_), + 4.0 - static_cast(cell.y_))); + count++; + } + EXPECT_EQ(count, 25); +} + +TEST(CostmapQueue, bigTest) +{ + nav_grid::NavGridInfo big_info; + big_info.width = 500; + big_info.height = 500; + + nav_core2::BasicCostmap big_map; + big_map.setInfo(big_info); + costmap_queue::CostmapQueue q(big_map); + int count = 0; + q.enqueueCell(0, 0); + while (!q.isEmpty()) + { + costmap_queue::CellData cell = q.getNextCell(); + EXPECT_FLOAT_EQ(cell.distance_, hypot(cell.x_, cell.y_)); + count++; + } + EXPECT_EQ(count, 500 * 500); +} + +TEST(CostmapQueue, linearQueue) +{ + costmap_queue::CostmapQueue q(costmap); + int count = 0; + q.enqueueCell(0, 0); + q.enqueueCell(0, 1); + q.enqueueCell(0, 2); + q.enqueueCell(0, 3); + q.enqueueCell(0, 4); + while (!q.isEmpty()) + { + costmap_queue::CellData cell = q.getNextCell(); + EXPECT_FLOAT_EQ(cell.distance_, cell.x_); + count++; + } + EXPECT_EQ(count, 25); +} + +TEST(CostmapQueue, crossQueue) +{ + costmap_queue::CostmapQueue q(costmap); + int count = 0; + int xs[] = {1, 2, 2, 3}; + int ys[] = {2, 1, 3, 2}; + int N = 4; + for (int i = 0; i < N; i++) + { + q.enqueueCell(xs[i], ys[i]); + } + + while (!q.isEmpty()) + { + costmap_queue::CellData cell = q.getNextCell(); + double min_d = 1000; + + for (int i = 0; i < N; i++) + { + double dd = hypot(xs[i] - static_cast(cell.x_), ys[i] - static_cast(cell.y_)); + min_d = std::min(min_d, dd); + } + EXPECT_FLOAT_EQ(cell.distance_, min_d); + count++; + } + EXPECT_EQ(count, 25); +} + +TEST(CostmapQueue, limitedQueue) +{ + costmap_queue::LimitedCostmapQueue q(costmap, 5); + int count = 0; + q.enqueueCell(0, 0); + while (!q.isEmpty()) + { + costmap_queue::CellData cell = q.getNextCell(); + EXPECT_FLOAT_EQ(cell.distance_, hypot(cell.x_, cell.y_)); + count++; + } + EXPECT_EQ(count, 24); + + costmap_queue::LimitedCostmapQueue q2(costmap, 3); + count = 0; + q2.enqueueCell(0, 0); + while (!q2.isEmpty()) + { + q2.getNextCell(); + count++; + } + EXPECT_EQ(count, 11); +} + + +TEST(CostmapQueue, changingSize) +{ + nav_grid::NavGridInfo info0; + info0.width = 2; + info0.height = 3; + + nav_grid::NavGridInfo info1; + info1.width = 6; + info1.height = 7; + + nav_core2::BasicCostmap size_map; + size_map.setInfo(info0); + costmap_queue::CostmapQueue q(size_map); + unsigned int count = 0; + q.enqueueCell(0, 0); + while (!q.isEmpty()) + { + q.getNextCell(); + count++; + } + + EXPECT_EQ(count, info0.width * info0.height); + + size_map.setInfo(info1); + q.reset(); + count = 0; + q.enqueueCell(0, 0); + while (!q.isEmpty()) + { + q.getNextCell(); + count++; + } + EXPECT_EQ(count, info1.width * info1.height); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + nav_grid::NavGridInfo info; + info.width = 5; + info.height = 5; + costmap.setInfo(info); + return RUN_ALL_TESTS(); +} diff --git a/navigations/dwa_local_planner/CHANGELOG.rst b/navigations/dwa_local_planner/CHANGELOG.rst new file mode 100755 index 0000000..54bf376 --- /dev/null +++ b/navigations/dwa_local_planner/CHANGELOG.rst @@ -0,0 +1,163 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package dwa_local_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* Fixes gdist- and pdist_scale node paramter names (`#936 `_) + Renames goal and path distance dynamic reconfigure parameter + names in the cfg file in order to actually make the parameters + used by the trajectory planner changeable. + Fixes `#935 `_ +* Contributors: David Leins + +1.16.3 (2019-11-15) +------------------- +* Set footprint before in place rotation continuation (`#829 `_) (`#861 `_) + * Make sure to call setFootprint() before an in-place rotation + * Change to const reference + * Remove footprint from findBestPath +* Contributors: David V. Lu!! + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* fix depends for dwa_local_planner + * add tf2_geometry_msgs (due to https://github.com/ros/geometry2/issues/275) + * add missing depends on angles, sensor_msgs, tf2 +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Merge pull request `#765 `_ from ros-planning/remove_pcl + remove left over PCL depends in dwa_local_planner +* Remove PCL from local planners +* Switch to TF2 `#755 `_ +* Make trajectory scoring scales consistent. +* unify parameter names between base_local_planner and dwa_local_planner + addresses parts of `#90 `_ +* Contributors: David V. Lu, Michael Ferguson, Pavlo Kolomiiets, Vincent Rabaud, moriarty + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Add cost function to prevent unnecessary spinning +* Fix CMakeLists + package.xmls (`#548 `_) +* import only PCL common +* remove GCC warnings +* Fix CMake warnings +* Contributors: Martin Günther, Mikael Arguedas, Morgan Quigley, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- +* link only libraries found with find_package +* Contributors: Lukas Bulwahn + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.5 (2014-01-30) +------------------- +* Fix for `#5 `_ +* Parameter to sum scores in DWA Planner +* Keep consistent allignment_cost scale + Use the configured alignment cost instead of resetting to 1.0. This + condition (farther from goal than forward_point_distance) is probably + met at the start of navigation, it seems this cost should be obeyed + until the robot gets close, then ignored completely. +* Cheat factor for end of DWA Plans +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* Changed new Odom-Helper::initialize() function to setOdomTopic(). +* some more corrections for the pointcloud object bug diff --git a/navigations/dwa_local_planner/CMakeLists.txt b/navigations/dwa_local_planner/CMakeLists.txt new file mode 100755 index 0000000..dbeda46 --- /dev/null +++ b/navigations/dwa_local_planner/CMakeLists.txt @@ -0,0 +1,67 @@ +cmake_minimum_required(VERSION 3.0.2) +project(dwa_local_planner) + +find_package(catkin REQUIRED + COMPONENTS + angles + base_local_planner + cmake_modules + costmap_2d + dynamic_reconfigure + nav_core + nav_msgs + pluginlib + sensor_msgs + roscpp + tf2 + tf2_geometry_msgs + tf2_ros + ) + +find_package(Eigen3 REQUIRED) +remove_definitions(-DDISABLE_LIBUSB-1.0) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ) +add_definitions(${EIGEN3_DEFINITIONS}) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/DWAPlanner.cfg +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES dwa_local_planner + CATKIN_DEPENDS + base_local_planner + dynamic_reconfigure + nav_msgs + pluginlib + sensor_msgs + roscpp + tf2 + tf2_ros +) + +add_library(dwa_local_planner src/dwa_planner.cpp src/dwa_planner_ros.cpp) +add_dependencies(dwa_local_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(dwa_local_planner ${catkin_LIBRARIES}) +target_compile_options(dwa_local_planner PUBLIC "-Wno-terminate") + +install(TARGETS dwa_local_planner + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(FILES blp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) diff --git a/navigations/dwa_local_planner/blp_plugin.xml b/navigations/dwa_local_planner/blp_plugin.xml new file mode 100755 index 0000000..2b10073 --- /dev/null +++ b/navigations/dwa_local_planner/blp_plugin.xml @@ -0,0 +1,7 @@ + + + + A implementation of a local planner using either a DWA approach based on configuration parameters. + + + diff --git a/navigations/dwa_local_planner/cfg/DWAPlanner.cfg b/navigations/dwa_local_planner/cfg/DWAPlanner.cfg new file mode 100755 index 0000000..29e32b6 --- /dev/null +++ b/navigations/dwa_local_planner/cfg/DWAPlanner.cfg @@ -0,0 +1,39 @@ +#!/usr/bin/env python +# DWA Planner configuration + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, double_t, int_t, bool_t +from local_planner_limits import add_generic_localplanner_params + +gen = ParameterGenerator() + +# This unusual line allows to reuse existing parameter definitions +# that concern all localplanners +add_generic_localplanner_params(gen) + +gen.add("sim_time", double_t, 0, "The amount of time to roll trajectories out for in seconds", 1.7, 0) +gen.add("sim_granularity", double_t, 0, "The granularity with which to check for collisions along each trajectory in meters", 0.025, 0) +gen.add("angular_sim_granularity", double_t, 0, "The granularity with which to check for collisions for rotations in radians", 0.1, 0) + +gen.add("path_distance_bias", double_t, 0, "The weight for the path distance part of the cost function", 0.6, 0.0) +gen.add("goal_distance_bias", double_t, 0, "The weight for the goal distance part of the cost function", 0.8, 0.0) +gen.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.01, 0.0) +gen.add("twirling_scale", double_t, 0, "The weight for penalizing any changes in robot heading", 0.0, 0.0) + +gen.add("stop_time_buffer", double_t, 0, "The amount of time that the robot must stop before a collision in order for a trajectory to be considered valid in seconds", 0.2, 0) +gen.add("oscillation_reset_dist", double_t, 0, "The distance the robot must travel before oscillation flags are reset, in meters", 0.05, 0) +gen.add("oscillation_reset_angle", double_t, 0, "The angle the robot must turn before oscillation flags are reset, in radians", 0.2, 0) + +gen.add("forward_point_distance", double_t, 0, "The distance from the center point of the robot to place an additional scoring point, in meters", 0.325) + +gen.add("scaling_speed", double_t, 0, "The absolute value of the velocity at which to start scaling the robot's footprint, in m/s", 0.25, 0) +gen.add("max_scaling_factor", double_t, 0, "The maximum factor to scale the robot's footprint by", 0.2, 0) + +gen.add("vx_samples", int_t, 0, "The number of samples to use when exploring the x velocity space", 3, 1) +gen.add("vy_samples", int_t, 0, "The number of samples to use when exploring the y velocity space", 10, 1) +gen.add("vth_samples", int_t, 0, "The number of samples to use when exploring the theta velocity space", 20, 1) + +gen.add("use_dwa", bool_t, 0, "Use dynamic window approach to constrain sampling velocities to small window.", True) + +gen.add("restore_defaults", bool_t, 0, "Restore to the original configuration.", False) + +exit(gen.generate("dwa_local_planner", "dwa_local_planner", "DWAPlanner")) diff --git a/navigations/dwa_local_planner/include/dwa_local_planner/dwa_planner.h b/navigations/dwa_local_planner/include/dwa_local_planner/dwa_planner.h new file mode 100755 index 0000000..70b4c71 --- /dev/null +++ b/navigations/dwa_local_planner/include/dwa_local_planner/dwa_planner.h @@ -0,0 +1,185 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_H_ +#define DWA_LOCAL_PLANNER_DWA_PLANNER_H_ + +#include +#include + + +#include + +//for creating a local cost grid +#include + +//for obstacle data access +#include + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +namespace dwa_local_planner { + /** + * @class DWAPlanner + * @brief A class implementing a local planner using the Dynamic Window Approach + */ + class DWAPlanner { + public: + /** + * @brief Constructor for the planner + * @param name The name of the planner + * @param costmap_ros A pointer to the costmap instance the planner should use + * @param global_frame the frame id of the tf frame to use + */ + DWAPlanner(std::string name, base_local_planner::LocalPlannerUtil *planner_util); + + /** + * @brief Reconfigures the trajectory planner + */ + void reconfigure(DWAPlannerConfig &cfg); + + /** + * @brief Check if a trajectory is legal for a position/velocity pair + * @param pos The robot's position + * @param vel The robot's velocity + * @param vel_samples The desired velocity + * @return True if the trajectory is valid, false otherwise + */ + bool checkTrajectory( + const Eigen::Vector3f pos, + const Eigen::Vector3f vel, + const Eigen::Vector3f vel_samples); + + /** + * @brief Given the current position and velocity of the robot, find the best trajectory to exectue + * @param global_pose The current position of the robot + * @param global_vel The current velocity of the robot + * @param drive_velocities The velocities to send to the robot base + * @return The highest scoring trajectory. A cost >= 0 means the trajectory is legal to execute. + */ + base_local_planner::Trajectory findBestPath( + const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& global_vel, + geometry_msgs::PoseStamped& drive_velocities); + + /** + * @brief Update the cost functions before planning + * @param global_pose The robot's current pose + * @param new_plan The new global plan + * @param footprint_spec The robot's footprint + * + * The obstacle cost function gets the footprint. + * The path and goal cost functions get the global_plan + * The alignment cost functions get a version of the global plan + * that is modified based on the global_pose + */ + void updatePlanAndLocalCosts(const geometry_msgs::PoseStamped& global_pose, + const std::vector& new_plan, + const std::vector& footprint_spec); + + /** + * @brief Get the period at which the local planner is expected to run + * @return The simulation period + */ + double getSimPeriod() { return sim_period_; } + + /** + * @brief Compute the components and total cost for a map grid cell + * @param cx The x coordinate of the cell in the map grid + * @param cy The y coordinate of the cell in the map grid + * @param path_cost Will be set to the path distance component of the cost function + * @param goal_cost Will be set to the goal distance component of the cost function + * @param occ_cost Will be set to the costmap value of the cell + * @param total_cost Will be set to the value of the overall cost function, taking into account the scaling parameters + * @return True if the cell is traversible and therefore a legal location for the robot to move to + */ + bool getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost); + + /** + * sets new plan and resets state + */ + bool setPlan(const std::vector& orig_global_plan); + + private: + + base_local_planner::LocalPlannerUtil *planner_util_; + + double stop_time_buffer_; ///< @brief How long before hitting something we're going to enforce that the robot stop + double path_distance_bias_, goal_distance_bias_, occdist_scale_; + Eigen::Vector3f vsamples_; + + double sim_period_;///< @brief The number of seconds to use to compute max/min vels for dwa + base_local_planner::Trajectory result_traj_; + + double forward_point_distance_; + + std::vector global_plan_; + + boost::mutex configuration_mutex_; + std::string frame_id_; + ros::Publisher traj_cloud_pub_; + bool publish_cost_grid_pc_; ///< @brief Whether or not to build and publish a PointCloud + bool publish_traj_pc_; + + double cheat_factor_; + + base_local_planner::MapGridVisualizer map_viz_; ///< @brief The map grid visualizer for outputting the potential field generated by the cost function + + // see constructor body for explanations + base_local_planner::SimpleTrajectoryGenerator generator_; + base_local_planner::OscillationCostFunction oscillation_costs_; + base_local_planner::ObstacleCostFunction obstacle_costs_; + base_local_planner::MapGridCostFunction path_costs_; + base_local_planner::MapGridCostFunction goal_costs_; + base_local_planner::MapGridCostFunction goal_front_costs_; + base_local_planner::MapGridCostFunction alignment_costs_; + base_local_planner::TwirlingCostFunction twirling_costs_; + + base_local_planner::SimpleScoredSamplingPlanner scored_sampling_planner_; + }; +}; +#endif diff --git a/navigations/dwa_local_planner/include/dwa_local_planner/dwa_planner_ros.h b/navigations/dwa_local_planner/include/dwa_local_planner/dwa_planner_ros.h new file mode 100755 index 0000000..4da6411 --- /dev/null +++ b/navigations/dwa_local_planner/include/dwa_local_planner/dwa_planner_ros.h @@ -0,0 +1,159 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_ +#define DWA_LOCAL_PLANNER_DWA_PLANNER_ROS_H_ + +#include +#include + +#include + +#include +#include + +#include + +#include + +#include +#include +#include + +#include + +#include + +namespace dwa_local_planner { + /** + * @class DWAPlannerROS + * @brief ROS Wrapper for the DWAPlanner that adheres to the + * BaseLocalPlanner interface and can be used as a plugin for move_base. + */ + class DWAPlannerROS : public nav_core::BaseLocalPlanner { + public: + /** + * @brief Constructor for DWAPlannerROS wrapper + */ + DWAPlannerROS(); + + /** + * @brief Constructs the ros wrapper + * @param name The name to give this instance of the trajectory planner + * @param tf A pointer to a transform listener + * @param costmap The cost map to use for assigning costs to trajectories + */ + void initialize(std::string name, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Destructor for the wrapper + */ + ~DWAPlannerROS(); + + /** + * @brief Given the current position, orientation, and velocity of the robot, + * compute velocity commands to send to the base + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @return True if a valid trajectory was found, false otherwise + */ + bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel); + + + /** + * @brief Given the current position, orientation, and velocity of the robot, + * compute velocity commands to send to the base, using dynamic window approach + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @return True if a valid trajectory was found, false otherwise + */ + bool dwaComputeVelocityCommands(geometry_msgs::PoseStamped& global_pose, geometry_msgs::Twist& cmd_vel); + + /** + * @brief Set the plan that the controller is following + * @param orig_global_plan The plan to pass to the controller + * @return True if the plan was updated successfully, false otherwise + */ + bool setPlan(const std::vector& orig_global_plan); + + /** + * @brief Check if the goal pose has been achieved + * @return True if achieved, false otherwise + */ + bool isGoalReached(); + + + + bool isInitialized() { + return initialized_; + } + + private: + /** + * @brief Callback to update the local planner's parameters based on dynamic reconfigure + */ + void reconfigureCB(DWAPlannerConfig &config, uint32_t level); + + void publishLocalPlan(std::vector& path); + + void publishGlobalPlan(std::vector& path); + + tf2_ros::Buffer* tf_; ///< @brief Used for transforming point clouds + + // for visualisation, publishers of global and local plan + ros::Publisher g_plan_pub_, l_plan_pub_; + + base_local_planner::LocalPlannerUtil planner_util_; + + boost::shared_ptr dp_; ///< @brief The trajectory controller + + costmap_2d::Costmap2DROS* costmap_ros_; + + dynamic_reconfigure::Server *dsrv_; + dwa_local_planner::DWAPlannerConfig default_config_; + bool setup_; + geometry_msgs::PoseStamped current_pose_; + + base_local_planner::LatchedStopRotateController latchedStopRotateController_; + + + bool initialized_; + + + base_local_planner::OdometryHelperRos odom_helper_; + std::string odom_topic_; + }; +}; +#endif diff --git a/navigations/dwa_local_planner/package.xml b/navigations/dwa_local_planner/package.xml new file mode 100755 index 0000000..dfd9d0a --- /dev/null +++ b/navigations/dwa_local_planner/package.xml @@ -0,0 +1,50 @@ + + + + dwa_local_planner + 1.17.3 + + + This package provides an implementation of the Dynamic Window Approach to + local robot navigation on a plane. Given a global plan to follow and a + costmap, the local planner produces velocity commands to send to a mobile + base. This package supports any robot who's footprint can be represented as + a convex polygon or cicrle, and exposes its configuration as ROS parameters + that can be set in a launch file. The parameters for this planner are also + dynamically reconfigurable. This package's ROS wrapper adheres to the + BaseLocalPlanner interface specified in the nav_core package. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/dwa_local_planner + + catkin + + angles + cmake_modules + + base_local_planner + costmap_2d + dynamic_reconfigure + eigen + nav_core + nav_msgs + pluginlib + sensor_msgs + roscpp + tf2 + tf2_geometry_msgs + tf2_ros + + + + + + + + diff --git a/navigations/dwa_local_planner/src/dwa_planner.cpp b/navigations/dwa_local_planner/src/dwa_planner.cpp new file mode 100755 index 0000000..5abeb6c --- /dev/null +++ b/navigations/dwa_local_planner/src/dwa_planner.cpp @@ -0,0 +1,394 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include + +//for computing path distance +#include + +#include + +#include +#include +#include +#include + +namespace dwa_local_planner { + void DWAPlanner::reconfigure(DWAPlannerConfig &config) + { + + boost::mutex::scoped_lock l(configuration_mutex_); + + generator_.setParameters( + config.sim_time, + config.sim_granularity, + config.angular_sim_granularity, + config.use_dwa, + sim_period_); + + double resolution = planner_util_->getCostmap()->getResolution(); + path_distance_bias_ = resolution * config.path_distance_bias; + // pdistscale used for both path and alignment, set forward_point_distance to zero to discard alignment + path_costs_.setScale(path_distance_bias_); + alignment_costs_.setScale(path_distance_bias_); + + goal_distance_bias_ = resolution * config.goal_distance_bias; + goal_costs_.setScale(goal_distance_bias_); + goal_front_costs_.setScale(goal_distance_bias_); + + occdist_scale_ = config.occdist_scale; + obstacle_costs_.setScale(occdist_scale_); + + stop_time_buffer_ = config.stop_time_buffer; + oscillation_costs_.setOscillationResetDist(config.oscillation_reset_dist, config.oscillation_reset_angle); + forward_point_distance_ = config.forward_point_distance; + goal_front_costs_.setXShift(forward_point_distance_); + alignment_costs_.setXShift(forward_point_distance_); + + // obstacle costs can vary due to scaling footprint feature + obstacle_costs_.setParams(config.max_vel_trans, config.max_scaling_factor, config.scaling_speed); + + twirling_costs_.setScale(config.twirling_scale); + + int vx_samp, vy_samp, vth_samp; + vx_samp = config.vx_samples; + vy_samp = config.vy_samples; + vth_samp = config.vth_samples; + + if (vx_samp <= 0) { + ROS_WARN("You've specified that you don't want any samples in the x dimension. We'll at least assume that you want to sample one value... so we're going to set vx_samples to 1 instead"); + vx_samp = 1; + config.vx_samples = vx_samp; + } + + if (vy_samp <= 0) { + ROS_WARN("You've specified that you don't want any samples in the y dimension. We'll at least assume that you want to sample one value... so we're going to set vy_samples to 1 instead"); + vy_samp = 1; + config.vy_samples = vy_samp; + } + + if (vth_samp <= 0) { + ROS_WARN("You've specified that you don't want any samples in the th dimension. We'll at least assume that you want to sample one value... so we're going to set vth_samples to 1 instead"); + vth_samp = 1; + config.vth_samples = vth_samp; + } + + vsamples_[0] = vx_samp; + vsamples_[1] = vy_samp; + vsamples_[2] = vth_samp; + + + } + + DWAPlanner::DWAPlanner(std::string name, base_local_planner::LocalPlannerUtil *planner_util) : + planner_util_(planner_util), + obstacle_costs_(planner_util->getCostmap()), + path_costs_(planner_util->getCostmap()), + goal_costs_(planner_util->getCostmap(), 0.0, 0.0, true), + goal_front_costs_(planner_util->getCostmap(), 0.0, 0.0, true), + alignment_costs_(planner_util->getCostmap()) + { + ros::NodeHandle private_nh("~/" + name); + + goal_front_costs_.setStopOnFailure( false ); + alignment_costs_.setStopOnFailure( false ); + + //Assuming this planner is being run within the navigation stack, we can + //just do an upward search for the frequency at which its being run. This + //also allows the frequency to be overwritten locally. + std::string controller_frequency_param_name; + if(!private_nh.searchParam("controller_frequency", controller_frequency_param_name)) { + sim_period_ = 0.05; + } else { + double controller_frequency = 0; + private_nh.param(controller_frequency_param_name, controller_frequency, 20.0); + if(controller_frequency > 0) { + sim_period_ = 1.0 / controller_frequency; + } else { + ROS_WARN("A controller_frequency less than 0 has been set. Ignoring the parameter, assuming a rate of 20Hz"); + sim_period_ = 0.05; + } + } + ROS_INFO("Sim period is set to %.2f", sim_period_); + + oscillation_costs_.resetOscillationFlags(); + + bool sum_scores; + private_nh.param("sum_scores", sum_scores, false); + obstacle_costs_.setSumScores(sum_scores); + + + private_nh.param("publish_cost_grid_pc", publish_cost_grid_pc_, false); + map_viz_.initialize(name, + planner_util->getGlobalFrame(), + [this](int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost){ + return getCellCosts(cx, cy, path_cost, goal_cost, occ_cost, total_cost); + }); + + private_nh.param("global_frame_id", frame_id_, std::string("odom")); + + traj_cloud_pub_ = private_nh.advertise("trajectory_cloud", 1); + private_nh.param("publish_traj_pc", publish_traj_pc_, false); + + // set up all the cost functions that will be applied in order + // (any function returning negative values will abort scoring, so the order can improve performance) + std::vector critics; + critics.push_back(&oscillation_costs_); // discards oscillating motions (assisgns cost -1) + critics.push_back(&obstacle_costs_); // discards trajectories that move into obstacles + critics.push_back(&goal_front_costs_); // prefers trajectories that make the nose go towards (local) nose goal + critics.push_back(&alignment_costs_); // prefers trajectories that keep the robot nose on nose path + critics.push_back(&path_costs_); // prefers trajectories on global path + critics.push_back(&goal_costs_); // prefers trajectories that go towards (local) goal, based on wave propagation + critics.push_back(&twirling_costs_); // optionally prefer trajectories that don't spin + + // trajectory generators + std::vector generator_list; + generator_list.push_back(&generator_); + + scored_sampling_planner_ = base_local_planner::SimpleScoredSamplingPlanner(generator_list, critics); + + private_nh.param("cheat_factor", cheat_factor_, 1.0); + } + + // used for visualization only, total_costs are not really total costs + bool DWAPlanner::getCellCosts(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost) { + + path_cost = path_costs_.getCellCosts(cx, cy); + goal_cost = goal_costs_.getCellCosts(cx, cy); + occ_cost = planner_util_->getCostmap()->getCost(cx, cy); + if (path_cost == path_costs_.obstacleCosts() || + path_cost == path_costs_.unreachableCellCosts() || + occ_cost >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE) { + return false; + } + + total_cost = + path_distance_bias_ * path_cost + + goal_distance_bias_ * goal_cost + + occdist_scale_ * occ_cost; + return true; + } + + bool DWAPlanner::setPlan(const std::vector& orig_global_plan) { + oscillation_costs_.resetOscillationFlags(); + return planner_util_->setPlan(orig_global_plan); + } + + /** + * This function is used when other strategies are to be applied, + * but the cost functions for obstacles are to be reused. + */ + bool DWAPlanner::checkTrajectory( + Eigen::Vector3f pos, + Eigen::Vector3f vel, + Eigen::Vector3f vel_samples){ + oscillation_costs_.resetOscillationFlags(); + base_local_planner::Trajectory traj; + geometry_msgs::PoseStamped goal_pose = global_plan_.back(); + Eigen::Vector3f goal(goal_pose.pose.position.x, goal_pose.pose.position.y, tf2::getYaw(goal_pose.pose.orientation)); + base_local_planner::LocalPlannerLimits limits = planner_util_->getCurrentLimits(); + generator_.initialise(pos, + vel, + goal, + &limits, + vsamples_); + generator_.generateTrajectory(pos, vel, vel_samples, traj); + double cost = scored_sampling_planner_.scoreTrajectory(traj, -1); + //if the trajectory is a legal one... the check passes + if(cost >= 0) { + return true; + } + ROS_WARN("Invalid Trajectory %f, %f, %f, cost: %f", vel_samples[0], vel_samples[1], vel_samples[2], cost); + + //otherwise the check fails + return false; + } + + + void DWAPlanner::updatePlanAndLocalCosts( + const geometry_msgs::PoseStamped& global_pose, + const std::vector& new_plan, + const std::vector& footprint_spec) { + global_plan_.resize(new_plan.size()); + for (unsigned int i = 0; i < new_plan.size(); ++i) { + global_plan_[i] = new_plan[i]; + } + + obstacle_costs_.setFootprint(footprint_spec); + + // costs for going away from path + path_costs_.setTargetPoses(global_plan_); + + // costs for not going towards the local goal as much as possible + goal_costs_.setTargetPoses(global_plan_); + + // alignment costs + geometry_msgs::PoseStamped goal_pose = global_plan_.back(); + + Eigen::Vector3f pos(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation)); + double sq_dist = + (pos[0] - goal_pose.pose.position.x) * (pos[0] - goal_pose.pose.position.x) + + (pos[1] - goal_pose.pose.position.y) * (pos[1] - goal_pose.pose.position.y); + + // we want the robot nose to be drawn to its final position + // (before robot turns towards goal orientation), not the end of the + // path for the robot center. Choosing the final position after + // turning towards goal orientation causes instability when the + // robot needs to make a 180 degree turn at the end + std::vector front_global_plan = global_plan_; + double angle_to_goal = atan2(goal_pose.pose.position.y - pos[1], goal_pose.pose.position.x - pos[0]); + front_global_plan.back().pose.position.x = front_global_plan.back().pose.position.x + + forward_point_distance_ * cos(angle_to_goal); + front_global_plan.back().pose.position.y = front_global_plan.back().pose.position.y + forward_point_distance_ * + sin(angle_to_goal); + + goal_front_costs_.setTargetPoses(front_global_plan); + + // keeping the nose on the path + if (sq_dist > forward_point_distance_ * forward_point_distance_ * cheat_factor_) { + alignment_costs_.setScale(path_distance_bias_); + // costs for robot being aligned with path (nose on path, not ju + alignment_costs_.setTargetPoses(global_plan_); + } else { + // once we are close to goal, trying to keep the nose close to anything destabilizes behavior. + alignment_costs_.setScale(0.0); + } + } + + + /* + * given the current state of the robot, find a good trajectory + */ + base_local_planner::Trajectory DWAPlanner::findBestPath( + const geometry_msgs::PoseStamped& global_pose, + const geometry_msgs::PoseStamped& global_vel, + geometry_msgs::PoseStamped& drive_velocities) { + + //make sure that our configuration doesn't change mid-run + boost::mutex::scoped_lock l(configuration_mutex_); + + Eigen::Vector3f pos(global_pose.pose.position.x, global_pose.pose.position.y, tf2::getYaw(global_pose.pose.orientation)); + Eigen::Vector3f vel(global_vel.pose.position.x, global_vel.pose.position.y, tf2::getYaw(global_vel.pose.orientation)); + geometry_msgs::PoseStamped goal_pose = global_plan_.back(); + Eigen::Vector3f goal(goal_pose.pose.position.x, goal_pose.pose.position.y, tf2::getYaw(goal_pose.pose.orientation)); + base_local_planner::LocalPlannerLimits limits = planner_util_->getCurrentLimits(); + + // prepare cost functions and generators for this run + generator_.initialise(pos, + vel, + goal, + &limits, + vsamples_); + + result_traj_.cost_ = -7; + // find best trajectory by sampling and scoring the samples + std::vector all_explored; + scored_sampling_planner_.findBestTrajectory(result_traj_, &all_explored); + + if(publish_traj_pc_) + { + sensor_msgs::PointCloud2 traj_cloud; + traj_cloud.header.frame_id = frame_id_; + traj_cloud.header.stamp = ros::Time::now(); + + sensor_msgs::PointCloud2Modifier cloud_mod(traj_cloud); + cloud_mod.setPointCloud2Fields(5, "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "theta", 1, sensor_msgs::PointField::FLOAT32, + "cost", 1, sensor_msgs::PointField::FLOAT32); + + unsigned int num_points = 0; + for(std::vector::iterator t=all_explored.begin(); t != all_explored.end(); ++t) + { + if (t->cost_<0) + continue; + num_points += t->getPointsSize(); + } + + cloud_mod.resize(num_points); + sensor_msgs::PointCloud2Iterator iter_x(traj_cloud, "x"); + for(std::vector::iterator t=all_explored.begin(); t != all_explored.end(); ++t) + { + if(t->cost_<0) + continue; + // Fill out the plan + for(unsigned int i = 0; i < t->getPointsSize(); ++i) { + double p_x, p_y, p_th; + t->getPoint(i, p_x, p_y, p_th); + iter_x[0] = p_x; + iter_x[1] = p_y; + iter_x[2] = 0.0; + iter_x[3] = p_th; + iter_x[4] = t->cost_; + ++iter_x; + } + } + traj_cloud_pub_.publish(traj_cloud); + } + + // verbose publishing of point clouds + if (publish_cost_grid_pc_) { + //we'll publish the visualization of the costs to rviz before returning our best trajectory + map_viz_.publishCostCloud(planner_util_->getCostmap()); + } + + // debrief stateful scoring functions + oscillation_costs_.updateOscillationFlags(pos, &result_traj_, planner_util_->getCurrentLimits().min_vel_trans); + + //if we don't have a legal trajectory, we'll just command zero + if (result_traj_.cost_ < 0) { + drive_velocities.pose.position.x = 0; + drive_velocities.pose.position.y = 0; + drive_velocities.pose.position.z = 0; + drive_velocities.pose.orientation.w = 1; + drive_velocities.pose.orientation.x = 0; + drive_velocities.pose.orientation.y = 0; + drive_velocities.pose.orientation.z = 0; + } else { + drive_velocities.pose.position.x = result_traj_.xv_; + drive_velocities.pose.position.y = result_traj_.yv_; + drive_velocities.pose.position.z = 0; + tf2::Quaternion q; + q.setRPY(0, 0, result_traj_.thetav_); + tf2::convert(q, drive_velocities.pose.orientation); + } + + return result_traj_; + } +}; diff --git a/navigations/dwa_local_planner/src/dwa_planner_ros.cpp b/navigations/dwa_local_planner/src/dwa_planner_ros.cpp new file mode 100755 index 0000000..c0551da --- /dev/null +++ b/navigations/dwa_local_planner/src/dwa_planner_ros.cpp @@ -0,0 +1,314 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ + +#include +#include +#include + +#include + +#include + +#include +#include +#include + +#include + +//register this planner as a BaseLocalPlanner plugin +PLUGINLIB_EXPORT_CLASS(dwa_local_planner::DWAPlannerROS, nav_core::BaseLocalPlanner) + +namespace dwa_local_planner { + + void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) { + if (setup_ && config.restore_defaults) { + config = default_config_; + config.restore_defaults = false; + } + if ( ! setup_) { + default_config_ = config; + setup_ = true; + } + + // update generic local planner params + base_local_planner::LocalPlannerLimits limits; + limits.max_vel_trans = config.max_vel_trans; + limits.min_vel_trans = config.min_vel_trans; + limits.max_vel_x = config.max_vel_x; + limits.min_vel_x = config.min_vel_x; + limits.max_vel_y = config.max_vel_y; + limits.min_vel_y = config.min_vel_y; + limits.max_vel_theta = config.max_vel_theta; + limits.min_vel_theta = config.min_vel_theta; + limits.acc_lim_x = config.acc_lim_x; + limits.acc_lim_y = config.acc_lim_y; + limits.acc_lim_theta = config.acc_lim_theta; + limits.acc_lim_trans = config.acc_lim_trans; + limits.xy_goal_tolerance = config.xy_goal_tolerance; + limits.yaw_goal_tolerance = config.yaw_goal_tolerance; + limits.prune_plan = config.prune_plan; + limits.trans_stopped_vel = config.trans_stopped_vel; + limits.theta_stopped_vel = config.theta_stopped_vel; + planner_util_.reconfigureCB(limits, config.restore_defaults); + + // update dwa specific configuration + dp_->reconfigure(config); + } + + DWAPlannerROS::DWAPlannerROS() : initialized_(false), + odom_helper_("odom"), setup_(false) { + + } + + void DWAPlannerROS::initialize( + std::string name, + tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* costmap_ros) { + if (! isInitialized()) { + + ros::NodeHandle private_nh("~/" + name); + g_plan_pub_ = private_nh.advertise("global_plan", 1); + l_plan_pub_ = private_nh.advertise("local_plan", 1); + tf_ = tf; + costmap_ros_ = costmap_ros; + costmap_ros_->getRobotPose(current_pose_); + + // make sure to update the costmap we'll use for this cycle + costmap_2d::Costmap2D* costmap = costmap_ros_->getCostmap(); + + planner_util_.initialize(tf, costmap, costmap_ros_->getGlobalFrameID()); + + //create the actual planner that we'll use.. it'll configure itself from the parameter server + dp_ = boost::shared_ptr(new DWAPlanner(name, &planner_util_)); + + if( private_nh.getParam( "odom_topic", odom_topic_ )) + { + odom_helper_.setOdomTopic( odom_topic_ ); + } + + initialized_ = true; + + // Warn about deprecated parameters -- remove this block in N-turtle + nav_core::warnRenamedParameter(private_nh, "max_vel_trans", "max_trans_vel"); + nav_core::warnRenamedParameter(private_nh, "min_vel_trans", "min_trans_vel"); + nav_core::warnRenamedParameter(private_nh, "max_vel_theta", "max_rot_vel"); + nav_core::warnRenamedParameter(private_nh, "min_vel_theta", "min_rot_vel"); + nav_core::warnRenamedParameter(private_nh, "acc_lim_trans", "acc_limit_trans"); + nav_core::warnRenamedParameter(private_nh, "theta_stopped_vel", "rot_stopped_vel"); + + dsrv_ = new dynamic_reconfigure::Server(private_nh); + dynamic_reconfigure::Server::CallbackType cb = [this](auto& config, auto level){ reconfigureCB(config, level); }; + dsrv_->setCallback(cb); + } + else{ + ROS_WARN("This planner has already been initialized, doing nothing."); + } + } + + bool DWAPlannerROS::setPlan(const std::vector& orig_global_plan) { + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + //when we get a new plan, we also want to clear any latch we may have on goal tolerances + latchedStopRotateController_.resetLatching(); + + ROS_INFO("Got new plan"); + return dp_->setPlan(orig_global_plan); + } + + bool DWAPlannerROS::isGoalReached() { + if (! isInitialized()) { + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + if ( ! costmap_ros_->getRobotPose(current_pose_)) { + ROS_ERROR("Could not get robot pose"); + return false; + } + + if(latchedStopRotateController_.isGoalReached(&planner_util_, odom_helper_, current_pose_)) { + ROS_INFO("Goal reached"); + return true; + } else { + return false; + } + } + + void DWAPlannerROS::publishLocalPlan(std::vector& path) { + base_local_planner::publishPlan(path, l_plan_pub_); + } + + + void DWAPlannerROS::publishGlobalPlan(std::vector& path) { + base_local_planner::publishPlan(path, g_plan_pub_); + } + + DWAPlannerROS::~DWAPlannerROS(){ + //make sure to clean things up + delete dsrv_; + } + + + + bool DWAPlannerROS::dwaComputeVelocityCommands(geometry_msgs::PoseStamped &global_pose, geometry_msgs::Twist& cmd_vel) { + // dynamic window sampling approach to get useful velocity commands + if(! isInitialized()){ + ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner"); + return false; + } + + geometry_msgs::PoseStamped robot_vel; + odom_helper_.getRobotVel(robot_vel); + + /* For timing uncomment + struct timeval start, end; + double start_t, end_t, t_diff; + gettimeofday(&start, NULL); + */ + + //compute what trajectory to drive along + geometry_msgs::PoseStamped drive_cmds; + drive_cmds.header.frame_id = costmap_ros_->getBaseFrameID(); + + // call with updated footprint + base_local_planner::Trajectory path = dp_->findBestPath(global_pose, robot_vel, drive_cmds); + //ROS_ERROR("Best: %.2f, %.2f, %.2f, %.2f", path.xv_, path.yv_, path.thetav_, path.cost_); + + /* For timing uncomment + gettimeofday(&end, NULL); + start_t = start.tv_sec + double(start.tv_usec) / 1e6; + end_t = end.tv_sec + double(end.tv_usec) / 1e6; + t_diff = end_t - start_t; + ROS_INFO("Cycle time: %.9f", t_diff); + */ + + //pass along drive commands + cmd_vel.linear.x = drive_cmds.pose.position.x; + cmd_vel.linear.y = drive_cmds.pose.position.y; + cmd_vel.angular.z = tf2::getYaw(drive_cmds.pose.orientation); + + //if we cannot move... tell someone + std::vector local_plan; + if(path.cost_ < 0) { + ROS_DEBUG_NAMED("dwa_local_planner", + "The dwa local planner failed to find a valid plan, cost functions discarded all candidates. This can mean there is an obstacle too close to the robot."); + local_plan.clear(); + publishLocalPlan(local_plan); + return false; + } + + ROS_DEBUG_NAMED("dwa_local_planner", "A valid velocity command of (%.2f, %.2f, %.2f) was found for this cycle.", + cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z); + + // Fill out the local plan + for(unsigned int i = 0; i < path.getPointsSize(); ++i) { + double p_x, p_y, p_th; + path.getPoint(i, p_x, p_y, p_th); + + geometry_msgs::PoseStamped p; + p.header.frame_id = costmap_ros_->getGlobalFrameID(); + p.header.stamp = ros::Time::now(); + p.pose.position.x = p_x; + p.pose.position.y = p_y; + p.pose.position.z = 0.0; + tf2::Quaternion q; + q.setRPY(0, 0, p_th); + tf2::convert(q, p.pose.orientation); + local_plan.push_back(p); + } + + //publish information to the visualizer + + publishLocalPlan(local_plan); + return true; + } + + + + + bool DWAPlannerROS::computeVelocityCommands(geometry_msgs::Twist& cmd_vel) { + // dispatches to either dwa sampling control or stop and rotate control, depending on whether we have been close enough to goal + if ( ! costmap_ros_->getRobotPose(current_pose_)) { + ROS_ERROR("Could not get robot pose"); + return false; + } + std::vector transformed_plan; + if ( ! planner_util_.getLocalPlan(current_pose_, transformed_plan)) { + ROS_ERROR("Could not get local plan"); + return false; + } + + //if the global plan passed in is empty... we won't do anything + if(transformed_plan.empty()) { + ROS_WARN_NAMED("dwa_local_planner", "Received an empty transformed plan."); + return false; + } + ROS_DEBUG_NAMED("dwa_local_planner", "Received a transformed plan with %zu points.", transformed_plan.size()); + + // update plan in dwa_planner even if we just stop and rotate, to allow checkTrajectory + dp_->updatePlanAndLocalCosts(current_pose_, transformed_plan, costmap_ros_->getRobotFootprint()); + + if (latchedStopRotateController_.isPositionReached(&planner_util_, current_pose_)) { + //publish an empty plan because we've reached our goal position + std::vector local_plan; + std::vector transformed_plan; + publishGlobalPlan(transformed_plan); + publishLocalPlan(local_plan); + base_local_planner::LocalPlannerLimits limits = planner_util_.getCurrentLimits(); + return latchedStopRotateController_.computeVelocityCommandsStopRotate( + cmd_vel, + limits.getAccLimits(), + dp_->getSimPeriod(), + &planner_util_, + odom_helper_, + current_pose_, + [this](auto pos, auto vel, auto vel_samples){ return dp_->checkTrajectory(pos, vel, vel_samples); }); + } else { + bool isOk = dwaComputeVelocityCommands(current_pose_, cmd_vel); + if (isOk) { + publishGlobalPlan(transformed_plan); + } else { + ROS_WARN_NAMED("dwa_local_planner", "DWA planner failed to produce path."); + std::vector empty_plan; + publishGlobalPlan(empty_plan); + } + return isOk; + } + } + +}; diff --git a/navigations/dwb_critics/CMakeLists.txt b/navigations/dwb_critics/CMakeLists.txt new file mode 100755 index 0000000..e6222b4 --- /dev/null +++ b/navigations/dwb_critics/CMakeLists.txt @@ -0,0 +1,64 @@ +cmake_minimum_required(VERSION 3.0.2) +project(dwb_critics) + +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror") + +find_package(catkin REQUIRED COMPONENTS + angles + costmap_queue + dwb_local_planner + geometry_msgs + nav_2d_msgs + nav_2d_utils + nav_core2 + nav_grid_iterators + pluginlib + roscpp + sensor_msgs +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS angles costmap_queue dwb_local_planner geometry_msgs nav_2d_msgs nav_2d_utils nav_core2 nav_grid_iterators pluginlib roscpp sensor_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/alignment_util.cpp + src/map_grid.cpp + src/goal_dist.cpp + src/path_dist.cpp + src/goal_align.cpp + src/path_align.cpp + src/base_obstacle.cpp + src/obstacle_footprint.cpp + src/oscillation.cpp + src/prefer_forward.cpp + src/rotate_to_goal.cpp + src/twirling.cpp +) +add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + +if(CATKIN_ENABLE_TESTING) + find_package(roslint REQUIRED) + roslint_cpp() + roslint_add_test() +endif() + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(FILES default_critics.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/navigations/dwb_critics/README.md b/navigations/dwb_critics/README.md new file mode 100755 index 0000000..98b5932 --- /dev/null +++ b/navigations/dwb_critics/README.md @@ -0,0 +1,31 @@ +# dwb_critics +This package contains plugin implementations of `dwb_local_planner::TrajectoryCritic` sufficient to replicate the behavior of `dwa_local_planner`. + +## Obstacle Avoidance +There are two options for critics that examine the contents of the costmap and reject trajectories that come close to obstacles. + * `BaseObstacleCritic` assumes a circular robot, and therefore only needs to check one cell in the costmap for each pose in the trajectory (assuming the costmap is properly inflated). + * `ObstacleFootprintCritic` uses the robot's footprint and checks all of the cells along the outline of the robot's footprint at each pose. + +## Progress Toward the Goal along the Path +There are two critics which evaluate the robot's position at the end of the trajectory relative to the goal pose and the global plan. + * `GoalDistCritic` estimates the distance from the last pose to the goal pose. + * `PathDistCritic` estimates the distance from the last pose to the closest pose in the global plan. + +## Alignment +There are also two critics for keeping the robot pointed in the right direction. They use a point on the front of the robot as a proxy to calculate which way the robot is pointed. + * `GoalAlignCritic` estimates the distance from the front of the robot to the goal pose. This score will be higher if the robot is pointed away from the goal. + * `PathAlignCritic` estimates the distance from the front of the robot to the closest point in the global plan. This score will be higher if the robot is pointed away from the global plan. + +## Rotating to the Goal +There is a special case in the navigation when the robot reaches the correct XY position, but still needs to rotate to the proper yaw. The standard critics will not be useful in this case. Instead we have `RotateToGoalCritic` which operates in a couple different modes. + * If the robot is not yet in the correct XY position, it has no effect on the trajectory score. + * If the robot is at the correct XY position but still moving, this critic will score the trajecotries such that the robot slows down. + * If the robot is at the correct XY position and stopped its forward motion, the critic will + A) Disallow trajectories with forward motion + B) Score trajectories (rotations) based on how close to the goal yaw they get. + +## Other Critics + * `OscillationCritic` detects oscillations by looking at the sign of the commanded motions. For example, if in a short window, the robot moves forward and then backward, it will penalize further trajectories that move forward again, as that is considered an oscillation. + * `PreferForwardCritic` was implemented but not used by `DWA` and penalize trajectories that move backwards and/or turn too much. + * `TwirlingCritic` penalizes trajectories with rotational velocities + diff --git a/navigations/dwb_critics/default_critics.xml b/navigations/dwb_critics/default_critics.xml new file mode 100755 index 0000000..8a39896 --- /dev/null +++ b/navigations/dwb_critics/default_critics.xml @@ -0,0 +1,42 @@ + + + + Penalize trajectories with move backwards and/or turn too much + + + Scores trajectories based on how far along the global path they end up. + + + Scores trajectories based on how far from the global path the front of the robot ends up. + + + + Scores trajectories based on whether the robot ends up pointing toward the eventual goal + + + + Scores trajectories based on how far from the global path they end up. + + + Checks to see whether the sign of the commanded velocity flips frequently + + + Forces the commanded trajectories to only be rotations if within a certain distance window + + + + Uses costmap 2d to assign negative costs if a circular robot + would collide at any point of the trajectory. + + + + Uses costmap 2d to assign negative costs if robot footprint is in obstacle + on any point of the trajectory. + + + + Penalize trajectories with rotational velocities + + + + diff --git a/navigations/dwb_critics/include/dwb_critics/alignment_util.h b/navigations/dwb_critics/include/dwb_critics/alignment_util.h new file mode 100755 index 0000000..3f1c718 --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/alignment_util.h @@ -0,0 +1,54 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_CRITICS_ALIGNMENT_UTIL_H +#define DWB_CRITICS_ALIGNMENT_UTIL_H + +#include + +namespace dwb_critics +{ +/** + * @brief Projects the given pose forward the specified distance in the x direction. + * @param pose Input pose + * @param distance distance to move (in meters) + * @return Pose distance meters in front of input pose. + * + * (used in both path_align and dist_align) + */ +geometry_msgs::Pose2D getForwardPose(const geometry_msgs::Pose2D& pose, double distance); + +} // namespace dwb_critics + +#endif // DWB_CRITICS_ALIGNMENT_UTIL_H diff --git a/navigations/dwb_critics/include/dwb_critics/base_obstacle.h b/navigations/dwb_critics/include/dwb_critics/base_obstacle.h new file mode 100755 index 0000000..e1e484a --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/base_obstacle.h @@ -0,0 +1,79 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_CRITICS_BASE_OBSTACLE_H +#define DWB_CRITICS_BASE_OBSTACLE_H + +#include + +namespace dwb_critics +{ +/** + * @class BaseObstacleCritic + * @brief Uses costmap to assign negative costs if a circular robot would collide at any point of the trajectory. + * + * This class can only be used to figure out if a circular robot is in collision. If the cell corresponding + * with any of the poses in the Trajectory is an obstacle, inscribed obstacle or unknown, it will return a + * negative cost. Otherwise it will return either the final pose's cost, or the sum of all poses, depending + * on the sum_scores parameter. + * + * Other classes (like ObstacleFootprintCritic) can do more advanced checking for collisions. + */ +class BaseObstacleCritic : public dwb_local_planner::TrajectoryCritic +{ +public: + void onInit() override; + double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; + void addCriticVisualization(sensor_msgs::PointCloud& pc) override; + + /** + * @brief Return the obstacle score for a particular pose + * @param costmap Dereferenced costmap + * @param pose Pose to check + */ + virtual double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose); + + /** + * @brief Check to see whether a given cell cost is valid for driving through. + * @param cost Cost of the cell + * @return Return true if valid cell + */ + virtual bool isValidCost(const unsigned char cost); + +protected: + bool sum_scores_; +}; +} // namespace dwb_critics + +#endif // DWB_CRITICS_BASE_OBSTACLE_H diff --git a/navigations/dwb_critics/include/dwb_critics/goal_align.h b/navigations/dwb_critics/include/dwb_critics/goal_align.h new file mode 100755 index 0000000..dbba03e --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/goal_align.h @@ -0,0 +1,65 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef DWB_CRITICS_GOAL_ALIGN_H_ +#define DWB_CRITICS_GOAL_ALIGN_H_ + +#include +#include +#include + +namespace dwb_critics +{ + +/** + * @class GoalAlignCritic + * @brief Scores trajectories based on whether the robot ends up pointing toward the eventual goal + * + * Similar to GoalDistCritic, this critic finds the pose from the global path farthest from the robot + * that is still on the costmap and then evaluates how far the front of the robot is from that point. + * This works as a proxy to calculating which way the robot should be pointing. + */ +class GoalAlignCritic: public GoalDistCritic +{ +public: + GoalAlignCritic() : forward_point_distance_(0.0) {} + void onInit() override; + bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override; + double scorePose(const geometry_msgs::Pose2D& pose) override; +protected: + double forward_point_distance_; +}; + +} // namespace dwb_critics +#endif // DWB_CRITICS_GOAL_ALIGN_H_ diff --git a/navigations/dwb_critics/include/dwb_critics/goal_dist.h b/navigations/dwb_critics/include/dwb_critics/goal_dist.h new file mode 100755 index 0000000..62c083a --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/goal_dist.h @@ -0,0 +1,60 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef DWB_CRITICS_GOAL_DIST_H_ +#define DWB_CRITICS_GOAL_DIST_H_ + +#include +#include + +namespace dwb_critics +{ +/** + * @class GoalDistCritic + * @brief Scores trajectories based on how far along the global path they end up. + * + * This trajectory critic helps ensure progress along the global path. It finds the pose from the + * global path farthest from the robot that is still on the costmap, and aims for that point by + * assigning the lowest cost to the cell corresponding with that farthest pose. + */ +class GoalDistCritic: public MapGridCritic +{ +public: + bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override; +protected: + bool getLastPoseOnCostmap(const nav_2d_msgs::Path2D& global_plan, unsigned int& x, unsigned int& y); +}; + +} // namespace dwb_critics +#endif // DWB_CRITICS_GOAL_DIST_H_ diff --git a/navigations/dwb_critics/include/dwb_critics/map_grid.h b/navigations/dwb_critics/include/dwb_critics/map_grid.h new file mode 100755 index 0000000..8a1abdc --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/map_grid.h @@ -0,0 +1,134 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_CRITICS_MAP_GRID_H +#define DWB_CRITICS_MAP_GRID_H + +#include +#include +#include +#include + +namespace dwb_critics +{ +/** + * @class MapGridCritic + * @brief breadth-first scoring of all the cells in the costmap + * + * This TrajectoryCritic assigns a score to every cell in the costmap based on + * the distance to the cell from some set of source points. The cells corresponding + * with the source points are marked with some initial score, and then every other cell + * is updated with a score based on its relation to the closest source cell, based on a + * breadth-first exploration of the cells of the costmap. + * + * This approach was chosen for computational efficiency, such that each trajectory + * need not be compared to the list of source points. + */ +class MapGridCritic: public dwb_local_planner::TrajectoryCritic +{ +public: + MapGridCritic() : cell_values_(-1.0) {} + + // Standard TrajectoryCritic Interface + void onInit() override; + double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; + void addCriticVisualization(sensor_msgs::PointCloud& pc) override; + double getScale() const override { return costmap_->getResolution() * 0.5 * scale_; } + + // Helper Functions + /** + * @brief Retrieve the score for a single pose + * @param pose The pose to score, assumed to be in the same frame as the costmap + * @return The score associated with the cell of the costmap where the pose lies + */ + virtual double scorePose(const geometry_msgs::Pose2D& pose); + + /** + * @brief Retrieve the score for a particular cell of the costmap + * @param x x-coordinate within the costmap + * @param y y-coordinate within the costmap + * @return the score associated with that cell. + */ + inline double getScore(unsigned int x, unsigned int y) { return cell_values_(x, y); } + + /** + * @brief Sets the score of a particular cell to the obstacle cost + * @param x X coordinate of cell + * @param y Y coordinate of cell + */ + void setAsObstacle(unsigned int x, unsigned int y); + +protected: + /** + * @brief Separate modes for aggregating scores across the multiple poses in a trajectory. + * + * Last returns the score associated with the last pose in the trajectory + * Sum returns the sum of all the scores + * Product returns the product of all the (non-zero) scores + */ + enum class ScoreAggregationType {Last, Sum, Product}; + + /** + * @class MapGridQueue + * @brief Subclass of CostmapQueue that avoids Obstacles and Unknown Values + */ + class MapGridQueue : public costmap_queue::CostmapQueue + { + public: + MapGridQueue(nav_core2::Costmap& costmap, MapGridCritic& parent) + : costmap_queue::CostmapQueue(costmap, true), parent_(parent) {} + bool validCellToQueue(const costmap_queue::CellData& cell) override; + protected: + MapGridCritic& parent_; + }; + + /** + * @brief Clear the queue and set cell_values_ to the appropriate number of unreachableCellScore + */ + void reset() override; + + /** + * @brief Go through the queue and set the cells to the Manhattan distance from their parents + */ + void propogateManhattanDistances(); + + std::shared_ptr queue_; + nav_grid::VectorNavGrid cell_values_; + double obstacle_score_, unreachable_score_; ///< Special cell_values + bool stop_on_failure_; + ScoreAggregationType aggregationType_; +}; +} // namespace dwb_critics + +#endif // DWB_CRITICS_MAP_GRID_H diff --git a/navigations/dwb_critics/include/dwb_critics/metratronik_technik.h b/navigations/dwb_critics/include/dwb_critics/metratronik_technik.h new file mode 100755 index 0000000..fc3c378 --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/metratronik_technik.h @@ -0,0 +1,126 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef METRATRONIK_TECHNIK_H_INCLUDE_ +#define METRATRONIK_TECHNIK_H_INCLUDE_ + +#include +#include +#include +#include +#include + +namespace dwb_critics +{ + /* data */ + struct lineEquation + { + geometry_msgs::Pose2D Gi; /* 𝑮𝒊(𝒙𝒊,𝒚𝒊) */ + geometry_msgs::Pose2D Gj; /* 𝑮𝒋(𝒙𝒋,𝒚𝒋) */ + float a, b, c; /* 𝒂𝒙+𝒃𝒚+𝒄=𝟎 */ + }; + + /* Save data present position */ + struct presentPosition + { + float Gxh, Gyh; /* 𝑮𝒋(𝒙h,𝒚h) The head position in Robot */ + float Yaw_degree; /* Angle of Robot (degree) */ + float Yaw_rad; /* Angle of Robot (degree) */ + float error_line; /* 𝒆(𝑮,𝒍𝒊𝒏𝒆)=|𝒂𝒙+𝒃𝒚+𝒄|/sqrt(𝒂^2+𝒃^2) */ + double distanceToEnd; /* The distance from robot to End point */ + double distanceToStart; /* The distance from robot to End point */ + }; + + class NoSolution : public std::exception + { + public: + const char *what() const throw() + { + return "Robot cannot calculate error line!"; + } + }; + + class MetratronikTechnikCritic : public dwb_local_planner::TrajectoryCritic + { + public: + void onInit() override; + void reset() override; + bool prepare(const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D &vel, + const geometry_msgs::Pose2D &goal, const nav_2d_msgs::Path2D &global_plan) override; + double scoreTrajectory(const dwb_msgs::Trajectory2D &traj) override; + + protected: + /** + * @brief Assuming that this is an actual rotation when near the goal, score the trajectory. + * + * Phương pháp này (dễ dàng ghi đè) giả định rằng người phê bình đang ở giai đoạn thứ ba (như mô tả ở trên) + * và trả về một số điểm cho quỹ đạo tương ứng với độ lệch mục tiêu. + * @param traj Trajectory to score + * @return numeric score + */ + virtual double scoreMetratronikTechnik(const dwb_msgs::Trajectory2D &traj); + bool getPosition(const geometry_msgs::Pose2D &robot_pose, const nav_2d_msgs::Path2D &global_plan, double &position); + unsigned getGoalIndex(const geometry_msgs::Pose2D &robot_pose, + const std::vector &plan, + unsigned int start_index, + unsigned int last_valid_index) const; + + /** + * @brief To caculated the equation of the line + * @param start_point start point of the line + * @param end_point end point of the line + */ + bool getLine(geometry_msgs::Pose2D start_point, geometry_msgs::Pose2D end_point, lineEquation &leq); + + /** + * @brief Calculating error + * @param[in] Lm The distance from the center of the wheel axis to the center line + * @param[in] Yaw_degree Angle of Robot (degree) + */ + presentPosition calculateError(const lineEquation &leq, const float Lm, const geometry_msgs::Pose2D robot_pose, float pha); + + bool in_window_, running_; + double sq_window_; + double xy_local_goal_tolerance_; + double xy_local_goal_tolerance_sq_; ///< Cached squared tolerance + double current_speed_, stopped_velocity_; + double slowing_factor_; + double current_position_; + double angle_threshold_; + double Lm_; + double dxy_sq_; + std::vector reached_intermediate_goals_; + }; +} +#endif \ No newline at end of file diff --git a/navigations/dwb_critics/include/dwb_critics/obstacle_footprint.h b/navigations/dwb_critics/include/dwb_critics/obstacle_footprint.h new file mode 100755 index 0000000..2f1836a --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/obstacle_footprint.h @@ -0,0 +1,70 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_CRITICS_OBSTACLE_FOOTPRINT_H +#define DWB_CRITICS_OBSTACLE_FOOTPRINT_H + +#include +#include +#include + +namespace dwb_critics +{ + +/** + * @class ObstacleFootprintCritic + * @brief Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. + * + * Internally, this technically only checks if the border of the footprint collides with anything for computational + * efficiency. This is valid if the obstacles in the local costmap are inflated. + * + * A more robust class could check every cell within the robot's footprint without inflating the obstacles, + * at some computational cost. That is left as an excercise to the reader. + */ +class ObstacleFootprintCritic : public BaseObstacleCritic +{ +public: + void onInit() override; + bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override; + double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose) override; + virtual double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose, + const nav_2d_msgs::Polygon2D& oriented_footprint); + double getScale() const override { return costmap_->getResolution() * scale_; } +protected: + nav_2d_msgs::Polygon2D footprint_spec_; +}; +} // namespace dwb_critics + +#endif // DWB_CRITICS_OBSTACLE_FOOTPRINT_H diff --git a/navigations/dwb_critics/include/dwb_critics/oscillation.h b/navigations/dwb_critics/include/dwb_critics/oscillation.h new file mode 100755 index 0000000..b34ad39 --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/oscillation.h @@ -0,0 +1,154 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_CRITICS_OSCILLATION_H_ +#define DWB_CRITICS_OSCILLATION_H_ + +#include +#include +#include + +namespace dwb_critics +{ + +/** + * @class OscillationCritic + * @brief Checks to see whether the sign of the commanded velocity flips frequently + * + * This critic figures out if the commanded trajectories are oscillating by seeing + * if one of the dimensions (x,y,theta) flips from positive to negative and then back + * (or vice versa) without moving sufficiently far or waiting sufficiently long. + * + * Scenario 1: Robot moves one meter forward, and then two millimeters backward. + * Another forward motion would be considered oscillating, since the x dimension would then + * flip from positive to negative and then back to negative. Hence, when scoring different + * trajectories, positive velocity commands will get the oscillation_score (-5.0, or invalid) + * and only negative velocity commands will be considered valid. + + * Scenario 2: Robot moves one meter forward, and then one meter backward. + * The robot has thus moved one meter since flipping the sign of the x direction, which + * is greater than our oscillation_reset_dist, so its not considered oscillating, so all + * trajectories are considered valid. + * + * Note: The critic will only check oscillations in the x dimension while it exceeds + * a particular value (x_only_threshold_). If it dips below that magnitude, it will + * also check for oscillations in the y and theta dimensions. If x_only_threshold_ is + * negative, then the critic will always check all dimensions. + * + * Implementation Details: + * The critic saves the robot's current position when it prepares, and what the actual + * commanded velocity was during the debrief step. Upon debriefing, if the sign of any of + * dimensions has flipped since the last command, the position is saved as prev_stationary_pose_. + * + * If the linear or angular distance from prev_stationary_pose_ to the current pose exceeds + * the limits, the oscillation flags are reset so the previous sign change is no longer remembered. + * This assumes that oscillation_reset_dist_ or oscillation_reset_angle_ are positive. Otherwise, + * it uses a time based delay reset function. + */ +class OscillationCritic: public dwb_local_planner::TrajectoryCritic +{ +public: + void onInit() override; + bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override; + double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; + void reset() override; + void debrief(const nav_2d_msgs::Twist2D& cmd_vel) override; + +protected: + /** + * @class CommandTrend + * @brief Helper class for performing the same logic on the x,y and theta dimensions + */ + class CommandTrend + { + public: + CommandTrend(); + void reset(); + + /** + * @brief update internal flags based on the commanded velocity + * @param velocity commanded velocity for the dimension this trend is tracking + * @return true if the sign has flipped + */ + bool update(double velocity); + + /** + * @brief Check to see whether the proposed velocity would be considered oscillating + * @param velocity the velocity to evaluate + * @return true if the sign has flipped more than once + */ + bool isOscillating(double velocity); + + /** + * @brief Check whether we are currently tracking a flipped sign + * @return True if the sign has flipped + */ + bool hasSignFlipped(); + + protected: + // Simple Enum for Tracking + enum class Sign { ZERO, POSITIVE, NEGATIVE }; + + Sign sign_; + bool positive_only_, negative_only_; + }; + + /** + * @brief Given a command that has been selected, track each component's sign for oscillations + * @param cmd_vel The command velocity selected by the algorithm + * @return True if the sign on any of the components flipped + */ + bool setOscillationFlags(const nav_2d_msgs::Twist2D& cmd_vel); + + /** + * @brief Return true if the robot has travelled far enough or waited long enough + */ + bool resetAvailable(); + + CommandTrend x_trend_, y_trend_, theta_trend_; + double oscillation_reset_dist_, oscillation_reset_angle_, x_only_threshold_; + double oscillation_reset_time_; + + // Cached square parameter + double oscillation_reset_dist_sq_; + + // Saved positions + geometry_msgs::Pose2D pose_, prev_stationary_pose_; + // Saved timestamp + ros::Time prev_reset_time_; +}; + +} // namespace dwb_critics +#endif // DWB_CRITICS_OSCILLATION_H_ diff --git a/navigations/dwb_critics/include/dwb_critics/path_align.h b/navigations/dwb_critics/include/dwb_critics/path_align.h new file mode 100755 index 0000000..8063f8a --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/path_align.h @@ -0,0 +1,71 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef DWB_CRITICS_PATH_ALIGN_H_ +#define DWB_CRITICS_PATH_ALIGN_H_ + +#include +#include +#include + +namespace dwb_critics +{ +/** + * @class PathAlignCritic + * @brief Scores trajectories based on how far from the global path the front of the robot ends up. + * + * This uses the costmap grid as a proxy for calculating which way the robot should be facing relative + * to the global path. Instead of scoring how far the center of the robot is away from the global path, + * this critic calculates how far a point forward_point_distance in front of the robot is from the global + * path. This biases the planner toward trajectories that line up with the global plan. + * + * When the robot is near the end of the path, the scale of this critic is set to zero. When the projected + * point is past the global goal, we no longer want this critic to try to align to a part of the global path + * that isn't there. + */ +class PathAlignCritic: public PathDistCritic +{ +public: + PathAlignCritic() : zero_scale_(false), forward_point_distance_(0.0) {} + void onInit() override; + bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override; + double getScale() const override; + double scorePose(const geometry_msgs::Pose2D& pose) override; +protected: + bool zero_scale_; + double forward_point_distance_; +}; + +} // namespace dwb_critics +#endif // DWB_CRITICS_PATH_ALIGN_H_ diff --git a/navigations/dwb_critics/include/dwb_critics/path_dist.h b/navigations/dwb_critics/include/dwb_critics/path_dist.h new file mode 100755 index 0000000..4f8c28d --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/path_dist.h @@ -0,0 +1,53 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef DWB_CRITICS_PATH_DIST_H_ +#define DWB_CRITICS_PATH_DIST_H_ + +#include + +namespace dwb_critics +{ +/** + * @class PathDistCritic + * @brief Scores trajectories based on how far from the global path they end up. + */ +class PathDistCritic: public MapGridCritic +{ +public: + bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override; +}; + +} // namespace dwb_critics +#endif // DWB_CRITICS_PATH_DIST_H_ diff --git a/navigations/dwb_critics/include/dwb_critics/prefer_forward.h b/navigations/dwb_critics/include/dwb_critics/prefer_forward.h new file mode 100755 index 0000000..64bb547 --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/prefer_forward.h @@ -0,0 +1,65 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_CRITICS_PREFER_FORWARD_H_ +#define DWB_CRITICS_PREFER_FORWARD_H_ + +#include +#include + +namespace dwb_critics +{ + +/** + * @class PreferForwardCritic + * @brief Penalize trajectories with move backwards and/or turn too much + * + * Has three different scoring conditions: + * 1) If the trajectory's x velocity is negative, return the penalty + * 2) If the trajectory's x is low and the theta is also low, return the penalty. + * 3) Otherwise, return a scaled version of the trajectory's theta. + */ +class PreferForwardCritic: public dwb_local_planner::TrajectoryCritic +{ +public: + PreferForwardCritic() : penalty_(1.0), strafe_x_(0.1), strafe_theta_(0.2), theta_scale_(10.0) {} + void onInit() override; + double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; + +protected: + double penalty_, strafe_x_, strafe_theta_, theta_scale_; +}; + +} /* namespace dwb_critics */ +#endif /* DWB_CRITICS_PREFER_FORWARD_H_ */ diff --git a/navigations/dwb_critics/include/dwb_critics/rotate_to_goal.h b/navigations/dwb_critics/include/dwb_critics/rotate_to_goal.h new file mode 100755 index 0000000..5d9f599 --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/rotate_to_goal.h @@ -0,0 +1,100 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef DWB_CRITICS_ROTATE_TO_GOAL_H_ +#define DWB_CRITICS_ROTATE_TO_GOAL_H_ + +#include +#include +#include + +namespace dwb_critics +{ + +/** + * @class RotateToGoalCritic + * @brief Forces the commanded trajectories to only be rotations if within a certain distance window + * + * This used to be built in to the DWA Local Planner as the LatchedStopRotate controller, + * but has been moved to a critic for consistency. + * + * The critic has three distinct phases. + * 1) If the current pose is outside xy_goal_tolerance LINEAR distance from the goal pose, this critic + * will just return score 0.0. + * 2) If within the xy_goal_tolerance and the robot is still moving with non-zero linear motion, this critic + * will only allow trajectories that are slower than the current speed in order to stop the robot (within + * the robot's acceleration limits). The returned score will be the robot's linear speed squared, multiplied + * by the slowing_factor parameter (default 5.0) added to the result of scoreRotation. + * 3) If within the xy_goal_tolerance and the robot has sufficiently small linear motion, this critic will + * score trajectories that have linear movement as invalid and score the rest based on the result of the + * scoreRotation method + * + * The scoreRotation method can be overriden, but the default behavior is to return the shortest angular distance + * between the goal pose and a pose from the trajectory. Which pose depends on the lookahead_time parameter. + * * If the lookahead_time parameter is negative, the pose evaluated will be the last pose in the trajectory, + * which is the same as DWA's behavior. This is the default. + * * Otherwise, a new pose will be projected using the dwb_local_planner::projectPose. By using a lookahead + * time shorter than sim_time, the critic will be less concerned about overshooting the goal yaw and thus will + * continue to turn faster for longer. + */ +class RotateToGoalCritic : public dwb_local_planner::TrajectoryCritic +{ +public: + void onInit() override; + void reset() override; + bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override; + double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; + + /** + * @brief Assuming that this is an actual rotation when near the goal, score the trajectory. + * + * This (easily overridden) method assumes that the critic is in the third phase (as described above) + * and returns a numeric score for the trajectory relative to the goal yaw. + * @param traj Trajectory to score + * @return numeric score + */ + virtual double scoreRotation(const dwb_msgs::Trajectory2D& traj); + +protected: + bool in_window_, rotating_; + double goal_yaw_; + double xy_goal_tolerance_; + double xy_goal_tolerance_sq_; ///< Cached squared tolerance + double current_xy_speed_sq_, stopped_xy_velocity_sq_; + double slowing_factor_; + double lookahead_time_; +}; + +} // namespace dwb_critics +#endif // DWB_CRITICS_ROTATE_TO_GOAL_H_ diff --git a/navigations/dwb_critics/include/dwb_critics/twirling.h b/navigations/dwb_critics/include/dwb_critics/twirling.h new file mode 100755 index 0000000..65a3d59 --- /dev/null +++ b/navigations/dwb_critics/include/dwb_critics/twirling.h @@ -0,0 +1,59 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_CRITICS_TWIRLING_H +#define DWB_CRITICS_TWIRLING_H + +#include + +namespace dwb_critics +{ +/** + * @class TwirlingCritic + * @brief Penalize trajectories with rotational velocities + * + * This class provides a cost based on how much a robot "twirls" on its way to the goal. With + * differential-drive robots, there isn't a choice, but with holonomic or near-holonomic robots, + * sometimes a robot spins more than you'd like on its way to a goal. This class provides a way + * to assign a penalty purely to rotational velocities. + */ +class TwirlingCritic: public dwb_local_planner::TrajectoryCritic +{ +public: + void onInit() override; + double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override; +}; +} // namespace dwb_critics + +#endif // DWB_CRITICS_TWIRLING_H diff --git a/navigations/dwb_critics/package.xml b/navigations/dwb_critics/package.xml new file mode 100755 index 0000000..81c272a --- /dev/null +++ b/navigations/dwb_critics/package.xml @@ -0,0 +1,30 @@ + + + dwb_critics + 0.3.0 + + Implementations for dwb_local_planner TrajectoryCritic interface + + + David V. Lu!! + David V. Lu!! + + BSD + catkin + angles + costmap_queue + dwb_local_planner + geometry_msgs + nav_2d_msgs + nav_2d_utils + nav_core2 + nav_grid_iterators + pluginlib + roscpp + sensor_msgs + roslint + + + + + diff --git a/navigations/dwb_critics/src/alignment_util.cpp b/navigations/dwb_critics/src/alignment_util.cpp new file mode 100755 index 0000000..3fefce9 --- /dev/null +++ b/navigations/dwb_critics/src/alignment_util.cpp @@ -0,0 +1,47 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include + +namespace dwb_critics +{ +geometry_msgs::Pose2D getForwardPose(const geometry_msgs::Pose2D& pose, double distance) +{ + geometry_msgs::Pose2D forward_pose; + forward_pose.x = pose.x + distance * cos(pose.theta); + forward_pose.y = pose.y + distance * sin(pose.theta); + forward_pose.theta = pose.theta; + return forward_pose; +} +} // namespace dwb_critics diff --git a/navigations/dwb_critics/src/base_obstacle.cpp b/navigations/dwb_critics/src/base_obstacle.cpp new file mode 100755 index 0000000..2af947a --- /dev/null +++ b/navigations/dwb_critics/src/base_obstacle.cpp @@ -0,0 +1,102 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(dwb_critics::BaseObstacleCritic, dwb_local_planner::TrajectoryCritic) + +namespace dwb_critics +{ + +void BaseObstacleCritic::onInit() +{ + critic_nh_.param("sum_scores", sum_scores_, false); +} + +double BaseObstacleCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj) +{ + const nav_core2::Costmap& costmap = *costmap_; + double score = 0.0; + for (unsigned int i = 0; i < traj.poses.size(); ++i) + { + double pose_score = scorePose(costmap, traj.poses[i]); + // Optimized/branchless version of if (sum_scores_) score += pose_score, else score = pose_score; + score = static_cast(sum_scores_) * score + pose_score; + } + return score; +} + +double BaseObstacleCritic::scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose) +{ + unsigned int cell_x, cell_y; + if (!worldToGridBounded(costmap.getInfo(), pose.x, pose.y, cell_x, cell_y)) + throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Goes Off Grid."); + unsigned char cost = costmap(cell_x, cell_y); + if (!isValidCost(cost)) + throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Hits Obstacle."); + return cost; +} + +bool BaseObstacleCritic::isValidCost(const unsigned char cost) +{ + return cost != costmap_->LETHAL_OBSTACLE && + cost != costmap_->INSCRIBED_INFLATED_OBSTACLE && + cost != costmap_->NO_INFORMATION; +} + +void BaseObstacleCritic::addCriticVisualization(sensor_msgs::PointCloud& pc) +{ + sensor_msgs::ChannelFloat32 grid_scores; + grid_scores.name = name_; + + const nav_core2::Costmap& costmap = *costmap_; + unsigned int size_x = costmap.getWidth(); + unsigned int size_y = costmap.getHeight(); + grid_scores.values.resize(size_x * size_y); + unsigned int i = 0; + for (unsigned int cy = 0; cy < size_y; cy++) + { + for (unsigned int cx = 0; cx < size_x; cx++) + { + grid_scores.values[i] = costmap(cx, cy); + i++; + } + } + pc.channels.push_back(grid_scores); +} + +} // namespace dwb_critics diff --git a/navigations/dwb_critics/src/goal_align.cpp b/navigations/dwb_critics/src/goal_align.cpp new file mode 100755 index 0000000..21b48c5 --- /dev/null +++ b/navigations/dwb_critics/src/goal_align.cpp @@ -0,0 +1,76 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include +#include + +namespace dwb_critics +{ + +void GoalAlignCritic::onInit() +{ + GoalDistCritic::onInit(); + stop_on_failure_ = false; + forward_point_distance_ = nav_2d_utils::searchAndGetParam(critic_nh_, "forward_point_distance", 0.325); +} + +bool GoalAlignCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, + const nav_2d_msgs::Path2D& global_plan) +{ + // we want the robot nose to be drawn to its final position + // (before robot turns towards goal orientation), not the end of the + // path for the robot center. Choosing the final position after + // turning towards goal orientation causes instability when the + // robot needs to make a 180 degree turn at the end + double angle_to_goal = atan2(goal.y - pose.y, goal.x - pose.x); + + nav_2d_msgs::Path2D target_poses = global_plan; + target_poses.poses.back().x += forward_point_distance_ * cos(angle_to_goal); + target_poses.poses.back().y += forward_point_distance_ * sin(angle_to_goal); + + return GoalDistCritic::prepare(pose, vel, goal, target_poses); +} + +double GoalAlignCritic::scorePose(const geometry_msgs::Pose2D& pose) +{ + return GoalDistCritic::scorePose(getForwardPose(pose, forward_point_distance_)); +} + +} // namespace dwb_critics + +PLUGINLIB_EXPORT_CLASS(dwb_critics::GoalAlignCritic, dwb_local_planner::TrajectoryCritic) diff --git a/navigations/dwb_critics/src/goal_dist.cpp b/navigations/dwb_critics/src/goal_dist.cpp new file mode 100755 index 0000000..102868f --- /dev/null +++ b/navigations/dwb_critics/src/goal_dist.cpp @@ -0,0 +1,104 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include + +namespace dwb_critics +{ +bool GoalDistCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, + const nav_2d_msgs::Path2D& global_plan) +{ + reset(); + + unsigned int local_goal_x, local_goal_y; + if (!getLastPoseOnCostmap(global_plan, local_goal_x, local_goal_y)) + { + return false; + } + + // Enqueue just the last pose + cell_values_.setValue(local_goal_x, local_goal_y, 0.0); + queue_->enqueueCell(local_goal_x, local_goal_y); + + propogateManhattanDistances(); + + return true; +} + +bool GoalDistCritic::getLastPoseOnCostmap(const nav_2d_msgs::Path2D& global_plan, unsigned int& x, unsigned int& y) +{ + const nav_core2::Costmap& costmap = *costmap_; + const nav_grid::NavGridInfo& info = costmap.getInfo(); + nav_2d_msgs::Path2D adjusted_global_plan = nav_2d_utils::adjustPlanResolution(global_plan, info.resolution); + bool started_path = false; + + // skip global path points until we reach the border of the local map + for (unsigned int i = 0; i < adjusted_global_plan.poses.size(); ++i) + { + double g_x = adjusted_global_plan.poses[i].x; + double g_y = adjusted_global_plan.poses[i].y; + unsigned int map_x, map_y; + if (worldToGridBounded(info, g_x, g_y, map_x, map_y) && costmap(map_x, map_y) != costmap.NO_INFORMATION) + { + // Still on the costmap. Continue. + x = map_x; + y = map_y; + started_path = true; + } + else if (started_path) + { + // Off the costmap after being on the costmap. Return the last saved indices. + return true; + } + // else, we have not yet found a point on the costmap, so we just continue + } + + if (started_path) + { + return true; + } + else + { + ROS_ERROR_NAMED("GoalDistCritic", "None of the points of the global plan were in the local costmap."); + return false; + } +} + +} // namespace dwb_critics + +PLUGINLIB_EXPORT_CLASS(dwb_critics::GoalDistCritic, dwb_local_planner::TrajectoryCritic) diff --git a/navigations/dwb_critics/src/map_grid.cpp b/navigations/dwb_critics/src/map_grid.cpp new file mode 100755 index 0000000..df16f4d --- /dev/null +++ b/navigations/dwb_critics/src/map_grid.cpp @@ -0,0 +1,202 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include + +namespace dwb_critics +{ + +// Customization of the CostmapQueue validCellToQueue method +bool MapGridCritic::MapGridQueue::validCellToQueue(const costmap_queue::CellData& cell) +{ + unsigned char cost = costmap_(cell.x_, cell.y_); + if (cost == costmap_.LETHAL_OBSTACLE || + cost == costmap_.INSCRIBED_INFLATED_OBSTACLE || + cost == costmap_.NO_INFORMATION) + { + parent_.setAsObstacle(cell.x_, cell.y_); + return false; + } + + return true; +} + +void MapGridCritic::onInit() +{ + queue_ = std::make_shared(*costmap_, *this); + + // Always set to true, but can be overriden by subclasses + stop_on_failure_ = true; + + std::string aggro_str; + critic_nh_.param("aggregation_type", aggro_str, std::string("last")); + std::transform(aggro_str.begin(), aggro_str.end(), aggro_str.begin(), ::tolower); + if (aggro_str == "last") + { + aggregationType_ = ScoreAggregationType::Last; + } + else if (aggro_str == "sum") + { + aggregationType_ = ScoreAggregationType::Sum; + } + else if (aggro_str == "product") + { + aggregationType_ = ScoreAggregationType::Product; + } + else + { + ROS_ERROR_NAMED("MapGridCritic", "aggregation_type parameter \"%s\" invalid. Using Last.", aggro_str.c_str()); + aggregationType_ = ScoreAggregationType::Last; + } +} + +void MapGridCritic::setAsObstacle(unsigned int x, unsigned int y) +{ + cell_values_.setValue(x, y, obstacle_score_); +} + +void MapGridCritic::reset() +{ + queue_->reset(); + if (costmap_->getInfo() == cell_values_.getInfo()) + { + cell_values_.reset(); + } + else + { + obstacle_score_ = static_cast(costmap_->getWidth() * costmap_->getHeight()); + unreachable_score_ = obstacle_score_ + 1.0; + cell_values_.setDefaultValue(unreachable_score_); + cell_values_.setInfo(costmap_->getInfo()); + } +} + +void MapGridCritic::propogateManhattanDistances() +{ + while (!queue_->isEmpty()) + { + costmap_queue::CellData cell = queue_->getNextCell(); + cell_values_.setValue(cell.x_, cell.y_, + std::abs(static_cast(cell.src_x_) - static_cast(cell.x_)) + + std::abs(static_cast(cell.src_y_) - static_cast(cell.y_))); + } +} + +double MapGridCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj) +{ + double score = 0.0; + unsigned int start_index = 0; + if (aggregationType_ == ScoreAggregationType::Product) + { + score = 1.0; + } + else if (aggregationType_ == ScoreAggregationType::Last && !stop_on_failure_) + { + start_index = traj.poses.size() - 1; + } + double grid_dist; + + for (unsigned int i = start_index; i < traj.poses.size(); ++i) + { + grid_dist = scorePose(traj.poses[i]); + if (stop_on_failure_) + { + if (grid_dist == obstacle_score_) + { + throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Hits Obstacle."); + } + else if (grid_dist == unreachable_score_) + { + throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Hits Unreachable Area."); + } + } + + switch (aggregationType_) + { + case ScoreAggregationType::Last: + score = grid_dist; + break; + case ScoreAggregationType::Sum: + score += grid_dist; + break; + case ScoreAggregationType::Product: + if (score > 0) + { + score *= grid_dist; + } + break; + } + } + + return score; +} + +double MapGridCritic::scorePose(const geometry_msgs::Pose2D& pose) +{ + unsigned int cell_x, cell_y; + // we won't allow trajectories that go off the map... shouldn't happen that often anyways + if (!worldToGridBounded(costmap_->getInfo(), pose.x, pose.y, cell_x, cell_y)) + { + throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Goes Off Grid."); + } + return getScore(cell_x, cell_y); +} + +void MapGridCritic::addCriticVisualization(sensor_msgs::PointCloud& pc) +{ + sensor_msgs::ChannelFloat32 grid_scores; + grid_scores.name = name_; + + const nav_core2::Costmap& costmap = *costmap_; + unsigned int size_x = costmap.getWidth(); + unsigned int size_y = costmap.getHeight(); + grid_scores.values.resize(size_x * size_y); + unsigned int i = 0; + for (unsigned int cy = 0; cy < size_y; cy++) + { + for (unsigned int cx = 0; cx < size_x; cx++) + { + grid_scores.values[i] = getScore(cx, cy); + i++; + } + } + pc.channels.push_back(grid_scores); +} + +} // namespace dwb_critics diff --git a/navigations/dwb_critics/src/metratronik_technik.cpp b/navigations/dwb_critics/src/metratronik_technik.cpp new file mode 100755 index 0000000..302ff49 --- /dev/null +++ b/navigations/dwb_critics/src/metratronik_technik.cpp @@ -0,0 +1,362 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include +#include + +const double EPSILON = 1E-5; + +PLUGINLIB_EXPORT_CLASS(dwb_critics::MetratronikTechnikCritic, dwb_local_planner::TrajectoryCritic) + +namespace dwb_critics +{ + inline double hypot_sq(double dx, double dy) + { + return dx * dx + dy * dy; + } + + void MetratronikTechnikCritic::onInit() + { + xy_local_goal_tolerance_ = nav_2d_utils::searchAndGetParam(critic_nh_, "xy_goal_tolerance", 0.25); + xy_local_goal_tolerance_sq_ = xy_local_goal_tolerance_ * xy_local_goal_tolerance_; + stopped_velocity_ = nav_2d_utils::searchAndGetParam(critic_nh_, "trans_stopped_velocity", 0.25); + critic_nh_.param("sq_window", sq_window_, 1.0); + critic_nh_.param("slowing_factor", slowing_factor_, 5.0); + critic_nh_.param("angle_threshold", angle_threshold_, 0.436332313); + critic_nh_.param("Lm", Lm_, 0.436332313); + reset(); + } + + void MetratronikTechnikCritic::reset() + { + in_window_ = false; + running_ = false; + } + + bool MetratronikTechnikCritic::prepare(const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D &vel, + const geometry_msgs::Pose2D &goal, const nav_2d_msgs::Path2D &global_plan) + { + if (!getPosition(pose, global_plan, current_position_)) + { + return false; + } + // ROS_INFO("current_position_"); + dxy_sq_ = hypot_sq(pose.x - goal.x, pose.y - goal.y); + in_window_ = in_window_ || dxy_sq_ <= sq_window_; + current_speed_ = vel.x; + running_ = running_ || (in_window_ && vel.x > 0.0 && vel.x <= stopped_velocity_); + return true; + } + + double MetratronikTechnikCritic::scoreTrajectory(const dwb_msgs::Trajectory2D &traj) + { + if (!in_window_) + { + return 0.0; + } + else if (!running_) + { + return fabs(slowing_factor_ + scoreMetratronikTechnik(traj)); + } + // If we're sufficiently close to the goal, any transforming velocity is invalid + if (fabs(traj.velocity.x) > stopped_velocity_ || fabs(traj.velocity.y) > stopped_velocity_) + { + return fabs(traj.velocity.x + slowing_factor_ + scoreMetratronikTechnik(traj)); + } + return 0.01 * scoreMetratronikTechnik(traj); + } + + double MetratronikTechnikCritic::scoreMetratronikTechnik(const dwb_msgs::Trajectory2D &traj) + { + if (traj.poses.empty()) + { + throw nav_core2::IllegalTrajectoryException(name_, "Empty trajectory."); + } + double k_reduce_v = cos(((M_PI / 2) / Lm_) * current_position_); + double result_linear_x = traj.velocity.x * k_reduce_v; + double k_reduce_w_v = cos(((M_PI / 2) / stopped_velocity_) * result_linear_x); + double result_angular_z = atan(current_position_ / Lm_) * fabs(k_reduce_w_v); + + double running_time = traj.time_offsets.back().toSec(); + double score_linear_x = fabs(traj.velocity.x * running_time - sqrt(dxy_sq_)); + // ROS_INFO("%f %f %f %f", running_time,fabs(traj.velocity.x*running_time), sqrt(dxy_sq_), score_linear_x); + double score_angular_z = fabs(traj.velocity.theta - result_angular_z); + // ROS_INFO("%f %f %f %f %f %f %f", result_linear_x, traj.velocity.x, result_angular_z, traj.velocity.theta, score_linear_x, score_angular_z, score_angular_z + score_linear_x); + return score_angular_z + score_linear_x; + } + + bool MetratronikTechnikCritic::getPosition(const geometry_msgs::Pose2D &robot_pose, const nav_2d_msgs::Path2D &global_plan, double &position) + { + const nav_core2::Costmap &costmap = *costmap_; + const nav_grid::NavGridInfo &info = costmap.getInfo(); + + if (global_plan.poses.empty()) + { + ROS_ERROR_NAMED("MetratronikTechnikCritic", "The global plan was empty."); + return false; + } + // Chuyển đổi dữ liệu kế hoạch đường đi 'nav_2d_msgs::Path2D' sang 'std::vector' + std::vector plan = nav_2d_utils::adjustPlanResolution(global_plan, info.resolution).poses; + // unsigned int start_index = 0; + // double distance_to_start = std::numeric_limits::infinity(); + // bool started_path = false; + // for (unsigned int i = 0; i < plan.size(); i++) + // { + // double g_x = plan[i].x; + // double g_y = plan[i].y; + // unsigned int map_x, map_y; + // if (worldToGridBounded(info, g_x, g_y, map_x, map_y) // chuyển tọa độ từ đơn vị mét sang pixel + // && costmap(map_x, map_y) != nav_core2::Costmap::NO_INFORMATION) + // { // chi phí phải khác -1 + // // Still on the costmap. Continue. + // double distance = nav_2d_utils::poseDistance(plan[i], robot_pose); // Tính khoảng cách từ vị trí của robot đến pose đang xét + // if (distance_to_start > distance) + // { + // start_index = i; + // distance_to_start = distance; + // started_path = true; + // } + // else + // { + // // Plan is going away from the robot again. It's possible that it comes back and we would find a pose that's + // // even closer to the robot, but then we would skip over parts of the plan. + // break; + // } + // } + // else if (started_path) + // { + // // Off the costmap after being on the costmap. + // break; + // } + // // else, we have not yet found a point on the costmap, so we just continue + // } + // // Nếu khồng tìm được điểm gần với robot nhất thì trả về false + // if (!started_path) + // { + // ROS_ERROR_NAMED("MetratronikTechnikCritic", "None of the points of the global plan were in the local costmap."); + // return false; + // } + + // // current_index_ = start_index; + // // find the "last valid pose", i.e. the last pose on the plan after the start pose that is still on the local map + // // Tìm điểm pose cuôi cùng sau điểm pose bắt đầu và có tồn tại trong local map + // unsigned int last_valid_index = start_index; + // for (unsigned int i = start_index + 1; i < plan.size(); i++) + // { + // double g_x = plan[i].x; + // double g_y = plan[i].y; + // unsigned int map_x, map_y; + // if (worldToGridBounded(info, g_x, g_y, map_x, map_y) && costmap(map_x, map_y) != nav_core2::Costmap::NO_INFORMATION) + // { + // // Still on the costmap. Continue. + // last_valid_index = i; + // } + // else + // { + // // Off the costmap after being on the costmap. + // break; + // } + // } + + // // find the "goal pose" by walking along the plan as long as each step leads far enough away from the starting point, + // // i.e. is within angle_threshold_ of the starting direction. + // // Tìm điểm mục tiêu chạy từ điểm start pose đến last valid pose dọc thep plan + // unsigned int goal_index = start_index; + + // while (goal_index < last_valid_index && critic_nh_.ok()) + // { + // // Tìm kiếm vị trí điểm mục tiêu phù hợp + // goal_index = getGoalIndex(robot_pose, plan, start_index, last_valid_index); + + // // check if goal already reached + // bool goal_already_reached = false; + // for (auto &reached_intermediate_goal : reached_intermediate_goals_) + // { + // double distance = nav_2d_utils::poseDistance(reached_intermediate_goal, plan[goal_index]); + // if (distance < xy_local_goal_tolerance_) + // { + // goal_already_reached = true; + // // choose a new start_index by walking along the plan until we're outside xy_local_goal_tolerance_ and try again + // // (start_index is now > goal_index) + // for (start_index = goal_index; start_index <= last_valid_index; ++start_index) + // { + // distance = nav_2d_utils::poseDistance(reached_intermediate_goal, plan[start_index]); + // if (distance >= xy_local_goal_tolerance_) + // break; + // } + + // break; + // } + // } + + // if (!goal_already_reached) + // { + // // new goal not in reached_intermediate_goals_ + // double distance = nav_2d_utils::poseDistance(plan[goal_index], robot_pose); + // if (distance < xy_local_goal_tolerance_) + // { + // // the robot has currently reached the goal + // reached_intermediate_goals_.push_back(plan[goal_index]); + // ROS_DEBUG_NAMED("MetratronikTechnikCritic", "Number of reached_intermediate goals: %zu", reached_intermediate_goals_.size()); + // } + // else + // { + // // we've found a new goal! + // break; + // } + // } + // } + // if (start_index >= goal_index) + // return false; + lineEquation leq; + getLine(plan.front(), plan.back(), leq); + position = calculateError(leq, Lm_, robot_pose, 0).error_line; + return true; + } + + unsigned int MetratronikTechnikCritic::getGoalIndex(const geometry_msgs::Pose2D &robot_pose, + const std::vector &plan, + unsigned int start_index, + unsigned int last_valid_index) const + { + if (start_index >= last_valid_index) + return last_valid_index; + + unsigned int goal_index = start_index; + + for (unsigned int i = start_index + 1; i <= last_valid_index; ++i) + { + const double current_direction_x = plan[i].x - plan[i - 1].x; + const double current_direction_y = plan[i].y - plan[i - 1].y; + if (fabs(current_direction_x) > 1e-9 || fabs(current_direction_y) > 1e-9) + { + double current_angle = atan2(current_direction_y, current_direction_x); + if (fabs(remainder(robot_pose.theta - current_angle, 2 * M_PI)) > angle_threshold_) + break; + + goal_index = i; + } + } + if (nav_2d_utils::poseDistance(plan[goal_index], plan[last_valid_index]) <= xy_local_goal_tolerance_) + goal_index = last_valid_index; + + return goal_index; + } + + bool MetratronikTechnikCritic::getLine(geometry_msgs::Pose2D start_point, geometry_msgs::Pose2D end_point, lineEquation &leq) + { + /** + * Phương trình đường thẳng có dạng: + * (y - yi)/(yj - yi) = (x - xi)/(xj - xi) + */ + leq.Gi = start_point; + leq.Gj = end_point; + leq.a = (leq.Gj.y - leq.Gi.y); + leq.b = (leq.Gi.x - leq.Gj.x); + leq.c = (leq.Gj.x * leq.Gi.y - leq.Gi.x * leq.Gj.y); + return leq.a != 0 || leq.b != 0; + } + + presentPosition MetratronikTechnikCritic::calculateError(const lineEquation &leq, const float Lm, const geometry_msgs::Pose2D robot_pose, float pha) + { + presentPosition present_pose; + float Yaw_rad = robot_pose.theta; + float Yaw = ((Yaw_rad * 180) / M_PI); + Yaw_rad = (Yaw - pha) * M_PI / 180; + /* + * Tính tọa độ điểm R + */ + float G_xr = float(robot_pose.x); + float G_yr = float(robot_pose.y); + /* + * Tính tọa độ điểm H + */ + present_pose.Gxh = G_xr + Lm * cos(Yaw_rad); + present_pose.Gyh = G_yr + Lm * sin(Yaw_rad); + /** + * Phương trình đường thẳng (rh) có dạng: + * (y - yr)/(yh - yr) = (x - xr)/(xh - xr) + */ + float A_rh = (present_pose.Gyh - G_yr); + float B_rh = (G_xr - present_pose.Gxh); + float C_rh = (present_pose.Gxh * G_yr - G_xr * present_pose.Gyh); + /* + * Phương trình đường thẳng vuông góc (y - yr)/(yh - yr) = (x - xr)/(xh - xr) + * và đi qua Gh có dạng: + * -B_rh*(x - Gxh) + Arh*(y - Gyh) = 0 + */ + float A_he = -B_rh; + float B_he = A_rh; + float C_he = (-B_rh) * (-present_pose.Gxh) + A_rh * (-present_pose.Gyh); + /* + * Đường thẳng (he) giao với đường thẳng (ij) tại e + * vậy G_xe và G_ye là nghiệm của hệ phương trình 2 ẩn của 2 đường thẳng trên: + */ + float D = A_he * leq.b - leq.a * B_he; + float Dx = (-C_he) * leq.b - (-leq.c) * B_he; + float Dy = A_he * (-leq.c) - leq.a * (-C_he); + /* + * Tính tọa độ điểm E + */ + if (D == 0) + { + if (Dx + Dy == 0) + { + /* + * Vì hai đường thẳng trùng nhau nên sai số giữa robot và đường đi là bằng 0 + */ + present_pose.error_line = 0; + } + else + throw NoSolution(); + } + else + { + float G_xe = Dx / D; + float G_ye = Dy / D; + /* + * Tính khoảng cách từ điểm E đến đường thẳng (RH) + */ + present_pose.error_line = -(A_rh * G_xe + B_rh * G_ye + C_rh) / (sqrt(pow(A_rh, 2) + pow(B_rh, 2))); + } + present_pose.distanceToEnd = sqrt(pow((leq.Gj.x - G_xr), 2) + pow((leq.Gj.y - G_yr), 2)); + present_pose.distanceToStart = sqrt(pow((leq.Gi.x - G_xr), 2) + pow((leq.Gi.y - G_yr), 2)); + + return present_pose; + } + +} /* namespace dwb_critics */ \ No newline at end of file diff --git a/navigations/dwb_critics/src/obstacle_footprint.cpp b/navigations/dwb_critics/src/obstacle_footprint.cpp new file mode 100755 index 0000000..0c652aa --- /dev/null +++ b/navigations/dwb_critics/src/obstacle_footprint.cpp @@ -0,0 +1,99 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(dwb_critics::ObstacleFootprintCritic, dwb_local_planner::TrajectoryCritic) + +namespace dwb_critics +{ + +void ObstacleFootprintCritic::onInit() +{ + BaseObstacleCritic::onInit(); + footprint_spec_ = nav_2d_utils::footprintFromParams(critic_nh_); +} + +bool ObstacleFootprintCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) +{ + if (footprint_spec_.points.size() == 0) + { + ROS_ERROR_NAMED("ObstacleFootprintCritic", "Footprint spec is empty, maybe missing call to setFootprint?"); + return false; + } + return true; +} + +double ObstacleFootprintCritic::scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose) +{ + unsigned int cell_x, cell_y; + if (!worldToGridBounded(costmap.getInfo(), pose.x, pose.y, cell_x, cell_y)) + throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Goes Off Grid."); + return scorePose(costmap, pose, nav_2d_utils::movePolygonToPose(footprint_spec_, pose)); +} + +double ObstacleFootprintCritic::scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose, + const nav_2d_msgs::Polygon2D& footprint) +{ + unsigned char footprint_cost = 0; + nav_grid::NavGridInfo info = costmap.getInfo(); + for (nav_grid::Index index : nav_grid_iterators::PolygonOutline(&info, footprint)) + { + unsigned char cost = costmap(index.x, index.y); + // if the cell is in an obstacle the path is invalid or unknown + if (cost == costmap.LETHAL_OBSTACLE) + { + throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Hits Obstacle."); + } + else if (cost == costmap.NO_INFORMATION) + { + throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Hits Unknown Region."); + } + footprint_cost = std::max(cost, footprint_cost); + } + + // if all line costs are legal... then we can return that the footprint is legal + return footprint_cost; +} + +} // namespace dwb_critics diff --git a/navigations/dwb_critics/src/oscillation.cpp b/navigations/dwb_critics/src/oscillation.cpp new file mode 100755 index 0000000..5e075a6 --- /dev/null +++ b/navigations/dwb_critics/src/oscillation.cpp @@ -0,0 +1,223 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(dwb_critics::OscillationCritic, dwb_local_planner::TrajectoryCritic) + +namespace dwb_critics +{ + +OscillationCritic::CommandTrend::CommandTrend() +{ + reset(); +} + +void OscillationCritic::CommandTrend::reset() +{ + sign_ = Sign::ZERO; + positive_only_ = false; + negative_only_ = false; +} + +bool OscillationCritic::CommandTrend::update(double velocity) +{ + bool flag_set = false; + if (velocity < 0.0) + { + if (sign_ == Sign::POSITIVE) + { + negative_only_ = true; + flag_set = true; + } + sign_ = Sign::NEGATIVE; + } + else if (velocity > 0.0) + { + if (sign_ == Sign::NEGATIVE) + { + positive_only_ = true; + flag_set = true; + } + sign_ = Sign::POSITIVE; + } + return flag_set; +} + +bool OscillationCritic::CommandTrend::isOscillating(double velocity) +{ + return (positive_only_ && velocity < 0.0) || (negative_only_ && velocity > 0.0); +} + +bool OscillationCritic::CommandTrend::hasSignFlipped() +{ + return positive_only_ || negative_only_; +} + +void OscillationCritic::onInit() +{ + oscillation_reset_dist_ = nav_2d_utils::searchAndGetParam(critic_nh_, "oscillation_reset_dist", 0.05); + oscillation_reset_dist_sq_ = oscillation_reset_dist_ * oscillation_reset_dist_; + oscillation_reset_angle_ = nav_2d_utils::searchAndGetParam(critic_nh_, "oscillation_reset_angle", 0.2); + oscillation_reset_time_ = nav_2d_utils::searchAndGetParam(critic_nh_, "oscillation_reset_time", -1.0); + + /** + * Historical Parameter Loading + * If x_only_threshold is set, use that. + * If min_speed_xy is set in the namespace (as it is often used for trajectory generation), use that. + * If min_trans_vel is set in the namespace, as it used to be used for trajectory generation, complain then use that. + * Otherwise, set x_only_threshold_ to 0.05 + */ + std::string resolved_name; + if (critic_nh_.hasParam("x_only_threshold")) + { + critic_nh_.getParam("x_only_threshold", x_only_threshold_); + } + else if (critic_nh_.searchParam("min_speed_xy", resolved_name)) + { + critic_nh_.getParam(resolved_name, x_only_threshold_); + } + else if (critic_nh_.searchParam("min_trans_vel", resolved_name)) + { + ROS_WARN_NAMED("OscillationCritic", "Parameter min_trans_vel is deprecated. " + "Please use the name min_speed_xy or x_only_threshold instead."); + critic_nh_.getParam(resolved_name, x_only_threshold_); + } + else + { + x_only_threshold_ = 0.05; + } + + reset(); +} + +bool OscillationCritic::prepare(const geometry_msgs::Pose2D& pose, + const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, + const nav_2d_msgs::Path2D& global_plan) +{ + pose_ = pose; + return true; +} + +void OscillationCritic::debrief(const nav_2d_msgs::Twist2D& cmd_vel) +{ + if (setOscillationFlags(cmd_vel)) + { + prev_stationary_pose_ = pose_; + prev_reset_time_ = ros::Time::now(); + } + + // if we've got restrictions... check if we can reset any oscillation flags + if (x_trend_.hasSignFlipped() || y_trend_.hasSignFlipped() || theta_trend_.hasSignFlipped()) + { + // Reset flags if enough time or distance has passed + if (resetAvailable()) + { + reset(); + } + } +} + +bool OscillationCritic::resetAvailable() +{ + if (oscillation_reset_dist_ >= 0.0) + { + double x_diff = pose_.x - prev_stationary_pose_.x; + double y_diff = pose_.y - prev_stationary_pose_.y; + double sq_dist = x_diff * x_diff + y_diff * y_diff; + if (sq_dist > oscillation_reset_dist_sq_) + { + return true; + } + } + if (oscillation_reset_angle_ >= 0.0) + { + double th_diff = pose_.theta - prev_stationary_pose_.theta; + if (fabs(th_diff) > oscillation_reset_angle_) + { + return true; + } + } + if (oscillation_reset_time_ >= 0.0) + { + double t_diff = (ros::Time::now() - prev_reset_time_).toSec(); + if (t_diff > oscillation_reset_time_) + { + return true; + } + } + return false; +} + +void OscillationCritic::reset() +{ + x_trend_.reset(); + y_trend_.reset(); + theta_trend_.reset(); +} + +bool OscillationCritic::setOscillationFlags(const nav_2d_msgs::Twist2D& cmd_vel) +{ + bool flag_set = false; + // set oscillation flags for moving forward and backward + flag_set |= x_trend_.update(cmd_vel.x); + + // we'll only set flags for strafing and rotating when we're not moving forward at all + if (x_only_threshold_ < 0.0 || fabs(cmd_vel.x) <= x_only_threshold_) + { + flag_set |= y_trend_.update(cmd_vel.y); + flag_set |= theta_trend_.update(cmd_vel.theta); + } + return flag_set; +} + +double OscillationCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj) +{ + if (x_trend_.isOscillating(traj.velocity.x) || + y_trend_.isOscillating(traj.velocity.y) || + theta_trend_.isOscillating(traj.velocity.theta)) + { + throw nav_core2::IllegalTrajectoryException(name_, "Trajectory is oscillating."); + } + return 0.0; +} + +} // namespace dwb_critics diff --git a/navigations/dwb_critics/src/path_align.cpp b/navigations/dwb_critics/src/path_align.cpp new file mode 100755 index 0000000..e56343e --- /dev/null +++ b/navigations/dwb_critics/src/path_align.cpp @@ -0,0 +1,87 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include +#include + +namespace dwb_critics +{ + +void PathAlignCritic::onInit() +{ + PathDistCritic::onInit(); + stop_on_failure_ = false; + forward_point_distance_ = nav_2d_utils::searchAndGetParam(critic_nh_, "forward_point_distance", 0.325); +} + +bool PathAlignCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, + const nav_2d_msgs::Path2D& global_plan) +{ + double dx = pose.x - goal.x; + double dy = pose.y - goal.y; + double sq_dist = dx * dx + dy * dy; + if (sq_dist > forward_point_distance_ * forward_point_distance_) + { + zero_scale_ = false; + } + else + { + // once we are close to goal, trying to keep the nose close to anything destabilizes behavior. + zero_scale_ = true; + return true; + } + + return PathDistCritic::prepare(pose, vel, goal, global_plan); +} + +double PathAlignCritic::getScale() const +{ + if (zero_scale_) + return 0.0; + else + return costmap_->getResolution() * 0.5 * scale_; +} + +double PathAlignCritic::scorePose(const geometry_msgs::Pose2D& pose) +{ + return PathDistCritic::scorePose(getForwardPose(pose, forward_point_distance_)); +} + +} // namespace dwb_critics + +PLUGINLIB_EXPORT_CLASS(dwb_critics::PathAlignCritic, dwb_local_planner::TrajectoryCritic) diff --git a/navigations/dwb_critics/src/path_dist.cpp b/navigations/dwb_critics/src/path_dist.cpp new file mode 100755 index 0000000..dbee172 --- /dev/null +++ b/navigations/dwb_critics/src/path_dist.cpp @@ -0,0 +1,92 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include + +namespace dwb_critics +{ +bool PathDistCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, + const nav_2d_msgs::Path2D& global_plan) +{ + reset(); + const nav_core2::Costmap& costmap = *costmap_; + const nav_grid::NavGridInfo& info = costmap.getInfo(); + bool started_path = false; + + nav_2d_msgs::Path2D adjusted_global_plan = nav_2d_utils::adjustPlanResolution(global_plan, info.resolution); + + if (adjusted_global_plan.poses.size() != global_plan.poses.size()) + { + ROS_DEBUG_NAMED("PathDistCritic", "Adjusted global plan resolution, added %zu points", + adjusted_global_plan.poses.size() - global_plan.poses.size()); + } + + unsigned int i; + // put global path points into local map until we reach the border of the local map + for (i = 0; i < adjusted_global_plan.poses.size(); ++i) + { + double g_x = adjusted_global_plan.poses[i].x; + double g_y = adjusted_global_plan.poses[i].y; + unsigned int map_x, map_y; + if (worldToGridBounded(info, g_x, g_y, map_x, map_y) && costmap(map_x, map_y) != costmap.NO_INFORMATION) + { + cell_values_.setValue(map_x, map_y, 0.0); + queue_->enqueueCell(map_x, map_y); + started_path = true; + } + else if (started_path) + { + break; + } + } + if (!started_path) + { + ROS_ERROR_NAMED("PathDistCritic", + "None of the %d first of %zu (%zu) points of the global plan were in the local costmap and free", + i, adjusted_global_plan.poses.size(), global_plan.poses.size()); + return false; + } + + propogateManhattanDistances(); + + return true; +} + +} // namespace dwb_critics + +PLUGINLIB_EXPORT_CLASS(dwb_critics::PathDistCritic, dwb_local_planner::TrajectoryCritic) diff --git a/navigations/dwb_critics/src/prefer_forward.cpp b/navigations/dwb_critics/src/prefer_forward.cpp new file mode 100755 index 0000000..1f730b4 --- /dev/null +++ b/navigations/dwb_critics/src/prefer_forward.cpp @@ -0,0 +1,69 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(dwb_critics::PreferForwardCritic, dwb_local_planner::TrajectoryCritic) + +namespace dwb_critics +{ + +void PreferForwardCritic::onInit() +{ + critic_nh_.param("penalty", penalty_, 1.0); + critic_nh_.param("strafe_x", strafe_x_, 0.1); + critic_nh_.param("strafe_theta", strafe_theta_, 0.2); + critic_nh_.param("theta_scale", theta_scale_, 10.0); +} + +double PreferForwardCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj) +{ + // backward motions bad on a robot without backward sensors + if (traj.velocity.x < 0.0) + { + return penalty_; + } + // strafing motions also bad on such a robot + if (traj.velocity.x < strafe_x_ && fabs(traj.velocity.theta) < strafe_theta_) + { + return penalty_; + } + + // the more we rotate, the less we progress forward + return fabs(traj.velocity.theta) * theta_scale_; +} + +} /* namespace dwb_critics */ diff --git a/navigations/dwb_critics/src/rotate_to_goal.cpp b/navigations/dwb_critics/src/rotate_to_goal.cpp new file mode 100755 index 0000000..bbcaf9f --- /dev/null +++ b/navigations/dwb_critics/src/rotate_to_goal.cpp @@ -0,0 +1,130 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include +#include +#include +#include + +const double EPSILON = 1E-5; + +PLUGINLIB_EXPORT_CLASS(dwb_critics::RotateToGoalCritic, dwb_local_planner::TrajectoryCritic) + +namespace dwb_critics +{ + +inline double hypot_sq(double dx, double dy) +{ + return dx * dx + dy * dy; +} + +void RotateToGoalCritic::onInit() +{ + xy_goal_tolerance_ = nav_2d_utils::searchAndGetParam(critic_nh_, "xy_goal_tolerance", 0.25); + xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_; + double stopped_xy_velocity = nav_2d_utils::searchAndGetParam(critic_nh_, "trans_stopped_velocity", 0.25); + stopped_xy_velocity_sq_ = stopped_xy_velocity * stopped_xy_velocity; + critic_nh_.param("slowing_factor", slowing_factor_, 5.0); + critic_nh_.param("lookahead_time", lookahead_time_, -1.0); + reset(); +} + +void RotateToGoalCritic::reset() +{ + in_window_ = false; + rotating_ = false; +} + +bool RotateToGoalCritic::prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, + const nav_2d_msgs::Path2D& global_plan) +{ + double dxy_sq = hypot_sq(pose.x - goal.x, pose.y - goal.y); + in_window_ = in_window_ || dxy_sq <= xy_goal_tolerance_sq_; + current_xy_speed_sq_ = hypot_sq(vel.x, vel.y); + rotating_ = rotating_ || (in_window_ && current_xy_speed_sq_ <= stopped_xy_velocity_sq_); + goal_yaw_ = goal.theta; + return true; +} + +double RotateToGoalCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj) +{ + // If we're not sufficiently close to the goal, we don't care what the twist is + if (!in_window_) + { + return 0.0; + } + else if (!rotating_) + { + double speed_sq = hypot_sq(traj.velocity.x, traj.velocity.y); + if (speed_sq >= current_xy_speed_sq_) + { + throw nav_core2::IllegalTrajectoryException(name_, "Not slowing down near goal."); + } + return speed_sq * slowing_factor_ + scoreRotation(traj); + } + + // If we're sufficiently close to the goal, any transforming velocity is invalid + if (fabs(traj.velocity.x) > EPSILON || fabs(traj.velocity.y) > EPSILON) + { + throw nav_core2::IllegalTrajectoryException(name_, "Nonrotation command near goal."); + } + + return scoreRotation(traj); +} + +double RotateToGoalCritic::scoreRotation(const dwb_msgs::Trajectory2D& traj) +{ + if (traj.poses.empty()) + { + throw nav_core2::IllegalTrajectoryException(name_, "Empty trajectory."); + } + + double end_yaw; + if (lookahead_time_ >= 0.0) + { + geometry_msgs::Pose2D eval_pose = dwb_local_planner::projectPose(traj, lookahead_time_); + end_yaw = eval_pose.theta; + } + else + { + end_yaw = traj.poses.back().theta; + } + return fabs(angles::shortest_angular_distance(end_yaw, goal_yaw_)); +} + +} /* namespace dwb_critics */ diff --git a/navigations/dwb_critics/src/twirling.cpp b/navigations/dwb_critics/src/twirling.cpp new file mode 100755 index 0000000..88769ed --- /dev/null +++ b/navigations/dwb_critics/src/twirling.cpp @@ -0,0 +1,55 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include + +namespace dwb_critics +{ +void TwirlingCritic::onInit() +{ + // Scale is set to 0 by default, so if it was not set otherwise, set to 0 + if (!critic_nh_.hasParam("scale")) + { + scale_ = 0.0; + } +} + +double TwirlingCritic::scoreTrajectory(const dwb_msgs::Trajectory2D& traj) +{ + return fabs(traj.velocity.theta); // add cost for making the robot spin +} +} // namespace dwb_critics + +PLUGINLIB_EXPORT_CLASS(dwb_critics::TwirlingCritic, dwb_local_planner::TrajectoryCritic) diff --git a/navigations/dwb_local_planner/.$structure.drawio.bkp b/navigations/dwb_local_planner/.$structure.drawio.bkp new file mode 100755 index 0000000..85345d2 --- /dev/null +++ b/navigations/dwb_local_planner/.$structure.drawio.bkp @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/dwb_local_planner/.$structure.drawio.dtmp b/navigations/dwb_local_planner/.$structure.drawio.dtmp new file mode 100755 index 0000000..06884b4 --- /dev/null +++ b/navigations/dwb_local_planner/.$structure.drawio.dtmp @@ -0,0 +1,152 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/dwb_local_planner/CMakeLists.txt b/navigations/dwb_local_planner/CMakeLists.txt new file mode 100755 index 0000000..d56ce91 --- /dev/null +++ b/navigations/dwb_local_planner/CMakeLists.txt @@ -0,0 +1,80 @@ +cmake_minimum_required(VERSION 3.0.2) +project(dwb_local_planner) + +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror") + +find_package(catkin REQUIRED COMPONENTS + dwb_msgs + geometry_msgs + nav_2d_msgs + nav_2d_utils + nav_core2 + nav_msgs + pluginlib + roscpp + sensor_msgs + tf + visualization_msgs +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES dwb_local_planner debug_dwb_local_planner trajectory_utils + CATKIN_DEPENDS + dwb_msgs geometry_msgs nav_2d_msgs nav_2d_utils nav_core2 + nav_msgs pluginlib roscpp sensor_msgs tf visualization_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(dwb_local_planner src/dwb_local_planner.cpp + src/backwards_compatibility.cpp + src/publisher.cpp + src/illegal_trajectory_tracker.cpp +) +target_link_libraries(dwb_local_planner ${catkin_LIBRARIES}) +add_dependencies(dwb_local_planner ${catkin_EXPORTED_TARGETS}) + +add_library(debug_dwb_local_planner src/debug_dwb_local_planner.cpp) +target_link_libraries(debug_dwb_local_planner ${catkin_LIBRARIES} dwb_local_planner) +add_dependencies(debug_dwb_local_planner ${catkin_EXPORTED_TARGETS}) + +add_library(trajectory_utils src/trajectory_utils.cpp) +target_link_libraries(trajectory_utils ${catkin_LIBRARIES}) + +add_executable(${PROJECT_NAME}_planner_node src/planner_node.cpp) +target_link_libraries(${PROJECT_NAME}_planner_node ${catkin_LIBRARIES} debug_dwb_local_planner) +add_dependencies(${PROJECT_NAME}_planner_node ${catkin_EXPORTED_TARGETS}) +set_target_properties(${PROJECT_NAME}_planner_node PROPERTIES OUTPUT_NAME planner_node PREFIX "") + +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + find_package(roslint REQUIRED) + roslint_cpp() + roslint_add_test() + + catkin_add_gtest(utils_test test/utils_test.cpp) + target_link_libraries(utils_test trajectory_utils) +endif() + +install(TARGETS ${PROJECT_NAME}_planner_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +install(TARGETS dwb_local_planner debug_dwb_local_planner trajectory_utils + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(FILES plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + FILES_MATCHING PATTERN "*.launch" +) diff --git a/navigations/dwb_local_planner/README.md b/navigations/dwb_local_planner/README.md new file mode 100755 index 0000000..870ac46 --- /dev/null +++ b/navigations/dwb_local_planner/README.md @@ -0,0 +1,100 @@ +# dwb_local_planner + + > I suppose it is tempting, if the only tool you have is a hammer, to treat everything as if it were a nail. + - Abraham Maslow + + > I love/hate pluginlib. + - David Lu!! + +This local planner implementation rewrites and extends the functionality of `dwa_local_planner`, thus it is logically called `dwb_local_planner`. The goal is to make as many parts of the functionality as possible customizable, either through pluginlib or directly extending the implementing classes. + +The goal of a local planner is to take the global plan and local costmap and produce the command velocities that will presumably move the robot to the goal. Both dwa and dwb do this via sampling, i.e. generating plausible velocity commands and evaluating them on various metrics and selecting the one with the best score, until the robot reaches its goal. + +The form of the evaluation is critical. Let's say we are evaluating a given command to see if it collides with any obstacles in the costmap. The key question is where the robot will drive using the command. For this, you need to know the position and velocity of the robot, plus you will need to consider the kinematics of the robot. To this end, we do not evaluate the velocities in isolation, but instead score the trajectory which contains not only the velocity, but an array of some number of sample poses that we anticipate the robot to drive along. + +## Data Structures +The navigation stack is only capable of navigation in 2.5 dimensions (i.e. x, y and theta), thus most of the interfaces deal with `geometry_msgs/Pose2D` and `nav_2d_msgs/Twist2D` rather than the more general `Pose` and `Twist`. + +## Code Structure +### Twist Generator +The first component is the twist generator, which is responsible for determining which velocity commands are evaluating and creating trajectories from them. The interface for generating the commands is iterator-based. +``` +void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity) +bool hasMoreTwists() +bool nextTwist(nav_2d_msgs::Twist2D& twist) +``` +For debugging purposes, there is also a ROS service interface for the twist generator. +``` +# dwb_msgs/srv/GenerateTwists.srv +nav_2d_msgs/Twist2D current_vel +--- +nav_2d_msgs/Twist2D[] twists +``` + +The second half is for generating the trajectory, which creates a Trajectory2D. +``` +# dwb_msgs/msg/Trajectory2D.msg +nav_2d_msgs/Twist2D velocity +duration duration +geometry_msgs/Pose2D[] poses +``` + +Code API: +``` +bool generateTrajectory(const geometry_msgs::Pose2D& start_pose, const nav_2d_msgs::Twist2D& start_vel, + const nav_2d_msgs::Twist2D& cmd_vel, + dwb_msgs::Trajectory2D& traj) +``` + +This also has a ROS service interface. +``` +# dwb_msgs/srv/GenerateTrajectory.srv +geometry_msgs/Pose2D start_pose +nav_2d_msgs/Twist2D start_vel +nav_2d_msgs/Twist2D cmd_vel +--- +dwb_msgs/Trajectory2D traj +``` + +How precisely DWB performs these tasks is relegated to a plugin. + +## Goal Checker +Are we there yet? Another plugin determines whether the robot has reached its goal. This allows for variation in combining how accurate the xy position has to be with the rotation, and whether the robot has stopped completely. + +Code API: +``` +virtual bool isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose, + const nav_2d_msgs::Twist2D& velocity) +``` + +## Trajectory Critics +[Critics](https://www.youtube.com/watch?v=X6I_dKUYyI4) like to give things scores. Once we know we're not a the goal and have a bunch of candidate trajectories, we evaluate them based on a collections of TrajectoryCritics. Here's the life-cycle. + + * `void initialize(const ros::NodeHandle& planner_nh, std::string name, nav_core2::Costmap::Ptr costmap)` - called once on startup, and then calls `onInit` + * `void onInit()` - May be overwritten to load parameters as needed. + * `void reset()` - called at the beginning of every new navigation, i.e. when we get a new global goal via `setGoalPose`. + * `bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan)` - called once per iteration of the planner, prior to the evaluation of all the trajectories + * `double scoreTrajectory(const dwb_msgs::Trajectory2D& traj)` - called once per trajectory + * `void debrief(const nav_2d_msgs::Twist2D& cmd_vel)` - called after all the trajectories to notify what trajectory was chosen. + +Each critic will provide a `double` score and has an associated scale. The score used for the trajectory as a whole will be the sum of all the critic scores multiplied by their respective scales. + +There is also a ROS service interface associated with the scoring trajectories. +``` +# dwb_msgs/srv/DebugLocalPlan.srv +nav_2d_msgs/Pose2DStamped pose +nav_2d_msgs/Twist2D velocity +nav_2d_msgs/Path2D global_plan +--- +LocalPlanEvaluation results + Header header + dwb_msgs/TrajectoryScore[] twists + nav_2d_msgs/SampedTwist2D traj + dwb_msgs/CriticScore[] scores + string name + float32 raw_score + float32 scale + float32 total + uint16 best_index + uint16 worst_index +``` diff --git a/navigations/dwb_local_planner/include/dwb_local_planner/backwards_compatibility.h b/navigations/dwb_local_planner/include/dwb_local_planner/backwards_compatibility.h new file mode 100755 index 0000000..31b368f --- /dev/null +++ b/navigations/dwb_local_planner/include/dwb_local_planner/backwards_compatibility.h @@ -0,0 +1,55 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef DWB_LOCAL_PLANNER_BACKWARDS_COMPATIBILITY_H +#define DWB_LOCAL_PLANNER_BACKWARDS_COMPATIBILITY_H + +#include +#include + +namespace dwb_local_planner +{ + +std::string getBackwardsCompatibleDefaultGenerator(const ros::NodeHandle& nh); + +/** + * @brief Load parameters to emulate dwa_local_planner + * + * If no critic parameters are specified, this function should be called + * to load/move parameters that will emulate the behavior of dwa_local_planner + * + * @param nh NodeHandle to load parameters from + */ +void loadBackwardsCompatibleParameters(const ros::NodeHandle& nh); +} // namespace dwb_local_planner +#endif // DWB_LOCAL_PLANNER_BACKWARDS_COMPATIBILITY_H diff --git a/navigations/dwb_local_planner/include/dwb_local_planner/debug_dwb_local_planner.h b/navigations/dwb_local_planner/include/dwb_local_planner/debug_dwb_local_planner.h new file mode 100755 index 0000000..f72fda9 --- /dev/null +++ b/navigations/dwb_local_planner/include/dwb_local_planner/debug_dwb_local_planner.h @@ -0,0 +1,81 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H +#define DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H + +#include +#include +#include +#include +#include +#include +#include + +namespace dwb_local_planner +{ + +/** + * @brief A version of DWBLocalPlanner with ROS services for the major components. + * + * Advertises three services: GenerateTwists, GenerateTrajectory and DebugLocalPlan + */ +class DebugDWBLocalPlanner: public DWBLocalPlanner +{ +public: + /** + * @brief Override the DWB constructor to also advertise the services + */ + void initialize(const ros::NodeHandle& parent, const std::string& name, + TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override; +protected: + bool generateTwistsService(dwb_msgs::GenerateTwists::Request &req, + dwb_msgs::GenerateTwists::Response &res); + bool generateTrajectoryService(dwb_msgs::GenerateTrajectory::Request &req, + dwb_msgs::GenerateTrajectory::Response &res); + bool scoreTrajectoryService(dwb_msgs::ScoreTrajectory::Request &req, + dwb_msgs::ScoreTrajectory::Response &res); + bool getCriticScoreService(dwb_msgs::GetCriticScore::Request &req, + dwb_msgs::GetCriticScore::Response &res); + bool debugLocalPlanService(dwb_msgs::DebugLocalPlan::Request &req, + dwb_msgs::DebugLocalPlan::Response &res); + + TrajectoryCritic::Ptr getCritic(std::string name); + + ros::ServiceServer twist_gen_service_, generate_traj_service_, score_service_, critic_service_, debug_service_; +}; + +} // namespace dwb_local_planner + +#endif // DWB_LOCAL_PLANNER_DEBUG_DWB_LOCAL_PLANNER_H diff --git a/navigations/dwb_local_planner/include/dwb_local_planner/dwb_local_planner.h b/navigations/dwb_local_planner/include/dwb_local_planner/dwb_local_planner.h new file mode 100755 index 0000000..9d71dcf --- /dev/null +++ b/navigations/dwb_local_planner/include/dwb_local_planner/dwb_local_planner.h @@ -0,0 +1,217 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_LOCAL_PLANNER_DWB_LOCAL_PLANNER_H +#define DWB_LOCAL_PLANNER_DWB_LOCAL_PLANNER_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace dwb_local_planner +{ + +/** + * @class DWBLocalPlanner + * @brief Plugin-based flexible local_planner + */ +class DWBLocalPlanner: public nav_core2::LocalPlanner +{ +public: + /** + * @brief Constructor that brings up pluginlib loaders + */ + DWBLocalPlanner(); + + virtual ~DWBLocalPlanner() {} + + /** + * @brief nav_core2 initialization + * @param name Namespace for this planner + * @param tf TFListener pointer + * @param costmap_ros Costmap pointer + */ + void initialize(const ros::NodeHandle& parent, const std::string& name, + TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override; + + /** + * @brief nav_core2 setGoalPose - Sets the global goal pose + * @param goal_pose The Goal Pose + */ + void setGoalPose(const nav_2d_msgs::Pose2DStamped& goal_pose) override; + + /** + * @brief nav_core2 setPlan - Sets the global plan + * @param path The global plan + */ + void setPlan(const nav_2d_msgs::Path2D& path) override; + + /** + * @brief nav_core2 computeVelocityCommands - calculates the best command given the current pose and velocity + * + * It is presumed that the global plan is already set. + * + * This is mostly a wrapper for the protected computeVelocityCommands + * function which has additional debugging info. + * + * @param pose Current robot pose + * @param velocity Current robot velocity + * @return The best command for the robot to drive + */ + nav_2d_msgs::Twist2DStamped computeVelocityCommands(const nav_2d_msgs::Pose2DStamped& pose, + const nav_2d_msgs::Twist2D& velocity) override; + + /** + * @brief nav_core2 isGoalReached - Check whether the robot has reached its goal, given the current pose & velocity. + * + * The pose that it checks against is the last pose in the current global plan. + * The calculation is delegated to the goal_checker plugin. + * + * @param pose Current pose + * @param velocity Current velocity + * @return True if the robot should be considered as having reached the goal. + */ + bool isGoalReached(const nav_2d_msgs::Pose2DStamped& pose, const nav_2d_msgs::Twist2D& velocity) override; + + /** + * @brief Score a given command. Can be used for testing. + * + * Given a trajectory, calculate the score where lower scores are better. + * If the given (positive) score exceeds the best_score, calculation may be cut short, as the + * score can only go up from there. + * + * @param traj Trajectory to check + * @param best_score If positive, the threshold for early termination + * @return The full scoring of the input trajectory + */ + virtual dwb_msgs::TrajectoryScore scoreTrajectory(const dwb_msgs::Trajectory2D& traj, double best_score = -1); + + /** + * @brief Compute the best command given the current pose and velocity, with possible debug information + * + * Same as above computeVelocityCommands, but with debug results. + * If the results pointer is not null, additional information about the twists + * evaluated will be in results after the call. + * + * @param pose Current robot pose + * @param velocity Current robot velocity + * @param results Output param, if not null, will be filled in with full evaluation results + * @return Best command + */ + virtual nav_2d_msgs::Twist2DStamped computeVelocityCommands(const nav_2d_msgs::Pose2DStamped& pose, + const nav_2d_msgs::Twist2D& velocity, + std::shared_ptr& results); + + +protected: + /** + * @brief Helper method for preparing for the core scoring algorithm + * + * Runs the prepare method on all the critics with freshly transformed data + */ + virtual void prepare(const nav_2d_msgs::Pose2DStamped& pose, const nav_2d_msgs::Twist2D& velocity); + + /** + * @brief Iterate through all the twists and find the best one + */ + virtual dwb_msgs::TrajectoryScore coreScoringAlgorithm(const geometry_msgs::Pose2D& pose, + const nav_2d_msgs::Twist2D velocity, + std::shared_ptr& results); + + /** + * @brief Transforms global plan into same frame as pose, clips far away poses and possibly prunes passed poses + * + * Three key operations + * 1) Transforms global plan into frame of the given pose + * 2) Only returns poses that are near the robot, i.e. whether they are likely on the local costmap + * 3) If prune_plan_ is true, it will remove all points that we've already passed from both the transformed plan + * and the saved global_plan_. Technically, it iterates to a pose on the path that is within prune_distance_ + * of the robot and erases all poses before that. + */ + virtual nav_2d_msgs::Path2D transformGlobalPlan(const nav_2d_msgs::Pose2DStamped& pose); + + /** + * @brief Helper method to transform a given pose to the local costmap frame. + */ + geometry_msgs::Pose2D transformPoseToLocal(const nav_2d_msgs::Pose2DStamped& pose); + + nav_2d_msgs::Path2D global_plan_; ///< Saved Global Plan + nav_2d_msgs::Pose2DStamped goal_pose_; ///< Saved Goal Pose + bool prune_plan_; + double prune_distance_; + bool debug_trajectory_details_; + bool short_circuit_trajectory_evaluation_; + + // Plugin handling + pluginlib::ClassLoader traj_gen_loader_; + TrajectoryGenerator::Ptr traj_generator_; + pluginlib::ClassLoader goal_checker_loader_; + GoalChecker::Ptr goal_checker_; + pluginlib::ClassLoader critic_loader_; + std::vector critics_; + + /** + * @brief try to resolve a possibly shortened critic name with the default namespaces and the suffix "Critic" + * + * @param base_name The name of the critic as read in from the parameter server + * @return Our attempted resolution of the name, with namespace prepended and/or the suffix Critic appended + */ + std::string resolveCriticClassName(std::string base_name); + + /** + * @brief Load the critic parameters from the namespace + * @param name The namespace of this planner. + */ + virtual void loadCritics(const std::string name); + + std::vector default_critic_namespaces_; + + nav_core2::Costmap::Ptr costmap_; + bool update_costmap_before_planning_; + TFListenerPtr tf_; + DWBPublisher pub_; + + ros::NodeHandle planner_nh_; + ros::Publisher traj_pub_; +}; + +} // namespace dwb_local_planner + +#endif // DWB_LOCAL_PLANNER_DWB_LOCAL_PLANNER_H diff --git a/navigations/dwb_local_planner/include/dwb_local_planner/goal_checker.h b/navigations/dwb_local_planner/include/dwb_local_planner/goal_checker.h new file mode 100755 index 0000000..a1fe187 --- /dev/null +++ b/navigations/dwb_local_planner/include/dwb_local_planner/goal_checker.h @@ -0,0 +1,86 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_LOCAL_PLANNER_GOAL_CHECKER_H +#define DWB_LOCAL_PLANNER_GOAL_CHECKER_H + +#include +#include +#include +#include + +namespace dwb_local_planner +{ + +/** + * @class GoalChecker + * @brief Function-object for checking whether a goal has been reached + * + * This class defines the plugin interface for determining whether you have reached + * the goal state. This primarily consists of checking the relative positions of two poses + * (which are presumed to be in the same frame). It can also check the velocity, as some + * applications require that robot be stopped to be considered as having reached the goal. + */ +class GoalChecker +{ +public: + using Ptr = std::shared_ptr; + + virtual ~GoalChecker() {} + + /** + * @brief Initialize any parameters from the NodeHandle + * @param nh NodeHandle for grabbing parameters + */ + virtual void initialize(const ros::NodeHandle& nh) = 0; + + /** + * @brief Reset the state of the goal checker (if any) + */ + virtual void reset() {} + + /** + * @brief Check whether the goal should be considered reached + * @param query_pose The pose to check + * @param goal_pose The pose to check against + * @param velocity The robot's current velocity + * @return True if goal is reached + */ + virtual bool isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose, + const nav_2d_msgs::Twist2D& velocity) = 0; +}; + +} // namespace dwb_local_planner + +#endif // DWB_LOCAL_PLANNER_GOAL_CHECKER_H diff --git a/navigations/dwb_local_planner/include/dwb_local_planner/illegal_trajectory_tracker.h b/navigations/dwb_local_planner/include/dwb_local_planner/illegal_trajectory_tracker.h new file mode 100755 index 0000000..f5e9698 --- /dev/null +++ b/navigations/dwb_local_planner/include/dwb_local_planner/illegal_trajectory_tracker.h @@ -0,0 +1,75 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_LOCAL_PLANNER_ILLEGAL_TRAJECTORY_TRACKER_H +#define DWB_LOCAL_PLANNER_ILLEGAL_TRAJECTORY_TRACKER_H + +#include +#include +#include +#include + +namespace dwb_local_planner +{ +class IllegalTrajectoryTracker +{ +public: + IllegalTrajectoryTracker() : legal_count_(0), illegal_count_(0) {} + + void addIllegalTrajectory(const nav_core2::IllegalTrajectoryException& e); + void addLegalTrajectory(); + + std::map< std::pair, double> getPercentages() const; + + std::string getMessage() const; +protected: + std::map< std::pair, unsigned int> counts_; + unsigned int legal_count_, illegal_count_; +}; + +/** + * @class NoLegalTrajectoriesException + * @brief Thrown when all the trajectories explored are illegal + */ +class NoLegalTrajectoriesException: public nav_core2::NoLegalTrajectoriesException +{ +public: + explicit NoLegalTrajectoriesException(const IllegalTrajectoryTracker& tracker) + : nav_core2::NoLegalTrajectoriesException(tracker.getMessage()), tracker_(tracker) {} + IllegalTrajectoryTracker tracker_; +}; + +} // namespace dwb_local_planner + +#endif // DWB_LOCAL_PLANNER_ILLEGAL_TRAJECTORY_TRACKER_H diff --git a/navigations/dwb_local_planner/include/dwb_local_planner/publisher.h b/navigations/dwb_local_planner/include/dwb_local_planner/publisher.h new file mode 100755 index 0000000..08a595f --- /dev/null +++ b/navigations/dwb_local_planner/include/dwb_local_planner/publisher.h @@ -0,0 +1,107 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_LOCAL_PLANNER_PUBLISHER_H +#define DWB_LOCAL_PLANNER_PUBLISHER_H + +#include +#include +#include +#include +#include +#include + +namespace dwb_local_planner +{ + +/** + * @class DWBPublisher + * @brief Consolidation of all the publishing logic for the DWB Local Planner. + * + * Right now, it can publish + * 1) The Global Plan (as passed in using setPath) + * 2) The Local Plan (after it is calculated) + * 3) The Transformed Global Plan (since it may be different than the global) + * 4) The Full LocalPlanEvaluation + * 5) Markers representing the different trajectories evaluated + * 6) The CostGrid (in the form of a complex PointCloud2) + */ +class DWBPublisher +{ +public: + /** + * @brief Load the parameters and advertise topics as needed + * @param nh NodeHandle to load parameters from + */ + void initialize(ros::NodeHandle& nh); + + /** + * @brief Does the publisher require that the LocalPlanEvaluation be saved + * @return True if the Evaluation is needed to publish either directly or as trajectories + */ + bool shouldRecordEvaluation() { return publish_evaluation_ || publish_trajectories_; } + + /** + * @brief If the pointer is not null, publish the evaluation and trajectories as needed + */ + void publishEvaluation(std::shared_ptr results); + void publishLocalPlan(const std_msgs::Header& header, const dwb_msgs::Trajectory2D& traj); + void publishCostGrid(const nav_core2::Costmap::Ptr costmap, const std::vector critics); + void publishGlobalPlan(const nav_2d_msgs::Path2D plan); + void publishTransformedPlan(const nav_2d_msgs::Path2D plan); + void publishLocalPlan(const nav_2d_msgs::Path2D plan); + void publishInputParams(const nav_grid::NavGridInfo& info, const geometry_msgs::Pose2D& start_pose, + const nav_2d_msgs::Twist2D& velocity, const geometry_msgs::Pose2D& goal_pose); + +protected: + void publishTrajectories(const dwb_msgs::LocalPlanEvaluation& results); + + // Helper function for publishing other plans + void publishGenericPlan(const nav_2d_msgs::Path2D plan, const ros::Publisher pub, bool flag); + + // Flags for turning on/off publishing specific components + bool publish_evaluation_, publish_global_plan_, publish_transformed_, publish_local_plan_, publish_trajectories_; + bool publish_cost_grid_pc_, publish_input_params_; + + // Marker Lifetime + ros::Duration marker_lifetime_; + + // Publisher Objects + ros::Publisher eval_pub_, global_pub_, transformed_pub_, local_pub_, marker_pub_, cost_grid_pc_pub_, + info_pub_, pose_pub_, goal_pub_, velocity_pub_; +}; + +} // namespace dwb_local_planner + +#endif // DWB_LOCAL_PLANNER_PUBLISHER_H diff --git a/navigations/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h b/navigations/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h new file mode 100755 index 0000000..c37d8ea --- /dev/null +++ b/navigations/dwb_local_planner/include/dwb_local_planner/trajectory_critic.h @@ -0,0 +1,177 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_LOCAL_PLANNER_TRAJECTORY_CRITIC_H +#define DWB_LOCAL_PLANNER_TRAJECTORY_CRITIC_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace dwb_local_planner +{ +/** + * @class TrajectoryCritic + * @brief Evaluates a Trajectory2D to produce a score + * + * This class defines the plugin interface for the TrajectoryCritic which + * gives scores to trajectories, where lower numbers are better, but negative + * scores are considered invalid. + * + * The general lifecycle is + * 1) initialize is called once at the beginning which in turn calls onInit. + * Derived classes may override onInit to load parameters as needed. + * 2) prepare is called once before each set of trajectories. + * It is presumed that there are multiple trajectories that we want to evaluate, + * and there may be some shared work that can be done beforehand to optimize + * the scoring of each individual trajectory. + * 3) scoreTrajectory is called once per trajectory and returns the score. + * 4) debrief is called after each set of trajectories with the chosen trajectory. + * This can be used for stateful critics that monitor the trajectory through time. + * + * Optionally, there is also a debugging mechanism for certain types of critics in the + * addCriticVisualization method. If the score for a trajectory depends on its relationship to + * the costmap, addCriticVisualization can provide that information to the dwb_local_planner + * which will publish the grid scores as a PointCloud2. + */ +class TrajectoryCritic +{ +public: + using Ptr = std::shared_ptr; + + virtual ~TrajectoryCritic() {} + + /** + * @brief Initialize the critic with appropriate pointers and parameters + * + * The name and costmap are stored as member variables. + * A NodeHandle for the critic is created with the namespace of the planner NodeHandle + * + * @param planner_nh Planner Nodehandle + * @param name The name of this critic + * @param costmap_ros Pointer to the costmap + */ + void initialize(const ros::NodeHandle& planner_nh, std::string name, nav_core2::Costmap::Ptr costmap) + { + name_ = name; + costmap_ = costmap; + planner_nh_ = planner_nh; + critic_nh_ = ros::NodeHandle(planner_nh_, name_); + critic_nh_.param("scale", scale_, 1.0); + onInit(); + } + + virtual void onInit() {} + + /** + * @brief Reset the state of the critic + * + * Reset is called when the planner receives a new global goal. + * This can be used to discard information specific to one plan. + */ + virtual void reset() {} + + /** + * @brief Prior to evaluating any trajectories, look at contextual information constant across all trajectories + * + * Subclasses may overwrite. Return false in case there is any error. + * + * @param pose Current pose (costmap frame) + * @param vel Current velocity + * @param goal The final goal (costmap frame) + * @param global_plan Transformed global plan in costmap frame, possibly cropped to nearby points + */ + virtual bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel, + const geometry_msgs::Pose2D& goal, + const nav_2d_msgs::Path2D& global_plan) + { + return true; + } + + /** + * @brief Return a raw score for the given trajectory. + * + * scores < 0 are considered invalid/errors, such as collisions + * This is the raw score in that the scale should not be applied to it. + */ + virtual double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) = 0; + + /** + * @brief debrief informs the critic what the chosen cmd_vel was (if it cares) + */ + virtual void debrief(const nav_2d_msgs::Twist2D& cmd_vel) {} + + /** + * @brief Add information to the given pointcloud for debugging costmap-grid based scores + * + * addCriticVisualization is an optional debugging mechanism for providing rich information + * about the cost for certain trajectories. Some critics will have scoring mechanisms + * wherein there will be some score for each cell in the costmap. This could be as + * straightforward as the cost in the costmap, or it could be the number of cells away + * from the goal pose. + * + * Prior to calling this, dwb_local_planner will load the PointCloud's header and the points + * in row-major order. The critic may then add a ChannelFloat to the channels member of the PC + * with the same number of values as the points array. This information may then be converted + * and published as a PointCloud2. + * + * @param pc PointCloud to add channels to + */ + virtual void addCriticVisualization(sensor_msgs::PointCloud& pc) {} + + std::string getName() + { + return name_; + } + + virtual double getScale() const { return scale_; } + void setScale(const double scale) { scale_ = scale; } +protected: + std::string name_; + nav_core2::Costmap::Ptr costmap_; + double scale_; + ros::NodeHandle critic_nh_, planner_nh_; +}; + +} // namespace dwb_local_planner + +#endif // DWB_LOCAL_PLANNER_TRAJECTORY_CRITIC_H diff --git a/navigations/dwb_local_planner/include/dwb_local_planner/trajectory_generator.h b/navigations/dwb_local_planner/include/dwb_local_planner/trajectory_generator.h new file mode 100755 index 0000000..061466c --- /dev/null +++ b/navigations/dwb_local_planner/include/dwb_local_planner/trajectory_generator.h @@ -0,0 +1,130 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_LOCAL_PLANNER_TRAJECTORY_GENERATOR_H +#define DWB_LOCAL_PLANNER_TRAJECTORY_GENERATOR_H + +#include +#include +#include +#include +#include + +namespace dwb_local_planner +{ + +/** + * @class TrajectoryGenerator + * @brief Interface for iterating through possible velocities and creating trajectories + * + * This class defines the plugin interface for two separate but related components. + * + * First, this class provides an iterator interface for exploring all of the velocities + * to search, given the current velocity. + * + * Second, the class gives an independent interface for creating a trajectory from a twist, + * i.e. projecting it out in time and space. + * + * Both components rely heavily on the robot's kinematic model, and can share many parameters, + * which is why they are grouped into a singular class. + */ +class TrajectoryGenerator +{ +public: + using Ptr = std::shared_ptr; + + virtual ~TrajectoryGenerator() {} + + /** + * @brief Initialize parameters as needed + * @param nh NodeHandle to read parameters from + */ + virtual void initialize(ros::NodeHandle& nh) = 0; + + /** + * @brief Reset the state (if any) when the planner gets a new goal + */ + virtual void reset() {} + + /** + * @brief Start a new iteration based on the current velocity + * @param current_velocity + */ + virtual void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity) = 0; + + /** + * @brief Test to see whether there are more twists to test + * @return True if more twists, false otherwise + */ + virtual bool hasMoreTwists() = 0; + + /** + * @brief Return the next twist and advance the iteration + * @return The Twist! + */ + virtual nav_2d_msgs::Twist2D nextTwist() = 0; + + /** + * @brief Get all the twists for an iteration. + * + * Note: Resets the iterator if one is in process + * + * @param current_velocity + * @return all the twists + */ + virtual std::vector getTwists(const nav_2d_msgs::Twist2D& current_velocity) + { + std::vector twists; + startNewIteration(current_velocity); + while (hasMoreTwists()) + { + twists.push_back(nextTwist()); + } + return twists; + } + + /** + * @brief Given a cmd_vel in the robot's frame and initial conditions, generate a Trajectory2D + * @param start_pose Current robot location + * @param start_vel Current robot velocity + * @param cmd_vel The desired command velocity + */ + virtual dwb_msgs::Trajectory2D generateTrajectory(const geometry_msgs::Pose2D& start_pose, + const nav_2d_msgs::Twist2D& start_vel, + const nav_2d_msgs::Twist2D& cmd_vel) = 0; +}; + +} // namespace dwb_local_planner + +#endif // DWB_LOCAL_PLANNER_TRAJECTORY_GENERATOR_H diff --git a/navigations/dwb_local_planner/include/dwb_local_planner/trajectory_utils.h b/navigations/dwb_local_planner/include/dwb_local_planner/trajectory_utils.h new file mode 100755 index 0000000..f9577c1 --- /dev/null +++ b/navigations/dwb_local_planner/include/dwb_local_planner/trajectory_utils.h @@ -0,0 +1,65 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H +#define DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H + +#include + +namespace dwb_local_planner +{ + +/** + * @brief Helper function to find a pose in the trajectory with a particular time time_offset + * @param trajectory The trajectory to search + * @param time_offset The desired time_offset + * @return reference to the pose that is closest to the particular time offset + * + * Linearly searches through the poses. Once the poses time_offset is greater than the desired time_offset, + * the search ends, since the poses have increasing time_offsets. + */ +const geometry_msgs::Pose2D& getClosestPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset); + +/** + * @brief Helper function to create a pose with an exact time_offset by linearly interpolating between existing poses + * @param trajectory The trajectory with pose and time offset information + * @param time_offset The desired time_offset + * @return New Pose2D with interpolated values + * @note If the given time offset is outside the bounds of the trajectory, the return pose will be either the first or last pose. + */ +geometry_msgs::Pose2D projectPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset); + +} // namespace dwb_local_planner + +#endif // DWB_LOCAL_PLANNER_TRAJECTORY_UTILS_H diff --git a/navigations/dwb_local_planner/launch/plan_node.launch b/navigations/dwb_local_planner/launch/plan_node.launch new file mode 100755 index 0000000..00cae27 --- /dev/null +++ b/navigations/dwb_local_planner/launch/plan_node.launch @@ -0,0 +1,14 @@ + + + + wait_for_transform: false + pose_update_frequency: -1.0 + update_frequency: -1.0 + origin_x: -5.0 + origin_y: -5.0 + global_frame: /odom + + + + + diff --git a/navigations/dwb_local_planner/package.xml b/navigations/dwb_local_planner/package.xml new file mode 100755 index 0000000..3ccfcae --- /dev/null +++ b/navigations/dwb_local_planner/package.xml @@ -0,0 +1,32 @@ + + + dwb_local_planner + 0.3.0 + + Plugin based local planner implementing the nav_core2::LocalPlanner interface. + + + David V. Lu!! + David V. Lu!! + + BSD + + catkin + dwb_msgs + geometry_msgs + nav_2d_msgs + nav_2d_utils + nav_core2 + nav_msgs + pluginlib + roscpp + sensor_msgs + tf + visualization_msgs + roslint + rostest + rosunit + + + + diff --git a/navigations/dwb_local_planner/plugins.xml b/navigations/dwb_local_planner/plugins.xml new file mode 100755 index 0000000..6186200 --- /dev/null +++ b/navigations/dwb_local_planner/plugins.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/navigations/dwb_local_planner/src/backwards_compatibility.cpp b/navigations/dwb_local_planner/src/backwards_compatibility.cpp new file mode 100755 index 0000000..105b242 --- /dev/null +++ b/navigations/dwb_local_planner/src/backwards_compatibility.cpp @@ -0,0 +1,81 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include + +namespace dwb_local_planner +{ + +using nav_2d_utils::moveParameter; + +std::string getBackwardsCompatibleDefaultGenerator(const ros::NodeHandle& nh) +{ + bool use_dwa; + nh.param("use_dwa", use_dwa, true); + if (use_dwa) + { + return "dwb_plugins::LimitedAccelGenerator"; + } + else + { + return "dwb_plugins::StandardTrajectoryGenerator"; + } +} + +void loadBackwardsCompatibleParameters(const ros::NodeHandle& nh) +{ + std::vector critic_names; + ROS_INFO_NAMED("DWBLocalPlanner", "No critics configured! Using the default set."); + critic_names.push_back("RotateToGoal"); // discards trajectories that move forward when already at goal + critic_names.push_back("Oscillation"); // discards oscillating motions (assisgns cost -1) + critic_names.push_back("ObstacleFootprint"); // discards trajectories that move into obstacles + critic_names.push_back("GoalAlign"); // prefers trajectories that make the nose go towards (local) nose goal + critic_names.push_back("PathAlign"); // prefers trajectories that keep the robot nose on nose path + critic_names.push_back("PathDist"); // prefers trajectories on global path + critic_names.push_back("GoalDist"); // prefers trajectories that go towards (local) goal, + // based on wave propagation + nh.setParam("critics", critic_names); + moveParameter(nh, "path_distance_bias", "PathAlign/scale", 32.0, false); + moveParameter(nh, "goal_distance_bias", "GoalAlign/scale", 24.0, false); + moveParameter(nh, "path_distance_bias", "PathDist/scale", 32.0); + moveParameter(nh, "goal_distance_bias", "GoalDist/scale", 24.0); + moveParameter(nh, "occdist_scale", "ObstacleFootprint/scale", 0.01); + + moveParameter(nh, "max_scaling_factor", "ObstacleFootprint/max_scaling_factor", 0.2); + moveParameter(nh, "scaling_speed", "ObstacleFootprint/scaling_speed", 0.25); +} + +} // namespace dwb_local_planner diff --git a/navigations/dwb_local_planner/src/debug_dwb_local_planner.cpp b/navigations/dwb_local_planner/src/debug_dwb_local_planner.cpp new file mode 100755 index 0000000..74dadc7 --- /dev/null +++ b/navigations/dwb_local_planner/src/debug_dwb_local_planner.cpp @@ -0,0 +1,150 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include + +namespace dwb_local_planner +{ + +void DebugDWBLocalPlanner::initialize(const ros::NodeHandle& parent, const std::string& name, + TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) +{ + DWBLocalPlanner::initialize(parent, name, tf, costmap); + + debug_service_ = planner_nh_.advertiseService("debug_local_plan", + &DebugDWBLocalPlanner::debugLocalPlanService, this); + twist_gen_service_ = planner_nh_.advertiseService("generate_twists", + &DebugDWBLocalPlanner::generateTwistsService, this); + score_service_ = planner_nh_.advertiseService("score_trajectory", + &DebugDWBLocalPlanner::scoreTrajectoryService, this); + critic_service_ = planner_nh_.advertiseService("get_critic_score", + &DebugDWBLocalPlanner::getCriticScoreService, this); + generate_traj_service_ = planner_nh_.advertiseService("generate_traj", + &DebugDWBLocalPlanner::generateTrajectoryService, this); +} + +bool DebugDWBLocalPlanner::generateTwistsService(dwb_msgs::GenerateTwists::Request &req, + dwb_msgs::GenerateTwists::Response &res) +{ + res.twists = traj_generator_->getTwists(req.current_vel); + return true; +} + +bool DebugDWBLocalPlanner::generateTrajectoryService(dwb_msgs::GenerateTrajectory::Request &req, + dwb_msgs::GenerateTrajectory::Response &res) +{ + res.traj = traj_generator_->generateTrajectory(req.start_pose, req.start_vel, req.cmd_vel); + return true; +} + +bool DebugDWBLocalPlanner::scoreTrajectoryService(dwb_msgs::ScoreTrajectory::Request &req, + dwb_msgs::ScoreTrajectory::Response &res) +{ + if (req.goal.header.frame_id != "") + setGoalPose(req.goal); + if (req.global_plan.poses.size() > 0) + setPlan(req.global_plan); + + prepare(req.pose, req.velocity); + res.score = scoreTrajectory(req.traj); + return true; +} + +TrajectoryCritic::Ptr DebugDWBLocalPlanner::getCritic(std::string name) +{ + for (TrajectoryCritic::Ptr critic : critics_) + { + if (critic->getName() == name) + return critic; + } + return nullptr; +} + +bool DebugDWBLocalPlanner::getCriticScoreService(dwb_msgs::GetCriticScore::Request &req, + dwb_msgs::GetCriticScore::Response &res) +{ + TrajectoryCritic::Ptr critic = getCritic(req.critic_name); + if (critic == nullptr) + { + ROS_WARN_NAMED("DebugDWBLocalPlanner", "Critic %s not found!", req.critic_name.c_str()); + return false; + } + if (req.goal.header.frame_id != "") + setGoalPose(req.goal); + if (req.global_plan.poses.size() > 0) + setPlan(req.global_plan); + + // This prepares all the critics, even though we only need to prepare the one + prepare(req.pose, req.velocity); + + res.score.raw_score = critic->scoreTrajectory(req.traj); + res.score.scale = critic->getScale(); + res.score.name = req.critic_name; + + pub_.publishCostGrid(costmap_, critics_); + + return true; +} + +bool DebugDWBLocalPlanner::debugLocalPlanService(dwb_msgs::DebugLocalPlan::Request &req, + dwb_msgs::DebugLocalPlan::Response &res) +{ + if (req.goal.header.frame_id != "") + setGoalPose(req.goal); + if (req.global_plan.poses.size() > 0) + setPlan(req.global_plan); + std::shared_ptr results = std::make_shared(); + try + { + computeVelocityCommands(req.pose, req.velocity, results); + res.results = *results; + return true; + } + catch (const nav_core2::PlannerException& e) + { + ROS_ERROR_NAMED("DebugDWBLocalPlanner", "Exception in computeVelocityCommands: %s", e.what()); + return false; + } +} + +} // namespace dwb_local_planner + + +// register this planner as a LocalPlanner plugin +PLUGINLIB_EXPORT_CLASS(dwb_local_planner::DebugDWBLocalPlanner, nav_core2::LocalPlanner) diff --git a/navigations/dwb_local_planner/src/dwb_local_planner.cpp b/navigations/dwb_local_planner/src/dwb_local_planner.cpp new file mode 100755 index 0000000..6079fad --- /dev/null +++ b/navigations/dwb_local_planner/src/dwb_local_planner.cpp @@ -0,0 +1,506 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace dwb_local_planner +{ + + DWBLocalPlanner::DWBLocalPlanner() : traj_gen_loader_("dwb_local_planner", "dwb_local_planner::TrajectoryGenerator"), + goal_checker_loader_("dwb_local_planner", "dwb_local_planner::GoalChecker"), + critic_loader_("dwb_local_planner", "dwb_local_planner::TrajectoryCritic") + { + } + + void DWBLocalPlanner::initialize(const ros::NodeHandle &parent, const std::string &name, + TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) + { + tf_ = tf; + costmap_ = costmap; + planner_nh_ = ros::NodeHandle(parent, name); + + // This is needed when using the CostmapAdapter to ensure that the costmap's info matches the rolling window + planner_nh_.param("update_costmap_before_planning", update_costmap_before_planning_, true); + + planner_nh_.param("prune_plan", prune_plan_, true); + planner_nh_.param("prune_distance", prune_distance_, 1.0); + planner_nh_.param("short_circuit_trajectory_evaluation", short_circuit_trajectory_evaluation_, true); + planner_nh_.param("debug_trajectory_details", debug_trajectory_details_, false); + pub_.initialize(planner_nh_); + traj_pub_ = planner_nh_.advertise("traj_base", 1); + // Plugins + std::string traj_generator_name; + planner_nh_.param("trajectory_generator_name", traj_generator_name, + getBackwardsCompatibleDefaultGenerator(planner_nh_)); + ROS_INFO_NAMED("DWBLocalPlanner", "Using Trajectory Generator \"%s\"", traj_generator_name.c_str()); + traj_generator_ = std::move(traj_gen_loader_.createUniqueInstance(traj_generator_name)); + traj_generator_->initialize(planner_nh_); + + std::string goal_checker_name; + planner_nh_.param("goal_checker_name", goal_checker_name, std::string("dwb_plugins::SimpleGoalChecker")); + ROS_INFO_NAMED("DWBLocalPlanner", "Using Goal Checker \"%s\"", goal_checker_name.c_str()); + goal_checker_ = std::move(goal_checker_loader_.createUniqueInstance(goal_checker_name)); + goal_checker_->initialize(planner_nh_); + + loadCritics(name); + } + + std::string DWBLocalPlanner::resolveCriticClassName(std::string base_name) + { + if (base_name.find("Critic") == std::string::npos) + { + base_name = base_name + "Critic"; + } + + if (base_name.find("::") == std::string::npos) + { + for (unsigned int j = 0; j < default_critic_namespaces_.size(); j++) + { + std::string full_name = default_critic_namespaces_[j] + "::" + base_name; + if (critic_loader_.isClassAvailable(full_name)) + { + return full_name; + } + } + } + return base_name; + } + + void DWBLocalPlanner::loadCritics(const std::string name) + { + planner_nh_.param("default_critic_namespaces", default_critic_namespaces_); + if (default_critic_namespaces_.size() == 0) + { + default_critic_namespaces_.push_back("dwb_critics"); + } + + if (!planner_nh_.hasParam("critics")) + { + loadBackwardsCompatibleParameters(planner_nh_); + } + + std::vector critic_names; + planner_nh_.getParam("critics", critic_names); + for (unsigned int i = 0; i < critic_names.size(); i++) + { + std::string plugin_name = critic_names[i]; + std::string plugin_class; + planner_nh_.param(plugin_name + "/class", plugin_class, plugin_name); + plugin_class = resolveCriticClassName(plugin_class); + + TrajectoryCritic::Ptr plugin = std::move(critic_loader_.createUniqueInstance(plugin_class)); + ROS_INFO_NAMED("DWBLocalPlanner", "Using critic \"%s\" (%s)", plugin_name.c_str(), plugin_class.c_str()); + critics_.push_back(plugin); + plugin->initialize(planner_nh_, plugin_name, costmap_); + } + } + + bool DWBLocalPlanner::isGoalReached(const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity) + { + if (goal_pose_.header.frame_id == "") + { + ROS_WARN_NAMED("DWBLocalPlanner", "Cannot check if the goal is reached without the goal being set!"); + return false; + } + + // Update time stamp of goal pose + goal_pose_.header.stamp = pose.header.stamp; + + bool ret = goal_checker_->isGoalReached(transformPoseToLocal(pose), transformPoseToLocal(goal_pose_), velocity); + + if (ret) + { + ROS_INFO_THROTTLE_NAMED(1.0, "DWBLocalPlanner", "Goal reached!"); + } + return ret; + } + + void DWBLocalPlanner::setGoalPose(const nav_2d_msgs::Pose2DStamped &goal_pose) + { + ROS_INFO_NAMED("DWBLocalPlanner", "New Goal Received."); + goal_pose_ = goal_pose; + traj_generator_->reset(); + goal_checker_->reset(); + for (TrajectoryCritic::Ptr critic : critics_) + { + critic->reset(); + } + } + + void DWBLocalPlanner::setPlan(const nav_2d_msgs::Path2D &path) + { + pub_.publishGlobalPlan(path); + global_plan_ = path; + } + + nav_2d_msgs::Twist2DStamped DWBLocalPlanner::computeVelocityCommands(const nav_2d_msgs::Pose2DStamped &pose, + // fr-> 102 LocalPlannerAdapter::computeVelocityCommands(..) + const nav_2d_msgs::Twist2D &velocity) + { + std::shared_ptr results = nullptr; + if (pub_.shouldRecordEvaluation()) + { + results = std::make_shared(); + } + + try + { // to -> 227 - DWBLocalPlanner::computeVelocityCommands(...) + nav_2d_msgs::Twist2DStamped cmd_vel = computeVelocityCommands(pose, velocity, results); + pub_.publishEvaluation(results); + return cmd_vel; + } + catch (const nav_core2::PlannerException &e) + { + pub_.publishEvaluation(results); + throw; + } + } + + void DWBLocalPlanner::prepare(const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity) + { + if (update_costmap_before_planning_) + { + costmap_->update(); + } + nav_2d_msgs::Path2D transformed_plan = transformGlobalPlan(pose); + pub_.publishTransformedPlan(transformed_plan); + + // Update time stamp of goal pose + goal_pose_.header.stamp = pose.header.stamp; + + geometry_msgs::Pose2D local_start_pose = transformPoseToLocal(pose), + local_goal_pose = transformPoseToLocal(goal_pose_); + + pub_.publishInputParams(costmap_->getInfo(), local_start_pose, velocity, local_goal_pose); + + for (TrajectoryCritic::Ptr critic : critics_) + { + if (!critic->prepare(local_start_pose, velocity, local_goal_pose, transformed_plan)) + { + ROS_WARN_NAMED("DWBLocalPlanner", "Critic \"%s\" failed to prepare", critic->getName().c_str()); + } + } + } + + nav_2d_msgs::Twist2DStamped DWBLocalPlanner::computeVelocityCommands(const nav_2d_msgs::Pose2DStamped &pose, + // fr -> 179 DWBLocalPlanner::computeVelocityCommands( + const nav_2d_msgs::Twist2D &velocity, std::shared_ptr &results) + { + if (results) + { + results->header.frame_id = pose.header.frame_id; + results->header.stamp = ros::Time::now(); + } + prepare(pose, velocity); + + try + { + // to 282 -> DWBLocalPlanner::coreScoringAlgorithm() + dwb_msgs::TrajectoryScore best = coreScoringAlgorithm(pose.pose, velocity, results); + + // Return Value + nav_2d_msgs::Twist2DStamped cmd_vel; + cmd_vel.header.stamp = ros::Time::now(); + cmd_vel.velocity = best.traj.velocity; + + // debrief stateful critics + for (TrajectoryCritic::Ptr critic : critics_) + { + critic->debrief(cmd_vel.velocity); + } + + pub_.publishLocalPlan(pose.header, best.traj); + pub_.publishCostGrid(costmap_, critics_); + + return cmd_vel; + } + catch (const NoLegalTrajectoriesException &e) + { + nav_2d_msgs::Twist2D empty_cmd; + dwb_msgs::Trajectory2D empty_traj; + // debrief stateful scoring functions + for (TrajectoryCritic::Ptr critic : critics_) + { + critic->debrief(empty_cmd); + } + pub_.publishLocalPlan(pose.header, empty_traj); + pub_.publishCostGrid(costmap_, critics_); + + throw; + } + } + + dwb_msgs::TrajectoryScore DWBLocalPlanner::coreScoringAlgorithm(const geometry_msgs::Pose2D &pose, + // fr -> 249 dwb_msgs::TrajectoryScore best = coreScoringAlgorithm(pose.pose, velocity, results); + const nav_2d_msgs::Twist2D velocity, + std::shared_ptr &results) + { + nav_2d_msgs::Twist2D twist; + dwb_msgs::Trajectory2D traj; + dwb_msgs::TrajectoryScore best, worst; + best.total = -1; + worst.total = -1; + IllegalTrajectoryTracker tracker; + traj_generator_->startNewIteration(velocity); // nhận tốc độ hiện tại từ odom + + while (traj_generator_->hasMoreTwists()) // return current_ > max_vel_ + EPSILON; + { + twist = traj_generator_->nextTwist(); + + traj = traj_generator_->generateTrajectory(pose, velocity, twist); + + try + { + dwb_msgs::TrajectoryScore score = scoreTrajectory(traj, best.total); + + tracker.addLegalTrajectory(); + if (results) + { + results->twists.push_back(score); + } + if (best.total < 0 || score.total < best.total) + { + best = score; + if (results) + { + results->best_index = results->twists.size() - 1; + } + } + if (worst.total < 0 || score.total > worst.total) + { + worst = score; + if (results) + { + results->worst_index = results->twists.size() - 1; + } + } + } + catch (const nav_core2::IllegalTrajectoryException &e) + { + if (results) + { + dwb_msgs::TrajectoryScore failed_score; + failed_score.traj = traj; + + dwb_msgs::CriticScore cs; + cs.name = e.getCriticName(); + cs.raw_score = -1.0; + failed_score.scores.push_back(cs); + failed_score.total = -1.0; + results->twists.push_back(failed_score); + } + tracker.addIllegalTrajectory(e); + } + } + + if (best.total < 0) + { + if (debug_trajectory_details_) + { + ROS_ERROR_NAMED("DWBLocalPlanner", "%s", tracker.getMessage().c_str()); + for (auto const &x : tracker.getPercentages()) + { + ROS_ERROR_NAMED("DWBLocalPlanner", "%.2f: %10s/%s", x.second, x.first.first.c_str(), x.first.second.c_str()); + } + } + throw NoLegalTrajectoriesException(tracker); + } + nav_msgs::Path pathMsg; + pathMsg.header.frame_id = "odom"; + for (const auto& pose2D : traj.poses) { + geometry_msgs::PoseStamped pose; + pose.header.stamp = ros::Time::now(); // You can set the timestamp as needed + pose.pose.position.x = pose2D.x; + pose.pose.position.y = pose2D.y; + tf2::Quaternion temp; + temp.setRPY(0, 0, pose2D.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(); + // You may need to set other fields like orientation if needed. + + pathMsg.poses.push_back(pose); + } + traj_pub_.publish(pathMsg); + return best; + } + + dwb_msgs::TrajectoryScore DWBLocalPlanner::scoreTrajectory(const dwb_msgs::Trajectory2D &traj, + double best_score) + { + dwb_msgs::TrajectoryScore score; + score.traj = traj; + + for (TrajectoryCritic::Ptr critic : critics_) + { + dwb_msgs::CriticScore cs; + cs.name = critic->getName(); + cs.scale = critic->getScale(); + + if (cs.scale == 0.0) + { + score.scores.push_back(cs); + continue; + } + double critic_score = critic->scoreTrajectory(traj); + cs.raw_score = critic_score; + score.scores.push_back(cs); + score.total += critic_score * cs.scale; + if (short_circuit_trajectory_evaluation_ && best_score > 0 && score.total > best_score) + { + // since we keep adding positives, once we are worse than the best, we will stay worse + break; + } + } + return score; + } + + double getSquareDistance(const geometry_msgs::Pose2D &pose_a, const geometry_msgs::Pose2D &pose_b) + { + double x_diff = pose_a.x - pose_b.x; + double y_diff = pose_a.y - pose_b.y; + return x_diff * x_diff + y_diff * y_diff; + } + + nav_2d_msgs::Path2D DWBLocalPlanner::transformGlobalPlan(const nav_2d_msgs::Pose2DStamped &pose) + { + + nav_2d_msgs::Path2D transformed_plan; + if (global_plan_.poses.size() == 0) + { + throw nav_core2::PlannerException("Received plan with zero length"); + } + + // let's get the pose of the robot in the frame of the plan + nav_2d_msgs::Pose2DStamped robot_pose; + if (!nav_2d_utils::transformPose(tf_, global_plan_.header.frame_id, pose, robot_pose)) + { + throw nav_core2::PlannerTFException("Unable to transform robot pose into global plan's frame"); + } + + transformed_plan.header.frame_id = costmap_->getFrameId(); + transformed_plan.header.stamp = pose.header.stamp; + + // we'll discard points on the plan that are outside the local costmap + double dist_threshold = std::max(costmap_->getWidth(), costmap_->getHeight()) * costmap_->getResolution() / 2.0; + double sq_dist_threshold = dist_threshold * dist_threshold; + nav_2d_msgs::Pose2DStamped stamped_pose; + stamped_pose.header.frame_id = global_plan_.header.frame_id; + + for (unsigned int i = 0; i < global_plan_.poses.size(); i++) + { + bool should_break = false; + if (getSquareDistance(robot_pose.pose, global_plan_.poses[i]) > sq_dist_threshold) + { + if (transformed_plan.poses.size() == 0) + { + // we need to skip to a point on the plan that is within a certain distance of the robot + continue; + } + else + { + // we're done transforming points + should_break = true; + } + } + + // now we'll transform until points are outside of our distance threshold + stamped_pose.pose = global_plan_.poses[i]; + transformed_plan.poses.push_back(transformPoseToLocal(stamped_pose)); + if (should_break) + break; + } + + // Prune both plans based on robot position + // Note that this part of the algorithm assumes that the global plan starts near the robot (at one point) + // Otherwise it may take a few iterations to converge to the proper behavior + if (prune_plan_) + { + // let's get the pose of the robot in the frame of the transformed_plan/costmap + nav_2d_msgs::Pose2DStamped costmap_pose; + if (!nav_2d_utils::transformPose(tf_, transformed_plan.header.frame_id, pose, costmap_pose)) + { + throw nav_core2::PlannerTFException("Unable to transform robot pose into costmap's frame"); + } + + ROS_ASSERT(global_plan_.poses.size() >= transformed_plan.poses.size()); + std::vector::iterator it = transformed_plan.poses.begin(); + std::vector::iterator global_it = global_plan_.poses.begin(); + double sq_prune_dist = prune_distance_ * prune_distance_; + while (it != transformed_plan.poses.end()) + { + const geometry_msgs::Pose2D &w = *it; + // Fixed error bound of 1 meter for now. Can reduce to a portion of the map size or based on the resolution + if (getSquareDistance(costmap_pose.pose, w) < sq_prune_dist) + { + ROS_DEBUG_NAMED("DWBLocalPlanner", "Nearest waypoint to <%f, %f> is <%f, %f>\n", + costmap_pose.pose.x, costmap_pose.pose.y, w.x, w.y); + break; + } + it = transformed_plan.poses.erase(it); + global_it = global_plan_.poses.erase(global_it); + } + pub_.publishGlobalPlan(global_plan_); + } + + if (transformed_plan.poses.size() == 0) + { + throw nav_core2::PlannerException("Resulting plan has 0 poses in it."); + } + return transformed_plan; + } + + geometry_msgs::Pose2D DWBLocalPlanner::transformPoseToLocal(const nav_2d_msgs::Pose2DStamped &pose) + { + return nav_2d_utils::transformStampedPose(tf_, pose, costmap_->getFrameId()); + } + +} // namespace dwb_local_planner + +// register this planner as a LocalPlanner plugin +PLUGINLIB_EXPORT_CLASS(dwb_local_planner::DWBLocalPlanner, nav_core2::LocalPlanner) diff --git a/navigations/dwb_local_planner/src/illegal_trajectory_tracker.cpp b/navigations/dwb_local_planner/src/illegal_trajectory_tracker.cpp new file mode 100755 index 0000000..c9c2cc4 --- /dev/null +++ b/navigations/dwb_local_planner/src/illegal_trajectory_tracker.cpp @@ -0,0 +1,82 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include + +namespace dwb_local_planner +{ +void IllegalTrajectoryTracker::addIllegalTrajectory(const nav_core2::IllegalTrajectoryException& e) +{ + counts_[std::make_pair(e.getCriticName(), e.what())]++; + illegal_count_++; +} + +void IllegalTrajectoryTracker::addLegalTrajectory() +{ + legal_count_++; +} + +std::map< std::pair, double> IllegalTrajectoryTracker::getPercentages() const +{ + std::map< std::pair, double> percents; + double denominator = static_cast(legal_count_ + illegal_count_); + for (auto const& x : counts_) + { + percents[x.first] = static_cast(x.second) / denominator; + } + return percents; +} + +std::string IllegalTrajectoryTracker::getMessage() const +{ + std::ostringstream msg; + if (legal_count_ == 0) + { + msg << "No valid trajectories out of " << illegal_count_ << "! "; + } + else + { + unsigned int total = legal_count_ + illegal_count_; + msg << legal_count_ << " valid trajectories found ("; + msg << static_cast(100 * legal_count_) / static_cast(total); + msg << "% of " << total << "). "; + } + return msg.str(); +} + +} // namespace dwb_local_planner diff --git a/navigations/dwb_local_planner/src/planner_node.cpp b/navigations/dwb_local_planner/src/planner_node.cpp new file mode 100755 index 0000000..6ead35b --- /dev/null +++ b/navigations/dwb_local_planner/src/planner_node.cpp @@ -0,0 +1,60 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include +#include + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "plan_node"); + ros::NodeHandle private_nh("~"); + + dwb_local_planner::DebugDWBLocalPlanner planner; + ROS_INFO("Plan Node"); + + TFListenerPtr tf = std::make_shared(); + tf2_ros::TransformListener tf2(*tf); + + pluginlib::ClassLoader costmap_loader("nav_core2", "nav_core2::Costmap"); + std::string costmap_class; + private_nh.param("local_costmap_class", costmap_class, std::string("nav_core_adapter::CostmapAdapter")); + nav_core2::Costmap::Ptr costmap = costmap_loader.createUniqueInstance(costmap_class); + costmap->initialize(private_nh, "costmap", tf); + + planner.initialize(private_nh, "dwb_local_planner", tf, costmap); + ros::spin(); +} diff --git a/navigations/dwb_local_planner/src/publisher.cpp b/navigations/dwb_local_planner/src/publisher.cpp new file mode 100755 index 0000000..ca1b9ea --- /dev/null +++ b/navigations/dwb_local_planner/src/publisher.cpp @@ -0,0 +1,246 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace dwb_local_planner +{ + +void DWBPublisher::initialize(ros::NodeHandle& nh) +{ + ros::NodeHandle global_nh; + // Load Publishers + nh.param("publish_evaluation", publish_evaluation_, true); + if (publish_evaluation_) + eval_pub_ = nh.advertise("evaluation", 1); + + nh.param("publish_input_params", publish_input_params_, true); + if (publish_input_params_) + { + info_pub_ = nh.advertise("info", 1); + pose_pub_ = nh.advertise("pose", 1); + goal_pub_ = nh.advertise("goal", 1); + velocity_pub_ = nh.advertise("velocity", 1); + } + + nh.param("publish_global_plan", publish_global_plan_, true); + if (publish_global_plan_) + global_pub_ = nh.advertise("global_plan", 1); + + nh.param("publish_transformed_plan", publish_transformed_, true); + if (publish_transformed_) + transformed_pub_ = nh.advertise("transformed_global_plan", 1); + + nh.param("publish_local_plan", publish_local_plan_, true); + if (publish_local_plan_) + local_pub_ = nh.advertise("local_plan", 1); + + nh.param("publish_trajectories", publish_trajectories_, true); + if (publish_trajectories_) + marker_pub_ = global_nh.advertise("marker", 1); + double marker_lifetime; + nh.param("marker_lifetime", marker_lifetime, 0.1); + marker_lifetime_ = ros::Duration(marker_lifetime); + + nh.param("publish_cost_grid_pc", publish_cost_grid_pc_, false); + if (publish_cost_grid_pc_) + cost_grid_pc_pub_ = nh.advertise("cost_cloud", 1); +} + +void DWBPublisher::publishEvaluation(std::shared_ptr results) +{ + if (results == nullptr) return; + if (publish_evaluation_ && eval_pub_.getNumSubscribers() > 0) + { + eval_pub_.publish(*results); + } + publishTrajectories(*results); +} + +void DWBPublisher::publishTrajectories(const dwb_msgs::LocalPlanEvaluation& results) +{ + if (!publish_trajectories_ || marker_pub_.getNumSubscribers() == 0) return; + visualization_msgs::MarkerArray ma; + visualization_msgs::Marker m; + + if (results.twists.size() == 0) return; + + geometry_msgs::Point pt; + + m.header = results.header; + m.type = m.LINE_STRIP; + m.pose.orientation.w = 1; + m.scale.x = 0.002; + m.color.a = 1.0; + m.lifetime = marker_lifetime_; + + double best_cost = results.twists[results.best_index].total, + worst_cost = results.twists[results.worst_index].total, + denominator = worst_cost - best_cost; + if (std::fabs(denominator) < 1e-9) + { + denominator = 1.0; + } + + for (unsigned int i = 0; i < results.twists.size(); i++) + { + const dwb_msgs::TrajectoryScore& twist = results.twists[i]; + if (twist.total >= 0) + { + m.color.r = 1 - (twist.total - best_cost) / denominator; + m.color.g = 1 - (twist.total - best_cost) / denominator; + m.color.b = 1; + m.ns = "ValidTrajectories"; + } + else + { + m.color.b = 0; + m.ns = "InvalidTrajectories"; + } + m.points.clear(); + for (unsigned int j = 0; j < twist.traj.poses.size(); ++j) + { + pt.x = twist.traj.poses[j].x; + pt.y = twist.traj.poses[j].y; + pt.z = 0; + m.points.push_back(pt); + } + ma.markers.push_back(m); + m.id += 1; + } + + marker_pub_.publish(ma); +} + +void DWBPublisher::publishLocalPlan(const std_msgs::Header& header, + const dwb_msgs::Trajectory2D& traj) +{ + if (!publish_local_plan_ || local_pub_.getNumSubscribers() == 0) return; + + nav_msgs::Path path = nav_2d_utils::poses2DToPath(traj.poses, header.frame_id, header.stamp); + local_pub_.publish(path); +} + +void DWBPublisher::publishCostGrid(const nav_core2::Costmap::Ptr costmap, + const std::vector critics) +{ + if (!publish_cost_grid_pc_ || cost_grid_pc_pub_.getNumSubscribers() == 0) return; + + const nav_grid::NavGridInfo& info = costmap->getInfo(); + sensor_msgs::PointCloud cost_grid_pc; + cost_grid_pc.header.frame_id = info.frame_id; + cost_grid_pc.header.stamp = ros::Time::now(); + + double x_coord, y_coord; + unsigned int n = info.width * info.height; + cost_grid_pc.points.resize(n); + unsigned int i = 0; + for (unsigned int cy = 0; cy < info.height; cy++) + { + for (unsigned int cx = 0; cx < info.width; cx++) + { + gridToWorld(info, cx, cy, x_coord, y_coord); + cost_grid_pc.points[i].x = x_coord; + cost_grid_pc.points[i].y = y_coord; + i++; + } + } + + sensor_msgs::ChannelFloat32 totals; + totals.name = "total_cost"; + totals.values.resize(n); + + for (TrajectoryCritic::Ptr critic : critics) + { + unsigned int channel_index = cost_grid_pc.channels.size(); + critic->addCriticVisualization(cost_grid_pc); + if (channel_index == cost_grid_pc.channels.size()) + { + // No channels were added, so skip to next critic + continue; + } + double scale = critic->getScale(); + for (i = 0; i < n; i++) + { + totals.values[i] += cost_grid_pc.channels[channel_index].values[i] * scale; + } + } + cost_grid_pc.channels.push_back(totals); + + sensor_msgs::PointCloud2 cost_grid_pc2; + convertPointCloudToPointCloud2(cost_grid_pc, cost_grid_pc2); + cost_grid_pc_pub_.publish(cost_grid_pc2); +} + +void DWBPublisher::publishGlobalPlan(const nav_2d_msgs::Path2D plan) +{ + publishGenericPlan(plan, global_pub_, publish_global_plan_); +} + +void DWBPublisher::publishTransformedPlan(const nav_2d_msgs::Path2D plan) +{ + publishGenericPlan(plan, transformed_pub_, publish_transformed_); +} + +void DWBPublisher::publishLocalPlan(const nav_2d_msgs::Path2D plan) +{ + publishGenericPlan(plan, local_pub_, publish_local_plan_); +} + +void DWBPublisher::publishGenericPlan(const nav_2d_msgs::Path2D plan, const ros::Publisher pub, bool flag) +{ + if (!flag || pub.getNumSubscribers() == 0) return; + nav_msgs::Path path = nav_2d_utils::pathToPath(plan); + pub.publish(path); +} + +void DWBPublisher::publishInputParams(const nav_grid::NavGridInfo& info, const geometry_msgs::Pose2D& start_pose, + const nav_2d_msgs::Twist2D& velocity, const geometry_msgs::Pose2D& goal_pose) +{ + if (!publish_input_params_) return; + + info_pub_.publish(nav_2d_utils::toMsg(info)); + pose_pub_.publish(start_pose); + goal_pub_.publish(goal_pose); + velocity_pub_.publish(velocity); +} + +} // namespace dwb_local_planner diff --git a/navigations/dwb_local_planner/src/trajectory_utils.cpp b/navigations/dwb_local_planner/src/trajectory_utils.cpp new file mode 100755 index 0000000..d2f4d88 --- /dev/null +++ b/navigations/dwb_local_planner/src/trajectory_utils.cpp @@ -0,0 +1,105 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include + +namespace dwb_local_planner +{ +const geometry_msgs::Pose2D& getClosestPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset) +{ + ros::Duration goal_time(time_offset); + const unsigned int num_poses = trajectory.poses.size(); + if (num_poses == 0) + { + throw nav_core2::PlannerException("Cannot call getClosestPose on empty trajectory."); + } + unsigned int closest_index = num_poses; + double closest_diff = 0.0; + for (unsigned int i=0; i < num_poses; ++i) + { + double diff = fabs((trajectory.time_offsets[i] - goal_time).toSec()); + if (closest_index == num_poses || diff < closest_diff) + { + closest_index = i; + closest_diff = diff; + } + if (goal_time < trajectory.time_offsets[i]) + { + break; + } + } + return trajectory.poses[closest_index]; +} + +geometry_msgs::Pose2D projectPose(const dwb_msgs::Trajectory2D& trajectory, const double time_offset) +{ + ros::Duration goal_time(time_offset); + const unsigned int num_poses = trajectory.poses.size(); + if (num_poses == 0) + { + throw nav_core2::PlannerException("Cannot call projectPose on empty trajectory."); + } + if (goal_time <= trajectory.time_offsets[0]) + { + return trajectory.poses[0]; + } + else if (goal_time >= trajectory.time_offsets[num_poses - 1]) + { + return trajectory.poses[num_poses - 1]; + } + + for (unsigned int i=0; i < num_poses - 1; ++i) + { + if (goal_time >= trajectory.time_offsets[i] && goal_time < trajectory.time_offsets[i+1]) + { + double time_diff = (trajectory.time_offsets[i+1] - trajectory.time_offsets[i]).toSec(); + double ratio = (goal_time - trajectory.time_offsets[i]).toSec() / time_diff; + double inv_ratio = 1.0 - ratio; + const geometry_msgs::Pose2D& pose_a = trajectory.poses[i]; + const geometry_msgs::Pose2D& pose_b = trajectory.poses[i + 1]; + geometry_msgs::Pose2D projected; + projected.x = pose_a.x * inv_ratio + pose_b.x * ratio; + projected.y = pose_a.y * inv_ratio + pose_b.y * ratio; + projected.theta = pose_a.theta * inv_ratio + pose_b.theta * ratio; + return projected; + } + } + + // Should not reach this point + return trajectory.poses[num_poses - 1]; +} + + +} // namespace dwb_local_planner diff --git a/navigations/dwb_local_planner/structure.drawio b/navigations/dwb_local_planner/structure.drawio new file mode 100755 index 0000000..cf5a72f --- /dev/null +++ b/navigations/dwb_local_planner/structure.drawio @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/dwb_local_planner/test/utils_test.cpp b/navigations/dwb_local_planner/test/utils_test.cpp new file mode 100755 index 0000000..2cff319 --- /dev/null +++ b/navigations/dwb_local_planner/test/utils_test.cpp @@ -0,0 +1,115 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include + +using dwb_local_planner::getClosestPose; +using dwb_local_planner::projectPose; + +TEST(Utils, ClosestPose) +{ + dwb_msgs::Trajectory2D traj; + traj.poses.resize(4); + traj.time_offsets.resize(4); + for (unsigned int i=0; i < traj.poses.size(); i++) + { + double d = static_cast(i); + traj.poses[i].x = d; + traj.time_offsets[i] = ros::Duration(d); + } + + EXPECT_DOUBLE_EQ(getClosestPose(traj, 0.0).x, traj.poses[0].x); + EXPECT_DOUBLE_EQ(getClosestPose(traj, -1.0).x, traj.poses[0].x); + EXPECT_DOUBLE_EQ(getClosestPose(traj, 0.4).x, traj.poses[0].x); + EXPECT_DOUBLE_EQ(getClosestPose(traj, 0.5).x, traj.poses[0].x); + EXPECT_DOUBLE_EQ(getClosestPose(traj, 0.51).x, traj.poses[1].x); + EXPECT_DOUBLE_EQ(getClosestPose(traj, 1.0).x, traj.poses[1].x); + EXPECT_DOUBLE_EQ(getClosestPose(traj, 1.4999).x, traj.poses[1].x); + EXPECT_DOUBLE_EQ(getClosestPose(traj, 2.0).x, traj.poses[2].x); + EXPECT_DOUBLE_EQ(getClosestPose(traj, 2.51).x, traj.poses[3].x); + EXPECT_DOUBLE_EQ(getClosestPose(traj, 3.5).x, traj.poses[3].x); +} + +TEST(Utils, ProjectPose) +{ + dwb_msgs::Trajectory2D traj; + traj.poses.resize(4); + traj.time_offsets.resize(4); + for (unsigned int i=0; i < traj.poses.size(); i++) + { + double d = static_cast(i); + traj.poses[i].x = d; + traj.poses[i].y = 30.0 - 2.0 * d; + traj.poses[i].theta = 0.42; + traj.time_offsets[i] = ros::Duration(d); + } + + EXPECT_DOUBLE_EQ(projectPose(traj, 0.0).x, 0.0); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.0).y, 30.0); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.0).theta, 0.42); + EXPECT_DOUBLE_EQ(projectPose(traj, -1.0).x, 0.0); + EXPECT_DOUBLE_EQ(projectPose(traj, -1.0).y, 30.0); + EXPECT_DOUBLE_EQ(projectPose(traj, -1.0).theta, 0.42); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.4).x, 0.4); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.4).y, 29.2); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.4).theta, 0.42); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.5).x, 0.5); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.5).y, 29.0); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.5).theta, 0.42); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.51).x, 0.51); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.51).y, 28.98); + EXPECT_DOUBLE_EQ(projectPose(traj, 0.51).theta, 0.42); + EXPECT_DOUBLE_EQ(projectPose(traj, 1.0).x, 1.0); + EXPECT_DOUBLE_EQ(projectPose(traj, 1.0).y, 28.0); + EXPECT_DOUBLE_EQ(projectPose(traj, 1.0).theta, 0.42); + EXPECT_DOUBLE_EQ(projectPose(traj, 1.4999).x, 1.4999); + EXPECT_DOUBLE_EQ(projectPose(traj, 1.4999).y, 27.0002); + EXPECT_DOUBLE_EQ(projectPose(traj, 1.4999).theta, 0.42); + EXPECT_DOUBLE_EQ(projectPose(traj, 2.0).x, 2.0); + EXPECT_DOUBLE_EQ(projectPose(traj, 2.0).y, 26.0); + EXPECT_DOUBLE_EQ(projectPose(traj, 2.0).theta, 0.42); + EXPECT_FLOAT_EQ(projectPose(traj, 2.51).x, 2.51); + EXPECT_FLOAT_EQ(projectPose(traj, 2.51).y, 24.98); + EXPECT_DOUBLE_EQ(projectPose(traj, 2.51).theta, 0.42); + EXPECT_DOUBLE_EQ(projectPose(traj, 3.5).x, 3.0); + EXPECT_DOUBLE_EQ(projectPose(traj, 3.5).y, 24.0); + EXPECT_DOUBLE_EQ(projectPose(traj, 3.5).theta, 0.42); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/dwb_msgs/CMakeLists.txt b/navigations/dwb_msgs/CMakeLists.txt new file mode 100755 index 0000000..204ada8 --- /dev/null +++ b/navigations/dwb_msgs/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.0.2) +project(dwb_msgs) + +find_package(catkin REQUIRED + COMPONENTS geometry_msgs nav_2d_msgs message_generation nav_msgs +) + +add_message_files(FILES + CriticScore.msg + LocalPlanEvaluation.msg + Trajectory2D.msg + TrajectoryScore.msg +) +add_service_files(FILES + DebugLocalPlan.srv + GenerateTrajectory.srv + GenerateTwists.srv + GetCriticScore.srv + ScoreTrajectory.srv +) +generate_messages(DEPENDENCIES geometry_msgs nav_2d_msgs nav_msgs) + +catkin_package( + CATKIN_DEPENDS geometry_msgs message_runtime nav_2d_msgs nav_msgs +) diff --git a/navigations/dwb_msgs/msg/CriticScore.msg b/navigations/dwb_msgs/msg/CriticScore.msg new file mode 100755 index 0000000..7923c5e --- /dev/null +++ b/navigations/dwb_msgs/msg/CriticScore.msg @@ -0,0 +1,7 @@ +# The result from one critic scoring a Twist. +# Name of the critic +string name +# Score for the critic, not multiplied by the scale +float32 raw_score +# Scale for the critic, multiplied by the raw_score and added to the total score +float32 scale diff --git a/navigations/dwb_msgs/msg/LocalPlanEvaluation.msg b/navigations/dwb_msgs/msg/LocalPlanEvaluation.msg new file mode 100755 index 0000000..f0b6548 --- /dev/null +++ b/navigations/dwb_msgs/msg/LocalPlanEvaluation.msg @@ -0,0 +1,10 @@ +# Full Scoring for running the local planner + +# Header, used for timestamp +Header header +# All the trajectories evaluated and their scores +TrajectoryScore[] twists +# Convenience index of the best (lowest) score in the twists array +uint16 best_index +# Convenience index of the worst (highest) score in the twists array. Useful for scaling. +uint16 worst_index diff --git a/navigations/dwb_msgs/msg/Trajectory2D.msg b/navigations/dwb_msgs/msg/Trajectory2D.msg new file mode 100755 index 0000000..f8e3a9c --- /dev/null +++ b/navigations/dwb_msgs/msg/Trajectory2D.msg @@ -0,0 +1,11 @@ +# For a given velocity command, the poses that the robot will go to in the allotted time. + +# Input Velocity +nav_2d_msgs/Twist2D velocity + +# Poses the robot will go to, given our kinematic model +geometry_msgs/Pose2D[] poses + +# Time difference between the current pose and the poses in the trajectory. +# Parallel array to poses. Length should be the same. +duration[] time_offsets diff --git a/navigations/dwb_msgs/msg/TrajectoryScore.msg b/navigations/dwb_msgs/msg/TrajectoryScore.msg new file mode 100755 index 0000000..7ff4917 --- /dev/null +++ b/navigations/dwb_msgs/msg/TrajectoryScore.msg @@ -0,0 +1,8 @@ +# Complete scoring for a given twist. + +# The trajectory being scored +Trajectory2D traj +# The Scores for each of the critics employed +CriticScore[] scores +# Convenience member that totals the critic scores +float32 total diff --git a/navigations/dwb_msgs/package.xml b/navigations/dwb_msgs/package.xml new file mode 100755 index 0000000..0add28f --- /dev/null +++ b/navigations/dwb_msgs/package.xml @@ -0,0 +1,19 @@ + + + dwb_msgs + 0.3.0 + Message/Service definitions specifically for the dwb_local_planner + + David V. Lu!! + + BSD + + catkin + geometry_msgs + nav_2d_msgs + nav_msgs + message_generation + message_runtime + message_runtime + + diff --git a/navigations/dwb_msgs/srv/DebugLocalPlan.srv b/navigations/dwb_msgs/srv/DebugLocalPlan.srv new file mode 100755 index 0000000..eaba760 --- /dev/null +++ b/navigations/dwb_msgs/srv/DebugLocalPlan.srv @@ -0,0 +1,7 @@ +# For a given pose velocity and global_plan, run the local planner and return full results +nav_2d_msgs/Pose2DStamped pose +nav_2d_msgs/Twist2D velocity +nav_2d_msgs/Path2D global_plan +nav_2d_msgs/Pose2DStamped goal +--- +LocalPlanEvaluation results diff --git a/navigations/dwb_msgs/srv/GenerateTrajectory.srv b/navigations/dwb_msgs/srv/GenerateTrajectory.srv new file mode 100755 index 0000000..330aec5 --- /dev/null +++ b/navigations/dwb_msgs/srv/GenerateTrajectory.srv @@ -0,0 +1,6 @@ +# For a given start pose, velocity and desired velocity, generate which poses will be visited +geometry_msgs/Pose2D start_pose +nav_2d_msgs/Twist2D start_vel +nav_2d_msgs/Twist2D cmd_vel +--- +Trajectory2D traj diff --git a/navigations/dwb_msgs/srv/GenerateTwists.srv b/navigations/dwb_msgs/srv/GenerateTwists.srv new file mode 100755 index 0000000..72cfdc8 --- /dev/null +++ b/navigations/dwb_msgs/srv/GenerateTwists.srv @@ -0,0 +1,4 @@ +# For a given velocity, generate which twist commands will be evaluated +nav_2d_msgs/Twist2D current_vel +--- +nav_2d_msgs/Twist2D[] twists diff --git a/navigations/dwb_msgs/srv/GetCriticScore.srv b/navigations/dwb_msgs/srv/GetCriticScore.srv new file mode 100755 index 0000000..0c48ab0 --- /dev/null +++ b/navigations/dwb_msgs/srv/GetCriticScore.srv @@ -0,0 +1,8 @@ +nav_2d_msgs/Pose2DStamped pose +nav_2d_msgs/Twist2D velocity +nav_2d_msgs/Path2D global_plan +nav_2d_msgs/Pose2DStamped goal +Trajectory2D traj +string critic_name +--- +CriticScore score diff --git a/navigations/dwb_msgs/srv/ScoreTrajectory.srv b/navigations/dwb_msgs/srv/ScoreTrajectory.srv new file mode 100755 index 0000000..97dddd2 --- /dev/null +++ b/navigations/dwb_msgs/srv/ScoreTrajectory.srv @@ -0,0 +1,7 @@ +nav_2d_msgs/Pose2DStamped pose +nav_2d_msgs/Twist2D velocity +nav_2d_msgs/Path2D global_plan +nav_2d_msgs/Pose2DStamped goal +Trajectory2D traj +--- +TrajectoryScore score diff --git a/navigations/dwb_plugins/CMakeLists.txt b/navigations/dwb_plugins/CMakeLists.txt new file mode 100755 index 0000000..d2879f2 --- /dev/null +++ b/navigations/dwb_plugins/CMakeLists.txt @@ -0,0 +1,61 @@ +cmake_minimum_required(VERSION 3.0.2) +project(dwb_plugins) + +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror") + +find_package(catkin REQUIRED COMPONENTS angles dwb_local_planner dynamic_reconfigure nav_2d_msgs nav_2d_utils nav_core2 pluginlib roscpp) + +generate_dynamic_reconfigure_options(cfg/KinematicParams.cfg) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS angles dwb_local_planner dynamic_reconfigure nav_2d_msgs nav_2d_utils nav_core2 pluginlib roscpp + LIBRARIES simple_goal_checker stopped_goal_checker standard_traj_generator +) + +include_directories( + include ${catkin_INCLUDE_DIRS} +) + +add_library(simple_goal_checker src/simple_goal_checker.cpp) +target_link_libraries(simple_goal_checker ${catkin_LIBRARIES}) +add_dependencies(simple_goal_checker ${catkin_EXPORTED_TARGETS} ${dwb_plugins_EXPORTED_TARGETS}) + +add_library(stopped_goal_checker src/stopped_goal_checker.cpp) +target_link_libraries(stopped_goal_checker simple_goal_checker ${catkin_LIBRARIES}) +add_dependencies(stopped_goal_checker ${catkin_EXPORTED_TARGETS} ${dwb_plugins_EXPORTED_TARGETS}) + +add_library(standard_traj_generator + src/standard_traj_generator.cpp + src/limited_accel_generator.cpp + src/kinematic_parameters.cpp + src/xy_theta_iterator.cpp) +target_link_libraries(standard_traj_generator ${catkin_LIBRARIES}) +add_dependencies(standard_traj_generator ${catkin_EXPORTED_TARGETS} ${dwb_plugins_EXPORTED_TARGETS}) + +if (CATKIN_ENABLE_TESTING) + catkin_add_gtest(vtest test/velocity_iterator_test.cpp) + + find_package(rostest REQUIRED) + add_rostest_gtest(goal_checker test/goal_checker.launch test/goal_checker.cpp) + target_link_libraries(goal_checker simple_goal_checker stopped_goal_checker ${GTEST_LIBRARIES}) + + add_rostest_gtest(twist_gen_test test/twist_gen.launch test/twist_gen.cpp) + target_link_libraries(twist_gen_test standard_traj_generator ${GTEST_LIBRARIES}) + + find_package(roslint REQUIRED) + roslint_cpp() + roslint_add_test() +endif (CATKIN_ENABLE_TESTING) + +install(TARGETS simple_goal_checker stopped_goal_checker standard_traj_generator + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(FILES plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/navigations/dwb_plugins/README.md b/navigations/dwb_plugins/README.md new file mode 100755 index 0000000..cd0200c --- /dev/null +++ b/navigations/dwb_plugins/README.md @@ -0,0 +1,44 @@ +# dwb_plugins + +This package contains the standard implementations of the GoalChecker and TrajectoryGenerators for `dwb_local_planner`. The TrajectoryCritic implementations are in `dwb_critics`. + +## Goal Checkers +There are two goal checkers implemented. +### SimpleGoalChecker +SimpleGoalChecker will return true indicating a goal has been reached when the query pose is sufficiently close to the goal pose. It does this by comparing the cartesian difference against the `xy_goal_tolerance` and the shortest angular difference to the `yaw_goal_tolerance`. It does not check velocity. + +If the `stateful` parameter is set to true (which it is by default), once the desired cartesian difference is obtained, it will not check the cartesian difference again (until reset) and only check the yaw tolerance. This handles cases where the robot may accidentally leave the desired `xy_goal_tolerance` while rotating to the desired yaw. If `stateful` is true, this won't force the robot to try to move closer to the goal again, and instead just rotate to the goal. + +### StoppedGoalChecker +StoppedGoalChecker builds off of the above functionality, but also ensures that the robot's linear velocity is less than `trans_stopped_velocity` and the rotational velocity is less than `rot_stopped_velocity`. + +## Trajectory Generation +Trajectory Generation covers two separate but related components. + * First, it defines which command velocities are available, given the current velocity. + * Second, given a velocity, it defines the trajectory the robot would take. + +Generally, the available velocities are constrained by the robot's velocity and acceleration limits. + +![velocity limits diagram](doc/VelocitySpace.png) + +In the above diagram, the robot's current velocity is marked with a blue circle, and the grey rectangle marks the allowable velocities, limited by acceleration, and the robot's maximum x velocity. However, the exact size of the rectangle also depends on a time parameter, which we get into below. + +When converting the velocities to trajectories, the robot's position is projected ahead in both time and space. This is dependent on a time parameter (called `sim_time`) for how far into the future to project the robot's position. For a simple example, assume we had a robot at `x=0` travelling at `xv=2.0`, and we want to calculate the trajectory for `xv=2.0`. It might result in the following poses if `sim_time=2.0`. + * `t=0.0, x=0` + * `t=1.0, x=2.0` + * `t=2.0, x=4.0` + +However, the trajectory is more open to interpretation when the speed is not constant. + +### StandardTrajGenerator and LimitedAccelGenerator +To replicate the functionality of `dwa_local_planner`, this package implements two TrajectoryGenerators. StandardTrajGenerator is equivalent to using DWA with `use_dwa=false` and LimitedAccelGenerator is equivalent to DWA with `use_dwa=true` (which is the default). The key difference in these generators are how time and acceleration are handled. + +As discussed above, `sim_time` is the parameter used for determining the time ellapsed in the trajectories (DWA's default was 1.7 seconds). In `StandardTrajGenerator` the available command velocities are limited by velocities reachable given the robot's acceleration in `sim_time`, i.e. the maximum available linear velocity is `vel_x + accel_x * sim_time`. In practice, given the relatively high value of `sim_time`, `StandardTrajGenerator` would allow for high accelerations almost instantaenously. For example, if initially motionless, with an accerlation of 1.0 m/s^2 and `sim_time=1.7`, the initial velocity could be 1.7 m/s. + +In `LimitedAccelGenerator` the time used for calculating the accerlation portion is either the parameter `sim_period`, or the inverse of the `controller_frequency` (i.e. if `controller_frequency` is 20.0, `sim_period` is set to 0.05). Then the maximum linear velocity is calculated with `vel_x + accel_x * sim_period`. This results in MUCH lower velocities. + +The other key difference between these two is how the acceleration is handled over time in the trajectory generation. In `StandardTrajGenerator` the velocity is allowed to change over the course of the trajectory based on the robot's acceleration, ramping up to the command velocity. In `LimitedAccelGenerator` the velocity is constant throughout the trajectory. + +In the below example, the velocities are shown for an initial speed of 0.0 and commanded speed of 3.5 m/s. + +![standard position and velocity](doc/std_pv.png)![limited acceleration position and velocity](doc/lim_pv.png) \ No newline at end of file diff --git a/navigations/dwb_plugins/cfg/KinematicParams.cfg b/navigations/dwb_plugins/cfg/KinematicParams.cfg new file mode 100755 index 0000000..51dab28 --- /dev/null +++ b/navigations/dwb_plugins/cfg/KinematicParams.cfg @@ -0,0 +1,33 @@ +#!/usr/bin/env python +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, double_t + +gen = ParameterGenerator() + +# velocities +gen.add('min_vel_x', double_t, 0, 'The minimum x velocity for the robot in m/s', 0.0) +gen.add('max_vel_x', double_t, 0, 'The maximum x velocity for the robot in m/s', 0.55) +gen.add('min_vel_y', double_t, 0, 'The minimum y velocity for the robot in m/s', -0.1) +gen.add('max_vel_y', double_t, 0, 'The maximum y velocity for the robot in m/s', 0.1) +gen.add('max_vel_theta', double_t, 0, 'The absolute value of the maximum rotational velocity for the robot in rad/s. ' + 'The minimum rotational velocity is assumed to be -max_vel_theta', 1.0) + +# acceleration +gen.add('acc_lim_x', double_t, 0, 'The acceleration limit of the robot in the x direction in m/s^2', 2.5) +gen.add('acc_lim_y', double_t, 0, 'The acceleration limit of the robot in the y direction in m/s^2', 2.5) +gen.add('acc_lim_theta', double_t, 0, 'The acceleration limit of the robot in the theta direction in rad/s^2', 3.2) + +gen.add('decel_lim_x', double_t, 0, 'The deceleration limit of the robot in the x direction in m/s^2', -2.5) +gen.add('decel_lim_y', double_t, 0, 'The deceleration limit of the robot in the y direction in m/s^2', -2.5) +gen.add('decel_lim_theta', double_t, 0, 'The deceleration limit of the robot in the theta direction in rad/s^2', -3.2) + +gen.add('min_speed_xy', double_t, 0, 'The absolute value of the minimum translational/xy velocity in m/s. ' + 'If the value is negative, then the min speed will be arbitrarily close to 0.0. ' + 'Previously called min_trans_vel', 0.1) +gen.add('max_speed_xy', double_t, 0, 'The absolute value of the maximum translational/xy velocity in m/s. ' + 'If the value is negative, then the max speed is hypot(max_vel_x, max_vel_y). ' + 'Previously called max_trans_vel', 0.55) +gen.add('min_speed_theta', double_t, 0, 'The absolute value of the minimum rotational velocity in rad/s. ' + 'If the value is negative, then the min speed will be arbitrarily close to 0.0.' + ' Previously called min_rot_vel', 0.4) + +exit(gen.generate('dwb_plugins', 'dwb_plugins', 'KinematicParams')) diff --git a/navigations/dwb_plugins/doc/VelocitySpace.png b/navigations/dwb_plugins/doc/VelocitySpace.png new file mode 100755 index 0000000..cb5e660 Binary files /dev/null and b/navigations/dwb_plugins/doc/VelocitySpace.png differ diff --git a/navigations/dwb_plugins/doc/lim_pv.png b/navigations/dwb_plugins/doc/lim_pv.png new file mode 100755 index 0000000..c680bdc Binary files /dev/null and b/navigations/dwb_plugins/doc/lim_pv.png differ diff --git a/navigations/dwb_plugins/doc/std_pv.png b/navigations/dwb_plugins/doc/std_pv.png new file mode 100755 index 0000000..0307645 Binary files /dev/null and b/navigations/dwb_plugins/doc/std_pv.png differ diff --git a/navigations/dwb_plugins/include/dwb_plugins/kinematic_parameters.h b/navigations/dwb_plugins/include/dwb_plugins/kinematic_parameters.h new file mode 100755 index 0000000..5e9b3b7 --- /dev/null +++ b/navigations/dwb_plugins/include/dwb_plugins/kinematic_parameters.h @@ -0,0 +1,113 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_PLUGINS_KINEMATIC_PARAMETERS_H +#define DWB_PLUGINS_KINEMATIC_PARAMETERS_H + +#include +#include +#include +#include + +namespace dwb_plugins +{ + +/** + * @class KinematicParameters + * @brief A dynamically reconfigurable class containing one representation of the robot's kinematics + */ +class KinematicParameters +{ +public: + KinematicParameters(); + void initialize(const ros::NodeHandle& nh); + + inline double getMinX() { return min_vel_x_; } + inline double getMaxX() { return max_vel_x_; } + inline double getAccX() { return acc_lim_x_; } + inline double getDecelX() { return decel_lim_x_; } + + inline double getMinY() { return min_vel_y_; } + inline double getMaxY() { return max_vel_y_; } + inline double getAccY() { return acc_lim_y_; } + inline double getDecelY() { return decel_lim_y_; } + + inline double getMinSpeedXY() { return min_speed_xy_; } + + inline double getMinTheta() { return -max_vel_theta_; } + inline double getMaxTheta() { return max_vel_theta_; } + inline double getAccTheta() { return acc_lim_theta_; } + inline double getDecelTheta() { return decel_lim_theta_; } + inline double getMinSpeedTheta() { return min_speed_theta_; } + + /** + * @brief Check to see whether the combined x/y/theta velocities are valid + * @return True if the magnitude hypot(x,y) and theta are within the robot's absolute limits + * + * This is based on three parameters: min_speed_xy, max_speed_xy and min_speed_theta. + * The speed is valid if + * 1) The combined magnitude hypot(x,y) is less than max_speed_xy (or max_speed_xy is negative) + * AND + * 2) min_speed_xy is negative or min_speed_theta is negative or + * hypot(x,y) is greater than min_speed_xy or fabs(theta) is greater than min_speed_theta. + * + * In English, it makes sure the diagonal motion is not too fast, + * and that the velocity is moving in some meaningful direction. + * + * In Latin, quod si motus sit signum quaerit et movere ieiunium et significantissime comprehendite. + */ + bool isValidSpeed(double x, double y, double theta); + + using Ptr = std::shared_ptr; +protected: + // For parameter descriptions, see cfg/KinematicParams.cfg + double min_vel_x_, min_vel_y_; + double max_vel_x_, max_vel_y_, max_vel_theta_; + + double min_speed_xy_, max_speed_xy_; + double min_speed_theta_; + + double acc_lim_x_, acc_lim_y_, acc_lim_theta_; + double decel_lim_x_, decel_lim_y_, decel_lim_theta_; + + // Cached square values of min_speed_xy and max_speed_xy + double min_speed_xy_sq_, max_speed_xy_sq_; + + void reconfigureCB(KinematicParamsConfig &config, uint32_t level); + std::shared_ptr > dsrv_; +}; + +} // namespace dwb_plugins + +#endif // DWB_PLUGINS_KINEMATIC_PARAMETERS_H diff --git a/navigations/dwb_plugins/include/dwb_plugins/limited_accel_generator.h b/navigations/dwb_plugins/include/dwb_plugins/limited_accel_generator.h new file mode 100755 index 0000000..806457a --- /dev/null +++ b/navigations/dwb_plugins/include/dwb_plugins/limited_accel_generator.h @@ -0,0 +1,69 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_PLUGINS_LIMITED_ACCEL_GENERATOR_H +#define DWB_PLUGINS_LIMITED_ACCEL_GENERATOR_H + +#include + +namespace dwb_plugins +{ +/** + * @class LimitedAccelGenerator + * @brief Limits the acceleration in the generated trajectories to a fraction of the simulated time. + */ +class LimitedAccelGenerator : public StandardTrajectoryGenerator +{ +public: + void initialize(ros::NodeHandle& nh) override; + void checkUseDwaParam(const ros::NodeHandle& nh) override; + void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity) override; +protected: + /** + * @brief Calculate the velocity after a set period of time, given the desired velocity and acceleration limits + * + * Unlike the StandardTrajectoryGenerator, the velocity remains constant in the LimitedAccelGenerator + * + * @param cmd_vel Desired velocity + * @param start_vel starting velocity + * @param dt amount of time in seconds + * @return cmd_vel + */ + nav_2d_msgs::Twist2D computeNewVelocity(const nav_2d_msgs::Twist2D& cmd_vel, const nav_2d_msgs::Twist2D& start_vel, + const double dt) override; + double acceleration_time_; +}; +} // namespace dwb_plugins + +#endif // DWB_PLUGINS_LIMITED_ACCEL_GENERATOR_H diff --git a/navigations/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.h b/navigations/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.h new file mode 100755 index 0000000..5015d40 --- /dev/null +++ b/navigations/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.h @@ -0,0 +1,215 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_PLUGINS_ONE_D_VELOCITY_ITERATOR_H +#define DWB_PLUGINS_ONE_D_VELOCITY_ITERATOR_H + +#include +#include + +namespace dwb_plugins +{ + +const double EPSILON = 1E-5; + +/** + * @brief Given initial conditions and a time, figure out the end velocity + * + * @param v0 Initial velocity + * @param accel The acceleration rate + * @param decel The decceleration rate + * @param dt Delta time - amount of time to project into the future + * @param target target velocity + * @return The velocity dt seconds after v0. + */ +inline double projectVelocity(double v0, double accel, double decel, double dt, double target) +{ + double magnitude; + if (fabs(v0) < EPSILON) + { + // Starting from standstill, always accelerate + if (target >= 0.0) + { + magnitude = fabs(accel); + } + else + { + magnitude = -fabs(accel); + } + } + else if (v0 > 0.0) + { + if (v0 < target) + { + // Acceleration (speed magnitude increases) + magnitude = fabs(accel); + } + else + { + // Deceleration (speed magnitude decreases) + magnitude = -fabs(decel); + } + } + else + { + if (v0 < target) + { + // Deceleration (speed magnitude decreases) + magnitude = fabs(decel); + } + else + { + // Acceleration (speed magnitude increases) + magnitude = -fabs(accel); + } + } + + double v1 = v0 + magnitude * dt; + if (magnitude > 0.0) + { + return std::min(target, v1); + } + else + { + return std::max(target, v1); + } +} + +/** + * @class OneDVelocityIterator + * @brief An iterator for generating a number of samples in a range + * + * In its simplest usage, this gives us N (num_samples) different velocities that are reachable + * given our current velocity. However, there is some fancy logic around zero velocities and + * the min/max velocities + * + * If the current velocity is 2 m/s, and the acceleration limit is 1 m/ss and the acc_time is 1 s, + * this class would provide velocities between 1 m/s and 3 m/s. + * + * + * + */ +class OneDVelocityIterator +{ +public: + /** + * @brief Constructor for the velocity iterator + * + * @param current Current velocity + * @param min Minimum velocity allowable + * @param max Maximum velocity allowable + * @param acc_limit Acceleration Limit + * @param decel_limit Deceleration Limit + * @param num_samples The number of samples to return + */ + OneDVelocityIterator(double current, double min, double max, double acc_limit, double decel_limit, double acc_time, + int num_samples) + { + if (current < min) + { + current = min; + } + else if (current > max) + { + current = max; + } + max_vel_ = projectVelocity(current, acc_limit, decel_limit, acc_time, max); + min_vel_ = projectVelocity(current, acc_limit, decel_limit, acc_time, min); + reset(); + + if (fabs(min_vel_ - max_vel_) < EPSILON) + { + increment_ = 1.0; + return; + } + num_samples = std::max(2, num_samples); + + // e.g. for 4 samples, split distance in 3 even parts + increment_ = (max_vel_ - min_vel_) / std::max(1, (num_samples - 1)); + } + + /** + * @brief Get the next velocity available + */ + double getVelocity() const + { + if (return_zero_now_) return 0.0; + return current_; + } + + /** + * @brief Increment the iterator + */ + OneDVelocityIterator& operator++() + { + if (return_zero_ && current_ < 0.0 && current_ + increment_ > 0.0 && current_ + increment_ <= max_vel_ + EPSILON) + { + return_zero_now_ = true; + return_zero_ = false; + } + else + { + current_ += increment_; + return_zero_now_ = false; + } + return *this; + } + + /** + * @brief Reset back to the first velocity + */ + void reset() + { + current_ = min_vel_; + return_zero_ = true; + return_zero_now_ = false; + } + + /** + * If we have returned all the velocities for this iteration + */ + bool isFinished() const + { + return current_ > max_vel_ + EPSILON; + } + +private: + bool return_zero_, return_zero_now_; + double min_vel_, max_vel_; + double current_; + double increment_; +}; +} // namespace dwb_plugins + +#endif // DWB_PLUGINS_ONE_D_VELOCITY_ITERATOR_H diff --git a/navigations/dwb_plugins/include/dwb_plugins/simple_goal_checker.h b/navigations/dwb_plugins/include/dwb_plugins/simple_goal_checker.h new file mode 100755 index 0000000..954d13d --- /dev/null +++ b/navigations/dwb_plugins/include/dwb_plugins/simple_goal_checker.h @@ -0,0 +1,70 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_PLUGINS_SIMPLE_GOAL_CHECKER_H +#define DWB_PLUGINS_SIMPLE_GOAL_CHECKER_H + +#include +#include + +namespace dwb_plugins +{ + +/** + * @class SimpleGoalChecker + * @brief Goal Checker plugin that only checks the position difference + * + * This class can be stateful if the stateful parameter is set to true (which it is by default). + * This means that the goal checker will not check if the xy position matches again once it is found to be true. + */ +class SimpleGoalChecker : public dwb_local_planner::GoalChecker +{ +public: + SimpleGoalChecker(); + // Standard GoalChecker Interface + void initialize(const ros::NodeHandle& nh) override; + void reset() override; + bool isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose, + const nav_2d_msgs::Twist2D& velocity) override; +protected: + double xy_goal_tolerance_, yaw_goal_tolerance_; + bool stateful_, check_xy_; + + // Cached squared xy_goal_tolerance_ + double xy_goal_tolerance_sq_; +}; + +} // namespace dwb_plugins + +#endif // DWB_PLUGINS_SIMPLE_GOAL_CHECKER_H diff --git a/navigations/dwb_plugins/include/dwb_plugins/standard_traj_generator.h b/navigations/dwb_plugins/include/dwb_plugins/standard_traj_generator.h new file mode 100755 index 0000000..476b799 --- /dev/null +++ b/navigations/dwb_plugins/include/dwb_plugins/standard_traj_generator.h @@ -0,0 +1,148 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_PLUGINS_STANDARD_TRAJ_GENERATOR_H +#define DWB_PLUGINS_STANDARD_TRAJ_GENERATOR_H + +#include +#include +#include +#include +#include +#include + +namespace dwb_plugins +{ + +/** + * @class StandardTrajectoryGenerator + * @brief Standard DWA-like trajectory generator. + */ +class StandardTrajectoryGenerator : public dwb_local_planner::TrajectoryGenerator +{ +public: + // Standard TrajectoryGenerator interface + void initialize(ros::NodeHandle& nh) override; + void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity) override; + bool hasMoreTwists() override; + nav_2d_msgs::Twist2D nextTwist() override; + + dwb_msgs::Trajectory2D generateTrajectory(const geometry_msgs::Pose2D& start_pose, + const nav_2d_msgs::Twist2D& start_vel, + const nav_2d_msgs::Twist2D& cmd_vel) override; +protected: + /** + * @brief Initialize the VelocityIterator pointer. Put in its own function for easy overriding + */ + virtual void initializeIterator(ros::NodeHandle& nh); + + /** + * @brief Check if the deprecated use_dwa parameter is set to the functionality that matches this class + * + * The functionality guarded by the use_dwa parameter has been split between this class and the derived + * LimitedAccelGenerator. If use_dwa was false, this class should be used. If it was true, then LimitedAccelGenerator. + * If this is NOT the case, this function will throw an exception. + */ + virtual void checkUseDwaParam(const ros::NodeHandle& nh); + + /** + * @brief Calculate the velocity after a set period of time, given the desired velocity and acceleration limits + * + * @param cmd_vel Desired velocity + * @param start_vel starting velocity + * @param dt amount of time in seconds + * @return new velocity after dt seconds + */ + virtual nav_2d_msgs::Twist2D computeNewVelocity(const nav_2d_msgs::Twist2D& cmd_vel, + const nav_2d_msgs::Twist2D& start_vel, + const double dt); + + /** + * @brief Use the robot's kinematic model to predict new positions for the robot + * + * @param start_pose Starting pose + * @param vel Actual robot velocity (assumed to be within acceleration limits) + * @param dt amount of time in seconds + * @return New pose after dt seconds + */ + virtual geometry_msgs::Pose2D computeNewPosition(const geometry_msgs::Pose2D start_pose, + const nav_2d_msgs::Twist2D& vel, + const double dt); + + + /** + * @brief Compute an array of time deltas between the points in the generated trajectory. + * + * @param cmd_vel The desired command velocity + * @return vector of the difference between each time step in the generated trajectory + * + * If we are discretizing by time, the returned vector will be the same constant time_granularity + * for all cmd_vels. Otherwise, you will get times based on the linear/angular granularity. + * + * Right now the vector contains a single value repeated many times, but this method could be overridden + * to allow for dynamic spacing + */ + virtual std::vector getTimeSteps(const nav_2d_msgs::Twist2D& cmd_vel); + + KinematicParameters::Ptr kinematics_; + std::shared_ptr velocity_iterator_; + + double sim_time_; + + // Sampling Parameters + bool discretize_by_time_; + double time_granularity_; ///< If discretizing by time, the amount of time between each point in the traj + double linear_granularity_; ///< If not discretizing by time, the amount of linear space between points + double angular_granularity_; ///< If not discretizing by time, the amount of angular space between points + + /* Backwards Compatibility Parameter: include_last_point + * + * dwa had an off-by-one error built into it. + * It generated N trajectory points, where N = ceil(sim_time / time_delta). + * If for example, sim_time=3.0 and time_delta=1.5, it would generate trajectories with 2 points, which + * indeed were time_delta seconds apart. However, the points would be at t=0 and t=1.5, and thus the + * actual sim_time was much less than advertised. + * + * This is remedied by adding one final point at t=sim_time, but only if include_last_point_ is true. + * + * Nothing I could find actually used the time_delta variable or seemed to care that the trajectories + * were not projected out as far as they intended. + */ + bool include_last_point_; +}; + + +} // namespace dwb_plugins + +#endif // DWB_PLUGINS_STANDARD_TRAJ_GENERATOR_H diff --git a/navigations/dwb_plugins/include/dwb_plugins/stopped_goal_checker.h b/navigations/dwb_plugins/include/dwb_plugins/stopped_goal_checker.h new file mode 100755 index 0000000..a1caae0 --- /dev/null +++ b/navigations/dwb_plugins/include/dwb_plugins/stopped_goal_checker.h @@ -0,0 +1,62 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_PLUGINS_STOPPED_GOAL_CHECKER_H +#define DWB_PLUGINS_STOPPED_GOAL_CHECKER_H + +#include +#include + +namespace dwb_plugins +{ + +/** + * @class StoppedGoalChecker + * @brief Goal Checker plugin that checks the position difference and velocity + */ +class StoppedGoalChecker : public SimpleGoalChecker +{ +public: + StoppedGoalChecker(); + // Standard GoalChecker Interface + void initialize(const ros::NodeHandle& nh) override; + bool isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose, + const nav_2d_msgs::Twist2D& velocity) override; +protected: + double rot_stopped_velocity_, trans_stopped_velocity_; +}; + +} // namespace dwb_plugins + +#endif // DWB_PLUGINS_STOPPED_GOAL_CHECKER_H diff --git a/navigations/dwb_plugins/include/dwb_plugins/velocity_iterator.h b/navigations/dwb_plugins/include/dwb_plugins/velocity_iterator.h new file mode 100755 index 0000000..4a97df3 --- /dev/null +++ b/navigations/dwb_plugins/include/dwb_plugins/velocity_iterator.h @@ -0,0 +1,55 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_PLUGINS_VELOCITY_ITERATOR_H +#define DWB_PLUGINS_VELOCITY_ITERATOR_H + +#include +#include +#include + +namespace dwb_plugins +{ +class VelocityIterator +{ +public: + virtual ~VelocityIterator() {} + virtual void initialize(ros::NodeHandle& nh, KinematicParameters::Ptr kinematics) = 0; + virtual void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity, double dt) = 0; + virtual bool hasMoreTwists() = 0; + virtual nav_2d_msgs::Twist2D nextTwist() = 0; +}; +} // namespace dwb_plugins + +#endif // DWB_PLUGINS_VELOCITY_ITERATOR_H diff --git a/navigations/dwb_plugins/include/dwb_plugins/xy_theta_iterator.h b/navigations/dwb_plugins/include/dwb_plugins/xy_theta_iterator.h new file mode 100755 index 0000000..10c5288 --- /dev/null +++ b/navigations/dwb_plugins/include/dwb_plugins/xy_theta_iterator.h @@ -0,0 +1,62 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef DWB_PLUGINS_XY_THETA_ITERATOR_H +#define DWB_PLUGINS_XY_THETA_ITERATOR_H + +#include +#include +#include + +namespace dwb_plugins +{ +class XYThetaIterator : public VelocityIterator +{ +public: + XYThetaIterator() : kinematics_(nullptr), x_it_(nullptr), y_it_(nullptr), th_it_(nullptr) {} + void initialize(ros::NodeHandle& nh, KinematicParameters::Ptr kinematics) override; + void startNewIteration(const nav_2d_msgs::Twist2D& current_velocity, double dt) override; + bool hasMoreTwists() override; + nav_2d_msgs::Twist2D nextTwist() override; +protected: + virtual bool isValidVelocity(); + void iterateToValidVelocity(); + int vx_samples_, vy_samples_, vtheta_samples_; + KinematicParameters::Ptr kinematics_; + + std::shared_ptr x_it_, y_it_, th_it_; +}; +} // namespace dwb_plugins + +#endif // DWB_PLUGINS_XY_THETA_ITERATOR_H diff --git a/navigations/dwb_plugins/package.xml b/navigations/dwb_plugins/package.xml new file mode 100755 index 0000000..537ac93 --- /dev/null +++ b/navigations/dwb_plugins/package.xml @@ -0,0 +1,30 @@ + + + dwb_plugins + 0.3.0 + + Standard implementations of the GoalChecker + and TrajectoryGenerators for dwb_local_planner + + + David V. Lu!! + + BSD + + catkin + angles + dwb_local_planner + dynamic_reconfigure + nav_2d_msgs + nav_2d_utils + nav_core2 + pluginlib + roscpp + roslint + rostest + rosunit + + + + + diff --git a/navigations/dwb_plugins/plugins.xml b/navigations/dwb_plugins/plugins.xml new file mode 100755 index 0000000..88d59ae --- /dev/null +++ b/navigations/dwb_plugins/plugins.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/dwb_plugins/src/kinematic_parameters.cpp b/navigations/dwb_plugins/src/kinematic_parameters.cpp new file mode 100755 index 0000000..0547a16 --- /dev/null +++ b/navigations/dwb_plugins/src/kinematic_parameters.cpp @@ -0,0 +1,126 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include + +using nav_2d_utils::moveDeprecatedParameter; +namespace dwb_plugins +{ + +const double EPSILON = 1E-5; + +/** + * @brief Helper function to set the deceleration to the negative acceleration if it was not already set. + * @param nh NodeHandle + * @param dimension String representing the dimension, used in constructing parameter names + */ +void setDecelerationAsNeeded(const ros::NodeHandle& nh, const std::string dimension) +{ + std::string decel_param = "decel_lim_" + dimension; + if (nh.hasParam(decel_param)) return; + + std::string accel_param = "acc_lim_" + dimension; + if (!nh.hasParam(accel_param)) return; + + double accel; + nh.getParam(accel_param, accel); + nh.setParam(decel_param, -accel); +} + +KinematicParameters::KinematicParameters() : + min_vel_x_(0.0), min_vel_y_(0.0), max_vel_x_(0.0), max_vel_y_(0.0), max_vel_theta_(0.0), + min_speed_xy_(0.0), max_speed_xy_(0.0), min_speed_theta_(0.0), + acc_lim_x_(0.0), acc_lim_y_(0.0), acc_lim_theta_(0.0), + decel_lim_x_(0.0), decel_lim_y_(0.0), decel_lim_theta_(0.0), + min_speed_xy_sq_(0.0), max_speed_xy_sq_(0.0), + dsrv_(nullptr) +{ +} + +void KinematicParameters::initialize(const ros::NodeHandle& nh) +{ + // Special handling for renamed parameters + moveDeprecatedParameter(nh, "max_vel_theta", "max_rot_vel"); + moveDeprecatedParameter(nh, "min_speed_xy", "min_trans_vel"); + moveDeprecatedParameter(nh, "max_speed_xy", "max_trans_vel"); + moveDeprecatedParameter(nh, "min_speed_theta", "min_rot_vel"); + + // Set the deceleration parameters to negative the acceleration if the deceleration not already specified + setDecelerationAsNeeded(nh, "x"); + setDecelerationAsNeeded(nh, "y"); + setDecelerationAsNeeded(nh, "theta"); + + // the rest of the initial values are loaded through the dynamic reconfigure mechanisms + dsrv_ = std::make_shared >(nh); + dynamic_reconfigure::Server::CallbackType cb = + boost::bind(&KinematicParameters::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); +} + +void KinematicParameters::reconfigureCB(KinematicParamsConfig &config, uint32_t level) +{ + min_vel_x_ = config.min_vel_x; + min_vel_y_ = config.min_vel_y; + max_vel_x_ = config.max_vel_x; + max_vel_y_ = config.max_vel_y; + max_vel_theta_ = config.max_vel_theta; + + min_speed_xy_ = config.min_speed_xy; + max_speed_xy_ = config.max_speed_xy; + min_speed_xy_sq_ = min_speed_xy_ * min_speed_xy_; + max_speed_xy_sq_ = max_speed_xy_ * max_speed_xy_; + min_speed_theta_ = config.min_speed_theta; + + acc_lim_x_ = config.acc_lim_x; + acc_lim_y_ = config.acc_lim_y; + acc_lim_theta_ = config.acc_lim_theta; + decel_lim_x_ = config.decel_lim_x; + decel_lim_y_ = config.decel_lim_y; + decel_lim_theta_ = config.decel_lim_theta; +} + +bool KinematicParameters::isValidSpeed(double x, double y, double theta) +{ + double vmag_sq = x * x + y * y; + if (max_speed_xy_ >= 0.0 && vmag_sq > max_speed_xy_sq_ + EPSILON) return false; + if (min_speed_xy_ >= 0.0 && vmag_sq + EPSILON < min_speed_xy_sq_ && + min_speed_theta_ >= 0.0 && fabs(theta) + EPSILON < min_speed_theta_) return false; + if (vmag_sq == 0.0 && theta == 0.0) return false; + return true; +} + +} // namespace dwb_plugins diff --git a/navigations/dwb_plugins/src/limited_accel_generator.cpp b/navigations/dwb_plugins/src/limited_accel_generator.cpp new file mode 100755 index 0000000..c7ae92f --- /dev/null +++ b/navigations/dwb_plugins/src/limited_accel_generator.cpp @@ -0,0 +1,92 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include + +namespace dwb_plugins +{ + +void LimitedAccelGenerator::initialize(ros::NodeHandle& nh) +{ + StandardTrajectoryGenerator::initialize(nh); + if (nh.hasParam("sim_period")) + { + nh.getParam("sim_period", acceleration_time_); + } + else + { + double controller_frequency = nav_2d_utils::searchAndGetParam(nh, "controller_frequency", 20.0); + if (controller_frequency > 0) + { + acceleration_time_ = 1.0 / controller_frequency; + } + else + { + ROS_WARN_NAMED("LimitedAccelGenerator", "A controller_frequency less than or equal to 0 has been set. " + "Ignoring the parameter, assuming a rate of 20Hz"); + acceleration_time_ = 0.05; + } + } +} + +void LimitedAccelGenerator::checkUseDwaParam(const ros::NodeHandle& nh) +{ + bool use_dwa; + nh.param("use_dwa", use_dwa, true); + if (!use_dwa) + { + throw nav_core2::PlannerException("Deprecated parameter use_dwa set to false. " + "Please use StandardTrajectoryGenerator for that functionality."); + } +} + +void LimitedAccelGenerator::startNewIteration(const nav_2d_msgs::Twist2D& current_velocity) +{ + // Limit our search space to just those within the limited acceleration_time + velocity_iterator_->startNewIteration(current_velocity, acceleration_time_); +} + +nav_2d_msgs::Twist2D LimitedAccelGenerator::computeNewVelocity(const nav_2d_msgs::Twist2D& cmd_vel, + const nav_2d_msgs::Twist2D& start_vel, const double dt) +{ + return cmd_vel; +} + +} // namespace dwb_plugins + +PLUGINLIB_EXPORT_CLASS(dwb_plugins::LimitedAccelGenerator, dwb_local_planner::TrajectoryGenerator) diff --git a/navigations/dwb_plugins/src/simple_goal_checker.cpp b/navigations/dwb_plugins/src/simple_goal_checker.cpp new file mode 100755 index 0000000..fe17ee8 --- /dev/null +++ b/navigations/dwb_plugins/src/simple_goal_checker.cpp @@ -0,0 +1,84 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include + +namespace dwb_plugins +{ + +SimpleGoalChecker::SimpleGoalChecker() : + xy_goal_tolerance_(0.25), yaw_goal_tolerance_(0.25), stateful_(true), check_xy_(true), xy_goal_tolerance_sq_(0.0625) +{ +} + +void SimpleGoalChecker::initialize(const ros::NodeHandle& nh) +{ + nh.param("xy_goal_tolerance", xy_goal_tolerance_, 0.25); + nh.param("yaw_goal_tolerance", yaw_goal_tolerance_, 0.25); + nh.param("stateful", stateful_, true); + xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_; +} + +void SimpleGoalChecker::reset() +{ + check_xy_ = true; +} + +bool SimpleGoalChecker::isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose, + const nav_2d_msgs::Twist2D& velocity) +{ + if (check_xy_) + { + double dx = query_pose.x - goal_pose.x, + dy = query_pose.y - goal_pose.y; + if (dx * dx + dy * dy > xy_goal_tolerance_sq_) + { + return false; + } + // We are within the window + // If we are stateful, change the state. + if (stateful_) + { + check_xy_ = false; + } + } + double dyaw = angles::shortest_angular_distance(query_pose.theta, goal_pose.theta); + return fabs(dyaw) < yaw_goal_tolerance_; +} + +} // namespace dwb_plugins + +PLUGINLIB_EXPORT_CLASS(dwb_plugins::SimpleGoalChecker, dwb_local_planner::GoalChecker) diff --git a/navigations/dwb_plugins/src/standard_traj_generator.cpp b/navigations/dwb_plugins/src/standard_traj_generator.cpp new file mode 100755 index 0000000..10668ff --- /dev/null +++ b/navigations/dwb_plugins/src/standard_traj_generator.cpp @@ -0,0 +1,203 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using nav_2d_utils::loadParameterWithDeprecation; + +namespace dwb_plugins +{ + +void StandardTrajectoryGenerator::initialize(ros::NodeHandle& nh) +{ + kinematics_ = std::make_shared(); + kinematics_->initialize(nh); + initializeIterator(nh); + + nh.param("sim_time", sim_time_, 1.7); + checkUseDwaParam(nh); + + nh.param("include_last_point", include_last_point_, true); + + /* + * If discretize_by_time, then sim_granularity represents the amount of time that should be between + * two successive points on the trajectory. + * + * If discretize_by_time is false, then sim_granularity is the maximum amount of distance between + * two successive points on the trajectory, and angular_sim_granularity is the maximum amount of + * angular distance between two successive points. + */ + nh.param("discretize_by_time", discretize_by_time_, false); + if (discretize_by_time_) + { + time_granularity_ = loadParameterWithDeprecation(nh, "time_granularity", "sim_granularity", 0.025); + } + else + { + linear_granularity_ = loadParameterWithDeprecation(nh, "linear_granularity", "sim_granularity", 0.025); + angular_granularity_ = loadParameterWithDeprecation(nh, "angular_granularity", "angular_sim_granularity", 0.1); + } +} + +void StandardTrajectoryGenerator::initializeIterator(ros::NodeHandle& nh) +{ + velocity_iterator_ = std::make_shared(); + velocity_iterator_->initialize(nh, kinematics_); +} + +void StandardTrajectoryGenerator::checkUseDwaParam(const ros::NodeHandle& nh) +{ + bool use_dwa; + nh.param("use_dwa", use_dwa, false); + if (use_dwa) + { + throw nav_core2::PlannerException("Deprecated parameter use_dwa set to true. " + "Please use LimitedAccelGenerator for that functionality."); + } +} + +void StandardTrajectoryGenerator::startNewIteration(const nav_2d_msgs::Twist2D& current_velocity) +{ + velocity_iterator_->startNewIteration(current_velocity, sim_time_); +} + +bool StandardTrajectoryGenerator::hasMoreTwists() +{ + return velocity_iterator_->hasMoreTwists(); +} + +nav_2d_msgs::Twist2D StandardTrajectoryGenerator::nextTwist() +{ + return velocity_iterator_->nextTwist(); +} + +std::vector StandardTrajectoryGenerator::getTimeSteps(const nav_2d_msgs::Twist2D& cmd_vel) +{ + std::vector steps; + if (discretize_by_time_) + { + steps.resize(ceil(sim_time_ / time_granularity_)); + } + else // discretize by distance + { + double vmag = hypot(cmd_vel.x, cmd_vel.y); + + // the distance the robot would travel in sim_time if it did not change velocity + double projected_linear_distance = vmag * sim_time_; + + // the angle the robot would rotate in sim_time + double projected_angular_distance = fabs(cmd_vel.theta) * sim_time_; + + // Pick the maximum of the two + int num_steps = ceil(std::max(projected_linear_distance / linear_granularity_, + projected_angular_distance / angular_granularity_)); + steps.resize(num_steps); + } + if (steps.size() == 0) + { + steps.resize(1); + } + std::fill(steps.begin(), steps.end(), sim_time_ / steps.size()); + return steps; +} + +dwb_msgs::Trajectory2D StandardTrajectoryGenerator::generateTrajectory(const geometry_msgs::Pose2D& start_pose, + const nav_2d_msgs::Twist2D& start_vel, // from odometry + const nav_2d_msgs::Twist2D& cmd_vel) // twist = traj_generator_->nextTwist(); +{ + dwb_msgs::Trajectory2D traj; + traj.velocity = cmd_vel; + + // simulate the trajectory + geometry_msgs::Pose2D pose = start_pose; + nav_2d_msgs::Twist2D vel = start_vel; + double running_time = 0.0; + std::vector steps = getTimeSteps(cmd_vel); + + for (double dt : steps) + { + traj.poses.push_back(pose); + traj.time_offsets.push_back(ros::Duration(running_time)); + // calculate velocities + vel = computeNewVelocity(cmd_vel, vel, dt); + + // update the position of the robot using the velocities passed in + pose = computeNewPosition(pose, vel, dt); + running_time += dt; + } // end for simulation steps + + if (include_last_point_) + { + traj.poses.push_back(pose); + traj.time_offsets.push_back(ros::Duration(running_time)); + } + + return traj; +} + +/** + * change vel using acceleration limits to converge towards sample_target-vel + */ +nav_2d_msgs::Twist2D StandardTrajectoryGenerator::computeNewVelocity(const nav_2d_msgs::Twist2D& cmd_vel, + const nav_2d_msgs::Twist2D& start_vel, const double dt) +{ + nav_2d_msgs::Twist2D new_vel; + new_vel.x = projectVelocity(start_vel.x, kinematics_->getAccX(), kinematics_->getDecelX(), dt, cmd_vel.x); + new_vel.y = projectVelocity(start_vel.y, kinematics_->getAccY(), kinematics_->getDecelY(), dt, cmd_vel.y); + new_vel.theta = projectVelocity(start_vel.theta, kinematics_->getAccTheta(), kinematics_->getDecelTheta(), + dt, cmd_vel.theta); + return new_vel; +} + +geometry_msgs::Pose2D StandardTrajectoryGenerator::computeNewPosition(const geometry_msgs::Pose2D start_pose, + const nav_2d_msgs::Twist2D& vel, const double dt) +{ + geometry_msgs::Pose2D new_pose; + new_pose.x = start_pose.x + (vel.x * cos(start_pose.theta) + vel.y * cos(M_PI_2 + start_pose.theta)) * dt; + new_pose.y = start_pose.y + (vel.x * sin(start_pose.theta) + vel.y * sin(M_PI_2 + start_pose.theta)) * dt; + new_pose.theta = start_pose.theta + vel.theta * dt; + return new_pose; +} + +} // namespace dwb_plugins + +PLUGINLIB_EXPORT_CLASS(dwb_plugins::StandardTrajectoryGenerator, dwb_local_planner::TrajectoryGenerator) diff --git a/navigations/dwb_plugins/src/stopped_goal_checker.cpp b/navigations/dwb_plugins/src/stopped_goal_checker.cpp new file mode 100755 index 0000000..731a576 --- /dev/null +++ b/navigations/dwb_plugins/src/stopped_goal_checker.cpp @@ -0,0 +1,67 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include + +namespace dwb_plugins +{ + +StoppedGoalChecker::StoppedGoalChecker() : + SimpleGoalChecker(), rot_stopped_velocity_(0.25), trans_stopped_velocity_(0.25) +{ +} + +void StoppedGoalChecker::initialize(const ros::NodeHandle& nh) +{ + SimpleGoalChecker::initialize(nh); + nh.param("rot_stopped_velocity", rot_stopped_velocity_, 0.25); + nh.param("trans_stopped_velocity", trans_stopped_velocity_, 0.25); +} + +bool StoppedGoalChecker::isGoalReached(const geometry_msgs::Pose2D& query_pose, const geometry_msgs::Pose2D& goal_pose, + const nav_2d_msgs::Twist2D& velocity) +{ + bool ret = SimpleGoalChecker::isGoalReached(query_pose, goal_pose, velocity); + if (!ret) + { + return ret; + } + return fabs(velocity.theta) <= rot_stopped_velocity_ + && fabs(velocity.x) <= trans_stopped_velocity_ && fabs(velocity.y) <= trans_stopped_velocity_; +} + +} // namespace dwb_plugins + +PLUGINLIB_EXPORT_CLASS(dwb_plugins::StoppedGoalChecker, dwb_local_planner::GoalChecker) diff --git a/navigations/dwb_plugins/src/xy_theta_iterator.cpp b/navigations/dwb_plugins/src/xy_theta_iterator.cpp new file mode 100755 index 0000000..a11ebc2 --- /dev/null +++ b/navigations/dwb_plugins/src/xy_theta_iterator.cpp @@ -0,0 +1,107 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include + +namespace dwb_plugins +{ +void XYThetaIterator::initialize(ros::NodeHandle& nh, KinematicParameters::Ptr kinematics) +{ + kinematics_ = kinematics; + nh.param("vx_samples", vx_samples_, 20); + nh.param("vy_samples", vy_samples_, 5); + vtheta_samples_ = nav_2d_utils::loadParameterWithDeprecation(nh, "vtheta_samples", "vth_samples", 20); +} + +void XYThetaIterator::startNewIteration(const nav_2d_msgs::Twist2D& current_velocity, double dt) +{ + x_it_ = std::make_shared(current_velocity.x, kinematics_->getMinX(), kinematics_->getMaxX(), + kinematics_->getAccX(), kinematics_->getDecelX(), dt, vx_samples_); + y_it_ = std::make_shared(current_velocity.y, kinematics_->getMinY(), kinematics_->getMaxY(), + kinematics_->getAccY(), kinematics_->getDecelY(), dt, vy_samples_); + th_it_ = std::make_shared(current_velocity.theta, + kinematics_->getMinTheta(), kinematics_->getMaxTheta(), + kinematics_->getAccTheta(), kinematics_->getDecelTheta(), + dt, vtheta_samples_); + if (!isValidVelocity()) + { + iterateToValidVelocity(); + } +} + +bool XYThetaIterator::isValidVelocity() +{ + return kinematics_->isValidSpeed(x_it_->getVelocity(), y_it_->getVelocity(), th_it_->getVelocity()); +} + +bool XYThetaIterator::hasMoreTwists() +{ + return x_it_ && !x_it_->isFinished(); +} + + +nav_2d_msgs::Twist2D XYThetaIterator::nextTwist() +{ + nav_2d_msgs::Twist2D velocity; + velocity.x = x_it_->getVelocity(); + velocity.y = y_it_->getVelocity(); + velocity.theta = th_it_->getVelocity(); + iterateToValidVelocity(); + + return velocity; +} + +void XYThetaIterator::iterateToValidVelocity() +{ + bool valid = false; + while (!valid && hasMoreTwists()) + { + ++(*th_it_); + if (th_it_->isFinished()) + { + th_it_->reset(); + ++(*y_it_); + if (y_it_->isFinished()) + { + y_it_->reset(); + ++(*x_it_); + } + } + valid = isValidVelocity(); + } +} + +} // namespace dwb_plugins diff --git a/navigations/dwb_plugins/test/goal_checker.cpp b/navigations/dwb_plugins/test/goal_checker.cpp new file mode 100755 index 0000000..0b28db4 --- /dev/null +++ b/navigations/dwb_plugins/test/goal_checker.cpp @@ -0,0 +1,107 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include + +using dwb_plugins::SimpleGoalChecker; +using dwb_plugins::StoppedGoalChecker; + +void checkMacro(dwb_local_planner::GoalChecker& gc, + double x0, double y0, double theta0, + double x1, double y1, double theta1, + double xv, double yv, double thetav, + bool expected_result) +{ + gc.reset(); + geometry_msgs::Pose2D pose0, pose1; + pose0.x = x0; + pose0.y = y0; + pose0.theta = theta0; + pose1.x = x1; + pose1.y = y1; + pose1.theta = theta1; + nav_2d_msgs::Twist2D v; + v.x = xv; + v.y = yv; + v.theta = thetav; + if (expected_result) + EXPECT_TRUE(gc.isGoalReached(pose0, pose1, v)); + else + EXPECT_FALSE(gc.isGoalReached(pose0, pose1, v)); +} + +void sameResult(dwb_local_planner::GoalChecker& gc0, dwb_local_planner::GoalChecker& gc1, + double x0, double y0, double theta0, + double x1, double y1, double theta1, + double xv, double yv, double thetav, + bool expected_result) +{ + checkMacro(gc0, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, expected_result); + checkMacro(gc1, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, expected_result); +} + +void trueFalse(dwb_local_planner::GoalChecker& gc0, dwb_local_planner::GoalChecker& gc1, + double x0, double y0, double theta0, + double x1, double y1, double theta1, + double xv, double yv, double thetav) +{ + checkMacro(gc0, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, true); + checkMacro(gc1, x0, y0, theta0, x1, y1, theta1, xv, yv, thetav, false); +} + +TEST(VelocityIterator, two_checks) +{ + ros::NodeHandle x; + SimpleGoalChecker gc; + StoppedGoalChecker sgc; + gc.initialize(x); + sgc.initialize(x); + sameResult(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 0, 0, true); + sameResult(gc, sgc, 0, 0, 0, 1, 0, 0, 0, 0, 0, false); + sameResult(gc, sgc, 0, 0, 0, 0, 1, 0, 0, 0, 0, false); + sameResult(gc, sgc, 0, 0, 0, 0, 0, 1, 0, 0, 0, false); + sameResult(gc, sgc, 0, 0, 3.14, 0, 0, -3.14, 0, 0, 0, true); + trueFalse(gc, sgc, 0, 0, 3.14, 0, 0, -3.14, 1, 0, 0); + trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 1, 0, 0); + trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 1, 0); + trueFalse(gc, sgc, 0, 0, 0, 0, 0, 0, 0, 0, 1); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "goal_checker"); + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/dwb_plugins/test/goal_checker.launch b/navigations/dwb_plugins/test/goal_checker.launch new file mode 100755 index 0000000..d4f0b69 --- /dev/null +++ b/navigations/dwb_plugins/test/goal_checker.launch @@ -0,0 +1,3 @@ + + + diff --git a/navigations/dwb_plugins/test/twist_gen.cpp b/navigations/dwb_plugins/test/twist_gen.cpp new file mode 100755 index 0000000..f7c9a58 --- /dev/null +++ b/navigations/dwb_plugins/test/twist_gen.cpp @@ -0,0 +1,422 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include +#include +#include + +using dwb_plugins::StandardTrajectoryGenerator; + +geometry_msgs::Pose2D origin; +nav_2d_msgs::Twist2D zero; +nav_2d_msgs::Twist2D forward; + +void checkLimits(const std::vector& twists, + double exp_min_x, double exp_max_x, double exp_min_y, double exp_max_y, + double exp_min_theta, double exp_max_theta, + double exp_max_xy = -1.0, + double exp_min_xy = -1.0, double exp_min_speed_theta = -1.0) +{ + ASSERT_GT(twists.size(), 0U); + nav_2d_msgs::Twist2D first = twists[0]; + + double min_x = first.x, max_x = first.x, min_y = first.y, max_y = first.y; + double min_theta = first.theta, max_theta = first.theta; + double max_xy = hypot(first.x, first.y); + + for (nav_2d_msgs::Twist2D twist : twists) + { + min_x = std::min(min_x, twist.x); + min_y = std::min(min_y, twist.y); + min_theta = std::min(min_theta, twist.theta); + max_x = std::max(max_x, twist.x); + max_y = std::max(max_y, twist.y); + max_theta = std::max(max_theta, twist.theta); + double hyp = hypot(twist.x, twist.y); + max_xy = std::max(max_xy, hyp); + + if (exp_min_xy >= 0 && exp_min_speed_theta >= 0) + { + EXPECT_TRUE(fabs(twist.theta) >= exp_min_speed_theta || hyp >= exp_min_xy); + } + } + EXPECT_DOUBLE_EQ(min_x, exp_min_x); + EXPECT_DOUBLE_EQ(max_x, exp_max_x); + EXPECT_DOUBLE_EQ(min_y, exp_min_y); + EXPECT_DOUBLE_EQ(max_y, exp_max_y); + EXPECT_DOUBLE_EQ(min_theta, exp_min_theta); + EXPECT_DOUBLE_EQ(max_theta, exp_max_theta); + if (exp_max_xy >= 0) + { + EXPECT_DOUBLE_EQ(max_xy, exp_max_xy); + } +} + +TEST(VelocityIterator, standard_gen) +{ + ros::NodeHandle nh("st_gen"); + StandardTrajectoryGenerator gen; + gen.initialize(nh); + std::vector twists = gen.getTwists(zero); + EXPECT_EQ(twists.size(), 1926U); + checkLimits(twists, 0.0, 0.55, -0.1, 0.1, -1.0, 1.0, 0.55, 0.1, 0.4); +} + +TEST(VelocityIterator, max_xy) +{ + ros::NodeHandle nh("max_xy"); + nh.setParam("max_speed_xy", 1.0); + StandardTrajectoryGenerator gen; + gen.initialize(nh); + + std::vector twists = gen.getTwists(zero); + // Expect more twists since max_speed_xy is now beyond feasible limits + EXPECT_EQ(twists.size(), 2010U); + checkLimits(twists, 0.0, 0.55, -0.1, 0.1, -1.0, 1.0, hypot(0.55, 0.1)); +} + +TEST(VelocityIterator, min_xy) +{ + ros::NodeHandle nh("min_xy"); + nh.setParam("min_speed_xy", -1); + StandardTrajectoryGenerator gen; + gen.initialize(nh); + std::vector twists = gen.getTwists(zero); + // Expect even more since theres no min_speed_xy + EXPECT_EQ(twists.size(), 2015U); + checkLimits(twists, 0.0, 0.55, -0.1, 0.1, -1.0, 1.0); +} + +TEST(VelocityIterator, min_theta) +{ + ros::NodeHandle nh("min_theta"); + nh.setParam("min_speed_theta", -1); + StandardTrajectoryGenerator gen; + gen.initialize(nh); + std::vector twists = gen.getTwists(zero); + // Expect even more since theres no min_speed_xy + EXPECT_EQ(twists.size(), 2015U); + checkLimits(twists, 0.0, 0.55, -0.1, 0.1, -1.0, 1.0); +} + +TEST(VelocityIterator, no_limits) +{ + ros::NodeHandle nh("no_limits"); + nh.setParam("max_speed_xy", -1.0); + nh.setParam("min_speed_xy", -1); + nh.setParam("min_speed_theta", -1); + StandardTrajectoryGenerator gen; + gen.initialize(nh); + std::vector twists = gen.getTwists(zero); + // vx_samples * vtheta_samples * vy_samples + added zero theta samples - (0,0,0) + EXPECT_EQ(twists.size(), static_cast(20 * 20 * 5 + 100 - 1)); + checkLimits(twists, 0.0, 0.55, -0.1, 0.1, -1.0, 1.0, hypot(0.55, 0.1), 0.0, 0.0); +} + +TEST(VelocityIterator, no_limits_samples) +{ + ros::NodeHandle nh("no_limits_samples"); + nh.setParam("max_speed_xy", -1.0); + nh.setParam("min_speed_xy", -1); + nh.setParam("min_speed_theta", -1); + int x_samples = 10, y_samples = 3, theta_samples = 5; + nh.setParam("vx_samples", x_samples); + nh.setParam("vy_samples", y_samples); + nh.setParam("vtheta_samples", theta_samples); + StandardTrajectoryGenerator gen; + gen.initialize(nh); + std::vector twists = gen.getTwists(zero); + EXPECT_EQ(twists.size(), static_cast(x_samples * y_samples * theta_samples - 1)); + checkLimits(twists, 0.0, 0.55, -0.1, 0.1, -1.0, 1.0, hypot(0.55, 0.1), 0.0, 0.0); +} + +TEST(VelocityIterator, dwa_gen_exception) +{ + ros::NodeHandle nh("dwa_gen_exception"); + nh.setParam("use_dwa", true); + StandardTrajectoryGenerator gen; + EXPECT_THROW(gen.initialize(nh), nav_core2::PlannerException); +} + +TEST(VelocityIterator, no_dwa_gen_exception) +{ + ros::NodeHandle nh("no_dwa_gen_exception"); + nh.setParam("use_dwa", false); + dwb_plugins::LimitedAccelGenerator gen; + EXPECT_THROW(gen.initialize(nh), nav_core2::PlannerException); +} + +TEST(VelocityIterator, dwa_gen) +{ + ros::NodeHandle nh("dwa_gen"); + nh.setParam("use_dwa", true); + nh.setParam("min_speed_theta", -1); + dwb_plugins::LimitedAccelGenerator gen; + gen.initialize(nh); + std::vector twists = gen.getTwists(zero); + // Same as no-limits since everything is within our velocity limits + EXPECT_EQ(twists.size(), static_cast(20 * 20 * 5 + 100 - 1)); + checkLimits(twists, 0.0, 0.125, -0.1, 0.1, -0.16, 0.16, hypot(0.125, 0.1), 0.0, 0.1); +} + +TEST(VelocityIterator, dwa_gen_no_param) +{ + ros::NodeHandle nh("dwa_gen_no_param"); + nh.setParam("min_speed_theta", -1); + dwb_plugins::LimitedAccelGenerator gen; + gen.initialize(nh); + std::vector twists = gen.getTwists(zero); + EXPECT_EQ(twists.size(), static_cast(20 * 20 * 5 + 100 - 1)); + checkLimits(twists, 0.0, 0.125, -0.1, 0.1, -0.16, 0.16, hypot(0.125, 0.1), 0.0, 0.1); +} + +TEST(VelocityIterator, nonzero) +{ + ros::NodeHandle nh("nonzero"); + nh.setParam("use_dwa", true); + nh.setParam("min_speed_theta", -1); + dwb_plugins::LimitedAccelGenerator gen; + gen.initialize(nh); + nav_2d_msgs::Twist2D initial; + initial.x = 0.1; + initial.y = -0.08; + initial.theta = 0.05; + std::vector twists = gen.getTwists(initial); + EXPECT_EQ(twists.size(), 2519U); + checkLimits(twists, 0.0, 0.225, -0.1, 0.045, -0.11000000000000003, 0.21, + 0.24622144504490268, 0.0, 0.1); +} + +void matchPose(const geometry_msgs::Pose2D& a, const geometry_msgs::Pose2D& b) +{ + EXPECT_DOUBLE_EQ(a.x, b.x); + EXPECT_DOUBLE_EQ(a.y, b.y); + EXPECT_DOUBLE_EQ(a.theta, b.theta); +} + +void matchPose(const geometry_msgs::Pose2D& a, const double x, const double y, const double theta) +{ + EXPECT_DOUBLE_EQ(a.x, x); + EXPECT_DOUBLE_EQ(a.y, y); + EXPECT_DOUBLE_EQ(a.theta, theta); +} + +void matchTwist(const nav_2d_msgs::Twist2D& a, const nav_2d_msgs::Twist2D& b) +{ + EXPECT_DOUBLE_EQ(a.x, b.x); + EXPECT_DOUBLE_EQ(a.y, b.y); + EXPECT_DOUBLE_EQ(a.theta, b.theta); +} + +void matchTwist(const nav_2d_msgs::Twist2D& a, const double x, const double y, const double theta) +{ + EXPECT_DOUBLE_EQ(a.x, x); + EXPECT_DOUBLE_EQ(a.y, y); + EXPECT_DOUBLE_EQ(a.theta, theta); +} + +const double DEFAULT_SIM_TIME = 1.7; + +TEST(TrajectoryGenerator, basic) +{ + ros::NodeHandle nh("basic"); + StandardTrajectoryGenerator gen; + nh.setParam("linear_granularity", 0.5); + gen.initialize(nh); + dwb_msgs::Trajectory2D res = gen.generateTrajectory(origin, forward, forward); + matchTwist(res.velocity, forward); + EXPECT_DOUBLE_EQ(res.time_offsets.back().toSec(), DEFAULT_SIM_TIME); + int n = res.poses.size(); + EXPECT_EQ(n, 3); + ASSERT_GT(n, 0); + + matchPose(res.poses[0], origin); + matchPose(res.poses[n - 1], DEFAULT_SIM_TIME * forward.x, 0, 0); +} + +TEST(TrajectoryGenerator, basic_no_last_point) +{ + ros::NodeHandle nh("basic_no_last_point"); + StandardTrajectoryGenerator gen; + nh.setParam("include_last_point", false); + nh.setParam("linear_granularity", 0.5); + gen.initialize(nh); + dwb_msgs::Trajectory2D res = gen.generateTrajectory(origin, forward, forward); + matchTwist(res.velocity, forward); + EXPECT_DOUBLE_EQ(res.time_offsets.back().toSec(), DEFAULT_SIM_TIME / 2); + int n = res.poses.size(); + EXPECT_EQ(n, 2); + ASSERT_GT(n, 0); + + matchPose(res.poses[0], origin); + matchPose(res.poses[n - 1], 0.255, 0, 0); +} + +TEST(TrajectoryGenerator, too_slow) +{ + ros::NodeHandle nh("too_slow"); + StandardTrajectoryGenerator gen; + nh.setParam("linear_granularity", 0.5); + gen.initialize(nh); + nav_2d_msgs::Twist2D cmd; + cmd.x = 0.2; + dwb_msgs::Trajectory2D res = gen.generateTrajectory(origin, cmd, cmd); + matchTwist(res.velocity, cmd); + EXPECT_DOUBLE_EQ(res.time_offsets.back().toSec(), DEFAULT_SIM_TIME); + int n = res.poses.size(); + EXPECT_EQ(n, 2); + ASSERT_GT(n, 0); + + matchPose(res.poses[0], origin); +} + +TEST(TrajectoryGenerator, holonomic) +{ + ros::NodeHandle nh("holonomic"); + StandardTrajectoryGenerator gen; + nh.setParam("linear_granularity", 0.5); + gen.initialize(nh); + nav_2d_msgs::Twist2D cmd; + cmd.x = 0.3; + cmd.y = 0.2; + dwb_msgs::Trajectory2D res = gen.generateTrajectory(origin, cmd, cmd); + matchTwist(res.velocity, cmd); + EXPECT_DOUBLE_EQ(res.time_offsets.back().toSec(), DEFAULT_SIM_TIME); + int n = res.poses.size(); + EXPECT_EQ(n, 3); + ASSERT_GT(n, 0); + + matchPose(res.poses[0], origin); + matchPose(res.poses[n - 1], cmd.x*DEFAULT_SIM_TIME, cmd.y*DEFAULT_SIM_TIME, 0); +} + +TEST(TrajectoryGenerator, twisty) +{ + ros::NodeHandle nh("twisty"); + StandardTrajectoryGenerator gen; + nh.setParam("linear_granularity", 0.5); + nh.setParam("angular_granularity", 0.025); + gen.initialize(nh); + nav_2d_msgs::Twist2D cmd; + cmd.x = 0.3; + cmd.y = -0.2; + cmd.theta = 0.111; + dwb_msgs::Trajectory2D res = gen.generateTrajectory(origin, cmd, cmd); + matchTwist(res.velocity, cmd); + EXPECT_NEAR(res.time_offsets.back().toSec(), DEFAULT_SIM_TIME, 1.0E-5); + // Given the number of poses, the resulting time is slightly less precise + int n = res.poses.size(); + EXPECT_EQ(n, 9); + ASSERT_GT(n, 0); + + matchPose(res.poses[0], origin); + matchPose(res.poses[n - 1], 0.5355173615993063, -0.29635287789821596, cmd.theta * DEFAULT_SIM_TIME); +} + +TEST(TrajectoryGenerator, sim_time) +{ + ros::NodeHandle nh("sim_time"); + const double sim_time = 2.5; + nh.setParam("sim_time", sim_time); + nh.setParam("linear_granularity", 0.5); + StandardTrajectoryGenerator gen; + gen.initialize(nh); + dwb_msgs::Trajectory2D res = gen.generateTrajectory(origin, forward, forward); + matchTwist(res.velocity, forward); + EXPECT_DOUBLE_EQ(res.time_offsets.back().toSec(), sim_time); + int n = res.poses.size(); + EXPECT_EQ(n, 3); + ASSERT_GT(n, 0); + + matchPose(res.poses[0], origin); + matchPose(res.poses[n - 1], sim_time * forward.x, 0, 0); +} + +TEST(TrajectoryGenerator, accel) +{ + ros::NodeHandle nh("accel"); + nh.setParam("sim_time", 5.0); + nh.setParam("discretize_by_time", true); + nh.setParam("sim_granularity", 1.0); + nh.setParam("acc_lim_x", 0.1); + nh.setParam("min_speed_xy", -1.0); + StandardTrajectoryGenerator gen; + gen.initialize(nh); + + dwb_msgs::Trajectory2D res = gen.generateTrajectory(origin, zero, forward); + matchTwist(res.velocity, forward); + EXPECT_DOUBLE_EQ(res.time_offsets.back().toSec(), 5.0); + ASSERT_EQ(res.poses.size(), 6U); + matchPose(res.poses[0], origin); + matchPose(res.poses[1], 0.1, 0, 0); + matchPose(res.poses[2], 0.3, 0, 0); + matchPose(res.poses[3], 0.6, 0, 0); + matchPose(res.poses[4], 0.9, 0, 0); + matchPose(res.poses[5], 1.2, 0, 0); +} + +TEST(TrajectoryGenerator, dwa) +{ + ros::NodeHandle nh("dwa"); + nh.setParam("use_dwa", true); + nh.setParam("sim_period", 1.0); + nh.setParam("sim_time", 5.0); + nh.setParam("discretize_by_time", true); + nh.setParam("sim_granularity", 1.0); + nh.setParam("acc_lim_x", 0.1); + nh.setParam("min_speed_xy", -1.0); + dwb_plugins::LimitedAccelGenerator gen; + gen.initialize(nh); + + dwb_msgs::Trajectory2D res = gen.generateTrajectory(origin, zero, forward); + matchTwist(res.velocity, forward); + EXPECT_DOUBLE_EQ(res.time_offsets.back().toSec(), 5.0); + ASSERT_EQ(res.poses.size(), 6U); + matchPose(res.poses[0], origin); + matchPose(res.poses[1], 0.3, 0, 0); + matchPose(res.poses[2], 0.6, 0, 0); + matchPose(res.poses[3], 0.9, 0, 0); + matchPose(res.poses[4], 1.2, 0, 0); + matchPose(res.poses[5], 1.5, 0, 0); +} + +int main(int argc, char **argv) +{ + forward.x = 0.3; + ros::init(argc, argv, "twist_gen"); + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/dwb_plugins/test/twist_gen.launch b/navigations/dwb_plugins/test/twist_gen.launch new file mode 100755 index 0000000..b1f044c --- /dev/null +++ b/navigations/dwb_plugins/test/twist_gen.launch @@ -0,0 +1,3 @@ + + + diff --git a/navigations/dwb_plugins/test/velocity_iterator_test.cpp b/navigations/dwb_plugins/test/velocity_iterator_test.cpp new file mode 100755 index 0000000..63d6ee7 --- /dev/null +++ b/navigations/dwb_plugins/test/velocity_iterator_test.cpp @@ -0,0 +1,155 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include + +using dwb_plugins::OneDVelocityIterator; +using dwb_plugins::projectVelocity; + +const double EPSILON = 1e-3; + +TEST(VelocityIterator, basics) +{ + OneDVelocityIterator it(2.0, 0.0, 5.0, 1.0, -1.0, 1.0, 2); + EXPECT_FALSE(it.isFinished()); + EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON); + EXPECT_FALSE(it.isFinished()); + ++it; + EXPECT_FALSE(it.isFinished()); + EXPECT_NEAR(it.getVelocity(), 3.0, EPSILON); + EXPECT_FALSE(it.isFinished()); + ++it; + EXPECT_TRUE(it.isFinished()); + it.reset(); + EXPECT_FALSE(it.isFinished()); + EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON); +} + +TEST(VelocityIterator, limits) +{ + OneDVelocityIterator it(2.0, 1.5, 2.5, 1.0, -1.0, 1.0, 2); + EXPECT_NEAR(it.getVelocity(), 1.5, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 2.5, EPSILON); +} + +TEST(VelocityIterator, acceleration) +{ + OneDVelocityIterator it(2.0, 0.0, 5.0, 0.5, -0.5, 1.0, 2); + EXPECT_NEAR(it.getVelocity(), 1.5, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 2.5, EPSILON); +} + + +TEST(VelocityIterator, time) +{ + OneDVelocityIterator it(2.0, 0.0, 5.0, 1.0, -1.0, 0.5, 2); + EXPECT_NEAR(it.getVelocity(), 1.5, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 2.5, EPSILON); +} + +TEST(VelocityIterator, samples) +{ + OneDVelocityIterator it(2.0, 0.0, 5.0, 1.0, -1.0, 1.0, 3); + EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 2.0, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 3.0, EPSILON); + ++it; + EXPECT_TRUE(it.isFinished()); +} + + +TEST(VelocityIterator, samples2) +{ + OneDVelocityIterator it(2.0, 0.0, 5.0, 1.0, -1.0, 1.0, 5); + EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 1.5, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 2.0, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 2.5, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 3.0, EPSILON); + ++it; + EXPECT_TRUE(it.isFinished()); +} + +TEST(VelocityIterator, around_zero) +{ + OneDVelocityIterator it(0.0, -5.0, 5.0, 1.0, -1.0, 1.0, 2); + EXPECT_NEAR(it.getVelocity(), -1.0, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 0.0, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON); + ++it; +} + +TEST(VelocityIterator, around_zero2) +{ + OneDVelocityIterator it(0.0, -5.0, 5.0, 1.0, -1.0, 1.0, 4); + EXPECT_NEAR(it.getVelocity(), -1.0, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), -0.3333, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 0.0, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 0.3333, EPSILON); + ++it; + EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON); + ++it; +} + +TEST(VelocityIterator, acceleration_magnitude) +{ + double accel_rate = 2.0; + double decel_rate = -3.0; + EXPECT_NEAR(projectVelocity(+0.0, accel_rate, decel_rate, 0.1, +1.5), +0.2, EPSILON); + EXPECT_NEAR(projectVelocity(+0.0, accel_rate, decel_rate, 0.1, -1.5), -0.2, EPSILON); + EXPECT_NEAR(projectVelocity(+1.0, accel_rate, decel_rate, 0.1, +1.5), +1.2, EPSILON); + EXPECT_NEAR(projectVelocity(+1.0, accel_rate, decel_rate, 0.1, +0.5), +0.7, EPSILON); + EXPECT_NEAR(projectVelocity(-1.0, accel_rate, decel_rate, 0.1, -1.5), -1.2, EPSILON); + EXPECT_NEAR(projectVelocity(-1.0, accel_rate, decel_rate, 0.1, -0.5), -0.7, EPSILON); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/follow_waypoints/CMakeLists.txt b/navigations/follow_waypoints/CMakeLists.txt new file mode 100755 index 0000000..809cd6c --- /dev/null +++ b/navigations/follow_waypoints/CMakeLists.txt @@ -0,0 +1,210 @@ +cmake_minimum_required(VERSION 3.0.2) +project(follow_waypoints) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + actionlib + dynamic_reconfigure + geometry_msgs + move_base_msgs + roscpp + std_msgs + tf +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages(DEPENDENCIES geometry_msgs) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +generate_dynamic_reconfigure_options( + cfg/FollowWayPoints.cfg +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS actionlib geometry_msgs move_base_msgs roscpp std_msgs message_runtime +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +add_library(${PROJECT_NAME} + src/follow_waypoints.cpp +) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(${PROJECT_NAME}_node src/follow_waypoints_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +install(TARGETS ${PROJECT_NAME}_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## 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 launch/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/launch +) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_follow_waypoints.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/navigations/follow_waypoints/cfg/FollowWayPoints.cfg b/navigations/follow_waypoints/cfg/FollowWayPoints.cfg new file mode 100755 index 0000000..17d6095 --- /dev/null +++ b/navigations/follow_waypoints/cfg/FollowWayPoints.cfg @@ -0,0 +1,8 @@ +#!/usr/bin/env python +PACKAGE = 'follow_waypoints' +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() +gen.add("patrol_mode", bool_t, 0, "Follow the currently given waypoints repeatedly", False) + +exit(gen.generate(PACKAGE, "follow_waypoints", "FollowWayPoints")) diff --git a/navigations/follow_waypoints/include/follow_waypoints/follow_waypoints.h b/navigations/follow_waypoints/include/follow_waypoints/follow_waypoints.h new file mode 100755 index 0000000..760f84b --- /dev/null +++ b/navigations/follow_waypoints/include/follow_waypoints/follow_waypoints.h @@ -0,0 +1,69 @@ +#ifndef FOLLOW_WAYPOINTS_H_ +#define FOLLOW_WAYPOINTS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace follow_waypoints +{ + class FollowWayPoints + { + public: + FollowWayPoints(ros::NodeHandlePtr nh, std::string node_name); + virtual ~FollowWayPoints(); + void run(); + private: + void dyn_callback(follow_waypoints::FollowWayPointsConfig &config, int32_t level); + bool make_path_ready(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res); + bool do_path_reset(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res); + void point_cb(geometry_msgs::PointStamped point); + void pub_waypoints_list(); + void send_move_base_goal(geometry_msgs::PoseWithCovarianceStamped pose); + void run_once(); + geometry_msgs::PoseWithCovarianceStamped to_pose_with_Cov(geometry_msgs::PointStamped point); + geometry_msgs::PoseArray toPoseArray(std::vector waypoints); + + std::string frame_id_; + std::string odom_frame_id_; + std::string base_frame_id_; + std::string waypoints_to_follow_topic_; + std::string waypoints_list_topic_; + double wait_duration_; + double distance_tolerance_; + bool path_ready_; + bool waypoints_are_poses_; + + // TF Initialisation ------------------------------------------------------------------- + tf::TransformListener tf_; + tf::TransformListener listener_; + + ros::NodeHandlePtr private_nh_; + ros::ServiceServer path_ready_srv_; + ros::ServiceServer path_reset_srv_; + ros::Publisher pose_array_publisher_; + ros::Subscriber waypoints_sub_; + actionlib::SimpleActionClient* move_base_client_; + std::vector waypoints_; + dynamic_reconfigure::Server server; + dynamic_reconfigure::Server::CallbackType f; + follow_waypoints::FollowWayPointsConfig dyn_config_; + /* Create Thread */ + boost::thread lineThread; + ros::Rate* loop_rate_; + }; +} //follow_waypoints + +#endif \ No newline at end of file diff --git a/navigations/follow_waypoints/launch/follow_waypoints.launch b/navigations/follow_waypoints/launch/follow_waypoints.launch new file mode 100755 index 0000000..f728c4e --- /dev/null +++ b/navigations/follow_waypoints/launch/follow_waypoints.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/follow_waypoints/package.xml b/navigations/follow_waypoints/package.xml new file mode 100755 index 0000000..bb239b2 --- /dev/null +++ b/navigations/follow_waypoints/package.xml @@ -0,0 +1,79 @@ + + + follow_waypoints + 0.0.0 + The follow_waypoints package + + + + + robotics + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + message_generation + + + + + + message_runtime + + + + + catkin + geometry_msgs + roscpp + std_msgs + geometry_msgs + roscpp + std_msgs + geometry_msgs + roscpp + std_msgs + + actionlib + actionlib + + dynamic_reconfigure + dynamic_reconfigure + + move_base_msgs + move_base_msgs + + tf + tf + + + + + + + diff --git a/navigations/follow_waypoints/src/follow_waypoints.cpp b/navigations/follow_waypoints/src/follow_waypoints.cpp new file mode 100755 index 0000000..1fe30ce --- /dev/null +++ b/navigations/follow_waypoints/src/follow_waypoints.cpp @@ -0,0 +1,285 @@ +#include "follow_waypoints/follow_waypoints.h" + +namespace follow_waypoints +{ + FollowWayPoints::FollowWayPoints(ros::NodeHandlePtr nh, std::string node_name) : private_nh_(nh) + { + if(private_nh_ == NULL) exit(0); + // private_nh_ = ros::NodeHandle("~/"+node_name); + // Read parameters off the parameter server -------------------------------------------- + private_nh_->param("goal_frame_id", frame_id_, std::string("map")); + private_nh_->param("odom_frame_id", odom_frame_id_, std::string("odom")); + private_nh_->param("base_frame_id", base_frame_id_, std::string("base_footprint")); + private_nh_->param("wait_duration", wait_duration_, 0.0); + private_nh_->param("waypoint_distance_tolerance", distance_tolerance_, 0.0); + private_nh_->param("waypoints_to_follow_topic", waypoints_to_follow_topic_, std::string("/clicked_points")); + private_nh_->param("waypoints_list_topic", waypoints_list_topic_, std::string("/waypoints")); + + // listen to points or to poses? + private_nh_->param("waypoints_are_poses", waypoints_are_poses_, true); + + // list of waypoints to follow + // self.waypoints = collections.deque() + + // Is the path provided by the user ready to follow? + path_ready_ = false; + + // Dynamic Reconfigure ----------------------------------------------------------------- + f = boost::bind(&FollowWayPoints::dyn_callback, this, _1, _2); + server.setCallback(f); + + // move_base Action client ------------------------------------------------------------- + move_base_client_ = new actionlib::SimpleActionClient("/move_base", true); + ROS_INFO("Connecting to move_base..."); + if(move_base_client_ != NULL) move_base_client_->waitForServer(); + ROS_INFO("Connected to move_base."); + + // Subscribers & Publishers & Services initialisation ---------------------------------- + path_ready_srv_ = private_nh_->advertiseService("/path_ready",&FollowWayPoints::make_path_ready, this); + path_reset_srv_ = private_nh_->advertiseService("/path_reset",&FollowWayPoints::do_path_reset, this); + ROS_INFO("Ready to add two ints."); + + // publish waypoints as pose array - visualise them in rviz + pose_array_publisher_ = private_nh_->advertise(waypoints_list_topic_,1, true); + + // Listen to the goal locations + waypoints_sub_ = private_nh_->subscribe(waypoints_to_follow_topic_, 1000, &FollowWayPoints::point_cb, this); + loop_rate_ = new ros::Rate(20); + // // Create thread + // lineThread = boost::thread(&FollowWayPoints::run, this); + // if(lineThread.joinable()) { + // lineThread.join(); + // } + } + + FollowWayPoints::~FollowWayPoints() + { + delete(move_base_client_); + + } + + void FollowWayPoints::dyn_callback(follow_waypoints::FollowWayPointsConfig &config, int32_t level) + { + dyn_config_ = config; + ROS_INFO("Reconfigure Request: %d", config.patrol_mode); + } + + bool FollowWayPoints::make_path_ready(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res) + { + path_ready_ = true; + res.success = path_ready_; + res.message = "path_ready_ = true"; + return true; + } + + bool FollowWayPoints::do_path_reset(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res) + { + ROS_WARN("Issuing cancel command to move_base"); + + ros::Publisher pub = private_nh_->advertise("/move_base/cancel", 1); + pub.publish(actionlib_msgs::GoalID()); + ROS_WARN("move_base goal cancelled."); + + if(!waypoints_.empty()) + { + waypoints_.clear(); + pub_waypoints_list(); + } + res.success = path_ready_; + res.message = "move_base goal cancelled."; + return true; + } + + void FollowWayPoints::pub_waypoints_list() + { + pose_array_publisher_.publish(toPoseArray(waypoints_)); + } + + void FollowWayPoints::point_cb(geometry_msgs::PointStamped point) + { + waypoints_.insert(waypoints_.end(), this->to_pose_with_Cov(point)); + ROS_INFO("Added new waypoint -> (%f, %f) | # Waypoints: %d", point.point.x, point.point.y, (int)waypoints_.size()); + if(waypoints_.size() > 1) + { + for(int i = 0; i < waypoints_.size() - 1; i++) + { + double x1 = waypoints_[i].pose.pose.position.x; + double y1 = waypoints_[i].pose.pose.position.y; + double x2 = waypoints_[i+1].pose.pose.position.x; + double y2 = waypoints_[i+1].pose.pose.position.y; + double theta = atan2(y2 - y1, x2 - x1); + tf2::Quaternion temp; + temp.setRPY(0, 0, theta); + waypoints_[i+1].pose.pose.orientation.x = temp.getX(); + waypoints_[i+1].pose.pose.orientation.y = temp.getY(); + waypoints_[i+1].pose.pose.orientation.z = temp.getZ(); + waypoints_[i+1].pose.pose.orientation.w = temp.getW(); + } + } + else + { + tf::StampedTransform transform; + try + { + listener_.lookupTransform(frame_id_, base_frame_id_, ros::Time(0), transform); + } + catch (tf::TransformException &ex) + { + ROS_ERROR("%s",ex.what()); + ros::Duration(1.0).sleep(); + return; + } + double x1 = transform.getOrigin().x(); + double y1 = transform.getOrigin().y(); + double x2 = waypoints_[0].pose.pose.position.x; + double y2 = waypoints_[0].pose.pose.position.y; + double theta = atan2(y2 - y1, x2 - x1); + tf2::Quaternion temp; + temp.setRPY(0, 0, theta); + waypoints_[0].pose.pose.orientation.x = temp.getX(); + waypoints_[0].pose.pose.orientation.y = temp.getY(); + waypoints_[0].pose.pose.orientation.z = temp.getZ(); + waypoints_[0].pose.pose.orientation.w = temp.getW(); + } + this->pub_waypoints_list(); + } + + void FollowWayPoints::send_move_base_goal(geometry_msgs::PoseWithCovarianceStamped pose) + { + move_base_msgs::MoveBaseGoal goal; + goal.target_pose.header.frame_id = frame_id_; + goal.target_pose.pose.position = pose.pose.pose.position; + goal.target_pose.pose.orientation = pose.pose.pose.orientation; + ROS_INFO("Executing move_base goal -> (%f, %f) ...", pose.pose.pose.position.x, pose.pose.pose.position.y); + if(move_base_client_ != NULL) move_base_client_->sendGoal(goal); + } + + void FollowWayPoints::run_once() + { + if(!path_ready_) + { + ros::Duration(1.0).sleep(); + return; + } + if(waypoints_.empty()) + { + ROS_WARN("No more waypoints to follow."); + path_ready_ = false; + return; + } + + ROS_INFO("Following path with # %d waypoints...", (int)waypoints_.size()); + tf::StampedTransform transform; + try + { + listener_.lookupTransform(frame_id_, base_frame_id_, ros::Time(0), transform); + } + catch (tf::TransformException &ex) + { + ROS_ERROR("%s",ex.what()); + ros::Duration(1.0).sleep(); + return; + } + double x1 = transform.getOrigin().x(); + double y1 = transform.getOrigin().y(); + double x2 = waypoints_[0].pose.pose.position.x; + double y2 = waypoints_[0].pose.pose.position.y; + double theta = atan2(y2 - y1, x2 - x1); + tf2::Quaternion temp; + temp.setRPY(0, 0, theta); + waypoints_[0].pose.pose.orientation.x = temp.getX(); + waypoints_[0].pose.pose.orientation.y = temp.getY(); + waypoints_[0].pose.pose.orientation.z = temp.getZ(); + waypoints_[0].pose.pose.orientation.w = temp.getW(); + + // we have waypoints, let's follow them! + while (!waypoints_.empty() && ros::ok()) + { + geometry_msgs::PoseWithCovarianceStamped goal = waypoints_.front(); + if(dyn_config_.patrol_mode) + { + + } + else + { + // not in patrol mode - forget about this waypoint + waypoints_.erase(waypoints_.begin()); + } + send_move_base_goal(goal); + if(!(distance_tolerance_ > 0.0)) + { + // just wait until move_base reaches the goal... + if(move_base_client_ != NULL) move_base_client_->waitForResult(); + ROS_INFO("Waiting for %f seconds before proceeding to the next goal...", wait_duration_); + ros::Duration(wait_duration_).sleep(); + } + else + { + /** + raise NotImplementedError("distance_tolerance not implemented yet.") + + TODO - Rewrite + This is the loop which exist when the robot is near a certain GOAL point. + */ + double distance = 10.0; + while(distance > distance_tolerance_) + { + try + { + listener_.lookupTransform(frame_id_, base_frame_id_, ros::Time(0), transform); + } + catch (tf::TransformException &ex) + { + ROS_ERROR("%s",ex.what()); + ros::Duration(1.0).sleep(); + continue; + } + distance = sqrt( + pow(goal.pose.pose.position.x - transform.getOrigin().x(), 2) + + pow(goal.pose.pose.position.y - transform.getOrigin().y(), 2) + ); + ros::spinOnce(); + } + } + // current waypoint has now been reached! move on to the next waypoint on the next + // iteration + this->pub_waypoints_list(); + ros::spinOnce(); + loop_rate_->sleep(); + + } + } + + void FollowWayPoints::run() + { + while (ros::ok()) + { + this->run_once(); + ros::spinOnce(); + } + } + + geometry_msgs::PoseWithCovarianceStamped FollowWayPoints::to_pose_with_Cov(geometry_msgs::PointStamped point) + { + geometry_msgs::PoseWithCovarianceStamped pose; + pose.header = point.header; + pose.pose.pose.position = point.point; + geometry_msgs::Quaternion angle; + angle.x = 0; + angle.y = 0; + angle.z = 0; + angle.w = 1; + pose.pose.pose.orientation = angle; + return pose; + } + + geometry_msgs::PoseArray FollowWayPoints::toPoseArray(std::vector waypoints)\ + { + geometry_msgs::PoseArray poses; + poses.header.frame_id = frame_id_; + for(int i = 0; i < waypoints_.size(); i++) + poses.poses.insert(poses.poses.begin() , waypoints_[i].pose.pose); + return poses; + } + +} \ No newline at end of file diff --git a/navigations/follow_waypoints/src/follow_waypoints_node.cpp b/navigations/follow_waypoints/src/follow_waypoints_node.cpp new file mode 100755 index 0000000..a7f6ee1 --- /dev/null +++ b/navigations/follow_waypoints/src/follow_waypoints_node.cpp @@ -0,0 +1,14 @@ +#include +#include "follow_waypoints/follow_waypoints.h" + +void dyn_callback(follow_waypoints::FollowWayPointsConfig &config, int32_t level); + +int main(int argc, char** argv){ + ros::init(argc, argv, "follow_waypoints_node"); + ros::NodeHandlePtr nh = boost::make_shared(); + follow_waypoints::FollowWayPoints* foll = new follow_waypoints::FollowWayPoints(nh, "follow_waypoints_node"); + foll->run(); + ros::spin(); + return(0); +} + diff --git a/navigations/geographic_info/README.rst b/navigations/geographic_info/README.rst new file mode 100755 index 0000000..e68bdae --- /dev/null +++ b/navigations/geographic_info/README.rst @@ -0,0 +1,13 @@ +geographic_info repository +========================== + +ROS messages and interfaces for mapping and coordinate conversions, +part of the ROS Geographic Information project. + + * http://en.wikipedia.org/wiki/Geographic_information_system + +ROS documentation: + + * http://wiki.ros.org/geographic_info + * http://wiki.ros.org/geographic_msgs + * http://wiki.ros.org/geodesy diff --git a/navigations/geographic_info/geodesy/CHANGELOG.rst b/navigations/geographic_info/geodesy/CHANGELOG.rst new file mode 100755 index 0000000..d5ee034 --- /dev/null +++ b/navigations/geographic_info/geodesy/CHANGELOG.rst @@ -0,0 +1,67 @@ +Change history +============== + +0.5.3 (2018-03-27) +------------------ + +0.5.2 (2017-04-15) +------------------ + +0.5.1 (2017-04-15) +------------------ + +0.5.0 (2017-04-07) +------------------ + + * Removed Python setup install_requires option. + +0.4.0 (2014-09-18) +------------------ + + * Released to Indigo. + * Remove deprecated geodesy.gen_uuid module (`#4`_). + +0.3.2 (2014-08-30) +------------------ + + * Released to Indigo. + * Make C++ template declaration for WGS-84 header compatible with GCC + 4.7 compiler (`#12`_), thanks to Mike Purvis and Dirk Thomas. + +0.3.1 (2013-10-03) +------------------ + + * Fix ROS Hydro header install problem (`#9`_). + +0.3.0 (2013-08-03) +------------------ + + * Released to Hydro. + * Convert to catkin build (`#3`_). + * Remove unnecessary roscpp and rospy dependencies (`#6`_). + +0.2.1 (2012-08-13) +------------------ + + * Released to Fuerte. + * Released to Groovy: 2013-03-27. + * Use unique_identifier for UUID interfaces. + +0.2.0 (2012-06-02) +------------------ + + * Many new mapping messages and services added. + * Use PROJ.4 library for Python geodesy API (C++ API not ported to + PROJ.4 yet). + * Released to Electric. + +0.1.0 (2012-04-10) +------------------ + + * Initial release to Electric. + +.. _`#3`: https://github.com/ros-geographic-info/geographic_info/issues/3 +.. _`#4`: https://github.com/ros-geographic-info/geographic_info/issues/4 +.. _`#6`: https://github.com/ros-geographic-info/geographic_info/issues/6 +.. _`#9`: https://github.com/ros-geographic-info/geographic_info/issues/9 +.. _`#12`: https://github.com/ros-geographic-info/geographic_info/issues/12 diff --git a/navigations/geographic_info/geodesy/CMakeLists.txt b/navigations/geographic_info/geodesy/CMakeLists.txt new file mode 100755 index 0000000..fdc9f09 --- /dev/null +++ b/navigations/geographic_info/geodesy/CMakeLists.txt @@ -0,0 +1,56 @@ +# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html +cmake_minimum_required(VERSION 3.0.2) +project(geodesy) +find_package(catkin REQUIRED + COMPONENTS + angles + geographic_msgs + geometry_msgs + sensor_msgs + tf + unique_id + uuid_msgs) + +include_directories(include ${catkin_INCLUDE_DIRS}) +catkin_python_setup() + +# what other packages will need to use this one +catkin_package(CATKIN_DEPENDS + geographic_msgs + geometry_msgs + sensor_msgs + tf + unique_id + uuid_msgs + INCLUDE_DIRS include + LIBRARIES geoconv) + +# build C++ coordinate conversion library +add_library(geoconv src/conv/utm_conversions.cpp) +target_link_libraries(geoconv ${catkin_LIBRARIES}) +add_dependencies(geoconv ${catkin_EXPORTED_TARGETS}) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) +install(TARGETS geoconv + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + +# unit tests +if (CATKIN_ENABLE_TESTING) + + catkin_add_gtest(test_wgs84 tests/test_wgs84.cpp) + target_link_libraries(test_wgs84 ${catkin_LIBRARIES}) + add_dependencies(test_wgs84 ${catkin_EXPORTED_TARGETS}) + + catkin_add_gtest(test_utm tests/test_utm.cpp) + target_link_libraries(test_utm geoconv ${catkin_LIBRARIES}) + add_dependencies(test_utm ${catkin_EXPORTED_TARGETS}) + + catkin_add_nosetests(tests/test_bounding_box.py) + catkin_add_nosetests(tests/test_props.py) + catkin_add_nosetests(tests/test_utm.py) + catkin_add_nosetests(tests/test_wu_point.py) + +endif (CATKIN_ENABLE_TESTING) diff --git a/navigations/geographic_info/geodesy/doc/CHANGELOG.rst b/navigations/geographic_info/geodesy/doc/CHANGELOG.rst new file mode 100755 index 0000000..d5ee034 --- /dev/null +++ b/navigations/geographic_info/geodesy/doc/CHANGELOG.rst @@ -0,0 +1,67 @@ +Change history +============== + +0.5.3 (2018-03-27) +------------------ + +0.5.2 (2017-04-15) +------------------ + +0.5.1 (2017-04-15) +------------------ + +0.5.0 (2017-04-07) +------------------ + + * Removed Python setup install_requires option. + +0.4.0 (2014-09-18) +------------------ + + * Released to Indigo. + * Remove deprecated geodesy.gen_uuid module (`#4`_). + +0.3.2 (2014-08-30) +------------------ + + * Released to Indigo. + * Make C++ template declaration for WGS-84 header compatible with GCC + 4.7 compiler (`#12`_), thanks to Mike Purvis and Dirk Thomas. + +0.3.1 (2013-10-03) +------------------ + + * Fix ROS Hydro header install problem (`#9`_). + +0.3.0 (2013-08-03) +------------------ + + * Released to Hydro. + * Convert to catkin build (`#3`_). + * Remove unnecessary roscpp and rospy dependencies (`#6`_). + +0.2.1 (2012-08-13) +------------------ + + * Released to Fuerte. + * Released to Groovy: 2013-03-27. + * Use unique_identifier for UUID interfaces. + +0.2.0 (2012-06-02) +------------------ + + * Many new mapping messages and services added. + * Use PROJ.4 library for Python geodesy API (C++ API not ported to + PROJ.4 yet). + * Released to Electric. + +0.1.0 (2012-04-10) +------------------ + + * Initial release to Electric. + +.. _`#3`: https://github.com/ros-geographic-info/geographic_info/issues/3 +.. _`#4`: https://github.com/ros-geographic-info/geographic_info/issues/4 +.. _`#6`: https://github.com/ros-geographic-info/geographic_info/issues/6 +.. _`#9`: https://github.com/ros-geographic-info/geographic_info/issues/9 +.. _`#12`: https://github.com/ros-geographic-info/geographic_info/issues/12 diff --git a/navigations/geographic_info/geodesy/doc/conf.py b/navigations/geographic_info/geodesy/doc/conf.py new file mode 100755 index 0000000..a737634 --- /dev/null +++ b/navigations/geographic_info/geodesy/doc/conf.py @@ -0,0 +1,251 @@ +# -*- coding: utf-8 -*- +# +# geodesy documentation build configuration file, created by +# sphinx-quickstart on Wed Apr 25 16:01:20 2012. +# +# This file is execfile()d with the current directory set to its containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +## get catkin package information +import os +import catkin_pkg.package +catkin_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +catkin_package = catkin_pkg.package.parse_package( + os.path.join(catkin_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME)) + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +#sys.path.insert(0, os.path.abspath('.')) + +# -- General configuration ----------------------------------------------------- + +# If your documentation needs a minimal Sphinx version, state it here. +#needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be extensions +# coming with Sphinx (named 'sphinx.ext.*') or your custom ones. +extensions = ['sphinx.ext.autodoc', 'sphinx.ext.intersphinx', 'sphinx.ext.todo', 'sphinx.ext.viewcode'] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix of source filenames. +source_suffix = '.rst' + +# The encoding of source files. +#source_encoding = 'utf-8-sig' + +# The master toctree document. +master_doc = 'index' + +# General information about the project. +project = u'geodesy' +copyright = u'2012, Jack O\'Quin' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = catkin_package.version +# The full version, including alpha/beta/rc tags. +release = catkin_package.version + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +#language = None + +# There are two options for replacing |today|: either, you set today to some +# non-false value, then it is used: +#today = '' +# Else, today_fmt is used as the format for a strftime call. +#today_fmt = '%B %d, %Y' + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +exclude_patterns = ['_build'] + +# The reST default role (used for this markup: `text`) to use for all documents. +#default_role = None + +# If true, '()' will be appended to :func: etc. cross-reference text. +#add_function_parentheses = True + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +#add_module_names = True + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +#show_authors = False + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# A list of ignored prefixes for module index sorting. +#modindex_common_prefix = [] + + +# -- Options for HTML output --------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +html_theme = 'default' + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +#html_theme_options = {} + +# Add any paths that contain custom themes here, relative to this directory. +#html_theme_path = [] + +# The name for this set of Sphinx documents. If None, it defaults to +# " v documentation". +#html_title = None + +# A shorter title for the navigation bar. Default is the same as html_title. +#html_short_title = None + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +#html_logo = None + +# The name of an image file (within the static path) to use as favicon of the +# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = [] + +# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, +# using the given strftime format. +#html_last_updated_fmt = '%b %d, %Y' + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +#html_sidebars = {} + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +#html_domain_indices = True + +# If false, no index is generated. +#html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, "Created using Sphinx" is shown in the HTML footer. Default is True. +#html_show_sphinx = True + +# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. +#html_show_copyright = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# This is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = None + +# Output file base name for HTML help builder. +htmlhelp_basename = 'geodesydoc' + + +# -- Options for LaTeX output -------------------------------------------------- + +latex_elements = { +# The paper size ('letterpaper' or 'a4paper'). +#'papersize': 'letterpaper', + +# The font size ('10pt', '11pt' or '12pt'). +#'pointsize': '10pt', + +# Additional stuff for the LaTeX preamble. +#'preamble': '', +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, author, documentclass [howto/manual]). +latex_documents = [ + ('index', 'geodesy.tex', u'geodesy Documentation', + u'Jack O\'Quin', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +#latex_logo = None + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# If true, show page references after internal links. +#latex_show_pagerefs = False + +# If true, show URL addresses after external links. +#latex_show_urls = False + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +#latex_domain_indices = True + + +# -- Options for manual page output -------------------------------------------- + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + ('index', 'geodesy', u'geodesy Documentation', + [u'Jack O\'Quin'], 1) +] + +# If true, show URL addresses after external links. +#man_show_urls = False + + +# -- Options for Texinfo output ------------------------------------------------ + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + ('index', 'geodesy', u'geodesy Documentation', + u'Jack O\'Quin', 'geodesy', 'One line description of project.', + 'Miscellaneous'), +] + +# Documents to append as an appendix to all manuals. +#texinfo_appendices = [] + +# If false, no module index is generated. +#texinfo_domain_indices = True + +# How to display URL addresses: 'footnote', 'no', or 'inline'. +#texinfo_show_urls = 'footnote' + + +# Example configuration for intersphinx: refer to the Python standard library. +intersphinx_mapping = {'http://docs.python.org/': None} diff --git a/navigations/geographic_info/geodesy/doc/geodesy.bounding_box.rst b/navigations/geographic_info/geodesy/doc/geodesy.bounding_box.rst new file mode 100755 index 0000000..4d7c385 --- /dev/null +++ b/navigations/geographic_info/geodesy/doc/geodesy.bounding_box.rst @@ -0,0 +1,5 @@ +geodesy.bounding_box +-------------------- + +.. automodule:: geodesy.bounding_box + :members: diff --git a/navigations/geographic_info/geodesy/doc/geodesy.gen_uuid.rst b/navigations/geographic_info/geodesy/doc/geodesy.gen_uuid.rst new file mode 100755 index 0000000..f0530ce --- /dev/null +++ b/navigations/geographic_info/geodesy/doc/geodesy.gen_uuid.rst @@ -0,0 +1,21 @@ +geodesy.gen_uuid +---------------- + +.. module:: geodesy.gen_uuid + +Generate UUIDs for Geographic Information messages. + +.. deprecated:: 0.3.0 + +*This module was removed with version 0.4.0 in ROS Indigo.* + +Instead, use the `unique_id`_ package, which has been stable and +available since ROS Fuerte: + + * ``geodesy.gen_uuid.generate(url, id)`` becomes + ``unique_id.fromURL(url+str(id))`` + + * ``geodesy.gen_uuid.makeUniqueID(url, id)`` becomes + ``unique_id.toMsg(unique_id.fromURL(url+str(id)))`` + +.. _`unique_id`: http://wiki.ros.org/unique_id diff --git a/navigations/geographic_info/geodesy/doc/geodesy.props.rst b/navigations/geographic_info/geodesy/doc/geodesy.props.rst new file mode 100755 index 0000000..2a511f9 --- /dev/null +++ b/navigations/geographic_info/geodesy/doc/geodesy.props.rst @@ -0,0 +1,5 @@ +geodesy.props +------------- + +.. automodule:: geodesy.props + :members: diff --git a/navigations/geographic_info/geodesy/doc/geodesy.utm.rst b/navigations/geographic_info/geodesy/doc/geodesy.utm.rst new file mode 100755 index 0000000..93c5ee0 --- /dev/null +++ b/navigations/geographic_info/geodesy/doc/geodesy.utm.rst @@ -0,0 +1,5 @@ +geodesy.utm +----------- + +.. automodule:: geodesy.utm + :members: diff --git a/navigations/geographic_info/geodesy/doc/geodesy.wu_point.rst b/navigations/geographic_info/geodesy/doc/geodesy.wu_point.rst new file mode 100755 index 0000000..41abdf9 --- /dev/null +++ b/navigations/geographic_info/geodesy/doc/geodesy.wu_point.rst @@ -0,0 +1,5 @@ +geodesy.wu_point +---------------- + +.. automodule:: geodesy.wu_point + :members: diff --git a/navigations/geographic_info/geodesy/doc/index.rst b/navigations/geographic_info/geodesy/doc/index.rst new file mode 100755 index 0000000..3809f57 --- /dev/null +++ b/navigations/geographic_info/geodesy/doc/index.rst @@ -0,0 +1,22 @@ +.. geodesy documentation master file, created by + sphinx-quickstart on Wed Apr 25 16:01:20 2012. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +geodesy: Python APIs for Geographic coordinates +=============================================== + +Contents: + +.. toctree:: + :maxdepth: 2 + :glob: + + geodesy.* + CHANGELOG + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` diff --git a/navigations/geographic_info/geodesy/include/geodesy/utm.h b/navigations/geographic_info/geodesy/include/geodesy/utm.h new file mode 100755 index 0000000..7122ddf --- /dev/null +++ b/navigations/geographic_info/geodesy/include/geodesy/utm.h @@ -0,0 +1,266 @@ +/* -*- mode: C++ -*- */ +/* $Id: 284edbd641a3576af22c2d4fbe5f27f1d17ec24d $ */ + +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (C) 2011 Jack O'Quin +* 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 author nor other 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. +*********************************************************************/ + +#ifndef _UTM_H_ +#define _UTM_H_ + +#include +#include +#include +#include + +#include + +#include +#include +#include + +/** @file + + @brief Universal Transverse Mercator coordinates + + For outdoor robotics applications, Euclidean projections like UTM + are easier to work with than latitude and longitude. This system + is slightly more general than strict UTM. It is based on the + Military Grid Reference System (MGRS), which can be extended to + cover the poles, allowing well-defined transformations for every + latitude and longitude. + + @todo add Universal Polar Stereographic support + + @author Jack O'Quin + */ + +namespace geodesy +{ + +/** Universal Transverse Mercator (UTM) point. + * + * The @c altitude may be specified (3D) or not (2D). The @c + * altitude of a 2D point is not a number (NaN). + * + * Including the top-level grid zone designator (GZD) from the + * Military Grid Reference System (MGRS) permits unambiguous use of + * Universal Polar Stereographic (UPS) coordinates for the polar + * regions not covered by UTM, making this representation more + * general than pure UTM. + */ +class UTMPoint +{ + public: + + /** Null constructor. Makes a 2D, invalid point object. */ + UTMPoint(): + easting(0.0), + northing(0.0), + altitude(std::numeric_limits::quiet_NaN()), + zone(0), + band(' ') + {} + + /** Copy constructor. */ + UTMPoint(const UTMPoint &that): + easting(that.easting), + northing(that.northing), + altitude(that.altitude), + zone(that.zone), + band(that.band) + {} + + UTMPoint(const geographic_msgs::GeoPoint &pt); + + /** Create a flattened 2-D grid point. */ + UTMPoint(double _easting, double _northing, uint8_t _zone, char _band): + easting(_easting), + northing(_northing), + altitude(std::numeric_limits::quiet_NaN()), + zone(_zone), + band(_band) + {} + + /** Create a 3-D grid point. */ + UTMPoint(double _easting, double _northing, double _altitude, + uint8_t _zone, char _band): + easting(_easting), + northing(_northing), + altitude(_altitude), + zone(_zone), + band(_band) + {} + + // data members + double easting; ///< easting within grid zone [meters] + double northing; ///< northing within grid zone [meters] + double altitude; ///< altitude above ellipsoid [meters] or NaN + uint8_t zone; ///< UTM longitude zone number + char band; ///< MGRS latitude band letter + +}; // class UTMPoint + +/** Universal Transverse Mercator (UTM) pose */ +class UTMPose +{ + public: + + /** Null constructor. Makes a 2D, invalid pose object. */ + UTMPose(): + position(), + orientation() + {} + + /** Copy constructor. */ + UTMPose(const UTMPose &that): + position(that.position), + orientation(that.orientation) + {} + + /** Create from a WGS 84 geodetic pose. */ + UTMPose(const geographic_msgs::GeoPose &pose): + position(pose.position), + orientation(pose.orientation) + {} + + /** Create from a UTMPoint and a quaternion. */ + UTMPose(UTMPoint pt, + const geometry_msgs::Quaternion &q): + position(pt), + orientation(q) + {} + + /** Create from a WGS 84 geodetic point and a quaternion. */ + UTMPose(const geographic_msgs::GeoPoint &pt, + const geometry_msgs::Quaternion &q): + position(pt), + orientation(q) + {} + + // data members + UTMPoint position; + geometry_msgs::Quaternion orientation; + +}; // class UTMPose + +// conversion function prototypes +void fromMsg(const geographic_msgs::GeoPoint &from, UTMPoint &to, + const bool& force_zone=false, const char& band='A', const uint8_t& zone=0 ); +void fromMsg(const geographic_msgs::GeoPose &from, UTMPose &to, + const bool& force_zone=false, const char& band='A', const uint8_t& zone=0 ); +geographic_msgs::GeoPoint toMsg(const UTMPoint &from); +geographic_msgs::GeoPose toMsg(const UTMPose &from); + +/** @return true if no altitude specified. */ +static inline bool is2D(const UTMPoint &pt) +{ + // true if altitude is a NaN + return (pt.altitude != pt.altitude); +} + +/** @return true if no altitude specified. */ +static inline bool is2D(const UTMPose &pose) +{ + // true if position has no altitude + return is2D(pose.position); +} + +bool isValid(const UTMPoint &pt); +bool isValid(const UTMPose &pose); + +/** Normalize UTM point. + * + * Ensures the point is within its canonical grid zone. + */ +static inline void normalize(UTMPoint &pt) +{ + geographic_msgs::GeoPoint ll(toMsg(pt)); + normalize(ll); + fromMsg(ll, pt); +} + +/** Output stream operator for UTM point. */ +static inline std::ostream& operator<<(std::ostream& out, const UTMPoint &pt) +{ + out << "(" << std::setprecision(10) << pt.easting << ", " + << pt.northing << ", " << std::setprecision(6) << pt.altitude + << " [" << (unsigned) pt.zone << pt.band << "])"; + return out; +} + +/** Output stream operator for UTM pose. */ +static inline std::ostream& operator<<(std::ostream& out, const UTMPose &pose) +{ + out << pose.position << ", ([" + << pose.orientation.x << ", " + << pose.orientation.y << ", " + << pose.orientation.z << "], " + << pose.orientation.w << ")"; + return out; +} + +/** @return true if two points have the same Grid Zone Designator */ +static inline bool sameGridZone(const UTMPoint &pt1, const UTMPoint &pt2) +{ + return ((pt1.zone == pt2.zone) && (pt1.band == pt2.band)); +} + +/** @return true if two poses have the same Grid Zone Designator */ +static inline bool sameGridZone(const UTMPose &pose1, const UTMPose &pose2) +{ + return sameGridZone(pose1.position, pose2.position); +} + +/** @return a geometry Point corresponding to a UTM point. */ +static inline geometry_msgs::Point toGeometry(const UTMPoint &from) +{ + geometry_msgs::Point to; + to.x = from.easting; + to.y = from.northing; + to.z = from.altitude; + return to; +} + +/** @return a geometry Pose corresponding to a UTM pose. */ +static inline geometry_msgs::Pose toGeometry(const UTMPose &from) +{ + geometry_msgs::Pose to; + to.position = toGeometry(from.position); + to.orientation = from.orientation; + return to; +} + +}; // namespace geodesy + +#endif // _UTM_H_ diff --git a/navigations/geographic_info/geodesy/include/geodesy/wgs84.h b/navigations/geographic_info/geodesy/include/geodesy/wgs84.h new file mode 100755 index 0000000..d34970a --- /dev/null +++ b/navigations/geographic_info/geodesy/include/geodesy/wgs84.h @@ -0,0 +1,241 @@ +/* -*- mode: C++ -*- */ +/* $Id: 7290b1e8d933f52fa8cbf73baaf239c93a783478 $ */ + +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (C) 2011 Jack O'Quin +* 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 author nor other 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. +*********************************************************************/ + +#ifndef _WGS84_H_ +#define _WGS84_H_ + +#include +#include +#include +#include +#include +#include + +/** @file + + @brief WGS 84 geodetic system for ROS latitude and longitude messages + + Standard ROS latitude and longitude coordinates are defined in + terms of the World Geodetic System (WGS 84) ellipsoid used by most + navigation satellite receivers. + + Many other geodetic coordinate systems can be defined. They + should always be converted to WGS 84 when publishing ROS messages + to avoid confusion among subscribers. + + @author Jack O'Quin + */ + +namespace geodesy +{ + /** Convert any coordinate to any other via intermediate WGS 84 + * representation. + * + * @author Tully Foote + * + * @note Every coordinate type @b must implement fromMsg() and + * toMsg() functions for both points and poses. + */ + template + void convert(const From &from, To &to); + + /** Convert any coordinate to itself. */ + template + void convert(const Same &from, Same &to); + + /** Convert one WGS 84 geodetic point to another. + * + * @param from WGS 84 point message. + * @param to another point. + */ + static inline void fromMsg(const geographic_msgs::GeoPoint &from, + geographic_msgs::GeoPoint &to) + { + convert(from, to); + } + + /** Convert one WGS 84 geodetic pose to another. + * + * @param from WGS 84 pose message. + * @param to another pose. + */ + static inline void fromMsg(const geographic_msgs::GeoPose &from, + geographic_msgs::GeoPose &to) + { + convert(from, to); + } + + /** @return true if no altitude specified. */ + static inline bool is2D(const geographic_msgs::GeoPoint &pt) + { + return (pt.altitude != pt.altitude); + } + + /** @return true if pose has no altitude. */ + static inline bool is2D(const geographic_msgs::GeoPose &pose) + { + return is2D(pose.position); + } + + /** @return true if point is valid. */ + static inline bool isValid(const geographic_msgs::GeoPoint &pt) + { + if (pt.latitude < -90.0 || pt.latitude > 90.0) + return false; + + if (pt.longitude < -180.0 || pt.longitude >= 180.0) + return false; + + return true; + } + + /** @return true if pose is valid. */ + static inline bool isValid(const geographic_msgs::GeoPose &pose) + { + // check that orientation quaternion is normalized + double len2 = (pose.orientation.x * pose.orientation.x + + pose.orientation.y * pose.orientation.y + + pose.orientation.z * pose.orientation.z + + pose.orientation.w * pose.orientation.w); + if (fabs(len2 - 1.0) > tf::QUATERNION_TOLERANCE) + return false; + + return isValid(pose.position); + } + + /** Normalize a WGS 84 geodetic point. + * + * @param pt point to normalize. + * + * Normalizes the longitude to [-180, 180). + * Clamps latitude to [-90, 90]. + */ + static inline void normalize(geographic_msgs::GeoPoint &pt) + { + pt.longitude = + (fmod(fmod((pt.longitude + 180.0), 360.0) + 360.0, 360.0) - 180.0); + pt.latitude = std::min(std::max(pt.latitude, -90.0), 90.0); + } + + /** @return a 2D WGS 84 geodetic point message. */ + static inline geographic_msgs::GeoPoint toMsg(double lat, double lon) + { + geographic_msgs::GeoPoint pt; + pt.latitude = lat; + pt.longitude = lon; + pt.altitude = std::numeric_limits::quiet_NaN(); + return pt; + } + + /** @return a 3D WGS 84 geodetic point message. */ + static inline geographic_msgs::GeoPoint + toMsg(double lat, double lon, double alt) + { + geographic_msgs::GeoPoint pt; + pt.latitude = lat; + pt.longitude = lon; + pt.altitude = alt; + return pt; + } + + /** @return a WGS 84 geodetic point message from a NavSatFix. */ + static inline geographic_msgs::GeoPoint + toMsg(const sensor_msgs::NavSatFix &fix) + { + geographic_msgs::GeoPoint pt; + pt.latitude = fix.latitude; + pt.longitude = fix.longitude; + pt.altitude = fix.altitude; + return pt; + } + + /** @return a WGS 84 geodetic point message from another. */ + static inline geographic_msgs::GeoPoint + toMsg(const geographic_msgs::GeoPoint &from) + { + return from; + } + + /** @return a WGS 84 geodetic pose message from a point and a + * quaternion. + */ + static inline geographic_msgs::GeoPose + toMsg(const geographic_msgs::GeoPoint &pt, + const geometry_msgs::Quaternion &q) + { + geographic_msgs::GeoPose pose; + pose.position = pt; + pose.orientation = q; + return pose; + } + + /** @return a WGS 84 geodetic pose message from a NavSatFix and a + * quaternion. + */ + static inline geographic_msgs::GeoPose + toMsg(const sensor_msgs::NavSatFix &fix, + const geometry_msgs::Quaternion &q) + { + geographic_msgs::GeoPose pose; + pose.position = toMsg(fix); + pose.orientation = q; + return pose; + } + + /** @return a WGS 84 geodetic pose message from another. */ + static inline geographic_msgs::GeoPose + toMsg(const geographic_msgs::GeoPose &from) + { + return from; + } + + template + void convert(const From &from, To &to) + { + fromMsg(toMsg(from), to); + } + + template + void convert(const Same &from, Same &to) + { + if (&from != &to) + to = from; + } + +}; // namespace geodesy + +#endif // _WGS84_H_ diff --git a/navigations/geographic_info/geodesy/mainpage.dox b/navigations/geographic_info/geodesy/mainpage.dox new file mode 100755 index 0000000..33846fb --- /dev/null +++ b/navigations/geographic_info/geodesy/mainpage.dox @@ -0,0 +1,9 @@ +/** +\mainpage +\htmlinclude manifest.html + +This package provides C++ APIs for manipulating geodetic coordinates. + +It has no nodes, utilities, or scripts. + +*/ diff --git a/navigations/geographic_info/geodesy/package.xml b/navigations/geographic_info/geodesy/package.xml new file mode 100755 index 0000000..0335aa3 --- /dev/null +++ b/navigations/geographic_info/geodesy/package.xml @@ -0,0 +1,52 @@ + + + + geodesy + 0.5.6 + + Python and C++ interfaces for manipulating geodetic coordinates. + + Jack O'Quin + Steve Macenski + Jack O'Quin + BSD + + http://wiki.ros.org/geodesy + https://github.com/ros-geographic-info/geographic_info/issues + https://github.com/ros-geographic-info/geographic_info.git + + catkin + + angles + geographic_msgs + geometry_msgs + sensor_msgs + tf + unique_id + uuid_msgs + + geographic_msgs + geometry_msgs + tf + sensor_msgs + unique_id + uuid_msgs + + python-pyproj + python3-pyproj + + python-setuptools + python3-setuptools + + + rosunit + + + python-catkin-pkg-modules + python3-catkin-pkg-modules + + + + + + diff --git a/navigations/geographic_info/geodesy/rosdoc.yaml b/navigations/geographic_info/geodesy/rosdoc.yaml new file mode 100755 index 0000000..1ad8a9d --- /dev/null +++ b/navigations/geographic_info/geodesy/rosdoc.yaml @@ -0,0 +1,9 @@ + - builder: doxygen + name: C++ API + output_dir: c++ + file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' + - builder: sphinx + name: Python API + sphinx_root_dir: doc + output_dir: python + diff --git a/navigations/geographic_info/geodesy/setup.py b/navigations/geographic_info/geodesy/setup.py new file mode 100755 index 0000000..6cf0c06 --- /dev/null +++ b/navigations/geographic_info/geodesy/setup.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python + +from catkin_pkg.python_setup import generate_distutils_setup +from setuptools import setup + +d = generate_distutils_setup( + packages=['geodesy'], + package_dir={'': 'src'}, + ) + +setup(**d) diff --git a/navigations/geographic_info/geodesy/src/conv/utm_conversions.cpp b/navigations/geographic_info/geodesy/src/conv/utm_conversions.cpp new file mode 100755 index 0000000..890ebc7 --- /dev/null +++ b/navigations/geographic_info/geodesy/src/conv/utm_conversions.cpp @@ -0,0 +1,339 @@ +/* $Id: 67e70c2a6633d089c804653bac18a8b325f3082b $ */ + +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (C) 2011 Chuck Gantz, Jack O'Quin +* 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 author nor other 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. +*********************************************************************/ + +//#include +#include +#include +#include + +/** @file + + @brief Universal Transverse Mercator transforms. + + Functions to convert WGS 84 (ellipsoidal) latitude and longitude + to and from (Euclidean) UTM coordinates. + + @todo handle Universal Polar Stereographic (UPS) zones + + @author Chuck Gantz, Globalstar, Inc. + @author Jack O'Quin, for ROS interface +*/ + +namespace geodesy +{ + +// WGS84 Parameters +#define WGS84_A 6378137.0 // major axis +#define WGS84_B 6356752.31424518 // minor axis +#define WGS84_F 0.0033528107 // ellipsoid flattening +#define WGS84_E 0.0818191908 // first eccentricity +#define WGS84_EP 0.0820944379 // second eccentricity + +// UTM Parameters +#define UTM_K0 0.9996 // scale factor +#define UTM_FE 500000.0 // false easting +#define UTM_FN_N 0.0 // false northing, northern hemisphere +#define UTM_FN_S 10000000.0 // false northing, southern hemisphere +#define UTM_E2 (WGS84_E*WGS84_E) // e^2 +#define UTM_E4 (UTM_E2*UTM_E2) // e^4 +#define UTM_E6 (UTM_E4*UTM_E2) // e^6 +#define UTM_EP2 (UTM_E2/(1-UTM_E2)) // e'^2 + + +/** + * Determine the correct UTM band letter for the given latitude. + * (Does not currently handle polar (UPS) zones: A, B, Y, Z). + * + * @return ' ' if latitude is outside the UTM limits of +84 to -80 + */ +static char UTMBand(double Lat, double Lon) +{ + char LetterDesignator; + + if ((84 >= Lat) && (Lat >= 72)) LetterDesignator = 'X'; + else if ((72 > Lat) && (Lat >= 64)) LetterDesignator = 'W'; + else if ((64 > Lat) && (Lat >= 56)) LetterDesignator = 'V'; + else if ((56 > Lat) && (Lat >= 48)) LetterDesignator = 'U'; + else if ((48 > Lat) && (Lat >= 40)) LetterDesignator = 'T'; + else if ((40 > Lat) && (Lat >= 32)) LetterDesignator = 'S'; + else if ((32 > Lat) && (Lat >= 24)) LetterDesignator = 'R'; + else if ((24 > Lat) && (Lat >= 16)) LetterDesignator = 'Q'; + else if ((16 > Lat) && (Lat >= 8)) LetterDesignator = 'P'; + else if (( 8 > Lat) && (Lat >= 0)) LetterDesignator = 'N'; + else if (( 0 > Lat) && (Lat >= -8)) LetterDesignator = 'M'; + else if ((-8 > Lat) && (Lat >= -16)) LetterDesignator = 'L'; + else if((-16 > Lat) && (Lat >= -24)) LetterDesignator = 'K'; + else if((-24 > Lat) && (Lat >= -32)) LetterDesignator = 'J'; + else if((-32 > Lat) && (Lat >= -40)) LetterDesignator = 'H'; + else if((-40 > Lat) && (Lat >= -48)) LetterDesignator = 'G'; + else if((-48 > Lat) && (Lat >= -56)) LetterDesignator = 'F'; + else if((-56 > Lat) && (Lat >= -64)) LetterDesignator = 'E'; + else if((-64 > Lat) && (Lat >= -72)) LetterDesignator = 'D'; + else if((-72 > Lat) && (Lat >= -80)) LetterDesignator = 'C'; + // '_' is an error flag, the Latitude is outside the UTM limits + else LetterDesignator = ' '; + + return LetterDesignator; +} + +/** Convert UTM point to WGS 84 geodetic point. + * + * Equations from USGS Bulletin 1532 + * + * @param from UTM point. + * @return WGS 84 point message. + */ +geographic_msgs::GeoPoint toMsg(const UTMPoint &from) +{ + //remove 500,000 meter offset for longitude + double x = from.easting - 500000.0; + double y = from.northing; + + double k0 = UTM_K0; + double a = WGS84_A; + double eccSquared = UTM_E2; + double eccPrimeSquared; + double e1 = (1-sqrt(1-eccSquared))/(1+sqrt(1-eccSquared)); + double N1, T1, C1, R1, D, M; + double LongOrigin; + double mu, phi1Rad; + + if ((from.band - 'N') < 0) + { + //point is in southern hemisphere + //remove 10,000,000 meter offset used for southern hemisphere + y -= 10000000.0; + } + + //+3 puts origin in middle of zone + LongOrigin = (from.zone - 1)*6 - 180 + 3; + eccPrimeSquared = (eccSquared)/(1-eccSquared); + + M = y / k0; + mu = M/(a*(1-eccSquared/4-3*eccSquared*eccSquared/64 + -5*eccSquared*eccSquared*eccSquared/256)); + + phi1Rad = mu + ((3*e1/2-27*e1*e1*e1/32)*sin(2*mu) + + (21*e1*e1/16-55*e1*e1*e1*e1/32)*sin(4*mu) + + (151*e1*e1*e1/96)*sin(6*mu)); + + N1 = a/sqrt(1-eccSquared*sin(phi1Rad)*sin(phi1Rad)); + T1 = tan(phi1Rad)*tan(phi1Rad); + C1 = eccPrimeSquared*cos(phi1Rad)*cos(phi1Rad); + R1 = a*(1-eccSquared)/pow(1-eccSquared*sin(phi1Rad)*sin(phi1Rad), 1.5); + D = x/(N1*k0); + + // function result + geographic_msgs::GeoPoint to; + to.altitude = from.altitude; + to.latitude = + phi1Rad - ((N1*tan(phi1Rad)/R1) + *(D*D/2 + -(5+3*T1+10*C1-4*C1*C1-9*eccPrimeSquared)*D*D*D*D/24 + +(61+90*T1+298*C1+45*T1*T1-252*eccPrimeSquared + -3*C1*C1)*D*D*D*D*D*D/720)); + to.latitude = angles::to_degrees(to.latitude); + to.longitude = ((D-(1+2*T1+C1)*D*D*D/6 + +(5-2*C1+28*T1-3*C1*C1+8*eccPrimeSquared+24*T1*T1) + *D*D*D*D*D/120) + / cos(phi1Rad)); + to.longitude = LongOrigin + angles::to_degrees(to.longitude); + + // Normalize latitude and longitude to valid ranges. + normalize(to); + return to; +} + +/** Convert WGS 84 geodetic point to UTM point. + * + * Equations from USGS Bulletin 1532 + * + * @param from WGS 84 point message. + * @param to UTM point. + */ +void fromMsg(const geographic_msgs::GeoPoint &from, UTMPoint &to, + const bool& force_zone, const char& band, const uint8_t& zone) +{ + double Lat = from.latitude; + double Long = from.longitude; + + double a = WGS84_A; + double eccSquared = UTM_E2; + double k0 = UTM_K0; + + double LongOrigin; + double eccPrimeSquared; + double N, T, C, A, M; + + // Make sure the longitude is between -180.00 .. 179.9 + // (JOQ: this is broken for Long < -180, do a real normalize) + double LongTemp = (Long+180)-int((Long+180)/360)*360-180; + double LatRad = angles::from_degrees(Lat); + double LongRad = angles::from_degrees(LongTemp); + double LongOriginRad; + + to.altitude = from.altitude; + if (!force_zone) + to.zone = int((LongTemp + 180)/6) + 1; + else + to.zone = zone; + + if( Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0 ) + to.zone = 32; + + // Special zones for Svalbard + if( Lat >= 72.0 && Lat < 84.0 ) + { + if( LongTemp >= 0.0 && LongTemp < 9.0 ) to.zone = 31; + else if( LongTemp >= 9.0 && LongTemp < 21.0 ) to.zone = 33; + else if( LongTemp >= 21.0 && LongTemp < 33.0 ) to.zone = 35; + else if( LongTemp >= 33.0 && LongTemp < 42.0 ) to.zone = 37; + } + // +3 puts origin in middle of zone + LongOrigin = (to.zone - 1)*6 - 180 + 3; + LongOriginRad = angles::from_degrees(LongOrigin); + + // compute the UTM band from the latitude + if (!force_zone) + to.band = UTMBand(Lat, LongTemp); + else + to.band = band; + + + +#if 0 + if (to.band == ' ') + throw std::range_error; +#endif + + eccPrimeSquared = (eccSquared)/(1-eccSquared); + + N = a/sqrt(1-eccSquared*sin(LatRad)*sin(LatRad)); + T = tan(LatRad)*tan(LatRad); + C = eccPrimeSquared*cos(LatRad)*cos(LatRad); + A = cos(LatRad)*(LongRad-LongOriginRad); + + M = a*((1 - eccSquared/4 - 3*eccSquared*eccSquared/64 + - 5*eccSquared*eccSquared*eccSquared/256) * LatRad + - (3*eccSquared/8 + 3*eccSquared*eccSquared/32 + + 45*eccSquared*eccSquared*eccSquared/1024)*sin(2*LatRad) + + (15*eccSquared*eccSquared/256 + + 45*eccSquared*eccSquared*eccSquared/1024)*sin(4*LatRad) + - (35*eccSquared*eccSquared*eccSquared/3072)*sin(6*LatRad)); + + to.easting = (double) + (k0*N*(A+(1-T+C)*A*A*A/6 + + (5-18*T+T*T+72*C-58*eccPrimeSquared)*A*A*A*A*A/120) + + 500000.0); + + to.northing = (double) + (k0*(M+N*tan(LatRad) + *(A*A/2+(5-T+9*C+4*C*C)*A*A*A*A/24 + + (61-58*T+T*T+600*C-330*eccPrimeSquared)*A*A*A*A*A*A/720))); + + if(Lat < 0) + { + //10000000 meter offset for southern hemisphere + to.northing += 10000000.0; + } +} + +/** @return true if point is valid. */ +bool isValid(const UTMPoint &pt) +{ + if (pt.zone < 1 || pt.zone > 60) + return false; + + if (!isupper(pt.band) || pt.band == 'I' || pt.band == 'O') + return false; + + // The Universal Polar Stereographic bands are not currently + // supported. When they are: A, B, Y and Z will be valid (and the + // zone number will be ignored). + if (pt.band < 'C' || pt.band > 'X') + return false; + + return true; +} + +/** Create UTM point from WGS 84 geodetic point. */ +UTMPoint::UTMPoint(const geographic_msgs::GeoPoint &pt) +{ + fromMsg(pt, *this); +} + +/** Convert UTM pose to WGS 84 geodetic pose. + * + * @param from UTM pose. + * @return WGS 84 pose message. + */ +geographic_msgs::GeoPose toMsg(const UTMPose &from) +{ + geographic_msgs::GeoPose to; + to.position = toMsg(from.position); + to.orientation = from.orientation; + return to; +} + +/** Convert WGS 84 geodetic pose to UTM pose. + * + * @param from WGS 84 pose message. + * @param to UTM pose. + * + * @todo define the orientation transformation properly + */ +void fromMsg(const geographic_msgs::GeoPose &from, UTMPose &to, + const bool& force_zone, const char& band, const uint8_t& zone) +{ + fromMsg(from.position, to.position, force_zone, band, zone); + to.orientation = from.orientation; +} + +/** @return true if pose is valid. */ +bool isValid(const UTMPose &pose) +{ + if (!isValid(pose.position)) + return false; + + // check that orientation quaternion is normalized + double len2 = (pose.orientation.x * pose.orientation.x + + pose.orientation.y * pose.orientation.y + + pose.orientation.z * pose.orientation.z + + pose.orientation.w * pose.orientation.w); + return fabs(len2 - 1.0) <= tf::QUATERNION_TOLERANCE; +} + +} // end namespace geodesy diff --git a/navigations/geographic_info/geodesy/src/geodesy/__init__.py b/navigations/geographic_info/geodesy/src/geodesy/__init__.py new file mode 100755 index 0000000..e69de29 diff --git a/navigations/geographic_info/geodesy/src/geodesy/bounding_box.py b/navigations/geographic_info/geodesy/src/geodesy/bounding_box.py new file mode 100755 index 0000000..625934b --- /dev/null +++ b/navigations/geographic_info/geodesy/src/geodesy/bounding_box.py @@ -0,0 +1,126 @@ +# Software License Agreement (BSD License) +# +# Copyright (C) 2012, Jack O'Quin +# 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 author nor of other 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. + +""" +.. module:: bounding_box + +Bounding box functions for geographic maps. + +.. _`geographic_msgs/BoundingBox`: http://ros.org/doc/api/geographic_msgs/html/msg/BoundingBox.html + +""" + +from geographic_msgs.msg import BoundingBox + +def getLatLong(bbox): + """ + Get the tuple of minimum and maximum latitudes and longitudes. + + :param bbox: `geographic_msgs/BoundingBox`_. + :returns: (min_lat, min_lon, max_lat, max_lon) + """ + return (bbox.min_pt.latitude, bbox.min_pt.longitude, + bbox.max_pt.latitude, bbox.max_pt.longitude) + +def is2D(bbox): + """ + Two-dimensional bounding box predicate. + + :param bbox: `geographic_msgs/BoundingBox`_. + :returns: True if *bbox* matches any altitude. + """ + return bbox.min_pt.altitude != bbox.min_pt.altitude + +def isGlobal(bbox): + """ + Global bounding box predicate. + + :param bbox: `geographic_msgs/BoundingBox`_. + :returns: True if *bbox* matches any global coordinate. + """ + return bbox.min_pt.latitude != bbox.min_pt.latitude + +def makeBounds2D(min_lat, min_lon, max_lat, max_lon): + """ + Create a 2D geographic bounding box (ignoring altitudes). + + :param min_lat: Minimum latitude. + :param min_lon: Minimum longitude. + :param max_lat: Maximum latitude. + :param max_lon: Maximum longitude. + :returns: `geographic_msgs/BoundingBox`_ object. + """ + bbox = BoundingBox() + bbox.min_pt.latitude = min_lat + bbox.min_pt.longitude = min_lon + bbox.min_pt.altitude = float('nan') + bbox.max_pt.latitude = max_lat + bbox.max_pt.longitude = max_lon + bbox.max_pt.altitude = float('nan') + return bbox + +def makeBounds3D(min_lat, min_lon, min_alt, + max_lat, max_lon, max_alt): + """ + Create a 3D geographic bounding box (including altitudes). + + :param min_lat: Minimum latitude. + :param min_lon: Minimum longitude. + :param min_alt: Minimum altitude. + :param max_lat: Maximum latitude. + :param max_lon: Maximum longitude. + :param max_alt: Maximum altitude. + :returns: `geographic_msgs/BoundingBox`_ object. + """ + bbox = BoundingBox() + bbox.min_pt.latitude = min_lat + bbox.min_pt.longitude = min_lon + bbox.min_pt.altitude = min_alt + bbox.max_pt.latitude = max_lat + bbox.max_pt.longitude = max_lon + bbox.max_pt.altitude = max_alt + return bbox + +def makeGlobal(): + """ + Create a global bounding box, which matches any valid coordinate. + + :returns: `geographic_msgs/BoundingBox`_ object. + """ + bbox = BoundingBox() + bbox.min_pt.latitude = float('nan') + bbox.min_pt.longitude = float('nan') + bbox.min_pt.altitude = float('nan') + bbox.max_pt.latitude = float('nan') + bbox.max_pt.longitude = float('nan') + bbox.max_pt.altitude = float('nan') + return bbox diff --git a/navigations/geographic_info/geodesy/src/geodesy/props.py b/navigations/geographic_info/geodesy/src/geodesy/props.py new file mode 100755 index 0000000..6b27353 --- /dev/null +++ b/navigations/geographic_info/geodesy/src/geodesy/props.py @@ -0,0 +1,87 @@ +# Software License Agreement (BSD License) +# +# Copyright (C) 2012, Jack O'Quin +# 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 author nor of other 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. + +""" +.. module:: props + +`geographic_msgs/KeyValue`_ property interface for Geographic Information messages. + +.. _`geographic_msgs/KeyValue`: http://ros.org/doc/api/geographic_msgs/html/msg/KeyValue.html + +""" + +from geographic_msgs.msg import KeyValue + +def get(msg, key): + """ Get property value. + + :param msg: Message containing properties. + :param key: Property key to match. + + :returns: Corresponding value, if defined; None otherwise. + Beware: the value may be '', which evaluates False as a + predicate, use ``is not None`` to test for presence. + """ + for prop in msg.props: + if prop.key == key: + return prop.value + return None + +def match(msg, key_set): + """ Match message properties. + + :param msg: Message containing properties. + :param key_set: Set of property keys to match. + :returns: (key, value) of first property matched; None otherwise. + :raises: :exc:`ValueError` if key_set is not a set + """ + if type(key_set) is not set: + raise ValueError('property matching requires a set of keys') + for prop in msg.props: + if prop.key in key_set: + return (prop.key, prop.value) + return None + +def put(msg, key, val=''): + """ Add KeyValue to message properties. + + :param msg: Message to update. + :param key: Property key name. + :param value: Corresponding value string (default ''). + """ + for prop in msg.props: + if prop.key == key: + # key already present, update value + prop.value = str(val) + return + # key missing, append a new KeyValue pair + msg.props.append(KeyValue(key=key, value=str(val))) diff --git a/navigations/geographic_info/geodesy/src/geodesy/utm.py b/navigations/geographic_info/geodesy/src/geodesy/utm.py new file mode 100755 index 0000000..6648337 --- /dev/null +++ b/navigations/geographic_info/geodesy/src/geodesy/utm.py @@ -0,0 +1,191 @@ +# Software License Agreement (BSD License) +# +# Copyright (C) 2012, Jack O'Quin +# 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 author nor of other 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. + +""" +.. module:: utm + +Universal Transverse Mercator coordinate module. + +:todo: add Universal Polar Stereographic (UPS_) support + +.. _MGRS: http://en.wikipedia.org/wiki/Military_grid_reference_system +.. _`PROJ.4`: http://trac.osgeo.org/proj/ +.. _pyproj: http://pypi.python.org/pypi/pyproj +.. _UPS: http://en.wikipedia.org/wiki/Universal_Polar_Stereographic_coordinate_system +.. _UTM: http://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system + +.. _`geometry_msgs/Point`: http://ros.org/doc/api/geometry_msgs/html/msg/Point.html +.. _`geographic_msgs/GeoPoint`: http://ros.org/doc/api/geographic_msgs/html/msg/GeoPoint.html + +""" + +import math +import pyproj + +from geographic_msgs.msg import GeoPoint +from geometry_msgs.msg import Point + +class UTMPoint: + """Universal Transverse Mercator (UTM_) point class. + + For outdoor robotics applications, Euclidean projections like UTM_ + are easier to work with than latitude and longitude. This system + is slightly more general than strict UTM. It is based on the + Military Grid Reference System (MGRS_), which can be extended to + cover the poles, allowing well-defined transformations for every + latitude and longitude. + + This implementation uses the pyproj_ wrapper for the `PROJ.4`_ + Cartographic Projections Library. + + :param easting: UTM easting (meters) + :param northing: UTM northing (meters) + :param altitude: altitude above the WGS84 ellipsoid (meters), + none if NaN. + :param zone: UTM longitude zone + :param band: MGRS latitude band letter + + """ + + def __init__(self, easting=float('nan'), northing=float('nan'), + altitude=float('nan'), zone=0, band=' '): + """Construct UTMPoint object. """ + self.easting = easting + self.northing = northing + self.altitude = altitude + self.zone = zone + self.band = band + + def __str__(self): + """ :returns: string representation of :class:`UTMPoint`. """ + # uses python3-compatible str.format() method: + return 'UTM: [{0:.3f}, {1:.3f}, {2:.3f}, {3}{4}]'.format( + self.easting, self.northing, self.altitude, self.zone, self.band) + + def gridZone(self): + """:returns: (zone, band) tuple. """ + return (self.zone, self.band) + + def is2D(self): + """:returns: True if altitude is not defined.""" + return self.altitude != self.altitude + + def toPoint(self): + """:returns: corresponding `geometry_msgs/Point`_ message. + :todo: clamp message longitude to [-180..180] + """ + if not self.valid(): + raise ValueError('invalid UTM point: ' + str(self)) + pt = Point(x = self.easting, y = self.northing) + if not self.is2D(): + pt.z = self.altitude + return pt + + def toMsg(self): + """:returns: corresponding `geographic_msgs/GeoPoint`_ message. + :todo: clamp message longitude to [-180..180] + """ + if not self.valid(): + raise ValueError('invalid UTM point: ' + str(self)) + utm_proj = pyproj.Proj(proj='utm', zone=self.zone, datum='WGS84') + msg = GeoPoint(altitude=self.altitude) + msg.longitude, msg.latitude = utm_proj(self.easting, self.northing, + inverse=True) + return msg + + def valid(self): + """:returns: True if this is a valid UTM point. """ + return (self.easting == self.easting + and self.northing == self.northing + and self.band != ' ') + +def fromLatLong(latitude, longitude, altitude=float('nan')): + """Generate :class:`UTMPoint` from latitude, longitude and (optional) altitude. + + Latitude and longitude are expressed in degrees, relative to the + WGS84 ellipsoid. + + :param latitude: [degrees], negative is South. + :param longitude: [degrees], negative is West. + :param altitude: [meters], negative is below the ellipsoid. + + :returns: :class:`UTMPoint` object. + """ + z, b = gridZone(latitude, longitude) + utm_proj = pyproj.Proj(proj='utm', zone=z, datum='WGS84') + e, n = utm_proj(longitude, latitude) + return UTMPoint(easting=e, northing=n, altitude=altitude, zone=z, band=b) + +def fromMsg(msg): + """ + :param msg: `geographic_msgs/GeoPoint`_ message. + :returns: :class:`UTMPoint` object. + """ + return fromLatLong(msg.latitude, msg.longitude, msg.altitude) + +def gridZone(lat, lon): + """Find UTM zone and MGRS band for latitude and longitude. + + :param lat: latitude in degrees, negative is South. + :param lon: longitude in degrees, negative is West. + :returns: (zone, band) tuple. + :raises: :exc:`ValueError` if lon not in [-180..180] or if lat + has no corresponding band letter. + + :todo: handle polar (UPS_) zones: A, B, Y, Z. + """ + if -180.0 > lon or lon > 180.0: + raise ValueError('invalid longitude: ' + str(lon)) + zone = int((lon + 180.0)//6.0) + 1 + band = ' ' + if 84 >= lat and lat >= 72: band = 'X' + elif 72 > lat and lat >= 64: band = 'W' + elif 64 > lat and lat >= 56: band = 'V' + elif 56 > lat and lat >= 48: band = 'U' + elif 48 > lat and lat >= 40: band = 'T' + elif 40 > lat and lat >= 32: band = 'S' + elif 32 > lat and lat >= 24: band = 'R' + elif 24 > lat and lat >= 16: band = 'Q' + elif 16 > lat and lat >= 8: band = 'P' + elif 8 > lat and lat >= 0: band = 'N' + elif 0 > lat and lat >= -8: band = 'M' + elif -8 > lat and lat >= -16: band = 'L' + elif -16 > lat and lat >= -24: band = 'K' + elif -24 > lat and lat >= -32: band = 'J' + elif -32 > lat and lat >= -40: band = 'H' + elif -40 > lat and lat >= -48: band = 'G' + elif -48 > lat and lat >= -56: band = 'F' + elif -56 > lat and lat >= -64: band = 'E' + elif -64 > lat and lat >= -72: band = 'D' + elif -72 > lat and lat >= -80: band = 'C' + else: raise ValueError('latitude out of UTM range: ' + str(lat)) + return (zone, band) diff --git a/navigations/geographic_info/geodesy/src/geodesy/wu_point.py b/navigations/geographic_info/geodesy/src/geodesy/wu_point.py new file mode 100755 index 0000000..5a4148e --- /dev/null +++ b/navigations/geographic_info/geodesy/src/geodesy/wu_point.py @@ -0,0 +1,272 @@ +# Software License Agreement (BSD License) +# +# Copyright (C) 2012, Jack O'Quin +# 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 author nor of other 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. + +""" +.. module:: wu_point + +Convenience classes for manipulating way points and their associated +Universal Transverse Mercator (UTM_) coordinates. + +.. _UTM: http://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system +.. _UUID: http://en.wikipedia.org/wiki/Uuid + +.. _`geographic_msgs/GeographicMap`: http://ros.org/doc/api/geographic_msgs/html/msg/GeographicMap.html +.. _`geographic_msgs/GeoPoint`: http://ros.org/doc/api/geographic_msgs/html/msg/GeoPoint.html +.. _`geographic_msgs/RouteNetwork`: http://ros.org/doc/api/geographic_msgs/html/msg/RouteNetwork.html +.. _`geographic_msgs/WayPoint`: http://ros.org/doc/api/geographic_msgs/html/msg/WayPoint.html +.. _`geometry_msgs/Point`: http://ros.org/doc/api/geometry_msgs/html/msg/Point.html + +""" + +import math +import geodesy.utm + +from geographic_msgs.msg import WayPoint +from geometry_msgs.msg import Point + +class WuPoint(): + """ + :class:`WuPoint` represents a map way point with associated UTM_ + information. + + :param waypt: `geographic_msgs/WayPoint`_ message. + :param utm: Corresponding :class:`geodesy.utm.UTMPoint` object. If None + provided, the *utm* object will be created. + + .. describe:: str(wu_point) + + :returns: String representation of :class:`WuPoint` object. + """ + + def __init__(self, waypt, utm=None): + """Constructor. + + Collects relevant information from the way point message, and + creates the corresponding :class:`geodesy.utm.UTMPoint`. + """ + self.way_pt = waypt + + if utm: + self.utm = utm + else: + # convert latitude and longitude to UTM (ignoring altitude) + self.utm = geodesy.utm.fromMsg(waypt.position) + + def __str__(self): + """:returns: String representation of :class:`WuPoint` """ + # uses python3-compatible str.format() method: + return str(self.way_pt) + '\n' + str(self.utm) + + def is2D(self): + """:returns: True if no altitude provided. """ + geo_point = self.way_pt.position + return geo_point.altitude != geo_point.altitude + + def position(self): + """:returns: Corresponding `geographic_msgs/GeoPoint`_ message.""" + return self.way_pt.position + + def toPoint(self): + """:returns: Corresponding `geometry_msgs/Point`_ message.""" + return self.utm.toPoint() + + def toPointXY(self): + """:returns: `geometry_msgs/Point`_ with X and Y coordinates, and Z coordinate of zero. """ + return Point(x = self.utm.easting, y = self.utm.northing) + + def toWayPoint(self): + """:returns: Corresponding `geographic_msgs/WayPoint`_ message. """ + return self.way_pt + + def uuid(self): + """:returns: UUID_ of way point. """ + return self.way_pt.id.uuid + +class WuPointSet(): + """ + :class:`WuPointSet` is a container for the way points in a + `geographic_msgs/GeographicMap`_ or + `geographic_msgs/RouteNetwork`_ message. UTM_ coordinates are + available for each way point, but they are evaluated lazily, only + when needed. + + :param points: array of `geographic_msgs/WayPoint`_ messages + + :class:`WuPointSet` supports these standard container operations: + + .. describe:: len(wu_set) + + :returns: The number of points in the set. + + .. describe:: wu_set[uuid] + + :returns: The point with key *uuid*. Raises a :exc:`KeyError` + if *uuid* is not in the set. + + .. describe:: uuid in wu_set + + :returns: ``True`` if *wu_set* has a key *uuid*, else ``False``. + + .. describe:: uuid not in wu_set + + Equivalent to ``not uuid in wu_set``. + + .. describe:: iter(wu_set) + + :returns: An iterator over the points in the set. + + These methods are also provided: + + """ + + def __init__(self, points): + """Constructor. + + Collects relevant way point information from the way point + array, and provides convenient access to the data. + """ + self.points = points + + # Initialize way point information. + self.way_point_ids = {} # points symbol table + self.n_points = len(self.points) + for wid in range(self.n_points): + self.way_point_ids[self.points[wid].id.uuid] = wid + self.way_point_ids = dict(self.way_point_ids) + # Create empty list of UTM points, corresponding to map points. + # They will be evaluated lazily, when first needed. + self.utm_points = [None for wid in range(self.n_points)] + + def __contains__(self, item): + """ Point set membership. """ + return item in self.way_point_ids + + def __getitem__(self, key): + """ + :param key: UUID_ of desired point. + :returns: Named :class:`WuPoint`. + :raises: :exc:`KeyError` if no such point + """ + index = self.way_point_ids[key] + return self._get_point_with_utm(index) + + def __iter__(self): + """ Points iterator. """ + self.iter_index = 0 + return self + + def __len__(self): + """Point set length.""" + return self.n_points + + def _get_point_with_utm(self, index): + """Get way point with UTM coordinates. + + Creates the corresponding :class:`UTMPoint`, if necessary. + + :param index: Index of point in self. + :returns: Corresponding :class:`WuPoint` object. + """ + way_pt = self.points[index] + utm_pt = list(self.utm_points)[index] + if utm_pt is not None: + utm_pt = geodesy.utm.fromMsg(way_pt.position) + self.utm_points[index] = utm_pt + return WuPoint(way_pt, utm=utm_pt) + + def distance2D(self, idx1, idx2): + """ Compute 2D Euclidean distance between points. + + :param idx1: Index of first point. + :param idx2: Index of second point. + + :returns: Distance in meters within the UTM XY + plane. Altitudes are ignored. + """ + p1 = self._get_point_with_utm(idx1) + p2 = self._get_point_with_utm(idx2) + dx = p2.utm.easting - p1.utm.easting + dy = p2.utm.northing - p1.utm.northing + return math.sqrt(dx*dx + dy*dy) + + def distance3D(self, idx1, idx2): + """ Compute 3D Euclidean distance between points. + + :param idx1: Index of first point. + :param idx2: Index of second point. + + :returns: Distance in meters between two UTM points, including + altitudes. + """ + p1 = self._get_point_with_utm(idx1) + p2 = self._get_point_with_utm(idx2) + dx = p2.utm.easting - p1.utm.easting + dy = p2.utm.northing - p1.utm.northing + dz = p2.utm.altitude - p1.utm.altitude + return math.sqrt(dx*dx + dy*dy + dz*dz) + + def get(self, key, default=None): + """ Get point, if defined. + + :param key: UUID_ of desired point. + :param default: value to return if no such point. + :returns: Named :class:`WuPoint`, if successful; otherwise default. + """ + index = self.way_point_ids.get(key) + if index is not None: + return self._get_point_with_utm(index) + else: + return default + + def index(self, key, default=None): + """ Get index of point, if defined. + + :param key: UUID_ of desired point. + :param default: value to return if no such point. + :returns: Index of point, if successful; otherwise default. + Beware: the index may be 0, which evaluates False as + a predicate, use ``is not None`` to test for + presence. + """ + return self.way_point_ids.get(key, default) + + def __next__(self): + """ Next iteration point. + + :returns: Next :class:`WuPoint`. + :raises: :exc:`StopIteration` when finished. + """ + i = self.iter_index + if i >= self.n_points: + raise StopIteration + self.iter_index = i + 1 + return self._get_point_with_utm(i) diff --git a/navigations/geographic_info/geodesy/tests/test_bounding_box.py b/navigations/geographic_info/geodesy/tests/test_bounding_box.py new file mode 100755 index 0000000..2e68da6 --- /dev/null +++ b/navigations/geographic_info/geodesy/tests/test_bounding_box.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python + +import unittest + +from geodesy.bounding_box import * # module being tested + +class TestPythonBoundingBox(unittest.TestCase): + """Unit tests for Python bounding box functions. """ + + def test_global_bounding_box(self): + bb = makeGlobal() + self.assertTrue(isGlobal(bb)) + + def test_2d_bounding_box(self): + min_lat = 30.3787400 + min_lon = -97.7344500 + max_lat = 30.3947700 + max_lon = -97.7230800 + bb = makeBounds2D(min_lat, min_lon, max_lat, max_lon) + self.assertFalse(isGlobal(bb)) + self.assertTrue(is2D(bb)) + min_lat2, min_lon2, max_lat2, max_lon2 = getLatLong(bb) + self.assertEqual(min_lat, min_lat2) + self.assertEqual(min_lon, min_lon2) + self.assertEqual(max_lat, max_lat2) + self.assertEqual(max_lon, max_lon2) + + def test_3d_bounding_box(self): + min_lat = 30.3787400 + min_lon = -97.7344500 + min_alt = 200.0 + max_lat = 30.3947700 + max_lon = -97.7230800 + max_alt = 400.0 + bb = makeBounds3D(min_lat, min_lon, min_alt, + max_lat, max_lon, max_alt) + self.assertFalse(isGlobal(bb)) + self.assertFalse(is2D(bb)) + min_lat2, min_lon2, max_lat2, max_lon2 = getLatLong(bb) + self.assertEqual(min_lat, min_lat2) + self.assertEqual(min_lon, min_lon2) + self.assertEqual(min_alt, bb.min_pt.altitude) + self.assertEqual(max_lat, max_lat2) + self.assertEqual(max_lon, max_lon2) + self.assertEqual(max_alt, bb.max_pt.altitude) + +if __name__ == '__main__': + import rosunit + PKG='geodesy' + rosunit.unitrun(PKG, 'test_uuid_py', TestPythonBoundingBox) diff --git a/navigations/geographic_info/geodesy/tests/test_props.py b/navigations/geographic_info/geodesy/tests/test_props.py new file mode 100755 index 0000000..002fdee --- /dev/null +++ b/navigations/geographic_info/geodesy/tests/test_props.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python + +import sys +import unittest + +from geodesy.props import * # module being tested + +from geographic_msgs.msg import KeyValue +from geographic_msgs.msg import MapFeature +from geographic_msgs.msg import RouteSegment +from geographic_msgs.msg import WayPoint + +class TestPythonProps(unittest.TestCase): + """Unit tests for Python KeyValue property handling. + """ + + def test_empty_feature_match(self): + f = MapFeature() + self.assertEqual(match(f, set(['no', 'such', 'property'])), None) + + def test_empty_property_set(self): + f = MapFeature() + put(f, 'valid', 'any') + self.assertEqual(match(f, set()), None) + + def test_feature_match(self): + f = MapFeature() + put(f, 'different') + put(f, 'valid', 'any') + prop = match(f, set(['a', 'valid', 'property'])) + self.assertNotEqual(prop, None) + self.assertEqual(prop, ('valid', 'any')) + k, v = prop + self.assertEqual(k, 'valid') + self.assertEqual(v, 'any') + + def test_empty_waypoint_match(self): + p = WayPoint() + self.assertEqual(match(p, set(['nothing', 'defined'])), None) + + def test_waypoint_match(self): + p = WayPoint() + put(p, 'another', 'anything') + put(p, 'name', 'myself') + prop = match(p, set(['name'])) + self.assertNotEqual(prop, None) + k, v = prop + self.assertEqual(k, 'name') + self.assertEqual(v, 'myself') + + def test_segment_value_change(self): + s = RouteSegment() + put(s, 'another', 'anything') + put(s, 'name', 'myself') + self.assertEqual(get(s, 'name'), 'myself') + put(s, 'name', 'alias') + self.assertEqual(get(s, 'name'), 'alias') + + def test_segment_null_value(self): + s = RouteSegment() + put(s, 'another', 'anything') + put(s, 'name') + self.assertEqual(get(s, 'name'), '') + put(s, 'name', 'myself') + self.assertEqual(get(s, 'name'), 'myself') + + def test_invalid_key_set(self): + f = MapFeature() + put(f, 'notset', 'any') + self.assertEqual(get(f, 'notset'), 'any') + self.assertRaises(ValueError, match, f, 'notset') + +if __name__ == '__main__': + import rosunit + PKG='geodesy' + rosunit.unitrun(PKG, 'test_uuid_py', TestPythonProps) diff --git a/navigations/geographic_info/geodesy/tests/test_utm.cpp b/navigations/geographic_info/geodesy/tests/test_utm.cpp new file mode 100755 index 0000000..a1fa404 --- /dev/null +++ b/navigations/geographic_info/geodesy/tests/test_utm.cpp @@ -0,0 +1,478 @@ +/* $Id: 47db7b5025f4ca800961335f30ef67b18cfe69ca $ */ + +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2011 Jack O'Quin +* 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 author nor other 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. +*********************************************************************/ + +#include +#include +#include +#include "geodesy/utm.h" + + +/////////////////////////////////////////////////////////////// +// Utility functions +/////////////////////////////////////////////////////////////// + +// check that two UTM points are near each other +void check_utm_near(const geodesy::UTMPoint &pt1, + const geodesy::UTMPoint &pt2, + double abs_err) +{ + EXPECT_NEAR(pt1.easting, pt2.easting, abs_err); + EXPECT_NEAR(pt1.northing, pt2.northing, abs_err); + EXPECT_NEAR(pt1.altitude, pt2.altitude, abs_err); + EXPECT_EQ(pt1.zone, pt2.zone); + EXPECT_EQ(pt1.band, pt2.band); +} + +/////////////////////////////////////////////////////////////// +// Test cases +/////////////////////////////////////////////////////////////// + +// Test null constructor +TEST(UTMPoint, nullConstructor) +{ + geodesy::UTMPoint pt; + + EXPECT_EQ(pt.easting, 0.0); + EXPECT_EQ(pt.northing, 0.0); + EXPECT_TRUE(geodesy::is2D(pt)); + EXPECT_EQ(pt.zone, 0); + EXPECT_EQ(pt.band, ' '); + EXPECT_FALSE(geodesy::isValid(pt)); +} + +// Test 2D constructor +TEST(UTMPoint, flatConstructor) +{ + double e = 1000.0; + double n = 2400.0; + uint8_t z = 14; + char b = 'R'; + geodesy::UTMPoint pt(e, n, z, b); + + EXPECT_TRUE(geodesy::is2D(pt)); + EXPECT_TRUE(geodesy::isValid(pt)); + + EXPECT_EQ(pt.easting, e); + EXPECT_EQ(pt.northing, n); + EXPECT_EQ(pt.zone, z); + EXPECT_EQ(pt.band, b); +} + +// Test 3D constructor +TEST(UTMPoint, hasAltitude) +{ + double e = 1000.0; + double n = 2400.0; + double a = 200.0; + uint8_t z = 14; + char b = 'R'; + geodesy::UTMPoint pt(e, n, a, z, b); + + EXPECT_FALSE(geodesy::is2D(pt)); + EXPECT_TRUE(geodesy::isValid(pt)); + + EXPECT_EQ(pt.easting, e); + EXPECT_EQ(pt.northing, n); + EXPECT_EQ(pt.zone, z); + EXPECT_EQ(pt.band, b); +} + +// Test copy constructor +TEST(UTMPoint, copyConstructor) +{ + double e = 1000.0; + double n = 2400.0; + double a = 200.0; + uint8_t z = 14; + char b = 'R'; + geodesy::UTMPoint pt1(e, n, a, z, b); + geodesy::UTMPoint pt2(pt1); + + EXPECT_FALSE(geodesy::is2D(pt2)); + EXPECT_TRUE(geodesy::isValid(pt2)); + + EXPECT_EQ(pt2.easting, e); + EXPECT_EQ(pt2.northing, n); + EXPECT_EQ(pt2.zone, z); + EXPECT_EQ(pt2.band, b); +} + +// Test UTM point constructor from WGS 84 +TEST(UTMPoint, fromLatLong) +{ + // University of Texas, Austin, Pickle Research Campus + double lat = 30.385315; + double lon = -97.728524; + double alt = 209.0; + + geographic_msgs::GeoPoint ll; + ll.latitude = lat; + ll.longitude = lon; + ll.altitude = alt; + + // create UTM from point + geodesy::UTMPoint pt(ll); + + double e = 622159.34; + double n = 3362168.30; + uint8_t z = 14; + char b = 'R'; + double abs_err = 0.01; + + EXPECT_FALSE(geodesy::is2D(pt)); + EXPECT_TRUE(geodesy::isValid(pt)); + + EXPECT_NEAR(pt.easting, e, abs_err); + EXPECT_NEAR(pt.northing, n, abs_err); + EXPECT_NEAR(pt.altitude, alt, abs_err); + EXPECT_EQ(pt.zone, z); + EXPECT_EQ(pt.band, b); +} + +// Test zone numbers +TEST(UTMPoint, testZones) +{ + geodesy::UTMPoint pt; + pt.band = 'X'; // supply a valid band letter + + pt.zone = 0; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.zone = 61; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.zone = 255; + EXPECT_FALSE(geodesy::isValid(pt)); + + // these should all work + for (uint8_t b = 1; b <= 60; ++b) + { + pt.zone = b; + EXPECT_TRUE(geodesy::isValid(pt)); + } +} + +// Test band letters +TEST(UTMPoint, testBands) +{ + geodesy::UTMPoint pt; + pt.zone = 14; // supply a valid zone number + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.band = '9'; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.band = ';'; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.band = 'I'; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.band = 'O'; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.band = 'Y'; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.band = 'r'; + EXPECT_FALSE(geodesy::isValid(pt)); + + // this should work + pt.band = 'X'; + EXPECT_TRUE(geodesy::isValid(pt)); +} + +// Test null pose constructor +TEST(UTMPose, nullConstructor) +{ + geodesy::UTMPose pose; + + EXPECT_TRUE(geodesy::is2D(pose)); + EXPECT_FALSE(geodesy::isValid(pose)); +} + +// Test pose constructor from point and quaternion +TEST(UTMPose, pointQuaternionConstructor) +{ + double e = 1000.0; + double n = 2400.0; + double a = 200.0; + uint8_t z = 14; + char b = 'R'; + geodesy::UTMPoint pt(e, n, a, z, b); + + geometry_msgs::Quaternion q; // identity quaternion + q.x = 1.0; + q.y = 0.0; + q.z = 0.0; + q.w = 0.0; + geodesy::UTMPose pose(pt, q); + + EXPECT_FALSE(geodesy::is2D(pose)); + EXPECT_TRUE(geodesy::isValid(pose)); + + EXPECT_EQ(pose.position.easting, pt.easting); + EXPECT_EQ(pose.position.northing, pt.northing); + EXPECT_EQ(pose.position.altitude, pt.altitude); + EXPECT_EQ(pose.position.zone, pt.zone); + EXPECT_EQ(pose.position.band, pt.band); + + EXPECT_EQ(pose.orientation.w, q.w); + EXPECT_EQ(pose.orientation.x, q.x); + EXPECT_EQ(pose.orientation.y, q.y); + EXPECT_EQ(pose.orientation.z, q.z); +} + +// Test pose quaternion validation +TEST(UTMPose, quaternionValidation) +{ + double e = 1000.0; + double n = 2400.0; + double a = 200.0; + uint8_t z = 14; + char b = 'R'; + geodesy::UTMPoint pt(e, n, a, z, b); + + // identity quaternion + geometry_msgs::Quaternion q; + q.x = 1.0; + q.y = 0.0; + q.z = 0.0; + q.w = 0.0; + geodesy::UTMPose pose1(pt, q); + EXPECT_TRUE(geodesy::isValid(pose1)); + + // valid quaternion + q.x = 0.7071; + q.y = 0.0; + q.z = 0.0; + q.w = 0.7071; + geodesy::UTMPose pose2(pt, q); + EXPECT_TRUE(geodesy::isValid(pose2)); + + // quaternion not normalized + q.x = 0.8071; + q.y = 0.0; + q.z = 0.0; + q.w = 0.8071; + geodesy::UTMPose pose3(pt, q); + EXPECT_FALSE(geodesy::isValid(pose3)); + + // zero quaternion (not normalized) + q.x = 0.0; + q.y = 0.0; + q.z = 0.0; + q.w = 0.0; + geodesy::UTMPose pose4(pt, q); + EXPECT_FALSE(geodesy::isValid(pose4)); +} + +// Test UTM pose conversion +TEST(UTMConvert, fromUtmPoseToLatLongAndBack) +{ + double e = 500000.0; // central meridian of each zone + double n = 1000.0; + double alt = 100.0; + char b = 'N'; + + // try every possible zone of longitude + for (uint8_t z = 1; z <= 60; ++z) + { + for (unsigned int heading = 0; heading < 360; heading++) + { + geodesy::UTMPose ps1(geodesy::UTMPoint(e, n, alt, z, b), + tf::createQuaternionMsgFromYaw(angles::from_degrees(heading))); + geographic_msgs::GeoPose ll; + convert(ps1, ll); + geodesy::UTMPose ps2; + convert(ll, ps2); + + EXPECT_TRUE(geodesy::isValid(ps1)); + EXPECT_TRUE(geodesy::isValid(ps2)); + check_utm_near(ps1.position, ps2.position, 0.000001); + EXPECT_DOUBLE_EQ(tf::getYaw(ps1.orientation), tf::getYaw(ps2.orientation)); + } + } +} + +// Test conversion from UTM to WGS 84 and back +TEST(UTMConvert, fromUtmToLatLongAndBack) +{ + double e = 500000.0; // central meridian of each zone + double n = 1000.0; + double alt = 100.0; + char b = 'N'; + + // try every possible zone of longitude + for (uint8_t z = 1; z <= 60; ++z) + { + geodesy::UTMPoint pt1(e, n, alt, z, b); + geographic_msgs::GeoPoint ll; + convert(pt1, ll); + geodesy::UTMPoint pt2; + convert(ll, pt2); + + EXPECT_TRUE(geodesy::isValid(pt1)); + EXPECT_TRUE(geodesy::isValid(pt2)); + check_utm_near(pt1, pt2, 0.000001); + } +} + +// Test conversion from WGS 84 to UTM and back +TEST(UTMConvert, fromLatLongToUtmAndBack) +{ + double alt = 100.0; + + // Try every possible degree of latitude and longitude. Avoid the + // international date line. Even though the converted longitude is + // close, it may end up less than -180 and hence inValid(). + for (double lon = -179.5; lon < 180.0; lon += 1.0) + { + for (double lat = -80.0; lat <= 84.0; lat += 1.0) + { + geographic_msgs::GeoPoint pt1(geodesy::toMsg(lat, lon, alt)); + EXPECT_TRUE(geodesy::isValid(pt1)); + + geodesy::UTMPoint utm(pt1); + EXPECT_TRUE(geodesy::isValid(utm)); + + geographic_msgs::GeoPoint pt2(geodesy::toMsg(utm)); + EXPECT_TRUE(geodesy::isValid(pt2)); + + EXPECT_NEAR(pt1.latitude, pt2.latitude, 0.0000001); + EXPECT_NEAR(pt1.longitude, pt2.longitude, 0.0000012); + EXPECT_NEAR(pt1.altitude, pt2.altitude, 0.000001); + } + } +} + +// Test conversion from WGS 84 to UTM and back at international date line +TEST(UTMConvert, internationalDateLine) +{ + double alt = 100.0; + double lon = -180.0; + + for (double lat = -80.0; lat <= 84.0; lat += 1.0) + { + geographic_msgs::GeoPoint pt1(geodesy::toMsg(lat, lon, alt)); + EXPECT_TRUE(geodesy::isValid(pt1)); + + geodesy::UTMPoint utm; + geodesy::fromMsg(pt1, utm); + EXPECT_TRUE(geodesy::isValid(utm)); + + geographic_msgs::GeoPoint pt2(geodesy::toMsg(utm)); + EXPECT_TRUE(geodesy::isValid(pt2)); + EXPECT_NEAR(pt1.latitude, pt2.latitude, 0.0000001); + EXPECT_NEAR(pt1.altitude, pt2.altitude, 0.000001); + + if (pt2.longitude - pt1.longitude > 359.0) + { + // pt2 seems to be slightly across the international date + // line from pt2, so de-normalize it + pt2.longitude -= 360.0; + } + EXPECT_NEAR(pt1.longitude, pt2.longitude, 0.0000012); + } +} + +// Test point output stream operator +TEST(OStream, point) +{ + geodesy::UTMPoint pt1; + std::ostringstream out1; + out1 << pt1; + std::string expected("(0, 0, nan [0 ])"); + EXPECT_EQ(out1.str(), expected); + + geodesy::UTMPoint pt2(622159.338, 3362168.303, 209, 14, 'R'); + std::ostringstream out2; + out2 << pt2; + expected = "(622159.338, 3362168.303, 209 [14R])"; + EXPECT_EQ(out2.str(), expected); +} + +// Test pose output stream operator +TEST(OStream, pose) +{ + geodesy::UTMPoint pt(1000.0, 2400.0, 200.0, 14, 'R'); + geometry_msgs::Quaternion q; + q.w = 1.0; + q.x = 0.0; + q.y = 0.0; + q.z = 0.0; + geodesy::UTMPose pose(pt, q); + + std::ostringstream out; + out << pose; + std::string expected("(1000, 2400, 200 [14R]), ([0, 0, 0], 1)"); + EXPECT_EQ(out.str(), expected); +} + +TEST(ForceUTMZone, point) +{ + + geographic_msgs::GeoPoint zone2, zone3; + zone2.latitude=24.02; + zone2 = geodesy::toMsg(24.02, 5.999); + zone3 = geodesy::toMsg(24.02, 6.001); + geodesy::UTMPoint pt2, pt3, pt4; + geodesy::fromMsg(zone2, pt2); + geodesy::fromMsg(zone3, pt3); + + EXPECT_FALSE(geodesy::sameGridZone(pt2, pt3) ); + + double diffx = pt2.easting - pt3.easting; + double diffy = pt2.northing - pt3.northing; + double distance = std::sqrt(diffx*diffx + diffy*diffy); + + //Now force the pt3 into pt2's grid zone + geodesy::fromMsg(zone3, pt4, true, pt2.band, pt2.zone); + diffx = pt2.easting - pt4.easting; + diffy = pt2.northing - pt4.northing; + double distance2 = std::sqrt(diffx*diffx + diffy*diffy); + ROS_INFO("Prev Distance %f, Actual Distance %f", distance, distance2); + EXPECT_LT(distance2, distance); +} + +// Run all the tests that were declared with TEST() +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + + // run the tests in this thread + return RUN_ALL_TESTS(); +} diff --git a/navigations/geographic_info/geodesy/tests/test_utm.py b/navigations/geographic_info/geodesy/tests/test_utm.py new file mode 100755 index 0000000..e122916 --- /dev/null +++ b/navigations/geographic_info/geodesy/tests/test_utm.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python + +import sys +import unittest + +from geodesy.utm import * + +## A sample python unit test +class TestUTMPoint(unittest.TestCase): + + def test_null_constructor(self): + pt = UTMPoint() + self.assertFalse(pt.valid(), + msg='uninitialized UTMPoint should be invalid: ' + str(pt)) + self.assertTrue(pt.is2D(), + msg='this UTMPoint should be 2D: ' + str(pt)) + self.assertRaises(ValueError, pt.toMsg) + + def test_wgs84_utm_conversion_3d(self): + # UTM point in Pickle Research Campus, University of Texas, Austin + ll = GeoPoint(latitude = 30.385315, + longitude = -97.728524, + altitude = 209.0) + pt = fromMsg(ll) + self.assertEqual(str(pt), 'UTM: [622159.338, 3362168.303, 209.000, 14R]', + msg='conversion failed: ' + str(pt)) + self.assertTrue(pt.valid(), msg='invalid UTMPoint: ' + str(pt)) + self.assertFalse(pt.is2D(), msg='this UTMPoint should be 3D: ' + str(pt)) + self.assertEqual(pt.gridZone(), (14, 'R')) + self.assertEqual(str(pt.toMsg()), str(ll), + msg='GeoPoint conversion failed for: ' + str(pt)) + point_xyz = pt.toPoint() + self.assertAlmostEqual(point_xyz.x, 622159.338, places = 3) + self.assertAlmostEqual(point_xyz.y, 3362168.303, places = 3) + self.assertAlmostEqual(point_xyz.z, 209.0, places = 3) + + def test_wgs84_utm_conversion_2d(self): + # same point, but without altitude + lat = 30.385315 + lon = -97.728524 + alt = float('nan') + pt = fromLatLong(lat, lon) + self.assertEqual(str(pt), 'UTM: [622159.338, 3362168.303, nan, 14R]', + msg='conversion failed: ' + str(pt)) + self.assertTrue(pt.valid(), msg='invalid UTMPoint: ' + str(pt)) + self.assertTrue(pt.is2D(), msg='this UTMPoint should be 2D: ' + str(pt)) + self.assertEqual(pt.gridZone(), (14, 'R')) + self.assertEqual(str(pt.toMsg()), str(GeoPoint(lat, lon, alt)), + msg='GeoPoint conversion failed for: ' + str(pt)) + point_xy = pt.toPoint() + self.assertAlmostEqual(point_xy.x, 622159.338, places = 3) + self.assertAlmostEqual(point_xy.y, 3362168.303, places = 3) + self.assertAlmostEqual(point_xy.z, 0.0, places = 3) + +if __name__ == '__main__': + import rosunit + PKG='geodesy' + rosunit.unitrun(PKG, 'test_utm_py', TestUTMPoint) diff --git a/navigations/geographic_info/geodesy/tests/test_wgs84.cpp b/navigations/geographic_info/geodesy/tests/test_wgs84.cpp new file mode 100755 index 0000000..149fe6c --- /dev/null +++ b/navigations/geographic_info/geodesy/tests/test_wgs84.cpp @@ -0,0 +1,292 @@ +/* $Id: c7a178b0bbba69e8bf70b12ea1fe76e0cc5a4bff $ */ + +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2011 Jack O'Quin +* 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 author nor other 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. +*********************************************************************/ + +#include +#include +#include "geodesy/wgs84.h" + +/////////////////////////////////////////////////////////////// +// Utility functions +/////////////////////////////////////////////////////////////// + +// check that normalize of (lat1, lon1) yields (lat2, lon2) +void check_normalize(double lat1, double lon1, double lat2, double lon2) +{ + double epsilon = 1e-9; + geographic_msgs::GeoPoint pt; + pt.latitude = lat1; + pt.longitude = lon1; + geodesy::normalize(pt); + EXPECT_NEAR(lat2, pt.latitude, epsilon); + EXPECT_NEAR(lon2, pt.longitude, epsilon); +} + +/////////////////////////////////////////////////////////////// +// Test cases +/////////////////////////////////////////////////////////////// + +// Test null point constructor +TEST(GeoPoint, nullConstructor) +{ + geographic_msgs::GeoPoint pt; + + EXPECT_FALSE(geodesy::is2D(pt)); + EXPECT_TRUE(geodesy::isValid(pt)); +} + +// Test point with no altitude +TEST(GeoPoint, noAltitude) +{ + geographic_msgs::GeoPoint pt(geodesy::toMsg(0.0, 0.0)); + EXPECT_TRUE(geodesy::is2D(pt)); +} + +// Test creating point from NavSatFix message +TEST(GeoPoint, fromNavSatFix) +{ + double lat = 30.0; + double lon = -97.0; + double alt = 208.0; + sensor_msgs::NavSatFix fix; + fix.latitude = lat; + fix.longitude = lon; + fix.altitude = alt; + + geographic_msgs::GeoPoint pt(geodesy::toMsg(fix)); + + EXPECT_FALSE(geodesy::is2D(pt)); + EXPECT_TRUE(geodesy::isValid(pt)); + + EXPECT_EQ(pt.latitude, lat); + EXPECT_EQ(pt.longitude, lon); + EXPECT_EQ(pt.altitude, alt); +} + +// Test point with valid altitude +TEST(GeoPoint, hasAltitude) +{ + geographic_msgs::GeoPoint pt(geodesy::toMsg(30.0, 206.0, -97.0)); + EXPECT_FALSE(geodesy::is2D(pt)); + + pt.altitude = -100.0; + EXPECT_FALSE(geodesy::is2D(pt)); + + pt.altitude = 20000.0; + EXPECT_FALSE(geodesy::is2D(pt)); + + pt.altitude = 0.0; + EXPECT_FALSE(geodesy::is2D(pt)); +} + +// Test valid latitudes and longitudes +TEST(GeoPoint, validLatLong) +{ + geographic_msgs::GeoPoint pt; + + pt.latitude = 90.0; + EXPECT_TRUE(geodesy::isValid(pt)); + + pt.latitude = -90.0; + EXPECT_TRUE(geodesy::isValid(pt)); + + pt.latitude = 30.0; + pt.longitude = -97.0; + EXPECT_TRUE(geodesy::isValid(pt)); + + pt.longitude = 179.999999; + EXPECT_TRUE(geodesy::isValid(pt)); + + pt.longitude = -180.0; + EXPECT_TRUE(geodesy::isValid(pt)); +} + +// Test valid latitudes and longitudes +TEST(GeoPoint, invalidLatLong) +{ + geographic_msgs::GeoPoint pt; + + pt.latitude = 90.001; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.latitude = -90.3; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.latitude = 30.0; + pt.longitude = -1000.0; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.longitude = 180.0; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.longitude = 180.0001; + EXPECT_FALSE(geodesy::isValid(pt)); + + pt.longitude = -180.999; + EXPECT_FALSE(geodesy::isValid(pt)); +} + +TEST(GeoPoint, normalize) +{ + check_normalize(0, 0, 0, 0); + + // longitude range + check_normalize(0, 90, 0, 90); + check_normalize(0, 180, 0, -180); + check_normalize(0, 270, 0, -90); + check_normalize(0, 360, 0, 0); + check_normalize(0, 450, 0, 90); + check_normalize(0, 540, 0, -180); + check_normalize(0, 630, 0, -90); + check_normalize(0, 720, 0, 0); + + check_normalize(0, -90, 0, -90); + check_normalize(0, -180, 0, -180); + check_normalize(0, -270, 0, 90); + check_normalize(0, -360, 0, 0); + check_normalize(0, -450, 0, -90); + check_normalize(0, -540, 0, -180); + check_normalize(0, -630, 0, 90); + check_normalize(0, -720, 0, 0); + + check_normalize(0, 45, 0, 45); + check_normalize(0, 135, 0, 135); + check_normalize(0, 225, 0, -135); + check_normalize(0, 315, 0, -45); + + check_normalize(0, -45, 0, -45); + check_normalize(0, -135, 0, -135); + check_normalize(0, -225, 0, 135); + check_normalize(0, -315, 0, 45); + + check_normalize(0, 91, 0, 91); + check_normalize(0, 181, 0, -179); + check_normalize(0, 271, 0, -89); + check_normalize(0, 361, 0, 1); + check_normalize(0, 451, 0, 91); + + check_normalize(0, -91, 0, -91); + check_normalize(0, -181, 0, 179); + check_normalize(0, -271, 0, 89); + check_normalize(0, -361, 0, -1); + check_normalize(0, -451, 0, -91); + + // latitude range + check_normalize(15, 0, 15, 0); + check_normalize(30, 0, 30, 0); + check_normalize(45, 0, 45, 0); + check_normalize(60, 0, 60, 0); + check_normalize(75, 0, 75, 0); + check_normalize(90, 0, 90, 0); + check_normalize(105, 0, 90, 0); + check_normalize(89.999999, 0, 89.999999, 0); + check_normalize(90.000001, 0, 90, 0); + + check_normalize(-15, 0, -15, 0); + check_normalize(-30, 0, -30, 0); + check_normalize(-45, 0, -45, 0); + check_normalize(-60, 0, -60, 0); + check_normalize(-75, 0, -75, 0); + check_normalize(-90, 0, -90, 0); + check_normalize(-105, 0, -90, 0); + check_normalize(-89.999999, 0, -89.999999, 0); + check_normalize(-90.000001, 0, -90, 0); + +} + +// Test null pose constructor +TEST(GeoPose, nullConstructor) +{ + geographic_msgs::GeoPose pose; + + EXPECT_FALSE(geodesy::is2D(pose)); + EXPECT_FALSE(geodesy::isValid(pose)); +} + +// Test validity of various quaternions +TEST(GeoPose, quaternionValidity) +{ + geographic_msgs::GeoPose pose; + EXPECT_FALSE(geodesy::isValid(pose)); + + pose.orientation.x = 1.0; // identity quaternion + EXPECT_TRUE(geodesy::isValid(pose)); + + pose.orientation.x = 0.7071; // also valid + pose.orientation.y = 0.7071; + EXPECT_TRUE(geodesy::isValid(pose)); + + pose.orientation.x = 0.8071; // not normalized + pose.orientation.y = 0.8071; + EXPECT_FALSE(geodesy::isValid(pose)); +} + +// Test trivial point conversion +TEST(Convert, GeoPointToGeoPoint) +{ + geographic_msgs::GeoPoint pt1(geodesy::toMsg(30.0, 206.0, -97.0)); + geographic_msgs::GeoPoint pt2; + + geodesy::convert(pt1, pt2); + + EXPECT_EQ(pt1.latitude, pt2.latitude); + EXPECT_EQ(pt1.longitude, pt2.longitude); + EXPECT_EQ(pt1.altitude, pt2.altitude); +} + +// Test trivial pose conversion +TEST(Convert, GeoPoseToGeoPose) +{ + geographic_msgs::GeoPoint pt(geodesy::toMsg(30.0, 206.0, -97.0)); + geometry_msgs::Quaternion q; + geographic_msgs::GeoPose pose1(geodesy::toMsg(pt, q)); + geographic_msgs::GeoPose pose2; + + geodesy::convert(pose1, pose2); + + EXPECT_EQ(pose1.position.latitude, pose2.position.latitude); + EXPECT_EQ(pose1.position.longitude, pose2.position.longitude); + EXPECT_EQ(pose1.position.altitude, pose2.position.altitude); +} + + +// Run all the tests that were declared with TEST() +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + + // run the tests in this thread + return RUN_ALL_TESTS(); +} diff --git a/navigations/geographic_info/geodesy/tests/test_wu_point.py b/navigations/geographic_info/geodesy/tests/test_wu_point.py new file mode 100755 index 0000000..8584324 --- /dev/null +++ b/navigations/geographic_info/geodesy/tests/test_wu_point.py @@ -0,0 +1,137 @@ +#!/usr/bin/env python + +import unittest + +from geographic_msgs.msg import GeographicMap +from geographic_msgs.msg import GeoPoint +from geographic_msgs.msg import WayPoint +from geometry_msgs.msg import Point +from uuid_msgs.msg import UniqueID + +from geodesy.wu_point import * + +def fromLatLong(lat, lon, alt=float('nan')): + """Generate WayPoint from latitude, longitude and (optional) altitude. + + :returns: minimal WayPoint object just for test cases. + """ + geo_pt = GeoPoint(latitude = lat, longitude = lon, altitude = alt) + return WayPoint(position = geo_pt) + +class TestWuPoint(unittest.TestCase): + """Unit tests for WuPoint classes. + """ + + def test_real_point(self): + ll = GeoPoint(latitude = 30.385315, + longitude = -97.728524, + altitude = 209.0) + msg = WayPoint(position = ll) + pt = WuPoint(msg) + self.assertEqual(pt.toWayPoint(), msg) + self.assertEqual(str(pt.utm), + 'UTM: [622159.338, 3362168.303, 209.000, 14R]') + + point_xyz = pt.toPoint() + self.assertAlmostEqual(point_xyz.x, 622159.338, places = 3) + self.assertAlmostEqual(point_xyz.y, 3362168.303, places = 3) + self.assertAlmostEqual(point_xyz.z, 209.0, places = 3) + + point_xy = pt.toPointXY() + self.assertAlmostEqual(point_xy.x, 622159.338, places = 3) + self.assertAlmostEqual(point_xy.y, 3362168.303, places = 3) + self.assertAlmostEqual(point_xy.z, 0.0, places = 3) + + def test_valid_points(self): + lon = -177.0 + zone = 1 + while lon < 180.0: + pt = WuPoint(fromLatLong(-80.0, lon)) + self.assertEqual(pt.utm.gridZone(), (zone, 'C')) + pt = WuPoint(fromLatLong(-30.385315, lon)) + self.assertEqual(pt.utm.gridZone(), (zone, 'J')) + pt = WuPoint(fromLatLong(-0.000001, lon)) + self.assertEqual(pt.utm.gridZone(), (zone, 'M')) + pt = WuPoint(fromLatLong(0.0, lon)) + self.assertEqual(pt.utm.gridZone(), (zone, 'N')) + pt = WuPoint(fromLatLong(30.385315, lon)) + self.assertEqual(pt.utm.gridZone(), (zone, 'R')) + pt = WuPoint(fromLatLong(84.0, lon)) + self.assertEqual(pt.utm.gridZone(), (zone, 'X')) + lon += 6.0 + zone += 1 + + def test_invalid_points(self): + self.assertRaises(ValueError, WuPoint, + fromLatLong(90.385315, -97.728524)) + self.assertRaises(ValueError, WuPoint, + fromLatLong(30.385315, -197.728524)) + # this will be valid when we add UPS support for the poles: + self.assertRaises(ValueError, WuPoint, + fromLatLong(-80.385315,-97.728524)) + + def test_empty_point_set(self): + # test WuPointSet iterator with empty list + wupts = WuPointSet(GeographicMap().points) + i = 0 + for w in wupts: + self.fail(msg='there are no points in this map') + i += 1 + self.assertEqual(i, 0) + + uu = 'da7c242f-2efe-5175-9961-49cc621b80b9' + self.assertEqual(wupts.get(uu), None) + + def test_three_point_set(self): + # test data + uuids = ['da7c242f-2efe-5175-9961-49cc621b80b9', + '812f1c08-a34b-5a21-92b9-18b2b0cf4950', + '6f0606f6-a776-5940-b5ea-5e889b32c712'] + latitudes = [30.3840168, 30.3857290, 30.3866750] + longitudes = [-97.7282100, -97.7316754, -97.7270967] + eastings = [622191.124, 621856.023, 622294.785] + northings = [3362024.764, 3362210.790, 3362320.569] + + points = [] + for i in range(len(uuids)): + latlon = GeoPoint(latitude = latitudes[i], + longitude = longitudes[i]) + points.append(WayPoint(id = UniqueID(uuid = uuids[i]), + position = latlon)) + + # test iterator + wupts = WuPointSet(points) + i = 0 + for w in wupts: + self.assertEqual(w.uuid(), uuids[i]) + self.assertEqual(wupts[uuids[i]].uuid(), uuids[i]) + self.assertAlmostEqual(w.utm.easting, eastings[i], places=3) + self.assertAlmostEqual(w.utm.northing, northings[i], places=3) + point_xy = w.toPointXY() + self.assertAlmostEqual(point_xy.x, eastings[i], places = 3) + self.assertAlmostEqual(point_xy.y, northings[i], places = 3) + self.assertAlmostEqual(point_xy.z, 0.0, places = 3) + i += 1 + self.assertEqual(i, 3) + self.assertEqual(len(wupts), 3) + + bogus = '00000000-c433-5c42-be2e-fbd97ddff9ac' + self.assertFalse(bogus in wupts) + self.assertEqual(wupts.get(bogus), None) + + uu = uuids[1] + self.assertTrue(uu in wupts) + wpt = wupts[uu] + self.assertEqual(wpt.uuid(), uu) + self.assertNotEqual(wupts.get(uu), None) + self.assertEqual(wupts.get(uu).uuid(), uu) + + # test index() function + for i in xrange(len(uuids)): + self.assertEqual(wupts.index(uuids[i]), i) + self.assertEqual(wupts.points[i].id.uuid, uuids[i]) + +if __name__ == '__main__': + import rosunit + PKG='geodesy' + rosunit.unitrun(PKG, 'test_xml_map_py', TestWuPoint) diff --git a/navigations/geographic_info/geographic_info/CHANGELOG.rst b/navigations/geographic_info/geographic_info/CHANGELOG.rst new file mode 100755 index 0000000..e7f5cb8 --- /dev/null +++ b/navigations/geographic_info/geographic_info/CHANGELOG.rst @@ -0,0 +1,51 @@ +Change history +============== + +0.5.3 (2018-03-27) +------------------ + +0.5.2 (2017-04-15) +------------------ + +0.5.1 (2017-04-15) +------------------ + +0.5.0 (2017-04-07) +------------------ + +0.4.0 (2014-09-18) +------------------ + +0.3.2 (2014-08-30) +------------------ + +0.3.1 (2013-10-03) +------------------ + +0.3.0 (2013-08-03) +------------------ + + * Released to Hydro. + * Convert to catkin build (`#3`_). + * Make **geographic_info** into a metapackage, depending on the + **geographic_msgs** and **geodesy** packages. It should only be + used for dependencies in dry stacks. Wet packages will depend + directly on **geographic_msgs** and **geodesy**. + +0.2.1 (2012-08-13) +------------------ + + * Released to Fuerte. + * Released to Groovy: 2013-03-27. + +0.2.0 (2012-06-02) +------------------ + + * Released to Electric. + +0.1.0 (2012-04-10) +------------------ + + * Initial release to Electric. + +.. _`#3`: https://github.com/ros-geographic-info/geographic_info/issues/3 diff --git a/navigations/geographic_info/geographic_info/CMakeLists.txt b/navigations/geographic_info/geographic_info/CMakeLists.txt new file mode 100755 index 0000000..5e26000 --- /dev/null +++ b/navigations/geographic_info/geographic_info/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.0.2) +project(geographic_info) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/navigations/geographic_info/geographic_info/package.xml b/navigations/geographic_info/geographic_info/package.xml new file mode 100755 index 0000000..7051790 --- /dev/null +++ b/navigations/geographic_info/geographic_info/package.xml @@ -0,0 +1,27 @@ + + + geographic_info + 0.5.6 + + Geographic information metapackage. + + Not needed for wet packages, use only to resolve dry stack + dependencies. + + Jack O'Quin + Jack O'Quin + BSD + http://wiki.ros.org/geographic_info + https://github.com/ros-geographic-info/geographic_info + https://github.com/ros-geographic-info/geographic_info/issues + + catkin + + geodesy + geographic_msgs + + + + + + diff --git a/navigations/geographic_info/geographic_msgs/CHANGELOG.rst b/navigations/geographic_info/geographic_msgs/CHANGELOG.rst new file mode 100755 index 0000000..0b721f4 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/CHANGELOG.rst @@ -0,0 +1,62 @@ +Change history +============== + +0.5.3 (2018-03-27) +------------------ + +* Add additional information to ``GetGeoPath`` service response. + +0.5.2 (2017-04-15) +------------------ + +* Fix merge error in GeoPath message. + +0.5.1 (2017-04-15) +------------------ + +* Add GeoPath message with poses. +* Add GetGeoPath service (`#7`_). + +0.5.0 (2017-04-07) +------------------ + +* Add new ``GeoPointStamped`` and ``GeoPoseStamped`` messages. + +0.4.0 (2014-09-18) +------------------ + +0.3.2 (2014-08-30) +------------------ + + * Add missing ``geometry_msgs`` dependency to ``catkin_package()`` + components in CMakeLists.txt (`#13`_), thanks to Timo Roehling. + +0.3.1 (2013-10-03) +------------------ + +0.3.0 (2013-08-03) +------------------ + + * Released to Hydro. + * Convert to catkin build (`#3`_). + +0.2.1 (2012-08-13) +------------------ + + * Released to Fuerte. + * Released to Groovy: 2013-03-27. + +0.2.0 (2012-06-02) +------------------ + + * Released to Electric. + +0.1.0 (2012-04-10) +------------------ + + * Initial release to Electric. + +.. _`#3`: https://github.com/ros-geographic-info/geographic_info/issues/3 +.. _`#6`: https://github.com/ros-geographic-info/geographic_info/issues/6 +.. _`#7`: https://github.com/ros-geographic-info/geographic_info/issues/7 +.. _`#13`: https://github.com/ros-geographic-info/geographic_info/pull/13 diff --git a/navigations/geographic_info/geographic_msgs/CMakeLists.txt b/navigations/geographic_info/geographic_msgs/CMakeLists.txt new file mode 100755 index 0000000..d937147 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 3.0.2) +project(geographic_msgs) + +find_package(catkin REQUIRED + COMPONENTS + message_generation + geometry_msgs + std_msgs + uuid_msgs +) + +add_message_files( + DIRECTORY msg + FILES + BoundingBox.msg + GeographicMapChanges.msg + GeographicMap.msg + GeoPath.msg + GeoPoint.msg + GeoPointStamped.msg + GeoPose.msg + GeoPoseWithCovariance.msg + GeoPoseStamped.msg + GeoPoseWithCovarianceStamped.msg + KeyValue.msg + MapFeature.msg + RouteNetwork.msg + RoutePath.msg + RouteSegment.msg + WayPoint.msg +) + +add_service_files( + DIRECTORY srv + FILES + GetGeographicMap.srv + GetGeoPath.srv + GetRoutePlan.srv + UpdateGeographicMap.srv +) + +generate_messages( + DEPENDENCIES + geometry_msgs + std_msgs + uuid_msgs +) + +catkin_package( + CATKIN_DEPENDS message_runtime geometry_msgs uuid_msgs std_msgs +) diff --git a/navigations/geographic_info/geographic_msgs/mainpage.dox b/navigations/geographic_info/geographic_msgs/mainpage.dox new file mode 100755 index 0000000..77a740c --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/mainpage.dox @@ -0,0 +1,9 @@ +/** +\mainpage +\htmlinclude manifest.html + +This package provides ROS messages for Geographic Information. + +It has no nodes, utilities, scripts or C++ API. + +*/ diff --git a/navigations/geographic_info/geographic_msgs/msg/BoundingBox.msg b/navigations/geographic_info/geographic_msgs/msg/BoundingBox.msg new file mode 100755 index 0000000..5e82e75 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/BoundingBox.msg @@ -0,0 +1,13 @@ +# Geographic map bounding box. +# +# The two GeoPoints denote diagonally opposite corners of the box. +# +# If min_pt.latitude is NaN, the bounding box is "global", matching +# any valid latitude, longitude and altitude. +# +# If min_pt.altitude is NaN, the bounding box is two-dimensional and +# matches any altitude within the specified latitude and longitude +# range. + +GeoPoint min_pt # lowest and most Southwestern corner +GeoPoint max_pt # highest and most Northeastern corner diff --git a/navigations/geographic_info/geographic_msgs/msg/GeoPath.msg b/navigations/geographic_info/geographic_msgs/msg/GeoPath.msg new file mode 100755 index 0000000..6663339 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/GeoPath.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +geographic_msgs/GeoPoseStamped[] poses diff --git a/navigations/geographic_info/geographic_msgs/msg/GeoPoint.msg b/navigations/geographic_info/geographic_msgs/msg/GeoPoint.msg new file mode 100755 index 0000000..90d36f2 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/GeoPoint.msg @@ -0,0 +1,13 @@ +# Geographic point, using the WGS 84 reference ellipsoid. + +# Latitude [degrees]. Positive is north of equator; negative is south +# (-90 <= latitude <= +90). +float64 latitude + +# Longitude [degrees]. Positive is east of prime meridian; negative is +# west (-180 <= longitude <= +180). At the poles, latitude is -90 or +# +90, and longitude is irrelevant, but must be in range. +float64 longitude + +# Altitude [m]. Positive is above the WGS 84 ellipsoid (NaN if unspecified). +float64 altitude diff --git a/navigations/geographic_info/geographic_msgs/msg/GeoPointStamped.msg b/navigations/geographic_info/geographic_msgs/msg/GeoPointStamped.msg new file mode 100755 index 0000000..16e2b1f --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/GeoPointStamped.msg @@ -0,0 +1,2 @@ +Header header +geographic_msgs/GeoPoint position diff --git a/navigations/geographic_info/geographic_msgs/msg/GeoPose.msg b/navigations/geographic_info/geographic_msgs/msg/GeoPose.msg new file mode 100755 index 0000000..906fc50 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/GeoPose.msg @@ -0,0 +1,7 @@ +# Geographic pose, using the WGS 84 reference ellipsoid. +# +# Orientation uses the East-North-Up (ENU) frame of reference. +# (But, what about singularities at the poles?) + +GeoPoint position +geometry_msgs/Quaternion orientation diff --git a/navigations/geographic_info/geographic_msgs/msg/GeoPoseStamped.msg b/navigations/geographic_info/geographic_msgs/msg/GeoPoseStamped.msg new file mode 100755 index 0000000..e7b8d79 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/GeoPoseStamped.msg @@ -0,0 +1,2 @@ +Header header +geographic_msgs/GeoPose pose diff --git a/navigations/geographic_info/geographic_msgs/msg/GeoPoseWithCovariance.msg b/navigations/geographic_info/geographic_msgs/msg/GeoPoseWithCovariance.msg new file mode 100755 index 0000000..6a35630 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/GeoPoseWithCovariance.msg @@ -0,0 +1,12 @@ +# Geographic pose, using the WGS 84 reference ellipsoid. +# +# Orientation uses the East-North-Up (ENU) frame of reference. +# (But, what about singularities at the poles?) + +GeoPose pose + +# Row-major representation of the 6x6 covariance matrix +# The orientation parameters use a fixed-axis representation. +# In order, the parameters are: +# (Lat, Lon, Alt, rotation about E (East) axis, rotation about N (North) axis, rotation about U (Up) axis) +float64[36] covariance diff --git a/navigations/geographic_info/geographic_msgs/msg/GeoPoseWithCovarianceStamped.msg b/navigations/geographic_info/geographic_msgs/msg/GeoPoseWithCovarianceStamped.msg new file mode 100755 index 0000000..e0e2dc9 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/GeoPoseWithCovarianceStamped.msg @@ -0,0 +1,2 @@ +Header header +geographic_msgs/GeoPoseWithCovariance pose diff --git a/navigations/geographic_info/geographic_msgs/msg/GeographicMap.msg b/navigations/geographic_info/geographic_msgs/msg/GeographicMap.msg new file mode 100755 index 0000000..58e7f19 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/GeographicMap.msg @@ -0,0 +1,11 @@ +# Geographic map for a specified region. + +Header header # stamp specifies time + # frame_id (normally /map) + +uuid_msgs/UniqueID id # identifier for this map +BoundingBox bounds # 2D bounding box containing map + +WayPoint[] points # way-points +MapFeature[] features # map features +KeyValue[] props # map properties diff --git a/navigations/geographic_info/geographic_msgs/msg/GeographicMapChanges.msg b/navigations/geographic_info/geographic_msgs/msg/GeographicMapChanges.msg new file mode 100755 index 0000000..f1b572d --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/GeographicMapChanges.msg @@ -0,0 +1,7 @@ +# A list of geographic map changes. + +Header header # stamp specifies time of change + # frame_id (normally /map) + +GeographicMap diffs # new and changed points and features +uuid_msgs/UniqueID[] deletes # deleted map components diff --git a/navigations/geographic_info/geographic_msgs/msg/KeyValue.msg b/navigations/geographic_info/geographic_msgs/msg/KeyValue.msg new file mode 100755 index 0000000..cd6048b --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/KeyValue.msg @@ -0,0 +1,7 @@ +# Geographic map tag (key, value) pair +# +# This is equivalent to diagnostic_msgs/KeyValue, repeated here to +# avoid introducing a trivial stack dependency. + +string key # tag label +string value # corresponding value diff --git a/navigations/geographic_info/geographic_msgs/msg/MapFeature.msg b/navigations/geographic_info/geographic_msgs/msg/MapFeature.msg new file mode 100755 index 0000000..49e040b --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/MapFeature.msg @@ -0,0 +1,11 @@ +# Geographic map feature. +# +# A list of WayPoint IDs for features like streets, highways, hiking +# trails, the outlines of buildings and parking lots in sequential +# order. +# +# Feature lists may also contain other feature lists as members. + +uuid_msgs/UniqueID id # Unique feature identifier +uuid_msgs/UniqueID[] components # Sequence of feature components +KeyValue[] props # Key/value properties for this feature diff --git a/navigations/geographic_info/geographic_msgs/msg/RouteNetwork.msg b/navigations/geographic_info/geographic_msgs/msg/RouteNetwork.msg new file mode 100755 index 0000000..a4c1e35 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/RouteNetwork.msg @@ -0,0 +1,16 @@ +# Geographic map route network. +# +# A directed graph of WayPoint nodes and RouteSegment edges. This +# information is extracted from the more-detailed contents of a +# GeographicMap. A RouteNetwork contains only the way points and +# route segments of interest for path planning. + +Header header + +uuid_msgs/UniqueID id # This route network identifier +BoundingBox bounds # 2D bounding box for network + +WayPoint[] points # Way points in this network +RouteSegment[] segments # Directed edges of this network + +KeyValue[] props # Network key/value properties diff --git a/navigations/geographic_info/geographic_msgs/msg/RoutePath.msg b/navigations/geographic_info/geographic_msgs/msg/RoutePath.msg new file mode 100755 index 0000000..29d09be --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/RoutePath.msg @@ -0,0 +1,11 @@ +# Path through a route network. +# +# A path is a sequence of RouteSegment edges. This information is +# extracted from a RouteNetwork graph. A RoutePath lists the route +# segments needed to reach some chosen goal. + +Header header + +uuid_msgs/UniqueID network # Route network containing this path +uuid_msgs/UniqueID[] segments # Sequence of RouteSegment IDs +KeyValue[] props # Key/value properties diff --git a/navigations/geographic_info/geographic_msgs/msg/RouteSegment.msg b/navigations/geographic_info/geographic_msgs/msg/RouteSegment.msg new file mode 100755 index 0000000..9b802d1 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/RouteSegment.msg @@ -0,0 +1,12 @@ +# Route network segment. +# +# This is one directed edge of a RouteNetwork graph. It represents a +# known path from one way point to another. If the path is two-way, +# there will be another RouteSegment with "start" and "end" reversed. + +uuid_msgs/UniqueID id # Unique identifier for this segment + +uuid_msgs/UniqueID start # beginning way point of segment +uuid_msgs/UniqueID end # ending way point of segment + +KeyValue[] props # segment properties diff --git a/navigations/geographic_info/geographic_msgs/msg/WayPoint.msg b/navigations/geographic_info/geographic_msgs/msg/WayPoint.msg new file mode 100755 index 0000000..2f216d5 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/msg/WayPoint.msg @@ -0,0 +1,5 @@ +# Way-point element for a geographic map. + +uuid_msgs/UniqueID id # Unique way-point identifier +GeoPoint position # Position relative to WGS 84 ellipsoid +KeyValue[] props # Key/value properties for this point diff --git a/navigations/geographic_info/geographic_msgs/package.xml b/navigations/geographic_info/geographic_msgs/package.xml new file mode 100755 index 0000000..254e932 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/package.xml @@ -0,0 +1,28 @@ + + + geographic_msgs + 0.5.6 + + ROS messages for Geographic Information Systems. + + Jack O'Quin + Jack O'Quin + BSD + + http://wiki.ros.org/geographic_msgs + https://github.com/ros-geographic-info/geographic_info/issues + https://github.com/ros-geographic-info/geographic_info.git + + catkin + + message_generation + geometry_msgs + std_msgs + uuid_msgs + + message_runtime + geometry_msgs + std_msgs + uuid_msgs + + diff --git a/navigations/geographic_info/geographic_msgs/srv/GetGeoPath.srv b/navigations/geographic_info/geographic_msgs/srv/GetGeoPath.srv new file mode 100755 index 0000000..94c2a01 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/srv/GetGeoPath.srv @@ -0,0 +1,17 @@ +# Searches for given start and goal the nearest route segments +# and determine the path through the RouteNetwork + +geographic_msgs/GeoPoint start # starting point +geographic_msgs/GeoPoint goal # goal point + +--- + +bool success # true if the call succeeded +string status # more details + +geographic_msgs/GeoPath plan # path to follow + +uuid_msgs/UniqueID network # the uuid of the RouteNetwork +uuid_msgs/UniqueID start_seg # the uuid of the starting RouteSegment +uuid_msgs/UniqueID goal_seg # the uuid of the ending RouteSegment +float64 distance # the length of the plan diff --git a/navigations/geographic_info/geographic_msgs/srv/GetGeographicMap.srv b/navigations/geographic_info/geographic_msgs/srv/GetGeographicMap.srv new file mode 100755 index 0000000..ecaa592 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/srv/GetGeographicMap.srv @@ -0,0 +1,15 @@ +# This service requests a region of a geographic map. + +string url # where to read map data + +# Bounding box for the desired map. If all zeros, provide all data +# available from the specified URL. +BoundingBox bounds + +--- + +bool success # true if the call succeeded +string status # more details + +# The requested map, its bounds may differ from the requested bounds. +GeographicMap map diff --git a/navigations/geographic_info/geographic_msgs/srv/GetRoutePlan.srv b/navigations/geographic_info/geographic_msgs/srv/GetRoutePlan.srv new file mode 100755 index 0000000..f1bb88f --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/srv/GetRoutePlan.srv @@ -0,0 +1,14 @@ +# Get a plan to traverse a route network from start to goal. +# +# Similar to nav_msgs/GetPlan, but constrained to use the route network. + +uuid_msgs/UniqueID network # route network to use +uuid_msgs/UniqueID start # starting way point +uuid_msgs/UniqueID goal # goal way point + +--- + +bool success # true if the call succeeded +string status # more details + +RoutePath plan # path to follow diff --git a/navigations/geographic_info/geographic_msgs/srv/UpdateGeographicMap.srv b/navigations/geographic_info/geographic_msgs/srv/UpdateGeographicMap.srv new file mode 100755 index 0000000..f390cd3 --- /dev/null +++ b/navigations/geographic_info/geographic_msgs/srv/UpdateGeographicMap.srv @@ -0,0 +1,9 @@ +# This service updates a geographic map. + +# Changes to geographic map. +GeographicMapChanges updates + +--- + +bool success # true if the call succeeded +string status # more details diff --git a/navigations/geometry2/tf2_geometry_msgs/CHANGELOG.rst b/navigations/geometry2/tf2_geometry_msgs/CHANGELOG.rst new file mode 100755 index 0000000..2fead0b --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/CHANGELOG.rst @@ -0,0 +1,248 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tf2_geometry_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.7.6 (2022-10-11) +------------------ +* remove method with misleading doc (`#534 `_) +* Contributors: Wellington Castro + +0.7.5 (2020-09-01) +------------------ + +0.7.4 (2020-09-01) +------------------ + +0.7.3 (2020-08-25) +------------------ +* Use list instead of set to make build reproducible (`#473 `_) +* Contributors: Jochen Sprickerhof + +0.7.2 (2020-06-08) +------------------ + +0.7.1 (2020-05-13) +------------------ +* import setup from setuptools instead of distutils-core (`#449 `_) +* Contributors: Alejandro Hernández Cordero + +0.7.0 (2020-03-09) +------------------ +* Replace kdl packages with rosdep keys (`#447 `_) +* Bump CMake version to avoid CMP0048 warning (`#445 `_) +* Make kdl headers available (`#419 `_) +* FIx python3 compatibility for noetic (`#416 `_) +* add from STL (`#366 `_) +* use ROS_DEPRECATED macro for portability (`#362 `_) + * use ROS_DEPRECATED for better portability + * change ROS_DEPRECATED position (`#5 `_) +* Contributors: James Xu, Shane Loretz, Tully Foote + +0.6.5 (2018-11-16) +------------------ +* Fix python3 import error +* Contributors: Timon Engelke + +0.6.4 (2018-11-06) +------------------ + +0.6.3 (2018-07-09) +------------------ +* Changed access to Vector to prevent memory leak (`#305 `_) +* Added WrenchStamped transformation (`#302 `_) +* Contributors: Denis Štogl, Markus Grimm + +0.6.2 (2018-05-02) +------------------ + +0.6.1 (2018-03-21) +------------------ + +0.6.0 (2018-03-21) +------------------ +* Boilerplate for Sphinx (`#284 `_) + Fixes `#264 `_ +* tf2_geometry_msgs added doTransform implementations for not stamped types (`#262 `_) + * tf2_geometry_msgs added doTransform implementations for not stamped Point, Quaterion, Pose and Vector3 message types +* New functionality to transform PoseWithCovarianceStamped messages. (`#282 `_) + * New functionality to transform PoseWithCovarianceStamped messages. +* Contributors: Blake Anderson, Tully Foote, cwecht + +0.5.17 (2018-01-01) +------------------- + +0.5.16 (2017-07-14) +------------------- +* remove explicit templating to standardize on overloading. But provide backwards compatibility with deprecation. +* adding unit tests for conversions +* Copy transform before altering it in do_transform_vector3 [issue 233] (`#235 `_) +* store gtest return value as int (`#229 `_) +* Document the lifetime of the returned reference for getFrameId and getTimestamp +* tf2_geometry_msgs: using tf2::Transform in doTransform-functions, marked gmTransformToKDL as deprecated +* Switch tf2_geometry_msgs to use package.xml format 2 (`#217 `_) +* tf2_geometry_msgs: added missing conversion functions +* Contributors: Christopher Wecht, Sebastian Wagner, Tully Foote, dhood, pAIgn10 + +0.5.15 (2017-01-24) +------------------- + +0.5.14 (2017-01-16) +------------------- +* Add doxygen documentation for tf2_geometry_msgs +* Contributors: Jackie Kay + +0.5.13 (2016-03-04) +------------------- +* Add missing python_orocos_kdl dependency +* make example into unit test +* vector3 not affected by translation +* Contributors: Daniel Claes, chapulina + +0.5.12 (2015-08-05) +------------------- +* Merge pull request `#112 `_ from vrabaud/getYaw + Get yaw +* add toMsg and fromMsg for QuaternionStamped +* Contributors: Tully Foote, Vincent Rabaud + +0.5.11 (2015-04-22) +------------------- + +0.5.10 (2015-04-21) +------------------- + +0.5.9 (2015-03-25) +------------------ + +0.5.8 (2015-03-17) +------------------ +* remove useless Makefile files +* tf2 optimizations +* add conversions of type between tf2 and geometry_msgs +* fix ODR violations +* Contributors: Vincent Rabaud + +0.5.7 (2014-12-23) +------------------ +* fixing transitive dependency for kdl. Fixes `#53 `_ +* Contributors: Tully Foote + +0.5.6 (2014-09-18) +------------------ + +0.5.5 (2014-06-23) +------------------ + +0.5.4 (2014-05-07) +------------------ + +0.5.3 (2014-02-21) +------------------ + +0.5.2 (2014-02-20) +------------------ + +0.5.1 (2014-02-14) +------------------ + +0.5.0 (2014-02-14) +------------------ + +0.4.10 (2013-12-26) +------------------- + +0.4.9 (2013-11-06) +------------------ + +0.4.8 (2013-11-06) +------------------ + +0.4.7 (2013-08-28) +------------------ + +0.4.6 (2013-08-28) +------------------ + +0.4.5 (2013-07-11) +------------------ + +0.4.4 (2013-07-09) +------------------ +* making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change. + +0.4.3 (2013-07-05) +------------------ + +0.4.2 (2013-07-05) +------------------ + +0.4.1 (2013-07-05) +------------------ + +0.4.0 (2013-06-27) +------------------ +* moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2 +* Cleaning up unnecessary dependency on roscpp +* converting contents of tf2_ros to be properly namespaced in the tf2_ros namespace +* Cleaning up packaging of tf2 including: + removing unused nodehandle + cleaning up a few dependencies and linking + removing old backup of package.xml + making diff minimally different from tf version of library +* Restoring test packages and bullet packages. + reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented + reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix `#7 `_ + +0.3.6 (2013-03-03) +------------------ + +0.3.5 (2013-02-15 14:46) +------------------------ +* 0.3.4 -> 0.3.5 + +0.3.4 (2013-02-15 13:14) +------------------------ +* 0.3.3 -> 0.3.4 + +0.3.3 (2013-02-15 11:30) +------------------------ +* 0.3.2 -> 0.3.3 + +0.3.2 (2013-02-15 00:42) +------------------------ +* 0.3.1 -> 0.3.2 + +0.3.1 (2013-02-14) +------------------ +* 0.3.0 -> 0.3.1 + +0.3.0 (2013-02-13) +------------------ +* switching to version 0.3.0 +* add setup.py +* added setup.py etc to tf2_geometry_msgs +* adding tf2 dependency to tf2_geometry_msgs +* adding tf2_geometry_msgs to groovy-devel (unit tests disabled) +* fixing groovy-devel +* removing bullet and kdl related packages +* disabling tf2_geometry_msgs due to missing kdl dependency +* catkinizing geometry-experimental +* catkinizing tf2_geometry_msgs +* add twist, wrench and pose conversion to kdl, fix message to message conversion by adding specific conversion functions +* merge tf2_cpp and tf2_py into tf2_ros +* Got transform with types working in python +* A working first version of transforming and converting between different types +* Moving from camelCase to undescores to be in line with python style guides +* Fixing tests now that Buffer creates a NodeHandle +* add posestamped +* import vector3stamped +* add support for Vector3Stamped and PoseStamped +* add support for PointStamped geometry_msgs +* add regression tests for geometry_msgs point, vector and pose +* Fixing missing export, compiling version of buffer_client test +* add bullet transforms, and create tests for bullet and kdl +* working transformations of messages +* add support for PoseStamped message +* test for pointstamped +* add PointStamped message transform methods +* transform for vector3stamped message diff --git a/navigations/geometry2/tf2_geometry_msgs/CMakeLists.txt b/navigations/geometry2/tf2_geometry_msgs/CMakeLists.txt new file mode 100755 index 0000000..fd1f0e1 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 3.0.2) +project(tf2_geometry_msgs) + +find_package(orocos_kdl) +find_package(catkin REQUIRED COMPONENTS geometry_msgs tf2_ros tf2) +find_package(Boost COMPONENTS thread REQUIRED) + +# Issue #53 +find_library(KDL_LIBRARY REQUIRED NAMES orocos-kdl HINTS ${orocos_kdl_LIBRARY_DIRS}) + +catkin_package( + LIBRARIES ${KDL_LIBRARY} + INCLUDE_DIRS include + DEPENDS orocos_kdl + CATKIN_DEPENDS geometry_msgs tf2_ros tf2) + + +include_directories(include + ${catkin_INCLUDE_DIRS} +) + +link_directories(${orocos_kdl_LIBRARY_DIRS}) + + + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +catkin_python_setup() + +if(CATKIN_ENABLE_TESTING) + +catkin_add_gtest(test_tomsg_frommsg test/test_tomsg_frommsg.cpp) +target_include_directories(test_tomsg_frommsg PUBLIC ${orocos_kdl_INCLUDE_DIRS}) +target_link_libraries(test_tomsg_frommsg ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${orocos_kdl_LIBRARIES}) + +find_package(catkin REQUIRED COMPONENTS geometry_msgs rostest tf2_ros tf2) + +add_executable(test_geometry_msgs EXCLUDE_FROM_ALL test/test_tf2_geometry_msgs.cpp) +target_include_directories(test_geometry_msgs PUBLIC ${orocos_kdl_INCLUDE_DIRS}) +target_link_libraries(test_geometry_msgs ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${orocos_kdl_LIBRARIES}) +add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test.launch) +add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_python.launch) + + +if(TARGET tests) + add_dependencies(tests test_geometry_msgs) +endif() + + +endif() diff --git a/navigations/geometry2/tf2_geometry_msgs/conf.py b/navigations/geometry2/tf2_geometry_msgs/conf.py new file mode 100755 index 0000000..d358e5b --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/conf.py @@ -0,0 +1,290 @@ +# -*- coding: utf-8 -*- +# +# tf2_geometry_msgs documentation build configuration file, created by +# sphinx-quickstart on Tue Feb 13 15:34:25 2018. +# +# This file is execfile()d with the current directory set to its +# containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +import sys +import os + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +#sys.path.insert(0, os.path.abspath('.')) + +# -- General configuration ------------------------------------------------ + +# If your documentation needs a minimal Sphinx version, state it here. +#needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be +# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom +# ones. +extensions = [ + 'sphinx.ext.autodoc', + 'sphinx.ext.doctest', + 'sphinx.ext.intersphinx', + 'sphinx.ext.todo', + 'sphinx.ext.pngmath', + 'sphinx.ext.viewcode', +] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix(es) of source filenames. +# You can specify multiple suffix as a list of string: +# source_suffix = ['.rst', '.md'] +source_suffix = '.rst' + +# The encoding of source files. +#source_encoding = 'utf-8-sig' + +# The master toctree document. +master_doc = 'index' + +# General information about the project. +project = u'tf2_geometry_msgs' +copyright = u'2018, Open Source Robotics Foundation, Inc.' +author = u'Tully Foote' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = u'0.1' +# The full version, including alpha/beta/rc tags. +release = u'0.1' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +# +# This is also used if you do content translation via gettext catalogs. +# Usually you set "language" from the command line for these cases. +language = None + +# There are two options for replacing |today|: either, you set today to some +# non-false value, then it is used: +#today = '' +# Else, today_fmt is used as the format for a strftime call. +#today_fmt = '%B %d, %Y' + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +exclude_patterns = ['_build'] + +# The reST default role (used for this markup: `text`) to use for all +# documents. +#default_role = None + +# If true, '()' will be appended to :func: etc. cross-reference text. +#add_function_parentheses = True + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +#add_module_names = True + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +#show_authors = False + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# A list of ignored prefixes for module index sorting. +#modindex_common_prefix = [] + +# If true, keep warnings as "system message" paragraphs in the built documents. +#keep_warnings = False + +# -- Options for HTML output --------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. Major themes that come with +# Sphinx are currently 'default' and 'sphinxdoc'. +html_theme = 'default' + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +#html_theme_options = {} + +# Add any paths that contain custom themes here, relative to this directory. +#html_theme_path = [] + +# The name for this set of Sphinx documents. If None, it defaults to +# " v documentation". +#html_title = None + +# A shorter title for the navigation bar. Default is the same as html_title. +#html_short_title = None + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +#html_logo = None + +# The name of an image file (relative to this directory) to use as a favicon of +# the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = ['_static'] + +# Add any extra paths that contain custom files (such as robots.txt or +# .htaccess) here, relative to this directory. These files are copied +# directly to the root of the documentation. +#html_extra_path = [] + +# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, +# using the given strftime format. +#html_last_updated_fmt = '%b %d, %Y' + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +#html_sidebars = {} + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +#html_domain_indices = True + +# If false, no index is generated. +#html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, "Created using Sphinx" is shown in the HTML footer. Default is True. +#html_show_sphinx = True + +# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. +#html_show_copyright = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# This is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = None + +# Language to be used for generating the HTML full-text search index. +# Sphinx supports the following languages: +# 'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja' +# 'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr' +#html_search_language = 'en' + +# A dictionary with options for the search language support, empty by default. +# Now only 'ja' uses this config value +#html_search_options = {'type': 'default'} + +# The name of a javascript file (relative to the configuration directory) that +# implements a search results scorer. If empty, the default will be used. +#html_search_scorer = 'scorer.js' + +# Output file base name for HTML help builder. +htmlhelp_basename = 'tf2_geometry_msgsdoc' + +# -- Options for LaTeX output --------------------------------------------- + +latex_elements = { +# The paper size ('letterpaper' or 'a4paper'). +#'papersize': 'letterpaper', + +# The font size ('10pt', '11pt' or '12pt'). +#'pointsize': '10pt', + +# Additional stuff for the LaTeX preamble. +#'preamble': '', + +# Latex figure (float) alignment +#'figure_align': 'htbp', +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, +# author, documentclass [howto, manual, or own class]). +latex_documents = [ + (master_doc, 'tf2_geometry_msgs.tex', u'tf2\\_geometry\\_msgs Documentation', + u'Tully Foote', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +#latex_logo = None + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# If true, show page references after internal links. +#latex_show_pagerefs = False + +# If true, show URL addresses after external links. +#latex_show_urls = False + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +#latex_domain_indices = True + + +# -- Options for manual page output --------------------------------------- + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'tf2_geometry_msgs', u'tf2_geometry_msgs Documentation', + [author], 1) +] + +# If true, show URL addresses after external links. +#man_show_urls = False + + +# -- Options for Texinfo output ------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'tf2_geometry_msgs', u'tf2_geometry_msgs Documentation', + author, 'tf2_geometry_msgs', 'One line description of project.', + 'Miscellaneous'), +] + +# Documents to append as an appendix to all manuals. +#texinfo_appendices = [] + +# If false, no module index is generated. +#texinfo_domain_indices = True + +# How to display URL addresses: 'footnote', 'no', or 'inline'. +#texinfo_show_urls = 'footnote' + +# If true, do not generate a @detailmenu in the "Top" node's menu. +#texinfo_no_detailmenu = False + + +# Example configuration for intersphinx: refer to the Python standard library. +intersphinx_mapping = {'https://docs.python.org/': None} diff --git a/navigations/geometry2/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h b/navigations/geometry2/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h new file mode 100755 index 0000000..f0ef5f7 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h @@ -0,0 +1,1057 @@ +/* + * 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, Inc. 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 Wim Meeussen */ + +#ifndef TF2_GEOMETRY_MSGS_H +#define TF2_GEOMETRY_MSGS_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "ros/macros.h" + +namespace tf2 +{ + +/** \brief Convert a TransformStamped message to a KDL frame. + * \param t TransformStamped message to convert. + * \return The converted KDL Frame. + * \deprecated + */ +inline +ROS_DEPRECATED KDL::Frame gmTransformToKDL(const geometry_msgs::TransformStamped& t); +inline +KDL::Frame gmTransformToKDL(const geometry_msgs::TransformStamped& t) + { + return KDL::Frame(KDL::Rotation::Quaternion(t.transform.rotation.x, t.transform.rotation.y, + t.transform.rotation.z, t.transform.rotation.w), + KDL::Vector(t.transform.translation.x, t.transform.translation.y, t.transform.translation.z)); + } + + +/*************/ +/** Vector3 **/ +/*************/ + +/** \brief Convert a tf2 Vector3 type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A tf2 Vector3 object. + * \return The Vector3 converted to a geometry_msgs message type. + */ +inline +geometry_msgs::Vector3 toMsg(const tf2::Vector3& in) +{ + geometry_msgs::Vector3 out; + out.x = in.getX(); + out.y = in.getY(); + out.z = in.getZ(); + return out; +} + +/** \brief Convert a Vector3 message to its equivalent tf2 representation. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param in A Vector3 message type. + * \param out The Vector3 converted to a tf2 type. + */ +inline +void fromMsg(const geometry_msgs::Vector3& in, tf2::Vector3& out) +{ + out = tf2::Vector3(in.x, in.y, in.z); +} + + +/********************/ +/** Vector3Stamped **/ +/********************/ + +/** \brief Extract a timestamp from the header of a Vector message. + * This function is a specialization of the getTimestamp template defined in tf2/convert.h. + * \param t VectorStamped message to extract the timestamp from. + * \return The timestamp of the message. The lifetime of the returned reference + * is bound to the lifetime of the argument. + */ +template <> +inline + const ros::Time& getTimestamp(const geometry_msgs::Vector3Stamped& t) {return t.header.stamp;} + +/** \brief Extract a frame ID from the header of a Vector message. + * This function is a specialization of the getFrameId template defined in tf2/convert.h. + * \param t VectorStamped message to extract the frame ID from. + * \return A string containing the frame ID of the message. The lifetime of the + * returned reference is bound to the lifetime of the argument. + */ +template <> +inline + const std::string& getFrameId(const geometry_msgs::Vector3Stamped& t) {return t.header.frame_id;} + + +/** \brief Trivial "conversion" function for Vector3 message type. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A Vector3Stamped message. + * \return The input argument. + */ +inline +geometry_msgs::Vector3Stamped toMsg(const geometry_msgs::Vector3Stamped& in) +{ + return in; +} + +/** \brief Trivial "conversion" function for Vector3 message type. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param msg A Vector3Stamped message. + * \param out The input argument. + */ +inline +void fromMsg(const geometry_msgs::Vector3Stamped& msg, geometry_msgs::Vector3Stamped& out) +{ + out = msg; +} + +/** \brief Convert as stamped tf2 Vector3 type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in An instance of the tf2::Vector3 specialization of the tf2::Stamped template. + * \return The Vector3Stamped converted to a geometry_msgs Vector3Stamped message type. + */ +inline +geometry_msgs::Vector3Stamped toMsg(const tf2::Stamped& in) +{ + geometry_msgs::Vector3Stamped out; + out.header.stamp = in.stamp_; + out.header.frame_id = in.frame_id_; + out.vector.x = in.getX(); + out.vector.y = in.getY(); + out.vector.z = in.getZ(); + return out; +} + +/** \brief Convert a Vector3Stamped message to its equivalent tf2 representation. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param msg A Vector3Stamped message. + * \param out The Vector3Stamped converted to the equivalent tf2 type. + */ +inline +void fromMsg(const geometry_msgs::Vector3Stamped& msg, tf2::Stamped& out) +{ + out.stamp_ = msg.header.stamp; + out.frame_id_ = msg.header.frame_id; + out.setData(tf2::Vector3(msg.vector.x, msg.vector.y, msg.vector.z)); +} + + +/***********/ +/** Point **/ +/***********/ + +/** \brief Convert a tf2 Vector3 type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A tf2 Vector3 object. + * \return The Vector3 converted to a geometry_msgs message type. + */ +inline +geometry_msgs::Point& toMsg(const tf2::Vector3& in, geometry_msgs::Point& out) +{ + out.x = in.getX(); + out.y = in.getY(); + out.z = in.getZ(); + return out; +} + +/** \brief Convert a Vector3 message to its equivalent tf2 representation. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param in A Vector3 message type. + * \param out The Vector3 converted to a tf2 type. + */ +inline +void fromMsg(const geometry_msgs::Point& in, tf2::Vector3& out) +{ + out = tf2::Vector3(in.x, in.y, in.z); +} + + +/******************/ +/** PointStamped **/ +/******************/ + +/** \brief Extract a timestamp from the header of a Point message. + * This function is a specialization of the getTimestamp template defined in tf2/convert.h. + * \param t PointStamped message to extract the timestamp from. + * \return The timestamp of the message. The lifetime of the returned reference + * is bound to the lifetime of the argument. + */ +template <> +inline + const ros::Time& getTimestamp(const geometry_msgs::PointStamped& t) {return t.header.stamp;} + +/** \brief Extract a frame ID from the header of a Point message. + * This function is a specialization of the getFrameId template defined in tf2/convert.h. + * \param t PointStamped message to extract the frame ID from. + * \return A string containing the frame ID of the message. The lifetime of the + * returned reference is bound to the lifetime of the argument. + */ +template <> +inline + const std::string& getFrameId(const geometry_msgs::PointStamped& t) {return t.header.frame_id;} + +/** \brief Trivial "conversion" function for Point message type. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A PointStamped message. + * \return The input argument. + */ +inline +geometry_msgs::PointStamped toMsg(const geometry_msgs::PointStamped& in) +{ + return in; +} + +/** \brief Trivial "conversion" function for Point message type. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param msg A PointStamped message. + * \param out The input argument. + */ +inline +void fromMsg(const geometry_msgs::PointStamped& msg, geometry_msgs::PointStamped& out) +{ + out = msg; +} + +/** \brief Convert as stamped tf2 Vector3 type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in An instance of the tf2::Vector3 specialization of the tf2::Stamped template. + * \return The Vector3Stamped converted to a geometry_msgs PointStamped message type. + */ +inline +geometry_msgs::PointStamped toMsg(const tf2::Stamped& in, geometry_msgs::PointStamped & out) +{ + out.header.stamp = in.stamp_; + out.header.frame_id = in.frame_id_; + out.point.x = in.getX(); + out.point.y = in.getY(); + out.point.z = in.getZ(); + return out; +} + +/** \brief Convert a PointStamped message to its equivalent tf2 representation. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param msg A PointStamped message. + * \param out The PointStamped converted to the equivalent tf2 type. + */ +inline +void fromMsg(const geometry_msgs::PointStamped& msg, tf2::Stamped& out) +{ + out.stamp_ = msg.header.stamp; + out.frame_id_ = msg.header.frame_id; + out.setData(tf2::Vector3(msg.point.x, msg.point.y, msg.point.z)); +} + + +/****************/ +/** Quaternion **/ +/****************/ + +/** \brief Convert a tf2 Quaternion type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A tf2 Quaternion object. + * \return The Quaternion converted to a geometry_msgs message type. + */ +inline +geometry_msgs::Quaternion toMsg(const tf2::Quaternion& in) +{ + geometry_msgs::Quaternion out; + out.w = in.getW(); + out.x = in.getX(); + out.y = in.getY(); + out.z = in.getZ(); + return out; +} + +/** \brief Convert a Quaternion message to its equivalent tf2 representation. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param in A Quaternion message type. + * \param out The Quaternion converted to a tf2 type. + */ +inline +void fromMsg(const geometry_msgs::Quaternion& in, tf2::Quaternion& out) +{ + // w at the end in the constructor + out = tf2::Quaternion(in.x, in.y, in.z, in.w); +} + + +/***********************/ +/** QuaternionStamped **/ +/***********************/ + +/** \brief Extract a timestamp from the header of a Quaternion message. + * This function is a specialization of the getTimestamp template defined in tf2/convert.h. + * \param t QuaternionStamped message to extract the timestamp from. + * \return The timestamp of the message. The lifetime of the returned reference + * is bound to the lifetime of the argument. + */ +template <> +inline +const ros::Time& getTimestamp(const geometry_msgs::QuaternionStamped& t) {return t.header.stamp;} + +/** \brief Extract a frame ID from the header of a Quaternion message. + * This function is a specialization of the getFrameId template defined in tf2/convert.h. + * \param t QuaternionStamped message to extract the frame ID from. + * \return A string containing the frame ID of the message. The lifetime of the + * returned reference is bound to the lifetime of the argument. + */ +template <> +inline +const std::string& getFrameId(const geometry_msgs::QuaternionStamped& t) {return t.header.frame_id;} + +/** \brief Trivial "conversion" function for Quaternion message type. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A QuaternionStamped message. + * \return The input argument. + */ +inline +geometry_msgs::QuaternionStamped toMsg(const geometry_msgs::QuaternionStamped& in) +{ + return in; +} + +/** \brief Trivial "conversion" function for Quaternion message type. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param msg A QuaternionStamped message. + * \param out The input argument. + */ +inline +void fromMsg(const geometry_msgs::QuaternionStamped& msg, geometry_msgs::QuaternionStamped& out) +{ + out = msg; +} + +/** \brief Convert as stamped tf2 Quaternion type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in An instance of the tf2::Quaternion specialization of the tf2::Stamped template. + * \return The QuaternionStamped converted to a geometry_msgs QuaternionStamped message type. + */ +inline +geometry_msgs::QuaternionStamped toMsg(const tf2::Stamped& in) +{ + geometry_msgs::QuaternionStamped out; + out.header.stamp = in.stamp_; + out.header.frame_id = in.frame_id_; + out.quaternion.w = in.getW(); + out.quaternion.x = in.getX(); + out.quaternion.y = in.getY(); + out.quaternion.z = in.getZ(); + return out; +} + +template <> +inline +ROS_DEPRECATED geometry_msgs::QuaternionStamped toMsg(const tf2::Stamped& in); + + +//Backwards compatibility remove when forked for Lunar or newer +template <> +inline +geometry_msgs::QuaternionStamped toMsg(const tf2::Stamped& in) +{ + return toMsg(in); +} + +/** \brief Convert a QuaternionStamped message to its equivalent tf2 representation. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param in A QuaternionStamped message type. + * \param out The QuaternionStamped converted to the equivalent tf2 type. + */ +inline +void fromMsg(const geometry_msgs::QuaternionStamped& in, tf2::Stamped& out) +{ + out.stamp_ = in.header.stamp; + out.frame_id_ = in.header.frame_id; + tf2::Quaternion tmp; + fromMsg(in.quaternion, tmp); + out.setData(tmp); +} + +template<> +inline +ROS_DEPRECATED void fromMsg(const geometry_msgs::QuaternionStamped& in, tf2::Stamped& out); + +//Backwards compatibility remove when forked for Lunar or newer +template<> +inline +void fromMsg(const geometry_msgs::QuaternionStamped& in, tf2::Stamped& out) +{ + fromMsg(in, out); +} + +/**********/ +/** Pose **/ +/**********/ + +/** \brief Convert a tf2 Transform type to an equivalent geometry_msgs Pose message. + * \param in A tf2 Transform object. + * \param out The Transform converted to a geometry_msgs Pose message type. + */ +inline +geometry_msgs::Pose& toMsg(const tf2::Transform& in, geometry_msgs::Pose& out) +{ + toMsg(in.getOrigin(), out.position); + out.orientation = toMsg(in.getRotation()); + return out; +} + +/** \brief Convert a geometry_msgs Pose message to an equivalent tf2 Transform type. + * \param in A Pose message. + * \param out The Pose converted to a tf2 Transform type. + */ +inline +void fromMsg(const geometry_msgs::Pose& in, tf2::Transform& out) +{ + out.setOrigin(tf2::Vector3(in.position.x, in.position.y, in.position.z)); + // w at the end in the constructor + out.setRotation(tf2::Quaternion(in.orientation.x, in.orientation.y, in.orientation.z, in.orientation.w)); +} + + + +/*****************/ +/** PoseStamped **/ +/*****************/ + +/** \brief Extract a timestamp from the header of a Pose message. + * This function is a specialization of the getTimestamp template defined in tf2/convert.h. + * \param t PoseStamped message to extract the timestamp from. + * \return The timestamp of the message. + */ +template <> +inline + const ros::Time& getTimestamp(const geometry_msgs::PoseStamped& t) {return t.header.stamp;} + +/** \brief Extract a frame ID from the header of a Pose message. + * This function is a specialization of the getFrameId template defined in tf2/convert.h. + * \param t PoseStamped message to extract the frame ID from. + * \return A string containing the frame ID of the message. + */ +template <> +inline + const std::string& getFrameId(const geometry_msgs::PoseStamped& t) {return t.header.frame_id;} + +/** \brief Trivial "conversion" function for Pose message type. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A PoseStamped message. + * \return The input argument. + */ +inline +geometry_msgs::PoseStamped toMsg(const geometry_msgs::PoseStamped& in) +{ + return in; +} + +/** \brief Trivial "conversion" function for Pose message type. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param msg A PoseStamped message. + * \param out The input argument. + */ +inline +void fromMsg(const geometry_msgs::PoseStamped& msg, geometry_msgs::PoseStamped& out) +{ + out = msg; +} + +/** \brief Convert as stamped tf2 Pose type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in An instance of the tf2::Pose specialization of the tf2::Stamped template. + * \return The PoseStamped converted to a geometry_msgs PoseStamped message type. + */ +inline +geometry_msgs::PoseStamped toMsg(const tf2::Stamped& in, geometry_msgs::PoseStamped & out) +{ + out.header.stamp = in.stamp_; + out.header.frame_id = in.frame_id_; + toMsg(in.getOrigin(), out.pose.position); + out.pose.orientation = toMsg(in.getRotation()); + return out; +} + +/** \brief Convert a PoseStamped message to its equivalent tf2 representation. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param msg A PoseStamped message. + * \param out The PoseStamped converted to the equivalent tf2 type. + */ +inline +void fromMsg(const geometry_msgs::PoseStamped& msg, tf2::Stamped& out) +{ + out.stamp_ = msg.header.stamp; + out.frame_id_ = msg.header.frame_id; + tf2::Transform tmp; + fromMsg(msg.pose, tmp); + out.setData(tmp); +} + +/*******************************/ +/** PoseWithCovarianceStamped **/ +/*******************************/ + +/** \brief Extract a timestamp from the header of a PoseWithCovarianceStamped message. + * This function is a specialization of the getTimestamp template defined in tf2/convert.h. + * \param t PoseWithCovarianceStamped message to extract the timestamp from. + * \return The timestamp of the message. + */ +template <> +inline + const ros::Time& getTimestamp(const geometry_msgs::PoseWithCovarianceStamped& t) {return t.header.stamp;} + +/** \brief Extract a frame ID from the header of a PoseWithCovarianceStamped message. + * This function is a specialization of the getFrameId template defined in tf2/convert.h. + * \param t PoseWithCovarianceStamped message to extract the frame ID from. + * \return A string containing the frame ID of the message. + */ +template <> +inline + const std::string& getFrameId(const geometry_msgs::PoseWithCovarianceStamped& t) {return t.header.frame_id;} + +/** \brief Trivial "conversion" function for PoseWithCovarianceStamped message type. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A PoseWithCovarianceStamped message. + * \return The input argument. + */ +inline +geometry_msgs::PoseWithCovarianceStamped toMsg(const geometry_msgs::PoseWithCovarianceStamped& in) +{ + return in; +} + +/** \brief Trivial "conversion" function for PoseWithCovarianceStamped message type. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param msg A PoseWithCovarianceStamped message. + * \param out The input argument. + */ +inline +void fromMsg(const geometry_msgs::PoseWithCovarianceStamped& msg, geometry_msgs::PoseWithCovarianceStamped& out) +{ + out = msg; +} + +/** \brief Convert as stamped tf2 PoseWithCovarianceStamped type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in An instance of the tf2::Pose specialization of the tf2::Stamped template. + * \return The PoseWithCovarianceStamped converted to a geometry_msgs PoseWithCovarianceStamped message type. + */ +inline +geometry_msgs::PoseWithCovarianceStamped toMsg(const tf2::Stamped& in, geometry_msgs::PoseWithCovarianceStamped & out) +{ + out.header.stamp = in.stamp_; + out.header.frame_id = in.frame_id_; + toMsg(in.getOrigin(), out.pose.pose.position); + out.pose.pose.orientation = toMsg(in.getRotation()); + return out; +} + +/** \brief Convert a PoseWithCovarianceStamped message to its equivalent tf2 representation. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param msg A PoseWithCovarianceStamped message. + * \param out The PoseWithCovarianceStamped converted to the equivalent tf2 type. + */ +inline +void fromMsg(const geometry_msgs::PoseWithCovarianceStamped& msg, tf2::Stamped& out) +{ + out.stamp_ = msg.header.stamp; + out.frame_id_ = msg.header.frame_id; + tf2::Transform tmp; + fromMsg(msg.pose, tmp); + out.setData(tmp); +} + +/***************/ +/** Transform **/ +/***************/ + +/** \brief Convert a tf2 Transform type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A tf2 Transform object. + * \return The Transform converted to a geometry_msgs message type. + */ +inline +geometry_msgs::Transform toMsg(const tf2::Transform& in) +{ + geometry_msgs::Transform out; + out.translation = toMsg(in.getOrigin()); + out.rotation = toMsg(in.getRotation()); + return out; +} + +/** \brief Convert a Transform message to its equivalent tf2 representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A Transform message type. + * \param out The Transform converted to a tf2 type. + */ +inline +void fromMsg(const geometry_msgs::Transform& in, tf2::Transform& out) +{ + tf2::Vector3 v; + fromMsg(in.translation, v); + out.setOrigin(v); + // w at the end in the constructor + tf2::Quaternion q; + fromMsg(in.rotation, q); + out.setRotation(q); +} + + +/**********************/ +/** TransformStamped **/ +/**********************/ + +/** \brief Extract a timestamp from the header of a Transform message. + * This function is a specialization of the getTimestamp template defined in tf2/convert.h. + * \param t TransformStamped message to extract the timestamp from. + * \return The timestamp of the message. + */ +template <> +inline +const ros::Time& getTimestamp(const geometry_msgs::TransformStamped& t) {return t.header.stamp;} + +/** \brief Extract a frame ID from the header of a Transform message. + * This function is a specialization of the getFrameId template defined in tf2/convert.h. + * \param t TransformStamped message to extract the frame ID from. + * \return A string containing the frame ID of the message. + */ +template <> +inline +const std::string& getFrameId(const geometry_msgs::TransformStamped& t) {return t.header.frame_id;} + +/** \brief Trivial "conversion" function for Transform message type. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in A TransformStamped message. + * \return The input argument. + */ +inline +geometry_msgs::TransformStamped toMsg(const geometry_msgs::TransformStamped& in) +{ + return in; +} +/** \brief Trivial "conversion" function for TransformStamped message type. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param msg A TransformStamped message. + * \param out The input argument. + */ +inline +void fromMsg(const geometry_msgs::TransformStamped& msg, geometry_msgs::TransformStamped& out) +{ + out = msg; +} + +/** \brief Convert as stamped tf2 Transform type to its equivalent geometry_msgs representation. + * This function is a specialization of the toMsg template defined in tf2/convert.h. + * \param in An instance of the tf2::Transform specialization of the tf2::Stamped template. + * \return The tf2::Stamped converted to a geometry_msgs TransformStamped message type. + */ +inline +geometry_msgs::TransformStamped toMsg(const tf2::Stamped& in) +{ + geometry_msgs::TransformStamped out; + out.header.stamp = in.stamp_; + out.header.frame_id = in.frame_id_; + out.transform.translation = toMsg(in.getOrigin()); + out.transform.rotation = toMsg(in.getRotation()); + return out; +} + + +/** \brief Convert a TransformStamped message to its equivalent tf2 representation. + * This function is a specialization of the fromMsg template defined in tf2/convert.h. + * \param msg A TransformStamped message. + * \param out The TransformStamped converted to the equivalent tf2 type. + */ +inline +void fromMsg(const geometry_msgs::TransformStamped& msg, tf2::Stamped& out) +{ + out.stamp_ = msg.header.stamp; + out.frame_id_ = msg.header.frame_id; + tf2::Transform tmp; + fromMsg(msg.transform, tmp); + out.setData(tmp); +} + +/** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Point type. + * This function is a specialization of the doTransform template defined in tf2/convert.h. + * \param t_in The point to transform, as a Point3 message. + * \param t_out The transformed point, as a Point3 message. + * \param transform The timestamped transform to apply, as a TransformStamped message. + */ +template <> +inline + void doTransform(const geometry_msgs::Point& t_in, geometry_msgs::Point& t_out, const geometry_msgs::TransformStamped& transform) + { + tf2::Transform t; + fromMsg(transform.transform, t); + tf2::Vector3 v_in; + fromMsg(t_in, v_in); + tf2::Vector3 v_out = t * v_in; + toMsg(v_out, t_out); + } + +/** \brief Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Point type. + * This function is a specialization of the doTransform template defined in tf2/convert.h. + * \param t_in The point to transform, as a timestamped Point3 message. + * \param t_out The transformed point, as a timestamped Point3 message. + * \param transform The timestamped transform to apply, as a TransformStamped message. + */ +template <> +inline + void doTransform(const geometry_msgs::PointStamped& t_in, geometry_msgs::PointStamped& t_out, const geometry_msgs::TransformStamped& transform) + { + doTransform(t_in.point, t_out.point, transform); + t_out.header.stamp = transform.header.stamp; + t_out.header.frame_id = transform.header.frame_id; + } + +/** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Quaternion type. + * This function is a specialization of the doTransform template defined in tf2/convert.h. + * \param t_in The quaternion to transform, as a Quaternion3 message. + * \param t_out The transformed quaternion, as a Quaternion3 message. + * \param transform The timestamped transform to apply, as a TransformStamped message. + */ +template <> +inline +void doTransform(const geometry_msgs::Quaternion& t_in, geometry_msgs::Quaternion& t_out, const geometry_msgs::TransformStamped& transform) +{ + tf2::Quaternion t, q_in; + fromMsg(transform.transform.rotation, t); + fromMsg(t_in, q_in); + + tf2::Quaternion q_out = t * q_in; + t_out = toMsg(q_out); +} + +/** \brief Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Quaternion type. + * This function is a specialization of the doTransform template defined in tf2/convert.h. + * \param t_in The quaternion to transform, as a timestamped Quaternion3 message. + * \param t_out The transformed quaternion, as a timestamped Quaternion3 message. + * \param transform The timestamped transform to apply, as a TransformStamped message. + */ +template <> +inline +void doTransform(const geometry_msgs::QuaternionStamped& t_in, geometry_msgs::QuaternionStamped& t_out, const geometry_msgs::TransformStamped& transform) +{ + doTransform(t_in.quaternion, t_out.quaternion, transform); + t_out.header.stamp = transform.header.stamp; + t_out.header.frame_id = transform.header.frame_id; +} + + +/** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Pose type. +* This function is a specialization of the doTransform template defined in tf2/convert.h. +* \param t_in The pose to transform, as a Pose3 message. +* \param t_out The transformed pose, as a Pose3 message. +* \param transform The timestamped transform to apply, as a TransformStamped message. +*/ +template <> +inline +void doTransform(const geometry_msgs::Pose& t_in, geometry_msgs::Pose& t_out, const geometry_msgs::TransformStamped& transform) +{ + tf2::Vector3 v; + fromMsg(t_in.position, v); + tf2::Quaternion r; + fromMsg(t_in.orientation, r); + + tf2::Transform t; + fromMsg(transform.transform, t); + tf2::Transform v_out = t * tf2::Transform(r, v); + toMsg(v_out, t_out); +} + +/** \brief Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Pose type. +* This function is a specialization of the doTransform template defined in tf2/convert.h. +* \param t_in The pose to transform, as a timestamped Pose3 message. +* \param t_out The transformed pose, as a timestamped Pose3 message. +* \param transform The timestamped transform to apply, as a TransformStamped message. +*/ +template <> +inline +void doTransform(const geometry_msgs::PoseStamped& t_in, geometry_msgs::PoseStamped& t_out, const geometry_msgs::TransformStamped& transform) +{ + doTransform(t_in.pose, t_out.pose, transform); + t_out.header.stamp = transform.header.stamp; + t_out.header.frame_id = transform.header.frame_id; +} + +/** \brief Transform the covariance matrix of a PoseWithCovarianceStamped message to a new frame. +* \param t_in The covariance matrix to transform. +* \param transform The timestamped transform to apply, as a TransformStamped message. +* \return The transformed covariance matrix. +*/ +inline +geometry_msgs::PoseWithCovariance::_covariance_type transformCovariance(const geometry_msgs::PoseWithCovariance::_covariance_type& cov_in, const tf2::Transform& transform) +{ + /** + * To transform a covariance matrix: + * + * [R 0] COVARIANCE [R' 0 ] + * [0 R] [0 R'] + * + * Where: + * R is the rotation matrix (3x3). + * R' is the transpose of the rotation matrix. + * COVARIANCE is the 6x6 covariance matrix to be transformed. + */ + + // get rotation matrix transpose + const tf2::Matrix3x3 R_transpose = transform.getBasis().transpose(); + + // convert the covariance matrix into four 3x3 blocks + const tf2::Matrix3x3 cov_11(cov_in[0], cov_in[1], cov_in[2], + cov_in[6], cov_in[7], cov_in[8], + cov_in[12], cov_in[13], cov_in[14]); + const tf2::Matrix3x3 cov_12(cov_in[3], cov_in[4], cov_in[5], + cov_in[9], cov_in[10], cov_in[11], + cov_in[15], cov_in[16], cov_in[17]); + const tf2::Matrix3x3 cov_21(cov_in[18], cov_in[19], cov_in[20], + cov_in[24], cov_in[25], cov_in[26], + cov_in[30], cov_in[31], cov_in[32]); + const tf2::Matrix3x3 cov_22(cov_in[21], cov_in[22], cov_in[23], + cov_in[27], cov_in[28], cov_in[29], + cov_in[33], cov_in[34], cov_in[35]); + + // perform blockwise matrix multiplication + const tf2::Matrix3x3 result_11 = transform.getBasis()*cov_11*R_transpose; + const tf2::Matrix3x3 result_12 = transform.getBasis()*cov_12*R_transpose; + const tf2::Matrix3x3 result_21 = transform.getBasis()*cov_21*R_transpose; + const tf2::Matrix3x3 result_22 = transform.getBasis()*cov_22*R_transpose; + + // form the output + geometry_msgs::PoseWithCovariance::_covariance_type output; + output[0] = result_11[0][0]; + output[1] = result_11[0][1]; + output[2] = result_11[0][2]; + output[6] = result_11[1][0]; + output[7] = result_11[1][1]; + output[8] = result_11[1][2]; + output[12] = result_11[2][0]; + output[13] = result_11[2][1]; + output[14] = result_11[2][2]; + + output[3] = result_12[0][0]; + output[4] = result_12[0][1]; + output[5] = result_12[0][2]; + output[9] = result_12[1][0]; + output[10] = result_12[1][1]; + output[11] = result_12[1][2]; + output[15] = result_12[2][0]; + output[16] = result_12[2][1]; + output[17] = result_12[2][2]; + + output[18] = result_21[0][0]; + output[19] = result_21[0][1]; + output[20] = result_21[0][2]; + output[24] = result_21[1][0]; + output[25] = result_21[1][1]; + output[26] = result_21[1][2]; + output[30] = result_21[2][0]; + output[31] = result_21[2][1]; + output[32] = result_21[2][2]; + + output[21] = result_22[0][0]; + output[22] = result_22[0][1]; + output[23] = result_22[0][2]; + output[27] = result_22[1][0]; + output[28] = result_22[1][1]; + output[29] = result_22[1][2]; + output[33] = result_22[2][0]; + output[34] = result_22[2][1]; + output[35] = result_22[2][2]; + + return output; +} + +/** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs PoseWithCovarianceStamped type. +* This function is a specialization of the doTransform template defined in tf2/convert.h. +* \param t_in The pose to transform, as a timestamped PoseWithCovarianceStamped message. +* \param t_out The transformed pose, as a timestamped PoseWithCovarianceStamped message. +* \param transform The timestamped transform to apply, as a TransformStamped message. +*/ +template <> +inline +void doTransform(const geometry_msgs::PoseWithCovarianceStamped& t_in, geometry_msgs::PoseWithCovarianceStamped& t_out, const geometry_msgs::TransformStamped& transform) +{ + tf2::Vector3 v; + fromMsg(t_in.pose.pose.position, v); + tf2::Quaternion r; + fromMsg(t_in.pose.pose.orientation, r); + + tf2::Transform t; + fromMsg(transform.transform, t); + tf2::Transform v_out = t * tf2::Transform(r, v); + toMsg(v_out, t_out.pose.pose); + t_out.header.stamp = transform.header.stamp; + t_out.header.frame_id = transform.header.frame_id; + + t_out.pose.covariance = transformCovariance(t_in.pose.covariance, t); +} + +/** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Transform type. + * This function is a specialization of the doTransform template defined in tf2/convert.h. + * \param t_in The frame to transform, as a timestamped Transform3 message. + * \param t_out The frame transform, as a timestamped Transform3 message. + * \param transform The timestamped transform to apply, as a TransformStamped message. + */ +template <> +inline +void doTransform(const geometry_msgs::TransformStamped& t_in, geometry_msgs::TransformStamped& t_out, const geometry_msgs::TransformStamped& transform) + { + tf2::Transform input; + fromMsg(t_in.transform, input); + + tf2::Transform t; + fromMsg(transform.transform, t); + tf2::Transform v_out = t * input; + + t_out.transform = toMsg(v_out); + t_out.header.stamp = transform.header.stamp; + t_out.header.frame_id = transform.header.frame_id; + } + +/** \brief Apply a geometry_msgs TransformStamped to an geometry_msgs Vector type. + * This function is a specialization of the doTransform template defined in tf2/convert.h. + * \param t_in The vector to transform, as a Vector3 message. + * \param t_out The transformed vector, as a Vector3 message. + * \param transform The timestamped transform to apply, as a TransformStamped message. + */ +template <> +inline + void doTransform(const geometry_msgs::Vector3& t_in, geometry_msgs::Vector3& t_out, const geometry_msgs::TransformStamped& transform) + { + tf2::Transform t; + fromMsg(transform.transform, t); + tf2::Vector3 v_out = t.getBasis() * tf2::Vector3(t_in.x, t_in.y, t_in.z); + t_out.x = v_out[0]; + t_out.y = v_out[1]; + t_out.z = v_out[2]; + } + +/** \brief Apply a geometry_msgs TransformStamped to an stamped geometry_msgs Vector type. + * This function is a specialization of the doTransform template defined in tf2/convert.h. + * \param t_in The vector to transform, as a timestamped Vector3 message. + * \param t_out The transformed vector, as a timestamped Vector3 message. + * \param transform The timestamped transform to apply, as a TransformStamped message. + */ +template <> +inline + void doTransform(const geometry_msgs::Vector3Stamped& t_in, geometry_msgs::Vector3Stamped& t_out, const geometry_msgs::TransformStamped& transform) + { + doTransform(t_in.vector, t_out.vector, transform); + t_out.header.stamp = transform.header.stamp; + t_out.header.frame_id = transform.header.frame_id; + } + + +/**********************/ +/*** WrenchStamped ****/ +/**********************/ +template <> +inline +const ros::Time& getTimestamp(const geometry_msgs::WrenchStamped& t) {return t.header.stamp;} + + +template <> +inline +const std::string& getFrameId(const geometry_msgs::WrenchStamped& t) {return t.header.frame_id;} + + +inline +geometry_msgs::WrenchStamped toMsg(const geometry_msgs::WrenchStamped& in) +{ + return in; +} + +inline +void fromMsg(const geometry_msgs::WrenchStamped& msg, geometry_msgs::WrenchStamped& out) +{ + out = msg; +} + + +inline +geometry_msgs::WrenchStamped toMsg(const tf2::Stamped>& in, geometry_msgs::WrenchStamped & out) +{ + out.header.stamp = in.stamp_; + out.header.frame_id = in.frame_id_; + out.wrench.force = toMsg(in[0]); + out.wrench.torque = toMsg(in[1]); + return out; +} + + +inline +void fromMsg(const geometry_msgs::WrenchStamped& msg, tf2::Stamped>& out) +{ + out.stamp_ = msg.header.stamp; + out.frame_id_ = msg.header.frame_id; + tf2::Vector3 tmp; + fromMsg(msg.wrench.force, tmp); + tf2::Vector3 tmp1; + fromMsg(msg.wrench.torque, tmp1); + std::array tmp_array; + tmp_array[0] = tmp; + tmp_array[1] = tmp1; + out.setData(tmp_array); +} + +template<> +inline +void doTransform(const geometry_msgs::Wrench& t_in, geometry_msgs::Wrench& t_out, const geometry_msgs::TransformStamped& transform) +{ + doTransform(t_in.force, t_out.force, transform); + doTransform(t_in.torque, t_out.torque, transform); +} + + +template<> +inline +void doTransform(const geometry_msgs::WrenchStamped& t_in, geometry_msgs::WrenchStamped& t_out, const geometry_msgs::TransformStamped& transform) +{ + doTransform(t_in.wrench, t_out.wrench, transform); + t_out.header.stamp = transform.header.stamp; + t_out.header.frame_id = transform.header.frame_id; +} + +} // namespace + +#endif // TF2_GEOMETRY_MSGS_H diff --git a/navigations/geometry2/tf2_geometry_msgs/index.rst b/navigations/geometry2/tf2_geometry_msgs/index.rst new file mode 100755 index 0000000..b2cbcad --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/index.rst @@ -0,0 +1,17 @@ +Welcome to tf2_geometry_msgs's documentation! +============================================= + +Contents: + +.. toctree:: + :maxdepth: 2 + + + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` + diff --git a/navigations/geometry2/tf2_geometry_msgs/mainpage.dox b/navigations/geometry2/tf2_geometry_msgs/mainpage.dox new file mode 100755 index 0000000..3641532 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/mainpage.dox @@ -0,0 +1,19 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b tf2_geometry_msgs contains functions for converting between various geometry_msgs data types. + +This library is an implementation of the templated conversion interface specified in tf/convert.h. +It offers conversion and transform convenience functions between various geometry_msgs data types, +such as Vector, Point, Pose, Transform, Quaternion, etc. + +See the Conversions overview +wiki page for more information about datatype conversion in tf2. + +\section codeapi Code API + +This library consists of one header only, tf2_geometry_msgs/tf2_geometry_msgs.h, which consists mostly of +specializations of template functions defined in tf2/convert.h. + +*/ diff --git a/navigations/geometry2/tf2_geometry_msgs/package.xml b/navigations/geometry2/tf2_geometry_msgs/package.xml new file mode 100755 index 0000000..1cf8129 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/package.xml @@ -0,0 +1,27 @@ + + tf2_geometry_msgs + 0.7.6 + + tf2_geometry_msgs + + Wim Meeussen + Tully Foote + BSD + + http://www.ros.org/wiki/tf2_ros + + catkin + + geometry_msgs + liborocos-kdl-dev + tf2 + tf2_ros + + python3-pykdl + + python3-pykdl + + ros_environment + rostest + + diff --git a/navigations/geometry2/tf2_geometry_msgs/rosdoc.yaml b/navigations/geometry2/tf2_geometry_msgs/rosdoc.yaml new file mode 100755 index 0000000..a1d78b9 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/rosdoc.yaml @@ -0,0 +1,7 @@ + - builder: doxygen + name: C++ API + output_dir: c++ + file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' + - builder: sphinx + name: Python API + output_dir: python diff --git a/navigations/geometry2/tf2_geometry_msgs/scripts/test.py b/navigations/geometry2/tf2_geometry_msgs/scripts/test.py new file mode 100755 index 0000000..25555da --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/scripts/test.py @@ -0,0 +1,100 @@ +#!/usr/bin/env python + +import unittest +import rospy +import PyKDL +import tf2_ros +import tf2_geometry_msgs +from geometry_msgs.msg import TransformStamped, PointStamped, Vector3Stamped, PoseStamped, WrenchStamped + +class GeometryMsgs(unittest.TestCase): + def test_transform(self): + b = tf2_ros.Buffer() + t = TransformStamped() + t.transform.translation.x = 1 + t.transform.rotation.x = 1 + t.header.stamp = rospy.Time(2.0) + t.header.frame_id = 'a' + t.child_frame_id = 'b' + b.set_transform(t, 'eitan_rocks') + out = b.lookup_transform('a','b', rospy.Time(2.0), rospy.Duration(2.0)) + self.assertEqual(out.transform.translation.x, 1) + self.assertEqual(out.transform.rotation.x, 1) + self.assertEqual(out.header.frame_id, 'a') + self.assertEqual(out.child_frame_id, 'b') + + v = PointStamped() + v.header.stamp = rospy.Time(2) + v.header.frame_id = 'a' + v.point.x = 1 + v.point.y = 2 + v.point.z = 3 + out = b.transform(v, 'b') + self.assertEqual(out.point.x, 0) + self.assertEqual(out.point.y, -2) + self.assertEqual(out.point.z, -3) + + v = PoseStamped() + v.header.stamp = rospy.Time(2) + v.header.frame_id = 'a' + v.pose.position.x = 1 + v.pose.position.y = 2 + v.pose.position.z = 3 + v.pose.orientation.x = 1 + out = b.transform(v, 'b') + self.assertEqual(out.pose.position.x, 0) + self.assertEqual(out.pose.position.y, -2) + self.assertEqual(out.pose.position.z, -3) + + # Translation shouldn't affect Vector3 + t = TransformStamped() + t.transform.translation.x = 1 + t.transform.translation.y = 2 + t.transform.translation.z = 3 + t.transform.rotation.w = 1 + v = Vector3Stamped() + v.vector.x = 1 + v.vector.y = 0 + v.vector.z = 0 + out = tf2_geometry_msgs.do_transform_vector3(v, t) + self.assertEqual(out.vector.x, 1) + self.assertEqual(out.vector.y, 0) + self.assertEqual(out.vector.z, 0) + + # Rotate Vector3 180 deg about y + t = TransformStamped() + t.transform.translation.x = 1 + t.transform.translation.y = 2 + t.transform.translation.z = 3 + t.transform.rotation.y = 1 + + v = Vector3Stamped() + v.vector.x = 1 + v.vector.y = 0 + v.vector.z = 0 + + out = tf2_geometry_msgs.do_transform_vector3(v, t) + self.assertEqual(out.vector.x, -1) + self.assertEqual(out.vector.y, 0) + self.assertEqual(out.vector.z, 0) + + v = WrenchStamped() + v.wrench.force.x = 1 + v.wrench.force.y = 0 + v.wrench.force.z = 0 + v.wrench.torque.x = 1 + v.wrench.torque.y = 0 + v.wrench.torque.z = 0 + + out = tf2_geometry_msgs.do_transform_wrench(v, t) + self.assertEqual(out.wrench.force.x, -1) + self.assertEqual(out.wrench.force.y, 0) + self.assertEqual(out.wrench.force.z, 0) + self.assertEqual(out.wrench.torque.x, -1) + self.assertEqual(out.wrench.torque.y, 0) + self.assertEqual(out.wrench.torque.z, 0) + +if __name__ == '__main__': + import rosunit + rospy.init_node('test_tf2_geometry_msgs_python') + rosunit.unitrun("test_tf2_geometry_msgs", "test_tf2_geometry_msgs_python", GeometryMsgs) diff --git a/navigations/geometry2/tf2_geometry_msgs/setup.py b/navigations/geometry2/tf2_geometry_msgs/setup.py new file mode 100755 index 0000000..689f124 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/setup.py @@ -0,0 +1,13 @@ +#!/usr/bin/env python + +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['tf2_geometry_msgs'], + package_dir={'': 'src'}, + requires=['rospy','geometry_msgs','tf2_ros','orocos_kdl'] +) + +setup(**d) + diff --git a/navigations/geometry2/tf2_geometry_msgs/src/tf2_geometry_msgs/__init__.py b/navigations/geometry2/tf2_geometry_msgs/src/tf2_geometry_msgs/__init__.py new file mode 100755 index 0000000..e072bac --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/src/tf2_geometry_msgs/__init__.py @@ -0,0 +1 @@ +from .tf2_geometry_msgs import * diff --git a/navigations/geometry2/tf2_geometry_msgs/src/tf2_geometry_msgs/tf2_geometry_msgs.py b/navigations/geometry2/tf2_geometry_msgs/src/tf2_geometry_msgs/tf2_geometry_msgs.py new file mode 100755 index 0000000..f0edee2 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/src/tf2_geometry_msgs/tf2_geometry_msgs.py @@ -0,0 +1,110 @@ +# 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, Inc. 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: Wim Meeussen + +from geometry_msgs.msg import PoseStamped, Vector3Stamped, PointStamped, WrenchStamped +import PyKDL +import rospy +import tf2_ros +import copy + +def to_msg_msg(msg): + return msg + +tf2_ros.ConvertRegistration().add_to_msg(Vector3Stamped, to_msg_msg) +tf2_ros.ConvertRegistration().add_to_msg(PoseStamped, to_msg_msg) +tf2_ros.ConvertRegistration().add_to_msg(PointStamped, to_msg_msg) + +def from_msg_msg(msg): + return msg + +tf2_ros.ConvertRegistration().add_from_msg(Vector3Stamped, from_msg_msg) +tf2_ros.ConvertRegistration().add_from_msg(PoseStamped, from_msg_msg) +tf2_ros.ConvertRegistration().add_from_msg(PointStamped, from_msg_msg) + +def transform_to_kdl(t): + return PyKDL.Frame(PyKDL.Rotation.Quaternion(t.transform.rotation.x, t.transform.rotation.y, + t.transform.rotation.z, t.transform.rotation.w), + PyKDL.Vector(t.transform.translation.x, + t.transform.translation.y, + t.transform.translation.z)) + + +# PointStamped +def do_transform_point(point, transform): + p = transform_to_kdl(transform) * PyKDL.Vector(point.point.x, point.point.y, point.point.z) + res = PointStamped() + res.point.x = p[0] + res.point.y = p[1] + res.point.z = p[2] + res.header = transform.header + return res +tf2_ros.TransformRegistration().add(PointStamped, do_transform_point) + + +# Vector3Stamped +def do_transform_vector3(vector3, transform): + transform = copy.deepcopy(transform) + transform.transform.translation.x = 0; + transform.transform.translation.y = 0; + transform.transform.translation.z = 0; + p = transform_to_kdl(transform) * PyKDL.Vector(vector3.vector.x, vector3.vector.y, vector3.vector.z) + res = Vector3Stamped() + res.vector.x = p[0] + res.vector.y = p[1] + res.vector.z = p[2] + res.header = transform.header + return res +tf2_ros.TransformRegistration().add(Vector3Stamped, do_transform_vector3) + +# PoseStamped +def do_transform_pose(pose, transform): + f = transform_to_kdl(transform) * PyKDL.Frame(PyKDL.Rotation.Quaternion(pose.pose.orientation.x, pose.pose.orientation.y, + pose.pose.orientation.z, pose.pose.orientation.w), + PyKDL.Vector(pose.pose.position.x, pose.pose.position.y, pose.pose.position.z)) + res = PoseStamped() + res.pose.position.x = f[(0, 3)] + res.pose.position.y = f[(1, 3)] + res.pose.position.z = f[(2, 3)] + (res.pose.orientation.x, res.pose.orientation.y, res.pose.orientation.z, res.pose.orientation.w) = f.M.GetQuaternion() + res.header = transform.header + return res +tf2_ros.TransformRegistration().add(PoseStamped, do_transform_pose) + +# WrenchStamped +def do_transform_wrench(wrench, transform): + force = Vector3Stamped() + torque = Vector3Stamped() + force.vector = wrench.wrench.force + torque.vector = wrench.wrench.torque + res = WrenchStamped() + res.wrench.force = do_transform_vector3(force, transform).vector + res.wrench.torque = do_transform_vector3(torque, transform).vector + res.header = transform.header + return res +tf2_ros.TransformRegistration().add(WrenchStamped, do_transform_wrench) diff --git a/navigations/geometry2/tf2_geometry_msgs/test/test.launch b/navigations/geometry2/tf2_geometry_msgs/test/test.launch new file mode 100755 index 0000000..53bab78 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/test/test.launch @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/navigations/geometry2/tf2_geometry_msgs/test/test_python.launch b/navigations/geometry2/tf2_geometry_msgs/test/test_python.launch new file mode 100755 index 0000000..b6bc793 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/test/test_python.launch @@ -0,0 +1,3 @@ + + + diff --git a/navigations/geometry2/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp b/navigations/geometry2/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp new file mode 100755 index 0000000..860db53 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp @@ -0,0 +1,380 @@ +/* + * 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, Inc. 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 Wim Meeussen */ + + +#include +#include +#include +#include +#include +#include + +tf2_ros::Buffer* tf_buffer; +geometry_msgs::TransformStamped t; +static const double EPS = 1e-3; + + +TEST(TfGeometry, Frame) +{ + geometry_msgs::PoseStamped v1; + v1.pose.position.x = 1; + v1.pose.position.y = 2; + v1.pose.position.z = 3; + v1.pose.orientation.x = 1; + v1.header.stamp = ros::Time(2); + v1.header.frame_id = "A"; + + // simple api + geometry_msgs::PoseStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0)); + EXPECT_NEAR(v_simple.pose.position.x, -9, EPS); + EXPECT_NEAR(v_simple.pose.position.y, 18, EPS); + EXPECT_NEAR(v_simple.pose.position.z, 27, EPS); + EXPECT_NEAR(v_simple.pose.orientation.x, 0.0, EPS); + EXPECT_NEAR(v_simple.pose.orientation.y, 0.0, EPS); + EXPECT_NEAR(v_simple.pose.orientation.z, 0.0, EPS); + EXPECT_NEAR(v_simple.pose.orientation.w, 1.0, EPS); + + // advanced api + geometry_msgs::PoseStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0), + "A", ros::Duration(3.0)); + EXPECT_NEAR(v_advanced.pose.position.x, -9, EPS); + EXPECT_NEAR(v_advanced.pose.position.y, 18, EPS); + EXPECT_NEAR(v_advanced.pose.position.z, 27, EPS); + EXPECT_NEAR(v_advanced.pose.orientation.x, 0.0, EPS); + EXPECT_NEAR(v_advanced.pose.orientation.y, 0.0, EPS); + EXPECT_NEAR(v_advanced.pose.orientation.z, 0.0, EPS); + EXPECT_NEAR(v_advanced.pose.orientation.w, 1.0, EPS); +} + +TEST(TfGeometry, PoseWithCovarianceStamped) +{ + geometry_msgs::PoseWithCovarianceStamped v1; + v1.pose.pose.position.x = 1; + v1.pose.pose.position.y = 2; + v1.pose.pose.position.z = 3; + v1.pose.pose.orientation.x = 1; + v1.header.stamp = ros::Time(2); + v1.header.frame_id = "A"; + v1.pose.covariance[0] = 1; + v1.pose.covariance[7] = 1; + v1.pose.covariance[14] = 1; + v1.pose.covariance[21] = 1; + v1.pose.covariance[28] = 1; + v1.pose.covariance[35] = 1; + + // simple api + const geometry_msgs::PoseWithCovarianceStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0)); + EXPECT_NEAR(v_simple.pose.pose.position.x, -9, EPS); + EXPECT_NEAR(v_simple.pose.pose.position.y, 18, EPS); + EXPECT_NEAR(v_simple.pose.pose.position.z, 27, EPS); + EXPECT_NEAR(v_simple.pose.pose.orientation.x, 0.0, EPS); + EXPECT_NEAR(v_simple.pose.pose.orientation.y, 0.0, EPS); + EXPECT_NEAR(v_simple.pose.pose.orientation.z, 0.0, EPS); + EXPECT_NEAR(v_simple.pose.pose.orientation.w, 1.0, EPS); + + // no rotation in this transformation, so no change to covariance + EXPECT_NEAR(v_simple.pose.covariance[0], 1.0, EPS); + EXPECT_NEAR(v_simple.pose.covariance[7], 1.0, EPS); + EXPECT_NEAR(v_simple.pose.covariance[14], 1.0, EPS); + EXPECT_NEAR(v_simple.pose.covariance[21], 1.0, EPS); + EXPECT_NEAR(v_simple.pose.covariance[28], 1.0, EPS); + EXPECT_NEAR(v_simple.pose.covariance[35], 1.0, EPS); + + // advanced api + const geometry_msgs::PoseWithCovarianceStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0), + "A", ros::Duration(3.0)); + EXPECT_NEAR(v_advanced.pose.pose.position.x, -9, EPS); + EXPECT_NEAR(v_advanced.pose.pose.position.y, 18, EPS); + EXPECT_NEAR(v_advanced.pose.pose.position.z, 27, EPS); + EXPECT_NEAR(v_advanced.pose.pose.orientation.x, 0.0, EPS); + EXPECT_NEAR(v_advanced.pose.pose.orientation.y, 0.0, EPS); + EXPECT_NEAR(v_advanced.pose.pose.orientation.z, 0.0, EPS); + EXPECT_NEAR(v_advanced.pose.pose.orientation.w, 1.0, EPS); + + // no rotation in this transformation, so no change to covariance + EXPECT_NEAR(v_advanced.pose.covariance[0], 1.0, EPS); + EXPECT_NEAR(v_advanced.pose.covariance[7], 1.0, EPS); + EXPECT_NEAR(v_advanced.pose.covariance[14], 1.0, EPS); + EXPECT_NEAR(v_advanced.pose.covariance[21], 1.0, EPS); + EXPECT_NEAR(v_advanced.pose.covariance[28], 1.0, EPS); + EXPECT_NEAR(v_advanced.pose.covariance[35], 1.0, EPS); + + /** now add rotation to transform to test the effect on covariance **/ + + // rotate pi/2 radians about x-axis + geometry_msgs::TransformStamped t_rot; + t_rot.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(1,0,0), M_PI/2)); + t_rot.header.stamp = ros::Time(2.0); + t_rot.header.frame_id = "A"; + t_rot.child_frame_id = "rotated"; + tf_buffer->setTransform(t_rot, "rotation_test"); + + // need to put some covariance in the matrix + v1.pose.covariance[1] = 1; + v1.pose.covariance[6] = 1; + v1.pose.covariance[12] = 1; + + // perform rotation + const geometry_msgs::PoseWithCovarianceStamped v_rotated = tf_buffer->transform(v1, "rotated", ros::Duration(2.0)); + + // the covariance matrix should now be transformed + EXPECT_NEAR(v_rotated.pose.covariance[0], 1.0, EPS); + EXPECT_NEAR(v_rotated.pose.covariance[1], 0.0, EPS); + EXPECT_NEAR(v_rotated.pose.covariance[2],-1.0, EPS); + EXPECT_NEAR(v_rotated.pose.covariance[6], 1.0, EPS); + EXPECT_NEAR(v_rotated.pose.covariance[7], 1.0, EPS); + EXPECT_NEAR(v_rotated.pose.covariance[8], 0.0, EPS); + EXPECT_NEAR(v_rotated.pose.covariance[12],-1.0, EPS); + EXPECT_NEAR(v_rotated.pose.covariance[13], 0.0, EPS); + EXPECT_NEAR(v_rotated.pose.covariance[14], 1.0, EPS); + + // set buffer back to original transform + tf_buffer->setTransform(t, "test"); +} + +TEST(TfGeometry, Transform) +{ + geometry_msgs::TransformStamped v1; + v1.transform.translation.x = 1; + v1.transform.translation.y = 2; + v1.transform.translation.z = 3; + v1.transform.rotation.x = 1; + v1.header.stamp = ros::Time(2); + v1.header.frame_id = "A"; + + // simple api + geometry_msgs::TransformStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0)); + EXPECT_NEAR(v_simple.transform.translation.x, -9, EPS); + EXPECT_NEAR(v_simple.transform.translation.y, 18, EPS); + EXPECT_NEAR(v_simple.transform.translation.z, 27, EPS); + EXPECT_NEAR(v_simple.transform.rotation.x, 0.0, EPS); + EXPECT_NEAR(v_simple.transform.rotation.y, 0.0, EPS); + EXPECT_NEAR(v_simple.transform.rotation.z, 0.0, EPS); + EXPECT_NEAR(v_simple.transform.rotation.w, 1.0, EPS); + + + // advanced api + geometry_msgs::TransformStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0), + "A", ros::Duration(3.0)); + EXPECT_NEAR(v_advanced.transform.translation.x, -9, EPS); + EXPECT_NEAR(v_advanced.transform.translation.y, 18, EPS); + EXPECT_NEAR(v_advanced.transform.translation.z, 27, EPS); + EXPECT_NEAR(v_advanced.transform.rotation.x, 0.0, EPS); + EXPECT_NEAR(v_advanced.transform.rotation.y, 0.0, EPS); + EXPECT_NEAR(v_advanced.transform.rotation.z, 0.0, EPS); + EXPECT_NEAR(v_advanced.transform.rotation.w, 1.0, EPS); +} + +TEST(TfGeometry, Vector) +{ + geometry_msgs::Vector3Stamped v1, res; + v1.vector.x = 1; + v1.vector.y = 2; + v1.vector.z = 3; + v1.header.stamp = ros::Time(2.0); + v1.header.frame_id = "A"; + + // simple api + geometry_msgs::Vector3Stamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0)); + EXPECT_NEAR(v_simple.vector.x, 1, EPS); + EXPECT_NEAR(v_simple.vector.y, -2, EPS); + EXPECT_NEAR(v_simple.vector.z, -3, EPS); + + // advanced api + geometry_msgs::Vector3Stamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0), + "A", ros::Duration(3.0)); + EXPECT_NEAR(v_advanced.vector.x, 1, EPS); + EXPECT_NEAR(v_advanced.vector.y, -2, EPS); + EXPECT_NEAR(v_advanced.vector.z, -3, EPS); +} + + +TEST(TfGeometry, Point) +{ + geometry_msgs::PointStamped v1, res; + v1.point.x = 1; + v1.point.y = 2; + v1.point.z = 3; + v1.header.stamp = ros::Time(2.0); + v1.header.frame_id = "A"; + + // simple api + geometry_msgs::PointStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0)); + EXPECT_NEAR(v_simple.point.x, -9, EPS); + EXPECT_NEAR(v_simple.point.y, 18, EPS); + EXPECT_NEAR(v_simple.point.z, 27, EPS); + + // advanced api + geometry_msgs::PointStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0), + "A", ros::Duration(3.0)); + EXPECT_NEAR(v_advanced.point.x, -9, EPS); + EXPECT_NEAR(v_advanced.point.y, 18, EPS); + EXPECT_NEAR(v_advanced.point.z, 27, EPS); +} + +TEST(TfGeometry, doTransformPoint) +{ + geometry_msgs::Point v1, res; + v1.x = 2; + v1.y = 1; + v1.z = 3; + + geometry_msgs::TransformStamped trafo; + trafo.transform.translation.x = -1; + trafo.transform.translation.y = 2; + trafo.transform.translation.z = -3; + trafo.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0,0,1), -M_PI / 2.0)); + + tf2::doTransform(v1, res, trafo); + + EXPECT_NEAR(res.x, 0, EPS); + EXPECT_NEAR(res.y, 0, EPS); + EXPECT_NEAR(res.z, 0, EPS); +} + +TEST(TfGeometry, doTransformQuaterion) +{ + geometry_msgs::Quaternion v1, res; + v1.w = 1; + + geometry_msgs::TransformStamped trafo; + trafo.transform.translation.x = -1; + trafo.transform.translation.y = 2; + trafo.transform.translation.z = -3; + trafo.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0,0,1), -M_PI / 2.0)); + + tf2::doTransform(v1, res, trafo); + + EXPECT_NEAR(res.x, trafo.transform.rotation.x, EPS); + EXPECT_NEAR(res.y, trafo.transform.rotation.y, EPS); + EXPECT_NEAR(res.z, trafo.transform.rotation.z, EPS); + EXPECT_NEAR(res.w, trafo.transform.rotation.w, EPS); +} + +TEST(TfGeometry, doTransformPose) +{ + geometry_msgs::Pose v1, res; + v1.position.x = 2; + v1.position.y = 1; + v1.position.z = 3; + v1.orientation.w = 1; + + geometry_msgs::TransformStamped trafo; + trafo.transform.translation.x = -1; + trafo.transform.translation.y = 2; + trafo.transform.translation.z = -3; + trafo.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0,0,1), -M_PI / 2.0)); + + tf2::doTransform(v1, res, trafo); + + EXPECT_NEAR(res.position.x, 0, EPS); + EXPECT_NEAR(res.position.y, 0, EPS); + EXPECT_NEAR(res.position.z, 0, EPS); + + EXPECT_NEAR(res.orientation.x, trafo.transform.rotation.x, EPS); + EXPECT_NEAR(res.orientation.y, trafo.transform.rotation.y, EPS); + EXPECT_NEAR(res.orientation.z, trafo.transform.rotation.z, EPS); + EXPECT_NEAR(res.orientation.w, trafo.transform.rotation.w, EPS); +} + +TEST(TfGeometry, doTransformVector3) +{ + geometry_msgs::Vector3 v1, res; + v1.x = 2; + v1.y = 1; + v1.z = 3; + + geometry_msgs::TransformStamped trafo; + trafo.transform.translation.x = -1; + trafo.transform.translation.y = 2; + trafo.transform.translation.z = -3; + trafo.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0,0,1), -M_PI / 2.0)); + + tf2::doTransform(v1, res, trafo); + + EXPECT_NEAR(res.x, 1, EPS); + EXPECT_NEAR(res.y, -2, EPS); + EXPECT_NEAR(res.z, 3, EPS); +} + +TEST(TfGeometry, doTransformWrench) +{ + geometry_msgs::Wrench v1, res; + v1.force.x = 2; + v1.force.y = 1; + v1.force.z = 3; + v1.torque.x = 2; + v1.torque.y = 1; + v1.torque.z = 3; + + geometry_msgs::TransformStamped trafo; + trafo.transform.translation.x = -1; + trafo.transform.translation.y = 2; + trafo.transform.translation.z = -3; + trafo.transform.rotation = tf2::toMsg(tf2::Quaternion(tf2::Vector3(0,0,1), -M_PI / 2.0)); + + tf2::doTransform(v1, res, trafo); + EXPECT_NEAR(res.force.x, 1, EPS); + EXPECT_NEAR(res.force.y, -2, EPS); + EXPECT_NEAR(res.force.z, 3, EPS); + + EXPECT_NEAR(res.torque.x, 1, EPS); + EXPECT_NEAR(res.torque.y, -2, EPS); + EXPECT_NEAR(res.torque.z, 3, EPS); +} + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "test"); + ros::NodeHandle n; + + tf_buffer = new tf2_ros::Buffer(); + tf_buffer->setUsingDedicatedThread(true); + + // populate buffer + t.transform.translation.x = 10; + t.transform.translation.y = 20; + t.transform.translation.z = 30; + t.transform.rotation.x = 1; + t.header.stamp = ros::Time(2.0); + t.header.frame_id = "A"; + t.child_frame_id = "B"; + tf_buffer->setTransform(t, "test"); + + int ret = RUN_ALL_TESTS(); + delete tf_buffer; + return ret; +} + + + + + diff --git a/navigations/geometry2/tf2_geometry_msgs/test/test_tomsg_frommsg.cpp b/navigations/geometry2/tf2_geometry_msgs/test/test_tomsg_frommsg.cpp new file mode 100755 index 0000000..3139f23 --- /dev/null +++ b/navigations/geometry2/tf2_geometry_msgs/test/test_tomsg_frommsg.cpp @@ -0,0 +1,405 @@ +/* + * 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, Inc. 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 Wim Meeussen */ + + +#include +#include + +static const double EPS = 1e-6; + +tf2::Vector3 get_tf2_vector() +{ + return tf2::Vector3(1.0, 2.0, 3.0); +} + +geometry_msgs::Vector3& value_initialize(geometry_msgs::Vector3 &m1) +{ + m1.x = 1; + m1.y = 2; + m1.z = 3; + return m1; +} + +std_msgs::Header& value_initialize(std_msgs::Header & h) +{ + h.stamp = ros::Time(10); + h.frame_id = "foobar"; + return h; +} + +geometry_msgs::Vector3Stamped& value_initialize(geometry_msgs::Vector3Stamped &m1) +{ + value_initialize(m1.header); + value_initialize(m1.vector); + return m1; +} + +geometry_msgs::Point& value_initialize(geometry_msgs::Point &m1) +{ + m1.x = 1; + m1.y = 2; + m1.z = 3; + return m1; +} + +geometry_msgs::PointStamped& value_initialize(geometry_msgs::PointStamped &m1) +{ + value_initialize(m1.header); + value_initialize(m1.point); + return m1; +} + +geometry_msgs::Quaternion & value_initialize(geometry_msgs::Quaternion &m1) +{ + m1.x = 0; + m1.y = 0; + m1.z = 0.7071067811; + m1.w = 0.7071067811; + return m1; +} + +geometry_msgs::QuaternionStamped& value_initialize(geometry_msgs::QuaternionStamped &m1) +{ + value_initialize(m1.header); + value_initialize(m1.quaternion); + return m1; +} + +geometry_msgs::Pose & value_initialize(geometry_msgs::Pose & m1) +{ + value_initialize(m1.position); + value_initialize(m1.orientation); + return m1; +} + +geometry_msgs::PoseStamped& value_initialize(geometry_msgs::PoseStamped &m1) +{ + value_initialize(m1.header); + value_initialize(m1.pose); + return m1; +} + +geometry_msgs::Transform & value_initialize(geometry_msgs::Transform & m1) +{ + value_initialize(m1.translation); + value_initialize(m1.rotation); + return m1; +} + +geometry_msgs::TransformStamped& value_initialize(geometry_msgs::TransformStamped &m1) +{ + value_initialize(m1.header); + value_initialize(m1.transform); + return m1; +} + +void expect_near(const std_msgs::Header & h1, const std_msgs::Header & h2) +{ + EXPECT_NEAR(h1.stamp.toSec(), h2.stamp.toSec(), EPS); + EXPECT_STREQ(h1.frame_id.c_str(), h2.frame_id.c_str()); +} + +/* + * Vector3 + */ +void expect_near(const geometry_msgs::Vector3 & v1, const tf2::Vector3 & v2) +{ + EXPECT_NEAR(v1.x, v2.x(), EPS); + EXPECT_NEAR(v1.y, v2.y(), EPS); + EXPECT_NEAR(v1.z, v2.z(), EPS); +} + +void expect_near(const geometry_msgs::Vector3 & v1, const geometry_msgs::Vector3 & v2) +{ + EXPECT_NEAR(v1.x, v2.x, EPS); + EXPECT_NEAR(v1.y, v2.y, EPS); + EXPECT_NEAR(v1.z, v2.z, EPS); +} + +void expect_near(const tf2::Vector3 & v1, const tf2::Vector3 & v2) +{ + EXPECT_NEAR(v1.x(), v2.x(), EPS); + EXPECT_NEAR(v1.y(), v2.y(), EPS); + EXPECT_NEAR(v1.z(), v2.z(), EPS); +} + +void expect_near(const geometry_msgs::Vector3Stamped & p1, const geometry_msgs::Vector3Stamped & p2) +{ + expect_near(p1.header, p2.header); + expect_near(p1.vector, p2.vector); +} + +/* + * Point + */ +void expect_near(const geometry_msgs::Point & p1, const tf2::Vector3 & v2) +{ + EXPECT_NEAR(p1.x, v2.x(), EPS); + EXPECT_NEAR(p1.y, v2.y(), EPS); + EXPECT_NEAR(p1.z, v2.z(), EPS); +} + +void expect_near(const geometry_msgs::Point & p1, const geometry_msgs::Point & v2) +{ + EXPECT_NEAR(p1.x, v2.x, EPS); + EXPECT_NEAR(p1.y, v2.y, EPS); + EXPECT_NEAR(p1.z, v2.z, EPS); +} + +void expect_near(const geometry_msgs::PointStamped & p1, const geometry_msgs::PointStamped & p2) +{ + expect_near(p1.header, p2.header); + expect_near(p1.point, p2.point); +} + + +/* + * Quaternion + */ +void expect_near(const geometry_msgs::Quaternion & q1, const tf2::Quaternion & v2) +{ + EXPECT_NEAR(q1.x, v2.x(), EPS); + EXPECT_NEAR(q1.y, v2.y(), EPS); + EXPECT_NEAR(q1.z, v2.z(), EPS); +} + +void expect_near(const geometry_msgs::Quaternion & q1, const geometry_msgs::Quaternion & v2) +{ + EXPECT_NEAR(q1.x, v2.x, EPS); + EXPECT_NEAR(q1.y, v2.y, EPS); + EXPECT_NEAR(q1.z, v2.z, EPS); +} + +void expect_near(const geometry_msgs::QuaternionStamped & p1, const geometry_msgs::QuaternionStamped & p2) +{ + expect_near(p1.header, p2.header); + expect_near(p1.quaternion, p2.quaternion); +} + +/* + * Pose + */ +void expect_near(const geometry_msgs::Pose & p, const tf2::Transform & t) +{ + expect_near(p.position, t.getOrigin()); + expect_near(p.orientation, t.getRotation()); +} + +void expect_near(const geometry_msgs::Pose & p1, const geometry_msgs::Pose & p2) +{ + expect_near(p1.position, p2.position); + expect_near(p1.orientation, p2.orientation); +} + +void expect_near(const geometry_msgs::PoseStamped & p1, const geometry_msgs::PoseStamped & p2) +{ + expect_near(p1.header, p2.header); + expect_near(p1.pose, p2.pose); +} + +/* + * Transform + */ +void expect_near(const geometry_msgs::Transform & p, const tf2::Transform & t) +{ + expect_near(p.translation, t.getOrigin()); + expect_near(p.rotation, t.getRotation()); +} + +void expect_near(const geometry_msgs::Transform & p1, const geometry_msgs::Transform & p2) +{ + expect_near(p1.translation, p2.translation); + expect_near(p1.rotation, p2.rotation); +} + +void expect_near(const geometry_msgs::TransformStamped & p1, const geometry_msgs::TransformStamped & p2) +{ + expect_near(p1.header, p2.header); + expect_near(p1.transform, p2.transform); +} + +/* + * Stamped templated expect_near + */ + +template +void expect_near(const tf2::Stamped& s1, const tf2::Stamped& s2) +{ + expect_near((T)s1, (T)s2); +} + +/********************* + * Tests + *********************/ + +TEST(tf2_geometry_msgs, Vector3) +{ + geometry_msgs::Vector3 m1; + value_initialize(m1); + tf2::Vector3 v1; + fromMsg(m1, v1); + SCOPED_TRACE("m1 v1"); + expect_near(m1, v1); + geometry_msgs::Vector3 m2 = toMsg(v1); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + +TEST(tf2_geometry_msgs, Point) +{ + geometry_msgs::Point m1; + value_initialize(m1); + tf2::Vector3 v1; + SCOPED_TRACE("m1 v1"); + fromMsg(m1, v1); + expect_near(m1, v1); + geometry_msgs::Point m2 = toMsg(v1, m2); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + +TEST(tf2_geometry_msgs, Quaternion) +{ + geometry_msgs::Quaternion m1; + value_initialize(m1); + tf2::Quaternion q1; + SCOPED_TRACE("m1 q1"); + fromMsg(m1, q1); + expect_near(m1, q1); + geometry_msgs::Quaternion m2 = toMsg(q1); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + +TEST(tf2_geometry_msgs, Pose) +{ + geometry_msgs::Pose m1; + value_initialize(m1); + tf2::Transform t1; + fromMsg(m1, t1); + SCOPED_TRACE("m1 t1"); + expect_near(m1, t1); + geometry_msgs::Pose m2 = toMsg(t1, m2); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + +TEST(tf2_geometry_msgs, Transform) +{ + geometry_msgs::Transform m1; + value_initialize(m1); + tf2::Transform t1; + fromMsg(m1, t1); + SCOPED_TRACE("m1 t1"); + expect_near(m1, t1); + geometry_msgs::Transform m2 = toMsg(t1); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + +TEST(tf2_geometry_msgs, Vector3Stamped) +{ + geometry_msgs::Vector3Stamped m1; + value_initialize(m1); + tf2::Stamped v1; + fromMsg(m1, v1); + SCOPED_TRACE("m1 v1"); + // expect_near(m1, v1); + geometry_msgs::Vector3Stamped m2; + m2 = toMsg(v1); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + +TEST(tf2_geometry_msgs, PointStamped) +{ + geometry_msgs::PointStamped m1; + value_initialize(m1); + tf2::Stamped v1; + fromMsg(m1, v1); + SCOPED_TRACE("m1 v1"); + // expect_near(m1, v1); //TODO implement cross verification explicityly + geometry_msgs::PointStamped m2; + m2 = toMsg(v1, m2); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + +TEST(tf2_geometry_msgs, QuaternionStamped) +{ + geometry_msgs::QuaternionStamped m1; + value_initialize(m1); + tf2::Stamped v1; + fromMsg(m1, v1); + SCOPED_TRACE("m1 v1"); + // expect_near(m1, v1); //TODO implement cross verification explicityly + geometry_msgs::QuaternionStamped m2; + m2 = tf2::toMsg(v1); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + +TEST(tf2_geometry_msgs, PoseStamped) +{ + geometry_msgs::PoseStamped m1; + value_initialize(m1); + tf2::Stamped v1; + SCOPED_TRACE("m1 v1"); + fromMsg(m1, v1); + // expect_near(m1, v1); //TODO implement cross verification explicityly + geometry_msgs::PoseStamped m2; + m2 = tf2::toMsg(v1, m2); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + +TEST(tf2_geometry_msgs, TransformStamped) +{ + geometry_msgs::TransformStamped m1; + value_initialize(m1); + tf2::Stamped v1; + fromMsg(m1, v1); + SCOPED_TRACE("m1 v1"); + // expect_near(m1, v1); + geometry_msgs::TransformStamped m2; + m2 = tf2::toMsg(v1); + SCOPED_TRACE("m1 m2"); + expect_near(m1, m2); +} + + + + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + int ret = RUN_ALL_TESTS(); + return ret; +} diff --git a/navigations/geometry2/tf2_ros/CHANGELOG.rst b/navigations/geometry2/tf2_ros/CHANGELOG.rst new file mode 100755 index 0000000..b8c476f --- /dev/null +++ b/navigations/geometry2/tf2_ros/CHANGELOG.rst @@ -0,0 +1,371 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tf2_ros +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.7.6 (2022-10-11) +------------------ +* tf2_ros polling interval proportional to timeout (`#492 `_) + * polling interval proportional to timeout + * CAN_TRANSFORM_POLLING_SCALE as global + * add DEFAULT_CAN_TRANSFORM_POLLING_SCALE +* Removed print statements from buffer interface (`#530 `_) +* Switch to new boost/bind/bind.hpp (`#528 `_) +* Updating the documentation to reflect current constructor for a MessageFilter (`#527 `_) +* (tf2_ros) Docs working on python 3 (`#521 `_) +* Mitigate flakey test in tf2_ros (`#490 `_) +* Contributors: Atsushi Watanabe, Janno Lunenburg, Jochen Sprickerhof, Matthijs van der Burgh, Shih-Wei Guo, Tassos Natsakis + +0.7.5 (2020-09-01) +------------------ + +0.7.4 (2020-09-01) +------------------ + +0.7.3 (2020-08-25) +------------------ +* Use correct frame service name in docstrings. (`#476 `_) + Replaces the deprecated names + {tf_frames, view_frames} -> tf2_frames +* Cherry-picking various commits from Melodic (`#471 `_) + * Revert "rework Eigen functions namespace hack" (`#436 `_) + * Fixed warnings in message_filter.h (`#434 `_) + the variables are not used in function body and caused -Wunused-parameter to trigger with -Wall + * Fix ambiguous call for tf2::convert on MSVC (`#444 `_) + * rework ambiguous call on MSVC. +* Contributors: Michael Grupp, Robert Haschke + +0.7.2 (2020-06-08) +------------------ + +0.7.1 (2020-05-13) +------------------ +* StatisTransformBroadcaster: simplify/modernize code +* [noetic] cherry-pick Windows fixes from melodic-devel (`#450 `_) + * [Windows][melodic-devel] Fix install locations (`#442 `_) + * fixed install locations of tf2 + * [windows][melodic] more portable fixes. (`#443 `_) + * more portable fixes. +* import setup from setuptools instead of distutils-core (`#449 `_) +* Contributors: Alejandro Hernández Cordero, Robert Haschke, Sean Yen + +0.7.0 (2020-03-09) +------------------ +* Bump CMake version to avoid CMP0048 warning (`#445 `_) +* Add arguments to TransformListener constructors that accept TransportHints for the tf topic subscriber (`#438 `_) +* Merge pull request `#404 `_ from otamachan/remove-load-manifest + Remove roslib.load_manifest +* Merge pull request `#402 `_ from rhaschke/fix-message-filter + Fix message filter +* resolve virtual function call in destructor +* remove pending callbacks in clear() +* Merge pull request `#372 `_ from lucasw/patch-1 + spelling fix: seperate -> separate +* Merge pull request `#369 `_ from magazino/fix-dangling-reference +* Fix dangling iterator references in buffer_server.cpp +* Remove some useless code from buffer_server_main.cpp (`#368 `_) +* Mark check_frequency as deprecated in docstring. +* Follow `#337 `_: use actionlib API in BufferClient::processGoal() +* Test for equality to None with 'is' instead of '==' (`#355 `_) +* added parameter to advertise tf2-frames as a service, if needed +* Contributors: Daniel Ingram, Emre Sahin, JonasTietz, Lucas Walter, Michael Grupp, Robert Haschke, Shane Loretz, Tamaki Nishino, Tully Foote, toliver + +0.6.5 (2018-11-16) +------------------ +* Protect the time reset logic from a race condition. + Fixes `#341 `_ + This could incorrectly trigger a buffer clear if two concurrent callbacks were invoked. +* Contributors: Tully Foote + +0.6.4 (2018-11-06) +------------------ +* fix(buffer-client): Use actionlib api for obtaining result + Use the API provided by actionlib for waiting for result. This will improve the response time and prevent problems with custom solutions (see `#178 `_). This change makes constructor parameter check_frequency obsolute and deprecates it. +* Add check to buffer_client.py to make sure result is available + Related issue: `#178 `_ +* Add check to reset buffer when rostime goes backwards +* Fixed the value of expected_success_count\_ +* Added a tf2_ros message filter unittest with multiple target frames and non-zero time tolerance +* Contributors: Ewoud Pool, Jørgen Borgesen, Stephen Williams + +0.6.3 (2018-07-09) +------------------ + +0.6.2 (2018-05-02) +------------------ +* update buffer_server_name (`#296 `_) + * use nodename as namespace + * Update `#209 `_ to provide backwards compatibility. +* Contributors: Jihoon Lee, Tully Foote + +0.6.1 (2018-03-21) +------------------ + +0.6.0 (2018-03-21) +------------------ +* tf2_ros::Buffer: canTransform can now deal with timeouts smaller than 10ms by using the hunderdth of the timeout for sleeping (`#286 `_) +* More spinning to make sure the message gets through for `#129 `_ `#283 `_ +* Contributors: Tully Foote, cwecht + +0.5.17 (2018-01-01) +------------------- +* Merge pull request `#260 `_ from randoms/indigo-devel + fix python3 import error +* Merge pull request `#257 `_ from delftrobotics-forks/python3 + Make tf2_py python3 compatible again +* Use python3 print function. +* Contributors: Maarten de Vries, Tully Foote, randoms + +0.5.16 (2017-07-14) +------------------- +* Merge pull request `#144 `_ from clearpathrobotics/dead_lock_fix + Solve a bug that causes a deadlock in MessageFilter +* Clear error string if it exists from the external entry points. + Fixes `#117 `_ +* Make buff_size and tcp_nodelay and subscriber queue size mutable. +* Remove generate_rand_vectors() from a number of tests. (`#227 `_) + * Remove generate_rand_vectors() from a number of tests. +* Log jump duration on backwards time jump detection. (`#234 `_) +* replaced dependencies on tf2_msgs_gencpp by exported dependencies +* Use new-style objects in python 2 +* Solve a bug that causes a deadlock in MessageFilter +* Contributors: Adel Fakih, Chris Lalancette, Christopher Wecht, Eric Wieser, Koji Terada, Stephan, Tully Foote, koji_terada + +0.5.15 (2017-01-24) +------------------- +* tf2_ros: add option to unregister TransformListener (`#201 `_) +* Contributors: Hans-Joachim Krauch + +0.5.14 (2017-01-16) +------------------- +* Drop roslib.load_manifest (`#191 `_) +* Adds ability to load TF from the ROS parameter server. +* Code linting & reorganization +* Fix indexing beyond end of array +* added a static transform broadcaster in python +* lots more documentation +* remove BufferCore doc, add BufferClient/BufferServer doc for C++, add Buffer/BufferInterface Python documentation +* Better overview for Python +* Contributors: Eric Wieser, Felix Duvallet, Jackie Kay, Mikael Arguedas, Mike Purvis + +0.5.13 (2016-03-04) +------------------- +* fix documentation warnings +* Adding tests to package +* Contributors: Laurent GEORGE, Vincent Rabaud + +0.5.12 (2015-08-05) +------------------- +* remove annoying gcc warning + This is because the roslog macro cannot have two arguments that are + formatting strings: we need to concatenate them first. +* break canTransform loop only for non-tiny negative time deltas + (At least) with Python 2 ros.Time.now() is not necessarily monotonic + and one can experience negative time deltas (usually well below 1s) + on real hardware under full load. This check was originally introduced + to allow for backjumps with rosbag replays, and only there it makes sense. + So we'll add a small duration threshold to ignore backjumps due to + non-monotonic clocks. +* Contributors: Vincent Rabaud, v4hn + +0.5.11 (2015-04-22) +------------------- +* do not short circuit waitForTransform timeout when running inside pytf. Fixes `#102 `_ + roscpp is not initialized inside pytf which means that ros::ok is not + valid. This was causing the timer to abort immediately. + This breaks support for pytf with respect to early breaking out of a loop re `#26 `_. + This is conceptually broken in pytf, and is fixed in tf2_ros python implementation. + If you want this behavior I recommend switching to the tf2 python bindings. +* inject timeout information into error string for canTransform with timeout +* Contributors: Tully Foote + +0.5.10 (2015-04-21) +------------------- +* switch to use a shared lock with upgrade instead of only a unique lock. For `#91 `_ +* Update message_filter.h +* filters: fix unsupported old messages with frame_id starting with '/' +* Enabled tf2 documentation +* make sure the messages get processed before testing the effects. Fixes `#88 `_ +* allowing to use message filters with PCL types +* Contributors: Brice Rebsamen, Jackie Kay, Tully Foote, Vincent Rabaud, jmtatsch + +0.5.9 (2015-03-25) +------------------ +* changed queue_size in Python transform boradcaster to match that in c++ +* Contributors: mrath + +0.5.8 (2015-03-17) +------------------ +* fix deadlock `#79 `_ +* break out of loop if ros is shutdown. Fixes `#26 `_ +* remove useless Makefile files +* Fix static broadcaster with rpy args +* Contributors: Paul Bovbel, Tully Foote, Vincent Rabaud + +0.5.7 (2014-12-23) +------------------ +* Added 6 param transform again + Yes, using Euler angles is a bad habit. But it is much more convenient if you just need a rotation by 90° somewhere to set it up in Euler angles. So I added the option to supply only the 3 angles. +* Remove tf2_py dependency for Android +* Contributors: Achim Königs, Gary Servin + +0.5.6 (2014-09-18) +------------------ +* support if canTransform(...): in python `#57 `_ +* Support clearing the cache when time jumps backwards `#68 `_ +* Contributors: Tully Foote + +0.5.5 (2014-06-23) +------------------ + +0.5.4 (2014-05-07) +------------------ +* surpressing autostart on the server objects to not incur warnings +* switch to boost signals2 following `ros/ros_comm#267 `_, blocking `ros/geometry#23 `_ +* fix compilation with gcc 4.9 +* make can_transform correctly wait +* explicitly set the publish queue size for rospy +* Contributors: Tully Foote, Vincent Rabaud, v4hn + +0.5.3 (2014-02-21) +------------------ + +0.5.2 (2014-02-20) +------------------ + +0.5.1 (2014-02-14) +------------------ +* adding const to MessageEvent data +* Contributors: Tully Foote + +0.5.0 (2014-02-14) +------------------ +* TF2 uses message events to get connection header information +* Contributors: Kevin Watts + +0.4.10 (2013-12-26) +------------------- +* adding support for static transforms in python listener. Fixes `#46 `_ +* Contributors: Tully Foote + +0.4.9 (2013-11-06) +------------------ + +0.4.8 (2013-11-06) +------------------ +* fixing pytf failing to sleep https://github.com/ros/geometry/issues/30 +* moving python documentation to tf2_ros from tf2 to follow the code +* Fixed static_transform_publisher duplicate check, added rostest. + +0.4.7 (2013-08-28) +------------------ +* fixing new conditional to cover the case that time has not progressed yet port forward of `ros/geometry#35 `_ in the python implementation +* fixing new conditional to cover the case that time has not progressed yet port forward of `ros/geometry#35 `_ + +0.4.6 (2013-08-28) +------------------ +* patching python implementation for `#24 `_ as well +* Stop waiting if time jumps backwards. fixes `#24 `_ +* patch to work around uninitiaized time. `#30 https://github.com/ros/geometry/issues/30`_ +* Removing unnecessary CATKIN_DEPENDS `#18 `_ + +0.4.5 (2013-07-11) +------------------ +* Revert "cherrypicking groovy patch for `#10 `_ into hydro" + This reverts commit 296d4916706d64f719b8c1592ab60d3686f994e1. + It was not starting up correctly. +* fixing usage string to show quaternions and using quaternions in the test app +* cherrypicking groovy patch for `#10 `_ into hydro + +0.4.4 (2013-07-09) +------------------ +* making repo use CATKIN_ENABLE_TESTING correctly and switching rostest to be a test_depend with that change. +* reviving unrun unittest and adding CATKIN_ENABLE_TESTING guards + +0.4.3 (2013-07-05) +------------------ + +0.4.2 (2013-07-05) +------------------ + +0.4.1 (2013-07-05) +------------------ +* adding queue accessors lost in the new API +* exposing dedicated thread logic in BufferCore and checking in Buffer +* adding methods to enable backwards compatability for passing through to tf::Transformer + +0.4.0 (2013-06-27) +------------------ +* splitting rospy dependency into tf2_py so tf2 is pure c++ library. +* moving convert methods back into tf2 because it does not have any ros dependencies beyond ros::Time which is already a dependency of tf2 +* Cleaning up unnecessary dependency on roscpp +* converting contents of tf2_ros to be properly namespaced in the tf2_ros namespace +* fixing return by value for tranform method without preallocatoin +* Cleaning up packaging of tf2 including: + removing unused nodehandle + cleaning up a few dependencies and linking + removing old backup of package.xml + making diff minimally different from tf version of library +* Restoring test packages and bullet packages. + reverting 3570e8c42f9b394ecbfd9db076b920b41300ad55 to get back more of the packages previously implemented + reverting 04cf29d1b58c660fdc999ab83563a5d4b76ab331 to fix `#7 `_ +* Added link against catkin_LIBRARIES for tf2_ros lib, also CMakeLists.txt clean up + +0.3.6 (2013-03-03) +------------------ + +0.3.5 (2013-02-15 14:46) +------------------------ +* 0.3.4 -> 0.3.5 + +0.3.4 (2013-02-15 13:14) +------------------------ +* 0.3.3 -> 0.3.4 + +0.3.3 (2013-02-15 11:30) +------------------------ +* 0.3.2 -> 0.3.3 + +0.3.2 (2013-02-15 00:42) +------------------------ +* 0.3.1 -> 0.3.2 + +0.3.1 (2013-02-14) +------------------ +* 0.3.0 -> 0.3.1 + +0.3.0 (2013-02-13) +------------------ +* switching to version 0.3.0 +* Merge pull request `#2 `_ from KaijenHsiao/groovy-devel + added setup.py and catkin_python_setup() to tf2_ros +* added setup.py and catkin_python_setup() to tf2_ros +* fixing cmake target collisions +* fixing catkin message dependencies +* removing packages with missing deps +* catkin fixes +* catkinizing geometry-experimental +* catkinizing tf2_ros +* catching None result in buffer client before it becomes an AttributeError, raising tf2.TransformException instead +* oneiric linker fixes, bump version to 0.2.3 +* fix deprecated use of Header +* merged faust's changes 864 and 865 into non_optimized branch: BufferCore instead of Buffer in TransformListener, and added a constructor that takes a NodeHandle. +* add buffer server binary +* fix compilation on 32bit +* add missing file +* build buffer server +* TransformListener only needs a BufferCore +* Add TransformListener constructor that takes a NodeHandle so you can specify a callback queue to use +* Add option to use a callback queue in the message filter +* move the message filter to tf2_ros +* add missing std_msgs dependency +* missed 2 lines in last commit +* removing auto clearing from listener for it's unexpected from a library +* static transform tested and working +* subscriptions to tf_static unshelved +* static transform publisher executable running +* latching static transform publisher +* cleaning out old commented code +* Only query rospy.Time.now() when the timeout is greater than 0 +* debug comments removed +* move to tf2_ros completed. tests pass again +* merge tf2_cpp and tf2_py into tf2_ros diff --git a/navigations/geometry2/tf2_ros/CMakeLists.txt b/navigations/geometry2/tf2_ros/CMakeLists.txt new file mode 100755 index 0000000..cb01537 --- /dev/null +++ b/navigations/geometry2/tf2_ros/CMakeLists.txt @@ -0,0 +1,153 @@ +cmake_minimum_required(VERSION 3.0.2) +project(tf2_ros) + +if(NOT ANDROID) +set(TF2_PY tf2_py) +endif() + +find_package(catkin REQUIRED COMPONENTS + actionlib + actionlib_msgs + geometry_msgs + message_filters + roscpp + rosgraph + rospy + tf2 + tf2_msgs + ${TF2_PY} +) +find_package(Boost REQUIRED COMPONENTS thread) + +catkin_python_setup() + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS + actionlib + actionlib_msgs + geometry_msgs + message_filters + roscpp + rosgraph + tf2 + tf2_msgs + ${TF2_PY} +) + +include_directories(include ${catkin_INCLUDE_DIRS}) + +# tf2_ros library +add_library(${PROJECT_NAME} + src/buffer.cpp + src/transform_listener.cpp + src/buffer_client.cpp + src/buffer_server.cpp + src/transform_broadcaster.cpp + src/static_transform_broadcaster.cpp +) +add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + +# buffer_server executable +add_executable(${PROJECT_NAME}_buffer_server src/buffer_server_main.cpp) +add_dependencies(${PROJECT_NAME}_buffer_server ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME}_buffer_server + ${PROJECT_NAME} + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} +) +set_target_properties(${PROJECT_NAME}_buffer_server + PROPERTIES OUTPUT_NAME buffer_server +) + +# static_transform_publisher +add_executable(${PROJECT_NAME}_static_transform_publisher + src/static_transform_broadcaster_program.cpp +) +add_dependencies(${PROJECT_NAME}_static_transform_publisher ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME}_static_transform_publisher + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) +set_target_properties(${PROJECT_NAME}_static_transform_publisher + PROPERTIES OUTPUT_NAME static_transform_publisher +) + +# Install library +install(TARGETS + ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) + +# Install executable +install(TARGETS + ${PROJECT_NAME}_buffer_server ${PROJECT_NAME}_static_transform_publisher + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + + +# Tests +if(CATKIN_ENABLE_TESTING) + +# new requirements for testing +find_package(catkin REQUIRED COMPONENTS + actionlib + actionlib_msgs + geometry_msgs + message_filters + roscpp + rosgraph + rospy + rostest + tf2 + tf2_msgs + ${TF2_PY} +) + + + +# tf2_ros_test_listener +add_executable(${PROJECT_NAME}_test_listener EXCLUDE_FROM_ALL test/listener_unittest.cpp) +add_dependencies(${PROJECT_NAME}_test_listener ${catkin_EXPORTED_TARGETS}) +add_executable(${PROJECT_NAME}_test_time_reset EXCLUDE_FROM_ALL test/time_reset_test.cpp) +add_dependencies(${PROJECT_NAME}_test_time_reset ${catkin_EXPORTED_TARGETS}) +add_executable(${PROJECT_NAME}_test_message_filter EXCLUDE_FROM_ALL test/message_filter_test.cpp) +add_dependencies(${PROJECT_NAME}_test_message_filter ${catkin_EXPORTED_TARGETS}) + +target_link_libraries(${PROJECT_NAME}_test_listener + ${PROJECT_NAME} + ${catkin_LIBRARIES} + ${GTEST_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_test_time_reset + ${PROJECT_NAME} + ${catkin_LIBRARIES} + ${GTEST_LIBRARIES} +) + +target_link_libraries(${PROJECT_NAME}_test_message_filter + ${PROJECT_NAME} + ${catkin_LIBRARIES} + ${GTEST_LIBRARIES} +) + +add_dependencies(tests ${PROJECT_NAME}_test_listener) +add_dependencies(tests ${PROJECT_NAME}_test_time_reset) +add_dependencies(tests ${PROJECT_NAME}_test_message_filter) + +add_rostest(test/transform_listener_unittest.launch) +add_rostest(test/transform_listener_time_reset_test.launch) +add_rostest(test/message_filter_test.launch) + +endif() diff --git a/navigations/geometry2/tf2_ros/doc/conf.py b/navigations/geometry2/tf2_ros/doc/conf.py new file mode 100755 index 0000000..b983654 --- /dev/null +++ b/navigations/geometry2/tf2_ros/doc/conf.py @@ -0,0 +1,204 @@ +# -*- coding: utf-8 -*- +# +# tf documentation build configuration file, created by +# sphinx-quickstart on Mon Jun 1 14:21:53 2009. +# +# This file is execfile()d with the current directory set to its containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +import sys, os + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +#sys.path.append(os.path.abspath('.')) + +# -- General configuration ----------------------------------------------------- + +# Add any Sphinx extension module names here, as strings. They can be extensions +# coming with Sphinx (named 'sphinx.ext.*') or your custom ones. +extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.imgmath'] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix of source filenames. +source_suffix = '.rst' + +# The encoding of source files. +#source_encoding = 'utf-8' + +# The master toctree document. +master_doc = 'index' + +# General information about the project. +project = u'tf' +copyright = u'2009, Willow Garage, Inc.' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = '0.1' +# The full version, including alpha/beta/rc tags. +release = '0.1.0' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +#language = None + +# There are two options for replacing |today|: either, you set today to some +# non-false value, then it is used: +#today = '' +# Else, today_fmt is used as the format for a strftime call. +#today_fmt = '%B %d, %Y' + +# List of documents that shouldn't be included in the build. +#unused_docs = [] + +# List of directories, relative to source directory, that shouldn't be searched +# for source files. +exclude_trees = ['_build'] + +# The reST default role (used for this markup: `text`) to use for all documents. +#default_role = None + +# If true, '()' will be appended to :func: etc. cross-reference text. +#add_function_parentheses = True + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +#add_module_names = True + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +#show_authors = False + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# A list of ignored prefixes for module index sorting. +#modindex_common_prefix = [] + + +# -- Options for HTML output --------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. Major themes that come with +# Sphinx are currently 'default' and 'sphinxdoc'. +html_theme = 'default' + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +#html_theme_options = {} + +# Add any paths that contain custom themes here, relative to this directory. +#html_theme_path = [] + +# The name for this set of Sphinx documents. If None, it defaults to +# " v documentation". +#html_title = None + +# A shorter title for the navigation bar. Default is the same as html_title. +#html_short_title = None + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +#html_logo = None + +# The name of an image file (within the static path) to use as favicon of the +# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +#html_static_path = ['_static'] + +# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, +# using the given strftime format. +#html_last_updated_fmt = '%b %d, %Y' + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +#html_sidebars = {} + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +#html_use_modindex = True + +# If false, no index is generated. +#html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = '' + +# Output file base name for HTML help builder. +htmlhelp_basename = 'tfdoc' + + +# -- Options for LaTeX output -------------------------------------------------- + +# The paper size ('letter' or 'a4'). +#latex_paper_size = 'letter' + +# The font size ('10pt', '11pt' or '12pt'). +#latex_font_size = '10pt' + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, author, documentclass [howto/manual]). +latex_documents = [ + ('index', 'tf.tex', u'stereo\\_utils Documentation', + u'Tully Foote and Eitan Marder-Eppstein', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +#latex_logo = None + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# Additional stuff for the LaTeX preamble. +#latex_preamble = '' + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +#latex_use_modindex = True + + +# Example configuration for intersphinx: refer to the Python standard library. +intersphinx_mapping = { + 'http://docs.python.org/': None, + 'http://docs.opencv.org/3.0-last-rst/': None, + 'http://docs.scipy.org/doc/numpy' : None + } + +autoclass_content = "both" diff --git a/navigations/geometry2/tf2_ros/doc/index.rst b/navigations/geometry2/tf2_ros/doc/index.rst new file mode 100755 index 0000000..083feb1 --- /dev/null +++ b/navigations/geometry2/tf2_ros/doc/index.rst @@ -0,0 +1,48 @@ +tf2_ros Overview +================ + +This is the Python API reference for the tf2_ros package. + +To broadcast transforms using ROS: +- Call :meth:`rospy.init` to initialize a node. +- Construct a :class:`tf2_ros.TransformBroadcaster`. +- Pass a :class:`geometry_msgs.TransformStamped` message to :meth:`tf2_ros.TransformBroadcaster.sendTransform`. + + - Alternatively, pass a vector of :class:`geometry_msgs.TransformStamped` messages. + +To listen for transforms using ROS: +- Construct an instance of a class that implements :class:`tf2_ros.BufferInterface`. + + - :class:`tf2_ros.Buffer` is the standard implementation which offers a tf2_frames service that can respond to requests with a :class:`tf2_msgs.FrameGraph`. + - :class:`tf2_ros.BufferClient` uses an :class:`actionlib.SimpleActionClient` to wait for the requested transform to become available. + +- Pass the :class:`tf2_ros.Buffer` to the constructor of :class:`tf2_ros.TransformListener`. + - Optionally, pass a :class:`ros.NodeHandle` (otherwise TransformListener will connect to the node for the process). + - Optionally, specify if the TransformListener runs in its own thread or not. + +- Use :meth:`tf2_ros.BufferInterface.transform` to apply a transform on the tf server to an input frame. + - Or, check if a transform is available with :meth:`tf2_ros.BufferInterface.can_transform`. + - Then, call :meth:`tf2_ros.BufferInterface.lookup_transform` to get the transform between two frames. + +For more information, see the tf2 tutorials: http://wiki.ros.org/tf2/Tutorials + +Or, get an `overview`_ of data type conversion methods in geometry_experimental packages. + +See http://wiki.ros.org/tf2/Tutorials for more detailed usage. + +.. _overview: http://wiki.ros.org/tf2/Tutorials/Migration/DataConversions + +Classes and Exceptions +====================== + +.. toctree:: + :maxdepth: 2 + + tf2_ros + + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`search` diff --git a/navigations/geometry2/tf2_ros/doc/mainpage.dox b/navigations/geometry2/tf2_ros/doc/mainpage.dox new file mode 100755 index 0000000..420a674 --- /dev/null +++ b/navigations/geometry2/tf2_ros/doc/mainpage.dox @@ -0,0 +1,41 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b tf2_ros is the C++ ROS wrapper around the tf2 transform library. + +\section codeapi Code API + +To broadcast transforms using ROS: +- Call ros::init() to initialize a node. +- Construct a tf2_ros::TransformBroadcaster. +- Pass a geometry_msgs::TransformStamped message to tf2_ros::TransformBroadcaster::sendTransform(). + - Alternatively, pass a vector of geometry_msgs::TransformStamped messages. +- Use tf2_ros::StaticTransformBroadcaster for "latching" behavior when transforms that are not expected to change. + +To listen for transforms using ROS: +- Construct an instance of a class that implements tf2_ros::BufferInterface. + - tf2_ros::Buffer is the standard implementation which offers a tf2_frames service that can respond to requests with a tf2_msgs::FrameGraph. + - tf2_ros::BufferClient uses an actionlib::SimpleActionClient to wait for the requested transform to become available. + - It should be used with a tf2_ros::BufferServer, which offers the corresponding actionlib::ActionSErver. +- Pass the tf2_ros::Buffer to the constructor of tf2_ros::TransformListener. + - Optionally, pass a ros::NodeHandle (otherwise TransformListener will connect to the node for the process). + - Optionally, specify if the TransformListener runs in its own thread or not. +- Use tf2_ros::BufferInterface::transform() to apply a transform on the tf server to an input frame. + - Or, check if a transform is available with tf2_ros::BufferInterface::canTransform(). + - Then, call tf2_ros::BufferInterface::lookupTransform() to get the transform between two frames. +- Construct a tf2_ros::MessageFilter with the TransformListener to apply a transformation to incoming frames. + - This is especially useful when streaming sensor data. + +List of exceptions thrown in this library: +- tf2::LookupException +- tf2::ConnectivityException +- tf2::ExtrapolationException +- tf2::InvalidArgumentException +- tf2::TimeoutException +- tf2::TransformException + +For more information, see the tf2 tutorials: http://wiki.ros.org/tf2/Tutorials + +Or, get an overview of data type conversion methods in geometry_experimental packages. +*/ diff --git a/navigations/geometry2/tf2_ros/doc/tf2_ros.rst b/navigations/geometry2/tf2_ros/doc/tf2_ros.rst new file mode 100755 index 0000000..10845ed --- /dev/null +++ b/navigations/geometry2/tf2_ros/doc/tf2_ros.rst @@ -0,0 +1,73 @@ +tf_ros2 Python API +================== + +Exceptions +---------- + +.. exception:: tf2.TransformException + + base class for tf exceptions. Because :exc:`tf2.TransformException` is the + base class for other exceptions, you can catch all tf exceptions + by writing:: + + try: + # do some tf2 work + except tf2.TransformException: + print "some tf2 exception happened" + + +.. exception:: tf2.ConnectivityException + + subclass of :exc:`TransformException`. + Raised when that the fixed_frame tree is not connected between the frames requested. + +.. exception:: tf2.LookupException + + subclass of :exc:`TransformException`. + Raised when a tf method has attempted to access a frame, but + the frame is not in the graph. + The most common reason for this is that the frame is not + being published, or a parent frame was not set correctly + causing the tree to be broken. + +.. exception:: tf2.ExtrapolationException + + subclass of :exc:`TransformException` + Raised when a tf method would have required extrapolation beyond current limits. + + +.. exception:: tf2.InvalidArgumentException + + subclass of :exc:`TransformException`. + Raised when the arguments to the method are called improperly formed. An example of why this might be raised is if an argument is nan. + +.. autoexception:: tf2_ros.buffer_interface.TypeException + +.. autoexception:: tf2_ros.buffer_interface.NotImplementedException + + +BufferInterface +--------------- +.. autoclass:: tf2_ros.buffer_interface.BufferInterface + :members: + +Buffer +------ +.. autoclass:: tf2_ros.buffer.Buffer + :members: + +BufferClient +------------ +.. autoclass:: tf2_ros.buffer_client.BufferClient + :members: + + +TransformBroadcaster +-------------------- +.. autoclass:: tf2_ros.transform_broadcaster.TransformBroadcaster + :members: + +TransformListener +----------------- +.. autoclass:: tf2_ros.transform_listener.TransformListener + :members: diff --git a/navigations/geometry2/tf2_ros/include/tf2_ros/buffer.h b/navigations/geometry2/tf2_ros/include/tf2_ros/buffer.h new file mode 100755 index 0000000..835dfa2 --- /dev/null +++ b/navigations/geometry2/tf2_ros/include/tf2_ros/buffer.h @@ -0,0 +1,144 @@ +/* + * 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, Inc. 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 Wim Meeussen */ + +#ifndef TF2_ROS_BUFFER_H +#define TF2_ROS_BUFFER_H + +#include +#include +#include +#include +#include + + +namespace tf2_ros +{ + + /** \brief Standard implementation of the tf2_ros::BufferInterface abstract data type. + * + * Inherits tf2_ros::BufferInterface and tf2::BufferCore. + * Stores known frames and optionally offers a ROS service, "tf2_frames", which responds to client requests + * with a response containing a tf2_msgs::FrameGraph representing the relationship of known frames. + */ + class Buffer: public BufferInterface, public tf2::BufferCore + { + public: + using tf2::BufferCore::lookupTransform; + using tf2::BufferCore::canTransform; + + /** + * @brief Constructor for a Buffer object + * @param cache_time How long to keep a history of transforms + * @param debug Whether to advertise the tf2_frames service that exposes debugging information from the buffer + * @return + */ + Buffer(ros::Duration cache_time = ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug = false); + + /** \brief Get the transform between two frames by frame ID. + * \param target_frame The frame to which data should be transformed + * \param source_frame The frame where the data originated + * \param time The time at which the value of the transform is desired. (0 will get the latest) + * \param timeout How long to block before failing + * \return The transform between the frames + * + * Possible exceptions tf2::LookupException, tf2::ConnectivityException, + * tf2::ExtrapolationException, tf2::InvalidArgumentException + */ + virtual geometry_msgs::TransformStamped + lookupTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& time, const ros::Duration timeout) const; + + /** \brief Get the transform between two frames by frame ID assuming fixed frame. + * \param target_frame The frame to which data should be transformed + * \param target_time The time to which the data should be transformed. (0 will get the latest) + * \param source_frame The frame where the data originated + * \param source_time The time at which the source_frame should be evaluated. (0 will get the latest) + * \param fixed_frame The frame in which to assume the transform is constant in time. + * \param timeout How long to block before failing + * \return The transform between the frames + * + * Possible exceptions tf2::LookupException, tf2::ConnectivityException, + * tf2::ExtrapolationException, tf2::InvalidArgumentException + */ + virtual geometry_msgs::TransformStamped + lookupTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout) const; + + + /** \brief Test if a transform is possible + * \param target_frame The frame into which to transform + * \param source_frame The frame from which to transform + * \param target_time The time at which to transform + * \param timeout How long to block before failing + * \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL + * \return True if the transform is possible, false otherwise + */ + virtual bool + canTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& target_time, const ros::Duration timeout, std::string* errstr = NULL) const; + + /** \brief Test if a transform is possible + * \param target_frame The frame into which to transform + * \param target_time The time into which to transform + * \param source_frame The frame from which to transform + * \param source_time The time from which to transform + * \param fixed_frame The frame in which to treat the transform as constant in time + * \param timeout How long to block before failing + * \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL + * \return True if the transform is possible, false otherwise + */ + virtual bool + canTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const; + + + + + private: + bool getFrames(tf2_msgs::FrameGraph::Request& req, tf2_msgs::FrameGraph::Response& res) ; + + + // conditionally error if dedicated_thread unset. + bool checkAndErrorDedicatedThreadPresent(std::string* errstr) const; + + ros::ServiceServer frames_server_; + + + }; // class + +static const std::string threading_error = "Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout. If you have a separate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance."; + + +} // namespace + +#endif // TF2_ROS_BUFFER_H diff --git a/navigations/geometry2/tf2_ros/include/tf2_ros/buffer_client.h b/navigations/geometry2/tf2_ros/include/tf2_ros/buffer_client.h new file mode 100755 index 0000000..a5b0c08 --- /dev/null +++ b/navigations/geometry2/tf2_ros/include/tf2_ros/buffer_client.h @@ -0,0 +1,139 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TF2_ROS_BUFFER_CLIENT_H_ +#define TF2_ROS_BUFFER_CLIENT_H_ + +#include +#include +#include + +namespace tf2_ros +{ + /** \brief Action client-based implementation of the tf2_ros::BufferInterface abstract data type. + * + * BufferClient uses actionlib to coordinate waiting for available transforms. + * + * You can use this class with a tf2_ros::BufferServer and tf2_ros::TransformListener in a separate process. + */ + class BufferClient : public BufferInterface + { + public: + typedef actionlib::SimpleActionClient LookupActionClient; + + /** \brief BufferClient constructor + * \param ns The namespace in which to look for a BufferServer + * \param check_frequency Deprecated, not used anymore + * \param timeout_padding The amount of time to allow passed the desired timeout on the client side for communication lag + */ + BufferClient(std::string ns, double check_frequency = 10.0, ros::Duration timeout_padding = ros::Duration(2.0)); + + /** \brief Get the transform between two frames by frame ID. + * \param target_frame The frame to which data should be transformed + * \param source_frame The frame where the data originated + * \param time The time at which the value of the transform is desired. (0 will get the latest) + * \param timeout How long to block before failing + * \return The transform between the frames + * + * Possible exceptions tf2::LookupException, tf2::ConnectivityException, + * tf2::ExtrapolationException, tf2::InvalidArgumentException + */ + virtual geometry_msgs::TransformStamped + lookupTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0)) const; + + /** \brief Get the transform between two frames by frame ID assuming fixed frame. + * \param target_frame The frame to which data should be transformed + * \param target_time The time to which the data should be transformed. (0 will get the latest) + * \param source_frame The frame where the data originated + * \param source_time The time at which the source_frame should be evaluated. (0 will get the latest) + * \param fixed_frame The frame in which to assume the transform is constant in time. + * \param timeout How long to block before failing + * \return The transform between the frames + * + * Possible exceptions tf2::LookupException, tf2::ConnectivityException, + * tf2::ExtrapolationException, tf2::InvalidArgumentException + */ + virtual geometry_msgs::TransformStamped + lookupTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0)) const; + + /** \brief Test if a transform is possible + * \param target_frame The frame into which to transform + * \param source_frame The frame from which to transform + * \param time The time at which to transform + * \param timeout How long to block before failing + * \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL + * \return True if the transform is possible, false otherwise + */ + virtual bool + canTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const; + + /** \brief Test if a transform is possible + * \param target_frame The frame into which to transform + * \param target_time The time into which to transform + * \param source_frame The frame from which to transform + * \param source_time The time from which to transform + * \param fixed_frame The frame in which to treat the transform as constant in time + * \param timeout How long to block before failing + * \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL + * \return True if the transform is possible, false otherwise + */ + virtual bool + canTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const; + + /** \brief Block until the action server is ready to respond to requests. + * \param timeout Time to wait for the server. + * \return True if the server is ready, false otherwise. + */ + bool waitForServer(const ros::Duration& timeout = ros::Duration(0)) + { + return client_.waitForServer(timeout); + } + + private: + geometry_msgs::TransformStamped processGoal(const tf2_msgs::LookupTransformGoal& goal) const; + geometry_msgs::TransformStamped processResult(const tf2_msgs::LookupTransformResult& result) const; + mutable LookupActionClient client_; + double check_frequency_; + ros::Duration timeout_padding_; + }; +}; +#endif diff --git a/navigations/geometry2/tf2_ros/include/tf2_ros/buffer_interface.h b/navigations/geometry2/tf2_ros/include/tf2_ros/buffer_interface.h new file mode 100755 index 0000000..9215008 --- /dev/null +++ b/navigations/geometry2/tf2_ros/include/tf2_ros/buffer_interface.h @@ -0,0 +1,267 @@ +/* + * 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, Inc. 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 Wim Meeussen */ + +#ifndef TF2_ROS_BUFFER_INTERFACE_H +#define TF2_ROS_BUFFER_INTERFACE_H + +#include +#include +#include +#include +#include +#include + +namespace tf2_ros +{ + +/** \brief Abstract interface for wrapping tf2::BufferCore in a ROS-based API. + * Implementations include tf2_ros::Buffer and tf2_ros::BufferClient. + */ +class BufferInterface +{ +public: + + /** \brief Get the transform between two frames by frame ID. + * \param target_frame The frame to which data should be transformed + * \param source_frame The frame where the data originated + * \param time The time at which the value of the transform is desired. (0 will get the latest) + * \param timeout How long to block before failing + * \return The transform between the frames + * + * Possible exceptions tf2::LookupException, tf2::ConnectivityException, + * tf2::ExtrapolationException, tf2::InvalidArgumentException + */ + virtual geometry_msgs::TransformStamped + lookupTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& time, const ros::Duration timeout) const = 0; + + /** \brief Get the transform between two frames by frame ID assuming fixed frame. + * \param target_frame The frame to which data should be transformed + * \param target_time The time to which the data should be transformed. (0 will get the latest) + * \param source_frame The frame where the data originated + * \param source_time The time at which the source_frame should be evaluated. (0 will get the latest) + * \param fixed_frame The frame in which to assume the transform is constant in time. + * \param timeout How long to block before failing + * \return The transform between the frames + * + * Possible exceptions tf2::LookupException, tf2::ConnectivityException, + * tf2::ExtrapolationException, tf2::InvalidArgumentException + */ + virtual geometry_msgs::TransformStamped + lookupTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout) const = 0; + + + /** \brief Test if a transform is possible + * \param target_frame The frame into which to transform + * \param source_frame The frame from which to transform + * \param time The time at which to transform + * \param timeout How long to block before failing + * \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL + * \return True if the transform is possible, false otherwise + */ + virtual bool + canTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& time, const ros::Duration timeout, std::string* errstr = NULL) const = 0; + + /** \brief Test if a transform is possible + * \param target_frame The frame into which to transform + * \param target_time The time into which to transform + * \param source_frame The frame from which to transform + * \param source_time The time from which to transform + * \param fixed_frame The frame in which to treat the transform as constant in time + * \param timeout How long to block before failing + * \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL + * \return True if the transform is possible, false otherwise + */ + virtual bool + canTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const = 0; + + /** \brief Transform an input into the target frame. + * This function is templated and can take as input any valid mathematical object that tf knows + * how to apply a transform to, by way of the templated math conversions interface. + * For example, the template type could be a Transform, Pose, Vector, or Quaternion message + * type (as defined in geometry_msgs). + * \tparam T The type of the object to transform. + * \param in The object to transform + * \param out The transformed output, preallocated by the caller. + * \param target_frame The string identifer for the frame to transform into. + * \param timeout How long to wait for the target frame. Default value is zero (no blocking). + */ + template + T& transform(const T& in, T& out, + const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const + { + // do the transform + tf2::doTransform(in, out, lookupTransform(target_frame, tf2::getFrameId(in), tf2::getTimestamp(in), timeout)); + return out; + } + + /** \brief Transform an input into the target frame. + * This function is templated and can take as input any valid mathematical object that tf knows + * how to apply a transform to, by way of the templated math conversions interface. + * For example, the template type could be a Transform, Pose, Vector, or Quaternion message + * type (as defined in geometry_msgs). + * \tparam T The type of the object to transform. + * \param in The object to transform. + * \param target_frame The string identifer for the frame to transform into. + * \param timeout How long to wait for the target frame. Default value is zero (no blocking). + * \return The transformed output. + */ + template + T transform(const T& in, + const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const + { + T out; + return transform(in, out, target_frame, timeout); + } + + /** \brief Transform an input into the target frame and convert to a specified output type. + * It is templated on two types: the type of the input object and the type of the + * transformed output. + * For example, the template types could be Transform, Pose, Vector, or Quaternion messages + * type (as defined in geometry_msgs). + * The function will calculate the transformation and then convert the result into the + * specified output type. + * Compilation will fail if a known conversion does not exist bewteen the two template + * parameters. + * \tparam A The type of the object to transform. + * \tparam B The type of the transformed output. + * \param in The object to transform + * \param out The transformed output, converted to the specified type. + * \param target_frame The string identifer for the frame to transform into. + * \param timeout How long to wait for the target frame. Default value is zero (no blocking). + * \return The transformed output, converted to the specified type. + */ + template + B& transform(const A& in, B& out, + const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const + { + A copy = transform(in, target_frame, timeout); + tf2::convert(copy, out); + return out; + } + + /** \brief Transform an input into the target frame (advanced). + * This function is templated and can take as input any valid mathematical object that tf knows + * how to apply a transform to, by way of the templated math conversions interface. + * For example, the template type could be a Transform, Pose, Vector, or Quaternion message + * type (as defined in geometry_msgs). + * This function follows the advanced API, which allows transforming between different time + * points, and specifying a fixed frame that does not varying in time. + * \tparam T The type of the object to transform. + * \param in The object to transform + * \param out The transformed output, preallocated by the caller. + * \param target_frame The string identifer for the frame to transform into. + * \param target_time The time into which to transform + * \param fixed_frame The frame in which to treat the transform as constant in time. + * \param timeout How long to wait for the target frame. Default value is zero (no blocking). + */ + template + T& transform(const T& in, T& out, + const std::string& target_frame, const ros::Time& target_time, + const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const + { + // do the transform + tf2::doTransform(in, out, lookupTransform(target_frame, target_time, + tf2::getFrameId(in), tf2::getTimestamp(in), + fixed_frame, timeout)); + return out; + } + + + /** \brief Transform an input into the target frame (advanced). + * This function is templated and can take as input any valid mathematical object that tf knows + * how to apply a transform to, by way of the templated math conversions interface. + * For example, the template type could be a Transform, Pose, Vector, or Quaternion message + * type (as defined in geometry_msgs). + * This function follows the advanced API, which allows transforming between different time + * points, and specifying a fixed frame that does not varying in time. + * \tparam T The type of the object to transform. + * \param in The object to transform + * \param target_frame The string identifer for the frame to transform into. + * \param target_time The time into which to transform + * \param fixed_frame The frame in which to treat the transform as constant in time. + * \param timeout How long to wait for the target frame. Default value is zero (no blocking). + * \return The transformed output. + */ + template + T transform(const T& in, + const std::string& target_frame, const ros::Time& target_time, + const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const + { + T out; + return transform(in, out, target_frame, target_time, fixed_frame, timeout); + } + + + /** \brief Transform an input into the target frame and convert to a specified output type (advanced). + * It is templated on two types: the type of the input object and the type of the + * transformed output. + * For example, the template type could be a Transform, Pose, Vector, or Quaternion message + * type (as defined in geometry_msgs). + * The function will calculate the transformation and then convert the result into the + * specified output type. + * Compilation will fail if a known conversion does not exist bewteen the two template + * parameters. + * This function follows the advanced API, which allows transforming between different time + * points, and specifying a fixed frame that does not varying in time. + * \tparam A The type of the object to transform. + * \tparam B The type of the transformed output. + * \param in The object to transform + * \param out The transformed output, converted to the specified output type. + * \param target_frame The string identifer for the frame to transform into. + * \param target_time The time into which to transform + * \param fixed_frame The frame in which to treat the transform as constant in time. + * \param timeout How long to wait for the target frame. Default value is zero (no blocking). + * \return The transformed output, converted to the specified output type. + */ + template + B& transform(const A& in, B& out, + const std::string& target_frame, const ros::Time& target_time, + const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const + { + // do the transform + A copy = transform(in, target_frame, target_time, fixed_frame, timeout); + tf2::convert(copy, out); + return out; + } + + + }; // class + + +} // namespace + +#endif // TF2_ROS_BUFFER_INTERFACE_H diff --git a/navigations/geometry2/tf2_ros/include/tf2_ros/buffer_server.h b/navigations/geometry2/tf2_ros/include/tf2_ros/buffer_server.h new file mode 100755 index 0000000..7481466 --- /dev/null +++ b/navigations/geometry2/tf2_ros/include/tf2_ros/buffer_server.h @@ -0,0 +1,92 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef TF2_ROS_BUFFER_SERVER_H_ +#define TF2_ROS_BUFFER_SERVER_H_ + +#include +#include +#include +#include + +namespace tf2_ros +{ + /** \brief Action server for the actionlib-based implementation of tf2_ros::BufferInterface. + * + * Use this class with a tf2_ros::TransformListener in the same process. + * You can use this class with a tf2_ros::BufferClient in a different process. + */ + class BufferServer + { + private: + typedef actionlib::ActionServer LookupTransformServer; + typedef LookupTransformServer::GoalHandle GoalHandle; + + struct GoalInfo + { + GoalHandle handle; + ros::Time end_time; + }; + + public: + /** \brief Constructor + * \param buffer The Buffer that this BufferServer will wrap. + * \param ns The namespace in which to look for action clients. + * \param auto_start Pass argument to the constructor of the ActionServer. + * \param check_period How often to check for changes to known transforms (via a timer event). + */ + BufferServer(const Buffer& buffer, const std::string& ns, + bool auto_start = true, ros::Duration check_period = ros::Duration(0.01)); + + /** \brief Start the action server. + */ + void start(); + + private: + void goalCB(GoalHandle gh); + void cancelCB(GoalHandle gh); + void checkTransforms(const ros::TimerEvent& e); + bool canTransform(GoalHandle gh); + geometry_msgs::TransformStamped lookupTransform(GoalHandle gh); + + const Buffer& buffer_; + LookupTransformServer server_; + std::list active_goals_; + boost::mutex mutex_; + ros::Timer check_timer_; + }; +} +#endif diff --git a/navigations/geometry2/tf2_ros/include/tf2_ros/message_filter.h b/navigations/geometry2/tf2_ros/include/tf2_ros/message_filter.h new file mode 100755 index 0000000..e8a47f5 --- /dev/null +++ b/navigations/geometry2/tf2_ros/include/tf2_ros/message_filter.h @@ -0,0 +1,716 @@ +/* + * Copyright (c) 2010, 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, Inc. 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 Josh Faust */ + +#ifndef TF2_ROS_MESSAGE_FILTER_H +#define TF2_ROS_MESSAGE_FILTER_H + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include + +#define TF2_ROS_MESSAGEFILTER_DEBUG(fmt, ...) \ + ROS_DEBUG_NAMED("message_filter", std::string(std::string("MessageFilter [target=%s]: ") + std::string(fmt)).c_str(), getTargetFramesString().c_str(), __VA_ARGS__) + +#define TF2_ROS_MESSAGEFILTER_WARN(fmt, ...) \ + ROS_WARN_NAMED("message_filter", std::string(std::string("MessageFilter [target=%s]: ") + std::string(fmt)).c_str(), getTargetFramesString().c_str(), __VA_ARGS__) + +namespace tf2_ros +{ + +namespace filter_failure_reasons +{ +enum FilterFailureReason +{ + /// The message buffer overflowed, and this message was pushed off the back of the queue, but the reason it was unable to be transformed is unknown. + Unknown, + /// The timestamp on the message is more than the cache length earlier than the newest data in the transform cache + OutTheBack, + /// The frame_id on the message is empty + EmptyFrameID, +}; +} +typedef filter_failure_reasons::FilterFailureReason FilterFailureReason; + +class MessageFilterBase +{ +public: + typedef std::vector V_string; + + virtual ~MessageFilterBase(){} + virtual void clear() = 0; + virtual void setTargetFrame(const std::string& target_frame) = 0; + virtual void setTargetFrames(const V_string& target_frames) = 0; + virtual void setTolerance(const ros::Duration& tolerance) = 0; +}; + +/** + * \brief Follows the patterns set by the message_filters package to implement a filter which only passes messages through once there is transform data available + * + * The callbacks used in this class are of the same form as those used by roscpp's message callbacks. + * + * MessageFilter is templated on a message type. + * + * \section example_usage Example Usage + * + * If you want to hook a MessageFilter into a ROS topic: +\verbatim +message_filters::Subscriber sub(node_handle_, "topic", 10); +tf2_ros::MessageFilter tf_filter(sub, tf_buffer_, "/map", 10, 0); +tf_filter.registerCallback(&MyClass::myCallback, this); +\endverbatim + */ +template +class MessageFilter : public MessageFilterBase, public message_filters::SimpleFilter +{ +public: + typedef boost::shared_ptr MConstPtr; + typedef ros::MessageEvent MEvent; + typedef boost::function FailureCallback; + typedef boost::signals2::signal FailureSignal; + + // If you hit this assert your message does not have a header, or does not have the HasHeader trait defined for it + // Actually, we need to check that the message has a header, or that it + // has the FrameId and Stamp traits. However I don't know how to do that + // so simply commenting out for now. + //ROS_STATIC_ASSERT(ros::message_traits::HasHeader::value); + + /** + * \brief Constructor + * + * \param bc The tf2::BufferCore this filter should use + * \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function. + * \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous). + * \param nh The NodeHandle whose callback queue we should add callbacks to + */ + MessageFilter(tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, const ros::NodeHandle& nh) + : bc_(bc) + , queue_size_(queue_size) + , callback_queue_(nh.getCallbackQueue()) + { + init(); + + setTargetFrame(target_frame); + } + + /** + * \brief Constructor + * + * \param f The filter to connect this filter's input to. Often will be a message_filters::Subscriber. + * \param bc The tf2::BufferCore this filter should use + * \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function. + * \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous). + * \param nh The NodeHandle whose callback queue we should add callbacks to + */ + template + MessageFilter(F& f, tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, const ros::NodeHandle& nh) + : bc_(bc) + , queue_size_(queue_size) + , callback_queue_(nh.getCallbackQueue()) + { + init(); + + setTargetFrame(target_frame); + + connectInput(f); + } + + /** + * \brief Constructor + * + * \param bc The tf2::BufferCore this filter should use + * \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function. + * \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous). + * \param cbqueue The callback queue to add callbacks to. If NULL, callbacks will happen from whatever thread either + * a) add() is called, which will generally be when the previous filter in the chain outputs a message, or + * b) tf2::BufferCore::setTransform() is called + */ + MessageFilter(tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, ros::CallbackQueueInterface* cbqueue) + : bc_(bc) + , queue_size_(queue_size) + , callback_queue_(cbqueue) + { + init(); + + setTargetFrame(target_frame); + } + + /** + * \brief Constructor + * + * \param f The filter to connect this filter's input to. Often will be a message_filters::Subscriber. + * \param bc The tf2::BufferCore this filter should use + * \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function. + * \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous). + * \param cbqueue The callback queue to add callbacks to. If NULL, callbacks will happen from whatever thread either + * a) add() is called, which will generally be when the previous filter in the chain outputs a message, or + * b) tf2::BufferCore::setTransform() is called + */ + template + MessageFilter(F& f, tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, ros::CallbackQueueInterface* cbqueue) + : bc_(bc) + , queue_size_(queue_size) + , callback_queue_(cbqueue) + { + init(); + + setTargetFrame(target_frame); + + connectInput(f); + } + + /** + * \brief Connect this filter's input to another filter's output. If this filter is already connected, disconnects first. + */ + template + void connectInput(F& f) + { + message_connection_.disconnect(); + message_connection_ = f.registerCallback(&MessageFilter::incomingMessage, this); + } + + /** + * \brief Destructor + */ + ~MessageFilter() + { + message_connection_.disconnect(); + + MessageFilter::clear(); + + TF2_ROS_MESSAGEFILTER_DEBUG("Successful Transforms: %llu, Discarded due to age: %llu, Transform messages received: %llu, Messages received: %llu, Total dropped: %llu", + (long long unsigned int)successful_transform_count_, + (long long unsigned int)failed_out_the_back_count_, (long long unsigned int)transform_message_count_, + (long long unsigned int)incoming_message_count_, (long long unsigned int)dropped_message_count_); + + } + + /** + * \brief Set the frame you need to be able to transform to before getting a message callback + */ + void setTargetFrame(const std::string& target_frame) + { + V_string frames; + frames.push_back(target_frame); + setTargetFrames(frames); + } + + /** + * \brief Set the frames you need to be able to transform to before getting a message callback + */ + void setTargetFrames(const V_string& target_frames) + { + boost::mutex::scoped_lock frames_lock(target_frames_mutex_); + + target_frames_.resize(target_frames.size()); + std::transform(target_frames.begin(), target_frames.end(), target_frames_.begin(), this->stripSlash); + expected_success_count_ = target_frames_.size() * (time_tolerance_.isZero() ? 1 : 2); + + std::stringstream ss; + for (V_string::iterator it = target_frames_.begin(); it != target_frames_.end(); ++it) + { + ss << *it << " "; + } + target_frames_string_ = ss.str(); + } + /** + * \brief Get the target frames as a string for debugging + */ + std::string getTargetFramesString() + { + boost::mutex::scoped_lock lock(target_frames_mutex_); + return target_frames_string_; + }; + + /** + * \brief Set the required tolerance for the notifier to return true + */ + void setTolerance(const ros::Duration& tolerance) + { + boost::mutex::scoped_lock lock(target_frames_mutex_); + time_tolerance_ = tolerance; + expected_success_count_ = target_frames_.size() * (time_tolerance_.isZero() ? 1 : 2); + } + + /** + * \brief Clear any messages currently in the queue + */ + void clear() + { + boost::unique_lock< boost::shared_mutex > unique_lock(messages_mutex_); + + TF2_ROS_MESSAGEFILTER_DEBUG("%s", "Cleared"); + + bc_.removeTransformableCallback(callback_handle_); + callback_handle_ = bc_.addTransformableCallback(boost::bind(&MessageFilter::transformable, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); + + messages_.clear(); + message_count_ = 0; + + // remove pending callbacks in callback queue as well + if (callback_queue_) + callback_queue_->removeByID((uint64_t)this); + + warned_about_empty_frame_id_ = false; + } + + void add(const MEvent& evt) + { + if (target_frames_.empty()) + { + return; + } + + namespace mt = ros::message_traits; + const MConstPtr& message = evt.getMessage(); + std::string frame_id = stripSlash(mt::FrameId::value(*message)); + ros::Time stamp = mt::TimeStamp::value(*message); + + if (frame_id.empty()) + { + messageDropped(evt, filter_failure_reasons::EmptyFrameID); + return; + } + + // iterate through the target frames and add requests for each of them + MessageInfo info; + info.handles.reserve(expected_success_count_); + { + V_string target_frames_copy; + // Copy target_frames_ to avoid deadlock from #79 + { + boost::mutex::scoped_lock frames_lock(target_frames_mutex_); + target_frames_copy = target_frames_; + } + + V_string::iterator it = target_frames_copy.begin(); + V_string::iterator end = target_frames_copy.end(); + for (; it != end; ++it) + { + const std::string& target_frame = *it; + tf2::TransformableRequestHandle handle = bc_.addTransformableRequest(callback_handle_, target_frame, frame_id, stamp); + if (handle == 0xffffffffffffffffULL) // never transformable + { + messageDropped(evt, filter_failure_reasons::OutTheBack); + return; + } + else if (handle == 0) + { + ++info.success_count; + } + else + { + info.handles.push_back(handle); + } + + if (!time_tolerance_.isZero()) + { + handle = bc_.addTransformableRequest(callback_handle_, target_frame, frame_id, stamp + time_tolerance_); + if (handle == 0xffffffffffffffffULL) // never transformable + { + messageDropped(evt, filter_failure_reasons::OutTheBack); + return; + } + else if (handle == 0) + { + ++info.success_count; + } + else + { + info.handles.push_back(handle); + } + } + } + } + + + // We can transform already + if (info.success_count == expected_success_count_) + { + messageReady(evt); + } + else + { + boost::unique_lock< boost::shared_mutex > unique_lock(messages_mutex_); + // If this message is about to push us past our queue size, erase the oldest message + if (queue_size_ != 0 && message_count_ + 1 > queue_size_) + { + ++dropped_message_count_; + const MessageInfo& front = messages_.front(); + TF2_ROS_MESSAGEFILTER_DEBUG("Removed oldest message because buffer is full, count now %d (frame_id=%s, stamp=%f)", message_count_, + (mt::FrameId::value(*front.event.getMessage())).c_str(), mt::TimeStamp::value(*front.event.getMessage()).toSec()); + + V_TransformableRequestHandle::const_iterator it = front.handles.begin(); + V_TransformableRequestHandle::const_iterator end = front.handles.end(); + + for (; it != end; ++it) + { + bc_.cancelTransformableRequest(*it); + } + + messageDropped(front.event, filter_failure_reasons::Unknown); + messages_.pop_front(); + --message_count_; + } + + // Add the message to our list + info.event = evt; + messages_.push_back(info); + ++message_count_; + } + + TF2_ROS_MESSAGEFILTER_DEBUG("Added message in frame %s at time %.3f, count now %d", frame_id.c_str(), stamp.toSec(), message_count_); + + ++incoming_message_count_; + } + + /** + * \brief Manually add a message into this filter. + * \note If the message (or any other messages in the queue) are immediately transformable this will immediately call through to the output callback, possibly + * multiple times + */ + void add(const MConstPtr& message) + { + boost::shared_ptr > header(new std::map); + (*header)["callerid"] = "unknown"; + ros::WallTime n = ros::WallTime::now(); + ros::Time t(n.sec, n.nsec); + add(MEvent(message, header, t)); + } + + /** + * \brief Register a callback to be called when a message is about to be dropped + * \param callback The callback to call + */ + message_filters::Connection registerFailureCallback(const FailureCallback& callback) + { + boost::mutex::scoped_lock lock(failure_signal_mutex_); + return message_filters::Connection(boost::bind(&MessageFilter::disconnectFailure, this, boost::placeholders::_1), failure_signal_.connect(callback)); + } + + virtual void setQueueSize( uint32_t new_queue_size ) + { + queue_size_ = new_queue_size; + } + + virtual uint32_t getQueueSize() + { + return queue_size_; + } + + +private: + + void init() + { + message_count_ = 0; + successful_transform_count_ = 0; + failed_out_the_back_count_ = 0; + transform_message_count_ = 0; + incoming_message_count_ = 0; + dropped_message_count_ = 0; + time_tolerance_ = ros::Duration(0.0); + warned_about_empty_frame_id_ = false; + expected_success_count_ = 1; + + callback_handle_ = bc_.addTransformableCallback(boost::bind(&MessageFilter::transformable, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); + } + + void transformable(tf2::TransformableRequestHandle request_handle, const std::string& /* target_frame */, const std::string& /* source_frame */, + ros::Time /* time */, tf2::TransformableResult result) + { + namespace mt = ros::message_traits; + + boost::upgrade_lock< boost::shared_mutex > lock(messages_mutex_); + + // find the message this request is associated with + typename L_MessageInfo::iterator msg_it = messages_.begin(); + typename L_MessageInfo::iterator msg_end = messages_.end(); + for (; msg_it != msg_end; ++msg_it) + { + MessageInfo& info = *msg_it; + V_TransformableRequestHandle::const_iterator handle_it = std::find(info.handles.begin(), info.handles.end(), request_handle); + if (handle_it != info.handles.end()) + { + // found msg_it + ++info.success_count; + break; + } + } + + if (msg_it == msg_end) + { + return; + } + + const MessageInfo& info = *msg_it; + if (info.success_count < expected_success_count_) + { + return; + } + + bool can_transform = true; + const MConstPtr& message = info.event.getMessage(); + std::string frame_id = stripSlash(mt::FrameId::value(*message)); + ros::Time stamp = mt::TimeStamp::value(*message); + + if (result == tf2::TransformAvailable) + { + boost::mutex::scoped_lock frames_lock(target_frames_mutex_); + // make sure we can still perform all the necessary transforms + typename V_string::iterator it = target_frames_.begin(); + typename V_string::iterator end = target_frames_.end(); + for (; it != end; ++it) + { + const std::string& target = *it; + if (!bc_.canTransform(target, frame_id, stamp)) + { + can_transform = false; + break; + } + + if (!time_tolerance_.isZero()) + { + if (!bc_.canTransform(target, frame_id, stamp + time_tolerance_)) + { + can_transform = false; + break; + } + } + } + } + else + { + can_transform = false; + } + + // We will be mutating messages now, require unique lock + boost::upgrade_to_unique_lock< boost::shared_mutex > uniqueLock(lock); + if (can_transform) + { + TF2_ROS_MESSAGEFILTER_DEBUG("Message ready in frame %s at time %.3f, count now %d", frame_id.c_str(), stamp.toSec(), message_count_ - 1); + + ++successful_transform_count_; + + messageReady(info.event); + + } + else + { + ++dropped_message_count_; + + TF2_ROS_MESSAGEFILTER_DEBUG("Discarding message in frame %s at time %.3f, count now %d", frame_id.c_str(), stamp.toSec(), message_count_ - 1); + messageDropped(info.event, filter_failure_reasons::Unknown); + } + + messages_.erase(msg_it); + --message_count_; + } + + /** + * \brief Callback that happens when we receive a message on the message topic + */ + void incomingMessage(const ros::MessageEvent& evt) + { + add(evt); + } + + void checkFailures() + { + if (next_failure_warning_.isZero()) + { + next_failure_warning_ = ros::WallTime::now() + ros::WallDuration(15); + } + + if (ros::WallTime::now() >= next_failure_warning_) + { + if (incoming_message_count_ - message_count_ == 0) + { + return; + } + + double dropped_pct = (double)dropped_message_count_ / (double)(incoming_message_count_ - message_count_); + if (dropped_pct > 0.95) + { + TF2_ROS_MESSAGEFILTER_WARN("Dropped %.2f%% of messages so far. Please turn the [%s.message_notifier] rosconsole logger to DEBUG for more information.", dropped_pct*100, ROSCONSOLE_DEFAULT_NAME); + next_failure_warning_ = ros::WallTime::now() + ros::WallDuration(60); + + if ((double)failed_out_the_back_count_ / (double)dropped_message_count_ > 0.5) + { + TF2_ROS_MESSAGEFILTER_WARN(" The majority of dropped messages were due to messages growing older than the TF cache time. The last message's timestamp was: %f, and the last frame_id was: %s", last_out_the_back_stamp_.toSec(), last_out_the_back_frame_.c_str()); + } + } + } + } + + struct CBQueueCallback : public ros::CallbackInterface + { + CBQueueCallback(MessageFilter* filter, const MEvent& event, bool success, FilterFailureReason reason) + : event_(event) + , filter_(filter) + , reason_(reason) + , success_(success) + {} + + + virtual CallResult call() + { + if (success_) + { + filter_->signalMessage(event_); + } + else + { + filter_->signalFailure(event_, reason_); + } + + return Success; + } + + private: + MEvent event_; + MessageFilter* filter_; + FilterFailureReason reason_; + bool success_; + }; + + void messageDropped(const MEvent& evt, FilterFailureReason reason) + { + if (callback_queue_) + { + ros::CallbackInterfacePtr cb(new CBQueueCallback(this, evt, false, reason)); + callback_queue_->addCallback(cb, (uint64_t)this); + } + else + { + signalFailure(evt, reason); + } + } + + void messageReady(const MEvent& evt) + { + if (callback_queue_) + { + ros::CallbackInterfacePtr cb(new CBQueueCallback(this, evt, true, filter_failure_reasons::Unknown)); + callback_queue_->addCallback(cb, (uint64_t)this); + } + else + { + this->signalMessage(evt); + } + } + + void disconnectFailure(const message_filters::Connection& c) + { + boost::mutex::scoped_lock lock(failure_signal_mutex_); + c.getBoostConnection().disconnect(); + } + + void signalFailure(const MEvent& evt, FilterFailureReason reason) + { + boost::mutex::scoped_lock lock(failure_signal_mutex_); + failure_signal_(evt.getMessage(), reason); + } + + static + std::string stripSlash(const std::string& in) + { + if ( !in.empty() && (in[0] == '/')) + { + std::string out = in; + out.erase(0, 1); + return out; + } + return in; + } + + tf2::BufferCore& bc_; ///< The Transformer used to determine if transformation data is available + V_string target_frames_; ///< The frames we need to be able to transform to before a message is ready + std::string target_frames_string_; + boost::mutex target_frames_mutex_; ///< A mutex to protect access to the target_frames_ list and target_frames_string. + uint32_t queue_size_; ///< The maximum number of messages we queue up + tf2::TransformableCallbackHandle callback_handle_; + + typedef std::vector V_TransformableRequestHandle; + struct MessageInfo + { + MessageInfo() + : success_count(0) + {} + + MEvent event; + V_TransformableRequestHandle handles; + uint32_t success_count; + }; + typedef std::list L_MessageInfo; + L_MessageInfo messages_; + uint32_t message_count_; ///< The number of messages in the list. Used because \.size() may have linear cost + boost::shared_mutex messages_mutex_; ///< The mutex used for locking message list operations + uint32_t expected_success_count_; + + bool warned_about_empty_frame_id_; + + uint64_t successful_transform_count_; + uint64_t failed_out_the_back_count_; + uint64_t transform_message_count_; + uint64_t incoming_message_count_; + uint64_t dropped_message_count_; + + ros::Time last_out_the_back_stamp_; + std::string last_out_the_back_frame_; + + ros::WallTime next_failure_warning_; + + ros::Duration time_tolerance_; ///< Provide additional tolerance on time for messages which are stamped but can have associated duration + + message_filters::Connection message_connection_; + + FailureSignal failure_signal_; + boost::mutex failure_signal_mutex_; + + ros::CallbackQueueInterface* callback_queue_; +}; + +} // namespace tf2 + +#endif diff --git a/navigations/geometry2/tf2_ros/include/tf2_ros/static_transform_broadcaster.h b/navigations/geometry2/tf2_ros/include/tf2_ros/static_transform_broadcaster.h new file mode 100755 index 0000000..bc7be91 --- /dev/null +++ b/navigations/geometry2/tf2_ros/include/tf2_ros/static_transform_broadcaster.h @@ -0,0 +1,75 @@ +/* + * 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, Inc. 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 Tully Foote */ + +#ifndef TF2_ROS_STATICTRANSFORMBROADCASTER_H +#define TF2_ROS_STATICTRANSFORMBROADCASTER_H + + + +#include "ros/ros.h" +#include "geometry_msgs/TransformStamped.h" +#include "tf2_msgs/TFMessage.h" + +namespace tf2_ros +{ + + +/** \brief This class provides an easy way to publish coordinate frame transform information. + * It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the + * necessary data needed for each message. */ + +class StaticTransformBroadcaster{ +public: + /** \brief Constructor (needs a ros::Node reference) */ + StaticTransformBroadcaster(); + + /** \brief Send a TransformStamped message + * The stamped data structure includes frame_id, and time, and parent_id already. */ + void sendTransform(const geometry_msgs::TransformStamped & transform) { + sendTransform(std::vector({transform})); + } + + /** \brief Send a vector of TransformStamped messages + * The stamped data structure includes frame_id, and time, and parent_id already. */ + void sendTransform(const std::vector & transforms); + +private: + /// Internal reference to ros::Node + ros::NodeHandle node_; + ros::Publisher publisher_; + tf2_msgs::TFMessage net_message_; + +}; + +} + +#endif //TF_STATICTRANSFORMBROADCASTER_H diff --git a/navigations/geometry2/tf2_ros/include/tf2_ros/transform_broadcaster.h b/navigations/geometry2/tf2_ros/include/tf2_ros/transform_broadcaster.h new file mode 100755 index 0000000..4f5f35c --- /dev/null +++ b/navigations/geometry2/tf2_ros/include/tf2_ros/transform_broadcaster.h @@ -0,0 +1,78 @@ +/* + * 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, Inc. 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 Tully Foote */ + +#ifndef TF2_ROS_TRANSFORMBROADCASTER_H +#define TF2_ROS_TRANSFORMBROADCASTER_H + + + +#include "ros/ros.h" +#include "geometry_msgs/TransformStamped.h" +namespace tf2_ros +{ + + +/** \brief This class provides an easy way to publish coordinate frame transform information. + * It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the + * necessary data needed for each message. */ + +class TransformBroadcaster{ +public: + /** \brief Constructor (needs a ros::Node reference) */ + TransformBroadcaster(); + + /** \brief Send a StampedTransform + * The stamped data structure includes frame_id, and time, and parent_id already. */ + // void sendTransform(const StampedTransform & transform); + + /** \brief Send a vector of StampedTransforms + * The stamped data structure includes frame_id, and time, and parent_id already. */ + //void sendTransform(const std::vector & transforms); + + /** \brief Send a TransformStamped message + * The stamped data structure includes frame_id, and time, and parent_id already. */ + void sendTransform(const geometry_msgs::TransformStamped & transform); + + /** \brief Send a vector of TransformStamped messages + * The stamped data structure includes frame_id, and time, and parent_id already. */ + void sendTransform(const std::vector & transforms); + +private: + /// Internal reference to ros::Node + ros::NodeHandle node_; + ros::Publisher publisher_; + +}; + +} + +#endif //TF_TRANSFORMBROADCASTER_H diff --git a/navigations/geometry2/tf2_ros/include/tf2_ros/transform_listener.h b/navigations/geometry2/tf2_ros/include/tf2_ros/transform_listener.h new file mode 100755 index 0000000..69f555d --- /dev/null +++ b/navigations/geometry2/tf2_ros/include/tf2_ros/transform_listener.h @@ -0,0 +1,92 @@ +/* + * 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, Inc. 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 Tully Foote */ + +#ifndef TF2_ROS_TRANSFORMLISTENER_H +#define TF2_ROS_TRANSFORMLISTENER_H + +#include "std_msgs/Empty.h" +#include "tf2_msgs/TFMessage.h" +#include "ros/ros.h" +#include "ros/callback_queue.h" + +#include "tf2_ros/buffer.h" + +#include "boost/thread.hpp" + +namespace tf2_ros{ + +/** \brief This class provides an easy way to request and receive coordinate frame transform information. + */ +class TransformListener +{ + +public: + /**@brief Constructor for transform listener */ + TransformListener(tf2::BufferCore& buffer, bool spin_thread = true, + ros::TransportHints transport_hints = ros::TransportHints()); + TransformListener(tf2::BufferCore& buffer, const ros::NodeHandle& nh, bool spin_thread = true, + ros::TransportHints transport_hints = ros::TransportHints()); + + ~TransformListener(); + +private: + + /// Initialize this transform listener, subscribing, advertising services, etc. + void init(); + void initWithThread(); + + /// Callback function for ros message subscription + void subscription_callback(const ros::MessageEvent& msg_evt); + void static_subscription_callback(const ros::MessageEvent& msg_evt); + void subscription_callback_impl(const ros::MessageEvent& msg_evt, bool is_static); + + ros::CallbackQueue tf_message_callback_queue_; + boost::thread* dedicated_listener_thread_; + ros::NodeHandle node_; + ros::Subscriber message_subscriber_tf_; + ros::Subscriber message_subscriber_tf_static_; + tf2::BufferCore& buffer_; + bool using_dedicated_thread_; + ros::TransportHints transport_hints_; + ros::Time last_update_; + + void dedicatedListenerThread() + { + while (using_dedicated_thread_) + { + tf_message_callback_queue_.callAvailable(ros::WallDuration(0.01)); + } + }; + +}; +} + +#endif //TF_TRANSFORMLISTENER_H diff --git a/navigations/geometry2/tf2_ros/package.xml b/navigations/geometry2/tf2_ros/package.xml new file mode 100755 index 0000000..daf58e5 --- /dev/null +++ b/navigations/geometry2/tf2_ros/package.xml @@ -0,0 +1,43 @@ + + tf2_ros + 0.7.6 + + This package contains the ROS bindings for the tf2 library, for both Python and C++. + + Eitan Marder-Eppstein + Wim Meeussen + Tully Foote + BSD + + http://www.ros.org/wiki/tf2_ros + + catkin + + actionlib + actionlib_msgs + geometry_msgs + message_filters + roscpp + rosgraph + rospy + std_msgs + tf2 + tf2_msgs + tf2_py + xmlrpcpp + + actionlib + actionlib_msgs + geometry_msgs + message_filters + roscpp + rosgraph + rospy + std_msgs + tf2 + tf2_msgs + tf2_py + xmlrpcpp + + rostest + diff --git a/navigations/geometry2/tf2_ros/rosdoc.yaml b/navigations/geometry2/tf2_ros/rosdoc.yaml new file mode 100755 index 0000000..0efc7fd --- /dev/null +++ b/navigations/geometry2/tf2_ros/rosdoc.yaml @@ -0,0 +1,8 @@ + - builder: doxygen + name: C++ API + output_dir: c++ + file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' + - builder: sphinx + name: Python API + output_dir: python + sphinx_root_dir: doc diff --git a/navigations/geometry2/tf2_ros/setup.py b/navigations/geometry2/tf2_ros/setup.py new file mode 100755 index 0000000..a621cec --- /dev/null +++ b/navigations/geometry2/tf2_ros/setup.py @@ -0,0 +1,13 @@ +#!/usr/bin/env python + +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['tf2_ros'], + package_dir={'': 'src'}, + requires=['rospy', 'actionlib', 'actionlib_msgs', 'tf2_msgs', + 'tf2_py', 'geometry_msgs'] +) + +setup(**d) diff --git a/navigations/geometry2/tf2_ros/src/buffer.cpp b/navigations/geometry2/tf2_ros/src/buffer.cpp new file mode 100755 index 0000000..8030301 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/buffer.cpp @@ -0,0 +1,201 @@ +/* + * 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, Inc. 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 Wim Meeussen */ + + +#include "tf2_ros/buffer.h" + +#include +#include + +namespace tf2_ros +{ + +static const double CAN_TRANSFORM_POLLING_SCALE = 0.01; + +Buffer::Buffer(ros::Duration cache_time, bool debug) : + BufferCore(cache_time) +{ + if(debug && !ros::service::exists("~tf2_frames", false)) + { + ros::NodeHandle n("~"); + frames_server_ = n.advertiseService("tf2_frames", &Buffer::getFrames, this); + } +} + +geometry_msgs::TransformStamped +Buffer::lookupTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& time, const ros::Duration timeout) const +{ + canTransform(target_frame, source_frame, time, timeout); + return lookupTransform(target_frame, source_frame, time); +} + + +geometry_msgs::TransformStamped +Buffer::lookupTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout) const +{ + canTransform(target_frame, target_time, source_frame, source_time, fixed_frame, timeout); + return lookupTransform(target_frame, target_time, source_frame, source_time, fixed_frame); +} + +/** This is a workaround for the case that we're running inside of + rospy and ros::Time is not initialized inside the c++ instance. + This makes the system fall back to Wall time if not initialized. +*/ +ros::Time now_fallback_to_wall() +{ + try + { + return ros::Time::now(); + } + catch (ros::TimeNotInitializedException ex) + { + ros::WallTime wt = ros::WallTime::now(); + return ros::Time(wt.sec, wt.nsec); + } +} + +/** This is a workaround for the case that we're running inside of + rospy and ros::Time is not initialized inside the c++ instance. + This makes the system fall back to Wall time if not initialized. + https://github.com/ros/geometry/issues/30 +*/ +void sleep_fallback_to_wall(const ros::Duration& d) +{ + try + { + d.sleep(); + } + catch (ros::TimeNotInitializedException ex) + { + ros::WallDuration wd = ros::WallDuration(d.sec, d.nsec); + wd.sleep(); + } +} + +void conditionally_append_timeout_info(std::string * errstr, const ros::Time& start_time, + const ros::Duration& timeout) +{ + if (errstr) + { + std::stringstream ss; + ss << ". canTransform returned after "<< (now_fallback_to_wall() - start_time).toSec() \ + <<" timeout was " << timeout.toSec() << "."; + (*errstr) += ss.str(); + } +} + +bool +Buffer::canTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& time, const ros::Duration timeout, std::string* errstr) const +{ + // Clear the errstr before populating it if it's valid. + if (errstr) + { + errstr->clear(); + } + + if (!checkAndErrorDedicatedThreadPresent(errstr)) + return false; + + // poll for transform if timeout is set + ros::Time start_time = now_fallback_to_wall(); + const ros::Duration sleep_duration = timeout * CAN_TRANSFORM_POLLING_SCALE; + while (now_fallback_to_wall() < start_time + timeout && + !canTransform(target_frame, source_frame, time) && + (now_fallback_to_wall()+ros::Duration(3.0) >= start_time) && //don't wait when we detect a bag loop + (ros::ok() || !ros::isInitialized())) // Make sure we haven't been stopped (won't work for pytf) + { + sleep_fallback_to_wall(sleep_duration); + } + bool retval = canTransform(target_frame, source_frame, time, errstr); + conditionally_append_timeout_info(errstr, start_time, timeout); + return retval; +} + + +bool +Buffer::canTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr) const +{ + // Clear the errstr before populating it if it's valid. + if (errstr) + { + errstr->clear(); + } + + if (!checkAndErrorDedicatedThreadPresent(errstr)) + return false; + + // poll for transform if timeout is set + ros::Time start_time = now_fallback_to_wall(); + const ros::Duration sleep_duration = timeout * CAN_TRANSFORM_POLLING_SCALE; + while (now_fallback_to_wall() < start_time + timeout && + !canTransform(target_frame, target_time, source_frame, source_time, fixed_frame) && + (now_fallback_to_wall()+ros::Duration(3.0) >= start_time) && //don't wait when we detect a bag loop + (ros::ok() || !ros::isInitialized())) // Make sure we haven't been stopped (won't work for pytf) + { + sleep_fallback_to_wall(sleep_duration); + } + bool retval = canTransform(target_frame, target_time, source_frame, source_time, fixed_frame, errstr); + conditionally_append_timeout_info(errstr, start_time, timeout); + return retval; +} + + +bool Buffer::getFrames(tf2_msgs::FrameGraph::Request& req, tf2_msgs::FrameGraph::Response& res) +{ + res.frame_yaml = allFramesAsYAML(); + return true; +} + + + +bool Buffer::checkAndErrorDedicatedThreadPresent(std::string* error_str) const +{ + if (isUsingDedicatedThread()) + return true; + + + + if (error_str) + *error_str = tf2_ros::threading_error; + + ROS_ERROR("%s", tf2_ros::threading_error.c_str()); + return false; +} + + + +} diff --git a/navigations/geometry2/tf2_ros/src/buffer_client.cpp b/navigations/geometry2/tf2_ros/src/buffer_client.cpp new file mode 100755 index 0000000..98c56dd --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/buffer_client.cpp @@ -0,0 +1,162 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#include + +namespace tf2_ros +{ + BufferClient::BufferClient(std::string ns, double check_frequency, ros::Duration timeout_padding): + client_(ns), + check_frequency_(check_frequency), + timeout_padding_(timeout_padding) + { + } + + geometry_msgs::TransformStamped BufferClient::lookupTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& time, const ros::Duration timeout) const + { + //populate the goal message + tf2_msgs::LookupTransformGoal goal; + goal.target_frame = target_frame; + goal.source_frame = source_frame; + goal.source_time = time; + goal.timeout = timeout; + goal.advanced = false; + + return processGoal(goal); + } + + geometry_msgs::TransformStamped BufferClient::lookupTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout) const + { + //populate the goal message + tf2_msgs::LookupTransformGoal goal; + goal.target_frame = target_frame; + goal.source_frame = source_frame; + goal.source_time = source_time; + goal.timeout = timeout; + goal.target_time = target_time; + goal.fixed_frame = fixed_frame; + goal.advanced = true; + + return processGoal(goal); + } + + geometry_msgs::TransformStamped BufferClient::processGoal(const tf2_msgs::LookupTransformGoal& goal) const + { + client_.sendGoal(goal); + + //this shouldn't happen, but could in rare cases where the server hangs + if(!client_.waitForResult(goal.timeout + timeout_padding_)) + { + //make sure to cancel the goal the server is pursuing + client_.cancelGoal(); + throw tf2::TimeoutException("The LookupTransform goal sent to the BufferServer did not come back in the specified time. Something is likely wrong with the server."); + } + + if(client_.getState() != actionlib::SimpleClientGoalState::SUCCEEDED) + throw tf2::TimeoutException("The LookupTransform goal sent to the BufferServer did not come back with SUCCEEDED status. Something is likely wrong with the server."); + + //process the result for errors and return it + return processResult(*client_.getResult()); + } + + geometry_msgs::TransformStamped BufferClient::processResult(const tf2_msgs::LookupTransformResult& result) const + { + //if there's no error, then we'll just return the transform + if(result.error.error != result.error.NO_ERROR){ + //otherwise, we'll have to throw the appropriate exception + if(result.error.error == result.error.LOOKUP_ERROR) + throw tf2::LookupException(result.error.error_string); + + if(result.error.error == result.error.CONNECTIVITY_ERROR) + throw tf2::ConnectivityException(result.error.error_string); + + if(result.error.error == result.error.EXTRAPOLATION_ERROR) + throw tf2::ExtrapolationException(result.error.error_string); + + if(result.error.error == result.error.INVALID_ARGUMENT_ERROR) + throw tf2::InvalidArgumentException(result.error.error_string); + + if(result.error.error == result.error.TIMEOUT_ERROR) + throw tf2::TimeoutException(result.error.error_string); + + throw tf2::TransformException(result.error.error_string); + } + + return result.transform; + } + + bool BufferClient::canTransform(const std::string& target_frame, const std::string& source_frame, + const ros::Time& time, const ros::Duration timeout, std::string* errstr) const + { + try + { + lookupTransform(target_frame, source_frame, time, timeout); + return true; + } + catch(tf2::TransformException& ex) + { + if(errstr) + { + errstr->clear(); + *errstr = ex.what(); + } + return false; + } + } + + bool BufferClient::canTransform(const std::string& target_frame, const ros::Time& target_time, + const std::string& source_frame, const ros::Time& source_time, + const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr) const + { + try + { + lookupTransform(target_frame, target_time, source_frame, source_time, fixed_frame, timeout); + return true; + } + catch(tf2::TransformException& ex) + { + if(errstr) + { + errstr->clear(); + *errstr = ex.what(); + } + return false; + } + } +}; diff --git a/navigations/geometry2/tf2_ros/src/buffer_server.cpp b/navigations/geometry2/tf2_ros/src/buffer_server.cpp new file mode 100755 index 0000000..898c803 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/buffer_server.cpp @@ -0,0 +1,222 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#include + +namespace tf2_ros +{ + BufferServer::BufferServer(const Buffer& buffer, const std::string& ns, bool auto_start, ros::Duration check_period): + buffer_(buffer), + server_(ros::NodeHandle(), + ns, + boost::bind(&BufferServer::goalCB, this, boost::placeholders::_1), + boost::bind(&BufferServer::cancelCB, this, boost::placeholders::_1), + auto_start) + { + ros::NodeHandle n; + check_timer_ = n.createTimer(check_period, boost::bind(&BufferServer::checkTransforms, this, boost::placeholders::_1)); + } + + void BufferServer::checkTransforms(const ros::TimerEvent& e) + { + (void) e; //Unused + boost::mutex::scoped_lock l(mutex_); + for(std::list::iterator it = active_goals_.begin(); it != active_goals_.end();) + { + GoalInfo& info = *it; + + //we want to lookup a transform if the time on the goal + //has expired, or a transform is available + if(canTransform(info.handle) || info.end_time < ros::Time::now()) + { + tf2_msgs::LookupTransformResult result; + + //try to populate the result, catching exceptions if they occur + try + { + result.transform = lookupTransform(info.handle); + } + catch (tf2::ConnectivityException &ex) + { + result.error.error = result.error.CONNECTIVITY_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::LookupException &ex) + { + result.error.error = result.error.LOOKUP_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::ExtrapolationException &ex) + { + result.error.error = result.error.EXTRAPOLATION_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::InvalidArgumentException &ex) + { + result.error.error = result.error.INVALID_ARGUMENT_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::TimeoutException &ex) + { + result.error.error = result.error.TIMEOUT_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::TransformException &ex) + { + result.error.error = result.error.TRANSFORM_ERROR; + result.error.error_string = ex.what(); + } + + //make sure to pass the result to the client + //even failed transforms are considered a success + //since the request was successfully processed + info.handle.setSucceeded(result); + it = active_goals_.erase(it); + } + else + ++it; + } + } + + void BufferServer::cancelCB(GoalHandle gh) + { + boost::mutex::scoped_lock l(mutex_); + //we need to find the goal in the list and remove it... also setting it as canceled + //if its not in the list, we won't do anything since it will have already been set + //as completed + for(std::list::iterator it = active_goals_.begin(); it != active_goals_.end();) + { + GoalInfo& info = *it; + if(info.handle == gh) + { + info.handle.setCanceled(); + it = active_goals_.erase(it); + return; + } + else + ++it; + } + } + + void BufferServer::goalCB(GoalHandle gh) + { + //we'll accept all goals we get + gh.setAccepted(); + + //if the transform isn't immediately available, we'll push it onto our list to check + //along with the time that the goal will end + GoalInfo goal_info; + goal_info.handle = gh; + goal_info.end_time = ros::Time::now() + gh.getGoal()->timeout; + + //we can do a quick check here to see if the transform is valid + //we'll also do this if the end time has been reached + if(canTransform(gh) || goal_info.end_time <= ros::Time::now()) + { + tf2_msgs::LookupTransformResult result; + try + { + result.transform = lookupTransform(gh); + } + catch (tf2::ConnectivityException &ex) + { + result.error.error = result.error.CONNECTIVITY_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::LookupException &ex) + { + result.error.error = result.error.LOOKUP_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::ExtrapolationException &ex) + { + result.error.error = result.error.EXTRAPOLATION_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::InvalidArgumentException &ex) + { + result.error.error = result.error.INVALID_ARGUMENT_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::TimeoutException &ex) + { + result.error.error = result.error.TIMEOUT_ERROR; + result.error.error_string = ex.what(); + } + catch (tf2::TransformException &ex) + { + result.error.error = result.error.TRANSFORM_ERROR; + result.error.error_string = ex.what(); + } + + gh.setSucceeded(result); + return; + } + + boost::mutex::scoped_lock l(mutex_); + active_goals_.push_back(goal_info); + } + + bool BufferServer::canTransform(GoalHandle gh) + { + const tf2_msgs::LookupTransformGoal::ConstPtr& goal = gh.getGoal(); + + //check whether we need to used the advanced or simple api + if(!goal->advanced) + return buffer_.canTransform(goal->target_frame, goal->source_frame, goal->source_time); + + return buffer_.canTransform(goal->target_frame, goal->target_time, + goal->source_frame, goal->source_time, goal->fixed_frame); + } + + geometry_msgs::TransformStamped BufferServer::lookupTransform(GoalHandle gh) + { + const tf2_msgs::LookupTransformGoal::ConstPtr& goal = gh.getGoal(); + + //check whether we need to used the advanced or simple api + if(!goal->advanced) + return buffer_.lookupTransform(goal->target_frame, goal->source_frame, goal->source_time); + + return buffer_.lookupTransform(goal->target_frame, goal->target_time, + goal->source_frame, goal->source_time, goal->fixed_frame); + } + + void BufferServer::start() + { + server_.start(); + } + +}; diff --git a/navigations/geometry2/tf2_ros/src/buffer_server_main.cpp b/navigations/geometry2/tf2_ros/src/buffer_server_main.cpp new file mode 100755 index 0000000..85a79c2 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/buffer_server_main.cpp @@ -0,0 +1,71 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Wim Meeussen +*********************************************************************/ +#include +#include +#include + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "tf_buffer"); + ros::NodeHandle nh; + + double buffer_size; + nh.param("buffer_size", buffer_size, 120.0); + + bool publish_frame_service; + nh.param("publish_frame_service", publish_frame_service, false); + + // Legacy behavior re: #209 + bool use_node_namespace; + nh.param("use_node_namespace", use_node_namespace, false); + std::string node_name; + if (use_node_namespace) + { + node_name = ros::this_node::getName(); + } + else + { + node_name = "tf2_buffer_server"; + } + + tf2_ros::Buffer buffer_core(ros::Duration(buffer_size), publish_frame_service); + tf2_ros::TransformListener listener(buffer_core); + tf2_ros::BufferServer buffer_server(buffer_core, node_name , false); + buffer_server.start(); + + ros::spin(); +} diff --git a/navigations/geometry2/tf2_ros/src/static_transform_broadcaster.cpp b/navigations/geometry2/tf2_ros/src/static_transform_broadcaster.cpp new file mode 100755 index 0000000..2e20842 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/static_transform_broadcaster.cpp @@ -0,0 +1,64 @@ +/* + * 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, Inc. 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 Tully Foote */ + + +#include "ros/ros.h" +#include "tf2_msgs/TFMessage.h" +#include "tf2_ros/static_transform_broadcaster.h" +#include + +namespace tf2_ros { + +StaticTransformBroadcaster::StaticTransformBroadcaster() +{ + publisher_ = node_.advertise("/tf_static", 100, true); +}; + +void StaticTransformBroadcaster::sendTransform(const std::vector & msgtf) +{ + for (const geometry_msgs::TransformStamped& input : msgtf) + { + auto predicate = [&input](const geometry_msgs::TransformStamped existing) { + return input.child_frame_id == existing.child_frame_id; + }; + auto existing = std::find_if(net_message_.transforms.begin(), net_message_.transforms.end(), predicate); + + if (existing != net_message_.transforms.end()) + *existing = input; + else + net_message_.transforms.push_back(input); + } + + publisher_.publish(net_message_); +} + +} diff --git a/navigations/geometry2/tf2_ros/src/static_transform_broadcaster_program.cpp b/navigations/geometry2/tf2_ros/src/static_transform_broadcaster_program.cpp new file mode 100755 index 0000000..3485d1d --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/static_transform_broadcaster_program.cpp @@ -0,0 +1,145 @@ +/* + * 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, Inc. 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. + */ + +#include +#include +#include "tf2_ros/static_transform_broadcaster.h" + + +bool validateXmlRpcTf(XmlRpc::XmlRpcValue tf_data) { + // Validate a TF stored in XML RPC format: ensures the appropriate fields + // exist. Note this does not check data types. + return tf_data.hasMember("child_frame_id") && + tf_data.hasMember("header") && + tf_data["header"].hasMember("frame_id") && + tf_data.hasMember("transform") && + tf_data["transform"].hasMember("translation") && + tf_data["transform"]["translation"].hasMember("x") && + tf_data["transform"]["translation"].hasMember("y") && + tf_data["transform"]["translation"].hasMember("z") && + tf_data["transform"].hasMember("rotation") && + tf_data["transform"]["rotation"].hasMember("x") && + tf_data["transform"]["rotation"].hasMember("y") && + tf_data["transform"]["rotation"].hasMember("z") && + tf_data["transform"]["rotation"].hasMember("w"); +}; + +int main(int argc, char ** argv) +{ + //Initialize ROS + ros::init(argc, argv,"static_transform_publisher", ros::init_options::AnonymousName); + tf2_ros::StaticTransformBroadcaster broadcaster; + geometry_msgs::TransformStamped msg; + + if(argc == 10) + { + msg.transform.translation.x = atof(argv[1]); + msg.transform.translation.y = atof(argv[2]); + msg.transform.translation.z = atof(argv[3]); + msg.transform.rotation.x = atof(argv[4]); + msg.transform.rotation.y = atof(argv[5]); + msg.transform.rotation.z = atof(argv[6]); + msg.transform.rotation.w = atof(argv[7]); + msg.header.stamp = ros::Time::now(); + msg.header.frame_id = argv[8]; + msg.child_frame_id = argv[9]; + } + else if (argc == 9) + { + msg.transform.translation.x = atof(argv[1]); + msg.transform.translation.y = atof(argv[2]); + msg.transform.translation.z = atof(argv[3]); + + tf2::Quaternion quat; + quat.setRPY(atof(argv[6]), atof(argv[5]), atof(argv[4])); + msg.transform.rotation.x = quat.x(); + msg.transform.rotation.y = quat.y(); + msg.transform.rotation.z = quat.z(); + msg.transform.rotation.w = quat.w(); + + msg.header.stamp = ros::Time::now(); + msg.header.frame_id = argv[7]; + msg.child_frame_id = argv[8]; + } + else if (argc == 2) { + const std::string param_name = argv[1]; + ROS_INFO_STREAM("Looking for TF in parameter: " << param_name); + XmlRpc::XmlRpcValue tf_data; + + if (!ros::param::has(param_name) || !ros::param::get(param_name, tf_data)) { + ROS_FATAL_STREAM("Could not read TF from parameter server: " << param_name); + return -1; + } + + // Check that all required members are present & of the right type. + if (!validateXmlRpcTf(tf_data)) { + ROS_FATAL_STREAM("Could not validate XmlRpcC for TF data: " << tf_data); + return -1; + } + + msg.transform.translation.x = (double) tf_data["transform"]["translation"]["x"]; + msg.transform.translation.y = (double) tf_data["transform"]["translation"]["y"]; + msg.transform.translation.z = (double) tf_data["transform"]["translation"]["z"]; + msg.transform.rotation.x = (double) tf_data["transform"]["rotation"]["x"]; + msg.transform.rotation.y = (double) tf_data["transform"]["rotation"]["y"]; + msg.transform.rotation.z = (double) tf_data["transform"]["rotation"]["z"]; + msg.transform.rotation.w = (double) tf_data["transform"]["rotation"]["w"]; + msg.header.stamp = ros::Time::now(); + msg.header.frame_id = (std::string) tf_data["header"]["frame_id"]; + msg.child_frame_id = (std::string) tf_data["child_frame_id"]; + } + else + { + printf("A command line utility for manually sending a transform.\n"); + //printf("It will periodicaly republish the given transform. \n"); + printf("Usage: static_transform_publisher x y z qx qy qz qw frame_id child_frame_id \n"); + printf("OR \n"); + printf("Usage: static_transform_publisher x y z yaw pitch roll frame_id child_frame_id \n"); + printf("OR \n"); + printf("Usage: static_transform_publisher /param_name \n"); + printf("\nThis transform is the transform of the coordinate frame from frame_id into the coordinate frame \n"); + printf("of the child_frame_id. \n"); + ROS_ERROR("static_transform_publisher exited due to not having the right number of arguments"); + return -1; + } + + // Checks: frames should not be the same. + if (msg.header.frame_id == msg.child_frame_id) + { + ROS_FATAL("target_frame and source frame are the same (%s, %s) this cannot work", + msg.header.frame_id.c_str(), msg.child_frame_id.c_str()); + return 1; + } + + broadcaster.sendTransform(msg); + ROS_INFO("Spinning until killed publishing %s to %s", + msg.header.frame_id.c_str(), msg.child_frame_id.c_str()); + ros::spin(); + return 0; +}; diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/__init__.py b/navigations/geometry2/tf2_ros/src/tf2_ros/__init__.py new file mode 100755 index 0000000..af5642c --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/tf2_ros/__init__.py @@ -0,0 +1,44 @@ +#! /usr/bin/python +#*********************************************************** +#* Software License Agreement (BSD License) +#* +#* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +#*********************************************************** +from __future__ import absolute_import +from tf2_py import * +from .buffer_interface import * +from .buffer import * +from .buffer_client import * +from .transform_listener import * +from .transform_broadcaster import * +from .static_transform_broadcaster import * diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/buffer.cpython-38.pyc b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/buffer.cpython-38.pyc new file mode 100644 index 0000000..cb47bdd Binary files /dev/null and b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/buffer.cpython-38.pyc differ diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/buffer_client.cpython-38.pyc b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/buffer_client.cpython-38.pyc new file mode 100644 index 0000000..cbd1b39 Binary files /dev/null and b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/buffer_client.cpython-38.pyc differ diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/buffer_interface.cpython-38.pyc b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/buffer_interface.cpython-38.pyc new file mode 100644 index 0000000..8801da8 Binary files /dev/null and b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/buffer_interface.cpython-38.pyc differ diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/static_transform_broadcaster.cpython-38.pyc b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/static_transform_broadcaster.cpython-38.pyc new file mode 100644 index 0000000..c9ba81a Binary files /dev/null and b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/static_transform_broadcaster.cpython-38.pyc differ diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/transform_broadcaster.cpython-38.pyc b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/transform_broadcaster.cpython-38.pyc new file mode 100644 index 0000000..a6aa445 Binary files /dev/null and b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/transform_broadcaster.cpython-38.pyc differ diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/transform_listener.cpython-38.pyc b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/transform_listener.cpython-38.pyc new file mode 100644 index 0000000..7e8587d Binary files /dev/null and b/navigations/geometry2/tf2_ros/src/tf2_ros/__pycache__/transform_listener.cpython-38.pyc differ diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/buffer.py b/navigations/geometry2/tf2_ros/src/tf2_ros/buffer.py new file mode 100755 index 0000000..ff23d26 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/tf2_ros/buffer.py @@ -0,0 +1,162 @@ +# 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, Inc. 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: Wim Meeussen + +import rospy +import tf2_py as tf2 +import tf2_ros +from tf2_msgs.srv import FrameGraph, FrameGraphResponse +import rosgraph.masterapi + +DEFAULT_CAN_TRANSFORM_POLLING_SCALE = 0.01 + +class Buffer(tf2.BufferCore, tf2_ros.BufferInterface): + """ + Standard implementation of the :class:`tf2_ros.BufferInterface` abstract data type. + + Inherits from :class:`tf2_ros.buffer_interface.BufferInterface` and :class:`tf2.BufferCore`. + + Stores known frames and optionally offers a ROS service, "tf2_frames", which responds to client requests + with a response containing a :class:`tf2_msgs.FrameGraph` representing the relationship of + known frames. + """ + + def __init__(self, cache_time = None, debug = True): + """ + .. function:: __init__(cache_time = None, debug = True) + + Constructor. + + :param cache_time: (Optional) How long to retain past information in BufferCore. + :param debug: (Optional) If true, check if another tf2_frames service has been advertised. + """ + if cache_time != None: + tf2.BufferCore.__init__(self, cache_time) + else: + tf2.BufferCore.__init__(self) + tf2_ros.BufferInterface.__init__(self) + + if debug: + #Check to see if the service has already been advertised in this node + try: + m = rosgraph.masterapi.Master(rospy.get_name()) + m.lookupService('~tf2_frames') + except (rosgraph.masterapi.Error, rosgraph.masterapi.Failure): + self.frame_server = rospy.Service('~tf2_frames', FrameGraph, self.__get_frames) + + self.CAN_TRANSFORM_POLLING_SCALE = DEFAULT_CAN_TRANSFORM_POLLING_SCALE + + def __get_frames(self, req): + return FrameGraphResponse(self.all_frames_as_yaml()) + + def lookup_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)): + """ + Get the transform from the source frame to the target frame. + + :param target_frame: Name of the frame to transform into. + :param source_frame: Name of the input frame. + :param time: The time at which to get the transform. (0 will get the latest) + :param timeout: (Optional) Time to wait for the target frame to become available. + :return: The transform between the frames. + :rtype: :class:`geometry_msgs.msg.TransformStamped` + """ + + self.can_transform(target_frame, source_frame, time, timeout) + return self.lookup_transform_core(target_frame, source_frame, time) + + def lookup_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)): + """ + Get the transform from the source frame to the target frame using the advanced API. + + :param target_frame: Name of the frame to transform into. + :param target_time: The time to transform to. (0 will get the latest) + :param source_frame: Name of the input frame. + :param source_time: The time at which source_frame will be evaluated. (0 will get the latest) + :param fixed_frame: Name of the frame to consider constant in time. + :param timeout: (Optional) Time to wait for the target frame to become available. + :return: The transform between the frames. + :rtype: :class:`geometry_msgs.msg.TransformStamped` + """ + self.can_transform_full(target_frame, target_time, source_frame, source_time, fixed_frame, timeout) + return self.lookup_transform_full_core(target_frame, target_time, source_frame, source_time, fixed_frame) + + + def can_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0), return_debug_tuple=False): + """ + Check if a transform from the source frame to the target frame is possible. + + :param target_frame: Name of the frame to transform into. + :param source_frame: Name of the input frame. + :param time: The time at which to get the transform. (0 will get the latest) + :param timeout: (Optional) Time to wait for the target frame to become available. + :param return_debug_type: (Optional) If true, return a tuple representing debug information. + :return: True if the transform is possible, false otherwise. + :rtype: bool + """ + if timeout != rospy.Duration(0.0): + start_time = rospy.Time.now() + polling_interval = timeout * self.CAN_TRANSFORM_POLLING_SCALE + while (rospy.Time.now() < start_time + timeout and + not self.can_transform_core(target_frame, source_frame, time)[0] and + (rospy.Time.now()+rospy.Duration(3.0)) >= start_time): # big jumps in time are likely bag loops, so break for them + rospy.sleep(polling_interval) + core_result = self.can_transform_core(target_frame, source_frame, time) + if return_debug_tuple: + return core_result + return core_result[0] + + def can_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0), + + return_debug_tuple=False): + """ + Check if a transform from the source frame to the target frame is possible (advanced API). + + Must be implemented by a subclass of BufferInterface. + + :param target_frame: Name of the frame to transform into. + :param target_time: The time to transform to. (0 will get the latest) + :param source_frame: Name of the input frame. + :param source_time: The time at which source_frame will be evaluated. (0 will get the latest) + :param fixed_frame: Name of the frame to consider constant in time. + :param timeout: (Optional) Time to wait for the target frame to become available. + :param return_debug_type: (Optional) If true, return a tuple representing debug information. + :return: True if the transform is possible, false otherwise. + :rtype: bool + """ + if timeout != rospy.Duration(0.0): + start_time = rospy.Time.now() + polling_interval = timeout * self.CAN_TRANSFORM_POLLING_SCALE + while (rospy.Time.now() < start_time + timeout and + not self.can_transform_full_core(target_frame, target_time, source_frame, source_time, fixed_frame)[0] and + (rospy.Time.now()+rospy.Duration(3.0)) >= start_time): # big jumps in time are likely bag loops, so break for them + rospy.sleep(polling_interval) + core_result = self.can_transform_full_core(target_frame, target_time, source_frame, source_time, fixed_frame) + if return_debug_tuple: + return core_result + return core_result[0] + diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/buffer_client.py b/navigations/geometry2/tf2_ros/src/tf2_ros/buffer_client.py new file mode 100755 index 0000000..ae4d9fe --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/tf2_ros/buffer_client.py @@ -0,0 +1,196 @@ +#! /usr/bin/python +#*********************************************************** +#* Software License Agreement (BSD License) +#* +#* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +#*********************************************************** +import rospy +import actionlib +import tf2_py as tf2 +import tf2_ros + +from tf2_msgs.msg import LookupTransformAction, LookupTransformGoal +from actionlib_msgs.msg import GoalStatus + +class BufferClient(tf2_ros.BufferInterface): + """ + Action client-based implementation of BufferInterface. + """ + def __init__(self, ns, check_frequency = None, timeout_padding = rospy.Duration.from_sec(2.0)): + """ + .. function:: __init__(ns, check_frequency = None, timeout_padding = rospy.Duration.from_sec(2.0)) + + Constructor. + + :param ns: The namespace in which to look for a BufferServer. + :param check_frequency: How frequently to check for updates to known transforms. + :param timeout_padding: A constant timeout to add to blocking calls. + """ + tf2_ros.BufferInterface.__init__(self) + self.client = actionlib.SimpleActionClient(ns, LookupTransformAction) + self.timeout_padding = timeout_padding + + if check_frequency is not None: + rospy.logwarn('Argument check_frequency is deprecated and should not be used.') + + def wait_for_server(self, timeout = rospy.Duration()): + """ + Block until the action server is ready to respond to requests. + + :param timeout: Time to wait for the server. + :return: True if the server is ready, false otherwise. + :rtype: bool + """ + return self.client.wait_for_server(timeout) + + # lookup, simple api + def lookup_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)): + """ + Get the transform from the source frame to the target frame. + + :param target_frame: Name of the frame to transform into. + :param source_frame: Name of the input frame. + :param time: The time at which to get the transform. (0 will get the latest) + :param timeout: (Optional) Time to wait for the target frame to become available. + :return: The transform between the frames. + :rtype: :class:`geometry_msgs.msg.TransformStamped` + """ + goal = LookupTransformGoal() + goal.target_frame = target_frame; + goal.source_frame = source_frame; + goal.source_time = time; + goal.timeout = timeout; + goal.advanced = False; + + return self.__process_goal(goal) + + # lookup, advanced api + def lookup_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)): + """ + Get the transform from the source frame to the target frame using the advanced API. + + :param target_frame: Name of the frame to transform into. + :param target_time: The time to transform to. (0 will get the latest) + :param source_frame: Name of the input frame. + :param source_time: The time at which source_frame will be evaluated. (0 will get the latest) + :param fixed_frame: Name of the frame to consider constant in time. + :param timeout: (Optional) Time to wait for the target frame to become available. + :return: The transform between the frames. + :rtype: :class:`geometry_msgs.msg.TransformStamped` + """ + goal = LookupTransformGoal() + goal.target_frame = target_frame; + goal.source_frame = source_frame; + goal.source_time = source_time; + goal.timeout = timeout; + goal.target_time = target_time; + goal.fixed_frame = fixed_frame; + goal.advanced = True; + + return self.__process_goal(goal) + + # can, simple api + def can_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)): + """ + Check if a transform from the source frame to the target frame is possible. + + :param target_frame: Name of the frame to transform into. + :param source_frame: Name of the input frame. + :param time: The time at which to get the transform. (0 will get the latest) + :param timeout: (Optional) Time to wait for the target frame to become available. + :param return_debug_type: (Optional) If true, return a tuple representing debug information. + :return: True if the transform is possible, false otherwise. + :rtype: bool + """ + try: + self.lookup_transform(target_frame, source_frame, time, timeout) + return True + except tf2.TransformException: + return False + + + # can, advanced api + def can_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)): + """ + Check if a transform from the source frame to the target frame is possible (advanced API). + + Must be implemented by a subclass of BufferInterface. + + :param target_frame: Name of the frame to transform into. + :param target_time: The time to transform to. (0 will get the latest) + :param source_frame: Name of the input frame. + :param source_time: The time at which source_frame will be evaluated. (0 will get the latest) + :param fixed_frame: Name of the frame to consider constant in time. + :param timeout: (Optional) Time to wait for the target frame to become available. + :param return_debug_type: (Optional) If true, return a tuple representing debug information. + :return: True if the transform is possible, false otherwise. + :rtype: bool + """ + try: + self.lookup_transform_full(target_frame, target_time, source_frame, source_time, fixed_frame, timeout) + return True + except tf2.TransformException: + return False + + def __process_goal(self, goal): + self.client.send_goal(goal) + + if not self.client.wait_for_result(goal.timeout + self.timeout_padding): + #This shouldn't happen, but could in rare cases where the server hangs + raise tf2.TimeoutException("The LookupTransform goal sent to the BufferServer did not come back in the specified time. Something is likely wrong with the server") + + if self.client.get_state() != GoalStatus.SUCCEEDED: + raise tf2.TimeoutException("The LookupTransform goal sent to the BufferServer did not come back with SUCCEEDED status. Something is likely wrong with the server.") + + return self.__process_result(self.client.get_result()) + + def __process_result(self, result): + if not result: + raise tf2.TransformException("The BufferServer returned None for result! Something is likely wrong with the server.") + if not result.error: + raise tf2.TransformException("The BufferServer returned None for result.error! Something is likely wrong with the server.") + if result.error.error != result.error.NO_ERROR: + if result.error.error == result.error.LOOKUP_ERROR: + raise tf2.LookupException(result.error.error_string) + if result.error.error == result.error.CONNECTIVITY_ERROR: + raise tf2.ConnectivityException(result.error.error_string) + if result.error.error == result.error.EXTRAPOLATION_ERROR: + raise tf2.ExtrapolationException(result.error.error_string) + if result.error.error == result.error.INVALID_ARGUMENT_ERROR: + raise tf2.InvalidArgumentException(result.error.error_string) + if result.error.error == result.error.TIMEOUT_ERROR: + raise tf2.TimeoutException(result.error.error_string) + + raise tf2.TransformException(result.error.error_string) + + return result.transform diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/buffer_interface.py b/navigations/geometry2/tf2_ros/src/tf2_ros/buffer_interface.py new file mode 100755 index 0000000..a8d7867 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/tf2_ros/buffer_interface.py @@ -0,0 +1,251 @@ +# 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, Inc. 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: Wim Meeussen + +from __future__ import print_function + +import rospy +import tf2_py as tf2 +import tf2_ros +from copy import deepcopy +from std_msgs.msg import Header + +class BufferInterface: + """ + Abstract interface for wrapping the Python bindings for the tf2 library in + a ROS-based convenience API. + Implementations include :class:tf2_ros.buffer.Buffer and + :class:tf2_ros.buffer_client.BufferClient. + """ + def __init__(self): + self.registration = tf2_ros.TransformRegistration() + + # transform, simple api + def transform(self, object_stamped, target_frame, timeout=rospy.Duration(0.0), new_type = None): + """ + Transform an input into the target frame. + + The input must be a known transformable type (by way of the tf2 data type conversion interface). + + If new_type is not None, the type specified must have a valid conversion from the input type, + else the function will raise an exception. + + :param object_stamped: The timestamped object the transform. + :param target_frame: Name of the frame to transform the input into. + :param timeout: (Optional) Time to wait for the target frame to become available. + :param new_type: (Optional) Type to convert the object to. + :return: The transformed, timestamped output, possibly converted to a new type. + """ + do_transform = self.registration.get(type(object_stamped)) + res = do_transform(object_stamped, self.lookup_transform(target_frame, object_stamped.header.frame_id, + object_stamped.header.stamp, timeout)) + if not new_type: + return res + + return convert(res, new_type) + + # transform, advanced api + def transform_full(self, object_stamped, target_frame, target_time, fixed_frame, timeout=rospy.Duration(0.0), new_type = None): + """ + Transform an input into the target frame (advanced API). + + The input must be a known transformable type (by way of the tf2 data type conversion interface). + + If new_type is not None, the type specified must have a valid conversion from the input type, + else the function will raise an exception. + + This function follows the advanced API, which allows tranforming between different time points, + as well as specifying a frame to be considered fixed in time. + + :param object_stamped: The timestamped object the transform. + :param target_frame: Name of the frame to transform the input into. + :param target_time: Time to transform the input into. + :param fixed_frame: Name of the frame to consider constant in time. + :param timeout: (Optional) Time to wait for the target frame to become available. + :param new_type: (Optional) Type to convert the object to. + :return: The transformed, timestamped output, possibly converted to a new type. + """ + do_transform = self.registration.get(type(object_stamped)) + res = do_transform(object_stamped, self.lookup_transform_full(target_frame, target_time, + object_stamped.header.frame_id, object_stamped.header.stamp, + fixed_frame, timeout)) + if not new_type: + return res + + return convert(res, new_type) + + def lookup_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)): + """ + Get the transform from the source frame to the target frame. + + Must be implemented by a subclass of BufferInterface. + + :param target_frame: Name of the frame to transform into. + :param source_frame: Name of the input frame. + :param time: The time at which to get the transform. (0 will get the latest) + :param timeout: (Optional) Time to wait for the target frame to become available. + :return: The transform between the frames. + :rtype: :class:`geometry_msgs.msg.TransformStamped` + """ + raise NotImplementedException() + + def lookup_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)): + """ + Get the transform from the source frame to the target frame using the advanced API. + + Must be implemented by a subclass of BufferInterface. + + :param target_frame: Name of the frame to transform into. + :param target_time: The time to transform to. (0 will get the latest) + :param source_frame: Name of the input frame. + :param source_time: The time at which source_frame will be evaluated. (0 will get the latest) + :param fixed_frame: Name of the frame to consider constant in time. + :param timeout: (Optional) Time to wait for the target frame to become available. + :return: The transform between the frames. + :rtype: :class:`geometry_msgs.msg.TransformStamped` + """ + raise NotImplementedException() + + # can, simple api + def can_transform(self, target_frame, source_frame, time, timeout=rospy.Duration(0.0)): + """ + Check if a transform from the source frame to the target frame is possible. + + Must be implemented by a subclass of BufferInterface. + + :param target_frame: Name of the frame to transform into. + :param source_frame: Name of the input frame. + :param time: The time at which to get the transform. (0 will get the latest) + :param timeout: (Optional) Time to wait for the target frame to become available. + :return: True if the transform is possible, false otherwise. + :rtype: bool + """ + raise NotImplementedException() + + # can, advanced api + def can_transform_full(self, target_frame, target_time, source_frame, source_time, fixed_frame, timeout=rospy.Duration(0.0)): + """ + Check if a transform from the source frame to the target frame is possible (advanced API). + + Must be implemented by a subclass of BufferInterface. + + :param target_frame: Name of the frame to transform into. + :param target_time: The time to transform to. (0 will get the latest) + :param source_frame: Name of the input frame. + :param source_time: The time at which source_frame will be evaluated. (0 will get the latest) + :param fixed_frame: Name of the frame to consider constant in time. + :param timeout: (Optional) Time to wait for the target frame to become available. + :return: True if the transform is possible, false otherwise. + :rtype: bool + """ + raise NotImplementedException() + + +def Stamped(obj, stamp, frame_id): + obj.header = Header(frame_id=frame_id, stamp=stamp) + return obj + + + +class TypeException(Exception): + """ + Raised when an unexpected type is received while registering a transform + in :class:`tf2_ros.buffer_interface.BufferInterface`. + """ + def __init__(self, errstr): + self.errstr = errstr + +class NotImplementedException(Exception): + """ + Raised when can_transform or lookup_transform is not implemented in a + subclass of :class:`tf2_ros.buffer_interface.BufferInterface`. + """ + def __init__(self): + self.errstr = 'CanTransform or LookupTransform not implemented' + + +class TransformRegistration(): + __type_map = {} + + def print_me(self): + print(TransformRegistration.__type_map) + + def add(self, key, callback): + TransformRegistration.__type_map[key] = callback + + def get(self, key): + if not key in TransformRegistration.__type_map: + raise TypeException('Type %s if not loaded or supported'% str(key)) + else: + return TransformRegistration.__type_map[key] + +class ConvertRegistration(): + __to_msg_map = {} + __from_msg_map = {} + __convert_map = {} + + def add_from_msg(self, key, callback): + ConvertRegistration.__from_msg_map[key] = callback + + def add_to_msg(self, key, callback): + ConvertRegistration.__to_msg_map[key] = callback + + def add_convert(self, key, callback): + ConvertRegistration.__convert_map[key] = callback + + def get_from_msg(self, key): + if not key in ConvertRegistration.__from_msg_map: + raise TypeException('Type %s if not loaded or supported'% str(key)) + else: + return ConvertRegistration.__from_msg_map[key] + + def get_to_msg(self, key): + if not key in ConvertRegistration.__to_msg_map: + raise TypeException('Type %s if not loaded or supported'%str(key)) + else: + return ConvertRegistration.__to_msg_map[key] + + def get_convert(self, key): + if not key in ConvertRegistration.__convert_map: + raise TypeException("Type %s if not loaded or supported" % str(key)) + else: + return ConvertRegistration.__convert_map[key] + +def convert(a, b_type): + c = ConvertRegistration() + #check if an efficient conversion function between the types exists + try: + f = c.get_convert((type(a), b_type)) + return f(a) + except TypeException: + if type(a) == b_type: + return deepcopy(a) + + f_to = c.get_to_msg(type(a)) + f_from = c.get_from_msg(b_type) + return f_from(f_to(a)) diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/static_transform_broadcaster.py b/navigations/geometry2/tf2_ros/src/tf2_ros/static_transform_broadcaster.py new file mode 100755 index 0000000..064a687 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/tf2_ros/static_transform_broadcaster.py @@ -0,0 +1,51 @@ +# 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. + +import rospy +from tf2_msgs.msg import TFMessage +from geometry_msgs.msg import TransformStamped + + +class StaticTransformBroadcaster(object): + """ + :class:`StaticTransformBroadcaster` is a convenient way to send static transformation on the ``"/tf_static"`` message topic. + """ + + def __init__(self): + self.pub_tf = rospy.Publisher("/tf_static", TFMessage, queue_size=100, latch=True) + + def sendTransform(self, transform): + if not isinstance(transform, list): + transform = [transform] + self.pub_tf.publish(TFMessage(transform)) + + diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/transform_broadcaster.py b/navigations/geometry2/tf2_ros/src/tf2_ros/transform_broadcaster.py new file mode 100755 index 0000000..e86e835 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/tf2_ros/transform_broadcaster.py @@ -0,0 +1,56 @@ +# 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. + +import rospy +from tf2_msgs.msg import TFMessage +from geometry_msgs.msg import TransformStamped + + +class TransformBroadcaster: + """ + :class:`TransformBroadcaster` is a convenient way to send transformation updates on the ``"/tf"`` message topic. + """ + + def __init__(self): + self.pub_tf = rospy.Publisher("/tf", TFMessage, queue_size=100) + + def sendTransform(self, transform): + """ + Send a transform, or a list of transforms, to the Buffer associated with this TransformBroadcaster. + + :param transform: A transform or list of transforms to send. + """ + if not isinstance(transform, list): + transform = [transform] + self.pub_tf.publish(TFMessage(transform)) + + diff --git a/navigations/geometry2/tf2_ros/src/tf2_ros/transform_listener.py b/navigations/geometry2/tf2_ros/src/tf2_ros/transform_listener.py new file mode 100755 index 0000000..53625e8 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/tf2_ros/transform_listener.py @@ -0,0 +1,89 @@ +# 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, Inc. 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: Wim Meeussen + +import threading + +import rospy +from tf2_msgs.msg import TFMessage + + +class TransformListener: + """ + :class:`TransformListener` is a convenient way to listen for coordinate frame transformation info. + This class takes an object that instantiates the :class:`BufferInterface` interface, to which + it propagates changes to the tf frame graph. + """ + def __init__(self, buffer, queue_size=None, buff_size=65536, tcp_nodelay=False): + """ + .. function:: __init__(buffer, queue_size=None, buff_size=65536, tcp_nodelay=False): + + Constructor. + + :param buffer: The buffer to propagate changes to when tf info updates. + :param queue_size: Maximum number of messages to receive at a time. This will generally be 1 or None (infinite, default). buff_size should be increased if this parameter is set as incoming data still needs to sit in the incoming buffer before being discarded. Setting queue_size buff_size to a non-default value affects all subscribers to this topic in this process. + :param buff_size: Incoming message buffer size in bytes. If queue_size is set, this should be set to a number greater than the queue_size times the average message size. Setting buff_size to a non-default value affects all subscribers to this topic in this process. + :param tcp_nodelay: If True, request TCP_NODELAY from publisher. Use of this option is not generally recommended in most cases as it is better to rely on timestamps in message data. Setting tcp_nodelay to True enables TCP_NODELAY for all subscribers in the same python process. + """ + self.buffer = buffer + self.last_update = rospy.Time.now() + self.last_update_lock = threading.Lock() + self.tf_sub = rospy.Subscriber("/tf", TFMessage, self.callback, queue_size=queue_size, buff_size=buff_size, tcp_nodelay=tcp_nodelay) + self.tf_static_sub = rospy.Subscriber("/tf_static", TFMessage, self.static_callback, queue_size=queue_size, buff_size=buff_size, tcp_nodelay=tcp_nodelay) + + def __del__(self): + self.unregister() + + def unregister(self): + """ + Unregisters all tf subscribers. + """ + self.tf_sub.unregister() + self.tf_static_sub.unregister() + + def check_for_reset(self): + # Lock to prevent different threads racing on this test and update. + # https://github.com/ros/geometry2/issues/341 + with self.last_update_lock: + now = rospy.Time.now() + if now < self.last_update: + rospy.logwarn("Detected jump back in time of %fs. Clearing TF buffer." % (self.last_update - now).to_sec()) + self.buffer.clear() + self.last_update = now + + def callback(self, data): + self.check_for_reset() + who = data._connection_header.get('callerid', "default_authority") + for transform in data.transforms: + self.buffer.set_transform(transform, who) + + def static_callback(self, data): + self.check_for_reset() + who = data._connection_header.get('callerid', "default_authority") + for transform in data.transforms: + self.buffer.set_transform_static(transform, who) diff --git a/navigations/geometry2/tf2_ros/src/transform_broadcaster.cpp b/navigations/geometry2/tf2_ros/src/transform_broadcaster.cpp new file mode 100755 index 0000000..94cce47 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/transform_broadcaster.cpp @@ -0,0 +1,66 @@ +/* + * 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, Inc. 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 Tully Foote */ + + +#include "ros/ros.h" +#include "tf2_msgs/TFMessage.h" +#include "tf2_ros/transform_broadcaster.h" + +namespace tf2_ros { + +TransformBroadcaster::TransformBroadcaster() +{ + publisher_ = node_.advertise("/tf", 100); +}; + +void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped & msgtf) +{ + std::vector v1; + v1.push_back(msgtf); + sendTransform(v1); +} + + +void TransformBroadcaster::sendTransform(const std::vector & msgtf) +{ + tf2_msgs::TFMessage message; + for (std::vector::const_iterator it = msgtf.begin(); it != msgtf.end(); ++it) + { + message.transforms.push_back(*it); + } + publisher_.publish(message); +} + + +} + + diff --git a/navigations/geometry2/tf2_ros/src/transform_listener.cpp b/navigations/geometry2/tf2_ros/src/transform_listener.cpp new file mode 100755 index 0000000..78646f8 --- /dev/null +++ b/navigations/geometry2/tf2_ros/src/transform_listener.cpp @@ -0,0 +1,136 @@ +/* + * 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, Inc. 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 Tully Foote */ + +#include "tf2_ros/transform_listener.h" + + +using namespace tf2_ros; + + +TransformListener::TransformListener(tf2::BufferCore& buffer, bool spin_thread, ros::TransportHints transport_hints): + dedicated_listener_thread_(NULL), buffer_(buffer), using_dedicated_thread_(false), transport_hints_(transport_hints) +{ + if (spin_thread) + initWithThread(); + else + init(); +} + +TransformListener::TransformListener(tf2::BufferCore& buffer, const ros::NodeHandle& nh, bool spin_thread, + ros::TransportHints transport_hints) +: dedicated_listener_thread_(NULL) +, node_(nh) +, buffer_(buffer) +, using_dedicated_thread_(false) +, transport_hints_(transport_hints) +{ + if (spin_thread) + initWithThread(); + else + init(); +} + +TransformListener::~TransformListener() +{ + using_dedicated_thread_ = false; + if (dedicated_listener_thread_) + { + dedicated_listener_thread_->join(); + delete dedicated_listener_thread_; + } +} + +void TransformListener::init() +{ + message_subscriber_tf_ = node_.subscribe("/tf", 100, boost::bind(&TransformListener::subscription_callback, this, boost::placeholders::_1), ros::VoidConstPtr(), transport_hints_); ///\todo magic number + message_subscriber_tf_static_ = node_.subscribe("/tf_static", 100, boost::bind(&TransformListener::static_subscription_callback, this, boost::placeholders::_1)); ///\todo magic number +} + +void TransformListener::initWithThread() +{ + using_dedicated_thread_ = true; + ros::SubscribeOptions ops_tf = ros::SubscribeOptions::create("/tf", 100, boost::bind(&TransformListener::subscription_callback, this, boost::placeholders::_1), ros::VoidPtr(), &tf_message_callback_queue_); ///\todo magic number + ops_tf.transport_hints = transport_hints_; + message_subscriber_tf_ = node_.subscribe(ops_tf); + + ros::SubscribeOptions ops_tf_static = ros::SubscribeOptions::create("/tf_static", 100, boost::bind(&TransformListener::static_subscription_callback, this, boost::placeholders::_1), ros::VoidPtr(), &tf_message_callback_queue_); ///\todo magic number + message_subscriber_tf_static_ = node_.subscribe(ops_tf_static); + + dedicated_listener_thread_ = new boost::thread(boost::bind(&TransformListener::dedicatedListenerThread, this)); + + //Tell the buffer we have a dedicated thread to enable timeouts + buffer_.setUsingDedicatedThread(true); +} + + + +void TransformListener::subscription_callback(const ros::MessageEvent& msg_evt) +{ + subscription_callback_impl(msg_evt, false); +} +void TransformListener::static_subscription_callback(const ros::MessageEvent& msg_evt) +{ + subscription_callback_impl(msg_evt, true); +} + +void TransformListener::subscription_callback_impl(const ros::MessageEvent& msg_evt, bool is_static) +{ + ros::Time now = ros::Time::now(); + if(now < last_update_){ + ROS_WARN_STREAM("Detected jump back in time of " << (last_update_ - now).toSec() << "s. Clearing TF buffer."); + buffer_.clear(); + } + last_update_ = now; + + + + const tf2_msgs::TFMessage& msg_in = *(msg_evt.getConstMessage()); + std::string authority = msg_evt.getPublisherName(); // lookup the authority + for (unsigned int i = 0; i < msg_in.transforms.size(); i++) + { + try + { + buffer_.setTransform(msg_in.transforms[i], authority, is_static); + } + + catch (tf2::TransformException& ex) + { + ///\todo Use error reporting + std::string temp = ex.what(); + ROS_ERROR("Failure to set recieved transform from %s to %s with error: %s\n", msg_in.transforms[i].child_frame_id.c_str(), msg_in.transforms[i].header.frame_id.c_str(), temp.c_str()); + } + } +}; + + + + + diff --git a/navigations/geometry2/tf2_ros/test/listener_unittest.cpp b/navigations/geometry2/tf2_ros/test/listener_unittest.cpp new file mode 100755 index 0000000..61e9a31 --- /dev/null +++ b/navigations/geometry2/tf2_ros/test/listener_unittest.cpp @@ -0,0 +1,51 @@ +/* + * 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, Inc. 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. + */ + +#include +#include + +using namespace tf2; + +TEST(tf2_ros_transform, transform_listener) +{ + tf2_ros::Buffer buffer; + tf2_ros::TransformListener tfl(buffer); +} + +TEST(tf2_ros_transform, transform_listener_transport_hints) +{ + tf2_ros::Buffer buffer; + tf2_ros::TransformListener tfl(buffer, true, ros::TransportHints().tcpNoDelay()); +} + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "transform_listener_unittest"); + return RUN_ALL_TESTS(); +} diff --git a/navigations/geometry2/tf2_ros/test/message_filter_test.cpp b/navigations/geometry2/tf2_ros/test/message_filter_test.cpp new file mode 100755 index 0000000..b613d24 --- /dev/null +++ b/navigations/geometry2/tf2_ros/test/message_filter_test.cpp @@ -0,0 +1,125 @@ +/* + * Copyright (c) 2014, Open Source Robotics Foundation + * 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, Inc. 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + + +void spin_for_a_second() +{ + ros::spinOnce(); + for (uint8_t i = 0; i < 10; ++i) + { + std::this_thread::sleep_for(std::chrono::microseconds(100)); + ros::spinOnce(); + } +} + +bool filter_callback_fired = false; +void filter_callback(const geometry_msgs::PointStamped& msg) +{ + filter_callback_fired = true; +} + +TEST(tf2_ros_message_filter, multiple_frames_and_time_tolerance) +{ + ros::NodeHandle nh; + message_filters::Subscriber sub; + sub.subscribe(nh, "point", 10); + + tf2_ros::Buffer buffer; + tf2_ros::TransformListener tfl(buffer); + tf2_ros::MessageFilter filter(buffer, "map", 10, nh); + filter.connectInput(sub); + filter.registerCallback(&filter_callback); + // Register multiple target frames + std::vector frames; + frames.push_back("odom"); + frames.push_back("map"); + filter.setTargetFrames(frames); + // Set a non-zero time tolerance + filter.setTolerance(ros::Duration(1, 0)); + + // Publish static transforms so the frame transformations will always be valid + tf2_ros::StaticTransformBroadcaster tfb; + geometry_msgs::TransformStamped map_to_odom; + map_to_odom.header.stamp = ros::Time(0, 0); + map_to_odom.header.frame_id = "map"; + map_to_odom.child_frame_id = "odom"; + map_to_odom.transform.translation.x = 0.0; + map_to_odom.transform.translation.y = 0.0; + map_to_odom.transform.translation.z = 0.0; + map_to_odom.transform.rotation.x = 0.0; + map_to_odom.transform.rotation.y = 0.0; + map_to_odom.transform.rotation.z = 0.0; + map_to_odom.transform.rotation.w = 1.0; + tfb.sendTransform(map_to_odom); + + geometry_msgs::TransformStamped odom_to_base; + odom_to_base.header.stamp = ros::Time(0, 0); + odom_to_base.header.frame_id = "odom"; + odom_to_base.child_frame_id = "base"; + odom_to_base.transform.translation.x = 0.0; + odom_to_base.transform.translation.y = 0.0; + odom_to_base.transform.translation.z = 0.0; + odom_to_base.transform.rotation.x = 0.0; + odom_to_base.transform.rotation.y = 0.0; + odom_to_base.transform.rotation.z = 0.0; + odom_to_base.transform.rotation.w = 1.0; + tfb.sendTransform(odom_to_base); + + // Publish a Point message in the "base" frame + ros::Publisher pub = nh.advertise("point", 10); + geometry_msgs::PointStamped point; + point.header.stamp = ros::Time::now(); + point.header.frame_id = "base"; + pub.publish(point); + + // make sure it arrives + spin_for_a_second(); + + // The filter callback should have been fired because all required transforms are available + ASSERT_TRUE(filter_callback_fired); +} + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "tf2_ros_message_filter"); + return RUN_ALL_TESTS(); +} diff --git a/navigations/geometry2/tf2_ros/test/message_filter_test.launch b/navigations/geometry2/tf2_ros/test/message_filter_test.launch new file mode 100755 index 0000000..b32f8dc --- /dev/null +++ b/navigations/geometry2/tf2_ros/test/message_filter_test.launch @@ -0,0 +1,4 @@ + + + + diff --git a/navigations/geometry2/tf2_ros/test/time_reset_test.cpp b/navigations/geometry2/tf2_ros/test/time_reset_test.cpp new file mode 100755 index 0000000..541fac0 --- /dev/null +++ b/navigations/geometry2/tf2_ros/test/time_reset_test.cpp @@ -0,0 +1,111 @@ +/* + * Copyright (c) 2014, Open Source Robotics Foundation + * 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, Inc. 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. + */ + +#include +#include +#include +#include +#include +#include + +using namespace tf2; + +void spin_for_a_second() +{ + ros::spinOnce(); + for (uint8_t i = 0; i < 10; ++i) + { + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + ros::spinOnce(); + } +} + +TEST(tf2_ros_transform_listener, time_backwards) +{ + + tf2_ros::Buffer buffer; + tf2_ros::TransformListener tfl(buffer); + tf2_ros::TransformBroadcaster tfb; + + ros::NodeHandle nh = ros::NodeHandle(); + + ros::Publisher clock = nh.advertise("/clock", 5); + + rosgraph_msgs::Clock c; + c.clock = ros::Time(100); + clock.publish(c); + + // basic test + ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0))); + + // set the transform + geometry_msgs::TransformStamped msg; + msg.header.stamp = ros::Time(100, 0); + msg.header.frame_id = "foo"; + msg.child_frame_id = "bar"; + msg.transform.rotation.x = 1.0; + tfb.sendTransform(msg); + msg.header.stamp = ros::Time(102, 0); + tfb.sendTransform(msg); + + + // make sure it arrives + spin_for_a_second(); + + // verify it's been set + ASSERT_TRUE(buffer.canTransform("foo", "bar", ros::Time(101, 0))); + + c.clock = ros::Time(90); + clock.publish(c); + + // make sure it arrives + spin_for_a_second(); + + //Send another message to trigger clock test on an unrelated frame + msg.header.stamp = ros::Time(110, 0); + msg.header.frame_id = "foo2"; + msg.child_frame_id = "bar2"; + tfb.sendTransform(msg); + + // make sure it arrives + spin_for_a_second(); + + //verify the data's been cleared + ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0))); + +} + + + + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "transform_listener_backwards_reset"); + return RUN_ALL_TESTS(); +} diff --git a/navigations/geometry2/tf2_ros/test/transform_listener_time_reset_test.launch b/navigations/geometry2/tf2_ros/test/transform_listener_time_reset_test.launch new file mode 100755 index 0000000..ae31a90 --- /dev/null +++ b/navigations/geometry2/tf2_ros/test/transform_listener_time_reset_test.launch @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/navigations/geometry2/tf2_ros/test/transform_listener_unittest.launch b/navigations/geometry2/tf2_ros/test/transform_listener_unittest.launch new file mode 100755 index 0000000..42a8149 --- /dev/null +++ b/navigations/geometry2/tf2_ros/test/transform_listener_unittest.launch @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/navigations/geometry2/tf2_sensor_msgs/CHANGELOG.rst b/navigations/geometry2/tf2_sensor_msgs/CHANGELOG.rst new file mode 100755 index 0000000..51fd4ef --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/CHANGELOG.rst @@ -0,0 +1,110 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package tf2_sensor_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.7.6 (2022-10-11) +------------------ + +0.7.5 (2020-09-01) +------------------ + +0.7.4 (2020-09-01) +------------------ + +0.7.3 (2020-08-25) +------------------ +* Use list instead of set to make build reproducible (`#473 `_) +* Contributors: Jochen Sprickerhof + +0.7.2 (2020-06-08) +------------------ + +0.7.1 (2020-05-13) +------------------ +* import setup from setuptools instead of distutils-core (`#449 `_) +* Contributors: Alejandro Hernández Cordero + +0.7.0 (2020-03-09) +------------------ +* Replace kdl packages with rosdep keys (`#447 `_) +* Bump CMake version to avoid CMP0048 warning (`#445 `_) +* Merge pull request `#378 `_ from peci1/tf2_sensor_msgs_isometry + Affine->Isometry +* Python 3 compatibility: relative imports and print statement +* Contributors: Martin Pecka, Shane Loretz, Timon Engelke, Tully Foote + +0.6.5 (2018-11-16) +------------------ + +0.6.4 (2018-11-06) +------------------ + +0.6.3 (2018-07-09) +------------------ + +0.6.2 (2018-05-02) +------------------ + +0.6.1 (2018-03-21) +------------------ + +0.6.0 (2018-03-21) +------------------ + +0.5.17 (2018-01-01) +------------------- +* Merge pull request `#257 `_ from delftrobotics-forks/python3 + Make tf2_py python3 compatible again +* Use python3 print function. +* Contributors: Maarten de Vries, Tully Foote + +0.5.16 (2017-07-14) +------------------- +* Fix do_transform_cloud for multi-channelled pointcloud2. (`#241 `_) +* store gtest return value as int (`#229 `_) +* Document the lifetime of the returned reference for getFrameId and getTimestamp +* Find eigen in a much nicer way. +* Switch tf2_sensor_msgs over to package format 2. +* Contributors: Atsushi Watanabe, Chris Lalancette, dhood + +0.5.15 (2017-01-24) +------------------- + +0.5.14 (2017-01-16) +------------------- + +0.5.13 (2016-03-04) +------------------- +* add missing Python runtime dependency +* fix wrong comment +* Adding tests to package +* Fixing do_transform_cloud for python + The previous code was not used at all (it was a mistake in the __init_\_.py so + the do_transform_cloud was not available to the python users). + The python code need some little correction (e.g there is no method named + read_cloud but it's read_points for instance, and as we are in python we can't + use the same trick as in c++ when we got an immutable) +* Contributors: Laurent GEORGE, Vincent Rabaud + +0.5.12 (2015-08-05) +------------------- + +0.5.11 (2015-04-22) +------------------- + +0.5.10 (2015-04-21) +------------------- + +0.5.9 (2015-03-25) +------------------ + +0.5.8 (2015-03-17) +------------------ +* ODR violation fixes and more conversions +* Fix keeping original pointcloud header in transformed pointcloud +* Contributors: Paul Bovbel, Tully Foote, Vincent Rabaud + +0.5.7 (2014-12-23) +------------------ +* add support for transforming sensor_msgs::PointCloud2 +* Contributors: Vincent Rabaud diff --git a/navigations/geometry2/tf2_sensor_msgs/CMakeLists.txt b/navigations/geometry2/tf2_sensor_msgs/CMakeLists.txt new file mode 100755 index 0000000..763f260 --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/CMakeLists.txt @@ -0,0 +1,56 @@ +cmake_minimum_required(VERSION 3.0.2) +project(tf2_sensor_msgs) + +find_package(catkin REQUIRED COMPONENTS cmake_modules sensor_msgs tf2_ros tf2) +find_package(Boost COMPONENTS thread REQUIRED) + +# Finding Eigen is somewhat complicated because of our need to support Ubuntu +# all the way back to saucy. First we look for the Eigen3 cmake module +# provided by the libeigen3-dev on newer Ubuntu. If that fails, then we +# fall-back to the version provided by cmake_modules, which is a stand-in. +find_package(Eigen3 QUIET) +if(NOT EIGEN3_FOUND) + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) +endif() + +# Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR, +# not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former. +if(NOT EIGEN3_INCLUDE_DIRS) + set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +endif() + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS sensor_msgs tf2_ros tf2 + DEPENDS EIGEN3 +) + + +include_directories(include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +catkin_python_setup() + +if(CATKIN_ENABLE_TESTING) + catkin_add_nosetests(test/test_tf2_sensor_msgs.py) + + find_package(catkin REQUIRED COMPONENTS geometry_msgs sensor_msgs rostest tf2_ros tf2) + + add_executable(test_tf2_sensor_msgs_cpp EXCLUDE_FROM_ALL test/test_tf2_sensor_msgs.cpp) + target_link_libraries(test_tf2_sensor_msgs_cpp ${catkin_LIBRARIES} ${GTEST_LIBRARIES}) + + + if(TARGET tests) + add_dependencies(tests test_tf2_sensor_msgs_cpp) + endif() + add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test.launch) + +endif() diff --git a/navigations/geometry2/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h b/navigations/geometry2/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h new file mode 100755 index 0000000..9e16e0d --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/include/tf2_sensor_msgs/tf2_sensor_msgs.h @@ -0,0 +1,107 @@ +/* + * 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, Inc. 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. + */ + +#ifndef TF2_SENSOR_MSGS_H +#define TF2_SENSOR_MSGS_H + +#include +#include +#include +#include +#include + +namespace tf2 +{ + +/********************/ +/** PointCloud2 **/ +/********************/ + +/** \brief Extract a timestamp from the header of a PointCloud2 message. + * This function is a specialization of the getTimestamp template defined in tf2/convert.h. + * \param t PointCloud2 message to extract the timestamp from. + * \return The timestamp of the message. The lifetime of the returned reference + * is bound to the lifetime of the argument. + */ +template <> +inline +const ros::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return p.header.stamp;} + +/** \brief Extract a frame ID from the header of a PointCloud2 message. + * This function is a specialization of the getFrameId template defined in tf2/convert.h. + * \param t PointCloud2 message to extract the frame ID from. + * \return A string containing the frame ID of the message. The lifetime of the + * returned reference is bound to the lifetime of the argument. + */ +template <> +inline +const std::string& getFrameId(const sensor_msgs::PointCloud2 &p) {return p.header.frame_id;} + +// this method needs to be implemented by client library developers +template <> +inline +void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2 &p_out, const geometry_msgs::TransformStamped& t_in) +{ + p_out = p_in; + p_out.header = t_in.header; + Eigen::Transform t = Eigen::Translation3f(t_in.transform.translation.x, t_in.transform.translation.y, + t_in.transform.translation.z) * Eigen::Quaternion( + t_in.transform.rotation.w, t_in.transform.rotation.x, + t_in.transform.rotation.y, t_in.transform.rotation.z); + + sensor_msgs::PointCloud2ConstIterator x_in(p_in, "x"); + sensor_msgs::PointCloud2ConstIterator y_in(p_in, "y"); + sensor_msgs::PointCloud2ConstIterator z_in(p_in, "z"); + + sensor_msgs::PointCloud2Iterator x_out(p_out, "x"); + sensor_msgs::PointCloud2Iterator y_out(p_out, "y"); + sensor_msgs::PointCloud2Iterator z_out(p_out, "z"); + + Eigen::Vector3f point; + for(; x_in != x_in.end(); ++x_in, ++y_in, ++z_in, ++x_out, ++y_out, ++z_out) { + point = t * Eigen::Vector3f(*x_in, *y_in, *z_in); + *x_out = point.x(); + *y_out = point.y(); + *z_out = point.z(); + } +} +inline +sensor_msgs::PointCloud2 toMsg(const sensor_msgs::PointCloud2 &in) +{ + return in; +} +inline +void fromMsg(const sensor_msgs::PointCloud2 &msg, sensor_msgs::PointCloud2 &out) +{ + out = msg; +} + +} // namespace + +#endif // TF2_SENSOR_MSGS_H diff --git a/navigations/geometry2/tf2_sensor_msgs/package.xml b/navigations/geometry2/tf2_sensor_msgs/package.xml new file mode 100755 index 0000000..78b7ef3 --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/package.xml @@ -0,0 +1,31 @@ + + tf2_sensor_msgs + 0.7.6 + + Small lib to transform sensor_msgs with tf. Most notably, PointCloud2 + + Vincent Rabaud + Vincent Rabaud + BSD + + http://www.ros.org/wiki/tf2_ros + + catkin + + cmake_modules + eigen + + sensor_msgs + tf2 + tf2_ros + + python3-pykdl + rospy + + eigen + + rostest + geometry_msgs + + + diff --git a/navigations/geometry2/tf2_sensor_msgs/setup.py b/navigations/geometry2/tf2_sensor_msgs/setup.py new file mode 100755 index 0000000..c6c730d --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/setup.py @@ -0,0 +1,13 @@ +#!/usr/bin/env python + +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['tf2_sensor_msgs'], + package_dir={'': 'src'}, + requires=['rospy','sensor_msgs','tf2_ros','orocos_kdl'] +) + +setup(**d) + diff --git a/navigations/geometry2/tf2_sensor_msgs/src/tf2_sensor_msgs/__init__.py b/navigations/geometry2/tf2_sensor_msgs/src/tf2_sensor_msgs/__init__.py new file mode 100755 index 0000000..187bd6b --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/src/tf2_sensor_msgs/__init__.py @@ -0,0 +1 @@ +from .tf2_sensor_msgs import * diff --git a/navigations/geometry2/tf2_sensor_msgs/src/tf2_sensor_msgs/tf2_sensor_msgs.py b/navigations/geometry2/tf2_sensor_msgs/src/tf2_sensor_msgs/tf2_sensor_msgs.py new file mode 100755 index 0000000..74cacd3 --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/src/tf2_sensor_msgs/tf2_sensor_msgs.py @@ -0,0 +1,60 @@ +# 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, Inc. 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. + +from sensor_msgs.msg import PointCloud2 +from sensor_msgs.point_cloud2 import read_points, create_cloud +import PyKDL +import rospy +import tf2_ros + +def to_msg_msg(msg): + return msg + +tf2_ros.ConvertRegistration().add_to_msg(PointCloud2, to_msg_msg) + +def from_msg_msg(msg): + return msg + +tf2_ros.ConvertRegistration().add_from_msg(PointCloud2, from_msg_msg) + +def transform_to_kdl(t): + return PyKDL.Frame(PyKDL.Rotation.Quaternion(t.transform.rotation.x, t.transform.rotation.y, + t.transform.rotation.z, t.transform.rotation.w), + PyKDL.Vector(t.transform.translation.x, + t.transform.translation.y, + t.transform.translation.z)) + +# PointStamped +def do_transform_cloud(cloud, transform): + t_kdl = transform_to_kdl(transform) + points_out = [] + for p_in in read_points(cloud): + p_out = t_kdl * PyKDL.Vector(p_in[0], p_in[1], p_in[2]) + points_out.append((p_out[0], p_out[1], p_out[2]) + p_in[3:]) + res = create_cloud(transform.header, cloud.fields, points_out) + return res +tf2_ros.TransformRegistration().add(PointCloud2, do_transform_cloud) diff --git a/navigations/geometry2/tf2_sensor_msgs/test/test.launch b/navigations/geometry2/tf2_sensor_msgs/test/test.launch new file mode 100755 index 0000000..a948a06 --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/test/test.launch @@ -0,0 +1,3 @@ + + + diff --git a/navigations/geometry2/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp b/navigations/geometry2/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp new file mode 100755 index 0000000..8607501 --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/test/test_tf2_sensor_msgs.cpp @@ -0,0 +1,104 @@ +/* + * 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, Inc. 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. + */ + + +#include +#include +#include +#include +#include +#include + +tf2_ros::Buffer* tf_buffer; +static const double EPS = 1e-3; + + +TEST(Tf2Sensor, PointCloud2) +{ + sensor_msgs::PointCloud2 cloud; + sensor_msgs::PointCloud2Modifier modifier(cloud); + modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); + modifier.resize(1); + + sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); + sensor_msgs::PointCloud2Iterator iter_y(cloud, "y"); + sensor_msgs::PointCloud2Iterator iter_z(cloud, "z"); + + *iter_x = 1; + *iter_y = 2; + *iter_z = 3; + + cloud.header.stamp = ros::Time(2); + cloud.header.frame_id = "A"; + + // simple api + sensor_msgs::PointCloud2 cloud_simple = tf_buffer->transform(cloud, "B", ros::Duration(2.0)); + sensor_msgs::PointCloud2Iterator iter_x_after(cloud_simple, "x"); + sensor_msgs::PointCloud2Iterator iter_y_after(cloud_simple, "y"); + sensor_msgs::PointCloud2Iterator iter_z_after(cloud_simple, "z"); + EXPECT_NEAR(*iter_x_after, -9, EPS); + EXPECT_NEAR(*iter_y_after, 18, EPS); + EXPECT_NEAR(*iter_z_after, 27, EPS); + + // advanced api + sensor_msgs::PointCloud2 cloud_advanced = tf_buffer->transform(cloud, "B", ros::Time(2.0), + "A", ros::Duration(3.0)); + sensor_msgs::PointCloud2Iterator iter_x_advanced(cloud_advanced, "x"); + sensor_msgs::PointCloud2Iterator iter_y_advanced(cloud_advanced, "y"); + sensor_msgs::PointCloud2Iterator iter_z_advanced(cloud_advanced, "z"); + EXPECT_NEAR(*iter_x_advanced, -9, EPS); + EXPECT_NEAR(*iter_y_advanced, 18, EPS); + EXPECT_NEAR(*iter_z_advanced, 27, EPS); +} + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "test"); + ros::NodeHandle n; + + tf_buffer = new tf2_ros::Buffer(); + + // populate buffer + geometry_msgs::TransformStamped t; + t.transform.translation.x = 10; + t.transform.translation.y = 20; + t.transform.translation.z = 30; + t.transform.rotation.x = 1; + t.transform.rotation.y = 0; + t.transform.rotation.z = 0; + t.transform.rotation.w = 0; + t.header.stamp = ros::Time(2.0); + t.header.frame_id = "A"; + t.child_frame_id = "B"; + tf_buffer->setTransform(t, "test"); + + int ret = RUN_ALL_TESTS(); + delete tf_buffer; + return ret; +} diff --git a/navigations/geometry2/tf2_sensor_msgs/test/test_tf2_sensor_msgs.py b/navigations/geometry2/tf2_sensor_msgs/test/test_tf2_sensor_msgs.py new file mode 100755 index 0000000..b797b7a --- /dev/null +++ b/navigations/geometry2/tf2_sensor_msgs/test/test_tf2_sensor_msgs.py @@ -0,0 +1,103 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import unittest +import struct +import tf2_sensor_msgs +from sensor_msgs import point_cloud2 +from sensor_msgs.msg import PointField +from tf2_ros import TransformStamped +import copy + +## A sample python unit test +class PointCloudConversions(unittest.TestCase): + def setUp(self): + self.point_cloud_in = point_cloud2.PointCloud2() + self.point_cloud_in.fields = [PointField('x', 0, PointField.FLOAT32, 1), + PointField('y', 4, PointField.FLOAT32, 1), + PointField('z', 8, PointField.FLOAT32, 1)] + + self.point_cloud_in.point_step = 4 * 3 + self.point_cloud_in.height = 1 + # we add two points (with x, y, z to the cloud) + self.point_cloud_in.width = 2 + self.point_cloud_in.row_step = self.point_cloud_in.point_step * self.point_cloud_in.width + + points = [1, 2, 0, 10, 20, 30] + self.point_cloud_in.data = struct.pack('%sf' % len(points), *points) + + + self.transform_translate_xyz_300 = TransformStamped() + self.transform_translate_xyz_300.transform.translation.x = 300 + self.transform_translate_xyz_300.transform.translation.y = 300 + self.transform_translate_xyz_300.transform.translation.z = 300 + self.transform_translate_xyz_300.transform.rotation.w = 1 # no rotation so we only set w + + assert(list(point_cloud2.read_points(self.point_cloud_in)) == [(1.0, 2.0, 0.0), (10.0, 20.0, 30.0)]) + + def test_simple_transform(self): + old_data = copy.deepcopy(self.point_cloud_in.data) # deepcopy is not required here because we have a str for now + point_cloud_transformed = tf2_sensor_msgs.do_transform_cloud(self.point_cloud_in, self.transform_translate_xyz_300) + + k = 300 + expected_coordinates = [(1+k, 2+k, 0+k), (10+k, 20+k, 30+k)] + new_points = list(point_cloud2.read_points(point_cloud_transformed)) + print("new_points are %s" % new_points) + assert(expected_coordinates == new_points) + assert(old_data == self.point_cloud_in.data) # checking no modification in input cloud + + +## A simple unit test for tf2_sensor_msgs.do_transform_cloud (multi channel version) +class PointCloudConversionsMultichannel(unittest.TestCase): + TRANSFORM_OFFSET_DISTANCE = 300 + + def setUp(self): + self.point_cloud_in = point_cloud2.PointCloud2() + self.point_cloud_in.fields = [PointField('x', 0, PointField.FLOAT32, 1), + PointField('y', 4, PointField.FLOAT32, 1), + PointField('z', 8, PointField.FLOAT32, 1), + PointField('index', 12, PointField.INT32, 1)] + + self.point_cloud_in.point_step = 4 * 4 + self.point_cloud_in.height = 1 + # we add two points (with x, y, z to the cloud) + self.point_cloud_in.width = 2 + self.point_cloud_in.row_step = self.point_cloud_in.point_step * self.point_cloud_in.width + + self.points = [(1.0, 2.0, 0.0, 123), (10.0, 20.0, 30.0, 456)] + for point in self.points: + self.point_cloud_in.data += struct.pack('3fi', *point) + + self.transform_translate_xyz_300 = TransformStamped() + self.transform_translate_xyz_300.transform.translation.x = self.TRANSFORM_OFFSET_DISTANCE + self.transform_translate_xyz_300.transform.translation.y = self.TRANSFORM_OFFSET_DISTANCE + self.transform_translate_xyz_300.transform.translation.z = self.TRANSFORM_OFFSET_DISTANCE + self.transform_translate_xyz_300.transform.rotation.w = 1 # no rotation so we only set w + + assert(list(point_cloud2.read_points(self.point_cloud_in)) == self.points) + + def test_simple_transform_multichannel(self): + old_data = copy.deepcopy(self.point_cloud_in.data) # deepcopy is not required here because we have a str for now + point_cloud_transformed = tf2_sensor_msgs.do_transform_cloud(self.point_cloud_in, self.transform_translate_xyz_300) + + expected_coordinates = [] + for point in self.points: + expected_coordinates += [( + point[0] + self.TRANSFORM_OFFSET_DISTANCE, + point[1] + self.TRANSFORM_OFFSET_DISTANCE, + point[2] + self.TRANSFORM_OFFSET_DISTANCE, + point[3] # index channel must be kept same + )] + + new_points = list(point_cloud2.read_points(point_cloud_transformed)) + print("new_points are %s" % new_points) + assert(expected_coordinates == new_points) + assert(old_data == self.point_cloud_in.data) # checking no modification in input cloud + + +if __name__ == '__main__': + import rosunit + rosunit.unitrun("test_tf2_sensor_msgs", "test_point_cloud_conversion", PointCloudConversions) + rosunit.unitrun("test_tf2_sensor_msgs", "test_point_cloud_conversion", PointCloudConversionsMultichannel) + diff --git a/navigations/global_planner/CHANGELOG.rst b/navigations/global_planner/CHANGELOG.rst new file mode 100755 index 0000000..316c2a8 --- /dev/null +++ b/navigations/global_planner/CHANGELOG.rst @@ -0,0 +1,194 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package global_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- +* Throttled failed to get plan error to 5 seconds (`#1102 `_) +* Fixed the risk of divide by zero. (`#1099 `_) +* No virtual destructor polyformic classes fixed. (`#1100 `_) +* Fixes `#1026 `_ (`#1028 `_) +* correctly delete previously allocated array (`#1025 `_) + Co-authored-by: Fedor Vlasov +* Contributors: David V. Lu!!, Noriaki Ando, Orhan G. Hafif, mechatheo + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* parameter for enabling outlineMap added (`#926 `_) +* Contributors: Pavel Shumejko, Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Remove unused visualize_potential (`#866 `_) +* remove unused costmap_pub_frequency (`#858 `_) +* Fix `#845 `_ (`#846 `_) +* Merge pull request `#831 `_ from ros-planning/feature/remove_slashes + [melodic] Remove leading slashes from default frame_id parameters +* Remove leading slashes from default frame_id parameters +* Contributors: David V. Lu, David V. Lu!!, Michael Ferguson, Stepan Kostusiev + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* feat(orientation_filter): Added additional orientation filter options (`#739 `_) + * feat(orientation_filter): Added additional orientation filter options + Enables plan references with different orientations for omni-base + controllers. The following options are added: + - Backward (backward path traversal, pose points to previous point) + - Leftward (lateral path traversal in the positive y direction) + - Rightward (lateral path traversal in the negative y direction) + * Updated orientation filter option description + * Added window size parameter to orientation filter + Previously, the orientation was calculated using the current and the + next point. However, when the path is somewhat jumpy, this results in + poor orientations. By adding this parameter and altering the orientation + calculation, the calculated orientation can be smoothened along the path + by taking into account a larger window. The orientation of index point i + will be calculated using the positions of i - window_size and i + + window_size. +* Contributors: Michael Ferguson, Rein Appeldoorn, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Fix to increment 'cycle' in while loop (`#546 `_) +* Fix to check index value before accessing to element of potential array (`#547 `_) +* Set frame_id and stamp on Path message even if path is not found. (`#533 `_) +* Contributors: Junya Hayashi, Martin Günther, Mikael Arguedas + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* Add missing angles dependecy +* Fix for `#337 `_ +* Contributors: David V. Lu!!, Gary Servin + +1.13.0 (2015-03-17) +------------------- +* Fixing various memory freeing operations +* Add Orientation Filter to Global Planner +* Contributors: Alex Bencz, David V. Lu!!, James Servos, Michael Ferguson + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- +* Add Gradient Path's cycle limit to GridPath +* When clearing endpoint, do not overwrite potentials +* Consolidate usage of POT_HIGH +* Contributors: David V. Lu!! + +1.11.11 (2014-07-23) +-------------------- +* Minor code cleanup +* Update package.xml +* Contributors: David Lu!!, Enrique Fernández Perdomo + +1.11.10 (2014-06-25) +-------------------- +* Remove unnecessary colons +* global_planner now pushes the goal onto the end of the global path +* move_base planService now searches out from desired goal +* Contributors: David Lu!!, Kaijen Hsiao + +1.11.9 (2014-06-10) +------------------- +* uses ::hypot(x, y) instead of sqrt(x*x, y*y) +* Contributors: Enrique Fernández Perdomo + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- + +1.11.5 (2014-01-30) +------------------- +* Global Planner Cleanup +* Create the vector reversed instead of reverse it after +* Reversed the plan vector +* global_planner: Fix bgp_plugin.xml file and install it +* Improved Global Planner (from Groovy branch) + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/navigations/global_planner/CMakeLists.txt b/navigations/global_planner/CMakeLists.txt new file mode 100755 index 0000000..33415a3 --- /dev/null +++ b/navigations/global_planner/CMakeLists.txt @@ -0,0 +1,77 @@ +cmake_minimum_required(VERSION 3.0.2) +project(global_planner) + +find_package(catkin REQUIRED + COMPONENTS + angles + costmap_2d + dynamic_reconfigure + geometry_msgs + nav_core + navfn + nav_msgs + pluginlib + roscpp + tf2_geometry_msgs + tf2_ros +) + +generate_dynamic_reconfigure_options( + cfg/GlobalPlanner.cfg +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS + costmap_2d + dynamic_reconfigure + geometry_msgs + nav_core + navfn + nav_msgs + pluginlib + roscpp + tf2_ros +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/quadratic_calculator.cpp + src/dijkstra.cpp + src/astar.cpp + src/grid_path.cpp + src/gradient_path.cpp + src/orientation_filter.cpp + src/planner_core.cpp +) +add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + +add_executable(planner + src/plan_node.cpp +) +add_dependencies(planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(planner + ${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + +install(TARGETS planner + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE) + +install(FILES bgp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/navigations/global_planner/bgp_plugin.xml b/navigations/global_planner/bgp_plugin.xml new file mode 100755 index 0000000..39d42fc --- /dev/null +++ b/navigations/global_planner/bgp_plugin.xml @@ -0,0 +1,7 @@ + + + + A implementation of a grid based planner using Dijkstras or A* + + + diff --git a/navigations/global_planner/cfg/GlobalPlanner.cfg b/navigations/global_planner/cfg/GlobalPlanner.cfg new file mode 100755 index 0000000..f43700c --- /dev/null +++ b/navigations/global_planner/cfg/GlobalPlanner.cfg @@ -0,0 +1,33 @@ +#!/usr/bin/env python +PACKAGE = "global_planner" + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, int_t, double_t, bool_t + +gen = ParameterGenerator() + +gen.add("lethal_cost", int_t, 0, "Lethal Cost", 253, 1, 255) +gen.add("neutral_cost", int_t, 0, "Neutral Cost", 50, 1, 255) +gen.add("cost_factor", double_t, 0, "Factor to multiply each cost from costmap by", 3.0, 0.01, 5.0) +gen.add("publish_potential", bool_t, 0, "Publish Potential Costmap", True) + +orientation_enum = gen.enum([ + gen.const("None", int_t, 0, "No orientations added except goal orientation"), + gen.const("Forward", int_t, 1, + "Positive x axis points along path, except for the goal orientation"), + gen.const("Interpolate", int_t, 2, "Orientations are a linear blend of start and goal pose"), + gen.const("ForwardThenInterpolate", + int_t, 3, "Forward orientation until last straightaway, then a linear blend until the goal pose"), + gen.const("Backward", int_t, 4, + "Negative x axis points along the path, except for the goal orientation"), + gen.const("Leftward", int_t, 5, + "Positive y axis points along the path, except for the goal orientation"), + gen.const("Rightward", int_t, 6, + "Negative y axis points along the path, except for the goal orientation"), +], "How to set the orientation of each point") + +gen.add("orientation_mode", int_t, 0, "How to set the orientation of each point", 1, 0, 6, + edit_method=orientation_enum) +gen.add("orientation_window_size", int_t, 0, "What window to use to determine the orientation based on the " + "position derivative specified by the orientation mode", 1, 1, 255) + +exit(gen.generate(PACKAGE, "global_planner", "GlobalPlanner")) diff --git a/navigations/global_planner/include/global_planner/astar.h b/navigations/global_planner/include/global_planner/astar.h new file mode 100755 index 0000000..21f0e5d --- /dev/null +++ b/navigations/global_planner/include/global_planner/astar.h @@ -0,0 +1,76 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _ASTAR_H +#define _ASTAR_H + +#include +#include +#include +#include + +namespace global_planner { +class Index { + public: + Index(int a, float b) { + i = a; + cost = b; + } + int i; + float cost; +}; + +struct greater1 { + bool operator()(const Index& a, const Index& b) const { + return a.cost > b.cost; + } +}; + +class AStarExpansion : public Expander { + public: + AStarExpansion(PotentialCalculator* p_calc, int nx, int ny); + virtual ~AStarExpansion() {} + bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, int cycles, + float* potential); + private: + void add(unsigned char* costs, float* potential, float prev_potential, int next_i, int end_x, int end_y); + std::vector queue_; +}; + +} //end namespace global_planner +#endif + diff --git a/navigations/global_planner/include/global_planner/dijkstra.h b/navigations/global_planner/include/global_planner/dijkstra.h new file mode 100755 index 0000000..89646ce --- /dev/null +++ b/navigations/global_planner/include/global_planner/dijkstra.h @@ -0,0 +1,110 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _DIJKSTRA_H +#define _DIJKSTRA_H + +#define PRIORITYBUFSIZE 10000 +#include +#include +#include +#include + +#include +#include + +// inserting onto the priority blocks +#define push_cur(n) { if (n>=0 && n=0 && n=0 && n= lethal_cost_) + c = lethal_cost_ - 1; + return c; + } + return lethal_cost_; + } + + /** block priority buffers */ + int *buffer1_, *buffer2_, *buffer3_; /**< storage buffers for priority blocks */ + int *currentBuffer_, *nextBuffer_, *overBuffer_; /**< priority buffer block ptrs */ + int currentEnd_, nextEnd_, overEnd_; /**< end points of arrays */ + bool *pending_; /**< pending_ cells during propagation */ + bool precise_; + + /** block priority thresholds */ + float threshold_; /**< current threshold */ + float priorityIncrement_; /**< priority threshold increment */ + +}; +} //end namespace global_planner +#endif diff --git a/navigations/global_planner/include/global_planner/expander.h b/navigations/global_planner/include/global_planner/expander.h new file mode 100755 index 0000000..6df8e52 --- /dev/null +++ b/navigations/global_planner/include/global_planner/expander.h @@ -0,0 +1,107 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _EXPANDER_H +#define _EXPANDER_H +#include +#include + +namespace global_planner { + +class Expander { + public: + Expander(PotentialCalculator* p_calc, int nx, int ny) : + unknown_(true), lethal_cost_(253), neutral_cost_(50), factor_(3.0), p_calc_(p_calc) { + setSize(nx, ny); + } + virtual ~Expander() {} + virtual bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, + int cycles, float* potential) = 0; + + /** + * @brief Sets or resets the size of the map + * @param nx The x size of the map + * @param ny The y size of the map + */ + virtual void setSize(int nx, int ny) { + nx_ = nx; + ny_ = ny; + ns_ = nx * ny; + } /**< sets or resets the size of the map */ + void setLethalCost(unsigned char lethal_cost) { + lethal_cost_ = lethal_cost; + } + void setNeutralCost(unsigned char neutral_cost) { + neutral_cost_ = neutral_cost; + } + void setFactor(float factor) { + factor_ = factor; + } + void setHasUnknown(bool unknown) { + unknown_ = unknown; + } + + void clearEndpoint(unsigned char* costs, float* potential, int gx, int gy, int s){ + int startCell = toIndex(gx, gy); + for(int i=-s;i<=s;i++){ + for(int j=-s;j<=s;j++){ + int n = startCell+i+nx_*j; + if(potential[n]calculatePotential(potential, c, n); + potential[n] = pot; + } + } + } + + protected: + inline int toIndex(int x, int y) { + return x + nx_ * y; + } + + int nx_, ny_, ns_; /**< size of grid, in pixels */ + bool unknown_; + unsigned char lethal_cost_, neutral_cost_; + int cells_visited_; + float factor_; + PotentialCalculator* p_calc_; + +}; + +} //end namespace global_planner +#endif diff --git a/navigations/global_planner/include/global_planner/gradient_path.h b/navigations/global_planner/include/global_planner/gradient_path.h new file mode 100755 index 0000000..619f9be --- /dev/null +++ b/navigations/global_planner/include/global_planner/gradient_path.h @@ -0,0 +1,78 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _GRADIENT_PATH_H +#define _GRADIENT_PATH_H + +#include +#include +#include + +namespace global_planner { + +class GradientPath : public Traceback { + public: + GradientPath(PotentialCalculator* p_calc); + virtual ~GradientPath(); + + void setSize(int xs, int ys); + + // + // Path construction + // Find gradient at array points, interpolate path + // Use step size of pathStep, usually 0.5 pixel + // + // Some sanity checks: + // 1. Stuck at same index position + // 2. Doesn't get near goal + // 3. Surrounded by high potentials + // + bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector >& path); + private: + inline int getNearestPoint(int stc, float dx, float dy) { + int pt = stc + (int)round(dx) + (int)(xs_ * round(dy)); + return std::max(0, std::min(xs_ * ys_ - 1, pt)); + } + float gradCell(float* potential, int n); + + float *gradx_, *grady_; /**< gradient arrays, size of potential array */ + + float pathStep_; /**< step size for following gradient */ +}; + +} //end namespace global_planner +#endif diff --git a/navigations/global_planner/include/global_planner/grid_path.h b/navigations/global_planner/include/global_planner/grid_path.h new file mode 100755 index 0000000..ed37f4e --- /dev/null +++ b/navigations/global_planner/include/global_planner/grid_path.h @@ -0,0 +1,53 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _GRID_PATH_H +#define _GRID_PATH_H +#include +#include + +namespace global_planner { + +class GridPath : public Traceback { + public: + GridPath(PotentialCalculator* p_calc): Traceback(p_calc){} + virtual ~GridPath() {} + bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector >& path); +}; + +} //end namespace global_planner +#endif diff --git a/navigations/global_planner/include/global_planner/orientation_filter.h b/navigations/global_planner/include/global_planner/orientation_filter.h new file mode 100755 index 0000000..6f52eb4 --- /dev/null +++ b/navigations/global_planner/include/global_planner/orientation_filter.h @@ -0,0 +1,67 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, David V. Lu!! + * 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 David V. Lu 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: David V. Lu!! + *********************************************************************/ +#ifndef GLOBAL_PLANNER_ORIENTATION_FILTER_H +#define GLOBAL_PLANNER_ORIENTATION_FILTER_H +#include + +namespace global_planner { + +enum OrientationMode { NONE, FORWARD, INTERPOLATE, FORWARDTHENINTERPOLATE, BACKWARD, LEFTWARD, RIGHTWARD }; + +class OrientationFilter { + public: + OrientationFilter() : omode_(NONE) {} + + + virtual void processPath(const geometry_msgs::PoseStamped& start, + std::vector& path); + + void setAngleBasedOnPositionDerivative(std::vector& path, int index); + void interpolate(std::vector& path, + int start_index, int end_index); + + void setMode(OrientationMode new_mode){ omode_ = new_mode; } + void setMode(int new_mode){ setMode((OrientationMode) new_mode); } + + void setWindowSize(size_t window_size){ window_size_ = window_size; } + protected: + OrientationMode omode_; + int window_size_; +}; + +} //end namespace global_planner +#endif diff --git a/navigations/global_planner/include/global_planner/planner_core.h b/navigations/global_planner/include/global_planner/planner_core.h new file mode 100755 index 0000000..5c2f7fb --- /dev/null +++ b/navigations/global_planner/include/global_planner/planner_core.h @@ -0,0 +1,212 @@ +#ifndef _PLANNERCORE_H +#define _PLANNERCORE_H +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#define POT_HIGH 1.0e10 // unassigned cell potential +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace global_planner { + +class Expander; +class GridPath; + +/** + * @class PlannerCore + * @brief Provides a ROS wrapper for the global_planner planner which runs a fast, interpolated navigation function on a costmap. + */ + +class GlobalPlanner : public nav_core::BaseGlobalPlanner { + public: + /** + * @brief Default constructor for the PlannerCore object + */ + GlobalPlanner(); + + /** + * @brief Constructor for the PlannerCore object + * @param name The name of this planner + * @param costmap A pointer to the costmap to use + * @param frame_id Frame of the costmap + */ + GlobalPlanner(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id); + + /** + * @brief Default deconstructor for the PlannerCore object + */ + ~GlobalPlanner(); + + /** + * @brief Initialization function for the PlannerCore object + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + void initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id); + + /** + * @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 + */ + bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, + std::vector& plan); + + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param tolerance The tolerance on the goal point for the planner + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, double tolerance, + std::vector& plan); + + /** + * @brief Computes the full navigation function for the map given a point in the world to start from + * @param world_point The point to use for seeding the navigation function + * @return True if the navigation function was computed successfully, false otherwise + */ + bool computePotential(const geometry_msgs::Point& world_point); + + /** + * @brief Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first) + * @param start_x + * @param start_y + * @param end_x + * @param end_y + * @param goal The goal pose to create a plan to + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool getPlanFromPotential(double start_x, double start_y, double end_x, double end_y, + const geometry_msgs::PoseStamped& goal, + std::vector& plan); + + /** + * @brief Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @return The navigation function's value at that point in the world + */ + double getPointPotential(const geometry_msgs::Point& world_point); + + /** + * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @return True if the navigation function is valid at that point in the world, false otherwise + */ + bool validPointPotential(const geometry_msgs::Point& world_point); + + /** + * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @param tolerance The tolerance on searching around the world_point specified + * @return True if the navigation function is valid at that point in the world, false otherwise + */ + bool validPointPotential(const geometry_msgs::Point& world_point, double tolerance); + + /** + * @brief Publish a path for visualization purposes + */ + void publishPlan(const std::vector& path); + + bool makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp); + + protected: + + /** + * @brief Store a copy of the current costmap in \a costmap. Called by makePlan. + */ + costmap_2d::Costmap2D* costmap_; + std::string frame_id_; + ros::Publisher plan_pub_; + bool initialized_, allow_unknown_; + + private: + void mapToWorld(double mx, double my, double& wx, double& wy); + bool worldToMap(double wx, double wy, double& mx, double& my); + void clearRobotCell(const geometry_msgs::PoseStamped& global_pose, unsigned int mx, unsigned int my); + void publishPotential(float* potential); + + double planner_window_x_, planner_window_y_, default_tolerance_; + boost::mutex mutex_; + ros::ServiceServer make_plan_srv_; + + PotentialCalculator* p_calc_; + Expander* planner_; + Traceback* path_maker_; + OrientationFilter* orientation_filter_; + + bool publish_potential_; + ros::Publisher potential_pub_; + int publish_scale_; + + void outlineMap(unsigned char* costarr, int nx, int ny, unsigned char value); + + float* potential_array_; + unsigned int start_x_, start_y_, end_x_, end_y_; + + bool old_navfn_behavior_; + float convert_offset_; + + bool outline_map_; + + dynamic_reconfigure::Server *dsrv_; + void reconfigureCB(global_planner::GlobalPlannerConfig &config, uint32_t level); + +}; + +} //end namespace global_planner + +#endif diff --git a/navigations/global_planner/include/global_planner/potential_calculator.h b/navigations/global_planner/include/global_planner/potential_calculator.h new file mode 100755 index 0000000..9284abb --- /dev/null +++ b/navigations/global_planner/include/global_planner/potential_calculator.h @@ -0,0 +1,82 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _POTENTIAL_CALCULATOR_H +#define _POTENTIAL_CALCULATOR_H + +#include + +namespace global_planner { + +class PotentialCalculator { + public: + PotentialCalculator(int nx, int ny) { + setSize(nx, ny); + } + virtual ~PotentialCalculator() {} + virtual float calculatePotential(float* potential, unsigned char cost, int n, float prev_potential=-1){ + if(prev_potential < 0){ + // get min of neighbors + float min_h = std::min( potential[n - 1], potential[n + 1] ), + min_v = std::min( potential[n - nx_], potential[n + nx_]); + prev_potential = std::min(min_h, min_v); + } + + return prev_potential + cost; + } + + /** + * @brief Sets or resets the size of the map + * @param nx The x size of the map + * @param ny The y size of the map + */ + virtual void setSize(int nx, int ny) { + nx_ = nx; + ny_ = ny; + ns_ = nx * ny; + } /**< sets or resets the size of the map */ + + protected: + inline int toIndex(int x, int y) { + return x + nx_ * y; + } + + int nx_, ny_, ns_; /**< size of grid, in pixels */ +}; + +} //end namespace global_planner +#endif diff --git a/navigations/global_planner/include/global_planner/quadratic_calculator.h b/navigations/global_planner/include/global_planner/quadratic_calculator.h new file mode 100755 index 0000000..74da818 --- /dev/null +++ b/navigations/global_planner/include/global_planner/quadratic_calculator.h @@ -0,0 +1,54 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _QUADRATIC_CALCULATOR_H +#define _QUADRATIC_CALCULATOR_H +#include +#include + +namespace global_planner { + +class QuadraticCalculator : public PotentialCalculator { + public: + QuadraticCalculator(int nx, int ny): PotentialCalculator(nx,ny) {} + + float calculatePotential(float* potential, unsigned char cost, int n, float prev_potential); +}; + + +} //end namespace global_planner +#endif diff --git a/navigations/global_planner/include/global_planner/traceback.h b/navigations/global_planner/include/global_planner/traceback.h new file mode 100755 index 0000000..d9d7381 --- /dev/null +++ b/navigations/global_planner/include/global_planner/traceback.h @@ -0,0 +1,67 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#ifndef _TRACEBACK_H +#define _TRACEBACK_H +#include +#include + +namespace global_planner { + +class Traceback { + public: + Traceback(PotentialCalculator* p_calc) : p_calc_(p_calc) {} + virtual ~Traceback() {} + virtual bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector >& path) = 0; + virtual void setSize(int xs, int ys) { + xs_ = xs; + ys_ = ys; + } + inline int getIndex(int x, int y) { + return x + y * xs_; + } + void setLethalCost(unsigned char lethal_cost) { + lethal_cost_ = lethal_cost; + } + protected: + int xs_, ys_; + unsigned char lethal_cost_; + PotentialCalculator* p_calc_; +}; + +} //end namespace global_planner +#endif diff --git a/navigations/global_planner/package.xml b/navigations/global_planner/package.xml new file mode 100755 index 0000000..9b62295 --- /dev/null +++ b/navigations/global_planner/package.xml @@ -0,0 +1,36 @@ + + + + global_planner + 1.17.3 + + A path planner library and node. + + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + + David Lu!! + http://wiki.ros.org/global_planner + + catkin + + angles + tf2_geometry_msgs + + costmap_2d + dynamic_reconfigure + geometry_msgs + nav_core + nav_msgs + navfn + pluginlib + roscpp + tf2_ros + + + + + + diff --git a/navigations/global_planner/src/astar.cpp b/navigations/global_planner/src/astar.cpp new file mode 100755 index 0000000..696756f --- /dev/null +++ b/navigations/global_planner/src/astar.cpp @@ -0,0 +1,98 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include + +namespace global_planner { + +AStarExpansion::AStarExpansion(PotentialCalculator* p_calc, int xs, int ys) : + Expander(p_calc, xs, ys) { +} + +bool AStarExpansion::calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, + int cycles, float* potential) { + queue_.clear(); + int start_i = toIndex(start_x, start_y); + queue_.push_back(Index(start_i, 0)); + + std::fill(potential, potential + ns_, POT_HIGH); + potential[start_i] = 0; + + int goal_i = toIndex(end_x, end_y); + int cycle = 0; + + while (queue_.size() > 0 && cycle < cycles) { + Index top = queue_[0]; + std::pop_heap(queue_.begin(), queue_.end(), greater1()); + queue_.pop_back(); + + int i = top.i; + if (i == goal_i) + return true; + + add(costs, potential, potential[i], i + 1, end_x, end_y); + add(costs, potential, potential[i], i - 1, end_x, end_y); + add(costs, potential, potential[i], i + nx_, end_x, end_y); + add(costs, potential, potential[i], i - nx_, end_x, end_y); + + cycle++; + } + + return false; +} + +void AStarExpansion::add(unsigned char* costs, float* potential, float prev_potential, int next_i, int end_x, + int end_y) { + if (next_i < 0 || next_i >= ns_) + return; + + if (potential[next_i] < POT_HIGH) + return; + + if(costs[next_i]>=lethal_cost_ && !(unknown_ && costs[next_i]==costmap_2d::NO_INFORMATION)) + return; + + potential[next_i] = p_calc_->calculatePotential(potential, costs[next_i] + neutral_cost_, next_i, prev_potential); + int x = next_i % nx_, y = next_i / nx_; + float distance = abs(end_x - x) + abs(end_y - y); + + queue_.push_back(Index(next_i, potential[next_i] + distance * neutral_cost_)); + std::push_heap(queue_.begin(), queue_.end(), greater1()); +} + +} //end namespace global_planner diff --git a/navigations/global_planner/src/dijkstra.cpp b/navigations/global_planner/src/dijkstra.cpp new file mode 100755 index 0000000..7e069d7 --- /dev/null +++ b/navigations/global_planner/src/dijkstra.cpp @@ -0,0 +1,234 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +namespace global_planner { + +DijkstraExpansion::DijkstraExpansion(PotentialCalculator* p_calc, int nx, int ny) : + Expander(p_calc, nx, ny), pending_(NULL), precise_(false) { + // priority buffers + buffer1_ = new int[PRIORITYBUFSIZE]; + buffer2_ = new int[PRIORITYBUFSIZE]; + buffer3_ = new int[PRIORITYBUFSIZE]; + + priorityIncrement_ = 2 * neutral_cost_; +} + +DijkstraExpansion::~DijkstraExpansion() { + delete[] buffer1_; + delete[] buffer2_; + delete[] buffer3_; + if (pending_) + delete[] pending_; +} + +// +// Set/Reset map size +// +void DijkstraExpansion::setSize(int xs, int ys) { + Expander::setSize(xs, ys); + if (pending_) + delete[] pending_; + + pending_ = new bool[ns_]; + memset(pending_, 0, ns_ * sizeof(bool)); +} + +// +// main propagation function +// Dijkstra method, breadth-first +// runs for a specified number of cycles, +// or until it runs out of cells to update, +// or until the Start cell is found (atStart = true) +// + +bool DijkstraExpansion::calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, + int cycles, float* potential) { + cells_visited_ = 0; + // priority buffers + threshold_ = lethal_cost_; + currentBuffer_ = buffer1_; + currentEnd_ = 0; + nextBuffer_ = buffer2_; + nextEnd_ = 0; + overBuffer_ = buffer3_; + overEnd_ = 0; + memset(pending_, 0, ns_ * sizeof(bool)); + std::fill(potential, potential + ns_, POT_HIGH); + + // set goal + int k = toIndex(start_x, start_y); + + if(precise_) + { + double dx = start_x - (int)start_x, dy = start_y - (int)start_y; + dx = floorf(dx * 100 + 0.5) / 100; + dy = floorf(dy * 100 + 0.5) / 100; + potential[k] = neutral_cost_ * 2 * dx * dy; + potential[k+1] = neutral_cost_ * 2 * (1-dx)*dy; + potential[k+nx_] = neutral_cost_*2*dx*(1-dy); + potential[k+nx_+1] = neutral_cost_*2*(1-dx)*(1-dy);//*/ + + push_cur(k+2); + push_cur(k-1); + push_cur(k+nx_-1); + push_cur(k+nx_+2); + + push_cur(k-nx_); + push_cur(k-nx_+1); + push_cur(k+nx_*2); + push_cur(k+nx_*2+1); + }else{ + potential[k] = 0; + push_cur(k+1); + push_cur(k-1); + push_cur(k-nx_); + push_cur(k+nx_); + } + + int nwv = 0; // max priority block size + int nc = 0; // number of cells put into priority blocks + int cycle = 0; // which cycle we're on + + // set up start cell + int startCell = toIndex(end_x, end_y); + + for (; cycle < cycles; cycle++) // go for this many cycles, unless interrupted + { + // + if (currentEnd_ == 0 && nextEnd_ == 0) // priority blocks empty + return false; + + // stats + nc += currentEnd_; + if (currentEnd_ > nwv) + nwv = currentEnd_; + + // reset pending_ flags on current priority buffer + int *pb = currentBuffer_; + int i = currentEnd_; + while (i-- > 0) + pending_[*(pb++)] = false; + + // process current priority buffer + pb = currentBuffer_; + i = currentEnd_; + while (i-- > 0) + updateCell(costs, potential, *pb++); + + // swap priority blocks currentBuffer_ <=> nextBuffer_ + currentEnd_ = nextEnd_; + nextEnd_ = 0; + pb = currentBuffer_; // swap buffers + currentBuffer_ = nextBuffer_; + nextBuffer_ = pb; + + // see if we're done with this priority level + if (currentEnd_ == 0) { + threshold_ += priorityIncrement_; // increment priority threshold + currentEnd_ = overEnd_; // set current to overflow block + overEnd_ = 0; + pb = currentBuffer_; // swap buffers + currentBuffer_ = overBuffer_; + overBuffer_ = pb; + } + + // check if we've hit the Start cell + if (potential[startCell] < POT_HIGH) + break; + } + //ROS_INFO("CYCLES %d/%d ", cycle, cycles); + if (cycle < cycles) + return true; // finished up here + else + return false; +} + +// +// Critical function: calculate updated potential value of a cell, +// given its neighbors' values +// Planar-wave update calculation from two lowest neighbors in a 4-grid +// Quadratic approximation to the interpolated value +// No checking of bounds here, this function should be fast +// + +#define INVSQRT2 0.707106781 + +inline void DijkstraExpansion::updateCell(unsigned char* costs, float* potential, int n) { + cells_visited_++; + + // do planar wave update + float c = getCost(costs, n); + if (c >= lethal_cost_) // don't propagate into obstacles + return; + + float pot = p_calc_->calculatePotential(potential, c, n); + + // now add affected neighbors to priority blocks + if (pot < potential[n]) { + float le = INVSQRT2 * (float)getCost(costs, n - 1); + float re = INVSQRT2 * (float)getCost(costs, n + 1); + float ue = INVSQRT2 * (float)getCost(costs, n - nx_); + float de = INVSQRT2 * (float)getCost(costs, n + nx_); + potential[n] = pot; + //ROS_INFO("UPDATE %d %d %d %f", n, n%nx, n/nx, potential[n]); + if (pot < threshold_) // low-cost buffer block + { + if (potential[n - 1] > pot + le) + push_next(n-1); + if (potential[n + 1] > pot + re) + push_next(n+1); + if (potential[n - nx_] > pot + ue) + push_next(n-nx_); + if (potential[n + nx_] > pot + de) + push_next(n+nx_); + } else // overflow block + { + if (potential[n - 1] > pot + le) + push_over(n-1); + if (potential[n + 1] > pot + re) + push_over(n+1); + if (potential[n - nx_] > pot + ue) + push_over(n-nx_); + if (potential[n + nx_] > pot + de) + push_over(n+nx_); + } + } +} + +} //end namespace global_planner diff --git a/navigations/global_planner/src/gradient_path.cpp b/navigations/global_planner/src/gradient_path.cpp new file mode 100755 index 0000000..009febe --- /dev/null +++ b/navigations/global_planner/src/gradient_path.cpp @@ -0,0 +1,315 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include + +namespace global_planner { + +GradientPath::GradientPath(PotentialCalculator* p_calc) : + Traceback(p_calc), pathStep_(0.5) { + gradx_ = grady_ = NULL; +} + +GradientPath::~GradientPath() { + + if (gradx_) + delete[] gradx_; + if (grady_) + delete[] grady_; +} + +void GradientPath::setSize(int xs, int ys) { + Traceback::setSize(xs, ys); + if (gradx_) + delete[] gradx_; + if (grady_) + delete[] grady_; + gradx_ = new float[xs * ys]; + grady_ = new float[xs * ys]; +} + +bool GradientPath::getPath(float* potential, double start_x, double start_y, double goal_x, double goal_y, std::vector >& path) { + std::pair current; + int stc = getIndex(goal_x, goal_y); + + // set up offset + float dx = goal_x - (int)goal_x; + float dy = goal_y - (int)goal_y; + int ns = xs_ * ys_; + memset(gradx_, 0, ns * sizeof(float)); + memset(grady_, 0, ns * sizeof(float)); + + int c = 0; + while (c++ xs_ * ys_ - xs_) // would be out of bounds + { + printf("[PathCalc] Out of bounds\n"); + return false; + } + + current.first = nx; + current.second = ny; + + //ROS_INFO("%d %d | %f %f ", stc%xs_, stc/xs_, dx, dy); + + path.push_back(current); + + bool oscillation_detected = false; + int npath = path.size(); + if (npath > 2 && path[npath - 1].first == path[npath - 3].first + && path[npath - 1].second == path[npath - 3].second) { + ROS_DEBUG("[PathCalc] oscillation detected, attempting fix."); + oscillation_detected = true; + } + + int stcnx = stc + xs_; + int stcpx = stc - xs_; + + // check for potentials at eight positions near cell + if (potential[stc] >= POT_HIGH || potential[stc + 1] >= POT_HIGH || potential[stc - 1] >= POT_HIGH + || potential[stcnx] >= POT_HIGH || potential[stcnx + 1] >= POT_HIGH || potential[stcnx - 1] >= POT_HIGH + || potential[stcpx] >= POT_HIGH || potential[stcpx + 1] >= POT_HIGH || potential[stcpx - 1] >= POT_HIGH + || oscillation_detected) { + ROS_DEBUG("[Path] Pot fn boundary, following grid (%0.1f/%d)", potential[stc], (int) path.size()); + // check eight neighbors to find the lowest + int minc = stc; + int minp = potential[stc]; + int st = stcpx - 1; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st++; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st++; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st = stc - 1; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st = stc + 1; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st = stcnx - 1; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st++; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + st++; + if (potential[st] < minp) { + minp = potential[st]; + minc = st; + } + stc = minc; + dx = 0; + dy = 0; + + //ROS_DEBUG("[Path] Pot: %0.1f pos: %0.1f,%0.1f", + // potential[stc], path[npath-1].first, path[npath-1].second); + + if (potential[stc] >= POT_HIGH) { + ROS_DEBUG("[PathCalc] No path found, high potential"); + //savemap("navfn_highpot"); + return 0; + } + } + + // have a good gradient here + else { + + // get grad at four positions near cell + gradCell(potential, stc); + gradCell(potential, stc + 1); + gradCell(potential, stcnx); + gradCell(potential, stcnx + 1); + + // get interpolated gradient + float x1 = (1.0 - dx) * gradx_[stc] + dx * gradx_[stc + 1]; + float x2 = (1.0 - dx) * gradx_[stcnx] + dx * gradx_[stcnx + 1]; + float x = (1.0 - dy) * x1 + dy * x2; // interpolated x + float y1 = (1.0 - dx) * grady_[stc] + dx * grady_[stc + 1]; + float y2 = (1.0 - dx) * grady_[stcnx] + dx * grady_[stcnx + 1]; + float y = (1.0 - dy) * y1 + dy * y2; // interpolated y + + // show gradients + ROS_DEBUG( + "[Path] %0.2f,%0.2f %0.2f,%0.2f %0.2f,%0.2f %0.2f,%0.2f; final x=%.3f, y=%.3f\n", gradx_[stc], grady_[stc], gradx_[stc+1], grady_[stc+1], gradx_[stcnx], grady_[stcnx], gradx_[stcnx+1], grady_[stcnx+1], x, y); + + // check for zero gradient, failed + if (x == 0.0 && y == 0.0) { + ROS_DEBUG("[PathCalc] Zero gradient"); + return 0; + } + + // move in the right direction + float ss = pathStep_ / hypot(x, y); + dx += x * ss; + dy += y * ss; + + // check for overflow + if (dx > 1.0) { + stc++; + dx -= 1.0; + } + if (dx < -1.0) { + stc--; + dx += 1.0; + } + if (dy > 1.0) { + stc += xs_; + dy -= 1.0; + } + if (dy < -1.0) { + stc -= xs_; + dy += 1.0; + } + + } + + //printf("[Path] Pot: %0.1f grad: %0.1f,%0.1f pos: %0.1f,%0.1f\n", + // potential[stc], dx, dy, path[npath-1].first, path[npath-1].second); + } + + return false; +} + +/* + int + NavFn::calcPath(int n, int *st) + { + // set up start position at cell + // st is always upper left corner for 4-point bilinear interpolation + if (st == NULL) st = start; + int stc = st[1]*nx + st[0]; + + // go for cycles at most + for (int i=0; i 0.0) // check this cell + return 1.0; + + if (n < xs_ || n > xs_ * ys_ - xs_) // would be out of bounds + return 0.0; + float cv = potential[n]; + float dx = 0.0; + float dy = 0.0; + + // check for in an obstacle + if (cv >= POT_HIGH) { + if (potential[n - 1] < POT_HIGH) + dx = -lethal_cost_; + else if (potential[n + 1] < POT_HIGH) + dx = lethal_cost_; + + if (potential[n - xs_] < POT_HIGH) + dy = -lethal_cost_; + else if (potential[n + xs_] < POT_HIGH) + dy = lethal_cost_; + } + + else // not in an obstacle + { + // dx calc, average to sides + if (potential[n - 1] < POT_HIGH) + dx += potential[n - 1] - cv; + if (potential[n + 1] < POT_HIGH) + dx += cv - potential[n + 1]; + + // dy calc, average to sides + if (potential[n - xs_] < POT_HIGH) + dy += potential[n - xs_] - cv; + if (potential[n + xs_] < POT_HIGH) + dy += cv - potential[n + xs_]; + } + + // normalize + float norm = hypot(dx, dy); + if (norm > 0) { + norm = 1.0 / norm; + gradx_[n] = norm * dx; + grady_[n] = norm * dy; + } + return norm; +} + +} //end namespace global_planner + diff --git a/navigations/global_planner/src/grid_path.cpp b/navigations/global_planner/src/grid_path.cpp new file mode 100755 index 0000000..3bf49e4 --- /dev/null +++ b/navigations/global_planner/src/grid_path.cpp @@ -0,0 +1,85 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +namespace global_planner { + +bool GridPath::getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector >& path) { + std::pair current; + current.first = end_x; + current.second = end_y; + + int start_index = getIndex(start_x, start_y); + + path.push_back(current); + int c = 0; + int ns = xs_ * ys_; + + while (getIndex(current.first, current.second) != start_index) { + float min_val = 1e10; + int min_x = 0, min_y = 0; + for (int xd = -1; xd <= 1; xd++) { + for (int yd = -1; yd <= 1; yd++) { + if (xd == 0 && yd == 0) + continue; + int x = current.first + xd, y = current.second + yd; + int index = getIndex(x, y); + if (potential[index] < min_val) { + min_val = potential[index]; + min_x = x; + min_y = y; + } + } + } + if (min_x == 0 && min_y == 0) + return false; + current.first = min_x; + current.second = min_y; + path.push_back(current); + + if(c++>ns*4){ + return false; + } + + } + return true; +} + +} //end namespace global_planner + diff --git a/navigations/global_planner/src/orientation_filter.cpp b/navigations/global_planner/src/orientation_filter.cpp new file mode 100755 index 0000000..4473dae --- /dev/null +++ b/navigations/global_planner/src/orientation_filter.cpp @@ -0,0 +1,135 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, David V. Lu!! + * 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 David V. Lu 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: David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include +#include + +namespace global_planner { + +void set_angle(geometry_msgs::PoseStamped* pose, double angle) +{ + tf2::Quaternion q; + q.setRPY(0, 0, angle); + tf2::convert(q, pose->pose.orientation); +} + +void OrientationFilter::processPath(const geometry_msgs::PoseStamped& start, + std::vector& path) +{ + int n = path.size(); + if (n == 0) return; + switch(omode_) { + case FORWARD: + for(int i=0;i0 ){ + const double new_angle = tf2::getYaw(path[i-1].pose.orientation); + double diff = fabs(angles::shortest_angular_distance(new_angle, last)); + if( diff>0.35) + break; + else + i--; + } + + path[0].pose.orientation = start.pose.orientation; + interpolate(path, i, n-1); + break; + } +} + +void OrientationFilter::setAngleBasedOnPositionDerivative(std::vector& path, int index) +{ + int index0 = std::max(0, index - window_size_); + int index1 = std::min((int)path.size() - 1, index + window_size_); + + double x0 = path[index0].pose.position.x, + y0 = path[index0].pose.position.y, + x1 = path[index1].pose.position.x, + y1 = path[index1].pose.position.y; + + double angle = atan2(y1-y0,x1-x0); + set_angle(&path[index], angle); +} + +void OrientationFilter::interpolate(std::vector& path, + int start_index, int end_index) +{ + const double start_yaw = tf2::getYaw(path[start_index].pose.orientation), + end_yaw = tf2::getYaw(path[end_index ].pose.orientation); + double diff = angles::shortest_angular_distance(start_yaw, end_yaw); + double increment = diff/(end_index-start_index); + for(int i=start_index; i<=end_index; i++){ + double angle = start_yaw + increment * i; + set_angle(&path[i], angle); + } +} + + +}; diff --git a/navigations/global_planner/src/plan_node.cpp b/navigations/global_planner/src/plan_node.cpp new file mode 100755 index 0000000..c0156bf --- /dev/null +++ b/navigations/global_planner/src/plan_node.cpp @@ -0,0 +1,111 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Bhaskara Marthi + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include +#include + +namespace cm = costmap_2d; +namespace rm = geometry_msgs; + +using std::vector; +using rm::PoseStamped; +using std::string; +using cm::Costmap2D; +using cm::Costmap2DROS; + +namespace global_planner { + +class PlannerWithCostmap : public GlobalPlanner { + public: + PlannerWithCostmap(string name, Costmap2DROS* cmap); + bool makePlanService(navfn::MakeNavPlan::Request& req, navfn::MakeNavPlan::Response& resp); + + private: + void poseCallback(const rm::PoseStamped::ConstPtr& goal); + Costmap2DROS* cmap_; + ros::ServiceServer make_plan_service_; + ros::Subscriber pose_sub_; +}; + +bool PlannerWithCostmap::makePlanService(navfn::MakeNavPlan::Request& req, navfn::MakeNavPlan::Response& resp) { + vector path; + + req.start.header.frame_id = "map"; + req.goal.header.frame_id = "map"; + bool success = makePlan(req.start, req.goal, path); + resp.plan_found = success; + if (success) { + resp.path = path; + } + + return true; +} + +void PlannerWithCostmap::poseCallback(const rm::PoseStamped::ConstPtr& goal) { + geometry_msgs::PoseStamped global_pose; + cmap_->getRobotPose(global_pose); + vector path; + makePlan(global_pose, *goal, path); +} + +PlannerWithCostmap::PlannerWithCostmap(string name, Costmap2DROS* cmap) : + GlobalPlanner(name, cmap->getCostmap(), cmap->getGlobalFrameID()) { + ros::NodeHandle private_nh("~"); + cmap_ = cmap; + make_plan_service_ = private_nh.advertiseService("make_plan", &PlannerWithCostmap::makePlanService, this); + pose_sub_ = private_nh.subscribe("goal", 1, &PlannerWithCostmap::poseCallback, this); +} + +} // namespace + +int main(int argc, char** argv) { + ros::init(argc, argv, "global_planner"); + + tf2_ros::Buffer buffer(ros::Duration(10)); + tf2_ros::TransformListener tf(buffer); + + costmap_2d::Costmap2DROS lcr("costmap", buffer); + + global_planner::PlannerWithCostmap pppp("planner", &lcr); + + ros::spin(); + return 0; +} + diff --git a/navigations/global_planner/src/planner_core.cpp b/navigations/global_planner/src/planner_core.cpp new file mode 100755 index 0000000..5cfdd67 --- /dev/null +++ b/navigations/global_planner/src/planner_core.cpp @@ -0,0 +1,438 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + * David V. Lu!! + *********************************************************************/ +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +//register this planner as a BaseGlobalPlanner plugin +PLUGINLIB_EXPORT_CLASS(global_planner::GlobalPlanner, nav_core::BaseGlobalPlanner) + +namespace global_planner { + +void GlobalPlanner::outlineMap(unsigned char* costarr, int nx, int ny, unsigned char value) { + unsigned char* pc = costarr; + for (int i = 0; i < nx; i++) + *pc++ = value; + pc = costarr + (ny - 1) * nx; + for (int i = 0; i < nx; i++) + *pc++ = value; + pc = costarr; + for (int i = 0; i < ny; i++, pc += nx) + *pc = value; + pc = costarr + nx - 1; + for (int i = 0; i < ny; i++, pc += nx) + *pc = value; +} + +GlobalPlanner::GlobalPlanner() : + costmap_(NULL), initialized_(false), allow_unknown_(true), + p_calc_(NULL), planner_(NULL), path_maker_(NULL), orientation_filter_(NULL), + potential_array_(NULL) { +} + +GlobalPlanner::GlobalPlanner(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id) : + GlobalPlanner() { + //initialize the planner + initialize(name, costmap, frame_id); +} + +GlobalPlanner::~GlobalPlanner() { + if (p_calc_) + delete p_calc_; + if (planner_) + delete planner_; + if (path_maker_) + delete path_maker_; + if (dsrv_) + delete dsrv_; +} + +void GlobalPlanner::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) { + initialize(name, costmap_ros->getCostmap(), costmap_ros->getGlobalFrameID()); +} + +void GlobalPlanner::initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id) { + if (!initialized_) { + ros::NodeHandle private_nh("~/" + name); + costmap_ = costmap; + frame_id_ = frame_id; + + unsigned int cx = costmap->getSizeInCellsX(), cy = costmap->getSizeInCellsY(); + + private_nh.param("old_navfn_behavior", old_navfn_behavior_, false); + if(!old_navfn_behavior_) + convert_offset_ = 0.5; + else + convert_offset_ = 0.0; + + bool use_quadratic; + private_nh.param("use_quadratic", use_quadratic, true); + if (use_quadratic) + p_calc_ = new QuadraticCalculator(cx, cy); + else + p_calc_ = new PotentialCalculator(cx, cy); + + bool use_dijkstra; + private_nh.param("use_dijkstra", use_dijkstra, true); + if (use_dijkstra) + { + DijkstraExpansion* de = new DijkstraExpansion(p_calc_, cx, cy); + if(!old_navfn_behavior_) + de->setPreciseStart(true); + planner_ = de; + } + else + planner_ = new AStarExpansion(p_calc_, cx, cy); + + bool use_grid_path; + private_nh.param("use_grid_path", use_grid_path, false); + if (use_grid_path) + path_maker_ = new GridPath(p_calc_); + else + path_maker_ = new GradientPath(p_calc_); + + orientation_filter_ = new OrientationFilter(); + + plan_pub_ = private_nh.advertise("plan", 1); + potential_pub_ = private_nh.advertise("potential", 1); + + private_nh.param("allow_unknown", allow_unknown_, true); + planner_->setHasUnknown(allow_unknown_); + private_nh.param("planner_window_x", planner_window_x_, 0.0); + private_nh.param("planner_window_y", planner_window_y_, 0.0); + private_nh.param("default_tolerance", default_tolerance_, 0.0); + private_nh.param("publish_scale", publish_scale_, 100); + private_nh.param("outline_map", outline_map_, true); + + make_plan_srv_ = private_nh.advertiseService("make_plan", &GlobalPlanner::makePlanService, this); + + dsrv_ = new dynamic_reconfigure::Server(ros::NodeHandle("~/" + name)); + dynamic_reconfigure::Server::CallbackType cb = + [this](auto& config, auto level){ reconfigureCB(config, level); }; + dsrv_->setCallback(cb); + + initialized_ = true; + } else + ROS_WARN("This planner has already been initialized, you can't call it twice, doing nothing"); + +} + +void GlobalPlanner::reconfigureCB(global_planner::GlobalPlannerConfig& config, uint32_t level) { + planner_->setLethalCost(config.lethal_cost); + path_maker_->setLethalCost(config.lethal_cost); + planner_->setNeutralCost(config.neutral_cost); + planner_->setFactor(config.cost_factor); + publish_potential_ = config.publish_potential; + orientation_filter_->setMode(config.orientation_mode); + orientation_filter_->setWindowSize(config.orientation_window_size); +} + +void GlobalPlanner::clearRobotCell(const geometry_msgs::PoseStamped& global_pose, unsigned int mx, unsigned int my) { + if (!initialized_) { + ROS_ERROR( + "This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return; + } + + //set the associated costs in the cost map to be free + costmap_->setCost(mx, my, costmap_2d::FREE_SPACE); +} + +bool GlobalPlanner::makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp) { + makePlan(req.start, req.goal, resp.plan.poses); + + resp.plan.header.stamp = ros::Time::now(); + resp.plan.header.frame_id = frame_id_; + + return true; +} + +void GlobalPlanner::mapToWorld(double mx, double my, double& wx, double& wy) { + wx = costmap_->getOriginX() + (mx+convert_offset_) * costmap_->getResolution(); + wy = costmap_->getOriginY() + (my+convert_offset_) * costmap_->getResolution(); +} + +bool GlobalPlanner::worldToMap(double wx, double wy, double& mx, double& my) { + double origin_x = costmap_->getOriginX(), origin_y = costmap_->getOriginY(); + double resolution = costmap_->getResolution(); + + if (wx < origin_x || wy < origin_y) + return false; + + mx = (wx - origin_x) / resolution - convert_offset_; + my = (wy - origin_y) / resolution - convert_offset_; + + if (mx < costmap_->getSizeInCellsX() && my < costmap_->getSizeInCellsY()) + return true; + + return false; +} + +bool GlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, + std::vector& plan) { + return makePlan(start, goal, default_tolerance_, plan); +} + +bool GlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, + double tolerance, std::vector& plan) { + boost::mutex::scoped_lock lock(mutex_); + if (!initialized_) { + ROS_ERROR( + "This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + //clear the plan, just in case + plan.clear(); + + ros::NodeHandle n; + std::string global_frame = frame_id_; + + //until tf can handle transforming things that are way in the past... we'll require the goal to be in our global frame + if (goal.header.frame_id != global_frame) { + ROS_ERROR( + "The goal pose passed to this planner must be in the %s frame. It is instead in the %s frame.", global_frame.c_str(), goal.header.frame_id.c_str()); + return false; + } + + if (start.header.frame_id != global_frame) { + ROS_ERROR( + "The start pose passed to this planner must be in the %s frame. It is instead in the %s frame.", global_frame.c_str(), start.header.frame_id.c_str()); + return false; + } + + double wx = start.pose.position.x; + double wy = start.pose.position.y; + + unsigned int start_x_i, start_y_i, goal_x_i, goal_y_i; + double start_x, start_y, goal_x, goal_y; + + if (!costmap_->worldToMap(wx, wy, start_x_i, start_y_i)) { + ROS_WARN_THROTTLE(1.0, + "The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?"); + return false; + } + if(old_navfn_behavior_){ + start_x = start_x_i; + start_y = start_y_i; + }else{ + worldToMap(wx, wy, start_x, start_y); + } + + wx = goal.pose.position.x; + wy = goal.pose.position.y; + + if (!costmap_->worldToMap(wx, wy, goal_x_i, goal_y_i)) { + ROS_WARN_THROTTLE(1.0, + "The goal sent to the global planner is off the global costmap. Planning will always fail to this goal."); + return false; + } + if(old_navfn_behavior_){ + goal_x = goal_x_i; + goal_y = goal_y_i; + }else{ + worldToMap(wx, wy, goal_x, goal_y); + } + + //clear the starting cell within the costmap because we know it can't be an obstacle + clearRobotCell(start, start_x_i, start_y_i); + + int nx = costmap_->getSizeInCellsX(), ny = costmap_->getSizeInCellsY(); + + //make sure to resize the underlying array that Navfn uses + p_calc_->setSize(nx, ny); + planner_->setSize(nx, ny); + path_maker_->setSize(nx, ny); + potential_array_ = new float[nx * ny]; + + if(outline_map_) + outlineMap(costmap_->getCharMap(), nx, ny, costmap_2d::LETHAL_OBSTACLE); + + bool found_legal = planner_->calculatePotentials(costmap_->getCharMap(), start_x, start_y, goal_x, goal_y, + nx * ny * 2, potential_array_); + + if(!old_navfn_behavior_) + planner_->clearEndpoint(costmap_->getCharMap(), potential_array_, goal_x_i, goal_y_i, 2); + if(publish_potential_) + publishPotential(potential_array_); + + if (found_legal) { + //extract the plan + if (getPlanFromPotential(start_x, start_y, goal_x, goal_y, goal, plan)) { + //make sure the goal we push on has the same timestamp as the rest of the plan + geometry_msgs::PoseStamped goal_copy = goal; + goal_copy.header.stamp = ros::Time::now(); + plan.push_back(goal_copy); + } else { + ROS_ERROR("Failed to get a plan from potential when a legal potential was found. This shouldn't happen."); + } + }else{ + ROS_ERROR_THROTTLE(5.0, "Failed to get a plan."); + } + + // add orientations if needed + orientation_filter_->processPath(start, plan); + + //publish the plan for visualization purposes + publishPlan(plan); + delete[] potential_array_; + return !plan.empty(); +} + +void GlobalPlanner::publishPlan(const std::vector& path) { + if (!initialized_) { + ROS_ERROR( + "This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return; + } + + //create a message for the plan + nav_msgs::Path gui_path; + gui_path.poses.resize(path.size()); + + gui_path.header.frame_id = frame_id_; + gui_path.header.stamp = ros::Time::now(); + + // Extract the plan in world co-ordinates, we assume the path is all in the same frame + for (unsigned int i = 0; i < path.size(); i++) { + gui_path.poses[i] = path[i]; + } + + plan_pub_.publish(gui_path); +} + +bool GlobalPlanner::getPlanFromPotential(double start_x, double start_y, double goal_x, double goal_y, + const geometry_msgs::PoseStamped& goal, + std::vector& plan) { + if (!initialized_) { + ROS_ERROR( + "This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + std::string global_frame = frame_id_; + + //clear the plan, just in case + plan.clear(); + + std::vector > path; + + if (!path_maker_->getPath(potential_array_, start_x, start_y, goal_x, goal_y, path)) { + ROS_ERROR("NO PATH!"); + return false; + } + + ros::Time plan_time = ros::Time::now(); + for (int i = path.size() -1; i>=0; i--) { + std::pair point = path[i]; + //convert the plan to world coordinates + double world_x, world_y; + mapToWorld(point.first, point.second, world_x, world_y); + + geometry_msgs::PoseStamped pose; + pose.header.stamp = plan_time; + pose.header.frame_id = global_frame; + pose.pose.position.x = world_x; + pose.pose.position.y = world_y; + pose.pose.position.z = 0.0; + pose.pose.orientation.x = 0.0; + pose.pose.orientation.y = 0.0; + pose.pose.orientation.z = 0.0; + pose.pose.orientation.w = 1.0; + plan.push_back(pose); + } + if(old_navfn_behavior_){ + plan.push_back(goal); + } + return !plan.empty(); +} + +void GlobalPlanner::publishPotential(float* potential) +{ + int nx = costmap_->getSizeInCellsX(), ny = costmap_->getSizeInCellsY(); + double resolution = costmap_->getResolution(); + nav_msgs::OccupancyGrid grid; + // Publish Whole Grid + grid.header.frame_id = frame_id_; + grid.header.stamp = ros::Time::now(); + grid.info.resolution = resolution; + + grid.info.width = nx; + grid.info.height = ny; + + double wx, wy; + costmap_->mapToWorld(0, 0, wx, wy); + grid.info.origin.position.x = wx - resolution / 2; + grid.info.origin.position.y = wy - resolution / 2; + grid.info.origin.position.z = 0.0; + grid.info.origin.orientation.w = 1.0; + + grid.data.resize(nx * ny); + + float max = 0.0; + for (unsigned int i = 0; i < grid.data.size(); i++) { + float potential = potential_array_[i]; + if (potential < POT_HIGH) { + if (potential > max) { + max = potential; + } + } + } + + for (unsigned int i = 0; i < grid.data.size(); i++) { + if (potential_array_[i] >= POT_HIGH) { + grid.data[i] = -1; + } else { + if (fabs(max) < DBL_EPSILON) { + grid.data[i] = -1; + } else { + grid.data[i] = potential_array_[i] * publish_scale_ / max; + } + } + } + potential_pub_.publish(grid); +} + +} //end namespace global_planner diff --git a/navigations/global_planner/src/quadratic_calculator.cpp b/navigations/global_planner/src/quadratic_calculator.cpp new file mode 100755 index 0000000..afc6b46 --- /dev/null +++ b/navigations/global_planner/src/quadratic_calculator.cpp @@ -0,0 +1,77 @@ +/* + * Copyright (c) 2013, 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, Inc. 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. + */ + +#include + +namespace global_planner { +float QuadraticCalculator::calculatePotential(float* potential, unsigned char cost, int n, float prev_potential) { + // get neighbors + float u, d, l, r; + l = potential[n - 1]; + r = potential[n + 1]; + u = potential[n - nx_]; + d = potential[n + nx_]; + // ROS_INFO("[Update] c: %f l: %f r: %f u: %f d: %f\n", + // potential[n], l, r, u, d); + // ROS_INFO("[Update] cost: %d\n", costs[n]); + + // find lowest, and its lowest neighbor + float ta, tc; + if (l < r) + tc = l; + else + tc = r; + if (u < d) + ta = u; + else + ta = d; + + float hf = cost; // traversability factor + float dc = tc - ta; // relative cost between ta,tc + if (dc < 0) // tc is lowest + { + dc = -dc; + ta = tc; + } + + // calculate new potential + if (dc >= hf) // if too large, use ta-only update + return ta + hf; + else // two-neighbor interpolation update + { + // use quadratic approximation + // might speed this up through table lookup, but still have to + // do the divide + float d = dc / hf; + float v = -0.2301 * d * d + 0.5307 * d + 0.7040; + return ta + hf * v; + } +} +} + diff --git a/navigations/map_msgs/CHANGELOG.rst b/navigations/map_msgs/CHANGELOG.rst new file mode 100755 index 0000000..8d24b21 --- /dev/null +++ b/navigations/map_msgs/CHANGELOG.rst @@ -0,0 +1,17 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package map_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.14.1 (2020-11-02) +------------------- + +1.14.0 (2020-03-10) +------------------- +* Bump CMake version to avoid CMP0048 + Signed-off-by: Shane Loretz +* Contributors: Shane Loretz + +1.13.0 (2015-03-16) +------------------- +* initial release from new repository +* Contributors: Michael Ferguson diff --git a/navigations/map_msgs/CMakeLists.txt b/navigations/map_msgs/CMakeLists.txt new file mode 100755 index 0000000..2bc7ccc --- /dev/null +++ b/navigations/map_msgs/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 3.0.2) +project(map_msgs) + +find_package(catkin REQUIRED + COMPONENTS + message_generation + nav_msgs + sensor_msgs + std_msgs +) + +add_message_files( + FILES + OccupancyGridUpdate.msg + PointCloud2Update.msg + ProjectedMapInfo.msg + ProjectedMap.msg +) +add_service_files( + FILES + GetMapROI.srv + GetPointMapROI.srv + GetPointMap.srv + ProjectedMapsInfo.srv + SaveMap.srv + SetMapProjections.srv +) + +generate_messages( + DEPENDENCIES + nav_msgs + sensor_msgs + std_msgs +) + +catkin_package( + CATKIN_DEPENDS + message_runtime + nav_msgs + sensor_msgs + std_msgs +) diff --git a/navigations/map_msgs/msg/OccupancyGridUpdate.msg b/navigations/map_msgs/msg/OccupancyGridUpdate.msg new file mode 100755 index 0000000..3587fa8 --- /dev/null +++ b/navigations/map_msgs/msg/OccupancyGridUpdate.msg @@ -0,0 +1,6 @@ +std_msgs/Header header +int32 x +int32 y +uint32 width +uint32 height +int8[] data diff --git a/navigations/map_msgs/msg/PointCloud2Update.msg b/navigations/map_msgs/msg/PointCloud2Update.msg new file mode 100755 index 0000000..7637784 --- /dev/null +++ b/navigations/map_msgs/msg/PointCloud2Update.msg @@ -0,0 +1,5 @@ +uint32 ADD=0 +uint32 DELETE=1 +std_msgs/Header header +uint32 type # type of update, one of ADD or DELETE +sensor_msgs/PointCloud2 points diff --git a/navigations/map_msgs/msg/ProjectedMap.msg b/navigations/map_msgs/msg/ProjectedMap.msg new file mode 100755 index 0000000..e14a200 --- /dev/null +++ b/navigations/map_msgs/msg/ProjectedMap.msg @@ -0,0 +1,3 @@ +nav_msgs/OccupancyGrid map +float64 min_z +float64 max_z \ No newline at end of file diff --git a/navigations/map_msgs/msg/ProjectedMapInfo.msg b/navigations/map_msgs/msg/ProjectedMapInfo.msg new file mode 100755 index 0000000..bb35f20 --- /dev/null +++ b/navigations/map_msgs/msg/ProjectedMapInfo.msg @@ -0,0 +1,7 @@ +string frame_id +float64 x +float64 y +float64 width +float64 height +float64 min_z +float64 max_z \ No newline at end of file diff --git a/navigations/map_msgs/package.xml b/navigations/map_msgs/package.xml new file mode 100755 index 0000000..ca832ab --- /dev/null +++ b/navigations/map_msgs/package.xml @@ -0,0 +1,27 @@ + + map_msgs + 1.14.1 + + This package defines messages commonly used in mapping packages. + + Stéphane Magnenat + David V. Lu!! + Michael Ferguson + + BSD + http://ros.org/wiki/map_msgs + https://github.com/ros-planning/navigation_msgs/issues + + catkin + + message_generation + nav_msgs + sensor_msgs + std_msgs + + message_runtime + nav_msgs + sensor_msgs + std_msgs + + diff --git a/navigations/map_msgs/srv/GetMapROI.srv b/navigations/map_msgs/srv/GetMapROI.srv new file mode 100755 index 0000000..0ce2720 --- /dev/null +++ b/navigations/map_msgs/srv/GetMapROI.srv @@ -0,0 +1,6 @@ +float64 x +float64 y +float64 l_x +float64 l_y +--- +nav_msgs/OccupancyGrid sub_map \ No newline at end of file diff --git a/navigations/map_msgs/srv/GetPointMap.srv b/navigations/map_msgs/srv/GetPointMap.srv new file mode 100755 index 0000000..89668e6 --- /dev/null +++ b/navigations/map_msgs/srv/GetPointMap.srv @@ -0,0 +1,3 @@ +# Get the map as a sensor_msgs/PointCloud2 +--- +sensor_msgs/PointCloud2 map diff --git a/navigations/map_msgs/srv/GetPointMapROI.srv b/navigations/map_msgs/srv/GetPointMapROI.srv new file mode 100755 index 0000000..47284cc --- /dev/null +++ b/navigations/map_msgs/srv/GetPointMapROI.srv @@ -0,0 +1,9 @@ +float64 x +float64 y +float64 z +float64 r # if != 0, circular ROI of radius r +float64 l_x # if r == 0, length of AABB on x +float64 l_y # if r == 0, length of AABB on y +float64 l_z # if r == 0, length of AABB on z +--- +sensor_msgs/PointCloud2 sub_map \ No newline at end of file diff --git a/navigations/map_msgs/srv/ProjectedMapsInfo.srv b/navigations/map_msgs/srv/ProjectedMapsInfo.srv new file mode 100755 index 0000000..28c5388 --- /dev/null +++ b/navigations/map_msgs/srv/ProjectedMapsInfo.srv @@ -0,0 +1,2 @@ +map_msgs/ProjectedMapInfo[] projected_maps_info +--- diff --git a/navigations/map_msgs/srv/SaveMap.srv b/navigations/map_msgs/srv/SaveMap.srv new file mode 100755 index 0000000..5c1bfb5 --- /dev/null +++ b/navigations/map_msgs/srv/SaveMap.srv @@ -0,0 +1,3 @@ +# Save the map to the filesystem +std_msgs/String filename +--- diff --git a/navigations/map_msgs/srv/SetMapProjections.srv b/navigations/map_msgs/srv/SetMapProjections.srv new file mode 100755 index 0000000..dee9523 --- /dev/null +++ b/navigations/map_msgs/srv/SetMapProjections.srv @@ -0,0 +1,2 @@ +--- +map_msgs/ProjectedMapInfo[] projected_maps_info diff --git a/navigations/map_server/CHANGELOG.rst b/navigations/map_server/CHANGELOG.rst new file mode 100755 index 0000000..7c16d45 --- /dev/null +++ b/navigations/map_server/CHANGELOG.rst @@ -0,0 +1,212 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package map_server +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- +* Change_map service to map_server [Rebase/Noetic] (`#1029 `_) + * Refactored map loading from constructor to three methods + * Added change_map service using LoadMap.srv +* map_server: Initialise a NodeHandle in main. (`#1122 `_) +* Add debug output regarding waiting for time (`#1078 `_) + Added debug messages suggested in https://github.com/ros-planning/navigation/issues/1074#issuecomment-751557177. Makes it easier to discover if use_sim_time is true but no clock server is running +* crop_map: Fix extra pixel origin shift up every cropping (`#1064 `_) (`#1067 `_) + Co-authored-by: Pavlo Kolomiiets +* (map_server) add rtest dependency to tests (`#1061 `_) +* [noetic] MapServer variable cleanup: Precursor for `#1029 `_ (`#1043 `_) +* Contributors: Christian Fritz, David V. Lu!!, Matthijs van der Burgh, Nikos Koukis, Pavlo Kolomiiets + +1.17.1 (2020-08-27) +------------------- +* Initial map_server map_mode tests (`#1006 `_) +* [noetic] Adding CMake way to find yaml-cpp (`#998 `_) +* Contributors: David V. Lu!!, Sean Yen + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Merge pull request `#850 `_ from seanyen/map_server_windows_fix + [Windows][melodic] map_server Windows build bring up +* map_server Windows build bring up + * Fix install location for Windows build. (On Windows build, shared library uses RUNTIME location, but not LIBRARY) + * Use boost::filesystem::path to handle path logic and remove the libgen.h dependency for better cross platform. + * Fix gtest hard-coded and add YAML library dir in CMakeList.txt. +* Contributors: Michael Ferguson, Sean Yen, Steven Macenski + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Merge pull request `#735 `_ from ros-planning/melodic_708 + Allow specification of free/occupied thresholds for map_saver (`#708 `_) +* Allow specification of free/occupied thresholds for map_saver (`#708 `_) + * add occupied threshold command line parameter to map_saver (--occ) + * add free threshold command line parameter to map_saver (--free) +* Merge pull request `#704 `_ from DLu/fix573_lunar + Map server wait for a valid time fix [lunar] +* Map server wait for a valid time, fix `#573 `_ (`#700 `_) + When launching the map_server with Gazebo, the current time is picked + before the simulation is started and then has a value of 0. + Later when querying the stamp of the map, a value of has a special + signification on tf transform for example. +* Contributors: Michael Ferguson, Romain Reignier, ipa-fez + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Use occupancy values when saving a map (`#613 `_) +* Closes `#625 `_ (`#627 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Hunter Allen, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- +* remove offending library export (fixes `#612 `_) +* Contributors: Michael Ferguson + +1.15.0 (2017-08-07) +------------------- +* Fix compiler warning for GCC 8. +* convert packages to format2 +* Merge pull request `#596 `_ from ros-planning/lunar_548 +* refactor to not use tf version 1 (`#561 `_) +* Fix CMakeLists + package.xmls (`#548 `_) +* Merge pull request `#560 `_ from wjwwood/map_server_fixup_cmake +* update to support Python 2 and 3 (`#559 `_) +* remove duplicate and unreferenced file (`#558 `_) +* remove trailing whitespace from map_server package (`#557 `_) +* fix cmake use of yaml-cpp and sdl / sdl-image +* Fix CMake warnings +* Contributors: Hunter L. Allen, Martin Günther, Michael Ferguson, Mikael Arguedas, Vincent Rabaud, William Woodall + +1.14.0 (2016-05-20) +------------------- +* Corrections to alpha channel detection and usage. + Changing to actually detect whether the image has an alpha channel instead of + inferring based on the number of channels. + Also reverting to legacy behavior of trinary mode overriding alpha removal. + This will cause the alpha channel to be averaged in with the others in trinary + mode, which is the current behavior before this PR. +* Removing some trailing whitespace. +* Use enum to control map interpretation +* Contributors: Aaron Hoy, David Lu + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- +* rename image_loader library, fixes `#208 `_ +* Contributors: Michael Ferguson + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- +* prevent inf loop +* Contributors: Jeremie Deray + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- +* map_server: [style] alphabetize dependencies +* map_server: remove vestigial export line + the removed line does not do anything in catkin +* Contributors: William Woodall + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- +* fix build, was broken by `#175 `_ +* Contributors: Michael Ferguson + +1.11.7 (2014-05-21) +------------------- +* make rostest in CMakeLists optional +* Contributors: Lukas Bulwahn + +1.11.5 (2014-01-30) +------------------- +* install crop map +* removing .py from executable script +* Map Server can serve maps with non-lethal values +* Added support for YAML-CPP 0.5+. + The new yaml-cpp API removes the "node >> outputvar;" operator, and + it has a new way of loading documents. There's no version hint in the + library's headers, so I'm getting the version number from pkg-config. +* check for CATKIN_ENABLE_TESTING +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* prefix utest target to not collide with other targets +* Package URL Updates +* unique target names to avoid conflicts (e.g. with map-store) diff --git a/navigations/map_server/CMakeLists.txt b/navigations/map_server/CMakeLists.txt new file mode 100755 index 0000000..401e4fe --- /dev/null +++ b/navigations/map_server/CMakeLists.txt @@ -0,0 +1,135 @@ +cmake_minimum_required(VERSION 3.0.2) +project(map_server) + +find_package(catkin REQUIRED + COMPONENTS + roscpp + nav_msgs + tf2 + ) + +find_package(Bullet REQUIRED) +find_package(SDL REQUIRED) +find_package(SDL_image REQUIRED) +find_package(Boost REQUIRED COMPONENTS filesystem) + +find_package(PkgConfig REQUIRED) +pkg_check_modules(YAMLCPP yaml-cpp QUIET) +if(NOT YAMLCPP_FOUND) + find_package(yaml-cpp 0.6 REQUIRED) + set(YAMLCPP_INCLUDE_DIRS ${YAML_CPP_INCLUDE_DIR}) + set(YAMLCPP_LIBRARIES ${YAML_CPP_LIBRARIES}) + add_definitions(-DHAVE_YAMLCPP_GT_0_5_0) +else() + if(YAMLCPP_VERSION VERSION_GREATER "0.5.0") + add_definitions(-DHAVE_YAMLCPP_GT_0_5_0) + endif() + link_directories(${YAMLCPP_LIBRARY_DIRS}) +endif() + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + map_server_image_loader + CATKIN_DEPENDS + roscpp + nav_msgs + tf2 +) + +include_directories( + include + ${BULLET_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${SDL_INCLUDE_DIR} + ${SDL_IMAGE_INCLUDE_DIRS} + ${YAMLCPP_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + +add_library(map_server_image_loader + src/image_loader.cpp + src/image_16bit_loader.cpp + src/image_32bit_loader.cpp + ) +add_dependencies(map_server_image_loader ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(map_server_image_loader + ${BULLET_LIBRARIES} + ${catkin_LIBRARIES} + ${SDL_LIBRARY} + ${SDL_IMAGE_LIBRARIES} +) + +add_executable(map_server src/main.cpp) +add_dependencies(map_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(map_server + map_server_image_loader + ${YAMLCPP_LIBRARIES} + ${catkin_LIBRARIES} +) + +add_executable(map_server-map_saver src/map_saver.cpp) +add_dependencies(map_server-map_saver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +set_target_properties(map_server-map_saver PROPERTIES OUTPUT_NAME map_saver) +target_link_libraries(map_server-map_saver + ${catkin_LIBRARIES} +) + +# copy test data to same place as tests are run +function(copy_test_data) + cmake_parse_arguments(PROJECT "" "" "FILES" ${ARGN}) + foreach(datafile ${PROJECT_FILES}) + file(COPY ${datafile} DESTINATION ${PROJECT_BINARY_DIR}/test) + endforeach() +endfunction() + +## Tests +if(CATKIN_ENABLE_TESTING) + copy_test_data( FILES + test/testmap.bmp + test/testmap.png + test/spectrum.png ) + catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp test/test_constants.cpp) + target_link_libraries(${PROJECT_NAME}_utest + map_server_image_loader + ${SDL_LIBRARY} + ${SDL_IMAGE_LIBRARIES} + ) + + find_package(roslib REQUIRED) + include_directories(${roslib_INCLUDE_DIRS}) + add_executable(rtest test/rtest.cpp test/test_constants.cpp) + add_dependencies(rtest ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + add_dependencies(tests rtest) + target_link_libraries( rtest + ${GTEST_LIBRARIES} + ${catkin_LIBRARIES} + ${roslib_LIBRARIES} + ) + + # This has to be done after we've already built targets, or catkin variables get borked + find_package(rostest REQUIRED) + add_rostest(test/rtest.xml) +endif() + +## Install executables and/or libraries +install(TARGETS map_server-map_saver map_server + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(TARGETS map_server_image_loader + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + +## Install project namespaced headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) + +## Install excutable python script +install( + PROGRAMS + scripts/crop_map + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/navigations/map_server/include/map_server/image_loader.h b/navigations/map_server/include/map_server/image_loader.h new file mode 100755 index 0000000..ea226d3 --- /dev/null +++ b/navigations/map_server/include/map_server/image_loader.h @@ -0,0 +1,115 @@ +/* + * 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, Inc. 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. + */ +#ifndef MAP_SERVER_MAP_SERVER_H +#define MAP_SERVER_MAP_SERVER_H + +/* + * Author: Brian Gerkey + */ + +#include "nav_msgs/GetMap.h" + +/** Map mode + * Default: TRINARY - + * value >= occ_th - Occupied (100) + * value <= free_th - Free (0) + * otherwise - Unknown + * SCALE - + * alpha < 1.0 - Unknown + * value >= occ_th - Occupied (100) + * value <= free_th - Free (0) + * otherwise - f( (free_th, occ_th) ) = (0, 100) + * (linearly map in between values to (0,100) + * RAW - + * value = value + */ +enum MapMode {TRINARY, SCALE, RAW}; + +namespace map_server +{ + +/** Read the image from file and fill out the resp object, for later + * use when our services are requested. + * + * @param resp The map wil be written into here + * @param fname The image file to read from + * @param res The resolution of the map (gets stored in resp) + * @param negate If true, then whiter pixels are occupied, and blacker + * pixels are free + * @param occ_th Threshold above which pixels are occupied + * @param free_th Threshold below which pixels are free + * @param origin Triple specifying 2-D pose of lower-left corner of image + * @param mode Map mode + * @throws std::runtime_error If the image file can't be loaded + * */ +void loadMapFromFile(nav_msgs::GetMap::Response* resp, + const char* fname, double res, bool negate, + double occ_th, double free_th, double* origin, + MapMode mode=TRINARY); + +/** Read the image from file and fill out the resp object, for later + * use when our services are requested. + * + * @param resp The map wil be written into here + * @param fname The image file to read from + * @param res The resolution of the map (gets stored in resp) + * @param negate If true, then whiter pixels are occupied, and blacker + * pixels are free + * @param occ_th Threshold above which pixels are occupied + * @param free_th Threshold below which pixels are free + * @param origin Triple specifying 2-D pose of lower-left corner of image + * @param mode Map mode + * @throws std::runtime_error If the image file can't be loaded + * */ +void loadMapFromFile16Bit(nav_msgs::GetMap::Response* resp, + const char* fname, double res, bool negate, + double occ_th, double free_th, double* origin, + MapMode mode=TRINARY); + +/** Read the image from file and fill out the resp object, for later + * use when our services are requested. + * + * @param resp The map wil be written into here + * @param fname The image file to read from + * @param res The resolution of the map (gets stored in resp) + * @param negate If true, then whiter pixels are occupied, and blacker + * pixels are free + * @param occ_th Threshold above which pixels are occupied + * @param free_th Threshold below which pixels are free + * @param origin Triple specifying 2-D pose of lower-left corner of image + * @param mode Map mode + * @throws std::runtime_error If the image file can't be loaded + * */ +void loadMapFromFile32Bit(nav_msgs::GetMap::Response* resp, + const char* fname, double res, bool negate, + double occ_th, double free_th, double* origin, + MapMode mode=TRINARY); +} + +#endif diff --git a/navigations/map_server/launch/test.launch b/navigations/map_server/launch/test.launch new file mode 100755 index 0000000..0d1c2dc --- /dev/null +++ b/navigations/map_server/launch/test.launch @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/navigations/map_server/maps/Direction_Zones_0.png b/navigations/map_server/maps/Direction_Zones_0.png new file mode 100755 index 0000000..5a98027 Binary files /dev/null and b/navigations/map_server/maps/Direction_Zones_0.png differ diff --git a/navigations/map_server/maps/Direction_Zones_180.png b/navigations/map_server/maps/Direction_Zones_180.png new file mode 100755 index 0000000..354d4c8 Binary files /dev/null and b/navigations/map_server/maps/Direction_Zones_180.png differ diff --git a/navigations/map_server/maps/Direction_Zones_270.png b/navigations/map_server/maps/Direction_Zones_270.png new file mode 100755 index 0000000..27a4eac Binary files /dev/null and b/navigations/map_server/maps/Direction_Zones_270.png differ diff --git a/navigations/map_server/maps/Direction_Zones_90.png b/navigations/map_server/maps/Direction_Zones_90.png new file mode 100755 index 0000000..a4337d5 Binary files /dev/null and b/navigations/map_server/maps/Direction_Zones_90.png differ diff --git a/navigations/map_server/maps/maze.png b/navigations/map_server/maps/maze.png new file mode 100755 index 0000000..41d6fa1 Binary files /dev/null and b/navigations/map_server/maps/maze.png differ diff --git a/navigations/map_server/maps/maze.yaml b/navigations/map_server/maps/maze.yaml new file mode 100755 index 0000000..67a3c33 --- /dev/null +++ b/navigations/map_server/maps/maze.yaml @@ -0,0 +1,6 @@ +image: Direction_Zones_90.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/navigations/map_server/maps/maze_virtual_walls.png b/navigations/map_server/maps/maze_virtual_walls.png new file mode 100755 index 0000000..e5dd8bb Binary files /dev/null and b/navigations/map_server/maps/maze_virtual_walls.png differ diff --git a/navigations/map_server/maps/maze_virtual_walls.yaml b/navigations/map_server/maps/maze_virtual_walls.yaml new file mode 100755 index 0000000..89320ac --- /dev/null +++ b/navigations/map_server/maps/maze_virtual_walls.yaml @@ -0,0 +1,6 @@ +image: maze_virtual_walls.png +resolution: 0.05 +origin: [0.0, 0.0, 0.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/navigations/map_server/package.xml b/navigations/map_server/package.xml new file mode 100755 index 0000000..640cc76 --- /dev/null +++ b/navigations/map_server/package.xml @@ -0,0 +1,33 @@ + + + + map_server + 1.17.3 + + + map_server provides the map_server ROS Node, which offers map data as a ROS Service. It also provides the map_saver command-line utility, which allows dynamically generated maps to be saved to file. + + + Brian Gerkey, Tony Pratkanis + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + http://wiki.ros.org/map_server + BSD + + catkin + + bullet + nav_msgs + roscpp + sdl + sdl-image + tf2 + yaml-cpp + + roslib + rospy + rostest + rosunit + diff --git a/navigations/map_server/scripts/crop_map b/navigations/map_server/scripts/crop_map new file mode 100755 index 0000000..78b2c14 --- /dev/null +++ b/navigations/map_server/scripts/crop_map @@ -0,0 +1,109 @@ +#!/usr/bin/env python +# 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. +# + +from __future__ import print_function + +import sys +import yaml +from PIL import Image +import math + +def find_bounds(map_image): + x_min = map_image.size[0] + x_end = 0 + y_min = map_image.size[1] + y_end = 0 + pix = map_image.load() + for x in range(map_image.size[0]): + for y in range(map_image.size[1]): + val = pix[x, y] + if val != 205: # not unknown + x_min = min(x, x_min) + x_end = max(x, x_end) + y_min = min(y, y_min) + y_end = max(y, y_end) + return x_min, x_end, y_min, y_end + +def computed_cropped_origin(map_image, bounds, resolution, origin): + """ Compute the image for the cropped map when map_image is cropped by bounds and had origin before. """ + ox = origin[0] + oy = origin[1] + oth = origin[2] + + # First figure out the delta we have to translate from the lower left corner (which is the origin) + # in the image system + dx = bounds[0] * resolution + dy = (map_image.size[1] - bounds[3] - 1) * resolution + + # Next rotate this by the theta and add to the old origin + + new_ox = ox + dx * math.cos(oth) - dy * math.sin(oth) + new_oy = oy + dx * math.sin(oth) + dy * math.cos(oth) + + return [new_ox, new_oy, oth] + +if __name__ == "__main__": + if len(sys.argv) < 2: + print("Usage: %s map.yaml [cropped.yaml]" % sys.argv[0], file=sys.stderr) + sys.exit(1) + + with open(sys.argv[1]) as f: + map_data = yaml.safe_load(f) + + if len(sys.argv) > 2: + crop_name = sys.argv[2] + if crop_name.endswith(".yaml"): + crop_name = crop_name[:-5] + crop_yaml = crop_name + ".yaml" + crop_image = crop_name + ".pgm" + else: + crop_yaml = "cropped.yaml" + crop_image = "cropped.pgm" + + map_image_file = map_data["image"] + resolution = map_data["resolution"] + origin = map_data["origin"] + map_image = Image.open(map_image_file) + + bounds = find_bounds(map_image) + + # left, upper, right, lower + cropped_image = map_image.crop((bounds[0], bounds[2], bounds[1] + 1, bounds[3] + 1)) + + cropped_image.save(crop_image) + map_data["image"] = crop_image + map_data["origin"] = computed_cropped_origin(map_image, bounds, resolution, origin) + with open(crop_yaml, "w") as f: + yaml.dump(map_data, f) + diff --git a/navigations/map_server/src/image_16bit_loader.cpp b/navigations/map_server/src/image_16bit_loader.cpp new file mode 100755 index 0000000..8d531ac --- /dev/null +++ b/navigations/map_server/src/image_16bit_loader.cpp @@ -0,0 +1,133 @@ +/* + * 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, Inc. 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. + */ + +/* + * This file contains helper functions for loading images as maps. + * + * Author: Brian Gerkey + */ + +#include +#include + +#include +#include + +// We use SDL_image to load the image from disk +#include + +// Use Bullet's Quaternion object to create one from Euler angles +#include + +#include "map_server/image_loader.h" +#include + +// compute linear index for given map coords +#define MAP_IDX(sx, i, j) ((sx) * (j) + (i)) + +namespace map_server +{ + +void loadMapFromFile16Bit(nav_msgs::GetMap::Response* resp, + const char* fname, double res, bool negate, + double occ_th, double free_th, double* origin, + MapMode mode) +{ + SDL_Surface* img; + + unsigned char* pixels; + unsigned char* p; + int rowstride, n_channels, avg_channels; + unsigned int i,j; + int k; + int alpha; + uint16_t color_avg; + + // Load the image using SDL. If we get NULL back, the image load failed. + if(!(img = IMG_Load(fname))) + { + std::string errmsg = std::string("failed to open image file \"") + + std::string(fname) + std::string("\": ") + IMG_GetError(); + throw std::runtime_error(errmsg); + } + + // Copy the image data into the map structure + resp->map.info.width = img->w*2; + resp->map.info.height = img->h; + resp->map.info.resolution = res; + resp->map.info.origin.position.x = *(origin); + resp->map.info.origin.position.y = *(origin+1); + resp->map.info.origin.position.z = 0.0; + btQuaternion q; + // setEulerZYX(yaw, pitch, roll) + q.setEulerZYX(*(origin+2), 0, 0); + resp->map.info.origin.orientation.x = q.x(); + resp->map.info.origin.orientation.y = q.y(); + resp->map.info.origin.orientation.z = q.z(); + resp->map.info.origin.orientation.w = q.w(); + + // Allocate space to hold the data + resp->map.data.resize(resp->map.info.width * resp->map.info.height); + + // Get values that we'll need to iterate through the pixels + rowstride = img->pitch; + n_channels = img->format->BytesPerPixel; + + // NOTE: Trinary mode still overrides here to preserve existing behavior. + // Alpha will be averaged in with color channels when using trinary mode. + if (mode==TRINARY || !img->format->Amask) + avg_channels = n_channels; + else + avg_channels = n_channels - 1; + // Copy pixel data into the map structure + pixels = (unsigned char*)(img->pixels); + for(j = 0; j < resp->map.info.height; j++) + { + for (i = 0; i < resp->map.info.width; i+=2) + { + // Compute mean of RGB for this pixel + p = pixels + j*rowstride + i/2*n_channels; + color_avg = (*(p) << 16) + (*(p+1) << 8) + (*(p+2)); + if (n_channels == 1) + alpha = 1; + else + alpha = *(p+n_channels-1); + + if(negate) + color_avg = 65535 - color_avg; + + resp->map.data[MAP_IDX(resp->map.info.width,i,resp->map.info.height - j - 1)] = (unsigned char)(color_avg & 0x00FF); + resp->map.data[MAP_IDX(resp->map.info.width,i+1,resp->map.info.height - j - 1)] = (unsigned char)((color_avg & 0xFF00) >> 8); + } + } + + SDL_FreeSurface(img); +} + +} diff --git a/navigations/map_server/src/image_32bit_loader.cpp b/navigations/map_server/src/image_32bit_loader.cpp new file mode 100755 index 0000000..1fccdf2 --- /dev/null +++ b/navigations/map_server/src/image_32bit_loader.cpp @@ -0,0 +1,134 @@ +/* + * 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, Inc. 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. + */ + +/* + * This file contains helper functions for loading images as maps. + * + * Author: Brian Gerkey + */ + +#include +#include + +#include +#include + +// We use SDL_image to load the image from disk +#include + +// Use Bullet's Quaternion object to create one from Euler angles +#include + +#include "map_server/image_loader.h" +#include + +// compute linear index for given map coords +#define MAP_IDX(sx, i, j) ((sx) * (j) + (i)) + +namespace map_server +{ + void loadMapFromFile32Bit(nav_msgs::GetMap::Response *resp, + const char *fname, double res, bool negate, + double occ_th, double free_th, double *origin, + MapMode mode) + { + SDL_Surface *img; + + unsigned char *pixels; + unsigned char *p; + int rowstride, n_channels, avg_channels; + unsigned int i, j; + int k; + int alpha; + uint32_t color_avg; + + // Load the image using SDL. If we get NULL back, the image load failed. + if (!(img = IMG_Load(fname))) + { + std::string errmsg = std::string("failed to open image file \"") + + std::string(fname) + std::string("\": ") + IMG_GetError(); + throw std::runtime_error(errmsg); + } + + // Copy the image data into the map structure + resp->map.info.width = img->w * 2; + resp->map.info.height = img->h * 2; + resp->map.info.resolution = res; + resp->map.info.origin.position.x = *(origin); + resp->map.info.origin.position.y = *(origin + 1); + resp->map.info.origin.position.z = 0.0; + btQuaternion q; + // setEulerZYX(yaw, pitch, roll) + q.setEulerZYX(*(origin + 2), 0, 0); + resp->map.info.origin.orientation.x = q.x(); + resp->map.info.origin.orientation.y = q.y(); + resp->map.info.origin.orientation.z = q.z(); + resp->map.info.origin.orientation.w = q.w(); + + // Allocate space to hold the data + resp->map.data.resize(resp->map.info.width * resp->map.info.height); + + // Get values that we'll need to iterate through the pixels + rowstride = img->pitch; + n_channels = img->format->BytesPerPixel; + + // NOTE: Trinary mode still overrides here to preserve existing behavior. + // Alpha will be averaged in with color channels when using trinary mode. + if (mode == TRINARY || !img->format->Amask) + avg_channels = n_channels; + else + avg_channels = n_channels - 1; + // Copy pixel data into the map structure + pixels = (unsigned char *)(img->pixels); + for (j = 0; j < resp->map.info.height; j += 2) + { + for (i = 0; i < resp->map.info.width; i += 2) + { + // Compute mean of RGB for this pixel + p = pixels + j / 2 * rowstride + i / 2 * n_channels; + color_avg = (*(p) << 16) + (*(p + 1) << 8) + (*(p + 2)); + if (n_channels == 1) + alpha = 1; + else + alpha = *(p + n_channels - 1); + + if (negate) + color_avg = 16777215 - color_avg; + + resp->map.data[MAP_IDX(resp->map.info.width, i, resp->map.info.height - j - 1)] = (color_avg >> 16u) & 0xFF; + resp->map.data[MAP_IDX(resp->map.info.width, i + 1, resp->map.info.height - j - 1)] = (color_avg >> 24u) & 0xFF; + resp->map.data[MAP_IDX(resp->map.info.width, i, resp->map.info.height - j - 2)] = (color_avg >> 0u) & 0xFF; + resp->map.data[MAP_IDX(resp->map.info.width, i + 1, resp->map.info.height - j - 2)] = (color_avg >> 8u) & 0xFF; + } + } + + SDL_FreeSurface(img); + } + +} diff --git a/navigations/map_server/src/image_loader.cpp b/navigations/map_server/src/image_loader.cpp new file mode 100755 index 0000000..02419bf --- /dev/null +++ b/navigations/map_server/src/image_loader.cpp @@ -0,0 +1,167 @@ +/* + * 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, Inc. 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. + */ + +/* + * This file contains helper functions for loading images as maps. + * + * Author: Brian Gerkey + */ + +#include +#include + +#include +#include + +// We use SDL_image to load the image from disk +#include + +// Use Bullet's Quaternion object to create one from Euler angles +#include + +#include "map_server/image_loader.h" +#include + +// compute linear index for given map coords +#define MAP_IDX(sx, i, j) ((sx) * (j) + (i)) + +namespace map_server +{ + +void +loadMapFromFile(nav_msgs::GetMap::Response* resp, + const char* fname, double res, bool negate, + double occ_th, double free_th, double* origin, + MapMode mode) +{ + SDL_Surface* img; + + unsigned char* pixels; + unsigned char* p; + unsigned char value; + int rowstride, n_channels, avg_channels; + unsigned int i,j; + int k; + double occ; + int alpha; + int color_sum; + double color_avg; + + // Load the image using SDL. If we get NULL back, the image load failed. + if(!(img = IMG_Load(fname))) + { + std::string errmsg = std::string("failed to open image file \"") + + std::string(fname) + std::string("\": ") + IMG_GetError(); + throw std::runtime_error(errmsg); + } + + // Copy the image data into the map structure + resp->map.info.width = img->w; + resp->map.info.height = img->h; + resp->map.info.resolution = res; + resp->map.info.origin.position.x = *(origin); + resp->map.info.origin.position.y = *(origin+1); + resp->map.info.origin.position.z = 0.0; + btQuaternion q; + // setEulerZYX(yaw, pitch, roll) + q.setEulerZYX(*(origin+2), 0, 0); + resp->map.info.origin.orientation.x = q.x(); + resp->map.info.origin.orientation.y = q.y(); + resp->map.info.origin.orientation.z = q.z(); + resp->map.info.origin.orientation.w = q.w(); + + // Allocate space to hold the data + resp->map.data.resize(resp->map.info.width * resp->map.info.height); + + // Get values that we'll need to iterate through the pixels + rowstride = img->pitch; + n_channels = img->format->BytesPerPixel; + + // NOTE: Trinary mode still overrides here to preserve existing behavior. + // Alpha will be averaged in with color channels when using trinary mode. + if (mode==TRINARY || !img->format->Amask) + avg_channels = n_channels; + else + avg_channels = n_channels - 1; + // Copy pixel data into the map structure + pixels = (unsigned char*)(img->pixels); + for(j = 0; j < resp->map.info.height; j++) + { + for (i = 0; i < resp->map.info.width; i++) + { + // Compute mean of RGB for this pixel + p = pixels + j*rowstride + i*n_channels; + color_sum = 0; + int color = 0; + for(k=0;kmap.data[MAP_IDX(resp->map.info.width,i,resp->map.info.height - j - 1)] = value; + continue; + } + + + // If negate is true, we consider blacker pixels free, and whiter + // pixels occupied. Otherwise, it's vice versa. + occ = (255 - color_avg) / 255.0; + + // Apply thresholds to RGB means to determine occupancy values for + // map. Note that we invert the graphics-ordering of the pixels to + // produce a map with cell (0,0) in the lower-left corner. + if(occ > occ_th) + value = +100; + else if(occ < free_th) + value = 0; + else if(mode==TRINARY || alpha < 1.0) + value = -1; + else { + double ratio = (occ - free_th) / (occ_th - free_th); + value = 1 + 98 * ratio; + } + + resp->map.data[MAP_IDX(resp->map.info.width,i,resp->map.info.height - j - 1)] = value; + } + } + + SDL_FreeSurface(img); +} + +} diff --git a/navigations/map_server/src/main.cpp b/navigations/map_server/src/main.cpp new file mode 100755 index 0000000..57843f7 --- /dev/null +++ b/navigations/map_server/src/main.cpp @@ -0,0 +1,412 @@ +/* + * 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, Inc. 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: Brian Gerkey */ + +#define USAGE "\nUSAGE: map_server \n" \ + " map.yaml: map description file\n" \ + "DEPRECATED USAGE: map_server \n" \ + " map: image file to load\n" \ + " resolution: map resolution [meters/pixel]" + +#include +#include +#include +#include + +#include "ros/ros.h" +#include "ros/console.h" +#include "map_server/image_loader.h" +#include "nav_msgs/MapMetaData.h" +#include "nav_msgs/LoadMap.h" +#include "yaml-cpp/yaml.h" + +#ifdef HAVE_YAMLCPP_GT_0_5_0 +// The >> operator disappeared in yaml-cpp 0.5, so this function is +// added to provide support for code written under the yaml-cpp 0.3 API. +template +void operator>>(const YAML::Node &node, T &i) +{ + i = node.as(); +} +#endif +#define MAP_IDX(sx, i, j) ((sx) * (j) + (i)) +class MapServer +{ +public: + /** Trivial constructor */ + MapServer(const std::string &fname, double res) + { + std::string mapfname = ""; + double origin[3]; + int negate; + double occ_th, free_th; + MapMode mode = TRINARY; + ros::NodeHandle private_nh("~"); + private_nh.param("frame_id", frame_id_, std::string("map")); + private_nh.param("type", type_, 8); + + // When called this service returns a copy of the current map + get_map_service_ = nh_.advertiseService("static_map", &MapServer::mapCallback, this); + + // Change the currently published map + change_map_srv_ = nh_.advertiseService("change_map", &MapServer::changeMapCallback, this); + + // Latched publisher for metadata + metadata_pub_ = nh_.advertise("map_metadata", 1, true); + + // Latched publisher for data + map_pub_ = nh_.advertise("map", 1, true); + if(type_ != 8) map_convert_ = nh_.advertise("map_convert", 1, true); + + deprecated_ = (res != 0); + if (!deprecated_) + { + if (!loadMapFromYaml(fname)) + { + exit(-1); + } + } + else + { + if (!loadMapFromParams(fname, res)) + { + exit(-1); + } + } + } + +private: + ros::NodeHandle nh_; + ros::Publisher map_pub_; + ros::Publisher map_convert_; + ros::Publisher metadata_pub_; + ros::ServiceServer get_map_service_; + ros::ServiceServer change_map_srv_; + bool deprecated_; + std::string frame_id_; + int type_; + + /** Callback invoked when someone requests our service */ + bool mapCallback(nav_msgs::GetMap::Request &req, + nav_msgs::GetMap::Response &res) + { + // request is empty; we ignore it + + // = operator is overloaded to make deep copy (tricky!) + res = map_resp_; + ROS_INFO("Sending map"); + + return true; + } + + /** Callback invoked when someone requests to change the map */ + bool changeMapCallback(nav_msgs::LoadMap::Request &request, + nav_msgs::LoadMap::Response &response) + { + if (loadMapFromYaml(request.map_url)) + { + response.result = response.RESULT_SUCCESS; + ROS_INFO("Changed map to %s", request.map_url.c_str()); + } + else + { + response.result = response.RESULT_UNDEFINED_FAILURE; + } + return true; + } + + /** Load a map given all the values needed to understand it + */ + bool loadMapFromValues(std::string map_file_name, double resolution, + int negate, double occ_th, double free_th, + double origin[3], MapMode mode) + { + ROS_INFO("Loading map from image \"%s\"", map_file_name.c_str()); + try + { + if (type_ == 32) + map_server::loadMapFromFile32Bit(&map_resp_, map_file_name.c_str(), + resolution, negate, occ_th, free_th, + origin, mode); + else if (type_ == 16) + map_server::loadMapFromFile16Bit(&map_resp_, map_file_name.c_str(), + resolution, negate, occ_th, free_th, + origin, mode); + else + map_server::loadMapFromFile(&map_resp_, map_file_name.c_str(), + resolution, negate, occ_th, free_th, + origin, mode); + } + catch (std::runtime_error &e) + { + ROS_ERROR("%s", e.what()); + return false; + } + + // To make sure get a consistent time in simulation + ros::Time::waitForValid(); + map_resp_.map.info.map_load_time = ros::Time::now(); + map_resp_.map.header.frame_id = frame_id_; + map_resp_.map.header.stamp = ros::Time::now(); + ROS_INFO("Read a %d X %d map @ %.3lf m/cell", + map_resp_.map.info.width, + map_resp_.map.info.height, + map_resp_.map.info.resolution); + meta_data_message_ = map_resp_.map.info; + + // Publish latched topics + metadata_pub_.publish(meta_data_message_); + map_pub_.publish(map_resp_.map); + + if (type_ == 16) + { + double occ_th = 0.65; + double free_th = 0.196; + nav_msgs::OccupancyGrid convert; + convert.header = map_resp_.map.header; + convert.info = map_resp_.map.info; + convert.info.width = map_resp_.map.info.width / 2; + convert.data.resize(convert.info.width * convert.info.height); + unsigned int color_sum, color; + double color_avg; + unsigned char value; + int size_y = map_resp_.map.info.height; + int size_x = map_resp_.map.info.width; + + for (int j = 0; j < map_resp_.map.info.height; j++) + { + for (int i = 0; i < map_resp_.map.info.width; i += 2) + { + unsigned char low = map_resp_.map.data[MAP_IDX(size_x, i, size_y - j - 1)]; + unsigned char high = map_resp_.map.data[MAP_IDX(size_x, i + 1, size_y - j - 1)]; + color = (int)((low & 0x00FF) | (high << 8)); + unsigned char red = (unsigned char)(color & 0x00FF0000) >> 16; + unsigned char green = (unsigned char)(color & 0x0000FF00) >> 8; + unsigned char blue = (unsigned char)(color & 0x000000FF); + color_sum = red + green + blue; + + color_avg = color_sum / 2.0; + + double occ = (255 - color_avg) / 255.0; + if (occ > occ_th) + value = +100; + else if (occ < free_th) + value = 0; + else + { + double ratio = (occ - free_th) / (occ_th - free_th); + value = 1 + 98 * ratio; + } + convert.data[MAP_IDX(size_x / 2, i / 2, size_y - j - 1)] = value; + } + } + map_convert_.publish(convert); + } + return true; + } + + /** Load a map using the deprecated method + */ + bool loadMapFromParams(std::string map_file_name, double resolution) + { + ros::NodeHandle private_nh("~"); + int negate; + double occ_th; + double free_th; + double origin[3]; + private_nh.param("negate", negate, 0); + private_nh.param("occupied_thresh", occ_th, 0.65); + private_nh.param("free_thresh", free_th, 0.196); + origin[0] = origin[1] = origin[2] = 0.0; + return loadMapFromValues(map_file_name, resolution, negate, occ_th, free_th, origin, TRINARY); + } + + /** Load a map given a path to a yaml file + */ + bool loadMapFromYaml(std::string path_to_yaml) + { + std::string mapfname; + MapMode mode; + double res; + int negate; + double occ_th; + double free_th; + double origin[3]; + std::ifstream fin(path_to_yaml.c_str()); + if (fin.fail()) + { + ROS_ERROR("Map_server could not open %s.", path_to_yaml.c_str()); + return false; + } +#ifdef HAVE_YAMLCPP_GT_0_5_0 + // The document loading process changed in yaml-cpp 0.5. + YAML::Node doc = YAML::Load(fin); +#else + YAML::Parser parser(fin); + YAML::Node doc; + parser.GetNextDocument(doc); +#endif + try + { + doc["resolution"] >> res; + } + catch (YAML::InvalidScalar &) + { + ROS_ERROR("The map does not contain a resolution tag or it is invalid."); + return false; + } + try + { + doc["negate"] >> negate; + } + catch (YAML::InvalidScalar &) + { + ROS_ERROR("The map does not contain a negate tag or it is invalid."); + return false; + } + try + { + doc["occupied_thresh"] >> occ_th; + } + catch (YAML::InvalidScalar &) + { + ROS_ERROR("The map does not contain an occupied_thresh tag or it is invalid."); + return false; + } + try + { + doc["free_thresh"] >> free_th; + } + catch (YAML::InvalidScalar &) + { + ROS_ERROR("The map does not contain a free_thresh tag or it is invalid."); + return false; + } + try + { + std::string modeS = ""; + doc["mode"] >> modeS; + + if (modeS == "trinary") + mode = TRINARY; + else if (modeS == "scale") + mode = SCALE; + else if (modeS == "raw") + mode = RAW; + else + { + ROS_ERROR("Invalid mode tag \"%s\".", modeS.c_str()); + return false; + } + } + catch (YAML::Exception &) + { + ROS_DEBUG("The map does not contain a mode tag or it is invalid... assuming Trinary"); + mode = TRINARY; + } + try + { + doc["origin"][0] >> origin[0]; + doc["origin"][1] >> origin[1]; + doc["origin"][2] >> origin[2]; + } + catch (YAML::InvalidScalar &) + { + ROS_ERROR("The map does not contain an origin tag or it is invalid."); + return false; + } + try + { + doc["image"] >> mapfname; + // TODO: make this path-handling more robust + if (mapfname.size() == 0) + { + ROS_ERROR("The image tag cannot be an empty string."); + return false; + } + + boost::filesystem::path mapfpath(mapfname); + if (!mapfpath.is_absolute()) + { + boost::filesystem::path dir(path_to_yaml); + dir = dir.parent_path(); + mapfpath = dir / mapfpath; + mapfname = mapfpath.string(); + } + } + catch (YAML::InvalidScalar &) + { + ROS_ERROR("The map does not contain an image tag or it is invalid."); + return false; + } + return loadMapFromValues(mapfname, res, negate, occ_th, free_th, origin, mode); + } + + /** The map data is cached here, to be sent out to service callers + */ + nav_msgs::MapMetaData meta_data_message_; + nav_msgs::GetMap::Response map_resp_; + + /* + void metadataSubscriptionCallback(const ros::SingleSubscriberPublisher& pub) + { + pub.publish( meta_data_message_ ); + } + */ +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "map_server", ros::init_options::AnonymousName); + ros::NodeHandle nh("~"); + if (argc != 3 && argc != 2) + { + ROS_ERROR("%s", USAGE); + exit(-1); + } + if (argc != 2) + { + ROS_WARN("Using deprecated map server interface. Please switch to new interface."); + } + std::string fname(argv[1]); + double res = (argc == 2) ? 0.0 : atof(argv[2]); + try + { + MapServer ms(fname, res); + ros::spin(); + } + catch (std::runtime_error &e) + { + ROS_ERROR("map_server exception: %s", e.what()); + return -1; + } + + return 0; +} diff --git a/navigations/map_server/src/map_saver.cpp b/navigations/map_server/src/map_saver.cpp new file mode 100755 index 0000000..aa6afb5 --- /dev/null +++ b/navigations/map_server/src/map_saver.cpp @@ -0,0 +1,217 @@ +/* + * map_saver + * 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 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. + */ + +#include +#include "ros/ros.h" +#include "ros/console.h" +#include "nav_msgs/GetMap.h" +#include "tf2/LinearMath/Matrix3x3.h" +#include "geometry_msgs/Quaternion.h" + +using namespace std; + +/** + * @brief Map generation node. + */ +class MapGenerator +{ + + public: + MapGenerator(const std::string& mapname, int threshold_occupied, int threshold_free) + : mapname_(mapname), saved_map_(false), threshold_occupied_(threshold_occupied), threshold_free_(threshold_free) + { + ros::NodeHandle n; + ROS_INFO("Waiting for the map"); + map_sub_ = n.subscribe("map", 1, &MapGenerator::mapCallback, this); + } + + void mapCallback(const nav_msgs::OccupancyGridConstPtr& map) + { + ROS_INFO("Received a %d X %d map @ %.3f m/pix", + map->info.width, + map->info.height, + map->info.resolution); + + + std::string mapdatafile = mapname_ + ".pgm"; + ROS_INFO("Writing map occupancy data to %s", mapdatafile.c_str()); + FILE* out = fopen(mapdatafile.c_str(), "w"); + if (!out) + { + ROS_ERROR("Couldn't save map file to %s", mapdatafile.c_str()); + return; + } + + fprintf(out, "P5\n# CREATOR: map_saver.cpp %.3f m/pix\n%d %d\n255\n", + map->info.resolution, map->info.width, map->info.height); + for(unsigned int y = 0; y < map->info.height; y++) { + for(unsigned int x = 0; x < map->info.width; x++) { + unsigned int i = x + (map->info.height - y - 1) * map->info.width; + if (map->data[i] >= 0 && map->data[i] <= threshold_free_) { // [0,free) + fputc(254, out); + } else if (map->data[i] >= threshold_occupied_) { // (occ,255] + fputc(000, out); + } else { //occ [0.25,0.65] + fputc(205, out); + } + } + } + + fclose(out); + + + std::string mapmetadatafile = mapname_ + ".yaml"; + ROS_INFO("Writing map occupancy data to %s", mapmetadatafile.c_str()); + FILE* yaml = fopen(mapmetadatafile.c_str(), "w"); + + + /* +resolution: 0.100000 +origin: [0.000000, 0.000000, 0.000000] +# +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + + */ + + geometry_msgs::Quaternion orientation = map->info.origin.orientation; + tf2::Matrix3x3 mat(tf2::Quaternion( + orientation.x, + orientation.y, + orientation.z, + orientation.w + )); + double yaw, pitch, roll; + mat.getEulerYPR(yaw, pitch, roll); + + fprintf(yaml, "image: %s\nresolution: %f\norigin: [%f, %f, %f]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n", + mapdatafile.c_str(), map->info.resolution, map->info.origin.position.x, map->info.origin.position.y, yaw); + + fclose(yaml); + + ROS_INFO("Done\n"); + saved_map_ = true; + } + + std::string mapname_; + ros::Subscriber map_sub_; + bool saved_map_; + int threshold_occupied_; + int threshold_free_; + +}; + +#define USAGE "Usage: \n" \ + " map_saver -h\n"\ + " map_saver [--occ ] [--free ] [-f ] [ROS remapping args]" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "map_saver"); + std::string mapname = "map"; + int threshold_occupied = 65; + int threshold_free = 25; + + for(int i=1; i 100) + { + ROS_ERROR("threshold_occupied must be between 1 and 100"); + return 1; + } + + } + else + { + puts(USAGE); + return 1; + } + } + else if (!strcmp(argv[i], "--free")) + { + if (++i < argc) + { + threshold_free = std::atoi(argv[i]); + if (threshold_free < 0 || threshold_free > 100) + { + ROS_ERROR("threshold_free must be between 0 and 100"); + return 1; + } + + } + else + { + puts(USAGE); + return 1; + } + } + else + { + puts(USAGE); + return 1; + } + } + + if (threshold_occupied <= threshold_free) + { + ROS_ERROR("threshold_free must be smaller than threshold_occupied"); + return 1; + } + + MapGenerator mg(mapname, threshold_occupied, threshold_free); + + while(!mg.saved_map_ && ros::ok()) + ros::spinOnce(); + + return 0; +} + + diff --git a/navigations/map_server/src/map_server.dox b/navigations/map_server/src/map_server.dox new file mode 100755 index 0000000..1e5b237 --- /dev/null +++ b/navigations/map_server/src/map_server.dox @@ -0,0 +1,9 @@ +/** + +@mainpage + +@htmlinclude manifest.html + +Command-line usage is in the wiki. +*/ + diff --git a/navigations/map_server/test/consumer.py b/navigations/map_server/test/consumer.py new file mode 100755 index 0000000..6ff7e78 --- /dev/null +++ b/navigations/map_server/test/consumer.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python +# 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. +# + +from __future__ import print_function + +PKG = 'static_map_server' +NAME = 'consumer' + +import sys +import unittest +import time + +import rospy +import rostest +from nav_msgs.srv import GetMap + + +class TestConsumer(unittest.TestCase): + def __init__(self, *args): + super(TestConsumer, self).__init__(*args) + self.success = False + + def callback(self, data): + print(rospy.get_caller_id(), "I heard %s" % data.data) + self.success = data.data and data.data.startswith('hello world') + rospy.signal_shutdown('test done') + + def test_consumer(self): + rospy.wait_for_service('static_map') + mapsrv = rospy.ServiceProxy('static_map', GetMap) + resp = mapsrv() + self.success = True + print(resp) + while not rospy.is_shutdown() and not self.success: # and time.time() < timeout_t: <== timeout_t doesn't exists?? + time.sleep(0.1) + self.assert_(self.success) + rospy.signal_shutdown('test done') + +if __name__ == '__main__': + rostest.rosrun(PKG, NAME, TestConsumer, sys.argv) diff --git a/navigations/map_server/test/rtest.cpp b/navigations/map_server/test/rtest.cpp new file mode 100755 index 0000000..27f607f --- /dev/null +++ b/navigations/map_server/test/rtest.cpp @@ -0,0 +1,198 @@ +/* + * 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, Inc. 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: Brian Gerkey */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "test_constants.h" + +int g_argc; +char** g_argv; + +class MapClientTest : public testing::Test +{ + public: + // A node is needed to make a service call + ros::NodeHandle* n_; + + MapClientTest() + { + ros::init(g_argc, g_argv, "map_client_test"); + n_ = new ros::NodeHandle(); + got_map_ = false; + got_map_metadata_ = false; + } + + ~MapClientTest() + { + delete n_; + } + + bool got_map_; + boost::shared_ptr map_; + void mapCallback(const boost::shared_ptr& map) + { + map_ = map; + got_map_ = true; + } + + bool got_map_metadata_; + boost::shared_ptr map_metadata_; + void mapMetaDataCallback(const boost::shared_ptr& map_metadata) + { + map_metadata_ = map_metadata; + got_map_metadata_ = true; + } +}; + +/* Try to retrieve the map via service, and compare to ground truth */ +TEST_F(MapClientTest, call_service) +{ + nav_msgs::GetMap::Request req; + nav_msgs::GetMap::Response resp; + ASSERT_TRUE(ros::service::waitForService("static_map", 5000)); + ASSERT_TRUE(ros::service::call("static_map", req, resp)); + ASSERT_FLOAT_EQ(resp.map.info.resolution, g_valid_image_res); + ASSERT_EQ(resp.map.info.width, g_valid_image_width); + ASSERT_EQ(resp.map.info.height, g_valid_image_height); + ASSERT_STREQ(resp.map.header.frame_id.c_str(), "map"); + for(unsigned int i=0; i < resp.map.info.width * resp.map.info.height; i++) + ASSERT_EQ(g_valid_image_content[i], resp.map.data[i]); +} + +/* Try to retrieve the map via topic, and compare to ground truth */ +TEST_F(MapClientTest, subscribe_topic) +{ + ros::Subscriber sub = n_->subscribe("map", 1, [this](auto& map){ mapCallback(map); }); + + // Try a few times, because the server may not be up yet. + int i=20; + while(!got_map_ && i > 0) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + i--; + } + ASSERT_TRUE(got_map_); + ASSERT_FLOAT_EQ(map_->info.resolution, g_valid_image_res); + ASSERT_EQ(map_->info.width, g_valid_image_width); + ASSERT_EQ(map_->info.height, g_valid_image_height); + ASSERT_STREQ(map_->header.frame_id.c_str(), "map"); + for(unsigned int i=0; i < map_->info.width * map_->info.height; i++) + ASSERT_EQ(g_valid_image_content[i], map_->data[i]); +} + +/* Try to retrieve the metadata via topic, and compare to ground truth */ +TEST_F(MapClientTest, subscribe_topic_metadata) +{ + ros::Subscriber sub = n_->subscribe("map_metadata", 1, [this](auto& map_metadata){ mapMetaDataCallback(map_metadata); }); + + // Try a few times, because the server may not be up yet. + int i=20; + while(!got_map_metadata_ && i > 0) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + i--; + } + ASSERT_TRUE(got_map_metadata_); + ASSERT_FLOAT_EQ(map_metadata_->resolution, g_valid_image_res); + ASSERT_EQ(map_metadata_->width, g_valid_image_width); + ASSERT_EQ(map_metadata_->height, g_valid_image_height); +} + +/* Change the map, retrieve the map via topic, and compare to ground truth */ +TEST_F(MapClientTest, change_map) +{ + ros::Subscriber sub = n_->subscribe("map", 1, [this](auto& map){ mapCallback(map); }); + + // Try a few times, because the server may not be up yet. + for (int i = 20; i > 0 && !got_map_; i--) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + } + ASSERT_TRUE(got_map_); + + // Now change the map + got_map_ = false; + nav_msgs::LoadMap::Request req; + nav_msgs::LoadMap::Response resp; + req.map_url = ros::package::getPath("map_server") + "/test/testmap2.yaml"; + ASSERT_TRUE(ros::service::waitForService("change_map", 5000)); + ASSERT_TRUE(ros::service::call("change_map", req, resp)); + ASSERT_EQ(0u, resp.result); + for (int i = 20; i > 0 && !got_map_; i--) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + } + + ASSERT_FLOAT_EQ(tmap2::g_valid_image_res, map_->info.resolution); + ASSERT_EQ(tmap2::g_valid_image_width, map_->info.width); + ASSERT_EQ(tmap2::g_valid_image_height, map_->info.height); + ASSERT_STREQ("map", map_->header.frame_id.c_str()); + for(unsigned int i=0; i < map_->info.width * map_->info.height; i++) + ASSERT_EQ(tmap2::g_valid_image_content[i], map_->data[i]) << "idx:" << i; + + //Put the old map back so the next test isn't broken + got_map_ = false; + req.map_url = ros::package::getPath("map_server") + "/test/testmap.yaml"; + ASSERT_TRUE(ros::service::call("change_map", req, resp)); + ASSERT_EQ(0u, resp.result); + for (int i = 20; i > 0 && !got_map_; i--) + { + ros::spinOnce(); + ros::Duration d = ros::Duration().fromSec(0.25); + d.sleep(); + } + ASSERT_TRUE(got_map_); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + + g_argc = argc; + g_argv = argv; + + return RUN_ALL_TESTS(); +} diff --git a/navigations/map_server/test/rtest.xml b/navigations/map_server/test/rtest.xml new file mode 100755 index 0000000..e7afee9 --- /dev/null +++ b/navigations/map_server/test/rtest.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + diff --git a/navigations/map_server/test/spectrum.png b/navigations/map_server/test/spectrum.png new file mode 100755 index 0000000..5e144eb Binary files /dev/null and b/navigations/map_server/test/spectrum.png differ diff --git a/navigations/map_server/test/test_constants.cpp b/navigations/map_server/test/test_constants.cpp new file mode 100755 index 0000000..4521521 --- /dev/null +++ b/navigations/map_server/test/test_constants.cpp @@ -0,0 +1,84 @@ +/* + * 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, Inc. 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: Brian Gerkey */ + +/* This file contains global constants shared among tests */ + +/* Note that these must be changed if the test image changes */ + +#include "test_constants.h" + +const unsigned int g_valid_image_width = 10; +const unsigned int g_valid_image_height = 10; +// Note that the image content is given in row-major order, with the +// lower-left pixel first. This is different from a graphics coordinate +// system, which starts with the upper-left pixel. The loadMapFromFile +// call converts from the latter to the former when it loads the image, and +// we want to compare against the result of that conversion. +const char g_valid_image_content[] = { +0,0,0,0,0,0,0,0,0,0, +100,100,100,100,0,0,100,100,100,0, +100,100,100,100,0,0,100,100,100,0, +100,0,0,0,0,0,0,0,0,0, +100,0,0,0,0,0,0,0,0,0, +100,0,0,0,0,0,100,100,0,0, +100,0,0,0,0,0,100,100,0,0, +100,0,0,0,0,0,100,100,0,0, +100,0,0,0,0,0,100,100,0,0, +100,0,0,0,0,0,0,0,0,0, +}; + +const char* g_valid_png_file = "test/testmap.png"; +const char* g_valid_bmp_file = "test/testmap.bmp"; +const char* g_spectrum_png_file = "test/spectrum.png"; + +const float g_valid_image_res = 0.1; + +// Constants for testmap2 +namespace tmap2 +{ + const char g_valid_image_content[] = { + 100,100,100,100,100,100,100,100,100,100,100,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,100,100,100,100,100,100,100,100,0,100, + 100,0,100,0,0,0,0,0,0,100,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,0,100,0,0,0,0,0,0,100,0,100, + 100,0,0,0,0,0,0,0,0,0,0,100, + 100,100,100,100,100,100,100,100,100,100,100,100, + }; + const float g_valid_image_res = 0.1; + const unsigned int g_valid_image_width = 12; + const unsigned int g_valid_image_height = 12; +} diff --git a/navigations/map_server/test/test_constants.h b/navigations/map_server/test/test_constants.h new file mode 100755 index 0000000..c23a578 --- /dev/null +++ b/navigations/map_server/test/test_constants.h @@ -0,0 +1,51 @@ +/* + * 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, Inc. 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. + */ +#ifndef MAP_SERVER_TEST_CONSTANTS_H +#define MAP_SERVER_TEST_CONSTANTS_H + +/* Author: Brian Gerkey */ + +/* This file externs global constants shared among tests */ + +extern const unsigned int g_valid_image_width; +extern const unsigned int g_valid_image_height; +extern const char g_valid_image_content[]; +extern const char* g_valid_png_file; +extern const char* g_valid_bmp_file; +extern const float g_valid_image_res; +extern const char* g_spectrum_png_file; + +namespace tmap2 { + extern const char g_valid_image_content[]; + extern const float g_valid_image_res; + extern const unsigned int g_valid_image_width; + extern const unsigned int g_valid_image_height; +} + +#endif diff --git a/navigations/map_server/test/testmap.bmp b/navigations/map_server/test/testmap.bmp new file mode 100755 index 0000000..dc8b114 Binary files /dev/null and b/navigations/map_server/test/testmap.bmp differ diff --git a/navigations/map_server/test/testmap.png b/navigations/map_server/test/testmap.png new file mode 100755 index 0000000..910c5c3 Binary files /dev/null and b/navigations/map_server/test/testmap.png differ diff --git a/navigations/map_server/test/testmap.yaml b/navigations/map_server/test/testmap.yaml new file mode 100755 index 0000000..8cf0d73 --- /dev/null +++ b/navigations/map_server/test/testmap.yaml @@ -0,0 +1,6 @@ +image: testmap.png +resolution: 0.1 +origin: [2.0, 3.0, 1.0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/navigations/map_server/test/testmap2.png b/navigations/map_server/test/testmap2.png new file mode 100755 index 0000000..8ca9106 Binary files /dev/null and b/navigations/map_server/test/testmap2.png differ diff --git a/navigations/map_server/test/testmap2.yaml b/navigations/map_server/test/testmap2.yaml new file mode 100755 index 0000000..150a04a --- /dev/null +++ b/navigations/map_server/test/testmap2.yaml @@ -0,0 +1,6 @@ +image: testmap2.png +resolution: 0.1 +origin: [-2.0, -3.0, -1.0] +negate: 1 +occupied_thresh: 0.5 +free_thresh: 0.2 diff --git a/navigations/map_server/test/utest.cpp b/navigations/map_server/test/utest.cpp new file mode 100755 index 0000000..62c4b68 --- /dev/null +++ b/navigations/map_server/test/utest.cpp @@ -0,0 +1,149 @@ +/* + * 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, Inc. 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: Brian Gerkey */ + +#include // for std::runtime_error +#include +#include "map_server/image_loader.h" +#include "test_constants.h" + +/* Try to load a valid PNG file. Succeeds if no exception is thrown, and if + * the loaded image matches the known dimensions and content of the file. + * + * This test can fail on OS X, due to an apparent limitation of the + * underlying SDL_Image library. */ +TEST(MapServer, loadValidPNG) +{ + try + { + nav_msgs::GetMap::Response map_resp; + double origin[3] = { 0.0, 0.0, 0.0 }; + map_server::loadMapFromFile(&map_resp, g_valid_png_file, g_valid_image_res, false, 0.65, 0.1, origin); + EXPECT_FLOAT_EQ(map_resp.map.info.resolution, g_valid_image_res); + EXPECT_EQ(map_resp.map.info.width, g_valid_image_width); + EXPECT_EQ(map_resp.map.info.height, g_valid_image_height); + for(unsigned int i=0; i < map_resp.map.info.width * map_resp.map.info.height; i++) + EXPECT_EQ(g_valid_image_content[i], map_resp.map.data[i]); + } + catch(...) + { + ADD_FAILURE() << "Uncaught exception : " << "This is OK on OS X"; + } +} + +/* Try to load a valid BMP file. Succeeds if no exception is thrown, and if + * the loaded image matches the known dimensions and content of the file. */ +TEST(MapServer, loadValidBMP) +{ + try + { + nav_msgs::GetMap::Response map_resp; + double origin[3] = { 0.0, 0.0, 0.0 }; + map_server::loadMapFromFile(&map_resp, g_valid_bmp_file, g_valid_image_res, false, 0.65, 0.1, origin); + EXPECT_FLOAT_EQ(map_resp.map.info.resolution, g_valid_image_res); + EXPECT_EQ(map_resp.map.info.width, g_valid_image_width); + EXPECT_EQ(map_resp.map.info.height, g_valid_image_height); + for(unsigned int i=0; i < map_resp.map.info.width * map_resp.map.info.height; i++) + EXPECT_EQ(g_valid_image_content[i], map_resp.map.data[i]); + } + catch(...) + { + ADD_FAILURE() << "Uncaught exception"; + } +} + +/* Try to load an invalid file. Succeeds if a std::runtime_error exception + * is thrown. */ +TEST(MapServer, loadInvalidFile) +{ + try + { + nav_msgs::GetMap::Response map_resp; + double origin[3] = { 0.0, 0.0, 0.0 }; + map_server::loadMapFromFile(&map_resp, "foo", 0.1, false, 0.65, 0.1, origin); + } + catch(std::runtime_error &e) + { + SUCCEED(); + return; + } + catch(...) + { + FAIL() << "Uncaught exception"; + } + ADD_FAILURE() << "Didn't throw exception as expected"; +} + +std::vector countValues(const nav_msgs::GetMap::Response& map_resp) +{ + std::vector counts(256, 0); + for (unsigned int i = 0; i < map_resp.map.data.size(); i++) + { + unsigned char value = static_cast(map_resp.map.data[i]); + counts[value]++; + } + return counts; +} + +TEST(MapServer, testMapMode) +{ + nav_msgs::GetMap::Response map_resp; + double origin[3] = { 0.0, 0.0, 0.0 }; + + map_server::loadMapFromFile(&map_resp, g_spectrum_png_file, 0.1, false, 0.65, 0.1, origin, TRINARY); + std::vector trinary_counts = countValues(map_resp); + EXPECT_EQ(90u, trinary_counts[100]); + EXPECT_EQ(26u, trinary_counts[0]); + EXPECT_EQ(140u, trinary_counts[255]); + + map_server::loadMapFromFile(&map_resp, g_spectrum_png_file, 0.1, false, 0.65, 0.1, origin, SCALE); + std::vector scale_counts = countValues(map_resp); + EXPECT_EQ(90u, scale_counts[100]); + EXPECT_EQ(26u, scale_counts[0]); + unsigned int scaled_values = 0; + for (unsigned int i = 1; i < 100; i++) + { + scaled_values += scale_counts[i]; + } + EXPECT_EQ(140u, scaled_values); + + map_server::loadMapFromFile(&map_resp, g_spectrum_png_file, 0.1, false, 0.65, 0.1, origin, RAW); + std::vector raw_counts = countValues(map_resp); + for (unsigned int i = 0; i < raw_counts.size(); i++) + { + EXPECT_EQ(1u, raw_counts[i]) << i; + } +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/move_base/CHANGELOG.rst b/navigations/move_base/CHANGELOG.rst new file mode 100755 index 0000000..e671c9a --- /dev/null +++ b/navigations/move_base/CHANGELOG.rst @@ -0,0 +1,198 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package move_base +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- +* Check if stamp of transformed pose is non-zero (`#1200 `_) +* Create move_base catkin library (`#1116 `_) + Co-authored-by: vkotaru +* move_base crash when using default recovery behaviors (`#1071 `_) +* Publish recovery behavior melodic (`#1051 `_) (`#1052 `_) + * First prototype of publishing recovery status + custom message tells you where the behavior occured, the name, index, + and total number of behaviors. + * fix message field typos + Co-authored-by: Peter Mitrano + Co-authored-by: Peter Mitrano +* Contributors: David V. Lu!!, Prasanth Kotaru, Yuki Furuta, mattp256 + +1.17.1 (2020-08-27) +------------------- +* Fix `#933 `_ (`#988 `_) +* Contributors: David V. Lu!! + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* move_base: Add options for make_plan service (`#981 `_) + Adds the following two parameters for the ~make_plan service: + 1. make_plan_clear_costmap + Whether or not to clear the global costmap on make_plan service call. + 2. make_plan_add_unreachable_goal + Whether or not to add the original goal to the path if it is unreachable in the make_plan service call. +* Contributors: Michael Ferguson, nxdefiant + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Added publishZeroVelocity() before starting planner (`#751 `_) + Edit for Issue `#750 `_ +* Merge pull request `#831 `_ from ros-planning/feature/remove_slashes + [melodic] Remove leading slashes from default frame_id parameters +* Remove leading slashes from default frame_id parameters +* Contributors: David V. Lu, Michael Ferguson, SUNIL SULANIA, Steven Macenski + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Merge pull request `#723 `_ from moriarty/melodic-buildfarm-errors + Melodic buildfarm errors +* Merge pull request `#719 `_ from ros-planning/lunar_711 + adding mutex locks to costmap clearing service +* Contributors: Alexander Moriarty, Michael Ferguson, Vincent Rabaud, stevemacenski + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* Add a max_planning_retries parameter to move_base [kinetic] (`#539 `_) +* Fix for `#517 `_: create a getRobotPose method on move_base instead of using that on the costmaps +* Fixed deadlock when changing global planner +* rebase fixups +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Added deps to amcl costmap_2d move_base (`#512 `_) +* Fix CMake warnings +* move_base: Add move_base_msgs to find_package. +* Contributors: Jorge Santos, Jorge Santos Simón, Maarten de Vries, Martin Günther, Mikael Arguedas, Vincent Rabaud, mryellow, ne0 + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* Removes installation of nonexistent directories +* use correct size for clearing window +* full name has been required for eons, this code just adds unneeded complexity +* remove ancient conversion scripts from v0.2 to v0.3 +* proper locking during costmap update +* Contributors: Michael Ferguson, Thiago de Freitas Oliveira Araujo + +1.13.0 (2015-03-17) +------------------- +* Fixing various memory freeing operations +* Contributors: Alex Bencz + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Disable global planner when resetting state. +* Mark move_base headers for installation +* Add ARCHIVE DESTINATION for move_base +* Break infinite loop when tolerance 0 is used +* remove partial usage of in the code +* Contributors: Gary Servin, Michael Ferguson, ohendriks, v4hn + +1.11.14 (2014-12-05) +-------------------- +* use timer rather than rate for immediate wakeup +* adding lock to planner makePlan fail case +* Contributors: Michael Ferguson, phil0stine + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- +* removes trailing spaces and empty lines +* Contributors: Enrique Fernández Perdomo + +1.11.10 (2014-06-25) +-------------------- +* Remove unnecessary colons +* move_base planService now searches out from desired goal +* Contributors: David Lu!!, Kaijen Hsiao + +1.11.9 (2014-06-10) +------------------- +* uses ::hypot(x, y) instead of sqrt(x*x, y*y) +* Contributors: Enrique Fernández Perdomo + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Fix classloader warnings on exit of move_base +* Contributors: Michael Ferguson + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* Reintroduce ClearCostmaps Service +* Add dependencies to recovery behaviors. diff --git a/navigations/move_base/CMakeLists.txt b/navigations/move_base/CMakeLists.txt new file mode 100755 index 0000000..beb36cf --- /dev/null +++ b/navigations/move_base/CMakeLists.txt @@ -0,0 +1,86 @@ +cmake_minimum_required(VERSION 3.0.2) +project(move_base) + +find_package(catkin REQUIRED COMPONENTS + actionlib + base_local_planner + clear_costmap_recovery + cmake_modules + costmap_2d + dynamic_reconfigure + geometry_msgs + message_generation + move_base_msgs + nav_core + nav_msgs + navfn + pluginlib + roscpp + rospy + rotate_recovery + std_srvs + tf2_geometry_msgs + tf2_ros +) +find_package(Eigen3 REQUIRED) +add_definitions(${EIGEN3_DEFINITIONS}) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/MoveBase.cfg +) + +catkin_package( + + INCLUDE_DIRS + include + ${EIGEN3_INCLUDE_DIRS} + LIBRARIES move_base + CATKIN_DEPENDS + dynamic_reconfigure + geometry_msgs + move_base_msgs + nav_msgs + roscpp +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) + +# move_base +add_library(move_base + src/move_base.cpp +) +target_link_libraries(move_base + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} + ) +add_dependencies(move_base ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +add_executable(move_base_node + src/move_base_node.cpp +) +add_dependencies(move_base_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(move_base_node move_base) +set_target_properties(move_base_node PROPERTIES OUTPUT_NAME move_base) + +install( + TARGETS + move_base_node + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + TARGETS + move_base + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) diff --git a/navigations/move_base/cfg/MoveBase.cfg b/navigations/move_base/cfg/MoveBase.cfg new file mode 100755 index 0000000..9eef29b --- /dev/null +++ b/navigations/move_base/cfg/MoveBase.cfg @@ -0,0 +1,33 @@ +#!/usr/bin/env python + +PACKAGE = 'move_base' + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, str_t, double_t, bool_t, int_t + +gen = ParameterGenerator() + +gen.add("base_global_planner", str_t, 0, "The name of the plugin for the global planner to use with move_base.", "navfn/NavfnROS") +gen.add("base_local_planner", str_t, 0, "The name of the plugin for the local planner to use with move_base.", "base_local_planner/TrajectoryPlannerROS") + +#gen.add("recovery_behaviors", str_t, 0, "A list of recovery behavior plugins to use with move_base.", "[{name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}, {name: rotate_recovery, type: rotate_recovery/RotateRecovery}, {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}]") + +gen.add("planner_frequency", double_t, 0, "The rate in Hz at which to run the planning loop.", 0, 0, 100) +gen.add("controller_frequency", double_t, 0, "The rate in Hz at which to run the control loop and send velocity commands to the base.", 20, 0, 100) +gen.add("planner_patience", double_t, 0, "How long the planner will wait in seconds in an attempt to find a valid plan before space-clearing operations are performed.", 5.0, 0, 100) +gen.add("controller_patience", double_t, 0, "How long the controller will wait in seconds without receiving a valid control before space-clearing operations are performed.", 5.0, 0, 100) +gen.add("max_planning_retries", int_t, 0, "How many times we will recall the planner in an attempt to find a valid plan before space-clearing operations are performed", -1, -1, 1000) +gen.add("conservative_reset_dist", double_t, 0, "The distance away from the robot in meters at which obstacles will be cleared from the costmap when attempting to clear space in the map.", 3, 0, 50) + +gen.add("recovery_behavior_enabled", bool_t, 0, "Whether or not to enable the move_base recovery behaviors to attempt to clear out space.", True) +# Doesnt exist +gen.add("clearing_rotation_allowed", bool_t, 0, "Determines whether or not the robot will attempt an in-place rotation when attempting to clear out space.", True) +gen.add("shutdown_costmaps", bool_t, 0, "Determines whether or not to shutdown the costmaps of the node when move_base is in an inactive state", False) + +gen.add("oscillation_timeout", double_t, 0, "How long in seconds to allow for oscillation before executing recovery behaviors.", 0.0, 0, 60) +gen.add("oscillation_distance", double_t, 0, "How far in meters the robot must move to be considered not to be oscillating.", 0.5, 0, 10) + +gen.add("make_plan_clear_costmap", bool_t, 0, "Whether or not to clear the global costmap on make_plan service call.", True) +gen.add("make_plan_add_unreachable_goal", bool_t, 0, "Whether or not to add the original goal to the path if it is unreachable in the make_plan service call.", True) + +gen.add("restore_defaults", bool_t, 0, "Restore to the original configuration", False) +exit(gen.generate(PACKAGE, "move_base_node", "MoveBase")) diff --git a/navigations/move_base/include/move_base/Structor.drawio b/navigations/move_base/include/move_base/Structor.drawio new file mode 100755 index 0000000..c0be080 --- /dev/null +++ b/navigations/move_base/include/move_base/Structor.drawio @@ -0,0 +1,958 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/navigations/move_base/include/move_base/move_base.h b/navigations/move_base/include/move_base/move_base.h new file mode 100755 index 0000000..6f6bb90 --- /dev/null +++ b/navigations/move_base/include/move_base/move_base.h @@ -0,0 +1,243 @@ +/********************************************************************* + * + * 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: Eitan Marder-Eppstein + *********************************************************************/ +#ifndef NAV_MOVE_BASE_ACTION_H_ +#define NAV_MOVE_BASE_ACTION_H_ + +#include +#include + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include "move_base/MoveBaseConfig.h" + +namespace move_base +{ + // typedefs to help us out with the action server so that we don't hace to type so much + typedef actionlib::SimpleActionServer MoveBaseActionServer; + + enum MoveBaseState + { + PLANNING, + CONTROLLING, + CLEARING + }; + + enum RecoveryTrigger + { + PLANNING_R, + CONTROLLING_R, + OSCILLATION_R + }; + + /** + * @class MoveBase + * @brief A class that uses the actionlib::ActionServer interface that moves the robot base to a goal location. + */ + class MoveBase + { + public: + /** + * @brief Constructor for the actions + * @param name The name of the action + * @param tf A reference to a TransformListener + */ + MoveBase(tf2_ros::Buffer &tf); + + /** + * @brief Destructor - Cleans up + */ + virtual ~MoveBase(); + + /** + * @brief Performs a control cycle + * @param goal A reference to the goal to pursue + * @return True if processing of the goal is done, false otherwise + */ + bool executeCycle(geometry_msgs::PoseStamped &goal); + + private: + void clearDirectionalCostmap(); + /** + * @brief A service call that clears the costmaps of obstacles + * @param req The service request + * @param resp The service response + * @return True if the service call succeeds, false otherwise + */ + bool clearCostmapsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp); + + /** + * @brief A service call that can be made when the action is inactive that will return a plan + * @param req The goal request + * @param resp The plan request + * @return True if planning succeeded, false otherwise + */ + bool planService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp); + + /** + * @brief Make a new global plan + * @param goal The goal to plan to + * @param plan Will be filled in with the plan made by the planner + * @return True if planning succeeds, false otherwise + */ + bool makePlan(const geometry_msgs::PoseStamped &goal, std::vector &plan); + + /** + * @brief Load the recovery behaviors for the navigation stack from the parameter server + * @param node The ros::NodeHandle to be used for loading parameters + * @return True if the recovery behaviors were loaded successfully, false otherwise + */ + bool loadRecoveryBehaviors(ros::NodeHandle node); + + /** + * @brief Loads the default recovery behaviors for the navigation stack + */ + void loadDefaultRecoveryBehaviors(); + + /** + * @brief Clears obstacles within a window around the robot + * @param size_x The x size of the window + * @param size_y The y size of the window + */ + void clearCostmapWindows(double size_x, double size_y); + + /** + * @brief Publishes a velocity command of zero to the base + */ + void publishZeroVelocity(); + + /** + * @brief Reset the state of the move_base action and send a zero velocity command to the base + */ + void resetState(); + + void goalCB(const geometry_msgs::PoseStamped::ConstPtr &goal); + + void planThread(); + + void executeCb(const move_base_msgs::MoveBaseGoalConstPtr &move_base_goal); + + bool isQuaternionValid(const geometry_msgs::Quaternion &q); + + bool getRobotPose(geometry_msgs::PoseStamped &global_pose, costmap_2d::Costmap2DROS *costmap); + + double distance(const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2); + + geometry_msgs::PoseStamped goalToGlobalFrame(const geometry_msgs::PoseStamped &goal_pose_msg); + + /** + * @brief This is used to wake the planner at periodic intervals. + */ + void wakePlanner(const ros::TimerEvent &event); + + tf2_ros::Buffer &tf_; + + MoveBaseActionServer *as_; + + boost::shared_ptr tc_; + costmap_2d::Costmap2DROS *planner_costmap_ros_; + + boost::shared_ptr planner_; + costmap_2d::Costmap2DROS *controller_costmap_ros_; + std::string robot_base_frame_, global_frame_; + + std::vector> recovery_behaviors_; + std::vector recovery_behavior_names_; + unsigned int recovery_index_; + + geometry_msgs::PoseStamped global_pose_; + double planner_frequency_, controller_frequency_, inscribed_radius_, circumscribed_radius_; + double planner_patience_, controller_patience_; + int32_t max_planning_retries_; + uint32_t planning_retries_; + double conservative_reset_dist_, clearing_radius_; + ros::Publisher current_goal_pub_, vel_pub_, action_goal_pub_, recovery_status_pub_; + ros::Subscriber goal_sub_; + ros::ServiceServer make_plan_srv_, clear_costmaps_srv_; + bool shutdown_costmaps_, clearing_rotation_allowed_, recovery_behavior_enabled_; + bool make_plan_clear_costmap_, make_plan_add_unreachable_goal_; + double oscillation_timeout_, oscillation_distance_; + + MoveBaseState state_; + RecoveryTrigger recovery_trigger_; + + ros::Time last_valid_plan_, last_valid_control_, last_oscillation_reset_; + geometry_msgs::PoseStamped oscillation_pose_; + pluginlib::ClassLoader bgp_loader_; + pluginlib::ClassLoader blp_loader_; + pluginlib::ClassLoader recovery_loader_; + + // set up plan triple buffer + std::vector *planner_plan_; + std::vector *latest_plan_; + std::vector *controller_plan_; + + // set up the planner's thread + bool runPlanner_; + boost::recursive_mutex planner_mutex_; + boost::condition_variable_any planner_cond_; + geometry_msgs::PoseStamped planner_goal_; + boost::thread *planner_thread_; + + boost::recursive_mutex configuration_mutex_; + dynamic_reconfigure::Server *dsrv_; + + void reconfigureCB(move_base::MoveBaseConfig &config, uint32_t level); + + move_base::MoveBaseConfig last_config_; + move_base::MoveBaseConfig default_config_; + bool setup_, p_freq_change_, c_freq_change_; + bool new_global_plan_; + boost::shared_ptr directional_costmap_; + }; +}; +#endif diff --git a/navigations/move_base/include/move_base/move_base.puml b/navigations/move_base/include/move_base/move_base.puml new file mode 100755 index 0000000..91ade5e --- /dev/null +++ b/navigations/move_base/include/move_base/move_base.puml @@ -0,0 +1,120 @@ +@startuml + +class MoveBase { + - tf_: tf2_ros::Buffer& + - as_: MoveBaseActionServer* + - tc_: boost::shared_ptr + - planner_costmap_ros_: costmap_2d::Costmap2DROS* + - controller_costmap_ros_: costmap_2d::Costmap2DROS* + - planner_: boost::shared_ptr + - robot_base_frame_: std::string + - global_frame_: std::string + - recovery_behaviors_: std::vector > + - recovery_behavior_names_: std::vector + - recovery_index_: unsigned int + - global_pose_: geometry_msgs::PoseStamped + - planner_frequency_: double + - controller_frequency_: double + - inscribed_radius_: double + - circumscribed_radius_: double + - planner_patience_: double + - controller_patience_: double + - max_planning_retries_: int32_t + - planning_retries_: uint32_t + - conservative_reset_dist_: double + - clearing_radius_: double + - current_goal_pub_: ros::Publisher + - vel_pub_: ros::Publisher + - action_goal_pub_: ros::Publisher + - recovery_status_pub_: ros::Publisher + - goal_sub_: ros::Subscriber + - make_plan_srv_: ros::ServiceServer + - clear_costmaps_srv_: ros::ServiceServer + - shutdown_costmaps_: bool + - clearing_rotation_allowed_: bool + - recovery_behavior_enabled_: bool + - make_plan_clear_costmap_: bool + - make_plan_add_unreachable_goal_: bool + - oscillation_timeout_: double + - oscillation_distance_: double + - state_: MoveBaseState + - recovery_trigger_: RecoveryTrigger + - last_valid_plan_: ros::Time + - last_valid_control_: ros::Time + - last_oscillation_reset_: ros::Time + - oscillation_pose_: geometry_msgs::PoseStamped + - bgp_loader_: pluginlib::ClassLoader + - blp_loader_: pluginlib::ClassLoader + - recovery_loader_: pluginlib::ClassLoader + - planner_plan_: std::vector* + - latest_plan_: std::vector* + - controller_plan_: std::vector* + - runPlanner_: bool + - planner_mutex_: boost::recursive_mutex + - planner_cond_: boost::condition_variable_any + - planner_goal_: geometry_msgs::PoseStamped + - planner_thread_: boost::thread* + - configuration_mutex_: boost::recursive_mutex + - dsrv_: dynamic_reconfigure::Server* + - last_config_: move_base::MoveBaseConfig + - default_config_: move_base::MoveBaseConfig + - setup_: bool + - p_freq_change_: bool + - c_freq_change_: bool + - new_global_plan_: bool + + MoveBase(tf: tf2_ros::Buffer&) + + ~MoveBase() + + executeCycle(goal: geometry_msgs::PoseStamped&): bool + - clearCostmapsService(req: std_srvs::Empty::Request&, resp: std_srvs::Empty::Response&): bool + - planService(req: nav_msgs::GetPlan::Request&, resp: nav_msgs::GetPlan::Response&): bool + - makePlan(goal: const geometry_msgs::PoseStamped&, plan: std::vector&): bool + - loadRecoveryBehaviors(node: ros::NodeHandle): bool + - loadDefaultRecoveryBehaviors(): void + - clearCostmapWindows(size_x: double, size_y: double): void + - publishZeroVelocity(): void + - resetState(): void + - goalCB(goal: const geometry_msgs::PoseStamped::ConstPtr&): void + - planThread(): void + - executeCb(move_base_goal: const move_base_msgs::MoveBaseGoalConstPtr&): void + - isQuaternionValid(q: const geometry_msgs::Quaternion&): bool + - getRobotPose(global_pose: geometry_msgs::PoseStamped&, costmap: costmap_2d::Costmap2DROS*): bool + - distance(p1: const geometry_msgs::PoseStamped&, p2: const geometry_msgs::PoseStamped&): double + - goalToGlobalFrame(goal_pose_msg: const geometry_msgs::PoseStamped&): geometry_msgs::PoseStamped + - wakePlanner(event: const ros::TimerEvent&): void + - reconfigureCB(config: move_base::MoveBaseConfig, level: uint32_t): void +} + +enum MoveBaseState { + PLANNING + CONTROLLING + CLEARING +} + +enum RecoveryTrigger { + PLANNING_R + CONTROLLING_R + OSCILLATION_R +} + +MoveBase --> tf2_ros::Buffer +MoveBase --> MoveBaseActionServer +MoveBase --> boost::shared_ptr +MoveBase --> costmap_2d::Costmap2DROS +MoveBase --> std::vector > +MoveBase --> std::vector +MoveBase --> geometry_msgs::PoseStamped +MoveBase --> ros::Publisher +MoveBase --> ros::Subscriber +MoveBase --> ros::ServiceServer +MoveBase --> ros::Time +MoveBase --> pluginlib::ClassLoader +MoveBase --> pluginlib::ClassLoader +MoveBase --> pluginlib::ClassLoader +MoveBase --> std::vector +MoveBase --> boost::recursive_mutex +MoveBase --> boost::condition_variable_any +MoveBase --> boost::thread +MoveBase --> dynamic_reconfigure::Server +MoveBase --> move_base::MoveBaseConfig + +@enduml \ No newline at end of file diff --git a/navigations/move_base/package.xml b/navigations/move_base/package.xml new file mode 100755 index 0000000..5a7209d --- /dev/null +++ b/navigations/move_base/package.xml @@ -0,0 +1,69 @@ + + + + move_base + 1.17.3 + + + The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/move_base + + catkin + + cmake_modules + message_generation + tf2_geometry_msgs + + actionlib + + costmap_2d + costmap_2d + + dynamic_reconfigure + geometry_msgs + + move_base_msgs + move_base_msgs + + nav_core + nav_core + + nav_msgs + nav_msgs + + pluginlib + pluginlib + + roscpp + rospy + std_srvs + + tf2_ros + tf2_ros + + visualization_msgs + + + base_local_planner + base_local_planner + + clear_costmap_recovery + clear_costmap_recovery + + navfn + navfn + + rotate_recovery + rotate_recovery + + message_runtime + + diff --git a/navigations/move_base/planner_test.xml b/navigations/move_base/planner_test.xml new file mode 100755 index 0000000..655f243 --- /dev/null +++ b/navigations/move_base/planner_test.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/navigations/move_base/src/move_base.cpp b/navigations/move_base/src/move_base.cpp new file mode 100755 index 0000000..c571e8c --- /dev/null +++ b/navigations/move_base/src/move_base.cpp @@ -0,0 +1,1430 @@ +/********************************************************************* + * + * 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: Eitan Marder-Eppstein + * Mike Phillips (put the planner in its own thread) + *********************************************************************/ +#include +#include +#include + +#include +#include + +#include + +#include + +namespace move_base +{ + + MoveBase::MoveBase(tf2_ros::Buffer &tf) : tf_(tf), + as_(NULL), + planner_costmap_ros_(NULL), controller_costmap_ros_(NULL), + bgp_loader_("nav_core", "nav_core::BaseGlobalPlanner"), + blp_loader_("nav_core", "nav_core::BaseLocalPlanner"), + recovery_loader_("nav_core", "nav_core::RecoveryBehavior"), + planner_plan_(NULL), latest_plan_(NULL), controller_plan_(NULL), + runPlanner_(false), setup_(false), p_freq_change_(false), c_freq_change_(false), new_global_plan_(false) + { + + as_ = new MoveBaseActionServer( + ros::NodeHandle(), "move_base", [this](auto &goal) + { executeCb(goal); }, + false); + + ros::NodeHandle private_nh("~"); + ros::NodeHandle nh; + + recovery_trigger_ = PLANNING_R; + + // get some parameters that will be global to the move base node + std::string global_planner, local_planner; + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/sbpl_global_params.yaml + private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/dwb_local_planner_params.yaml + if (!private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS"))) + ROS_ERROR("faild"); + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/costmap_common_params.yaml + private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/costmap_global_params.yaml + private_nh.param("global_costmap/global_frame", global_frame_, std::string("map")); + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/move_base_common_params.yaml + private_nh.param("planner_frequency", planner_frequency_, 0.0); + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/move_base_common_params.yaml + // Tần số điều khiển của Robot + private_nh.param("controller_frequency", controller_frequency_, 20.0); + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/move_base_common_params.yaml + private_nh.param("planner_patience", planner_patience_, 5.0); + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/move_base_common_params.yaml + private_nh.param("controller_patience", controller_patience_, 15.0); + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/move_base_common_params.yaml + private_nh.param("max_planning_retries", max_planning_retries_, -1); // disabled by default + // From /home/robotics/AGV/mir_robot_ws/src/mir_robot/mir_navigation/config/move_base_common_params.yaml + private_nh.param("oscillation_timeout", oscillation_timeout_, 0.0); + // No path + private_nh.param("oscillation_distance", oscillation_distance_, 0.5); + + // parameters of make_plan service + // No path + private_nh.param("make_plan_clear_costmap", make_plan_clear_costmap_, true); + // No path + private_nh.param("make_plan_add_unreachable_goal", make_plan_add_unreachable_goal_, true); + + // set up plan triple buffer + planner_plan_ = new std::vector(); + latest_plan_ = new std::vector(); + controller_plan_ = new std::vector(); + + // set up the planner's thread + planner_thread_ = new boost::thread(boost::bind(&MoveBase::planThread, this)); + + // for commanding the base + vel_pub_ = nh.advertise("cmd_vel", 1); + current_goal_pub_ = private_nh.advertise("current_goal", 0); + + ros::NodeHandle action_nh("move_base"); + action_goal_pub_ = action_nh.advertise("goal", 1); + recovery_status_pub_ = action_nh.advertise("recovery_status", 1); + + // we'll provide a mechanism for some people to send goals as PoseStamped messages over a topic + // they won't get any useful information back about its status, but this is useful for tools + // like nav_view and rviz + ros::NodeHandle simple_nh("move_base_simple"); + goal_sub_ = simple_nh.subscribe("goal", 1, [this](auto &goal) + { goalCB(goal); }); + + // we'll assume the radius of the robot to be consistent with what's specified for the costmaps + // From config param + private_nh.param("local_costmap/inscribed_radius", inscribed_radius_, 0.325); + // ROS_ERROR("local_costmap/inscribed_radius: %f", inscribed_radius_); + private_nh.param("local_costmap/circumscribed_radius", circumscribed_radius_, 0.46); + // ROS_ERROR("local_costmap/circumscribed_radius: %f", circumscribed_radius_); + private_nh.param("clearing_radius", clearing_radius_, circumscribed_radius_); + // ROS_ERROR("clearing_radius: %f", clearing_radius_); + private_nh.param("conservative_reset_dist", conservative_reset_dist_, 3.0); + // ROS_ERROR("conservative_reset_dist: %f", conservative_reset_dist_); + private_nh.param("shutdown_costmaps", shutdown_costmaps_, false); + // ROS_ERROR("shutdown_costmaps: %d", shutdown_costmaps_); + private_nh.param("clearing_rotation_allowed", clearing_rotation_allowed_, true); + // ROS_ERROR("clearing_rotation_allowed: %d", clearing_rotation_allowed_); + private_nh.param("recovery_behavior_enabled", recovery_behavior_enabled_, true); + // ROS_ERROR("recovery_behavior_enabled: %d", recovery_behavior_enabled_); + + // create the ros wrapper for the planner's costmap... and initializer a pointer we'll use with the underlying map + planner_costmap_ros_ = new costmap_2d::Costmap2DROS("global_costmap", tf_); + planner_costmap_ros_->pause(); + + // initialize the global planner + try + { + planner_ = bgp_loader_.createInstance(global_planner); + // From void GlobalPlannerAdapter::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) + // ROS_WARN("move_base::initialize %s" , global_planner.c_str()); + ROS_INFO("Created global_planner %s", global_planner.c_str()); + planner_->initialize(bgp_loader_.getName(global_planner), planner_costmap_ros_); + } + catch (const pluginlib::PluginlibException &ex) + { + ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the containing library is built? Exception: %s", global_planner.c_str(), ex.what()); + exit(1); + } + // create the ros wrapper for the controller's costmap... and initializer a pointer we'll use with the underlying map + controller_costmap_ros_ = new costmap_2d::Costmap2DROS("local_costmap", tf_); + controller_costmap_ros_->pause(); + + // create a local planner + try + { + tc_ = blp_loader_.createInstance(local_planner); + ROS_INFO("Created local_planner %s", local_planner.c_str()); + // From void LocalPlannerAdapter::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) + tc_->initialize(blp_loader_.getName(local_planner), &tf_, controller_costmap_ros_); + } + catch (const pluginlib::PluginlibException &ex) + { + ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the containing library is built? Exception: %s", local_planner.c_str(), ex.what()); + exit(1); + } + + // Start actively updating costmaps based on sensor data + planner_costmap_ros_->start(); + controller_costmap_ros_->start(); + + // advertise a service for getting a plan + make_plan_srv_ = private_nh.advertiseService("make_plan", &MoveBase::planService, this); + + // advertise a service for clearing the costmaps + clear_costmaps_srv_ = private_nh.advertiseService("clear_costmaps", &MoveBase::clearCostmapsService, this); + + // if we shutdown our costmaps when we're deactivated... we'll do that now + if (shutdown_costmaps_) + { + ROS_DEBUG_NAMED("move_base", "Stopping costmaps initially"); + planner_costmap_ros_->stop(); + controller_costmap_ros_->stop(); + } + + // load any user specified recovery behaviors, and if that fails load the defaults + if (!loadRecoveryBehaviors(private_nh)) + { + loadDefaultRecoveryBehaviors(); + } + + // initially, we'll need to make a plan + state_ = PLANNING; + + // we'll start executing recovery behaviors at the beginning of our list + recovery_index_ = 0; + + // we're all set up now so we can start the action server + as_->start(); + + dsrv_ = new dynamic_reconfigure::Server(ros::NodeHandle("~")); + dynamic_reconfigure::Server::CallbackType cb = [this](auto &config, auto level) + { reconfigureCB(config, level); }; + dsrv_->setCallback(cb); + + std::vector> *plugins = planner_costmap_ros_->getLayeredCostmap()->getPlugins(); + for (std::vector>::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) + { + boost::shared_ptr plugin = *pluginp; + std::string name = plugin->getName(); + int slash = name.rfind('/'); + if (slash != std::string::npos) + { + name = name.substr(slash + 1); + } + + // check if the value is convertable + if (!dynamic_cast(plugin.get())) + { + continue; + } + directional_costmap_ = boost::static_pointer_cast(plugin); + } + } + + void MoveBase::reconfigureCB(move_base::MoveBaseConfig &config, uint32_t level) + { + boost::recursive_mutex::scoped_lock l(configuration_mutex_); + + // The first time we're called, we just want to make sure we have the + // original configuration + if (!setup_) + { + last_config_ = config; + default_config_ = config; + setup_ = true; + return; + } + + if (config.restore_defaults) + { + config = default_config_; + // if someone sets restore defaults on the parameter server, prevent looping + config.restore_defaults = false; + } + + if (planner_frequency_ != config.planner_frequency) + { + planner_frequency_ = config.planner_frequency; + p_freq_change_ = true; + } + + if (controller_frequency_ != config.controller_frequency) + { + controller_frequency_ = config.controller_frequency; + c_freq_change_ = true; + } + + planner_patience_ = config.planner_patience; + controller_patience_ = config.controller_patience; + max_planning_retries_ = config.max_planning_retries; + conservative_reset_dist_ = config.conservative_reset_dist; + + recovery_behavior_enabled_ = config.recovery_behavior_enabled; + clearing_rotation_allowed_ = config.clearing_rotation_allowed; + shutdown_costmaps_ = config.shutdown_costmaps; + + oscillation_timeout_ = config.oscillation_timeout; + oscillation_distance_ = config.oscillation_distance; + if (config.base_global_planner != last_config_.base_global_planner) + { + boost::shared_ptr old_planner = planner_; + // initialize the global planner + ROS_INFO("Loading global planner %s", config.base_global_planner.c_str()); + try + { + planner_ = bgp_loader_.createInstance(config.base_global_planner); + + // wait for the current planner to finish planning + boost::unique_lock lock(planner_mutex_); + + // Clean up before initializing the new planner + planner_plan_->clear(); + latest_plan_->clear(); + controller_plan_->clear(); + resetState(); + planner_->initialize(bgp_loader_.getName(config.base_global_planner), planner_costmap_ros_); + + lock.unlock(); + } + catch (const pluginlib::PluginlibException &ex) + { + ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the \ + containing library is built? Exception: %s", + config.base_global_planner.c_str(), ex.what()); + planner_ = old_planner; + config.base_global_planner = last_config_.base_global_planner; + } + } + + if (config.base_local_planner != last_config_.base_local_planner) + { + boost::shared_ptr old_planner = tc_; + // create a local planner + try + { + tc_ = blp_loader_.createInstance(config.base_local_planner); + // Clean up before initializing the new planner + planner_plan_->clear(); + latest_plan_->clear(); + controller_plan_->clear(); + resetState(); + tc_->initialize(blp_loader_.getName(config.base_local_planner), &tf_, controller_costmap_ros_); + } + catch (const pluginlib::PluginlibException &ex) + { + ROS_FATAL("Failed to create the %s planner, are you sure it is properly registered and that the \ + containing library is built? Exception: %s", + config.base_local_planner.c_str(), ex.what()); + tc_ = old_planner; + config.base_local_planner = last_config_.base_local_planner; + } + } + + make_plan_clear_costmap_ = config.make_plan_clear_costmap; + make_plan_add_unreachable_goal_ = config.make_plan_add_unreachable_goal; + + last_config_ = config; + } + + void MoveBase::goalCB(const geometry_msgs::PoseStamped::ConstPtr &goal) + { + ROS_DEBUG_NAMED("move_base", "In ROS goal callback, wrapping the PoseStamped in the action message and re-sending to the server."); + clearDirectionalCostmap(); + move_base_msgs::MoveBaseActionGoal action_goal; + action_goal.header.stamp = ros::Time::now(); + action_goal.goal.target_pose = *goal; + action_goal_pub_.publish(action_goal); + } + + void MoveBase::clearCostmapWindows(double size_x, double size_y) + { + geometry_msgs::PoseStamped global_pose; + + // clear the planner's costmap + getRobotPose(global_pose, planner_costmap_ros_); + + std::vector clear_poly; + double x = global_pose.pose.position.x; + double y = global_pose.pose.position.y; + geometry_msgs::Point pt; + + pt.x = x - size_x / 2; + pt.y = y - size_y / 2; + clear_poly.push_back(pt); + + pt.x = x + size_x / 2; + pt.y = y - size_y / 2; + clear_poly.push_back(pt); + + pt.x = x + size_x / 2; + pt.y = y + size_y / 2; + clear_poly.push_back(pt); + + pt.x = x - size_x / 2; + pt.y = y + size_y / 2; + clear_poly.push_back(pt); + + planner_costmap_ros_->getCostmap()->setConvexPolygonCost(clear_poly, costmap_2d::FREE_SPACE); + + // clear the controller's costmap + getRobotPose(global_pose, controller_costmap_ros_); + + clear_poly.clear(); + x = global_pose.pose.position.x; + y = global_pose.pose.position.y; + + pt.x = x - size_x / 2; + pt.y = y - size_y / 2; + clear_poly.push_back(pt); + + pt.x = x + size_x / 2; + pt.y = y - size_y / 2; + clear_poly.push_back(pt); + + pt.x = x + size_x / 2; + pt.y = y + size_y / 2; + clear_poly.push_back(pt); + + pt.x = x - size_x / 2; + pt.y = y + size_y / 2; + clear_poly.push_back(pt); + + controller_costmap_ros_->getCostmap()->setConvexPolygonCost(clear_poly, costmap_2d::FREE_SPACE); + } + + bool MoveBase::clearCostmapsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp) + { + // clear the costmaps + boost::unique_lock lock_controller(*(controller_costmap_ros_->getCostmap()->getMutex())); + controller_costmap_ros_->resetLayers(); + + boost::unique_lock lock_planner(*(planner_costmap_ros_->getCostmap()->getMutex())); + planner_costmap_ros_->resetLayers(); + return true; + } + + bool MoveBase::planService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp) + { + if (as_->isActive()) + { + ROS_ERROR("move_base must be in an inactive state to make a plan for an external user"); + return false; + } + // make sure we have a costmap for our planner + if (planner_costmap_ros_ == NULL) + { + ROS_ERROR("move_base cannot make a plan for you because it doesn't have a costmap"); + return false; + } + + geometry_msgs::PoseStamped start; + // if the user does not specify a start pose, identified by an empty frame id, then use the robot's pose + if (req.start.header.frame_id.empty()) + { + geometry_msgs::PoseStamped global_pose; + if (!getRobotPose(global_pose, planner_costmap_ros_)) + { + ROS_ERROR("move_base cannot make a plan for you because it could not get the start pose of the robot"); + return false; + } + start = global_pose; + } + else + { + start = req.start; + } + + if (make_plan_clear_costmap_) + { + // update the copy of the costmap the planner uses + clearCostmapWindows(2 * clearing_radius_, 2 * clearing_radius_); + } + + // first try to make a plan to the exact desired goal + std::vector global_plan; + if (!planner_->makePlan(start, req.goal, global_plan) || global_plan.empty()) + { + ROS_DEBUG_NAMED("move_base", "Failed to find a plan to exact goal of (%.2f, %.2f), searching for a feasible goal within tolerance", + req.goal.pose.position.x, req.goal.pose.position.y); + + // search outwards for a feasible goal within the specified tolerance + geometry_msgs::PoseStamped p; + p = req.goal; + bool found_legal = false; + float resolution = planner_costmap_ros_->getCostmap()->getResolution(); + float search_increment = resolution * 3.0; + if (req.tolerance > 0.0 && req.tolerance < search_increment) + search_increment = req.tolerance; + for (float max_offset = search_increment; max_offset <= req.tolerance && !found_legal; max_offset += search_increment) + { + for (float y_offset = 0; y_offset <= max_offset && !found_legal; y_offset += search_increment) + { + for (float x_offset = 0; x_offset <= max_offset && !found_legal; x_offset += search_increment) + { + + // don't search again inside the current outer layer + if (x_offset < max_offset - 1e-9 && y_offset < max_offset - 1e-9) + continue; + + // search to both sides of the desired goal + for (float y_mult = -1.0; y_mult <= 1.0 + 1e-9 && !found_legal; y_mult += 2.0) + { + + // if one of the offsets is 0, -1*0 is still 0 (so get rid of one of the two) + if (y_offset < 1e-9 && y_mult < -1.0 + 1e-9) + continue; + + for (float x_mult = -1.0; x_mult <= 1.0 + 1e-9 && !found_legal; x_mult += 2.0) + { + if (x_offset < 1e-9 && x_mult < -1.0 + 1e-9) + continue; + + p.pose.position.y = req.goal.pose.position.y + y_offset * y_mult; + p.pose.position.x = req.goal.pose.position.x + x_offset * x_mult; + + if (planner_->makePlan(start, p, global_plan)) + { + if (!global_plan.empty()) + { + + if (make_plan_add_unreachable_goal_) + { + // adding the (unreachable) original goal to the end of the global plan, in case the local planner can get you there + //(the reachable goal should have been added by the global planner) + global_plan.push_back(req.goal); + } + + found_legal = true; + ROS_DEBUG_NAMED("move_base", "Found a plan to point (%.2f, %.2f)", p.pose.position.x, p.pose.position.y); + break; + } + } + else + { + ROS_DEBUG_NAMED("move_base", "Failed to find a plan to point (%.2f, %.2f)", p.pose.position.x, p.pose.position.y); + } + } + } + } + } + } + } + + // copy the plan into a message to send out + resp.plan.poses.resize(global_plan.size()); + for (unsigned int i = 0; i < global_plan.size(); ++i) + { + resp.plan.poses[i] = global_plan[i]; + } + + return true; + } + + MoveBase::~MoveBase() + { + recovery_behaviors_.clear(); + + delete dsrv_; + + if (as_ != NULL) + delete as_; + + if (planner_costmap_ros_ != NULL) + delete planner_costmap_ros_; + + if (controller_costmap_ros_ != NULL) + delete controller_costmap_ros_; + + planner_thread_->interrupt(); + planner_thread_->join(); + + delete planner_thread_; + + delete planner_plan_; + delete latest_plan_; + delete controller_plan_; + + planner_.reset(); + tc_.reset(); + } + + bool MoveBase::makePlan(const geometry_msgs::PoseStamped &goal, std::vector &plan) + { + boost::unique_lock lock(*(planner_costmap_ros_->getCostmap()->getMutex())); + + // make sure to set the plan to be empty initially + plan.clear(); + + // since this gets called on handle activate + if (planner_costmap_ros_ == NULL) + { + ROS_ERROR("Planner costmap ROS is NULL, unable to create global plan"); + return false; + } + // get the starting pose of the robot + geometry_msgs::PoseStamped global_pose; + if (!getRobotPose(global_pose, planner_costmap_ros_)) + { + ROS_WARN("Unable to get starting pose of robot, unable to create global plan"); + return false; + } + + const geometry_msgs::PoseStamped &start = global_pose; + ros::WallTime start_time = ros::WallTime::now(); + bool result_find_plan = planner_->makePlan(start, goal, plan); + ros::WallDuration t_diff = ros::WallTime::now() - start_time; + ROS_INFO("planner_->makePlan(start, goal, plan) cycle time: %.9f", t_diff.toSec()); + // if the planner fails or returns a zero length plan, planning failed + if (!result_find_plan || plan.empty()) + { + ROS_DEBUG_NAMED("move_base", "Failed to find a plan to point (%.2f, %.2f)", goal.pose.position.x, goal.pose.position.y); + return false; + } + else + { + try + { + if (directional_costmap_ != nullptr) + { + if(directional_costmap_->isEnabled()) + { + ROS_INFO("directional_costmap_ start"); + ros::WallTime start = ros::WallTime::now(); + bool result = true; + result = directional_costmap_->laneFilter(plan); + if (!result) + planner_costmap_ros_->updateMap(); + return result; + } + } + } + catch (const std::exception &e) + { + ROS_ERROR_STREAM(e.what() << '\n'); + return false; + } + } + return true; + } + + void MoveBase::publishZeroVelocity() + { + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = 0.0; + vel_pub_.publish(cmd_vel); + } + + bool MoveBase::isQuaternionValid(const geometry_msgs::Quaternion &q) + { + // first we need to check if the quaternion has nan's or infs + if (!std::isfinite(q.x) || !std::isfinite(q.y) || !std::isfinite(q.z) || !std::isfinite(q.w)) + { + ROS_ERROR("Quaternion has nans or infs... discarding as a navigation goal"); + return false; + } + + tf2::Quaternion tf_q(q.x, q.y, q.z, q.w); + + // next, we need to check if the length of the quaternion is close to zero + if (tf_q.length2() < 1e-6) + { + ROS_ERROR("Quaternion has length close to zero... discarding as navigation goal"); + return false; + } + + // next, we'll normalize the quaternion and check that it transforms the vertical vector correctly + tf_q.normalize(); + + tf2::Vector3 up(0, 0, 1); + + double dot = up.dot(up.rotate(tf_q.getAxis(), tf_q.getAngle())); + + if (fabs(dot - 1) > 1e-3) + { + ROS_ERROR("Quaternion is invalid... for navigation the z-axis of the quaternion must be close to vertical."); + return false; + } + + return true; + } + + geometry_msgs::PoseStamped MoveBase::goalToGlobalFrame(const geometry_msgs::PoseStamped &goal_pose_msg) + { + std::string global_frame = planner_costmap_ros_->getGlobalFrameID(); + geometry_msgs::PoseStamped goal_pose, global_pose; + goal_pose = goal_pose_msg; + + // just get the latest available transform... for accuracy they should send + // goals in the frame of the planner + goal_pose.header.stamp = ros::Time(); + + try + { + tf_.transform(goal_pose_msg, global_pose, global_frame); + } + catch (tf2::TransformException &ex) + { + ROS_WARN("Failed to transform the goal pose from %s into the %s frame: %s", + goal_pose.header.frame_id.c_str(), global_frame.c_str(), ex.what()); + return goal_pose_msg; + } + + return global_pose; + } + + void MoveBase::wakePlanner(const ros::TimerEvent &event) + { + // we have slept long enough for rate + planner_cond_.notify_one(); + } + + void MoveBase::planThread() + { + ROS_DEBUG_NAMED("move_base_plan_thread", "Starting planner thread..."); + ros::NodeHandle n; + ros::Timer timer; + bool wait_for_wake = false; + boost::unique_lock lock(planner_mutex_); + while (n.ok()) + { + // check if we should run the planner (the mutex is locked) + while (wait_for_wake || !runPlanner_) + { + // if we should not be running the planner then suspend this thread + ROS_DEBUG_NAMED("move_base_plan_thread", "Planner thread is suspending"); + planner_cond_.wait(lock); + wait_for_wake = false; + } + ros::Time start_time = ros::Time::now(); + + // time to plan! get a copy of the goal and unlock the mutex + geometry_msgs::PoseStamped temp_goal = planner_goal_; + lock.unlock(); + ROS_DEBUG_NAMED("move_base_plan_thread", "Planning..."); + + // run planner + planner_plan_->clear(); + bool gotPlan = n.ok() && makePlan(temp_goal, *planner_plan_); + + if (gotPlan) + { + ROS_DEBUG_NAMED("move_base_plan_thread", "Got Plan with %zu points!", planner_plan_->size()); + // pointer swap the plans under mutex (the controller will pull from latest_plan_) + std::vector *temp_plan = planner_plan_; + + lock.lock(); + planner_plan_ = latest_plan_; + latest_plan_ = temp_plan; + last_valid_plan_ = ros::Time::now(); + planning_retries_ = 0; + new_global_plan_ = true; + + ROS_DEBUG_NAMED("move_base_plan_thread", "Generated a plan from the base_global_planner"); + + // make sure we only start the controller if we still haven't reached the goal + if (runPlanner_) + state_ = CONTROLLING; + if (planner_frequency_ <= 0) + runPlanner_ = false; + lock.unlock(); + } + // if we didn't get a plan and we are in the planning state (the robot isn't moving) + else if (state_ == PLANNING) + { + ROS_DEBUG_NAMED("move_base_plan_thread", "No Plan..."); + ros::Time attempt_end = last_valid_plan_ + ros::Duration(planner_patience_); + + // check if we've tried to make a plan for over our time limit or our maximum number of retries + // issue #496: we stop planning when one of the conditions is true, but if max_planning_retries_ + // is negative (the default), it is just ignored and we have the same behavior as ever + lock.lock(); + planning_retries_++; + if (runPlanner_ && + (ros::Time::now() > attempt_end || planning_retries_ > uint32_t(max_planning_retries_))) + { + // we'll move into our obstacle clearing mode + state_ = CLEARING; + runPlanner_ = false; // proper solution for issue #523 + ROS_ERROR("we'll move into our obstacle clearing mode"); + publishZeroVelocity(); + recovery_trigger_ = PLANNING_R; + } + + lock.unlock(); + } + + // take the mutex for the next iteration + lock.lock(); + + // setup sleep interface if needed + if (planner_frequency_ > 0) + { + ros::Duration sleep_time = (start_time + ros::Duration(1.0 / planner_frequency_)) - ros::Time::now(); + if (sleep_time > ros::Duration(0.0)) + { + wait_for_wake = true; + timer = n.createTimer(sleep_time, &MoveBase::wakePlanner, this); + } + } + } + } + + void MoveBase::executeCb(const move_base_msgs::MoveBaseGoalConstPtr &move_base_goal) + { + if (!isQuaternionValid(move_base_goal->target_pose.pose.orientation)) + { + as_->setAborted(move_base_msgs::MoveBaseResult(), "Aborting on goal because it was sent with an invalid quaternion"); + return; + } + // clear costmap from directional layer + geometry_msgs::PoseStamped goal = goalToGlobalFrame(move_base_goal->target_pose); + publishZeroVelocity(); + // we have a goal so start the planner + boost::unique_lock lock(planner_mutex_); + planner_goal_ = goal; + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + + current_goal_pub_.publish(goal); + + ros::Rate r(controller_frequency_); + if (shutdown_costmaps_) + { + ROS_DEBUG_NAMED("move_base", "Starting up costmaps that were shut down previously"); + planner_costmap_ros_->start(); + controller_costmap_ros_->start(); + } + + // we want to make sure that we reset the last time we had a valid plan and control + last_valid_control_ = ros::Time::now(); + last_valid_plan_ = ros::Time::now(); + last_oscillation_reset_ = ros::Time::now(); + planning_retries_ = 0; + + geometry_msgs::PoseStamped global_pose; + getRobotPose(global_pose, planner_costmap_ros_); + oscillation_pose_ = global_pose; + + ros::NodeHandle n; + while (n.ok()) + { + if (c_freq_change_) + { + ROS_INFO("Setting controller frequency to %.2f", controller_frequency_); + r = ros::Rate(controller_frequency_); + c_freq_change_ = false; + } + + if (as_->isPreemptRequested()) + { + if (as_->isNewGoalAvailable()) + { + // if we're active and a new goal is available, we'll accept it, but we won't shut anything down + move_base_msgs::MoveBaseGoal new_goal = *as_->acceptNewGoal(); + + if (!isQuaternionValid(new_goal.target_pose.pose.orientation)) + { + as_->setAborted(move_base_msgs::MoveBaseResult(), "Aborting on goal because it was sent with an invalid quaternion"); + return; + } + + goal = goalToGlobalFrame(new_goal.target_pose); + + // we'll make sure that we reset our state for the next execution cycle + recovery_index_ = 0; + state_ = PLANNING; + + // we have a new goal so make sure the planner is awake + lock.lock(); + planner_goal_ = goal; + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + + // publish the goal point to the visualizer + ROS_DEBUG_NAMED("move_base", "move_base has received a goal of x: %.2f, y: %.2f", goal.pose.position.x, goal.pose.position.y); + current_goal_pub_.publish(goal); + + // make sure to reset our timeouts and counters + last_valid_control_ = ros::Time::now(); + last_valid_plan_ = ros::Time::now(); + last_oscillation_reset_ = ros::Time::now(); + planning_retries_ = 0; + } + else + { + // if we've been preempted explicitly we need to shut things down + resetState(); + + // notify the ActionServer that we've successfully preempted + ROS_DEBUG_NAMED("move_base", "Move base preempting the current goal"); + as_->setPreempted(); + + // we'll actually return from execute after preempting + return; + } + } + + // we also want to check if we've changed global frames because we need to transform our goal pose + if (goal.header.frame_id != planner_costmap_ros_->getGlobalFrameID()) + { + goal = goalToGlobalFrame(goal); + + // we want to go back to the planning state for the next execution cycle + recovery_index_ = 0; + state_ = PLANNING; + + // we have a new goal so make sure the planner is awake + lock.lock(); + planner_goal_ = goal; + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + + // publish the goal point to the visualizer + ROS_DEBUG_NAMED("move_base", "The global frame for move_base has changed, new frame: %s, new goal position x: %.2f, y: %.2f", goal.header.frame_id.c_str(), goal.pose.position.x, goal.pose.position.y); + current_goal_pub_.publish(goal); + + // make sure to reset our timeouts and counters + last_valid_control_ = ros::Time::now(); + last_valid_plan_ = ros::Time::now(); + last_oscillation_reset_ = ros::Time::now(); + planning_retries_ = 0; + } + + // for timing that gives real time even in simulation + ros::WallTime start = ros::WallTime::now(); + + // the real work on pursuing a goal is done here + bool done = executeCycle(goal); + + // if we're done, then we'll return from execute + if (done) + return; + + // check if execution of the goal has completed in some way + + ros::WallDuration t_diff = ros::WallTime::now() - start; + ROS_DEBUG_NAMED("move_base", "Full control cycle time: %.9f\n", t_diff.toSec()); + + r.sleep(); + // make sure to sleep for the remainder of our cycle time + if (r.cycleTime() > ros::Duration(1 / controller_frequency_) && state_ == CONTROLLING) + ROS_WARN("Control loop missed its desired rate of %.4fHz... the loop actually took %.4f seconds", controller_frequency_, r.cycleTime().toSec()); + } + + // wake up the planner thread so that it can exit cleanly + lock.lock(); + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + + // if the node is killed then we'll abort and return + as_->setAborted(move_base_msgs::MoveBaseResult(), "Aborting on the goal because the node has been killed"); + return; + } + + double MoveBase::distance(const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2) + { + return hypot(p1.pose.position.x - p2.pose.position.x, p1.pose.position.y - p2.pose.position.y); + } + + bool MoveBase::executeCycle(geometry_msgs::PoseStamped &goal) + { + boost::recursive_mutex::scoped_lock ecl(configuration_mutex_); + // we need to be able to publish velocity commands + geometry_msgs::Twist cmd_vel; + + // update feedback to correspond to our curent position + geometry_msgs::PoseStamped global_pose; + getRobotPose(global_pose, planner_costmap_ros_); + const geometry_msgs::PoseStamped ¤t_position = global_pose; + + // push the feedback out + move_base_msgs::MoveBaseFeedback feedback; + feedback.base_position = current_position; + as_->publishFeedback(feedback); + + // check to see if we've moved far enough to reset our oscillation timeout + double current_distance = distance(current_position, oscillation_pose_); + if (current_distance >= oscillation_distance_) + { + last_oscillation_reset_ = ros::Time::now(); + oscillation_pose_ = current_position; + + // if our last recovery was caused by oscillation, we want to reset the recovery index + if (recovery_trigger_ == OSCILLATION_R) + recovery_index_ = 0; + } + + // check that the observation buffers for the costmap are current, we don't want to drive blind + if (!controller_costmap_ros_->isCurrent()) + { + ROS_WARN("[%s]:Sensor data is out of date, we're not going to allow commanding of the base for safety", ros::this_node::getName().c_str()); + publishZeroVelocity(); + return false; + } + + // if we have a new plan then grab it and give it to the controller + if (new_global_plan_) + { + // make sure to set the new plan flag to false + new_global_plan_ = false; + + ROS_DEBUG_NAMED("move_base", "Got a new plan...swap pointers"); + + // do a pointer swap under mutex + std::vector *temp_plan = controller_plan_; + + boost::unique_lock lock(planner_mutex_); + controller_plan_ = latest_plan_; + latest_plan_ = temp_plan; + lock.unlock(); + ROS_DEBUG_NAMED("move_base", "pointers swapped!"); + + if (!tc_->setPlan(*controller_plan_)) + { + // ABORT and SHUTDOWN COSTMAPS + ROS_ERROR("Failed to pass global plan to the controller, aborting."); + resetState(); + + // disable the planner thread + lock.lock(); + runPlanner_ = false; + lock.unlock(); + + as_->setAborted(move_base_msgs::MoveBaseResult(), "Failed to pass global plan to the controller."); + return true; + } + + // make sure to reset recovery_index_ since we were able to find a valid plan + if (recovery_trigger_ == PLANNING_R) + recovery_index_ = 0; + } + + // the move_base state machine, handles the control logic for navigation + switch (state_) + { + // if we are in a planning state, then we'll attempt to make a plan + case PLANNING: + { + boost::recursive_mutex::scoped_lock lock(planner_mutex_); + runPlanner_ = true; + planner_cond_.notify_one(); + } + ROS_DEBUG_NAMED("move_base", "Waiting for plan, in the planning state."); + break; + + // if we're controlling, we'll attempt to find valid velocity commands + case CONTROLLING: + ROS_DEBUG_NAMED("move_base", "In controlling state."); + + // check to see if we've reached our goal + if (tc_->isGoalReached()) + { + ROS_DEBUG_NAMED("move_base", "Goal reached!"); + resetState(); + + // disable the planner thread + boost::unique_lock lock(planner_mutex_); + runPlanner_ = false; + lock.unlock(); + clearDirectionalCostmap(); + as_->setSucceeded(move_base_msgs::MoveBaseResult(), "Goal reached."); + return true; + } + + // check for an oscillation condition + if (oscillation_timeout_ > 0.0 && + last_oscillation_reset_ + ros::Duration(oscillation_timeout_) < ros::Time::now()) + { + ROS_ERROR("check for an oscillation condition %f %f", last_oscillation_reset_.toSec(), ros::Time::now().toSec()); + publishZeroVelocity(); + state_ = CLEARING; + recovery_trigger_ = OSCILLATION_R; + } + + { + boost::unique_lock lock(*(controller_costmap_ros_->getCostmap()->getMutex())); + + if (tc_->computeVelocityCommands(cmd_vel)) + { + ROS_DEBUG_NAMED("move_base", "Got a valid command from the local planner: %.3lf, %.3lf, %.3lf", + cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z); + // ROS_INFO("Got a valid command from the local planner: %.3lf, %.3lf, %.3lf", + // cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z ); + last_valid_control_ = ros::Time::now(); + // make sure that we send the velocity command to the base + vel_pub_.publish(cmd_vel); + if (recovery_trigger_ == CONTROLLING_R) + recovery_index_ = 0; + } + else + { + ROS_DEBUG_NAMED("move_base", "The local planner could not find a valid plan."); + ROS_WARN("The local planner could not find a valid plan."); + ros::Time attempt_end = last_valid_control_ + ros::Duration(controller_patience_); + + // check if we've tried to find a valid control for longer than our time limit + if (ros::Time::now() > attempt_end) + { + // we'll move into our obstacle clearing mode + ROS_ERROR("we'll move into our obstacle clearing mode"); + publishZeroVelocity(); + state_ = CLEARING; + recovery_trigger_ = CONTROLLING_R; + } + else + { + // otherwise, if we can't find a valid control, we'll go back to planning + last_valid_plan_ = ros::Time::now(); + planning_retries_ = 0; + state_ = PLANNING; + ROS_ERROR("otherwise, if we can't find a valid control, we'll go back to planning"); + publishZeroVelocity(); + + // enable the planner thread in case it isn't running on a clock + boost::unique_lock lock(planner_mutex_); + runPlanner_ = true; + planner_cond_.notify_one(); + lock.unlock(); + } + } + } + + break; + + // we'll try to clear out space with any user-provided recovery behaviors + case CLEARING: + ROS_DEBUG_NAMED("move_base", "In clearing/recovery state"); + // we'll invoke whatever recovery behavior we're currently on if they're enabled + if (recovery_behavior_enabled_ && recovery_index_ < recovery_behaviors_.size()) + { + ROS_DEBUG_NAMED("move_base_recovery", "Executing behavior %u of %zu", recovery_index_ + 1, recovery_behaviors_.size()); + + move_base_msgs::RecoveryStatus msg; + msg.pose_stamped = current_position; + msg.current_recovery_number = recovery_index_; + msg.total_number_of_recoveries = recovery_behaviors_.size(); + msg.recovery_behavior_name = recovery_behavior_names_[recovery_index_]; + + recovery_status_pub_.publish(msg); + + recovery_behaviors_[recovery_index_]->runBehavior(); + + // we at least want to give the robot some time to stop oscillating after executing the behavior + last_oscillation_reset_ = ros::Time::now(); + + // we'll check if the recovery behavior actually worked + ROS_DEBUG_NAMED("move_base_recovery", "Going back to planning state"); + last_valid_plan_ = ros::Time::now(); + planning_retries_ = 0; + state_ = PLANNING; + + // update the index of the next recovery behavior that we'll try + recovery_index_++; + } + else + { + ROS_DEBUG_NAMED("move_base_recovery", "All recovery behaviors have failed, locking the planner and disabling it."); + // disable the planner thread + boost::unique_lock lock(planner_mutex_); + runPlanner_ = false; + lock.unlock(); + + ROS_DEBUG_NAMED("move_base_recovery", "Something should abort after this."); + + if (recovery_trigger_ == CONTROLLING_R) + { + ROS_ERROR("Aborting because a valid control could not be found. Even after executing all recovery behaviors"); + as_->setAborted(move_base_msgs::MoveBaseResult(), "Failed to find a valid control. Even after executing recovery behaviors."); + } + else if (recovery_trigger_ == PLANNING_R) + { + ROS_ERROR("Aborting because a valid plan could not be found. Even after executing all recovery behaviors"); + as_->setAborted(move_base_msgs::MoveBaseResult(), "Failed to find a valid plan. Even after executing recovery behaviors."); + } + else if (recovery_trigger_ == OSCILLATION_R) + { + ROS_ERROR("Aborting because the robot appears to be oscillating over and over. Even after executing all recovery behaviors"); + as_->setAborted(move_base_msgs::MoveBaseResult(), "Robot is oscillating. Even after executing recovery behaviors."); + } + resetState(); + return true; + } + break; + default: + ROS_ERROR("This case should never be reached, something is wrong, aborting"); + resetState(); + // disable the planner thread + boost::unique_lock lock(planner_mutex_); + runPlanner_ = false; + lock.unlock(); + as_->setAborted(move_base_msgs::MoveBaseResult(), "Reached a case that should not be hit in move_base. This is a bug, please report it."); + return true; + } + + // we aren't done yet + return false; + } + + bool MoveBase::loadRecoveryBehaviors(ros::NodeHandle node) + { + XmlRpc::XmlRpcValue behavior_list; + if (node.getParam("recovery_behaviors", behavior_list)) + { + if (behavior_list.getType() == XmlRpc::XmlRpcValue::TypeArray) + { + for (int i = 0; i < behavior_list.size(); ++i) + { + if (behavior_list[i].getType() == XmlRpc::XmlRpcValue::TypeStruct) + { + if (behavior_list[i].hasMember("name") && behavior_list[i].hasMember("type")) + { + // check for recovery behaviors with the same name + for (int j = i + 1; j < behavior_list.size(); j++) + { + if (behavior_list[j].getType() == XmlRpc::XmlRpcValue::TypeStruct) + { + if (behavior_list[j].hasMember("name") && behavior_list[j].hasMember("type")) + { + std::string name_i = behavior_list[i]["name"]; + std::string name_j = behavior_list[j]["name"]; + if (name_i == name_j) + { + ROS_ERROR("A recovery behavior with the name %s already exists, this is not allowed. Using the default recovery behaviors instead.", + name_i.c_str()); + return false; + } + } + } + } + } + else + { + ROS_ERROR("Recovery behaviors must have a name and a type and this does not. Using the default recovery behaviors instead."); + return false; + } + } + else + { + ROS_ERROR("Recovery behaviors must be specified as maps, but they are XmlRpcType %d. We'll use the default recovery behaviors instead.", + behavior_list[i].getType()); + return false; + } + } + + // if we've made it to this point, we know that the list is legal so we'll create all the recovery behaviors + for (int i = 0; i < behavior_list.size(); ++i) + { + try + { + // check if a non fully qualified name has potentially been passed in + if (!recovery_loader_.isClassAvailable(behavior_list[i]["type"])) + { + std::vector classes = recovery_loader_.getDeclaredClasses(); + for (unsigned int i = 0; i < classes.size(); ++i) + { + if (behavior_list[i]["type"] == recovery_loader_.getName(classes[i])) + { + // if we've found a match... we'll get the fully qualified name and break out of the loop + ROS_WARN("Recovery behavior specifications should now include the package name. You are using a deprecated API. Please switch from %s to %s in your yaml file.", + std::string(behavior_list[i]["type"]).c_str(), classes[i].c_str()); + behavior_list[i]["type"] = classes[i]; + break; + } + } + } + + boost::shared_ptr behavior(recovery_loader_.createInstance(behavior_list[i]["type"])); + + // shouldn't be possible, but it won't hurt to check + if (behavior.get() == NULL) + { + ROS_ERROR("The ClassLoader returned a null pointer without throwing an exception. This should not happen"); + return false; + } + + // initialize the recovery behavior with its name + behavior->initialize(behavior_list[i]["name"], &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back(behavior_list[i]["name"]); + recovery_behaviors_.push_back(behavior); + } + catch (pluginlib::PluginlibException &ex) + { + ROS_ERROR("Failed to load a plugin. Using default recovery behaviors. Error: %s", ex.what()); + return false; + } + } + } + else + { + ROS_ERROR("The recovery behavior specification must be a list, but is of XmlRpcType %d. We'll use the default recovery behaviors instead.", + behavior_list.getType()); + return false; + } + } + else + { + // if no recovery_behaviors are specified, we'll just load the defaults + return false; + } + + // if we've made it here... we've constructed a recovery behavior list successfully + return true; + } + + // we'll load our default recovery behaviors here + void MoveBase::loadDefaultRecoveryBehaviors() + { + recovery_behaviors_.clear(); + try + { + // we need to set some parameters based on what's been passed in to us to maintain backwards compatibility + ros::NodeHandle n("~"); + n.setParam("conservative_reset/reset_distance", conservative_reset_dist_); + n.setParam("aggressive_reset/reset_distance", circumscribed_radius_ * 4); + + // first, we'll load a recovery behavior to clear the costmap + boost::shared_ptr cons_clear(recovery_loader_.createInstance("clear_costmap_recovery/ClearCostmapRecovery")); + cons_clear->initialize("conservative_reset", &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back("conservative_reset"); + recovery_behaviors_.push_back(cons_clear); + + // next, we'll load a recovery behavior to rotate in place + boost::shared_ptr rotate(recovery_loader_.createInstance("rotate_recovery/RotateRecovery")); + if (clearing_rotation_allowed_) + { + rotate->initialize("rotate_recovery", &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back("rotate_recovery"); + recovery_behaviors_.push_back(rotate); + } + + // next, we'll load a recovery behavior that will do an aggressive reset of the costmap + boost::shared_ptr ags_clear(recovery_loader_.createInstance("clear_costmap_recovery/ClearCostmapRecovery")); + ags_clear->initialize("aggressive_reset", &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back("aggressive_reset"); + recovery_behaviors_.push_back(ags_clear); + + // we'll rotate in-place one more time + if (clearing_rotation_allowed_) + { + recovery_behaviors_.push_back(rotate); + recovery_behavior_names_.push_back("rotate_recovery"); + } + } + catch (pluginlib::PluginlibException &ex) + { + ROS_FATAL("Failed to load a plugin. This should not happen on default recovery behaviors. Error: %s", ex.what()); + } + + return; + } + + void MoveBase::resetState() + { + // Disable the planner thread + boost::unique_lock lock(planner_mutex_); + runPlanner_ = false; + lock.unlock(); + + // Reset statemachine + state_ = PLANNING; + recovery_index_ = 0; + recovery_trigger_ = PLANNING_R; + publishZeroVelocity(); + + // if we shutdown our costmaps when we're deactivated... we'll do that now + if (shutdown_costmaps_) + { + ROS_DEBUG_NAMED("move_base", "Stopping costmaps"); + planner_costmap_ros_->stop(); + controller_costmap_ros_->stop(); + } + } + + bool MoveBase::getRobotPose(geometry_msgs::PoseStamped &global_pose, costmap_2d::Costmap2DROS *costmap) + { + tf2::toMsg(tf2::Transform::getIdentity(), global_pose.pose); + geometry_msgs::PoseStamped robot_pose; + tf2::toMsg(tf2::Transform::getIdentity(), robot_pose.pose); + robot_pose.header.frame_id = robot_base_frame_; + robot_pose.header.stamp = ros::Time(); // latest available + ros::Time current_time = ros::Time::now(); // save time for checking tf delay later + + // get robot pose on the given costmap frame + try + { + tf_.transform(robot_pose, global_pose, costmap->getGlobalFrameID()); + } + catch (tf2::LookupException &ex) + { + ROS_ERROR_THROTTLE(1.0, "No Transform available Error looking up robot pose: %s\n", ex.what()); + return false; + } + catch (tf2::ConnectivityException &ex) + { + ROS_ERROR_THROTTLE(1.0, "Connectivity Error looking up robot pose: %s\n", ex.what()); + return false; + } + catch (tf2::ExtrapolationException &ex) + { + ROS_ERROR_THROTTLE(1.0, "Extrapolation Error looking up robot pose: %s\n", ex.what()); + return false; + } + + // check if global_pose time stamp is within costmap transform tolerance + if (!global_pose.header.stamp.isZero() && + current_time.toSec() - global_pose.header.stamp.toSec() > costmap->getTransformTolerance()) + { + ROS_WARN_THROTTLE(1.0, "Transform timeout for %s. " + "Current time: %.4f, pose stamp: %.4f, tolerance: %.4f", + costmap->getName().c_str(), + current_time.toSec(), global_pose.header.stamp.toSec(), costmap->getTransformTolerance()); + return false; + } + + return true; + } + void MoveBase::clearDirectionalCostmap() + { + try + { + if (directional_costmap_ != nullptr) + { + if(directional_costmap_->isEnabled()) + { + boost::unique_lock lock(*(directional_costmap_->getMutex())); + directional_costmap_->resetMap(); + directional_costmap_->reset(); + boost::unique_lock lock_planner(*(planner_costmap_ros_->getCostmap()->getMutex())); + planner_costmap_ros_->updateMap(); + lock.unlock(); + } + } + } + catch (const std::exception &e) + { + ROS_ERROR_STREAM(e.what() << '\n'); + return; + } + } +}; diff --git a/navigations/move_base/src/move_base_node.cpp b/navigations/move_base/src/move_base_node.cpp new file mode 100755 index 0000000..e1cdbd6 --- /dev/null +++ b/navigations/move_base/src/move_base_node.cpp @@ -0,0 +1,44 @@ +/* + * Copyright (c) 2013, 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, Inc. 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. + */ + +#include +#include + +int main(int argc, char** argv){ + ros::init(argc, argv, "move_base_node"); + tf2_ros::Buffer buffer(ros::Duration(10)); + tf2_ros::TransformListener tf(buffer); + + move_base::MoveBase move_base( buffer ); + + //ros::MultiThreadedSpinner s; + ros::spin(); + + return(0); +} diff --git a/navigations/move_base_flex/.gitignore b/navigations/move_base_flex/.gitignore new file mode 100755 index 0000000..437f3b2 --- /dev/null +++ b/navigations/move_base_flex/.gitignore @@ -0,0 +1,3 @@ +.* +cmake-build-debug +!/.gitignore diff --git a/navigations/move_base_flex/LICENSE b/navigations/move_base_flex/LICENSE new file mode 100755 index 0000000..2ab0f76 --- /dev/null +++ b/navigations/move_base_flex/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón +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 copyright holder 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 HOLDER 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. diff --git a/navigations/move_base_flex/README.md b/navigations/move_base_flex/README.md new file mode 100755 index 0000000..c008297 --- /dev/null +++ b/navigations/move_base_flex/README.md @@ -0,0 +1,42 @@ +# Move Base Flex: A Highly Flexible Navigation Framework: + +This repository contains Move Base Flex (MBF), a backwards-compatible replacement for move_base. MBF can use existing plugins for move_base, and provides an enhanced version of the same ROS interface. It exposes action servers for planning, controlling and recovering, providing detailed information of the current state and the plugin's feedback. An external executive logic can use MBF and its actions to perform smart and flexible navigation strategies. For example, at [Magazino](https://www.magazino.eu/?lang=en) we have successfully deployed MBF at customer facilities to control TORU robots in highly dynamical environments. Furthermore, MBF enables the use of other map representations, e.g. meshes. The core features are: + +* Fully backwards-compatible with current ROS navigation. +* Actions for the submodules planning, controlling and recovering, and services to query the costmaps are provided. This interface allows external executives, e.g. SMACH, or Behavior Trees, to run highly flexible and complex navigation strategies. +* Comprehensive result and feedback information on all actions, including error codes and messages from the loaded plugins. For users still relying on a unique navigation interface, we have extended move_base action with detailed result and feedback information (though we still provide the current one). +* Separation between an abstract navigation framework and concrete implementations, allowing faster development of new applications, e.g. 3D navigation. +* Load multiple planners and controllers, selectable at runtime by setting one of the loaded plugin names in the action goal. +* Concurrency: Parallel planning, recovering, controlling by selecting different concurrency slots when defining the action goal. Only different plugins instances can run in parallel. + +Please see also the [Move Base Flex Documentation and Tutorials](https://wiki.ros.org/move_base_flex) in the ROS wiki. + +## Concepts & Architecture + +We have created Move Base Flex for a larger target group besides the standard developers and users of move_base and 2D navigation based on costmaps, as well as addressed move_base's limitations. Since robot navigation can be separated into planning and controlling in many cases, even for outdoor scenarios without the benefits of flat terrain, we designed MBF based on abstract planner-, controller- and recovery behavior-execution classes. To accomplish this goal, we created abstract base classes for the nav core BaseLocalPlanner, BaseGlobalPlanner and RecoveryBehavior plugin interfaces, extending the API to provide a richer and more expressive interface without breaking the current move_base plugin API. The new abstract interfaces allow plugins to return valuable information in each execution cycle, e.g. why a valid plan or a velocity command could not be computed. This information is then passed to the external executive logic through MBF planning, navigation or recovering actions’ feedback and result. The planner, controller and recovery behavior execution is implemented in the abstract execution classes without binding the software implementation to 2D costmaps. In our framework, MoveBase is just a particular implementation of a navigation system: its execution classes implement the abstract ones, bind the system to the costmaps. Thereby, the system can easily be used for other approaches, e.g. navigation on meshes or 3D occupancy grid maps. However, we provide a SimpleNavigationServer class without a binding to costmaps. + +MBF architecture: +![MBF architecture](doc/images/move_base_flex.png) + +## Future Work +MBF is an ongoing project. Some of the improvements that we have planned for the near future are: + +* Release MBF Mesh Navigation, see [mesh_navigation](https://github.com/uos/mesh_navigation). +* Auto select the active controller when having concurrently running controllers +* Add Ackermann steering API +* Multi Goal API + Action +* Add new navigation server and core packages using [grid_map](https://wiki.ros.org/grid_map). +* Constraints-based goal (see issue https://github.com/magazino/move_base_flex/issues/8) + +But, of course you are welcome to propose new fancy features and help make them a reality! Pull Requests are always welcome! + +## Build Status + +| | Master | Kinetic | Lunar | Melodic | Noetic | +|--------|--------|---------|-------|---------|--------| +| Travis | [![Build Status](https://api.travis-ci.com/magazino/move_base_flex.svg?branch=master)](https://travis-ci.com/magazino/move_base_flex) | [![Build Status](https://api.travis-ci.com/magazino/move_base_flex.svg?branch=kinetic)](https://travis-ci.com/magazino/move_base_flex) | [![Build Status](https://api.travis-ci.com/magazino/move_base_flex.svg?branch=lunar)](https://travis-ci.com/magazino/move_base_flex) | [![Build Status](https://api.travis-ci.com/magazino/move_base_flex.svg?branch=melodic)](https://travis-ci.com/magazino/move_base_flex) | [![Build Status](https://api.travis-ci.com/magazino/move_base_flex.svg?branch=noetic)](https://travis-ci.com/magazino/move_base_flex) | +| Binary Deb | | [![Build 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+ + + + + + + +message + +Move Base Implementation Level + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +© Sebastian Pütz <spuetz@uni-osnabrueck.de> (CC BY-SA 4.0) + diff --git a/navigations/move_base_flex/mbf_abstract_core/CHANGELOG.rst b/navigations/move_base_flex/mbf_abstract_core/CHANGELOG.rst new file mode 100755 index 0000000..281122d --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_core/CHANGELOG.rst @@ -0,0 +1,36 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mbf_abstract_core +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.2 (2020-05-25) +------------------ + +0.3.1 (2020-04-07) +------------------ + +0.3.0 (2020-03-31) +------------------ +* unify license declaration to BSD-3 + +0.2.5 (2019-10-11) +------------------ + +0.2.4 (2019-06-16) +------------------ + +0.2.3 (2018-11-14) +------------------ + +0.2.2 (2018-10-10) +------------------ + +0.2.1 (2018-10-03) +------------------ + +0.2.0 (2018-09-11) +------------------ +* Update copyright and 3-clause-BSD license + +0.1.0 (2018-03-22) +------------------ +* First release of move_base_flex for kinetic and lunar diff --git a/navigations/move_base_flex/mbf_abstract_core/CMakeLists.txt b/navigations/move_base_flex/mbf_abstract_core/CMakeLists.txt new file mode 100755 index 0000000..a0165b6 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_core/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbf_abstract_core) + +find_package(catkin REQUIRED + COMPONENTS + std_msgs + geometry_msgs + + ) + +catkin_package( + INCLUDE_DIRS + include + CATKIN_DEPENDS + std_msgs + geometry_msgs +) + + +## Install project namespaced headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) diff --git a/navigations/move_base_flex/mbf_abstract_core/README.md b/navigations/move_base_flex/mbf_abstract_core/README.md new file mode 100755 index 0000000..e00872f --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_core/README.md @@ -0,0 +1,5 @@ +# Move Base Flex Abstract Core {#mainpage} + +The [mbf_abstract_core](wiki.ros.org/mbf_abstract_core) package of Move Base Flex (MBF) contains the abstract interfaces for planning controlling and recovering. Derived packages of the [mbf_abstract_nav](wiki.ros.org/mbf_abstract_nav) should use derived interfaces of the [mbf_abstract_core](wiki.ros.org/mbf_abstract_core) which then, for example, contain a method for initialization of the plugin, e.g. by handing over a pointer to the map representation of choice. + +The plugins which are loaded by Move Base Flex (a derived package of the mbf_abstract_nav) have to implement derived interfaces of the interfaces which are defined in this package. The mbf_abstract_core::AbstractPlanner provides an interface for a planner plugin to plan global paths. The mbf_abstract_core::AbstractController provides an interface for a controller plugin to control and move a robot. The mbf_abstract_core::AbstractRecovery provides an interface for a recovery plugin to recover the robot in deadlocked situations. diff --git a/navigations/move_base_flex/mbf_abstract_core/include/mbf_abstract_core/abstract_controller.h b/navigations/move_base_flex/mbf_abstract_core/include/mbf_abstract_core/abstract_controller.h new file mode 100755 index 0000000..2c5713f --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_core/include/mbf_abstract_core/abstract_controller.h @@ -0,0 +1,123 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_planner.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_ABSTRACT_CORE__ABSTRACT_CONTROLLER_H_ +#define MBF_ABSTRACT_CORE__ABSTRACT_CONTROLLER_H_ + +#include +#include +#include +#include +#include +#include + +namespace mbf_abstract_core{ + + class AbstractController{ + + public: + + typedef boost::shared_ptr< ::mbf_abstract_core::AbstractController > Ptr; + + /** + * @brief Destructor + */ + virtual ~AbstractController(){}; + + /** + * @brief Given the current position, orientation, and velocity of the robot, + * compute velocity commands to send to the base. + * @param pose The current pose of the robot. + * @param velocity The current velocity of the robot. + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base. + * @param message Optional more detailed outcome as a string + * @return Result code as described on ExePath action result: + * SUCCESS = 0 + * 1..9 are reserved as plugin specific non-error results + * FAILURE = 100 Unspecified failure, only used for old, non-mfb_core based plugins + * CANCELED = 101 + * NO_VALID_CMD = 102 + * PAT_EXCEEDED = 103 + * COLLISION = 104 + * OSCILLATION = 105 + * ROBOT_STUCK = 106 + * MISSED_GOAL = 107 + * MISSED_PATH = 108 + * BLOCKED_PATH = 109 + * INVALID_PATH = 110 + * TF_ERROR = 111 + * NOT_INITIALIZED = 112 + * INVALID_PLUGIN = 113 + * INTERNAL_ERROR = 114 + * 121..149 are reserved as plugin specific errors + */ + virtual uint32_t computeVelocityCommands(const geometry_msgs::PoseStamped& pose, + const geometry_msgs::TwistStamped& velocity, + geometry_msgs::TwistStamped &cmd_vel, + std::string &message) = 0; + + /** + * @brief Check if the goal pose has been achieved by the local planner + * @param angle_tolerance The angle tolerance in which the current pose will be partly accepted as reached goal + * @param dist_tolerance The distance tolerance in which the current pose will be partly accepted as reached goal + * @return True if achieved, false otherwise + */ + virtual bool isGoalReached(double dist_tolerance, double angle_tolerance) = 0; + + /** + * @brief Set the plan that the local planner is following + * @param plan The plan to pass to the local planner + * @return True if the plan was updated successfully, false otherwise + */ + virtual bool setPlan(const std::vector &plan) = 0; + + /** + * @brief Requests the planner to cancel, e.g. if it takes too much time. + * @return True if a cancel has been successfully requested, false if not implemented. + */ + virtual bool cancel() = 0; + + protected: + /** + * @brief Constructor + */ + AbstractController(){}; + }; +} /* namespace mbf_abstract_core */ + +#endif /* MBF_ABSTRACT_CORE__ABSTRACT_CONTROLLER_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_core/include/mbf_abstract_core/abstract_planner.h b/navigations/move_base_flex/mbf_abstract_core/include/mbf_abstract_core/abstract_planner.h new file mode 100755 index 0000000..a338f4f --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_core/include/mbf_abstract_core/abstract_planner.h @@ -0,0 +1,106 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_planner.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_ +#define MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_ + +#include +#include +#include +#include +#include + +namespace mbf_abstract_core +{ + + class AbstractPlanner{ + + public: + typedef boost::shared_ptr< ::mbf_abstract_core::AbstractPlanner > Ptr; + + /** + * @brief Destructor + */ + virtual ~AbstractPlanner(){}; + + /** + * @brief Given a goal pose in the world, compute a plan. + * The final pose of the path must be within tolerance range (position and orientation) for this method + * to return a success outcome. + * @param start The start pose + * @param goal The goal pose + * @param dist_tolerance Tolerance in meters to the goal position + * @param angle_tolerance Tolerance in radians to the goal orientation + * @param plan The plan... filled by the planner + * @param cost The cost for the the plan + * @param message Optional more detailed outcome as a string + * @return Result code as described on GetPath action result: + * SUCCESS = 0 + * 1..9 are reserved as plugin specific non-error results + * FAILURE = 50 # Unspecified failure, only used for old, non-mfb_core based plugins + * CANCELED = 51 + * INVALID_START = 52 + * INVALID_GOAL = 53 + * NO_PATH_FOUND = 54 + * PAT_EXCEEDED = 55 + * EMPTY_PATH = 56 + * TF_ERROR = 57 + * NOT_INITIALIZED = 58 + * INVALID_PLUGIN = 59 + * INTERNAL_ERROR = 60 + * 71..99 are reserved as plugin specific errors + */ + virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance, + std::vector &plan, double &cost, std::string &message) = 0; + + /** + * @brief Requests the planner to cancel, e.g. if it takes too much time. + * @return True if a cancel has been successfully requested, false if not implemented. + */ + virtual bool cancel() = 0; + + protected: + /** + * @brief Constructor + */ + AbstractPlanner(){}; + }; +} /* namespace mbf_abstract_core */ + +#endif /* MBF_ABSTRACT_CORE__ABSTRACT_PLANNER_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_core/include/mbf_abstract_core/abstract_recovery.h b/navigations/move_base_flex/mbf_abstract_core/include/mbf_abstract_core/abstract_recovery.h new file mode 100755 index 0000000..8dd05eb --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_core/include/mbf_abstract_core/abstract_recovery.h @@ -0,0 +1,83 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_recovery.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_ABSTRACT_CORE__ABSTRACT_RECOVERY_H_ +#define MBF_ABSTRACT_CORE__ABSTRACT_RECOVERY_H_ + +#include +#include +#include + +namespace mbf_abstract_core { + /** + * @class AbstractRecovery + * @brief Provides an interface for recovery behaviors used in navigation. + * All recovery behaviors written as plugins for the navigation stack must adhere to this interface. + */ + class AbstractRecovery{ + public: + + typedef boost::shared_ptr< ::mbf_abstract_core::AbstractRecovery > Ptr; + + /** + * @brief Runs the AbstractRecovery + * @param message The recovery behavior could set, the message should correspond to the return value + * @return An outcome which will be hand over to the action result. + */ + virtual uint32_t runBehavior(std::string& message) = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~AbstractRecovery(){} + + /** + * @brief Requests the recovery behavior to cancel, e.g. if it takes too much time. + * @return True if a cancel has been successfully requested, false if not implemented. + */ + virtual bool cancel() = 0; + + protected: + /** + * @brief Constructor + */ + AbstractRecovery(){}; + }; +}; /* namespace mbf_abstract_core */ + +#endif /* MBF_ABSTRACT_CORE__ABSTRACT_RECOVERY_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_core/package.xml b/navigations/move_base_flex/mbf_abstract_core/package.xml new file mode 100755 index 0000000..b76cdd6 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_core/package.xml @@ -0,0 +1,22 @@ + + + + mbf_abstract_core + 0.3.2 + + This package provides common interfaces for navigation specific robot actions. It contains the AbstractPlanner, AbstractController and AbstractRecovery plugin interfaces. This interfaces have to be implemented by the plugins to make the plugin available for Move Base Flex. The abstract classes provides a meaningful interface enabling the planners, controllers and recovery behaviors to return information, e.g. why something went wrong. Derivided interfaces can, for example, provide methods to initialize the planner, controller or recovery with map representations like costmap_2d, grid_map or other representations. + + http://wiki.ros.org/mbf_abstract_core + Sebastian Pütz + Jorge Santos + Sebastian Pütz + Jorge Santos + BSD-3 + catkin + geometry_msgs + std_msgs + + + + + diff --git a/navigations/move_base_flex/mbf_abstract_core/rosdoc.yaml b/navigations/move_base_flex/mbf_abstract_core/rosdoc.yaml new file mode 100755 index 0000000..cb8cf98 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_core/rosdoc.yaml @@ -0,0 +1,4 @@ + - builder: doxygen + name: Move Base Flex + homepage: http://wiki.ros.org/move_base_flex + file_patterns: '*.c *.cpp *.h *.cc *.hh *.py *.md *.rst' diff --git a/navigations/move_base_flex/mbf_abstract_nav/CHANGELOG.rst b/navigations/move_base_flex/mbf_abstract_nav/CHANGELOG.rst new file mode 100755 index 0000000..23ce1a3 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/CHANGELOG.rst @@ -0,0 +1,82 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mbf_abstract_nav +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.2 (2020-05-25) +------------------ +* Avoid duplicated warn logging output when we cannot cancel a plugin +* Remove unused methods and attributes from AbstractNavigationServer, which are already present at other places +* Reuse execution slots; cleanup only at destruction +* Enable different goal tolerance values for each action + +0.3.1 (2020-04-07) +------------------ + +0.3.0 (2020-03-31) +------------------ +* Clean up patience exceeded method +* Add last valid cmd time as class variable +* Add started state and improve output messages +* Unify license declaration to BSD-3 +* Add parameter force_stop_on_cancel to send a zero-speed command on cancelation (default: true) +* remove explicit boost-exception dependency, Boost >= 1.69 provides exception by default. +* Allow the user time-consuming cancel implementations +* Rename abstract_action.h as abstract_action_base.hpp +* Remane robot_Information.cpp as robot_information.cpp +* Unify headers definitions and namespace intentation +* Add parameter to actively stop once the goal is reached +* Exit immediately from action done callbacks when action_state is CANCELED + +0.2.5 (2019-10-11) +------------------ +* Update goal pose on replanning, so the feedback remains consistent +* Fix: Reset oscillation timer after executing a recovery behavior +* Remove debug log messages +* Do not pass boost functions to abstract server to (de)activate costmaps. + Run instead abstract methods (possibly) overridden in the costmap server, + all costmap-related handling refactored to a new CostmapWrapper class +* On controller execution, check that local costmap is current +* On move_base action, use MoveBaseResult constant to fill outcome in case of oscilation + +0.2.4 (2019-06-16) +------------------ +* Reduce log verbosity by combining lines and using more DEBUG +* Concurrency container refactoring +* Prevent LOST goals when replanning +* Set as canceled, when goals are preempted by a new plan +* move setAccepted to abstract action +* moved listener notification down after setVelocity +* fix: Correctly fill in the ExePathResult fields +* Fix controller_patience when controller_max_retries is -1 +* Change current_twist for last_cmd_vel on exe_path/feedback +* Replace recursive mutexes with normal ones when not needed +* Give feedback with outcome and message for success and error cases from the plugin. + +0.2.3 (2018-11-14) +------------------ +* Do not publish path from MBF +* Single publisher for controller execution objects +* Ignore max_retries if value is negative and patience if 0 +* Avoid annoying INFO log msg on recovery + +0.2.2 (2018-10-10) +------------------ +* Add outcome and message to the action's feedback in ExePath and MoveBase + +0.2.1 (2018-10-03) +------------------ +* Fix memory leak +* Fix uninitialized value for cost +* Make MBF melodic and indigo compatible +* Fix GoalHandle references bug in callbacks + +0.2.0 (2018-09-11) +------------------ +* Update copyright and 3-clause-BSD license +* Concurrency for planners, controllers and recovery behaviors +* New class structure, allowing multiple executoin instances +* Fixes minor bugs + +0.1.0 (2018-03-22) +------------------ +* First release of move_base_flex for kinetic and lunar diff --git a/navigations/move_base_flex/mbf_abstract_nav/CMakeLists.txt b/navigations/move_base_flex/mbf_abstract_nav/CMakeLists.txt new file mode 100755 index 0000000..8dcb99b --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/CMakeLists.txt @@ -0,0 +1,89 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbf_abstract_nav) + +find_package(catkin REQUIRED + COMPONENTS + actionlib + actionlib_msgs + dynamic_reconfigure + geometry_msgs + mbf_msgs + mbf_abstract_core + mbf_utility + nav_msgs + roscpp + std_msgs + std_srvs + tf + xmlrpcpp + ) + +find_package(Boost COMPONENTS thread chrono REQUIRED) + +# dynamic reconfigure: we provide the abstract configuration common to all MBF-based navigation +# frameworks in a python module, so it can easily be included in particular navigation flavours +catkin_python_setup() + +generate_dynamic_reconfigure_options( + cfg/MoveBaseFlex.cfg +) + +set(MBF_ABSTRACT_SERVER_LIB mbf_abstract_server) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${MBF_ABSTRACT_SERVER_LIB} + CATKIN_DEPENDS + actionlib + actionlib_msgs + dynamic_reconfigure + geometry_msgs + mbf_msgs + mbf_abstract_core + mbf_utility + nav_msgs + roscpp + std_msgs + std_srvs + tf + xmlrpcpp + DEPENDS Boost +) + + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + +add_library(${MBF_ABSTRACT_SERVER_LIB} + src/controller_action.cpp + src/planner_action.cpp + src/recovery_action.cpp + src/move_base_action.cpp + src/abstract_execution_base.cpp + src/abstract_navigation_server.cpp + src/abstract_planner_execution.cpp + src/abstract_controller_execution.cpp + src/abstract_recovery_execution.cpp +) + +add_dependencies(${MBF_ABSTRACT_SERVER_LIB} ${PROJECT_NAME}_gencfg) +add_dependencies(${MBF_ABSTRACT_SERVER_LIB} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${MBF_ABSTRACT_SERVER_LIB} + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} +) + +install(TARGETS + ${MBF_ABSTRACT_SERVER_LIB} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + diff --git a/navigations/move_base_flex/mbf_abstract_nav/README.md b/navigations/move_base_flex/mbf_abstract_nav/README.md new file mode 100755 index 0000000..d89d1b1 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/README.md @@ -0,0 +1,5 @@ +# Move Base Flex Abstract Navigation Server {#mainpage} + +The mbf_abstract_nav package contains the abstract navigation server implementation of Move Base Flex (MBF). The abstract navigation server is not bound to any map representation. It provides the Actions for planning, controlling and recovering. At the time of start MBF loads all defined plugins. Therefor, it loads all plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. + +![mbf_abstract_nav sketch](doc/images/mbf_abstract_nav_s.png) \ No newline at end of file diff --git a/navigations/move_base_flex/mbf_abstract_nav/cfg/MoveBaseFlex.cfg b/navigations/move_base_flex/mbf_abstract_nav/cfg/MoveBaseFlex.cfg new file mode 100755 index 0000000..9f0e9d5 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/cfg/MoveBaseFlex.cfg @@ -0,0 +1,13 @@ +#!/usr/bin/env python + +PACKAGE = 'mbf_abstract_nav' + +from mbf_abstract_nav import add_mbf_abstract_nav_params +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, str_t, double_t, bool_t, int_t + +gen = ParameterGenerator() + +add_mbf_abstract_nav_params(gen) + +gen.add("restore_defaults", bool_t, 0, "Restore to the original configuration", False) +exit(gen.generate(PACKAGE, "move_base_flex_node", "MoveBaseFlex")) diff --git a/navigations/move_base_flex/mbf_abstract_nav/doc/images/mbf_abstract_nav.png b/navigations/move_base_flex/mbf_abstract_nav/doc/images/mbf_abstract_nav.png new file mode 100755 index 0000000..55a938f Binary files /dev/null and b/navigations/move_base_flex/mbf_abstract_nav/doc/images/mbf_abstract_nav.png differ diff --git a/navigations/move_base_flex/mbf_abstract_nav/doc/images/mbf_abstract_nav_s.png b/navigations/move_base_flex/mbf_abstract_nav/doc/images/mbf_abstract_nav_s.png new file mode 100755 index 0000000..6aa7ba5 Binary files /dev/null and b/navigations/move_base_flex/mbf_abstract_nav/doc/images/mbf_abstract_nav_s.png differ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_action_base.hpp b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_action_base.hpp new file mode 100755 index 0000000..ded2d2f --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_action_base.hpp @@ -0,0 +1,185 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_action.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_ABSTRACT_NAV__ABSTRACT_ACTION_BASE_H_ +#define MBF_ABSTRACT_NAV__ABSTRACT_ACTION_BASE_H_ + +#include +#include + +#include "mbf_abstract_nav/MoveBaseFlexConfig.h" + +namespace mbf_abstract_nav +{ + +template +class AbstractActionBase +{ + public: + typedef boost::shared_ptr Ptr; + typedef typename actionlib::ActionServer::GoalHandle GoalHandle; + typedef boost::function RunMethod; + typedef struct{ + typename Execution::Ptr execution; + boost::thread* thread_ptr = NULL; + GoalHandle goal_handle; + bool in_use = false; + } ConcurrencySlot; + + + AbstractActionBase( + const std::string &name, + const mbf_utility::RobotInformation &robot_info, + const RunMethod run_method + ) : name_(name), robot_info_(robot_info), run_(run_method){} + + virtual ~AbstractActionBase() + { + // cleanup threads used on executions + boost::lock_guard guard(slot_map_mtx_); + typename std::map::iterator slot_it = concurrency_slots_.begin(); + for (; slot_it != concurrency_slots_.end(); ++slot_it) + { + threads_.remove_thread(slot_it->second.thread_ptr); + delete slot_it->second.thread_ptr; + } + } + + virtual void start( + GoalHandle &goal_handle, + typename Execution::Ptr execution_ptr + ) + { + uint8_t slot = goal_handle.getGoal()->concurrency_slot; + + if(goal_handle.getGoalStatus().status == actionlib_msgs::GoalStatus::RECALLING) + { + goal_handle.setCanceled(); + } + else + { + boost::lock_guard guard(slot_map_mtx_); + typename std::map::iterator slot_it = concurrency_slots_.find(slot); + if (slot_it != concurrency_slots_.end() && slot_it->second.in_use) { + // if there is already a plugin running on the same slot, cancel it + slot_it->second.execution->cancel(); + + if (slot_it->second.thread_ptr->joinable()) { + slot_it->second.thread_ptr->join(); + } + } + + // fill concurrency slot with the new goal handle, execution, and working thread + concurrency_slots_[slot].in_use = true; + concurrency_slots_[slot].goal_handle = goal_handle; + concurrency_slots_[slot].goal_handle.setAccepted(); + concurrency_slots_[slot].execution = execution_ptr; + if (concurrency_slots_[slot].thread_ptr) + { + // cleanup previous execution; otherwise we will leak threads + threads_.remove_thread(concurrency_slots_[slot].thread_ptr); + delete concurrency_slots_[slot].thread_ptr; + } + concurrency_slots_[slot].thread_ptr = + threads_.create_thread(boost::bind(&AbstractActionBase::run, this, boost::ref(concurrency_slots_[slot]))); + } + } + + virtual void cancel(GoalHandle &goal_handle) + { + uint8_t slot = goal_handle.getGoal()->concurrency_slot; + + boost::lock_guard guard(slot_map_mtx_); + typename std::map::iterator slot_it = concurrency_slots_.find(slot); + if (slot_it != concurrency_slots_.end()) + { + concurrency_slots_[slot].execution->cancel(); + } + } + + virtual void run(ConcurrencySlot &slot) + { + slot.execution->preRun(); + run_(slot.goal_handle, *slot.execution); + ROS_DEBUG_STREAM_NAMED(name_, "Finished action \"" << name_ << "\" run method, waiting for execution thread to finish."); + slot.execution->join(); + ROS_DEBUG_STREAM_NAMED(name_, "Execution completed with goal status " + << (int)slot.goal_handle.getGoalStatus().status << ": "<< slot.goal_handle.getGoalStatus().text); + slot.execution->postRun(); + slot.in_use = false; + } + + virtual void reconfigureAll( + mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level) + { + boost::lock_guard guard(slot_map_mtx_); + + typename std::map::iterator iter; + for(iter = concurrency_slots_.begin(); iter != concurrency_slots_.end(); ++iter) + { + iter->second.execution->reconfigure(config); + } + } + + virtual void cancelAll() + { + ROS_INFO_STREAM_NAMED(name_, "Cancel all goals for \"" << name_ << "\"."); + boost::lock_guard guard(slot_map_mtx_); + typename std::map::iterator iter; + for(iter = concurrency_slots_.begin(); iter != concurrency_slots_.end(); ++iter) + { + iter->second.execution->cancel(); + } + threads_.join_all(); + } + +protected: + const std::string &name_; + const mbf_utility::RobotInformation &robot_info_; + + RunMethod run_; + boost::thread_group threads_; + std::map concurrency_slots_; + + boost::mutex slot_map_mtx_; + +}; + +} + +#endif /* MBF_ABSTRACT_NAV__ABSTRACT_ACTION_BASE_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_controller_execution.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_controller_execution.h new file mode 100755 index 0000000..fb521e1 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_controller_execution.h @@ -0,0 +1,372 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_controller_execution.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_ABSTRACT_NAV__ABSTRACT_CONTROLLER_EXECUTION_H_ +#define MBF_ABSTRACT_NAV__ABSTRACT_CONTROLLER_EXECUTION_H_ + +#include +#include +#include + +#include +#include + +#include +#include +#include + +#include "mbf_abstract_nav/MoveBaseFlexConfig.h" +#include "mbf_abstract_nav/abstract_execution_base.h" + +namespace mbf_abstract_nav +{ + +/** + * @defgroup controller_execution Controller Execution Classes + * @brief The controller execution classes are derived from the AbstractControllerExecution and extends the + * functionality. The base controller execution code is located in the AbstractControllerExecution. + */ + +/** + * @brief The AbstractControllerExecution class loads and binds the controller plugin. It contains a thread + * running the plugin in a cycle to move the robot. An internal state is saved and will be pulled by + * server, to monitor controller execution. Due to a state change it wakes up all threads connected + * to the condition variable. + * + * @ingroup abstract_server controller_execution + */ + class AbstractControllerExecution : public AbstractExecutionBase + { + public: + + static const double DEFAULT_CONTROLLER_FREQUENCY; + + typedef boost::shared_ptr Ptr; + + /** + * @brief Constructor + * @param condition Thread sleep condition variable, to wake up connected threads + * @param controller_plugin_type The plugin type associated with the plugin to load + * @param tf_listener_ptr Shared pointer to a common tf listener + */ + AbstractControllerExecution( + const std::string &name, + const mbf_abstract_core::AbstractController::Ptr &controller_ptr, + const ros::Publisher &vel_pub, + const ros::Publisher &goal_pub, + const TFPtr &tf_listener_ptr, + const MoveBaseFlexConfig &config); + + /** + * @brief Destructor + */ + virtual ~AbstractControllerExecution(); + + /** + * @brief Starts the controller, a valid plan should be given in advance. + * @return false if the thread is already running, true if starting the controller succeeded! + */ + virtual bool start(); + + /** + * @brief Sets a new plan to the controller execution + * @param plan A vector of stamped poses. + * @param tolerance_from_action flag that will be set to true when the new plan (action) has tolerance + * @param action_dist_tolerance distance to goal tolerance specific for this new plan (action) + * @param action_angle_tolerance angle to goal tolerance specific for this new plan (action) + */ + void setNewPlan( + const std::vector &plan, + bool tolerance_from_action = false, + double action_dist_tolerance = 1.0, + double action_angle_tolerance = 3.1415); + + /** + * @brief Cancel the controller execution. + * This calls the cancel method of the controller plugin, sets the cancel_ flag to true, + * and waits for the control loop to stop. Normally called upon aborting the navigation. + * @return true, if the control loop stops within a cycle time. + */ + virtual bool cancel(); + + /** + * @brief Internal states + */ + enum ControllerState + { + INITIALIZED, ///< Controller has been initialized successfully. + STARTED, ///< Controller has been started. + PLANNING, ///< Executing the plugin. + NO_PLAN, ///< The controller has been started without a plan. + MAX_RETRIES, ///< Exceeded the maximum number of retries without a valid command. + PAT_EXCEEDED, ///< Exceeded the patience time without a valid command. + EMPTY_PLAN, ///< Received an empty plan. + INVALID_PLAN, ///< Received an invalid plan that the controller plugin rejected. + NO_LOCAL_CMD, ///< Received no velocity command by the plugin, in the current cycle. + GOT_LOCAL_CMD,///< Got a valid velocity command from the plugin. + ARRIVED_GOAL, ///< The robot arrived the goal. + CANCELED, ///< The controller has been canceled. + STOPPED, ///< The controller has been stopped! + INTERNAL_ERROR///< An internal error occurred. + }; + + /** + * @brief Return the current state of the controller execution. Thread communication safe. + * @return current state, enum value of ControllerState + */ + ControllerState getState(); + + /** + * @brief Returns the time of the last plugin call + * @return Time of the last plugin call + */ + ros::Time getLastPluginCallTime(); + + /** + * @brief Returns the last velocity command calculated by the plugin. Set by setVelocityCmd method. + * Note that it doesn't need to be a valid command sent to the robot, as we report also failed calls + * to the plugin on controller action feedback. + * @return The last valid velocity command. + */ + geometry_msgs::TwistStamped getVelocityCmd(); + + /** + * @brief Checks whether the patience duration time has been exceeded, ot not + * @return true, if the patience has been exceeded. + */ + bool isPatienceExceeded(); + + /** + * @brief Sets the controller frequency + * @param frequency The controller frequency + * @return true, if the controller frequency has been changed / set succesfully, false otherwise + */ + bool setControllerFrequency(double frequency); + + /** + * @brief Is called by the server thread to reconfigure the controller execution, + * if a user uses dynamic reconfigure to reconfigure the current state. + * @param config MoveBaseFlexConfig object + */ + void reconfigure(const MoveBaseFlexConfig &config); + + /** + * @brief Returns whether the robot should normally move or not. True if the controller seems to work properly. + * @return true, if the robot should normally move, false otherwise + */ + bool isMoving(); + + protected: + + /** + * @brief Request plugin for a new velocity command, given the current position, orientation, and velocity of the + * robot. We use this virtual method to give concrete implementations as move_base the chance to override it and do + * additional stuff, for example locking the costmap. + * @param pose the current pose of the robot. + * @param velocity the current velocity of the robot. + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base. + * @param message Optional more detailed outcome as a string. + * @return Result code as described on ExePath action result and plugin's header. + */ + virtual uint32_t computeVelocityCmd(const geometry_msgs::PoseStamped &pose, + const geometry_msgs::TwistStamped &velocity, + geometry_msgs::TwistStamped &vel_cmd, std::string &message); + + /** + * @brief Sets the velocity command, to make it available for another thread + * @param vel_cmd_stamped current velocity command + */ + void setVelocityCmd(const geometry_msgs::TwistStamped &vel_cmd_stamped); + + //! the name of the loaded plugin + std::string plugin_name_; + + //! the local planer to calculate the velocity command + mbf_abstract_core::AbstractController::Ptr controller_; + + //! shared pointer to the shared tf listener + const TFPtr &tf_listener_ptr; + + //! The current cycle start time of the last cycle run. Will by updated each cycle. + ros::Time last_call_time_; + + //! The time the controller has been started. + ros::Time start_time_; + + //! The time the controller responded with a success output (output < 10). + ros::Time last_valid_cmd_time_; + + //! The maximum number of retries + int max_retries_; + + //! The time / duration of patience, before changing the state. + ros::Duration patience_; + + /** + * @brief The main run method, a thread will execute this method. It contains the main controller execution loop. + */ + virtual void run(); + + /** + * @brief Check if its safe to drive. + * This method gets called at every controller cycle, stopping the robot if its not. When overridden by + * child class, gives a chance to the specific execution implementation to stop the robot if it detects + * something wrong on the underlying map. + * @return Always true, unless overridden by child class. + */ + virtual bool safetyCheck() { return true; }; + + private: + + + /** + * @brief Publishes a velocity command with zero values to stop the robot. + */ + void publishZeroVelocity(); + + /** + * @brief Checks whether the goal has been reached in the range of tolerance or not + * @return true if the goal has been reached, false otherwise + */ + bool reachedGoalCheck(); + + /** + * @brief Computes the robot pose; + * @return true if the robot pose has been computed successfully, false otherwise. + */ + bool computeRobotPose(); + + /** + * @brief Sets the controller state. This method makes the communication of the state thread safe. + * @param state The current controller state. + */ + void setState(ControllerState state); + + //! mutex to handle safe thread communication for the current value of the state + boost::mutex state_mtx_; + + //! mutex to handle safe thread communication for the current plan + boost::mutex plan_mtx_; + + //! mutex to handle safe thread communication for the current velocity command + boost::mutex vel_cmd_mtx_; + + //! mutex to handle safe thread communication for the last plugin call time + boost::mutex lct_mtx_; + + //! true, if a new plan is available. See hasNewPlan()! + bool new_plan_; + + /** + * @brief Returns true if a new plan is available, false otherwise! A new plan is set by another thread! + * @return true, if a new plan has been set, false otherwise. + */ + bool hasNewPlan(); + + /** + * @brief Gets the new available plan. This method is thread safe. + * @return The plan + */ + std::vector getNewPlan(); + + //! the last calculated velocity command + geometry_msgs::TwistStamped vel_cmd_stamped_; + + //! the last set plan which is currently processed by the controller + std::vector plan_; + + //! the duration which corresponds with the controller frequency + boost::chrono::microseconds calling_duration_; + + //! the frame of the robot, which will be used to determine its position + std::string robot_frame_; + + //! the global frame the robot is controlling in + std::string global_frame_; + + //! publisher for the current velocity command + ros::Publisher vel_pub_; + + //! publisher for the current goal + ros::Publisher current_goal_pub_; + + //! the current controller state + AbstractControllerExecution::ControllerState state_; + + //! time before a timeout used for tf requests + double tf_timeout_; + + //! dynamic reconfigure config mutex, thread safe param reading and writing + boost::mutex configuration_mutex_; + + //! main controller loop variable, true if the controller is running, false otherwise + bool moving_; + + //! whether MBF should check if the robot has reached the goal, or delegate on the controller instead + bool mbf_check_goal_reached_; + + //! whether move base flex should force the robot to stop once the goal is reached + bool force_stop_at_goal_; + + //! whether move base flex should force the robot to stop on canceling navigation + bool force_stop_on_cancel_; + + //! distance tolerance to the given goal pose + double dist_tolerance_; + + //! angle tolerance to the given goal pose + double angle_tolerance_; + + //! current robot pose; + geometry_msgs::PoseStamped robot_pose_; + + //! whether check for action specific tolerance + bool tolerance_from_action_; + + //! replaces parameter dist_tolerance_ for the action + double action_dist_tolerance_; + + //! replaces parameter angle_tolerance_ for the action + double action_angle_tolerance_; + }; + +} /* namespace mbf_abstract_nav */ + +#endif /* MBF_ABSTRACT_NAV__ABSTRACT_CONTROLLER_EXECUTION_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_execution_base.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_execution_base.h new file mode 100755 index 0000000..a3f59c0 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_execution_base.h @@ -0,0 +1,120 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_execution_base.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_ABSTRACT_NAV__ABSTRACT_EXECUTION_BASE_H_ +#define MBF_ABSTRACT_NAV__ABSTRACT_EXECUTION_BASE_H_ + +#include +#include +#include + +#include + +namespace mbf_abstract_nav +{ + +class AbstractExecutionBase +{ + public: + + AbstractExecutionBase(std::string name); + + virtual bool start(); + + virtual void stop(); + + /** + * @brief Cancel the plugin execution. + * @return true, if the plugin tries / tried to cancel the computation. + */ + virtual bool cancel() = 0; + + void join(); + + boost::cv_status waitForStateUpdate(boost::chrono::microseconds const &duration); + + /** + * @brief Gets the current plugin execution outcome + */ + uint32_t getOutcome(); + + /** + * @brief Gets the current plugin execution message + */ + std::string getMessage(); + + /** + * @brief Returns the name of the corresponding plugin + */ + std::string getName(); + + /** + * @brief Optional implementation-specific setup function, called right before execution. + */ + virtual void preRun() { }; + + /** + * @brief Optional implementation-specific cleanup function, called right after execution. + */ + virtual void postRun() { }; + +protected: + virtual void run() = 0; + + //! condition variable to wake up control thread + boost::condition_variable condition_; + + //! the controlling thread object + boost::thread thread_; + + //! flag for canceling controlling + bool cancel_; + + //! the last received plugin execution outcome + uint32_t outcome_; + + //! the last received plugin execution message + std::string message_; + + //! the plugin name; not the plugin type! + std::string name_; +}; + +} /* namespace mbf_abstract_nav */ + +#endif /* MBF_ABSTRACT_NAV__ABSTRACT_EXECUTION_BASE_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_navigation_server.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_navigation_server.h new file mode 100755 index 0000000..70a767e --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_navigation_server.h @@ -0,0 +1,359 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_navigation_server.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_ABSTRACT_NAV__ABSTRACT_NAVIGATION_SERVER_H_ +#define MBF_ABSTRACT_NAV__ABSTRACT_NAVIGATION_SERVER_H_ + +#include + +#include +#include + +#include +#include +#include + +#include + +#include "mbf_abstract_nav/abstract_plugin_manager.h" +#include "mbf_abstract_nav/abstract_planner_execution.h" +#include "mbf_abstract_nav/abstract_controller_execution.h" +#include "mbf_abstract_nav/abstract_recovery_execution.h" + +#include "mbf_abstract_nav/planner_action.h" +#include "mbf_abstract_nav/controller_action.h" +#include "mbf_abstract_nav/recovery_action.h" +#include "mbf_abstract_nav/move_base_action.h" + +#include "mbf_abstract_nav/MoveBaseFlexConfig.h" + +namespace mbf_abstract_nav +{ + +/** + * @defgroup abstract_server Abstract Server + * @brief Classes belonging to the Abstract Server level. + */ + +/** + * @defgroup navigation_server Navigation Server Classes. + * @brief Classes combining the core logic and providing concrete implementations. + */ + + +//! GetPath action server +typedef actionlib::ActionServer ActionServerGetPath; +typedef boost::shared_ptr ActionServerGetPathPtr; + +//! ExePath action server +typedef actionlib::ActionServer ActionServerExePath; +typedef boost::shared_ptr ActionServerExePathPtr; + +//! Recovery action server +typedef actionlib::ActionServer ActionServerRecovery; +typedef boost::shared_ptr ActionServerRecoveryPtr; + +//! MoveBase action server +typedef actionlib::ActionServer ActionServerMoveBase; +typedef boost::shared_ptr ActionServerMoveBasePtr; + +//! ExePath action topic name +const std::string name_action_exe_path = "exe_path"; +//! GetPath action topic name +const std::string name_action_get_path = "get_path"; +//! Recovery action topic name +const std::string name_action_recovery = "recovery"; +//! MoveBase action topic name +const std::string name_action_move_base = "move_base"; + + +typedef boost::shared_ptr > DynamicReconfigureServer; + +/** + * @brief The AbstractNavigationServer is the abstract base class for all navigation servers in move_base_flex + * and bundles the @ref controller_execution "controller execution classes",the @ref planner_execution + * "planner execution classes" and the @ref recovery_execution "recovery execution classes". It provides + * the following action servers ActionServerGetPath -> callActionGetPath(), ActionServerExePath -> callActionExePath(), + * ActionServerRecovery -> callActionRecovery() and ActionServerMoveBase -> callActionMoveBase(). + * + * @ingroup abstract_server navigation_server + */ + class AbstractNavigationServer + { + public: + + /** + * @brief Constructor, reads all parameters and initializes all action servers and creates the plugin instances. + * Parameters are the concrete implementations of the abstract classes. + * @param tf_listener_ptr shared pointer to the common TransformListener buffering transformations + */ + AbstractNavigationServer(const TFPtr &tf_listener_ptr); + + /** + * @brief Destructor + */ + virtual ~AbstractNavigationServer(); + + virtual void stop(); + + /** + * @brief Create a new abstract planner execution. + * @param plugin_name Name of the planner to use. + * @param plugin_ptr Shared pointer to the plugin to use. + * @return Shared pointer to a new @ref planner_execution "PlannerExecution". + */ + virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr newPlannerExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractPlanner::Ptr &plugin_ptr); + + /** + * @brief Create a new abstract controller execution. + * @param plugin_name Name of the controller to use. + * @param plugin_ptr Shared pointer to the plugin to use. + * @return Shared pointer to a new @ref controller_execution "ControllerExecution". + */ + virtual mbf_abstract_nav::AbstractControllerExecution::Ptr newControllerExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractController::Ptr &plugin_ptr); + + /** + * @brief Create a new abstract recovery behavior execution. + * @param plugin_name Name of the recovery behavior to run. + * @param plugin_ptr Shared pointer to the plugin to use + * @return Shared pointer to a new @ref recovery_execution "RecoveryExecution". + */ + virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr newRecoveryExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractRecovery::Ptr &plugin_ptr); + + /** + * @brief Loads the plugin associated with the given planner_type parameter. + * @param planner_type The type of the planner plugin to load. + * @return Pointer to the loaded plugin + */ + virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string &planner_type) = 0; + + /** + * @brief Loads the plugin associated with the given controller type parameter + * @param controller_type The type of the controller plugin + * @return A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, + * an empty pointer otherwise. + */ + virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string &controller_type) = 0; + + /** + * @brief Loads a Recovery plugin associated with given recovery type parameter + * @param recovery_name The name of the Recovery plugin + * @return A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise. + */ + virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string &recovery_type) = 0; + + /** + * @brief Pure virtual method, the derived class has to implement. Depending on the plugin base class, + * some plugins need to be initialized! + * @param name The name of the planner + * @param planner_ptr pointer to the planner object which corresponds to the name param + * @return true if init succeeded, false otherwise + */ + virtual bool initializePlannerPlugin( + const std::string &name, + const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr + ) = 0; + + /** + * @brief Pure virtual method, the derived class has to implement. Depending on the plugin base class, + * some plugins need to be initialized! + * @param name The name of the controller + * @param controller_ptr pointer to the controller object which corresponds to the name param + * @return true if init succeeded, false otherwise + */ + virtual bool initializeControllerPlugin( + const std::string &name, + const mbf_abstract_core::AbstractController::Ptr &controller_ptr + ) = 0; + + /** + * @brief Pure virtual method, the derived class has to implement. Depending on the plugin base class, + * some plugins need to be initialized! + * @param name The name of the recovery behavior + * @param behavior_ptr pointer to the recovery behavior object which corresponds to the name param + * @return true if init succeeded, false otherwise + */ + virtual bool initializeRecoveryPlugin( + const std::string &name, + const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr + ) = 0; + + + /** + * @brief GetPath action execution method. This method will be called if the action server receives a goal + * @param goal SimpleActionServer goal containing all necessary parameters for the action execution. See the action + * definitions in mbf_msgs. + */ + virtual void callActionGetPath(ActionServerGetPath::GoalHandle goal_handle); + + virtual void cancelActionGetPath(ActionServerGetPath::GoalHandle goal_handle); + + /** + * @brief ExePath action execution method. This method will be called if the action server receives a goal + * @param goal SimpleActionServer goal containing all necessary parameters for the action execution. See the action + * definitions in mbf_msgs. + */ + virtual void callActionExePath(ActionServerExePath::GoalHandle goal_handle); + + virtual void cancelActionExePath(ActionServerExePath::GoalHandle goal_handle); + + /** + * @brief Recovery action execution method. This method will be called if the action server receives a goal + * @param goal SimpleActionServer goal containing all necessary parameters for the action execution. See the action + * definitions in mbf_msgs. + */ + virtual void callActionRecovery(ActionServerRecovery::GoalHandle goal_handle); + + virtual void cancelActionRecovery(ActionServerRecovery::GoalHandle goal_handle); + + /** + * @brief MoveBase action execution method. This method will be called if the action server receives a goal + * @param goal SimpleActionServer goal containing all necessary parameters for the action execution. See the action + * definitions in mbf_msgs. + */ + virtual void callActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle); + + virtual void cancelActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle); + + /** + * @brief starts all action server. + */ + virtual void startActionServers(); + + /** + * @brief initializes all server components. Initializing the plugins of the @ref planner_execution "Planner", the + * @ref controller_execution "Controller", and the @ref recovery_execution "Recovery Behavior". + */ + virtual void initializeServerComponents(); + + protected: + + /** + * @brief Transforms a plan to the global frame (global_frame_) coord system. + * @param plan Input plan to be transformed. + * @param global_plan Output plan, which is then transformed to the global frame. + * @return true, if the transformation succeeded, false otherwise + */ + bool transformPlanToGlobalFrame(std::vector &plan, + std::vector &global_plan); + + /** + * @brief Start a dynamic reconfigure server. + * This must be called only if the extending doesn't create its own. + */ + virtual void startDynamicReconfigureServer(); + + /** + * @brief Reconfiguration method called by dynamic reconfigure + * @param config Configuration parameters. See the MoveBaseFlexConfig definition. + * @param level bit mask, which parameters are set. + */ + virtual void reconfigure(mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level); + + //! Private node handle + ros::NodeHandle private_nh_; + + AbstractPluginManager planner_plugin_manager_; + AbstractPluginManager controller_plugin_manager_; + AbstractPluginManager recovery_plugin_manager_; + + //! shared pointer to the Recovery action server + ActionServerRecoveryPtr action_server_recovery_ptr_; + + //! shared pointer to the ExePath action server + ActionServerExePathPtr action_server_exe_path_ptr_; + + //! shared pointer to the GetPath action server + ActionServerGetPathPtr action_server_get_path_ptr_; + + //! shared pointer to the MoveBase action server + ActionServerMoveBasePtr action_server_move_base_ptr_; + + //! dynamic reconfigure server + DynamicReconfigureServer dsrv_; + + //! configuration mutex for derived classes and other threads. + boost::mutex configuration_mutex_; + + //! last configuration save + mbf_abstract_nav::MoveBaseFlexConfig last_config_; + + //! the default parameter configuration save + mbf_abstract_nav::MoveBaseFlexConfig default_config_; + + //! true, if the dynamic reconfigure has been setup. + bool setup_reconfigure_; + + //! the robot frame, to get the current robot pose in the global_frame_ + std::string robot_frame_; + + //! the global frame, in which the robot is moving + std::string global_frame_; + + //! timeout after tf returns without a result + ros::Duration tf_timeout_; + + //! shared pointer to the common TransformListener + const TFPtr tf_listener_ptr_; + + //! cmd_vel publisher for all controller execution objects + ros::Publisher vel_pub_; + + //! current_goal publisher for all controller execution objects + ros::Publisher goal_pub_; + + //! current robot state + mbf_utility::RobotInformation robot_info_; + + ControllerAction controller_action_; + PlannerAction planner_action_; + RecoveryAction recovery_action_; + MoveBaseAction move_base_action_; + }; + +} /* namespace mbf_abstract_nav */ + +#endif /* MBF_ABSTRACT_NAV__ABSTRACT_NAVIGATION_SERVER_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_planner_execution.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_planner_execution.h new file mode 100755 index 0000000..e32664f --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_planner_execution.h @@ -0,0 +1,313 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_planner_execution.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_ABSTRACT_NAV__ABSTRACT_PLANNER_EXECUTION_H_ +#define MBF_ABSTRACT_NAV__ABSTRACT_PLANNER_EXECUTION_H_ + +#include +#include +#include + +#include + +#include +#include + +#include + +#include "mbf_abstract_nav/abstract_execution_base.h" + +namespace mbf_abstract_nav +{ + +/** + * @defgroup planner_execution Planner Execution Classes + * @brief The planner execution classes are derived from the AbstractPlannerExecution and extend the functionality. + * The base planner execution code is located in the AbstractPlannerExecution. + */ + +/** + * @brief The AbstractPlannerExecution class loads and binds the global planner plugin. It contains a thread running + * the plugin in a cycle to plan and re-plan. An internal state is saved and will be pulled by the server, which + * controls the global planner execution. Due to a state change it wakes up all threads connected to the + * condition variable. + * + * @ingroup abstract_server planner_execution + */ + class AbstractPlannerExecution : public AbstractExecutionBase + { + public: + + //! shared pointer type to the @ref planner_execution "planner execution". + typedef boost::shared_ptr Ptr; + + /** + * @brief Constructor + * @param name Name of this execution + * @param planner_ptr Pointer to the planner + * @param config Initial configuration for this execution + */ + AbstractPlannerExecution(const std::string &name, + const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr, + const MoveBaseFlexConfig &config); + + /** + * @brief Destructor + */ + virtual ~AbstractPlannerExecution(); + + /** + * @brief Returns a new plan, if one is available. + */ + std::vector getPlan() const; + + /** + * @brief Returns the last time a valid plan was available. + * @return time, the last valid plan was available. + */ + ros::Time getLastValidPlanTime() const; + + /** + * @brief Checks whether the patience was exceeded. + * @return true, if the patience duration was exceeded. + */ + bool isPatienceExceeded() const; + + /** + * @brief Internal states + */ + enum PlanningState + { + INITIALIZED, ///< Planner initialized. + STARTED, ///< Planner started. + PLANNING, ///< Executing the plugin. + FOUND_PLAN, ///< Found a valid plan. + MAX_RETRIES, ///< Exceeded the maximum number of retries without a valid command. + PAT_EXCEEDED, ///< Exceeded the patience time without a valid command. + NO_PLAN_FOUND,///< No plan has been found (MAX_RETRIES and PAT_EXCEEDED are 0). + CANCELED, ///< The planner has been canceled. + STOPPED, ///< The planner has been stopped. + INTERNAL_ERROR///< An internal error occurred. + }; + + /** + * @brief Returns the current internal state + * @return the current internal state + */ + PlanningState getState() const; + + /** + * @brief Gets planning frequency + */ + double getFrequency() const { return frequency_; }; + + /** + * @brief Gets computed costs + * @return The costs of the computed path + */ + double getCost() const; + + /** + * @brief Cancel the planner execution. This calls the cancel method of the planner plugin. + * This could be useful if the computation takes too much time, or if we are aborting the navigation. + * @return true, if the planner plugin tries / tried to cancel the planning step. + */ + virtual bool cancel(); + + /** + * @brief Sets a new goal pose for the planner execution + * @param goal the new goal pose + * @param dist_tolerance Tolerance in meters to the goal position + * @param angle_tolerance Tolerance in radians to the goal orientation + */ + void setNewGoal(const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance); + + /** + * @brief Sets a new start pose for the planner execution + * @param start new start pose + */ + void setNewStart(const geometry_msgs::PoseStamped &start); + + /** + * @brief Sets a new star and goal pose for the planner execution + * @param start new start pose + * @param goal new goal pose + * @param dist_tolerance Tolerance in meters to the goal position + * @param angle_tolerance Tolerance in radians to the goal orientation + */ + void setNewStartAndGoal(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance); + + /** + * @brief Starts the planner execution thread with the given parameters. + * @param start start pose for the planning + * @param goal goal pose for the planning + * @param dist_tolerance Tolerance in meters to the goal position + * @param angle_tolerance Tolerance in radians to the goal orientation + * @return true, if the planner thread has been started, false if the thread is already running. + */ + bool start(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance); + + /** + * @brief Is called by the server thread to reconfigure the controller execution, if a user uses dynamic reconfigure + * to reconfigure the current state. + * @param config MoveBaseFlexConfig object + */ + void reconfigure(const MoveBaseFlexConfig &config); + + protected: + + //! the local planer to calculate the robot trajectory + mbf_abstract_core::AbstractPlanner::Ptr planner_; + + //! the name of the loaded planner plugin + std::string plugin_name_; + + /** + * @brief The main run method, a thread will execute this method. It contains the main planner execution loop. + */ + virtual void run(); + + private: + + /** + * @brief calls the planner plugin to make a plan from the start pose to the goal pose. + * The final pose of the path must be within tolerance range (position and orientation) + * for this method to return a success outcome. + * @param start The start pose for planning + * @param goal The goal pose for planning + * @param dist_tolerance Tolerance in meters to the goal position + * @param angle_tolerance Tolerance in radians to the goal orientation + * @param plan The computed plan by the plugin + * @param cost The computed costs for the corresponding plan + * @param message An optional message which should correspond with the returned outcome + * @return An outcome number, see also the action definition in the GetPath.action file + */ + virtual uint32_t makePlan( + const geometry_msgs::PoseStamped &start, + const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance, + std::vector &plan, + double &cost, + std::string &message); + + /** + * @brief Sets the internal state, thread communication safe + * @param state the current state + * @param signalling set true to trigger the condition-variable for state-update + */ + void setState(PlanningState state, bool signalling); + + //! mutex to handle safe thread communication for the current state + mutable boost::mutex state_mtx_; + + //! mutex to handle safe thread communication for the plan and plan-costs + mutable boost::mutex plan_mtx_; + + //! mutex to handle safe thread communication for the goal and start pose. + mutable boost::mutex goal_start_mtx_; + + //! mutex to handle safe thread communication for the planning_ flag. + mutable boost::mutex planning_mtx_; + + //! dynamic reconfigure mutex for a thread safe communication + mutable boost::mutex configuration_mutex_; + + //! true, if a new goal pose has been set, until it is used. + bool has_new_goal_; + + //! true, if a new start pose has been set, until it is used. + bool has_new_start_; + + //! the last call start time, updated each cycle. + ros::Time last_call_start_time_; + + //! the last time a valid plan has been computed. + ros::Time last_valid_plan_time_; + + //! current global plan + std::vector plan_; + + //! current global plan cost + double cost_; + + //! the current start pose used for planning + geometry_msgs::PoseStamped start_; + + //! the current goal pose used for planning + geometry_msgs::PoseStamped goal_; + + //! optional linear goal tolerance, in meters + double dist_tolerance_; + + //! optional angular goal tolerance, in radians + double angle_tolerance_; + + //! planning cycle frequency (used only when running full navigation; we store here for grouping parameters nicely) + double frequency_; + + //! planning patience duration time + ros::Duration patience_; + + //! planning max retries + int max_retries_; + + //! main cycle variable of the execution loop + bool planning_; + + //! robot frame used for computing the current robot pose + std::string robot_frame_; + + //! the global frame in which the planner needs to plan + std::string global_frame_; + + //! shared pointer to a common TransformListener + const TFPtr tf_listener_ptr_; + + //! current internal state + PlanningState state_; + + }; + +} /* namespace mbf_abstract_nav */ + +#endif /* MBF_ABSTRACT_NAV__ABSTRACT_PLANNER_EXECUTION_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_plugin_manager.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_plugin_manager.h new file mode 100755 index 0000000..ce2ab4f --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_plugin_manager.h @@ -0,0 +1,85 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_plugin_manager.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_ABSTRACT_NAV__ABSTRACT_PLUGIN_MANAGER_H_ +#define MBF_ABSTRACT_NAV__ABSTRACT_PLUGIN_MANAGER_H_ + +#include + +namespace mbf_abstract_nav +{ + +template +class AbstractPluginManager +{ + public: + + typedef boost::function loadPluginFunction; + typedef boost::function initPluginFunction; + + AbstractPluginManager( + const std::string ¶m_name, + const loadPluginFunction &loadPlugin, + const initPluginFunction &initPlugin + ); + + bool loadPlugins(); + + bool hasPlugin(const std::string &name); + + std::string getType(const std::string &name); + + const std::vector& getLoadedNames(); + + typename PluginType::Ptr getPlugin(const std::string &name); + + void clearPlugins(); + + protected: + std::map plugins_; + std::map plugins_type_; + std::vector names_; + const std::string param_name_; + const loadPluginFunction loadPlugin_; + const initPluginFunction initPlugin_; +}; + +} /* namespace mbf_abstract_nav */ + +#include "impl/abstract_plugin_manager.tcc" +#endif /* MBF_ABSTRACT_NAV__ABSTRACT_PLUGIN_MANAGER_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_recovery_execution.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_recovery_execution.h new file mode 100755 index 0000000..e50d6a5 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/abstract_recovery_execution.h @@ -0,0 +1,176 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_recovery_execution.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_ABSTRACT_NAV__ABSTRACT_RECOVERY_EXECUTION_H_ +#define MBF_ABSTRACT_NAV__ABSTRACT_RECOVERY_EXECUTION_H_ + +#include +#include +#include + +#include +#include + +#include + +#include "mbf_abstract_nav/MoveBaseFlexConfig.h" +#include "mbf_abstract_nav/abstract_execution_base.h" + + +namespace mbf_abstract_nav +{ + +/** + * @defgroup recovery_execution Recovery Execution Classes + * @brief The recovery execution classes are derived from the RecoveryPlannerExecution and extends the functionality. + * The base recovery execution code is located in the AbstractRecoveryExecution. + */ + +/** + * @brief The AbstractRecoveryExecution class loads and binds the recovery behavior plugin. It contains a thread + * running the plugin, executing the recovery behavior. An internal state is saved and will be pulled by the + * server, which controls the recovery behavior execution. Due to a state change it wakes up all threads + * connected to the condition variable. + * + * @ingroup abstract_server recovery_execution + */ + class AbstractRecoveryExecution : public AbstractExecutionBase + { + public: + + typedef boost::shared_ptr Ptr; + + /** + * @brief Constructor + * @param condition Thread sleep condition variable, to wake up connected threads + * @param tf_listener_ptr Shared pointer to a common tf listener + */ + AbstractRecoveryExecution(const std::string &name, + const mbf_abstract_core::AbstractRecovery::Ptr &recovery_ptr, + const TFPtr &tf_listener_ptr, + const MoveBaseFlexConfig &config); + + /** + * @brief Destructor + */ + virtual ~AbstractRecoveryExecution(); + + /** + * @brief Checks whether the patience was exceeded. + * @return true, if the patience duration was exceeded. + */ + bool isPatienceExceeded(); + + /** + * @brief Cancel the planner execution. This calls the cancel method of the planner plugin. + * This could be useful if the computation takes too much time, or if we are aborting the navigation. + * @return true, if the planner plugin tries / tried to cancel the planning step. + */ + virtual bool cancel(); + + /** + * @brief internal state. + */ + enum RecoveryState + { + INITIALIZED, ///< The recovery execution has been initialized. + STARTED, ///< The recovery execution thread has been started. + RECOVERING, ///< The recovery behavior plugin is running. + WRONG_NAME, ///< The given name could not be associated with a load behavior. + RECOVERY_DONE, ///< The recovery behavior execution is done. + CANCELED, ///< The recovery execution was canceled. + STOPPED, ///< The recovery execution has been stopped. + INTERNAL_ERROR ///< An internal error occurred. + }; + + /** + * @brief Returns the current state, thread-safe communication + * @return current internal state + */ + AbstractRecoveryExecution::RecoveryState getState(); + + /** + * @brief Reconfigures the current configuration and reloads all parameters. This method is called from a dynamic + * reconfigure tool. + * @param config Current MoveBaseFlexConfig object. See the MoveBaseFlex.cfg definition. + */ + void reconfigure(const MoveBaseFlexConfig &config); + + protected: + + /** + * @brief Main execution method which will be executed by the recovery execution thread_. + */ + virtual void run(); + + //! the current loaded recovery behavior + mbf_abstract_core::AbstractRecovery::Ptr behavior_; + + //! shared pointer to common TransformListener + const TFPtr tf_listener_ptr_; + + private: + + /** + * @brief Sets the current internal state. This method is thread communication safe + * @param state The state to set. + */ + void setState(RecoveryState state); + + //! mutex to handle safe thread communication for the current state + boost::mutex state_mtx_; + + //! dynamic reconfigure and start time mutexes to mutually exclude read/write configuration + boost::mutex conf_mtx_; + boost::mutex time_mtx_; + + //! recovery behavior allowed time + ros::Duration patience_; + + //! recovery behavior start time + ros::Time start_time_; + + //! current internal state + RecoveryState state_; + }; + +} /* namespace mbf_abstract_nav */ + +#endif /* MBF_ABSTRACT_NAV__ABSTRACT_RECOVERY_EXECUTION_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/controller_action.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/controller_action.h new file mode 100755 index 0000000..d38411d --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/controller_action.h @@ -0,0 +1,103 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * controller_action.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_ABSTRACT_NAV__CONTROLLER_ACTION_H_ +#define MBF_ABSTRACT_NAV__CONTROLLER_ACTION_H_ + +#include + +#include +#include + +#include "mbf_abstract_nav/abstract_action_base.hpp" +#include "mbf_abstract_nav/abstract_controller_execution.h" + +namespace mbf_abstract_nav +{ + +class ControllerAction : + public AbstractActionBase +{ + public: + + typedef boost::shared_ptr Ptr; + + ControllerAction(const std::string &name, + const mbf_utility::RobotInformation &robot_info); + + /** + * @brief Start controller action. + * Override abstract action version to allow updating current plan without stopping execution. + * @param goal_handle Reference to the goal handle received on action execution callback. + * @param execution_ptr Pointer to the execution descriptor. + */ + void start( + GoalHandle &goal_handle, + typename AbstractControllerExecution::Ptr execution_ptr + ); + + void run(GoalHandle &goal_handle, AbstractControllerExecution &execution); + +protected: + void publishExePathFeedback( + GoalHandle &goal_handle, + uint32_t outcome, const std::string &message, + const geometry_msgs::TwistStamped ¤t_twist); + + /** + * @brief Utility method to fill the ExePath action result in a single line + * @param outcome ExePath action outcome + * @param message ExePath action message + * @param result The action result to fill + */ + void fillExePathResult( + uint32_t outcome, const std::string &message, + mbf_msgs::ExePathResult &result); + + boost::mutex goal_mtx_; ///< lock goal handle for updating it while running + geometry_msgs::PoseStamped robot_pose_; ///< Current robot pose + geometry_msgs::PoseStamped goal_pose_; ///< Current goal pose + +}; +} + + + +#endif //MBF_ABSTRACT_NAV__CONTROLLER_ACTION_H_ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/impl/abstract_plugin_manager.tcc b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/impl/abstract_plugin_manager.tcc new file mode 100755 index 0000000..1c23b7b --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/impl/abstract_plugin_manager.tcc @@ -0,0 +1,162 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_plugin_manager.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_ABSTRACT_NAV__ABSTRACT_PLUGIN_MANAGER_TCC_ +#define MBF_ABSTRACT_NAV__ABSTRACT_PLUGIN_MANAGER_TCC_ + +#include "mbf_abstract_nav/abstract_plugin_manager.h" +#include + +namespace mbf_abstract_nav{ + +template +AbstractPluginManager::AbstractPluginManager( + const std::string ¶m_name, + const loadPluginFunction &loadPlugin, + const initPluginFunction &initPlugin +) + : param_name_(param_name), loadPlugin_(loadPlugin), initPlugin_(initPlugin) +{ +} + +template +bool AbstractPluginManager::loadPlugins() +{ + ros::NodeHandle private_nh("~"); + + XmlRpc::XmlRpcValue plugin_param_list; + if(!private_nh.getParam(param_name_, plugin_param_list)) + { + ROS_WARN_STREAM("No " << param_name_ << " plugins configured! - Use the param \"" << param_name_ << "\", " + "which must be a list of tuples with a name and a type."); + return false; + } + + try + { + for (int i = 0; i < plugin_param_list.size(); i++) + { + XmlRpc::XmlRpcValue elem = plugin_param_list[i]; + + std::string name = elem["name"]; + std::string type = elem["type"]; + + if (plugins_.find(name) != plugins_.end()) + { + ROS_ERROR_STREAM("The plugin \"" << name << "\" has already been loaded! Names must be unique!"); + return false; + } + typename PluginType::Ptr plugin_ptr = loadPlugin_(type); + if(plugin_ptr && initPlugin_(name, plugin_ptr)) + { + + plugins_.insert( + std::pair(name, plugin_ptr)); + + plugins_type_.insert(std::pair(name, type)); // save name to type mapping + names_.push_back(name); + + ROS_INFO_STREAM("The plugin with the type \"" << type << "\" has been loaded successfully under the name \"" + << name << "\"."); + } + else + { + ROS_ERROR_STREAM("Could not load the plugin with the name \"" + << name << "\" and the type \"" << type << "\"!"); + } + } + } + catch (XmlRpc::XmlRpcException &e) + { + ROS_ERROR_STREAM("Invalid parameter structure. The \""<< param_name_ << "\" parameter has to be a list of structs " + << "with fields \"name\" and \"type\" of !"); + ROS_ERROR_STREAM(e.getMessage()); + return false; + } + // is there any plugin in the map? + return plugins_.empty() ? false : true; +} + +template +const std::vector& AbstractPluginManager::getLoadedNames() +{ + return names_; +} + +template +bool AbstractPluginManager::hasPlugin(const std::string &name) +{ + return static_cast(plugins_.count(name)); // returns 1 or 0; +} + +template +std::string AbstractPluginManager::getType(const std::string &name) +{ + std::map::iterator iter = plugins_type_.find(name); + return iter->second; +} + + +template +typename PluginType::Ptr AbstractPluginManager::getPlugin(const std::string &name) +{ + typename std::map::iterator new_plugin + = plugins_.find(name); + if(new_plugin != plugins_.end()) + { + ROS_DEBUG_STREAM("Found plugin with the name \"" << name << "\"."); + return new_plugin->second; + } + else + { + ROS_WARN_STREAM("The plugin with the name \"" << name << "\" has not yet been loaded!"); + return typename PluginType::Ptr(); // return null ptr + } +} + +template +void AbstractPluginManager::clearPlugins() { + plugins_.clear(); + plugins_type_.clear(); + names_.clear(); +} + +} /* namespace mbf_abstract_nav */ + +#endif //MBF_ABSTRACT_NAV__ABSTRACT_PLUGIN_MANAGER_TCC_ + diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/move_base_action.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/move_base_action.h new file mode 100755 index 0000000..e6b5f07 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/move_base_action.h @@ -0,0 +1,192 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * move_base_action.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ +#ifndef MBF_ABSTRACT_NAV__MOVE_BASE_ACTION_H_ +#define MBF_ABSTRACT_NAV__MOVE_BASE_ACTION_H_ + +#include +#include + +#include +#include +#include +#include + +#include + +#include "mbf_abstract_nav/MoveBaseFlexConfig.h" + + +namespace mbf_abstract_nav +{ + +class MoveBaseAction +{ + public: + + //! Action clients for the MoveBase action + typedef actionlib::SimpleActionClient ActionClientGetPath; + typedef actionlib::SimpleActionClient ActionClientExePath; + typedef actionlib::SimpleActionClient ActionClientRecovery; + + typedef actionlib::ActionServer::GoalHandle GoalHandle; + + MoveBaseAction(const std::string &name, + const mbf_utility::RobotInformation &robot_info, + const std::vector &controllers); + + ~MoveBaseAction(); + + void start(GoalHandle &goal_handle); + + void cancel(); + + void reconfigure( + mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level); + + protected: + + void actionExePathFeedback(const mbf_msgs::ExePathFeedbackConstPtr &feedback); + + void actionGetPathDone( + const actionlib::SimpleClientGoalState &state, + const mbf_msgs::GetPathResultConstPtr &result); + + void actionExePathActive(); + + void actionExePathDone( + const actionlib::SimpleClientGoalState &state, + const mbf_msgs::ExePathResultConstPtr &result); + + void actionGetPathReplanningDone( + const actionlib::SimpleClientGoalState &state, + const mbf_msgs::GetPathResultConstPtr &result); + + void actionRecoveryDone( + const actionlib::SimpleClientGoalState &state, + const mbf_msgs::RecoveryResultConstPtr &result); + + bool attemptRecovery(); + + /** + * Utility method that fills move base action result with the result of any of the action clients. + * @tparam ResultType + * @param result + * @param move_base_result + */ + template + void fillMoveBaseResult(const ResultType& result, mbf_msgs::MoveBaseResult& move_base_result) + { + // copy outcome and message from action client result + move_base_result.outcome = result.outcome; + move_base_result.message = result.message; + move_base_result.dist_to_goal = static_cast(mbf_utility::distance(robot_pose_, goal_pose_)); + move_base_result.angle_to_goal = static_cast(mbf_utility::angle(robot_pose_, goal_pose_)); + move_base_result.final_pose = robot_pose_; + } + + mbf_msgs::ExePathGoal exe_path_goal_; + mbf_msgs::GetPathGoal get_path_goal_; + mbf_msgs::RecoveryGoal recovery_goal_; + + geometry_msgs::PoseStamped last_oscillation_pose_; + ros::Time last_oscillation_reset_; + + //! timeout after a oscillation is detected + ros::Duration oscillation_timeout_; + + //! minimal move distance to not detect an oscillation + double oscillation_distance_; + + GoalHandle goal_handle_; + + std::string name_; + + //! current robot state + const mbf_utility::RobotInformation &robot_info_; + + //! current robot pose; updated with exe_path action feedback + geometry_msgs::PoseStamped robot_pose_; + + //! current goal pose; used to compute remaining distance and angle + geometry_msgs::PoseStamped goal_pose_; + + ros::NodeHandle private_nh_; + + //! Action client used by the move_base action + ActionClientExePath action_client_exe_path_; + + //! Action client used by the move_base action + ActionClientGetPath action_client_get_path_; + + //! Action client used by the move_base action + ActionClientRecovery action_client_recovery_; + + bool replanning_; + ros::Rate replanning_rate_; + boost::mutex replanning_mtx_; + + //! true, if recovery behavior for the MoveBase action is enabled. + bool recovery_enabled_; + + std::vector recovery_behaviors_; + + std::vector::iterator current_recovery_behavior_; + + const std::vector &behaviors_; + + enum MoveBaseActionState + { + NONE, + GET_PATH, + EXE_PATH, + RECOVERY, + OSCILLATING, + SUCCEEDED, + CANCELED, + FAILED + }; + + MoveBaseActionState action_state_; + MoveBaseActionState recovery_trigger_; +}; + +} /* mbf_abstract_nav */ + +#endif //MBF_ABSTRACT_NAV__MOVE_BASE_ACTION_H_ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/planner_action.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/planner_action.h new file mode 100755 index 0000000..8431e36 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/planner_action.h @@ -0,0 +1,92 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * planner_action.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_ABSTRACT_NAV__PLANNER_ACTION_H_ +#define MBF_ABSTRACT_NAV__PLANNER_ACTION_H_ + +#include + +#include +#include + +#include "mbf_abstract_nav/abstract_action_base.hpp" +#include "mbf_abstract_nav/abstract_planner_execution.h" + + +namespace mbf_abstract_nav{ + + +class PlannerAction : public AbstractActionBase +{ + public: + + typedef boost::shared_ptr Ptr; + + PlannerAction( + const std::string &name, + const mbf_utility::RobotInformation &robot_info + ); + + void run(GoalHandle &goal_handle, AbstractPlannerExecution &execution); + + protected: + + /** + * @brief Transforms a plan to the global frame (global_frame_) coord system. + * @param plan Input plan to be transformed. + * @param global_plan Output plan, which is then transformed to the global frame. + * @return true, if the transformation succeeded, false otherwise + */ + bool transformPlanToGlobalFrame(std::vector &plan, + std::vector &global_plan); + + + private: + + //! Publisher to publish the current goal pose, which is used for path planning + ros::Publisher current_goal_pub_; + + //! Path sequence counter + unsigned int path_seq_count_; +}; + +} /* mbf_abstract_nav */ + +#endif /* MBF_ABSTRACT_NAV__PLANNER_ACTION_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/recovery_action.h b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/recovery_action.h new file mode 100755 index 0000000..5064770 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/include/mbf_abstract_nav/recovery_action.h @@ -0,0 +1,70 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * recovery_action.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_ABSTRACT_NAV__RECOVERY_ACTION_H_ +#define MBF_ABSTRACT_NAV__RECOVERY_ACTION_H_ + +#include +#include + +#include +#include + +#include "mbf_abstract_nav/abstract_action_base.hpp" +#include "mbf_abstract_nav/abstract_recovery_execution.h" + +namespace mbf_abstract_nav +{ + +class RecoveryAction : public AbstractActionBase +{ + public: + + typedef boost::shared_ptr Ptr; + + RecoveryAction(const std::string &name, const mbf_utility::RobotInformation &robot_info); + + void run(GoalHandle &goal_handle, AbstractRecoveryExecution &execution); + +}; + +} /* mbf_abstract_nav */ + +#endif /* MBF_ABSTRACT_NAV__RECOVERY_ACTION_H_ */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/package.xml b/navigations/move_base_flex/mbf_abstract_nav/package.xml new file mode 100755 index 0000000..ea91ea1 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/package.xml @@ -0,0 +1,46 @@ + + mbf_abstract_nav + 0.3.2 + + The mbf_abstract_nav package contains the abstract navigation server implementation of Move Base Flex (MBF). The abstract navigation server is not bound to any map representation. It provides the actions for planning, controlling and recovering. MBF loads all defined plugins at the program start. Therefor, it loads all plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. + + http://wiki.ros.org/move_base_flex + Sebastian Pütz + Sebastian Pütz + Jorge Santos + BSD-3 + + catkin + + tf + roscpp + actionlib + actionlib_msgs + dynamic_reconfigure + std_msgs + std_srvs + nav_msgs + geometry_msgs + mbf_abstract_core + mbf_msgs + mbf_utility + xmlrpcpp + + tf + roscpp + actionlib + actionlib_msgs + dynamic_reconfigure + std_msgs + std_srvs + nav_msgs + geometry_msgs + mbf_abstract_core + mbf_msgs + mbf_utility + xmlrpcpp + + + + + diff --git a/navigations/move_base_flex/mbf_abstract_nav/rosdoc.yaml b/navigations/move_base_flex/mbf_abstract_nav/rosdoc.yaml new file mode 100755 index 0000000..772ff48 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/rosdoc.yaml @@ -0,0 +1,4 @@ + - builder: doxygen + name: Move Base Flex + homepage: http://wiki.ros.org/move_base_flex + file_patterns: '*.c *.cpp *.h *.cc *.hh *.py *.md' diff --git a/navigations/move_base_flex/mbf_abstract_nav/setup.py b/navigations/move_base_flex/mbf_abstract_nav/setup.py new file mode 100755 index 0000000..c21c6fe --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/setup.py @@ -0,0 +1,10 @@ +#!/usr/bin/env python +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages = ['mbf_abstract_nav'], + package_dir = {'': 'src'}, +) + +setup(**d) diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/abstract_controller_execution.cpp b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_controller_execution.cpp new file mode 100755 index 0000000..9e2607a --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_controller_execution.cpp @@ -0,0 +1,475 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_controller_execution.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include + +#include "mbf_abstract_nav/abstract_controller_execution.h" + +namespace mbf_abstract_nav +{ + +const double AbstractControllerExecution::DEFAULT_CONTROLLER_FREQUENCY = 100.0; // 100 Hz + +AbstractControllerExecution::AbstractControllerExecution( + const std::string &name, + const mbf_abstract_core::AbstractController::Ptr &controller_ptr, + const ros::Publisher &vel_pub, + const ros::Publisher &goal_pub, + const TFPtr &tf_listener_ptr, + const MoveBaseFlexConfig &config) : + AbstractExecutionBase(name), + controller_(controller_ptr), tf_listener_ptr(tf_listener_ptr), state_(INITIALIZED), + moving_(false), max_retries_(0), patience_(0), vel_pub_(vel_pub), current_goal_pub_(goal_pub), + calling_duration_(boost::chrono::microseconds(static_cast(1e6 / DEFAULT_CONTROLLER_FREQUENCY))) +{ + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + // non-dynamically reconfigurable parameters + private_nh.param("robot_frame", robot_frame_, std::string("base_link")); + private_nh.param("map_frame", global_frame_, std::string("map")); + private_nh.param("force_stop_at_goal", force_stop_at_goal_, false); + private_nh.param("force_stop_on_cancel", force_stop_on_cancel_, false); + private_nh.param("check_goal_reached", mbf_check_goal_reached_, false); + private_nh.param("dist_tolerance", dist_tolerance_, 0.1); + private_nh.param("angle_tolerance", angle_tolerance_, M_PI / 18.0); + private_nh.param("tf_timeout", tf_timeout_, 1.0); + + // dynamically reconfigurable parameters + reconfigure(config); +} + +AbstractControllerExecution::~AbstractControllerExecution() +{ +} + +bool AbstractControllerExecution::setControllerFrequency(double frequency) +{ + // set the calling duration by the moving frequency + if (frequency <= 0.0) + { + ROS_ERROR("Controller frequency must be greater than 0.0! No change of the frequency!"); + return false; + } + calling_duration_ = boost::chrono::microseconds(static_cast(1e6 / frequency)); + return true; +} + +void AbstractControllerExecution::reconfigure(const MoveBaseFlexConfig &config) +{ + boost::lock_guard guard(configuration_mutex_); + // Timeout granted to the controller. We keep calling it up to this time or up to max_retries times + // If it doesn't return within time, the navigator will cancel it and abort the corresponding action + patience_ = ros::Duration(config.controller_patience); + + setControllerFrequency(config.controller_frequency); + + max_retries_ = config.controller_max_retries; +} + + +bool AbstractControllerExecution::start() +{ + setState(STARTED); + if (moving_) + { + return false; // thread is already running. + } + moving_ = true; + return AbstractExecutionBase::start(); +} + + +void AbstractControllerExecution::setState(ControllerState state) +{ + boost::lock_guard guard(state_mtx_); + state_ = state; +} + + +typename AbstractControllerExecution::ControllerState +AbstractControllerExecution::getState() +{ + boost::lock_guard guard(state_mtx_); + return state_; +} + +void AbstractControllerExecution::setNewPlan( + const std::vector &plan, + bool tolerance_from_action, + double action_dist_tolerance, + double action_angle_tolerance) +{ + if (moving_) + { + // This is fine on continuous replanning + ROS_DEBUG("Setting new plan while moving"); + } + boost::lock_guard guard(plan_mtx_); + new_plan_ = true; + + plan_ = plan; + tolerance_from_action_ = tolerance_from_action; + action_dist_tolerance_ = action_dist_tolerance; + action_angle_tolerance_ = action_angle_tolerance; +} + + +bool AbstractControllerExecution::hasNewPlan() +{ + boost::lock_guard guard(plan_mtx_); + return new_plan_; +} + + +std::vector AbstractControllerExecution::getNewPlan() +{ + boost::lock_guard guard(plan_mtx_); + new_plan_ = false; + return plan_; +} + + +bool AbstractControllerExecution::computeRobotPose() +{ + if (!mbf_utility::getRobotPose(*tf_listener_ptr, robot_frame_, global_frame_, + ros::Duration(tf_timeout_), robot_pose_)) + { + ROS_ERROR_STREAM("Could not get the robot pose in the global frame. - robot frame: \"" + << robot_frame_ << "\" global frame: \"" << global_frame_); + message_ = "Could not get the robot pose"; + outcome_ = mbf_msgs::ExePathResult::TF_ERROR; + return false; + } + return true; +} + + +uint32_t AbstractControllerExecution::computeVelocityCmd(const geometry_msgs::PoseStamped &robot_pose, + const geometry_msgs::TwistStamped &robot_velocity, + geometry_msgs::TwistStamped &vel_cmd, + std::string &message) +{ + return controller_->computeVelocityCommands(robot_pose, robot_velocity, vel_cmd, message); +} + + +void AbstractControllerExecution::setVelocityCmd(const geometry_msgs::TwistStamped &vel_cmd) +{ + boost::lock_guard guard(vel_cmd_mtx_); + vel_cmd_stamped_ = vel_cmd; + if (vel_cmd_stamped_.header.stamp.isZero()) + vel_cmd_stamped_.header.stamp = ros::Time::now(); + // TODO what happen with frame id? + // TODO Add a queue here for handling the outcome, message and cmd_vel values bundled, + // TODO so there should be no loss of information in the feedback stream +} + + +geometry_msgs::TwistStamped AbstractControllerExecution::getVelocityCmd() +{ + boost::lock_guard guard(vel_cmd_mtx_); + return vel_cmd_stamped_; +} + + +ros::Time AbstractControllerExecution::getLastPluginCallTime() +{ + boost::lock_guard guard(lct_mtx_); + return last_call_time_; +} + + +bool AbstractControllerExecution::isPatienceExceeded() +{ + boost::lock_guard guard(lct_mtx_); + if(!patience_.isZero() && ros::Time::now() - start_time_ > patience_) // not zero -> activated, start_time handles init case + { + if(ros::Time::now() - last_call_time_ > patience_) + { + ROS_WARN_STREAM_THROTTLE(3, "The controller plugin \"" << name_ << "\" needs more time to compute in one run than the patience time!"); + return true; + } + if(ros::Time::now() - last_valid_cmd_time_ > patience_) + { + ROS_DEBUG_STREAM("The controller plugin \"" << name_ << "\" does not return a success state (outcome < 10) for more than the patience time in multiple runs!"); + return true; + } + } + return false; +} + + +bool AbstractControllerExecution::isMoving() +{ + return moving_; +} + +bool AbstractControllerExecution::reachedGoalCheck() +{ + // Use action-provided tolerances if requested, or use parameter values otherwise + double dist_tolerance = tolerance_from_action_ ? action_dist_tolerance_ : dist_tolerance_; + double angle_tolerance = tolerance_from_action_ ? action_angle_tolerance_ : angle_tolerance_; + + if (mbf_check_goal_reached_) + { + // MBF checks if we have reached the goal, or... + return mbf_utility::distance(robot_pose_, plan_.back()) < dist_tolerance && + mbf_utility::angle(robot_pose_, plan_.back()) < angle_tolerance; + } + // ...we let the controller decide + return controller_->isGoalReached(dist_tolerance, angle_tolerance); +} + +bool AbstractControllerExecution::cancel() +{ + // request the controller to cancel; it returns false if cancel is not implemented or rejected by the plugin + if (!controller_->cancel()) + { + ROS_WARN_STREAM("Cancel controlling failed. Wait until the current control cycle finished!"); + } + // then wait for the control cycle to stop (should happen immediately if the controller cancel returned true) + cancel_ = true; + if (waitForStateUpdate(boost::chrono::milliseconds(500)) == boost::cv_status::timeout) + { + // this situation should never happen; if it does, the action server will be unready for goals immediately sent + ROS_WARN_STREAM("Timeout while waiting for control cycle to stop; immediately sent goals can get stuck"); + return false; + } + return true; +} + + +void AbstractControllerExecution::run() +{ + start_time_ = ros::Time::now(); + + // init plan + std::vector plan; + if (!hasNewPlan()) + { + setState(NO_PLAN); + moving_ = false; + ROS_ERROR("robot navigation moving has no plan!"); + } + + last_valid_cmd_time_ = ros::Time(); + int retries = 0; + int seq = 0; + + try + { + while (moving_ && ros::ok()) + { + boost::chrono::thread_clock::time_point loop_start_time = boost::chrono::thread_clock::now(); + + if (cancel_) + { + if (force_stop_on_cancel_) + { + publishZeroVelocity(); // command the robot to stop on canceling navigation + } + setState(CANCELED); + condition_.notify_all(); + moving_ = false; + return; + } + + if (!safetyCheck()) + { + // the specific implementation must have detected a risk situation; at this abstract level, we + // cannot tell what the problem is, but anyway we command the robot to stop to avoid crashes + publishZeroVelocity(); // note that we still feedback command calculated by the plugin + boost::this_thread::sleep_for(calling_duration_); + } + + // update plan dynamically + if (hasNewPlan()) + { + plan = getNewPlan(); + + // check if plan is empty + if (plan.empty()) + { + setState(EMPTY_PLAN); + condition_.notify_all(); + moving_ = false; + return; + } + + // check if plan could be set + if (!controller_->setPlan(plan)) + { + setState(INVALID_PLAN); + condition_.notify_all(); + moving_ = false; + return; + } + current_goal_pub_.publish(plan.back()); + } + + // compute robot pose and store it in robot_pose_ + if (!computeRobotPose()) + { + publishZeroVelocity(); + setState(INTERNAL_ERROR); + condition_.notify_all(); + moving_ = false; + return; + } + + // ask planner if the goal is reached + if (reachedGoalCheck()) + { + ROS_DEBUG_STREAM_NAMED("abstract_controller_execution", "Reached the goal!"); + if (force_stop_at_goal_) + { + publishZeroVelocity(); + } + setState(ARRIVED_GOAL); + // goal reached, tell it the controller + condition_.notify_all(); + moving_ = false; + // if not, keep moving + } + else + { + setState(PLANNING); + + // save time and call the plugin + lct_mtx_.lock(); + last_call_time_ = ros::Time::now(); + lct_mtx_.unlock(); + + // call plugin to compute the next velocity command + geometry_msgs::TwistStamped cmd_vel_stamped; + geometry_msgs::TwistStamped robot_velocity; // TODO pass current velocity to the plugin! + outcome_ = computeVelocityCmd(robot_pose_, robot_velocity, cmd_vel_stamped, message_ = ""); + + if (outcome_ < 10) + { + setState(GOT_LOCAL_CMD); + vel_pub_.publish(cmd_vel_stamped.twist); + last_valid_cmd_time_ = ros::Time::now(); + retries = 0; + } + else + { + boost::lock_guard guard(configuration_mutex_); + if (max_retries_ >= 0 && ++retries > max_retries_) + { + setState(MAX_RETRIES); + moving_ = false; + } + else if (isPatienceExceeded()) + { + // patience limit enabled and running controller for more than patience without valid commands + setState(PAT_EXCEEDED); + moving_ = false; + } + else + { + setState(NO_LOCAL_CMD); // useful for server feedback + } + // could not compute a valid velocity command -> stop moving the robot + publishZeroVelocity(); // command the robot to stop; we still feedback command calculated by the plugin + } + + // set stamped values; timestamp and frame_id should be set by the plugin; otherwise setVelocityCmd will do + cmd_vel_stamped.header.seq = seq++; // sequence number + setVelocityCmd(cmd_vel_stamped); + condition_.notify_all(); + } + + boost::chrono::thread_clock::time_point end_time = boost::chrono::thread_clock::now(); + boost::chrono::microseconds execution_duration = + boost::chrono::duration_cast(end_time - loop_start_time); + configuration_mutex_.lock(); + boost::chrono::microseconds sleep_time = calling_duration_ - execution_duration; + configuration_mutex_.unlock(); + if (moving_ && ros::ok()) + { + if (sleep_time > boost::chrono::microseconds(0)) + { + // interruption point + boost::this_thread::sleep_for(sleep_time); + } + else + { + // provide an interruption point also with 0 or negative sleep_time + boost::this_thread::interruption_point(); + ROS_WARN_THROTTLE(1.0, "Calculation needs too much time to stay in the moving frequency! (%f > %f)", + execution_duration.count()/1000000.0, calling_duration_.count()/1000000.0); + } + } + } + } + catch (const boost::thread_interrupted &ex) + { + // Controller thread interrupted; in most cases we have started a new plan + // Can also be that robot is oscillating or we have exceeded planner patience + ROS_DEBUG_STREAM("Controller thread interrupted!"); + publishZeroVelocity(); + setState(STOPPED); + condition_.notify_all(); + moving_ = false; + } + catch (...) + { + message_ = "Unknown error occurred: " + boost::current_exception_diagnostic_information(); + ROS_FATAL_STREAM(message_); + setState(INTERNAL_ERROR); + } +} + + +void AbstractControllerExecution::publishZeroVelocity() +{ + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0; + cmd_vel.linear.y = 0; + cmd_vel.linear.z = 0; + cmd_vel.angular.x = 0; + cmd_vel.angular.y = 0; + cmd_vel.angular.z = 0; + vel_pub_.publish(cmd_vel); +} + +} /* namespace mbf_abstract_nav */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/abstract_execution_base.cpp b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_execution_base.cpp new file mode 100755 index 0000000..18a9dbc --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_execution_base.cpp @@ -0,0 +1,88 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_execution_base.cpp + * + * author: Sebastian Pütz + * + */ + +#include "mbf_abstract_nav/abstract_execution_base.h" + +namespace mbf_abstract_nav +{ + +AbstractExecutionBase::AbstractExecutionBase(std::string name) + : outcome_(255), cancel_(false), name_(name) +{ +} + +bool AbstractExecutionBase::start() +{ + thread_ = boost::thread(&AbstractExecutionBase::run, this); + return true; +} + +void AbstractExecutionBase::stop() +{ + ROS_WARN_STREAM("Try to stop the plugin \"" << name_ << "\" rigorously by interrupting the thread!"); + thread_.interrupt(); +} + +void AbstractExecutionBase::join(){ + if (thread_.joinable()) + thread_.join(); +} + +boost::cv_status AbstractExecutionBase::waitForStateUpdate(boost::chrono::microseconds const &duration) +{ + boost::mutex mutex; + boost::unique_lock lock(mutex); + return condition_.wait_for(lock, duration); +} + +uint32_t AbstractExecutionBase::getOutcome() +{ + return outcome_; +} + +std::string AbstractExecutionBase::getMessage() +{ + return message_; +} + +std::string AbstractExecutionBase::getName() +{ + return name_; +} + +} /* namespace mbf_abstract_nav */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/abstract_navigation_server.cpp b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_navigation_server.cpp new file mode 100755 index 0000000..a5cda16 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_navigation_server.cpp @@ -0,0 +1,382 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_navigation_server.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include + +#include "mbf_abstract_nav/abstract_navigation_server.h" + +namespace mbf_abstract_nav +{ + +AbstractNavigationServer::AbstractNavigationServer(const TFPtr &tf_listener_ptr) + : tf_listener_ptr_(tf_listener_ptr), private_nh_("~"), + planner_plugin_manager_("planners", + boost::bind(&AbstractNavigationServer::loadPlannerPlugin, this, _1), + boost::bind(&AbstractNavigationServer::initializePlannerPlugin, this, _1, _2)), + controller_plugin_manager_("controllers", + boost::bind(&AbstractNavigationServer::loadControllerPlugin, this, _1), + boost::bind(&AbstractNavigationServer::initializeControllerPlugin, this, _1, _2)), + recovery_plugin_manager_("recovery_behaviors", + boost::bind(&AbstractNavigationServer::loadRecoveryPlugin, this, _1), + boost::bind(&AbstractNavigationServer::initializeRecoveryPlugin, this, _1, _2)), + tf_timeout_(private_nh_.param("tf_timeout", 3.0)), + global_frame_(private_nh_.param("global_frame", "map")), + robot_frame_(private_nh_.param("robot_frame", "base_link")), + robot_info_(*tf_listener_ptr, global_frame_, robot_frame_, tf_timeout_), + controller_action_(name_action_exe_path, robot_info_), + planner_action_(name_action_get_path, robot_info_), + recovery_action_(name_action_recovery, robot_info_), + move_base_action_(name_action_move_base, robot_info_, recovery_plugin_manager_.getLoadedNames()) +{ + ros::NodeHandle nh; + + goal_pub_ = nh.advertise("current_goal", 1); + + // init cmd_vel publisher for the robot velocity + vel_pub_ = nh.advertise("cmd_vel", 1); + + action_server_get_path_ptr_ = ActionServerGetPathPtr( + new ActionServerGetPath( + private_nh_, + name_action_get_path, + boost::bind(&mbf_abstract_nav::AbstractNavigationServer::callActionGetPath, this, _1), + boost::bind(&mbf_abstract_nav::AbstractNavigationServer::cancelActionGetPath, this, _1), + false)); + + action_server_exe_path_ptr_ = ActionServerExePathPtr( + new ActionServerExePath( + private_nh_, + name_action_exe_path, + boost::bind(&mbf_abstract_nav::AbstractNavigationServer::callActionExePath, this, _1), + boost::bind(&mbf_abstract_nav::AbstractNavigationServer::cancelActionExePath, this, _1), + false)); + + action_server_recovery_ptr_ = ActionServerRecoveryPtr( + new ActionServerRecovery( + private_nh_, + name_action_recovery, + boost::bind(&mbf_abstract_nav::AbstractNavigationServer::callActionRecovery, this, _1), + boost::bind(&mbf_abstract_nav::AbstractNavigationServer::cancelActionRecovery, this, _1), + false)); + + action_server_move_base_ptr_ = ActionServerMoveBasePtr( + new ActionServerMoveBase( + private_nh_, + name_action_move_base, + boost::bind(&mbf_abstract_nav::AbstractNavigationServer::callActionMoveBase, this, _1), + boost::bind(&mbf_abstract_nav::AbstractNavigationServer::cancelActionMoveBase, this, _1), + false)); + + // XXX note that we don't start a dynamic reconfigure server, to avoid colliding with the one possibly created by + // the base class. If none, it should call startDynamicReconfigureServer method to start the one defined here for + // providing just the abstract server parameters +} + +void AbstractNavigationServer::initializeServerComponents() +{ + planner_plugin_manager_.loadPlugins(); + controller_plugin_manager_.loadPlugins(); + recovery_plugin_manager_.loadPlugins(); +} + +AbstractNavigationServer::~AbstractNavigationServer() +{ + +} + +void AbstractNavigationServer::callActionGetPath(ActionServerGetPath::GoalHandle goal_handle) +{ + const mbf_msgs::GetPathGoal &goal = *(goal_handle.getGoal().get()); + const geometry_msgs::Point &p = goal.target_pose.pose.position; + + std::string planner_name; + if(!planner_plugin_manager_.getLoadedNames().empty()) + { + planner_name = goal.planner.empty() ? planner_plugin_manager_.getLoadedNames().front() : goal.planner; + } + else + { + mbf_msgs::GetPathResult result; + result.outcome = mbf_msgs::GetPathResult::INVALID_PLUGIN; + result.message = "No plugins loaded at all!"; + ROS_WARN_STREAM_NAMED("get_path", result.message); + goal_handle.setRejected(result, result.message); + return; + } + + if(!planner_plugin_manager_.hasPlugin(planner_name)) + { + mbf_msgs::GetPathResult result; + result.outcome = mbf_msgs::GetPathResult::INVALID_PLUGIN; + result.message = "No plugin loaded with the given name \"" + goal.planner + "\"!"; + ROS_WARN_STREAM_NAMED("get_path", result.message); + goal_handle.setRejected(result, result.message); + return; + } + + mbf_abstract_core::AbstractPlanner::Ptr planner_plugin = planner_plugin_manager_.getPlugin(planner_name); + ROS_DEBUG_STREAM_NAMED("get_path", "Start action \"get_path\" using planner \"" << planner_name + << "\" of type \"" << planner_plugin_manager_.getType(planner_name) << "\""); + + + if(planner_plugin) + { + mbf_abstract_nav::AbstractPlannerExecution::Ptr planner_execution + = newPlannerExecution(planner_name, planner_plugin); + + //start another planning action + planner_action_.start(goal_handle, planner_execution); + } + else + { + mbf_msgs::GetPathResult result; + result.outcome = mbf_msgs::GetPathResult::INTERNAL_ERROR; + result.message = "Internal Error: \"planner_plugin\" pointer should not be a null pointer!"; + ROS_FATAL_STREAM_NAMED("get_path", result.message); + goal_handle.setRejected(result, result.message); + } +} + +void AbstractNavigationServer::cancelActionGetPath(ActionServerGetPath::GoalHandle goal_handle) +{ + ROS_INFO_STREAM_NAMED("get_path", "Cancel action \"get_path\""); + planner_action_.cancel(goal_handle); +} + +void AbstractNavigationServer::callActionExePath(ActionServerExePath::GoalHandle goal_handle) +{ + const mbf_msgs::ExePathGoal &goal = *(goal_handle.getGoal().get()); + + std::string controller_name; + if(!controller_plugin_manager_.getLoadedNames().empty()) + { + controller_name = goal.controller.empty() ? controller_plugin_manager_.getLoadedNames().front() : goal.controller; + } + else + { + mbf_msgs::ExePathResult result; + result.outcome = mbf_msgs::ExePathResult::INVALID_PLUGIN; + result.message = "No plugins loaded at all!"; + ROS_WARN_STREAM_NAMED("exe_path", result.message); + goal_handle.setRejected(result, result.message); + return; + } + + if(!controller_plugin_manager_.hasPlugin(controller_name)) + { + mbf_msgs::ExePathResult result; + result.outcome = mbf_msgs::ExePathResult::INVALID_PLUGIN; + result.message = "No plugin loaded with the given name \"" + goal.controller + "\"!"; + ROS_WARN_STREAM_NAMED("exe_path", result.message); + goal_handle.setRejected(result, result.message); + return; + } + + mbf_abstract_core::AbstractController::Ptr controller_plugin = controller_plugin_manager_.getPlugin(controller_name); + ROS_DEBUG_STREAM_NAMED("exe_path", "Start action \"exe_path\" using controller \"" << controller_name + << "\" of type \"" << controller_plugin_manager_.getType(controller_name) << "\""); + + + if(controller_plugin) + { + mbf_abstract_nav::AbstractControllerExecution::Ptr controller_execution + = newControllerExecution(controller_name, controller_plugin); + + // starts another controller action + controller_action_.start(goal_handle, controller_execution); + } + else + { + mbf_msgs::ExePathResult result; + result.outcome = mbf_msgs::ExePathResult::INTERNAL_ERROR; + result.message = "Internal Error: \"controller_plugin\" pointer should not be a null pointer!"; + ROS_FATAL_STREAM_NAMED("exe_path", result.message); + goal_handle.setRejected(result, result.message); + } +} + +void AbstractNavigationServer::cancelActionExePath(ActionServerExePath::GoalHandle goal_handle) +{ + ROS_INFO_STREAM_NAMED("exe_path", "Cancel action \"exe_path\""); + controller_action_.cancel(goal_handle); +} + +void AbstractNavigationServer::callActionRecovery(ActionServerRecovery::GoalHandle goal_handle) +{ + const mbf_msgs::RecoveryGoal &goal = *(goal_handle.getGoal().get()); + + std::string recovery_name; + + if(!recovery_plugin_manager_.getLoadedNames().empty()) + { + recovery_name = goal.behavior.empty() ? recovery_plugin_manager_.getLoadedNames().front() : goal.behavior; + } + else + { + mbf_msgs::RecoveryResult result; + result.outcome = mbf_msgs::RecoveryResult::INVALID_PLUGIN; + result.message = "No plugins loaded at all!"; + ROS_WARN_STREAM_NAMED("recovery", result.message); + goal_handle.setRejected(result, result.message); + return; + } + + if(!recovery_plugin_manager_.hasPlugin(recovery_name)) + { + mbf_msgs::RecoveryResult result; + result.outcome = mbf_msgs::RecoveryResult::INVALID_PLUGIN; + result.message = "No plugin loaded with the given name \"" + goal.behavior + "\"!"; + ROS_WARN_STREAM_NAMED("recovery", result.message); + goal_handle.setRejected(result, result.message); + return; + } + + mbf_abstract_core::AbstractRecovery::Ptr recovery_plugin = recovery_plugin_manager_.getPlugin(recovery_name); + ROS_DEBUG_STREAM_NAMED("recovery", "Start action \"recovery\" using recovery \"" << recovery_name + << "\" of type \"" << recovery_plugin_manager_.getType(recovery_name) << "\""); + + + if(recovery_plugin) + { + mbf_abstract_nav::AbstractRecoveryExecution::Ptr recovery_execution + = newRecoveryExecution(recovery_name, recovery_plugin); + + recovery_action_.start(goal_handle, recovery_execution); + } + else + { + mbf_msgs::RecoveryResult result; + result.outcome = mbf_msgs::RecoveryResult::INTERNAL_ERROR; + result.message = "Internal Error: \"recovery_plugin\" pointer should not be a null pointer!"; + ROS_FATAL_STREAM_NAMED("recovery", result.message); + goal_handle.setRejected(result, result.message); + } +} + +void AbstractNavigationServer::cancelActionRecovery(ActionServerRecovery::GoalHandle goal_handle) +{ + ROS_INFO_STREAM_NAMED("recovery", "Cancel action \"recovery\""); + recovery_action_.cancel(goal_handle); +} + +void AbstractNavigationServer::callActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle) +{ + ROS_DEBUG_STREAM_NAMED("move_base", "Start action \"move_base\""); + move_base_action_.start(goal_handle); +} + +void AbstractNavigationServer::cancelActionMoveBase(ActionServerMoveBase::GoalHandle goal_handle) +{ + ROS_INFO_STREAM_NAMED("move_base", "Cancel action \"move_base\""); + move_base_action_.cancel(); +} + +mbf_abstract_nav::AbstractPlannerExecution::Ptr AbstractNavigationServer::newPlannerExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractPlanner::Ptr &plugin_ptr) +{ + return boost::make_shared(plugin_name, plugin_ptr, last_config_); +} + +mbf_abstract_nav::AbstractControllerExecution::Ptr AbstractNavigationServer::newControllerExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractController::Ptr &plugin_ptr) +{ + return boost::make_shared(plugin_name, plugin_ptr, vel_pub_, goal_pub_, + tf_listener_ptr_, last_config_); +} + +mbf_abstract_nav::AbstractRecoveryExecution::Ptr AbstractNavigationServer::newRecoveryExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractRecovery::Ptr &plugin_ptr) +{ + return boost::make_shared(plugin_name, plugin_ptr, + tf_listener_ptr_, last_config_); +} + +void AbstractNavigationServer::startActionServers() +{ + action_server_get_path_ptr_->start(); + action_server_exe_path_ptr_->start(); + action_server_recovery_ptr_->start(); + action_server_move_base_ptr_->start(); +} + +void AbstractNavigationServer::startDynamicReconfigureServer() +{ + // dynamic reconfigure server + dsrv_ = boost::make_shared >(private_nh_); + dsrv_->setCallback(boost::bind(&AbstractNavigationServer::reconfigure, this, _1, _2)); +} + +void AbstractNavigationServer::reconfigure( + mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level) +{ + boost::lock_guard guard(configuration_mutex_); + + // Make sure we have the original configuration the first time we're called, so we can restore it if needed + if (!setup_reconfigure_) + { + default_config_ = config; + setup_reconfigure_ = true; + } + + if (config.restore_defaults) + { + config = default_config_; + // if someone sets restore defaults on the parameter server, prevent looping + config.restore_defaults = false; + } + planner_action_.reconfigureAll(config, level); + controller_action_.reconfigureAll(config, level); + recovery_action_.reconfigureAll(config, level); + move_base_action_.reconfigure(config, level); + + last_config_ = config; +} + +void AbstractNavigationServer::stop(){ + planner_action_.cancelAll(); + controller_action_.cancelAll(); + recovery_action_.cancelAll(); + move_base_action_.cancel(); +} + +} /* namespace mbf_abstract_nav */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/abstract_planner_execution.cpp b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_planner_execution.cpp new file mode 100755 index 0000000..1c2e094 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_planner_execution.cpp @@ -0,0 +1,358 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_planner_execution.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include "mbf_abstract_nav/abstract_planner_execution.h" + +namespace mbf_abstract_nav +{ + +AbstractPlannerExecution::AbstractPlannerExecution( + const std::string &name, + const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr, + const MoveBaseFlexConfig &config) : + AbstractExecutionBase(name), + planner_(planner_ptr), state_(INITIALIZED), planning_(false), + has_new_start_(false), has_new_goal_(false) +{ + ros::NodeHandle private_nh("~"); + + // non-dynamically reconfigurable parameters + private_nh.param("robot_frame", robot_frame_, std::string("base_footprint")); + private_nh.param("map_frame", global_frame_, std::string("map")); + + // dynamically reconfigurable parameters + reconfigure(config); +} + +AbstractPlannerExecution::~AbstractPlannerExecution() +{ +} + + +double AbstractPlannerExecution::getCost() const +{ + boost::lock_guard guard(plan_mtx_); + // copy plan and costs to output + // if the planner plugin do not compute costs compute costs by discrete path length + if(cost_ == 0 && !plan_.empty()) + { + ROS_DEBUG_STREAM("Compute costs by discrete path length!"); + double cost = 0; + + geometry_msgs::PoseStamped prev_pose = plan_.front(); + for(std::vector::const_iterator iter = plan_.begin() + 1; iter != plan_.end(); ++iter) + { + cost += mbf_utility::distance(prev_pose, *iter); + prev_pose = *iter; + } + return cost; + } + return cost_; +} + +void AbstractPlannerExecution::reconfigure(const MoveBaseFlexConfig &config) +{ + boost::lock_guard guard(configuration_mutex_); + + max_retries_ = config.planner_max_retries; + frequency_ = config.planner_frequency; + + // Timeout granted to the global planner. We keep calling it up to this time or up to max_retries times + // If it doesn't return within time, the navigator will cancel it and abort the corresponding action + patience_ = ros::Duration(config.planner_patience); +} + + +typename AbstractPlannerExecution::PlanningState AbstractPlannerExecution::getState() const +{ + boost::lock_guard guard(state_mtx_); + return state_; +} + +void AbstractPlannerExecution::setState(PlanningState state, bool signalling) +{ + boost::lock_guard guard(state_mtx_); + state_ = state; + + // some states are quiet, most aren't + if(signalling) + condition_.notify_all(); +} + + +ros::Time AbstractPlannerExecution::getLastValidPlanTime() const +{ + boost::lock_guard guard(plan_mtx_); + return last_valid_plan_time_; +} + + +bool AbstractPlannerExecution::isPatienceExceeded() const +{ + return !patience_.isZero() && (ros::Time::now() - last_call_start_time_ > patience_); +} + + +std::vector AbstractPlannerExecution::getPlan() const +{ + boost::lock_guard guard(plan_mtx_); + // copy plan and costs to output + return plan_; +} + + +void AbstractPlannerExecution::setNewGoal(const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance) +{ + boost::lock_guard guard(goal_start_mtx_); + goal_ = goal; + dist_tolerance_ = dist_tolerance; + angle_tolerance_ = angle_tolerance; + has_new_goal_ = true; +} + + +void AbstractPlannerExecution::setNewStart(const geometry_msgs::PoseStamped &start) +{ + boost::lock_guard guard(goal_start_mtx_); + start_ = start; + has_new_start_ = true; +} + + +void AbstractPlannerExecution::setNewStartAndGoal(const geometry_msgs::PoseStamped &start, + const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance) +{ + boost::lock_guard guard(goal_start_mtx_); + start_ = start; + goal_ = goal; + dist_tolerance_ = dist_tolerance; + angle_tolerance_ = angle_tolerance; + has_new_start_ = true; + has_new_goal_ = true; +} + + +bool AbstractPlannerExecution::start(const geometry_msgs::PoseStamped &start, + const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance) +{ + if (planning_) + { + return false; + } + boost::lock_guard guard(planning_mtx_); + planning_ = true; + start_ = start; + goal_ = goal; + dist_tolerance_ = dist_tolerance; + angle_tolerance_ = angle_tolerance; + + const geometry_msgs::Point& s = start.pose.position; + const geometry_msgs::Point& g = goal.pose.position; + + ROS_DEBUG_STREAM("Start planning from the start pose: (" << s.x << ", " << s.y << ", " << s.z << ")" + << " to the goal pose: ("<< g.x << ", " << g.y << ", " << g.z << ")"); + + return AbstractExecutionBase::start(); +} + + +bool AbstractPlannerExecution::cancel() +{ + cancel_ = true; // force cancel immediately, as the call to cancel in the planner can take a while + + // returns false if cancel is not implemented or rejected by the planner (will run until completion) + if (!planner_->cancel()) + { + ROS_WARN_STREAM("Cancel planning failed or is not supported by the plugin. " + << "Wait until the current planning finished!"); + + return false; + } + return true; +} + +uint32_t AbstractPlannerExecution::makePlan(const geometry_msgs::PoseStamped &start, + const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance, + std::vector &plan, + double &cost, + std::string &message) +{ + return planner_->makePlan(start, goal, dist_tolerance, angle_tolerance, plan, cost, message); +} + +void AbstractPlannerExecution::run() +{ + setState(STARTED, false); + boost::lock_guard guard(planning_mtx_); + int retries = 0; + geometry_msgs::PoseStamped current_start = start_; + geometry_msgs::PoseStamped current_goal = goal_; + + bool success = false; + bool make_plan = false; + bool exceeded = false; + + last_call_start_time_ = ros::Time::now(); + last_valid_plan_time_ = ros::Time::now(); + + try + { + while (planning_ && ros::ok()) + { + boost::chrono::thread_clock::time_point start_time = boost::chrono::thread_clock::now(); + + // call the planner + std::vector plan; + double cost; + + // lock goal start mutex + goal_start_mtx_.lock(); + if (has_new_start_) + { + has_new_start_ = false; + current_start = start_; + ROS_INFO_STREAM("A new start pose is available. Planning with the new start pose!"); + exceeded = false; + const geometry_msgs::Point& s = start_.pose.position; + ROS_INFO_STREAM("New planning start pose: (" << s.x << ", " << s.y << ", " << s.z << ")"); + } + if (has_new_goal_) + { + has_new_goal_ = false; + current_goal = goal_; + ROS_INFO_STREAM("A new goal pose is available. Planning with the new goal pose and tolerances: " + << dist_tolerance_ << " m, " << angle_tolerance_ << " rad"); + exceeded = false; + const geometry_msgs::Point& g = goal_.pose.position; + ROS_INFO_STREAM("New goal pose: (" << g.x << ", " << g.y << ", " << g.z << ")"); + } + + make_plan = !(success || exceeded) || has_new_start_ || has_new_goal_; + + // unlock goal + goal_start_mtx_.unlock(); + setState(PLANNING, false); + if (make_plan) + { + outcome_ = makePlan(current_start, current_goal, dist_tolerance_, angle_tolerance_, plan, cost, message_); + success = outcome_ < 10; + + boost::lock_guard guard(configuration_mutex_); + + if (cancel_ && !isPatienceExceeded()) + { + ROS_INFO_STREAM("The planner \"" << name_ << "\" has been canceled!"); // but not due to patience exceeded + planning_ = false; + setState(CANCELED, true); + } + else if (success) + { + ROS_DEBUG_STREAM("Successfully found a plan."); + exceeded = false; + planning_ = false; + + plan_mtx_.lock(); + plan_ = plan; + // todo compute the cost once! + cost_ = cost; + last_valid_plan_time_ = ros::Time::now(); + plan_mtx_.unlock(); + setState(FOUND_PLAN, true); + } + else if (max_retries_ >= 0 && ++retries > max_retries_) + { + ROS_INFO_STREAM("Planning reached max retries! (" << max_retries_ << ")"); + exceeded = true; + planning_ = false; + setState(MAX_RETRIES, true); + } + else if (isPatienceExceeded()) + { + // Patience exceeded is handled at two levels: here to stop retrying planning when max_retries is + // disabled, and on the navigation server when the planner doesn't return for more that patience seconds. + // In the second case, the navigation server has tried to cancel planning (possibly without success, as + // old nav_core-based planners do not support canceling), and we add here the fact to the log for info + ROS_INFO_STREAM("Planning patience (" << patience_.toSec() << "s) has been exceeded" + << (cancel_ ? "; planner canceled!" : "")); + exceeded = true; + planning_ = false; + setState(PAT_EXCEEDED, true); + } + else if (max_retries_ == 0 && patience_.isZero()) + { + ROS_INFO_STREAM("Planning could not find a plan!"); + exceeded = true; + planning_ = false; + setState(NO_PLAN_FOUND, true); + } + else + { + exceeded = false; + ROS_DEBUG_STREAM("Planning could not find a plan! Trying again..."); + } + } + else if (cancel_) + { + ROS_INFO_STREAM("The global planner has been canceled!"); + planning_ = false; + setState(CANCELED, true); + } + } // while (planning_ && ros::ok()) + } + catch (const boost::thread_interrupted &ex) + { + // Planner thread interrupted; probably we have exceeded planner patience + ROS_WARN_STREAM("Planner thread interrupted!"); + planning_ = false; + setState(STOPPED, true); + } + catch (...) + { + ROS_FATAL_STREAM("Unknown error occurred: " << boost::current_exception_diagnostic_information()); + setState(INTERNAL_ERROR, true); + } +} + +} /* namespace mbf_abstract_nav */ + diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/abstract_recovery_execution.cpp b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_recovery_execution.cpp new file mode 100755 index 0000000..8ae8a34 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/abstract_recovery_execution.cpp @@ -0,0 +1,144 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_recovery_execution.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include + +#include + +namespace mbf_abstract_nav +{ + +AbstractRecoveryExecution::AbstractRecoveryExecution( + const std::string &name, + const mbf_abstract_core::AbstractRecovery::Ptr &recovery_ptr, + const TFPtr &tf_listener_ptr, + const MoveBaseFlexConfig &config) : + AbstractExecutionBase(name), + behavior_(recovery_ptr), tf_listener_ptr_(tf_listener_ptr), state_(INITIALIZED) +{ + // dynamically reconfigurable parameters + reconfigure(config); +} + +AbstractRecoveryExecution::~AbstractRecoveryExecution() +{ +} + + +void AbstractRecoveryExecution::reconfigure(const MoveBaseFlexConfig &config) +{ + boost::lock_guard guard(conf_mtx_); + + // Maximum time allowed to recovery behaviors. Intended as a safeward for the case a behavior hangs. + // If it doesn't return within time, the navigator will cancel it and abort the corresponding action. + patience_ = ros::Duration(config.recovery_patience); + + // Nothing else to do here, as recovery_enabled is loaded and used in the navigation server +} + + +void AbstractRecoveryExecution::setState(RecoveryState state) +{ + boost::lock_guard guard(state_mtx_); + state_ = state; +} + + +typename AbstractRecoveryExecution::RecoveryState AbstractRecoveryExecution::getState() +{ + boost::lock_guard guard(state_mtx_); + return state_; +} + +bool AbstractRecoveryExecution::cancel() +{ + cancel_ = true; + // returns false if cancel is not implemented or rejected by the recovery behavior (will run until completion) + if (!behavior_->cancel()) + { + ROS_WARN_STREAM("Cancel recovery behavior \"" << name_ << "\" failed or is not supported by the plugin. " + << "Wait until the current recovery behavior finished!"); + return false; + } + return true; +} + +bool AbstractRecoveryExecution::isPatienceExceeded() +{ + boost::lock_guard guard1(conf_mtx_); + boost::lock_guard guard2(time_mtx_); + ROS_DEBUG_STREAM("Patience: " << patience_ << ", start time: " << start_time_ << " now: " << ros::Time::now()); + return !patience_.isZero() && (ros::Time::now() - start_time_ > patience_); +} + +void AbstractRecoveryExecution::run() +{ + cancel_ = false; // reset the canceled state + + time_mtx_.lock(); + start_time_ = ros::Time::now(); + time_mtx_.unlock(); + setState(RECOVERING); + try + { + outcome_ = behavior_->runBehavior(message_); + if (cancel_) + { + setState(CANCELED); + } + else + { + setState(RECOVERY_DONE); + } + } + catch (boost::thread_interrupted &ex) + { + ROS_WARN_STREAM("Recovery \"" << name_ << "\" interrupted!"); + setState(STOPPED); + } + catch (...) + { + ROS_FATAL_STREAM("Unknown error occurred in recovery behavior \"" << name_ << "\": " << boost::current_exception_diagnostic_information()); + setState(INTERNAL_ERROR); + } + condition_.notify_one(); +} + +} /* namespace mbf_abstract_nav */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/controller_action.cpp b/navigations/move_base_flex/mbf_abstract_nav/src/controller_action.cpp new file mode 100755 index 0000000..780115d --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/controller_action.cpp @@ -0,0 +1,364 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * controller_action.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include "mbf_abstract_nav/controller_action.h" + +namespace mbf_abstract_nav +{ + +ControllerAction::ControllerAction( + const std::string &action_name, + const mbf_utility::RobotInformation &robot_info) + : AbstractActionBase(action_name, robot_info, boost::bind(&mbf_abstract_nav::ControllerAction::run, this, _1, _2)) +{ +} + +void ControllerAction::start( + GoalHandle &goal_handle, + typename AbstractControllerExecution::Ptr execution_ptr +) +{ + if(goal_handle.getGoalStatus().status == actionlib_msgs::GoalStatus::RECALLING) + { + goal_handle.setCanceled(); + return; + } + + uint8_t slot = goal_handle.getGoal()->concurrency_slot; + + bool update_plan = false; + slot_map_mtx_.lock(); + std::map::iterator slot_it = concurrency_slots_.find(slot); + if(slot_it != concurrency_slots_.end() && slot_it->second.in_use) + { + boost::lock_guard goal_guard(goal_mtx_); + if(slot_it->second.execution->getName() == goal_handle.getGoal()->controller || + goal_handle.getGoal()->controller.empty()) + { + update_plan = true; + // Goal requests to run the same controller on the same concurrency slot already in use: + // we update the goal handle and pass the new plan and tolerances from the action to the + // execution without stopping it + execution_ptr = slot_it->second.execution; + execution_ptr->setNewPlan(goal_handle.getGoal()->path.poses, + goal_handle.getGoal()->tolerance_from_action, + goal_handle.getGoal()->dist_tolerance, + goal_handle.getGoal()->angle_tolerance); + // Update also goal pose, so the feedback remains consistent + goal_pose_ = goal_handle.getGoal()->path.poses.back(); + mbf_msgs::ExePathResult result; + fillExePathResult(mbf_msgs::ExePathResult::CANCELED, "Goal preempted by a new plan", result); + concurrency_slots_[slot].goal_handle.setCanceled(result, result.message); + concurrency_slots_[slot].goal_handle = goal_handle; + concurrency_slots_[slot].goal_handle.setAccepted(); + } + } + slot_map_mtx_.unlock(); + if(!update_plan) + { + // Otherwise run parent version of this method + AbstractActionBase::start(goal_handle, execution_ptr); + } +} + +void ControllerAction::run(GoalHandle &goal_handle, AbstractControllerExecution &execution) +{ + goal_mtx_.lock(); + // Note that we always use the goal handle stored on the concurrency slots map, as it can change when replanning + uint8_t slot = goal_handle.getGoal()->concurrency_slot; + goal_mtx_.unlock(); + + ROS_DEBUG_STREAM_NAMED(name_, "Start action " << name_); + + // ensure we don't provide values from previous execution on case of error before filling both poses + goal_pose_ = geometry_msgs::PoseStamped(); + robot_pose_ = geometry_msgs::PoseStamped(); + + ros::NodeHandle private_nh("~"); + + double oscillation_timeout_tmp; + private_nh.param("oscillation_timeout", oscillation_timeout_tmp, 0.0); + ros::Duration oscillation_timeout(oscillation_timeout_tmp); + + double oscillation_distance; + private_nh.param("oscillation_distance", oscillation_distance, 0.03); + + mbf_msgs::ExePathResult result; + mbf_msgs::ExePathFeedback feedback; + + typename AbstractControllerExecution::ControllerState state_moving_input; + bool controller_active = true; + + goal_mtx_.lock(); + const mbf_msgs::ExePathGoal &goal = *(goal_handle.getGoal().get()); + + const std::vector &plan = goal.path.poses; + if (plan.empty()) + { + fillExePathResult(mbf_msgs::ExePathResult::INVALID_PATH, "Controller started with an empty plan!", result); + goal_handle.setAborted(result, result.message); + ROS_ERROR_STREAM_NAMED(name_, result.message << " Canceling the action call."); + controller_active = false; + goal_mtx_.unlock(); + return; + } + + goal_pose_ = plan.back(); + ROS_DEBUG_STREAM_NAMED(name_, "Called action \"" + << name_ << "\" with plan:" << std::endl + << "frame: \"" << goal.path.header.frame_id << "\" " << std::endl + << "stamp: " << goal.path.header.stamp << std::endl + << "poses: " << goal.path.poses.size() << std::endl + << "goal: (" << goal_pose_.pose.position.x << ", " + << goal_pose_.pose.position.y << ", " + << goal_pose_.pose.position.z << ")"); + + goal_mtx_.unlock(); + + + geometry_msgs::PoseStamped oscillation_pose; + ros::Time last_oscillation_reset = ros::Time::now(); + + bool first_cycle = true; + + while (controller_active && ros::ok()) + { + // goal_handle could change between the loop cycles due to adapting the plan + // with a new goal received for the same concurrency slot + if (!robot_info_.getRobotPose(robot_pose_)) + { + controller_active = false; + fillExePathResult(mbf_msgs::ExePathResult::TF_ERROR, "Could not get the robot pose!", result); + goal_mtx_.lock(); + goal_handle.setAborted(result, result.message); + goal_mtx_.unlock(); + ROS_ERROR_STREAM_NAMED(name_, result.message << " Canceling the action call."); + break; + } + + if (first_cycle) + { + // init oscillation pose + oscillation_pose = robot_pose_; + } + + goal_mtx_.lock(); + state_moving_input = execution.getState(); + + switch (state_moving_input) + { + case AbstractControllerExecution::INITIALIZED: + execution.setNewPlan(plan, goal.tolerance_from_action, goal.dist_tolerance, goal.angle_tolerance); + execution.start(); + break; + + case AbstractControllerExecution::STOPPED: + ROS_WARN_STREAM_NAMED(name_, "The controller has been stopped rigorously!"); + controller_active = false; + result.outcome = mbf_msgs::ExePathResult::STOPPED; + result.message = "Controller has been stopped!"; + goal_handle.setAborted(result, result.message); + break; + + case AbstractControllerExecution::CANCELED: + ROS_INFO_STREAM("Action \"exe_path\" canceled"); + fillExePathResult(mbf_msgs::ExePathResult::CANCELED, "Controller canceled", result); + goal_handle.setCanceled(result, result.message); + controller_active = false; + break; + + case AbstractControllerExecution::STARTED: + ROS_DEBUG_STREAM_NAMED(name_, "The moving has been started!"); + break; + + case AbstractControllerExecution::PLANNING: + if (execution.isPatienceExceeded()) + { + ROS_INFO_STREAM("Try to cancel the plugin \"" << name_ << "\" after the patience time has been exceeded!"); + if (execution.cancel()) + { + ROS_INFO_STREAM("Successfully canceled the plugin \"" << name_ << "\" after the patience time has been exceeded!"); + } + } + break; + + case AbstractControllerExecution::MAX_RETRIES: + ROS_WARN_STREAM_NAMED(name_, "The controller has been aborted after it exceeded the maximum number of retries!"); + controller_active = false; + fillExePathResult(execution.getOutcome(), execution.getMessage(), result); + goal_handle.setAborted(result, result.message); + break; + + case AbstractControllerExecution::PAT_EXCEEDED: + ROS_WARN_STREAM_NAMED(name_, "The controller has been aborted after it exceeded the patience time"); + controller_active = false; + fillExePathResult(mbf_msgs::ExePathResult::PAT_EXCEEDED, execution.getMessage(), result); + goal_handle.setAborted(result, result.message); + break; + + case AbstractControllerExecution::NO_PLAN: + ROS_WARN_STREAM_NAMED(name_, "The controller has been started without a plan!"); + controller_active = false; + fillExePathResult(mbf_msgs::ExePathResult::INVALID_PATH, "Controller started without a path", result); + goal_handle.setAborted(result, result.message); + break; + + case AbstractControllerExecution::EMPTY_PLAN: + ROS_WARN_STREAM_NAMED(name_, "The controller has received an empty plan"); + controller_active = false; + fillExePathResult(mbf_msgs::ExePathResult::INVALID_PATH, "Controller started with an empty plan", result); + goal_handle.setAborted(result, result.message); + break; + + case AbstractControllerExecution::INVALID_PLAN: + ROS_WARN_STREAM_NAMED(name_, "The controller has received an invalid plan"); + controller_active = false; + fillExePathResult(mbf_msgs::ExePathResult::INVALID_PATH, "Controller started with an invalid plan", result); + goal_handle.setAborted(result, result.message); + break; + + case AbstractControllerExecution::NO_LOCAL_CMD: + ROS_WARN_STREAM_THROTTLE_NAMED(3, name_, "No velocity command received from controller! " + << execution.getMessage()); + publishExePathFeedback(goal_handle, execution.getOutcome(), execution.getMessage(), execution.getVelocityCmd()); + break; + + case AbstractControllerExecution::GOT_LOCAL_CMD: + if (!oscillation_timeout.isZero()) + { + // check if oscillating + if (mbf_utility::distance(robot_pose_, oscillation_pose) >= oscillation_distance) + { + last_oscillation_reset = ros::Time::now(); + oscillation_pose = robot_pose_; + } + else if (last_oscillation_reset + oscillation_timeout < ros::Time::now()) + { + ROS_WARN_STREAM_NAMED(name_, "The controller is oscillating for " + << (ros::Time::now() - last_oscillation_reset).toSec() << "s"); + + execution.cancel(); + controller_active = false; + fillExePathResult(mbf_msgs::ExePathResult::OSCILLATION, "Oscillation detected!", result); + goal_handle.setAborted(result, result.message); + break; + } + } + publishExePathFeedback(goal_handle, execution.getOutcome(), execution.getMessage(), execution.getVelocityCmd()); + break; + + case AbstractControllerExecution::ARRIVED_GOAL: + ROS_DEBUG_STREAM_NAMED(name_, "Controller succeeded; arrived at goal"); + controller_active = false; + fillExePathResult(mbf_msgs::ExePathResult::SUCCESS, "Controller succeeded; arrived at goal!", result); + goal_handle.setSucceeded(result, result.message); + break; + + case AbstractControllerExecution::INTERNAL_ERROR: + ROS_FATAL_STREAM_NAMED(name_, "Internal error: Unknown error thrown by the plugin: " << execution.getMessage()); + controller_active = false; + fillExePathResult(mbf_msgs::ExePathResult::INTERNAL_ERROR, "Internal error: Unknown error thrown by the plugin!", result); + goal_handle.setAborted(result, result.message); + break; + + default: + std::stringstream ss; + ss << "Internal error: Unknown state in a move base flex controller execution with the number: " + << static_cast(state_moving_input); + fillExePathResult(mbf_msgs::ExePathResult::INTERNAL_ERROR, ss.str(), result); + ROS_FATAL_STREAM_NAMED(name_, result.message); + goal_handle.setAborted(result, result.message); + controller_active = false; + } + goal_mtx_.unlock(); + + if (controller_active) + { + // try to sleep a bit + // normally this thread should be woken up from the controller execution thread + // in order to transfer the results to the controller + execution.waitForStateUpdate(boost::chrono::milliseconds(500)); + } + + first_cycle = false; + } // while (controller_active && ros::ok()) + + if (!controller_active) + { + ROS_DEBUG_STREAM_NAMED(name_, "\"" << name_ << "\" action ended properly."); + } + else + { + // normal on continuous replanning + ROS_DEBUG_STREAM_NAMED(name_, "\"" << name_ << "\" action has been stopped!"); + } +} + +void ControllerAction::publishExePathFeedback( + GoalHandle &goal_handle, + uint32_t outcome, const std::string &message, + const geometry_msgs::TwistStamped ¤t_twist) +{ + mbf_msgs::ExePathFeedback feedback; + feedback.outcome = outcome; + feedback.message = message; + + feedback.last_cmd_vel = current_twist; + if (feedback.last_cmd_vel.header.stamp.isZero()) + feedback.last_cmd_vel.header.stamp = ros::Time::now(); + + feedback.current_pose = robot_pose_; + feedback.dist_to_goal = static_cast(mbf_utility::distance(robot_pose_, goal_pose_)); + feedback.angle_to_goal = static_cast(mbf_utility::angle(robot_pose_, goal_pose_)); + goal_handle.publishFeedback(feedback); +} + +void ControllerAction::fillExePathResult( + uint32_t outcome, const std::string &message, + mbf_msgs::ExePathResult &result) +{ + result.outcome = outcome; + result.message = message; + result.final_pose = robot_pose_; + result.dist_to_goal = static_cast(mbf_utility::distance(robot_pose_, goal_pose_)); + result.angle_to_goal = static_cast(mbf_utility::angle(robot_pose_, goal_pose_)); +} + +} /* mbf_abstract_nav */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/mbf_abstract_nav/__init__.py b/navigations/move_base_flex/mbf_abstract_nav/src/mbf_abstract_nav/__init__.py new file mode 100755 index 0000000..d684cff --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/mbf_abstract_nav/__init__.py @@ -0,0 +1,40 @@ +# Generic set of parameters required by any MBF-based navigation framework +# To use: +# +# from mbf_abstract_nav import add_mbf_abstract_nav_params +# gen = ParameterGenerator() +# add_mbf_abstract_nav_params(gen) +# ... +# WARN: parameters added here must be copied on the specific MBF implementation reconfigure callback, e.g. in: +# https://github.com/magazino/move_base_flex/blob/master/mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp#L130 +# Also, you need to touch https://github.com/magazino/move_base_flex/blob/master/mbf_costmap_nav/cfg/MoveBaseFlex.cfg +# when recompiling to ensure configuration code is regenerated with the new parameters + +# need this only for dataype declarations +from dynamic_reconfigure.parameter_generator_catkin import str_t, double_t, int_t, bool_t + + +def add_mbf_abstract_nav_params(gen): + gen.add("planner_frequency", double_t, 0, + "The rate in Hz at which to run the planning loop", 0, 0, 100) + gen.add("planner_patience", double_t, 0, + "How long the planner will wait in seconds in an attempt to find a valid plan before giving up", 5.0, 0, 100) + gen.add("planner_max_retries", int_t, 0, + "How many times we will recall the planner in an attempt to find a valid plan before giving up", -1, -1, 1000) + + gen.add("controller_frequency", double_t, 0, + "The rate in Hz at which to run the control loop and send velocity commands to the base", 20, 0, 100) + gen.add("controller_patience", double_t, 0, + "How long the controller will wait in seconds without receiving a valid control before giving up", 5.0, 0, 100) + gen.add("controller_max_retries", int_t, 0, + "How many times we will recall the controller in an attempt to find a valid command before giving up", -1, -1, 1000) + + gen.add("recovery_enabled", bool_t, 0, + "Whether or not to enable the move_base_flex recovery behaviors to attempt to clear out space", True) + gen.add("recovery_patience", double_t, 0, + "How much time we allow recovery behaviors to complete before canceling (or stopping if cancel fails) them", 15.0, 0, 100) + + gen.add("oscillation_timeout", double_t, 0, + "How long in seconds to allow for oscillation before executing recovery behaviors", 0.0, 0, 60) + gen.add("oscillation_distance", double_t, 0, + "How far in meters the robot must move to be considered not to be oscillating", 0.5, 0, 10) diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/move_base_action.cpp b/navigations/move_base_flex/mbf_abstract_nav/src/move_base_action.cpp new file mode 100755 index 0000000..9de7338 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/move_base_action.cpp @@ -0,0 +1,586 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * move_base_action.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include + +#include "mbf_abstract_nav/MoveBaseFlexConfig.h" +#include "mbf_abstract_nav/move_base_action.h" + +namespace mbf_abstract_nav +{ + +MoveBaseAction::MoveBaseAction(const std::string &name, + const mbf_utility::RobotInformation &robot_info, + const std::vector &behaviors) + : name_(name), robot_info_(robot_info), private_nh_("~"), + action_client_exe_path_(private_nh_, "exe_path"), + action_client_get_path_(private_nh_, "get_path"), + action_client_recovery_(private_nh_, "recovery"), + oscillation_timeout_(0), + oscillation_distance_(0), + recovery_enabled_(true), + behaviors_(behaviors), + action_state_(NONE), + recovery_trigger_(NONE), + replanning_(false), + replanning_rate_(1.0) +{ +} + +MoveBaseAction::~MoveBaseAction() +{ +} + +void MoveBaseAction::reconfigure( + mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level) +{ + if (config.planner_frequency > 0.0) + { + boost::lock_guard guard(replanning_mtx_); + if (!replanning_) + { + replanning_ = true; + if (action_state_ == EXE_PATH && + action_client_get_path_.getState() != actionlib::SimpleClientGoalState::PENDING && + action_client_get_path_.getState() != actionlib::SimpleClientGoalState::ACTIVE) + { + // exe_path is running and user has enabled replanning + ROS_INFO_STREAM_NAMED("move_base", "Planner frequency set to " << config.planner_frequency + << ": start replanning, using the \"get_path\" action!"); + action_client_get_path_.sendGoal( + get_path_goal_, + boost::bind(&MoveBaseAction::actionGetPathReplanningDone, this, _1, _2) + ); + } + } + replanning_rate_ = ros::Rate(config.planner_frequency); + } + else + replanning_ = false; + oscillation_timeout_ = ros::Duration(config.oscillation_timeout); + oscillation_distance_ = config.oscillation_distance; + recovery_enabled_ = config.recovery_enabled; +} + +void MoveBaseAction::cancel() +{ + action_state_ = CANCELED; + + if (!action_client_get_path_.getState().isDone()) + { + action_client_get_path_.cancelGoal(); + } + + if (!action_client_exe_path_.getState().isDone()) + { + action_client_exe_path_.cancelGoal(); + } + + if (!action_client_recovery_.getState().isDone()) + { + action_client_recovery_.cancelGoal(); + } +} + +void MoveBaseAction::start(GoalHandle &goal_handle) +{ + action_state_ = GET_PATH; + + goal_handle.setAccepted(); + + goal_handle_ = goal_handle; + + ROS_DEBUG_STREAM_NAMED("move_base", "Start action \"move_base\""); + + const mbf_msgs::MoveBaseGoal& goal = *goal_handle.getGoal(); + + mbf_msgs::MoveBaseResult move_base_result; + + get_path_goal_.target_pose = goal.target_pose; + get_path_goal_.use_start_pose = false; // use the robot pose + get_path_goal_.planner = goal.planner; + get_path_goal_.tolerance_from_action = goal.tolerance_from_action; + get_path_goal_.dist_tolerance = goal.dist_tolerance; + get_path_goal_.angle_tolerance = goal.angle_tolerance; + + exe_path_goal_.controller = goal.controller; + exe_path_goal_.tolerance_from_action = goal.tolerance_from_action; + exe_path_goal_.dist_tolerance = goal.dist_tolerance; + exe_path_goal_.angle_tolerance = goal.angle_tolerance; + + ros::Duration connection_timeout(1.0); + + last_oscillation_reset_ = ros::Time::now(); + + // start recovering with the first behavior, use the recovery behaviors from the action request, if specified, + // otherwise, use all loaded behaviors. + + recovery_behaviors_ = goal.recovery_behaviors.empty() ? behaviors_ : goal.recovery_behaviors; + current_recovery_behavior_ = recovery_behaviors_.begin(); + + // get the current robot pose only at the beginning, as exe_path will keep updating it as we move + if (!robot_info_.getRobotPose(robot_pose_)) + { + ROS_ERROR_STREAM_NAMED("move_base", "Could not get the current robot pose!"); + move_base_result.message = "Could not get the current robot pose!"; + move_base_result.outcome = mbf_msgs::MoveBaseResult::TF_ERROR; + goal_handle.setAborted(move_base_result, move_base_result.message); + return; + } + goal_pose_ = goal.target_pose; + + // wait for server connections + if (!action_client_get_path_.waitForServer(connection_timeout) || + !action_client_exe_path_.waitForServer(connection_timeout) || + !action_client_recovery_.waitForServer(connection_timeout)) + { + ROS_ERROR_STREAM_NAMED("move_base", "Could not connect to one or more of move_base_flex actions: " + "\"get_path\", \"exe_path\", \"recovery \"!"); + move_base_result.outcome = mbf_msgs::MoveBaseResult::INTERNAL_ERROR; + move_base_result.message = "Could not connect to the move_base_flex actions!"; + goal_handle.setAborted(move_base_result, move_base_result.message); + return; + } + + // call get_path action server to get a first plan + action_client_get_path_.sendGoal( + get_path_goal_, + boost::bind(&MoveBaseAction::actionGetPathDone, this, _1, _2)); +} + +void MoveBaseAction::actionExePathActive() +{ + ROS_DEBUG_STREAM_NAMED("move_base", "The \"exe_path\" action is active."); +} + +void MoveBaseAction::actionExePathFeedback( + const mbf_msgs::ExePathFeedbackConstPtr &feedback) +{ + mbf_msgs::MoveBaseFeedback move_base_feedback; + move_base_feedback.outcome = feedback->outcome; + move_base_feedback.message = feedback->message; + move_base_feedback.angle_to_goal = feedback->angle_to_goal; + move_base_feedback.dist_to_goal = feedback->dist_to_goal; + move_base_feedback.current_pose = feedback->current_pose; + move_base_feedback.last_cmd_vel = feedback->last_cmd_vel; + robot_pose_ = feedback->current_pose; + goal_handle_.publishFeedback(move_base_feedback); + + // we create a navigation-level oscillation detection using exe_path action's feedback, + // as the later doesn't handle oscillations created by quickly failing repeated plans + + // if oscillation detection is enabled by oscillation_timeout != 0 + if (!oscillation_timeout_.isZero()) + { + // check if oscillating + // moved more than the minimum oscillation distance + if (mbf_utility::distance(robot_pose_, last_oscillation_pose_) >= oscillation_distance_) + { + last_oscillation_reset_ = ros::Time::now(); + last_oscillation_pose_ = robot_pose_; + + if (recovery_trigger_ == OSCILLATING) + { + ROS_INFO_NAMED("move_base", "Recovered from robot oscillation: restart recovery behaviors"); + current_recovery_behavior_ = recovery_behaviors_.begin(); + recovery_trigger_ = NONE; + } + } + else if (last_oscillation_reset_ + oscillation_timeout_ < ros::Time::now()) + { + std::stringstream oscillation_msgs; + oscillation_msgs << "Robot is oscillating for " << (ros::Time::now() - last_oscillation_reset_).toSec() << "s!"; + ROS_WARN_STREAM_NAMED("move_base", oscillation_msgs.str()); + action_client_exe_path_.cancelGoal(); + + if (attemptRecovery()) + { + recovery_trigger_ = OSCILLATING; + } + else + { + mbf_msgs::MoveBaseResult move_base_result; + move_base_result.outcome = mbf_msgs::MoveBaseResult::OSCILLATION; + move_base_result.message = oscillation_msgs.str(); + move_base_result.final_pose = robot_pose_; + move_base_result.angle_to_goal = move_base_feedback.angle_to_goal; + move_base_result.dist_to_goal = move_base_feedback.dist_to_goal; + goal_handle_.setAborted(move_base_result, move_base_result.message); + } + } + } +} + +void MoveBaseAction::actionGetPathDone( + const actionlib::SimpleClientGoalState &state, + const mbf_msgs::GetPathResultConstPtr &result_ptr) +{ + const mbf_msgs::GetPathResult &get_path_result = *result_ptr; + mbf_msgs::MoveBaseResult move_base_result; + + // copy result from get_path action + fillMoveBaseResult(get_path_result, move_base_result); + + switch (state.state_) + { + case actionlib::SimpleClientGoalState::PENDING: + ROS_FATAL_STREAM_NAMED("move_base", "get_path PENDING state not implemented, this should not be reachable!"); + break; + + case actionlib::SimpleClientGoalState::SUCCEEDED: + ROS_DEBUG_STREAM_NAMED("move_base", "Action \"" + << "move_base\" received a path from \"" + << "get_path\": " << state.getText()); + + exe_path_goal_.path = get_path_result.path; + ROS_DEBUG_STREAM_NAMED("move_base", "Action \"" + << "move_base\" sends the path to \"" + << "exe_path\"."); + + if (recovery_trigger_ == GET_PATH) + { + ROS_WARN_NAMED("move_base", "Recovered from planner failure: restart recovery behaviors"); + current_recovery_behavior_ = recovery_behaviors_.begin(); + recovery_trigger_ = NONE; + } + + action_client_exe_path_.sendGoal( + exe_path_goal_, + boost::bind(&MoveBaseAction::actionExePathDone, this, _1, _2), + boost::bind(&MoveBaseAction::actionExePathActive, this), + boost::bind(&MoveBaseAction::actionExePathFeedback, this, _1)); + action_state_ = EXE_PATH; + break; + + case actionlib::SimpleClientGoalState::ABORTED: + + if (attemptRecovery()) + { + recovery_trigger_ = GET_PATH; + } + else + { + // copy result from get_path action + ROS_WARN_STREAM_NAMED("move_base", "Abort the execution of the planner: " << get_path_result.message); + goal_handle_.setAborted(move_base_result, state.getText()); + } + action_state_ = FAILED; + break; + + case actionlib::SimpleClientGoalState::RECALLED: + case actionlib::SimpleClientGoalState::PREEMPTED: + ROS_INFO_STREAM_NAMED("move_base", "The last action goal to \"get_path\" has been " << state.toString()); + if (action_state_ == CANCELED) + { + // move_base preempted while executing get_path; fill result and report canceled to the client + ROS_INFO_STREAM_NAMED("move_base", "move_base preempted while executing get_path"); + goal_handle_.setCanceled(move_base_result, state.getText()); + } + break; + + case actionlib::SimpleClientGoalState::REJECTED: + ROS_ERROR_STREAM_NAMED("move_base", "The last action goal to \"get_path\" has been " << state.toString()); + goal_handle_.setCanceled(move_base_result, state.getText()); + action_state_ = FAILED; + break; + + case actionlib::SimpleClientGoalState::LOST: + ROS_FATAL_STREAM_NAMED("move_base", "Connection lost to the action \"get_path\"!"); + goal_handle_.setAborted(); + action_state_ = FAILED; + break; + + default: + ROS_FATAL_STREAM_NAMED("move_base", "Reached unknown action server state!"); + goal_handle_.setAborted(); + action_state_ = FAILED; + break; + } + + // start replanning if enabled (can be disabled by dynamic reconfigure) and if we started following a path + if (!replanning_ || action_state_ != EXE_PATH) + return; + + // we reset the replan clock (we can have been stopped for a while) and make a fist sleep, so we don't replan + // just after start moving + boost::lock_guard guard(replanning_mtx_); + replanning_rate_.reset(); + replanning_rate_.sleep(); + if (!replanning_ || action_state_ != EXE_PATH || + action_client_get_path_.getState() == actionlib::SimpleClientGoalState::PENDING || + action_client_get_path_.getState() == actionlib::SimpleClientGoalState::ACTIVE) + return; // another chance to stop replannings after waiting for replanning period + ROS_INFO_STREAM_NAMED("move_base", "Start replanning, using the \"get_path\" action!"); + action_client_get_path_.sendGoal( + get_path_goal_, + boost::bind(&MoveBaseAction::actionGetPathReplanningDone, this, _1, _2) + ); +} + +void MoveBaseAction::actionExePathDone( + const actionlib::SimpleClientGoalState &state, + const mbf_msgs::ExePathResultConstPtr &result_ptr) +{ + ROS_DEBUG_STREAM_NAMED("move_base", "Action \"exe_path\" finished."); + + const mbf_msgs::ExePathResult& exe_path_result = *result_ptr; + mbf_msgs::MoveBaseResult move_base_result; + + // copy result from exe_path action + fillMoveBaseResult(exe_path_result, move_base_result); + + ROS_DEBUG_STREAM_NAMED("move_base", "Current state:" << state.toString()); + + switch (state.state_) + { + case actionlib::SimpleClientGoalState::SUCCEEDED: + move_base_result.outcome = mbf_msgs::MoveBaseResult::SUCCESS; + move_base_result.message = "Action \"move_base\" succeeded!"; + ROS_INFO_STREAM_NAMED("move_base", move_base_result.message); + goal_handle_.setSucceeded(move_base_result, move_base_result.message); + action_state_ = SUCCEEDED; + break; + + case actionlib::SimpleClientGoalState::ABORTED: + action_state_ = FAILED; + + switch (exe_path_result.outcome) + { + case mbf_msgs::ExePathResult::INVALID_PATH: + case mbf_msgs::ExePathResult::TF_ERROR: + case mbf_msgs::ExePathResult::NOT_INITIALIZED: + case mbf_msgs::ExePathResult::INVALID_PLUGIN: + case mbf_msgs::ExePathResult::INTERNAL_ERROR: + // none of these errors is recoverable + goal_handle_.setAborted(move_base_result, state.getText()); + break; + + default: + // all the rest are, so we start calling the recovery behaviors in sequence + + if (attemptRecovery()) + { + recovery_trigger_ = EXE_PATH; + } + else + { + ROS_WARN_STREAM_NAMED("move_base", "Abort the execution of the controller: " << exe_path_result.message); + goal_handle_.setAborted(move_base_result, state.getText()); + } + break; + } + break; + + case actionlib::SimpleClientGoalState::RECALLED: + case actionlib::SimpleClientGoalState::PREEMPTED: + ROS_INFO_STREAM_NAMED("move_base", "The last action goal to \"exe_path\" has been " << state.toString()); + if (action_state_ == CANCELED) + { + // move_base preempted while executing exe_path; fill result and report canceled to the client + ROS_INFO_STREAM_NAMED("move_base", "move_base preempted while executing exe_path"); + goal_handle_.setCanceled(move_base_result, state.getText()); + } + break; + + case actionlib::SimpleClientGoalState::REJECTED: + ROS_ERROR_STREAM_NAMED("move_base", "The last action goal to \"exe_path\" has been " << state.toString()); + goal_handle_.setCanceled(move_base_result, state.getText()); + action_state_ = FAILED; + break; + + case actionlib::SimpleClientGoalState::LOST: + ROS_FATAL_STREAM_NAMED("move_base", "Connection lost to the action \"exe_path\"!"); + goal_handle_.setAborted(); + action_state_ = FAILED; + break; + + default: + ROS_FATAL_STREAM_NAMED("move_base", "Reached unreachable case! Unknown SimpleActionServer state!"); + goal_handle_.setAborted(); + action_state_ = FAILED; + break; + } +} + +bool MoveBaseAction::attemptRecovery() +{ + if (!recovery_enabled_) + { + ROS_WARN_STREAM_NAMED("move_base", "Recovery behaviors are disabled!"); + return false; + } + + if (current_recovery_behavior_ == recovery_behaviors_.end()) + { + if (recovery_behaviors_.empty()) + { + ROS_WARN_STREAM_NAMED("move_base", "No Recovery Behaviors loaded!"); + } + else + { + ROS_WARN_STREAM_NAMED("move_base", "Executed all available recovery behaviors!"); + } + return false; + } + + recovery_goal_.behavior = *current_recovery_behavior_; + ROS_DEBUG_STREAM_NAMED("move_base", "Start recovery behavior\"" + << *current_recovery_behavior_ <<"\"."); + action_client_recovery_.sendGoal( + recovery_goal_, + boost::bind(&MoveBaseAction::actionRecoveryDone, this, _1, _2) + ); + action_state_ = RECOVERY; + return true; +} + +void MoveBaseAction::actionRecoveryDone( + const actionlib::SimpleClientGoalState &state, + const mbf_msgs::RecoveryResultConstPtr &result_ptr) +{ + // give the robot some time to stop oscillating after executing the recovery behavior + last_oscillation_reset_ = ros::Time::now(); + + const mbf_msgs::RecoveryResult& recovery_result = *result_ptr; + mbf_msgs::MoveBaseResult move_base_result; + + // copy result from recovery action + fillMoveBaseResult(recovery_result, move_base_result); + + switch (state.state_) + { + case actionlib::SimpleClientGoalState::REJECTED: + case actionlib::SimpleClientGoalState::ABORTED: + action_state_ = FAILED; + + ROS_DEBUG_STREAM_NAMED("move_base", "The recovery behavior \"" + << *current_recovery_behavior_ << "\" has failed. "); + ROS_DEBUG_STREAM("Recovery behavior message: " << recovery_result.message + << ", outcome: " << recovery_result.outcome); + + current_recovery_behavior_++; // use next behavior; + if (current_recovery_behavior_ == recovery_behaviors_.end()) + { + ROS_DEBUG_STREAM_NAMED("move_base", + "All recovery behaviors failed. Abort recovering and abort the move_base action"); + goal_handle_.setAborted(move_base_result, "All recovery behaviors failed."); + } + else + { + recovery_goal_.behavior = *current_recovery_behavior_; + + ROS_INFO_STREAM_NAMED("move_base", "Run the next recovery behavior \"" + << *current_recovery_behavior_ << "\"."); + action_client_recovery_.sendGoal( + recovery_goal_, + boost::bind(&MoveBaseAction::actionRecoveryDone, this, _1, _2) + ); + } + break; + case actionlib::SimpleClientGoalState::SUCCEEDED: + //go to planning state + ROS_DEBUG_STREAM_NAMED("move_base", "Execution of the recovery behavior \"" + << *current_recovery_behavior_ << "\" succeeded!"); + ROS_DEBUG_STREAM_NAMED("move_base", + "Try planning again and increment the current recovery behavior in the list."); + action_state_ = GET_PATH; + current_recovery_behavior_++; // use next behavior, the next time; + action_client_get_path_.sendGoal( + get_path_goal_, + boost::bind(&MoveBaseAction::actionGetPathDone, this, _1, _2) + ); + break; + case actionlib::SimpleClientGoalState::RECALLED: + case actionlib::SimpleClientGoalState::PREEMPTED: + ROS_INFO_STREAM_NAMED("move_base", "The last action goal to \"recovery\" has been preempted!"); + if (action_state_ == CANCELED) + { + // move_base preempted while executing a recovery; fill result and report canceled to the client + ROS_INFO_STREAM_NAMED("move_base", "move_base preempted while executing a recovery behavior"); + goal_handle_.setCanceled(move_base_result, state.getText()); + } + break; + + case actionlib::SimpleClientGoalState::LOST: + ROS_FATAL_STREAM_NAMED("move_base", "Connection lost to the action \"recovery\"!"); + goal_handle_.setAborted(); + action_state_ = FAILED; + break; + default: + ROS_FATAL_STREAM_NAMED("move_base", "Reached unreachable case! Unknown state!"); + goal_handle_.setAborted(); + action_state_ = FAILED; + break; + } +} + +void MoveBaseAction::actionGetPathReplanningDone( + const actionlib::SimpleClientGoalState &state, + const mbf_msgs::GetPathResultConstPtr &result) +{ + if (!replanning_ || action_state_ != EXE_PATH) + return; // replan only while following a path and if replanning is enabled (can be disabled by dynamic reconfigure) + + if (state == actionlib::SimpleClientGoalState::SUCCEEDED) + { + ROS_DEBUG_STREAM_NAMED("move_base", "Replanning succeeded; sending a goal to \"exe_path\" with the new plan"); + exe_path_goal_.path = result->path; + mbf_msgs::ExePathGoal goal(exe_path_goal_); + action_client_exe_path_.sendGoal( + goal, + boost::bind(&MoveBaseAction::actionExePathDone, this, _1, _2), + boost::bind(&MoveBaseAction::actionExePathActive, this), + boost::bind(&MoveBaseAction::actionExePathFeedback, this, _1)); + } + + replanning_mtx_.lock(); + replanning_rate_.sleep(); + replanning_mtx_.unlock(); + + if (!replanning_ || action_state_ != EXE_PATH) + return; // another chance to stop replannings after waiting for replanning period + + ROS_DEBUG_STREAM_NAMED("move_base", "Next replanning cycle, using the \"get_path\" action!"); + action_client_get_path_.sendGoal( + get_path_goal_, + boost::bind(&MoveBaseAction::actionGetPathReplanningDone, this, _1, _2)); // replanning +} + +} /* namespace mbf_abstract_nav */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/planner_action.cpp b/navigations/move_base_flex/mbf_abstract_nav/src/planner_action.cpp new file mode 100755 index 0000000..d71aa15 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/planner_action.cpp @@ -0,0 +1,286 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * planner_action.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include + +#include "mbf_abstract_nav/planner_action.h" + +namespace mbf_abstract_nav +{ + +PlannerAction::PlannerAction( + const std::string &name, + const mbf_utility::RobotInformation &robot_info) + : AbstractActionBase(name, robot_info, boost::bind(&mbf_abstract_nav::PlannerAction::run, this, _1, _2)), path_seq_count_(0) +{ + ros::NodeHandle private_nh("~"); + // informative topics: current navigation goal + current_goal_pub_ = private_nh.advertise("current_goal", 1); +} + +void PlannerAction::run(GoalHandle &goal_handle, AbstractPlannerExecution &execution) +{ + const mbf_msgs::GetPathGoal& goal = *(goal_handle.getGoal().get()); + + mbf_msgs::GetPathResult result; + geometry_msgs::PoseStamped start_pose; + + result.path.header.seq = path_seq_count_++; + result.path.header.frame_id = robot_info_.getGlobalFrame(); + + double dist_tolerance = goal.tolerance_from_action ? goal.dist_tolerance : 0.0; + double angle_tolerance = goal.tolerance_from_action ? goal.angle_tolerance : 0.0; + bool use_start_pose = goal.use_start_pose; + current_goal_pub_.publish(goal.target_pose); + + bool planner_active = true; + + if (use_start_pose) + { + start_pose = goal.start_pose; + const geometry_msgs::Point& p = start_pose.pose.position; + ROS_DEBUG_STREAM_NAMED(name_, "Use the given start pose (" << p.x << ", " << p.y << ", " << p.z << ")."); + } + else + { + // get the current robot pose + if (!robot_info_.getRobotPose(start_pose)) + { + result.outcome = mbf_msgs::GetPathResult::TF_ERROR; + result.message = "Could not get the current robot pose!"; + goal_handle.setAborted(result, result.message); + ROS_ERROR_STREAM_NAMED(name_, result.message << " Canceling the action call."); + return; + } + else + { + const geometry_msgs::Point& p = start_pose.pose.position; + ROS_DEBUG_STREAM_NAMED(name_, "Got the current robot pose at (" + << p.x << ", " << p.y << ", " << p.z << ")."); + } + } + + AbstractPlannerExecution::PlanningState state_planning_input; + + std::vector plan, global_plan; + + while (planner_active && ros::ok()) + { + // get the current state of the planning thread + state_planning_input = execution.getState(); + + switch (state_planning_input) + { + case AbstractPlannerExecution::INITIALIZED: + ROS_DEBUG_STREAM_NAMED(name_, "planner state: initialized"); + if (!execution.start(start_pose, goal.target_pose, dist_tolerance, angle_tolerance)) + { + result.outcome = mbf_msgs::GetPathResult::INTERNAL_ERROR; + result.message = "Another thread is still planning!"; + goal_handle.setAborted(result, result.message); + ROS_ERROR_STREAM_NAMED(name_, result.message << " Canceling the action call."); + planner_active = false; + } + break; + + case AbstractPlannerExecution::STARTED: + ROS_DEBUG_STREAM_NAMED(name_, "planner state: started"); + break; + + case AbstractPlannerExecution::STOPPED: + ROS_DEBUG_STREAM_NAMED(name_, "planner state: stopped"); + ROS_WARN_STREAM_NAMED(name_, "Planning has been stopped rigorously!"); + result.outcome = mbf_msgs::GetPathResult::STOPPED; + result.message = "Global planner has been stopped!"; + goal_handle.setAborted(result, result.message); + planner_active = false; + break; + + case AbstractPlannerExecution::CANCELED: + ROS_DEBUG_STREAM_NAMED(name_, "planner state: canceled"); + ROS_DEBUG_STREAM_NAMED(name_, "Global planner has been canceled successfully"); + result.path.header.stamp = ros::Time::now(); + result.outcome = mbf_msgs::GetPathResult::CANCELED; + result.message = "Global planner has been canceled!"; + goal_handle.setCanceled(result, result.message); + planner_active = false; + break; + + // in progress + case AbstractPlannerExecution::PLANNING: + if (execution.isPatienceExceeded()) + { + ROS_INFO_STREAM_NAMED(name_, "Global planner patience has been exceeded! Cancel planning..."); + execution.cancel(); + } + else + { + ROS_DEBUG_THROTTLE_NAMED(2.0, name_, "planner state: planning"); + } + break; + + // found a new plan + case AbstractPlannerExecution::FOUND_PLAN: + // set time stamp to now + result.path.header.stamp = ros::Time::now(); + plan = execution.getPlan(); + + ROS_DEBUG_STREAM_NAMED(name_, "planner state: found plan with cost: " << execution.getCost()); + + if (!transformPlanToGlobalFrame(plan, global_plan)) + { + result.outcome = mbf_msgs::GetPathResult::TF_ERROR; + result.message = "Could not transform the plan to the global frame!"; + + ROS_ERROR_STREAM_NAMED(name_, result.message << " Canceling the action call."); + goal_handle.setAborted(result, result.message); + planner_active = false; + break; + } + + if (global_plan.empty()) + { + result.outcome = mbf_msgs::GetPathResult::EMPTY_PATH; + result.message = "Global planner returned an empty path!"; + + ROS_ERROR_STREAM_NAMED(name_, result.message); + goal_handle.setAborted(result, result.message); + planner_active = false; + break; + } + + result.path.poses = global_plan; + result.cost = execution.getCost(); + result.outcome = execution.getOutcome(); + result.message = execution.getMessage(); + goal_handle.setSucceeded(result, result.message); + + planner_active = false; + break; + + // no plan found + case AbstractPlannerExecution::NO_PLAN_FOUND: + ROS_DEBUG_STREAM_NAMED(name_, "planner state: no plan found"); + result.outcome = execution.getOutcome(); + result.message = execution.getMessage(); + goal_handle.setAborted(result, result.message); + planner_active = false; + break; + + case AbstractPlannerExecution::MAX_RETRIES: + ROS_DEBUG_STREAM_NAMED(name_, "Global planner reached the maximum number of retries"); + result.outcome = execution.getOutcome(); + result.message = execution.getMessage(); + goal_handle.setAborted(result, result.message); + planner_active = false; + break; + + case AbstractPlannerExecution::PAT_EXCEEDED: + ROS_DEBUG_STREAM_NAMED(name_, "Global planner exceeded the patience time"); + result.outcome = mbf_msgs::GetPathResult::PAT_EXCEEDED; + result.message = "Global planner exceeded the patience time"; + goal_handle.setAborted(result, result.message); + planner_active = false; + break; + + case AbstractPlannerExecution::INTERNAL_ERROR: + ROS_FATAL_STREAM_NAMED(name_, "Internal error: Unknown error thrown by the plugin!"); // TODO getMessage from planning + planner_active = false; + result.outcome = mbf_msgs::GetPathResult::INTERNAL_ERROR; + result.message = "Internal error: Unknown error thrown by the plugin!"; + goal_handle.setAborted(result, result.message); + break; + + default: + result.outcome = mbf_msgs::GetPathResult::INTERNAL_ERROR; + std::ostringstream ss; + ss << "Internal error: Unknown state in a move base flex planner execution with the number: " + << static_cast(state_planning_input); + result.message = ss.str(); + ROS_FATAL_STREAM_NAMED(name_, result.message); + goal_handle.setAborted(result, result.message); + planner_active = false; + } + + + if (planner_active) + { + // try to sleep a bit + // normally this thread should be woken up from the planner execution thread + // in order to transfer the results to the controller. + boost::mutex mutex; + boost::unique_lock lock(mutex); + execution.waitForStateUpdate(boost::chrono::milliseconds(500)); + } + } // while (planner_active && ros::ok()) + + if (!planner_active) + { + ROS_DEBUG_STREAM_NAMED(name_, "\"" << name_ << "\" action ended properly."); + } + else + { + ROS_ERROR_STREAM_NAMED(name_, "\"" << name_ << "\" action has been stopped!"); + } +} + +bool PlannerAction::transformPlanToGlobalFrame( + std::vector &plan, std::vector &global_plan) +{ + global_plan.clear(); + std::vector::iterator iter; + bool tf_success = false; + for (iter = plan.begin(); iter != plan.end(); ++iter) + { + geometry_msgs::PoseStamped global_pose; + tf_success = mbf_utility::transformPose(robot_info_.getTransformListener(), robot_info_.getGlobalFrame(), + robot_info_.getTfTimeout(), *iter, global_pose); + if (!tf_success) + { + ROS_ERROR_STREAM("Can not transform pose from the \"" << iter->header.frame_id << "\" frame into the \"" + << robot_info_.getGlobalFrame() << "\" frame !"); + return false; + } + global_plan.push_back(global_pose); + } + return true; +} + +} /* namespace mbf_abstract_nav */ diff --git a/navigations/move_base_flex/mbf_abstract_nav/src/recovery_action.cpp b/navigations/move_base_flex/mbf_abstract_nav/src/recovery_action.cpp new file mode 100755 index 0000000..8e953c4 --- /dev/null +++ b/navigations/move_base_flex/mbf_abstract_nav/src/recovery_action.cpp @@ -0,0 +1,156 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * recovery_action.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include "mbf_abstract_nav/recovery_action.h" + +namespace mbf_abstract_nav +{ + +RecoveryAction::RecoveryAction(const std::string &name, const mbf_utility::RobotInformation &robot_info) + : AbstractActionBase(name, robot_info, boost::bind(&mbf_abstract_nav::RecoveryAction::run, this, _1, _2)){} + +void RecoveryAction::run(GoalHandle &goal_handle, AbstractRecoveryExecution &execution) +{ + ROS_DEBUG_STREAM_NAMED(name_, "Start action " << name_); + + const mbf_msgs::RecoveryGoal &goal = *goal_handle.getGoal(); + mbf_msgs::RecoveryResult result; + result.used_plugin = goal.behavior; + bool recovery_active = true; + + typename AbstractRecoveryExecution::RecoveryState state_recovery_input; + + while (recovery_active && ros::ok()) + { + state_recovery_input = execution.getState(); + switch (state_recovery_input) + { + case AbstractRecoveryExecution::INITIALIZED: + ROS_DEBUG_STREAM_NAMED(name_, "Recovery behavior \"" << goal.behavior << "\" initialized."); + execution.start(); + break; + + case AbstractRecoveryExecution::STOPPED: + ROS_DEBUG_STREAM_NAMED(name_, "Recovery behavior stopped rigorously"); + result.outcome = mbf_msgs::RecoveryResult::STOPPED; + result.message = "Recovery has been stopped!"; + goal_handle.setAborted(result, result.message); + recovery_active = false; + break; + + case AbstractRecoveryExecution::STARTED: + ROS_DEBUG_STREAM_NAMED(name_, "Recovery behavior \"" << goal.behavior << "\" was started"); + break; + + case AbstractRecoveryExecution::RECOVERING: + + if (execution.isPatienceExceeded()) + { + ROS_INFO_STREAM("Recovery behavior \"" << goal.behavior << "\" patience exceeded! Cancel recovering..."); + execution.cancel(); + } + + ROS_DEBUG_STREAM_THROTTLE_NAMED(3, name_, "Recovering with: " << goal.behavior); + break; + + case AbstractRecoveryExecution::CANCELED: + // Recovery behavior supports cancel and it worked + recovery_active = false; // stopping the action + result.outcome = mbf_msgs::RecoveryResult::CANCELED; + result.message = "Recovery behaviour \"" + goal.behavior + "\" canceled!"; + goal_handle.setCanceled(result, result.message); + ROS_DEBUG_STREAM_NAMED(name_, result.message); + break; + + case AbstractRecoveryExecution::RECOVERY_DONE: + recovery_active = false; // stopping the action + result.outcome = execution.getOutcome(); + result.message = execution.getMessage(); + if (result.message.empty()) + { + if (result.outcome < 10) + result.message = "Recovery \"" + goal.behavior + "\" done"; + else + result.message = "Recovery \"" + goal.behavior + "\" FAILED"; + } + + ROS_DEBUG_STREAM_NAMED(name_, result.message); + goal_handle.setSucceeded(result, result.message); + break; + + case AbstractRecoveryExecution::INTERNAL_ERROR: + ROS_FATAL_STREAM_NAMED(name_, "Internal error: Unknown error thrown by the plugin!"); // TODO getMessage from recovery + recovery_active = false; + result.outcome = mbf_msgs::RecoveryResult::INTERNAL_ERROR; + result.message = "Internal error: Unknown error thrown by the plugin!"; + goal_handle.setAborted(result, result.message); + break; + + default: + result.outcome = mbf_msgs::RecoveryResult::INTERNAL_ERROR; + std::stringstream ss; + ss << "Internal error: Unknown state in a move base flex recovery execution with the number: " + << static_cast(state_recovery_input); + result.message = ss.str(); + ROS_FATAL_STREAM_NAMED(name_, result.message); + goal_handle.setAborted(result, result.message); + recovery_active = false; + } + + if (recovery_active) + { + // try to sleep a bit + // normally the thread should be woken up from the recovery unit + // in order to transfer the results to the controller + execution.waitForStateUpdate(boost::chrono::milliseconds(500)); + } + } // while (recovery_active && ros::ok()) + + if (!recovery_active) + { + ROS_DEBUG_STREAM_NAMED(name_, "\"" << name_ << "\" action ended properly."); + } + else + { + ROS_ERROR_STREAM_NAMED(name_, "\"" << name_ << "\" action has been stopped!"); + } +} + +} /* namespace mbf_abstract_nav */ diff --git a/navigations/move_base_flex/mbf_costmap_core/CHANGELOG.rst b/navigations/move_base_flex/mbf_costmap_core/CHANGELOG.rst new file mode 100755 index 0000000..744fc92 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_core/CHANGELOG.rst @@ -0,0 +1,38 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mbf_costmap_core +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.2 (2020-05-25) +------------------ + +0.3.1 (2020-04-07) +------------------ + +0.3.0 (2020-03-31) +------------------ +* unify license declaration to BSD-3 + +0.2.5 (2019-10-11) +------------------ + +0.2.4 (2019-06-16) +------------------ + +0.2.3 (2018-11-14) +------------------ + +0.2.2 (2018-10-10) +------------------ + +0.2.1 (2018-10-03) +------------------ +* Make MBF melodic and indigo compatible +* Fix GoalHandle references bug in callbacks + +0.2.0 (2018-09-11) +------------------ +* Concurrency for planners, controllers and recovery behaviors + +0.1.0 (2018-03-22) +------------------ +* First release of move_base_flex for kinetic and lunar diff --git a/navigations/move_base_flex/mbf_costmap_core/CMakeLists.txt b/navigations/move_base_flex/mbf_costmap_core/CMakeLists.txt new file mode 100755 index 0000000..22616dd --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_core/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbf_costmap_core) + +find_package(catkin REQUIRED + COMPONENTS + std_msgs + geometry_msgs + mbf_abstract_core + mbf_utility + tf + costmap_2d + nav_core + ) + +catkin_package( + INCLUDE_DIRS + include + CATKIN_DEPENDS + std_msgs + geometry_msgs + mbf_abstract_core + mbf_utility + tf + costmap_2d + nav_core +) + +## Install project namespaced headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) diff --git a/navigations/move_base_flex/mbf_costmap_core/README.md b/navigations/move_base_flex/mbf_costmap_core/README.md new file mode 100755 index 0000000..4c507b0 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_core/README.md @@ -0,0 +1,3 @@ +# Move Base Flex Costmap Navigation Core {#mainpage} + +This package provides common interfaces for navigation specific robot actions. It contains the CostmapPlanner, CostmapController and CostmapRecovery interfaces. The interfaces have to be implemented by the plugins to make them available for Move Base Flex using the [mbf_costmap_nav](wiki.ros.org/mbf_costmap_nav) navigation implementation. That implementation inherits the [mbf_abstract_nav](wiki.ros.org/mbf_abstract_nav) implementation and binds the system to a local and a global costmap. \ No newline at end of file diff --git a/navigations/move_base_flex/mbf_costmap_core/include/mbf_costmap_core/costmap_controller.h b/navigations/move_base_flex/mbf_costmap_core/include/mbf_costmap_core/costmap_controller.h new file mode 100755 index 0000000..bccd45a --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_core/include/mbf_costmap_core/costmap_controller.h @@ -0,0 +1,132 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * mbf_costmap_core.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_COSTMAP_CORE__COSTMAP_CONTROLLER_H_ +#define MBF_COSTMAP_CORE__COSTMAP_CONTROLLER_H_ + +#include +#include +#include + +namespace mbf_costmap_core { + /** + * @class LocalPlanner + * @brief Provides an interface for local planners used in navigation. + * All local planners written to work as MBF plugins must adhere to this interface. Alternatively, this + * class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility. + */ + class CostmapController : public mbf_abstract_core::AbstractController{ + public: + + typedef boost::shared_ptr< ::mbf_costmap_core::CostmapController > Ptr; + + /** + * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands + * to send to the base. + * @param pose the current pose of the robot. + * @param velocity the current velocity of the robot. + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base. + * @param message Optional more detailed outcome as a string + * @return Result code as described on ExePath action result: + * SUCCESS = 0 + * 1..9 are reserved as plugin specific non-error results + * FAILURE = 100 Unspecified failure, only used for old, non-mfb_core based plugins + * CANCELED = 101 + * NO_VALID_CMD = 102 + * PAT_EXCEEDED = 103 + * COLLISION = 104 + * OSCILLATION = 105 + * ROBOT_STUCK = 106 + * MISSED_GOAL = 107 + * MISSED_PATH = 108 + * BLOCKED_PATH = 109 + * INVALID_PATH = 110 + * TF_ERROR = 111 + * NOT_INITIALIZED = 112 + * INVALID_PLUGIN = 113 + * INTERNAL_ERROR = 114 + * 121..149 are reserved as plugin specific errors + */ + virtual uint32_t computeVelocityCommands(const geometry_msgs::PoseStamped& pose, + const geometry_msgs::TwistStamped& velocity, + geometry_msgs::TwistStamped &cmd_vel, + std::string &message) = 0; + + /** + * @brief Check if the goal pose has been achieved by the local planner within tolerance limits + * @remark New on MBF API + * @param xy_tolerance Distance tolerance in meters + * @param yaw_tolerance Heading tolerance in radians + * @return True if achieved, false otherwise + */ + virtual bool isGoalReached(double xy_tolerance, double yaw_tolerance) = 0; + + /** + * @brief Set the plan that the local planner is following + * @param plan The plan to pass to the local planner + * @return True if the plan was updated successfully, false otherwise + */ + virtual bool setPlan(const std::vector &plan) = 0; + + /** + * @brief Requests the planner to cancel, e.g. if it takes too much time + * @remark New on MBF API + * @return True if a cancel has been successfully requested, false if not implemented. + */ + virtual bool cancel() = 0; + + /** + * @brief Constructs the local planner + * @param name The name to give this instance of the local planner + * @param tf A pointer to a transform listener + * @param costmap_ros The cost map to use for assigning costs to local plans + */ + virtual void initialize(std::string name, ::TF *tf, costmap_2d::Costmap2DROS *costmap_ros) = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~CostmapController(){} + + protected: + CostmapController(){} + + }; +} /* namespace mbf_costmap_core */ + +#endif /* MBF_COSTMAP_CORE__COSTMAP_CONTROLLER_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_core/include/mbf_costmap_core/costmap_planner.h b/navigations/move_base_flex/mbf_costmap_core/include/mbf_costmap_core/costmap_planner.h new file mode 100755 index 0000000..b9f8cb3 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_core/include/mbf_costmap_core/costmap_planner.h @@ -0,0 +1,113 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_global_planner.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_COSTMAP_CORE__COSTMAP_PLANNER_H_ +#define MBF_COSTMAP_CORE__COSTMAP_PLANNER_H_ + +#include +#include + +namespace mbf_costmap_core { + /** + * @class CostmapPlanner + * @brief Provides an interface for global planners used in navigation. + * All global planners written to work as MBF plugins must adhere to this interface. Alternatively, this + * class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility. + */ + class CostmapPlanner : public mbf_abstract_core::AbstractPlanner{ + public: + + typedef boost::shared_ptr< ::mbf_costmap_core::CostmapPlanner > Ptr; + + /** + * @brief Given a goal pose in the world, compute a plan + * The final pose of the path must be within tolerance range (position and orientation) + * for this method to return a success outcome. + * @param start The start pose + * @param goal The goal pose + * @param dist_tolerance Tolerance in meters to the goal position + * @param angle_tolerance Tolerance in radians to the goal orientation + * @param plan The plan... filled by the planner + * @param cost The cost for the the plan + * @param message Optional more detailed outcome as a string + * @return Result code as described on GetPath action result: + * SUCCESS = 0 + * 1..9 are reserved as plugin specific non-error results + * FAILURE = 50 # Unspecified failure, only used for old, non-mfb_core based plugins + * CANCELED = 51 + * INVALID_START = 52 + * INVALID_GOAL = 53 + * NO_PATH_FOUND = 54 + * PAT_EXCEEDED = 55 + * EMPTY_PATH = 56 + * TF_ERROR = 57 + * NOT_INITIALIZED = 58 + * INVALID_PLUGIN = 59 + * INTERNAL_ERROR = 60 + * 71..99 are reserved as plugin specific errors + */ + virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance, + std::vector &plan, double &cost, std::string &message) = 0; + + /** + * @brief Requests the planner to cancel, e.g. if it takes too much time. + * @remark New on MBF API + * @return True if a cancel has been successfully requested, false if not implemented. + */ + virtual bool cancel() = 0; + + /** + * @brief Initialization function for the CostmapPlanner + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + virtual void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros) = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~CostmapPlanner(){} + + protected: + CostmapPlanner(){} + + }; +} /* namespace mbf_costmap_core */ + +#endif /* MBF_COSTMAP_CORE__COSTMAP_PLANNER_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_core/include/mbf_costmap_core/costmap_recovery.h b/navigations/move_base_flex/mbf_costmap_core/include/mbf_costmap_core/costmap_recovery.h new file mode 100755 index 0000000..babbf6b --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_core/include/mbf_costmap_core/costmap_recovery.h @@ -0,0 +1,94 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_global_planner.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_COSTMAP_CORE__COSTMAP_RECOVERY_H_ +#define MBF_COSTMAP_CORE__COSTMAP_RECOVERY_H_ + +#include +#include +#include + +namespace mbf_costmap_core +{ +/** + * @class CostmapRecovery + * @brief Provides an interface for recovery behaviors used in navigation. + * All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this + * class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility. + */ +class CostmapRecovery : public mbf_abstract_core::AbstractRecovery{ + public: + + typedef boost::shared_ptr< ::mbf_costmap_core::CostmapRecovery> Ptr; + + /** + * @brief Initialization function for the CostmapRecovery + * @param tf A pointer to a transform listener + * @param global_costmap A pointer to the global_costmap used by the navigation stack + * @param local_costmap A pointer to the local_costmap used by the navigation stack + */ + virtual void initialize(std::string name, TF* tf, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap) = 0; + + /** + * @brief Runs the CostmapRecovery + * @param message The recovery behavior could set, the message should correspond to the return value + * @return An outcome which will be hand over to the action result. + */ + virtual uint32_t runBehavior(std::string& message) = 0; + + /** + * @brief Requests the planner to cancel, e.g. if it takes too much time + * @remark New on MBF API + * @return True if a cancel has been successfully requested, false if not implemented. + */ + virtual bool cancel() = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~CostmapRecovery(){} + + protected: + CostmapRecovery(){} + +}; +} /* namespace mbf_costmap_core */ + +#endif /* MBF_COSTMAP_CORE__COSTMAP_RECOVERY_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_core/package.xml b/navigations/move_base_flex/mbf_costmap_core/package.xml new file mode 100755 index 0000000..e7513cc --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_core/package.xml @@ -0,0 +1,26 @@ + + + + mbf_costmap_core + 0.3.2 + + This package provides common interfaces for navigation specific robot actions. It contains the CostmapPlanner, CostmapController and CostmapRecovery interfaces. The interfaces have to be implemented by the plugins to make them available for Move Base Flex using the mbf_costmap_nav navigation implementation. That implementation inherits the mbf_abstract_nav implementation and binds the system to a local and a global costmap. + + http://wiki.ros.org/move_base_flex/mbf_costmap_core + Sebastian Pütz + Jorge Santos + Jorge Santos + Sebastian Pütz + BSD-3 + + catkin + + costmap_2d + geometry_msgs + mbf_abstract_core + mbf_utility + nav_core + std_msgs + tf + + diff --git a/navigations/move_base_flex/mbf_costmap_nav/CHANGELOG.rst b/navigations/move_base_flex/mbf_costmap_nav/CHANGELOG.rst new file mode 100755 index 0000000..80fc77f --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/CHANGELOG.rst @@ -0,0 +1,55 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mbf_costmap_nav +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.2 (2020-05-25) +------------------ +* Remove dependency on base_local_planner and move FootprintHelper class to mbf_costmap_nav and make it static + +0.3.1 (2020-04-07) +------------------ +* Ensure that check_costmap_mutex is destroyed after timer. +* Avoid crash on shutdown by stop shutdown_costmap_timer on destructor + and explicitly call the costmap_nav_srv destructor + +0.3.0 (2020-03-31) +------------------ +* add output for cancel method if nav_core plugin is wrapped +* unify license declaration to BSD-3 + +0.2.5 (2019-10-11) +------------------ +* Add clear_on_shutdown functionality +* Do not pass boost functions to abstract server to (de)activate costmaps. + Run instead abstract methods (possibly) overridden in the costmap server, + all costmap-related handling refactored to a new CostmapWrapper class +* On controller execution, check that local costmap is current + +0.2.4 (2019-06-16) +------------------ +* Add check_point_cost service +* Lock costmaps on clear_costmaps service +* Replace recursive mutexes with normal ones when not needed + +0.2.3 (2018-11-14) +------------------ +* single publisher for controller execution objects + +0.2.2 (2018-10-10) +------------------ +* Do not use MultiThreadedSpinner, as costmap updates can crash when combining laser scans and point clouds +* Make start/stop costmaps mutexed, since concurrent calls to start can lead to segfaults + +0.2.1 (2018-10-03) +------------------ +* Make MBF melodic and indigo compatible +* Fix GoalHandle references bug in callbacks + +0.2.0 (2018-09-11) +------------------ +* Update copyright and 3-clause-BSD license +* Concurrency for planners, controllers and recovery behaviors + +0.1.0 (2018-03-22) +------------------ +* First release of move_base_flex for kinetic and lunar diff --git a/navigations/move_base_flex/mbf_costmap_nav/CMakeLists.txt b/navigations/move_base_flex/mbf_costmap_nav/CMakeLists.txt new file mode 100755 index 0000000..c69c90f --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/CMakeLists.txt @@ -0,0 +1,110 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbf_costmap_nav) + +find_package(catkin REQUIRED + COMPONENTS + costmap_2d + dynamic_reconfigure + geometry_msgs + mbf_abstract_nav + mbf_costmap_core + mbf_msgs + mbf_utility + nav_core + nav_msgs + roscpp + std_msgs + std_srvs + tf +) + +find_package(Boost COMPONENTS thread chrono REQUIRED) + +# dynamic reconfigure +generate_dynamic_reconfigure_options( + cfg/MoveBaseFlex.cfg +) + +set(MBF_NAV_CORE_WRAPPER_LIB mbf_nav_core_wrapper) +set(MBF_COSTMAP_2D_SERVER_LIB mbf_costmap_server) +set(MBF_COSTMAP_2D_SERVER_NODE mbf_costmap_nav) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${MBF_COSTMAP_2D_SERVER_LIB} + CATKIN_DEPENDS + actionlib + actionlib_msgs + costmap_2d + dynamic_reconfigure + geometry_msgs + mbf_abstract_nav + mbf_costmap_core + mbf_msgs + mbf_utility + nav_core + nav_msgs + pluginlib + roscpp + std_msgs + std_srvs + tf + DEPENDS Boost +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + +add_library(${MBF_NAV_CORE_WRAPPER_LIB} + src/nav_core_wrapper/wrapper_global_planner.cpp + src/nav_core_wrapper/wrapper_local_planner.cpp + src/nav_core_wrapper/wrapper_recovery_behavior.cpp +) +add_dependencies(${MBF_NAV_CORE_WRAPPER_LIB} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${MBF_NAV_CORE_WRAPPER_LIB} + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} +) + +add_library(${MBF_COSTMAP_2D_SERVER_LIB} + src/mbf_costmap_nav/costmap_navigation_server.cpp + src/mbf_costmap_nav/costmap_planner_execution.cpp + src/mbf_costmap_nav/costmap_controller_execution.cpp + src/mbf_costmap_nav/costmap_recovery_execution.cpp + src/mbf_costmap_nav/costmap_wrapper.cpp + src/mbf_costmap_nav/footprint_helper.cpp +) +add_dependencies(${MBF_COSTMAP_2D_SERVER_LIB} ${catkin_EXPORTED_TARGETS}) +add_dependencies(${MBF_COSTMAP_2D_SERVER_LIB} ${MBF_NAV_CORE_WRAPPER_LIB}) +add_dependencies(${MBF_COSTMAP_2D_SERVER_LIB} ${PROJECT_NAME}_gencfg) + +target_link_libraries(${MBF_COSTMAP_2D_SERVER_LIB} + ${MBF_NAV_CORE_WRAPPER_LIB} + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} +) + +add_executable(${MBF_COSTMAP_2D_SERVER_NODE} src/move_base_server_node.cpp) +add_dependencies(${MBF_COSTMAP_2D_SERVER_NODE} ${MBF_COSTMAP_2D_SERVER_LIB}) +target_link_libraries(${MBF_COSTMAP_2D_SERVER_NODE} + ${MBF_COSTMAP_2D_SERVER_LIB} + ${catkin_LIBRARIES} +) + +install(TARGETS + ${MBF_NAV_CORE_WRAPPER_LIB} ${MBF_COSTMAP_2D_SERVER_LIB} ${MBF_COSTMAP_2D_SERVER_NODE} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +catkin_install_python(PROGRAMS scripts/move_base_legacy_relay.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/navigations/move_base_flex/mbf_costmap_nav/README.md b/navigations/move_base_flex/mbf_costmap_nav/README.md new file mode 100755 index 0000000..62621e4 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/README.md @@ -0,0 +1,8 @@ +# Move Base Flex Costmap Navigation Server {#mainpage} + +The mbf_costmap_nav package contains the costmap navigation server implementation of Move Base Flex (MBF). The costmap navigation server is bound to the [costmap_2d](http://wiki.ros.org/costmap_2d) representation. It provides the Actions for planning, controlling and recovering. At the time of start MBF loads all defined plugins. Therefor, it loads all plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. + +Additionally the mbf_costmap_nav package comes with a wrapper for the old navigation stack and the plugins which inherits from the [nav_core](http://wiki.ros.org/nav_core) base classes. Preferably it tries to load plugins for the new api, therefore plugins could even support both [move_base](http://wiki.ros.org/move_base) and [move_base_flex](http://wiki.ros.org/move_base_flex) by inheriting both base classes. + + +![mbf_abstract_nav sketch](doc/images/mbf_costmap_nav_s.png) diff --git a/navigations/move_base_flex/mbf_costmap_nav/cfg/MoveBaseFlex.cfg b/navigations/move_base_flex/mbf_costmap_nav/cfg/MoveBaseFlex.cfg new file mode 100755 index 0000000..baffdfd --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/cfg/MoveBaseFlex.cfg @@ -0,0 +1,21 @@ +#!/usr/bin/env python + +PACKAGE = 'mbf_costmap_nav' + +from mbf_abstract_nav import add_mbf_abstract_nav_params +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, str_t, double_t, bool_t, int_t + +gen = ParameterGenerator() + +# include the abstract configuration common to all MBF-based navigation plus costmap navigation specific parameters +add_mbf_abstract_nav_params(gen) + +gen.add("shutdown_costmaps", bool_t, 0, + "Determines whether or not to shutdown the costmaps of the node when move_base_flex is in an inactive state", + False) +gen.add("shutdown_costmaps_delay", double_t, 0, + "How long in seconds to wait after last action before shutting down the costmaps", 1.0, 0, 60) + +gen.add("restore_defaults", bool_t, 0, "Restore to the original configuration", False) + +exit(gen.generate(PACKAGE, "mbf_costmap_nav", "MoveBaseFlex")) diff --git a/navigations/move_base_flex/mbf_costmap_nav/doc/images/mbf_costmap_nav.png b/navigations/move_base_flex/mbf_costmap_nav/doc/images/mbf_costmap_nav.png new file mode 100755 index 0000000..a2064c9 Binary files /dev/null and b/navigations/move_base_flex/mbf_costmap_nav/doc/images/mbf_costmap_nav.png differ diff --git a/navigations/move_base_flex/mbf_costmap_nav/doc/images/mbf_costmap_nav_s.png b/navigations/move_base_flex/mbf_costmap_nav/doc/images/mbf_costmap_nav_s.png new file mode 100755 index 0000000..abdde27 Binary files /dev/null and b/navigations/move_base_flex/mbf_costmap_nav/doc/images/mbf_costmap_nav_s.png differ diff --git a/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_controller_execution.h b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_controller_execution.h new file mode 100755 index 0000000..5a99bfa --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_controller_execution.h @@ -0,0 +1,145 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_controller_execution.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_ +#define MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_ + +#include +#include + +#include "mbf_costmap_nav/MoveBaseFlexConfig.h" +#include "mbf_costmap_nav/costmap_wrapper.h" + + +namespace mbf_costmap_nav +{ +/** + * @brief The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the + * nav_core/BaseLocalPlanner class as base plugin interface. + * This class makes move_base_flex compatible to the old move_base. + * + * @ingroup controller_execution move_base_server + */ +class CostmapControllerExecution : public mbf_abstract_nav::AbstractControllerExecution +{ +public: + + /** + * @brief Constructor. + * @param controller_name Name of the controller to use. + * @param controller_ptr Shared pointer to the plugin to use. + * @param vel_pub Velocity commands publisher. + * @param goal_pub Goal pose publisher (just vor visualization). + * @param tf_listener_ptr Shared pointer to a common tf listener. + * @param costmap_ptr Shared pointer to the local costmap. + * @param config Current server configuration (dynamic). + */ + CostmapControllerExecution( + const std::string &controller_name, + const mbf_costmap_core::CostmapController::Ptr &controller_ptr, + const ros::Publisher &vel_pub, + const ros::Publisher &goal_pub, + const TFPtr &tf_listener_ptr, + const CostmapWrapper::Ptr &costmap_ptr, + const MoveBaseFlexConfig &config); + + /** + * @brief Destructor + */ + virtual ~CostmapControllerExecution(); + +private: + + /** + * @brief Implementation-specific setup function, called right before execution. + * This method overrides abstract execution empty implementation with underlying map-specific setup code. + */ + void preRun() + { + costmap_ptr_->checkActivate(); + }; + + /** + * @brief Implementation-specific cleanup function, called right after execution. + * This method overrides abstract execution empty implementation with underlying map-specific cleanup code. + */ + void postRun() + { + costmap_ptr_->checkDeactivate(); + }; + + /** + * @brief Implementation-specific safety check, called during execution to ensure it's safe to drive. + * This method overrides abstract execution empty implementation with underlying map-specific checks, + * more precisely if controller costmap is current. + * @return True if costmap is current, false otherwise. + */ + bool safetyCheck(); + + /** + * @brief Request plugin for a new velocity command. We override this method so we can lock the local costmap + * before calling the planner. + * @param pose the current pose of the robot. + * @param velocity the current velocity of the robot. + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base. + * @param message Optional more detailed outcome as a string. + * @return Result code as described on ExePath action result and plugin's header. + */ + virtual uint32_t computeVelocityCmd( + const geometry_msgs::PoseStamped &robot_pose, + const geometry_msgs::TwistStamped &robot_velocity, + geometry_msgs::TwistStamped &vel_cmd, + std::string &message); + + mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config); + + //! Shared pointer to thr local costmap + const CostmapWrapper::Ptr &costmap_ptr_; + + //! Whether to lock costmap before calling the controller (see issue #4 for details) + bool lock_costmap_; + + //! name of the controller plugin assigned by the class loader + std::string controller_name_; +}; + +} /* namespace mbf_costmap_nav */ + +#endif /* MBF_COSTMAP_NAV__COSTMAP_CONTROLLER_EXECUTION_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_navigation_server.h b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_navigation_server.h new file mode 100755 index 0000000..85bcdac --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_navigation_server.h @@ -0,0 +1,268 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_navigation_server.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_COSTMAP_NAV__COSTMAP_NAVIGATION_SERVER_H_ +#define MBF_COSTMAP_NAV__COSTMAP_NAVIGATION_SERVER_H_ + +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include "mbf_costmap_nav/MoveBaseFlexConfig.h" +#include "mbf_costmap_nav/costmap_planner_execution.h" +#include "mbf_costmap_nav/costmap_controller_execution.h" +#include "mbf_costmap_nav/costmap_recovery_execution.h" +#include "mbf_costmap_nav/costmap_wrapper.h" + + +namespace mbf_costmap_nav +{ +/** + * @defgroup move_base_server Move Base Server + * @brief Classes belonging to the Move Base Server level. + */ + + +typedef boost::shared_ptr > DynamicReconfigureServerCostmapNav; + +/** + * @brief The CostmapNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the + * execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseCostmapPlanner and the + * nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the + * old move_base + * + * @ingroup navigation_server move_base_server + */ +class CostmapNavigationServer : public mbf_abstract_nav::AbstractNavigationServer +{ +public: + + typedef boost::shared_ptr Ptr; + + /** + * @brief Constructor + * @param tf_listener_ptr Shared pointer to a common TransformListener + */ + CostmapNavigationServer(const TFPtr &tf_listener_ptr); + + /** + * @brief Destructor + */ + virtual ~CostmapNavigationServer(); + + virtual void stop(); + +private: + + /** + * @brief Create a new planner execution. + * @param plugin_name Name of the planner to use. + * @param plugin_ptr Shared pointer to the plugin to use. + * @return Shared pointer to a new @ref planner_execution "PlannerExecution". + */ + virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr newPlannerExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr); + + /** + * @brief Create a new controller execution. + * @param plugin_name Name of the controller to use. + * @param plugin_ptr Shared pointer to the plugin to use. + * @return Shared pointer to a new @ref controller_execution "ControllerExecution". + */ + virtual mbf_abstract_nav::AbstractControllerExecution::Ptr newControllerExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractController::Ptr plugin_ptr); + + /** + * @brief Create a new recovery behavior execution. + * @param plugin_name Name of the recovery behavior to run. + * @param plugin_ptr Shared pointer to the plugin to use + * @return Shared pointer to a new @ref recovery_execution "RecoveryExecution". + */ + virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr newRecoveryExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr); + + /** + * @brief Loads the plugin associated with the given planner_type parameter. + * @param planner_type The type of the planner plugin to load. + * @return true, if the local planner plugin was successfully loaded. + */ + virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string &planner_type); + + /** + * @brief Initializes the controller plugin with its name and pointer to the costmap + * @param name The name of the planner + * @param planner_ptr pointer to the planner object which corresponds to the name param + * @return true if init succeeded, false otherwise + */ + virtual bool initializePlannerPlugin( + const std::string &name, + const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr + ); + + /** + * @brief Loads the plugin associated with the given controller type parameter + * @param controller_type The type of the controller plugin + * @return A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, + * an empty pointer otherwise. + */ + virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string &controller_type); + + /** + * @brief Initializes the controller plugin with its name, a pointer to the TransformListener + * and pointer to the costmap + * @param name The name of the controller + * @param controller_ptr pointer to the controller object which corresponds to the name param + * @return true if init succeeded, false otherwise + */ + virtual bool initializeControllerPlugin( + const std::string &name, + const mbf_abstract_core::AbstractController::Ptr &controller_ptr + ); + + /** + * @brief Loads a Recovery plugin associated with given recovery type parameter + * @param recovery_name The name of the Recovery plugin + * @return A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise. + */ + virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string &recovery_type); + + /** + * @brief Initializes a recovery behavior plugin with its name and pointers to the global and local costmaps + * @param name The name of the recovery behavior + * @param behavior_ptr pointer to the recovery behavior object which corresponds to the name param + * @return true if init succeeded, false otherwise + */ + virtual bool initializeRecoveryPlugin( + const std::string &name, + const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr); + + /** + * @brief Callback method for the check_point_cost service + * @param request Request object, see the mbf_msgs/CheckPoint service definition file. + * @param response Response object, see the mbf_msgs/CheckPoint service definition file. + * @return true, if the service completed successfully, false otherwise + */ + bool callServiceCheckPointCost(mbf_msgs::CheckPoint::Request &request, + mbf_msgs::CheckPoint::Response &response); + + /** + * @brief Callback method for the check_pose_cost service + * @param request Request object, see the mbf_msgs/CheckPose service definition file. + * @param response Response object, see the mbf_msgs/CheckPose service definition file. + * @return true, if the service completed successfully, false otherwise + */ + bool callServiceCheckPoseCost(mbf_msgs::CheckPose::Request &request, + mbf_msgs::CheckPose::Response &response); + + /** + * @brief Callback method for the check_path_cost service + * @param request Request object, see the mbf_msgs/CheckPath service definition file. + * @param response Response object, see the mbf_msgs/CheckPath service definition file. + * @return true, if the service completed successfully, false otherwise + */ + bool callServiceCheckPathCost(mbf_msgs::CheckPath::Request &request, + mbf_msgs::CheckPath::Response &response); + + /** + * @brief Callback method for the make_plan service + * @param request Empty request object. + * @param response Empty response object. + * @return true, if the service completed successfully, false otherwise + */ + bool callServiceClearCostmaps(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response); + + /** + * @brief Reconfiguration method called by dynamic reconfigure. + * @param config Configuration parameters. See the MoveBaseFlexConfig definition. + * @param level bit mask, which parameters are set. + */ + void reconfigure(mbf_costmap_nav::MoveBaseFlexConfig &config, uint32_t level); + + pluginlib::ClassLoader recovery_plugin_loader_; + pluginlib::ClassLoader nav_core_recovery_plugin_loader_; + pluginlib::ClassLoader controller_plugin_loader_; + pluginlib::ClassLoader nav_core_controller_plugin_loader_; + pluginlib::ClassLoader planner_plugin_loader_; + pluginlib::ClassLoader nav_core_planner_plugin_loader_; + + //! Dynamic reconfigure server for the mbf_costmap2d_specific part + DynamicReconfigureServerCostmapNav dsrv_costmap_; + + //! last configuration save + mbf_costmap_nav::MoveBaseFlexConfig last_config_; + + //! the default parameter configuration save + mbf_costmap_nav::MoveBaseFlexConfig default_config_; + + //! true, if the dynamic reconfigure has been setup + bool setup_reconfigure_; + + //! Shared pointer to the common local costmap + const CostmapWrapper::Ptr local_costmap_ptr_; + + //! Shared pointer to the common global costmap + const CostmapWrapper::Ptr global_costmap_ptr_; + + //! Service Server for the check_point_cost service + ros::ServiceServer check_point_cost_srv_; + + //! Service Server for the check_pose_cost service + ros::ServiceServer check_pose_cost_srv_; + + //! Service Server for the check_path_cost service + ros::ServiceServer check_path_cost_srv_; + + //! Service Server for the clear_costmap service + ros::ServiceServer clear_costmaps_srv_; +}; + +} /* namespace mbf_costmap_nav */ + +#endif /* MBF_COSTMAP_NAV__COSTMAP_NAVIGATION_SERVER_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_planner_execution.h b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_planner_execution.h new file mode 100755 index 0000000..7b1b32c --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_planner_execution.h @@ -0,0 +1,137 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_planner_execution.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_COSTMAP_NAV__COSTMAP_PLANNER_EXECUTION_H_ +#define MBF_COSTMAP_NAV__COSTMAP_PLANNER_EXECUTION_H_ + +#include +#include + +#include "mbf_costmap_nav/MoveBaseFlexConfig.h" +#include "mbf_costmap_nav/costmap_wrapper.h" + + +namespace mbf_costmap_nav +{ +/** + * @brief The CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the + * nav_core/BaseCostmapPlanner class as base plugin interface. + * This class makes move_base_flex compatible to the old move_base. + * + * @ingroup planner_execution move_base_server + */ +class CostmapPlannerExecution : public mbf_abstract_nav::AbstractPlannerExecution +{ +public: + + /** + * @brief Constructor. + * @param planner_name Name of the planner to use. + * @param planner_ptr Shared pointer to the plugin to use. + * @param costmap_ptr Shared pointer to the global costmap. + * @param config Current server configuration (dynamic). + */ + CostmapPlannerExecution( + const std::string &planner_name, + const mbf_costmap_core::CostmapPlanner::Ptr &planner_ptr, + const CostmapWrapper::Ptr &costmap_ptr, + const MoveBaseFlexConfig &config); + + /** + * @brief Destructor + */ + virtual ~CostmapPlannerExecution(); + + +private: + /** + * @brief Implementation-specific setup function, called right before execution. + * This method overrides abstract execution empty implementation with underlying map-specific setup code. + */ + void preRun() + { + costmap_ptr_->checkActivate(); + }; + + /** + * @brief Implementation-specific cleanup function, called right after execution. + * This method overrides abstract execution empty implementation with underlying map-specific cleanup code. + */ + void postRun() + { + costmap_ptr_->checkDeactivate(); + }; + + mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config); + + /** + * @brief Calls the planner plugin to make a plan from the start pose to the goal pose. + * The final pose of the path must be within tolerance range (position and orientation) + * for this method to return a success outcome. + * @param start The start pose for planning + * @param goal The goal pose for planning + * @param dist_tolerance Tolerance in meters to the goal position + * @param angle_tolerance Tolerance in radians to the goal orientation + * @param plan The computed plan by the plugin + * @param cost The computed costs for the corresponding plan + * @param message An optional message which should correspond with the returned outcome + * @return An outcome number, see also the action definition in the GetPath.action file + */ + virtual uint32_t makePlan( + const geometry_msgs::PoseStamped &start, + const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance, + std::vector &plan, + double &cost, + std::string &message); + + //! Shared pointer to the global planner costmap + const CostmapWrapper::Ptr &costmap_ptr_; + + //! Whether to lock costmap before calling the planner (see issue #4 for details) + bool lock_costmap_; + + //! Name of the planner assigned by the class loader + std::string planner_name_; +}; + +} /* namespace mbf_costmap_nav */ + +#endif /* MBF_COSTMAP_NAV__COSTMAP_PLANNER_EXECUTION_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_recovery_execution.h b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_recovery_execution.h new file mode 100755 index 0000000..558cfb0 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_recovery_execution.h @@ -0,0 +1,120 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_recovery_execution.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_COSTMAP_NAV__COSTMAP_RECOVERY_EXECUTION_H_ +#define MBF_COSTMAP_NAV__COSTMAP_RECOVERY_EXECUTION_H_ + +#include +#include + +#include "mbf_costmap_nav/MoveBaseFlexConfig.h" +#include "mbf_costmap_nav/costmap_wrapper.h" + + +namespace mbf_costmap_nav +{ +/** + * @brief The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the + * nav_core/CostmapRecovery class as base plugin interface. + * This class makes move_base_flex compatible to the old move_base. + * + * @ingroup recovery_execution move_base_server + */ +class CostmapRecoveryExecution : public mbf_abstract_nav::AbstractRecoveryExecution +{ + +public: + typedef boost::shared_ptr Ptr; + + /** + * @brief Constructor. + * @param recovery_name Name of the recovery behavior to run. + * @param recovery_ptr Shared pointer to the plugin to use. + * @param tf_listener_ptr Shared pointer to a common tf listener + * @param global_costmap Shared pointer to the global costmap. + * @param local_costmap Shared pointer to the local costmap. + * @param config Current server configuration (dynamic). + */ + CostmapRecoveryExecution( + const std::string &recovery_name, + const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, + const TFPtr &tf_listener_ptr, + const CostmapWrapper::Ptr &global_costmap, + const CostmapWrapper::Ptr &local_costmap, + const MoveBaseFlexConfig &config); + + /** + * Destructor + */ + virtual ~CostmapRecoveryExecution(); + +private: + /** + * @brief Implementation-specific setup function, called right before execution. + * This method overrides abstract execution empty implementation with underlying map-specific setup code. + */ + void preRun() + { + local_costmap_->checkActivate(); + global_costmap_->checkActivate(); + }; + + /** + * @brief Implementation-specific cleanup function, called right after execution. + * This method overrides abstract execution empty implementation with underlying map-specific cleanup code. + */ + void postRun() + { + local_costmap_->checkDeactivate(); + global_costmap_->checkDeactivate(); + }; + + mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config); + + //! Shared pointer to the global costmap + const CostmapWrapper::Ptr &global_costmap_; + + //! Shared pointer to thr local costmap + const CostmapWrapper::Ptr &local_costmap_; +}; + +} /* namespace mbf_costmap_nav */ + +#endif /* MBF_COSTMAP_NAV__COSTMAP_RECOVERY_EXECUTION_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_wrapper.h b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_wrapper.h new file mode 100755 index 0000000..49f890c --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/costmap_wrapper.h @@ -0,0 +1,120 @@ +/* + * Copyright 2019, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_wrapper.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_ +#define MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_ + +#include + +#include + + +namespace mbf_costmap_nav +{ +/** + * @defgroup move_base_server Move Base Server + * @brief Classes belonging to the Move Base Server level. + */ + + +/** + * @brief The CostmapWrapper class manages access to a costmap by locking/unlocking its mutex and handles + * (de)activation. + * + * @ingroup navigation_server move_base_server + */ +class CostmapWrapper : public costmap_2d::Costmap2DROS +{ +public: + typedef boost::shared_ptr Ptr; + + /** + * @brief Constructor + * @param tf_listener_ptr Shared pointer to a common TransformListener + */ + CostmapWrapper(const std::string &name, const TFPtr &tf_listener_ptr); + + /** + * @brief Destructor + */ + virtual ~CostmapWrapper(); + + /** + * @brief Reconfiguration method called by dynamic reconfigure. + * @param shutdown_costmap Determines whether or not to shutdown the costmap when move_base_flex is inactive. + * @param shutdown_costmap_delay How long in seconds to wait after last action before shutting down the costmap. + */ + void reconfigure(double shutdown_costmap, double shutdown_costmap_delay); + + /** + * @brief Clear costmap. + */ + void clear(); + + /** + * @brief Check whether the costmap should be activated. + */ + void checkActivate(); + + /** + * @brief Check whether the costmap should and could be deactivated. + */ + void checkDeactivate(); + +private: + /** + * @brief Timer-triggered deactivation of the costmap. + */ + void deactivate(const ros::TimerEvent &event); + + //! Private node handle + ros::NodeHandle private_nh_; + + boost::mutex check_costmap_mutex_; //!< Start/stop costmap mutex; concurrent calls to start can lead to segfault + bool shutdown_costmap_; //!< don't update costmap when not using it + bool clear_on_shutdown_; //!< clear the costmap, when shutting down + int16_t costmap_users_; //!< keep track of plugins using costmap + ros::Timer shutdown_costmap_timer_; //!< costmap delayed shutdown timer + ros::Duration shutdown_costmap_delay_; //!< costmap delayed shutdown delay +}; + +} /* namespace mbf_costmap_nav */ + +#endif /* MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/footprint_helper.h b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/footprint_helper.h new file mode 100755 index 0000000..5d934e0 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/include/mbf_costmap_nav/footprint_helper.h @@ -0,0 +1,89 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#ifndef FOOTPRINT_HELPER_H_ +#define FOOTPRINT_HELPER_H_ + +#include + +#include +#include + +namespace mbf_costmap_nav +{ + +struct Cell +{ + unsigned int x, y; +}; + +class FootprintHelper +{ +public: + /** + * @brief Used to get the cells that make up the footprint of the robot + * @param x The x position of the robot + * @param y The y position of the robot + * @param theta The orientation of the robot + * @param fill If true: returns all cells in the footprint of the robot. If false: returns only the cells that make up the outline of the footprint. + * @return The cells that make up either the outline or entire footprint of the robot depending on fill + */ + static std::vector getFootprintCells( + double x, double y, double theta, + std::vector footprint_spec, + const costmap_2d::Costmap2D&, + bool fill); + + /** + * @brief Use Bresenham's algorithm to trace a line between two points in a grid + * @param x0 The x coordinate of the first point + * @param x1 The x coordinate of the second point + * @param y0 The y coordinate of the first point + * @param y1 The y coordinate of the second point + * @param pts Will be filled with the cells that lie on the line in the grid + */ + static void getLineCells(int x0, int x1, int y0, int y1, std::vector& pts); + + /** + * @brief Fill the outline of a polygon, in this case the robot footprint, in a grid + * @param footprint The list of cells making up the footprint in the grid, will be modified to include all cells inside the footprint + */ + static void getFillCells(std::vector& footprint); +}; + +} /* namespace mbf_costmap_nav */ +#endif /* FOOTPRINT_HELPER_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/include/nav_core_wrapper/wrapper_global_planner.h b/navigations/move_base_flex/mbf_costmap_nav/include/nav_core_wrapper/wrapper_global_planner.h new file mode 100755 index 0000000..ae8e469 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/include/nav_core_wrapper/wrapper_global_planner.h @@ -0,0 +1,105 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * wrapper_global_planner.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_COSTMAP_NAV__WRAPPER_GLOBAL_PLANNER_H_ +#define MBF_COSTMAP_NAV__WRAPPER_GLOBAL_PLANNER_H_ + +#include +#include "mbf_costmap_core/costmap_planner.h" + +namespace mbf_nav_core_wrapper { + /** + * @class CostmapPlanner + * @brief Provides an interface for global planners used in navigation. + * All global planners written to work as MBF plugins must adhere to this interface. Alternatively, this + * class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility. + */ + class WrapperGlobalPlanner : public mbf_costmap_core::CostmapPlanner{ + public: + + /** + * @brief Given a goal pose in the world, compute a plan + * The final pose of the path must be within tolerance range (position and orientation) + * for this method to return a success outcome. + * @param start The start pose + * @param goal The goal pose + * @param dist_tolerance Tolerance in meters to the goal position + * @param angle_tolerance Tolerance in radians to the goal orientation + * @param plan The plan... filled by the planner + * @param cost The cost for the the plan + * @param message Optional more detailed outcome as a string + * @return Result code as described on GetPath action result, As this is a wrapper to the nav_core, + * only 0 (SUCCESS) and 50 (FAILURE) are supported + */ + virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance, + std::vector &plan, double &cost, std::string &message); + + /** + * @brief Requests the planner to cancel, e.g. if it takes too much time. + * @remark New on MBF API + * @return True if a cancel has been successfully requested, false if not implemented. + */ + virtual bool cancel(); + + /** + * @brief Initialization function for the CostmapPlanner + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + virtual void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros); + + /** + * @brief Public constructor used for handling a nav_core-based plugin + * @param plugin Backward compatible plugin + */ + WrapperGlobalPlanner(boost::shared_ptr< nav_core::BaseGlobalPlanner > plugin); + + /** + * @brief Virtual destructor for the interface + */ + virtual ~WrapperGlobalPlanner(); + + private: + boost::shared_ptr< nav_core::BaseGlobalPlanner > nav_core_plugin_; + }; +} /* namespace mbf_nav_core_wrapper */ + +#endif /* MBF_COSTMAP_NAV__WRAPPER_GLOBAL_PLANNER_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/include/nav_core_wrapper/wrapper_local_planner.h b/navigations/move_base_flex/mbf_costmap_nav/include/nav_core_wrapper/wrapper_local_planner.h new file mode 100755 index 0000000..aceb691 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/include/nav_core_wrapper/wrapper_local_planner.h @@ -0,0 +1,127 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * wrapper_local_planner.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_COSTMAP_NAV__WRAPPER_LOCAL_PLANNER_H_ +#define MBF_COSTMAP_NAV__WRAPPER_LOCAL_PLANNER_H_ + +#include +#include "mbf_costmap_core/costmap_controller.h" + +#include + +namespace mbf_nav_core_wrapper { + /** + * @class LocalPlanner + * @brief Provides an interface for local planners used in navigation. + * All local planners written to work as MBF plugins must adhere to this interface. Alternatively, this + * class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility. + */ + class WrapperLocalPlanner : public mbf_costmap_core::CostmapController{ + public: + + /** + * @brief Given the current position, orientation, and velocity of the robot, + * compute velocity commands to send to the base + * @remark New on MBF API; replaces version without output code and message + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @param message Optional more detailed outcome as a string + * @return Result code as described on ExePath action result, as this is a wrapper to the nav_core, + * only 0 (SUCCESS) and 100 (FAILURE) are supported. + */ + virtual uint32_t computeVelocityCommands( + const geometry_msgs::PoseStamped &robot_pose, + const geometry_msgs::TwistStamped &robot_velocity, + geometry_msgs::TwistStamped &cmd_vel, + std::string &message); + + /** + * @brief Check if the goal pose has been achieved by the local planner + * @return True if achieved, false otherwise + */ + virtual bool isGoalReached(); + + /** + * @brief Check if the goal pose has been achieved by the local planner within tolerance limits + * @remark New on MBF API + * @param xy_tolerance Distance tolerance in meters + * @param yaw_tolerance Heading tolerance in radians + * @return True if achieved, false otherwise + */ + virtual bool isGoalReached(double xy_tolerance, double yaw_tolerance); + + /** + * @brief Set the plan that the local planner is following + * @param plan The plan to pass to the local planner + * @return True if the plan was updated successfully, false otherwise + */ + virtual bool setPlan(const std::vector &plan); + + /** + * @brief Requests the planner to cancel, e.g. if it takes too much time + * @remark New on MBF API + * @return True if a cancel has been successfully requested, false if not implemented. + */ + virtual bool cancel(); + + /** + * @brief Constructs the local planner + * @param name The name to give this instance of the local planner + * @param tf A pointer to a transform listener + * @param costmap_ros The cost map to use for assigning costs to local plans + */ + virtual void initialize(std::string name, TF *tf, costmap_2d::Costmap2DROS *costmap_ros); + + /** + * @brief Public constructor used for handling a nav_core-based plugin + * @param plugin Backward compatible plugin + */ + WrapperLocalPlanner(boost::shared_ptr< nav_core::BaseLocalPlanner >plugin); + + /** + * @brief Virtual destructor for the interface + */ + virtual ~WrapperLocalPlanner(); + + private: + boost::shared_ptr< nav_core::BaseLocalPlanner > nav_core_plugin_; + }; +} /* namespace mbf_nav_core_wrapper */ + +#endif /* MBF_COSTMAP_NAV__WRAPPER_LOCAL_PLANNER_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/include/nav_core_wrapper/wrapper_recovery_behavior.h b/navigations/move_base_flex/mbf_costmap_nav/include/nav_core_wrapper/wrapper_recovery_behavior.h new file mode 100755 index 0000000..5929c57 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/include/nav_core_wrapper/wrapper_recovery_behavior.h @@ -0,0 +1,96 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * wrapper_recovery_behavior.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_COSTMAP_NAV__WRAPPER_RECOVERY_BEHAVIOR_H_ +#define MBF_COSTMAP_NAV__WRAPPER_RECOVERY_BEHAVIOR_H_ + +#include +#include "mbf_costmap_core/costmap_recovery.h" + +#include +namespace mbf_nav_core_wrapper { + /** + * @class CostmapRecovery + * @brief Provides an interface for recovery behaviors used in navigation. + * All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this + * class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility. + */ + class WrapperRecoveryBehavior : public mbf_costmap_core::CostmapRecovery{ + public: + + /** + * @brief Initialization function for the CostmapRecovery + * @param tf A pointer to a transform listener + * @param global_costmap A pointer to the global_costmap used by the navigation stack + * @param local_costmap A pointer to the local_costmap used by the navigation stack + */ + virtual void initialize(std::string name, TF* tf, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap); + + /** + * @brief Runs the CostmapRecovery + */ + virtual uint32_t runBehavior(std::string &message); + + /** + * @brief Requests the planner to cancel, e.g. if it takes too much time + * @remark New on MBF API + * @return True if a cancel has been successfully requested, false if not implemented. + */ + virtual bool cancel(); + + /** + * @brief Public constructor used for handling a nav_core-based plugin + * @param plugin Backward compatible plugin + */ + WrapperRecoveryBehavior(boost::shared_ptr< nav_core::RecoveryBehavior > plugin); + + /** + * @brief Virtual destructor for the interface + */ + virtual ~WrapperRecoveryBehavior(); + + private: + boost::shared_ptr< nav_core::RecoveryBehavior > nav_core_plugin_; + }; +}; /* namespace mbf_nav_core_wrapper */ + +#endif /* MBF_COSTMAP_NAV__WRAPPER_RECOVERY_BEHAVIOR_H_ */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/package.xml b/navigations/move_base_flex/mbf_costmap_nav/package.xml new file mode 100755 index 0000000..c86607f --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/package.xml @@ -0,0 +1,41 @@ + + mbf_costmap_nav + 0.3.2 + + The mbf_costmap_nav package contains the costmap navigation server implementation of Move Base Flex (MBF). The costmap navigation server is bound to the costmap_2d representation. It provides the Actions for planning, controlling and recovering. At the time of start MBF loads all defined plugins. Therefor, it loads all plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. + + Additionally the mbf_costmap_nav package comes with a wrapper for the old navigation stack and the plugins which inherits from the nav_core base classes. Preferably it tries to load plugins for the new API. However, plugins could even support both move_base and move_base_flex by inheriting both base class interfaces located in the nav_core package and in the mbf_costmap_core package. + + http://wiki.ros.org/move_base_flex + Sebastian Pütz + Sebastian Pütz + Jorge Santos + BSD-3 + + catkin + + actionlib + actionlib_msgs + costmap_2d + dynamic_reconfigure + geometry_msgs + mbf_abstract_nav + mbf_costmap_core + mbf_msgs + mbf_utility + nav_core + nav_msgs + pluginlib + roscpp + std_msgs + std_srvs + tf + + + move_base + move_base_msgs + + + + + diff --git a/navigations/move_base_flex/mbf_costmap_nav/rosdoc.yaml b/navigations/move_base_flex/mbf_costmap_nav/rosdoc.yaml new file mode 100755 index 0000000..772ff48 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/rosdoc.yaml @@ -0,0 +1,4 @@ + - builder: doxygen + name: Move Base Flex + homepage: http://wiki.ros.org/move_base_flex + file_patterns: '*.c *.cpp *.h *.cc *.hh *.py *.md' diff --git a/navigations/move_base_flex/mbf_costmap_nav/scripts/move_base_legacy_relay.py b/navigations/move_base_flex/mbf_costmap_nav/scripts/move_base_legacy_relay.py new file mode 100755 index 0000000..ea64b63 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/scripts/move_base_legacy_relay.py @@ -0,0 +1,144 @@ +#!/usr/bin/env python +# +# @author Jorge Santos +# License: 3-Clause BSD + +import actionlib +import copy + +import rospy +import nav_msgs.srv as nav_srvs +import mbf_msgs.msg as mbf_msgs +import move_base_msgs.msg as mb_msgs +from dynamic_reconfigure.client import Client +from dynamic_reconfigure.server import Server +from geometry_msgs.msg import PoseStamped +from move_base.cfg import MoveBaseConfig + + +""" +move_base legacy relay node: +Relays old move_base actions to the new mbf move_base action, similar but with richer result and feedback. +We also relay the simple goal topic published by RViz, the make_plan service and dynamic reconfiguration +calls (note that some parameters have changed names; see http://wiki.ros.org/move_base_flex for details) +""" + +# keep configured base local and global planners to send to MBF +bgp = None +blp = None + + +def simple_goal_cb(msg): + mbf_mb_ac.send_goal(mbf_msgs.MoveBaseGoal(target_pose=msg, planner=bgp, controller=blp)) + rospy.logdebug("Relaying move_base_simple/goal pose to mbf") + + +def mb_execute_cb(msg): + mbf_mb_ac.send_goal(mbf_msgs.MoveBaseGoal(target_pose=msg.target_pose, planner=bgp, controller=blp), + feedback_cb=mbf_feedback_cb) + rospy.logdebug("Relaying legacy move_base goal to mbf") + mbf_mb_ac.wait_for_result() + + status = mbf_mb_ac.get_state() + result = mbf_mb_ac.get_result() + + rospy.logdebug("MBF execution completed with result [%d]: %s", result.outcome, result.message) + if result.outcome == mbf_msgs.MoveBaseResult.SUCCESS: + mb_as.set_succeeded(mb_msgs.MoveBaseResult(), "Goal reached.") + else: + mb_as.set_aborted(mb_msgs.MoveBaseResult(), result.message) + + +def make_plan_cb(request): + mbf_gp_ac.send_goal(mbf_msgs.GetPathGoal(start_pose=request.start, target_pose=request.goal, + use_start_pose=bool(request.start.header.frame_id), planner=bgp, + dist_tolerance=request.tolerance, angle_tolerance=request.tolerance, + tolerance_from_action=bool(request.tolerance > 0.0))) + rospy.logdebug("Relaying legacy make_plan service to mbf get_path action server") + mbf_gp_ac.wait_for_result() + + status = mbf_gp_ac.get_state() + result = mbf_gp_ac.get_result() + + rospy.logdebug("MBF get_path execution completed with result [%d]: %s", result.outcome, result.message) + if result.outcome == mbf_msgs.GetPathResult.SUCCESS: + return nav_srvs.GetPlanResponse(plan=result.path) + + +def mbf_feedback_cb(feedback): + mb_as.publish_feedback(mb_msgs.MoveBaseFeedback(base_position=feedback.current_pose)) + + +def mb_reconf_cb(config, level): + rospy.logdebug("Relaying legacy move_base reconfigure request to mbf") + + if not hasattr(mb_reconf_cb, "default_config"): + mb_reconf_cb.default_config = copy.deepcopy(config) + + if config.get('restore_defaults'): + config = mb_reconf_cb.default_config + + mbf_config = copy.deepcopy(config) + + # Map move_base legacy parameters to new mbf ones, and drop those not supported + # mbf doesn't allow changing plugins dynamically, but we can provide them in the + # action goal, so we keep both base_local_planner and base_global_planner + if 'base_local_planner' in mbf_config: + global blp + blp = mbf_config.pop('base_local_planner') + if 'controller_frequency' in mbf_config: + mbf_config['controller_frequency'] = mbf_config.pop('controller_frequency') + if 'controller_patience' in mbf_config: + mbf_config['controller_patience'] = mbf_config.pop('controller_patience') + if 'max_controller_retries' in mbf_config: + mbf_config['controller_max_retries'] = mbf_config.pop('max_controller_retries') + if 'base_global_planner' in mbf_config: + global bgp + bgp = mbf_config.pop('base_global_planner') + if 'planner_frequency' in mbf_config: + mbf_config['planner_frequency'] = mbf_config.pop('planner_frequency') + if 'planner_patience' in mbf_config: + mbf_config['planner_patience'] = mbf_config.pop('planner_patience') + if 'max_planning_retries' in mbf_config: + mbf_config['planner_max_retries'] = mbf_config.pop('max_planning_retries') + if 'recovery_behavior_enabled' in mbf_config: + mbf_config['recovery_enabled'] = mbf_config.pop('recovery_behavior_enabled') + if 'conservative_reset_dist' in mbf_config: + mbf_config.pop('conservative_reset_dist') # no mbf equivalent for this! + if 'clearing_rotation_allowed' in mbf_config: + mbf_config.pop('clearing_rotation_allowed') # no mbf equivalent for this! + if 'make_plan_add_unreachable_goal' in mbf_config: + mbf_config.pop('make_plan_add_unreachable_goal') # no mbf equivalent for this! + if 'make_plan_clear_costmap' in mbf_config: + mbf_config.pop('make_plan_clear_costmap') # no mbf equivalent for this! + mbf_drc.update_configuration(mbf_config) + return config + + +if __name__ == '__main__': + rospy.init_node("move_base") + + # TODO what happens with malformed target goal??? FAILURE or INVALID_POSE + # txt must be: "Aborting on goal because it was sent with an invalid quaternion" + + # move_base_flex get_path and move_base action clients + mbf_mb_ac = actionlib.SimpleActionClient("move_base_flex/move_base", mbf_msgs.MoveBaseAction) + mbf_gp_ac = actionlib.SimpleActionClient("move_base_flex/get_path", mbf_msgs.GetPathAction) + mbf_mb_ac.wait_for_server(rospy.Duration(20)) + mbf_gp_ac.wait_for_server(rospy.Duration(10)) + + # move_base_flex dynamic reconfigure client + mbf_drc = Client("move_base_flex", timeout=10) + + # move_base simple topic and action server + mb_sg = rospy.Subscriber('move_base_simple/goal', PoseStamped, simple_goal_cb) + mb_as = actionlib.SimpleActionServer('move_base', mb_msgs.MoveBaseAction, mb_execute_cb, auto_start=False) + mb_as.start() + + # move_base make_plan service + mb_mps = rospy.Service('~make_plan', nav_srvs.GetPlan, make_plan_cb) + + # move_base dynamic reconfigure server + mb_drs = Server(MoveBaseConfig, mb_reconf_cb) + + rospy.spin() diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_controller_execution.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_controller_execution.cpp new file mode 100755 index 0000000..3e5547b --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_controller_execution.cpp @@ -0,0 +1,103 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_controller_execution.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ +#include "mbf_costmap_nav/costmap_controller_execution.h" + +namespace mbf_costmap_nav +{ + +CostmapControllerExecution::CostmapControllerExecution( + const std::string &controller_name, + const mbf_costmap_core::CostmapController::Ptr &controller_ptr, + const ros::Publisher &vel_pub, + const ros::Publisher &goal_pub, + const TFPtr &tf_listener_ptr, + const CostmapWrapper::Ptr &costmap_ptr, + const MoveBaseFlexConfig &config) + : AbstractControllerExecution(controller_name, controller_ptr, vel_pub, goal_pub, + tf_listener_ptr, toAbstract(config)), + costmap_ptr_(costmap_ptr) +{ + ros::NodeHandle private_nh("~"); + private_nh.param("controller_lock_costmap", lock_costmap_, true); +} + +CostmapControllerExecution::~CostmapControllerExecution() +{ +} + +mbf_abstract_nav::MoveBaseFlexConfig CostmapControllerExecution::toAbstract(const MoveBaseFlexConfig &config) +{ + // copy the controller-related abstract configuration common to all MBF-based navigation + mbf_abstract_nav::MoveBaseFlexConfig abstract_config; + abstract_config.controller_frequency = config.controller_frequency; + abstract_config.controller_patience = config.controller_patience; + abstract_config.controller_max_retries = config.controller_max_retries; + abstract_config.oscillation_timeout = config.oscillation_timeout; + abstract_config.oscillation_distance = config.oscillation_distance; + return abstract_config; +} + +uint32_t CostmapControllerExecution::computeVelocityCmd( + const geometry_msgs::PoseStamped &robot_pose, + const geometry_msgs::TwistStamped &robot_velocity, + geometry_msgs::TwistStamped &vel_cmd, + std::string &message) +{ + // Lock the costmap while planning, but following issue #4, we allow to move the responsibility to the planner itself + if (lock_costmap_) + { + boost::lock_guard lock(*(costmap_ptr_->getCostmap()->getMutex())); + return controller_->computeVelocityCommands(robot_pose, robot_velocity, vel_cmd, message); + } + return controller_->computeVelocityCommands(robot_pose, robot_velocity, vel_cmd, message); +} + +bool CostmapControllerExecution::safetyCheck() +{ + // Check that the observation buffers for the costmap are current, we don't want to drive blind + if (!costmap_ptr_->isCurrent()) + { + ROS_WARN("Sensor data is out of date, we're not going to allow commanding of the base for safety"); + return false; + } + return true; +} + +} /* namespace mbf_costmap_nav */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp new file mode 100755 index 0000000..8417e4c --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_navigation_server.cpp @@ -0,0 +1,718 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_navigation_server.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "mbf_costmap_nav/footprint_helper.h" +#include "mbf_costmap_nav/costmap_navigation_server.h" + +namespace mbf_costmap_nav +{ + + +CostmapNavigationServer::CostmapNavigationServer(const TFPtr &tf_listener_ptr) : + AbstractNavigationServer(tf_listener_ptr), + recovery_plugin_loader_("mbf_costmap_core", "mbf_costmap_core::CostmapRecovery"), + nav_core_recovery_plugin_loader_("nav_core", "nav_core::RecoveryBehavior"), + controller_plugin_loader_("mbf_costmap_core", "mbf_costmap_core::CostmapController"), + nav_core_controller_plugin_loader_("nav_core", "nav_core::BaseLocalPlanner"), + planner_plugin_loader_("mbf_costmap_core", "mbf_costmap_core::CostmapPlanner"), + nav_core_planner_plugin_loader_("nav_core", "nav_core::BaseGlobalPlanner"), + global_costmap_ptr_(new CostmapWrapper("global_costmap", tf_listener_ptr_)), + local_costmap_ptr_(new CostmapWrapper("local_costmap", tf_listener_ptr_)), + setup_reconfigure_(false) +{ + // advertise services and current goal topic + check_point_cost_srv_ = private_nh_.advertiseService("check_point_cost", + &CostmapNavigationServer::callServiceCheckPointCost, this); + check_pose_cost_srv_ = private_nh_.advertiseService("check_pose_cost", + &CostmapNavigationServer::callServiceCheckPoseCost, this); + check_path_cost_srv_ = private_nh_.advertiseService("check_path_cost", + &CostmapNavigationServer::callServiceCheckPathCost, this); + clear_costmaps_srv_ = private_nh_.advertiseService("clear_costmaps", + &CostmapNavigationServer::callServiceClearCostmaps, this); + + // dynamic reconfigure server for mbf_costmap_nav configuration; also include abstract server parameters + dsrv_costmap_ = boost::make_shared >(private_nh_); + dsrv_costmap_->setCallback(boost::bind(&CostmapNavigationServer::reconfigure, this, _1, _2)); + + // initialize all plugins + initializeServerComponents(); + + // start all action servers + startActionServers(); +} + +CostmapNavigationServer::~CostmapNavigationServer() +{ + // remove every plugin before its classLoader goes out of scope. + controller_plugin_manager_.clearPlugins(); + planner_plugin_manager_.clearPlugins(); + recovery_plugin_manager_.clearPlugins(); + + action_server_recovery_ptr_.reset(); + action_server_exe_path_ptr_.reset(); + action_server_get_path_ptr_.reset(); + action_server_move_base_ptr_.reset(); +} + +mbf_abstract_nav::AbstractPlannerExecution::Ptr CostmapNavigationServer::newPlannerExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr) +{ + return boost::make_shared( + plugin_name, + boost::static_pointer_cast(plugin_ptr), + global_costmap_ptr_, + last_config_); +} + +mbf_abstract_nav::AbstractControllerExecution::Ptr CostmapNavigationServer::newControllerExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractController::Ptr plugin_ptr) +{ + return boost::make_shared( + plugin_name, + boost::static_pointer_cast(plugin_ptr), + vel_pub_, + goal_pub_, + tf_listener_ptr_, + local_costmap_ptr_, + last_config_); +} + +mbf_abstract_nav::AbstractRecoveryExecution::Ptr CostmapNavigationServer::newRecoveryExecution( + const std::string &plugin_name, + const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr) +{ + return boost::make_shared( + plugin_name, + boost::static_pointer_cast(plugin_ptr), + tf_listener_ptr_, + global_costmap_ptr_, + local_costmap_ptr_, + last_config_); +} + +mbf_abstract_core::AbstractPlanner::Ptr CostmapNavigationServer::loadPlannerPlugin(const std::string &planner_type) +{ + mbf_abstract_core::AbstractPlanner::Ptr planner_ptr; + try + { + planner_ptr = boost::static_pointer_cast( + planner_plugin_loader_.createInstance(planner_type)); + std::string planner_name = planner_plugin_loader_.getName(planner_type); + ROS_DEBUG_STREAM("mbf_costmap_core-based planner plugin " << planner_name << " loaded."); + } + catch (const pluginlib::PluginlibException &ex_mbf_core) + { + ROS_DEBUG_STREAM("Failed to load the " << planner_type << " planner as a mbf_costmap_core-based plugin." + << " Try to load as a nav_core-based plugin. " << ex_mbf_core.what()); + try + { + // For plugins still based on old nav_core API, we load them and pass to a new MBF API that will act as wrapper + boost::shared_ptr nav_core_planner_ptr = nav_core_planner_plugin_loader_.createInstance(planner_type); + planner_ptr = boost::make_shared(nav_core_planner_ptr); + std::string planner_name = nav_core_planner_plugin_loader_.getName(planner_type); + ROS_DEBUG_STREAM("nav_core-based planner plugin " << planner_name << " loaded"); + } + catch (const pluginlib::PluginlibException &ex_nav_core) + { + ROS_FATAL_STREAM("Failed to load the " << planner_type << " planner, are you sure it's properly registered" + << " and that the containing library is built? " << ex_mbf_core.what() << " " << ex_nav_core.what()); + } + } + + return planner_ptr; +} + +bool CostmapNavigationServer::initializePlannerPlugin( + const std::string &name, + const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr +) +{ + mbf_costmap_core::CostmapPlanner::Ptr costmap_planner_ptr + = boost::static_pointer_cast(planner_ptr); + ROS_DEBUG_STREAM("Initialize planner \"" << name << "\"."); + + if (!global_costmap_ptr_) + { + ROS_FATAL_STREAM("The costmap pointer has not been initialized!"); + return false; + } + + costmap_planner_ptr->initialize(name, global_costmap_ptr_.get()); + ROS_DEBUG("Planner plugin initialized."); + return true; +} + + +mbf_abstract_core::AbstractController::Ptr CostmapNavigationServer::loadControllerPlugin(const std::string &controller_type) +{ + mbf_abstract_core::AbstractController::Ptr controller_ptr; + try + { + controller_ptr = controller_plugin_loader_.createInstance(controller_type); + std::string controller_name = controller_plugin_loader_.getName(controller_type); + ROS_DEBUG_STREAM("mbf_costmap_core-based controller plugin " << controller_name << " loaded."); + } + catch (const pluginlib::PluginlibException &ex_mbf_core) + { + ROS_DEBUG_STREAM("Failed to load the " << controller_type << " controller as a mbf_costmap_core-based plugin;" + << " we will retry to load as a nav_core-based plugin. " << ex_mbf_core.what()); + try + { + // For plugins still based on old nav_core API, we load them and pass to a new MBF API that will act as wrapper + boost::shared_ptr nav_core_controller_ptr + = nav_core_controller_plugin_loader_.createInstance(controller_type); + controller_ptr = boost::make_shared(nav_core_controller_ptr); + std::string controller_name = nav_core_controller_plugin_loader_.getName(controller_type); + ROS_DEBUG_STREAM("nav_core-based controller plugin " << controller_name << " loaded."); + } + catch (const pluginlib::PluginlibException &ex_nav_core) + { + ROS_FATAL_STREAM("Failed to load the " << controller_type << " controller, are you sure it's properly registered" + << " and that the containing library is built? " << ex_mbf_core.what() << " " << ex_nav_core.what()); + } + } + return controller_ptr; +} + +bool CostmapNavigationServer::initializeControllerPlugin( + const std::string &name, + const mbf_abstract_core::AbstractController::Ptr &controller_ptr) +{ + ROS_DEBUG_STREAM("Initialize controller \"" << name << "\"."); + + if (!tf_listener_ptr_) + { + ROS_FATAL_STREAM("The tf listener pointer has not been initialized!"); + return false; + } + + if (!local_costmap_ptr_) + { + ROS_FATAL_STREAM("The costmap pointer has not been initialized!"); + return false; + } + + mbf_costmap_core::CostmapController::Ptr costmap_controller_ptr + = boost::static_pointer_cast(controller_ptr); + costmap_controller_ptr->initialize(name, tf_listener_ptr_.get(), local_costmap_ptr_.get()); + ROS_DEBUG_STREAM("Controller plugin \"" << name << "\" initialized."); + return true; +} + +mbf_abstract_core::AbstractRecovery::Ptr CostmapNavigationServer::loadRecoveryPlugin( + const std::string &recovery_type) +{ + mbf_abstract_core::AbstractRecovery::Ptr recovery_ptr; + + try + { + recovery_ptr = boost::static_pointer_cast( + recovery_plugin_loader_.createInstance(recovery_type)); + std::string recovery_name = recovery_plugin_loader_.getName(recovery_type); + ROS_DEBUG_STREAM("mbf_costmap_core-based recovery behavior plugin " << recovery_name << " loaded."); + } + catch (pluginlib::PluginlibException &ex_mbf_core) + { + ROS_DEBUG_STREAM("Failed to load the " << recovery_type << " recovery behavior as a mbf_costmap_core-based plugin;" + << " Retry to load as a nav_core-based plugin. " << ex_mbf_core.what()); + try + { + // For plugins still based on old nav_core API, we load them and pass to a new MBF API that will act as wrapper + boost::shared_ptr nav_core_recovery_ptr = + nav_core_recovery_plugin_loader_.createInstance(recovery_type); + + recovery_ptr = boost::make_shared(nav_core_recovery_ptr); + std::string recovery_name = recovery_plugin_loader_.getName(recovery_type); + ROS_DEBUG_STREAM("nav_core-based recovery behavior plugin " << recovery_name << " loaded."); + + } + catch (const pluginlib::PluginlibException &ex_nav_core) + { + ROS_FATAL_STREAM("Failed to load the " << recovery_type << " recovery behavior, are you sure it's properly registered" + << " and that the containing library is built? " << ex_mbf_core.what() << " " << ex_nav_core.what()); + } + } + + return recovery_ptr; +} + +bool CostmapNavigationServer::initializeRecoveryPlugin( + const std::string &name, + const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr) +{ + ROS_DEBUG_STREAM("Initialize recovery behavior \"" << name << "\"."); + + if (!tf_listener_ptr_) + { + ROS_FATAL_STREAM("The tf listener pointer has not been initialized!"); + return false; + } + + if (!local_costmap_ptr_) + { + ROS_FATAL_STREAM("The local costmap pointer has not been initialized!"); + return false; + } + + if (!global_costmap_ptr_) + { + ROS_FATAL_STREAM("The global costmap pointer has not been initialized!"); + return false; + } + + mbf_costmap_core::CostmapRecovery::Ptr behavior = + boost::static_pointer_cast(behavior_ptr); + behavior->initialize(name, tf_listener_ptr_.get(), global_costmap_ptr_.get(), local_costmap_ptr_.get()); + ROS_DEBUG_STREAM("Recovery behavior plugin \"" << name << "\" initialized."); + return true; +} + + +void CostmapNavigationServer::stop() +{ + AbstractNavigationServer::stop(); + ROS_INFO_STREAM_NAMED("mbf_costmap_nav", "Stopping local and global costmap for shutdown"); + local_costmap_ptr_->stop(); + global_costmap_ptr_->stop(); +} + +void CostmapNavigationServer::reconfigure(mbf_costmap_nav::MoveBaseFlexConfig &config, uint32_t level) +{ + // Make sure we have the original configuration the first time we're called, so we can restore it if needed + if (!setup_reconfigure_) + { + default_config_ = config; + setup_reconfigure_ = true; + } + + if (config.restore_defaults) + { + config = default_config_; + // if someone sets restore defaults on the parameter server, prevent looping + config.restore_defaults = false; + } + + // fill the abstract configuration common to all MBF-based navigation + mbf_abstract_nav::MoveBaseFlexConfig abstract_config; + abstract_config.planner_frequency = config.planner_frequency; + abstract_config.planner_patience = config.planner_patience; + abstract_config.planner_max_retries = config.planner_max_retries; + abstract_config.controller_frequency = config.controller_frequency; + abstract_config.controller_patience = config.controller_patience; + abstract_config.controller_max_retries = config.controller_max_retries; + abstract_config.recovery_enabled = config.recovery_enabled; + abstract_config.recovery_patience = config.recovery_patience; + abstract_config.oscillation_timeout = config.oscillation_timeout; + abstract_config.oscillation_distance = config.oscillation_distance; + abstract_config.restore_defaults = config.restore_defaults; + mbf_abstract_nav::AbstractNavigationServer::reconfigure(abstract_config, level); + + // also reconfigure costmaps + local_costmap_ptr_->reconfigure(config.shutdown_costmaps, config.shutdown_costmaps_delay); + global_costmap_ptr_->reconfigure(config.shutdown_costmaps, config.shutdown_costmaps_delay); + + last_config_ = config; +} + +bool CostmapNavigationServer::callServiceCheckPointCost(mbf_msgs::CheckPoint::Request &request, + mbf_msgs::CheckPoint::Response &response) +{ + // selecting the requested costmap + CostmapWrapper::Ptr costmap; + std::string costmap_name; + switch (request.costmap) + { + case mbf_msgs::CheckPoint::Request::LOCAL_COSTMAP: + costmap = local_costmap_ptr_; + costmap_name = "local costmap"; + break; + case mbf_msgs::CheckPoint::Request::GLOBAL_COSTMAP: + costmap = global_costmap_ptr_; + costmap_name = "global costmap"; + break; + default: + ROS_ERROR_STREAM("No valid costmap provided; options are " + << mbf_msgs::CheckPoint::Request::LOCAL_COSTMAP << ": local costmap, " + << mbf_msgs::CheckPoint::Request::GLOBAL_COSTMAP << ": global costmap"); + return false; + } + + // get target point as x, y coordinates + std::string costmap_frame = costmap->getGlobalFrameID(); + + geometry_msgs::PointStamped point; + if (!mbf_utility::transformPoint(*tf_listener_ptr_, costmap_frame, ros::Duration(0.5), request.point, point)) + { + ROS_ERROR_STREAM("Transform target point to " << costmap_name << " frame '" << costmap_frame << "' failed"); + return false; + } + + double x = point.point.x; + double y = point.point.y; + + // ensure costmap is active so cost reflects latest sensor readings + costmap->checkActivate(); + unsigned int mx, my; + if (!costmap->getCostmap()->worldToMap(x, y, mx, my)) + { + // point is outside of the map + response.state = static_cast(mbf_msgs::CheckPoint::Response::OUTSIDE); + ROS_DEBUG_STREAM("Point [" << x << ", " << y << "] is outside the map (cost = " << response.cost << ")"); + } + else + { + // lock costmap so content doesn't change while checking cell costs + boost::unique_lock lock(*(costmap->getCostmap()->getMutex())); + + // get cost of cell under point and classify as one of the states: UNKNOWN, LETHAL, INSCRIBED, FREE + response.cost = costmap->getCostmap()->getCost(mx, my); + switch (response.cost) + { + case costmap_2d::NO_INFORMATION: + response.state = static_cast(mbf_msgs::CheckPoint::Response::UNKNOWN); + ROS_DEBUG_STREAM("Point [" << x << ", " << y << "] is in unknown space! (cost = " << response.cost << ")"); + break; + case costmap_2d::LETHAL_OBSTACLE: + response.state = static_cast(mbf_msgs::CheckPoint::Response::LETHAL); + ROS_DEBUG_STREAM("Point [" << x << ", " << y << "] is in collision! (cost = " << response.cost << ")"); + break; + case costmap_2d::INSCRIBED_INFLATED_OBSTACLE: + response.state = static_cast(mbf_msgs::CheckPoint::Response::INSCRIBED); + ROS_DEBUG_STREAM("Point [" << x << ", " << y << "] is near an obstacle (cost = " << response.cost << ")"); + break; + default: + response.state = static_cast(mbf_msgs::CheckPoint::Response::FREE); + ROS_DEBUG_STREAM("Point [" << x << ", " << y << "] is free (cost = " << response.cost << ")"); + break; + } + } + + costmap->checkDeactivate(); + return true; +} + +bool CostmapNavigationServer::callServiceCheckPoseCost(mbf_msgs::CheckPose::Request &request, + mbf_msgs::CheckPose::Response &response) +{ + // selecting the requested costmap + CostmapWrapper::Ptr costmap; + std::string costmap_name; + switch (request.costmap) + { + case mbf_msgs::CheckPose::Request::LOCAL_COSTMAP: + costmap = local_costmap_ptr_; + costmap_name = "local costmap"; + break; + case mbf_msgs::CheckPose::Request::GLOBAL_COSTMAP: + costmap = global_costmap_ptr_; + costmap_name = "global costmap"; + break; + default: + ROS_ERROR_STREAM("No valid costmap provided; options are " + << mbf_msgs::CheckPose::Request::LOCAL_COSTMAP << ": local costmap, " + << mbf_msgs::CheckPose::Request::GLOBAL_COSTMAP << ": global costmap"); + return false; + } + + // get target pose or current robot pose as x, y, yaw coordinates + std::string costmap_frame = costmap->getGlobalFrameID(); + + geometry_msgs::PoseStamped pose; + if (request.current_pose) + { + if (!mbf_utility::getRobotPose(*tf_listener_ptr_, robot_frame_, costmap_frame, ros::Duration(0.5), pose)) + { + ROS_ERROR_STREAM("Get robot pose on " << costmap_name << " frame '" << costmap_frame << "' failed"); + return false; + } + } + else + { + if (!mbf_utility::transformPose(*tf_listener_ptr_, costmap_frame, ros::Duration(0.5), request.pose, pose)) + { + ROS_ERROR_STREAM("Transform target pose to " << costmap_name << " frame '" << costmap_frame << "' failed"); + return false; + } + } + + double x = pose.pose.position.x; + double y = pose.pose.position.y; + double yaw = tf::getYaw(pose.pose.orientation); + + // ensure costmap is active so cost reflects latest sensor readings + costmap->checkActivate(); + + // pad raw footprint to the requested safety distance; note that we discard footprint_padding parameter effect + std::vector footprint = costmap->getUnpaddedRobotFootprint(); + costmap_2d::padFootprint(footprint, request.safety_dist); + + // use footprint helper to get all the cells totally or partially within footprint polygon + std::vector footprint_cells = + FootprintHelper::getFootprintCells(x, y, yaw, footprint, *costmap->getCostmap(), true); + response.state = mbf_msgs::CheckPose::Response::FREE; + if (footprint_cells.empty()) + { + // no cells within footprint polygon must mean that robot is completely outside of the map + response.state = std::max(response.state, static_cast(mbf_msgs::CheckPose::Response::OUTSIDE)); + } + else + { + // lock costmap so content doesn't change while adding cell costs + boost::unique_lock lock(*(costmap->getCostmap()->getMutex())); + + // integrate the cost of all cells; state value precedence is UNKNOWN > LETHAL > INSCRIBED > FREE + for (int i = 0; i < footprint_cells.size(); ++i) + { + unsigned char cost = costmap->getCostmap()->getCost(footprint_cells[i].x, footprint_cells[i].y); + switch (cost) + { + case costmap_2d::NO_INFORMATION: + response.state = std::max(response.state, static_cast(mbf_msgs::CheckPose::Response::UNKNOWN)); + response.cost += cost * (request.unknown_cost_mult ? request.unknown_cost_mult : 1.0); + break; + case costmap_2d::LETHAL_OBSTACLE: + response.state = std::max(response.state, static_cast(mbf_msgs::CheckPose::Response::LETHAL)); + response.cost += cost * (request.lethal_cost_mult ? request.lethal_cost_mult : 1.0); + break; + case costmap_2d::INSCRIBED_INFLATED_OBSTACLE: + response.state = std::max(response.state, static_cast(mbf_msgs::CheckPose::Response::INSCRIBED)); + response.cost += cost * (request.inscrib_cost_mult ? request.inscrib_cost_mult : 1.0); + break; + default: + response.cost += cost; + break; + } + } + } + + // Provide some details of the outcome + switch (response.state) + { + case mbf_msgs::CheckPose::Response::OUTSIDE: + ROS_DEBUG_STREAM("Pose [" << x << ", " << y << ", " << yaw << "] is outside the map (cost = " << response.cost + << "; safety distance = " << request.safety_dist << ")"); + break; + case mbf_msgs::CheckPose::Response::UNKNOWN: + ROS_DEBUG_STREAM("Pose [" << x << ", " << y << ", " << yaw << "] is in unknown space! (cost = " << response.cost + << "; safety distance = " << request.safety_dist << ")"); + break; + case mbf_msgs::CheckPose::Response::LETHAL: + ROS_DEBUG_STREAM("Pose [" << x << ", " << y << ", " << yaw << "] is in collision! (cost = " << response.cost + << "; safety distance = " << request.safety_dist << ")"); + break; + case mbf_msgs::CheckPose::Response::INSCRIBED: + ROS_DEBUG_STREAM("Pose [" << x << ", " << y << ", " << yaw << "] is near an obstacle (cost = " << response.cost + << "; safety distance = " << request.safety_dist << ")"); + break; + case mbf_msgs::CheckPose::Response::FREE: + ROS_DEBUG_STREAM("Pose [" << x << ", " << y << ", " << yaw << "] is free (cost = " << response.cost + << "; safety distance = " << request.safety_dist << ")"); + break; + } + + costmap->checkDeactivate(); + return true; +} + +bool CostmapNavigationServer::callServiceCheckPathCost(mbf_msgs::CheckPath::Request &request, + mbf_msgs::CheckPath::Response &response) +{ + // selecting the requested costmap + CostmapWrapper::Ptr costmap; + std::string costmap_name; + switch (request.costmap) + { + case mbf_msgs::CheckPath::Request::LOCAL_COSTMAP: + costmap = local_costmap_ptr_; + costmap_name = "local costmap"; + break; + case mbf_msgs::CheckPath::Request::GLOBAL_COSTMAP: + costmap = global_costmap_ptr_; + costmap_name = "global costmap"; + break; + default: + ROS_ERROR_STREAM("No valid costmap provided; options are " + << mbf_msgs::CheckPath::Request::LOCAL_COSTMAP << ": local costmap, " + << mbf_msgs::CheckPath::Request::GLOBAL_COSTMAP << ": global costmap"); + return false; + } + + // ensure costmap is active so cost reflects latest sensor readings + costmap->checkActivate(); + + // get target pose or current robot pose as x, y, yaw coordinates + std::string costmap_frame = costmap->getGlobalFrameID(); + + std::vector footprint; + if (!request.path_cells_only) + { + // unless we want to check just the cells directly traversed by the path, pad raw footprint + // to the requested safety distance; note that we discard footprint_padding parameter effect + footprint = costmap->getUnpaddedRobotFootprint(); + costmap_2d::padFootprint(footprint, request.safety_dist); + } + + // lock costmap so content doesn't change while adding cell costs + boost::unique_lock lock(*(costmap->getCostmap()->getMutex())); + + geometry_msgs::PoseStamped pose; + + response.state = mbf_msgs::CheckPath::Response::FREE; + + for (int i = 0; i < request.path.poses.size(); ++i) + { + response.last_checked = i; + + if (!mbf_utility::transformPose(*tf_listener_ptr_, costmap_frame, ros::Duration(0.5), request.path.poses[i], pose)) + { + ROS_ERROR_STREAM("Transform target pose to " << costmap_name << " frame '" << costmap_frame << "' failed"); + return false; + } + + double x = pose.pose.position.x; + double y = pose.pose.position.y; + double yaw = tf::getYaw(pose.pose.orientation); + std::vector cells_to_check; + if (request.path_cells_only) + { + Cell cell; + if (costmap->getCostmap()->worldToMap(x, y, cell.x, cell.y)) + { + cells_to_check.push_back(cell); // out of map if false; cells_to_check will be empty + } + } + else + { + // use footprint helper to get all the cells totally or partially within footprint polygon + cells_to_check = FootprintHelper::getFootprintCells(x, y, yaw, footprint, *costmap->getCostmap(), true); + } + + if (cells_to_check.empty()) + { + // if path_cells_only is true, this means that current path's pose is outside the map + // if not, no cells within footprint polygon means that robot is completely outside of the map + response.state = std::max(response.state, static_cast(mbf_msgs::CheckPath::Response::OUTSIDE)); + } + else + { + // integrate the cost of all cells; state value precedence is UNKNOWN > LETHAL > INSCRIBED > FREE + // we apply the requested cost multipliers if different from zero (default value) + for (int j = 0; j < cells_to_check.size(); ++j) + { + unsigned char cost = costmap->getCostmap()->getCost(cells_to_check[j].x, cells_to_check[j].y); + switch (cost) + { + case costmap_2d::NO_INFORMATION: + response.state = std::max(response.state, static_cast(mbf_msgs::CheckPose::Response::UNKNOWN)); + response.cost += cost * (request.unknown_cost_mult ? request.unknown_cost_mult : 1.0); + break; + case costmap_2d::LETHAL_OBSTACLE: + response.state = std::max(response.state, static_cast(mbf_msgs::CheckPath::Response::LETHAL)); + response.cost += cost * (request.lethal_cost_mult ? request.lethal_cost_mult : 1.0); + break; + case costmap_2d::INSCRIBED_INFLATED_OBSTACLE: + response.state = std::max(response.state, static_cast(mbf_msgs::CheckPath::Response::INSCRIBED)); + response.cost += cost * (request.inscrib_cost_mult ? request.inscrib_cost_mult : 1.0); + break; + default:response.cost += cost; + break; + } + } + } + + if (request.return_on && response.state >= request.return_on) + { + // i-th pose state is bad enough for the client, so provide some details of the outcome and abort checking + switch (response.state) + { + case mbf_msgs::CheckPath::Response::OUTSIDE: + ROS_DEBUG_STREAM("At pose " << i << " [" << x << ", " << y << ", " << yaw << "] path goes outside the map " + << "(cost = " << response.cost << "; safety distance = " << request.safety_dist << ")"); + break; + case mbf_msgs::CheckPath::Response::UNKNOWN: + ROS_DEBUG_STREAM("At pose " << i << " [" << x << ", " << y << ", " << yaw << "] path goes in unknown space! " + << "(cost = " << response.cost << "; safety distance = " << request.safety_dist << ")"); + break; + case mbf_msgs::CheckPath::Response::LETHAL: + ROS_DEBUG_STREAM("At pose " << i << " [" << x << ", " << y << ", " << yaw << "] path goes in collision! " + << "(cost = " << response.cost << "; safety distance = " << request.safety_dist << ")"); + break; + case mbf_msgs::CheckPath::Response::INSCRIBED: + ROS_DEBUG_STREAM("At pose " << i << " [" << x << ", " << y << ", " << yaw << "] path goes near an obstacle " + << "(cost = " << response.cost << "; safety distance = " << request.safety_dist << ")"); + break; + case mbf_msgs::CheckPath::Response::FREE: + ROS_DEBUG_STREAM("Path is entirely free (maximum cost = " + << response.cost << "; safety distance = " << request.safety_dist << ")"); + break; + } + + break; + } + + i += request.skip_poses; // skip some poses to speedup processing (disabled by default) + } + + costmap->checkDeactivate(); + return true; +} + +bool CostmapNavigationServer::callServiceClearCostmaps(std_srvs::Empty::Request &request, + std_srvs::Empty::Response &response) +{ + // clear both costmaps + local_costmap_ptr_->clear(); + global_costmap_ptr_->clear(); + return true; +} + +} /* namespace mbf_costmap_nav */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_planner_execution.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_planner_execution.cpp new file mode 100755 index 0000000..1f9c533 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_planner_execution.cpp @@ -0,0 +1,88 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_planner_execution.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ +#include + +#include "mbf_costmap_nav/costmap_planner_execution.h" + +namespace mbf_costmap_nav +{ + +CostmapPlannerExecution::CostmapPlannerExecution( + const std::string &planner_name, + const mbf_costmap_core::CostmapPlanner::Ptr &planner_ptr, + const CostmapWrapper::Ptr &costmap_ptr, + const MoveBaseFlexConfig &config) + : AbstractPlannerExecution(planner_name, planner_ptr, toAbstract(config)), + costmap_ptr_(costmap_ptr) +{ + ros::NodeHandle private_nh("~"); + private_nh.param("planner_lock_costmap", lock_costmap_, true); +} + +CostmapPlannerExecution::~CostmapPlannerExecution() +{ +} + +mbf_abstract_nav::MoveBaseFlexConfig CostmapPlannerExecution::toAbstract(const MoveBaseFlexConfig &config) +{ + // copy the planner-related abstract configuration common to all MBF-based navigation + mbf_abstract_nav::MoveBaseFlexConfig abstract_config; + abstract_config.planner_frequency = config.planner_frequency; + abstract_config.planner_patience = config.planner_patience; + abstract_config.planner_max_retries = config.planner_max_retries; + return abstract_config; +} + +uint32_t CostmapPlannerExecution::makePlan(const geometry_msgs::PoseStamped &start, + const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance, + std::vector &plan, + double &cost, + std::string &message) +{ + if (lock_costmap_) + { + boost::unique_lock lock(*(costmap_ptr_->getCostmap()->getMutex())); + return planner_->makePlan(start, goal, dist_tolerance, angle_tolerance, plan, cost, message); + } + return planner_->makePlan(start, goal, dist_tolerance, angle_tolerance, plan, cost, message); +} + +} /* namespace mbf_costmap_nav */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_recovery_execution.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_recovery_execution.cpp new file mode 100755 index 0000000..059a863 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_recovery_execution.cpp @@ -0,0 +1,72 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_recovery_execution.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ +#include +#include "nav_core_wrapper/wrapper_recovery_behavior.h" +#include "mbf_costmap_nav/costmap_recovery_execution.h" + +namespace mbf_costmap_nav +{ + +CostmapRecoveryExecution::CostmapRecoveryExecution( + const std::string &recovery_name, + const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, + const TFPtr &tf_listener_ptr, + const CostmapWrapper::Ptr &global_costmap, + const CostmapWrapper::Ptr &local_costmap, + const MoveBaseFlexConfig &config) + : AbstractRecoveryExecution(recovery_name, recovery_ptr, tf_listener_ptr, toAbstract(config)), + global_costmap_(global_costmap), local_costmap_(local_costmap) +{ +} + +CostmapRecoveryExecution::~CostmapRecoveryExecution() +{ +} + +mbf_abstract_nav::MoveBaseFlexConfig CostmapRecoveryExecution::toAbstract(const MoveBaseFlexConfig &config) +{ + // copy the recovery-related abstract configuration common to all MBF-based navigation + mbf_abstract_nav::MoveBaseFlexConfig abstract_config; + abstract_config.recovery_enabled = config.recovery_enabled; + abstract_config.recovery_patience = config.recovery_patience; + return abstract_config; +} + +} /* namespace mbf_costmap_nav */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_wrapper.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_wrapper.cpp new file mode 100755 index 0000000..bbbb6ec --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/costmap_wrapper.cpp @@ -0,0 +1,139 @@ +/* + * Copyright 2019, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * costmap_wrapper.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include "mbf_costmap_nav/costmap_wrapper.h" + + +namespace mbf_costmap_nav +{ + + +CostmapWrapper::CostmapWrapper(const std::string &name, const TFPtr &tf_listener_ptr) : + costmap_2d::Costmap2DROS(name, *tf_listener_ptr), + shutdown_costmap_(false), costmap_users_(0), private_nh_("~") +{ + // even if shutdown_costmaps is a dynamically reconfigurable parameter, we + // need it here to decide whether to start or not the costmap on starting up + private_nh_.param("shutdown_costmaps", shutdown_costmap_, false); + private_nh_.param("clear_on_shutdown", clear_on_shutdown_, false); + + if (shutdown_costmap_) + // initialize costmap stopped if shutdown_costmaps parameter is true + stop(); + else + // otherwise costmap_users_ is at least 1, as costmap is always active + ++costmap_users_; +} + +CostmapWrapper::~CostmapWrapper() +{ + shutdown_costmap_timer_.stop(); +} + + +void CostmapWrapper::reconfigure(double shutdown_costmap, double shutdown_costmap_delay) +{ + shutdown_costmap_delay_ = ros::Duration(shutdown_costmap_delay); + if (shutdown_costmap_delay_.isZero()) + ROS_WARN("Zero shutdown costmaps delay is not recommended, as it forces us to enable costmaps on each action"); + + if (shutdown_costmap_ && !shutdown_costmap) + { + checkActivate(); + shutdown_costmap_ = shutdown_costmap; + } + if (!shutdown_costmap_ && shutdown_costmap) + { + shutdown_costmap_ = shutdown_costmap; + checkDeactivate(); + } +} + +void CostmapWrapper::clear() +{ + // lock and clear costmap + boost::unique_lock lock(*getCostmap()->getMutex()); + resetLayers(); +} + +void CostmapWrapper::checkActivate() +{ + boost::mutex::scoped_lock sl(check_costmap_mutex_); + + shutdown_costmap_timer_.stop(); + + // Activate costmap if we shutdown them when not moving and they are not already active. This method must be + // synchronized because start costmap can take up to 1/update freq., and concurrent calls to it can lead to segfaults + if (shutdown_costmap_ && !costmap_users_) + { + start(); + ROS_DEBUG_STREAM("" << name_ << " activated"); + } + ++costmap_users_; +} + +void CostmapWrapper::checkDeactivate() +{ + boost::mutex::scoped_lock sl(check_costmap_mutex_); + + --costmap_users_; + ROS_ASSERT_MSG(costmap_users_ >= 0, "Negative number (%d) of active users count!", costmap_users_); + if (shutdown_costmap_ && !costmap_users_) + { + // Delay costmap shutdown by shutdown_costmap_delay so we don't need to enable at each step of a normal + // navigation sequence, what is terribly inefficient; the timer is stopped on costmap re-activation and + // reset after every new call to deactivate + shutdown_costmap_timer_ = + private_nh_.createTimer(shutdown_costmap_delay_, &CostmapWrapper::deactivate, this, true); + } +} + +void CostmapWrapper::deactivate(const ros::TimerEvent &event) +{ + boost::mutex::scoped_lock sl(check_costmap_mutex_); + + ROS_ASSERT_MSG(!costmap_users_, "Deactivating costmap with %d active users!", costmap_users_); + if (clear_on_shutdown_) + clear(); // do before stop, as some layers (e.g. obstacle and voxel) reactivate their subscribers on reset + stop(); + ROS_DEBUG_STREAM("" << name_ << " deactivated"); +} + +} /* namespace mbf_costmap_nav */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/footprint_helper.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/footprint_helper.cpp new file mode 100755 index 0000000..6ee25e9 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/mbf_costmap_nav/footprint_helper.cpp @@ -0,0 +1,237 @@ +/********************************************************************* + * + * 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 Willow Garage, Inc. 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: TKruse + *********************************************************************/ + +#include "mbf_costmap_nav/footprint_helper.h" + +namespace mbf_costmap_nav +{ + +void FootprintHelper::getLineCells(int x0, int x1, int y0, int y1, std::vector& pts) { + //Bresenham Ray-Tracing + int deltax = abs(x1 - x0); // The difference between the x's + int deltay = abs(y1 - y0); // The difference between the y's + int x = x0; // Start x off at the first pixel + int y = y0; // Start y off at the first pixel + + int xinc1, xinc2, yinc1, yinc2; + int den, num, numadd, numpixels; + + Cell pt; + + if (x1 >= x0) // The x-values are increasing + { + xinc1 = 1; + xinc2 = 1; + } + else // The x-values are decreasing + { + xinc1 = -1; + xinc2 = -1; + } + + if (y1 >= y0) // The y-values are increasing + { + yinc1 = 1; + yinc2 = 1; + } + else // The y-values are decreasing + { + yinc1 = -1; + yinc2 = -1; + } + + if (deltax >= deltay) // There is at least one x-value for every y-value + { + xinc1 = 0; // Don't change the x when numerator >= denominator + yinc2 = 0; // Don't change the y for every iteration + den = deltax; + num = deltax / 2; + numadd = deltay; + numpixels = deltax; // There are more x-values than y-values + } + else // There is at least one y-value for every x-value + { + xinc2 = 0; // Don't change the x for every iteration + yinc1 = 0; // Don't change the y when numerator >= denominator + den = deltay; + num = deltay / 2; + numadd = deltax; + numpixels = deltay; // There are more y-values than x-values + } + + for (int curpixel = 0; curpixel <= numpixels; curpixel++) + { + pt.x = x; //Draw the current pixel + pt.y = y; + pts.push_back(pt); + + num += numadd; // Increase the numerator by the top of the fraction + if (num >= den) // Check if numerator >= denominator + { + num -= den; // Calculate the new numerator value + x += xinc1; // Change the x as appropriate + y += yinc1; // Change the y as appropriate + } + x += xinc2; // Change the x as appropriate + y += yinc2; // Change the y as appropriate + } +} + + +void FootprintHelper::getFillCells(std::vector& footprint){ + //quick bubble sort to sort pts by x + Cell swap, pt; + unsigned int i = 0; + while (i < footprint.size() - 1) { + if (footprint[i].x > footprint[i + 1].x) { + swap = footprint[i]; + footprint[i] = footprint[i + 1]; + footprint[i + 1] = swap; + if(i > 0) { + --i; + } + } else { + ++i; + } + } + + i = 0; + Cell min_pt; + Cell max_pt; + unsigned int min_x = footprint[0].x; + unsigned int max_x = footprint[footprint.size() -1].x; + //walk through each column and mark cells inside the footprint + for (unsigned int x = min_x; x <= max_x; ++x) { + if (i >= footprint.size() - 1) { + break; + } + if (footprint[i].y < footprint[i + 1].y) { + min_pt = footprint[i]; + max_pt = footprint[i + 1]; + } else { + min_pt = footprint[i + 1]; + max_pt = footprint[i]; + } + + i += 2; + while (i < footprint.size() && footprint[i].x == x) { + if(footprint[i].y < min_pt.y) { + min_pt = footprint[i]; + } else if(footprint[i].y > max_pt.y) { + max_pt = footprint[i]; + } + ++i; + } + + //loop though cells in the column + for (unsigned int y = min_pt.y; y < max_pt.y; ++y) { + pt.x = x; + pt.y = y; + footprint.push_back(pt); + } + } +} + +/** + * get the cells of a footprint at a given position + */ +std::vector FootprintHelper::getFootprintCells( + double x, double y, double theta, + std::vector footprint_spec, + const costmap_2d::Costmap2D& costmap, + bool fill){ + std::vector footprint_cells; + + //if we have no footprint... do nothing + if (footprint_spec.size() <= 1) { + unsigned int mx, my; + if (costmap.worldToMap(x, y, mx, my)) { + Cell center; + center.x = mx; + center.y = my; + footprint_cells.push_back(center); + } + return footprint_cells; + } + + //pre-compute cos and sin values + double cos_th = cos(theta); + double sin_th = sin(theta); + double new_x, new_y; + unsigned int x0, y0, x1, y1; + unsigned int last_index = footprint_spec.size() - 1; + + for (unsigned int i = 0; i < last_index; ++i) { + //find the cell coordinates of the first segment point + new_x = x + (footprint_spec[i].x * cos_th - footprint_spec[i].y * sin_th); + new_y = y + (footprint_spec[i].x * sin_th + footprint_spec[i].y * cos_th); + if(!costmap.worldToMap(new_x, new_y, x0, y0)) { + return footprint_cells; + } + + //find the cell coordinates of the second segment point + new_x = x + (footprint_spec[i + 1].x * cos_th - footprint_spec[i + 1].y * sin_th); + new_y = y + (footprint_spec[i + 1].x * sin_th + footprint_spec[i + 1].y * cos_th); + if (!costmap.worldToMap(new_x, new_y, x1, y1)) { + return footprint_cells; + } + + getLineCells(x0, x1, y0, y1, footprint_cells); + } + + //we need to close the loop, so we also have to raytrace from the last pt to first pt + new_x = x + (footprint_spec[last_index].x * cos_th - footprint_spec[last_index].y * sin_th); + new_y = y + (footprint_spec[last_index].x * sin_th + footprint_spec[last_index].y * cos_th); + if (!costmap.worldToMap(new_x, new_y, x0, y0)) { + return footprint_cells; + } + new_x = x + (footprint_spec[0].x * cos_th - footprint_spec[0].y * sin_th); + new_y = y + (footprint_spec[0].x * sin_th + footprint_spec[0].y * cos_th); + if(!costmap.worldToMap(new_x, new_y, x1, y1)) { + return footprint_cells; + } + + getLineCells(x0, x1, y0, y1, footprint_cells); + + if(fill) { + getFillCells(footprint_cells); + } + + return footprint_cells; +} + +} /* namespace mbf_costmap_nav */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/move_base_server_node.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/move_base_server_node.cpp new file mode 100755 index 0000000..668b5b4 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/move_base_server_node.cpp @@ -0,0 +1,83 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * move_base_server_node.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include "mbf_costmap_nav/costmap_navigation_server.h" +#include +#include +#include + +typedef boost::shared_ptr CostmapNavigationServerPtr; +mbf_costmap_nav::CostmapNavigationServer::Ptr costmap_nav_srv_ptr; + +void sigintHandler(int sig) +{ + ROS_INFO_STREAM("Shutdown costmap navigation server."); + if(costmap_nav_srv_ptr) + { + costmap_nav_srv_ptr->stop(); + } + ros::shutdown(); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "mbf_2d_nav_server", ros::init_options::NoSigintHandler); + + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + double cache_time; + private_nh.param("tf_cache_time", cache_time, 10.0); + + signal(SIGINT, sigintHandler); +#ifdef USE_OLD_TF + TFPtr tf_listener_ptr(new TF(nh, ros::Duration(cache_time), true)); +#else + TFPtr tf_listener_ptr(new TF(ros::Duration(cache_time))); + tf2_ros::TransformListener tf_listener(*tf_listener_ptr); +#endif + costmap_nav_srv_ptr = boost::make_shared(tf_listener_ptr); + ros::spin(); + + // explicitly call destructor here, otherwise costmap_nav_srv_ptr will be + // destructed after tearing down internally allocated static variables + costmap_nav_srv_ptr.reset(); + return EXIT_SUCCESS; +} diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/nav_core_wrapper/wrapper_global_planner.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/nav_core_wrapper/wrapper_global_planner.cpp new file mode 100755 index 0000000..765a1f1 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/nav_core_wrapper/wrapper_global_planner.cpp @@ -0,0 +1,82 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * wrapper_global_planner.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include "nav_core_wrapper/wrapper_global_planner.h" + +namespace mbf_nav_core_wrapper +{ + +uint32_t WrapperGlobalPlanner::makePlan(const geometry_msgs::PoseStamped &start, + const geometry_msgs::PoseStamped &goal, + double dist_tolerance, double angle_tolerance, + std::vector &plan, + double &cost, + std::string &message) +{ +#if ROS_VERSION_MINIMUM(1, 12, 0) // if current ros version is >= 1.12.0 + // Kinetic and beyond + bool success = nav_core_plugin_->makePlan(start, goal, plan, cost); +#else + // Indigo + bool success = nav_core_plugin_->makePlan(start, goal, plan); + cost = 0; +#endif + message = success ? "Plan found" : "Planner failed"; + return success ? 0 : 50; // SUCCESS | FAILURE +} + +bool WrapperGlobalPlanner::cancel() +{ + return false; +} + +void WrapperGlobalPlanner::initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros) +{ + nav_core_plugin_->initialize(name, costmap_ros); +} + +WrapperGlobalPlanner::WrapperGlobalPlanner(boost::shared_ptr plugin) + : nav_core_plugin_(plugin) +{} + +WrapperGlobalPlanner::~WrapperGlobalPlanner() +{} + +}; /* namespace mbf_abstract_core */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/nav_core_wrapper/wrapper_local_planner.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/nav_core_wrapper/wrapper_local_planner.cpp new file mode 100755 index 0000000..8c9c0d4 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/nav_core_wrapper/wrapper_local_planner.cpp @@ -0,0 +1,94 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * wrapper_local_planner.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include "nav_core_wrapper/wrapper_local_planner.h" + +namespace mbf_nav_core_wrapper +{ + +uint32_t WrapperLocalPlanner::computeVelocityCommands( + const geometry_msgs::PoseStamped &robot_pose, + const geometry_msgs::TwistStamped &robot_velocity, + geometry_msgs::TwistStamped &cmd_vel, + std::string &message) +{ + bool success = nav_core_plugin_->computeVelocityCommands(cmd_vel.twist); + message = success ? "Goal reached" : "Controller failed"; + return success ? 0 : 100; // SUCCESS | FAILURE +} + +bool WrapperLocalPlanner::isGoalReached() +{ + return nav_core_plugin_->isGoalReached(); +} + +bool WrapperLocalPlanner::isGoalReached(double xy_tolerance, double yaw_tolerance) +{ + return isGoalReached(); +} + +bool WrapperLocalPlanner::setPlan(const std::vector &plan) +{ + return nav_core_plugin_->setPlan(plan); +} + +bool WrapperLocalPlanner::cancel() +{ + ROS_WARN_STREAM("The cancel method is not implemented. " + "Note: you are running a nav_core based plugin, " + "which is wrapped into the MBF interface."); + return false; +} + +void WrapperLocalPlanner::initialize(std::string name, + TF *tf, + costmap_2d::Costmap2DROS *costmap_ros) +{ + nav_core_plugin_->initialize(name, tf, costmap_ros); +} + +WrapperLocalPlanner::WrapperLocalPlanner(boost::shared_ptr plugin) + : nav_core_plugin_(plugin) +{} + +WrapperLocalPlanner::~WrapperLocalPlanner() +{} + +}; /* namespace mbf_abstract_core */ diff --git a/navigations/move_base_flex/mbf_costmap_nav/src/nav_core_wrapper/wrapper_recovery_behavior.cpp b/navigations/move_base_flex/mbf_costmap_nav/src/nav_core_wrapper/wrapper_recovery_behavior.cpp new file mode 100755 index 0000000..7816b39 --- /dev/null +++ b/navigations/move_base_flex/mbf_costmap_nav/src/nav_core_wrapper/wrapper_recovery_behavior.cpp @@ -0,0 +1,72 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * wrapper_recovery_behavior.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include +#include "nav_core_wrapper/wrapper_recovery_behavior.h" + +namespace mbf_nav_core_wrapper +{ +void WrapperRecoveryBehavior::initialize(std::string name, TF *tf, + costmap_2d::Costmap2DROS *global_costmap, + costmap_2d::Costmap2DROS *local_costmap) +{ + nav_core_plugin_->initialize(name, tf, global_costmap, local_costmap); +} + +uint32_t WrapperRecoveryBehavior::runBehavior(std::string &message) +{ + nav_core_plugin_->runBehavior(); + // TODO return a code for old API + return mbf_msgs::RecoveryResult::SUCCESS; +} + +bool WrapperRecoveryBehavior::cancel() +{ + return false; +} + +WrapperRecoveryBehavior::WrapperRecoveryBehavior(boost::shared_ptr plugin) + : nav_core_plugin_(plugin) +{} + +WrapperRecoveryBehavior::~WrapperRecoveryBehavior() +{} + +}; /* namespace mbf_abstract_core */ diff --git a/navigations/move_base_flex/mbf_msgs/CHANGELOG.rst b/navigations/move_base_flex/mbf_msgs/CHANGELOG.rst new file mode 100755 index 0000000..a727239 --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/CHANGELOG.rst @@ -0,0 +1,41 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mbf_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.2 (2020-05-25) +------------------ +* add impassable outcome code for recovery behaviors +* enable different goal tolerance values for each action + +0.3.1 (2020-04-07) +------------------ + +0.3.0 (2020-03-31) +------------------ +* add some more error codes, e.g. out of map, or map error +* unify license declaration to BSD-3 + +0.2.5 (2019-10-11) +------------------ + +0.2.4 (2019-06-16) +------------------ +* Add check_point_cost service +* Change current_twist for last_cmd_vel on exe_path/feedback + +0.2.3 (2018-11-14) +------------------ +* Add outcome and message to the action's feedback in ExePath and MoveBase + +0.2.1 (2018-10-03) +------------------ + +0.2.0 (2018-09-11) +------------------ +* Concurrency for planners, controllers and recovery behaviors +* Adds concurrency slots to actions + +0.1.0 (2018-03-22) +------------------ +* First release of move_base_flex for kinetic and lunar +ca \ No newline at end of file diff --git a/navigations/move_base_flex/mbf_msgs/CMakeLists.txt b/navigations/move_base_flex/mbf_msgs/CMakeLists.txt new file mode 100755 index 0000000..dd7659e --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/CMakeLists.txt @@ -0,0 +1,49 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbf_msgs) + +find_package(catkin REQUIRED + COMPONENTS + actionlib_msgs + genmsg + geometry_msgs + message_generation + message_runtime + nav_msgs + std_msgs +) + +add_service_files( + DIRECTORY + srv + FILES + CheckPoint.srv + CheckPose.srv + CheckPath.srv +) + +add_action_files( + DIRECTORY + action + FILES + GetPath.action + ExePath.action + Recovery.action + MoveBase.action +) + +generate_messages( + DEPENDENCIES + actionlib_msgs + geometry_msgs + nav_msgs + std_msgs +) + +catkin_package( + CATKIN_DEPENDS + actionlib_msgs + geometry_msgs + message_runtime + nav_msgs + std_msgs +) diff --git a/navigations/move_base_flex/mbf_msgs/README.md b/navigations/move_base_flex/mbf_msgs/README.md new file mode 100755 index 0000000..536cce6 --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/README.md @@ -0,0 +1,3 @@ +# Move Base Flex Messages, Services and Actions {#mainpage} + +This move_base_flex messages package provides the action definition files for the actions GetPath, ExePath, Recovery and MoveBase. The action servers providing these actions are implemented in [mbf_abstract_nav](wiki.ros.org/mbf_abstract_nav). \ No newline at end of file diff --git a/navigations/move_base_flex/mbf_msgs/action/ExePath.action b/navigations/move_base_flex/mbf_msgs/action/ExePath.action new file mode 100755 index 0000000..dde382c --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/action/ExePath.action @@ -0,0 +1,60 @@ +# Follow the given path until completion or failure + +nav_msgs/Path path + +# Controller to use; defaults to the first one specified on "controllers" parameter +string controller + +# use different slots for concurrency +uint8 concurrency_slot + +# Optionally overrule goal tolerances +bool tolerance_from_action +float32 dist_tolerance +float32 angle_tolerance + +--- + +# Predefined success codes: +uint8 SUCCESS = 0 +# 1..9 are reserved as plugin specific non-error results + +# Predefined error codes: +uint8 FAILURE = 100 # Unspecified failure, only used for old, non-mfb_core based plugins +uint8 CANCELED = 101 +uint8 NO_VALID_CMD = 102 +uint8 PAT_EXCEEDED = 103 +uint8 COLLISION = 104 +uint8 OSCILLATION = 105 +uint8 ROBOT_STUCK = 106 +uint8 MISSED_GOAL = 107 +uint8 MISSED_PATH = 108 +uint8 BLOCKED_PATH = 109 +uint8 INVALID_PATH = 110 +uint8 TF_ERROR = 111 +uint8 NOT_INITIALIZED = 112 +uint8 INVALID_PLUGIN = 113 +uint8 INTERNAL_ERROR = 114 +uint8 OUT_OF_MAP = 115 # The start and / or the goal are outside the map +uint8 MAP_ERROR = 116 # The map is not running properly +uint8 STOPPED = 117 # The controller execution has been stopped rigorously. + +# 121..149 are reserved as plugin specific errors + +uint32 outcome +string message + +geometry_msgs/PoseStamped final_pose +float32 dist_to_goal +float32 angle_to_goal + +--- + +# Outcome of most recent controller cycle. Same values as in result +uint32 outcome +string message + +float32 dist_to_goal +float32 angle_to_goal +geometry_msgs/PoseStamped current_pose +geometry_msgs/TwistStamped last_cmd_vel # last command calculated by the controller diff --git a/navigations/move_base_flex/mbf_msgs/action/GetPath.action b/navigations/move_base_flex/mbf_msgs/action/GetPath.action new file mode 100755 index 0000000..13d91ed --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/action/GetPath.action @@ -0,0 +1,55 @@ +# Get a path from start_pose or current position to the target pose + +# Use start_pose or current position as the beginning of the path +bool use_start_pose + +# The start pose for the path; optional, used if use_start_pose is true +geometry_msgs/PoseStamped start_pose + +# The pose to achieve with the path +geometry_msgs/PoseStamped target_pose + +# Planner to use; defaults to the first one specified on "planners" parameter +string planner + +# use different slots for concurrency +uint8 concurrency_slot + +# Optional: how many meters/radians away from the goal can end the created path. The final pose of the +# path must be within tolerance range (position and orientation) for MBF to return a success outcome. +bool tolerance_from_action +float32 dist_tolerance +float32 angle_tolerance + +--- + +# Predefined success codes: +uint8 SUCCESS = 0 +# 1..9 are reserved as plugin specific non-error results + +# Possible error codes: +uint8 FAILURE = 50 # Unspecified failure, only used for old, non-mfb_core based plugins +uint8 CANCELED = 51 # The action has been canceled by a action client +uint8 INVALID_START = 52 # +uint8 INVALID_GOAL = 53 +uint8 NO_PATH_FOUND = 54 +uint8 PAT_EXCEEDED = 55 +uint8 EMPTY_PATH = 56 +uint8 TF_ERROR = 57 +uint8 NOT_INITIALIZED = 58 +uint8 INVALID_PLUGIN = 59 +uint8 INTERNAL_ERROR = 60 +uint8 OUT_OF_MAP = 61 +uint8 MAP_ERROR = 62 +uint8 STOPPED = 63 # The planner execution has been stopped rigorously. + +# 71..99 are reserved as plugin specific errors + +uint32 outcome +string message + +nav_msgs/Path path + +float64 cost + +--- diff --git a/navigations/move_base_flex/mbf_msgs/action/MoveBase.action b/navigations/move_base_flex/mbf_msgs/action/MoveBase.action new file mode 100755 index 0000000..fcf71bd --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/action/MoveBase.action @@ -0,0 +1,60 @@ +# Extension of move_base_msgs/MoveBase action, with more detailed result +# and feedback and the possibility to specify lists of applicable plugins + +geometry_msgs/PoseStamped target_pose + +# Controller to use; defaults to the first one specified on "controllers" parameter +string controller + +# Planner to use; defaults to the first one specified on "planners" parameter +string planner + +# Recovery behaviors to try on case of failure; defaults to the "recovery_behaviors" parameter value +string[] recovery_behaviors + +# Optionally overrule controller's goal tolerances +bool tolerance_from_action +float32 dist_tolerance +float32 angle_tolerance + +--- + +# Predefined success codes: +uint8 SUCCESS = 0 + +# Predefined general error codes: +uint8 FAILURE = 10 +uint8 CANCELED = 11 +uint8 COLLISION = 12 +uint8 OSCILLATION = 13 +uint8 START_BLOCKED = 14 +uint8 GOAL_BLOCKED = 15 +uint8 TF_ERROR = 16 +uint8 INTERNAL_ERROR = 17 +# 21..49 are reserved for future general error codes + +# Planning/controlling failures: +uint8 PLAN_FAILURE = 50 +# 51..99 are reserved as planner specific errors + +uint8 CTRL_FAILURE = 100 +# 101..149 are reserved as controller specific errors + +uint32 outcome +string message + +# Configuration upon action completion +float32 dist_to_goal +float32 angle_to_goal +geometry_msgs/PoseStamped final_pose + +--- + +# Outcome of most recent controller cycle. Same values as in MoveBase or ExePath result. +uint32 outcome +string message + +float32 dist_to_goal +float32 angle_to_goal +geometry_msgs/PoseStamped current_pose +geometry_msgs/TwistStamped last_cmd_vel # last command calculated by the controller diff --git a/navigations/move_base_flex/mbf_msgs/action/Recovery.action b/navigations/move_base_flex/mbf_msgs/action/Recovery.action new file mode 100755 index 0000000..ea43cce --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/action/Recovery.action @@ -0,0 +1,30 @@ +# Run one of the recovery behavior listed on recovery_behaviors parameter + +string behavior + +# use different slots for concurrency +uint8 concurrency_slot + +--- + +# Predefined success codes: +uint8 SUCCESS = 0 + +# Possible server codes: +uint8 FAILURE = 150 +uint8 CANCELED = 151 +uint8 PAT_EXCEEDED = 152 +uint8 TF_ERROR = 153 +uint8 NOT_INITIALIZED = 154 +uint8 INVALID_PLUGIN = 155 +uint8 INTERNAL_ERROR = 156 +uint8 STOPPED = 157 # The recovery behaviour execution has been stopped rigorously. +uint8 IMPASSABLE = 158 # Further execution would lead to a collision + +# 171..199 are reserved as plugin specific errors + +uint32 outcome +string message +string used_plugin + +--- diff --git a/navigations/move_base_flex/mbf_msgs/package.xml b/navigations/move_base_flex/mbf_msgs/package.xml new file mode 100755 index 0000000..f59d964 --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/package.xml @@ -0,0 +1,29 @@ + + mbf_msgs + 0.3.2 + + The move_base_flex messages package providing the action definition files for the action GetPath, ExePath, Recovery and MoveBase. The action servers providing these action are implemented in mbf_abstract_nav. + + Jorge Santos + Sebastian Pütz + Jorge Santos + Sebastian Pütz + BSD-3 + + catkin + + std_msgs + nav_msgs + geometry_msgs + actionlib_msgs + genmsg + message_runtime + message_generation + + std_msgs + nav_msgs + geometry_msgs + actionlib_msgs + message_runtime + + diff --git a/navigations/move_base_flex/mbf_msgs/srv/CheckPath.srv b/navigations/move_base_flex/mbf_msgs/srv/CheckPath.srv new file mode 100755 index 0000000..6454253 --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/srv/CheckPath.srv @@ -0,0 +1,24 @@ +uint8 LOCAL_COSTMAP = 1 +uint8 GLOBAL_COSTMAP = 2 + +nav_msgs/Path path # the path to be checked after transforming to costmap frame +float32 safety_dist # minimum distance allowed to the closest obstacle (footprint padding) +float32 lethal_cost_mult # cost multiplier for cells marked as lethal obstacle (zero is ignored) +float32 inscrib_cost_mult # cost multiplier for cells marked as inscribed obstacle (zero is ignored) +float32 unknown_cost_mult # cost multiplier for cells marked as unknown space (zero is ignored) +uint8 costmap # costmap in which to check the pose +uint8 return_on # abort check on finding a pose with this state or worse (zero is ignored) +uint8 skip_poses # skip this number of poses between checks, to speedup processing +bool path_cells_only # check only cells directly traversed by the path, ignoring robot footprint + # (if true, safety_dist is ignored) +--- +uint8 FREE = 0 # robot is completely in traversable space +uint8 INSCRIBED = 1 # robot is partially in inscribed space +uint8 LETHAL = 2 # robot is partially in collision +uint8 UNKNOWN = 3 # robot is partially in unknown space +uint8 OUTSIDE = 4 # robot is completely outside the map + +uint32 last_checked # index of the first pose along the path with return_on state or worse +uint8 state # path worst state (until last_checked): FREE, INFLATED, LETHAL, UNKNOWN... +uint32 cost # cost of all cells traversed by path within footprint padded by safety_dist + # or just by the path if path_cells_only is true diff --git a/navigations/move_base_flex/mbf_msgs/srv/CheckPoint.srv b/navigations/move_base_flex/mbf_msgs/srv/CheckPoint.srv new file mode 100755 index 0000000..06205d7 --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/srv/CheckPoint.srv @@ -0,0 +1,14 @@ +uint8 LOCAL_COSTMAP = 1 +uint8 GLOBAL_COSTMAP = 2 + +geometry_msgs/PointStamped point # the point to be checked after transforming to costmap frame +uint8 costmap # costmap in which to check the point +--- +uint8 FREE = 0 # point is in traversable space +uint8 INSCRIBED = 1 # point is in inscribed space +uint8 LETHAL = 2 # point is in collision +uint8 UNKNOWN = 3 # point is in unknown space +uint8 OUTSIDE = 4 # point is outside the map + +uint8 state # point state: FREE, INFLATED, LETHAL, UNKNOWN or OUTSIDE +uint32 cost # cost of the cell at point diff --git a/navigations/move_base_flex/mbf_msgs/srv/CheckPose.srv b/navigations/move_base_flex/mbf_msgs/srv/CheckPose.srv new file mode 100755 index 0000000..749e4a5 --- /dev/null +++ b/navigations/move_base_flex/mbf_msgs/srv/CheckPose.srv @@ -0,0 +1,19 @@ +uint8 LOCAL_COSTMAP = 1 +uint8 GLOBAL_COSTMAP = 2 + +geometry_msgs/PoseStamped pose # the pose to be checked after transforming to costmap frame +float32 safety_dist # minimum distance allowed to the closest obstacle +float32 lethal_cost_mult # cost multiplier for cells marked as lethal obstacle (zero is ignored) +float32 inscrib_cost_mult # cost multiplier for cells marked as inscribed obstacle (zero is ignored) +float32 unknown_cost_mult # cost multiplier for cells marked as unknown space (zero is ignored) +uint8 costmap # costmap in which to check the pose +bool current_pose # check current robot pose instead (ignores pose field) +--- +uint8 FREE = 0 # robot is completely in traversable space +uint8 INSCRIBED = 1 # robot is partially in inscribed space +uint8 LETHAL = 2 # robot is partially in collision +uint8 UNKNOWN = 3 # robot is partially in unknown space +uint8 OUTSIDE = 4 # robot is completely outside the map + +uint8 state # pose state: FREE, INFLATED, LETHAL, UNKNOWN or OUTSIDE +uint32 cost # total cost of all cells within footprint padded by safety_dist diff --git a/navigations/move_base_flex/mbf_simple_nav/CHANGELOG.rst b/navigations/move_base_flex/mbf_simple_nav/CHANGELOG.rst new file mode 100755 index 0000000..3d2d9cc --- /dev/null +++ b/navigations/move_base_flex/mbf_simple_nav/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mbf_simple_nav +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.2 (2020-05-25) +------------------ + +0.3.1 (2020-04-07) +------------------ + +0.3.0 (2020-03-31) +------------------ +* unify license declaration to BSD-3 + +0.2.5 (2019-10-11) +------------------ + +0.2.4 (2019-06-16) +------------------ + +0.2.3 (2018-11-14) +------------------ + +0.2.2 (2018-10-10) +------------------ + +0.2.1 (2018-10-03) +------------------ +* Make MBF melodic and indigo compatible +* Fix GoalHandle references bug in callbacks + +0.2.0 (2018-09-11) +------------------ +* Update copyright and 3-clause-BSD license +* Concurrency for planners, controllers and recovery behaviors + +0.1.0 (2018-03-22) +------------------ +* First release of move_base_flex for kinetic and lunar diff --git a/navigations/move_base_flex/mbf_simple_nav/CMakeLists.txt b/navigations/move_base_flex/mbf_simple_nav/CMakeLists.txt new file mode 100755 index 0000000..d635270 --- /dev/null +++ b/navigations/move_base_flex/mbf_simple_nav/CMakeLists.txt @@ -0,0 +1,82 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbf_simple_nav) + +find_package(catkin REQUIRED + COMPONENTS + actionlib + actionlib_msgs + dynamic_reconfigure + geometry_msgs + mbf_abstract_nav + mbf_msgs + mbf_abstract_core + nav_msgs + pluginlib + roscpp + std_msgs + std_srvs + tf + tf2 + tf2_ros + ) + +find_package(Boost COMPONENTS thread chrono REQUIRED) + +set(MBF_SIMPLE_SERVER_LIB mbf_simple_server) +set(MBF_SIMPLE_SERVER_NODE mbf_simple_nav) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${MBF_SIMPLE_SERVER_LIB} + CATKIN_DEPENDS + actionlib + actionlib_msgs + dynamic_reconfigure + geometry_msgs + mbf_abstract_nav + mbf_msgs + mbf_abstract_core + nav_msgs + pluginlib + roscpp + std_msgs + std_srvs + tf + tf2 + tf2_ros + DEPENDS Boost +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${Boost_INCLUDE_DIRS} +) + +add_library(${MBF_SIMPLE_SERVER_LIB} + src/simple_navigation_server.cpp +) + +add_dependencies(${MBF_SIMPLE_SERVER_LIB} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${MBF_SIMPLE_SERVER_LIB} + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} +) + +add_executable(${MBF_SIMPLE_SERVER_NODE} src/simple_server_node.cpp) +add_dependencies(${MBF_SIMPLE_SERVER_NODE} ${MBF_SIMPLE_SERVER_LIB}) +target_link_libraries(${MBF_SIMPLE_SERVER_NODE} + ${MBF_SIMPLE_SERVER_LIB} + ${catkin_LIBRARIES}) + +install(TARGETS + ${MBF_SIMPLE_SERVER_LIB} ${MBF_SIMPLE_SERVER_NODE} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + diff --git a/navigations/move_base_flex/mbf_simple_nav/README.md b/navigations/move_base_flex/mbf_simple_nav/README.md new file mode 100755 index 0000000..198539e --- /dev/null +++ b/navigations/move_base_flex/mbf_simple_nav/README.md @@ -0,0 +1,6 @@ +# Move Base Flex Simple Navigation Server {#mainpage} + + +The mbf_simple_nav package contains a simple navigation server implementation of Move Base Flex (MBF). The simple navigation server is bound to no map representation. It provides actions for planning, controlling and recovering. MBF loads all defined plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. + +It tries to load the defined plugins which implements the defined interfaces in [mbf_abstract_core](wiki.ros.org/mbf_abstract_core). \ No newline at end of file diff --git a/navigations/move_base_flex/mbf_simple_nav/include/mbf_simple_nav/simple_navigation_server.h b/navigations/move_base_flex/mbf_simple_nav/include/mbf_simple_nav/simple_navigation_server.h new file mode 100755 index 0000000..29283ad --- /dev/null +++ b/navigations/move_base_flex/mbf_simple_nav/include/mbf_simple_nav/simple_navigation_server.h @@ -0,0 +1,142 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * simple_navigation_server.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_ +#define MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_ + +#include +#include +#include + +namespace mbf_simple_nav +{ +/** + * @defgroup simple_server Simple Server + * @brief Classes belonging to the Simple Server level. + */ + +/** + * @brief The SimpleNavigationServer provides a simple navigation server, which does not bind a map representation to + * Move Base Flex. It combines the execution classes which use the mbf_abstract_core/AbstractController, + * mbf_abstract_core/AbstractPlanner and the mbf_abstract_core/AbstractRecovery base classes + * as plugin interfaces. + * + * @ingroup navigation_server simple_server + */ +class SimpleNavigationServer : public mbf_abstract_nav::AbstractNavigationServer +{ +public: + + /** + * @brief Constructor + * @param tf_listener_ptr Shared pointer to a common TransformListener + */ + SimpleNavigationServer(const TFPtr &tf_listener_ptr); + + /** + * @brief Destructor + */ + virtual ~SimpleNavigationServer(); + + /** + * @brief Loads the plugin associated with the given controller type parameter + * @param controller_type The type of the controller plugin + * @return A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, + * an empty pointer otherwise. + */ + virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string& controller_type); + + /** + * @brief Empty init method. Nothing to initialize. + * @param name The name of the controller + * @param controller_ptr pointer to the controller object which corresponds to the name param + * @return true always + */ + virtual bool initializeControllerPlugin( + const std::string& name, + const mbf_abstract_core::AbstractController::Ptr& controller_ptr + ); + + /** + * @brief Loads the plugin associated with the given planner_type parameter. + * @param planner_type The type of the planner plugin to load. + * @return true, if the local planner plugin was successfully loaded. + */ + virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string& planner_type); + + /** + * @brief Empty init method. Nothing to initialize. + * @param name The name of the planner + * @param planner_ptr pointer to the planner object which corresponds to the name param + * @return true always + */ + virtual bool initializePlannerPlugin( + const std::string& name, + const mbf_abstract_core::AbstractPlanner::Ptr& planner_ptr + ); + + /** + * @brief Loads a Recovery plugin associated with given recovery type parameter + * @param recovery_name The name of the Recovery plugin + * @return A shared pointer to a Recovery plugin, if the plugin was loaded successfully, an empty pointer otherwise. + */ + virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string& recovery_type); + + /** + * @brief Pure virtual method, the derived class has to implement. Depending on the plugin base class, + * some plugins need to be initialized! + * @param name The name of the recovery behavior + * @param behavior_ptr pointer to the recovery behavior object which corresponds to the name param + * @return true always + */ + virtual bool initializeRecoveryPlugin( + const std::string& name, + const mbf_abstract_core::AbstractRecovery::Ptr& behavior_ptr + ); + + private: + pluginlib::ClassLoader planner_plugin_loader_; + pluginlib::ClassLoader controller_plugin_loader_; + pluginlib::ClassLoader recovery_plugin_loader_; +}; + +} /* namespace mbf_simple_nav */ + +#endif /* MBF_SIMPLE_NAV__SIMPLE_NAVIGATION_SERVER_H_ */ diff --git a/navigations/move_base_flex/mbf_simple_nav/package.xml b/navigations/move_base_flex/mbf_simple_nav/package.xml new file mode 100755 index 0000000..b7926ef --- /dev/null +++ b/navigations/move_base_flex/mbf_simple_nav/package.xml @@ -0,0 +1,36 @@ + + mbf_simple_nav + 0.3.2 + + The mbf_simple_nav package contains a simple navigation server implementation of Move Base Flex (MBF). The simple navigation server is bound to no map representation. It provides actions for planning, controlling and recovering. MBF loads all defined plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. + + It tries to load the defined plugins which implements the defined interfaces in mbf_abstract_core. + + http://wiki.ros.org/move_base_flex + Sebastian Pütz + Sebastian Pütz + Jorge Santos + BSD-3 + + catkin + + tf + roscpp + pluginlib + actionlib + actionlib_msgs + dynamic_reconfigure + std_msgs + std_srvs + nav_msgs + geometry_msgs + mbf_abstract_nav + mbf_abstract_core + mbf_msgs + + tf2 + tf2_ros + + + + diff --git a/navigations/move_base_flex/mbf_simple_nav/rosdoc.yaml b/navigations/move_base_flex/mbf_simple_nav/rosdoc.yaml new file mode 100755 index 0000000..de641ca --- /dev/null +++ b/navigations/move_base_flex/mbf_simple_nav/rosdoc.yaml @@ -0,0 +1,5 @@ + - builder: doxygen + name: Move Base Flex + homepage: http://wiki.ros.org/move_base_flex + file_patterns: '*.c *.cpp *.h *.cc *.hh *.py *.md' + use_mdfile_as_mainpage: README.md diff --git a/navigations/move_base_flex/mbf_simple_nav/src/simple_navigation_server.cpp b/navigations/move_base_flex/mbf_simple_nav/src/simple_navigation_server.cpp new file mode 100755 index 0000000..d8e3906 --- /dev/null +++ b/navigations/move_base_flex/mbf_simple_nav/src/simple_navigation_server.cpp @@ -0,0 +1,142 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * simple_navigation_server.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include "mbf_simple_nav/simple_navigation_server.h" + +namespace mbf_simple_nav +{ + +SimpleNavigationServer::SimpleNavigationServer(const TFPtr &tf_listener_ptr) : + mbf_abstract_nav::AbstractNavigationServer(tf_listener_ptr), + planner_plugin_loader_("mbf_abstract_core", "mbf_abstract_core::AbstractPlanner"), + controller_plugin_loader_("mbf_abstract_core", "mbf_abstract_core::AbstractController"), + recovery_plugin_loader_("mbf_abstract_core", "mbf_abstract_core::AbstractRecovery") +{ + // initialize all plugins + initializeServerComponents(); + + // start all action servers + startActionServers(); +} + +mbf_abstract_core::AbstractPlanner::Ptr SimpleNavigationServer::loadPlannerPlugin(const std::string& planner_type) +{ + mbf_abstract_core::AbstractPlanner::Ptr planner_ptr; + ROS_INFO("Load global planner plugin."); + try + { + planner_ptr = planner_plugin_loader_.createInstance(planner_type); + } + catch (const pluginlib::PluginlibException &ex) + { + ROS_FATAL_STREAM("Failed to load the " << planner_type << " planner, are you sure it is properly registered" + << " and that the containing library is built? Exception: " << ex.what()); + } + ROS_INFO("Global planner plugin loaded."); + + return planner_ptr; +} + +bool SimpleNavigationServer::initializePlannerPlugin( + const std::string& name, + const mbf_abstract_core::AbstractPlanner::Ptr& planner_ptr +) +{ + return true; +} + + +mbf_abstract_core::AbstractController::Ptr SimpleNavigationServer::loadControllerPlugin( + const std::string& controller_type) +{ + mbf_abstract_core::AbstractController::Ptr controller_ptr; + ROS_DEBUG("Load controller plugin."); + try + { + controller_ptr = controller_plugin_loader_.createInstance(controller_type); + ROS_INFO_STREAM("MBF_core-based local planner plugin " << controller_type << " loaded"); + } + catch (const pluginlib::PluginlibException &ex) + { + ROS_FATAL_STREAM("Failed to load the " << controller_type + << " local planner, are you sure it's properly registered" + << " and that the containing library is built? Exception: " << ex.what()); + } + return controller_ptr; +} + +bool SimpleNavigationServer::initializeControllerPlugin( + const std::string& name, + const mbf_abstract_core::AbstractController::Ptr& controller_ptr) +{ + return true; +} + +mbf_abstract_core::AbstractRecovery::Ptr SimpleNavigationServer::loadRecoveryPlugin( + const std::string& recovery_type) +{ + mbf_abstract_core::AbstractRecovery::Ptr recovery_ptr; + + try + { + recovery_ptr = boost::static_pointer_cast( + recovery_plugin_loader_.createInstance(recovery_type)); + } + catch (pluginlib::PluginlibException &ex) + { + ROS_FATAL_STREAM("Failed to load the " << recovery_type << " recovery behavior, are you sure it's properly registered" + << " and that the containing library is built? Exception: " << ex.what()); + } + return recovery_ptr; +} + +bool SimpleNavigationServer::initializeRecoveryPlugin( + const std::string& name, + const mbf_abstract_core::AbstractRecovery::Ptr& behavior_ptr) +{ + return true; +} + + +SimpleNavigationServer::~SimpleNavigationServer() +{ +} + +} /* namespace mbf_simple_nav */ diff --git a/navigations/move_base_flex/mbf_simple_nav/src/simple_server_node.cpp b/navigations/move_base_flex/mbf_simple_nav/src/simple_server_node.cpp new file mode 100755 index 0000000..0193cac --- /dev/null +++ b/navigations/move_base_flex/mbf_simple_nav/src/simple_server_node.cpp @@ -0,0 +1,69 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * simple_server_node.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include "mbf_simple_nav/simple_navigation_server.h" +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "mbf_simple_server"); + + typedef boost::shared_ptr SimpleNavigationServerPtr; + + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + double cache_time; + private_nh.param("tf_cache_time", cache_time, 10.0); + +#ifdef USE_OLD_TF + TFPtr tf_listener_ptr(new TF(nh, ros::Duration(cache_time), true)); +#else + TFPtr tf_listener_ptr(new TF(ros::Duration(cache_time))); + tf2_ros::TransformListener tf_listener(*tf_listener_ptr); +#endif + + SimpleNavigationServerPtr controller_ptr( + new mbf_simple_nav::SimpleNavigationServer(tf_listener_ptr)); + + ros::spin(); + return EXIT_SUCCESS; +} diff --git a/navigations/move_base_flex/mbf_utility/CHANGELOG.rst b/navigations/move_base_flex/mbf_utility/CHANGELOG.rst new file mode 100755 index 0000000..5f6ba6b --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/CHANGELOG.rst @@ -0,0 +1,42 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package mbf_utility +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.2 (2020-05-25) +------------------ +* Remove dependency on base_local_planner and move FootprintHelper class to mbf_costmap_nav and make it static + +0.3.1 (2020-04-07) +------------------ + +0.3.0 (2020-03-31) +------------------ +* Add exception classes for get_path, exe_path and recovery +* unify license declaration to BSD-3 + +0.2.5 (2019-10-11) +------------------ + +0.2.4 (2019-06-16) +------------------ +* Add check_point_cost service + +0.2.3 (2018-11-14) +------------------ +* Fix getRobotPose in melodic + +0.2.2 (2018-10-10) +------------------ + +0.2.1 (2018-10-03) +------------------ +* Make MBF melodic and indigo compatible +* Fix GoalHandle references bug in callbacks + +0.2.0 (2018-09-11) +------------------ +* Update copyright and 3-clause-BSD license + +0.1.0 (2018-03-22) +------------------ +* First release of move_base_flex for kinetic and lunar diff --git a/navigations/move_base_flex/mbf_utility/CMakeLists.txt b/navigations/move_base_flex/mbf_utility/CMakeLists.txt new file mode 100755 index 0000000..d7569aa --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mbf_utility) + +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + tf + tf2 + tf2_ros + tf2_geometry_msgs +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES mbf_utility + CATKIN_DEPENDS geometry_msgs roscpp tf tf2 tf2_ros tf2_geometry_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(${PROJECT_NAME} + src/navigation_utility.cpp + src/robot_information.cpp +) + +add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) diff --git a/navigations/move_base_flex/mbf_utility/include/mbf_utility/exe_path_exception.h b/navigations/move_base_flex/mbf_utility/include/mbf_utility/exe_path_exception.h new file mode 100755 index 0000000..9ebe487 --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/include/mbf_utility/exe_path_exception.h @@ -0,0 +1,43 @@ +#ifndef MBF_UTILITY__EXE_PATH_EXCEPTION_H_ +#define MBF_UTILITY__EXE_PATH_EXCEPTION_H_ + +#include +#include + +namespace mbf_utility +{ + +struct ExePathException : public std::exception +{ + ExePathException(unsigned int error_code) : outcome(error_code){} + + const char * what () const throw () { + switch(outcome) + { + case mbf_msgs::ExePathResult::FAILURE: return "Failure"; + case mbf_msgs::ExePathResult::CANCELED: return "Canceled"; + case mbf_msgs::ExePathResult::NO_VALID_CMD: return "No valid command"; + case mbf_msgs::ExePathResult::PAT_EXCEEDED: return "Patience exceeded"; + case mbf_msgs::ExePathResult::COLLISION: return "Collision"; + case mbf_msgs::ExePathResult::OSCILLATION: return "Oscillation"; + case mbf_msgs::ExePathResult::ROBOT_STUCK: return "Robot stuck"; + case mbf_msgs::ExePathResult::MISSED_GOAL: return "Missed Goal"; + case mbf_msgs::ExePathResult::MISSED_PATH: return "Missed Path"; + case mbf_msgs::ExePathResult::BLOCKED_PATH: return "Blocked Path"; + case mbf_msgs::ExePathResult::INVALID_PATH: return "Invalid Path"; + case mbf_msgs::ExePathResult::TF_ERROR: return "TF Error"; + case mbf_msgs::ExePathResult::NOT_INITIALIZED: return "Not initialized"; + case mbf_msgs::ExePathResult::INVALID_PLUGIN: return "Invalid Plugin"; + case mbf_msgs::ExePathResult::INTERNAL_ERROR: return "Internal Error"; + case mbf_msgs::ExePathResult::STOPPED: return "Stopped"; + case mbf_msgs::ExePathResult::OUT_OF_MAP: return "Out of map"; + case mbf_msgs::ExePathResult::MAP_ERROR: return "Map error"; + default: return "unknown error code: " + outcome; + } + } + unsigned int outcome; +}; + +} /* namespace mbf_utility */ + +#endif // MBF_UTILITY__EXE_PATH_EXCEPTION_H_ diff --git a/navigations/move_base_flex/mbf_utility/include/mbf_utility/get_path_exception.h b/navigations/move_base_flex/mbf_utility/include/mbf_utility/get_path_exception.h new file mode 100755 index 0000000..75c1379 --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/include/mbf_utility/get_path_exception.h @@ -0,0 +1,39 @@ +#ifndef MBF_UTILITY__GET_PATH_EXCEPTION_H_ +#define MBF_UTILITY__GET_PATH_EXCEPTION_H_ + +#include +#include + +namespace mbf_utility +{ + +struct GetPathException : public std::exception +{ + GetPathException(unsigned int error_code) : outcome(error_code){} + + const char * what () const throw () { + switch(outcome) + { + case mbf_msgs::GetPathResult::FAILURE: return "Failure"; + case mbf_msgs::GetPathResult::CANCELED: return "Canceled"; + case mbf_msgs::GetPathResult::INVALID_START: return "Invalid start" + case mbf_msgs::GetPathResult::INVALID_GOAL: return "Invalid goal" + case mbf_msgs::GetPathResult::NO_PATH_FOUND: return "No path found"; + case mbf_msgs::GetPathResult::PAT_EXCEEDED: return "Patience exceeded"; + case mbf_msgs::GetPathResult::EMPTY_PATH return "Empty Path"; + case mbf_msgs::GetPathResult::TF_ERROR: return "TF Error"; + case mbf_msgs::GetPathResult::NOT_INITIALIZED: return "Not initialized"; + case mbf_msgs::GetPathResult::INVALID_PLUGIN: return "Invalid Plugin"; + case mbf_msgs::GetPathResult::INTERNAL_ERROR: return "Internal Error"; + case mbf_msgs::GetPathResult::STOPPED: return "Stopped"; + case mbf_msgs::GetPathResult::OUT_OF_MAP: return "Out of map"; + case mbf_msgs::GetPathResult::MAP_ERROR: return "Map error"; + default: return "unknown error code: " + outcome; + } + } + unsigned int outcome; +}; + +} /* namespace mbf_utility */ + +#endif // MBF_UTILITY__GET_PATH_EXCEPTION_H_ diff --git a/navigations/move_base_flex/mbf_utility/include/mbf_utility/navigation_utility.h b/navigations/move_base_flex/mbf_utility/include/mbf_utility/navigation_utility.h new file mode 100755 index 0000000..179f20f --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/include/mbf_utility/navigation_utility.h @@ -0,0 +1,119 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * navigation_utility.h + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#ifndef MBF_UTILITY__NAVIGATION_UTILITY_H_ +#define MBF_UTILITY__NAVIGATION_UTILITY_H_ + +#include +#include +#include +#include +#include +#include +#include + +#include "mbf_utility/types.h" + +namespace mbf_utility +{ + +/** + * @brief Transforms a point from one frame into another. + * @param tf_listener TransformListener. + * @param target_frame Target frame for the point. + * @param timeout Timeout for looking up the transformation. + * @param in Point to transform. + * @param out Transformed point. + * @return true, if the transformation succeeded. + */ +bool transformPoint(const TF &tf, + const std::string &target_frame, + const ros::Duration &timeout, + const geometry_msgs::PointStamped &in, + geometry_msgs::PointStamped &out); + +/** + * @brief Transforms a pose from one frame into another. + * @param tf_listener TransformListener. + * @param target_frame Target frame for the pose. + * @param timeout Timeout for looking up the transformation. + * @param in Pose to transform. + * @param out Transformed pose. + * @return true, if the transformation succeeded. + */ +bool transformPose(const TF &tf, + const std::string &target_frame, + const ros::Duration &timeout, + const geometry_msgs::PoseStamped &in, + geometry_msgs::PoseStamped &out); + +/** + * @brief Computes the robot pose. + * @param tf_listener TransformListener. + * @param robot_frame frame of the robot. + * @param global_frame global frame in which the robot is located. + * @param timeout Timeout for looking up the transformation. + * @param robot_pose the computed rebot pose in the global frame. + * @return true, if succeeded, false otherwise. + */ +bool getRobotPose(const TF &tf, + const std::string &robot_frame, + const std::string &global_frame, + const ros::Duration &timeout, + geometry_msgs::PoseStamped &robot_pose); +/** + * @brief Computes the Euclidean-distance between two poses. + * @param pose1 pose 1 + * @param pose2 pose 2 + * @return Euclidean distance between pose 1 and pose 2. + */ +double distance(const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2); + +/** + * @brief computes the smallest angle between two poses. + * @param pose1 pose 1 + * @param pose2 pose 2 + * @return smallest angle between pose 1 and pose 2. + */ +double angle(const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2); + +} /* namespace mbf_utility */ + +#endif /* navigation_utility.h */ diff --git a/navigations/move_base_flex/mbf_utility/include/mbf_utility/recovery_exception.h b/navigations/move_base_flex/mbf_utility/include/mbf_utility/recovery_exception.h new file mode 100755 index 0000000..b79bbde --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/include/mbf_utility/recovery_exception.h @@ -0,0 +1,33 @@ +#ifndef MBF_UTILITY__RECOVERY_EXCEPTION_H_ +#define MBF_UTILITY__RECOVERY_EXCEPTION_H_ + +#include +#include + +namespace mbf_utility +{ + +struct RecoveryException : public std::exception +{ + RecoveryException(unsigned int error_code) : outcome(error_code){} + + const char * what () const throw () { + switch(outcome) + { + case mbf_msgs::RecoveryResult::FAILURE: return "Failure"; + case mbf_msgs::RecoveryResult::CANCELED: return "Canceled"; + case mbf_msgs::RecoveryResult::PAT_EXCEEDED: return "Patience exceeded"; + case mbf_msgs::RecoveryResult::TF_ERROR: return "TF Error"; + case mbf_msgs::RecoveryResult::NOT_INITIALIZED: return "Not initialized"; + case mbf_msgs::RecoveryResult::INVALID_PLUGIN: return "Invalid Plugin"; + case mbf_msgs::RecoveryResult::INTERNAL_ERROR: return "Internal Error"; + case mbf_msgs::RecoveryResult::STOPPED: return "Stopped"; + default: return "unknown error code: " + outcome; + } + } + unsigned int outcome; +}; + +} /* namespace mbf_utility */ + +#endif // MBF_UTILITY__RECOVERY_EXCEPTION_H_ diff --git a/navigations/move_base_flex/mbf_utility/include/mbf_utility/robot_information.h b/navigations/move_base_flex/mbf_utility/include/mbf_utility/robot_information.h new file mode 100755 index 0000000..82d3960 --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/include/mbf_utility/robot_information.h @@ -0,0 +1,95 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * robot_information.h + * + * author: Sebastian Pütz + * + */ + +#ifndef MBF_UTILITY__ROBOT_INFORMATION_H_ +#define MBF_UTILITY__ROBOT_INFORMATION_H_ + +#include +#include +#include +#include +#include + +#include "mbf_utility/types.h" + +namespace mbf_utility +{ + +class RobotInformation +{ + public: + + typedef boost::shared_ptr Ptr; + + RobotInformation( + TF &tf_listener, + const std::string &global_frame, + const std::string &robot_frame, + const ros::Duration &tf_timeout); + + /** + * @brief Computes the current robot pose (robot_frame_) in the global frame (global_frame_). + * @param robot_pose Reference to the robot_pose message object to be filled. + * @return true, if the current robot pose could be computed, false otherwise. + */ + bool getRobotPose(geometry_msgs::PoseStamped &robot_pose) const; + + bool getRobotVelocity(geometry_msgs::TwistStamped &robot_velocity, ros::Duration look_back_duration) const; + + const std::string& getGlobalFrame() const; + + const std::string& getRobotFrame() const; + + const TF& getTransformListener() const; + + const ros::Duration& getTfTimeout() const; + + private: + const TF& tf_listener_; + + const std::string &global_frame_; + + const std::string &robot_frame_; + + const ros::Duration &tf_timeout_; + +}; + +} /* mbf_utility */ + +#endif /* MBF_UTILITY__ROBOT_INFORMATION_H_ */ diff --git a/navigations/move_base_flex/mbf_utility/include/mbf_utility/types.h b/navigations/move_base_flex/mbf_utility/include/mbf_utility/types.h new file mode 100755 index 0000000..1e4046f --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/include/mbf_utility/types.h @@ -0,0 +1,60 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * abstract_planner.h + * + * author: Jannik Abbenseth + * + */ + +#ifndef MBF_UTILITY__TYPES_H_ +#define MBF_UTILITY__TYPES_H_ + +#include +#include + +#if ROS_VERSION_MINIMUM (1, 14, 0) // if current ros version is >= 1.14.0 + // Melodic uses TF2 + #include + typedef boost::shared_ptr TFPtr; + typedef tf2_ros::Buffer TF; + typedef tf2::TransformException TFException; +#else + // Previous versions still using TF + #define USE_OLD_TF + #include + typedef boost::shared_ptr TFPtr; + typedef tf::TransformListener TF; + typedef tf::TransformException TFException; +#endif + +#endif diff --git a/navigations/move_base_flex/mbf_utility/package.xml b/navigations/move_base_flex/mbf_utility/package.xml new file mode 100755 index 0000000..95913c4 --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/package.xml @@ -0,0 +1,21 @@ + + + mbf_utility + 0.3.2 + The mbf_utility package + + Sebastian Pütz + + BSD-3 + http://wiki.ros.org/move_base_flex/mbf_utility + Sebastian Pütz + + catkin + + geometry_msgs + roscpp + tf + tf2 + tf2_ros + tf2_geometry_msgs + diff --git a/navigations/move_base_flex/mbf_utility/src/navigation_utility.cpp b/navigations/move_base_flex/mbf_utility/src/navigation_utility.cpp new file mode 100755 index 0000000..740d5ac --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/src/navigation_utility.cpp @@ -0,0 +1,186 @@ +/* + * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * navigation_utility.cpp + * + * authors: + * Sebastian Pütz + * Jorge Santos Simón + * + */ + +#include + +#include "mbf_utility/navigation_utility.h" + +namespace mbf_utility +{ + +bool getRobotPose(const TF &tf, + const std::string &robot_frame, + const std::string &global_frame, + const ros::Duration &timeout, + geometry_msgs::PoseStamped &robot_pose) +{ + geometry_msgs::PoseStamped local_pose; + local_pose.header.frame_id = robot_frame; + local_pose.header.stamp = ros::Time(0); // most recent available + local_pose.pose.orientation.w = 1.0; + bool success = transformPose(tf, + global_frame, + timeout, + local_pose, + robot_pose); + if (success && ros::Time::now() - robot_pose.header.stamp > timeout) + { + ROS_WARN("Most recent robot pose is %gs old (tolerance %gs)", + (ros::Time::now() - robot_pose.header.stamp).toSec(), timeout.toSec()); + return false; + } + return success; +} + +bool transformPose(const TF &tf, + const std::string &target_frame, + const ros::Duration &timeout, + const geometry_msgs::PoseStamped &in, + geometry_msgs::PoseStamped &out) +{ + std::string error_msg; + +#ifdef USE_OLD_TF + bool success = tf.waitForTransform(target_frame, + in.header.frame_id, + in.header.stamp, + timeout, + ros::Duration(0.01), + &error_msg); +#else + bool success = tf.canTransform(target_frame, + in.header.frame_id, + in.header.stamp, + timeout, + &error_msg); +#endif + + if (!success) + { + ROS_WARN_STREAM("Failed to look up transform from frame '" << in.header.frame_id << "' into frame '" << target_frame + << "': " << error_msg); + return false; + } + + try + { +#ifdef USE_OLD_TF + tf.transformPose(target_frame, in, out); +#else + tf.transform(in, out, target_frame); +#endif + } + catch (const TFException &ex) + { + ROS_WARN_STREAM("Failed to transform pose from frame '" << in.header.frame_id << " ' into frame '" + << target_frame << "' with exception: " << ex.what()); + return false; + } + return true; +} + +bool transformPoint(const TF &tf, + const std::string &target_frame, + const ros::Duration &timeout, + const geometry_msgs::PointStamped &in, + geometry_msgs::PointStamped &out) +{ + std::string error_msg; + +#ifdef USE_OLD_TF + bool success = tf.waitForTransform(target_frame, + in.header.frame_id, + in.header.stamp, + timeout, + ros::Duration(0.01), + &error_msg); +#else + bool success = tf.canTransform(target_frame, + in.header.frame_id, + in.header.stamp, + timeout, + &error_msg); +#endif + + if (!success) + { + ROS_WARN_STREAM("Failed to look up transform from frame '" << in.header.frame_id << "' into frame '" << target_frame + << "': " << error_msg); + return false; + } + + try + { +#ifdef USE_OLD_TF + tf.transformPoint(target_frame, in, out); +#else + tf.transform(in, out, target_frame); +#endif + } + catch (const TFException &ex) + { + ROS_WARN_STREAM("Failed to transform point from frame '" << in.header.frame_id << " ' into frame '" + << target_frame << "' with exception: " << ex.what()); + return false; + } + return true; +} + +double distance(const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2) +{ + const geometry_msgs::Point &p1 = pose1.pose.position; + const geometry_msgs::Point &p2 = pose2.pose.position; + const double dx = p1.x - p2.x; + const double dy = p1.y - p2.y; + const double dz = p1.z - p2.z; + return sqrt(dx * dx + dy * dy + dz * dz); +} + +double angle(const geometry_msgs::PoseStamped &pose1, const geometry_msgs::PoseStamped &pose2) +{ + const geometry_msgs::Quaternion &q1 = pose1.pose.orientation; + const geometry_msgs::Quaternion &q2 = pose2.pose.orientation; + tf::Quaternion rot1, rot2; + tf::quaternionMsgToTF(q1, rot1); + tf::quaternionMsgToTF(q2, rot2); + return rot1.angleShortestPath(rot2); +} + +} /* namespace mbf_utility */ diff --git a/navigations/move_base_flex/mbf_utility/src/robot_information.cpp b/navigations/move_base_flex/mbf_utility/src/robot_information.cpp new file mode 100755 index 0000000..97322c3 --- /dev/null +++ b/navigations/move_base_flex/mbf_utility/src/robot_information.cpp @@ -0,0 +1,82 @@ +/* + * Copyright 2018, Sebastian Pütz + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + * + * robot_information.cpp + * + * author: Sebastian Pütz + * + */ + +#include "mbf_utility/robot_information.h" +#include "mbf_utility/navigation_utility.h" + +namespace mbf_utility +{ + +RobotInformation::RobotInformation(TF &tf_listener, + const std::string &global_frame, + const std::string &robot_frame, + const ros::Duration &tf_timeout) + : tf_listener_(tf_listener), global_frame_(global_frame), robot_frame_(robot_frame), tf_timeout_(tf_timeout) +{ + +} + + +bool RobotInformation::getRobotPose(geometry_msgs::PoseStamped &robot_pose) const +{ + bool tf_success = mbf_utility::getRobotPose(tf_listener_, robot_frame_, global_frame_, + ros::Duration(tf_timeout_), robot_pose); + if (!tf_success) + { + ROS_ERROR_STREAM("Can not get the robot pose in the global frame. - robot frame: \"" + << robot_frame_ << "\" global frame: \"" << global_frame_ << std::endl); + return false; + } + return true; +} + +bool RobotInformation::getRobotVelocity(geometry_msgs::TwistStamped &robot_velocity, ros::Duration look_back_duration) const +{ + // TODO implement and filter tf data to compute velocity. + return false; +} + +const std::string& RobotInformation::getGlobalFrame() const {return global_frame_;}; + +const std::string& RobotInformation::getRobotFrame() const {return robot_frame_;}; + +const TF& RobotInformation::getTransformListener() const {return tf_listener_;}; + +const ros::Duration& RobotInformation::getTfTimeout() const {return tf_timeout_;} + +} /* namespace mbf_utility */ diff --git a/navigations/move_base_flex/move_base_flex/CHANGELOG.rst b/navigations/move_base_flex/move_base_flex/CHANGELOG.rst new file mode 100755 index 0000000..5401dc1 --- /dev/null +++ b/navigations/move_base_flex/move_base_flex/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package move_base_flex +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.3.2 (2020-05-25) +------------------ + +0.3.1 (2020-04-07) +------------------ + +0.3.0 (2020-03-31) +------------------ +* unify license declaration to BSD-3 + +0.2.5 (2019-10-11) +------------------ + +0.2.4 (2019-06-16) +------------------ + +0.2.3 (2018-11-14) +------------------ + +0.2.2 (2018-10-10) +------------------ + +0.2.1 (2018-10-03) +------------------ + +0.2.0 (2018-09-11) +------------------ +* Update copyright and 3-clause-BSD license of the Move Base Flex stack +* Concurrency for planners, controllers and recovery behaviors +* New class structure, allowing multiple executoin instances +* Fixes minor bugs + +0.1.0 (2018-03-22) +------------------ +* First release of move_base_flex for kinetic and lunar diff --git a/navigations/move_base_flex/move_base_flex/CMakeLists.txt b/navigations/move_base_flex/move_base_flex/CMakeLists.txt new file mode 100755 index 0000000..eb9de7a --- /dev/null +++ b/navigations/move_base_flex/move_base_flex/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(move_base_flex) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/navigations/move_base_flex/move_base_flex/package.xml b/navigations/move_base_flex/move_base_flex/package.xml new file mode 100755 index 0000000..eef2d6e --- /dev/null +++ b/navigations/move_base_flex/move_base_flex/package.xml @@ -0,0 +1,28 @@ + + + move_base_flex + 0.3.2 + + Move Base Flex (MBF) is a backwards-compatible replacement for move_base. MBF can use existing plugins for move_base, and provides an enhanced version of the planner, controller and recovery plugin ROS interfaces. It exposes action servers for planning, controlling and recovering, providing detailed information of the current state and the plugin’s feedback. An external executive logic can use MBF and its actions to perform smart and flexible navigation strategies. Furthermore, MBF enables the use of other map representations, e.g. meshes or grid_map + + This package is a meta package and refers to the Move Base Flex stack packages.The abstract core of MBF – without any binding to a map representation – is represented by the mbf_abstract_nav and the mbf_abstract_core. For navigation on costmaps see mbf_costmap_nav and mbf_costmap_core. + + + Sebastian Pütz + BSD-3 + http://wiki.ros.org/move_base_flex + Sebastian Pütz + + catkin + mbf_abstract_core + mbf_abstract_nav + mbf_costmap_core + mbf_costmap_nav + mbf_msgs + mbf_simple_nav + mbf_utility + + + + + diff --git a/navigations/move_base_msgs/CHANGELOG.rst b/navigations/move_base_msgs/CHANGELOG.rst new file mode 100755 index 0000000..c9487f8 --- /dev/null +++ b/navigations/move_base_msgs/CHANGELOG.rst @@ -0,0 +1,20 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package move_base_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.14.1 (2020-11-02) +------------------- +* Merge pull request `#19 `_ from ros-planning/recovery_behavior_msg + Recovery behavior msg +* Contributors: David V. Lu, David V. Lu!!, Peter Mitrano + +1.14.0 (2020-03-10) +------------------- +* Bump CMake version to avoid CMP0048 + Signed-off-by: Shane Loretz +* Contributors: Shane Loretz + +1.13.0 (2015-03-16) +------------------- +* initial release from new repository +* Contributors: Michael Ferguson diff --git a/navigations/move_base_msgs/CMakeLists.txt b/navigations/move_base_msgs/CMakeLists.txt new file mode 100755 index 0000000..a67fe1b --- /dev/null +++ b/navigations/move_base_msgs/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.0.2) +project(move_base_msgs) + +find_package(catkin REQUIRED + COMPONENTS + actionlib_msgs + geometry_msgs + message_generation +) + +# msgs +add_message_files( + DIRECTORY + msg + FILES + RecoveryStatus.msg +) + +# actions +add_action_files( + DIRECTORY + action + FILES + MoveBase.action +) + +generate_messages( + DEPENDENCIES + actionlib_msgs + geometry_msgs +) + +catkin_package( + CATKIN_DEPENDS actionlib_msgs geometry_msgs message_runtime +) diff --git a/navigations/move_base_msgs/action/MoveBase.action b/navigations/move_base_msgs/action/MoveBase.action new file mode 100755 index 0000000..49a6cab --- /dev/null +++ b/navigations/move_base_msgs/action/MoveBase.action @@ -0,0 +1,4 @@ +geometry_msgs/PoseStamped target_pose +--- +--- +geometry_msgs/PoseStamped base_position diff --git a/navigations/move_base_msgs/msg/RecoveryStatus.msg b/navigations/move_base_msgs/msg/RecoveryStatus.msg new file mode 100755 index 0000000..9c6fb7a --- /dev/null +++ b/navigations/move_base_msgs/msg/RecoveryStatus.msg @@ -0,0 +1,4 @@ +geometry_msgs/PoseStamped pose_stamped # The robot's pose when the recovery was triggered +uint16 current_recovery_number # 0-based index of current recovery number +uint16 total_number_of_recoveries # Total number of recoveries configured +string recovery_behavior_name # Namespace of the recovery being executed diff --git a/navigations/move_base_msgs/package.xml b/navigations/move_base_msgs/package.xml new file mode 100755 index 0000000..6f3f78c --- /dev/null +++ b/navigations/move_base_msgs/package.xml @@ -0,0 +1,28 @@ + + move_base_msgs + 1.14.1 + + + Holds the action description and relevant messages for the move_base package. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + BSD + http://wiki.ros.org/move_base_msgs + https://github.com/ros-planning/navigation_msgs/issues + + catkin + + actionlib_msgs + geometry_msgs + message_generation + + actionlib_msgs + geometry_msgs + message_runtime + + + diff --git a/navigations/move_slow_and_clear/CHANGELOG.rst b/navigations/move_slow_and_clear/CHANGELOG.rst new file mode 100755 index 0000000..137c381 --- /dev/null +++ b/navigations/move_slow_and_clear/CHANGELOG.rst @@ -0,0 +1,150 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package move_slow_and_clear +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- +* [move_slow_and_clear] Add rosparam representing max vel rosparam name (`#1039 `_) +* Contributors: Naoya Yamaguchi + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Merge pull request `#955 `_ from isjfk/melodic-devel + Fix move_slow_and_clear sending obsolete params to dwa_local_planner +* Fix move_slow_and_clear sending obsolete params to dwa_local_planner + issue. +* Contributors: Jimmy F. Klarke, Michael Ferguson, Sean Yen + +1.16.3 (2019-11-15) +------------------- + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* Contributors: Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* import only PCL common +* address gcc6 build error +* remove GCC warnings +* Fix CMake warnings +* Contributors: Lukas Bulwahn, Martin Günther, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- +* Use service call, rather than system call, to call dynamic + reconfigure when decreasing move_base speed. +* Contributors: Ryohei Ueda + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/navigations/move_slow_and_clear/CMakeLists.txt b/navigations/move_slow_and_clear/CMakeLists.txt new file mode 100755 index 0000000..1ae6779 --- /dev/null +++ b/navigations/move_slow_and_clear/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 3.0.2) +project(move_slow_and_clear) + +find_package(catkin REQUIRED + COMPONENTS + cmake_modules + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + ) + + +find_package(Eigen3 REQUIRED) +remove_definitions(-DDISABLE_LIBUSB-1.0) +find_package(Boost REQUIRED COMPONENTS thread) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES move_slow_and_clear + CATKIN_DEPENDS + geometry_msgs + nav_core + pluginlib + roscpp +) + +add_library(${PROJECT_NAME} src/move_slow_and_clear.cpp) +add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(${PROJECT_NAME} + ${Boost_LIBRARIES} + ${catkin_LIBRARIES} + ) + +## Install project namespaced headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) + +install(TARGETS move_slow_and_clear + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(FILES recovery_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + + diff --git a/navigations/move_slow_and_clear/include/move_slow_and_clear/move_slow_and_clear.h b/navigations/move_slow_and_clear/include/move_slow_and_clear/move_slow_and_clear.h new file mode 100755 index 0000000..4c43e7e --- /dev/null +++ b/navigations/move_slow_and_clear/include/move_slow_and_clear/move_slow_and_clear.h @@ -0,0 +1,85 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef MOVE_SLOW_AND_CLEAR_MOVE_SLOW_AND_CLEAR_H_ +#define MOVE_SLOW_AND_CLEAR_MOVE_SLOW_AND_CLEAR_H_ + +#include +#include +#include +#include +#include + +namespace move_slow_and_clear +{ + class MoveSlowAndClear : public nav_core::RecoveryBehavior + { + public: + MoveSlowAndClear(); + ~MoveSlowAndClear(); + + /// Initialize the parameters of the behavior + void initialize (std::string n, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap); + + /// Run the behavior + void runBehavior(); + + private: + void setRobotSpeed(double trans_speed, double rot_speed); + void distanceCheck(const ros::TimerEvent& e); + double getSqDistance(); + + void removeSpeedLimit(); + + ros::NodeHandle private_nh_, planner_nh_; + costmap_2d::Costmap2DROS* global_costmap_; + costmap_2d::Costmap2DROS* local_costmap_; + bool initialized_; + double clearing_distance_, limited_distance_; + double limited_trans_speed_, limited_rot_speed_, old_trans_speed_, old_rot_speed_; + std::string max_trans_param_name_, max_rot_param_name_; + ros::Timer distance_check_timer_; + geometry_msgs::PoseStamped speed_limit_pose_; + boost::thread* remove_limit_thread_; + boost::mutex mutex_; + bool limit_set_; + ros::ServiceClient planner_dynamic_reconfigure_service_; + }; +}; + +#endif diff --git a/navigations/move_slow_and_clear/package.xml b/navigations/move_slow_and_clear/package.xml new file mode 100755 index 0000000..eddf751 --- /dev/null +++ b/navigations/move_slow_and_clear/package.xml @@ -0,0 +1,35 @@ + + + + move_slow_and_clear + 1.17.3 + + + move_slow_and_clear + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/move_slow_and_clear + + catkin + + cmake_modules + + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + + + + + + + + diff --git a/navigations/move_slow_and_clear/recovery_plugin.xml b/navigations/move_slow_and_clear/recovery_plugin.xml new file mode 100755 index 0000000..71776ee --- /dev/null +++ b/navigations/move_slow_and_clear/recovery_plugin.xml @@ -0,0 +1,7 @@ + + + + A recovery behavior that clears information in the costmap within the circumscribed radius of the robot and then limits the speed of the robot. Note, this recovery behavior is not truly safe, the robot may hit things, it'll just happen at a user-specified speed. Also, this recovery behavior is only compatible with local planners that allow maximum speeds to be set via dynamic reconfigure. + + + diff --git a/navigations/move_slow_and_clear/src/move_slow_and_clear.cpp b/navigations/move_slow_and_clear/src/move_slow_and_clear.cpp new file mode 100755 index 0000000..53b9ae6 --- /dev/null +++ b/navigations/move_slow_and_clear/src/move_slow_and_clear.cpp @@ -0,0 +1,225 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(move_slow_and_clear::MoveSlowAndClear, nav_core::RecoveryBehavior) + +namespace move_slow_and_clear +{ + MoveSlowAndClear::MoveSlowAndClear():global_costmap_(NULL), local_costmap_(NULL), + initialized_(false), remove_limit_thread_(NULL), limit_set_(false){} + + MoveSlowAndClear::~MoveSlowAndClear() + { + delete remove_limit_thread_; + } + + void MoveSlowAndClear::initialize (std::string n, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap) + { + global_costmap_ = global_costmap; + local_costmap_ = local_costmap; + + ros::NodeHandle private_nh_("~/" + n); + private_nh_.param("clearing_distance", clearing_distance_, 0.5); + private_nh_.param("limited_trans_speed", limited_trans_speed_, 0.25); + private_nh_.param("limited_rot_speed", limited_rot_speed_, 0.45); + private_nh_.param("limited_distance", limited_distance_, 0.3); + private_nh_.param("max_trans_param_name", max_trans_param_name_, std::string("max_trans_vel")); + private_nh_.param("max_rot_param_name", max_rot_param_name_, std::string("max_rot_vel")); + + std::string planner_namespace; + private_nh_.param("planner_namespace", planner_namespace, std::string("DWAPlannerROS")); + planner_nh_ = ros::NodeHandle("~/" + planner_namespace); + planner_dynamic_reconfigure_service_ = planner_nh_.serviceClient("set_parameters", true); + initialized_ = true; + } + + void MoveSlowAndClear::runBehavior() + { + if(!initialized_) + { + ROS_ERROR("This recovery behavior has not been initialized, doing nothing."); + return; + } + ROS_WARN("Move slow and clear recovery behavior started."); + geometry_msgs::PoseStamped global_pose, local_pose; + global_costmap_->getRobotPose(global_pose); + local_costmap_->getRobotPose(local_pose); + + std::vector global_poly, local_poly; + geometry_msgs::Point pt; + + for(int i = -1; i <= 1; i+=2) + { + pt.x = global_pose.pose.position.x + i * clearing_distance_; + pt.y = global_pose.pose.position.y + i * clearing_distance_; + global_poly.push_back(pt); + + pt.x = global_pose.pose.position.x + i * clearing_distance_; + pt.y = global_pose.pose.position.y + -1.0 * i * clearing_distance_; + global_poly.push_back(pt); + + pt.x = local_pose.pose.position.x + i * clearing_distance_; + pt.y = local_pose.pose.position.y + i * clearing_distance_; + local_poly.push_back(pt); + + pt.x = local_pose.pose.position.x + i * clearing_distance_; + pt.y = local_pose.pose.position.y + -1.0 * i * clearing_distance_; + local_poly.push_back(pt); + } + + //clear the desired space in the costmaps + std::vector >* plugins = global_costmap_->getLayeredCostmap()->getPlugins(); + for (std::vector >::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) { + boost::shared_ptr plugin = *pluginp; + if(plugin->getName().find("obstacles")!=std::string::npos){ + boost::shared_ptr costmap; + costmap = boost::static_pointer_cast(plugin); + costmap->setConvexPolygonCost(global_poly, costmap_2d::FREE_SPACE); + } + } + + plugins = local_costmap_->getLayeredCostmap()->getPlugins(); + for (std::vector >::iterator pluginp = plugins->begin(); pluginp != plugins->end(); ++pluginp) { + boost::shared_ptr plugin = *pluginp; + if(plugin->getName().find("obstacles")!=std::string::npos){ + boost::shared_ptr costmap; + costmap = boost::static_pointer_cast(plugin); + costmap->setConvexPolygonCost(local_poly, costmap_2d::FREE_SPACE); + } + } + + //lock... just in case we're already speed limited + boost::mutex::scoped_lock l(mutex_); + + //get the old maximum speed for the robot... we'll want to set it back + if(!limit_set_) + { + if(!planner_nh_.getParam(max_trans_param_name_, old_trans_speed_)) + { + ROS_ERROR("The planner %s, does not have the parameter %s", planner_nh_.getNamespace().c_str(), max_trans_param_name_.c_str()); + } + + if(!planner_nh_.getParam(max_rot_param_name_, old_rot_speed_)) + { + ROS_ERROR("The planner %s, does not have the parameter %s", planner_nh_.getNamespace().c_str(), max_rot_param_name_.c_str()); + } + } + + //we also want to save our current position so that we can remove the speed limit we impose later on + speed_limit_pose_ = global_pose; + + //limit the speed of the robot until it moves a certain distance + setRobotSpeed(limited_trans_speed_, limited_rot_speed_); + limit_set_ = true; + distance_check_timer_ = private_nh_.createTimer(ros::Duration(0.1), &MoveSlowAndClear::distanceCheck, this); + } + + double MoveSlowAndClear::getSqDistance() + { + geometry_msgs::PoseStamped global_pose; + global_costmap_->getRobotPose(global_pose); + double x1 = global_pose.pose.position.x; + double y1 = global_pose.pose.position.y; + + double x2 = speed_limit_pose_.pose.position.x; + double y2 = speed_limit_pose_.pose.position.y; + + return (x2 - x1) * (x2 - x1) + (y2 - y1) * (y2 - y1); + } + + void MoveSlowAndClear::distanceCheck(const ros::TimerEvent& e) + { + if(limited_distance_ * limited_distance_ <= getSqDistance()) + { + ROS_INFO("Moved far enough, removing speed limit."); + //have to do this because a system call within a timer cb does not seem to play nice + if(remove_limit_thread_) + { + remove_limit_thread_->join(); + delete remove_limit_thread_; + } + remove_limit_thread_ = new boost::thread(boost::bind(&MoveSlowAndClear::removeSpeedLimit, this)); + + distance_check_timer_.stop(); + } + } + + void MoveSlowAndClear::removeSpeedLimit() + { + boost::mutex::scoped_lock l(mutex_); + setRobotSpeed(old_trans_speed_, old_rot_speed_); + limit_set_ = false; + } + + void MoveSlowAndClear::setRobotSpeed(double trans_speed, double rot_speed) + { + + { + dynamic_reconfigure::Reconfigure vel_reconfigure; + dynamic_reconfigure::DoubleParameter new_trans; + new_trans.name = max_trans_param_name_; + new_trans.value = trans_speed; + vel_reconfigure.request.config.doubles.push_back(new_trans); + try { + planner_dynamic_reconfigure_service_.call(vel_reconfigure); + ROS_INFO_STREAM("Recovery setting trans vel: " << trans_speed); + } + catch(...) { + ROS_ERROR("Something went wrong in the service call to dynamic_reconfigure"); + } + } + { + dynamic_reconfigure::Reconfigure rot_reconfigure; + dynamic_reconfigure::DoubleParameter new_rot; + new_rot.name = max_rot_param_name_; + new_rot.value = rot_speed; + rot_reconfigure.request.config.doubles.push_back(new_rot); + try { + planner_dynamic_reconfigure_service_.call(rot_reconfigure); + ROS_INFO_STREAM("Recovery setting rot vel: " << rot_speed); + } + catch(...) { + ROS_ERROR("Something went wrong in the service call to dynamic_reconfigure"); + } + } + } +}; diff --git a/navigations/nav_2d_msgs/CMakeLists.txt b/navigations/nav_2d_msgs/CMakeLists.txt new file mode 100755 index 0000000..f001fe8 --- /dev/null +++ b/navigations/nav_2d_msgs/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 3.0.2) +project(nav_2d_msgs) + +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + message_generation + std_msgs +) + +add_message_files(FILES + ComplexPolygon2D.msg + NavGridInfo.msg + NavGridOfChars.msg + NavGridOfCharsUpdate.msg + NavGridOfDoubles.msg + NavGridOfDoublesUpdate.msg + Path2D.msg + Point2D.msg + Polygon2D.msg + Polygon2DCollection.msg + Polygon2DStamped.msg + Pose2D32.msg + Pose2DStamped.msg + Twist2D.msg + Twist2D32.msg + Twist2DStamped.msg + UIntBounds.msg +) + +add_service_files(FILES SwitchPlugin.srv) + +generate_messages(DEPENDENCIES geometry_msgs std_msgs) + +catkin_package( + CATKIN_DEPENDS geometry_msgs message_runtime std_msgs +) diff --git a/navigations/nav_2d_msgs/README.md b/navigations/nav_2d_msgs/README.md new file mode 100755 index 0000000..c9366b1 --- /dev/null +++ b/navigations/nav_2d_msgs/README.md @@ -0,0 +1,30 @@ +# nav_2d_msgs + +This package has basic message types for two dimensional navigation. Many of the messages are similar to those in `geometry_msgs` or `nav_msgs` but are streamlined to only be concerned with 2.5 dimensional `(x, y, theta)` navigation. This eliminates quaternions from the messages in many places, which make calculations faster and avoids that particular headache when only one orientation value is needed for 2.5D navigation. + +## Points and Poses + * [`Point2D`](msg/Point2D.msg) - like `geometry_msgs::Point` but just `x` and `y` (no `z`) + * [`Pose2DStamped`](msg/Pose2DStamped.msg) - `geometry_msgs::Pose2D` with a header + * [`Pose2D32`](msg/Pose2D32.msg) - `(x, y, theta)` with only 32bit floating point precision. + * [`Path2D`](msg/Path2D.msg) - An array of `Pose2D` with a header. Similar to `nav_msgs::Path` but without redundant headers. + +## Polygons + * [`Polygon2D`](msg/Polygon2D.msg) - Like `geometry_msgs::Polygon` but with 64 bit precision and no `z` coordinate. + * [`Polygon2DStamped`](msg/Polygon2DStamped.msg) - above with a header + * [`ComplexPolygon2D`](msg/ComplexPolygon2D.msg) - Non-simple Polygon2D, i.e. polygon with inner holes + * [`Polygon2DCollection`](msg/Polygon2DCollection.msg) - A list of complex polygons, with a header and an optional parallel list of colors. + +## Twists + * [`Twist2D`](msg/Twist2D.msg) - Like `geometry_msgs::Twist` but only `(x, y, theta)` (and not separated into linear and angular) + * [`Twist2DStamped`](msg/Twist2DStamped.msg) - above with a header + * [`Twist2D32`](msg/Twist2D32.msg) - `(x, y, theta)` with only 32bit floating point precision. + +## NavGrids + * [`NavGridInfo`](msg/NavGridInfo.msg) - Same data as `nav_grid::NavGridInfo`. Similar to `nav_msgs::MapMetadata` + * [`NavGridOfChars`](msg/NavGridOfChars.msg) - Data for `nav_grid::NavGrid`. Similar to `nav_msgs::OccupancyGrid` + * [`NavGridOfDoubles`](msg/NavGridOfDoubles.msg) - Data for `nav_grid::NavGrid` + * [`NavGridOfCharsUpdate`](msg/NavGridOfCharsUpdate.msg) and [`NavGridOfDoublesUpdate`](msg/NavGridOfDoublesUpdate.msg) - Similar to `map_msgs::OccupancyGridUpdate` + * [`UIntBounds`](msg/UIntBounds.msg) - Same data as `nav_core2::UIntBounds`. Used in both `Update` messages. + +## Service + * [`SwitchPlugin`](srv/SwitchPlugin.srv) - A simple service equivalent to [SetString.srv](https://discourse.ros.org/t/suggestions-for-std-srvs/1079) use by the PluginMux. \ No newline at end of file diff --git a/navigations/nav_2d_msgs/msg/ComplexPolygon2D.msg b/navigations/nav_2d_msgs/msg/ComplexPolygon2D.msg new file mode 100755 index 0000000..dd7641c --- /dev/null +++ b/navigations/nav_2d_msgs/msg/ComplexPolygon2D.msg @@ -0,0 +1,3 @@ +# Representation for a non-simple polygon, i.e. one with holes +Polygon2D outer # The outer perimeter +Polygon2D[] inner # The perimeter of any inner holes diff --git a/navigations/nav_2d_msgs/msg/NavGridInfo.msg b/navigations/nav_2d_msgs/msg/NavGridInfo.msg new file mode 100755 index 0000000..66dc167 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/NavGridInfo.msg @@ -0,0 +1,6 @@ +uint32 width +uint32 height +float64 resolution +string frame_id +float64 origin_x +float64 origin_y diff --git a/navigations/nav_2d_msgs/msg/NavGridOfChars.msg b/navigations/nav_2d_msgs/msg/NavGridOfChars.msg new file mode 100755 index 0000000..08060e9 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/NavGridOfChars.msg @@ -0,0 +1,5 @@ +time stamp +NavGridInfo info +# The map data, in row-major order, starting with (0,0). +# Unlike nav_msgs/OccupancyGrid, the values are [0, 256), not [-1, 100] +uint8[] data diff --git a/navigations/nav_2d_msgs/msg/NavGridOfCharsUpdate.msg b/navigations/nav_2d_msgs/msg/NavGridOfCharsUpdate.msg new file mode 100755 index 0000000..f190444 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/NavGridOfCharsUpdate.msg @@ -0,0 +1,3 @@ +time stamp +UIntBounds bounds +uint8[] data diff --git a/navigations/nav_2d_msgs/msg/NavGridOfDoubles.msg b/navigations/nav_2d_msgs/msg/NavGridOfDoubles.msg new file mode 100755 index 0000000..d52c737 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/NavGridOfDoubles.msg @@ -0,0 +1,4 @@ +time stamp +NavGridInfo info +# The map data, in row-major order, starting with (0,0). +float64[] data diff --git a/navigations/nav_2d_msgs/msg/NavGridOfDoublesUpdate.msg b/navigations/nav_2d_msgs/msg/NavGridOfDoublesUpdate.msg new file mode 100755 index 0000000..ab1742d --- /dev/null +++ b/navigations/nav_2d_msgs/msg/NavGridOfDoublesUpdate.msg @@ -0,0 +1,3 @@ +time stamp +UIntBounds bounds +float64[] data diff --git a/navigations/nav_2d_msgs/msg/Path2D.msg b/navigations/nav_2d_msgs/msg/Path2D.msg new file mode 100755 index 0000000..a4dad9e --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Path2D.msg @@ -0,0 +1,2 @@ +Header header +geometry_msgs/Pose2D[] poses diff --git a/navigations/nav_2d_msgs/msg/Point2D.msg b/navigations/nav_2d_msgs/msg/Point2D.msg new file mode 100755 index 0000000..cbcc0fa --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Point2D.msg @@ -0,0 +1,2 @@ +float64 x +float64 y diff --git a/navigations/nav_2d_msgs/msg/Polygon2D.msg b/navigations/nav_2d_msgs/msg/Polygon2D.msg new file mode 100755 index 0000000..b5127a0 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Polygon2D.msg @@ -0,0 +1 @@ +Point2D[] points diff --git a/navigations/nav_2d_msgs/msg/Polygon2DCollection.msg b/navigations/nav_2d_msgs/msg/Polygon2DCollection.msg new file mode 100755 index 0000000..caa5f5c --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Polygon2DCollection.msg @@ -0,0 +1,5 @@ +# Primarily used for visualization +# Colors are optional +std_msgs/Header header +ComplexPolygon2D[] polygons +std_msgs/ColorRGBA[] colors diff --git a/navigations/nav_2d_msgs/msg/Polygon2DStamped.msg b/navigations/nav_2d_msgs/msg/Polygon2DStamped.msg new file mode 100755 index 0000000..f0bf41f --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Polygon2DStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +Polygon2D polygon diff --git a/navigations/nav_2d_msgs/msg/Pose2D32.msg b/navigations/nav_2d_msgs/msg/Pose2D32.msg new file mode 100755 index 0000000..cf0e9b9 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Pose2D32.msg @@ -0,0 +1,3 @@ +float32 x +float32 y +float32 theta diff --git a/navigations/nav_2d_msgs/msg/Pose2DStamped.msg b/navigations/nav_2d_msgs/msg/Pose2DStamped.msg new file mode 100755 index 0000000..c485040 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Pose2DStamped.msg @@ -0,0 +1,2 @@ +Header header +geometry_msgs/Pose2D pose diff --git a/navigations/nav_2d_msgs/msg/Twist2D.msg b/navigations/nav_2d_msgs/msg/Twist2D.msg new file mode 100755 index 0000000..3acb858 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Twist2D.msg @@ -0,0 +1,3 @@ +float64 x +float64 y +float64 theta diff --git a/navigations/nav_2d_msgs/msg/Twist2D32.msg b/navigations/nav_2d_msgs/msg/Twist2D32.msg new file mode 100755 index 0000000..cf0e9b9 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Twist2D32.msg @@ -0,0 +1,3 @@ +float32 x +float32 y +float32 theta diff --git a/navigations/nav_2d_msgs/msg/Twist2DStamped.msg b/navigations/nav_2d_msgs/msg/Twist2DStamped.msg new file mode 100755 index 0000000..8eaea96 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/Twist2DStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +Twist2D velocity diff --git a/navigations/nav_2d_msgs/msg/UIntBounds.msg b/navigations/nav_2d_msgs/msg/UIntBounds.msg new file mode 100755 index 0000000..a454824 --- /dev/null +++ b/navigations/nav_2d_msgs/msg/UIntBounds.msg @@ -0,0 +1,5 @@ +# Bounds are inclusive +uint32 min_x +uint32 min_y +uint32 max_x +uint32 max_y diff --git a/navigations/nav_2d_msgs/package.xml b/navigations/nav_2d_msgs/package.xml new file mode 100755 index 0000000..9e343cc --- /dev/null +++ b/navigations/nav_2d_msgs/package.xml @@ -0,0 +1,16 @@ + + + nav_2d_msgs + 0.3.0 + Basic message types for two dimensional navigation, extending from geometry_msgs::Pose2D. + David V. Lu!! + BSD + + catkin + geometry_msgs + std_msgs + message_generation + message_runtime + message_runtime + + diff --git a/navigations/nav_2d_msgs/srv/SwitchPlugin.srv b/navigations/nav_2d_msgs/srv/SwitchPlugin.srv new file mode 100755 index 0000000..ee12674 --- /dev/null +++ b/navigations/nav_2d_msgs/srv/SwitchPlugin.srv @@ -0,0 +1,4 @@ +string new_plugin +--- +bool success +string message diff --git a/navigations/nav_2d_utils/CMakeLists.txt b/navigations/nav_2d_utils/CMakeLists.txt new file mode 100755 index 0000000..c68ef84 --- /dev/null +++ b/navigations/nav_2d_utils/CMakeLists.txt @@ -0,0 +1,92 @@ +cmake_minimum_required(VERSION 3.0.2) +project(nav_2d_utils) + +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror") + +find_package(catkin REQUIRED + COMPONENTS + geometry_msgs + nav_2d_msgs + nav_core2 + nav_grid + nav_msgs + pluginlib + roscpp + std_msgs + tf + tf2_ros + tf2_geometry_msgs + xmlrpcpp +) +catkin_python_setup() + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + nav_2d_msgs + nav_core2 + nav_grid + nav_msgs + pluginlib + roscpp + std_msgs + tf + tf2_ros + tf2_geometry_msgs + xmlrpcpp + INCLUDE_DIRS include + LIBRARIES bounds conversions path_ops polygons tf_help +) + +include_directories( + include ${catkin_INCLUDE_DIRS} +) + +add_library(conversions src/conversions.cpp) +target_link_libraries(conversions ${catkin_LIBRARIES}) +add_dependencies(conversions ${catkin_EXPORTED_TARGETS}) + +add_library(path_ops src/path_ops.cpp) +target_link_libraries(path_ops ${catkin_LIBRARIES}) +add_dependencies(path_ops ${catkin_EXPORTED_TARGETS}) + +add_library(polygons src/polygons.cpp src/footprint.cpp) +target_link_libraries(polygons ${catkin_LIBRARIES}) + +add_library(bounds src/bounds.cpp) +target_link_libraries(bounds ${catkin_LIBRARIES}) + +add_library(tf_help src/tf_help.cpp) +target_link_libraries(tf_help ${catkin_LIBRARIES}) + +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + find_package(roslint REQUIRED) + roslint_cpp() + roslint_add_test() + roslint_python() + + catkin_add_gtest(polygon_tests test/polygon_tests.cpp) + target_link_libraries(polygon_tests polygons ${catkin_LIBRARIES}) + + catkin_add_gtest(compress_test test/compress_test.cpp) + target_link_libraries(compress_test path_ops ${catkin_LIBRARIES}) + + catkin_add_gtest(resolution_test test/resolution_test.cpp) + target_link_libraries(resolution_test path_ops ${catkin_LIBRARIES}) + + catkin_add_gtest(bounds_utils_test test/bounds_test.cpp) + target_link_libraries(bounds_utils_test bounds ${catkin_LIBRARIES}) + + add_rostest_gtest(param_tests test/param_tests.launch test/param_tests.cpp) + target_link_libraries(param_tests polygons ${catkin_LIBRARIES} ${GTEST_LIBRARIES}) +endif() + +install(TARGETS bounds conversions path_ops polygons tf_help + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/navigations/nav_2d_utils/README.md b/navigations/nav_2d_utils/README.md new file mode 100755 index 0000000..c71f8a7 --- /dev/null +++ b/navigations/nav_2d_utils/README.md @@ -0,0 +1,10 @@ +# nav_2d_utils +A handful of useful utility functions for nav_core2 packages. + * Bounds - Utilities for `nav_core2::Bounds` objects interacting with other messages/types and for dividing a `UIntBounds` into multiple smaller bounds. + * [Conversions](doc/Conversions.md) - Tools for converting between `nav_2d_msgs` and other types. + * OdomSubscriber - subscribes to the standard `nav_msgs::Odometry` message and provides access to the velocity component as a `nav_2d_msgs::Twist` + * Parameters - a couple ROS parameter patterns + * PathOps - functions for working with `nav_2d_msgs::Path2D` objects (beyond strict conversion) + * [Plugin Mux](doc/PluginMux.md) - tool for switching between multiple `pluginlib` plugins + * [Polygons and Footprints](doc/PolygonsAndFootprints.md) - functions for working with `Polygon2D` objects + * TF Help - Tools for transforming `nav_2d_msgs` and other common operations. diff --git a/navigations/nav_2d_utils/doc/Conversions.md b/navigations/nav_2d_utils/doc/Conversions.md new file mode 100755 index 0000000..d8b0060 --- /dev/null +++ b/navigations/nav_2d_utils/doc/Conversions.md @@ -0,0 +1,54 @@ +# nav_2d_utils Conversions + +(note: exact syntax differs from below for conciseness, leaving out `const` and `&`) + +## Twist Transformations +| to `nav_2d_msgs` | from `nav_2d_msgs` | +| -- | -- | +| `Twist2D twist3Dto2D(geometry_msgs::Twist)` | `geometry_msgs::Twist twist2Dto3D(Twist2D cmd_vel_2d)` + +## Point Transformations +| to `nav_2d_msgs` | from `nav_2d_msgs` | +| -- | -- | +| `Point2D pointToPoint2D(geometry_msgs::Point)` | `geometry_msgs::Point pointToPoint3D(Point2D)` +| `Point2D pointToPoint2D(geometry_msgs::Point32)` | `geometry_msgs::Point32 pointToPoint32(Point2D)` + +## Pose Transformations +| to `nav_2d_msgs` | from `nav_2d_msgs` | +| -- | -- | +| `Pose2DStamped poseStampedToPose2D(geometry_msgs::PoseStamped)` | `geometry_msgs::PoseStamped pose2DToPoseStamped(Pose2DStamped)` +||`geometry_msgs::PoseStamped pose2DToPoseStamped(geometry_msgs::Pose2D, std::string, ros::Time)`| +||`geometry_msgs::Pose pose2DToPose(geometry_msgs::Pose2D)`| +| `Pose2DStamped stampedPoseToPose2D(tf::Stamped)` | | + +## Path Transformations +| to `nav_2d_msgs` | from `nav_2d_msgs` | +| -- | -- | +| `Path2D pathToPath(nav_msgs::Path)` |`nav_msgs::Path pathToPath(Path2D)` +| `Path2D posesToPath2D(std::vector)` | `nav_msgs::Path poses2DToPath(std::vector, std::string, ros::Time)` + +Also, `nav_msgs::Path posesToPath(std::vector)` + +## Polygon Transformations +| to `nav_2d_msgs` | from `nav_2d_msgs` | +| -- | -- | +| `Polygon2D polygon3Dto2D(geometry_msgs::Polygon)` |`geometry_msgs::Polygon polygon2Dto3D(Polygon2D)` +| `Polygon2DStamped polygon3Dto2D(geometry_msgs::PolygonStamped)` | `geometry_msgs::PolygonStamped polygon2Dto3D(Polygon2DStamped)` + +## Info Transformations +| to `nav_2d_msgs` | from `nav_2d_msgs` | +| -- | -- | +|`nav_2d_msgs::NavGridInfo toMsg(nav_grid::NavGridInfo)`|`nav_grid::NavGridInfo fromMsg(nav_2d_msgs::NavGridInfo)`| + +| to `nav_grid` info | from `nav_grid` info | +| -- | -- | +|`nav_grid::NavGridInfo infoToInfo(nav_msgs::MapMetaData, std::string)` | `nav_msgs::MapMetaData infoToInfo(nav_grid::NavGridInfo)` + +| to two dimensional pose | to three dimensional pose | +| -- | -- | +| `Pose2D getOrigin2D(nav_grid::NavGridInfo)` | `geometry_msgs::Pose getOrigin3D(nav_grid::NavGridInfo)`| + +## Bounds Transformations +| to `nav_2d_msgs` | from `nav_2d_msgs` | +| -- | -- | +|`nav_2d_msgs::UIntBounds toMsg(nav_core2::UIntBounds)`|`nav_core2::UIntBounds fromMsg(nav_2d_msgs::UIntBounds)`| diff --git a/navigations/nav_2d_utils/doc/PluginMux.md b/navigations/nav_2d_utils/doc/PluginMux.md new file mode 100755 index 0000000..6872fbe --- /dev/null +++ b/navigations/nav_2d_utils/doc/PluginMux.md @@ -0,0 +1,39 @@ + +# Plugin Mux +`PluginMux` is an organizer for switching between multiple different plugins of the same type. It may be easiest to see how it operates through an example. Let's say we have multiple global planners we would like to use at different times, with only one being active at a given time. + +This means we have multiple `pluginlib` plugins to load that extend the `BaseGlobalPlanner` interface from the `nav_core` package. We define multiple namespaces in the `global_planner_namespaces` and load each of them. Here's an example parameter config. + +``` +global_planner_namespaces: + - boring_nav_fn + - wacky_global_planner +boring_nav_fn: + allow_unknown: true + plugin_class: navfn/NavfnROS +wacky_global_planner: + allow_unknown: false + # default value commented out + # plugin_class: global_planner/GlobalPlanner +``` + +The namespaces are arbitrary strings, and need not reflect the name of the planner. The package and class name for the plugin will be specified by the `plugin_class` parameter. By default, the first namespace will be loaded as the current plugin. + +To advertise which plugin is active, we publish the namespace on a latched topic and set a parameter with the same name (`~/current_global_planner`). We can then switch among them with a `SetString` ROS service call, or the `usePlugin` C++ method. + +This configuration is all created by creating a plugin mux with the following parameters (parameter names shown for convenience): +``` +PluginMux(plugin_package = "nav_core", + plugin_class = "BaseGlobalPlanner", + parameter_name = "global_planner_namespaces", + default_value = "global_planner/GlobalPlanner", + ros_name = "current_global_planner", + switch_service_name = "switch_global_planner"); +``` + +If the parameter is not set or is an empty list, a namespace will be derived from the `default_value` and be loaded as the only plugin available. +``` +global_planner_namespaces: [] +GlobalPlanner: + allow_unknown: true +``` diff --git a/navigations/nav_2d_utils/doc/PolygonsAndFootprints.md b/navigations/nav_2d_utils/doc/PolygonsAndFootprints.md new file mode 100755 index 0000000..a8a4ac5 --- /dev/null +++ b/navigations/nav_2d_utils/doc/PolygonsAndFootprints.md @@ -0,0 +1,52 @@ +# nav_2d_utils Polygons and Footprints +This library represents a replacement for [costmap_2d/footprint.h](https://github.com/ros-planning/navigation/blob/a2837b5a9dc6dd4b4da176fca7d899d6a3722bf8/costmap_2d/include/costmap_2d/footprint.h) and deals with manipulating polygons. Note that implicitly all polygons here are assumed to be [simple polygons](https://en.wikipedia.org/wiki/Simple_polygon) without "holes." + +## Polygons and the Parameter Server +There have historically been three primary ways to specify a polygon/footprint on the parameter server. The first is to simply specify a radius which is converted to a hexadecagon, i.e. polygon with sixteen sides. This can be read with +``` +nav_2d_msgs::Polygon2D polygonFromRadius(const double radius, const unsigned int num_points = 16); +``` + +The second two ways involve specifying the points of the polygon individually. This can be done with either a string representing a bracketed array of arrays of doubles, `"[[1.0, 2.2], [3.3, 4.2], ...]"`. This can be read with + +``` +nav_2d_msgs::Polygon2D polygonFromString(const std::string& polygon_string); +``` + +Alternatively, with ROS, you can read the points directly from the parameter server in the form of an `XmlRpcValue`, which should be an array of arrays of doubles, which is read with + +``` +nav_2d_msgs::Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlrpc); +``` + +If the `XmlRpcValue` is a string, it will call the `polygonFromString` method. + +The above are the traditional methods that were supported by the original `costmap_2d` code. However, we add a fourth method that requires two parallel arrays of x and y coordinates. + +``` +nav_2d_msgs::Polygon2D polygonFromParallelArrays(const std::vector& xs, const std::vector& ys); +``` + +All of the above methods (except the radius one) can be loaded as appropriate from the parameter server with +``` +nav_2d_msgs::Polygon2D polygonFromParams(const ros::NodeHandle& nh, const std::string parameter_name, + bool search = true); +``` +to include the radius, use the logic in `footprint.h` which either uses "footprint" or "robot_radius" +``` +nav_2d_msgs::Polygon2D footprintFromParams(ros::NodeHandle& nh, bool write = true); +``` + +Polygons can be written to parameters with +``` +void polygontoParams(const nav_2d_msgs::Polygon2D& polygon, const ros::NodeHandle& nh, const std::string parameter_name, + bool array_of_arrays = true); +``` + +## Polygon Operations +There are also a handful of methods for examining/manipulating polygons + * `equals` - check if two polygons are equal + * `movePolygonToPose` - translate and rotate a polygon + * `isInside` - check if a point is inside a polygon + * `calculateMinAndMaxDistances` - Calculate the minimum and maximum distance from the origin of a polygon + * `triangulate` - Decompose a polygon into a set of non-overlapping triangles using an open source implementation of the [earcut algorithm](https://github.com/mapbox/earcut.hpp) diff --git a/navigations/nav_2d_utils/include/mapbox/LICENSE b/navigations/nav_2d_utils/include/mapbox/LICENSE new file mode 100755 index 0000000..8bafb57 --- /dev/null +++ b/navigations/nav_2d_utils/include/mapbox/LICENSE @@ -0,0 +1,15 @@ +ISC License + +Copyright (c) 2015, Mapbox + +Permission to use, copy, modify, and/or distribute this software for any purpose +with or without fee is hereby granted, provided that the above copyright notice +and this permission notice appear in all copies. + +THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH +REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, +INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS +OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER +TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF +THIS SOFTWARE. diff --git a/navigations/nav_2d_utils/include/mapbox/NOTES b/navigations/nav_2d_utils/include/mapbox/NOTES new file mode 100755 index 0000000..5c1e99a --- /dev/null +++ b/navigations/nav_2d_utils/include/mapbox/NOTES @@ -0,0 +1,2 @@ +A C++ port of earcut.js, a fast, header-only polygon triangulation library. +https://github.com/mapbox/earcut.hpp diff --git a/navigations/nav_2d_utils/include/mapbox/earcut.hpp b/navigations/nav_2d_utils/include/mapbox/earcut.hpp new file mode 100755 index 0000000..68319c1 --- /dev/null +++ b/navigations/nav_2d_utils/include/mapbox/earcut.hpp @@ -0,0 +1,776 @@ +#pragma once + +#include +#include +#include +#include +#include + +namespace mapbox { + +namespace util { + +template struct nth { + inline static typename std::tuple_element::type + get(const T& t) { return std::get(t); }; +}; + +} + +namespace detail { + +template +class Earcut { +public: + std::vector indices; + std::size_t vertices = 0; + + template + void operator()(const Polygon& points); + +private: + struct Node { + Node(N index, double x_, double y_) : i(index), x(x_), y(y_) {} + Node(const Node&) = delete; + Node& operator=(const Node&) = delete; + Node(Node&&) = delete; + Node& operator=(Node&&) = delete; + + const N i; + const double x; + const double y; + + // previous and next vertice nodes in a polygon ring + Node* prev = nullptr; + Node* next = nullptr; + + // z-order curve value + int32_t z = 0; + + // previous and next nodes in z-order + Node* prevZ = nullptr; + Node* nextZ = nullptr; + + // indicates whether this is a steiner point + bool steiner = false; + }; + + template Node* linkedList(const Ring& points, const bool clockwise); + Node* filterPoints(Node* start, Node* end = nullptr); + void earcutLinked(Node* ear, int pass = 0); + bool isEar(Node* ear); + bool isEarHashed(Node* ear); + Node* cureLocalIntersections(Node* start); + void splitEarcut(Node* start); + template Node* eliminateHoles(const Polygon& points, Node* outerNode); + void eliminateHole(Node* hole, Node* outerNode); + Node* findHoleBridge(Node* hole, Node* outerNode); + void indexCurve(Node* start); + Node* sortLinked(Node* list); + int32_t zOrder(const double x_, const double y_); + Node* getLeftmost(Node* start); + bool pointInTriangle(double ax, double ay, double bx, double by, double cx, double cy, double px, double py) const; + bool isValidDiagonal(Node* a, Node* b); + double area(const Node* p, const Node* q, const Node* r) const; + bool equals(const Node* p1, const Node* p2); + bool intersects(const Node* p1, const Node* q1, const Node* p2, const Node* q2); + bool intersectsPolygon(const Node* a, const Node* b); + bool locallyInside(const Node* a, const Node* b); + bool middleInside(const Node* a, const Node* b); + Node* splitPolygon(Node* a, Node* b); + template Node* insertNode(std::size_t i, const Point& p, Node* last); + void removeNode(Node* p); + + bool hashing; + double minX, maxX; + double minY, maxY; + double inv_size = 0; + + template > + class ObjectPool { + public: + ObjectPool() { } + ObjectPool(std::size_t blockSize_) { + reset(blockSize_); + } + ~ObjectPool() { + clear(); + } + template + T* construct(Args&&... args) { + if (currentIndex >= blockSize) { + currentBlock = alloc_traits::allocate(alloc, blockSize); + allocations.emplace_back(currentBlock); + currentIndex = 0; + } + T* object = ¤tBlock[currentIndex++]; + alloc_traits::construct(alloc, object, std::forward(args)...); + return object; + } + void reset(std::size_t newBlockSize) { + for (auto allocation : allocations) { + alloc_traits::deallocate(alloc, allocation, blockSize); + } + allocations.clear(); + blockSize = std::max(1, newBlockSize); + currentBlock = nullptr; + currentIndex = blockSize; + } + void clear() { reset(blockSize); } + private: + T* currentBlock = nullptr; + std::size_t currentIndex = 1; + std::size_t blockSize = 1; + std::vector allocations; + Alloc alloc; + typedef typename std::allocator_traits alloc_traits; + }; + ObjectPool nodes; +}; + +template template +void Earcut::operator()(const Polygon& points) { + // reset + indices.clear(); + vertices = 0; + + if (points.empty()) return; + + double x; + double y; + int threshold = 80; + std::size_t len = 0; + + for (size_t i = 0; threshold >= 0 && i < points.size(); i++) { + threshold -= static_cast(points[i].size()); + len += points[i].size(); + } + + //estimate size of nodes and indices + nodes.reset(len * 3 / 2); + indices.reserve(len + points[0].size()); + + Node* outerNode = linkedList(points[0], true); + if (!outerNode || outerNode->prev == outerNode->next) return; + + if (points.size() > 1) outerNode = eliminateHoles(points, outerNode); + + // if the shape is not too simple, we'll use z-order curve hash later; calculate polygon bbox + hashing = threshold < 0; + if (hashing) { + Node* p = outerNode->next; + minX = maxX = outerNode->x; + minY = maxY = outerNode->y; + do { + x = p->x; + y = p->y; + minX = std::min(minX, x); + minY = std::min(minY, y); + maxX = std::max(maxX, x); + maxY = std::max(maxY, y); + p = p->next; + } while (p != outerNode); + + // minX, minY and size are later used to transform coords into integers for z-order calculation + inv_size = std::max(maxX - minX, maxY - minY); + inv_size = inv_size != .0 ? (1. / inv_size) : .0; + } + + earcutLinked(outerNode); + + nodes.clear(); +} + +// create a circular doubly linked list from polygon points in the specified winding order +template template +typename Earcut::Node* +Earcut::linkedList(const Ring& points, const bool clockwise) { + using Point = typename Ring::value_type; + double sum = 0; + const std::size_t len = points.size(); + std::size_t i, j; + Node* last = nullptr; + + // calculate original winding order of a polygon ring + for (i = 0, j = len > 0 ? len - 1 : 0; i < len; j = i++) { + const auto& p1 = points[i]; + const auto& p2 = points[j]; + const double p20 = util::nth<0, Point>::get(p2); + const double p10 = util::nth<0, Point>::get(p1); + const double p11 = util::nth<1, Point>::get(p1); + const double p21 = util::nth<1, Point>::get(p2); + sum += (p20 - p10) * (p11 + p21); + } + + // link points into circular doubly-linked list in the specified winding order + if (clockwise == (sum > 0)) { + for (i = 0; i < len; i++) last = insertNode(vertices + i, points[i], last); + } else { + for (i = len; i-- > 0;) last = insertNode(vertices + i, points[i], last); + } + + if (last && equals(last, last->next)) { + removeNode(last); + last = last->next; + } + + vertices += len; + + return last; +} + +// eliminate colinear or duplicate points +template +typename Earcut::Node* +Earcut::filterPoints(Node* start, Node* end) { + if (!end) end = start; + + Node* p = start; + bool again; + do { + again = false; + + if (!p->steiner && (equals(p, p->next) || area(p->prev, p, p->next) == 0)) { + removeNode(p); + p = end = p->prev; + + if (p == p->next) break; + again = true; + + } else { + p = p->next; + } + } while (again || p != end); + + return end; +} + +// main ear slicing loop which triangulates a polygon (given as a linked list) +template +void Earcut::earcutLinked(Node* ear, int pass) { + if (!ear) return; + + // interlink polygon nodes in z-order + if (!pass && hashing) indexCurve(ear); + + Node* stop = ear; + Node* prev; + Node* next; + + int iterations = 0; + + // iterate through ears, slicing them one by one + while (ear->prev != ear->next) { + iterations++; + prev = ear->prev; + next = ear->next; + + if (hashing ? isEarHashed(ear) : isEar(ear)) { + // cut off the triangle + indices.emplace_back(prev->i); + indices.emplace_back(ear->i); + indices.emplace_back(next->i); + + removeNode(ear); + + // skipping the next vertice leads to less sliver triangles + ear = next->next; + stop = next->next; + + continue; + } + + ear = next; + + // if we looped through the whole remaining polygon and can't find any more ears + if (ear == stop) { + // try filtering points and slicing again + if (!pass) earcutLinked(filterPoints(ear), 1); + + // if this didn't work, try curing all small self-intersections locally + else if (pass == 1) { + ear = cureLocalIntersections(ear); + earcutLinked(ear, 2); + + // as a last resort, try splitting the remaining polygon into two + } else if (pass == 2) splitEarcut(ear); + + break; + } + } +} + +// check whether a polygon node forms a valid ear with adjacent nodes +template +bool Earcut::isEar(Node* ear) { + const Node* a = ear->prev; + const Node* b = ear; + const Node* c = ear->next; + + if (area(a, b, c) >= 0) return false; // reflex, can't be an ear + + // now make sure we don't have other points inside the potential ear + Node* p = ear->next->next; + + while (p != ear->prev) { + if (pointInTriangle(a->x, a->y, b->x, b->y, c->x, c->y, p->x, p->y) && + area(p->prev, p, p->next) >= 0) return false; + p = p->next; + } + + return true; +} + +template +bool Earcut::isEarHashed(Node* ear) { + const Node* a = ear->prev; + const Node* b = ear; + const Node* c = ear->next; + + if (area(a, b, c) >= 0) return false; // reflex, can't be an ear + + // triangle bbox; min & max are calculated like this for speed + const double minTX = std::min(a->x, std::min(b->x, c->x)); + const double minTY = std::min(a->y, std::min(b->y, c->y)); + const double maxTX = std::max(a->x, std::max(b->x, c->x)); + const double maxTY = std::max(a->y, std::max(b->y, c->y)); + + // z-order range for the current triangle bbox; + const int32_t minZ = zOrder(minTX, minTY); + const int32_t maxZ = zOrder(maxTX, maxTY); + + // first look for points inside the triangle in increasing z-order + Node* p = ear->nextZ; + + while (p && p->z <= maxZ) { + if (p != ear->prev && p != ear->next && + pointInTriangle(a->x, a->y, b->x, b->y, c->x, c->y, p->x, p->y) && + area(p->prev, p, p->next) >= 0) return false; + p = p->nextZ; + } + + // then look for points in decreasing z-order + p = ear->prevZ; + + while (p && p->z >= minZ) { + if (p != ear->prev && p != ear->next && + pointInTriangle(a->x, a->y, b->x, b->y, c->x, c->y, p->x, p->y) && + area(p->prev, p, p->next) >= 0) return false; + p = p->prevZ; + } + + return true; +} + +// go through all polygon nodes and cure small local self-intersections +template +typename Earcut::Node* +Earcut::cureLocalIntersections(Node* start) { + Node* p = start; + do { + Node* a = p->prev; + Node* b = p->next->next; + + // a self-intersection where edge (v[i-1],v[i]) intersects (v[i+1],v[i+2]) + if (!equals(a, b) && intersects(a, p, p->next, b) && locallyInside(a, b) && locallyInside(b, a)) { + indices.emplace_back(a->i); + indices.emplace_back(p->i); + indices.emplace_back(b->i); + + // remove two nodes involved + removeNode(p); + removeNode(p->next); + + p = start = b; + } + p = p->next; + } while (p != start); + + return p; +} + +// try splitting polygon into two and triangulate them independently +template +void Earcut::splitEarcut(Node* start) { + // look for a valid diagonal that divides the polygon into two + Node* a = start; + do { + Node* b = a->next->next; + while (b != a->prev) { + if (a->i != b->i && isValidDiagonal(a, b)) { + // split the polygon in two by the diagonal + Node* c = splitPolygon(a, b); + + // filter colinear points around the cuts + a = filterPoints(a, a->next); + c = filterPoints(c, c->next); + + // run earcut on each half + earcutLinked(a); + earcutLinked(c); + return; + } + b = b->next; + } + a = a->next; + } while (a != start); +} + +// link every hole into the outer loop, producing a single-ring polygon without holes +template template +typename Earcut::Node* +Earcut::eliminateHoles(const Polygon& points, Node* outerNode) { + const size_t len = points.size(); + + std::vector queue; + for (size_t i = 1; i < len; i++) { + Node* list = linkedList(points[i], false); + if (list) { + if (list == list->next) list->steiner = true; + queue.push_back(getLeftmost(list)); + } + } + std::sort(queue.begin(), queue.end(), [](const Node* a, const Node* b) { + return a->x < b->x; + }); + + // process holes from left to right + for (size_t i = 0; i < queue.size(); i++) { + eliminateHole(queue[i], outerNode); + outerNode = filterPoints(outerNode, outerNode->next); + } + + return outerNode; +} + +// find a bridge between vertices that connects hole with an outer ring and and link it +template +void Earcut::eliminateHole(Node* hole, Node* outerNode) { + outerNode = findHoleBridge(hole, outerNode); + if (outerNode) { + Node* b = splitPolygon(outerNode, hole); + filterPoints(b, b->next); + } +} + +// David Eberly's algorithm for finding a bridge between hole and outer polygon +template +typename Earcut::Node* +Earcut::findHoleBridge(Node* hole, Node* outerNode) { + Node* p = outerNode; + double hx = hole->x; + double hy = hole->y; + double qx = -std::numeric_limits::infinity(); + Node* m = nullptr; + + // find a segment intersected by a ray from the hole's leftmost Vertex to the left; + // segment's endpoint with lesser x will be potential connection Vertex + do { + if (hy <= p->y && hy >= p->next->y && p->next->y != p->y) { + double x = p->x + (hy - p->y) * (p->next->x - p->x) / (p->next->y - p->y); + if (x <= hx && x > qx) { + qx = x; + if (x == hx) { + if (hy == p->y) return p; + if (hy == p->next->y) return p->next; + } + m = p->x < p->next->x ? p : p->next; + } + } + p = p->next; + } while (p != outerNode); + + if (!m) return 0; + + if (hx == qx) return m->prev; + + // look for points inside the triangle of hole Vertex, segment intersection and endpoint; + // if there are no points found, we have a valid connection; + // otherwise choose the Vertex of the minimum angle with the ray as connection Vertex + + const Node* stop = m; + double tanMin = std::numeric_limits::infinity(); + double tanCur = 0; + + p = m->next; + double mx = m->x; + double my = m->y; + + while (p != stop) { + if (hx >= p->x && p->x >= mx && hx != p->x && + pointInTriangle(hy < my ? hx : qx, hy, mx, my, hy < my ? qx : hx, hy, p->x, p->y)) { + + tanCur = std::abs(hy - p->y) / (hx - p->x); // tangential + + if ((tanCur < tanMin || (tanCur == tanMin && p->x > m->x)) && locallyInside(p, hole)) { + m = p; + tanMin = tanCur; + } + } + + p = p->next; + } + + return m; +} + +// interlink polygon nodes in z-order +template +void Earcut::indexCurve(Node* start) { + assert(start); + Node* p = start; + + do { + p->z = p->z ? p->z : zOrder(p->x, p->y); + p->prevZ = p->prev; + p->nextZ = p->next; + p = p->next; + } while (p != start); + + p->prevZ->nextZ = nullptr; + p->prevZ = nullptr; + + sortLinked(p); +} + +// Simon Tatham's linked list merge sort algorithm +// http://www.chiark.greenend.org.uk/~sgtatham/algorithms/listsort.html +template +typename Earcut::Node* +Earcut::sortLinked(Node* list) { + assert(list); + Node* p; + Node* q; + Node* e; + Node* tail; + int i, numMerges, pSize, qSize; + int inSize = 1; + + for (;;) { + p = list; + list = nullptr; + tail = nullptr; + numMerges = 0; + + while (p) { + numMerges++; + q = p; + pSize = 0; + for (i = 0; i < inSize; i++) { + pSize++; + q = q->nextZ; + if (!q) break; + } + + qSize = inSize; + + while (pSize > 0 || (qSize > 0 && q)) { + + if (pSize == 0) { + e = q; + q = q->nextZ; + qSize--; + } else if (qSize == 0 || !q) { + e = p; + p = p->nextZ; + pSize--; + } else if (p->z <= q->z) { + e = p; + p = p->nextZ; + pSize--; + } else { + e = q; + q = q->nextZ; + qSize--; + } + + if (tail) tail->nextZ = e; + else list = e; + + e->prevZ = tail; + tail = e; + } + + p = q; + } + + tail->nextZ = nullptr; + + if (numMerges <= 1) return list; + + inSize *= 2; + } +} + +// z-order of a Vertex given coords and size of the data bounding box +template +int32_t Earcut::zOrder(const double x_, const double y_) { + // coords are transformed into non-negative 15-bit integer range + int32_t x = static_cast(32767.0 * (x_ - minX) * inv_size); + int32_t y = static_cast(32767.0 * (y_ - minY) * inv_size); + + x = (x | (x << 8)) & 0x00FF00FF; + x = (x | (x << 4)) & 0x0F0F0F0F; + x = (x | (x << 2)) & 0x33333333; + x = (x | (x << 1)) & 0x55555555; + + y = (y | (y << 8)) & 0x00FF00FF; + y = (y | (y << 4)) & 0x0F0F0F0F; + y = (y | (y << 2)) & 0x33333333; + y = (y | (y << 1)) & 0x55555555; + + return x | (y << 1); +} + +// find the leftmost node of a polygon ring +template +typename Earcut::Node* +Earcut::getLeftmost(Node* start) { + Node* p = start; + Node* leftmost = start; + do { + if (p->x < leftmost->x || (p->x == leftmost->x && p->y < leftmost->y)) + leftmost = p; + p = p->next; + } while (p != start); + + return leftmost; +} + +// check if a point lies within a convex triangle +template +bool Earcut::pointInTriangle(double ax, double ay, double bx, double by, double cx, double cy, double px, double py) const { + return (cx - px) * (ay - py) - (ax - px) * (cy - py) >= 0 && + (ax - px) * (by - py) - (bx - px) * (ay - py) >= 0 && + (bx - px) * (cy - py) - (cx - px) * (by - py) >= 0; +} + +// check if a diagonal between two polygon nodes is valid (lies in polygon interior) +template +bool Earcut::isValidDiagonal(Node* a, Node* b) { + return a->next->i != b->i && a->prev->i != b->i && !intersectsPolygon(a, b) && + locallyInside(a, b) && locallyInside(b, a) && middleInside(a, b); +} + +// signed area of a triangle +template +double Earcut::area(const Node* p, const Node* q, const Node* r) const { + return (q->y - p->y) * (r->x - q->x) - (q->x - p->x) * (r->y - q->y); +} + +// check if two points are equal +template +bool Earcut::equals(const Node* p1, const Node* p2) { + return p1->x == p2->x && p1->y == p2->y; +} + +// check if two segments intersect +template +bool Earcut::intersects(const Node* p1, const Node* q1, const Node* p2, const Node* q2) { + if ((equals(p1, q1) && equals(p2, q2)) || + (equals(p1, q2) && equals(p2, q1))) return true; + return (area(p1, q1, p2) > 0) != (area(p1, q1, q2) > 0) && + (area(p2, q2, p1) > 0) != (area(p2, q2, q1) > 0); +} + +// check if a polygon diagonal intersects any polygon segments +template +bool Earcut::intersectsPolygon(const Node* a, const Node* b) { + const Node* p = a; + do { + if (p->i != a->i && p->next->i != a->i && p->i != b->i && p->next->i != b->i && + intersects(p, p->next, a, b)) return true; + p = p->next; + } while (p != a); + + return false; +} + +// check if a polygon diagonal is locally inside the polygon +template +bool Earcut::locallyInside(const Node* a, const Node* b) { + return area(a->prev, a, a->next) < 0 ? + area(a, b, a->next) >= 0 && area(a, a->prev, b) >= 0 : + area(a, b, a->prev) < 0 || area(a, a->next, b) < 0; +} + +// check if the middle Vertex of a polygon diagonal is inside the polygon +template +bool Earcut::middleInside(const Node* a, const Node* b) { + const Node* p = a; + bool inside = false; + double px = (a->x + b->x) / 2; + double py = (a->y + b->y) / 2; + do { + if (((p->y > py) != (p->next->y > py)) && p->next->y != p->y && + (px < (p->next->x - p->x) * (py - p->y) / (p->next->y - p->y) + p->x)) + inside = !inside; + p = p->next; + } while (p != a); + + return inside; +} + +// link two polygon vertices with a bridge; if the vertices belong to the same ring, it splits +// polygon into two; if one belongs to the outer ring and another to a hole, it merges it into a +// single ring +template +typename Earcut::Node* +Earcut::splitPolygon(Node* a, Node* b) { + Node* a2 = nodes.construct(a->i, a->x, a->y); + Node* b2 = nodes.construct(b->i, b->x, b->y); + Node* an = a->next; + Node* bp = b->prev; + + a->next = b; + b->prev = a; + + a2->next = an; + an->prev = a2; + + b2->next = a2; + a2->prev = b2; + + bp->next = b2; + b2->prev = bp; + + return b2; +} + +// create a node and util::optionally link it with previous one (in a circular doubly linked list) +template template +typename Earcut::Node* +Earcut::insertNode(std::size_t i, const Point& pt, Node* last) { + Node* p = nodes.construct(static_cast(i), util::nth<0, Point>::get(pt), util::nth<1, Point>::get(pt)); + + if (!last) { + p->prev = p; + p->next = p; + + } else { + assert(last); + p->next = last->next; + p->prev = last; + last->next->prev = p; + last->next = p; + } + return p; +} + +template +void Earcut::removeNode(Node* p) { + p->next->prev = p->prev; + p->prev->next = p->next; + + if (p->prevZ) p->prevZ->nextZ = p->nextZ; + if (p->nextZ) p->nextZ->prevZ = p->prevZ; +} +} + +template +std::vector earcut(const Polygon& poly) { + mapbox::detail::Earcut earcut; + earcut(poly); + return std::move(earcut.indices); +} +} diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/bounds.h b/navigations/nav_2d_utils/include/nav_2d_utils/bounds.h new file mode 100755 index 0000000..6c95c26 --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/bounds.h @@ -0,0 +1,91 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2020, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_BOUNDS_H +#define NAV_2D_UTILS_BOUNDS_H + +#include +#include +#include + +/** + * @brief A set of utility functions for Bounds objects interacting with other messages/types + */ +namespace nav_2d_utils +{ + +/** + * @brief return a floating point bounds that covers the entire NavGrid + * @param info Info for the NavGrid + * @return bounds covering the entire NavGrid + */ +nav_core2::Bounds getFullBounds(const nav_grid::NavGridInfo& info); + +/** + * @brief return an integral bounds that covers the entire NavGrid + * @param info Info for the NavGrid + * @return bounds covering the entire NavGrid + */ +nav_core2::UIntBounds getFullUIntBounds(const nav_grid::NavGridInfo& info); + +/** + * @brief Translate real-valued bounds to uint coordinates based on nav_grid info + * @param info Information used when converting the coordinates + * @param bounds floating point bounds object + * @returns corresponding UIntBounds for parameter + */ +nav_core2::UIntBounds translateBounds(const nav_grid::NavGridInfo& info, const nav_core2::Bounds& bounds); + +/** + * @brief Translate uint bounds to real-valued coordinates based on nav_grid info + * @param info Information used when converting the coordinates + * @param bounds UIntBounds object + * @returns corresponding floating point bounds for parameter + */ +nav_core2::Bounds translateBounds(const nav_grid::NavGridInfo& info, const nav_core2::UIntBounds& bounds); + +/** + * @brief divide the given bounds up into sub-bounds of roughly equal size + * @param original_bounds The original bounds to divide + * @param n_cols Positive number of columns to divide the bounds into + * @param n_rows Positive number of rows to divide the bounds into + * @return vector of a maximum of n_cols*n_rows nonempty bounds + * @throws std::invalid_argument when n_cols or n_rows is zero + */ +std::vector divideBounds(const nav_core2::UIntBounds& original_bounds, + unsigned int n_cols, unsigned int n_rows); + +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_BOUNDS_H diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/conversions.h b/navigations/nav_2d_utils/include/nav_2d_utils/conversions.h new file mode 100755 index 0000000..f6bbee4 --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/conversions.h @@ -0,0 +1,107 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_CONVERSIONS_H +#define NAV_2D_UTILS_CONVERSIONS_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace nav_2d_utils +{ +// Twist Transformations +geometry_msgs::Twist twist2Dto3D(const nav_2d_msgs::Twist2D& cmd_vel_2d); +nav_2d_msgs::Twist2D twist3Dto2D(const geometry_msgs::Twist& cmd_vel); + +// Point Transformations +nav_2d_msgs::Point2D pointToPoint2D(const geometry_msgs::Point& point); +nav_2d_msgs::Point2D pointToPoint2D(const geometry_msgs::Point32& point); +geometry_msgs::Point pointToPoint3D(const nav_2d_msgs::Point2D& point); +geometry_msgs::Point32 pointToPoint32(const nav_2d_msgs::Point2D& point); + +// Pose Transformations +nav_2d_msgs::Pose2DStamped stampedPoseToPose2D(const tf::Stamped& pose); +nav_2d_msgs::Pose2DStamped poseStampedToPose2D(const geometry_msgs::PoseStamped& pose); +geometry_msgs::Pose pose2DToPose(const geometry_msgs::Pose2D& pose2d); +geometry_msgs::PoseStamped pose2DToPoseStamped(const nav_2d_msgs::Pose2DStamped& pose2d); +geometry_msgs::PoseStamped pose2DToPoseStamped(const geometry_msgs::Pose2D& pose2d, + const std::string& frame, const ros::Time& stamp); + +// Path Transformations +nav_2d_msgs::Path2D pathToPath(const nav_msgs::Path& path); +nav_msgs::Path posesToPath(const std::vector& poses); +nav_2d_msgs::Path2D posesToPath2D(const std::vector& poses); +nav_msgs::Path poses2DToPath(const std::vector& poses, + const std::string& frame, const ros::Time& stamp); +nav_msgs::Path pathToPath(const nav_2d_msgs::Path2D& path2d); + +// Polygon Transformations +geometry_msgs::Polygon polygon2Dto3D(const nav_2d_msgs::Polygon2D& polygon_2d); +nav_2d_msgs::Polygon2D polygon3Dto2D(const geometry_msgs::Polygon& polygon_3d); +geometry_msgs::PolygonStamped polygon2Dto3D(const nav_2d_msgs::Polygon2DStamped& polygon_2d); +nav_2d_msgs::Polygon2DStamped polygon3Dto2D(const geometry_msgs::PolygonStamped& polygon_3d); + +// Info Transformations +nav_2d_msgs::NavGridInfo toMsg(const nav_grid::NavGridInfo& info); +nav_grid::NavGridInfo fromMsg(const nav_2d_msgs::NavGridInfo& msg); +geometry_msgs::Pose getOrigin3D(const nav_grid::NavGridInfo& info); +geometry_msgs::Pose2D getOrigin2D(const nav_grid::NavGridInfo& info); +nav_grid::NavGridInfo infoToInfo(const nav_msgs::MapMetaData& metadata, const std::string& frame); +nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo & info); + +// Bounds Transformations +nav_2d_msgs::UIntBounds toMsg(const nav_core2::UIntBounds& bounds); +nav_core2::UIntBounds fromMsg(const nav_2d_msgs::UIntBounds& msg); + +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_CONVERSIONS_H diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/footprint.h b/navigations/nav_2d_utils/include/nav_2d_utils/footprint.h new file mode 100755 index 0000000..f3de873 --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/footprint.h @@ -0,0 +1,54 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_FOOTPRINT_H +#define NAV_2D_UTILS_FOOTPRINT_H + +#include +#include + +namespace nav_2d_utils +{ + +/** + * @brief Load the robot footprint either as a polygon from the footprint parameter or from robot_radius + * + * Analagous to costmap_2d::makeFootprintFromParams in that it will return an empty polygon if neither parameter + * is present. + */ +nav_2d_msgs::Polygon2D footprintFromParams(ros::NodeHandle& nh, bool write = true); + +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_FOOTPRINT_H diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/geometry_help.h b/navigations/nav_2d_utils/include/nav_2d_utils/geometry_help.h new file mode 100755 index 0000000..3afae5a --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/geometry_help.h @@ -0,0 +1,85 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_GEOMETRY_HELP_H +#define NAV_2D_UTILS_GEOMETRY_HELP_H + +#include + +namespace nav_2d_utils +{ +/** + * @brief Distance from point (pX, pY) to closest point on line from (x0, y0) to (x1, y1) + * @param pX + * @param pY + * @param x0 + * @param y0 + * @param x1 + * @param y1 + * @return shortest distance from point to line + */ +inline double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1) +{ + double A = pX - x0; + double B = pY - y0; + double C = x1 - x0; + double D = y1 - y0; + + double dot = A * C + B * D; + double len_sq = C * C + D * D; + double param = dot / len_sq; + + double xx, yy; + + if (param < 0) + { + xx = x0; + yy = y0; + } + else if (param > 1) + { + xx = x1; + yy = y1; + } + else + { + xx = x0 + param * C; + yy = y0 + param * D; + } + + return hypot(pX - xx, pY - yy); +} +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_GEOMETRY_HELP_H diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/odom_subscriber.h b/navigations/nav_2d_utils/include/nav_2d_utils/odom_subscriber.h new file mode 100755 index 0000000..c0974a6 --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/odom_subscriber.h @@ -0,0 +1,87 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_ODOM_SUBSCRIBER_H +#define NAV_2D_UTILS_ODOM_SUBSCRIBER_H + +#include +#include +#include +#include +#include +#include + +namespace nav_2d_utils +{ + +/** + * @class OdomSubscriber + * Wrapper for some common odometry operations. Subscribes to the topic with a mutex. + */ +class OdomSubscriber +{ +public: + /** + * @brief Constructor that subscribes to an Odometry topic + * + * @param nh NodeHandle for creating subscriber + * @param default_topic Name of the topic that will be loaded of the odom_topic param is not set. + */ + explicit OdomSubscriber(ros::NodeHandle& nh, std::string default_topic = "odom") + { + std::string odom_topic; + nh.param("odom_topic", odom_topic, default_topic); + odom_sub_ = nh.subscribe(odom_topic, 1, boost::bind(&OdomSubscriber::odomCallback, this, _1)); + } + + inline nav_2d_msgs::Twist2D getTwist() { return odom_vel_.velocity; } + inline nav_2d_msgs::Twist2DStamped getTwistStamped() { return odom_vel_; } + +protected: + void odomCallback(const nav_msgs::Odometry::ConstPtr& msg) + { + ROS_INFO_ONCE("odom received!"); + boost::mutex::scoped_lock lock(odom_mutex_); + odom_vel_.header = msg->header; + odom_vel_.velocity = twist3Dto2D(msg->twist.twist); + } + + ros::Subscriber odom_sub_; + nav_2d_msgs::Twist2DStamped odom_vel_; + boost::mutex odom_mutex_; +}; + +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_ODOM_SUBSCRIBER_H diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/parameters.h b/navigations/nav_2d_utils/include/nav_2d_utils/parameters.h new file mode 100755 index 0000000..7b5871b --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/parameters.h @@ -0,0 +1,150 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_PARAMETERS_H +#define NAV_2D_UTILS_PARAMETERS_H + +#include +#include + +namespace nav_2d_utils +{ + +/** + * @brief Search for a parameter and load it, or use the default value + * + * This templated function shortens a commonly used ROS pattern in which you + * search for a parameter and get its value if it exists, otherwise returning a default value. + * + * @param nh NodeHandle to start the parameter search from + * @param param_name Name of the parameter to search for + * @param default_value Value to return if not found + * @return Value of parameter if found, otherwise the default_value + */ +template +param_t searchAndGetParam(const ros::NodeHandle& nh, const std::string& param_name, const param_t& default_value) +{ + std::string resolved_name; + if (nh.searchParam(param_name, resolved_name)) + { + param_t value = default_value; + nh.param(resolved_name, value, default_value); + return value; + } + return default_value; +} + +/** + * @brief Load a parameter from one of two namespaces. Complain if it uses the old name. + * @param nh NodeHandle to look for the parameter in + * @param current_name Parameter name that is current, i.e. not deprecated + * @param old_name Deprecated parameter name + * @param default_value If neither parameter is present, return this value + * @return The value of the parameter or the default value + */ +template +param_t loadParameterWithDeprecation(const ros::NodeHandle& nh, const std::string current_name, + const std::string old_name, const param_t& default_value) +{ + param_t value; + if (nh.hasParam(current_name)) + { + nh.getParam(current_name, value); + return value; + } + if (nh.hasParam(old_name)) + { + ROS_WARN("Parameter %s is deprecated. Please use the name %s instead.", old_name.c_str(), current_name.c_str()); + nh.getParam(old_name, value); + return value; + } + return default_value; +} + +/** + * @brief If a deprecated parameter exists, complain and move to its new location + * @param nh NodeHandle to look for the parameter in + * @param current_name Parameter name that is current, i.e. not deprecated + * @param old_name Deprecated parameter name + */ +template +void moveDeprecatedParameter(const ros::NodeHandle& nh, const std::string current_name, const std::string old_name) +{ + if (!nh.hasParam(old_name)) return; + + param_t value; + ROS_WARN("Parameter %s is deprecated. Please use the name %s instead.", old_name.c_str(), current_name.c_str()); + nh.getParam(old_name, value); + nh.setParam(current_name, value); +} + +/** + * @brief Move a parameter from one place to another + * + * For use loading old parameter structures into new places. + * + * If the new name already has a value, don't move the old value there. + * + * @param nh NodeHandle for loading/saving params + * @param old_name Parameter name to move/remove + * @param current_name Destination parameter name + * @param default_value Value to save in the new name if old parameter is not found. + * @param should_delete If true, whether to delete the parameter from the old name + */ +template +void moveParameter(const ros::NodeHandle& nh, std::string old_name, + std::string current_name, param_t default_value, bool should_delete = true) +{ + if (nh.hasParam(current_name)) + { + if (should_delete) + nh.deleteParam(old_name); + return; + } + XmlRpc::XmlRpcValue value; + if (nh.hasParam(old_name)) + { + nh.getParam(old_name, value); + if (should_delete) nh.deleteParam(old_name); + } + else + value = default_value; + + nh.setParam(current_name, value); +} + + +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_PARAMETERS_H diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/path_ops.h b/navigations/nav_2d_utils/include/nav_2d_utils/path_ops.h new file mode 100755 index 0000000..187b762 --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/path_ops.h @@ -0,0 +1,88 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_PATH_OPS_H +#define NAV_2D_UTILS_PATH_OPS_H + +#include + +namespace nav_2d_utils +{ +/** + * @brief Calculate the linear distance between two poses + */ +double poseDistance(const geometry_msgs::Pose2D& pose0, const geometry_msgs::Pose2D& pose1); + +/** + * @brief Calculate the length of the plan, starting from the given index + */ +double getPlanLength(const nav_2d_msgs::Path2D& plan, const unsigned int start_index = 0); + +/** + * @brief Calculate the length of the plan from the pose on the plan closest to the given pose + */ +double getPlanLength(const nav_2d_msgs::Path2D& plan, const geometry_msgs::Pose2D& query_pose); + +/** + * @brief Increase plan resolution to match that of the costmap by adding points linearly between points + * + * @param global_plan_in input plan + * @param resolution desired distance between waypoints + * @return Higher resolution plan + */ +nav_2d_msgs::Path2D adjustPlanResolution(const nav_2d_msgs::Path2D& global_plan_in, double resolution); + +/** + * @brief Decrease the length of the plan by eliminating colinear points + * + * Uses the Ramer Douglas Peucker algorithm. Ignores theta values + * + * @param input_path Path to compress + * @param epsilon maximum allowable error. Increase for greater compression. + * @return Path2D with possibly fewer poses + */ +nav_2d_msgs::Path2D compressPlan(const nav_2d_msgs::Path2D& input_path, double epsilon = 0.1); + +/** + * @brief Convenience function to add a pose to a path in one line. + * @param path Path to add to + * @param x x-coordinate + * @param y y-coordinate + * @param theta theta (if needed) + */ +void addPose(nav_2d_msgs::Path2D& path, double x, double y, double theta = 0.0); + +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_PATH_OPS_H diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/plugin_mux.h b/navigations/nav_2d_utils/include/nav_2d_utils/plugin_mux.h new file mode 100755 index 0000000..f775582 --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/plugin_mux.h @@ -0,0 +1,274 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_PLUGIN_MUX_H +#define NAV_2D_UTILS_PLUGIN_MUX_H + +#include +#include +#include +#include +#include +#include +#include + +namespace nav_2d_utils +{ +/** + * @class PluginMux + * @brief An organizer for switching between multiple different plugins of the same type + * + * The different plugins are specified using a list of strings on the parameter server, each of which is a namespace. + * The specific type and additional parameters for each plugin are specified on the parameter server in that namespace. + * All the plugins are loaded initially, but only one is the "current" plugin at any particular time, which is published + * on a latched topic AND stored on the ROS parameter server. You can switch which plugin is current either through a + * C++ or ROS interface. + */ +template +class PluginMux +{ +public: + /** + * @brief Main Constructor - Loads plugin(s) and sets up ROS interfaces + * + * @param plugin_package The package of the plugin type + * @param plugin_class The class name for the plugin type + * @param parameter_name Name of parameter for the namespaces. + * @param default_value If class name is not specified, which plugin should be loaded + * @param ros_name ROS name for setting up topic and parameter + * @param switch_service_name ROS name for setting up the ROS service + */ + PluginMux(const std::string& plugin_package, const std::string& plugin_class, + const std::string& parameter_name, const std::string& default_value, + const std::string& ros_name = "current_plugin", const std::string& switch_service_name = "switch_plugin"); + + /** + * @brief Create an instance of the given plugin_class_name and save it with the given plugin_name + * @param plugin_name Namespace for the new plugin + * @param plugin_class_name Class type name for the new plugin + */ + void addPlugin(const std::string& plugin_name, const std::string& plugin_class_name); + + /** + * @brief C++ Interface for switching to a given plugin + * + * @param name Namespace to set current plugin to + * @return true if that namespace exists and is loaded properly + */ + bool usePlugin(const std::string& name) + { + // If plugin with given name doesn't exist, return false + if (plugins_.count(name) == 0) return false; + + if (switch_callback_) + { + switch_callback_(current_plugin_, name); + } + + // Switch Mux + current_plugin_ = name; + + // Update ROS info + std_msgs::String str_msg; + str_msg.data = current_plugin_; + current_plugin_pub_.publish(str_msg); + private_nh_.setParam(ros_name_, current_plugin_); + + return true; + } + + /** + * @brief Get the Current Plugin Name + * @return Name of the current plugin + */ + std::string getCurrentPluginName() const + { + return current_plugin_; + } + + /** + * @brief Check to see if a plugin exists + * @param name Namespace to set current plugin to + * @return True if the plugin exists + */ + bool hasPlugin(const std::string& name) const + { + return plugins_.find(name) != plugins_.end(); + } + + /** + * @brief Get the Specified Plugin + * @param name Name of plugin to get + * @return Reference to specified plugin + */ + T& getPlugin(const std::string& name) + { + if (!hasPlugin(name)) + throw std::invalid_argument("Plugin not found"); + return *plugins_[name]; + } + + /** + * @brief Get the Current Plugin + * @return Reference to current plugin + */ + T& getCurrentPlugin() + { + return getPlugin(current_plugin_); + } + + /** + * @brief Get the current list of plugin names + */ + std::vector getPluginNames() const + { + std::vector names; + for (auto& kv : plugins_) + { + names.push_back(kv.first); + } + return names; + } + + /** + * @brief alias for the function-type of the callback fired when the plugin switches. + * + * The first parameter will be the namespace of the plugin that was previously used. + * The second parameter will be the namespace of the plugin that is being switched to. + */ + using SwitchCallback = std::function; + + /** + * @brief Set the callback fired when the plugin switches + * + * In addition to switching which plugin is being used via directly calling `usePlugin` + * a switch can also be triggered externally via ROS service. In such a case, other classes + * may want to know when this happens. This is accomplished using the SwitchCallback, which + * will be called regardless of how the plugin is switched. + */ + void setSwitchCallback(SwitchCallback switch_callback) { switch_callback_ = switch_callback; } + +protected: + /** + * @brief ROS Interface for Switching Plugins + */ + bool switchPluginService(nav_2d_msgs::SwitchPlugin::Request &req, nav_2d_msgs::SwitchPlugin::Response &resp) + { + std::string name = req.new_plugin; + if (usePlugin(name)) + { + resp.success = true; + resp.message = "Loaded plugin namespace " + name + "."; + } + else + { + resp.success = false; + resp.message = "Namespace " + name + " not configured!"; + } + return true; + } + + // Plugin Management + pluginlib::ClassLoader plugin_loader_; + std::map> plugins_; + std::string current_plugin_; + + // ROS Interface + ros::ServiceServer switch_plugin_srv_; + ros::Publisher current_plugin_pub_; + ros::NodeHandle private_nh_; + std::string ros_name_; + + // Switch Callback + SwitchCallback switch_callback_; +}; + +// ********************************************************************************************************************* +// ****************** Implementation of Templated Methods ************************************************************** +// ********************************************************************************************************************* +template +PluginMux::PluginMux(const std::string& plugin_package, const std::string& plugin_class, + const std::string& parameter_name, const std::string& default_value, + const std::string& ros_name, const std::string& switch_service_name) + : plugin_loader_(plugin_package, plugin_class), private_nh_("~"), ros_name_(ros_name), switch_callback_(nullptr) +{ + // Create the latched publisher + current_plugin_pub_ = private_nh_.advertise(ros_name_, 1, true); + + // Load Plugins + std::string plugin_class_name; + std::vector plugin_namespaces; + private_nh_.getParam(parameter_name, plugin_namespaces); + if (plugin_namespaces.size() == 0) + { + // If no namespaces are listed, use the name of the default class as the singular namespace. + std::string plugin_name = plugin_loader_.getName(default_value); + plugin_namespaces.push_back(plugin_name); + } + + for (const std::string& the_namespace : plugin_namespaces) + { + // Load the class name from namespace/plugin_class, or use default value + private_nh_.param(std::string(the_namespace + "/plugin_class"), plugin_class_name, default_value); + addPlugin(the_namespace, plugin_class_name); + } + + // By default, use the first one as current + usePlugin(plugin_namespaces[0]); + + // Now that the plugins are created, advertise the service if there are multiple + if (plugin_namespaces.size() > 1) + { + switch_plugin_srv_ = private_nh_.advertiseService(switch_service_name, &PluginMux::switchPluginService, this); + } +} + +template +void PluginMux::addPlugin(const std::string& plugin_name, const std::string& plugin_class_name) +{ + try + { + plugins_[plugin_name] = plugin_loader_.createInstance(plugin_class_name); + } + catch (const pluginlib::PluginlibException& ex) + { + ROS_FATAL_NAMED("PluginMux", + "Failed to load the plugin: %s. Exception: %s", plugin_name.c_str(), ex.what()); + exit(EXIT_FAILURE); + } +} + +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_PLUGIN_MUX_H diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/polygons.h b/navigations/nav_2d_utils/include/nav_2d_utils/polygons.h new file mode 100755 index 0000000..7d1ee0c --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/polygons.h @@ -0,0 +1,199 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_POLYGONS_H +#define NAV_2D_UTILS_POLYGONS_H + +#include +#include +#include +#include +#include +#include + +namespace nav_2d_utils +{ + +/** + * @class PolygonParseException + * @brief Exception to throw when Polygon doesn't load correctly + */ +class PolygonParseException: public std::runtime_error +{ +public: + explicit PolygonParseException(const std::string& description) : std::runtime_error(description) {} +}; + +/** + * @brief Parse a vector of vectors of doubles from a string. + * Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...] + * + * @param input The string to parse + * @return a vector of vectors of doubles + */ +std::vector > parseVVD(const std::string& input); + +/** + * @brief Create a "circular" polygon from a given radius + * + * @param radius Radius of the polygon + * @param num_points Number of points in the resulting polygon + * @return A rotationally symmetric polygon with the specified number of vertices + */ +nav_2d_msgs::Polygon2D polygonFromRadius(const double radius, const unsigned int num_points = 16); + +/** + * @brief Make a polygon from the given string. + * Format should be bracketed array of arrays of doubles, like so: [[1.0, 2.2], [3.3, 4.2], ...] + * + * @param polygon_string The string to parse + * @return Polygon2D + */ +nav_2d_msgs::Polygon2D polygonFromString(const std::string& polygon_string); + +/** + * @brief Load a polygon from a parameter, whether it is a string or array, or two arrays + * @param nh Node handle to load parameter from + * @param parameter_name Name of the parameter + * @param search Whether to search up the namespace for the parameter name + * @return Loaded polygon + */ +nav_2d_msgs::Polygon2D polygonFromParams(const ros::NodeHandle& nh, const std::string parameter_name, + bool search = true); + +/** + * @brief Create a polygon from the given XmlRpcValue. + * + * @param polygon_xmlrpc should be an array of arrays, where the top-level array should have + * 3 or more elements, and the sub-arrays should all have exactly 2 elements + * (x and y coordinates). + */ +nav_2d_msgs::Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlrpc); + +/** + * @brief Create XMLRPC Value for writing the polygon to the parameter server + * @param polygon Polygon to convert + * @param array_of_arrays If true, write an array of arrays. Otherwise, write two parallel arrays + * @return XmlRpcValue + */ +XmlRpc::XmlRpcValue polygonToXMLRPC(const nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays = true); + +/** + * @brief Save a polygon to a parameter + * @param polygon The Polygon + * @param nh Node handle to save the parameter to + * @param parameter_name Name of the parameter + * @param array_of_arrays If true, write an array of arrays. Otherwise, write two parallel arrays + */ +void polygonToParams(const nav_2d_msgs::Polygon2D& polygon, const ros::NodeHandle& nh, const std::string parameter_name, + bool array_of_arrays = true); + +/** + * @brief Create a polygon from two parallel arrays + * + * @param xs Array of doubles representing x coordinates, at least three elements long + * @param ys Array of doubles representing y coordinates, matching length of xs + */ +nav_2d_msgs::Polygon2D polygonFromParallelArrays(const std::vector& xs, const std::vector& ys); + +/** + * @brief Create two parallel arrays from a polygon + * + * @param[in] polygon + * @param[out] xs Array of doubles representing x coordinates, to be populated + * @param[out] ys Array of doubles representing y coordinates, to be populated + */ +void polygonToParallelArrays(const nav_2d_msgs::Polygon2D polygon, std::vector& xs, std::vector& ys); + +/** + * @brief check if two polygons are equal. Used in testing + */ +bool equals(const nav_2d_msgs::Polygon2D& polygon0, const nav_2d_msgs::Polygon2D& polygon1); + +/** + * @brief Translate and rotate a polygon to a new pose + * @param polygon The polygon + * @param pose The x, y and theta to use when moving the polygon + * @return A new moved polygon + */ +nav_2d_msgs::Polygon2D movePolygonToPose(const nav_2d_msgs::Polygon2D& polygon, + const geometry_msgs::Pose2D& pose); + +/** + * @brief Check if a given point is inside of a polygon + * + * Borders are considered outside. + * + * @param polygon Polygon to check + * @param x x coordinate + * @param y y coordinate + * @return true if point is inside polygon + */ +bool isInside(const nav_2d_msgs::Polygon2D& polygon, const double x, const double y); + +/** + * @brief Calculate the minimum and maximum distance from (0, 0) to any point on the polygon + * @param[in] polygon polygon to analyze + * @param[out] min_dist + * @param[out] max_dist + */ +void calculateMinAndMaxDistances(const nav_2d_msgs::Polygon2D& polygon, double& min_dist, double& max_dist); + +/** + * @brief Decompose a complex polygon into a set of triangles. + * + * See https://en.wikipedia.org/wiki/Polygon_triangulation + * + * Implementation from https://github.com/mapbox/earcut.hpp + * + * @param polygon The complex polygon to deconstruct + * @return A vector of points where each set of three points represents a triangle + */ +std::vector triangulate(const nav_2d_msgs::ComplexPolygon2D& polygon); + +/** + * @brief Decompose a simple polygon into a set of triangles. + * + * See https://en.wikipedia.org/wiki/Polygon_triangulation + * + * Implementation from https://github.com/mapbox/earcut.hpp + * + * @param polygon The polygon to deconstruct + * @return A vector of points where each set of three points represents a triangle + */ +std::vector triangulate(const nav_2d_msgs::Polygon2D& polygon); + +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_POLYGONS_H diff --git a/navigations/nav_2d_utils/include/nav_2d_utils/tf_help.h b/navigations/nav_2d_utils/include/nav_2d_utils/tf_help.h new file mode 100755 index 0000000..a76ad43 --- /dev/null +++ b/navigations/nav_2d_utils/include/nav_2d_utils/tf_help.h @@ -0,0 +1,91 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_2D_UTILS_TF_HELP_H +#define NAV_2D_UTILS_TF_HELP_H + +#include +#include +#include +#include + +namespace nav_2d_utils +{ +/** + * @brief Transform a PoseStamped from one frame to another while catching exceptions + * + * Also returns immediately if the frames are equal. + * @param tf Smart pointer to TFListener + * @param frame Frame to transform the pose into + * @param in_pose Pose to transform + * @param out_pose Place to store the resulting transformed pose + * @param extrapolation_fallback If true, if there is an ExtrapolationException, allow looking up the latest timestamp instead. + * @return True if successful transform + */ +bool transformPose(const TFListenerPtr tf, const std::string frame, + const geometry_msgs::PoseStamped& in_pose, geometry_msgs::PoseStamped& out_pose, + const bool extrapolation_fallback = true); + +/** + * @brief Transform a Pose2DStamped from one frame to another while catching exceptions + * + * Also returns immediately if the frames are equal. + * @param tf Smart pointer to TFListener + * @param frame Frame to transform the pose into + * @param in_pose Pose to transform + * @param out_pose Place to store the resulting transformed pose + * @param extrapolation_fallback If true, if there is an ExtrapolationException, allow looking up the latest timestamp instead. + * @return True if successful transform + */ +bool transformPose(const TFListenerPtr tf, const std::string frame, + const nav_2d_msgs::Pose2DStamped& in_pose, nav_2d_msgs::Pose2DStamped& out_pose, + const bool extrapolation_fallback = true); + +/** + * @brief Transform a Pose2DStamped into another frame + * + * Note that this returns a transformed pose + * regardless of whether the transform was successfully performed. + * + * @param tf Smart pointer to TFListener + * @param pose Pose to transform + * @param frame_id Frame to transform the pose into + * @return The resulting transformed pose + */ +geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const nav_2d_msgs::Pose2DStamped& pose, + const std::string& frame_id); + +} // namespace nav_2d_utils + +#endif // NAV_2D_UTILS_TF_HELP_H diff --git a/navigations/nav_2d_utils/package.xml b/navigations/nav_2d_utils/package.xml new file mode 100755 index 0000000..2910be7 --- /dev/null +++ b/navigations/nav_2d_utils/package.xml @@ -0,0 +1,27 @@ + + + nav_2d_utils + 0.3.0 + A handful of useful utility functions for nav_core2 packages. + + David V. Lu!! + + BSD + + catkin + geometry_msgs + nav_2d_msgs + nav_core2 + nav_grid + nav_msgs + pluginlib + roscpp + std_msgs + tf + tf2_ros + tf2_geometry_msgs + xmlrpcpp + roslint + rostest + rosunit + diff --git a/navigations/nav_2d_utils/setup.py b/navigations/nav_2d_utils/setup.py new file mode 100755 index 0000000..77852f4 --- /dev/null +++ b/navigations/nav_2d_utils/setup.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +package_info = generate_distutils_setup( + packages=['nav_2d_utils'], + package_dir={'': 'src'} +) + +setup(**package_info) diff --git a/navigations/nav_2d_utils/src/bounds.cpp b/navigations/nav_2d_utils/src/bounds.cpp new file mode 100755 index 0000000..4a0ea72 --- /dev/null +++ b/navigations/nav_2d_utils/src/bounds.cpp @@ -0,0 +1,102 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2020, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include + +namespace nav_2d_utils +{ +nav_core2::Bounds getFullBounds(const nav_grid::NavGridInfo& info) +{ + return nav_core2::Bounds(info.origin_x, info.origin_y, + info.origin_x + info.resolution * info.width, info.origin_y + info.resolution * info.height); +} + +nav_core2::UIntBounds getFullUIntBounds(const nav_grid::NavGridInfo& info) +{ + // bounds are inclusive, so we subtract one + return nav_core2::UIntBounds(0, 0, info.width - 1, info.height - 1); +} + +nav_core2::UIntBounds translateBounds(const nav_grid::NavGridInfo& info, const nav_core2::Bounds& bounds) +{ + unsigned int g_min_x, g_min_y, g_max_x, g_max_y; + worldToGridBounded(info, bounds.getMinX(), bounds.getMinY(), g_min_x, g_min_y); + worldToGridBounded(info, bounds.getMaxX(), bounds.getMaxY(), g_max_x, g_max_y); + return nav_core2::UIntBounds(g_min_x, g_min_y, g_max_x, g_max_y); +} + +nav_core2::Bounds translateBounds(const nav_grid::NavGridInfo& info, const nav_core2::UIntBounds& bounds) +{ + double min_x, min_y, max_x, max_y; + gridToWorld(info, bounds.getMinX(), bounds.getMinY(), min_x, min_y); + gridToWorld(info, bounds.getMaxX(), bounds.getMaxY(), max_x, max_y); + return nav_core2::Bounds(min_x, min_y, max_x, max_y); +} + +std::vector divideBounds(const nav_core2::UIntBounds& original_bounds, + unsigned int n_cols, unsigned int n_rows) +{ + if (n_cols * n_rows == 0) + { + throw std::invalid_argument("Number of rows and columns must be positive (not zero)"); + } + unsigned int full_width = original_bounds.getWidth(), + full_height = original_bounds.getHeight(); + + unsigned int small_width = static_cast(ceil(static_cast(full_width) / n_cols)), + small_height = static_cast(ceil(static_cast(full_height) / n_rows)); + + std::vector divided; + + for (unsigned int row = 0; row < n_rows; row++) + { + unsigned int min_y = original_bounds.getMinY() + small_height * row; + unsigned int max_y = std::min(min_y + small_height - 1, original_bounds.getMaxY()); + + for (unsigned int col = 0; col < n_cols; col++) + { + unsigned int min_x = original_bounds.getMinX() + small_width * col; + unsigned int max_x = std::min(min_x + small_width - 1, original_bounds.getMaxX()); + nav_core2::UIntBounds sub(min_x, min_y, max_x, max_y); + if (!sub.isEmpty()) + divided.push_back(sub); + } + } + return divided; +} +} // namespace nav_2d_utils diff --git a/navigations/nav_2d_utils/src/conversions.cpp b/navigations/nav_2d_utils/src/conversions.cpp new file mode 100755 index 0000000..d8ca973 --- /dev/null +++ b/navigations/nav_2d_utils/src/conversions.cpp @@ -0,0 +1,340 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include + +namespace nav_2d_utils +{ + +geometry_msgs::Twist twist2Dto3D(const nav_2d_msgs::Twist2D& cmd_vel_2d) +{ + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = cmd_vel_2d.x; + cmd_vel.linear.y = cmd_vel_2d.y; + cmd_vel.angular.z = cmd_vel_2d.theta; + return cmd_vel; +} + + +nav_2d_msgs::Twist2D twist3Dto2D(const geometry_msgs::Twist& cmd_vel) +{ + nav_2d_msgs::Twist2D cmd_vel_2d; + cmd_vel_2d.x = cmd_vel.linear.x; + cmd_vel_2d.y = cmd_vel.linear.y; + cmd_vel_2d.theta = cmd_vel.angular.z; + return cmd_vel_2d; +} + +nav_2d_msgs::Point2D pointToPoint2D(const geometry_msgs::Point& point) +{ + nav_2d_msgs::Point2D output; + output.x = point.x; + output.y = point.y; + return output; +} + +nav_2d_msgs::Point2D pointToPoint2D(const geometry_msgs::Point32& point) +{ + nav_2d_msgs::Point2D output; + output.x = point.x; + output.y = point.y; + return output; +} + +geometry_msgs::Point pointToPoint3D(const nav_2d_msgs::Point2D& point) +{ + geometry_msgs::Point output; + output.x = point.x; + output.y = point.y; + return output; +} + +geometry_msgs::Point32 pointToPoint32(const nav_2d_msgs::Point2D& point) +{ + geometry_msgs::Point32 output; + output.x = point.x; + output.y = point.y; + return output; +} + +nav_2d_msgs::Pose2DStamped stampedPoseToPose2D(const tf::Stamped& pose) +{ + nav_2d_msgs::Pose2DStamped pose2d; + pose2d.header.stamp = pose.stamp_; + pose2d.header.frame_id = pose.frame_id_; + pose2d.pose.x = pose.getOrigin().getX(); + pose2d.pose.y = pose.getOrigin().getY(); + pose2d.pose.theta = tf::getYaw(pose.getRotation()); + return pose2d; +} + +nav_2d_msgs::Pose2DStamped poseStampedToPose2D(const geometry_msgs::PoseStamped& pose) +{ + nav_2d_msgs::Pose2DStamped pose2d; + pose2d.header = pose.header; + pose2d.pose.x = pose.pose.position.x; + pose2d.pose.y = pose.pose.position.y; + pose2d.pose.theta = tf::getYaw(pose.pose.orientation); + return pose2d; +} + +geometry_msgs::Pose pose2DToPose(const geometry_msgs::Pose2D& pose2d) +{ + geometry_msgs::Pose pose; + pose.position.x = pose2d.x; + pose.position.y = pose2d.y; + pose.orientation = tf::createQuaternionMsgFromYaw(pose2d.theta); + return pose; +} + +geometry_msgs::PoseStamped pose2DToPoseStamped(const nav_2d_msgs::Pose2DStamped& pose2d) +{ + geometry_msgs::PoseStamped pose; + pose.header = pose2d.header; + pose.pose = pose2DToPose(pose2d.pose); + return pose; +} + +geometry_msgs::PoseStamped pose2DToPoseStamped(const geometry_msgs::Pose2D& pose2d, + const std::string& frame, const ros::Time& stamp) +{ + geometry_msgs::PoseStamped pose; + pose.header.frame_id = frame; + pose.header.stamp = stamp; + pose.pose.position.x = pose2d.x; + pose.pose.position.y = pose2d.y; + pose.pose.orientation = tf::createQuaternionMsgFromYaw(pose2d.theta); + return pose; +} + +nav_2d_msgs::Path2D pathToPath(const nav_msgs::Path& path) +{ + nav_2d_msgs::Path2D path2d; + path2d.header = path.header; + nav_2d_msgs::Pose2DStamped stamped_2d; + path2d.poses.resize(path.poses.size()); + for (unsigned int i = 0; i < path.poses.size(); i++) + { + stamped_2d = poseStampedToPose2D(path.poses[i]); + path2d.poses[i] = stamped_2d.pose; + } + return path2d; +} + +nav_msgs::Path posesToPath(const std::vector& poses) +{ + nav_msgs::Path path; + if (poses.empty()) + return path; + + path.poses.resize(poses.size()); + path.header.frame_id = poses[0].header.frame_id; + path.header.stamp = poses[0].header.stamp; + for (unsigned int i = 0; i < poses.size(); i++) + { + path.poses[i] = poses[i]; + } + return path; +} + +nav_2d_msgs::Path2D posesToPath2D(const std::vector& poses) +{ + nav_2d_msgs::Path2D path; + if (poses.empty()) + return path; + + nav_2d_msgs::Pose2DStamped pose; + path.poses.resize(poses.size()); + path.header.frame_id = poses[0].header.frame_id; + path.header.stamp = poses[0].header.stamp; + for (unsigned int i = 0; i < poses.size(); i++) + { + pose = poseStampedToPose2D(poses[i]); + path.poses[i] = pose.pose; + } + return path; +} + + +nav_msgs::Path poses2DToPath(const std::vector& poses, + const std::string& frame, const ros::Time& stamp) +{ + nav_msgs::Path path; + path.poses.resize(poses.size()); + path.header.frame_id = frame; + path.header.stamp = stamp; + for (unsigned int i = 0; i < poses.size(); i++) + { + path.poses[i] = pose2DToPoseStamped(poses[i], frame, stamp); + } + return path; +} + +nav_msgs::Path pathToPath(const nav_2d_msgs::Path2D& path2d) +{ + nav_msgs::Path path; + path.header = path2d.header; + path.poses.resize(path2d.poses.size()); + for (unsigned int i = 0; i < path.poses.size(); i++) + { + path.poses[i].header = path2d.header; + path.poses[i].pose = pose2DToPose(path2d.poses[i]); + } + return path; +} + +geometry_msgs::Polygon polygon2Dto3D(const nav_2d_msgs::Polygon2D& polygon_2d) +{ + geometry_msgs::Polygon polygon; + polygon.points.reserve(polygon_2d.points.size()); + for (const auto& pt : polygon_2d.points) + { + polygon.points.push_back(pointToPoint32(pt)); + } + return polygon; +} + +nav_2d_msgs::Polygon2D polygon3Dto2D(const geometry_msgs::Polygon& polygon_3d) +{ + nav_2d_msgs::Polygon2D polygon; + polygon.points.reserve(polygon_3d.points.size()); + for (const auto& pt : polygon_3d.points) + { + polygon.points.push_back(pointToPoint2D(pt)); + } + return polygon; +} + +geometry_msgs::PolygonStamped polygon2Dto3D(const nav_2d_msgs::Polygon2DStamped& polygon_2d) +{ + geometry_msgs::PolygonStamped polygon; + polygon.header = polygon_2d.header; + polygon.polygon = polygon2Dto3D(polygon_2d.polygon); + return polygon; +} + +nav_2d_msgs::Polygon2DStamped polygon3Dto2D(const geometry_msgs::PolygonStamped& polygon_3d) +{ + nav_2d_msgs::Polygon2DStamped polygon; + polygon.header = polygon_3d.header; + polygon.polygon = polygon3Dto2D(polygon_3d.polygon); + return polygon; +} + +nav_2d_msgs::NavGridInfo toMsg(const nav_grid::NavGridInfo& info) +{ + nav_2d_msgs::NavGridInfo msg; + msg.width = info.width; + msg.height = info.height; + msg.resolution = info.resolution; + msg.frame_id = info.frame_id; + msg.origin_x = info.origin_x; + msg.origin_y = info.origin_y; + return msg; +} + +nav_grid::NavGridInfo fromMsg(const nav_2d_msgs::NavGridInfo& msg) +{ + nav_grid::NavGridInfo info; + info.width = msg.width; + info.height = msg.height; + info.resolution = msg.resolution; + info.frame_id = msg.frame_id; + info.origin_x = msg.origin_x; + info.origin_y = msg.origin_y; + return info; +} + +nav_grid::NavGridInfo infoToInfo(const nav_msgs::MapMetaData& metadata, const std::string& frame) +{ + nav_grid::NavGridInfo info; + info.frame_id = frame; + info.resolution = metadata.resolution; + info.width = metadata.width; + info.height = metadata.height; + info.origin_x = metadata.origin.position.x; + info.origin_y = metadata.origin.position.y; + if (std::abs(tf::getYaw(metadata.origin.orientation)) > 1e-5) + { + ROS_WARN_NAMED("nav_2d_utils", + "Conversion from MapMetaData to NavGridInfo encountered a non-zero rotation. Ignoring."); + } + return info; +} + +geometry_msgs::Pose getOrigin3D(const nav_grid::NavGridInfo& info) +{ + geometry_msgs::Pose origin; + origin.position.x = info.origin_x; + origin.position.y = info.origin_y; + origin.orientation.w = 1.0; + return origin; +} + +geometry_msgs::Pose2D getOrigin2D(const nav_grid::NavGridInfo& info) +{ + geometry_msgs::Pose2D origin; + origin.x = info.origin_x; + origin.y = info.origin_y; + return origin; +} + +nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo & info) +{ + nav_msgs::MapMetaData metadata; + metadata.resolution = info.resolution; + metadata.width = info.width; + metadata.height = info.height; + metadata.origin = getOrigin3D(info); + return metadata; +} + +nav_2d_msgs::UIntBounds toMsg(const nav_core2::UIntBounds& bounds) +{ + nav_2d_msgs::UIntBounds msg; + msg.min_x = bounds.getMinX(); + msg.min_y = bounds.getMinY(); + msg.max_x = bounds.getMaxX(); + msg.max_y = bounds.getMaxY(); + return msg; +} + +nav_core2::UIntBounds fromMsg(const nav_2d_msgs::UIntBounds& msg) +{ + return nav_core2::UIntBounds(msg.min_x, msg.min_y, msg.max_x, msg.max_y); +} + + +} // namespace nav_2d_utils diff --git a/navigations/nav_2d_utils/src/footprint.cpp b/navigations/nav_2d_utils/src/footprint.cpp new file mode 100755 index 0000000..8d0699b --- /dev/null +++ b/navigations/nav_2d_utils/src/footprint.cpp @@ -0,0 +1,67 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include + +namespace nav_2d_utils +{ +nav_2d_msgs::Polygon2D footprintFromParams(ros::NodeHandle& nh, bool write) +{ + std::string full_param_name; + nav_2d_msgs::Polygon2D footprint; + + if (nh.searchParam("footprint", full_param_name)) + { + footprint = polygonFromParams(nh, full_param_name, false); + if (write) + { + nh.setParam("footprint", polygonToXMLRPC(footprint)); + } + } + else if (nh.searchParam("robot_radius", full_param_name)) + { + double robot_radius = 0.0; + nh.getParam(full_param_name, robot_radius); + footprint = polygonFromRadius(robot_radius); + if (write) + { + nh.setParam("robot_radius", robot_radius); + } + } + return footprint; +} + +} // namespace nav_2d_utils diff --git a/navigations/nav_2d_utils/src/nav_2d_utils/__init__.py b/navigations/nav_2d_utils/src/nav_2d_utils/__init__.py new file mode 100755 index 0000000..e69de29 diff --git a/navigations/nav_2d_utils/src/nav_2d_utils/conversions.py b/navigations/nav_2d_utils/src/nav_2d_utils/conversions.py new file mode 100755 index 0000000..0f05402 --- /dev/null +++ b/navigations/nav_2d_utils/src/nav_2d_utils/conversions.py @@ -0,0 +1,131 @@ +from geometry_msgs.msg import Pose, Pose2D, Quaternion, Point +from nav_2d_msgs.msg import Twist2D, Path2D, Pose2DStamped, Point2D +from nav_msgs.msg import Path +from geometry_msgs.msg import Twist, PoseStamped + +try: + from tf.transformations import euler_from_quaternion, quaternion_from_euler + + def get_yaw(orientation): + rpy = euler_from_quaternion((orientation.x, orientation.y, orientation.z, orientation.w)) + return rpy[2] + + def from_yaw(yaw): + q = Quaternion() + q.x, q.y, q.z, q.w = quaternion_from_euler(0, 0, yaw) + return q +except ImportError: + from math import sin, cos, atan2 + # From https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles + + def from_yaw(yaw): + q = Quaternion() + q.z = sin(yaw * 0.5) + q.w = cos(yaw * 0.5) + return q + + def get_yaw(q): + siny_cosp = +2.0 * (q.w * q.z + q.x * q.y) + cosy_cosp = +1.0 - 2.0 * (q.y * q.y + q.z * q.z) + return atan2(siny_cosp, cosy_cosp) + + +def twist2Dto3D(cmd_vel_2d): + cmd_vel = Twist() + cmd_vel.linear.x = cmd_vel_2d.x + cmd_vel.linear.y = cmd_vel_2d.y + cmd_vel.angular.z = cmd_vel_2d.theta + return cmd_vel + + +def twist3Dto2D(cmd_vel): + cmd_vel_2d = Twist2D() + cmd_vel_2d.x = cmd_vel.linear.x + cmd_vel_2d.y = cmd_vel.linear.y + cmd_vel_2d.theta = cmd_vel.angular.z + return cmd_vel_2d + + +def pointToPoint3D(point_2d): + point = Point() + point.x = point_2d.x + point.y = point_2d.y + return point + + +def pointToPoint2D(point): + point_2d = Point2D() + point_2d.x = point.x + point_2d.y = point.y + return point_2d + + +def poseToPose2D(pose): + pose2d = Pose2D() + pose2d.x = pose.position.x + pose2d.y = pose.position.y + pose2d.theta = get_yaw(pose.orientation) + return pose2d + + +def poseStampedToPose2DStamped(pose): + pose2d = Pose2DStamped() + pose2d.header = pose.header + pose2d.pose = poseToPose2D(pose.pose) + return pose2d + + +def poseToPose2DStamped(pose, frame, stamp): + pose2d = Pose2DStamped() + pose2d.header.frame_id = frame + pose2d.header.stamp = stamp + pose2d.pose = poseToPose2D(pose) + return pose2d + + +def pose2DToPose(pose2d): + pose = Pose() + pose.position.x = pose2d.x + pose.position.y = pose2d.y + pose.orientation = from_yaw(pose2d.theta) + return pose + + +def pose2DStampedToPoseStamped(pose2d): + pose = PoseStamped() + pose.header = pose2d.header + pose.pose = pose2DToPose(pose2d.pose) + return pose + + +def pose2DToPoseStamped(pose2d, frame, stamp): + pose = PoseStamped() + pose.header.frame_id = frame + pose.header.stamp = stamp + pose.pose.position.x = pose2d.x + pose.pose.position.y = pose2d.y + pose.pose.orientation = from_yaw(pose2d.theta) + return pose + + +def pathToPath2D(path): + path2d = Path2D() + if len(path.poses) == 0: + return path + path2d.header.frame_id = path.poses[0].header.frame_id + path2d.header.stamp = path.poses[0].header.stamp + for pose in path.poses: + stamped = poseStampedToPose2DStamped(pose) + path2d.poses.append(stamped.pose) + return path2d + + +def path2DToPath(path2d): + path = Path() + path.header = path2d.header + for pose2d in path2d.poses: + pose = PoseStamped() + pose.header = path2d.header + pose.pose = pose2DToPose(pose2d) + path.poses.append(pose) + return path diff --git a/navigations/nav_2d_utils/src/path_ops.cpp b/navigations/nav_2d_utils/src/path_ops.cpp new file mode 100755 index 0000000..a91283a --- /dev/null +++ b/navigations/nav_2d_utils/src/path_ops.cpp @@ -0,0 +1,192 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include + +namespace nav_2d_utils +{ + +double poseDistance(const geometry_msgs::Pose2D& pose0, const geometry_msgs::Pose2D& pose1) +{ + return hypot(pose0.x - pose1.x, pose0.y - pose1.y); +} + +double getPlanLength(const nav_2d_msgs::Path2D& plan, const unsigned int start_index) +{ + double length = 0.0; + for (unsigned int i = start_index + 1; i < plan.poses.size(); i++) + { + length += poseDistance(plan.poses[i - 1], plan.poses[i]); + } + return length; +} + +double getPlanLength(const nav_2d_msgs::Path2D& plan, const geometry_msgs::Pose2D& query_pose) +{ + if (plan.poses.size() == 0) return 0.0; + + unsigned int closest_index = 0; + double closest_distance = poseDistance(plan.poses[0], query_pose); + for (unsigned int i = 1; i < plan.poses.size(); i++) + { + double distance = poseDistance(plan.poses[i], query_pose); + if (closest_distance > distance) + { + closest_index = i; + closest_distance = distance; + } + } + return getPlanLength(plan, closest_index); +} + +nav_2d_msgs::Path2D adjustPlanResolution(const nav_2d_msgs::Path2D& global_plan_in, double resolution) +{ + nav_2d_msgs::Path2D global_plan_out; + global_plan_out.header = global_plan_in.header; + if (global_plan_in.poses.size() == 0) + { + return global_plan_out; + } + + geometry_msgs::Pose2D last = global_plan_in.poses[0]; + global_plan_out.poses.push_back(last); + + double sq_resolution = resolution * resolution; + + for (unsigned int i = 1; i < global_plan_in.poses.size(); ++i) + { + geometry_msgs::Pose2D loop = global_plan_in.poses[i]; + double sq_dist = (loop.x - last.x) * (loop.x - last.x) + (loop.y - last.y) * (loop.y - last.y); + if (sq_dist > sq_resolution) + { + // add points in-between + double diff = sqrt(sq_dist) - resolution; + double steps_double = ceil(diff / resolution) + 1.0; + int steps = static_cast(steps_double); + + double delta_x = (loop.x - last.x) / steps_double; + double delta_y = (loop.y - last.y) / steps_double; + double delta_t = (loop.theta - last.theta) / steps_double; + + for (int j = 1; j < steps; ++j) + { + geometry_msgs::Pose2D pose; + pose.x = last.x + j * delta_x; + pose.y = last.y + j * delta_y; + pose.theta = last.theta + j * delta_t; + global_plan_out.poses.push_back(pose); + } + } + global_plan_out.poses.push_back(global_plan_in.poses[i]); + last.x = loop.x; + last.y = loop.y; + } + return global_plan_out; +} + +using PoseList = std::vector; + +/** + * @brief Helper function for other version of compressPlan. + * + * Uses the Ramer Douglas Peucker algorithm. Ignores theta values + * + * @param input Full list of poses + * @param start_index Index of first pose (inclusive) + * @param end_index Index of last pose (inclusive) + * @param epsilon maximum allowable error. Increase for greater compression. + * @param list of poses possibly compressed for the poses[start_index, end_index] + */ +PoseList compressPlan(const PoseList& input, unsigned int start_index, unsigned int end_index, double epsilon) +{ + // Skip if only two points + if (end_index - start_index <= 1) + { + PoseList::const_iterator first = input.begin() + start_index; + PoseList::const_iterator last = input.begin() + end_index + 1; + return PoseList(first, last); + } + + // Find the point with the maximum distance to the line from start to end + const geometry_msgs::Pose2D& start = input[start_index], + end = input[end_index]; + double max_distance = 0.0; + unsigned int max_index = 0; + for (unsigned int i = start_index + 1; i < end_index; i++) + { + const geometry_msgs::Pose2D& pose = input[i]; + double d = distanceToLine(pose.x, pose.y, start.x, start.y, end.x, end.y); + if (d > max_distance) + { + max_index = i; + max_distance = d; + } + } + + // If max distance is less than epsilon, eliminate all the points between start and end + if (max_distance <= epsilon) + { + PoseList outer; + outer.push_back(start); + outer.push_back(end); + return outer; + } + + // If max distance is greater than epsilon, recursively simplify + PoseList first_part = compressPlan(input, start_index, max_index, epsilon); + PoseList second_part = compressPlan(input, max_index, end_index, epsilon); + first_part.insert(first_part.end(), second_part.begin() + 1, second_part.end()); + return first_part; +} + +nav_2d_msgs::Path2D compressPlan(const nav_2d_msgs::Path2D& input_path, double epsilon) +{ + nav_2d_msgs::Path2D results; + results.header = input_path.header; + results.poses = compressPlan(input_path.poses, 0, input_path.poses.size() - 1, epsilon); + return results; +} + +void addPose(nav_2d_msgs::Path2D& path, double x, double y, double theta) +{ + geometry_msgs::Pose2D pose; + pose.x = x; + pose.y = y; + pose.theta = theta; + path.poses.push_back(pose); +} +} // namespace nav_2d_utils diff --git a/navigations/nav_2d_utils/src/polygons.cpp b/navigations/nav_2d_utils/src/polygons.cpp new file mode 100755 index 0000000..559f287 --- /dev/null +++ b/navigations/nav_2d_utils/src/polygons.cpp @@ -0,0 +1,502 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include +#include + +namespace nav_2d_utils +{ + +using nav_2d_msgs::Point2D; +using nav_2d_msgs::Polygon2D; + +std::vector > parseVVD(const std::string& input) +{ + std::vector > result; + + std::stringstream input_ss(input); + int depth = 0; + std::vector current_vector; + while (input_ss.good()) + { + switch (input_ss.peek()) + { + case EOF: + break; + case '[': + depth++; + if (depth > 2) + { + throw PolygonParseException("Array depth greater than 2"); + } + input_ss.get(); + current_vector.clear(); + break; + case ']': + depth--; + if (depth < 0) + { + throw PolygonParseException("More close ] than open ["); + } + input_ss.get(); + if (depth == 1) + { + result.push_back(current_vector); + } + break; + case ',': + case ' ': + case '\t': + input_ss.get(); + break; + default: // All other characters should be part of the numbers. + if (depth != 2) + { + std::stringstream err_ss; + err_ss << "Numbers at depth other than 2. Char was '" << char(input_ss.peek()) << "'."; + throw PolygonParseException(err_ss.str()); + } + double value; + if (input_ss >> value) + { + current_vector.push_back(value); + } + break; + } + } + + if (depth != 0) + { + throw PolygonParseException("Unterminated vector string."); + } + + return result; +} + +Polygon2D polygonFromRadius(const double radius, const unsigned int num_points) +{ + Polygon2D polygon; + Point2D pt; + for (unsigned int i = 0; i < num_points; ++i) + { + double angle = i * 2 * M_PI / num_points; + pt.x = cos(angle) * radius; + pt.y = sin(angle) * radius; + polygon.points.push_back(pt); + } + + return polygon; +} + +Polygon2D polygonFromString(const std::string& polygon_string) +{ + Polygon2D polygon; + // Will throw PolygonParseException if problematic + std::vector > vvd = parseVVD(polygon_string); + + // convert vvd into points. + if (vvd.size() < 3) + { + throw PolygonParseException("You must specify at least three points for the polygon."); + } + + polygon.points.resize(vvd.size()); + for (unsigned int i = 0; i < vvd.size(); i++) + { + if (vvd[ i ].size() != 2) + { + std::stringstream err_ss; + err_ss << "Points in the polygon specification must be pairs of numbers. Point index " << i << " had "; + err_ss << int(vvd[ i ].size()) << " numbers."; + throw PolygonParseException(err_ss.str()); + } + + polygon.points[i].x = vvd[i][0]; + polygon.points[i].y = vvd[i][1]; + } + + return polygon; +} + + +/** + * @brief Helper function. Convert value to double + */ +double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value) +{ + if (value.getType() == XmlRpc::XmlRpcValue::TypeInt) + { + return static_cast(static_cast(value)); + } + else if (value.getType() == XmlRpc::XmlRpcValue::TypeDouble) + { + return static_cast(value); + } + + std::stringstream err_ss; + err_ss << "Values in the polygon specification must be numbers. Found value: " << value.toXml(); + throw PolygonParseException(err_ss.str()); +} + +/** + * @brief Helper function. Convert value to double array + */ +std::vector getNumberVectorFromXMLRPC(XmlRpc::XmlRpcValue& value) +{ + if (value.getType() != XmlRpc::XmlRpcValue::TypeArray) + { + throw PolygonParseException("Subarray must have type list."); + } + std::vector array; + for (int i = 0; i < value.size(); i++) + { + array.push_back(getNumberFromXMLRPC(value[i])); + } + return array; +} + +Polygon2D polygonFromXMLRPC(XmlRpc::XmlRpcValue& polygon_xmlrpc) +{ + if (polygon_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeString && + polygon_xmlrpc != "" && polygon_xmlrpc != "[]") + { + return polygonFromString(std::string(polygon_xmlrpc)); + } + + if (polygon_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeStruct) + { + if (!polygon_xmlrpc.hasMember("x") || !polygon_xmlrpc.hasMember("y")) + { + throw PolygonParseException("Dict-like Polygon must specify members x and y."); + } + std::vector xs = getNumberVectorFromXMLRPC(polygon_xmlrpc["x"]); + std::vector ys = getNumberVectorFromXMLRPC(polygon_xmlrpc["y"]); + return polygonFromParallelArrays(xs, ys); + } + + // Make sure we have an array of at least 3 elements. + if (polygon_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeArray) + { + std::stringstream err_ss; + err_ss << "Polygon must be specified as a list of lists. Found object of type " << polygon_xmlrpc.getType() + << " instead."; + throw PolygonParseException(err_ss.str()); + } + else if (polygon_xmlrpc.size() < 3) + { + throw PolygonParseException("You must specify at least three points for the polygon."); + } + + Polygon2D polygon; + Point2D pt; + for (int i = 0; i < polygon_xmlrpc.size(); ++i) + { + // Make sure each element of the list is an array of size 2. (x and y coordinates) + XmlRpc::XmlRpcValue& point_xml = polygon_xmlrpc[i]; + if (point_xml.getType() != XmlRpc::XmlRpcValue::TypeArray) + { + std::stringstream err_ss; + err_ss << "Each point must be specified as a list. Found object of type " << point_xml.getType() << " instead."; + throw PolygonParseException(err_ss.str()); + } + else if (point_xml.size() != 2) + { + throw PolygonParseException("Each point must have two numbers (x and y)."); + } + + pt.x = getNumberFromXMLRPC(point_xml[0]); + pt.y = getNumberFromXMLRPC(point_xml[1]); + polygon.points.push_back(pt); + } + return polygon; +} + +Polygon2D polygonFromParams(const ros::NodeHandle& nh, const std::string parameter_name, bool search) +{ + std::string full_param_name; + if (search) + { + nh.searchParam(parameter_name, full_param_name); + } + else + { + full_param_name = parameter_name; + } + + if (!nh.hasParam(full_param_name)) + { + std::stringstream err_ss; + err_ss << "Parameter " << parameter_name << "(" + nh.resolveName(parameter_name) << ") not found."; + throw PolygonParseException(err_ss.str()); + } + XmlRpc::XmlRpcValue polygon_xmlrpc; + nh.getParam(full_param_name, polygon_xmlrpc); + return polygonFromXMLRPC(polygon_xmlrpc); +} + +/** + * @brief Helper method to convert a vector of doubles + */ +XmlRpc::XmlRpcValue vectorToXMLRPC(const std::vector& array) +{ + XmlRpc::XmlRpcValue xml; + xml.setSize(array.size()); + for (unsigned int i = 0; i < array.size(); ++i) + { + xml[i] = array[i]; + } + return xml; +} + +XmlRpc::XmlRpcValue polygonToXMLRPC(const nav_2d_msgs::Polygon2D& polygon, bool array_of_arrays) +{ + XmlRpc::XmlRpcValue xml; + if (array_of_arrays) + { + xml.setSize(polygon.points.size()); + for (unsigned int i = 0; i < polygon.points.size(); ++i) + { + xml[i].setSize(2); + const Point2D& p = polygon.points[i]; + xml[i][0] = p.x; + xml[i][1] = p.y; + } + } + else + { + std::vector xs, ys; + polygonToParallelArrays(polygon, xs, ys); + xml["x"] = vectorToXMLRPC(xs); + xml["y"] = vectorToXMLRPC(ys); + } + return xml; +} + +void polygonToParams(const nav_2d_msgs::Polygon2D& polygon, const ros::NodeHandle& nh, const std::string parameter_name, + bool array_of_arrays) +{ + nh.setParam(parameter_name, polygonToXMLRPC(polygon, array_of_arrays)); +} + +nav_2d_msgs::Polygon2D polygonFromParallelArrays(const std::vector& xs, const std::vector& ys) +{ + if (xs.size() < 3) + { + throw PolygonParseException("You must specify at least three points for the polygon."); + } + else if (xs.size() != ys.size()) + { + throw PolygonParseException("Length of x array does not match length of y array."); + } + + Polygon2D polygon; + polygon.points.resize(xs.size()); + for (unsigned int i = 0; i < xs.size(); i++) + { + Point2D& pt = polygon.points[i]; + pt.x = xs[i]; + pt.y = ys[i]; + } + return polygon; +} + +void polygonToParallelArrays(const nav_2d_msgs::Polygon2D polygon, std::vector& xs, std::vector& ys) +{ + xs.clear(); + ys.clear(); + for (const Point2D& pt : polygon.points) + { + xs.push_back(pt.x); + ys.push_back(pt.y); + } +} + +bool equals(const nav_2d_msgs::Polygon2D& polygon0, const nav_2d_msgs::Polygon2D& polygon1) +{ + if (polygon0.points.size() != polygon1.points.size()) + { + return false; + } + for (unsigned int i=0; i < polygon0.points.size(); i++) + { + if (polygon0.points[i].x != polygon1.points[i].x ||polygon0.points[i].y != polygon1.points[i].y) + { + return false; + } + } + return true; +} + +nav_2d_msgs::Polygon2D movePolygonToPose(const nav_2d_msgs::Polygon2D& polygon, + const geometry_msgs::Pose2D& pose) +{ + nav_2d_msgs::Polygon2D new_polygon; + new_polygon.points.resize(polygon.points.size()); + double cos_th = cos(pose.theta); + double sin_th = sin(pose.theta); + for (unsigned int i = 0; i < polygon.points.size(); ++i) + { + nav_2d_msgs::Point2D& new_pt = new_polygon.points[i]; + new_pt.x = pose.x + polygon.points[i].x * cos_th - polygon.points[i].y * sin_th; + new_pt.y = pose.y + polygon.points[i].x * sin_th + polygon.points[i].y * cos_th; + } + return new_polygon; +} + +bool isInside(const nav_2d_msgs::Polygon2D& polygon, const double x, const double y) +{ + // Determine if the given point is inside the polygon using the number of crossings method + // https://wrf.ecse.rpi.edu//Research/Short_Notes/pnpoly.html + int n = polygon.points.size(); + int cross = 0; + // Loop from i = [0 ... n - 1] and j = [n - 1, 0 ... n - 2] + // Ensures first point connects to last point + for (int i = 0, j = n - 1; i < n; j = i++) + { + // Check if the line to x,y crosses this edge + if ( ((polygon.points[i].y > y) != (polygon.points[j].y > y)) + && (x < (polygon.points[j].x - polygon.points[i].x) * (y - polygon.points[i].y) / + (polygon.points[j].y - polygon.points[i].y) + polygon.points[i].x) ) + { + cross++; + } + } + // Return true if the number of crossings is odd + return cross % 2 > 0; +} + +void calculateMinAndMaxDistances(const nav_2d_msgs::Polygon2D& polygon, double& min_dist, double& max_dist) +{ + min_dist = std::numeric_limits::max(); + max_dist = 0.0; + auto& points = polygon.points; + if (points.size() == 0) + { + return; + } + + for (unsigned int i = 0; i < points.size() - 1; ++i) + { + // check the distance from the robot center point to the first vertex + double vertex_dist = hypot(points[i].x, points[i].y); + double edge_dist = distanceToLine(0.0, 0.0, points[i].x, points[i].y, + points[i + 1].x, points[i + 1].y); + min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist)); + max_dist = std::max(max_dist, std::max(vertex_dist, edge_dist)); + } + + // we also need to do the last vertex and the first vertex + double vertex_dist = hypot(points.back().x, points.back().y); + double edge_dist = distanceToLine(0.0, 0.0, points.back().x, points.back().y, + points.front().x, points.front().y); + min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist)); + max_dist = std::max(max_dist, std::max(vertex_dist, edge_dist)); +} +} // namespace nav_2d_utils + +// Adapt Point2D for use with the triangulation library +namespace mapbox +{ +namespace util +{ +template <> +struct nth<0, nav_2d_msgs::Point2D> +{ + inline static double get(const nav_2d_msgs::Point2D& point) + { + return point.x; + }; +}; + +template <> +struct nth<1, nav_2d_msgs::Point2D> +{ + inline static double get(const nav_2d_msgs::Point2D& point) + { + return point.y; + }; +}; + +} // namespace util +} // namespace mapbox + + +namespace nav_2d_utils +{ +std::vector triangulate(const nav_2d_msgs::ComplexPolygon2D& polygon) +{ + // Compute the triangulation + std::vector> rings; + rings.reserve(1 + polygon.inner.size()); + rings.push_back(polygon.outer.points); + for (const nav_2d_msgs::Polygon2D& inner : polygon.inner) + { + rings.push_back(inner.points); + } + std::vector indices = mapbox::earcut(rings); + + // Create a sequential point index. The triangulation results are indices in this vector. + std::vector points; + for (const auto& ring : rings) + { + for (const nav_2d_msgs::Point2D& point : ring) + { + points.push_back(point); + } + } + + // Construct the output triangles + std::vector result; + result.reserve(indices.size()); + for (unsigned int index : indices) + { + result.push_back(points[index]); + } + return result; +} + +std::vector triangulate(const nav_2d_msgs::Polygon2D& polygon) +{ + nav_2d_msgs::ComplexPolygon2D complex; + complex.outer = polygon; + return triangulate(complex); +} + + +} // namespace nav_2d_utils diff --git a/navigations/nav_2d_utils/src/tf_help.cpp b/navigations/nav_2d_utils/src/tf_help.cpp new file mode 100755 index 0000000..b1364f6 --- /dev/null +++ b/navigations/nav_2d_utils/src/tf_help.cpp @@ -0,0 +1,100 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 2022, Metro Robots + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include + +namespace nav_2d_utils +{ +bool transformPose(const TFListenerPtr tf, const std::string frame, + const geometry_msgs::PoseStamped& in_pose, geometry_msgs::PoseStamped& out_pose, + const bool extrapolation_fallback) +{ + if (in_pose.header.frame_id == frame) + { + out_pose = in_pose; + return true; + } + + try + { + tf->transform(in_pose, out_pose, frame); + return true; + } + catch (tf::ExtrapolationException& ex) + { + if (!extrapolation_fallback) + throw; + geometry_msgs::PoseStamped latest_in_pose; + latest_in_pose.header.frame_id = in_pose.header.frame_id; + latest_in_pose.pose = in_pose.pose; + tf->transform(latest_in_pose, out_pose, frame); + return true; + } + catch (tf::TransformException& ex) + { + ROS_ERROR("Exception in transformPose: %s", ex.what()); + return false; + } + return false; +} + +bool transformPose(const TFListenerPtr tf, const std::string frame, + const nav_2d_msgs::Pose2DStamped& in_pose, nav_2d_msgs::Pose2DStamped& out_pose, + const bool extrapolation_fallback) +{ + geometry_msgs::PoseStamped in_3d_pose = pose2DToPoseStamped(in_pose); + geometry_msgs::PoseStamped out_3d_pose; + + bool ret = transformPose(tf, frame, in_3d_pose, out_3d_pose, extrapolation_fallback); + if (ret) + { + out_pose = poseStampedToPose2D(out_3d_pose); + } + return ret; +} + +geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const nav_2d_msgs::Pose2DStamped& pose, + const std::string& frame_id) +{ + nav_2d_msgs::Pose2DStamped local_pose; + nav_2d_utils::transformPose(tf, frame_id, pose, local_pose); + return local_pose.pose; +} + +} // namespace nav_2d_utils diff --git a/navigations/nav_2d_utils/test/bounds_test.cpp b/navigations/nav_2d_utils/test/bounds_test.cpp new file mode 100755 index 0000000..58f840b --- /dev/null +++ b/navigations/nav_2d_utils/test/bounds_test.cpp @@ -0,0 +1,199 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2020, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include + +using nav_2d_utils::divideBounds; +using nav_core2::UIntBounds; + +/** + * @brief Count the values in a grid. + * @param[in] The grid + * @param[out] match Number of values == 1 + * @param[out] missed Number of values == 0 + * @param[out] multiple Number of other values + */ +void countValues(const nav_grid::VectorNavGrid& grid, + unsigned int& match, unsigned int& missed, unsigned int& multiple) +{ + match = 0; + missed = 0; + multiple = 0; + + nav_grid::NavGridInfo info = grid.getInfo(); + + // No iterator to avoid tricky depenencies + for (unsigned int x = 0; x < info.width; x++) + { + for (unsigned int y = 0; y < info.height; y++) + { + switch (grid(x, y)) + { + case 0: + missed++; + break; + case 1: + match++; + break; + default: + multiple++; + break; + } + } + } +} + +TEST(DivideBounds, zeroes) +{ + UIntBounds bounds(2, 2, 5, 5); + // Number of rows/cols has to be positive + EXPECT_THROW(divideBounds(bounds, 0, 2), std::invalid_argument); + EXPECT_THROW(divideBounds(bounds, 2, 0), std::invalid_argument); + EXPECT_THROW(divideBounds(bounds, 0, 0), std::invalid_argument); + EXPECT_NO_THROW(divideBounds(bounds, 2, 2)); + + bounds.reset(); + // check for errors with empty bounds + EXPECT_NO_THROW(divideBounds(bounds, 2, 2)); +} + +/** + * This test is for the divideBounds method and takes grids of various sizes + * (cycled through with the outer two loops) and tries to divide them into subgrids of + * various sizes (cycled through with the next two loops). The resulting vector of + * bounds should cover every cell in the original grid, so each of the divided bounds is + * iterated over, adding one to each grid cell. If everything works perfectly, each cell + * should be touched exactly once. + */ +TEST(DivideBounds, iterative_tests) +{ + nav_grid::VectorNavGrid full_grid; + nav_grid::NavGridInfo info; + + // count variables + unsigned int match, missed, multiple; + + for (info.width = 1; info.width < 15; info.width++) + { + for (info.height = 1; info.height < 15; info.height++) + { + full_grid.setInfo(info); + UIntBounds full_bounds = nav_2d_utils::getFullUIntBounds(info); + for (unsigned int rows = 1; rows < 11u; rows++) + { + for (unsigned int cols = 1; cols < 11u; cols++) + { + full_grid.reset(); + std::vector divided = divideBounds(full_bounds, cols, rows); + ASSERT_LE(divided.size(), rows * cols) << info.width << "x" << info.height << " " << rows << "x" << cols; + for (const UIntBounds& sub : divided) + { + EXPECT_FALSE(sub.isEmpty()); + // Can't use nav_grid_iterator for circular dependencies + for (unsigned int x = sub.getMinX(); x <= sub.getMaxX(); x++) + { + for (unsigned int y = sub.getMinY(); y <= sub.getMaxY(); y++) + { + full_grid.setValue(x, y, full_grid(x, y) + 1); + } + } + } + + countValues(full_grid, match, missed, multiple); + ASSERT_EQ(match, info.width * info.height) << "Full grid: " << info.width << "x" << info.height + << " Requested divisions: " << rows << "x" << cols; + EXPECT_EQ(missed, 0u); + EXPECT_EQ(multiple, 0u); + } + } + } + } +} + +/** + * This test is for the divideBounds method and calls it recursively to + * ensure that the method works when the minimum values in the original bounds + * are not zero. + */ +TEST(DivideBounds, recursive_tests) +{ + nav_grid::VectorNavGrid full_grid; + nav_grid::NavGridInfo info; + info.width = 100; + info.height = 100; + full_grid.setInfo(info); + + UIntBounds full_bounds = nav_2d_utils::getFullUIntBounds(info); + + std::vector level_one = divideBounds(full_bounds, 2, 2); + ASSERT_EQ(level_one.size(), 4u); + for (const UIntBounds& sub : level_one) + { + std::vector level_two = divideBounds(sub, 2, 2); + ASSERT_EQ(level_two.size(), 4u); + for (const UIntBounds& subsub : level_two) + { + EXPECT_GE(subsub.getMinX(), sub.getMinX()); + EXPECT_LE(subsub.getMaxX(), sub.getMaxX()); + EXPECT_GE(subsub.getMinY(), sub.getMinY()); + EXPECT_LE(subsub.getMaxY(), sub.getMaxY()); + // Can't use nav_grid_iterator for circular dependencies + for (unsigned int x = subsub.getMinX(); x <= subsub.getMaxX(); x++) + { + for (unsigned int y = subsub.getMinY(); y <= subsub.getMaxY(); y++) + { + full_grid.setValue(x, y, full_grid(x, y) + 1); + } + } + } + } + + // Count values + unsigned int match = 0, + missed = 0, + multiple = 0; + countValues(full_grid, match, missed, multiple); + ASSERT_EQ(match, info.width * info.height); + EXPECT_EQ(missed, 0u); + EXPECT_EQ(multiple, 0u); +} + + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_2d_utils/test/compress_test.cpp b/navigations/nav_2d_utils/test/compress_test.cpp new file mode 100755 index 0000000..41d5760 --- /dev/null +++ b/navigations/nav_2d_utils/test/compress_test.cpp @@ -0,0 +1,97 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include + +using nav_2d_utils::compressPlan; +using nav_2d_utils::addPose; + +TEST(CompressTest, compress_test) +{ + nav_2d_msgs::Path2D path; + // Dataset borrowed from https://karthaus.nl/rdp/ + addPose(path, 24, 173); + addPose(path, 26, 170); + addPose(path, 24, 166); + addPose(path, 27, 162); + addPose(path, 37, 161); + addPose(path, 45, 157); + addPose(path, 48, 152); + addPose(path, 46, 143); + addPose(path, 40, 140); + addPose(path, 34, 137); + addPose(path, 26, 134); + addPose(path, 24, 130); + addPose(path, 24, 125); + addPose(path, 28, 121); + addPose(path, 36, 118); + addPose(path, 46, 117); + addPose(path, 63, 121); + addPose(path, 76, 125); + addPose(path, 82, 120); + addPose(path, 86, 111); + addPose(path, 88, 103); + addPose(path, 90, 91); + addPose(path, 95, 87); + addPose(path, 107, 89); + addPose(path, 107, 104); + addPose(path, 106, 117); + addPose(path, 109, 129); + addPose(path, 119, 131); + addPose(path, 131, 131); + addPose(path, 139, 134); + addPose(path, 138, 143); + addPose(path, 131, 152); + addPose(path, 119, 154); + addPose(path, 111, 149); + addPose(path, 105, 143); + addPose(path, 91, 139); + addPose(path, 80, 142); + addPose(path, 81, 152); + addPose(path, 76, 163); + addPose(path, 67, 161); + addPose(path, 59, 149); + addPose(path, 63, 138); + + EXPECT_EQ(41U, compressPlan(path, 0.1).poses.size()); + EXPECT_EQ(34U, compressPlan(path, 1.3).poses.size()); + EXPECT_EQ(12U, compressPlan(path, 9.5).poses.size()); + EXPECT_EQ(8U, compressPlan(path, 19.9).poses.size()); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_2d_utils/test/param_tests.cpp b/navigations/nav_2d_utils/test/param_tests.cpp new file mode 100755 index 0000000..724e186 --- /dev/null +++ b/navigations/nav_2d_utils/test/param_tests.cpp @@ -0,0 +1,146 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* 2018, Locus Robotics +* 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 Willow Garage, Inc. 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: Dave Hershberger +* David V. Lu!! (nav_2d_utils version) +*********************************************************************/ +#include +#include +#include + +using nav_2d_utils::polygonFromParams; +using nav_2d_msgs::Polygon2D; + +TEST(Polygon2D, unpadded_footprint_from_string_param) +{ + ros::NodeHandle nh("~unpadded"); + Polygon2D footprint = polygonFromParams(nh, "footprint"); + ASSERT_EQ(3U, footprint.points.size()); + + EXPECT_EQ(1.0f, footprint.points[ 0 ].x); + EXPECT_EQ(1.0f, footprint.points[ 0 ].y); + + EXPECT_EQ(-1.0f, footprint.points[ 1 ].x); + EXPECT_EQ(1.0f, footprint.points[ 1 ].y); + + EXPECT_EQ(-1.0f, footprint.points[ 2 ].x); + EXPECT_EQ(-1.0f, footprint.points[ 2 ].y); +} + +TEST(Polygon2D, check_search_capabilities) +{ + ros::NodeHandle nh("~unpadded/unneccessarily/long_namespace"); + Polygon2D footprint = polygonFromParams(nh, "footprint"); + ASSERT_EQ(3U, footprint.points.size()); + EXPECT_THROW(polygonFromParams(nh, "footprint", false), nav_2d_utils::PolygonParseException); +} + +TEST(Polygon2D, footprint_from_xmlrpc_param) +{ + ros::NodeHandle nh("~xmlrpc"); + Polygon2D footprint = polygonFromParams(nh, "footprint"); + ASSERT_EQ(4U, footprint.points.size()); + + EXPECT_FLOAT_EQ(0.1f, footprint.points[ 0 ].x); + EXPECT_FLOAT_EQ(0.1f, footprint.points[ 0 ].y); + + EXPECT_FLOAT_EQ(-0.1f, footprint.points[ 1 ].x); + EXPECT_FLOAT_EQ(0.1f, footprint.points[ 1 ].y); + + EXPECT_FLOAT_EQ(-0.1f, footprint.points[ 2 ].x); + EXPECT_FLOAT_EQ(-0.1f, footprint.points[ 2 ].y); + + EXPECT_FLOAT_EQ(0.1f, footprint.points[ 3 ].x); + EXPECT_FLOAT_EQ(-0.1f, footprint.points[ 3 ].y); + + Polygon2D footprint2 = polygonFromParams(nh, "footprint2"); + ASSERT_TRUE(nav_2d_utils::equals(footprint, footprint2)); +} + +TEST(Polygon2D, footprint_from_same_level_param) +{ + ros::NodeHandle nh("~same_level"); + Polygon2D footprint = polygonFromParams(nh, "footprint"); + ASSERT_EQ(3U, footprint.points.size()); + + EXPECT_EQ(1.0f, footprint.points[ 0 ].x); + EXPECT_EQ(2.0f, footprint.points[ 0 ].y); + + EXPECT_EQ(3.0f, footprint.points[ 1 ].x); + EXPECT_EQ(4.0f, footprint.points[ 1 ].y); + + EXPECT_EQ(5.0f, footprint.points[ 2 ].x); + EXPECT_EQ(6.0f, footprint.points[ 2 ].y); +} + +TEST(Polygon2D, footprint_from_xmlrpc_param_failure) +{ + ros::NodeHandle nh("~xmlrpc_fail"); + EXPECT_THROW(polygonFromParams(nh, "footprint"), nav_2d_utils::PolygonParseException); + EXPECT_THROW(polygonFromParams(nh, "footprint2"), nav_2d_utils::PolygonParseException); + EXPECT_THROW(polygonFromParams(nh, "footprint3"), nav_2d_utils::PolygonParseException); + EXPECT_THROW(polygonFromParams(nh, "footprint4"), nav_2d_utils::PolygonParseException); + EXPECT_THROW(polygonFromParams(nh, "footprint5"), nav_2d_utils::PolygonParseException); + EXPECT_THROW(polygonFromParams(nh, "footprint6"), nav_2d_utils::PolygonParseException); + EXPECT_THROW(polygonFromParams(nh, "footprint7"), nav_2d_utils::PolygonParseException); + EXPECT_THROW(polygonFromParams(nh, "footprint8"), nav_2d_utils::PolygonParseException); + EXPECT_THROW(polygonFromParams(nh, "footprint9"), nav_2d_utils::PolygonParseException); +} + +TEST(Polygon2D, footprint_empty) +{ + ros::NodeHandle nh("~empty"); + EXPECT_THROW(polygonFromParams(nh, "footprint"), nav_2d_utils::PolygonParseException); +} + +TEST(Polygon2D, test_write) +{ + ros::NodeHandle nh("~unpadded"); + Polygon2D footprint = polygonFromParams(nh, "footprint"); + nh.setParam("another_footprint", nav_2d_utils::polygonToXMLRPC(footprint)); + Polygon2D another_footprint = polygonFromParams(nh, "another_footprint"); + EXPECT_TRUE(nav_2d_utils::equals(footprint, another_footprint)); + + nh.setParam("third_footprint", nav_2d_utils::polygonToXMLRPC(footprint, false)); + another_footprint = polygonFromParams(nh, "third_footprint"); + EXPECT_TRUE(nav_2d_utils::equals(footprint, another_footprint)); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "param_tests"); + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_2d_utils/test/param_tests.launch b/navigations/nav_2d_utils/test/param_tests.launch new file mode 100755 index 0000000..ead5813 --- /dev/null +++ b/navigations/nav_2d_utils/test/param_tests.launch @@ -0,0 +1,34 @@ + + + + + + footprint: [[0.1, 0.1], [-0.1, 0.1], [-0.1, -0.1], [0.1, -0.1]] + footprint2: + x: [0.1, -0.1, -0.1, 0.1] + y: [0.1, 0.1, -0.1, -0.1] + + + + footprint: [[0.1, 0.1], [-0.1, 0.1, 77.0], [-0.1, -0.1], [0.1, -0.1]] + footprint2: 1.0 + footprint3: false + footprint4: [[0.1, 0.1], [0.1, 0.1]] + footprint5: ['x', 'y', 'z'] + footprint6: [['x', 'y'], ['a', 'b'], ['c'], ['d']] + footprint7: + x: [0.1, -0.1, -0.1, 0.1] + footprint8: + x: 0 + y: 0 + footprint9: + x: ['a', 'b', 'c'] + y: [d, e, f] + + + + + + + + diff --git a/navigations/nav_2d_utils/test/polygon_tests.cpp b/navigations/nav_2d_utils/test/polygon_tests.cpp new file mode 100755 index 0000000..9bbc220 --- /dev/null +++ b/navigations/nav_2d_utils/test/polygon_tests.cpp @@ -0,0 +1,185 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include + +using nav_2d_utils::parseVVD; +using nav_2d_msgs::Polygon2D; +using nav_2d_utils::polygonFromString; +using nav_2d_utils::polygonFromParallelArrays; + +TEST(array_parser, basic_operation) +{ + std::vector > vvd; + vvd = parseVVD("[[1, 2.2], [.3, -4e4]]"); + EXPECT_DOUBLE_EQ(2U, vvd.size()); + EXPECT_DOUBLE_EQ(2U, vvd[0].size()); + EXPECT_DOUBLE_EQ(2U, vvd[1].size()); + EXPECT_DOUBLE_EQ(1.0, vvd[0][0]); + EXPECT_DOUBLE_EQ(2.2, vvd[0][1]); + EXPECT_DOUBLE_EQ(0.3, vvd[1][0]); + EXPECT_DOUBLE_EQ(-40000.0, vvd[1][1]); +} + +TEST(array_parser, missing_open) +{ + EXPECT_THROW(parseVVD("[1, 2.2], [.3, -4e4]]"), nav_2d_utils::PolygonParseException); +} + +TEST(array_parser, missing_close) +{ + EXPECT_THROW(parseVVD("[[1, 2.2], [.3, -4e4]"), nav_2d_utils::PolygonParseException); +} + +TEST(array_parser, wrong_depth) +{ + EXPECT_THROW(parseVVD("[1, 2.2], [.3, -4e4]"), nav_2d_utils::PolygonParseException); +} + +TEST(Polygon2D, radius_param) +{ + Polygon2D footprint = nav_2d_utils::polygonFromRadius(10.0); + // Circular robot has 16-point footprint auto-generated. + ASSERT_EQ(16U, footprint.points.size()); + + // Check the first point + EXPECT_EQ(10.0, footprint.points[0].x); + EXPECT_EQ(0.0, footprint.points[0].y); + + // Check the 4th point, which should be 90 degrees around the circle from the first. + EXPECT_NEAR(0.0, footprint.points[4].x, 0.0001); + EXPECT_NEAR(10.0, footprint.points[4].y, 0.0001); +} + +TEST(Polygon2D, string_param) +{ + Polygon2D footprint = polygonFromString("[[1, 1], [-1, 1], [-1, -1]]"); + ASSERT_EQ(3U, footprint.points.size()); + + EXPECT_EQ(1.0, footprint.points[ 0 ].x); + EXPECT_EQ(1.0, footprint.points[ 0 ].y); + + EXPECT_EQ(-1.0, footprint.points[ 1 ].x); + EXPECT_EQ(1.0, footprint.points[ 1 ].y); + + EXPECT_EQ(-1.0, footprint.points[ 2 ].x); + EXPECT_EQ(-1.0, footprint.points[ 2 ].y); +} + +TEST(Polygon2D, broken_string_param) +{ + // Not enough points + EXPECT_THROW(polygonFromString("[[1, 1], [-1, 1]]"), nav_2d_utils::PolygonParseException); + + // Too many numbers in point + EXPECT_THROW(polygonFromString("[[1, 1, 1], [-1, 1], [-1, -1]]"), nav_2d_utils::PolygonParseException); + + // Unexpected character + EXPECT_THROW(polygonFromString("[[x, 1], [-1, 1], [-1, -1]]"), nav_2d_utils::PolygonParseException); + + // Empty String + EXPECT_THROW(polygonFromString(""), nav_2d_utils::PolygonParseException); + + // Empty List + EXPECT_THROW(polygonFromString("[]"), nav_2d_utils::PolygonParseException); + + // Empty Point + EXPECT_THROW(polygonFromString("[[]]"), nav_2d_utils::PolygonParseException); +} + +TEST(Polygon2D, arrays) +{ + std::vector xs = {1, -1, -1}; + std::vector ys = {1, 1, -1}; + Polygon2D footprint = polygonFromParallelArrays(xs, ys); + ASSERT_EQ(3U, footprint.points.size()); + + EXPECT_EQ(1.0, footprint.points[ 0 ].x); + EXPECT_EQ(1.0, footprint.points[ 0 ].y); + + EXPECT_EQ(-1.0, footprint.points[ 1 ].x); + EXPECT_EQ(1.0, footprint.points[ 1 ].y); + + EXPECT_EQ(-1.0, footprint.points[ 2 ].x); + EXPECT_EQ(-1.0, footprint.points[ 2 ].y); +} + +TEST(Polygon2D, broken_arrays) +{ + std::vector shorty = {1, -1}; + std::vector three = {1, 1, -1}; + std::vector four = {1, 1, -1, -1}; + EXPECT_THROW(polygonFromParallelArrays(shorty, shorty), nav_2d_utils::PolygonParseException); + EXPECT_THROW(polygonFromParallelArrays(three, four), nav_2d_utils::PolygonParseException); +} + +TEST(Polygon2D, test_move) +{ + Polygon2D square = polygonFromString("[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5]]"); + geometry_msgs::Pose2D pose; + Polygon2D square2 = nav_2d_utils::movePolygonToPose(square, pose); + EXPECT_TRUE(nav_2d_utils::equals(square, square2)); + pose.x = 15; + pose.y = -10; + pose.theta = M_PI / 4; + Polygon2D diamond = nav_2d_utils::movePolygonToPose(square, pose); + ASSERT_EQ(4U, diamond.points.size()); + double side = 1.0 / sqrt(2); + + EXPECT_DOUBLE_EQ(pose.x, diamond.points[ 0 ].x); + EXPECT_DOUBLE_EQ(pose.y + side, diamond.points[ 0 ].y); + EXPECT_DOUBLE_EQ(pose.x + side, diamond.points[ 1 ].x); + EXPECT_DOUBLE_EQ(pose.y, diamond.points[ 1 ].y); + EXPECT_DOUBLE_EQ(pose.x, diamond.points[ 2 ].x); + EXPECT_DOUBLE_EQ(pose.y - side, diamond.points[ 2 ].y); + EXPECT_DOUBLE_EQ(pose.x - side, diamond.points[ 3 ].x); + EXPECT_DOUBLE_EQ(pose.y, diamond.points[ 3 ].y); +} + +TEST(Polygon2D, inside) +{ + Polygon2D square = polygonFromString("[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5]]"); + EXPECT_TRUE(nav_2d_utils::isInside(square, 0.00, 0.00)); + EXPECT_TRUE(nav_2d_utils::isInside(square, 0.45, 0.45)); + EXPECT_FALSE(nav_2d_utils::isInside(square, 0.50, 0.50)); + EXPECT_FALSE(nav_2d_utils::isInside(square, 0.00, 0.50)); + EXPECT_FALSE(nav_2d_utils::isInside(square, 0.55, 0.55)); +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_2d_utils/test/resolution_test.cpp b/navigations/nav_2d_utils/test/resolution_test.cpp new file mode 100755 index 0000000..1a676b5 --- /dev/null +++ b/navigations/nav_2d_utils/test/resolution_test.cpp @@ -0,0 +1,78 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include + +using nav_2d_utils::adjustPlanResolution; +using nav_2d_utils::addPose; + +TEST(ResolutionTest, simple_example) +{ + nav_2d_msgs::Path2D path; + // Space between points is one meter + addPose(path, 0.0, 0.0); + addPose(path, 0.0, 1.0); + + // resolution>=1, path won't change + EXPECT_EQ(2U, adjustPlanResolution(path, 2.0).poses.size()); + EXPECT_EQ(2U, adjustPlanResolution(path, 1.0).poses.size()); + + // 0.5 <= resolution < 1.0, one point should be added in the middle + EXPECT_EQ(3U, adjustPlanResolution(path, 0.8).poses.size()); + EXPECT_EQ(3U, adjustPlanResolution(path, 0.5).poses.size()); + + // 0.333 <= resolution < 0.5, two points need to be added + EXPECT_EQ(4U, adjustPlanResolution(path, 0.34).poses.size()); + + // 0.25 <= resolution < 0.333, three points need to be added + EXPECT_EQ(5U, adjustPlanResolution(path, 0.32).poses.size()); +} + +TEST(ResolutionTest, real_example) +{ + // This test is based on a real-world example + nav_2d_msgs::Path2D path; + addPose(path, 17.779193, -0.972024); + addPose(path, 17.799171, -0.950775); + addPose(path, 17.851942, -0.903709); + EXPECT_EQ(3U, adjustPlanResolution(path, 0.2).poses.size()); + EXPECT_EQ(4U, adjustPlanResolution(path, 0.05).poses.size()); +} + + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_core/CHANGELOG.rst b/navigations/nav_core/CHANGELOG.rst new file mode 100755 index 0000000..1817763 --- /dev/null +++ b/navigations/nav_core/CHANGELOG.rst @@ -0,0 +1,112 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package nav_core +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- + +1.17.2 (2022-06-20) +------------------- + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- + +1.16.4 (2020-03-04) +------------------- + +1.16.3 (2019-11-15) +------------------- + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Switch to TF2 `#755 `_ +* unify parameter names between base_local_planner and dwa_local_planner + addresses parts of `#90 `_ +* fix param names of RotateRecovery, closes `#706 `_ +* Contributors: David V. Lu, Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Contributors: Aaron Hoy, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* makePlan overload must return. +* Contributors: Eric Tappan, Mikael Arguedas + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- +* Merge pull request `#338 `_ from mikeferguson/planner_review +* fix doxygen, couple style fixes +* Contributors: Michael Ferguson + +1.13.0 (2015-03-17) +------------------- +* adding makePlan function with returned cost to base_global_planner +* Contributors: phil0stine + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/navigations/nav_core/CMakeLists.txt b/navigations/nav_core/CMakeLists.txt new file mode 100755 index 0000000..9cb0500 --- /dev/null +++ b/navigations/nav_core/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 3.0.2) +project(nav_core) + +find_package(catkin REQUIRED + COMPONENTS + std_msgs + geometry_msgs + tf2_ros + costmap_2d + ) + +catkin_package( + INCLUDE_DIRS + include + CATKIN_DEPENDS + std_msgs + geometry_msgs + tf2_ros + costmap_2d +) + + +## Install project namespaced headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) diff --git a/navigations/nav_core/include/nav_core/base_global_planner.h b/navigations/nav_core/include/nav_core/base_global_planner.h new file mode 100755 index 0000000..a863ca5 --- /dev/null +++ b/navigations/nav_core/include/nav_core/base_global_planner.h @@ -0,0 +1,93 @@ +/********************************************************************* +* +* 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef NAV_CORE_BASE_GLOBAL_PLANNER_H +#define NAV_CORE_BASE_GLOBAL_PLANNER_H + +#include +#include + +namespace nav_core { + /** + * @class BaseGlobalPlanner + * @brief Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface. + */ + class BaseGlobalPlanner{ + public: + /** + * @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 geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan) = 0; + + /** + * @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 + * @param cost The plans calculated cost + * @return True if a valid plan was found, false otherwise + */ + virtual bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan, + double& cost) + { + cost = 0; + return makePlan(start, goal, plan); + } + + /** + * @brief Initialization function for the BaseGlobalPlanner + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning + */ + virtual void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~BaseGlobalPlanner(){} + + protected: + BaseGlobalPlanner(){} + }; +}; // namespace nav_core + +#endif // NAV_CORE_BASE_GLOBAL_PLANNER_H \ No newline at end of file diff --git a/navigations/nav_core/include/nav_core/base_local_planner.h b/navigations/nav_core/include/nav_core/base_local_planner.h new file mode 100755 index 0000000..1f13dd1 --- /dev/null +++ b/navigations/nav_core/include/nav_core/base_local_planner.h @@ -0,0 +1,90 @@ +/********************************************************************* +* +* 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef NAV_CORE_BASE_LOCAL_PLANNER_H +#define NAV_CORE_BASE_LOCAL_PLANNER_H + +#include +#include +#include +#include + +namespace nav_core { + /** + * @class BaseLocalPlanner + * @brief Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface. + */ + class BaseLocalPlanner{ + public: + /** + * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @return True if a valid velocity command was found, false otherwise + */ + virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0; + + /** + * @brief Check if the goal pose has been achieved by the local planner + * @return True if achieved, false otherwise + */ + virtual bool isGoalReached() = 0; + + /** + * @brief Set the plan that the local planner is following + * @param plan The plan to pass to the local planner + * @return True if the plan was updated successfully, false otherwise + */ + virtual bool setPlan(const std::vector& plan) = 0; + + /** + * @brief Constructs the local planner + * @param name The name to give this instance of the local planner + * @param tf A pointer to a transform listener + * @param costmap_ros The cost map to use for assigning costs to local plans + */ + virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~BaseLocalPlanner(){} + + protected: + BaseLocalPlanner(){} + }; +}; // namespace nav_core + +#endif // NAV_CORE_BASE_LOCAL_PLANNER_H diff --git a/navigations/nav_core/include/nav_core/parameter_magic.h b/navigations/nav_core/include/nav_core/parameter_magic.h new file mode 100755 index 0000000..a318fd7 --- /dev/null +++ b/navigations/nav_core/include/nav_core/parameter_magic.h @@ -0,0 +1,86 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2018, Open Source Robotics Foundation +* 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 OSRF 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: David Lu +*********************************************************************/ + +#ifndef NAV_CORE_PARAMETER_MAGIC_H +#define NAV_CORE_PARAMETER_MAGIC_H + +namespace nav_core +{ + +/** + * @brief Load a parameter from one of two namespaces. Complain if it uses the old name. + * @param nh NodeHandle to look for the parameter in + * @param current_name Parameter name that is current, i.e. not deprecated + * @param old_name Deprecated parameter name + * @param default_value If neither parameter is present, return this value + * @return The value of the parameter or the default value + */ +template +param_t loadParameterWithDeprecation(const ros::NodeHandle& nh, const std::string current_name, + const std::string old_name, const param_t& default_value) +{ + param_t value; + if (nh.hasParam(current_name)) + { + nh.getParam(current_name, value); + return value; + } + if (nh.hasParam(old_name)) + { + ROS_WARN("Parameter %s is deprecated. Please use the name %s instead.", old_name.c_str(), current_name.c_str()); + nh.getParam(old_name, value); + return value; + } + return default_value; +} + +/** + * @brief Warn if a parameter exists under a deprecated (and unsupported) name. + * + * Parameters loaded exclusively through dynamic reconfigure can't really use loadParamWithDeprecation. + */ +void warnRenamedParameter(const ros::NodeHandle& nh, const std::string current_name, const std::string old_name) +{ + if (nh.hasParam(old_name)) + { + ROS_WARN("Parameter %s is deprecated (and will not load properly). Use %s instead.", old_name.c_str(), current_name.c_str()); + } +} + +} // namespace nav_core + +#endif // NAV_CORE_PARAMETER_MAGIC_H diff --git a/navigations/nav_core/include/nav_core/recovery_behavior.h b/navigations/nav_core/include/nav_core/recovery_behavior.h new file mode 100755 index 0000000..07fd299 --- /dev/null +++ b/navigations/nav_core/include/nav_core/recovery_behavior.h @@ -0,0 +1,73 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef NAV_CORE_RECOVERY_BEHAVIOR_H +#define NAV_CORE_RECOVERY_BEHAVIOR_H + +#include +#include + +namespace nav_core { + /** + * @class RecoveryBehavior + * @brief Provides an interface for recovery behaviors used in navigation. All recovery behaviors written as plugins for the navigation stack must adhere to this interface. + */ + class RecoveryBehavior{ + public: + /** + * @brief Initialization function for the RecoveryBehavior + * @param tf A pointer to a transform listener + * @param global_costmap A pointer to the global_costmap used by the navigation stack + * @param local_costmap A pointer to the local_costmap used by the navigation stack + */ + virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap) = 0; + + /** + * @brief Runs the RecoveryBehavior + */ + virtual void runBehavior() = 0; + + /** + * @brief Virtual destructor for the interface + */ + virtual ~RecoveryBehavior(){} + + protected: + RecoveryBehavior(){} + }; +}; // namespace nav_core + +#endif // NAV_CORE_RECOVERY_BEHAVIOR_H diff --git a/navigations/nav_core/package.xml b/navigations/nav_core/package.xml new file mode 100755 index 0000000..866276a --- /dev/null +++ b/navigations/nav_core/package.xml @@ -0,0 +1,26 @@ + + + + nav_core + 1.17.3 + + + This package provides common interfaces for navigation specific robot actions. Currently, this package provides the BaseGlobalPlanner, BaseLocalPlanner, and RecoveryBehavior interfaces, which can be used to build actions that can easily swap their planner, local controller, or recovery behavior for new versions adhering to the same interface. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/nav_core + + catkin + + costmap_2d + geometry_msgs + std_msgs + tf2_ros + + diff --git a/navigations/nav_core2/CMakeLists.txt b/navigations/nav_core2/CMakeLists.txt new file mode 100755 index 0000000..3d692ff --- /dev/null +++ b/navigations/nav_core2/CMakeLists.txt @@ -0,0 +1,41 @@ +cmake_minimum_required(VERSION 3.0.2) +project(nav_core2) +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11") + +find_package(catkin REQUIRED + COMPONENTS nav_2d_msgs nav_grid tf2_ros +) + +catkin_package( + CATKIN_DEPENDS nav_2d_msgs nav_grid tf2_ros + INCLUDE_DIRS include + LIBRARIES basic_costmap +) + +add_library(basic_costmap src/basic_costmap.cpp) +target_link_libraries( + basic_costmap ${catkin_LIBRARIES} +) + +include_directories( + include ${catkin_INCLUDE_DIRS} +) + +if(CATKIN_ENABLE_TESTING) + find_package(roslint REQUIRED) + roslint_cpp() + roslint_add_test() + + catkin_add_gtest(bounds_test test/bounds_test.cpp) + catkin_add_gtest(exception_test test/exception_test.cpp) +endif() + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install( + TARGETS basic_costmap + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) diff --git a/navigations/nav_core2/README.md b/navigations/nav_core2/README.md new file mode 100755 index 0000000..42118a8 --- /dev/null +++ b/navigations/nav_core2/README.md @@ -0,0 +1,52 @@ +# nav_core2 +A replacement interface for [nav_core](https://github.com/ros-planning/navigation/tree/a2837b5a9dc6dd4b4da176fca7d899d6a3722bf8/nav_core/include/nav_core) that defines basic two dimensional planner interfaces. + +There were a few key reasons for creating new interfaces rather than extending the old ones. + * Use `nav_2d_msgs` to eliminate unused data fields + * Use a new `Costmap` interface as a plugin rather that forcing all implementations of the interfaces to use `costmap_2d::Costmap2DROS`. + * Provide more data in the interfaces for easier testing. + * Use Exceptions rather than booleans to provide more information about the types of errors encountered. + +## `Costmap` +`costmap_2d::Costmap2DROS` has been a vital part of the navigation stack for years, but it was not without its flaws. + * Initialization required a transform be available from the global frame to the base frame, which was later used to move rolling costmaps around (and a few other things). This made doing simple testing of any planner or other `Costmap2DROS`-based behavior annoying, because transforms had to be set up, often outside of the immediate code that was being tested. + * Initialization also started an update thread, which is also not always needed in testing. + * Using `Costmap2DROS` locked users into a layered costmap based approach, which made some tasks much easier, but didn't give users the freedom to change the implementation. + +The [`nav_core2::Costmap`](include/nav_core2/costmap.h) interface extends the `nav_grid::NavGrid` for abstracting away the data storage and coordinate manipulation, and provides a few other key methods for costmap functioning such as + * a mutex + * a way to potentially track changes to the costmap + * a public `update` method that can be called in whatever thread you please + +The `Costmap` can be loaded using `pluginlib`, allowing for arbitrary implementations of underlying update algorithms, include the layered costmap approach. + +One basic implementation is provided in [`BasicCostmap`](include/nav_core2/basic_costmap.h). You can also use the `nav_core_adapter::CostmapAdapter` class which implements the `Costmap` interface while allowing you to still use `Costmap2DROS`. + +Note: One could also imagine the `Costmap` interface being templatized itself like `NavGrid` instead of forcing use of `unsigned char`. While this may be possible, it was decided that it was a bit ambitious and the use of templates would force all of the implementation into headers, and would ultimately obfuscate the operation of algorithms. + +## Global Planner +Let us compare the old [nav_core::BaseGlobalPlanner](https://github.com/ros-planning/navigation/blob/a2837b5a9dc6dd4b4da176fca7d899d6a3722bf8/nav_core/include/nav_core/base_global_planner.h) to the new [nav_core2/GlobalPlanner](include/nav_core2/global_planner.h). + +| `nav_core` | `nav_core2` | comments | +|---|--|---| +|`void initialize(std::string, costmap_2d::Costmap2DROS*)`|`void initialize(const ros::NodeHandle& parent, const std::string&, TFListenerPtr, Costmap::Ptr)`|Uses modern pointers instead of raw pointers, and provides a TFListener| +|`bool makePlan(const geometry_msgs::PoseStamped&, const geometry_msgs::PoseStamped&, std::vector&)`|`nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped&, const nav_2d_msgs::Pose2DStamped&)`|Uses exceptions for errors instead of returning a bool, which frees up the return for the actual path.| + +## Local Planner +Now let's compare the old [nav_core::BaseLocalPlanner](https://github.com/ros-planning/navigation/blob/a2837b5a9dc6dd4b4da176fca7d899d6a3722bf8/nav_core/include/nav_core/base_local_planner.h) to the new [nav_core2/LocalPlanner](include/nav_core2/local_planner.h). + +| `nav_core` | `nav_core2` | comments | +|---|--|---| +|`void initialize(std::string, tf::TransformListener*, costmap_2d::Costmap2DROS*)`|`void initialize(const ros::NodeHandle& parent, const std::string&, TFListenerPtr, Costmap::Ptr)`|Uses modern pointers instead of raw pointers| +|(no equivalent)|`void setGoalPose(const nav_2d_msgs::Pose2DStamped&)`|Explicitly set the new goal location, rather than using the last pose of the global plan` +|`bool setPlan(const std::vector&)`|`setPlan(const nav_2d_msgs::Path2D&)`|| +|`bool computeVelocityCommands(geometry_msgs::Twist&)`|`nav_2d_msgs::Twist2DStamped computeVelocityCommands(const nav_2d_msgs::Pose2DStamped&, const nav_2d_msgs::Twist2D&)`|Explicitly provides the current pose and velocity for more explicit data control and easier testing. Uses exceptions for errors instead of returning a bool, which frees up the return for the actual command.| +|`bool isGoalReached()` | `bool isGoalReached(const nav_2d_msgs::Pose2DStamped&, const nav_2d_msgs::Twist2D&)` | Explicitly provide the current pose and velocity for more explicit data control and easier testing. | + +## Exceptions +A hierarchical collection of [exceptions](include/nav_core2/exceptions.h) is provided to allow for reacting to navigation failures in a more robust and contextual way. +![exception hierarchy tree](doc/exceptions.png) +Each exception has a corresponding integer "result code" that can be used in ROS interfaces where passing the C++ object is infeasible. Note that due to the hierarchy, the result_code will be for the child-most exception. For example, if you throw a `StartBoundsException` which has a corresponding result code of `6`, it could also be seen as a `InvalidStartPoseException`, `GlobalPlannerException`, `PlannerException` or `NavCore2Exception`, all of which would also have the result code of `6`. + +## Bounds +For use in tracking `Costmap` changes and more, this package also provides an implementation of [bounding boxes](include/nav_core2/bounds.h). These are represented with the ranges `[min_x, max_x]` and `[min_y, max_y]` (inclusive). diff --git a/navigations/nav_core2/doc/exceptions.png b/navigations/nav_core2/doc/exceptions.png new file mode 100755 index 0000000..83f31e4 Binary files /dev/null and b/navigations/nav_core2/doc/exceptions.png differ diff --git a/navigations/nav_core2/include/nav_core2/basic_costmap.h b/navigations/nav_core2/include/nav_core2/basic_costmap.h new file mode 100755 index 0000000..5018438 --- /dev/null +++ b/navigations/nav_core2/include/nav_core2/basic_costmap.h @@ -0,0 +1,68 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_CORE2_BASIC_COSTMAP_H +#define NAV_CORE2_BASIC_COSTMAP_H + +#include +#include +#include + +namespace nav_core2 +{ +class BasicCostmap : public nav_core2::Costmap +{ +public: + // Standard Costmap Interface + mutex_t* getMutex() override { return &my_mutex_; } + + // NavGrid Interface + void reset() override; + void setValue(const unsigned int x, const unsigned int y, const unsigned char& value) override; + unsigned char getValue(const unsigned int x, const unsigned int y) const override; + void setInfo(const nav_grid::NavGridInfo& new_info) override + { + info_ = new_info; + reset(); + } + + // Index Conversion + unsigned int getIndex(const unsigned int x, const unsigned int y) const; +protected: + mutex_t my_mutex_; + std::vector data_; +}; +} // namespace nav_core2 + +#endif // NAV_CORE2_BASIC_COSTMAP_H diff --git a/navigations/nav_core2/include/nav_core2/bounds.h b/navigations/nav_core2/include/nav_core2/bounds.h new file mode 100755 index 0000000..c3fcbaf --- /dev/null +++ b/navigations/nav_core2/include/nav_core2/bounds.h @@ -0,0 +1,209 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_CORE2_BOUNDS_H +#define NAV_CORE2_BOUNDS_H + +#include +#include +#include + +namespace nav_core2 +{ +/** + * @brief Templatized method for checking if a value falls inside a one-dimensional range + * @param value The value to check + * @param min_value The minimum value of the range + * @param max_value The maximum value of the range + * @return True if the value is within the range + */ +template +inline bool inRange(const NumericType value, const NumericType min_value, const NumericType max_value) +{ + return min_value <= value && value <= max_value; +} + +/** + * @class GenericBounds + * @brief Templatized class that represents a two dimensional bounds with ranges [min_x, max_x] [min_y, max_y] inclusive + */ +template +struct GenericBounds +{ +public: + /** + * @brief Constructor for an empty bounds + */ + GenericBounds() + { + reset(); + } + + /** + * @brief Constructor for a non-empty initial bounds + * @param x0 Initial min x + * @param y0 Initial min y + * @param x1 Initial max x + * @param y1 Initial max y + */ + GenericBounds(NumericType x0, NumericType y0, NumericType x1, NumericType y1) + : min_x_(x0), min_y_(y0), max_x_(x1), max_y_(y1) {} + + /** + * @brief Reset the bounds to be empty + */ + void reset() + { + min_x_ = min_y_ = std::numeric_limits::max(); + max_x_ = max_y_ = std::numeric_limits::lowest(); // -max + } + + /** + * @brief Update the bounds to include the point (x, y) + */ + void touch(NumericType x, NumericType y) + { + min_x_ = std::min(x, min_x_); + min_y_ = std::min(y, min_y_); + max_x_ = std::max(x, max_x_); + max_y_ = std::max(y, max_y_); + } + + /** + * @brief Update the bounds to include points (x0, y0) and (x1, y1) + * @param x0 smaller of two x values + * @param y0 smaller of two y values + * @param x1 larger of two x values + * @param y1 larger of two y values + */ + void update(NumericType x0, NumericType y0, NumericType x1, NumericType y1) + { + min_x_ = std::min(x0, min_x_); + min_y_ = std::min(y0, min_y_); + max_x_ = std::max(x1, max_x_); + max_y_ = std::max(y1, max_y_); + } + + /** + * @brief Update the bounds to include the entirety of another bounds object + * @param other Another bounds object + */ + void merge(const GenericBounds& other) + { + update(other.min_x_, other.min_y_, other.max_x_, other.max_y_); + } + + /** + * @brief Returns true if the range is empty + */ + bool isEmpty() const + { + return min_x_ > max_x_ && min_y_ > max_y_; + } + + /** + * @brief Returns true if the point is inside this range + */ + bool contains(NumericType x, NumericType y) const + { + return inRange(x, min_x_, max_x_) && inRange(y, min_y_, max_y_); + } + + /** + * @brief returns true if the two bounds overlap each other + */ + bool overlaps(const GenericBounds& other) const + { + return !isEmpty() && !other.isEmpty() + && max_y_ >= other.min_y_ && min_y_ <= other.max_y_ + && max_x_ >= other.min_x_ && min_x_ <= other.max_x_; + } + + /** + * @brief comparison operator that requires all fields are equal + */ + bool operator==(const GenericBounds& other) const + { + return min_x_ == other.min_x_ && min_y_ == other.min_y_ && + max_x_ == other.max_x_ && max_y_ == other.max_y_; + } + + bool operator!=(const GenericBounds& other) const + { + return !operator==(other); + } + + /** + * @brief Returns a string representation of the bounds + */ + std::string toString() const + { + if (!isEmpty()) + { + return "(" + std::to_string(min_x_) + "," + std::to_string(min_y_) + "):(" + + std::to_string(max_x_) + "," + std::to_string(max_y_) + ")"; + } + else + { + return "(empty bounds)"; + } + } + + NumericType getMinX() const { return min_x_; } + NumericType getMinY() const { return min_y_; } + NumericType getMaxX() const { return max_x_; } + NumericType getMaxY() const { return max_y_; } + +protected: + NumericType min_x_, min_y_, max_x_, max_y_; +}; + +using Bounds = GenericBounds; + +inline unsigned int getDimension(unsigned int min_v, unsigned int max_v) +{ + return (min_v > max_v) ? 0 : max_v - min_v + 1; +} + +class UIntBounds : public GenericBounds +{ +public: + using GenericBounds::GenericBounds; + unsigned int getWidth() const { return getDimension(min_x_, max_x_); } + unsigned int getHeight() const { return getDimension(min_y_, max_y_); } +}; + +} // namespace nav_core2 + +#endif // NAV_CORE2_BOUNDS_H diff --git a/navigations/nav_core2/include/nav_core2/common.h b/navigations/nav_core2/include/nav_core2/common.h new file mode 100755 index 0000000..9391892 --- /dev/null +++ b/navigations/nav_core2/include/nav_core2/common.h @@ -0,0 +1,42 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef NAV_CORE2_COMMON_H +#define NAV_CORE2_COMMON_H + +#include +#include + +using TFListenerPtr = std::shared_ptr; + +#endif // NAV_CORE2_COMMON_H diff --git a/navigations/nav_core2/include/nav_core2/costmap.h b/navigations/nav_core2/include/nav_core2/costmap.h new file mode 100755 index 0000000..bbae720 --- /dev/null +++ b/navigations/nav_core2/include/nav_core2/costmap.h @@ -0,0 +1,156 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_CORE2_COSTMAP_H +#define NAV_CORE2_COSTMAP_H + +#include +#include +#include +#include +#include +#include + +namespace nav_core2 +{ + +class Costmap : public nav_grid::NavGrid +{ +public: + static const unsigned char NO_INFORMATION = 255; + static const unsigned char LETHAL_OBSTACLE = 254; + static const unsigned char INSCRIBED_INFLATED_OBSTACLE = 253; + static const unsigned char FREE_SPACE = 0; + + using Ptr = std::shared_ptr; + + /** + * @brief Virtual Destructor + */ + virtual ~Costmap() {} + + /** + * @brief Initialization function for the Costmap + * + * ROS parameters/topics are expected to be in the parent/name namespace. + * It is suggested that all NodeHandles in the costmap use the parent NodeHandle's callback queue. + * + * @param parent NodeHandle to derive other NodeHandles from + * @param name The namespace for the costmap + * @param tf A pointer to a transform listener + */ + virtual void initialize(const ros::NodeHandle& parent, const std::string& name, TFListenerPtr tf) {} + + inline unsigned char getCost(const unsigned int x, const unsigned int y) + { + return getValue(x, y); + } + + inline unsigned char getCost(const nav_grid::Index& index) + { + return getValue(index.x, index.y); + } + + inline void setCost(const unsigned int x, const unsigned int y, const unsigned char cost) + { + setValue(x, y, cost); + } + + inline void setCost(const nav_grid::Index& index, const unsigned char cost) + { + setValue(index, cost); + } + + /** + * @brief Update the values in the costmap + * + * Note that this method can throw CostmapExceptions to indicate problems, like when it would be unsafe to navigate. + * e.g. If the costmap expects laser data at a given rate, but laser data hasn't shown up in a while, this method + * might throw a CostmapDataLagException. + */ + virtual void update() {} + + using mutex_t = boost::recursive_mutex; + /** + * @brief Accessor for boost mutex + */ + virtual mutex_t* getMutex() = 0; + + /** + * @brief Flag to indicate whether this costmap is able to track how much has changed + */ + virtual bool canTrackChanges() { return false; } + + /** + * @brief If canTrackChanges, get the bounding box for how much of the costmap has changed + * + * Rather than querying based on time stamps (which can require an arbitrary amount of storage) + * we instead query based on a namespace. The return bounding box reports how much of the costmap + * has changed since the last time this method was called with a particular namespace. If a namespace + * is new, then it returns a bounding box for the whole costmap. The max values are inclusive. + * + * Example Sequence with a 5x5 costmap: (results listed (min_x,min_y):(max_x, max_y)) + * 0) getChangeBounds("A") --> (0,0):(4,4) + * 1) getChangeBounds("B") --> (0,0):(4,4) + * 2) update cell 1, 1 + * 3) getChangeBounds("C") --> (0,0):(4,4) + * 4) getChangeBounds("A") --> (1,1):(1,1) + * 5) getChangeBounds("A") --> (empty bounds) (i.e. nothing was updated since last call) + * 6) updateCell 2, 4 + * 7) getChangeBounds("A") --> (2,4):(2,4) + * 8) getChangeBounds("B") --> (1,1):(2,4) + * + * @param ns The namespace + * @return Updated bounds + * @throws std::runtime_error If canTrackChanges is false, the returned bounds would be meaningless + */ + virtual UIntBounds getChangeBounds(const std::string& ns) + { + if (!canTrackChanges()) + { + throw std::runtime_error("You called 'getChangeBounds()' on a derived Costmap type that is not capable of " + "tracking changes (i.e. canTrackChanges() returns false). You shouldn't do that."); + } + else + { + throw std::runtime_error("You called 'getChangeBounds()' on a derived Costmap type that is capable of tracking " + "changes but has not properly implemented this function. You should yell at the author " + "of the derived Costmap."); + } + return UIntBounds(); + } +}; +} // namespace nav_core2 + +#endif // NAV_CORE2_COSTMAP_H diff --git a/navigations/nav_core2/include/nav_core2/exceptions.h b/navigations/nav_core2/include/nav_core2/exceptions.h new file mode 100755 index 0000000..df01ac3 --- /dev/null +++ b/navigations/nav_core2/include/nav_core2/exceptions.h @@ -0,0 +1,321 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef NAV_CORE2_EXCEPTIONS_H +#define NAV_CORE2_EXCEPTIONS_H + +#include +#include +#include +#include +#include + +/************************************************** + * The nav_core2 Planning Exception Hierarchy!! + * (with arbitrary integer result codes) + ************************************************** + * NavCore2Exception + * 0 CostmapException + * 1 CostmapSafetyException + * 2 CostmapDataLagException + * 3 PlannerException + * 4 GlobalPlannerException + * 5 InvalidStartPoseException + * 6 StartBoundsException + * 7 OccupiedStartException + * 8 InvalidGoalPoseException + * 9 GoalBoundsException + * 10 OccupiedGoalException + * 11 NoGlobalPathException + * 12 GlobalPlannerTimeoutException + * 13 LocalPlannerException + * 14 IllegalTrajectoryException + * 15 NoLegalTrajectoriesException + * 16 PlannerTFException + * + * -1 Unknown + **************************************************/ + +namespace nav_core2 +{ + +inline std::string poseToString(const nav_2d_msgs::Pose2DStamped& pose) +{ + return "(" + std::to_string(pose.pose.x) + ", " + std::to_string(pose.pose.y) + ", " + std::to_string(pose.pose.theta) + + " : " + pose.header.frame_id + ")"; +} + +class NavCore2Exception: public std::runtime_error +{ +public: + explicit NavCore2Exception(const std::string& description, int result_code) + : std::runtime_error(description), result_code_(result_code) {} + int getResultCode() const { return result_code_; } +protected: + int result_code_; +}; + +using NavCore2ExceptionPtr = std::exception_ptr; + +/** + * @brief Handy function for getting the result code + */ +inline int getResultCode(const NavCore2ExceptionPtr& e_ptr) +{ + if (e_ptr == nullptr) + { + return -1; + } + try + { + std::rethrow_exception(e_ptr); + } + catch (const NavCore2Exception& e) + { + return e.getResultCode(); + } + catch (...) + { + // Will end up here if current_exception returned a non-NavCore2Exception + return -1; + } +} + +/** + * @class CostmapException + * @brief Extensible exception class for all costmap-related problems + */ +class CostmapException: public NavCore2Exception +{ +public: + explicit CostmapException(const std::string& description, int result_code = 0) + : NavCore2Exception(description, result_code) {} +}; + +/** + * @class CostmapSafetyException + * @brief General container for exceptions thrown when the costmap thinks any movement would be unsafe + */ +class CostmapSafetyException: public CostmapException +{ +public: + explicit CostmapSafetyException(const std::string& description, int result_code = 1) + : CostmapException(description, result_code) {} +}; + +/** + * @class CostmapDataLagException + * @brief Indicates costmap is out of date because data in not up to date. + * + * Functions similarly to `!Costmap2DROS::isCurrent()` + */ +class CostmapDataLagException: public CostmapSafetyException +{ +public: + explicit CostmapDataLagException(const std::string& description, int result_code = 2) + : CostmapSafetyException(description, result_code) {} +}; + +/** + * @class PlannerException + * @brief Parent type of all exceptions defined within + */ +class PlannerException: public NavCore2Exception +{ +public: + explicit PlannerException(const std::string& description, int result_code = 3) + : NavCore2Exception(description, result_code) {} +}; + +/** + * @class GlobalPlannerException + * @brief General container for exceptions thrown from the Global Planner + */ +class GlobalPlannerException: public PlannerException +{ +public: + explicit GlobalPlannerException(const std::string& description, int result_code = 4) + : PlannerException(description, result_code) {} +}; + +/** + * @class LocalPlannerException + * @brief General container for exceptions thrown from the Local Planner + */ +class LocalPlannerException: public PlannerException +{ +public: + explicit LocalPlannerException(const std::string& description, int result_code = 13) + : PlannerException(description, result_code) {} +}; + +/** + * @class PlannerTFException + * @brief Thrown when either the global or local planner cannot complete its operation due to TF errors + */ +class PlannerTFException: public PlannerException +{ +public: + explicit PlannerTFException(const std::string& description, int result_code = 16) + : PlannerException(description, result_code) {} +}; + +/** + * @class InvalidStartPoseException + * @brief Exception thrown when there is a problem at the start location for the global planner + */ +class InvalidStartPoseException: public GlobalPlannerException +{ +public: + explicit InvalidStartPoseException(const std::string& description, int result_code = 5) + : GlobalPlannerException(description, result_code) {} + InvalidStartPoseException(const nav_2d_msgs::Pose2DStamped& pose, const std::string& problem, int result_code = 5) : + InvalidStartPoseException("The starting pose " + poseToString(pose) + " is " + problem, result_code) {} +}; + +/** + * @class StartBoundsException + * @brief Exception thrown when the start location of the global planner is out of the expected bounds + */ +class StartBoundsException: public InvalidStartPoseException +{ +public: + explicit StartBoundsException(const std::string& description, int result_code = 6) + : InvalidStartPoseException(description, result_code) {} + explicit StartBoundsException(const nav_2d_msgs::Pose2DStamped& pose) : + InvalidStartPoseException(pose, "out of bounds", 6) {} +}; + +/** + * @class OccupiedStartException + * @brief Exception thrown when the start location of the global planner is occupied in the costmap + */ +class OccupiedStartException: public InvalidStartPoseException +{ +public: + explicit OccupiedStartException(const std::string& description, int result_code = 7) + : InvalidStartPoseException(description, result_code) {} + explicit OccupiedStartException(const nav_2d_msgs::Pose2DStamped& pose) : + InvalidStartPoseException(pose, "occupied", 7) {} +}; + +/** + * @class InvalidGoalPoseException + * @brief Exception thrown when there is a problem at the goal location for the global planner + */ +class InvalidGoalPoseException: public GlobalPlannerException +{ +public: + explicit InvalidGoalPoseException(const std::string& description, int result_code = 8) + : GlobalPlannerException(description, result_code) {} + InvalidGoalPoseException(const nav_2d_msgs::Pose2DStamped& pose, const std::string& problem, int result_code = 8) : + GlobalPlannerException("The goal pose " + poseToString(pose) + " is " + problem, result_code) {} +}; + +/** + * @class GoalBoundsException + * @brief Exception thrown when the goal location of the global planner is out of the expected bounds + */ +class GoalBoundsException: public InvalidGoalPoseException +{ +public: + explicit GoalBoundsException(const std::string& description, int result_code = 9) + : InvalidGoalPoseException(description, result_code) {} + explicit GoalBoundsException(const nav_2d_msgs::Pose2DStamped& pose) : + InvalidGoalPoseException(pose, "out of bounds", 9) {} +}; + +/** + * @class OccupiedGoalException + * @brief Exception thrown when the goal location of the global planner is occupied in the costmap + */ +class OccupiedGoalException: public InvalidGoalPoseException +{ +public: + explicit OccupiedGoalException(const std::string& description, int result_code = 10) + : InvalidGoalPoseException(description, result_code) {} + explicit OccupiedGoalException(const nav_2d_msgs::Pose2DStamped& pose) : + InvalidGoalPoseException(pose, "occupied", 10) {} +}; + +/** + * @class NoGlobalPathException + * @brief Exception thrown when the global planner cannot find a path from the start to the goal + */ +class NoGlobalPathException: public GlobalPlannerException +{ +public: + explicit NoGlobalPathException(const std::string& description, int result_code = 11) + : GlobalPlannerException(description, result_code) {} + NoGlobalPathException() : GlobalPlannerException("No global path found.") {} +}; + +/** + * @class GlobalPlannerTimeoutException + * @brief Exception thrown when the global planner has spent too long looking for a path + */ +class GlobalPlannerTimeoutException: public GlobalPlannerException +{ +public: + explicit GlobalPlannerTimeoutException(const std::string& description, int result_code = 12) + : GlobalPlannerException(description, result_code) {} +}; + +/** + * @class IllegalTrajectoryException + * @brief Thrown when one of the critics encountered a fatal error + */ +class IllegalTrajectoryException: public LocalPlannerException +{ +public: + IllegalTrajectoryException(const std::string& critic_name, const std::string& description, int result_code = 14) + : LocalPlannerException(description, result_code), critic_name_(critic_name) {} + std::string getCriticName() const { return critic_name_; } +protected: + std::string critic_name_; +}; + +/** + * @class NoLegalTrajectoriesException + * @brief Thrown when all the trajectories explored are illegal + */ +class NoLegalTrajectoriesException: public LocalPlannerException +{ +public: + explicit NoLegalTrajectoriesException(const std::string& description, int result_code = 15) + : LocalPlannerException(description, result_code) {} +}; + +} // namespace nav_core2 + +#endif // NAV_CORE2_EXCEPTIONS_H diff --git a/navigations/nav_core2/include/nav_core2/global_planner.h b/navigations/nav_core2/include/nav_core2/global_planner.h new file mode 100755 index 0000000..9eb548c --- /dev/null +++ b/navigations/nav_core2/include/nav_core2/global_planner.h @@ -0,0 +1,83 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef NAV_CORE2_GLOBAL_PLANNER_H +#define NAV_CORE2_GLOBAL_PLANNER_H + +#include +#include +#include +#include +#include + +namespace nav_core2 +{ + +/** + * @class GlobalPlanner + * @brief Provides an interface for global planners used in navigation. + */ +class GlobalPlanner +{ +public: + /** + * @brief Virtual Destructor + */ + virtual ~GlobalPlanner() {} + + /** + * @brief Initialization function for the GlobalPlanner + * + * ROS parameters/topics are expected to be in the parent/name namespace. + * It is suggested that all NodeHandles in the planner use the parent NodeHandle's callback queue. + * + * @param parent NodeHandle to derive other NodeHandles from + * @param name The name of this planner + * @param tf A pointer to a transform listener + * @param costmap A pointer to the costmap + */ + virtual void initialize(const ros::NodeHandle& parent, const std::string& name, + TFListenerPtr tf, Costmap::Ptr costmap) = 0; + + /** + * @brief Run the global planner to make a plan starting at the start and ending at the goal. + * @param start The starting pose of the robot + * @param goal The goal pose of the robot + * @return The sequence of poses to get from start to goal, if any + */ + virtual nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped& start, + const nav_2d_msgs::Pose2DStamped& goal) = 0; +}; +} // namespace nav_core2 + +#endif // NAV_CORE2_GLOBAL_PLANNER_H diff --git a/navigations/nav_core2/include/nav_core2/local_planner.h b/navigations/nav_core2/include/nav_core2/local_planner.h new file mode 100755 index 0000000..be2329a --- /dev/null +++ b/navigations/nav_core2/include/nav_core2/local_planner.h @@ -0,0 +1,113 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#ifndef NAV_CORE2_LOCAL_PLANNER_H +#define NAV_CORE2_LOCAL_PLANNER_H + +#include +#include +#include +#include +#include +#include +#include + +namespace nav_core2 +{ + +/** + * @class LocalPlanner + * @brief Provides an interface for local planners used in navigation. + */ +class LocalPlanner +{ +public: + /** + * @brief Virtual Destructor + */ + virtual ~LocalPlanner() {} + + /** + * @brief Constructs the local planner + * + * ROS parameters/topics are expected to be in the parent/name namespace. + * It is suggested that all NodeHandles in the planner use the parent NodeHandle's callback queue. + * + * @param parent NodeHandle to derive other NodeHandles from + * @param name The name to give this instance of the local planner + * @param tf A pointer to a transform listener + * @param costmap A pointer to the costmap + */ + virtual void initialize(const ros::NodeHandle& parent, const std::string& name, + TFListenerPtr tf, Costmap::Ptr costmap) = 0; + + /** + * @brief Sets the global goal for this local planner. + * @param goal_pose The Goal Pose + */ + virtual void setGoalPose(const nav_2d_msgs::Pose2DStamped& goal_pose) = 0; + + /** + * @brief Sets the global plan for this local planner. + * + * @param path The global plan + */ + virtual void setPlan(const nav_2d_msgs::Path2D& path) = 0; + + /** + * @brief Compute the best command given the current pose, velocity and goal + * + * Get the local plan, given an initial pose, velocity and goal pose. + * It is presumed that the global plan is already set. + * + * @param pose Current robot pose + * @param velocity Current robot velocity + * @return The best computed velocity + */ + virtual nav_2d_msgs::Twist2DStamped computeVelocityCommands(const nav_2d_msgs::Pose2DStamped& pose, + const nav_2d_msgs::Twist2D& velocity) = 0; + + /** + * @brief Check to see whether the robot has reached its goal + * + * This tests whether the robot has fully reached the goal, given the current pose and velocity. + * + * @param query_pose The pose to check, in local costmap coordinates. + * @param velocity Velocity to check + * @return True if the goal conditions have been met + */ + virtual bool isGoalReached(const nav_2d_msgs::Pose2DStamped& pose, const nav_2d_msgs::Twist2D& velocity) = 0; +}; +} // namespace nav_core2 + +#endif // NAV_CORE2_LOCAL_PLANNER_H diff --git a/navigations/nav_core2/package.xml b/navigations/nav_core2/package.xml new file mode 100755 index 0000000..71aae5c --- /dev/null +++ b/navigations/nav_core2/package.xml @@ -0,0 +1,17 @@ + + + nav_core2 + 0.3.0 + + Interfaces for Costmap, LocalPlanner and GlobalPlanner. Replaces nav_core. + + David V. Lu!! + BSD + + catkin + nav_2d_msgs + nav_grid + tf2_ros + roslint + rosunit + diff --git a/navigations/nav_core2/src/basic_costmap.cpp b/navigations/nav_core2/src/basic_costmap.cpp new file mode 100755 index 0000000..64a272a --- /dev/null +++ b/navigations/nav_core2/src/basic_costmap.cpp @@ -0,0 +1,60 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include + +namespace nav_core2 +{ + +void BasicCostmap::reset() +{ + data_.assign(info_.width * info_.height, this->default_value_); +} + +unsigned int BasicCostmap::getIndex(const unsigned int x, const unsigned int y) const +{ + return y * info_.width + x; +} + +unsigned char BasicCostmap::getValue(const unsigned int x, const unsigned int y) const +{ + return data_[getIndex(x, y)]; +} + +void BasicCostmap::setValue(const unsigned int x, const unsigned int y, const unsigned char& value) +{ + data_[getIndex(x, y)] = value; +} + +} // namespace nav_core2 diff --git a/navigations/nav_core2/test/bounds_test.cpp b/navigations/nav_core2/test/bounds_test.cpp new file mode 100755 index 0000000..c9f19fa --- /dev/null +++ b/navigations/nav_core2/test/bounds_test.cpp @@ -0,0 +1,124 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include + +using nav_core2::Bounds; +using nav_core2::UIntBounds; + +TEST(Bounds, test_bounds_simple) +{ + Bounds b; + EXPECT_TRUE(b.isEmpty()); + + b.touch(5.0, 6.0); + EXPECT_EQ(5.0, b.getMinX()); + EXPECT_EQ(5.0, b.getMinX()); + EXPECT_EQ(5.0, b.getMaxX()); + EXPECT_EQ(6.0, b.getMinY()); + EXPECT_EQ(6.0, b.getMaxY()); + EXPECT_TRUE(b.contains(5.0, 6.0)); + EXPECT_FALSE(b.contains(5.5, 6.0)); + EXPECT_FALSE(b.contains(5.5, 4.0)); + EXPECT_FALSE(b.isEmpty()); + + Bounds b2 = b; + EXPECT_EQ(5.0, b2.getMinX()); + EXPECT_EQ(5.0, b2.getMaxX()); + EXPECT_EQ(6.0, b2.getMinY()); + EXPECT_EQ(6.0, b2.getMaxY()); + + b.reset(); + EXPECT_EQ(5.0, b2.getMinX()); + EXPECT_EQ(5.0, b2.getMaxX()); + EXPECT_EQ(6.0, b2.getMinY()); + EXPECT_EQ(6.0, b2.getMaxY()); + EXPECT_FALSE(b.contains(5.0, 6.0)); + EXPECT_FALSE(b.contains(5.5, 6.0)); + EXPECT_TRUE(b2.contains(5.0, 6.0)); + EXPECT_FALSE(b.contains(5.5, 6.0)); + EXPECT_TRUE(b.isEmpty()); + + Bounds b3; + b3.touch(1.0, 5.0); + b3.touch(4.0, 2.0); + EXPECT_TRUE(b3.contains(3.0, 3.0)); + EXPECT_FALSE(b3.contains(0.0, 3.0)); + EXPECT_FALSE(b3.contains(5.0, 3.0)); + EXPECT_FALSE(b3.contains(3.0, 6.0)); + EXPECT_FALSE(b3.contains(3.0, 1.0)); +} + +TEST(Bounds, test_dimensions) +{ + UIntBounds empty; + UIntBounds square(0, 0, 5, 5); + UIntBounds rectangle(1, 4, 3, 15); + EXPECT_EQ(empty.getWidth(), 0u); + EXPECT_EQ(empty.getHeight(), 0u); + + EXPECT_EQ(square.getWidth(), 6u); + EXPECT_EQ(square.getHeight(), 6u); + + EXPECT_EQ(rectangle.getWidth(), 3u); + EXPECT_EQ(rectangle.getHeight(), 12u); +} + +TEST(Bounds, test_bounds_overlap) +{ + UIntBounds b0(0, 0, 5, 5); + UIntBounds b1(0, 0, 5, 5); + UIntBounds b2(0, 0, 3, 3); + UIntBounds b3(3, 0, 4, 4); + UIntBounds b4(4, 0, 4, 4); + UIntBounds b5(1, 4, 3, 15); + UIntBounds b6(10, 10, 10, 10); + EXPECT_TRUE(b0.overlaps(b0)); + EXPECT_TRUE(b0.overlaps(b1)); + EXPECT_TRUE(b0.overlaps(b2)); + EXPECT_TRUE(b2.overlaps(b0)); + EXPECT_TRUE(b0.overlaps(b3)); + EXPECT_TRUE(b2.overlaps(b3)); + EXPECT_FALSE(b2.overlaps(b4)); + EXPECT_TRUE(b0.overlaps(b5)); + EXPECT_TRUE(b5.overlaps(b0)); + EXPECT_FALSE(b0.overlaps(b6)); + EXPECT_FALSE(b6.overlaps(b0)); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_core2/test/exception_test.cpp b/navigations/nav_core2/test/exception_test.cpp new file mode 100755 index 0000000..26c3ef2 --- /dev/null +++ b/navigations/nav_core2/test/exception_test.cpp @@ -0,0 +1,133 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include + +TEST(Exceptions, direct_code_access) +{ + // Make sure the caught exceptions have the same types as the thrown exception + // (This version does not create any copies of the exception) + try + { + throw nav_core2::GlobalPlannerTimeoutException("test case"); + } + catch (nav_core2::GlobalPlannerTimeoutException& x) + { + EXPECT_EQ(x.getResultCode(), 12); + } + + try + { + throw nav_core2::GlobalPlannerTimeoutException("test case"); + } + catch (nav_core2::PlannerException& x) + { + EXPECT_EQ(x.getResultCode(), 12); + } +} + +TEST(Exceptions, indirect_code_access) +{ + // Make sure the caught exceptions have the same types as the thrown exception + // (This version copies the exception to a new object with the parent type) + nav_core2::PlannerException e(""); + try + { + throw nav_core2::GlobalPlannerTimeoutException("test case"); + } + catch (nav_core2::GlobalPlannerTimeoutException& x) + { + e = x; + } + EXPECT_EQ(e.getResultCode(), 12); +} + +TEST(Exceptions, rethrow) +{ + // This version tests the ability to catch specific exceptions when rethrown + // A copy of the exception is made and rethrown, with the goal being able to catch the specific type + // and not the parent type. + nav_core2::NavCore2ExceptionPtr e; + try + { + throw nav_core2::GlobalPlannerTimeoutException("test case"); + } + catch (nav_core2::GlobalPlannerTimeoutException& x) + { + e = std::current_exception(); + } + + EXPECT_EQ(nav_core2::getResultCode(e), 12); + + try + { + std::rethrow_exception(e); + } + catch (nav_core2::GlobalPlannerTimeoutException& x) + { + EXPECT_EQ(x.getResultCode(), 12); + SUCCEED(); + } + catch (nav_core2::PlannerException& x) + { + FAIL() << "PlannerException caught instead of specific exception"; + } +} + +TEST(Exceptions, weird_exception) +{ + nav_core2::NavCore2ExceptionPtr e; + + // Check what happens with no exception + EXPECT_EQ(nav_core2::getResultCode(e), -1); + + // Check what happens with a non NavCore2Exception + try + { + std::string().at(1); // this generates an std::out_of_range + } + catch (...) + { + e = std::current_exception(); + } + + EXPECT_EQ(nav_core2::getResultCode(e), -1); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_core_adapter/CMakeLists.txt b/navigations/nav_core_adapter/CMakeLists.txt new file mode 100755 index 0000000..0024a37 --- /dev/null +++ b/navigations/nav_core_adapter/CMakeLists.txt @@ -0,0 +1,76 @@ +cmake_minimum_required(VERSION 3.0.2) +project(nav_core_adapter) + +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror") + +find_package(catkin REQUIRED COMPONENTS + costmap_2d + geometry_msgs + nav_2d_msgs + nav_2d_utils + nav_core + nav_core2 + nav_grid + nav_msgs + pluginlib + tf + visualization_msgs +) + +catkin_package( + CATKIN_DEPENDS + costmap_2d + geometry_msgs + nav_2d_msgs + nav_2d_utils + nav_core + nav_core2 + nav_grid + nav_msgs + pluginlib + tf + visualization_msgs + INCLUDE_DIRS include + LIBRARIES local_planner_adapter global_planner_adapter costmap_adapter global_planner_adapter2 +) + +add_library(costmap_adapter src/costmap_adapter.cpp) +target_link_libraries(costmap_adapter ${catkin_LIBRARIES}) + +add_library(local_planner_adapter src/local_planner_adapter.cpp) +add_dependencies(local_planner_adapter ${catkin_EXPORTED_TARGETS}) +target_link_libraries(local_planner_adapter costmap_adapter ${catkin_LIBRARIES}) + +add_library(global_planner_adapter src/global_planner_adapter.cpp) +add_dependencies(global_planner_adapter ${catkin_EXPORTED_TARGETS}) +target_link_libraries(global_planner_adapter costmap_adapter ${catkin_LIBRARIES}) + +add_library(global_planner_adapter2 src/global_planner_adapter2.cpp) +add_dependencies(global_planner_adapter2 ${catkin_EXPORTED_TARGETS}) +target_link_libraries(global_planner_adapter2 ${catkin_LIBRARIES}) + +include_directories( + include ${catkin_INCLUDE_DIRS} +) + +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + find_package(roslint REQUIRED) + roslint_cpp() + roslint_add_test() + + add_rostest_gtest(unload_test test/unload_test.launch test/unload_test.cpp) + target_link_libraries(unload_test local_planner_adapter ${catkin_LIBRARIES} ${GTEST_LIBRARIES}) +endif() + +install(TARGETS local_planner_adapter global_planner_adapter costmap_adapter global_planner_adapter2 + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(FILES nav_core2_plugins.xml nav_core_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/navigations/nav_core_adapter/README.md b/navigations/nav_core_adapter/README.md new file mode 100755 index 0000000..38c067c --- /dev/null +++ b/navigations/nav_core_adapter/README.md @@ -0,0 +1,48 @@ +# nav_core_adapter +This package contains adapters for using `nav_core` plugins as `nav_core2` plugins and vice versa (more or less). In general, the adaptation process involves + * Converting between 2d and 3d datatypes. + * Converting between returning false and throwing exceptions on failure. + +We also provide an adapter for using a `costmap_2d::Costmap2DROS` as a plugin for the `nav_core2::Costmap` interface. + +## Adapter Classes + * Global Planner Adapters + * `GlobalPlannerAdapter` is used for employing a `nav_core2` global planner interface (such as `dlux_global_planner`) as a `nav_core` plugin, like in `move_base`. + * `GlobalPlannerAdapter2` is used for employing a `nav_core` global planner interface (such as `navfn`) +as a `nav_core2` plugin, like in `locomotor`. + * Local Planner Adapter + * `LocalPlannerAdapter` is used for employing a `nav_core2` local planner interface (such as `dwb_local_planner`) as a `nav_core` plugin, like in `move_base`. In addition to the standard adaptation steps listed above, the local planner adapter also uses the costmap to grab the global pose and subscribes to the odometry in order to get the current velocity. + * There is no `LocalPlannerAdapter2`. The `nav_core2` interfaces use additional information (like velocity) in the `local_planner` interface than its `nav_core` counterpart. This information would be ignored by a `nav_core` planner, so no adapter is provided. + * `CostmapAdapter` provides most of the functionality from `nav_core2::Costmap` and also provides a raw pointer to the `Costmap2DROS` object. It is not a perfect adaptation, because + * `Costmap2DROS` starts its own update thread and updates on its own schedule, so calling `update()` does not actually cause the costmap to update. It does update some of the metadata though. + * `setInfo` is not implemented. + +## Parameter Setup +Let's look at a practical example of how to use `dwb_local_planner` in `move_base`. + +If you were using `DWA` you would probably have parameters set up like this: +``` +base_local_planner: dwa_local_planner/DWALocalPlanner +DWALocalPlanner: + acc_lim_x: 0.42 + ... +``` +i.e. you specify + * The name of the planner + * A bunch of additional parameters within the planner's namespace + +To use the adapter, you have to provide additional information. +``` +base_local_planner: nav_core_adapter::LocalPlannerAdapter +LocalPlannerAdapter: + planner_name: dwb_local_planner::DWBLocalPlanner +DWBLocalPlanner: + acc_lim_x: 0.42 + ... +``` +i.e. + * The name of the planner now points at the adapter + * The name of the actual planner loaded into the adapter's namespace + * The planner's parameters still in the planner's namespace. + +The process for the global planners is similar. diff --git a/navigations/nav_core_adapter/include/nav_core_adapter/costmap_adapter.h b/navigations/nav_core_adapter/include/nav_core_adapter/costmap_adapter.h new file mode 100755 index 0000000..e5e7858 --- /dev/null +++ b/navigations/nav_core_adapter/include/nav_core_adapter/costmap_adapter.h @@ -0,0 +1,85 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_CORE_ADAPTER_COSTMAP_ADAPTER_H +#define NAV_CORE_ADAPTER_COSTMAP_ADAPTER_H + +#include +#include +#include +#include + +namespace nav_core_adapter +{ +nav_grid::NavGridInfo infoFromCostmap(costmap_2d::Costmap2DROS* costmap_ros); + +class CostmapAdapter : public nav_core2::Costmap +{ +public: + /** + * @brief Deconstructor for possibly freeing the costmap_ros_ object + */ + virtual ~CostmapAdapter(); + + /** + * @brief Initialize from an existing Costmap2DROS object + * @param costmap_ros A Costmap2DROS object + * @param needs_destruction Whether to free the costmap_ros object when this class is destroyed + */ + void initialize(costmap_2d::Costmap2DROS* costmap_ros, bool needs_destruction = false); + + // Standard Costmap Interface + void initialize(const ros::NodeHandle& parent, const std::string& name, TFListenerPtr tf) override; + nav_core2::Costmap::mutex_t* getMutex() override; + + // NavGrid Interface + void reset() override; + void update() override; + void setValue(const unsigned int x, const unsigned int y, const unsigned char& value) override; + unsigned char getValue(const unsigned int x, const unsigned int y) const override; + void setInfo(const nav_grid::NavGridInfo& new_info) override; + void updateInfo(const nav_grid::NavGridInfo& new_info) override; + + // Get Costmap Pointer for Backwards Compatibility + costmap_2d::Costmap2DROS* getCostmap2DROS() const { return costmap_ros_; } + +protected: + costmap_2d::Costmap2DROS* costmap_ros_; + costmap_2d::Costmap2D* costmap_; + bool needs_destruction_; +}; + +} // namespace nav_core_adapter + +#endif // NAV_CORE_ADAPTER_COSTMAP_ADAPTER_H diff --git a/navigations/nav_core_adapter/include/nav_core_adapter/global_planner_adapter.h b/navigations/nav_core_adapter/include/nav_core_adapter/global_planner_adapter.h new file mode 100755 index 0000000..5af07e2 --- /dev/null +++ b/navigations/nav_core_adapter/include/nav_core_adapter/global_planner_adapter.h @@ -0,0 +1,77 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H +#define NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H + +#include +#include +#include +#include +#include +#include +#include + +namespace nav_core_adapter +{ + +/** + * @class GlobalPlannerAdapter + * @brief used for employing a `nav_core2` global planner interface as a `nav_core` plugin, like in `move_base`. + */ +class GlobalPlannerAdapter: public nav_core::BaseGlobalPlanner +{ +public: + GlobalPlannerAdapter(); + + // Standard ROS Global Planner Interface + void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) override; + bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan) override; + +protected: + // Plugin handling + pluginlib::ClassLoader planner_loader_; + boost::shared_ptr planner_; + ros::Publisher path_pub_; + + TFListenerPtr tf_; + + std::shared_ptr costmap_adapter_; + costmap_2d::Costmap2DROS* costmap_ros_; +}; + +} // namespace nav_core_adapter + +#endif // NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER_H diff --git a/navigations/nav_core_adapter/include/nav_core_adapter/global_planner_adapter2.h b/navigations/nav_core_adapter/include/nav_core_adapter/global_planner_adapter2.h new file mode 100755 index 0000000..18a05a9 --- /dev/null +++ b/navigations/nav_core_adapter/include/nav_core_adapter/global_planner_adapter2.h @@ -0,0 +1,73 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H +#define NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H + +#include +#include +#include +#include +#include + +namespace nav_core_adapter +{ + +/** + * @class GlobalPlannerAdapter2 + * @brief used for employing a `nav_core` global planner (such as `navfn`) as a `nav_core2` plugin, like in `locomotor`. + */ +class GlobalPlannerAdapter2: public nav_core2::GlobalPlanner +{ +public: + GlobalPlannerAdapter2(); + + // Nav Core 2 Global Planner Interface + void initialize(const ros::NodeHandle& parent, const std::string& name, + TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override; + nav_2d_msgs::Path2D makePlan(const nav_2d_msgs::Pose2DStamped& start, + const nav_2d_msgs::Pose2DStamped& goal) override; + +protected: + // Plugin handling + pluginlib::ClassLoader planner_loader_; + boost::shared_ptr planner_; + + costmap_2d::Costmap2DROS* costmap_ros_; + nav_core2::Costmap::Ptr costmap_; +}; + +} // namespace nav_core_adapter + +#endif // NAV_CORE_ADAPTER_GLOBAL_PLANNER_ADAPTER2_H diff --git a/navigations/nav_core_adapter/include/nav_core_adapter/local_planner_adapter.h b/navigations/nav_core_adapter/include/nav_core_adapter/local_planner_adapter.h new file mode 100755 index 0000000..05e11f7 --- /dev/null +++ b/navigations/nav_core_adapter/include/nav_core_adapter/local_planner_adapter.h @@ -0,0 +1,99 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_CORE_ADAPTER_LOCAL_PLANNER_ADAPTER_H +#define NAV_CORE_ADAPTER_LOCAL_PLANNER_ADAPTER_H + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace nav_core_adapter +{ + +/** + * @class LocalPlannerAdapter + * @brief used for employing a nav_core2 local planner (such as dwb) as a nav_core plugin, like in move_base. + */ +class LocalPlannerAdapter: public nav_core::BaseLocalPlanner +{ +public: + LocalPlannerAdapter(); + + // Standard ROS Local Planner Interface + void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) override; + bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) override; + bool isGoalReached() override; + bool setPlan(const std::vector& plan) override; + +protected: + /** + * @brief Get the robot pose from the costmap and store as Pose2DStamped + */ + bool getRobotPose(nav_2d_msgs::Pose2DStamped& pose2d); + + /** + * @brief See if the back of the global plan matches the most recent goal pose + * @return True if the plan has changed + */ + bool hasGoalChanged(const nav_2d_msgs::Pose2DStamped& new_goal); + + // The most recent goal pose + nav_2d_msgs::Pose2DStamped last_goal_; + bool has_active_goal_; + + /** + * @brief helper class for subscribing to odometry + */ + std::shared_ptr odom_sub_; + + // Plugin handling + pluginlib::ClassLoader planner_loader_; + boost::shared_ptr planner_; + + // Pointer Copies + TFListenerPtr tf_; + + std::shared_ptr costmap_adapter_; + costmap_2d::Costmap2DROS* costmap_ros_; +}; + +} // namespace nav_core_adapter + +#endif // NAV_CORE_ADAPTER_LOCAL_PLANNER_ADAPTER_H diff --git a/navigations/nav_core_adapter/include/nav_core_adapter/shared_pointers.h b/navigations/nav_core_adapter/include/nav_core_adapter/shared_pointers.h new file mode 100755 index 0000000..d7b4d52 --- /dev/null +++ b/navigations/nav_core_adapter/include/nav_core_adapter/shared_pointers.h @@ -0,0 +1,67 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_CORE_ADAPTER_SHARED_POINTERS_H +#define NAV_CORE_ADAPTER_SHARED_POINTERS_H + +#include +#include + +namespace nav_core_adapter +{ + +template +void null_deleter(T* raw_ptr) {} + +/** + * @brief Custom Constructor for creating a shared pointer to an existing object that doesn't delete the ptr when done + * + * @note This is considered bad form, and is only done here for backwards compatibility purposes. The nav_core2 + * interfaces require shared pointers, but the creation of the shared pointer from a raw pointer takes ownership + * of the object such that when the object containing the shared pointer is freed, the object pointed at by the + * shared pointer is also freed. This presents a problem, for instance, when switching from one planner to another + * if the costmap is freed by one planner. + * + * @param raw_ptr The raw pointer to an object + * @return A Shared pointer pointing at the raw_ptr, but when it is freed, the raw_ptr remains valid + */ +template +std::shared_ptr createSharedPointerWithNoDelete(T* raw_ptr) +{ + return std::shared_ptr(raw_ptr, null_deleter); +} + +} // namespace nav_core_adapter + +#endif // NAV_CORE_ADAPTER_SHARED_POINTERS_H diff --git a/navigations/nav_core_adapter/nav_core2_plugins.xml b/navigations/nav_core_adapter/nav_core2_plugins.xml new file mode 100755 index 0000000..5b56e99 --- /dev/null +++ b/navigations/nav_core_adapter/nav_core2_plugins.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/navigations/nav_core_adapter/nav_core_plugins.xml b/navigations/nav_core_adapter/nav_core_plugins.xml new file mode 100755 index 0000000..a53cdb5 --- /dev/null +++ b/navigations/nav_core_adapter/nav_core_plugins.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/navigations/nav_core_adapter/package.xml b/navigations/nav_core_adapter/package.xml new file mode 100755 index 0000000..d6200ca --- /dev/null +++ b/navigations/nav_core_adapter/package.xml @@ -0,0 +1,38 @@ + + + nav_core_adapter + 0.3.0 + + This package contains adapters for using `nav_core` plugins as `nav_core2` plugins and vice versa (more or less). + See README.md for more information. + + + David V. Lu!! + + BSD + + catkin + costmap_2d + geometry_msgs + nav_2d_msgs + nav_2d_utils + nav_core + nav_core2 + nav_grid + nav_msgs + pluginlib + tf + visualization_msgs + roslint + rostest + + + dwb_local_planner + dwb_plugins + dwb_critics + + + + + + diff --git a/navigations/nav_core_adapter/src/costmap_adapter.cpp b/navigations/nav_core_adapter/src/costmap_adapter.cpp new file mode 100755 index 0000000..cbf5681 --- /dev/null +++ b/navigations/nav_core_adapter/src/costmap_adapter.cpp @@ -0,0 +1,117 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(nav_core_adapter::CostmapAdapter, nav_core2::Costmap) + +namespace nav_core_adapter +{ + +nav_grid::NavGridInfo infoFromCostmap(costmap_2d::Costmap2DROS* costmap_ros) +{ + nav_grid::NavGridInfo info; + costmap_2d::Costmap2D* costmap = costmap_ros->getCostmap(); + info.width = costmap->getSizeInCellsX(); + info.height = costmap->getSizeInCellsY(); + info.resolution = costmap->getResolution(); + info.frame_id = costmap_ros->getGlobalFrameID(); + info.origin_x = costmap->getOriginX(); + info.origin_y = costmap->getOriginY(); + return info; +} + +CostmapAdapter::~CostmapAdapter() +{ + if (needs_destruction_) + { + delete costmap_ros_; + } +} + +void CostmapAdapter::initialize(costmap_2d::Costmap2DROS* costmap_ros, bool needs_destruction) +{ + costmap_ros_ = costmap_ros; + needs_destruction_ = needs_destruction; + info_ = infoFromCostmap(costmap_ros_); + costmap_ = costmap_ros_->getCostmap(); +} + +void CostmapAdapter::initialize(const ros::NodeHandle& parent, const std::string& name, TFListenerPtr tf) +{ + initialize(new costmap_2d::Costmap2DROS(name, *tf), true); +} + +nav_core2::Costmap::mutex_t* CostmapAdapter::getMutex() +{ + return costmap_->getMutex(); +} + +void CostmapAdapter::reset() +{ + costmap_ros_->resetLayers(); +} + +void CostmapAdapter::update() +{ + info_ = infoFromCostmap(costmap_ros_); + if (!costmap_ros_->isCurrent()) + throw nav_core2::CostmapDataLagException("Costmap2DROS is out of date somehow."); +} + +void CostmapAdapter::setValue(const unsigned int x, const unsigned int y, const unsigned char& value) +{ + costmap_->setCost(x, y, value); +} + +unsigned char CostmapAdapter::getValue(const unsigned int x, const unsigned int y) const +{ + unsigned int index = costmap_->getIndex(x, y); + return costmap_->getCharMap()[index]; +} + +void CostmapAdapter::setInfo(const nav_grid::NavGridInfo& new_info) +{ + throw nav_core2::CostmapException("setInfo not implemented on CostmapAdapter"); +} + +void CostmapAdapter::updateInfo(const nav_grid::NavGridInfo& new_info) +{ + costmap_->updateOrigin(new_info.origin_x, new_info.origin_y); +} + +} // namespace nav_core_adapter diff --git a/navigations/nav_core_adapter/src/global_planner_adapter.cpp b/navigations/nav_core_adapter/src/global_planner_adapter.cpp new file mode 100755 index 0000000..06ba0c0 --- /dev/null +++ b/navigations/nav_core_adapter/src/global_planner_adapter.cpp @@ -0,0 +1,97 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace nav_core_adapter +{ + +GlobalPlannerAdapter::GlobalPlannerAdapter() : + planner_loader_("nav_core2", "nav_core2::GlobalPlanner") +{ +} + +/** + * @brief Load the nav_core2 global planner and initialize it + */ +void GlobalPlannerAdapter::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) +{ + costmap_ros_ = costmap_ros; + costmap_adapter_ = std::make_shared(); + costmap_adapter_->initialize(costmap_ros); + + ros::NodeHandle private_nh("~"); + ros::NodeHandle adapter_nh("~/" + name); + std::string planner_name; + adapter_nh.param("planner_name", planner_name, std::string("dlux_global_planner::DluxGlobalPlanner")); + ROS_WARN("%s ,GlobalPlannerAdapter::initialize", name.c_str()); + ROS_INFO_NAMED("GlobalPlannerAdapter", "Loading plugin %s", planner_name.c_str()); + planner_ = planner_loader_.createInstance(planner_name); + planner_->initialize(private_nh, planner_loader_.getName(planner_name), tf_, costmap_adapter_); + path_pub_ = private_nh.advertise("plan", 1); +} + +bool GlobalPlannerAdapter::makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, + std::vector& plan) +{ + nav_2d_msgs::Pose2DStamped start2d = nav_2d_utils::poseStampedToPose2D(start), + goal2d = nav_2d_utils::poseStampedToPose2D(goal); + try + { + nav_2d_msgs::Path2D path2d = planner_->makePlan(start2d, goal2d); + nav_msgs::Path path = nav_2d_utils::pathToPath(path2d); + plan = path.poses; + path_pub_.publish(path); + return true; + } + catch (nav_core2::PlannerException& e) + { + ROS_ERROR_NAMED("GlobalPlannerAdapter", "makePlan Exception: %s", e.what()); + return false; + } +} +} // namespace nav_core_adapter + + +// register this planner as a BaseGlobalPlanner plugin +PLUGINLIB_EXPORT_CLASS(nav_core_adapter::GlobalPlannerAdapter, nav_core::BaseGlobalPlanner) diff --git a/navigations/nav_core_adapter/src/global_planner_adapter2.cpp b/navigations/nav_core_adapter/src/global_planner_adapter2.cpp new file mode 100755 index 0000000..7d4f1ab --- /dev/null +++ b/navigations/nav_core_adapter/src/global_planner_adapter2.cpp @@ -0,0 +1,95 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace nav_core_adapter +{ + +GlobalPlannerAdapter2::GlobalPlannerAdapter2() : + planner_loader_("nav_core", "nav_core::BaseGlobalPlanner") +{ +} + +/** + * @brief Load the nav_core global planner and initialize it + */ +void GlobalPlannerAdapter2::initialize(const ros::NodeHandle& parent, const std::string& name, + TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) +{ + costmap_ = costmap; + std::shared_ptr ptr = std::static_pointer_cast(costmap); + + if (!ptr) + { + ROS_FATAL_NAMED("GlobalPlannerAdapter2", + "GlobalPlannerAdapter2 can only be used with the CostmapAdapter, not other Costmaps!"); + exit(EXIT_FAILURE); + } + costmap_ros_ = ptr->getCostmap2DROS(); + + ros::NodeHandle planner_nh(parent, name); + std::string planner_name; + planner_nh.param("planner_name", planner_name, std::string("global_planner/GlobalPlanner")); + ROS_INFO_NAMED("GlobalPlannerAdapter2", "Loading plugin %s", planner_name.c_str()); + planner_ = planner_loader_.createInstance(planner_name); + planner_->initialize(planner_loader_.getName(planner_name), costmap_ros_); +} + +nav_2d_msgs::Path2D GlobalPlannerAdapter2::makePlan(const nav_2d_msgs::Pose2DStamped& start, + const nav_2d_msgs::Pose2DStamped& goal) +{ + geometry_msgs::PoseStamped start3d = nav_2d_utils::pose2DToPoseStamped(start), + goal3d = nav_2d_utils::pose2DToPoseStamped(goal); + std::vector plan; + bool ret = planner_->makePlan(start3d, goal3d, plan); + if (!ret) + { + throw nav_core2::PlannerException("Generic Global Planner Error"); + } + return nav_2d_utils::posesToPath2D(plan); +} +} // namespace nav_core_adapter + + +// register this planner as a GlobalPlanner plugin +PLUGINLIB_EXPORT_CLASS(nav_core_adapter::GlobalPlannerAdapter2, nav_core2::GlobalPlanner) diff --git a/navigations/nav_core_adapter/src/local_planner_adapter.cpp b/navigations/nav_core_adapter/src/local_planner_adapter.cpp new file mode 100755 index 0000000..a8015e5 --- /dev/null +++ b/navigations/nav_core_adapter/src/local_planner_adapter.cpp @@ -0,0 +1,190 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace nav_core_adapter +{ + +LocalPlannerAdapter::LocalPlannerAdapter() : + planner_loader_("nav_core2", "nav_core2::LocalPlanner") +{ +} + +/** + * @brief Load the nav_core2 local planner and initialize it + */ +void LocalPlannerAdapter::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) +{ + // ROS_WARN("LocalPlannerAdapter::initialize"); + tf_ = createSharedPointerWithNoDelete(tf); + costmap_ros_ = costmap_ros; + costmap_adapter_ = std::make_shared(); + costmap_adapter_->initialize(costmap_ros); + + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + ros::NodeHandle adapter_nh("~/" + name); + std::string planner_name; + adapter_nh.param("planner_name", planner_name, std::string("dwb_local_planner::DWBLocalPlanner")); + ROS_INFO_NAMED("LocalPlannerAdapter", "Loading plugin %s", planner_name.c_str()); + planner_ = planner_loader_.createInstance(planner_name); + // From void DWBLocalPlanner::initialize(const ros::NodeHandle& parent, const std::string& name, + // TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) + planner_->initialize(private_nh, planner_loader_.getName(planner_name), tf_, costmap_adapter_); + has_active_goal_ = false; + + odom_sub_ = std::make_shared(nh); +} + +/** + * @brief Collect the additional information needed by nav_core2 and call the child computeVelocityCommands + */ +bool LocalPlannerAdapter::computeVelocityCommands(geometry_msgs::Twist& cmd_vel) +{ + if (!has_active_goal_) + { + return false; + } + + // Get the Pose + nav_2d_msgs::Pose2DStamped pose2d; + if (!getRobotPose(pose2d)) + { + return false; + } + + // Get the Velocity + nav_2d_msgs::Twist2D velocity = odom_sub_->getTwist(); + nav_2d_msgs::Twist2DStamped cmd_vel_2d; + try + { // to -> DWBLocalPlanner::computeVelocityCommands() + cmd_vel_2d = planner_->computeVelocityCommands(pose2d, velocity); + } + catch (const nav_core2::PlannerException& e) + { + ROS_ERROR_NAMED("LocalPlannerAdapter", "computeVelocityCommands exception: %s", e.what()); + return false; + } + cmd_vel = nav_2d_utils::twist2Dto3D(cmd_vel_2d.velocity); + return true; +} + +/** + * @brief Collect the additional information needed by nav_core2 and call the child isGoalReached + */ +bool LocalPlannerAdapter::isGoalReached() +{ + // Get the Pose + nav_2d_msgs::Pose2DStamped pose2d; + if (!getRobotPose(pose2d)) + return false; + + nav_2d_msgs::Twist2D velocity = odom_sub_->getTwist(); + bool ret = planner_->isGoalReached(pose2d, velocity); + if (ret) + { + has_active_goal_ = false; + } + return ret; +} + +/** + * @brief Convert from 2d to 3d and call child setPlan + */ +bool LocalPlannerAdapter::setPlan(const std::vector& orig_global_plan) +{ + nav_2d_msgs::Path2D path = nav_2d_utils::posesToPath2D(orig_global_plan); + try + { + if (path.poses.size() > 0) + { + nav_2d_msgs::Pose2DStamped goal_pose; + goal_pose.header = path.header; + goal_pose.pose = path.poses.back(); + + if (!has_active_goal_ || hasGoalChanged(goal_pose)) + { + last_goal_ = goal_pose; + has_active_goal_ = true; + planner_->setGoalPose(goal_pose); + } + } + + planner_->setPlan(path); + return true; + } + catch (const nav_core2::PlannerException& e) + { + ROS_ERROR_NAMED("LocalPlannerAdapter", "setPlan Exception: %s", e.what()); + return false; + } +} + +bool LocalPlannerAdapter::hasGoalChanged(const nav_2d_msgs::Pose2DStamped& new_goal) +{ + if (last_goal_.header.frame_id != new_goal.header.frame_id) + { + return true; + } + + return last_goal_.pose.x != new_goal.pose.x || last_goal_.pose.y != new_goal.pose.y || + last_goal_.pose.theta != new_goal.pose.theta; +} + +bool LocalPlannerAdapter::getRobotPose(nav_2d_msgs::Pose2DStamped& pose2d) +{ + geometry_msgs::PoseStamped current_pose; + if (!costmap_ros_->getRobotPose(current_pose)) + { + ROS_ERROR_NAMED("LocalPlannerAdapter", "Could not get robot pose"); + return false; + } + pose2d = nav_2d_utils::poseStampedToPose2D(current_pose); + return true; +} + +} // namespace nav_core_adapter + +// register this planner as a BaseLocalPlanner plugin +PLUGINLIB_EXPORT_CLASS(nav_core_adapter::LocalPlannerAdapter, nav_core::BaseLocalPlanner) diff --git a/navigations/nav_core_adapter/test/unload_test.cpp b/navigations/nav_core_adapter/test/unload_test.cpp new file mode 100755 index 0000000..aa5118d --- /dev/null +++ b/navigations/nav_core_adapter/test/unload_test.cpp @@ -0,0 +1,69 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include + + +TEST(LocalPlannerAdapter, unload_local_planner) +{ + tf2_ros::Buffer tf; + tf.setUsingDedicatedThread(true); + + // This empty transform is added to satisfy the constructor of + // Costmap2DROS, which waits for the transform from map to base_link + // to become available. + geometry_msgs::TransformStamped base_rel_map; + base_rel_map.child_frame_id = "/base_link"; + base_rel_map.header.frame_id = "/map"; + base_rel_map.transform.rotation.w = 1.0; + tf.setTransform(base_rel_map, "unload", true); + + nav_core_adapter::LocalPlannerAdapter* lpa = new nav_core_adapter::LocalPlannerAdapter(); + + costmap_2d::Costmap2DROS costmap_ros("local_costmap", tf); + lpa->initialize("lpa", &tf, &costmap_ros); + + delete lpa; + + // Simple test to make sure costmap hasn't been deleted + EXPECT_EQ("map", costmap_ros.getGlobalFrameID()); +} + + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "unload_test"); + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_core_adapter/test/unload_test.launch b/navigations/nav_core_adapter/test/unload_test.launch new file mode 100755 index 0000000..c1ddad8 --- /dev/null +++ b/navigations/nav_core_adapter/test/unload_test.launch @@ -0,0 +1,3 @@ + + + diff --git a/navigations/nav_grid/CMakeLists.txt b/navigations/nav_grid/CMakeLists.txt new file mode 100755 index 0000000..818a090 --- /dev/null +++ b/navigations/nav_grid/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.0.2) +project(nav_grid) +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11") + +find_package(catkin REQUIRED) + +catkin_package( + INCLUDE_DIRS include +) + +if (CATKIN_ENABLE_TESTING) + find_package(roslint REQUIRED) + include_directories(include ${catkin_INCLUDE_DIRS}) + roslint_cpp() + roslint_add_test() + catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp) +endif (CATKIN_ENABLE_TESTING) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/navigations/nav_grid/README.md b/navigations/nav_grid/README.md new file mode 100755 index 0000000..7ec1957 --- /dev/null +++ b/navigations/nav_grid/README.md @@ -0,0 +1,39 @@ +# nav_grid + +Many navigation algorithms rely on the concept of a two dimensional grid being overlaid on the world, with a value being assigned to each grid cell. In the original navigation stack, `Costmap2DROS` associated an `unsigned char` with grid cells, global planners cache distance to the goal as `float`s and local planners would cache various metrics in a grid to quickly calculate the strength of different trajectories. + +![nav_grid diagram](doc/nav_grid.png) + +## `NavGridInfo` + +Where the grid exists in the world is defined by six parameters. + * `width` and `height` (which together define the number of cells in the grid) + * `resolution` which is the dimension of each cell in meters (square cells only) + * `frame_id` which is the TF frame the grid is defined relative to. + * `origin_x` and `origin_y` which define the offset in meters from the root of the TF frame to the minimum corner of the (0, 0) cell. + +Together, these components make a [`nav_grid::NavGridInfo`](include/nav_grid/nav_grid_info.h) struct. It evolved from the [`nav_msgs::MapMetaData` message](http://docs.ros.org/melodic/api/nav_msgs/html/msg/MapMetaData.html) but without `map_load_time`, simplified origin geometry and the `frame_id` added. Note: for general efficiency of computation (particularly moving the grid while retaining some of the values) there is no rotation component to the origin. Each grid is locked to the orientation of its TF frame. + +The default values are `width=0, height=0, resolution=1.0, frame_id="map", origin_x=0.0, origin_y=0.0`. + +## Coordinate Conversion +One of the most common operations is to want to convert between the real world coordinates and the grid coordinates. These operations can be done with a `NavGridInfo` object and the methods in [`coordinate_conversion.h`](include/nav_grid/coordinate_conversion.h). They are derived from methods in [`costmap_2d.h`](https://github.com/ros-planning/navigation/blob/a2837b5a9dc6dd4b4da176fca7d899d6a3722bf8/costmap_2d/include/costmap_2d/costmap_2d.h#L126), but with some key differences (beyond replacing `map` with `grid`). + * `gridToWorld` is the same as `mapToWorld`, as both return the world coordinates of the center of the specified cell. + * `worldToGrid` works like `worldToMapNoBounds`, but it results in either `int` or `double` coordinates depending on the output parameter types. As the result are not bounded by the grid, the results are signed. + * `worldToGridBounded` is a combination of `worldToMap` and `worldToMapEnforceBounds`. It returns a bool for whether the input coordinates are within the grid AND the output coordinates are forced to be within the grid. The output coordinates are therefore `unsigned int`. + * There's also `isWithinGrid` that returns whether a given point is within the grid (i.e. will match the return value of `worldToGridBounded` but saves some of the computation associated with calculating the actual values of the coordinates. + +![example coordinate conversion](doc/coords.png) + +## `NavGrid` +Of course, we also want to associate a value with each cell in the grid. For that, we define the templatized [`nav_grid::NavGrid`](include/nav_grid/nav_grid.h) abstract class. The template allows for storing arbitrary data types associated with each grid cell. The actual storage mechanism for the data is not part of the base class to allow for possibly more efficient methods. A default implementation where the data is simply stored in row-major order in a one-dimensional vector is provided in [`nav_grid::VectorNavGrid`](include/nav_grid/vector_nav_grid.h>) + +The constructor for `NavGrid` takes a default value for each cell which is 0 by default. The grid's initial info matches the default info above, so the grid is initially `0x0`. + +The `NavGrid` class provides handy methods for accessing values via their grid indexes. You can use `grid(x, y)` or `grid.getValue(x, y)` to access each value, and use `grid.setValue(x, y, value)` to write each value. There is also the helper class [`nav_grid::Index`](include/nav_grid/index.h) that can be used to store the two coordinates and used in accessing the data as well a la `grid(index)` and `grid.setValue(index, value)`. + +There are two methods for changing the `info` associated with the grid: `setInfo` and `updateInfo`. `setInfo` changes the `info` while maintaining the data associated with each grid coordinate. `updateInfo` will change the info but instead maintain the data associated with the world coordinates. + +For instance, imagine a 5x5 grid with 0.5 meter resolution with the cell (2, 0) set to red which represents a cell at (1.25, 0.25) in the world. If we change the origin to be 0.5 meters to the right, the grids will have different values according to the method we use. With `setInfo`, cell (2, 0) is still red, but it is associated with a cell at (1.75, 0.25) in the world. With `updateInfo`, the cell at (1.25, 0.25) is still red, but it is now associated with cell (1, 0). The exact mechanism for how this data is preserved is left to the implementing class. + +![illustration of grid update](doc/change_info.png) diff --git a/navigations/nav_grid/doc/change_info.png b/navigations/nav_grid/doc/change_info.png new file mode 100755 index 0000000..1e0e9c5 Binary files /dev/null and b/navigations/nav_grid/doc/change_info.png differ diff --git a/navigations/nav_grid/doc/coords.png b/navigations/nav_grid/doc/coords.png new file mode 100755 index 0000000..dfa40bf Binary files /dev/null and b/navigations/nav_grid/doc/coords.png differ diff --git a/navigations/nav_grid/doc/nav_grid.png b/navigations/nav_grid/doc/nav_grid.png new file mode 100755 index 0000000..c43cda0 Binary files /dev/null and b/navigations/nav_grid/doc/nav_grid.png differ diff --git a/navigations/nav_grid/include/nav_grid/coordinate_conversion.h b/navigations/nav_grid/include/nav_grid/coordinate_conversion.h new file mode 100755 index 0000000..4eb06fe --- /dev/null +++ b/navigations/nav_grid/include/nav_grid/coordinate_conversion.h @@ -0,0 +1,168 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_COORDINATE_CONVERSION_H +#define NAV_GRID_COORDINATE_CONVERSION_H + +#include +#include + +namespace nav_grid +{ +/** + * @brief Convert from grid coordinates to world coordinates of the center of the cell + * + * The resulting coordinates are for the center of the grid cell. + * + * @param[in] mx The x grid coordinate + * @param[in] my The y grid coordinate + * @param[out] wx Set to the associated x world coordinate + * @param[out] wy Set to the associated y world coordinate + */ +inline void gridToWorld(const NavGridInfo& info, int mx, int my, double& wx, double& wy) +{ + wx = info.origin_x + (mx + 0.5) * info.resolution; + wy = info.origin_y + (my + 0.5) * info.resolution; +} + +/** + * @brief Convert from world coordinates to the precise (double) grid coordinates + * + * The results are not rounded, so that the values can be used for locating a position within a cell + * + * @param[in] wx The x world coordinate + * @param[in] wy The y world coordinate + * @param[out] mx Set to the associated x grid coordinate + * @param[out] my Set to the associated y grid coordinate + */ +inline void worldToGrid(const NavGridInfo& info, double wx, double wy, double& mx, double& my) +{ + mx = (wx - info.origin_x) / info.resolution; + my = (wy - info.origin_y) / info.resolution; +} + +/** + * @brief Convert from world coordinates to grid coordinates without checking for legal bounds + * @param[in] wx The x world coordinate + * @param[in] wy The y world coordinate + * @param[out] mx Set to the associated x grid coordinate + * @param[out] my Set to the associated y grid coordinate + * @note The returned grid coordinates are not guaranteed to lie within the grid. + */ +inline void worldToGrid(const NavGridInfo& info, double wx, double wy, int& mx, int& my) +{ + double dmx, dmy; + worldToGrid(info, wx, wy, dmx, dmy); + mx = static_cast(floor(dmx)); + my = static_cast(floor(dmy)); +} + +/** + * @brief Convert from world coordinates to grid coordinates + * + * Combined functionality from costmap_2d::worldToMap and costmap_2d::worldToMapEnforceBounds. + * The output parameters are set to grid indexes within the grid, even if the function returns false, + * meaning the coordinates are outside the grid. + * + * @param[in] wx The x world coordinate + * @param[in] wy The y world coordinate + * @param[out] mx Set to the associated (bounds-enforced) x grid coordinate + * @param[out] my Set to the associated (bounds-enforced) y grid coordinate + * @return True if the input coordinates were within the grid + */ +inline bool worldToGridBounded(const NavGridInfo& info, double wx, double wy, unsigned int& mx, unsigned int& my) +{ + double dmx, dmy; + worldToGrid(info, wx, wy, dmx, dmy); + + bool valid = true; + + if (dmx < 0.0) + { + mx = 0; + valid = false; + } + else if (dmx >= info.width) + { + mx = info.width - 1; + valid = false; + } + else + { + mx = static_cast(dmx); + } + + if (dmy < 0.0) + { + my = 0; + valid = false; + } + else if (dmy >= info.height) + { + my = info.height - 1; + valid = false; + } + else + { + my = static_cast(dmy); + } + + return valid; +} + +/** + * @brief Check to see if the world coordinates are within the grid. + * + * This should only be used if the caller does not need the associated grid coordinates. Otherwise it would + * be more efficient to call worldToGridBounded. + * + * @param[in] wx The x world coordinate + * @param[in] wy The y world coordinate + * @return True if the input coordinates were within the grid + */ +inline bool isWithinGrid(const NavGridInfo& info, double wx, double wy) +{ + wx -= info.origin_x; + wy -= info.origin_y; + return wx >= 0.0 && + wy >= 0.0 && + wx < info.width * info.resolution && + wy < info.height * info.resolution; +} + + + +} // namespace nav_grid + +#endif // NAV_GRID_COORDINATE_CONVERSION_H diff --git a/navigations/nav_grid/include/nav_grid/index.h b/navigations/nav_grid/include/nav_grid/index.h new file mode 100755 index 0000000..e6be03d --- /dev/null +++ b/navigations/nav_grid/include/nav_grid/index.h @@ -0,0 +1,99 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_INDEX_H +#define NAV_GRID_INDEX_H + +#include + +namespace nav_grid +{ +/** + * @class GenericIndex + * @brief A simple pair of x/y coordinates + */ +template +struct GenericIndex +{ + NumericType x, y; + explicit GenericIndex(const NumericType& x = 0, const NumericType& y = 0) : x(x), y(y) {} + + /** + * @brief comparison operator that requires equal x and y + */ + bool operator == (const GenericIndex& other) const + { + return x == other.x && y == other.y; + } + + bool operator != (const GenericIndex& other) const + { + return !operator==(other); + } + + /** + * @brief less than operator so object can be used in sets + */ + bool operator < (const GenericIndex& other) const + { + return x < other.x || (x == other.x && y < other.y); + } + + // Derived Comparators + bool operator > (const GenericIndex& other) const { return other < *this; } + bool operator <= (const GenericIndex& other) const { return !(*this > other); } + bool operator >= (const GenericIndex& other) const { return !(*this < other); } + + /** + * @brief String representation of this object + */ + std::string toString() const + { + return "(" + std::to_string(x) + ", " + std::to_string(y) + ")"; + } +}; + +template +inline std::ostream& operator<<(std::ostream& stream, const GenericIndex& index) +{ + stream << index.toString(); + return stream; +} + +using SignedIndex = GenericIndex; +using Index = GenericIndex; + +} // namespace nav_grid + +#endif // NAV_GRID_INDEX_H diff --git a/navigations/nav_grid/include/nav_grid/nav_grid.h b/navigations/nav_grid/include/nav_grid/nav_grid.h new file mode 100755 index 0000000..7dfe7f8 --- /dev/null +++ b/navigations/nav_grid/include/nav_grid/nav_grid.h @@ -0,0 +1,157 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_NAV_GRID_H +#define NAV_GRID_NAV_GRID_H + +#include +#include +#include + +namespace nav_grid +{ +/** + * @class NavGrid + * This class is a spiritual successor to the costmap_2d::Costmap2D class, with the key differences being that + * the datatype and data storage methods are not specified, and the frame_id is specified. + * + * The templatized nature of the class allows you to store whatever you like at each grid location, including + * unsigned chars if emulating Costmap2D or floating point numbers if emulating the grid_map package, or whatever + * else. + * + * The VectorNavGrid class in this package implements this class with a straight-forward single-dimensional vector + * representing the two dimensional grid. Other classes could implement the data storage differently. + * + * Getting data from the grid can be done either through the getValue methods or the parenthetical operators (which call + * getValue internally). Implementing classes must implement getValue. + * x = grid(0, 0) + grid.getValue(0, 1); + * + * Writing data to the grid must be done through the setValue method (which implementing classes must implement) + * grid.setValue(0, 0, x); + * + * You can also use nav_grid::Index objects + * nav_grid::Index index(0, 0); + * x = grid(index) + grid.getValue(index); + * index.y = 3; + * grid.setCost(index, x); + * The Index methods also internally call setValue/getValue + * + * The geometry of the grid is specified by the NavGridInfo. Borrowing an idea from the grid_map package, two + * separate methods are defined for changing the info. setInfo will change the info without changing the grid values. + * updateInfo will change the info while trying to preserve the contents of the grid. + * + * The final component is a collection of methods inspired by Costmap2D for converting coordinates of different types. + */ +template class NavGrid +{ +public: + explicit NavGrid(const T default_value = T{}) : default_value_(default_value) {} + + /** + * @brief Reset the contents of the grid + */ + virtual void reset() = 0; + + /** + * @brief get the value of the grid at (x,y) + * @param x[in] Valid x coordinate + * @param y[in] Valid y coordinate + * @return value at (x,y) + */ + virtual T getValue(const unsigned int x, const unsigned int y) const = 0; + + /** + * @brief set the value of the grid at (x,y) + * @param x[in] Valid x coordinate + * @param y[in] Valid y coordinate + * @param value[in] New Value + */ + virtual void setValue(const unsigned int x, const unsigned int y, const T& value) = 0; + + /**@name Convenience Aliases */ + // Note: You may not be able to use these unless your deriving class declares using NavGrid::operator() or + // using NavGrid::getValue + /**@{*/ + T getValue(const Index& index) { return getValue(index.x, index.y); } + T operator() (const unsigned int x, const unsigned int y) const { return getValue(x, y); } + T operator() (const Index& index) const { return getValue(index.x, index.y); } + void setValue(const Index& index, const T& value) { setValue(index.x, index.y, value); } + + /**@}*/ + + /** + * @brief Change the info while attempting to keep the values associated with the grid coordinates + * @param[in] new_info New grid info + */ + virtual void setInfo(const NavGridInfo& new_info) = 0; + + /** + * @brief Change the info while attempting to keep the values associated with the world coordinates + * + * For example, if the only change to the info is to the origin's x coordinate (increasing by an amount equal to the + * resolution), then all the values should be shifted one grid cell to the left. + * + * @param[in] new_info New grid info + */ + virtual void updateInfo(const NavGridInfo& new_info) { setInfo(new_info); } + + inline NavGridInfo getInfo() const { return info_; } + + /** + * @brief Set the default value + * @param[in] new_value New Default Value + */ + void setDefaultValue(const T new_value) + { + default_value_ = new_value; + } + + /***************************************************************************************************** + * NavGridInfo accessor methods + *****************************************************************************************************/ + inline unsigned int getWidth() const { return info_.width; } + inline unsigned int getHeight() const { return info_.height; } + inline double getResolution() const { return info_.resolution; } + inline std::string getFrameId() const { return info_.frame_id; } + inline double getOriginX() const { return info_.origin_x; } + inline double getOriginY() const { return info_.origin_y; } + +protected: + NavGridInfo info_; + T default_value_; +}; + +} // namespace nav_grid + +#endif // NAV_GRID_NAV_GRID_H diff --git a/navigations/nav_grid/include/nav_grid/nav_grid_info.h b/navigations/nav_grid/include/nav_grid/nav_grid_info.h new file mode 100755 index 0000000..8addf08 --- /dev/null +++ b/navigations/nav_grid/include/nav_grid/nav_grid_info.h @@ -0,0 +1,92 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_NAV_GRID_INFO_H +#define NAV_GRID_NAV_GRID_INFO_H + +#include + +namespace nav_grid +{ +/** + * @struct NavGridInfo + * This class defines a way to discretize a finite section of the world into a grid. + * It contains similar information to the ROS msg nav_msgs/MapMetaData (aka the info field of nav_msgs/OccupancyGrid) + * except the map_load_time is removed, the geometry is simplified from a Pose to xy coordinates, and the frame_id + * is added. + */ +struct NavGridInfo +{ +public: + /* All data is publically accessible */ + unsigned int width = 0; + unsigned int height = 0; + double resolution = 1.0; + std::string frame_id = "map"; + double origin_x = 0.0; ///< The origin defines the coordinates of minimum corner of cell (0,0) in the grid + double origin_y = 0.0; + + /** + * @brief comparison operator that requires all fields are equal + */ + bool operator == (const NavGridInfo& info) const + { + return width == info.width && height == info.height && resolution == info.resolution && + origin_x == info.origin_x && origin_y == info.origin_y && frame_id == info.frame_id; + } + + bool operator != (const NavGridInfo& info) const + { + return !operator==(info); + } + + /** + * @brief String representation of this object + */ + std::string toString() const + { + return std::to_string(width) + "x" + std::to_string(height) + " (" + std::to_string(resolution) + "res) " + + frame_id + " " + std::to_string(origin_x) + " " + std::to_string(origin_y); + } +}; + +inline std::ostream& operator<<(std::ostream& stream, const NavGridInfo& info) +{ + stream << info.toString(); + return stream; +} + +} // namespace nav_grid + +#endif // NAV_GRID_NAV_GRID_INFO_H diff --git a/navigations/nav_grid/include/nav_grid/vector_nav_grid.h b/navigations/nav_grid/include/nav_grid/vector_nav_grid.h new file mode 100755 index 0000000..ea7c4a9 --- /dev/null +++ b/navigations/nav_grid/include/nav_grid/vector_nav_grid.h @@ -0,0 +1,239 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_VECTOR_NAV_GRID_H +#define NAV_GRID_VECTOR_NAV_GRID_H + +#include +#include +#include +#include + +namespace nav_grid +{ +/** + * @class VectorNavGrid + * A straight-forward implementation of the NavGrid class where the data for cell (x, y) is stored in a std::vector + * with index (y * info.width + x). + */ +template class VectorNavGrid : public NavGrid +{ +public: + using NavGrid::NavGrid; + + /** + * @brief Reset the contents of the grid to the default value + */ + void reset() override + { + data_.assign(this->info_.width * this->info_.height, this->default_value_); + } + + /** + * @brief Change the info while attempting to keep the values associated with the grid coordinates + * + * If the width changes, we need to move each row to its new location + * + * If just the height changes, then we can resize the vector without having to move elements + * + * We just overwrite the rest of the grid info + */ + void setInfo(const NavGridInfo& new_info) override + { + if (this->info_.width != new_info.width) + { + std::vector new_vector(new_info.width * new_info.height, this->default_value_); + unsigned int cols_to_move = std::min(this->info_.width, new_info.width); + auto old_it = data_.begin(); + auto new_it = new_vector.begin(); + unsigned int max_row = std::min(this->info_.height, new_info.height); + for (unsigned int row = 0; row < max_row; row++) + { + std::copy(old_it, old_it + cols_to_move, new_it); + old_it += this->info_.width; + new_it += new_info.width; + } + data_.swap(new_vector); + } + else if (this->info_.height != new_info.height) + { + data_.resize(new_info.width * new_info.height, this->default_value_); + } + + this->info_ = new_info; + } + + /** + * @brief Update the info while keeping the data geometrically in tact + * + * If the resolution or frame_id changes, reset all the data. + * + * Otherwise, adjust the new_info so the grid stays aligned (The grid's new info will be within a + * resolution-length of the original new_info). Then copy the common values into the new grid. + * + * @param[in] new_info New information to update the grid with + */ + void updateInfo(const NavGridInfo& new_info) override + { + // If the info is the same, make no changes + if (this->info_ == new_info) + { + return; + } + + // If the resolution or frame changes, reset the whole grid + if (this->info_.resolution != new_info.resolution || this->info_.frame_id != new_info.frame_id) + { + setInfo(new_info); + return; + } + + // project the new origin into the grid + int cell_ox, cell_oy; + worldToGrid(this->info_, new_info.origin_x, new_info.origin_y, cell_ox, cell_oy); + + // To save casting from unsigned int to int a bunch of times + int old_size_x = static_cast(this->info_.width); + int old_size_y = static_cast(this->info_.height); + + // we need to compute the overlap of the new and existing windows + int lower_left_x = std::min(std::max(cell_ox, 0), old_size_x); + int lower_left_y = std::min(std::max(cell_oy, 0), old_size_y); + int upper_right_x = std::min(std::max(cell_ox + static_cast(new_info.width), 0), old_size_x); + int upper_right_y = std::min(std::max(cell_oy + static_cast(new_info.height), 0), old_size_y); + + unsigned int cell_size_x = upper_right_x - lower_left_x; + unsigned int cell_size_y = upper_right_y - lower_left_y; + + // we need a vector to store the new contents in the window temporarily + std::vector new_data(new_info.width * new_info.height, this->default_value_); + + // compute the starting cell location for copying data back in + int start_x = lower_left_x - cell_ox; + int start_y = lower_left_y - cell_oy; + + // now we want to copy the overlapping information into the new vector, but in its new location + // we'll first need to compute the starting points for each vector + auto src_index = data_.begin() + (lower_left_y * old_size_x + lower_left_x); + auto dest_index = new_data.begin() + (start_y * new_info.width + start_x); + + // now, we'll copy the source vector into the destination vector + for (unsigned int i = 0; i < cell_size_y; ++i) + { + std::copy(src_index, src_index + cell_size_x, dest_index); + src_index += this->info_.width; + dest_index += new_info.width; + } + + data_.swap(new_data); + + // update the dimensions + this->info_.width = new_info.width; + this->info_.height = new_info.height; + + // update the origin. Recomputed instead of using new_info.origin + // because we want to keep things grid-aligned + this->info_.origin_x += cell_ox * this->info_.resolution; + this->info_.origin_y += cell_oy * this->info_.resolution; + } + + void setValue(const unsigned int x, const unsigned int y, const T& value) override + { + data_[getIndex(x, y)] = value; + } + + T getValue(const unsigned int x, const unsigned int y) const override + { + return data_[getIndex(x, y)]; + } + + using NavGrid::operator(); + using NavGrid::getValue; + using NavGrid::setValue; + + /** + * Overloading the [] operator so that the data can be accessed directly with vector_nav_grid[i] + */ + T operator[] (unsigned int i) const {return data_[i];} + T& operator[] (unsigned int i) {return data_[i];} + + /** + * @brief Return the size of the vector. Equivalent to width * height. + * @return size of the vector + */ + unsigned int size() const { return data_.size(); } + + /** + * @brief Given two grid coordinates... compute the associated index + * @param[in] mx The x coordinate + * @param[in] my The y coordinate + * @return The associated index + */ + inline unsigned int getIndex(unsigned int mx, unsigned int my) const + { + return my * this->info_.width + mx; + } + + /** + * @brief Given two world coordinates... compute the associated index + * @param[in] mx The x coordinate + * @param[in] my The y coordinate + * @return The associated index + */ + inline unsigned int getIndex(double x, double y) const + { + unsigned int mx, my; + worldToGridBounded(this->info_, x, y, mx, my); + return getIndex(mx, my); + } + + /** + * @brief Given an index... compute the associated grid coordinates + * @param[in] index The index + * @param[out] mx Set to the associated x grid coordinate + * @param[out] my Set to the associated y grid coordinate + */ + inline void indexToCells(unsigned int index, unsigned int& mx, unsigned int& my) const + { + unsigned int w = this->info_.width; + my = index / w; + mx = index - my * w; + } + +protected: + std::vector data_; +}; +} // namespace nav_grid + +#endif // NAV_GRID_VECTOR_NAV_GRID_H diff --git a/navigations/nav_grid/package.xml b/navigations/nav_grid/package.xml new file mode 100755 index 0000000..56936ba --- /dev/null +++ b/navigations/nav_grid/package.xml @@ -0,0 +1,13 @@ + + + nav_grid + 0.3.0 + + A templatized interface for overlaying a two dimensional grid on the world. + + David V. Lu!! + BSD + catkin + roslint + rosunit + diff --git a/navigations/nav_grid/test/utest.cpp b/navigations/nav_grid/test/utest.cpp new file mode 100755 index 0000000..c9463cf --- /dev/null +++ b/navigations/nav_grid/test/utest.cpp @@ -0,0 +1,522 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include + +TEST(VectorNavGrid, info_equality) +{ + nav_grid::NavGridInfo info0; + nav_grid::NavGridInfo info1; + nav_grid::NavGridInfo width_info; + width_info.width = 3; + + nav_grid::NavGridInfo height_info; + height_info.height = 3; + + nav_grid::NavGridInfo res_info; + res_info.resolution = 3.0; + + nav_grid::NavGridInfo frame_info; + frame_info.frame_id = "foobar"; + + nav_grid::NavGridInfo originx_info; + originx_info.origin_x = 3.0; + + nav_grid::NavGridInfo originy_info; + originy_info.origin_y = 3.0; + + + EXPECT_EQ(info0, info0); + EXPECT_EQ(info0, info1); + EXPECT_NE(info0, width_info); + EXPECT_NE(info0, height_info); + EXPECT_NE(info0, res_info); + EXPECT_NE(info0, frame_info); + EXPECT_NE(info0, originx_info); + EXPECT_NE(info0, originy_info); +} + +TEST(VectorNavGrid, basic_test) +{ + nav_grid::VectorNavGrid grid(-3); + nav_grid::NavGridInfo info; + info.width = 2; + info.height = 3; + grid.setInfo(info); + EXPECT_EQ(grid(0, 0), -3); + grid.setValue(1, 1, 10); + EXPECT_EQ(grid(0, 0), -3); + EXPECT_EQ(grid(1, 1), 10); +} + +TEST(VectorNavGrid, basic_index_test) +{ + nav_grid::VectorNavGrid grid(-3); + nav_grid::NavGridInfo info; + info.width = 2; + info.height = 3; + grid.setInfo(info); + + nav_grid::Index index0(0, 0), index1(1, 1); + EXPECT_EQ(grid(index0), -3); + grid.setValue(index1, 10); + EXPECT_EQ(grid(index0), -3); + EXPECT_EQ(grid(index1), 10); + EXPECT_EQ(grid(0, 0), -3); + EXPECT_EQ(grid(1, 1), 10); +} + +TEST(VectorNavGrid, easy_coordinates_test) +{ + nav_grid::NavGridInfo info; + info.width = 2; + info.height = 3; + + double wx, wy; + gridToWorld(info, 0, 0, wx, wy); + EXPECT_DOUBLE_EQ(wx, 0.5); + EXPECT_DOUBLE_EQ(wy, 0.5); + gridToWorld(info, 1, 2, wx, wy); + EXPECT_DOUBLE_EQ(wx, 1.5); + EXPECT_DOUBLE_EQ(wy, 2.5); + + unsigned int umx, umy; + int mx, my; + double dmx, dmy; + ASSERT_TRUE(worldToGridBounded(info, wx, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_EQ(umy, 2); + worldToGrid(info, wx, wy, mx, my); + EXPECT_EQ(mx, 1); + EXPECT_EQ(my, 2); + worldToGrid(info, wx, wy, dmx, dmy); + EXPECT_DOUBLE_EQ(dmx, wx); + EXPECT_DOUBLE_EQ(dmy, wy); + + // Invalid Coordinate + wx = 2.5; + EXPECT_FALSE(worldToGridBounded(info, wx, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_EQ(umy, 2); + worldToGrid(info, wx, wy, mx, my); + EXPECT_EQ(mx, 2); + EXPECT_EQ(my, 2); + + // Border Cases + EXPECT_TRUE(worldToGridBounded(info, 0.0, wy, umx, umy)); + EXPECT_EQ(umx, 0); + EXPECT_TRUE(worldToGridBounded(info, 0.25, wy, umx, umy)); + EXPECT_EQ(umx, 0); + EXPECT_TRUE(worldToGridBounded(info, 0.75, wy, umx, umy)); + EXPECT_EQ(umx, 0); + EXPECT_TRUE(worldToGridBounded(info, 0.9999, wy, umx, umy)); + EXPECT_EQ(umx, 0); + EXPECT_TRUE(worldToGridBounded(info, 1.0, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_TRUE(worldToGridBounded(info, 1.25, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_TRUE(worldToGridBounded(info, 1.75, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_TRUE(worldToGridBounded(info, 1.9999, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_FALSE(worldToGridBounded(info, 2.0, wy, umx, umy)); + EXPECT_EQ(umx, 1); +} + +TEST(VectorNavGrid, hard_coordinates_test) +{ + nav_grid::NavGridInfo info; + info.width = 2; + info.height = 3; + info.resolution = 0.1; + info.origin_x = -0.2; + info.origin_y = 0.2; + + double wx, wy; + gridToWorld(info, 0, 0, wx, wy); + EXPECT_DOUBLE_EQ(wx, -0.15); + EXPECT_DOUBLE_EQ(wy, 0.25); + gridToWorld(info, 1, 2, wx, wy); + EXPECT_DOUBLE_EQ(wx, -0.05); + EXPECT_DOUBLE_EQ(wy, 0.45); + + unsigned int umx, umy; + int mx, my; + double dmx, dmy; + EXPECT_TRUE(worldToGridBounded(info, wx, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_EQ(umy, 2); + worldToGrid(info, wx, wy, mx, my); + EXPECT_EQ(mx, 1); + EXPECT_EQ(my, 2); + worldToGrid(info, wx, wy, dmx, dmy); + EXPECT_DOUBLE_EQ(dmx, 1.5); + EXPECT_DOUBLE_EQ(dmy, 2.5); + + // Invalid Coordinate + wx = 2.5; + EXPECT_FALSE(worldToGridBounded(info, wx, wy, umx, umy)); + EXPECT_EQ(umx, 1); + EXPECT_EQ(umy, 2); + worldToGrid(info, wx, wy, mx, my); + EXPECT_EQ(mx, 27); + EXPECT_EQ(my, 2); +} + + +TEST(VectorNavGrid, speed_test) +{ + nav_grid::NavGridInfo info; + + const int N = 1000; + const int EXTRA = 300; + + info.width = N; + info.height = N; + + double wx, wy; + unsigned int umx, umy; + int mx, my; + double dmx, dmy; + + for (int x = -EXTRA; x < N + EXTRA; x++) + { + for (int y = -EXTRA; y < N + EXTRA; y++) + { + gridToWorld(info, x, y, wx, wy); + if (x < 0 || y < 0 || x >= N || y >= N) + { + EXPECT_FALSE(isWithinGrid(info, wx, wy)); + EXPECT_FALSE(worldToGridBounded(info, wx, wy, umx, umy)); + EXPECT_EQ(umx, std::min(std::max(0, x), N - 1)); + EXPECT_EQ(umy, std::min(std::max(0, y), N - 1)); + } + else + { + EXPECT_TRUE(isWithinGrid(info, wx, wy)); + EXPECT_TRUE(worldToGridBounded(info, wx, wy, umx, umy)); + EXPECT_EQ(umx, x); + EXPECT_EQ(umy, y); + } + worldToGrid(info, wx, wy, mx, my); + EXPECT_EQ(mx, x); + EXPECT_EQ(my, y); + worldToGrid(info, wx, wy, dmx, dmy); + EXPECT_DOUBLE_EQ(dmx, x + 0.5); + EXPECT_DOUBLE_EQ(dmy, y + 0.5); + } + } +} + +int testGridValue(double x, double y) +{ + return static_cast(100 * floor(x) + floor(y)); +} + +/** + * Initialize Grid Values with values based on the grid/world coordinates + * which are initially the same + * + * x --> + * 000 100 200 300 400 500 600 700 800 900 y + * 001 101 201 301 401 501 601 701 801 901 | + * 002 102 202 302 402 502 602 702 802 902 | + * 003 103 203 303 403 503 603 703 803 903 V + * 004 104 204 304 404 504 604 704 804 904 + + */ +void initializeTestGrid(nav_grid::VectorNavGrid& grid) +{ + grid.setDefaultValue(-10); + nav_grid::NavGridInfo info; + info.width = 10; + info.height = 5; + grid.setInfo(info); + double mx, my; + for (unsigned int j = 0; j < info.height; j++) + { + for (unsigned int i = 0; i < info.width; i++) + { + gridToWorld(info, i, j, mx, my); + grid.setValue(i, j, testGridValue(mx, my)); + } + } +} + +/** + * Check to make sure all the grid values are now the same based on their grid coordinates + */ +void checkSetGridValues(const nav_grid::VectorNavGrid& grid, + unsigned int x0, unsigned int x1, unsigned int y0, unsigned int y1) +{ + for (unsigned int x = 0; x < grid.getWidth(); x++) + { + for (unsigned int y = 0; y < grid.getHeight(); y++) + { + if (x >= x0 && x < x1 && y >= y0 && y < y1) + { + EXPECT_EQ(grid(x, y), testGridValue(x, y)); // testGridValue based on Grid Coordinates + } + else + { + EXPECT_EQ(grid(x, y), -10); + } + } + } +} + +/** + * Check to make sure all the grid values are now the same based on their world coordinates + */ +void checkUpdateGridValues(const nav_grid::VectorNavGrid& grid, + unsigned int x0, unsigned int x1, unsigned int y0, unsigned int y1) +{ + double mx, my; + for (unsigned int x = 0; x < grid.getWidth(); x++) + { + for (unsigned int y = 0; y < grid.getHeight(); y++) + { + if (x >= x0 && x < x1 && y >= y0 && y < y1) + { + gridToWorld(grid.getInfo(), x, y, mx, my); + EXPECT_EQ(grid(x, y), testGridValue(mx, my)); // testGridValue based on World Coordinates + } + else + { + EXPECT_EQ(grid(x, y), -10); + } + } + } +} + +void debugGridValues(const nav_grid::VectorNavGrid& grid) +{ + for (unsigned int j = 0; j < grid.getHeight(); j++) + { + for (unsigned int i = 0; i < grid.getWidth(); i++) + { + printf("%d ", grid(i, j)); + } + printf("\n"); + } + printf("\n"); +} + +TEST(VectorNavGrid, resizing_grid_with_set) +{ + nav_grid::VectorNavGrid grid; + initializeTestGrid(grid); + checkSetGridValues(grid, 0, grid.getWidth(), 0, grid.getHeight()); + + nav_grid::NavGridInfo decreased_width_info = grid.getInfo(); + decreased_width_info.width = 5; + grid.setInfo(decreased_width_info); + checkSetGridValues(grid, 0, grid.getWidth(), 0, grid.getHeight()); + + nav_grid::NavGridInfo increased_width_info = grid.getInfo(); + increased_width_info.width = 9; + grid.setInfo(increased_width_info); + checkSetGridValues(grid, 0, 5, 0, grid.getHeight()); + + initializeTestGrid(grid); + checkSetGridValues(grid, 0, grid.getWidth(), 0, grid.getHeight()); + + nav_grid::NavGridInfo increased_height_info = grid.getInfo(); + increased_height_info.height = 9; + grid.setInfo(increased_height_info); + checkSetGridValues(grid, 0, grid.getWidth(), 0, 5); + + nav_grid::NavGridInfo decreased_height_info = grid.getInfo(); + decreased_height_info.height = 4; + grid.setInfo(decreased_height_info); + checkSetGridValues(grid, 0, grid.getWidth(), 0, 4); +} + +TEST(VectorNavGrid, resizing_grid_with_update) +{ + nav_grid::VectorNavGrid grid; + initializeTestGrid(grid); + checkUpdateGridValues(grid, 0, grid.getWidth(), 0, grid.getHeight()); + + nav_grid::NavGridInfo decreased_width_info = grid.getInfo(); + decreased_width_info.width = 5; + grid.updateInfo(decreased_width_info); + checkUpdateGridValues(grid, 0, grid.getWidth(), 0, grid.getHeight()); + + nav_grid::NavGridInfo increased_width_info = grid.getInfo(); + increased_width_info.width = 9; + grid.updateInfo(increased_width_info); + checkUpdateGridValues(grid, 0, 5, 0, grid.getHeight()); + + initializeTestGrid(grid); + checkUpdateGridValues(grid, 0, grid.getWidth(), 0, grid.getHeight()); + + nav_grid::NavGridInfo increased_height_info = grid.getInfo(); + increased_height_info.height = 9; + grid.updateInfo(increased_height_info); + checkUpdateGridValues(grid, 0, grid.getWidth(), 0, 5); + + nav_grid::NavGridInfo decreased_height_info = grid.getInfo(); + decreased_height_info.height = 4; + grid.updateInfo(decreased_height_info); + checkUpdateGridValues(grid, 0, grid.getWidth(), 0, 4); +} + +TEST(VectorNavGrid, change_origin) +{ + nav_grid::VectorNavGrid grid; + initializeTestGrid(grid); + + nav_grid::NavGridInfo bump_right_info = grid.getInfo(); + bump_right_info.origin_x = 3; + grid.updateInfo(bump_right_info); + checkUpdateGridValues(grid, 0, 7, 0, grid.getHeight()); + + nav_grid::NavGridInfo bump_up_info = grid.getInfo(); + bump_up_info.origin_y = 2; + grid.updateInfo(bump_up_info); + checkUpdateGridValues(grid, 0, 7, 0, 3); + + nav_grid::NavGridInfo bump_left_info = grid.getInfo(); + bump_left_info.origin_x = -1; + grid.updateInfo(bump_left_info); + checkUpdateGridValues(grid, 4, grid.getWidth(), 0, 3); + + nav_grid::NavGridInfo bump_down_info = grid.getInfo(); + bump_down_info.origin_y = 0; + grid.updateInfo(bump_down_info); + checkUpdateGridValues(grid, 4, grid.getWidth(), 2, grid.getHeight()); + + + initializeTestGrid(grid); + nav_grid::NavGridInfo bump_far_right_info = grid.getInfo(); + bump_far_right_info.origin_x = 30; + grid.updateInfo(bump_far_right_info); + checkUpdateGridValues(grid, 0, 0, 0, 0); +} + +TEST(VectorNavGrid, combined_changes) +{ + // This is not a complete set of possible combined changes, just enough to satisfy my curiousity + nav_grid::VectorNavGrid grid; + initializeTestGrid(grid); + checkUpdateGridValues(grid, 0, grid.getWidth(), 0, grid.getHeight()); + + nav_grid::NavGridInfo info1 = grid.getInfo(); + info1.width = 15; + info1.origin_x = -5.0; + grid.updateInfo(info1); + checkUpdateGridValues(grid, 5, grid.getWidth(), 0, grid.getHeight()); + + initializeTestGrid(grid); + nav_grid::NavGridInfo info2 = grid.getInfo(); + info2.width = 17; + info2.origin_x = -5.0; + grid.updateInfo(info2); + checkUpdateGridValues(grid, 5, grid.getWidth() - 2, 0, grid.getHeight()); + + initializeTestGrid(grid); + nav_grid::NavGridInfo info3 = grid.getInfo(); + info3.width = 2; + info3.origin_x = 2.0; + grid.updateInfo(info3); + checkUpdateGridValues(grid, 0, grid.getWidth(), 0, grid.getHeight()); + + initializeTestGrid(grid); + nav_grid::NavGridInfo info4 = grid.getInfo(); + info4.width = 20; + info4.height = 20; + info4.origin_x = -2.0; + info4.origin_y = -5.0; + grid.updateInfo(info4); + checkUpdateGridValues(grid, 2, 12, 5, 10); +} + +TEST(Index, comparison_tests) +{ + unsigned int N = 5; + for (unsigned int x0 = 0; x0 < N; ++x0) + { + for (unsigned int y0 = 0; y0 < N; ++y0) + { + nav_grid::Index index0(x0, y0); + + for (unsigned int x1 = 0; x1 < N; ++x1) + { + for (unsigned int y1 = 0; y1 < N; ++y1) + { + nav_grid::Index index1(x1, y1); + // Check equality and the test for equality that sets use + // See https://stackoverflow.com/a/1114862 + if (x0 == x1 && y0 == y1) + { + EXPECT_EQ(index0, index1); + EXPECT_TRUE(!(index0 < index1) && !(index1 < index0)); + EXPECT_GE(index0, index1); + EXPECT_LE(index0, index1); + EXPECT_GE(index1, index0); + EXPECT_LE(index1, index0); + } + else + { + EXPECT_NE(index0, index1); + EXPECT_FALSE(!(index0 < index1) && !(index1 < index0)); + if (x0 < x1 || (x0 == x1 && y0 < y1)) + { + EXPECT_LT(index0, index1); + EXPECT_GT(index1, index0); + EXPECT_LE(index0, index1); + EXPECT_GE(index1, index0); + } + else + { + EXPECT_GT(index0, index1); + EXPECT_LT(index1, index0); + EXPECT_GE(index0, index1); + EXPECT_LE(index1, index0); + } + } + } + } + } + } +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_grid_iterators/CMakeLists.txt b/navigations/nav_grid_iterators/CMakeLists.txt new file mode 100755 index 0000000..baba8c3 --- /dev/null +++ b/navigations/nav_grid_iterators/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 3.0.2) +project(nav_grid_iterators) +set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;-Wall;-Werror") + +find_package(catkin REQUIRED COMPONENTS + nav_grid nav_2d_msgs nav_2d_utils nav_msgs roscpp +) + +catkin_package( + CATKIN_DEPENDS nav_grid nav_2d_msgs nav_2d_utils nav_msgs roscpp + INCLUDE_DIRS include + LIBRARIES nav_grid_iterators +) + +add_library(nav_grid_iterators + src/whole_grid.cpp + src/sub_grid.cpp + src/circle_fill.cpp + src/circle_outline.cpp + src/spiral.cpp + src/bresenham.cpp + src/ray_trace.cpp + src/line.cpp + src/polygon_outline.cpp + src/polygon_fill.cpp +) + +target_link_libraries( + nav_grid_iterators ${catkin_LIBRARIES} +) + +add_executable(demo demo/demo.cpp) +add_dependencies(demo ${catkin_EXPORTED_TARGETS}) +target_link_libraries(demo nav_grid_iterators ${catkin_LIBRARIES}) + +include_directories( + include ${catkin_INCLUDE_DIRS} +) + +if (CATKIN_ENABLE_TESTING) + find_package(roslint REQUIRED) + roslint_cpp() + roslint_add_test() + + catkin_add_gtest(line_tests test/line_tests.cpp) + target_link_libraries(line_tests nav_grid_iterators) + catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp) + target_link_libraries(${PROJECT_NAME}_utest nav_grid_iterators) +endif (CATKIN_ENABLE_TESTING) + +install(TARGETS nav_grid_iterators + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/navigations/nav_grid_iterators/README.md b/navigations/nav_grid_iterators/README.md new file mode 100755 index 0000000..9d27024 --- /dev/null +++ b/navigations/nav_grid_iterators/README.md @@ -0,0 +1,32 @@ +# nav_grid_iterators + +This package provides C++ iterators for iterating over some portion of a `NavGrid`. There are two sets. The first are signed line iterators which are not constrained to valid `NavGrid` indexes. Second, are the general iterators which are constrained to valid `NavGrid` indexes. + +## Signed Line Iteration +As a building block for the general iterators, we provide two line iterators that iterate over `int` coordinates. Both take two pairs of coordinates for start and end points, as well as a boolean for whether to include the coordinates of the end point in the iteration. + * [`Bresenham`](include/nav_grid_iterators/line/bresenham.h) takes integer coordinates as input and implements [Bresenham's line algorithm](https://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm), which means that there is either only one cell per column or one cell per row. + * [`RayTrace`](include/nav_grid_iterators/line/ray_trace.h) takes double coordinates as input and implements [Ray tracing](https://en.wikipedia.org/wiki/Ray_tracing_(graphics)), which means that it iterates over all cells that the line passes through, even if only briefly. + +## General Iterators + * [`WholeGrid`](include/nav_grid_iterators/whole_grid.h) iterates over every cell in the grid in row major order. + * [`SubGrid`](include/nav_grid_iterators/sub_grid.h) iterates over a rectangular subportion of the grid in row major order. + * [`Line`](include/nav_grid_iterators/line.h) iterates over a line, using either of the above algorithms, but the coordinates are constrained to the grid. + * [`PolygonFill`](include/nav_grid_iterators/polygon_fill.h) iterates over all the cells whose centers fall within a `nav_2d_msgs::Polygon2D` + * [`PolygonOutline`](include/nav_grid_iterators/polygon_outline.h) iterates over the outline of a `nav_2d_msgs::Polygon2D` using either of the two above line iterators. + * [`CircleFill`](include/nav_grid_iterators/circle_fill.h) iterates over all the cells whose centers fall within a given circle, iterating in row major order. + * [`Spiral`](include/nav_grid_iterators/spiral.h) iterates over the same cells as `CircleFill` but from the center of the circle outward. + * [`CircleOutline`](include/nav_grid_iterators/circle_outline.h) iterates around the outline of a circle. + +# Demo +A demonstration of all the general iterators can be seen by running `roslaunch nav_grid_iterators demo.launch` or by looking at [this video](demo/demo.mp4). + * The purple iterator is `WholeGrid` + * The bottom row, left to right, are + * `SubGrid` (green) + * `PolygonFill` (yellow) + * `PolygonOutline+Bresenham` (blue) + * `PolygonOutline+RayTrace` (blue) + * In the middle are a `Line+Bresenham` (bottom) and a `Line+RayTrace` (top) + * The top row, left to right, are + * `CircleFill` (grey) + * `Spiral` (green) + * `CircleOutline` (cyan) diff --git a/navigations/nav_grid_iterators/demo/demo.cpp b/navigations/nav_grid_iterators/demo/demo.cpp new file mode 100755 index 0000000..ffa0ae3 --- /dev/null +++ b/navigations/nav_grid_iterators/demo/demo.cpp @@ -0,0 +1,160 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include +#include + +template +class InfiniteIterator +{ +public: + InfiniteIterator(Iterator it, unsigned char active_value, unsigned char seen_value) + : it_(it), active_(active_value), seen_(seen_value) + { + } + + void iterate(nav_grid::NavGrid& grid) + { + // Note that this demo assumes that each iterator has at least one point on the grid + grid.setValue(*it_, seen_); + ++it_; + if (it_ == it_.end()) + { + it_ = it_.begin(); + } + grid.setValue(*it_, active_); + } + +private: + Iterator it_; + unsigned char active_, seen_; +}; + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "iterator_demo"); + nav_grid::VectorNavGrid grid; + nav_grid::NavGridInfo info; + sleep(5.0); + info.width = 75; + info.height = 60; + info.resolution = 0.1; + grid.setInfo(info); + + ros::NodeHandle nh("~"); + ros::Publisher pub = nh.advertise("/map", 1); + ros::Rate r(33); + + nav_2d_msgs::Polygon2D triangle; + triangle.points.resize(3); + triangle.points[0].x = 1.9; + triangle.points[0].y = 0.5; + triangle.points[1].x = 3.5; + triangle.points[1].y = 1.0; + triangle.points[2].x = 2.0; + triangle.points[2].y = 2.4; + + nav_2d_msgs::Polygon2D diamond; + diamond.points.resize(4); + diamond.points[0].x = 4.5; + diamond.points[0].y = 0.0; + diamond.points[1].x = 5.3; + diamond.points[1].y = 1.25; + diamond.points[2].x = 4.5; + diamond.points[2].y = 2.5; + diamond.points[3].x = 3.7; + diamond.points[3].y = 1.25; + + nav_2d_msgs::Polygon2D diamond2; + diamond2.points.resize(4); + diamond2.points[0].x = 6.5; + diamond2.points[0].y = 0.0; + diamond2.points[1].x = 7.3; + diamond2.points[1].y = 1.25; + diamond2.points[2].x = 6.5; + diamond2.points[2].y = 2.5; + diamond2.points[3].x = 5.7; + diamond2.points[3].y = 1.25; + + InfiniteIterator whole_grid(nav_grid_iterators::WholeGrid(&info), 100, 50); + InfiniteIterator sub_grid(nav_grid_iterators::SubGrid(&info, 3, 5, 14, 15), 99, 101); + InfiniteIterator line(nav_grid_iterators::Line(&info, 7.3, 2.8, 0.2, 2.5), 126, 200); + InfiniteIterator line2(nav_grid_iterators::Line(&info, 7.3, 3.3, 0.2, 3.0, true, false), + 126, 200); + InfiniteIterator circle_fill(nav_grid_iterators::CircleFill(&info, 1.25, 4.8, 1.0), + 254, 255); + InfiniteIterator spiral(nav_grid_iterators::Spiral(&info, 3.75, 4.8, 1.0), 254, 126); + InfiniteIterator circle_o(nav_grid_iterators::CircleOutline(&info, 6.25, 4.8, 1.0), + 254, 99); + InfiniteIterator poly_f(nav_grid_iterators::PolygonFill(&info, triangle), 126, 254); + InfiniteIterator poly_o(nav_grid_iterators::PolygonOutline(&info, diamond), 0, 1); + InfiniteIterator poly_r(nav_grid_iterators::PolygonOutline(&info, diamond2, 0), + 0, 1); + + nav_msgs::OccupancyGrid ogrid; + ogrid.header.frame_id = info.frame_id; + ogrid.info = nav_2d_utils::infoToInfo(info); + ogrid.data.resize(info.width * info.height); + + while (ros::ok()) + { + whole_grid.iterate(grid); + sub_grid.iterate(grid); + line.iterate(grid); + line2.iterate(grid); + circle_fill.iterate(grid); + spiral.iterate(grid); + circle_o.iterate(grid); + poly_f.iterate(grid); + poly_o.iterate(grid); + poly_r.iterate(grid); + + // Manaully creating OccupancyGrid (rather than use nav_grid_pub_sub) to avoid circular dependency + ogrid.header.stamp = ros::Time::now(); + + unsigned int data_index = 0; + for (const nav_grid::Index& index : nav_grid_iterators::WholeGrid(info)) + { + ogrid.data[data_index++] = grid(index); + } + pub.publish(ogrid); + r.sleep(); + } + + return 0; +} diff --git a/navigations/nav_grid_iterators/demo/demo.launch b/navigations/nav_grid_iterators/demo/demo.launch new file mode 100755 index 0000000..a88c413 --- /dev/null +++ b/navigations/nav_grid_iterators/demo/demo.launch @@ -0,0 +1,4 @@ + + + + diff --git a/navigations/nav_grid_iterators/demo/demo.mp4 b/navigations/nav_grid_iterators/demo/demo.mp4 new file mode 100755 index 0000000..5fe880a Binary files /dev/null and b/navigations/nav_grid_iterators/demo/demo.mp4 differ diff --git a/navigations/nav_grid_iterators/demo/demo.rviz b/navigations/nav_grid_iterators/demo/demo.rviz new file mode 100755 index 0000000..ba2c32a --- /dev/null +++ b/navigations/nav_grid_iterators/demo/demo.rviz @@ -0,0 +1,19 @@ +Visualization Manager: + Displays: + - Class: rviz/Map + Color Scheme: costmap + Enabled: true + Name: Map + Topic: /map + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Name: Current View + Scale: 100 + Value: TopDownOrtho (rviz) + X: 3.5 + Y: 2.5 +Window Geometry: + Height: 1400 + Width: 2500 diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/base_iterator.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/base_iterator.h new file mode 100755 index 0000000..874a20f --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/base_iterator.h @@ -0,0 +1,139 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_BASE_ITERATOR_H +#define NAV_GRID_ITERATORS_BASE_ITERATOR_H + +#include +#include + +namespace nav_grid_iterators +{ +template +class BaseIterator +{ +public: + /** + * @brief Public Constructor. Takes in a pointer to the info and starts at the minimum index + * @param info NavGridInfo for the grid to iterate over + */ + explicit BaseIterator(const nav_grid::NavGridInfo* info) : BaseIterator(info, nav_grid::Index(0, 0)) {} + + /** + * @brief Public Constructor. Takes in a reference to the info and starts at the minimum index + * @param info NavGridInfo for the grid to iterate over + */ + explicit BaseIterator(const nav_grid::NavGridInfo& info) : BaseIterator(&info, nav_grid::Index(0, 0)) {} + + /** + * @brief Destructor + */ + virtual ~BaseIterator() = default; + + /** + * @brief Helper function for range-style iteration + * Equivalent to the above constructor + * @return Iterator representing beginning of the iteration + */ + virtual Derived begin() const = 0; + + /** + * @brief Helper function for range-style iteration + * @return Iterator representing end of the iteration, with an invalid index + */ + virtual Derived end() const = 0; + + /** + * @brief Test if two iterators are equivalent + * + * Derived classes may want to implement the fieldsEqual function + * for checking if additional fields beyond the index and info are equal. + */ + bool operator==(const Derived& other) { return info_ == other.info_ && index_ == other.index_ && fieldsEqual(other); } + + /** + * @brief Test if two iterators are not equivalent - required for testing if iterator is at the end + */ + bool operator!=(const Derived& other) { return !(*this == other); } + + /** + * @brief Additional check for whether fields of derived iterators are equal. + * + * Helps make overriding the == operator easy. + */ + virtual bool fieldsEqual(const Derived& other) { return true; } + + /** + * @brief Dereference the iterator + * @return the index to which the iterator is pointing. + */ + const nav_grid::Index& operator*() const { return index_; } + + /** + * @brief Increase the iterator to the next element. + * @return a reference to the updated iterator. + */ + Derived& operator++() + { + increment(); + return *static_cast(this); + } + + /** + * @brief Increase the iterator to the next element. + */ + virtual void increment() = 0; + + using self_type = Derived; + using value_type = nav_grid::Index; + using reference = nav_grid::Index&; + using pointer = nav_grid::Index*; + using iterator_category = std::input_iterator_tag; + using difference_type = int; + + +protected: + /** + * @brief Protected constructor that takes in an arbitrary index + * @param info NavGridInfo for the grid to iterate over + * @param index Initial index + */ + BaseIterator(const nav_grid::NavGridInfo* info, const nav_grid::Index& index) : info_(info), index_(index) {} + + const nav_grid::NavGridInfo* info_; + nav_grid::Index index_; +}; +} // namespace nav_grid_iterators + +#endif // NAV_GRID_ITERATORS_BASE_ITERATOR_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/circle_fill.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/circle_fill.h new file mode 100755 index 0000000..be6c5e9 --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/circle_fill.h @@ -0,0 +1,113 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_CIRCLE_FILL_H +#define NAV_GRID_ITERATORS_CIRCLE_FILL_H + +#include +#include +#include + +namespace nav_grid_iterators +{ +/** + * @class CircleFill + * @brief Iterates over all of the valid indexes that lie within a circle in row major order + */ +class CircleFill : public BaseIterator +{ +public: + /** + * @brief Public Constructor. + * @param info NavGridInfo for the grid to iterate over + * @param center_x Center of the circle (x coordinate) + * @param center_y Center of the circle (y coordinate) + * @param radius Size of the circle + */ + CircleFill(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius); + + /** + * @brief Copy Constructor + * Required to ensure unique_ptr is set properly + */ + CircleFill(const CircleFill& other); + + /** + * @brief Assignment Operator + * Required to ensure unique_ptr is set properly + */ + CircleFill& operator=(const CircleFill& other); + + /**@name Standard BaseIterator Interface */ + /**@{*/ + CircleFill begin() const override; + CircleFill end() const override; + void increment() override; + bool fieldsEqual(const CircleFill& other) override; + /**@}*/ + +protected: + /** + * @brief Protected constructor that takes in an arbitrary index and other internal parameters + * @param info NavGridInfo for the grid to iterate over + * @param index Initial index + * @param center_x Center of the circle (x coordinate) + * @param center_y Center of the circle (y coordinate) + * @param radius_sq Square of the size of the circle + * @param min_x Minimum valid index that is within the circle (x coordinate) + * @param min_y Minimum valid index that is within the circle (y coordinate) + * @param width Maximum number of valid indexes in a row of the circle + * @param height Maximum number of of valid indexes in a column of the circle + * @param start_index The first valid index in the minimum row + */ + CircleFill(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double center_x, double center_y, + double radius_sq, unsigned int min_x, unsigned int min_y, unsigned int width, unsigned int height, + const nav_grid::Index& start_index); + + + /** + * @brief Check if coordinates are inside the circle. + * @return true if inside, false otherwise. + */ + bool isInside(unsigned int x, unsigned int y) const; + + double center_x_, center_y_, radius_sq_; + unsigned int min_x_, min_y_, width_, height_; + nav_grid::Index start_index_; + std::unique_ptr internal_iterator_; +}; +} // namespace nav_grid_iterators + + +#endif // NAV_GRID_ITERATORS_CIRCLE_FILL_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/circle_outline.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/circle_outline.h new file mode 100755 index 0000000..a5a943d --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/circle_outline.h @@ -0,0 +1,124 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_CIRCLE_OUTLINE_H +#define NAV_GRID_ITERATORS_CIRCLE_OUTLINE_H + +#include + +namespace nav_grid_iterators +{ + +/** + * @brief returns the sign of a number + * @param val number + * @return 1 if positive, 0 if 0, -1 if negative + */ +inline int signum(const int val) +{ + return (0 < val) - (val < 0); +} + +/** + * @class CircleOutline + * @brief Iterates over the valid indexes that lie on the outline of a circle + */ +class CircleOutline : public BaseIterator +{ +public: + /** + * @brief Public Constructor. + * @param info NavGridInfo for the grid to iterate over + * @param center_x Center of the circle (x coordinate) + * @param center_y Center of the circle (y coordinate) + * @param radius Size of the circle + */ + CircleOutline(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius); + + + /** + * @brief Public Constructor with integer radius. + * @param info NavGridInfo for the grid to iterate over + * @param center_x Center of the circle (x coordinate) + * @param center_y Center of the circle (y coordinate) + * @param radius Size of the circle + */ + CircleOutline(const nav_grid::NavGridInfo* info, double center_x, double center_y, unsigned int radius); + + /**@name Standard BaseIterator Interface */ + /**@{*/ + CircleOutline begin() const override; + CircleOutline end() const override; + void increment() override; + bool fieldsEqual(const CircleOutline& other) override; + /**@}*/ + +protected: + /** + * @brief Protected constructor that takes in an arbitrary index and other internal parameters + * @param info NavGridInfo for the grid to iterate over + * @param index Initial index + * @param center_index_x Index of the center of the circle (x coordinate) + * @param center_index_y Index of the center of the circle (y coordinate) + * @param distance The number of cells in the radius of the circle + * @param init Whether the first cell has been visited or not + * @param start_index The first valid index in the minimum row + */ + CircleOutline(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, int center_index_x, int center_index_y, + unsigned int distance, bool init, const nav_grid::Index& start_index); + + + /** + * @brief Check if arbitrary coordinates are within the grid + * @return true if inside grid, false otherwise. + */ + bool isValidIndex(int x, int y) const; + + /** + * @brief Check if a cell with the given distance from the center of the circle is on the outline of the circle + * @return true if the distance to the cell when rounded to an integer is equal to the distance_ + */ + bool isOnOutline(int dx, int dy) const; + + int center_index_x_, center_index_y_; + unsigned int distance_; + bool init_; + int signed_width_, signed_height_; + int point_x_, point_y_; + nav_grid::Index start_index_; +}; +} // namespace nav_grid_iterators + + +#endif // NAV_GRID_ITERATORS_CIRCLE_OUTLINE_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/iterators.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/iterators.h new file mode 100755 index 0000000..efe8448 --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/iterators.h @@ -0,0 +1,47 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_ITERATORS_H +#define NAV_GRID_ITERATORS_ITERATORS_H + +#include +#include +#include +#include +#include +#include +#include +#include + +#endif // NAV_GRID_ITERATORS_ITERATORS_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/line.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/line.h new file mode 100755 index 0000000..4df194d --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/line.h @@ -0,0 +1,115 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_LINE_H +#define NAV_GRID_ITERATORS_LINE_H + +#include +#include +#include + +namespace nav_grid_iterators +{ +/** + * @class Line + * @brief Iterates over all of the valid indexes of a line + */ +class Line : public BaseIterator +{ +public: + /** + * @brief Public Constructor. + * @param info NavGridInfo for the grid to iterate over + * @param x0 Start x coordinate + * @param y0 Start y coordinate + * @param x1 End x coordinate + * @param y1 End y coordinate + * @param include_last_index If true, will include the end coordinates. + */ + Line(const nav_grid::NavGridInfo* info, double x0, double y0, double x1, double y1, + bool include_last_index = true, bool bresenham = true); + + /** + * @brief Copy Constructor + * Required to ensure unique_ptr is set properly + */ + Line(const Line& other); + + /** + * @brief Assignment Operator + * Required to ensure unique_ptr is set properly + */ + Line& operator=(const Line& other); + + /**@name Standard BaseIterator Interface */ + /**@{*/ + Line begin() const override; + Line end() const override; + void increment() override; + bool fieldsEqual(const Line& other) override; + /**@}*/ + +protected: + /** + * @brief Protected constructor that takes in an arbitrary index and other internal parameters + * @param info NavGridInfo for the grid to iterate over + * @param index Initial index + * @param x0 Start x coordinate + * @param y0 Start y coordinate + * @param x1 End x coordinate + * @param y1 End y coordinate + * @param include_last_index If true, will include the end coordinates. + * @param start_index The first valid index + * @param end_index The first invalid index + */ + Line(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double x0, double y0, double x1, double y1, + bool include_last_index, bool bresenham, nav_grid::Index start_index, nav_grid::Index end_index); + + void constructIterator(); + + /** + * @brief Check if a SignedIndex is within the bounds of the NavGrid + */ + bool inBounds(const nav_grid::SignedIndex& sindex); + + std::unique_ptr internal_iterator_; + double x0_, y0_, x1_, y1_; + bool include_last_index_; + bool bresenham_; + int signed_width_, signed_height_; + nav_grid::Index start_index_, end_index_; +}; +} // namespace nav_grid_iterators + +#endif // NAV_GRID_ITERATORS_LINE_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/line/abstract_line_iterator.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/line/abstract_line_iterator.h new file mode 100755 index 0000000..883ede9 --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/line/abstract_line_iterator.h @@ -0,0 +1,89 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_LINE_ABSTRACT_LINE_ITERATOR_H +#define NAV_GRID_ITERATORS_LINE_ABSTRACT_LINE_ITERATOR_H + +#include + +namespace nav_grid_iterators +{ +/** + * @class AbstractLineIterator + * @brief Abstract class for iterating over lines. + * + * Not constrained by a bounding box from NavGridInfo, i.e. can include positive and negative indexes + */ +class AbstractLineIterator +{ +public: + /** + * @brief Public Constructor + */ + AbstractLineIterator() {} + + /** + * @brief Public Destructor + */ + virtual ~AbstractLineIterator() = default; + + /** + * @brief Dereference the iterator + * @return the index to which the iterator is pointing. + */ + const nav_grid::SignedIndex& operator*() const { return index_; } + + virtual nav_grid::SignedIndex getFinalIndex() const = 0; + + bool isFinished() + { + return getFinalIndex() == index_; + } + + /** + * @brief Increase the iterator to the next element. + */ + virtual void increment() = 0; + +protected: + /** + * @brief Protected Constructor - takes arbitrary index + */ + explicit AbstractLineIterator(nav_grid::SignedIndex index) : index_(index) {} + nav_grid::SignedIndex index_; +}; + +} // namespace nav_grid_iterators + +#endif // NAV_GRID_ITERATORS_LINE_ABSTRACT_LINE_ITERATOR_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/line/bresenham.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/line/bresenham.h new file mode 100755 index 0000000..03c38ff --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/line/bresenham.h @@ -0,0 +1,136 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_LINE_BRESENHAM_H +#define NAV_GRID_ITERATORS_LINE_BRESENHAM_H + +#include + +namespace nav_grid_iterators +{ +/** + * @class Bresenham + * @brief Line Iterator using Bresenham's algorithm (no subpixel precision) + */ +class Bresenham : public AbstractLineIterator +{ +public: + /** + * @brief Public constructor + * @param x0 Start x coordinate + * @param y0 Start y coordinate + * @param x1 End x coordinate + * @param y1 End y coordinate + * @param include_last_index If true, will include the end coordinates. + */ + Bresenham(int x0, int y0, int x1, int y1, bool include_last_index = true); + + /** + * @brief Test if two iterators are equivalent + */ + bool operator==(const Bresenham& other) + { + return x0_ == other.x0_ && y0_ == other.y0_ && x1_ == other.x1_ && y1_ == other.y1_ && index_ == other.index_; + } + + /** + * @brief Test if two iterators are not equivalent - required for testing if iterator is at the end + */ + bool operator!=(const Bresenham& other) { return !(*this == other); } + + /** + * @brief Helper function for range-style iteration + * @return Iterator representing beginning of the iteration + */ + Bresenham begin() const; + + /** + * @brief Helper function for range-style iteration + * @return Iterator representing end of the iteration, with an invalid index + */ + Bresenham end() const; + + nav_grid::SignedIndex getFinalIndex() const override; + void increment() override; + + /** + * @brief Increase the iterator to the next element. + * @return a reference to the updated iterator. + */ + Bresenham& operator++() + { + increment(); + return *this; + } + + using self_type = Bresenham; + using value_type = nav_grid::SignedIndex; + using reference = nav_grid::SignedIndex&; + using pointer = nav_grid::SignedIndex*; + using iterator_category = std::input_iterator_tag; + using difference_type = int; + +protected: + /** + * @brief Protected constructor that takes in an arbitrary index and other internal parameters + * @param index Initial index + * @param x0 Start x coordinate + * @param y0 Start y coordinate + * @param x1 End x coordinate + * @param y1 End y coordinate + * @param include_last_index If true, will include the end coordinates. + * @param error_inc_x + * @param loop_inc_x + * @param error_inc_y + * @param loop_inc_y + * @param denominator + * @param numerator + * @param numerator_inc + */ + Bresenham(const nav_grid::SignedIndex& index, + int x0, int y0, int x1, int y1, bool include_last_index, + int error_inc_x, int loop_inc_x, int error_inc_y, int loop_inc_y, + int denominator, int numerator, int numerator_inc); + + + int x0_, y0_, x1_, y1_; + bool include_last_index_; + int error_inc_x_, loop_inc_x_, error_inc_y_, loop_inc_y_; + int denominator_, numerator_, numerator_inc_; +}; + + +} // namespace nav_grid_iterators + +#endif // NAV_GRID_ITERATORS_LINE_BRESENHAM_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/line/ray_trace.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/line/ray_trace.h new file mode 100755 index 0000000..5a87a93 --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/line/ray_trace.h @@ -0,0 +1,132 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_LINE_RAY_TRACE_H +#define NAV_GRID_ITERATORS_LINE_RAY_TRACE_H + +#include + +namespace nav_grid_iterators +{ +/** + * @class RayTrace + * @brief Line Iterator with Ray Tracing (subpixel accuracy) + */ +class RayTrace : public AbstractLineIterator +{ +public: + /** + * @brief Public constructor + * @param x0 Start x coordinate + * @param y0 Start y coordinate + * @param x1 End x coordinate + * @param y1 End y coordinate + * @param include_last_index If true, will include the end coordinates. + */ + RayTrace(double x0, double y0, double x1, double y1, bool include_last_index = true); + + /** + * @brief Test if two iterators are equivalent + */ + bool operator==(const RayTrace& other) + { + return x0_ == other.x0_ && y0_ == other.y0_ && x1_ == other.x1_ && y1_ == other.y1_ && index_ == other.index_; + } + + /** + * @brief Test if two iterators are not equivalent - required for testing if iterator is at the end + */ + bool operator!=(const RayTrace& other) { return !(*this == other); } + + /** + * @brief Helper function for range-style iteration + * @return Iterator representing beginning of the iteration + */ + RayTrace begin() const; + + /** + * @brief Helper function for range-style iteration + * @return Iterator representing end of the iteration, with an invalid index + */ + RayTrace end() const; + + nav_grid::SignedIndex getFinalIndex() const override; + void increment() override; + + /** + * @brief Increase the iterator to the next element. + * @return a reference to the updated iterator. + */ + RayTrace& operator++() + { + increment(); + return *this; + } + + using self_type = RayTrace; + using value_type = nav_grid::SignedIndex; + using reference = nav_grid::SignedIndex&; + using pointer = nav_grid::SignedIndex*; + using iterator_category = std::input_iterator_tag; + using difference_type = int; + +protected: + /** + * @brief Protected constructor that takes in an arbitrary index and other internal parameters + * @param index Initial index + * @param x0 Start x coordinate + * @param y0 Start y coordinate + * @param x1 End x coordinate + * @param y1 End y coordinate + * @param include_last_index If true, will include the end coordinates. + * @param dx + * @param dy + * @param initial_error + * @param loop_inc_x + * @param loop_inc_y + */ + RayTrace(const nav_grid::SignedIndex& index, + double x0, double y0, double x1, double y1, bool include_last_index, + double dx, double dy, double initial_error, int loop_inc_x, int loop_inc_y); + + + double x0_, y0_, x1_, y1_; + bool include_last_index_; + double dx_, dy_, error_, initial_error_; + int loop_inc_x_, loop_inc_y_; +}; + +} // namespace nav_grid_iterators + +#endif // NAV_GRID_ITERATORS_LINE_RAY_TRACE_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/polygon_fill.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/polygon_fill.h new file mode 100755 index 0000000..7c094c6 --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/polygon_fill.h @@ -0,0 +1,109 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_POLYGON_FILL_H +#define NAV_GRID_ITERATORS_POLYGON_FILL_H + +#include +#include +#include +#include + +namespace nav_grid_iterators +{ +/** + * @class PolygonFill + * @brief Iterates over all of the valid indexes that lie within an arbitrary polygon in row major order + */ +class PolygonFill : public BaseIterator +{ +public: + /** + * @brief Public Constructor. + * @param info NavGridInfo for the grid to iterate over + * @param polygon Polygon to iterate over + */ + PolygonFill(const nav_grid::NavGridInfo* info, nav_2d_msgs::Polygon2D polygon); + + /** + * @brief Copy Constructor + * Required to ensure unique_ptr is set properly + */ + PolygonFill(const PolygonFill& other); + + /** + * @brief Assignment Operator + * Required to ensure unique_ptr is set properly + */ + PolygonFill& operator=(const PolygonFill& other); + + /**@name Standard BaseIterator Interface */ + /**@{*/ + PolygonFill begin() const override; + PolygonFill end() const override; + void increment() override; + bool fieldsEqual(const PolygonFill& other) override; + /**@}*/ + +protected: + /** + * @brief Protected constructor that takes in an arbitrary index and other internal parameters + * @param info NavGridInfo for the grid to iterate over + * @param index Initial index + * @param polygon Polygon to iterate over + * @param min_x Minimum valid index that is within the polygon (x coordinate) + * @param min_y Minimum valid index that is within the polygon (y coordinate) + * @param width Maximum number of valid indexes in a row of the polygon + * @param height Maximum number of of valid indexes in a column of the polygon + * @param start_index The first valid index in the minimum row + */ + PolygonFill(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, nav_2d_msgs::Polygon2D polygon, + unsigned int min_x, unsigned int min_y, unsigned int width, unsigned int height, + const nav_grid::Index& start_index); + + + /** + * @brief Check if given index is inside the polygon. + * @return true if inside, false otherwise. + */ + bool isInside(unsigned int x, unsigned int y) const; + + nav_2d_msgs::Polygon2D polygon_; + unsigned int min_x_, min_y_, width_, height_; + nav_grid::Index start_index_; + std::unique_ptr internal_iterator_; +}; +} // namespace nav_grid_iterators + +#endif // NAV_GRID_ITERATORS_POLYGON_FILL_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/polygon_outline.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/polygon_outline.h new file mode 100755 index 0000000..357aada --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/polygon_outline.h @@ -0,0 +1,104 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_POLYGON_OUTLINE_H +#define NAV_GRID_ITERATORS_POLYGON_OUTLINE_H + +#include +#include +#include +#include + +namespace nav_grid_iterators +{ +/** + * @class PolygonOutline + * @brief Iterates over all of the valid indexes on the outline of a polygon + */ +class PolygonOutline : public BaseIterator +{ +public: + /** + * @brief Public Constructor. + * @param info NavGridInfo for the grid to iterate over + * @param polygon Polygon to iterate over + */ + PolygonOutline(const nav_grid::NavGridInfo* info, nav_2d_msgs::Polygon2D polygon, bool bresenham = true); + + /** + * @brief Copy Constructor + * Required to ensure unique_ptr is set properly + */ + PolygonOutline(const PolygonOutline& other); + + /** + * @brief Assignment Operator + * Required to ensure unique_ptr is set properly + */ + PolygonOutline& operator=(const PolygonOutline& other); + + /**@name Standard BaseIterator Interface */ + /**@{*/ + PolygonOutline begin() const override; + PolygonOutline end() const override; + void increment() override; + bool fieldsEqual(const PolygonOutline& other) override; + /**@}*/ + +protected: + /** + * @brief Protected constructor that takes in an arbitrary index and other internal parameters + * @param info NavGridInfo for the grid to iterate over + * @param index Initial index + * @param polygon Polygon to iterate over + * @param side_index Which side we are currently iterating over + */ + PolygonOutline(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, nav_2d_msgs::Polygon2D polygon, + bool bresenham, unsigned int side_index); + + /** + * @brief Given a new side index, loads the internal iterator. + * If there are no valid values in the internal iterator, increases the side index. + */ + void loadSide(); + + std::unique_ptr internal_iterator_; + nav_2d_msgs::Polygon2D polygon_; + nav_grid::Index start_index_; + bool bresenham_; + unsigned int side_index_; +}; +} // namespace nav_grid_iterators + +#endif // NAV_GRID_ITERATORS_POLYGON_OUTLINE_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/spiral.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/spiral.h new file mode 100755 index 0000000..666391a --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/spiral.h @@ -0,0 +1,116 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_SPIRAL_H +#define NAV_GRID_ITERATORS_SPIRAL_H + +#include +#include +#include + +namespace nav_grid_iterators +{ +/** + * @class Spiral + * @brief Iterates over all of the valid indexes that lie within a circle from the center out + */ +class Spiral : public BaseIterator +{ +public: + /** + * @brief Public Constructor. + * @param info NavGridInfo for the grid to iterate over + * @param center_x Center of the circle (x coordinate) + * @param center_y Center of the circle (y coordinate) + * @param radius Size of the circle + */ + Spiral(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius); + + /** + * @brief Copy Constructor + * Required to ensure unique_ptr is set properly + */ + Spiral(const Spiral& other); + + /** + * @brief Assignment Operator + * Required to ensure unique_ptr is set properly + */ + Spiral& operator=(const Spiral& other); + + /**@name Standard BaseIterator Interface */ + /**@{*/ + Spiral begin() const override; + Spiral end() const override; + void increment() override; + bool fieldsEqual(const Spiral& other) override; + /**@}*/ + +protected: + /** + * @brief Protected constructor that takes in an arbitrary index and other internal parameters + * @param info NavGridInfo for the grid to iterate over + * @param index Initial index + * @param center_x Center of the circle (x coordinate) + * @param center_y Center of the circle (y coordinate) + * @param radius_sq Square of the size of the circle + * @param distance Which ring of the spiral to start on + * @param max_distance The maximum valid ring + * @param start_index The first valid index in the spiral + */ + Spiral(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double center_x, double center_y, + double radius_sq, unsigned int distance, unsigned int max_distance, + const nav_grid::Index& start_index); + + /** + * @brief Given a new distance value, loads the internal iterator. + * If there are no valid values in the internal iterator, increases the distance. + */ + void loadRing(); + + /** + * @brief Check if the center of the given index is within the circle + * @return true if inside + */ + bool isInside(unsigned int x, unsigned int y) const; + + double center_x_, center_y_, radius_sq_; + unsigned int distance_, max_distance_; + nav_grid::Index start_index_; + std::unique_ptr internal_iterator_; +}; +} // namespace nav_grid_iterators + + +#endif // NAV_GRID_ITERATORS_SPIRAL_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/sub_grid.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/sub_grid.h new file mode 100755 index 0000000..60d195d --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/sub_grid.h @@ -0,0 +1,104 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_SUB_GRID_H +#define NAV_GRID_ITERATORS_SUB_GRID_H + +#include +#include + +namespace nav_grid_iterators +{ +/** + * @class SubGrid + * @brief Iterator for looping through every index within an aligned rectangular portion of the grid + */ +class SubGrid : public BaseIterator +{ +public: + /** + * @brief Public Constructor + * @param info NavGridInfo for the grid to iterate over + * @param min_x Minimum index (x coordinate) + * @param min_y Minimum index (y coordinate) + * @param width Number of indexes in the x direction + * @param height Number of indexes in the y direction + */ + SubGrid(const nav_grid::NavGridInfo* info, unsigned int min_x, unsigned int min_y, + unsigned int width, unsigned int height) + : SubGrid(info, nav_grid::Index(min_x, min_y), min_x, min_y, width, height) {} + + /** + * @brief Public Constructor using UIntBounds object + * @param info NavGridInfo for the grid to iterate over + * @param bounds UIntBounds + */ + SubGrid(const nav_grid::NavGridInfo* info, const nav_core2::UIntBounds& bounds) + : SubGrid(info, bounds.getMinX(), bounds.getMinY(), bounds.getWidth(), bounds.getHeight()) {} + + /** + * @brief Public constructor that takes in an arbitrary index + * @param info NavGridInfo for the grid to iterate over + * @param index Initial index + * @param min_x Minimum index (x coordinate) + * @param min_y Minimum index (y coordinate) + * @param width Number of indexes in the x direction + * @param height Number of indexes in the y direction + */ + SubGrid(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, unsigned int min_x, unsigned int min_y, + unsigned int width, unsigned int height); + + /** + * @brief Public constructor using UIntBounds object that takes in an arbitrary index + * @param info NavGridInfo for the grid to iterate over + * @param index Initial index + * @param bounds UIntBounds + */ + SubGrid(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, const nav_core2::UIntBounds& bounds) + : SubGrid(info, index, bounds.getMinX(), bounds.getMinY(), bounds.getWidth(), bounds.getHeight()) {} + + /**@name Standard BaseIterator Interface */ + /**@{*/ + SubGrid begin() const override; + SubGrid end() const override; + void increment() override; + bool fieldsEqual(const SubGrid& other) override; + /**@}*/ + +protected: + unsigned int min_x_, min_y_, width_, height_; +}; +} // namespace nav_grid_iterators + +#endif // NAV_GRID_ITERATORS_SUB_GRID_H diff --git a/navigations/nav_grid_iterators/include/nav_grid_iterators/whole_grid.h b/navigations/nav_grid_iterators/include/nav_grid_iterators/whole_grid.h new file mode 100755 index 0000000..3702d89 --- /dev/null +++ b/navigations/nav_grid_iterators/include/nav_grid_iterators/whole_grid.h @@ -0,0 +1,60 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef NAV_GRID_ITERATORS_WHOLE_GRID_H +#define NAV_GRID_ITERATORS_WHOLE_GRID_H + +#include + +namespace nav_grid_iterators +{ +/** + * @class WholeGrid + * An iterator that will iterate through all the cells of a grid in row-major order + */ +class WholeGrid : public BaseIterator +{ +public: + using BaseIterator::BaseIterator; + + /**@name Standard BaseIterator Interface */ + /**@{*/ + WholeGrid begin() const override; + WholeGrid end() const override; + void increment() override; + /**@}*/ +}; +} // namespace nav_grid_iterators + +#endif // NAV_GRID_ITERATORS_WHOLE_GRID_H diff --git a/navigations/nav_grid_iterators/package.xml b/navigations/nav_grid_iterators/package.xml new file mode 100755 index 0000000..542f49f --- /dev/null +++ b/navigations/nav_grid_iterators/package.xml @@ -0,0 +1,21 @@ + + + nav_grid_iterators + 0.3.0 + + Iterator implementations for moving around the cells of a nav_grid in a number of common patterns. + + + David V. Lu!! + + BSD + + catkin + nav_2d_msgs + nav_2d_utils + nav_grid + nav_msgs + roscpp + roslint + rosunit + diff --git a/navigations/nav_grid_iterators/src/bresenham.cpp b/navigations/nav_grid_iterators/src/bresenham.cpp new file mode 100755 index 0000000..511812c --- /dev/null +++ b/navigations/nav_grid_iterators/src/bresenham.cpp @@ -0,0 +1,120 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include + +namespace nav_grid_iterators +{ + +Bresenham::Bresenham(int x0, int y0, int x1, int y1, bool include_last_index) + : AbstractLineIterator(nav_grid::SignedIndex(x0, y0)), x0_(x0), y0_(y0), x1_(x1), y1_(y1), + include_last_index_(include_last_index) +{ + int dx = std::abs(x1_ - x0_); + int dy = std::abs(y1_ - y0_); + int xsign = x1_ >= x0_ ? 1 : -1; + int ysign = y1_ >= y0_ ? 1 : -1; + + if (dx >= dy) // There is at least one x-value for every y-value + { + loop_inc_x_ = xsign; + error_inc_x_ = 0; // Don't change the x when numerator >= denominator + loop_inc_y_ = 0; // Don't change the y for every iteration + error_inc_y_ = ysign; + + denominator_ = dx; + numerator_ = dx / 2; + numerator_inc_ = dy; + } + else // There is at least one y-value for every x-value + { + loop_inc_x_ = 0; // Don't change the x for every iteration + error_inc_x_ = xsign; + loop_inc_y_ = ysign; + error_inc_y_ = 0; // Don't change the y when numerator >= denominator + + denominator_ = dy; + numerator_ = dy / 2; + numerator_inc_ = dx; + } +} + +Bresenham::Bresenham(const nav_grid::SignedIndex& index, + int x0, int y0, int x1, int y1, bool include_last_index, + int error_inc_x, int loop_inc_x, int error_inc_y, int loop_inc_y, + int denominator, int numerator, int numerator_inc) + : AbstractLineIterator(index), x0_(x0), y0_(y0), x1_(x1), y1_(y1), include_last_index_(include_last_index), + error_inc_x_(error_inc_x), loop_inc_x_(loop_inc_x), error_inc_y_(error_inc_y), loop_inc_y_(loop_inc_y), + denominator_(denominator), numerator_(numerator), numerator_inc_(numerator_inc) +{ +} + +Bresenham Bresenham::begin() const +{ + return Bresenham(nav_grid::SignedIndex(x0_, y0_), x0_, y0_, x1_, y1_, include_last_index_, + error_inc_x_, loop_inc_x_, error_inc_y_, loop_inc_y_, + denominator_, numerator_, numerator_inc_); +} + +Bresenham Bresenham::end() const +{ + Bresenham end(nav_grid::SignedIndex(x1_, y1_), x0_, y0_, x1_, y1_, include_last_index_, + error_inc_x_, loop_inc_x_, error_inc_y_, loop_inc_y_, + denominator_, numerator_, numerator_inc_); + + // If we want the last_index, return an iterator that is whatever is one-past the end coordinates + if (include_last_index_) + end.increment(); + return end; +} + +void Bresenham::increment() +{ + numerator_ += numerator_inc_; // Increase the numerator by the top of the fraction + if (numerator_ >= denominator_) // Check if numerator >= denominator + { + numerator_ -= denominator_; // Calculate the new numerator value + index_.x += error_inc_x_; // Change the x as appropriate + index_.y += error_inc_y_; // Change the y as appropriate + } + index_.x += loop_inc_x_; // Change the x as appropriate + index_.y += loop_inc_y_; // Change the y as appropriate +} + +nav_grid::SignedIndex Bresenham::getFinalIndex() const +{ + return end().index_; +} +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/src/circle_fill.cpp b/navigations/nav_grid_iterators/src/circle_fill.cpp new file mode 100755 index 0000000..5190dfd --- /dev/null +++ b/navigations/nav_grid_iterators/src/circle_fill.cpp @@ -0,0 +1,141 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include + +namespace nav_grid_iterators +{ +CircleFill::CircleFill(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius) + : BaseIterator(info), center_x_(center_x), center_y_(center_y), start_index_(0, 0) +{ + radius_sq_ = radius * radius; + + double min_x = center_x_ - radius; + double max_x = center_x_ + radius; + double min_y = center_y_ - radius; + double max_y = center_y_ + radius; + + // Calculate and save the minimum coordinates + worldToGridBounded(*info_, min_x, min_y, min_x_, min_y_); + + // Calculate the max coordinates, and save the width/height + unsigned int max_x_grid, max_y_grid; + worldToGridBounded(*info_, max_x, max_y, max_x_grid, max_y_grid); + + width_ = max_x_grid - min_x_ + 1; + height_ = max_y_grid - min_y_ + 1; + + // Initialize internal iterator + internal_iterator_.reset(new SubGrid(info_, min_x_, min_y_, width_, height_)); + index_.x = min_x_; + index_.y = min_y_; + + // Iterate to first valid index + if (!isInside(min_x_, min_y_)) ++(*this); + start_index_ = **internal_iterator_; + index_ = start_index_; +} + +CircleFill::CircleFill(const nav_grid_iterators::CircleFill& other) + : CircleFill(other.info_, other.index_, other.center_x_, other.center_y_, other.radius_sq_, + other.min_x_, other.min_y_, other.width_, other.height_, other.start_index_) +{ +} + +CircleFill::CircleFill(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double center_x, + double center_y, double radius_sq, unsigned int min_x, unsigned int min_y, unsigned int width, + unsigned int height, const nav_grid::Index& start_index) + : BaseIterator(info, index), center_x_(center_x), center_y_(center_y), radius_sq_(radius_sq), + min_x_(min_x), min_y_(min_y), width_(width), height_(height), start_index_(start_index) +{ + internal_iterator_.reset(new SubGrid(info_, index_, min_x_, min_y_, width_, height_)); +} + +CircleFill& CircleFill::operator=(const CircleFill& other) +{ + info_ = other.info_; + index_ = other.index_; + center_x_ = other.center_x_; + center_y_ = other.center_y_; + radius_sq_ = other.radius_sq_; + min_x_ = other.min_x_; + min_y_ = other.min_y_; + width_ = other.width_; + height_ = other.height_; + start_index_ = other.start_index_; + internal_iterator_.reset(new SubGrid(info_, index_, min_x_, min_y_, width_, height_)); + return *this; +} + +bool CircleFill::isInside(unsigned int x, unsigned int y) const +{ + double wx, wy; + gridToWorld(*info_, x, y, wx, wy); + double dx = wx - center_x_; + double dy = wy - center_y_; + return (dx * dx + dy * dy) < radius_sq_; +} + +CircleFill CircleFill::begin() const +{ + return CircleFill(info_, start_index_, center_x_, center_y_, radius_sq_, min_x_, min_y_, width_, height_, + start_index_); +} + +CircleFill CircleFill::end() const +{ + return CircleFill(info_, *internal_iterator_->end(), center_x_, center_y_, radius_sq_, min_x_, min_y_, + width_, height_, start_index_); +} + +void CircleFill::increment() +{ + ++(*internal_iterator_); + index_ = **internal_iterator_; + while (*internal_iterator_ != internal_iterator_->end()) + { + if (isInside(index_.x, index_.y)) + break; + ++(*internal_iterator_); + index_ = **internal_iterator_; + } +} + +bool CircleFill::fieldsEqual(const CircleFill& other) +{ + return center_x_ == other.center_x_ && center_y_ == other.center_y_ && radius_sq_ == other.radius_sq_; +} + +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/src/circle_outline.cpp b/navigations/nav_grid_iterators/src/circle_outline.cpp new file mode 100755 index 0000000..a02d14b --- /dev/null +++ b/navigations/nav_grid_iterators/src/circle_outline.cpp @@ -0,0 +1,143 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include + +namespace nav_grid_iterators +{ +CircleOutline::CircleOutline(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius) + : CircleOutline(info, center_x, center_y, static_cast(ceil(radius / info->resolution))) +{ +} + +CircleOutline::CircleOutline(const nav_grid::NavGridInfo* info, double center_x, double center_y, unsigned int radius) + : BaseIterator(info), distance_(radius), init_(false) +{ + signed_width_ = static_cast(info->width); + signed_height_ = static_cast(info->height); + + // Calculate and save the center coordinates + worldToGrid(*info_, center_x, center_y, center_index_x_, center_index_y_); + + point_x_ = distance_; + point_y_ = 0; + + if (!isValidIndex(center_index_x_ + point_x_, center_index_y_ + point_y_)) + { + increment(); + init_ = !isValidIndex(center_index_x_ + point_x_, center_index_y_ + point_y_); + } + index_.x = center_index_x_ + point_x_; + index_.y = center_index_y_ + point_y_; + start_index_ = index_; +} + +CircleOutline::CircleOutline(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, + int center_index_x, int center_index_y, unsigned int distance, + bool init, const nav_grid::Index& start_index) + : BaseIterator(info, index), + center_index_x_(center_index_x), center_index_y_(center_index_y), distance_(distance), init_(init), + start_index_(start_index) +{ + signed_width_ = static_cast(info->width); + signed_height_ = static_cast(info->height); + point_x_ = distance_; + point_y_ = 0; +} + +CircleOutline CircleOutline::begin() const +{ + return CircleOutline(info_, start_index_, center_index_x_, center_index_y_, + distance_, false, start_index_); +} + +CircleOutline CircleOutline::end() const +{ + return CircleOutline(info_, start_index_, center_index_x_, center_index_y_, + distance_, true, start_index_); +} + +void CircleOutline::increment() +{ + init_ = true; + while (true) + { + int nx = -signum(point_y_); + int ny = signum(point_x_); + if (nx != 0 && isOnOutline(point_x_ + nx, point_y_)) + { + point_x_ += nx; + } + else if (ny != 0 && isOnOutline(point_x_, point_y_ + ny)) + { + point_y_ += ny; + } + else + { + point_x_ += nx; + point_y_ += ny; + } + + if (isValidIndex(center_index_x_ + point_x_, center_index_y_ + point_y_)) + { + break; + } + if (point_x_ == static_cast(distance_) && point_y_ == 0) + { + index_ = start_index_; + return; + } + } + index_.x = center_index_x_ + point_x_; + index_.y = center_index_y_ + point_y_; +} + +bool CircleOutline::fieldsEqual(const CircleOutline& other) +{ + return center_index_x_ == other.center_index_x_ && center_index_y_ == other.center_index_y_ && + distance_ == other.distance_ && init_ == other.init_; +} + +bool CircleOutline::isValidIndex(int x, int y) const +{ + return x >= 0 && y >= 0 && x < signed_width_ && y < signed_height_; +} + +bool CircleOutline::isOnOutline(int dx, int dy) const +{ + return static_cast(hypot(dx, dy)) == distance_; +} + +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/src/line.cpp b/navigations/nav_grid_iterators/src/line.cpp new file mode 100755 index 0000000..4c992aa --- /dev/null +++ b/navigations/nav_grid_iterators/src/line.cpp @@ -0,0 +1,167 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include + +namespace nav_grid_iterators +{ +Line::Line(const nav_grid::NavGridInfo* info, double x0, double y0, double x1, double y1, + bool include_last_index, bool bresenham) + : BaseIterator(info), x0_(x0), y0_(y0), x1_(x1), y1_(y1), include_last_index_(include_last_index), + bresenham_(bresenham), start_index_(0, 0), end_index_(0, 0) +{ + constructIterator(); + + // Convenience variables to avoid mismatched comparisons + signed_width_ = static_cast(info->width); + signed_height_ = static_cast(info->height); + + // Cache the end index + nav_grid::SignedIndex end = internal_iterator_->getFinalIndex(); + end_index_.x = end.x; + end_index_.y = end.y; + + // Iterate to first valid index + nav_grid::SignedIndex sindex = **internal_iterator_; + while (!internal_iterator_->isFinished() && !inBounds(sindex)) + { + internal_iterator_->increment(); + sindex = **internal_iterator_; + } + + // If all the indices are invalid, explicitly set the start index to be invalid + if (internal_iterator_->isFinished()) + { + start_index_ = end_index_; + } + else + { + start_index_.x = sindex.x; + start_index_.y = sindex.y; + } + + index_ = start_index_; +} + +Line::Line(const Line& other) + : Line(other.info_, other.index_, other.x0_, other.y0_, other.x1_, other.y1_, other.include_last_index_, + other.bresenham_, other.start_index_, other.end_index_) +{ +} + +Line::Line(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double x0, double y0, double x1, double y1, + bool include_last_index, bool bresenham, nav_grid::Index start_index, nav_grid::Index end_index) + : BaseIterator(info, index), x0_(x0), y0_(y0), x1_(x1), y1_(y1), include_last_index_(include_last_index), + bresenham_(bresenham), start_index_(start_index), end_index_(end_index) +{ + constructIterator(); + signed_width_ = static_cast(info->width); + signed_height_ = static_cast(info->height); +} + +Line& Line::operator=(const Line& other) +{ + info_ = other.info_; + index_ = other.index_; + x0_ = other.x0_; + y0_ = other.y0_; + x1_ = other.x1_; + y1_ = other.y1_; + include_last_index_ = other.include_last_index_; + bresenham_ = other.bresenham_; + start_index_ = other.start_index_; + end_index_ = other.end_index_; + signed_width_ = other.signed_width_; + signed_height_ = other.signed_height_; + constructIterator(); + return *this; +} + +void Line::constructIterator() +{ + // translate coordinates into grid coordinates + double local_x0, local_y0, local_x1, local_y1; + worldToGrid(*info_, x0_, y0_, local_x0, local_y0); + worldToGrid(*info_, x1_, y1_, local_x1, local_y1); + + if (bresenham_) + { + internal_iterator_.reset(new Bresenham(local_x0, local_y0, local_x1, local_y1, include_last_index_)); + } + else + { + internal_iterator_.reset(new RayTrace(local_x0, local_y0, local_x1, local_y1, include_last_index_)); + } +} + +bool Line::inBounds(const nav_grid::SignedIndex& sindex) +{ + return sindex.x >= 0 && sindex.y >= 0 && sindex.x < signed_width_ && sindex.y < signed_height_; +} + +Line Line::begin() const +{ + return Line(info_, start_index_, x0_, y0_, x1_, y1_, include_last_index_, bresenham_, start_index_, end_index_); +} + +Line Line::end() const +{ + return Line(info_, end_index_, x0_, y0_, x1_, y1_, include_last_index_, bresenham_, start_index_, end_index_); +} + +void Line::increment() +{ + internal_iterator_->increment(); + nav_grid::SignedIndex sindex = **internal_iterator_; + if (!internal_iterator_->isFinished() && !inBounds(sindex)) + { + index_ = end_index_; + } + else + { + index_.x = sindex.x; + index_.y = sindex.y; + } +} + +bool Line::fieldsEqual(const Line& other) +{ + return x0_ == other.x0_ && y0_ == other.y0_ && x1_ == other.x1_ && y1_ == other.y1_ && + include_last_index_ == other.include_last_index_ && bresenham_ == other.bresenham_; +} + +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/src/polygon_fill.cpp b/navigations/nav_grid_iterators/src/polygon_fill.cpp new file mode 100755 index 0000000..0a28acd --- /dev/null +++ b/navigations/nav_grid_iterators/src/polygon_fill.cpp @@ -0,0 +1,153 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include + +namespace nav_grid_iterators +{ +PolygonFill::PolygonFill(const nav_grid::NavGridInfo* info, nav_2d_msgs::Polygon2D polygon) + : BaseIterator(info), polygon_(polygon), start_index_(0, 0) +{ + if (polygon.points.size() == 0) + { + internal_iterator_.reset(new SubGrid(info_, 0, 0, 0, 0)); + start_index_ = **internal_iterator_; + index_ = start_index_; + return; + } + + // Find the minimum and maximum coordinates of the vertices + double min_x = polygon_.points[0].x; + double max_x = min_x; + double min_y = polygon_.points[0].y; + double max_y = min_y; + for (const auto& vertex : polygon_.points) + { + min_x = std::min(min_x, vertex.x); + min_y = std::min(min_y, vertex.y); + max_x = std::max(max_x, vertex.x); + max_y = std::max(max_y, vertex.y); + } + + // Save the minimum in grid coordinates + worldToGridBounded(*info_, min_x, min_y, min_x_, min_y_); + + // Calculate the maximum in grid coordinates and then save the width/height + unsigned int max_x_grid, max_y_grid; + worldToGridBounded(*info_, max_x, max_y, max_x_grid, max_y_grid); + width_ = max_x_grid - min_x_ + 1; + height_ = max_y_grid - min_y_ + 1; + + // Initialize internal iterator + internal_iterator_.reset(new SubGrid(info_, min_x_, min_y_, width_, height_)); + index_.x = min_x_; + index_.y = min_y_; + + // Iterate to first valid index + if (!isInside(index_.x, index_.y)) ++(*this); + start_index_ = **internal_iterator_; + index_ = start_index_; +} + +PolygonFill::PolygonFill(const PolygonFill& other) + : PolygonFill(other.info_, other.index_, other.polygon_, other.min_x_, other.min_y_, other.width_, other.height_, + other.start_index_) +{ +} + +PolygonFill::PolygonFill(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, + nav_2d_msgs::Polygon2D polygon, + unsigned int min_x, unsigned int min_y, unsigned int width, unsigned int height, + const nav_grid::Index& start_index) + : BaseIterator(info, index), polygon_(polygon), + min_x_(min_x), min_y_(min_y), width_(width), height_(height), start_index_(start_index) +{ + internal_iterator_.reset(new SubGrid(info_, min_x_, min_y_, width_, height_)); +} + +PolygonFill& PolygonFill::operator=(const PolygonFill& other) +{ + info_ = other.info_; + index_ = other.index_; + polygon_ = other.polygon_; + min_x_ = other.min_x_; + min_y_ = other.min_y_; + width_ = other.width_; + height_ = other.height_; + start_index_ = other.start_index_; + internal_iterator_.reset(new SubGrid(info_, index_, min_x_, min_y_, width_, height_)); + return *this; +} + +bool PolygonFill::isInside(unsigned int x, unsigned int y) const +{ + // Determine if the current index is inside the polygon using the number of crossings method + double wx, wy; + gridToWorld(*info_, x, y, wx, wy); + return nav_2d_utils::isInside(polygon_, wx, wy); +} + +PolygonFill PolygonFill::begin() const +{ + return PolygonFill(info_, start_index_, polygon_, min_x_, min_y_, width_, height_, start_index_); +} + +PolygonFill PolygonFill::end() const +{ + return PolygonFill(info_, *internal_iterator_->end(), polygon_, min_x_, min_y_, width_, height_, + start_index_); +} + +void PolygonFill::increment() +{ + ++(*internal_iterator_); + index_ = **internal_iterator_; + while (*internal_iterator_ != internal_iterator_->end()) + { + if (isInside(index_.x, index_.y)) + break; + ++(*internal_iterator_); + index_ = **internal_iterator_; + } +} + +bool PolygonFill::fieldsEqual(const PolygonFill& other) +{ + return nav_2d_utils::equals(polygon_, other.polygon_); +} + +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/src/polygon_outline.cpp b/navigations/nav_grid_iterators/src/polygon_outline.cpp new file mode 100755 index 0000000..912890c --- /dev/null +++ b/navigations/nav_grid_iterators/src/polygon_outline.cpp @@ -0,0 +1,135 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include + +namespace nav_grid_iterators +{ +PolygonOutline::PolygonOutline(const nav_grid::NavGridInfo* info, nav_2d_msgs::Polygon2D polygon, bool bresenham) + : BaseIterator(info), polygon_(polygon), start_index_(0, 0), bresenham_(bresenham), side_index_(0) +{ + if (polygon.points.size() == 0) + { + internal_iterator_.reset(new Line(info_, 0.0, 0.0, 0.0, 0.0, false, bresenham_)); + index_ = **internal_iterator_; + start_index_ = index_; + return; + } + loadSide(); + index_ = **internal_iterator_; + start_index_ = index_; +} + +PolygonOutline::PolygonOutline(const PolygonOutline& other) + : PolygonOutline(other.info_, other.index_, other.polygon_, other.bresenham_, other.side_index_) +{ +} + +PolygonOutline::PolygonOutline(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, + nav_2d_msgs::Polygon2D polygon, bool bresenham, unsigned int side_index) + : BaseIterator(info, index), polygon_(polygon), start_index_(index), bresenham_(bresenham), side_index_(side_index) +{ + loadSide(); +} + +PolygonOutline& PolygonOutline::operator=(const PolygonOutline& other) +{ + info_ = other.info_; + index_ = other.index_; + polygon_ = other.polygon_; + bresenham_ = other.bresenham_; + side_index_ = other.side_index_; + loadSide(); + return *this; +} + +void PolygonOutline::loadSide() +{ + while (side_index_ < polygon_.points.size()) + { + // The next index loops around to the first index + unsigned int next_index = side_index_ + 1; + if (next_index == polygon_.points.size()) + { + next_index = 0; + } + + internal_iterator_.reset(new Line(info_, + polygon_.points[side_index_].x, polygon_.points[side_index_].y, + polygon_.points[next_index].x, polygon_.points[next_index].y, + false, bresenham_)); + + if (*internal_iterator_ != internal_iterator_->end()) + break; + ++side_index_; + } +} + +PolygonOutline PolygonOutline::begin() const +{ + return PolygonOutline(info_, start_index_, polygon_, bresenham_, 0); +} + +PolygonOutline PolygonOutline::end() const +{ + // Since the polygon outline loops around to the original index when it is complete + // the end iterator is represented by having the current side to be the invalid + return PolygonOutline(info_, start_index_, polygon_, bresenham_, polygon_.points.size()); +} + +void PolygonOutline::increment() +{ + ++(*internal_iterator_); + if (*internal_iterator_ == internal_iterator_->end()) + { + ++side_index_; + if (side_index_ == polygon_.points.size()) + { + index_ = start_index_; + return; + } + loadSide(); + } + index_ = **internal_iterator_; +} + +bool PolygonOutline::fieldsEqual(const PolygonOutline& other) +{ + return side_index_ == other.side_index_ && nav_2d_utils::equals(polygon_, other.polygon_) && + bresenham_ == other.bresenham_; +} + +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/src/ray_trace.cpp b/navigations/nav_grid_iterators/src/ray_trace.cpp new file mode 100755 index 0000000..1d5628a --- /dev/null +++ b/navigations/nav_grid_iterators/src/ray_trace.cpp @@ -0,0 +1,146 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include +#include + +namespace nav_grid_iterators +{ +RayTrace::RayTrace(double x0, double y0, double x1, double y1, bool include_last_index) + : AbstractLineIterator(), x0_(x0), y0_(y0), x1_(x1), y1_(y1), include_last_index_(include_last_index) +{ + dx_ = std::abs(x1 - x0); + dy_ = std::abs(y1 - y0); + index_.x = static_cast(floor(x0)); + index_.y = static_cast(floor(y0)); + + if (dx_ == 0) + { + loop_inc_x_ = 0; + error_ = std::numeric_limits::max(); + } + else if (x1 > x0) + { + loop_inc_x_ = 1; + error_ = (floor(x0) + 1 - x0) * dy_; + } + else + { + loop_inc_x_ = -1; + error_ = (x0 - floor(x0)) * dy_; + } + + if (dy_ == 0) + { + loop_inc_y_ = 0; + error_ -= std::numeric_limits::max(); + } + else if (y1 > y0) + { + loop_inc_y_ = 1; + error_ -= (floor(y0) + 1 - y0) * dx_; + } + else + { + loop_inc_y_ = -1; + error_ -= (y0 - floor(y0)) * dx_; + } + + /* Since we check if the index is equal to the second point in the line, + * we have to check for this one edge case to ensure we don't get into a rounding + * problem, resulting in an off-by-one error. + */ + if (!include_last_index && x1 < x0 && y1 - floor(y1) == 0.0) + { + error_ += 1e-10; + } + + initial_error_ = error_; + + // Special use case when start and end point are the same AND we want to include that point + if (include_last_index && loop_inc_x_ == 0 && loop_inc_y_ == 0) + { + loop_inc_x_ = 1; + } +} + +RayTrace::RayTrace(const nav_grid::SignedIndex& index, + double x0, double y0, double x1, double y1, bool include_last_index, + double dx, double dy, double initial_error, int loop_inc_x, int loop_inc_y) + : AbstractLineIterator(index), x0_(x0), y0_(y0), x1_(x1), y1_(y1), include_last_index_(include_last_index), + dx_(dx), dy_(dy), error_(initial_error), initial_error_(initial_error), + loop_inc_x_(loop_inc_x), loop_inc_y_(loop_inc_y) +{ +} + +RayTrace RayTrace::begin() const +{ + return RayTrace(nav_grid::SignedIndex(x0_, y0_), x0_, y0_, x1_, y1_, include_last_index_, + dx_, dy_, initial_error_, loop_inc_x_, loop_inc_y_); +} + +RayTrace RayTrace::end() const +{ + int x_diff = abs(static_cast(x0_) - static_cast(x1_)); + int y_diff = abs(static_cast(y0_) - static_cast(y1_)); + double final_error = initial_error_ - dx_ * y_diff + dy_ * x_diff; + RayTrace end(nav_grid::SignedIndex(x1_, y1_), x0_, y0_, x1_, y1_, include_last_index_, + dx_, dy_, final_error, loop_inc_x_, loop_inc_y_); + + // If we want the last_index, return an iterator that is whatever is one-past the end coordinates + if (include_last_index_) + end.increment(); + return end; +} + +void RayTrace::increment() +{ + if (error_ > 0.0) + { + index_.y += loop_inc_y_; + error_ -= dx_; + } + else + { + index_.x += loop_inc_x_; + error_ += dy_; + } +} + +nav_grid::SignedIndex RayTrace::getFinalIndex() const +{ + return end().index_; +} +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/src/spiral.cpp b/navigations/nav_grid_iterators/src/spiral.cpp new file mode 100755 index 0000000..32fd9d8 --- /dev/null +++ b/navigations/nav_grid_iterators/src/spiral.cpp @@ -0,0 +1,154 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include +#include + +namespace nav_grid_iterators +{ +Spiral::Spiral(const nav_grid::NavGridInfo* info, double center_x, double center_y, double radius) + : BaseIterator(info), center_x_(center_x), center_y_(center_y), distance_(0), start_index_(0, 0) +{ + radius_sq_ = radius * radius; + max_distance_ = ceil(radius / info->resolution); + loadRing(); + index_ = **internal_iterator_; + start_index_ = index_; +} + +Spiral::Spiral(const Spiral& other) + : Spiral(other.info_, other.index_, other.center_x_, other.center_y_, other.radius_sq_, + other.distance_, other.max_distance_, other.start_index_) +{ +} + +Spiral::Spiral(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, double center_x, double center_y, + double radius_sq, unsigned int distance, unsigned int max_distance, + const nav_grid::Index& start_index) + : BaseIterator(info, index), center_x_(center_x), center_y_(center_y), radius_sq_(radius_sq), + distance_(distance), max_distance_(max_distance), start_index_(start_index) +{ + loadRing(); + if (distance_ < max_distance_) + { + index_ = **internal_iterator_; + start_index_ = index_; + } +} + +Spiral& Spiral::operator=(const Spiral& other) +{ + info_ = other.info_; + index_ = other.index_; + center_x_ = other.center_x_; + center_y_ = other.center_y_; + radius_sq_ = other.radius_sq_; + distance_ = other.distance_; + max_distance_ = other.max_distance_; + start_index_ = other.start_index_; + loadRing(); + if (distance_ < max_distance_) + { + index_ = **internal_iterator_; + start_index_ = index_; + } + return *this; +} + +Spiral Spiral::begin() const +{ + return Spiral(info_, start_index_, center_x_, center_y_, radius_sq_, 0, max_distance_, start_index_); +} + +Spiral Spiral::end() const +{ + return Spiral(info_, start_index_, center_x_, center_y_, radius_sq_, max_distance_ + 1, max_distance_, + start_index_); +} + +void Spiral::increment() +{ + while (distance_ <= max_distance_) + { + ++(*internal_iterator_); + if (*internal_iterator_ == internal_iterator_->end()) + { + ++distance_; + if (distance_ > max_distance_) + { + index_ = start_index_; + return; + } + loadRing(); + } + index_ = **internal_iterator_; + if (isInside(index_.x, index_.y)) + { + break; + } + } + if (distance_ > max_distance_) + { + index_ = start_index_; + } +} + +bool Spiral::fieldsEqual(const Spiral& other) +{ + return center_x_ == other.center_x_ && center_y_ == other.center_y_ && + radius_sq_ == other.radius_sq_ && distance_ == other.distance_; +} + +void Spiral::loadRing() +{ + while (distance_ <= max_distance_) + { + internal_iterator_.reset(new CircleOutline(info_, center_x_, center_y_, distance_)); + + if (*internal_iterator_ != internal_iterator_->end()) + break; + ++distance_; + } +} + +bool Spiral::isInside(unsigned int x, unsigned int y) const +{ + double wx, wy; + gridToWorld(*info_, x, y, wx, wy); + double dx = wx - center_x_; + double dy = wy - center_y_; + return (dx * dx + dy * dy) < radius_sq_; +} + +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/src/sub_grid.cpp b/navigations/nav_grid_iterators/src/sub_grid.cpp new file mode 100755 index 0000000..0b61c65 --- /dev/null +++ b/navigations/nav_grid_iterators/src/sub_grid.cpp @@ -0,0 +1,93 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include + +namespace nav_grid_iterators +{ +SubGrid::SubGrid(const nav_grid::NavGridInfo* info, const nav_grid::Index& index, + unsigned int min_x, unsigned int min_y, + unsigned int width, unsigned int height) + : BaseIterator(info, index), min_x_(min_x), min_y_(min_y), width_(width), height_(height) +{ + // If the start coordinate is entirely off the grid or the size is 0 + // we invalidate the entire iterator and give up immediately + if (min_x_ >= info->width || min_y_ >= info->height || width_ == 0 || height_ == 0) + { + index_ = nav_grid::Index(0, 0); + width_ = 0; + height_ = 0; + min_x_ = 0; + min_y_ = 0; + return; + } + + // If the end coordinate is off the grid, we shorten the dimensions to + // cover the on-grid potion + if (min_x_ + width_ > info->width) + { + width_ = info->width - min_x_; + } + if (min_y_ + height_ > info->height) + { + height_ = info->height - min_y_; + } +} + +SubGrid SubGrid::begin() const +{ + return SubGrid(info_, min_x_, min_y_, width_, height_); +} + +SubGrid SubGrid::end() const +{ + return SubGrid(info_, nav_grid::Index(min_x_, min_y_ + height_), min_x_, min_y_, width_, height_); +} + +void SubGrid::increment() +{ + ++index_.x; + if (index_.x >= min_x_ + width_) + { + index_.x = min_x_; + ++index_.y; + } +} + +bool SubGrid::fieldsEqual(const SubGrid& other) +{ + return min_x_ == other.min_x_ && min_y_ == other.min_y_ && width_ == other.width_ && height_ == other.height_; +} + +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/src/whole_grid.cpp b/navigations/nav_grid_iterators/src/whole_grid.cpp new file mode 100755 index 0000000..b0cf752 --- /dev/null +++ b/navigations/nav_grid_iterators/src/whole_grid.cpp @@ -0,0 +1,60 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ + +#include + +namespace nav_grid_iterators +{ + +WholeGrid WholeGrid::begin() const +{ + return WholeGrid(info_); +} + +WholeGrid WholeGrid::end() const +{ + return WholeGrid(info_, nav_grid::Index(0, info_->height)); +} + +void WholeGrid::increment() +{ + ++index_.x; + if (index_.x >= info_->width) + { + index_.x = 0; + ++index_.y; + } +} + +} // namespace nav_grid_iterators diff --git a/navigations/nav_grid_iterators/test/line_tests.cpp b/navigations/nav_grid_iterators/test/line_tests.cpp new file mode 100755 index 0000000..52aa397 --- /dev/null +++ b/navigations/nav_grid_iterators/test/line_tests.cpp @@ -0,0 +1,138 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include + +template +int countIterations(iterator_type it, int max_iterations = 1000) +{ + int count = 0; + iterator_type end = it.end(); + for ( ; it != end; ++it) + { + ++count; + if (count >= max_iterations) break; + } + return count; +} + +TEST(Lines, line) +{ + for (int i = 0; i <= 1; i++) + { + bool include_last_point = i == 0; + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 0, 0, include_last_point)), 1 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 3, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, -3, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(3, 0, 0, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(-3, 0, 0, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 0, 3, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 0, -3, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 3, 0, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, -3, 0, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 1, 9, include_last_point)), 10 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, -1, -9, include_last_point)), 10 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(1, 9, 0, 0, include_last_point)), 10 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(-1, -9, 0, 0, include_last_point)), 10 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(9, 1, 0, 0, include_last_point)), 10 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 9, 1, include_last_point)), 10 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(-5, -5, 5, 5, include_last_point)), 11 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(-5, 5, 15, 5, include_last_point)), 21 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(15, 5, -5, 5, include_last_point)), 21 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(15, 5, 15, 7, include_last_point)), 3 - i); + + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 0, 0, include_last_point)), 1 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 3, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, -3, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(3, 0, 0, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(-3, 0, 0, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 0, 3, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 0, -3, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 3, 0, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, -3, 0, 0, include_last_point)), 4 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 1, 9, include_last_point)), 11 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, -1, -9, include_last_point)), 11 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(1, 9, 0, 0, include_last_point)), 11 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(-1, -9, 0, 0, include_last_point)), 11 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(9, 1, 0, 0, include_last_point)), 11 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 9, 1, include_last_point)), 11 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(-5, -5, 5, 5, include_last_point)), 21 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(-5, 5, 15, 5, include_last_point)), 21 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(15, 5, -5, 5, include_last_point)), 21 - i); + EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(15, 5, 15, 7, include_last_point)), 3 - i); + } +} + +TEST(Lines, border_conditions) +{ + int N = 100; + int N2 = N / 2; + for (int include_last_point = 0; include_last_point <= 1; ++include_last_point) + { + for (int i=0; i < N; ++i) + { + EXPECT_LT(countIterations(nav_grid_iterators::Bresenham(0, 0, N2, i - N2, include_last_point)), N*3); + EXPECT_LT(countIterations(nav_grid_iterators::Bresenham(0, 0, -N2, i - N2, include_last_point)), N*3); + EXPECT_LT(countIterations(nav_grid_iterators::Bresenham(0, 0, i - N2, N2, include_last_point)), N*3); + EXPECT_LT(countIterations(nav_grid_iterators::Bresenham(0, 0, i - N2, -N2, include_last_point)), N*3); + EXPECT_LT(countIterations(nav_grid_iterators::RayTrace(0, 0, N2, i - N2, include_last_point)), N*3); + EXPECT_LT(countIterations(nav_grid_iterators::RayTrace(0, 0, -N2, i - N2, include_last_point)), N*3); + EXPECT_LT(countIterations(nav_grid_iterators::RayTrace(0, 0, i - N2, N2, include_last_point)), N*3); + EXPECT_LT(countIterations(nav_grid_iterators::RayTrace(0, 0, i - N2, -N2, include_last_point)), N*3); + } + } +} + +TEST(Lines, equality) +{ + nav_grid_iterators::Bresenham it1(0, 0, 5, 5); + nav_grid_iterators::Bresenham it2(0, 0, 1, 1); + ASSERT_FALSE(it1 == it2); +} + +TEST(Lines, test_copy) +{ + // This test will fail to compile if you cannot use the copy operator + nav_grid_iterators::Bresenham bres(0, 0, 0, 0); + bres = bres.begin(); + nav_grid_iterators::RayTrace rt(0, 0, 0, 0); + rt = rt.begin(); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_grid_iterators/test/utest.cpp b/navigations/nav_grid_iterators/test/utest.cpp new file mode 100755 index 0000000..9c8dab9 --- /dev/null +++ b/navigations/nav_grid_iterators/test/utest.cpp @@ -0,0 +1,466 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, Locus Robotics + * 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 copyright holder 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 HOLDER 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. + */ +#include +#include +#include +#include + +using nav_grid::Index; + +template +int countIterations(iterator_type it, int max_iterations = 1000) +{ + int count = 0; + iterator_type end = it.end(); + for ( ; it != end; ++it) + { + ++count; + if (count >= max_iterations) break; + } + return count; +} + +TEST(WholeGrid, whole_grid) +{ + nav_grid::NavGridInfo info; + info.width = 5; + info.height = 8; + int count = 0; + for (nav_grid_iterators::WholeGrid it(info); it != it.end(); ++it) + { + Index i = *it; + ASSERT_EQ(i.x, count % info.width); + ASSERT_EQ(i.y, count / info.width); + ++count; + } + ASSERT_EQ(count, 40); +} + +TEST(WholeGrid, whole_grid_range) +{ + nav_grid::NavGridInfo info; + info.width = 3; + info.height = 6; + int count = 0; + for (Index i : nav_grid_iterators::WholeGrid(info)) + { + ASSERT_EQ(i.x, count % info.width); + ASSERT_EQ(i.y, count / info.width); + ++count; + } + ASSERT_EQ(count, 18); +} + +TEST(WholeGrid, std_stuff) +{ + nav_grid::NavGridInfo info; + info.width = 8; + info.height = 2; + nav_grid_iterators::WholeGrid wg(info); + + std::vector vec; + std::copy(wg.begin(), wg.end(), std::back_inserter(vec)); + for (int count = 0; count < 16; ++count) + { + Index& i = vec[count]; + ASSERT_EQ(i.x, count % info.width); + ASSERT_EQ(i.y, count / info.width); + } +} + +TEST(SubGrid, sub_grid) +{ + nav_grid::NavGridInfo info; + info.width = 5; + info.height = 8; + int count = 0; + for (Index i : nav_grid_iterators::SubGrid(&info, 1, 2, 2, 3)) + { + ASSERT_EQ(i.x, static_cast(1 + count % 2)); + ASSERT_EQ(i.y, static_cast(2 + count / 2)); + ++count; + } + ASSERT_EQ(count, 6); + + ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, 1, 3, 4, 1)), 4); + ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, 1, 3, 2, 2)), 4); + nav_core2::UIntBounds bounds(1, 3, 4, 3); + ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, bounds)), 4); + + // Empty Bounds + bounds.reset(); + ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, bounds)), 0); + + // Partially Overlapping Bounds + bounds.touch(3, 2); + bounds.touch(6, 3); + ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, bounds)), 4); + + bounds.reset(); + bounds.touch(1, 6); + bounds.touch(3, 9); + ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, bounds)), 6); + + // Different empty bounds + nav_core2::UIntBounds empty(1, 0, 0, 0); + ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, empty)), 0); +} + +TEST(SubGrid, equality) +{ + nav_grid::NavGridInfo info; + info.width = 5; + info.height = 8; + nav_grid_iterators::SubGrid it1(&info, 1, 2, 2, 3); + nav_grid_iterators::SubGrid it2(&info, 1, 2, 1, 1); + ASSERT_FALSE(it1 == it2); +} + +TEST(CircleFill, circle) +{ + nav_grid::NavGridInfo info; + info.width = 8; + info.height = 8; + info.resolution = 1.0; + + ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 4.0, 4.0, 3.0)), 32); + ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 4.3, 4.0, 3.0)), 28); + ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 4.0, 4.0, 8.0)), 64); + ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 14.0, 4.0, 1.0)), 0); + ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 0.0, 4.0, 4.0)), 26); + ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 4.0, 4.0, 3.0).begin()), 32); +} + +TEST(CircleFill, equality) +{ + nav_grid::NavGridInfo info; + info.width = 5; + info.height = 8; + nav_grid_iterators::CircleFill it1(&info, 4.0, 4.0, 8.0); + nav_grid_iterators::CircleFill it2(&info, 1.0, 1.0, 100.0); + ASSERT_FALSE(it1 == it2); +} + +TEST(CircleOutline, circle_outline) +{ + nav_grid::NavGridInfo info; + info.width = 8; + info.height = 8; + info.resolution = 1.0; + + unsigned int size = 0; + EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 8); + EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 16); + EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 20); + EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 14); + EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 5); + EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 0); + EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 0); +} + +TEST(CircleOutline, equality) +{ + nav_grid::NavGridInfo info; + info.width = 5; + info.height = 8; + nav_grid_iterators::CircleOutline it1(&info, 3.0, 1.0, 1.0); + nav_grid_iterators::CircleOutline it2(&info, 1.0, 1.0, 3.0); + ASSERT_FALSE(it1 == it2); +} + +TEST(Spiral, spiral) +{ + nav_grid::NavGridInfo info; + info.width = 8; + info.height = 8; + info.resolution = 1.0; + info.origin_x = 0.0; + info.origin_y = 0.0; + ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 4.0, 4.0, 3.0)), 32); + ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 4.3, 4.0, 3.0)), 28); + ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 4.0, 4.0, 8.0)), 64); + ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 14.0, 4.0, 1.0)), 0); + ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 0.0, 4.0, 4.0)), 26); +} + +TEST(Spiral, equality) +{ + nav_grid::NavGridInfo info; + info.width = 5; + info.height = 8; + nav_grid_iterators::Spiral it1(&info, 1.0, 1.0, 1.0); + nav_grid_iterators::Spiral it2(&info, 1.0, 1.0, 3.0); + ASSERT_FALSE(it1 == it2); +} + +TEST(Line, signed_line) +{ + nav_grid::NavGridInfo info; + info.width = 10; + info.height = 10; + info.resolution = 1.0; + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, 0)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 3, 0)), 4); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, -3, 0)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 3, 0, 0, 0)), 4); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -3, 0, 0, 0)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -3, 0, 0, 0, false)), 0); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, 3)), 4); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, -3)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 3, 0, 0)), 4); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, -3, 0, 0)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 1, 9)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 1, 9, 0, 0)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 9, 1, 0, 0)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 9, 1)), 10); + + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -5, 5, 15, 5)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 15, 5, -5, 5)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 15, 5, 15, 7)), 0); + + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -1, -5, -1, -7)), 0); +} + +TEST(Line, signed_line_diff_res) +{ + // This is the same test as above with a reduced resolution. Most of the coordinates are divided by 10 + // (with an additional 0.05 in some places to avoid floating point errors) + nav_grid::NavGridInfo info; + info.width = 10; + info.height = 10; + info.resolution = 0.1; + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, 0)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0.35, 0)), 4); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, -0.35, 0)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0.35, 0, 0, 0)), 4); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -0.35, 0, 0, 0)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -0.35, 0, 0, 0, false)), 0); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, 0.35)), 4); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, -0.35)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0.35, 0, 0)), 4); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, -0.35, 0, 0)), 1); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0.15, 0.95)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0.15, 0.95, 0, 0)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0.95, 0.15, 0, 0)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0.95, 0.15)), 10); + + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -0.5, 0.5, 1.5, 0.5)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 1.5, 0.5, -0.55, 0.55)), 10); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 1.5, 0.5, 1.5, 0.75)), 0); + + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -0.1, -0.5, -0.1, -0.7)), 0); +} + +TEST(Line, random_test_case) +{ + nav_grid::NavGridInfo info; + info.width = 795; + info.height = 925; + info.resolution = 0.05; + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 6.2402, 30.651832, 2.805347, 22.8941, false, false)), 224); + EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 6.2402, 30.651832, 2.805347, 22.8941, true, false)), 225); +} + +TEST(Line, equality) +{ + nav_grid::NavGridInfo info; + info.width = 5; + info.height = 8; + nav_grid_iterators::Line it1(&info, 0, 0, 5, 5); + nav_grid_iterators::Line it2(&info, 0, 0, 1, 1); + ASSERT_FALSE(it1 == it2); +} + +nav_2d_msgs::Point2D make_point(double x, double y) +{ + nav_2d_msgs::Point2D pt; + pt.x = x; + pt.y = y; + return pt; +} + +TEST(Polygon, polygon) +{ + nav_grid::NavGridInfo info; + // First check to make sure it works when the polygon is completely on the grid + info.width = 10; + info.height = 10; + info.resolution = 1.0; + nav_2d_msgs::Polygon2D simple_square; + simple_square.points.push_back(make_point(1.4, 1.4)); + simple_square.points.push_back(make_point(1.4, 3.6)); + simple_square.points.push_back(make_point(3.6, 3.6)); + simple_square.points.push_back(make_point(3.6, 1.4)); + + EXPECT_EQ(countIterations(nav_grid_iterators::PolygonOutline(&info, simple_square)), 8); + EXPECT_EQ(countIterations(nav_grid_iterators::PolygonFill(&info, simple_square)), 9); + + // Then do it again when it is only partially on the grid + info.height = 3; + EXPECT_EQ(countIterations(nav_grid_iterators::PolygonOutline(&info, simple_square)), 5); + EXPECT_EQ(countIterations(nav_grid_iterators::PolygonFill(&info, simple_square)), 6); + + // Then check when it is completely off the grid + info.resolution = 0.1; + EXPECT_EQ(countIterations(nav_grid_iterators::PolygonOutline(&info, simple_square)), 0); + EXPECT_EQ(countIterations(nav_grid_iterators::PolygonFill(&info, simple_square)), 0); +} + +TEST(Polygon, empty_polygon) +{ + nav_grid::NavGridInfo info; + info.width = 10; + info.height = 10; + info.resolution = 1.0; + nav_2d_msgs::Polygon2D empty_polygon; + + EXPECT_EQ(countIterations(nav_grid_iterators::PolygonOutline(&info, empty_polygon)), 0); + EXPECT_EQ(countIterations(nav_grid_iterators::PolygonFill(&info, empty_polygon)), 0); +} + +TEST(Polygon, equality) +{ + nav_grid::NavGridInfo info; + info.width = 10; + info.height = 10; + info.resolution = 1.0; + nav_2d_msgs::Polygon2D simple_square; + simple_square.points.push_back(make_point(1.4, 1.4)); + simple_square.points.push_back(make_point(1.4, 3.6)); + simple_square.points.push_back(make_point(3.6, 3.6)); + simple_square.points.push_back(make_point(3.6, 1.4)); + + nav_2d_msgs::Polygon2D triangle; + triangle.points.push_back(make_point(1.4, 1.4)); + triangle.points.push_back(make_point(1.4, 3.6)); + triangle.points.push_back(make_point(3.6, 3.6)); + + + nav_grid_iterators::PolygonOutline it1(&info, simple_square); + nav_grid_iterators::PolygonOutline it2(&info, triangle); + ASSERT_FALSE(it1 == it2); + + nav_grid_iterators::PolygonFill it3(&info, simple_square); + nav_grid_iterators::PolygonFill it4(&info, triangle); + ASSERT_FALSE(it3 == it4); +} + +TEST(Iterators, test_copy) +{ + // This test will fail to compile if you cannot use the copy operator + nav_grid::NavGridInfo info; + info.width = 10; + info.height = 10; + info.resolution = 1.0; + + nav_2d_msgs::Polygon2D simple_square; + simple_square.points.push_back(make_point(1.4, 1.4)); + simple_square.points.push_back(make_point(1.4, 3.6)); + simple_square.points.push_back(make_point(3.6, 3.6)); + simple_square.points.push_back(make_point(3.6, 1.4)); + + nav_grid_iterators::WholeGrid whole_grid(info); + whole_grid = whole_grid.begin(); + nav_grid_iterators::SubGrid sub_grid(&info, 1, 2, 2, 3); + sub_grid = sub_grid.begin(); + nav_grid_iterators::CircleFill cf(&info, 4.0, 4.0, 3.0); + cf = cf.begin(); + nav_grid_iterators::CircleOutline co(&info, 4.0, 4.0, 3.0); + co = co.begin(); + nav_grid_iterators::Spiral spiral(&info, 4.0, 4.0, 3.0); + spiral = spiral.begin(); + nav_grid_iterators::Line line(&info, 0, 0, 0, 0); + line = line.begin(); + nav_grid_iterators::PolygonOutline po(&info, simple_square); + po = po.begin(); + nav_grid_iterators::PolygonFill pf(&info, simple_square); + pf = pf.begin(); +} + +TEST(Iterators, test_assignment) +{ + nav_grid::NavGridInfo info; + info.width = 10; + info.height = 10; + info.resolution = 1.0; + nav_grid_iterators::CircleFill iter1(&info, 3.0, 3.0, 1.0); + // Sequence should be (2, 2) (3, 2) (2, 3) (3, 3) + EXPECT_EQ((*iter1).x, 2U); + EXPECT_EQ((*iter1).y, 2U); + + nav_grid_iterators::CircleFill iter2 = iter1; + + // Effective Copy + EXPECT_EQ((*iter1).x, 2U); + EXPECT_EQ((*iter1).y, 2U); + EXPECT_EQ((*iter2).x, 2U); + EXPECT_EQ((*iter2).y, 2U); + + // Increment only iter2 + ++iter2; + EXPECT_EQ((*iter1).x, 2U); + EXPECT_EQ((*iter1).y, 2U); + EXPECT_EQ((*iter2).x, 3U); + EXPECT_EQ((*iter2).y, 2U); + + // Increment first to match + ++iter1; + EXPECT_EQ((*iter1).x, 3U); + EXPECT_EQ((*iter1).y, 2U); + EXPECT_EQ((*iter2).x, 3U); + EXPECT_EQ((*iter2).y, 2U); + + // Increment only iter2 + ++iter2; + EXPECT_EQ((*iter1).x, 3U); + EXPECT_EQ((*iter1).y, 2U); + EXPECT_EQ((*iter2).x, 2U); + EXPECT_EQ((*iter2).y, 3U); + + // Check copy when not at the start + nav_grid_iterators::CircleFill iter3 = iter1; + EXPECT_EQ((*iter1).x, 3U); + EXPECT_EQ((*iter1).y, 2U); + EXPECT_EQ((*iter2).x, 2U); + EXPECT_EQ((*iter2).y, 3U); + EXPECT_EQ((*iter3).x, 3U); + EXPECT_EQ((*iter3).y, 2U); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/nav_msgs/CHANGELOG.rst b/navigations/nav_msgs/CHANGELOG.rst new file mode 100755 index 0000000..41c70f2 --- /dev/null +++ b/navigations/nav_msgs/CHANGELOG.rst @@ -0,0 +1,267 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package nav_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.13.1 (2021-01-11) +------------------- +* Update package maintainers (`#168 `_) +* Add LoadMap service (`#164 `_) +* Contributors: David V. Lu!!, Michel Hidalgo + +1.13.0 (2020-05-21) +------------------- +* Bump CMake version to avoid CMP0048 warning (`#158 `_) +* Contributors: Shane Loretz + +1.12.7 (2018-11-06) +------------------- + +1.12.6 (2018-05-03) +------------------- + +1.12.5 (2016-09-30) +------------------- + +1.12.4 (2016-02-22) +------------------- + +1.12.3 (2015-04-20) +------------------- + +1.12.2 (2015-03-21) +------------------- +* change type of initial_pose in SetMap service to PoseWithCovarianceStamped +* Contributors: Stephan Wirth + +1.12.1 (2015-03-17) +------------------- +* updating outdated urls. fixes `#52 `_. +* Adds a SetMap service message to support swap maps functionality in amcl +* Contributors: Tully Foote, liz-murphy + +1.12.0 (2014-12-29) +------------------- + +1.11.6 (2014-11-04) +------------------- + +1.11.5 (2014-10-27) +------------------- + +1.11.4 (2014-06-19) +------------------- + +1.11.3 (2014-05-07) +------------------- +* Export architecture_independent flag in package.xml +* Contributors: Scott K Logan + +1.11.2 (2014-04-24) +------------------- + +1.11.1 (2014-04-16) +------------------- + +1.11.0 (2014-03-04) +------------------- + +1.10.6 (2014-02-27) +------------------- + +1.10.5 (2014-02-25) +------------------- + +1.10.4 (2014-02-18) +------------------- + +1.10.3 (2014-01-07) +------------------- + +1.10.2 (2013-08-19) +------------------- + +1.10.1 (2013-08-16) +------------------- + +1.10.0 (2013-07-13) +------------------- + +1.9.16 (2013-05-21) +------------------- +* added action definition for getting maps +* update email in package.xml + +1.9.15 (2013-03-08) +------------------- + +1.9.14 (2013-01-19) +------------------- + +1.9.13 (2013-01-13) +------------------- + +1.9.12 (2013-01-02) +------------------- + +1.9.11 (2012-12-17) +------------------- +* modified dep type of catkin + +1.9.10 (2012-12-13) +------------------- +* add missing downstream depend +* switched from langs to message_* packages + +1.9.9 (2012-11-22) +------------------ + +1.9.8 (2012-11-14) +------------------ + +1.9.7 (2012-10-30) +------------------ +* fix catkin function order + +1.9.6 (2012-10-18) +------------------ +* updated cmake min version to 2.8.3, use cmake_parse_arguments instead of custom macro + +1.9.5 (2012-09-28) +------------------ + +1.9.4 (2012-09-27 18:06) +------------------------ + +1.9.3 (2012-09-27 17:39) +------------------------ +* cleanup +* cleaned up package.xml files +* updated to latest catkin +* fixed dependencies and more +* updated to latest catkin: created package.xmls, updated CmakeLists.txt + +1.9.2 (2012-09-05) +------------------ +* updated pkg-config in manifest.xml + +1.9.1 (2012-09-04) +------------------ +* use install destination variables, removed manual installation of manifests + +1.9.0 (2012-08-29) +------------------ +* updated to current catkin + +1.8.13 (2012-07-26 18:34:15 +0000) +---------------------------------- + +1.8.8 (2012-06-12 22:36) +------------------------ +* make find_package REQUIRED +* removed obsolete catkin tag from manifest files +* fixed package dependencies for several common messages (fixed `#3956 `_) +* adding manifest exports +* removed depend, added catkin +* stripping depend and export tags from common_msgs manifests as msg dependencies are now declared in cmake and stack.yaml. Also removed bag migration exports +* common_msgs: removing migration rules as all are over a year old +* bye bye vestigial MSG_DIRS +* nav_msgs: getting rid of other build files and cleaning up +* common_msgs: starting catkin conversion +* adios rosbuild2 in manifest.xml +* catkin updates +* catkin_project +* Updated to work with new message generation macros +* More tweaking for standalone message generation +* Getting standalone message generation working... w/o munging rosbuild2 +* more rosbuild2 hacking +* missing dependencies +* updating bagmigration exports +* rosbuild2 taking shape +* removing old exports ros`#2292 `_ +* Added Ubuntu platform tags to manifest +* Adding a start pose to the GetPlan service +* Remove use of deprecated rosbuild macros +* Fixing migration rules for nav_msgs. +* Changed byte to int8, in response to map_server doc review +* changing review status +* adding documentation for `#2997 `_ +* removing redundant range statements as per ticket:2997 +* Adding documentation to the Odometry message to make things more clear +* manifest update +* updated description and url +* full migration rules +* adding child_frame_id as per discussion about odometry message +* Adding a header to Path +* Adding a header to the GridCells message +* Adding a new GridCells message for displaying obstacles in nav_view and rviz +* clearing API reviews for they've been through a bunch of them recently. +* fixing stack name +* Adding comments to path +* documenting messages +* Making odometry migration fail until we have worked out appropriate way to handle covariances. +* Changing naming of bag migration rules. +* Modifying migration rules for Odometry and WrenchStamped change of field names. +* Adding actual migration rules for all of the tested common_msgs migrations. +* `#2250 `_ getting rid of _with_covariance in Odometry fields +* nav_msgs: added missing srv export +* Adding migration rules to get migration tests to pass. +* removing last of robot_msgs and all dependencies on it +* moving Path from robot_msgs to nav_msgs `#2281 `_ +* adding header to OccupancyGrid `#1906 `_ +* First half of the change from deprecated_msgs::RobotBase2DOdom to nav_msgs::Odometry, I think all the c++ compiles, can't speak for functionality yet, also... the python has yet to be run... this may break some things +* moving PoseArray into geometry_msgs `#1907 `_ +* fixing names +* Removing header since there's already one in the pose and fixing message definition to have variable names +* adding Odometry message as per API review and ticket:2250 +* merging in the changes to messages see ros-users email. THis is about half the common_msgs API changes +* Forgot to check in the services I added.... shoot +* Moving StaticMap.srv to GetMap.srv and moving Plan.srv to GetPlan.srv, also moving them to nav_msgs and removing the nav_srvs package +* Merging tha actionlib branch back into trunk + r29135@att (orig r19792): eitanme | 2009-07-27 18:30:30 -0700 + Creating a branch for actionlib.... hopefully for the last time + r29137@att (orig r19794): eitanme | 2009-07-27 18:32:49 -0700 + Changing ParticleCloud to PoseArray + r29139@att (orig r19796): eitanme | 2009-07-27 18:33:42 -0700 + Adding action definition to the rep + r29148@att (orig r19805): eitanme | 2009-07-27 18:47:39 -0700 + Some fixes... almost compiling + r29165@att (orig r19822): eitanme | 2009-07-27 20:41:07 -0700 + Macro version of the typedefs that compiles + r29213@att (orig r19869): eitanme | 2009-07-28 11:49:10 -0700 + Compling version of the ActionServer re-write complete with garbage collection, be default it will keep goals without goal handles for 5 seconds + r29220@att (orig r19876): eitanme | 2009-07-28 12:06:06 -0700 + Fix to make sure that transitions into preempting and recalling states actually happen + r29254@att (orig r19888): eitanme | 2009-07-28 13:27:40 -0700 + Forgot to actually call the cancel callback... addind a subscriber on the cancel topic + r29267@att (orig r19901): eitanme | 2009-07-28 14:41:09 -0700 + Adding text field to GoalStatus to allow users to throw some debugging information into the GoalStatus messages + r29275@att (orig r19909): eitanme | 2009-07-28 15:43:49 -0700 + Using tf remapping as I should've been doing for awhile + r29277@att (orig r19911): eitanme | 2009-07-28 15:48:48 -0700 + The navigation stack can now handle goals that aren't in the global frame. However, these goals will be transformed to the global frame at the time of reception, so for achieving them accurately the global frame of move_base should really be set to match the goals. + r29299@att (orig r19933): stuglaser | 2009-07-28 17:08:10 -0700 + Created genaction.py script to create the various messages that an action needs + r29376@att (orig r20003): vijaypradeep | 2009-07-29 02:45:24 -0700 + ActionClient is running. MoveBase ActionServer seems to be crashing + r29409@att (orig r20033): vijaypradeep | 2009-07-29 11:57:54 -0700 + Fixing bug with adding status trackers + r29410@att (orig r20034): vijaypradeep | 2009-07-29 11:58:18 -0700 + Changing from Release to Debug + r29432@att (orig r20056): vijaypradeep | 2009-07-29 14:07:30 -0700 + No longer building goal_manager_test.cpp + r29472@att (orig r20090): vijaypradeep | 2009-07-29 17:04:14 -0700 + Lots of Client-Side doxygen + r29484@att (orig r20101): vijaypradeep | 2009-07-29 18:35:01 -0700 + Adding to mainpage.dox + r29487@att (orig r20104): eitanme | 2009-07-29 18:55:06 -0700 + Removing file to help resolve merge I hope + r29489@att (orig r20106): eitanme | 2009-07-29 19:00:07 -0700 + Removing another file to try to resolve the branch + r29492@att (orig r20108): eitanme | 2009-07-29 19:14:25 -0700 + Again removing a file to get the merge working + r29493@att (orig r20109): eitanme | 2009-07-29 19:34:45 -0700 + Removing yet another file on which ssl negotiation fails + r29500@att (orig r20116): eitanme | 2009-07-29 19:54:18 -0700 + Fixing bug in genaction +* moving MapMetaData and OccGrid into nav_msgs `#1303 `_ +* created nav_msgs and moved ParticleCloud there `#1300 `_ diff --git a/navigations/nav_msgs/CMakeLists.txt b/navigations/nav_msgs/CMakeLists.txt new file mode 100755 index 0000000..b475181 --- /dev/null +++ b/navigations/nav_msgs/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 3.0.2) +project(nav_msgs) + +find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation std_msgs actionlib_msgs) + +add_message_files( + DIRECTORY msg + FILES + GridCells.msg + MapMetaData.msg + OccupancyGrid.msg + Odometry.msg + Path.msg) + +add_service_files( + DIRECTORY srv + FILES + GetMap.srv + GetPlan.srv + SetMap.srv + LoadMap.srv) + +add_action_files( + FILES + GetMap.action) + +generate_messages(DEPENDENCIES geometry_msgs std_msgs actionlib_msgs) + +catkin_package(CATKIN_DEPENDS geometry_msgs message_runtime std_msgs actionlib_msgs) diff --git a/navigations/nav_msgs/action/GetMap.action b/navigations/nav_msgs/action/GetMap.action new file mode 100755 index 0000000..080e54f --- /dev/null +++ b/navigations/nav_msgs/action/GetMap.action @@ -0,0 +1,5 @@ +# Get the map as a nav_msgs/OccupancyGrid +--- +nav_msgs/OccupancyGrid map +--- +# no feedback \ No newline at end of file diff --git a/navigations/nav_msgs/msg/GridCells.msg b/navigations/nav_msgs/msg/GridCells.msg new file mode 100755 index 0000000..2c92894 --- /dev/null +++ b/navigations/nav_msgs/msg/GridCells.msg @@ -0,0 +1,5 @@ +#an array of cells in a 2D grid +Header header +float32 cell_width +float32 cell_height +geometry_msgs/Point[] cells diff --git a/navigations/nav_msgs/msg/MapMetaData.msg b/navigations/nav_msgs/msg/MapMetaData.msg new file mode 100755 index 0000000..398fbdd --- /dev/null +++ b/navigations/nav_msgs/msg/MapMetaData.msg @@ -0,0 +1,13 @@ +# This hold basic information about the characterists of the OccupancyGrid + +# The time at which the map was loaded +time map_load_time +# The map resolution [m/cell] +float32 resolution +# Map width [cells] +uint32 width +# Map height [cells] +uint32 height +# The origin of the map [m, m, rad]. This is the real-world pose of the +# cell (0,0) in the map. +geometry_msgs/Pose origin \ No newline at end of file diff --git a/navigations/nav_msgs/msg/OccupancyGrid.msg b/navigations/nav_msgs/msg/OccupancyGrid.msg new file mode 100755 index 0000000..f2e79bd --- /dev/null +++ b/navigations/nav_msgs/msg/OccupancyGrid.msg @@ -0,0 +1,11 @@ +# This represents a 2-D grid map, in which each cell represents the probability of +# occupancy. + +Header header + +#MetaData for the map +MapMetaData info + +# The map data, in row-major order, starting with (0,0). Occupancy +# probabilities are in the range [0,100]. Unknown is -1. +int8[] data diff --git a/navigations/nav_msgs/msg/Odometry.msg b/navigations/nav_msgs/msg/Odometry.msg new file mode 100755 index 0000000..73578ed --- /dev/null +++ b/navigations/nav_msgs/msg/Odometry.msg @@ -0,0 +1,7 @@ +# This represents an estimate of a position and velocity in free space. +# The pose in this message should be specified in the coordinate frame given by header.frame_id. +# The twist in this message should be specified in the coordinate frame given by the child_frame_id +Header header +string child_frame_id +geometry_msgs/PoseWithCovariance pose +geometry_msgs/TwistWithCovariance twist diff --git a/navigations/nav_msgs/msg/Path.msg b/navigations/nav_msgs/msg/Path.msg new file mode 100755 index 0000000..979cb7d --- /dev/null +++ b/navigations/nav_msgs/msg/Path.msg @@ -0,0 +1,3 @@ +#An array of poses that represents a Path for a robot to follow +Header header +geometry_msgs/PoseStamped[] poses diff --git a/navigations/nav_msgs/package.xml b/navigations/nav_msgs/package.xml new file mode 100755 index 0000000..f379061 --- /dev/null +++ b/navigations/nav_msgs/package.xml @@ -0,0 +1,29 @@ + + nav_msgs + 1.13.1 + + nav_msgs defines the common messages used to interact with the + navigation stack. + + Michel Hidalgo + BSD + + http://wiki.ros.org/nav_msgs + Tully Foote + + catkin + + geometry_msgs + message_generation + std_msgs + actionlib_msgs + + geometry_msgs + message_runtime + std_msgs + actionlib_msgs + + + + + diff --git a/navigations/nav_msgs/srv/GetMap.srv b/navigations/nav_msgs/srv/GetMap.srv new file mode 100755 index 0000000..6bd8e4a --- /dev/null +++ b/navigations/nav_msgs/srv/GetMap.srv @@ -0,0 +1,3 @@ +# Get the map as a nav_msgs/OccupancyGrid +--- +nav_msgs/OccupancyGrid map diff --git a/navigations/nav_msgs/srv/GetPlan.srv b/navigations/nav_msgs/srv/GetPlan.srv new file mode 100755 index 0000000..f5c23ed --- /dev/null +++ b/navigations/nav_msgs/srv/GetPlan.srv @@ -0,0 +1,13 @@ +# Get a plan from the current position to the goal Pose + +# The start pose for the plan +geometry_msgs/PoseStamped start + +# The final pose of the goal position +geometry_msgs/PoseStamped goal + +# If the goal is obstructed, how many meters the planner can +# relax the constraint in x and y before failing. +float32 tolerance +--- +nav_msgs/Path plan diff --git a/navigations/nav_msgs/srv/LoadMap.srv b/navigations/nav_msgs/srv/LoadMap.srv new file mode 100755 index 0000000..3b9caaa --- /dev/null +++ b/navigations/nav_msgs/srv/LoadMap.srv @@ -0,0 +1,15 @@ +# URL of map resource +# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml +# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml +string map_url +--- +# Result code defintions +uint8 RESULT_SUCCESS=0 +uint8 RESULT_MAP_DOES_NOT_EXIST=1 +uint8 RESULT_INVALID_MAP_DATA=2 +uint8 RESULT_INVALID_MAP_METADATA=3 +uint8 RESULT_UNDEFINED_FAILURE=255 + +# Returned map is only valid if result equals RESULT_SUCCESS +nav_msgs/OccupancyGrid map +uint8 result diff --git a/navigations/nav_msgs/srv/SetMap.srv b/navigations/nav_msgs/srv/SetMap.srv new file mode 100755 index 0000000..55d3c24 --- /dev/null +++ b/navigations/nav_msgs/srv/SetMap.srv @@ -0,0 +1,6 @@ +# Set a new map together with an initial pose +nav_msgs/OccupancyGrid map +geometry_msgs/PoseWithCovarianceStamped initial_pose +--- +bool success + diff --git a/navigations/navfn/CHANGELOG.rst b/navigations/navfn/CHANGELOG.rst new file mode 100755 index 0000000..a34edb5 --- /dev/null +++ b/navigations/navfn/CHANGELOG.rst @@ -0,0 +1,192 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package navfn +^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.17.3 (2023-01-10) +------------------- +* [ROS-O] various patches (`#1225 `_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- +* navfn: stop installing test headers (`#1085 `_) + The navtest executable is only built if FLTK is installed. However, the + header it uses is installed regardless, and requires FLTK. Nothing else + uses this header, and navfn doesn't depend upon FLTK, so stop installing + the header. Also fix navtest to actually build when FLTK is installed. +* Contributors: Kyle Fazzari + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- +* Fix Unknown CMake command check_include_file (navfn & base_local_planner) (`#975 `_) +* Contributors: Sam Pfeiffer + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Add frame ID to empty NavFn paths (`#964 `_) + * Don't publish empty paths + RViz will complain about not being able to transform the path if it doesn't have a frame ID, so we'll just drop these + Closes `#963 `_ + * Publish empty paths with a valid frame + * Fix indexing into empty plan for timestamp +* Contributors: Nick Walker, Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Merge pull request `#831 `_ from ros-planning/feature/remove_slashes + [melodic] Remove leading slashes from default frame_id parameters +* Remove leading slashes from default frame_id parameters +* Merge pull request `#789 `_ from ipa-fez/fix/astar_const_melodic + Remove const from create_nav_plan_astar +* remove const from create_nav_plan_astar +* Contributors: David V. Lu, Felix, Michael Ferguson + +1.16.2 (2018-07-31) +------------------- + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Remove dependency on PCL +* Switch to TF2 `#755 `_ +* Merge pull request `#737 `_ from marting87/minor_comment_fixes + Minor comment corrections +* Contributors: David V. Lu, Martin Ganeff, Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Remove Dead Code [Lunar] (`#646 `_) + * Clean up navfn + * Cleanup amcl +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* import only PCL common +* port `#549 `_ (in alphabetical order) +* address gcc6 build error +* remove GCC warnings +* Contributors: Lukas Bulwahn, Martin Günther, Michael Ferguson, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- +* navfn: make independent on costmap implementation + navfn::NavfnROS: + * remove direct dependency on costmap_2d::Costmap2DROS + * add constructor for barebone costmap_2d::Costmap2D (user must provide also global_frame) + * NavfnROS::initialize() follows constructor semantics + nav_core::BaseGlobalPlanner interface unchanged +* Contributors: Jiri Horner + +1.13.1 (2015-10-29) +------------------- +* Fix for `#337 `_ +* Contributors: David V. Lu!! + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- +* removes unused param planner_costmap_publish_frequency +* Contributors: Enrique Fernández Perdomo + +1.11.10 (2014-06-25) +-------------------- +* Remove unnecessary colons +* Contributors: David Lu!! + +1.11.9 (2014-06-10) +------------------- +* uses ::hypot(x, y) instead of sqrt(x*x, y*y) +* Contributors: Enrique Fernández Perdomo + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.5 (2014-01-30) +------------------- +* navfn: fix parallel build error from missing dep +* fixed header installation directory +* check for CATKIN_ENABLE_TESTING +* Change maintainer from Hersh to Lu + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates +* fixed `#103 `_, navfn_node not installed +* Potential missing dependency diff --git a/navigations/navfn/CMakeLists.txt b/navigations/navfn/CMakeLists.txt new file mode 100755 index 0000000..e49357a --- /dev/null +++ b/navigations/navfn/CMakeLists.txt @@ -0,0 +1,141 @@ +cmake_minimum_required(VERSION 3.0.2) +project(navfn) + +include(CheckIncludeFile) + +find_package(catkin REQUIRED + COMPONENTS + cmake_modules + costmap_2d + geometry_msgs + message_generation + nav_core + nav_msgs + pluginlib + rosconsole + roscpp + tf2_ros + sensor_msgs + visualization_msgs + ) + +find_package(Eigen3 REQUIRED) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + + +# services +add_service_files( + DIRECTORY srv + FILES + MakeNavPlan.srv + SetCostmap.srv +) + +generate_messages( + DEPENDENCIES + geometry_msgs +) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + navfn + CATKIN_DEPENDS + geometry_msgs + message_runtime + nav_core + nav_msgs + pluginlib + roscpp + sensor_msgs + visualization_msgs +) + +check_include_file(sys/time.h HAVE_SYS_TIME_H) +if (HAVE_SYS_TIME_H) + add_definitions(-DHAVE_SYS_TIME_H) +endif (HAVE_SYS_TIME_H) + +add_library (navfn src/navfn.cpp src/navfn_ros.cpp) +target_link_libraries(navfn + ${catkin_LIBRARIES} + ) +add_dependencies(navfn ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) + +add_executable(navfn_node src/navfn_node.cpp) +target_link_libraries(navfn_node + navfn + ) + +install(TARGETS navfn_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(TARGETS navfn + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY include/navfn/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +install(FILES bgp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +### The problem with FindFLTK is that it only reports success if *all* +### fltk components are installed, but we only need the core library. +# include (FindFLTK) +include (CheckIncludeFileCXX) +check_include_file_cxx (FL/Fl.H NAVFN_HAVE_FLTK) +check_include_file_cxx (pgm.h NAVFN_HAVE_NETPBM) +message (STATUS "NAVFN_HAVE_FLTK: ${NAVFN_HAVE_FLTK}, NETPBM: ${NAVFN_HAVE_NETPBM}") +# Just linking -lfltk is not sufficient on OS X +if (NAVFN_HAVE_FLTK AND NAVFN_HAVE_NETPBM AND NOT APPLE) + message (STATUS "FLTK found: adding navtest to build") + add_executable (navtest src/navtest/navtest.cpp src/navtest/navwin.cpp) + set (FLTK_SKIP_FLUID 1) + set (FLTK_SKIP_FORMS 1) + set (FLTK_SKIP_IMAGES 1) + find_package(FLTK) + if(FLTK_FOUND) + target_link_libraries (navtest navfn netpbm ${FLTK_LIBRARIES}) + else (FLTK_FOUND) + target_link_libraries (navtest navfn netpbm fltk) + endif (FLTK_FOUND) +else (NAVFN_HAVE_FLTK) + message (STATUS "FLTK orf NETPBM not found: cannot build navtest") +endif (NAVFN_HAVE_FLTK AND NAVFN_HAVE_NETPBM AND NOT APPLE) + +### For some reason (on cmake-2.4.7 at least) the "check" for pgm.h +### always succeeds, even if pgm.h is not installed. It seems to be +### caused by a bug in the rule that attempts to build the C source: +### instead of directly calling e.g. 'gcc -c +### /CMakeFiles/CMakeTmp/CheckIncludeFile.c' it goes through some make +### infrastructure, which reports "Nothing to be done for +### `CMakeFiles/cmTryCompileExec.dir/build'" and calls that a success. +### +### As a workaround we simply force everyone to install libnetpbm +# +# include (CheckIncludeFile) +# check_include_file (pgm.h NAVFN_HAVE_NETPBM) +# message (STATUS "NAVFN_HAVE_NETPBM: ${NAVFN_HAVE_NETPBM}") +# if (NAVFN_HAVE_NETPBM) +# message (STATUS "found pgm.h") +# add_definitions (-DNAVFN_HAVE_NETPBM) +#target_link_libraries (navfn -lnetpbm) +# else (NAVFN_HAVE_NETPBM) +# message (STATUS "pgm.h not found (optional)") +# endif (NAVFN_HAVE_NETPBM) + +if(CATKIN_ENABLE_TESTING) + add_subdirectory(test) +endif() diff --git a/navigations/navfn/Makefile.orig b/navigations/navfn/Makefile.orig new file mode 100755 index 0000000..95abc9c --- /dev/null +++ b/navigations/navfn/Makefile.orig @@ -0,0 +1,39 @@ +# +# Makefile for navigation function planner +# + +CC = g++ +CXX = g++ +LD = g++ +CPPFLAGS = -Wall -g -O3 -Iinclude -I/usr/local/include -I/usr/local/include/opencv +CFLAGS = -DGCC -msse2 -mpreferred-stack-boundary=4 -O3 -Wall -Iinclude -I/usr/local/include +GCC = g++ +LDFLAGS = -Lbin +SHAREDFLAGS = -shared -Wl,-soname, +LIBS = -lfltk -lnetpbm + +OBJECTS = navfn navwin + +all: bin/navtest + +bin/navtest: obj/navtest.o $(OBJECTS:%=obj/%.o) + $(LD) $(LDFLAGS) -o $@ $(OBJECTS:%=obj/%.o) obj/navtest.o $(LIBS) + +# general cpp command from src->obj +obj/%.o:src/%.cpp + $(GCC) $(CPPFLAGS) -c $< -o $@ + +# general c command from src->obj +obj/%.o:src/%.c + $(GCC) $(CFLAGS) -c $< -o $@ + +obj/navfn.o: include/navfn/navfn.h + +clean: + - rm obj/*.o + - rm bin/navtest + +dist: + + + diff --git a/navigations/navfn/bgp_plugin.xml b/navigations/navfn/bgp_plugin.xml new file mode 100755 index 0000000..86f3ad6 --- /dev/null +++ b/navigations/navfn/bgp_plugin.xml @@ -0,0 +1,7 @@ + + + + A implementation of a grid based planner using Dijkstra + + + diff --git a/navigations/navfn/include/navfn/navfn.h b/navigations/navfn/include/navfn/navfn.h new file mode 100755 index 0000000..7edc3a4 --- /dev/null +++ b/navigations/navfn/include/navfn/navfn.h @@ -0,0 +1,267 @@ +/********************************************************************* +* 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. +*********************************************************************/ + +// +// Navigation function computation +// Uses Dijkstra's method +// Modified for Euclidean-distance computation +// + +#ifndef _NAVFN_H +#define _NAVFN_H + +#include +#include +#include +#include + +// cost defs +#define COST_UNKNOWN_ROS 255 // 255 is unknown cost +#define COST_OBS 254 // 254 for forbidden regions +#define COST_OBS_ROS 253 // ROS values of 253 are obstacles + +// navfn cost values are set to +// COST_NEUTRAL + COST_FACTOR * costmap_cost_value. +// Incoming costmap cost values are in the range 0 to 252. +// With COST_NEUTRAL of 50, the COST_FACTOR needs to be about 0.8 to +// ensure the input values are spread evenly over the output range, 50 +// to 253. If COST_FACTOR is higher, cost values will have a plateau +// around obstacles and the planner will then treat (for example) the +// whole width of a narrow hallway as equally undesirable and thus +// will not plan paths down the center. + +#define COST_NEUTRAL 50 // Set this to "open space" value +#define COST_FACTOR 0.8 // Used for translating costs in NavFn::setCostmap() + +// Define the cost type in the case that it is not set. However, this allows +// clients to modify it without changing the file. Arguably, it is better to require it to +// be defined by a user explicitly +#ifndef COSTTYPE +#define COSTTYPE unsigned char // Whatever is used... +#endif + +// potential defs +#define POT_HIGH 1.0e10 // unassigned cell potential + +// priority buffers +#define PRIORITYBUFSIZE 10000 + + +namespace navfn { + /** + Navigation function call. + \param costmap Cost map array, of type COSTTYPE; origin is upper left +NOTE: will be modified to have a border of obstacle costs +\param nx Width of map in cells +\param ny Height of map in cells +\param goal X,Y position of goal cell +\param start X,Y position of start cell + +Returns length of plan if found, and fills an array with x,y interpolated +positions at about 1/2 cell resolution; else returns 0. + +*/ + + int create_nav_plan_astar(COSTTYPE *costmap, int nx, int ny, + int* goal, int* start, + float *plan, int nplan); + + + + /** + * @class NavFn + * @brief Navigation function class. Holds buffers for costmap, navfn map. Maps are pixel-based. Origin is upper left, x is right, y is down. + */ + class NavFn + { + public: + /** + * @brief Constructs the planner + * @param nx The x size of the map + * @param ny The y size of the map + */ + NavFn(int nx, int ny); // size of map + + ~NavFn(); + + /** + * @brief Sets or resets the size of the map + * @param nx The x size of the map + * @param ny The y size of the map + */ + void setNavArr(int nx, int ny); /**< sets or resets the size of the map */ + int nx, ny, ns; /**< size of grid, in pixels */ + + /** + * @brief Set up the cost array for the planner, usually from ROS + * @param cmap The costmap + * @param isROS Whether or not the costmap is coming in in ROS format + * @param allow_unknown Whether or not the planner should be allowed to plan through unknown space + */ + void setCostmap(const COSTTYPE *cmap, bool isROS=true, bool allow_unknown = true); /**< sets up the cost map */ + + /** + * @brief Calculates a plan using the A* heuristic, returns true if one is found + * @return True if a plan is found, false otherwise + */ + bool calcNavFnAstar(); /**< calculates a plan, returns true if found */ + + /** + * @brief Caclulates the full navigation function using Dijkstra + */ + bool calcNavFnDijkstra(bool atStart = false); /**< calculates the full navigation function */ + + /** + * @brief Accessor for the x-coordinates of a path + * @return The x-coordinates of a path + */ + float *getPathX(); /**< x-coordinates of path */ + + /** + * @brief Accessor for the y-coordinates of a path + * @return The y-coordinates of a path + */ + float *getPathY(); /**< y-coordinates of path */ + + /** + * @brief Accessor for the length of a path + * @return The length of a path + */ + int getPathLen(); /**< length of path, 0 if not found */ + + /** + * @brief Gets the cost of the path found the last time a navigation function was computed + * @return The cost of the last path found + */ + float getLastPathCost(); /**< Return cost of path found the last time A* was called */ + + /** cell arrays */ + COSTTYPE *costarr; /**< cost array in 2D configuration space */ + float *potarr; /**< potential array, navigation function potential */ + bool *pending; /**< pending cells during propagation */ + int nobs; /**< number of obstacle cells */ + + /** block priority buffers */ + int *pb1, *pb2, *pb3; /**< storage buffers for priority blocks */ + int *curP, *nextP, *overP; /**< priority buffer block ptrs */ + int curPe, nextPe, overPe; /**< end points of arrays */ + + /** block priority thresholds */ + float curT; /**< current threshold */ + float priInc; /**< priority threshold increment */ + + /** goal and start positions */ + /** + * @brief Sets the goal position for the planner. Note: the navigation cost field computed gives the cost to get to a given point from the goal, not from the start. + * @param goal the goal position + */ + void setGoal(int *goal); + + /** + * @brief Sets the start position for the planner. Note: the navigation cost field computed gives the cost to get to a given point from the goal, not from the start. + * @param start the start position + */ + void setStart(int *start); + + int goal[2]; + int start[2]; + /** + * @brief Initialize cell k with cost v for propagation + * @param k the cell to initialize + * @param v the cost to give to the cell + */ + void initCost(int k, float v); /**< initialize cell with cost , for propagation */ + + /** propagation */ + + /** + * @brief Updates the cell at index n + * @param n The index to update + */ + void updateCell(int n); /**< updates the cell at index */ + + /** + * @brief Updates the cell at index n using the A* heuristic + * @param n The index to update + */ + void updateCellAstar(int n); /**< updates the cell at index , uses A* heuristic */ + + void setupNavFn(bool keepit = false); /**< resets all nav fn arrays for propagation */ + + /** + * @brief Run propagation for iterations, or until start is reached using breadth-first Dijkstra method + * @param cycles The maximum number of iterations to run for + * @param atStart Whether or not to stop when the start point is reached + * @return true if the start point is reached + */ + bool propNavFnDijkstra(int cycles, bool atStart = false); /**< returns true if start point found or full prop */ + /** + * @brief Run propagation for iterations, or until start is reached using the best-first A* method with Euclidean distance heuristic + * @param cycles The maximum number of iterations to run for + * @return true if the start point is reached + */ + bool propNavFnAstar(int cycles); /**< returns true if start point found */ + + /** gradient and paths */ + float *gradx, *grady; /**< gradient arrays, size of potential array */ + float *pathx, *pathy; /**< path points, as subpixel cell coordinates */ + int npath; /**< number of path points */ + int npathbuf; /**< size of pathx, pathy buffers */ + + float last_path_cost_; /**< Holds the cost of the path found the last time A* was called */ + + + /** + * @brief Calculates the path for at mose cycles + * @param n The maximum number of cycles to run for + * @return The length of the path found + */ + int calcPath(int n, int *st = NULL); /**< calculates path for at most cycles, returns path length, 0 if none */ + + float gradCell(int n); /**< calculates gradient at cell , returns norm */ + float pathStep; /**< step size for following gradient */ + + /** display callback */ + void display(void fn(NavFn *nav), int n = 100); /**< is the number of cycles between updates */ + int displayInt; /**< save second argument of display() above */ + void (*displayFn)(NavFn *nav); /**< display function itself */ + + /** save costmap */ + void savemap(const char *fname); /**< write out costmap and start/goal states as fname.pgm and fname.txt */ + + }; +}; + + +#endif // NAVFN diff --git a/navigations/navfn/include/navfn/navfn_ros.h b/navigations/navfn/include/navfn/navfn_ros.h new file mode 100755 index 0000000..9438007 --- /dev/null +++ b/navigations/navfn/include/navfn/navfn_ros.h @@ -0,0 +1,188 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef NAVFN_NAVFN_ROS_H_ +#define NAVFN_NAVFN_ROS_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace navfn { + /** + * @class NavfnROS + * @brief Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap. + */ + class NavfnROS : public nav_core::BaseGlobalPlanner { + public: + /** + * @brief Default constructor for the NavFnROS object + */ + NavfnROS(); + + /** + * @brief Constructor for the NavFnROS object + * @param name The name of this planner + * @param costmap A pointer to the ROS wrapper of the costmap to use + */ + NavfnROS(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Constructor for the NavFnROS object + * @param name The name of this planner + * @param costmap A pointer to the costmap to use + * @param global_frame The global frame of the costmap + */ + NavfnROS(std::string name, costmap_2d::Costmap2D* costmap, std::string global_frame); + + /** + * @brief Initialization function for the NavFnROS object + * @param name The name of this planner + * @param costmap A pointer to the ROS wrapper of the costmap to use for planning + */ + void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Initialization function for the NavFnROS object + * @param name The name of this planner + * @param costmap A pointer to the costmap to use for planning + * @param global_frame The global frame of the costmap + */ + void initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string global_frame); + + /** + * @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 + */ + bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan); + + /** + * @brief Given a goal pose in the world, compute a plan + * @param start The start pose + * @param goal The goal pose + * @param tolerance The tolerance on the goal point for the planner + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, double tolerance, std::vector& plan); + + /** + * @brief Computes the full navigation function for the map given a point in the world to start from + * @param world_point The point to use for seeding the navigation function + * @return True if the navigation function was computed successfully, false otherwise + */ + bool computePotential(const geometry_msgs::Point& world_point); + + /** + * @brief Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first) + * @param goal The goal pose to create a plan to + * @param plan The plan... filled by the planner + * @return True if a valid plan was found, false otherwise + */ + bool getPlanFromPotential(const geometry_msgs::PoseStamped& goal, std::vector& plan); + + /** + * @brief Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @return The navigation function's value at that point in the world + */ + double getPointPotential(const geometry_msgs::Point& world_point); + + /** + * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @return True if the navigation function is valid at that point in the world, false otherwise + */ + bool validPointPotential(const geometry_msgs::Point& world_point); + + /** + * @brief Check for a valid potential value at a given point in the world (Note: You should call computePotential first) + * @param world_point The point to get the potential for + * @param tolerance The tolerance on searching around the world_point specified + * @return True if the navigation function is valid at that point in the world, false otherwise + */ + bool validPointPotential(const geometry_msgs::Point& world_point, double tolerance); + + /** + * @brief Publish a path for visualization purposes + */ + void publishPlan(const std::vector& path, double r, double g, double b, double a); + + ~NavfnROS(){} + + bool makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp); + + protected: + + /** + * @brief Store a copy of the current costmap in \a costmap. Called by makePlan. + */ + costmap_2d::Costmap2D* costmap_; + boost::shared_ptr planner_; + ros::Publisher plan_pub_; + ros::Publisher potarr_pub_; + bool initialized_, allow_unknown_, visualize_potential_; + + + private: + inline double sq_distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2){ + double dx = p1.pose.position.x - p2.pose.position.x; + double dy = p1.pose.position.y - p2.pose.position.y; + return dx*dx +dy*dy; + } + + void mapToWorld(double mx, double my, double& wx, double& wy); + void clearRobotCell(const geometry_msgs::PoseStamped& global_pose, unsigned int mx, unsigned int my); + double planner_window_x_, planner_window_y_, default_tolerance_; + boost::mutex mutex_; + ros::ServiceServer make_plan_srv_; + std::string global_frame_; + }; +}; + +#endif diff --git a/navigations/navfn/include/navfn/potarr_point.h b/navigations/navfn/include/navfn/potarr_point.h new file mode 100755 index 0000000..957e991 --- /dev/null +++ b/navigations/navfn/include/navfn/potarr_point.h @@ -0,0 +1,50 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, (Simon) Ye Cheng +* 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. +* +*********************************************************************/ + +#ifndef POTARR_POINT_H_ +#define POTARR_POINT_H_ + +namespace navfn { + struct PotarrPoint { + float x; + float y; + float z; + float pot_value; + }; +} + +#endif + diff --git a/navigations/navfn/include/navfn/read_pgm_costmap.h b/navigations/navfn/include/navfn/read_pgm_costmap.h new file mode 100755 index 0000000..37bfe68 --- /dev/null +++ b/navigations/navfn/include/navfn/read_pgm_costmap.h @@ -0,0 +1,35 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ +#ifndef READ_PGM_COSTMAP_H +#define READ_PGM_COSTMAP_H + +// is true for ROS-generated raw cost maps +COSTTYPE *readPGM(const char *fname, int *width, int *height, bool raw = false); + +#endif // READ_PGM_COSTMAP_H diff --git a/navigations/navfn/package.xml b/navigations/navfn/package.xml new file mode 100755 index 0000000..49b6cd0 --- /dev/null +++ b/navigations/navfn/package.xml @@ -0,0 +1,49 @@ + + + + navfn + 1.17.3 + + + navfn provides a fast interpolated navigation function that can be used to create plans for + a mobile base. The planner assumes a circular robot and operates on a costmap to find a + minimum cost plan from a start point to an end point in a grid. The navigation function is + computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the + near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the + nav_core::BaseGlobalPlanner interface specified in nav_core. + + + Kurt Konolige + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/navfn + + catkin + + cmake_modules + message_generation + netpbm + + costmap_2d + geometry_msgs + nav_core + nav_msgs + pluginlib + rosconsole + roscpp + sensor_msgs + tf2_ros + visualization_msgs + + message_runtime + + rosunit + + + + + diff --git a/navigations/navfn/src/navfn.cpp b/navigations/navfn/src/navfn.cpp new file mode 100755 index 0000000..8b1fffc --- /dev/null +++ b/navigations/navfn/src/navfn.cpp @@ -0,0 +1,1056 @@ +/********************************************************************* +* 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. +*********************************************************************/ +// +// Navigation function computation +// Uses Dijkstra's method +// Modified for Euclidean-distance computation +// +// Path calculation uses no interpolation when pot field is at max in +// nearby cells +// +// Path calc has sanity check that it succeeded +// + + +#include +#include + +namespace navfn { + + // + // function to perform nav fn calculation + // keeps track of internal buffers, will be more efficient + // if the size of the environment does not change + // + + int + create_nav_plan_astar(COSTTYPE *costmap, int nx, int ny, + int* goal, int* start, + float *plan, int nplan) + { + static NavFn *nav = NULL; + + if (nav == NULL) + nav = new NavFn(nx,ny); + + if (nav->nx != nx || nav->ny != ny) // check for compatibility with previous call + { + delete nav; + nav = new NavFn(nx,ny); + } + + nav->setGoal(goal); + nav->setStart(start); + + nav->costarr = costmap; + nav->setupNavFn(true); + + // calculate the nav fn and path + nav->priInc = 2*COST_NEUTRAL; + nav->propNavFnAstar(std::max(nx*ny/20,nx+ny)); + + // path + int len = nav->calcPath(nplan); + + if (len > 0) // found plan + ROS_DEBUG("[NavFn] Path found, %d steps\n", len); + else + ROS_DEBUG("[NavFn] No path found\n"); + + if (len > 0) + { + for (int i=0; ipathx[i]; + plan[i*2+1] = nav->pathy[i]; + } + } + + return len; + } + + + + + // + // create nav fn buffers + // + + NavFn::NavFn(int xs, int ys) + { + // create cell arrays + costarr = NULL; + potarr = NULL; + pending = NULL; + gradx = grady = NULL; + setNavArr(xs,ys); + + // priority buffers + pb1 = new int[PRIORITYBUFSIZE]; + pb2 = new int[PRIORITYBUFSIZE]; + pb3 = new int[PRIORITYBUFSIZE]; + + // for Dijkstra (breadth-first), set to COST_NEUTRAL + // for A* (best-first), set to COST_NEUTRAL + priInc = 2*COST_NEUTRAL; + + // goal and start + goal[0] = goal[1] = 0; + start[0] = start[1] = 0; + + // display function + displayFn = NULL; + displayInt = 0; + + // path buffers + npathbuf = npath = 0; + pathx = pathy = NULL; + pathStep = 0.5; + } + + + NavFn::~NavFn() + { + if(costarr) + delete[] costarr; + if(potarr) + delete[] potarr; + if(pending) + delete[] pending; + if(gradx) + delete[] gradx; + if(grady) + delete[] grady; + if(pathx) + delete[] pathx; + if(pathy) + delete[] pathy; + if(pb1) + delete[] pb1; + if(pb2) + delete[] pb2; + if(pb3) + delete[] pb3; + } + + + // + // set goal, start positions for the nav fn + // + + void + NavFn::setGoal(int *g) + { + goal[0] = g[0]; + goal[1] = g[1]; + ROS_DEBUG("[NavFn] Setting goal to %d,%d\n", goal[0], goal[1]); + } + + void + NavFn::setStart(int *g) + { + start[0] = g[0]; + start[1] = g[1]; + ROS_DEBUG("[NavFn] Setting start to %d,%d\n", start[0], start[1]); + } + + // + // Set/Reset map size + // + + void + NavFn::setNavArr(int xs, int ys) + { + ROS_DEBUG("[NavFn] Array is %d x %d\n", xs, ys); + + nx = xs; + ny = ys; + ns = nx*ny; + + if(costarr) + delete[] costarr; + if(potarr) + delete[] potarr; + if(pending) + delete[] pending; + + if(gradx) + delete[] gradx; + if(grady) + delete[] grady; + + costarr = new COSTTYPE[ns]; // cost array, 2d config space + memset(costarr, 0, ns*sizeof(COSTTYPE)); + potarr = new float[ns]; // navigation potential array + pending = new bool[ns]; + memset(pending, 0, ns*sizeof(bool)); + gradx = new float[ns]; + grady = new float[ns]; + } + + + // + // set up cost array, usually from ROS + // + + void + NavFn::setCostmap(const COSTTYPE *cmap, bool isROS, bool allow_unknown) + { + COSTTYPE *cm = costarr; + if (isROS) // ROS-type cost array + { + for (int i=0; i COST_OBS (incoming "lethal obstacle") + // COST_OBS_ROS -> COST_OBS (incoming "inscribed inflated obstacle") + // values in range 0 to 252 -> values from COST_NEUTRAL to COST_OBS_ROS. + *cm = COST_OBS; + int v = *cmap; + if (v < COST_OBS_ROS) + { + v = COST_NEUTRAL+COST_FACTOR*v; + if (v >= COST_OBS) + v = COST_OBS-1; + *cm = v; + } + else if(v == COST_UNKNOWN_ROS && allow_unknown) + { + v = COST_OBS-1; + *cm = v; + } + } + } + } + + else // not a ROS map, just a PGM + { + for (int i=0; i ny-8 || j<7 || j > nx-8) + continue; // don't do borders + int v = *cmap; + if (v < COST_OBS_ROS) + { + v = COST_NEUTRAL+COST_FACTOR*v; + if (v >= COST_OBS) + v = COST_OBS-1; + *cm = v; + } + else if(v == COST_UNKNOWN_ROS) + { + v = COST_OBS-1; + *cm = v; + } + } + } + + } + } + + bool + NavFn::calcNavFnDijkstra(bool atStart) + { + setupNavFn(true); + + // calculate the nav fn and path + propNavFnDijkstra(std::max(nx*ny/20,nx+ny),atStart); + + // path + int len = calcPath(nx*ny/2); + + if (len > 0) // found plan + { + ROS_DEBUG("[NavFn] Path found, %d steps\n", len); + return true; + } + else + { + ROS_DEBUG("[NavFn] No path found\n"); + return false; + } + + } + + + // + // calculate navigation function, given a costmap, goal, and start + // + + bool + NavFn::calcNavFnAstar() + { + setupNavFn(true); + + // calculate the nav fn and path + propNavFnAstar(std::max(nx*ny/20,nx+ny)); + + // path + int len = calcPath(nx*4); + + if (len > 0) // found plan + { + ROS_DEBUG("[NavFn] Path found, %d steps\n", len); + return true; + } + else + { + ROS_DEBUG("[NavFn] No path found\n"); + return false; + } + } + + + // + // returning values + // + + float *NavFn::getPathX() { return pathx; } + float *NavFn::getPathY() { return pathy; } + int NavFn::getPathLen() { return npath; } + + // inserting onto the priority blocks +#define push_cur(n) { if (n>=0 && n=0 && n=0 && n= COST_OBS) + ntot++; // number of cells that are obstacles + } + nobs = ntot; + } + + + // initialize a goal-type cost for starting propagation + + void + NavFn::initCost(int k, float v) + { + potarr[k] = v; + push_cur(k+1); + push_cur(k-1); + push_cur(k-nx); + push_cur(k+nx); + } + + + // + // Critical function: calculate updated potential value of a cell, + // given its neighbors' values + // Planar-wave update calculation from two lowest neighbors in a 4-grid + // Quadratic approximation to the interpolated value + // No checking of bounds here, this function should be fast + // + +#define INVSQRT2 0.707106781 + + inline void + NavFn::updateCell(int n) + { + // get neighbors + float u,d,l,r; + l = potarr[n-1]; + r = potarr[n+1]; + u = potarr[n-nx]; + d = potarr[n+nx]; + // ROS_INFO("[Update] c: %0.1f l: %0.1f r: %0.1f u: %0.1f d: %0.1f\n", + // potarr[n], l, r, u, d); + // ROS_INFO("[Update] cost: %d\n", costarr[n]); + + // find lowest, and its lowest neighbor + float ta, tc; + if (l= hf) // if too large, use ta-only update + pot = ta+hf; + else // two-neighbor interpolation update + { + // use quadratic approximation + // might speed this up through table lookup, but still have to + // do the divide + float d = dc/hf; + float v = -0.2301*d*d + 0.5307*d + 0.7040; + pot = ta + hf*v; + } + + // ROS_INFO("[Update] new pot: %d\n", costarr[n]); + + // now add affected neighbors to priority blocks + if (pot < potarr[n]) + { + float le = INVSQRT2*(float)costarr[n-1]; + float re = INVSQRT2*(float)costarr[n+1]; + float ue = INVSQRT2*(float)costarr[n-nx]; + float de = INVSQRT2*(float)costarr[n+nx]; + potarr[n] = pot; + if (pot < curT) // low-cost buffer block + { + if (l > pot+le) push_next(n-1); + if (r > pot+re) push_next(n+1); + if (u > pot+ue) push_next(n-nx); + if (d > pot+de) push_next(n+nx); + } + else // overflow block + { + if (l > pot+le) push_over(n-1); + if (r > pot+re) push_over(n+1); + if (u > pot+ue) push_over(n-nx); + if (d > pot+de) push_over(n+nx); + } + } + + } + + } + + + // + // Use A* method for setting priorities + // Critical function: calculate updated potential value of a cell, + // given its neighbors' values + // Planar-wave update calculation from two lowest neighbors in a 4-grid + // Quadratic approximation to the interpolated value + // No checking of bounds here, this function should be fast + // + +#define INVSQRT2 0.707106781 + + inline void + NavFn::updateCellAstar(int n) + { + // get neighbors + float u,d,l,r; + l = potarr[n-1]; + r = potarr[n+1]; + u = potarr[n-nx]; + d = potarr[n+nx]; + //ROS_INFO("[Update] c: %0.1f l: %0.1f r: %0.1f u: %0.1f d: %0.1f\n", + // potarr[n], l, r, u, d); + // ROS_INFO("[Update] cost of %d: %d\n", n, costarr[n]); + + // find lowest, and its lowest neighbor + float ta, tc; + if (l= hf) // if too large, use ta-only update + pot = ta+hf; + else // two-neighbor interpolation update + { + // use quadratic approximation + // might speed this up through table lookup, but still have to + // do the divide + float d = dc/hf; + float v = -0.2301*d*d + 0.5307*d + 0.7040; + pot = ta + hf*v; + } + + //ROS_INFO("[Update] new pot: %d\n", costarr[n]); + + // now add affected neighbors to priority blocks + if (pot < potarr[n]) + { + float le = INVSQRT2*(float)costarr[n-1]; + float re = INVSQRT2*(float)costarr[n+1]; + float ue = INVSQRT2*(float)costarr[n-nx]; + float de = INVSQRT2*(float)costarr[n+nx]; + + // calculate distance + int x = n%nx; + int y = n/nx; + float dist = hypot(x-start[0], y-start[1])*(float)COST_NEUTRAL; + + potarr[n] = pot; + pot += dist; + if (pot < curT) // low-cost buffer block + { + if (l > pot+le) push_next(n-1); + if (r > pot+re) push_next(n+1); + if (u > pot+ue) push_next(n-nx); + if (d > pot+de) push_next(n+nx); + } + else + { + if (l > pot+le) push_over(n-1); + if (r > pot+re) push_over(n+1); + if (u > pot+ue) push_over(n-nx); + if (d > pot+de) push_over(n+nx); + } + } + + } + + } + + + + // + // main propagation function + // Dijkstra method, breadth-first + // runs for a specified number of cycles, + // or until it runs out of cells to update, + // or until the Start cell is found (atStart = true) + // + + bool + NavFn::propNavFnDijkstra(int cycles, bool atStart) + { + int nwv = 0; // max priority block size + int nc = 0; // number of cells put into priority blocks + int cycle = 0; // which cycle we're on + + // set up start cell + int startCell = start[1]*nx + start[0]; + + for (; cycle < cycles; cycle++) // go for this many cycles, unless interrupted + { + // + if (curPe == 0 && nextPe == 0) // priority blocks empty + break; + + // stats + nc += curPe; + if (curPe > nwv) + nwv = curPe; + + // reset pending flags on current priority buffer + int *pb = curP; + int i = curPe; + while (i-- > 0) + pending[*(pb++)] = false; + + // process current priority buffer + pb = curP; + i = curPe; + while (i-- > 0) + updateCell(*pb++); + + if (displayInt > 0 && (cycle % displayInt) == 0) + displayFn(this); + + // swap priority blocks curP <=> nextP + curPe = nextPe; + nextPe = 0; + pb = curP; // swap buffers + curP = nextP; + nextP = pb; + + // see if we're done with this priority level + if (curPe == 0) + { + curT += priInc; // increment priority threshold + curPe = overPe; // set current to overflow block + overPe = 0; + pb = curP; // swap buffers + curP = overP; + overP = pb; + } + + // check if we've hit the Start cell + if (atStart) + if (potarr[startCell] < POT_HIGH) + break; + } + + ROS_DEBUG("[NavFn] Used %d cycles, %d cells visited (%d%%), priority buf max %d\n", + cycle,nc,(int)((nc*100.0)/(ns-nobs)),nwv); + + if (cycle < cycles) return true; // finished up here + else return false; + } + + + // + // main propagation function + // A* method, best-first + // uses Euclidean distance heuristic + // runs for a specified number of cycles, + // or until it runs out of cells to update, + // or until the Start cell is found (atStart = true) + // + + bool + NavFn::propNavFnAstar(int cycles) + { + int nwv = 0; // max priority block size + int nc = 0; // number of cells put into priority blocks + int cycle = 0; // which cycle we're on + + // set initial threshold, based on distance + float dist = hypot(goal[0]-start[0], goal[1]-start[1])*(float)COST_NEUTRAL; + curT = dist + curT; + + // set up start cell + int startCell = start[1]*nx + start[0]; + + // do main cycle + for (; cycle < cycles; cycle++) // go for this many cycles, unless interrupted + { + // + if (curPe == 0 && nextPe == 0) // priority blocks empty + break; + + // stats + nc += curPe; + if (curPe > nwv) + nwv = curPe; + + // reset pending flags on current priority buffer + int *pb = curP; + int i = curPe; + while (i-- > 0) + pending[*(pb++)] = false; + + // process current priority buffer + pb = curP; + i = curPe; + while (i-- > 0) + updateCellAstar(*pb++); + + if (displayInt > 0 && (cycle % displayInt) == 0) + displayFn(this); + + // swap priority blocks curP <=> nextP + curPe = nextPe; + nextPe = 0; + pb = curP; // swap buffers + curP = nextP; + nextP = pb; + + // see if we're done with this priority level + if (curPe == 0) + { + curT += priInc; // increment priority threshold + curPe = overPe; // set current to overflow block + overPe = 0; + pb = curP; // swap buffers + curP = overP; + overP = pb; + } + + // check if we've hit the Start cell + if (potarr[startCell] < POT_HIGH) + break; + + } + + last_path_cost_ = potarr[startCell]; + + ROS_DEBUG("[NavFn] Used %d cycles, %d cells visited (%d%%), priority buf max %d\n", + cycle,nc,(int)((nc*100.0)/(ns-nobs)),nwv); + + + if (potarr[startCell] < POT_HIGH) return true; // finished up here + else return false; + } + + + float NavFn::getLastPathCost() + { + return last_path_cost_; + } + + + // + // Path construction + // Find gradient at array points, interpolate path + // Use step size of pathStep, usually 0.5 pixel + // + // Some sanity checks: + // 1. Stuck at same index position + // 2. Doesn't get near goal + // 3. Surrounded by high potentials + // + + int + NavFn::calcPath(int n, int *st) + { + // test write + //savemap("test"); + + // check path arrays + if (npathbuf < n) + { + if (pathx) delete [] pathx; + if (pathy) delete [] pathy; + pathx = new float[n]; + pathy = new float[n]; + npathbuf = n; + } + + // set up start position at cell + // st is always upper left corner for 4-point bilinear interpolation + if (st == NULL) st = start; + int stc = st[1]*nx + st[0]; + + // set up offset + float dx=0; + float dy=0; + npath = 0; + + // go for cycles at most + for (int i=0; i ns-nx) // would be out of bounds + { + ROS_DEBUG("[PathCalc] Out of bounds"); + return 0; + } + + // add to path + pathx[npath] = stc%nx + dx; + pathy[npath] = stc/nx + dy; + npath++; + + bool oscillation_detected = false; + if( npath > 2 && + pathx[npath-1] == pathx[npath-3] && + pathy[npath-1] == pathy[npath-3] ) + { + ROS_DEBUG("[PathCalc] oscillation detected, attempting fix."); + oscillation_detected = true; + } + + int stcnx = stc+nx; + int stcpx = stc-nx; + + // check for potentials at eight positions near cell + if (potarr[stc] >= POT_HIGH || + potarr[stc+1] >= POT_HIGH || + potarr[stc-1] >= POT_HIGH || + potarr[stcnx] >= POT_HIGH || + potarr[stcnx+1] >= POT_HIGH || + potarr[stcnx-1] >= POT_HIGH || + potarr[stcpx] >= POT_HIGH || + potarr[stcpx+1] >= POT_HIGH || + potarr[stcpx-1] >= POT_HIGH || + oscillation_detected) + { + ROS_DEBUG("[Path] Pot fn boundary, following grid (%0.1f/%d)", potarr[stc], npath); + // check eight neighbors to find the lowest + int minc = stc; + int minp = potarr[stc]; + int st = stcpx - 1; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st++; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st++; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st = stc-1; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st = stc+1; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st = stcnx-1; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st++; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + st++; + if (potarr[st] < minp) {minp = potarr[st]; minc = st; } + stc = minc; + dx = 0; + dy = 0; + + ROS_DEBUG("[Path] Pot: %0.1f pos: %0.1f,%0.1f", + potarr[stc], pathx[npath-1], pathy[npath-1]); + + if (potarr[stc] >= POT_HIGH) + { + ROS_DEBUG("[PathCalc] No path found, high potential"); + //savemap("navfn_highpot"); + return 0; + } + } + + // have a good gradient here + else + { + + // get grad at four positions near cell + gradCell(stc); + gradCell(stc+1); + gradCell(stcnx); + gradCell(stcnx+1); + + + // get interpolated gradient + float x1 = (1.0-dx)*gradx[stc] + dx*gradx[stc+1]; + float x2 = (1.0-dx)*gradx[stcnx] + dx*gradx[stcnx+1]; + float x = (1.0-dy)*x1 + dy*x2; // interpolated x + float y1 = (1.0-dx)*grady[stc] + dx*grady[stc+1]; + float y2 = (1.0-dx)*grady[stcnx] + dx*grady[stcnx+1]; + float y = (1.0-dy)*y1 + dy*y2; // interpolated y + + // show gradients + ROS_DEBUG("[Path] %0.2f,%0.2f %0.2f,%0.2f %0.2f,%0.2f %0.2f,%0.2f; final x=%.3f, y=%.3f\n", + gradx[stc], grady[stc], gradx[stc+1], grady[stc+1], + gradx[stcnx], grady[stcnx], gradx[stcnx+1], grady[stcnx+1], + x, y); + + // check for zero gradient, failed + if (x == 0.0 && y == 0.0) + { + ROS_DEBUG("[PathCalc] Zero gradient"); + return 0; + } + + // move in the right direction + float ss = pathStep/hypot(x, y); + dx += x*ss; + dy += y*ss; + + // check for overflow + if (dx > 1.0) { stc++; dx -= 1.0; } + if (dx < -1.0) { stc--; dx += 1.0; } + if (dy > 1.0) { stc+=nx; dy -= 1.0; } + if (dy < -1.0) { stc-=nx; dy += 1.0; } + + } + + // ROS_INFO("[Path] Pot: %0.1f grad: %0.1f,%0.1f pos: %0.1f,%0.1f\n", + // potarr[stc], x, y, pathx[npath-1], pathy[npath-1]); + } + + // return npath; // out of cycles, return failure + ROS_DEBUG("[PathCalc] No path found, path too long"); + //savemap("navfn_pathlong"); + return 0; // out of cycles, return failure + } + + + // + // gradient calculations + // + + // calculate gradient at a cell + // positive value are to the right and down + float + NavFn::gradCell(int n) + { + if (gradx[n]+grady[n] > 0.0) // check this cell + return 1.0; + + if (n < nx || n > ns-nx) // would be out of bounds + return 0.0; + + float cv = potarr[n]; + float dx = 0.0; + float dy = 0.0; + + // check for in an obstacle + if (cv >= POT_HIGH) + { + if (potarr[n-1] < POT_HIGH) + dx = -COST_OBS; + else if (potarr[n+1] < POT_HIGH) + dx = COST_OBS; + + if (potarr[n-nx] < POT_HIGH) + dy = -COST_OBS; + else if (potarr[n+nx] < POT_HIGH) + dy = COST_OBS; + } + + else // not in an obstacle + { + // dx calc, average to sides + if (potarr[n-1] < POT_HIGH) + dx += potarr[n-1]- cv; + if (potarr[n+1] < POT_HIGH) + dx += cv - potarr[n+1]; + + // dy calc, average to sides + if (potarr[n-nx] < POT_HIGH) + dy += potarr[n-nx]- cv; + if (potarr[n+nx] < POT_HIGH) + dy += cv - potarr[n+nx]; + } + + // normalize + float norm = hypot(dx, dy); + if (norm > 0) + { + norm = 1.0/norm; + gradx[n] = norm*dx; + grady[n] = norm*dy; + } + return norm; + } + + + // + // display function setup + // is the number of cycles to wait before displaying, + // use 0 to turn it off + + void + NavFn::display(void fn(NavFn *nav), int n) + { + displayFn = fn; + displayInt = n; + } + + + // + // debug writes + // saves costmap and start/goal + // + + void + NavFn::savemap(const char *fname) + { + char fn[4096]; + + ROS_DEBUG("[NavFn] Saving costmap and start/goal points"); + // write start and goal points + sprintf(fn,"%s.txt",fname); + FILE *fp = fopen(fn,"w"); + if (!fp) + { + ROS_WARN("Can't open file %s", fn); + return; + } + fprintf(fp,"Goal: %d %d\nStart: %d %d\n",goal[0],goal[1],start[0],start[1]); + fclose(fp); + + // write cost array + if (!costarr) return; + sprintf(fn,"%s.pgm",fname); + fp = fopen(fn,"wb"); + if (!fp) + { + ROS_WARN("Can't open file %s", fn); + return; + } + fprintf(fp,"P5\n%d\n%d\n%d\n", nx, ny, 0xff); + fwrite(costarr,1,nx*ny,fp); + fclose(fp); + } +}; diff --git a/navigations/navfn/src/navfn_node.cpp b/navigations/navfn/src/navfn_node.cpp new file mode 100755 index 0000000..4843997 --- /dev/null +++ b/navigations/navfn/src/navfn_node.cpp @@ -0,0 +1,131 @@ +/********************************************************************* +* +* 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: Bhaskara Marthi +*********************************************************************/ +#include +#include +#include +#include +#include + +namespace cm=costmap_2d; +namespace rm=geometry_msgs; + +using std::vector; +using rm::PoseStamped; +using std::string; +using cm::Costmap2D; +using cm::Costmap2DROS; + +namespace navfn { + +class NavfnWithCostmap : public NavfnROS +{ +public: + NavfnWithCostmap(string name, Costmap2DROS* cmap); + bool makePlanService(MakeNavPlan::Request& req, MakeNavPlan::Response& resp); + +private: + void poseCallback(const rm::PoseStamped::ConstPtr& goal); + Costmap2DROS* cmap_; + ros::ServiceServer make_plan_service_; + ros::Subscriber pose_sub_; +}; + + +bool NavfnWithCostmap::makePlanService(MakeNavPlan::Request& req, MakeNavPlan::Response& resp) +{ + vector path; + + req.start.header.frame_id = "map"; + req.goal.header.frame_id = "map"; + bool success = makePlan(req.start, req.goal, path); + resp.plan_found = success; + if (success) { + resp.path = path; + } + + return true; +} + +void NavfnWithCostmap::poseCallback(const rm::PoseStamped::ConstPtr& goal) { + geometry_msgs::PoseStamped global_pose; + cmap_->getRobotPose(global_pose); + vector path; + makePlan(global_pose, *goal, path); +} + + +NavfnWithCostmap::NavfnWithCostmap(string name, Costmap2DROS* cmap) : + NavfnROS(name, cmap) +{ + ros::NodeHandle private_nh("~"); + cmap_ = cmap; + make_plan_service_ = private_nh.advertiseService("make_plan", &NavfnWithCostmap::makePlanService, this); + pose_sub_ = private_nh.subscribe("goal", 1, &NavfnWithCostmap::poseCallback, this); +} + +} // namespace + +int main (int argc, char** argv) +{ + ros::init(argc, argv, "global_planner"); + + tf2_ros::Buffer buffer(ros::Duration(10)); + tf2_ros::TransformListener tf(buffer); + + costmap_2d::Costmap2DROS lcr("costmap", buffer); + + navfn::NavfnWithCostmap navfn("navfn_planner", &lcr); + + ros::spin(); + return 0; +} + + + + + + + + + + + + + + + + diff --git a/navigations/navfn/src/navfn_ros.cpp b/navigations/navfn/src/navfn_ros.cpp new file mode 100755 index 0000000..2a4cbbb --- /dev/null +++ b/navigations/navfn/src/navfn_ros.cpp @@ -0,0 +1,432 @@ +/********************************************************************* +* +* 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include +#include +#include + +//register this planner as a BaseGlobalPlanner plugin +PLUGINLIB_EXPORT_CLASS(navfn::NavfnROS, nav_core::BaseGlobalPlanner) + +namespace navfn { + + NavfnROS::NavfnROS() + : costmap_(NULL), planner_(), initialized_(false), allow_unknown_(true) {} + + NavfnROS::NavfnROS(std::string name, costmap_2d::Costmap2DROS* costmap_ros) + : costmap_(NULL), planner_(), initialized_(false), allow_unknown_(true) { + //initialize the planner + initialize(name, costmap_ros); + } + + NavfnROS::NavfnROS(std::string name, costmap_2d::Costmap2D* costmap, std::string global_frame) + : costmap_(NULL), planner_(), initialized_(false), allow_unknown_(true) { + //initialize the planner + initialize(name, costmap, global_frame); + } + + void NavfnROS::initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string global_frame){ + if(!initialized_){ + costmap_ = costmap; + global_frame_ = global_frame; + planner_ = boost::shared_ptr(new NavFn(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY())); + + ros::NodeHandle private_nh("~/" + name); + + plan_pub_ = private_nh.advertise("plan", 1); + + private_nh.param("visualize_potential", visualize_potential_, false); + + //if we're going to visualize the potential array we need to advertise + if(visualize_potential_) + potarr_pub_ = private_nh.advertise("potential", 1); + + private_nh.param("allow_unknown", allow_unknown_, true); + private_nh.param("planner_window_x", planner_window_x_, 0.0); + private_nh.param("planner_window_y", planner_window_y_, 0.0); + private_nh.param("default_tolerance", default_tolerance_, 0.0); + + make_plan_srv_ = private_nh.advertiseService("make_plan", &NavfnROS::makePlanService, this); + + initialized_ = true; + } + else + ROS_WARN("This planner has already been initialized, you can't call it twice, doing nothing"); + } + + void NavfnROS::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){ + initialize(name, costmap_ros->getCostmap(), costmap_ros->getGlobalFrameID()); + } + + bool NavfnROS::validPointPotential(const geometry_msgs::Point& world_point){ + return validPointPotential(world_point, default_tolerance_); + } + + bool NavfnROS::validPointPotential(const geometry_msgs::Point& world_point, double tolerance){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + double resolution = costmap_->getResolution(); + geometry_msgs::Point p; + p = world_point; + + p.y = world_point.y - tolerance; + + while(p.y <= world_point.y + tolerance){ + p.x = world_point.x - tolerance; + while(p.x <= world_point.x + tolerance){ + double potential = getPointPotential(p); + if(potential < POT_HIGH){ + return true; + } + p.x += resolution; + } + p.y += resolution; + } + + return false; + } + + double NavfnROS::getPointPotential(const geometry_msgs::Point& world_point){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return -1.0; + } + + unsigned int mx, my; + if(!costmap_->worldToMap(world_point.x, world_point.y, mx, my)) + return DBL_MAX; + + unsigned int index = my * planner_->nx + mx; + return planner_->potarr[index]; + } + + bool NavfnROS::computePotential(const geometry_msgs::Point& world_point){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + //make sure to resize the underlying array that Navfn uses + planner_->setNavArr(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY()); + planner_->setCostmap(costmap_->getCharMap(), true, allow_unknown_); + + unsigned int mx, my; + if(!costmap_->worldToMap(world_point.x, world_point.y, mx, my)) + return false; + + int map_start[2]; + map_start[0] = 0; + map_start[1] = 0; + + int map_goal[2]; + map_goal[0] = mx; + map_goal[1] = my; + + planner_->setStart(map_start); + planner_->setGoal(map_goal); + + return planner_->calcNavFnDijkstra(); + } + + void NavfnROS::clearRobotCell(const geometry_msgs::PoseStamped& global_pose, unsigned int mx, unsigned int my){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return; + } + + //set the associated costs in the cost map to be free + costmap_->setCost(mx, my, costmap_2d::FREE_SPACE); + } + + bool NavfnROS::makePlanService(nav_msgs::GetPlan::Request& req, nav_msgs::GetPlan::Response& resp){ + makePlan(req.start, req.goal, resp.plan.poses); + + resp.plan.header.stamp = ros::Time::now(); + resp.plan.header.frame_id = global_frame_; + + return true; + } + + void NavfnROS::mapToWorld(double mx, double my, double& wx, double& wy) { + wx = costmap_->getOriginX() + mx * costmap_->getResolution(); + wy = costmap_->getOriginY() + my * costmap_->getResolution(); + } + + bool NavfnROS::makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, std::vector& plan){ + return makePlan(start, goal, default_tolerance_, plan); + } + + bool NavfnROS::makePlan(const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, double tolerance, std::vector& plan){ + boost::mutex::scoped_lock lock(mutex_); + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + //clear the plan, just in case + plan.clear(); + + ros::NodeHandle n; + + //until tf can handle transforming things that are way in the past... we'll require the goal to be in our global frame + if(goal.header.frame_id != global_frame_){ + ROS_ERROR("The goal pose passed to this planner must be in the %s frame. It is instead in the %s frame.", + global_frame_.c_str(), goal.header.frame_id.c_str()); + return false; + } + + if(start.header.frame_id != global_frame_){ + ROS_ERROR("The start pose passed to this planner must be in the %s frame. It is instead in the %s frame.", + global_frame_.c_str(), start.header.frame_id.c_str()); + return false; + } + + double wx = start.pose.position.x; + double wy = start.pose.position.y; + + unsigned int mx, my; + if(!costmap_->worldToMap(wx, wy, mx, my)){ + ROS_WARN_THROTTLE(1.0, "The robot's start position is off the global costmap. Planning will always fail, are you sure the robot has been properly localized?"); + return false; + } + + //clear the starting cell within the costmap because we know it can't be an obstacle + clearRobotCell(start, mx, my); + + //make sure to resize the underlying array that Navfn uses + planner_->setNavArr(costmap_->getSizeInCellsX(), costmap_->getSizeInCellsY()); + planner_->setCostmap(costmap_->getCharMap(), true, allow_unknown_); + + int map_start[2]; + map_start[0] = mx; + map_start[1] = my; + + wx = goal.pose.position.x; + wy = goal.pose.position.y; + + if(!costmap_->worldToMap(wx, wy, mx, my)){ + if(tolerance <= 0.0){ + ROS_WARN_THROTTLE(1.0, "The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal."); + return false; + } + mx = 0; + my = 0; + } + + int map_goal[2]; + map_goal[0] = mx; + map_goal[1] = my; + + planner_->setStart(map_goal); + planner_->setGoal(map_start); + + //bool success = planner_->calcNavFnAstar(); + planner_->calcNavFnDijkstra(true); + + double resolution = costmap_->getResolution(); + geometry_msgs::PoseStamped p, best_pose; + p = goal; + + bool found_legal = false; + double best_sdist = DBL_MAX; + + p.pose.position.y = goal.pose.position.y - tolerance; + + while(p.pose.position.y <= goal.pose.position.y + tolerance){ + p.pose.position.x = goal.pose.position.x - tolerance; + while(p.pose.position.x <= goal.pose.position.x + tolerance){ + double potential = getPointPotential(p.pose.position); + double sdist = sq_distance(p, goal); + if(potential < POT_HIGH && sdist < best_sdist){ + best_sdist = sdist; + best_pose = p; + found_legal = true; + } + p.pose.position.x += resolution; + } + p.pose.position.y += resolution; + } + + if(found_legal){ + //extract the plan + if(getPlanFromPotential(best_pose, plan)){ + //make sure the goal we push on has the same timestamp as the rest of the plan + geometry_msgs::PoseStamped goal_copy = best_pose; + goal_copy.header.stamp = ros::Time::now(); + plan.push_back(goal_copy); + } + else{ + ROS_ERROR("Failed to get a plan from potential when a legal potential was found. This shouldn't happen."); + } + } + + if (visualize_potential_) + { + // Publish the potentials as a PointCloud2 + sensor_msgs::PointCloud2 cloud; + cloud.width = 0; + cloud.height = 0; + cloud.header.stamp = ros::Time::now(); + cloud.header.frame_id = global_frame_; + sensor_msgs::PointCloud2Modifier cloud_mod(cloud); + cloud_mod.setPointCloud2Fields(4, "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32, + "pot", 1, sensor_msgs::PointField::FLOAT32); + cloud_mod.resize(planner_->ny * planner_->nx); + sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); + + PotarrPoint pt; + float *pp = planner_->potarr; + double pot_x, pot_y; + for (unsigned int i = 0; i < (unsigned int)planner_->ny*planner_->nx ; i++) + { + if (pp[i] < 10e7) + { + mapToWorld(i%planner_->nx, i/planner_->nx, pot_x, pot_y); + iter_x[0] = pot_x; + iter_x[1] = pot_y; + iter_x[2] = pp[i]/pp[planner_->start[1]*planner_->nx + planner_->start[0]]*20; + iter_x[3] = pp[i]; + ++iter_x; + } + } + potarr_pub_.publish(cloud); + } + + //publish the plan for visualization purposes + publishPlan(plan, 0.0, 1.0, 0.0, 0.0); + + return !plan.empty(); + } + + void NavfnROS::publishPlan(const std::vector& path, double r, double g, double b, double a){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return; + } + + //create a message for the plan + nav_msgs::Path gui_path; + gui_path.poses.resize(path.size()); + + if(path.empty()) { + //still set a valid frame so visualization won't hit transform issues + gui_path.header.frame_id = global_frame_; + gui_path.header.stamp = ros::Time::now(); + } else { + gui_path.header.frame_id = path[0].header.frame_id; + gui_path.header.stamp = path[0].header.stamp; + } + + // Extract the plan in world co-ordinates, we assume the path is all in the same frame + for(unsigned int i=0; i < path.size(); i++){ + gui_path.poses[i] = path[i]; + } + + plan_pub_.publish(gui_path); + } + + bool NavfnROS::getPlanFromPotential(const geometry_msgs::PoseStamped& goal, std::vector& plan){ + if(!initialized_){ + ROS_ERROR("This planner has not been initialized yet, but it is being used, please call initialize() before use"); + return false; + } + + //clear the plan, just in case + plan.clear(); + + //until tf can handle transforming things that are way in the past... we'll require the goal to be in our global frame + if(goal.header.frame_id != global_frame_){ + ROS_ERROR("The goal pose passed to this planner must be in the %s frame. It is instead in the %s frame.", + global_frame_.c_str(), goal.header.frame_id.c_str()); + return false; + } + + double wx = goal.pose.position.x; + double wy = goal.pose.position.y; + + //the potential has already been computed, so we won't update our copy of the costmap + unsigned int mx, my; + if(!costmap_->worldToMap(wx, wy, mx, my)){ + ROS_WARN_THROTTLE(1.0, "The goal sent to the navfn planner is off the global costmap. Planning will always fail to this goal."); + return false; + } + + int map_goal[2]; + map_goal[0] = mx; + map_goal[1] = my; + + planner_->setStart(map_goal); + + planner_->calcPath(costmap_->getSizeInCellsX() * 4); + + //extract the plan + float *x = planner_->getPathX(); + float *y = planner_->getPathY(); + int len = planner_->getPathLen(); + ros::Time plan_time = ros::Time::now(); + + for(int i = len - 1; i >= 0; --i){ + //convert the plan to world coordinates + double world_x, world_y; + mapToWorld(x[i], y[i], world_x, world_y); + + geometry_msgs::PoseStamped pose; + pose.header.stamp = plan_time; + pose.header.frame_id = global_frame_; + pose.pose.position.x = world_x; + pose.pose.position.y = world_y; + pose.pose.position.z = 0.0; + pose.pose.orientation.x = 0.0; + pose.pose.orientation.y = 0.0; + pose.pose.orientation.z = 0.0; + pose.pose.orientation.w = 1.0; + plan.push_back(pose); + } + + //publish the plan for visualization purposes + publishPlan(plan, 0.0, 1.0, 0.0, 0.0); + return !plan.empty(); + } +}; diff --git a/navigations/navfn/src/navtest/navtest.cpp b/navigations/navfn/src/navtest/navtest.cpp new file mode 100755 index 0000000..266d23d --- /dev/null +++ b/navigations/navfn/src/navtest/navtest.cpp @@ -0,0 +1,309 @@ +// +// simple timing test of the nav fn planner +// expects a cost map in maps/willow-full-0.05.pgm +// + +#include +#ifdef HAVE_SYS_TIME_H +#include +#endif +#include +#include +#include + +#include +#include + +#include "navwin.h" + +using namespace navfn; + +#ifdef __APPLE__ +# include +#else +extern "C" { +#include +// pgm.h is not very friendly with system headers... need to undef max() and min() afterwards +#include +#undef max +#undef min +} +#endif + +int goal[2]; +int start[2]; + +double get_ms() +{ + struct timeval t0; + gettimeofday(&t0,NULL); + double ret = t0.tv_sec * 1000.0; + ret += ((double)t0.tv_usec)*0.001; + return ret; +} + +NavWin *nwin; + +void +dispPot(NavFn *nav) +{ + nwin->drawPot(nav); + Fl::check(); +} + + +// is true for ROS-generated raw cost maps +COSTTYPE *readPGM(const char *fname, int *width, int *height, bool raw = false); + +int main(int argc, char **argv) +{ + int dispn = 0; + + int res = 50; // 50 mm resolution + double size = 40.0; // 40 m on a side + int inc = 2*COST_NEUTRAL; // thin wavefront + bool got_start_goal = false; + std::string pgm_file_name; + + start[0] = 420; + start[1] = 420; + + goal[0] = 580; + goal[1] = 400; + + if (argc > 1) + { + pgm_file_name = std::string( argv[ 1 ]) + ".pgm"; + std::string txt_file_name = std::string( argv[ 1 ]) + ".txt"; + + std::ifstream txt_stream( txt_file_name.c_str() ); + if( txt_stream ) + { + std::string name; + int x, y; + for( int i = 0; i < 2; i++ ) + { + txt_stream >> name >> x >> y; + if( txt_stream && name == "Goal:" ) + { + goal[0] = x; + goal[1] = y; + } + else if( txt_stream && name == "Start:" ) + { + start[0] = x; + start[1] = y; + } + } + got_start_goal = true; + printf( "start is %d, %d, goal is %d, %d.\n", start[ 0 ], start[ 1 ], goal[ 0 ], goal[ 1 ]); + } + else + { + printf( "Failed to open file %s, assuming you didn't want to open a file.\n", txt_file_name.c_str() ); + } + } + + // get resolution (mm) and perhaps size (m) + if( !got_start_goal ) + { + if (argc > 1) + res = atoi(argv[1]); + + if (argc > 2) + size = atoi(argv[2]); + + if (argc > 3) + inc = atoi(argv[3]); + + if (argc > 4) + dispn = atoi(argv[4]); + } + NavFn *nav; + + // try reading in a file + int sx,sy; + COSTTYPE *cmap = NULL; + cmap = readPGM( pgm_file_name.c_str(),&sx,&sy,true); + if (cmap) + { + nav = new NavFn(sx,sy); + + + } + else + { + sx = (int)((.001 + size) / (res*.001)); + sy = sx; + nav = new NavFn(sx,sy); // size in pixels + goal[0] = sx-10; + goal[1] = sy/2; + start[0] = 20; + start[1] = sy/2; + } + + // display + nwin = new NavWin(sx,sy,"Potential Field"); + nwin->maxval = 2*sx*COST_NEUTRAL; + Fl::visual(FL_RGB); + nwin->show(); + + + // set goal and robot poses + int *gg = goal; + nav->setGoal(gg); + int *ss = start; + nav->setStart(ss); + + // set display function + nav->display(dispPot,dispn); + + + nav->priInc = inc; + printf("[NavTest] priority increment: %d\n", inc); + + double t0 = get_ms(); + // set up cost map from file, if it exists + if (cmap) + { + // nav->setCostMap(cmap); + memcpy(nav->costarr,cmap,sx*sy); + nav->setupNavFn(true); + } + else + { + nav->setupNavFn(false); + } + double t1 = get_ms(); + // nav->calcNavFnAstar(); + nav->calcNavFnDijkstra(true); + double t2 = get_ms(); + printf("Setup: %d ms Plan: %d ms Total: %d ms\n", + (int)(t1-t0), (int)(t2-t1), (int)(t2-t0)); + + // draw potential field + float mmax = 0.0; + float *pp = nav->potarr; + int ntot = 0; + for (int i=0; iny*nav->nx; i++, pp++) + { + if (*pp < 10e7 && *pp > mmax) + mmax = *pp; + if (*pp > 10e7) + ntot++; // number of uncalculated cells + } + printf("[NavFn] Cells not touched: %d/%d\n", ntot, nav->nx*nav->ny); + nwin->maxval = 4*mmax/3/15; + dispPot(nav); + while (Fl::check()) { + if( Fl::event_key( 'q' )) + { + break; + } + } + + return 0; +} + + +// read in a PGM file for obstacles +// no expansion yet... + +static int CS; + +void +setcostobs(COSTTYPE *cmap, int n, int w) +{ + CS = 11; + for (int i=-CS/2; i= 0; --jj) + { + int v = row[jj]; + cmap[ii*ncols+jj] = v; + if (v >= COST_OBS_ROS) + otot++; + if (v == 0) + ftot++; + } + } + else + { + ftot = ncols*nrows; + for (int jj(ncols - 1); jj >= 0; --jj) + { + if (row[jj] < unknown_gray && ii < nrows-7 && ii > 7) + { + setcostobs(cmap,ii*ncols+jj,ncols); + otot++; + ftot--; + } + else if (row[jj] <= unknown_gray) + { + setcostunk(cmap,ii*ncols+jj,ncols); + utot++; + ftot--; + } + } + } + } + printf("[NavTest] Found %d obstacle cells, %d free cells, %d unknown cells\n", otot, ftot, utot); + pgm_freerow(row); + *width = ncols; + *height = nrows; + return cmap; +} diff --git a/navigations/navfn/src/navtest/navwin.cpp b/navigations/navfn/src/navtest/navwin.cpp new file mode 100755 index 0000000..a6c49eb --- /dev/null +++ b/navigations/navfn/src/navtest/navwin.cpp @@ -0,0 +1,292 @@ +// +// simple timing test of the nav fn planner +// + +#include +#include "navwin.h" + +namespace navfn { +NavWin::NavWin(int w, int h, const char *name) + : Fl_Double_Window(w,h,name) +{ + nw = w; + nh = h; + dec = 1; + maxval = 90*1000; + im = NULL; + pw = w; + ph = h; + pce = pne = poe = 0; + pc = pn = po = NULL; + pathlen = pathbuflen = 0; + path = NULL; +} + +NavWin::~NavWin() +{ +} + +void +NavWin::drawPot(NavFn *nav) +{ + float *pot = nav->potarr; + COSTTYPE *cst = nav->costarr; + int width = nav->nx; + int height = nav->ny; + + // params + pw = width; + ph = height; + + // figure out decimation or expansion to fit + dec = 1; + inc = 1; + + if (width >= nw/2) + { + int ww = width; + while (ww > nw) + { + dec++; + ww = width/dec; + } + + int hh = height/dec; + while (hh > nh) + { + dec++; + hh = height/dec; + } + + if (im == NULL) + im = new uchar[nw*nh*3]; + + + // draw potential + for (int i=0; i= COST_OBS) + { + *ii = 120; + *(ii+1) = 60; + *(ii+2) = 60; + } + } + } + + } + + else // expand + { + int ww = width; + while (ww < nw/2) + { + inc++; + ww = width*inc; + } + + int hh = height*inc; + while (hh < nh/2) + { + inc++; + hh = height*inc; + } + + if (im == NULL) + im = new uchar[nw*nh*3]; + + for (int i=0; i maxval) + v = 255; + else + v = (int)((*pp/maxval) * 255.0); + for (int k=0; kcurPe; + pc = new int[pce]; + memcpy(pc, nav->curP, pce*sizeof(int)); + + if (pn) + delete [] pn; + pne = nav->nextPe; + pn = new int[pne]; + memcpy(pn, nav->nextP, pne*sizeof(int)); + + if (po) + delete [] po; + poe = nav->overPe; + po = new int[poe]; + memcpy(po, nav->overP, poe*sizeof(int)); + + // start and goal + goal[0] = nav->goal[0]; + goal[1] = nav->goal[1]; + start[0] = nav->start[0]; + start[1] = nav->start[1]; + + // path + if (nav->npath > 0) + { + pathlen = nav->npath; + if (pathbuflen < pathlen) + { + pathbuflen = pathlen; + if (path) delete [] path; + path = new int[pathbuflen]; + } + for (int i=0; ipathy[i])+(int)(nav->pathx[i]); + } + + drawOverlay(); + + redraw(); +} + + +void +NavWin::drawOverlay() +{ + if (inc == 1) // decimation + { + fl_color(255,0,0); + if (pce > 0) + for (int i=0; i 0) + for (int i=0; i 0) + for (int i=0; i 0) + for (int i=0; i 0) + for (int i=0; i 0) + for (int i=0; i 0) // decimation or equal pixels + { + int y = path[0]/pw; + int x = path[0]%pw; + for (int i=1; i +#include +#include + +#include +#include +#include +#include +#include + +#include + +namespace navfn { + class NavWin + : public Fl_Double_Window + { + public: + NavWin(int w, int h, const char *name); + ~NavWin(); + + int nw,nh; // width and height of image + int pw,ph; // width and height of pot field + int dec, inc; // decimation or expansion for display + + float maxval; // max potential value + void drawPot(NavFn *nav); // draw everything... + + void drawOverlay(); + + uchar *im; // image for drawing + int *pc, *pn, *po; // priority buffers + int pce, pne, poe; // buffer sizes + int goal[2]; + int start[2]; + int *path; // path buffer, cell indices + int pathlen; // how many we have + int pathbuflen; // how big the path buffer is + + void draw(); // draw the image + }; +}; diff --git a/navigations/navfn/src/read_pgm_costmap.cpp b/navigations/navfn/src/read_pgm_costmap.cpp new file mode 100755 index 0000000..27f861a --- /dev/null +++ b/navigations/navfn/src/read_pgm_costmap.cpp @@ -0,0 +1,141 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#include +#include +#include + +#ifdef __APPLE__ +# include +#else +extern "C" { +#include +// pgm.h is not very friendly with system headers... need to undef max() and min() afterwards +#include +#undef max +#undef min +} +#endif + +void +setcostobs(COSTTYPE *cmap, int n, int w) +{ + int CS = 11; + for (int i=-CS/2; i= 0; --jj) + { + int v = row[jj]; + cmap[ii*ncols+jj] = v; + if (v >= COST_OBS_ROS) + otot++; + if (v == 0) + ftot++; + } + } + else + { + ftot = ncols*nrows; + for (int jj(ncols - 1); jj >= 0; --jj) + { + if (row[jj] < unknown_gray && ii < nrows-7 && ii > 7) + { + setcostobs(cmap,ii*ncols+jj,ncols); + otot++; + ftot--; + } + else if (row[jj] <= unknown_gray) + { + setcostunk(cmap,ii*ncols+jj,ncols); + utot++; + ftot--; + } + } + } + } + printf("readPGM() Found %d obstacle cells, %d free cells, %d unknown cells\n", otot, ftot, utot); + pgm_freerow(row); + *width = ncols; + *height = nrows; + return cmap; +} diff --git a/navigations/navfn/srv/MakeNavPlan.srv b/navigations/navfn/srv/MakeNavPlan.srv new file mode 100755 index 0000000..244600b --- /dev/null +++ b/navigations/navfn/srv/MakeNavPlan.srv @@ -0,0 +1,9 @@ +geometry_msgs/PoseStamped start +geometry_msgs/PoseStamped goal +--- + +uint8 plan_found +string error_message + +# if plan_found is true, this is an array of waypoints from start to goal, where the first one equals start and the last one equals goal +geometry_msgs/PoseStamped[] path diff --git a/navigations/navfn/srv/SetCostmap.srv b/navigations/navfn/srv/SetCostmap.srv new file mode 100755 index 0000000..27299b8 --- /dev/null +++ b/navigations/navfn/srv/SetCostmap.srv @@ -0,0 +1,4 @@ +uint8[] costs +uint16 height +uint16 width +--- \ No newline at end of file diff --git a/navigations/navfn/test/CMakeLists.txt b/navigations/navfn/test/CMakeLists.txt new file mode 100755 index 0000000..1bc039f --- /dev/null +++ b/navigations/navfn/test/CMakeLists.txt @@ -0,0 +1,2 @@ +catkin_add_gtest(path_calc_test path_calc_test.cpp ../src/read_pgm_costmap.cpp) +target_link_libraries(path_calc_test navfn netpbm) diff --git a/navigations/navfn/test/path_calc_test.cpp b/navigations/navfn/test/path_calc_test.cpp new file mode 100755 index 0000000..067ff02 --- /dev/null +++ b/navigations/navfn/test/path_calc_test.cpp @@ -0,0 +1,160 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#include +#include +#include +#include +#include + +// Load a willow garage costmap and return a NavFn instance using it. +// If the costmap file fails to load, returns NULL. +navfn::NavFn* make_willow_nav() +{ + int sx,sy; + std::string path = ros::package::getPath( ROS_PACKAGE_NAME ) + "/test/willow_costmap.pgm"; + + COSTTYPE *cmap = readPGM( path.c_str(), &sx, &sy, true ); + if( cmap == NULL ) + { + return NULL; + } + navfn::NavFn* nav = new navfn::NavFn(sx,sy); + + nav->priInc = 2*COST_NEUTRAL; // thin wavefront + + memcpy( nav->costarr, cmap, sx*sy ); + + return nav; +} + +void print_neighborhood_of_last_path_entry( navfn::NavFn* nav ) +{ + printf("last path entries:\n"); + for( int i = nav->npath - 4; i < nav->npath; i++ ) + { + printf("%.3f, %.3f\n", nav->pathx[ i ], nav->pathy[ i ]); + } + printf("potential field neighborhood of last entry:\n"); + int xf = nav->pathx[ nav->npath-1 ]; + int yf = nav->pathy[ nav->npath-1 ]; + + printf( " " ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %6d", x ); + } + printf( "\n" ); + + for( int y = yf - 2; y <= yf + 2; y++ ) + { + printf( "%5d:", y ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %5.1f", nav->potarr[ y * nav->nx + x ] ); + } + printf( "\n" ); + } + + printf("gradient neighborhood of last entry:\n"); + printf( " " ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %6d", x ); + } + printf( "\n" ); + + for( int y = yf - 2; y <= yf + 2; y++ ) + { + printf( "%5d x:", y ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %5.1f", nav->gradx[ y * nav->nx + x ] ); + } + printf( "\n" ); + + printf( " y:" ); + for( int x = xf - 2; x <= xf + 2; x++ ) + { + printf( " %5.1f", nav->grady[ y * nav->nx + x ] ); + } + printf( "\n" ); + } +} + +TEST(PathCalc, oscillate_in_pinch_point) +{ + navfn::NavFn* nav = make_willow_nav(); + ASSERT_TRUE( nav != NULL ); + + int goal[2]; + int start[2]; + + start[0] = 428; + start[1] = 746; + + goal[0] = 350; + goal[1] = 450; + + nav->setGoal( goal ); + nav->setStart( start ); + + bool plan_success = nav->calcNavFnDijkstra( true ); + EXPECT_TRUE( plan_success ); + if( !plan_success ) + { + print_neighborhood_of_last_path_entry( nav ); + } +} + +TEST(PathCalc, easy_nav_should_always_work) +{ + navfn::NavFn* nav = make_willow_nav(); + ASSERT_TRUE( nav != NULL ); + + int goal[2]; + int start[2]; + + start[0] = 350; + start[1] = 400; + + goal[0] = 350; + goal[1] = 450; + + nav->setGoal( goal ); + nav->setStart( start ); + + EXPECT_TRUE( nav->calcNavFnDijkstra( true )); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/navfn/test/willow_costmap.pgm b/navigations/navfn/test/willow_costmap.pgm new file mode 100755 index 0000000..9be6775 --- /dev/null +++ b/navigations/navfn/test/willow_costmap.pgm @@ -0,0 +1,5 @@ +P5 +1132 +1217 +255 +2222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222222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\ No newline at end of file diff --git a/navigations/pluginlib/CHANGELOG.rst b/navigations/pluginlib/CHANGELOG.rst new file mode 100755 index 0000000..bad160d --- /dev/null +++ b/navigations/pluginlib/CHANGELOG.rst @@ -0,0 +1,325 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package pluginlib +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.13.0 (2020-05-21) +------------------- +* Declare specific boost dependencies (`#171 `_) +* Contributors: Mikael Arguedas + +1.12.2 (2020-02-14) +------------------- +* Add bin to library search path on Windows. (`#145 `_) +* Bump minimum CMake version to avoid CMP0048 warning. (`#173 `_) +* Check for NULL in XMLElement::Attribute. (`#163 `_) +* Check for NULL in XMLElement::GetText. (`#159 `_) +* Check for NULL in XMLNode::Value. (`#158 `_) +* Update header migration script for Python 3. (`#148 `_) +* Make Steven! Ragnarok the maintainer. (`#129 `_) +* Fix spelling Attirbute=>Attribute. (`#128 `_) +* Link test_plugins against class_loader for Windows compilation. (`#125 `_) +* Fix build issue when build on Windows (`#123 `_) +* Contributors: James Xu, Jeremie Deray, Johnson Shih, Markus Grimm, Mikael Arguedas, Shane Loretz, josch + +1.12.1 (2018-04-27) +------------------- +* [warning fix] remove deprecation warning until users are required to change code (`#115 `_) +* [warning fix] move catkinFindLib implementation from anonymous namespace to getCatkinLibraryPaths (`#113 `_) +* Contributors: Mikael Arguedas + +1.12.0 (2018-03-14) +------------------- +* [warning fix]Cherry-pick `#103 `_ to melodic-devel (`#105 `_) +* [migration helper] provide a script to convert include statements to use new headers (`#104 `_) +* [migration] use new class_loader headers and fix deprecation warnings (`#101 `_) +* [bugfix] Continue loading classes on error (`#85 `_) (`#88 `_) +* [style] Fix cpplint and lint_cmake errors (`#84 `_) +* move pluginlib in its own folder (`#83 `_) +* Contributors: Mikael Arguedas + +1.11.0 (2017-07-27) +------------------- +* Switch to Tinyxml2 (`#59 `_) +* do not use popen to solve catkin_path. (`#49 `_) +* switch to package format 2 (`#55 `_) +* remove trailing whitespaces (`#54 `_) +* Contributors: Dmitry Rozhkov, Koji Terada, Mikael Arguedas + +1.10.5 (2017-03-27) +------------------- +* Merge pull request `#47 `_ from ros/fix_conversion + fix size_t to int conversion +* fix int conversion +* Contributors: Mikael Arguedas + +1.10.4 (2016-09-20) +------------------- +* Merge pull request `#42 `_ from delftrobotics-forks/unique-ptr + Add std::unique_ptr API +* Add unit test for unique_ptr API. +* Simplify unit tests with ASSERT_THROW. +* Add ClassLoader::createUniqueInstance. +* Wrap long comment on createInstance and friend. +* Throw exception if plugin.xml is broken (`#41 `_) + * added test case for broken xml files with missing attributes of class tag + * added checks if all needed attributes of the class tag are existing + * removed comment and empty line +* Contributors: Maarten de Vries, Mikael Arguedas, cwecht + +1.10.3 (2016-06-22) +------------------- +* Merge pull request `#40 `_ from ros/fix_warnings + fix deprecated warnings in unit tests +* fix deprecated warnings in unit tests +* removed merge messages and redundant commits +* Contributors: Mikael Arguedas + +1.10.2 (2016-03-14) +------------------- +* Remove Boost Software License from license tag `#35 `_ +* Throw an exception if ClassLoader can't be instantiated due to an invalid package name `#34 `_ +* Add ":" to split function within getName. `#33 `_ +* Contributors: Esteve Fernandez, Jochen Sprickerhof, Mikael Arguedas, Mike O'Driscoll + +1.10.1 (2014-12-23) +------------------- +* Remove GTEST_FOUND from CMakeLists.txt +* Check that GTest is installed before running tests. +* Moved plugin_macro_update script to scripts directory. Made plugin_macro_update rosrunnable and removed it from global PATH `#29 `_ +* Contributors: Esteve Fernandez + +1.10.0 (2014-05-08 14:56) +------------------------- + +1.9.25 (2014-05-08 20:37) +------------------------- +* Use cmake_modules to find TinyXML `#26 `_ +* Check for release libraries in debug builds `#25 `_ +* update refreshDeclaredClasses to force recrawl (fix `#23 `_) +* Contributors: Dirk Thomas, Esteve Fernandez + +1.9.24 (2014-03-11) +------------------- +* Remove invalid exception when no plugins are found `#22 `_ +* Update maintainer field +* Contributors: Dirk Thomas, Esteve Fernandez + +1.9.23 (2013-10-04) +------------------- +* expose plugin paths in ClassLoader `#21 `_ +* Contributors: Dirk Thomas, Mirza Shah + +1.9.22 (2013-08-21) +------------------- +* Fixed use of __FILE_\_ macro in deprecation warning +* Added libdl to plugin_tool link args...temporary fix +* Contributors: Mirza Shah + +1.9.21 (2013-07-14) +------------------- +* Added file hint for deprecated warnings. `#16 `_ +* check for CATKIN_ENABLE_TESTING +* remove mainpage.dox +* Contributors: Dane Powell, Dirk Thomas, Mirza Shah + +1.9.20 (2013-04-18) +------------------- +* Added another unit test for managed instance case. +* Fixed a regression that broke unload call. Added a unit test for this case. +* Contributors: Mirza Shah + +1.9.19 (2013-03-23) +------------------- +* Converted ROS_DEBUG and ROS_WARN calls to ROS_DEBUG_NAMED and ROS_WARN_NAMED calls `#13 `_ +* Contributors: Dave Coleman, Mirza Shah + +1.9.18 (2013-01-28) +------------------- +* Support for boost filesystem v2 `#11 `_ +* Added more debug information +* Contributors: Mario Prats, Mirza Shah + +1.9.17 (2012-12-27) +------------------- +* More useful debug messages +* Fixed incorrect debug message in plugin description XML parsing +* Contributors: Mirza Shah + +1.9.16 (2012-12-21) +------------------- +* Removed old file +* Annotated deprecation warning with more info +* Made python script global installable +* Added a script to recursively update deprecated pluginlib macro +* added missing license header +* modified dep type of catkin +* Contributors: Aaron Blasdel, Dirk Thomas, Mirza Shah + +1.9.15 (2012-12-13 17:22) +------------------------- +* Updated registration macros to be easier and deprecated older ones. Also cleaned up code violating standard +* Added wg copyright notice +* Contributors: Mirza Shah + +1.9.14 (2012-12-13 15:20) +------------------------- +* lookup name (i.e. magic name) is now optional. Further cleanup...alphabetized methods, broke up some. +* Contributors: Mirza Shah + +1.9.13 (2012-12-11) +------------------- +* Made robust to plugin package having different name from the folder it came from. ```#6 `_ +* Contributors: Mirza Shah + +1.9.2 (2012-10-25) +------------------ +* fixed deps for downstream packages +* Contributors: Dirk Thomas + +1.9.1 (2012-10-24 22:02) +------------------------ +* fix missing and redundant deps for downstream projects +* Contributors: Dirk Thomas + +1.9.0 (2012-10-24 18:31) +------------------------ +* renamed test target +* remove obsolete files +* Fixed dependency in package.xml and minor touchups +* Broke up code into further files +* Catkinized pluginlib and completed integration more or less with class_loader. Heavy mods to pluginlib::ClassLoader to handle constraints of Catkin as well as delegate housekeeping to class_loader::ClassLoader +* Updated to utilize newly renamed class_loader (formerly plugins) library with new file names, functions, identifiers, etc +* Removed explicit dependency that should have been automatically imported from dependent package in CMakeLists.txt +* Fixed unhandled exception to make all unit tests pass +* Removed mention of console bridge in CMakeLists.txt, plugins now probably exports +* Finished mods to utilize lower level plugins library. One test still failing, will get to that soon, but basics seem to be ok +* Modding pluginlib to use new plugins library. Not done, but just doing it tosync with my laptop +* Removed Poco and updated CMake and manifest files to depend on lower level plugins library +* Contributors: Dirk Thomas, Mirza Shah, mirzashah + +1.8.6 (2012-10-09) +------------------ +* added missing boost include dirs and runtime dependency +* updated cmake min version to 2.8.3 +* Contributors: Dirk Thomas, Vincent Rabaud + +1.8.5 (2012-10-01) +------------------ +* add missing roslib dependency that happens in class_loader_imp.h +* Contributors: Vincent Rabaud + +1.8.4 (2012-09-30) +------------------ +* updated to latest catkin +* Contributors: Dirk Thomas + +1.8.3 (2012-09-07) +------------------ +* added tinyxml to project depends +* Contributors: Dirk Thomas + +1.8.2 (2012-09-06) +------------------ +* updated pkg-config in manifest.xml +* updated catkin variables +* Contributors: Dirk Thomas + +1.8.1 (2012-09-04) +------------------ +* Missing LIBRARIES and DEPENDS specifiers from CMakeLists.txt, now added. +* catkin-ized +* updated api doc for load/create/unload methods +* renamed new methods using shorter name for encouraged method +* added cmake macro for hiding plugin symbols and respective rosbuild export +* updated class loader according to updated REP 121 +* add auto-unload for libraries using boost shared pointer +* pluginlib: added a pure-virtual base class for ClassLoader called ClassLoaderBase, which is not templated. Only one function of ClassLoader is actually templated. This allows client code to not be templated where it doesn't need to be. +* patch 4 for `#4887 `_ +* ignore bin +* accepting patch from ticket `#4887 `_ REP 116 implementation +* add explicit link against tinyxml, because users of our libraries will need to link against it +* link poco_lite with tinyxml +* remove namespace to be compatible with tinyxml sysdep +* removing back depend on common +* removing rosdep.yaml, rule is in ros/rosdep.yaml +* fixed tinyxml +* converting to unary stack (separated from common) +* applied patch from 4923, to support boost 1.46 +* patch from Nick Butko osx compatability +* adding unittest melonee forgot to commit +* adding pluginlib tests +* patch for osx linking `#4094 `_ +* Fixed exception comments +* Added Ubuntu platform tags to manifest +* Fixing bug where the incorrect library path was passed to dlopen from pluginlib... oops. +* fix in latest for `#4013 `_ to isolate boost filesystem calls into a library +* patch from Wim `#3346 `_ reviewed by Eitan and I +* Adding getName and isClassAvailable function calls to the class loader +* inlining to avoid multiple definitions +* macro deprecation +* adding warning about deprecated macro PLUGINLIB_REGISTER_CLASS +* pluginlib now takes pkg/type arguments, new macro PLUGINLIB_DECLARE_CLASS +* pluginlib now robust to malformed manifests +* Adding more descriptive error messages when libaries fail to load +* Remove use of deprecated rosbuild macros +* doc review completed http://www.ros.org/wiki/pluginlib/Reviews/2009-10-06_Doc_Review +* fixing documentation link +* fixing `#2894 `_ +* Removing ROS_ERRORS in favor of adding information to the exceptions thrown +* migration part 1 +* Contributors: Dave Hershberger, Dirk Thomas, Ken Conley, Mirza Shah, Tully Foote, eitan, gerkey, kwc, mwise, rusu, tfoote, vpradeep, wheeler diff --git a/navigations/pluginlib/CMakeLists.txt b/navigations/pluginlib/CMakeLists.txt new file mode 100755 index 0000000..289c5af --- /dev/null +++ b/navigations/pluginlib/CMakeLists.txt @@ -0,0 +1,43 @@ +cmake_minimum_required(VERSION 3.0.2) +project(pluginlib) + +find_package(catkin REQUIRED COMPONENTS class_loader rosconsole roslib cmake_modules) +find_package(Boost REQUIRED COMPONENTS filesystem) +find_package(TinyXML2 REQUIRED) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS class_loader rosconsole roslib + DEPENDS Boost TinyXML2 +) + +if(CATKIN_ENABLE_TESTING) + include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${TinyXML2_INCLUDE_DIRS}) + + add_library(test_plugins EXCLUDE_FROM_ALL SHARED test/test_plugins.cpp) + target_link_libraries(test_plugins ${class_loader_LIBRARIES}) + + catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp) + if(TARGET ${PROJECT_NAME}_utest) + target_link_libraries(${PROJECT_NAME}_utest ${TinyXML2_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + add_dependencies(${PROJECT_NAME}_utest test_plugins) + endif() + + include(CheckCXXCompilerFlag) + check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11) + if(COMPILER_SUPPORTS_CXX11) + catkin_add_gtest(${PROJECT_NAME}_unique_ptr_test test/unique_ptr_test.cpp) + if(TARGET ${PROJECT_NAME}_unique_ptr_test) + target_link_libraries(${PROJECT_NAME}_unique_ptr_test ${TinyXML2_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + set_target_properties(${PROJECT_NAME}_unique_ptr_test PROPERTIES COMPILE_FLAGS -std=c++11 LINK_FLAGS -std=c++11) + add_dependencies(${PROJECT_NAME}_unique_ptr_test test_plugins) + endif() + endif() + +endif() + +install(DIRECTORY include/pluginlib/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + +install(PROGRAMS scripts/pluginlib_headers_migration.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/navigations/pluginlib/include/pluginlib/class_desc.h b/navigations/pluginlib/include/pluginlib/class_desc.h new file mode 100755 index 0000000..f52e2bd --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_desc.h @@ -0,0 +1,37 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Open Source Robotics Foundation, 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 copyright holders 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. + */ + +#ifndef PLUGINLIB__CLASS_DESC_H_ +#define PLUGINLIB__CLASS_DESC_H_ + +#include "./class_desc.hpp" + +#endif // PLUGINLIB__CLASS_DESC_H_ diff --git a/navigations/pluginlib/include/pluginlib/class_desc.hpp b/navigations/pluginlib/include/pluginlib/class_desc.hpp new file mode 100755 index 0000000..8a1ea12 --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_desc.hpp @@ -0,0 +1,84 @@ +/********************************************************************* +* +* 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 Willow Garage, Inc. 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. +* +*********************************************************************/ + +#ifndef PLUGINLIB__CLASS_DESC_HPP_ +#define PLUGINLIB__CLASS_DESC_HPP_ + +#include + +namespace pluginlib +{ + +/// Storage for information about a given class. +class ClassDesc +{ +public: + /** + * \param lookup_name The lookup name of the class + * \param derived_class The type of the derived class of the class + * \param base_class The type of the class, corresponds to the type of the base class + * \param package The package the class lives in + * \param description A description for the class + * \param library_name The name of the containing library for the class (not a full path!) + * \param plugin_manifest_path The path to the plugin manifest file + */ + ClassDesc( + const std::string & lookup_name, const std::string & derived_class, + const std::string & base_class, const std::string & package, + const std::string & description, const std::string & library_name, + const std::string & plugin_manifest_path) + : lookup_name_(lookup_name), + derived_class_(derived_class), + base_class_(base_class), + package_(package), + description_(description), + library_name_(library_name), + resolved_library_path_("UNRESOLVED"), + plugin_manifest_path_(plugin_manifest_path) {} + + std::string lookup_name_; + std::string derived_class_; + std::string base_class_; + std::string package_; + std::string description_; + std::string library_name_; + std::string resolved_library_path_; // This is set by pluginlib::ClassLoader at load time. + std::string plugin_manifest_path_; +}; + +} // namespace pluginlib + +#endif // PLUGINLIB__CLASS_DESC_HPP_ diff --git a/navigations/pluginlib/include/pluginlib/class_list_macros.h b/navigations/pluginlib/include/pluginlib/class_list_macros.h new file mode 100755 index 0000000..a7f7b95 --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_list_macros.h @@ -0,0 +1,37 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Open Source Robotics Foundation, 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 copyright holders 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. + */ + +#ifndef PLUGINLIB__CLASS_LIST_MACROS_H_ +#define PLUGINLIB__CLASS_LIST_MACROS_H_ + +#include "./class_list_macros.hpp" + +#endif // PLUGINLIB__CLASS_LIST_MACROS_H_ diff --git a/navigations/pluginlib/include/pluginlib/class_list_macros.hpp b/navigations/pluginlib/include/pluginlib/class_list_macros.hpp new file mode 100755 index 0000000..9691052 --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_list_macros.hpp @@ -0,0 +1,51 @@ +/********************************************************************* +* +* 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 Willow Garage, Inc. 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. +* +*********************************************************************/ + +#ifndef PLUGINLIB__CLASS_LIST_MACROS_HPP_ +#define PLUGINLIB__CLASS_LIST_MACROS_HPP_ + +#include + +/// Register a class with class loader to effectively export it for plugin loading later. +/** + * \def PLUGINLIB_EXPORT_CLASS(class_type, base_class_type) + * \param class_type The real class name with namespace qualifier (e.g. Animals::Lion) + * \param base_class_type The real base class type from which class_type inherits + */ +#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type) \ + CLASS_LOADER_REGISTER_CLASS(class_type, base_class_type) + +#endif // PLUGINLIB__CLASS_LIST_MACROS_HPP_ diff --git a/navigations/pluginlib/include/pluginlib/class_loader.h b/navigations/pluginlib/include/pluginlib/class_loader.h new file mode 100755 index 0000000..f2458a2 --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_loader.h @@ -0,0 +1,37 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Open Source Robotics Foundation, 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 copyright holders 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. + */ + +#ifndef PLUGINLIB__CLASS_LOADER_H_ +#define PLUGINLIB__CLASS_LOADER_H_ + +#include "./class_loader.hpp" + +#endif // PLUGINLIB__CLASS_LOADER_H_ diff --git a/navigations/pluginlib/include/pluginlib/class_loader.hpp b/navigations/pluginlib/include/pluginlib/class_loader.hpp new file mode 100755 index 0000000..7aaa044 --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_loader.hpp @@ -0,0 +1,352 @@ +/* + * Copyright (c) 2009, 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, Inc. 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. + */ + +#ifndef PLUGINLIB__CLASS_LOADER_HPP_ +#define PLUGINLIB__CLASS_LOADER_HPP_ + +#include +#include +#include + +#include "boost/algorithm/string.hpp" +#include "class_loader/multi_library_class_loader.hpp" +#include "pluginlib/class_desc.hpp" +#include "pluginlib/class_loader_base.hpp" +#include "pluginlib/exceptions.hpp" +#include "ros/console.h" +#include "ros/package.h" +#include "tinyxml2.h" // NOLINT + +// Note: pluginlib has traditionally utilized a "lookup name" for classes that does not match its +// real C++ name. +// This was done due to limitations of how pluginlib was implemented. +// As of version 1.9, a lookup name is no longer necessary and an attempt to the merge two concepts +// is underway. + +namespace pluginlib +{ + +#if __cplusplus >= 201103L +template +using UniquePtr = class_loader::ClassLoader::UniquePtr; +#endif +/// A class to help manage and load classes. +template +class ClassLoader : public ClassLoaderBase +{ +public: + typedef typename std::map::iterator ClassMapIterator; + +public: + /** + * \param package The package containing the base class + * \param base_class The type of the base class for classes to be loaded + * \param attrib_name The attribute to search for in manifext.xml files, defaults to "plugin" + * \param plugin_xml_paths The list of paths of plugin.xml files, defaults to be crawled via + * ros::package::getPlugins() + * \throws pluginlib::ClassLoaderException if package manifest cannot be found + */ + ClassLoader( + std::string package, std::string base_class, + std::string attrib_name = std::string("plugin"), + std::vector plugin_xml_paths = std::vector()); + + ~ClassLoader(); + + /// Create an instance of a desired class, optionally loading the associated library too. + /** + * \param lookup_name The name of the class to load + * \param auto_load Specifies whether or not to automatically load the + * library containing the class, set to true by default. + * \throws pluginlib::LibraryLoadException when the library associated + * with the class cannot be loaded + * \throws pluginlib::CreateClassException when the class cannot be instantiated + * \return An instance of the class + * \deprecated use either createInstance() or createUnmanagedInstance() + */ + [[deprecated]] T * createClassInstance( + const std::string & lookup_name, + bool auto_load = true); + + /// Create an instance of a desired class. + /** + * Implicitly calls loadLibraryForClass() to increment the library counter. + * + * Deleting the instance and calling unloadLibraryForClass() is automatically + * handled by the shared pointer. + * \param lookup_name The name of the class to load + * \throws pluginlib::LibraryLoadException when the library associated with + * the class cannot be loaded + * \throws pluginlib::CreateClassException when the class cannot be instantiated + * \return An instance of the class + */ + boost::shared_ptr createInstance(const std::string & lookup_name); + +#if __cplusplus >= 201103L + /// Create an instance of a desired class. + /** + * Implicitly calls loadLibraryForClass() to increment the library counter. + * + * Deleting the instance and calling unloadLibraryForClass() is automatically + * handled by the unique pointer. + * + * If you release the wrapped pointer you must manually call the original + * deleter when you want to destroy the released pointer. + * + * \param lookup_name The name of the class to load. + * \throws pluginlib::LibraryLoadException when the library associated with + * the class cannot be loaded. + * \throws pluginlib::CreateClassException when the class cannot be instantiated + * \return An instance of the class + */ + UniquePtr createUniqueInstance(const std::string & lookup_name); +#endif + + /// Create an instance of a desired class. + /** + * Implicitly calls loadLibraryForClass() to increment the library counter. + * + * \attention The ownership is transfered to the caller, which is responsible + * for deleting the instance and calling unloadLibraryForClass() + * (in order to decrement the associated library counter and unloading it + * if it is no more used). + * \param lookup_name The name of the class to load + * \throws pluginlib::LibraryLoadException when the library associated with + * the class cannot be loaded + * \throws pluginlib::CreateClassException when the class cannot be instantiated + * \return An instance of the class + */ + T * createUnmanagedInstance(const std::string & lookup_name); + + /// Return a list of all available plugin manifest paths for this ClassLoader's base class type. + /** + * \return A vector of strings corresponding to the paths of all available plugin manifests + */ + std::vector getPluginXmlPaths(); + + /// Return a list of all available classes for this ClassLoader's base class type. + /** + * \return A vector of strings corresponding to the names of all available classes + */ + std::vector getDeclaredClasses(); + + /// Strip the package name off of a lookup name. + /** + * \param lookup_name The name of the plugin + * \return The name of the plugin stripped of the package name + */ + virtual std::string getName(const std::string & lookup_name); + + /// Given the lookup name of a class, return the type of the associated base class. + /** + * \return The type of the associated base class + */ + virtual std::string getBaseClassType() const; + + /// Given the lookup name of a class, return the type of the derived class associated with it. + /** + * \param lookup_name The name of the class + * \return The name of the associated derived class + */ + virtual std::string getClassType(const std::string & lookup_name); + + /// Given the lookup name of a class, return its description. + /** + * \param lookup_name The lookup name of the class + * \return The description of the class + */ + virtual std::string getClassDescription(const std::string & lookup_name); + + /// Given the name of a class, return the path to its associated library. + /** + * \param lookup_name The name of the class + * \return The path to the associated library + */ + virtual std::string getClassLibraryPath(const std::string & lookup_name); + + /// Given the name of a class, return name of the containing package. + /** + * \param lookup_name The name of the class + * \return The name of the containing package + */ + virtual std::string getClassPackage(const std::string & lookup_name); + + /// Given the name of a class, return the path of the associated plugin manifest. + /** + * \param lookup_name The name of the class + * \return The path of the associated plugin manifest + */ + virtual std::string getPluginManifestPath(const std::string & lookup_name); + + /// Return the libraries that are registered and can be loaded. + /** + * \return A vector of strings corresponding to the names of registered libraries + */ + virtual std::vector getRegisteredLibraries(); + + /// Check if the library for a given class is currently loaded. + /** + * \param lookup_name The lookup name of the class to query + * \return True if the class is loaded, false otherwise + */ + bool isClassLoaded(const std::string & lookup_name); + + /// Check if the class associated with a plugin name is available to be loaded. + /** + * \param lookup_name The name of the plugin + * \return true if the plugin is available, false otherwise + */ + virtual bool isClassAvailable(const std::string & lookup_name); + + /// Attempt to load the library containing a class with a given name. + /** + * The counter for the library uses (refcount) is also incremented. + * + * \param lookup_name The lookup name of the class to load + * \throws pluginlib::LibraryLoadException if the library for the + * class cannot be loaded + */ + virtual void loadLibraryForClass(const std::string & lookup_name); + + /// Refresh the list of all available classes for this ClassLoader's base class type. + /** + * \throws pluginlib::LibraryLoadException if package manifest cannot be found + */ + virtual void refreshDeclaredClasses(); + + /// Decrement the counter for the library containing a class with a given name. + /** + * Also try to unload the library, If the counter reaches zero. + * + * \param lookup_name The lookup name of the class to unload + * \throws pluginlib::LibraryUnloadException if the library for the + * class cannot be unloaded + * \return The number of pending unloads until the library is removed from memory + */ + virtual int unloadLibraryForClass(const std::string & lookup_name); + +private: + /// Return the paths to plugin.xml files. + /** + * \throws pluginlib::LibraryLoadException if package manifest cannot be found + * \return A vector of paths + */ + std::vector getPluginXmlPaths( + const std::string & package, + const std::string & attrib_name, + bool force_recrawl = false); + + /// Return the available classes. + /** + * \param plugin_xml_paths The vector of paths of plugin.xml files + * \throws pluginlib::LibraryLoadException if package manifest cannot be found + * \return A map of class names and the corresponding descriptions + */ + std::map determineAvailableClasses( + const std::vector & plugin_xml_paths); + + /// Open a package.xml file and extract the package name (i.e. contents of tag). + /** + * \param package_xml_path The path to the package.xml file + * \return The name of the package if successful, otherwise an empty string + */ + std::string extractPackageNameFromPackageXML(const std::string & package_xml_path); + + /// Get a list of paths to try to find a library. + /** + * As we transition from rosbuild to Catkin build systems, plugins can be + * found in the old rosbuild place (pkg_name/lib usually) or somewhere in the + * Catkin build space. + */ + std::vector getAllLibraryPathsToTry( + const std::string & library_name, + const std::string & exporting_package_name); + + /// Return the paths where libraries are installed according to the Catkin build system. + std::vector getCatkinLibraryPaths(); + + /// Return an error message for an unknown class. + /** + * \param lookup_name The name of the class + * \return The error message + */ + std::string getErrorStringForUnknownClass(const std::string & lookup_name); + + /// Get the standard path separator for the native OS (e.g. "/" on *nix, "\" on Windows). + std::string getPathSeparator(); + + /// Given a package name, return the path where rosbuild thinks plugins are installed. + std::string getROSBuildLibraryPath(const std::string & exporting_package_name); + + /// Get the package name from a path to a plugin XML file. + std::string getPackageFromPluginXMLFilePath(const std::string & path); + + /// Join two filesystem paths together utilzing appropriate path separator. + std::string joinPaths(const std::string & path1, const std::string & path2); + + /// Parse a plugin XML file. + /** + * Also insert the appropriate ClassDesc entries into the passes + * classes_available map. + */ + void processSingleXMLPluginFile( + const std::string & xml_file, std::map & class_available); + + /// Strip all but the filename from an explicit file path. + /** + * \param path The path to strip + * \return The basename of the path + */ + std::string stripAllButFileFromPath(const std::string & path); + + + /// Helper function for unloading a shared library. + /** + * \param library_path The exact path to the library to unload + * \return The number of pending unloads until the library is removed from memory + */ + int unloadClassLibraryInternal(const std::string & library_path); + +private: + std::vector plugin_xml_paths_; + // Map from library to class's descriptions described in XML. + std::map classes_available_; + std::string package_; + std::string base_class_; + std::string attrib_name_; + class_loader::MultiLibraryClassLoader lowlevel_class_loader_; // The underlying classloader +}; + +} // namespace pluginlib + +// Note: The implementation of the methods is in a separate file for clarity. +#include "./class_loader_imp.hpp" + +#endif // PLUGINLIB__CLASS_LOADER_HPP_ diff --git a/navigations/pluginlib/include/pluginlib/class_loader_base.h b/navigations/pluginlib/include/pluginlib/class_loader_base.h new file mode 100755 index 0000000..985a87a --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_loader_base.h @@ -0,0 +1,37 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Open Source Robotics Foundation, 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 copyright holders 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. + */ + +#ifndef PLUGINLIB__CLASS_LOADER_BASE_H_ +#define PLUGINLIB__CLASS_LOADER_BASE_H_ + +#include "./class_loader_base.hpp" + +#endif // PLUGINLIB__CLASS_LOADER_BASE_H_ diff --git a/navigations/pluginlib/include/pluginlib/class_loader_base.hpp b/navigations/pluginlib/include/pluginlib/class_loader_base.hpp new file mode 100755 index 0000000..c8f5af0 --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_loader_base.hpp @@ -0,0 +1,156 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#ifndef PLUGINLIB__CLASS_LOADER_BASE_HPP_ +#define PLUGINLIB__CLASS_LOADER_BASE_HPP_ + +#include +#include + +namespace pluginlib +{ +/// Pure virtual base class of pluginlib::ClassLoader which is not templated. +/** + * This allows the writing of non-templated manager code + * which can call all the administrative functions of ClassLoaders - + * everything except createClassInstance(), createInstance() + * and createUnmanagedInstance(). + */ +class ClassLoaderBase +{ +public: + /// Empty virtual destructor. + virtual ~ClassLoaderBase() {} + + /// Return a list of all available plugin manifest paths. + /** + * \return A vector of strings corresponding to the paths of all available plugin manifests + */ + virtual std::vector getPluginXmlPaths() = 0; + + /// Return a list of all available classes for this ClassLoader's base class type. + /** + * \return A vector of strings corresponding to the names of all available classes + */ + virtual std::vector getDeclaredClasses() = 0; + + /// Refresh the list of all available classes for this ClassLoader's base class type. + /** + * \throws pluginlib::LibraryLoadException if package manifest cannot be found + */ + virtual void refreshDeclaredClasses() = 0; + + /// Strip the package name off of a lookup name. + /** + * \param lookup_name The name of the plugin + * \return The name of the plugin stripped of the package name + */ + virtual std::string getName(const std::string & lookup_name) = 0; + + /// Check if the class associated with a plugin name is available to be loaded. + /** + * \param lookup_name The name of the plugin + * \return True if the plugin is available, false otherwise + */ + virtual bool isClassAvailable(const std::string & lookup_name) = 0; + + /// Given the lookup name of a class, return the type of the derived class associated with it. + /** + * \param lookup_name The name of the class + * \return The name of the associated derived class + */ + virtual std::string getClassType(const std::string & lookup_name) = 0; + + /// Given the lookup name of a class, return its description. + /** + * \param lookup_name The lookup name of the class + * \return The description of the class + */ + virtual std::string getClassDescription(const std::string & lookup_name) = 0; + + /// Given the lookup name of a class, return the type of the associated base class. + /** + * \return The type of the associated base class + */ + virtual std::string getBaseClassType() const = 0; + + /// Given the name of a class, return name of the containing package. + /** + * \param lookup_name The name of the class + * \return The name of the containing package + */ + virtual std::string getClassPackage(const std::string & lookup_name) = 0; + + /// Given the name of a class, return the path of the associated plugin manifest. + /** + * \param lookup_name The name of the class + * \return The path of the associated plugin manifest + */ + virtual std::string getPluginManifestPath(const std::string & lookup_name) = 0; + + /// Check if a given class is currently loaded. + /** + * \param lookup_name The lookup name of the class to query + * \return True if the class is loaded, false otherwise + */ + virtual bool isClassLoaded(const std::string & lookup_name) = 0; + + /// Attempt to load a class with a given name. + /** + * \param lookup_name The lookup name of the class to load + * \throws pluginlib::LibraryLoadException if the library for the + * class cannot be loaded + */ + virtual void loadLibraryForClass(const std::string & lookup_name) = 0; + + /// Attempt to unload a class with a given name. + /** + * \param lookup_name The lookup name of the class to unload + * \throws pluginlib::LibraryUnloadException if the library for the class + * cannot be unloaded + * \return The number of pending unloads until the library is removed from memory + */ + virtual int unloadLibraryForClass(const std::string & lookup_name) = 0; + + /// Return the libraries that are registered and can be loaded. + /** + * \return A vector of strings corresponding to the names of registered libraries + */ + virtual std::vector getRegisteredLibraries() = 0; + + /// Given the name of a class, return the path to its associated library. + /** + * \param lookup_name The name of the class + * \return The path to the associated library + */ + virtual std::string getClassLibraryPath(const std::string & lookup_name) = 0; +}; +} // namespace pluginlib + +#endif // PLUGINLIB__CLASS_LOADER_BASE_HPP_ diff --git a/navigations/pluginlib/include/pluginlib/class_loader_imp.h b/navigations/pluginlib/include/pluginlib/class_loader_imp.h new file mode 100755 index 0000000..38260ed --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_loader_imp.h @@ -0,0 +1,39 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Open Source Robotics Foundation, 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 copyright holders 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. + */ + +#ifndef PLUGINLIB__CLASS_LOADER_IMP_H_ +#define PLUGINLIB__CLASS_LOADER_IMP_H_ + +// *INDENT-OFF* (prevent uncrustify from adding indention below) +#error Header is deprecated, \ +but this file should never be included directly, include instead. + +#endif // PLUGINLIB__CLASS_LOADER_IMP_H_ diff --git a/navigations/pluginlib/include/pluginlib/class_loader_imp.hpp b/navigations/pluginlib/include/pluginlib/class_loader_imp.hpp new file mode 100755 index 0000000..8951b9f --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/class_loader_imp.hpp @@ -0,0 +1,836 @@ +/********************************************************************* +* +* 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 Willow Garage, Inc. 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. +* +*********************************************************************/ + +#ifndef PLUGINLIB__CLASS_LOADER_IMP_HPP_ +#define PLUGINLIB__CLASS_LOADER_IMP_HPP_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "boost/algorithm/string.hpp" +#include "boost/bind.hpp" +#include "boost/filesystem.hpp" +#include "boost/foreach.hpp" +#include "class_loader/class_loader.hpp" + +#include "ros/package.h" + +#include "./class_loader.hpp" + +#ifdef _WIN32 +const std::string os_pathsep(";"); // NOLINT +#else +const std::string os_pathsep(":"); // NOLINT +#endif + +namespace pluginlib +{ +template +ClassLoader::ClassLoader( + std::string package, std::string base_class, std::string attrib_name, + std::vector plugin_xml_paths) +: plugin_xml_paths_(plugin_xml_paths), + package_(package), + base_class_(base_class), + attrib_name_(attrib_name), + // NOTE: The parameter to the class loader enables/disables on-demand class + // loading/unloading. + // Leaving it off for now... libraries will be loaded immediately and won't + // be unloaded until class loader is destroyed or force unload. + lowlevel_class_loader_(false) + /***************************************************************************/ +{ + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Creating ClassLoader, base = %s, address = %p", + base_class.c_str(), this); + if (ros::package::getPath(package_).empty()) { + throw pluginlib::ClassLoaderException("Unable to find package: " + package_); + } + + if (0 == plugin_xml_paths_.size()) { + plugin_xml_paths_ = getPluginXmlPaths(package_, attrib_name_); + } + classes_available_ = determineAvailableClasses(plugin_xml_paths_); + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "Finished constructring ClassLoader, base = %s, address = %p", + base_class.c_str(), this); +} + +template +ClassLoader::~ClassLoader() +/***************************************************************************/ +{ + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Destroying ClassLoader, base = %s, address = %p", + getBaseClassType().c_str(), this); +} + + +template +T * ClassLoader::createClassInstance(const std::string & lookup_name, bool auto_load) +/***************************************************************************/ +{ + // Note: This method is deprecated + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "In deprecated call createClassInstance(), lookup_name = %s, auto_load = %i.", + (lookup_name.c_str()), auto_load); + + if (auto_load && !isClassLoaded(lookup_name)) { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "Autoloading class library before attempting to create instance."); + loadLibraryForClass(lookup_name); + } + + try { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "Attempting to create instance through low-level MultiLibraryClassLoader..."); + T * obj = lowlevel_class_loader_.createUnmanagedInstance(getClassType(lookup_name)); + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Instance created with object pointer = %p", obj); + + return obj; + } catch (const class_loader::CreateClassException & ex) { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "CreateClassException about to be raised for class %s", + lookup_name.c_str()); + throw pluginlib::CreateClassException(ex.what()); + } +} + +template +boost::shared_ptr ClassLoader::createInstance(const std::string & lookup_name) +/***************************************************************************/ +{ + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Attempting to create managed instance for class %s.", + lookup_name.c_str()); + + if (!isClassLoaded(lookup_name)) { + loadLibraryForClass(lookup_name); + } + + try { + std::string class_type = getClassType(lookup_name); + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "%s maps to real class type %s", + lookup_name.c_str(), class_type.c_str()); + + boost::shared_ptr obj = lowlevel_class_loader_.createInstance(class_type); + + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "boost::shared_ptr to object of real type %s created.", + class_type.c_str()); + + return obj; + } catch (const class_loader::CreateClassException & ex) { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "Exception raised by low-level multi-library class loader when attempting " + "to create instance of class %s.", + lookup_name.c_str()); + throw pluginlib::CreateClassException(ex.what()); + } +} + +#if __cplusplus >= 201103L +template +UniquePtr ClassLoader::createUniqueInstance(const std::string & lookup_name) +{ + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "Attempting to create managed (unique) instance for class %s.", + lookup_name.c_str()); + + if (!isClassLoaded(lookup_name)) { + loadLibraryForClass(lookup_name); + } + + try { + std::string class_type = getClassType(lookup_name); + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "%s maps to real class type %s", + lookup_name.c_str(), class_type.c_str()); + + UniquePtr obj = lowlevel_class_loader_.createUniqueInstance(class_type); + + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "std::unique_ptr to object of real type %s created.", + class_type.c_str()); + + return obj; + } catch (const class_loader::CreateClassException & ex) { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "Exception raised by low-level multi-library class loader when attempting " + "to create instance of class %s.", + lookup_name.c_str()); + throw pluginlib::CreateClassException(ex.what()); + } +} +#endif + +template +T * ClassLoader::createUnmanagedInstance(const std::string & lookup_name) +/***************************************************************************/ +{ + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Attempting to create UNMANAGED instance for class %s.", + lookup_name.c_str()); + + if (!isClassLoaded(lookup_name)) { + loadLibraryForClass(lookup_name); + } + + T * instance = 0; + try { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "Attempting to create instance through low level multi-library class loader."); + std::string class_type = getClassType(lookup_name); + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "%s maps to real class type %s", + lookup_name.c_str(), class_type.c_str()); + instance = lowlevel_class_loader_.createUnmanagedInstance(class_type); + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Instance of type %s created.", class_type.c_str()); + } catch (const class_loader::CreateClassException & ex) { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "Exception raised by low-level multi-library class loader when attempting " + "to create UNMANAGED instance of class %s.", + lookup_name.c_str()); + throw pluginlib::CreateClassException(ex.what()); + } + return instance; +} + +template +std::vector ClassLoader::getPluginXmlPaths( + const std::string & package, + const std::string & attrib_name, + bool force_recrawl) +/***************************************************************************/ +{ + // Pull possible files from manifests of packages which depend on this package and export class + std::vector paths; + ros::package::getPlugins(package, attrib_name, paths, force_recrawl); + return paths; +} + +template +std::map ClassLoader::determineAvailableClasses( + const std::vector & plugin_xml_paths) +/***************************************************************************/ +{ + // mas - This method requires major refactoring... + // not only is it really long and confusing but a lot of the comments do not + // seem to be correct. + // With time I keep correcting small things, but a good rewrite is needed. + + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Entering determineAvailableClasses()..."); + std::map classes_available; + + // Walk the list of all plugin XML files (variable "paths") that are exported by the build system + for (std::vector::const_iterator it = plugin_xml_paths.begin(); + it != plugin_xml_paths.end(); ++it) + { + try { + processSingleXMLPluginFile(*it, classes_available); + } catch (const pluginlib::InvalidXMLException & e) { + ROS_ERROR_NAMED("pluginlib.ClassLoader", + "Skipped loading plugin with error: %s.", + e.what()); + } + } + + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Exiting determineAvailableClasses()..."); + return classes_available; +} + +template +std::string ClassLoader::extractPackageNameFromPackageXML(const std::string & package_xml_path) +/***************************************************************************/ +{ + tinyxml2::XMLDocument document; + document.LoadFile(package_xml_path.c_str()); + tinyxml2::XMLElement * doc_root_node = document.FirstChildElement("package"); + if (NULL == doc_root_node) { + ROS_ERROR_NAMED("pluginlib.ClassLoader", + "Could not find a root element for package manifest at %s.", + package_xml_path.c_str()); + return ""; + } + + assert(document.RootElement() == doc_root_node); + + tinyxml2::XMLElement * package_name_node = doc_root_node->FirstChildElement("name"); + if (NULL == package_name_node) { + ROS_ERROR_NAMED("pluginlib.ClassLoader", + "package.xml at %s does not have a tag! Cannot determine package " + "which exports plugin.", + package_xml_path.c_str()); + return ""; + } + + const char* package_name_node_txt = package_name_node->GetText(); + if (NULL == package_name_node_txt) { + ROS_ERROR_NAMED("pluginlib.ClassLoader", + "package.xml at %s has an invalid tag! Cannot determine package " + "which exports plugin.", + package_xml_path.c_str()); + return ""; + } + + return package_name_node_txt; +} + +template +std::vector ClassLoader::getCatkinLibraryPaths() +/***************************************************************************/ +{ + std::vector lib_paths; + const char * env = std::getenv("CMAKE_PREFIX_PATH"); + if (env) { + std::string env_catkin_prefix_paths(env); + std::vector catkin_prefix_paths; + boost::split(catkin_prefix_paths, env_catkin_prefix_paths, boost::is_any_of(os_pathsep)); + BOOST_FOREACH(std::string catkin_prefix_path, catkin_prefix_paths) { + boost::filesystem::path path(catkin_prefix_path); +#ifdef _WIN32 + boost::filesystem::path bin("bin"); + lib_paths.push_back((path / bin).string()); +#endif + boost::filesystem::path lib("lib"); + lib_paths.push_back((path / lib).string()); + } + } + return lib_paths; +} + +template +std::vector ClassLoader::getAllLibraryPathsToTry( + const std::string & library_name, + const std::string & exporting_package_name) +/***************************************************************************/ +{ + // Catkin-rosbuild Backwards Compatability Rules - Note library_name may be prefixed with + // relative path (e.g. "/lib/libFoo") + // 1. Try catkin library paths (catkin_find --libs) + library_name + extension + // 2. Try catkin library paths + // (catkin_find -- libs) + stripAllButFileFromPath(library_name) + extension + // 3. Try export_pkg/library_name + extension + + std::vector all_paths; + std::vector all_paths_without_extension = getCatkinLibraryPaths(); + all_paths_without_extension.push_back(getROSBuildLibraryPath(exporting_package_name)); + bool debug_library_suffix = (0 == class_loader::systemLibrarySuffix().compare(0, 1, "d")); + std::string non_debug_suffix; + if (debug_library_suffix) { + non_debug_suffix = class_loader::systemLibrarySuffix().substr(1); + } else { + non_debug_suffix = class_loader::systemLibrarySuffix(); + } + std::string library_name_with_extension = library_name + non_debug_suffix; + std::string stripped_library_name = stripAllButFileFromPath(library_name); + std::string stripped_library_name_with_extension = stripped_library_name + non_debug_suffix; + + const std::string path_separator = getPathSeparator(); + + for (unsigned int c = 0; c < all_paths_without_extension.size(); c++) { + std::string current_path = all_paths_without_extension.at(c); + all_paths.push_back(current_path + path_separator + library_name_with_extension); + all_paths.push_back(current_path + path_separator + stripped_library_name_with_extension); + // We're in debug mode, try debug libraries as well + if (debug_library_suffix) { + all_paths.push_back( + current_path + path_separator + library_name + class_loader::systemLibrarySuffix()); + all_paths.push_back( + current_path + path_separator + stripped_library_name + + class_loader::systemLibrarySuffix()); + } + } + + return all_paths; +} + +template +bool ClassLoader::isClassLoaded(const std::string & lookup_name) +/***************************************************************************/ +{ + return lowlevel_class_loader_.isClassAvailable(getClassType(lookup_name)); +} + +template +std::string ClassLoader::getBaseClassType() const +/***************************************************************************/ +{ + return base_class_; +} + +template +std::string ClassLoader::getClassDescription(const std::string & lookup_name) +/***************************************************************************/ +{ + ClassMapIterator it = classes_available_.find(lookup_name); + if (it != classes_available_.end()) { + return it->second.description_; + } + return ""; +} + +template +std::string ClassLoader::getClassType(const std::string & lookup_name) +/***************************************************************************/ +{ + ClassMapIterator it = classes_available_.find(lookup_name); + if (it != classes_available_.end()) { + return it->second.derived_class_; + } + return ""; +} + +template +std::string ClassLoader::getClassLibraryPath(const std::string & lookup_name) +/***************************************************************************/ +{ + if (classes_available_.find(lookup_name) == classes_available_.end()) { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Class %s has no mapping in classes_available_.", + lookup_name.c_str()); + return ""; + } + ClassMapIterator it = classes_available_.find(lookup_name); + std::string library_name = it->second.library_name_; + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Class %s maps to library %s in classes_available_.", + lookup_name.c_str(), library_name.c_str()); + + std::vector paths_to_try = + getAllLibraryPathsToTry(library_name, it->second.package_); + + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "Iterating through all possible paths where %s could be located...", + library_name.c_str()); + for (std::vector::const_iterator it = paths_to_try.begin(); it != paths_to_try.end(); + it++) + { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Checking path %s ", it->c_str()); + if (boost::filesystem::exists(*it)) { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Library %s found at explicit path %s.", + library_name.c_str(), it->c_str()); + return *it; + } + } + return ""; +} + +template +std::string ClassLoader::getClassPackage(const std::string & lookup_name) +/***************************************************************************/ +{ + ClassMapIterator it = classes_available_.find(lookup_name); + if (it != classes_available_.end()) { + return it->second.package_; + } + return ""; +} + +template +std::vector ClassLoader::getPluginXmlPaths() +/***************************************************************************/ +{ + return plugin_xml_paths_; +} + +template +std::vector ClassLoader::getDeclaredClasses() +/***************************************************************************/ +{ + std::vector lookup_names; + for (ClassMapIterator it = classes_available_.begin(); it != classes_available_.end(); ++it) { + lookup_names.push_back(it->first); + } + + return lookup_names; +} + +template +std::string ClassLoader::getErrorStringForUnknownClass(const std::string & lookup_name) +/***************************************************************************/ +{ + std::string declared_types; + std::vector types = getDeclaredClasses(); + for (unsigned int i = 0; i < types.size(); i++) { + declared_types = declared_types + std::string(" ") + types[i]; + } + return "According to the loaded plugin descriptions the class " + lookup_name + + " with base class type " + base_class_ + " does not exist. Declared types are " + + declared_types; +} + +template +std::string ClassLoader::getName(const std::string & lookup_name) +/***************************************************************************/ +{ + // remove the package name to get the raw plugin name + std::vector split; + boost::split(split, lookup_name, boost::is_any_of("/:")); + return split.back(); +} + +template +std::string +ClassLoader::getPackageFromPluginXMLFilePath(const std::string & plugin_xml_file_path) +/***************************************************************************/ +{ + // Note: This method takes an input a path to a plugin xml file and must determine which + // package the XML file came from. This is not necessariliy the same thing as the member + // variable "package_". The plugin xml file can be located anywhere in the source tree for a + // package + + // rosbuild: + // 1. Find nearest encasing manifest.xml + // 2. Once found, the name of the folder containg the manifest should be the + // package name we are looking for + // 3. Confirm package is findable with rospack + + // catkin: + // 1. Find nearest encasing package.xml + // 2. Extract name of package from package.xml + + std::string package_name; + boost::filesystem::path p(plugin_xml_file_path); + boost::filesystem::path parent = p.parent_path(); + + // Figure out exactly which package the passed XML file is exported by. + while (true) { + if (boost::filesystem::exists(parent / "package.xml")) { + std::string package_file_path = (boost::filesystem::path(parent / "package.xml")).string(); + return extractPackageNameFromPackageXML(package_file_path); + } else if (boost::filesystem::exists(parent / "manifest.xml")) { +#if BOOST_FILESYSTEM_VERSION >= 3 + std::string package = parent.filename().string(); +#else + std::string package = parent.filename(); +#endif + std::string package_path = ros::package::getPath(package); + + // package_path is a substr of passed plugin xml path + if (0 == plugin_xml_file_path.find(package_path)) { + package_name = package; + break; + } + } + + // Recursive case - hop one folder up + parent = parent.parent_path().string(); + + // Base case - reached root and cannot find what we're looking for + if (parent.string().empty()) { + return ""; + } + } + + return package_name; +} + +template +std::string ClassLoader::getPathSeparator() +/***************************************************************************/ +{ +#if BOOST_FILESYSTEM_VERSION >= 3 +# ifdef _WIN32 + return boost::filesystem::path("/").string(); +# else + return boost::filesystem::path("/").native(); +# endif +#else + return boost::filesystem::path("/").external_file_string(); +#endif +} + + +template +std::string ClassLoader::getPluginManifestPath(const std::string & lookup_name) +/***************************************************************************/ +{ + ClassMapIterator it = classes_available_.find(lookup_name); + if (it != classes_available_.end()) { + return it->second.plugin_manifest_path_; + } + return ""; +} + + +template +std::vector ClassLoader::getRegisteredLibraries() +/***************************************************************************/ +{ + return lowlevel_class_loader_.getRegisteredLibraries(); +} + +template +std::string ClassLoader::getROSBuildLibraryPath(const std::string & exporting_package_name) +/***************************************************************************/ +{ + return ros::package::getPath(exporting_package_name); +} + +template +bool ClassLoader::isClassAvailable(const std::string & lookup_name) +/***************************************************************************/ +{ + return classes_available_.find(lookup_name) != classes_available_.end(); +} + +template +std::string ClassLoader::joinPaths(const std::string & path1, const std::string & path2) +/***************************************************************************/ +{ + boost::filesystem::path p1(path1); + return (p1 / path2).string(); +} + +template +void ClassLoader::loadLibraryForClass(const std::string & lookup_name) +/***************************************************************************/ +{ + ClassMapIterator it = classes_available_.find(lookup_name); + if (it == classes_available_.end()) { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Class %s has no mapping in classes_available_.", + lookup_name.c_str()); + throw pluginlib::LibraryLoadException(getErrorStringForUnknownClass(lookup_name)); + } + + std::string library_path = getClassLibraryPath(lookup_name); + if ("" == library_path) { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "No path could be found to the library containing %s.", + lookup_name.c_str()); + std::ostringstream error_msg; + error_msg << "Could not find library corresponding to plugin " << lookup_name << + ". Make sure the plugin description XML file has the correct name of the " + "library and that the library actually exists."; + throw pluginlib::LibraryLoadException(error_msg.str()); + } + + try { + lowlevel_class_loader_.loadLibrary(library_path); + it->second.resolved_library_path_ = library_path; + } catch (const class_loader::LibraryLoadException & ex) { + std::string error_string = + "Failed to load library " + library_path + ". " + "Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the " + "library code, and that names are consistent between this macro and your XML. " + "Error string: " + ex.what(); + throw pluginlib::LibraryLoadException(error_string); + } +} + +template +void ClassLoader::processSingleXMLPluginFile( + const std::string & xml_file, std::map & classes_available) +/***************************************************************************/ +{ + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Processing xml file %s...", xml_file.c_str()); + tinyxml2::XMLDocument document; + document.LoadFile(xml_file.c_str()); + tinyxml2::XMLElement * config = document.RootElement(); + if (NULL == config) { + throw pluginlib::InvalidXMLException( + "XML Document '" + xml_file + + "' has no Root Element. This likely means the XML is malformed or missing."); + return; + } + const char* config_value = config->Value(); + if (NULL == config_value) { + throw pluginlib::InvalidXMLException( + "XML Document '" + xml_file + + "' has an invalid Root Element. This likely means the XML is malformed or missing."); + return; + } + if (!(strcmp(config_value, "library") == 0 || + strcmp(config_value, "class_libraries") == 0)) + { + throw pluginlib::InvalidXMLException( + "The XML document '" + xml_file + "' given to add must have either \"library\" or " + "\"class_libraries\" as the root tag"); + return; + } + // Step into the filter list if necessary + if (strcmp(config_value, "class_libraries") == 0) { + config = config->FirstChildElement("library"); + } + + tinyxml2::XMLElement * library = config; + while (library != NULL) { + const char* path = library->Attribute("path"); + if (NULL == path) { + ROS_ERROR_NAMED("pluginlib.ClassLoader", + "Attribute 'path' in 'library' tag is missing in %s.", xml_file.c_str()); + continue; + } + std::string library_path(path); + if (0 == library_path.size()) { + ROS_ERROR_NAMED("pluginlib.ClassLoader", + "Attribute 'path' in 'library' tag is missing in %s.", xml_file.c_str()); + continue; + } + + std::string package_name = getPackageFromPluginXMLFilePath(xml_file); + if ("" == package_name) { + ROS_ERROR_NAMED("pluginlib.ClassLoader", + "Could not find package manifest (neither package.xml or deprecated " + "manifest.xml) at same directory level as the plugin XML file %s. " + "Plugins will likely not be exported properly.\n)", + xml_file.c_str()); + } + + tinyxml2::XMLElement * class_element = library->FirstChildElement("class"); + while (class_element) { + std::string derived_class; + if (class_element->Attribute("type") != NULL) { + derived_class = std::string(class_element->Attribute("type")); + } else { + throw pluginlib::ClassLoaderException( + "Class could not be loaded. Attribute 'type' in class tag is missing."); + } + + std::string base_class_type; + if (class_element->Attribute("base_class_type") != NULL) { + base_class_type = std::string(class_element->Attribute("base_class_type")); + } else { + throw pluginlib::ClassLoaderException( + "Class could not be loaded. Attribute 'base_class_type' in class tag is missing."); + } + + std::string lookup_name; + if (class_element->Attribute("name") != NULL) { + lookup_name = class_element->Attribute("name"); + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "XML file specifies lookup name (i.e. magic name) = %s.", + lookup_name.c_str()); + } else { + ROS_DEBUG_NAMED("pluginlib.ClassLoader", + "XML file has no lookup name (i.e. magic name) for class %s, " + "assuming lookup_name == real class name.", + derived_class.c_str()); + lookup_name = derived_class; + } + + // make sure that this class is of the right type before registering it + if (base_class_type == base_class_) { + // register class here + tinyxml2::XMLElement * description = class_element->FirstChildElement("description"); + std::string description_str; + if (description) { + description_str = description->GetText() ? description->GetText() : ""; + } else { + description_str = "No 'description' tag for this plugin in plugin description file."; + } + + classes_available.insert(std::pair(lookup_name, + ClassDesc(lookup_name, derived_class, base_class_type, package_name, description_str, + library_path, xml_file))); + } + + // step to next class_element + class_element = class_element->NextSiblingElement("class"); + } + library = library->NextSiblingElement("library"); + } +} + +template +void ClassLoader::refreshDeclaredClasses() +/***************************************************************************/ +{ + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Refreshing declared classes."); + // determine classes not currently loaded for removal + std::list remove_classes; + for (std::map::const_iterator it = classes_available_.begin(); + it != classes_available_.end(); it++) + { + std::string resolved_library_path = it->second.resolved_library_path_; + std::vector open_libs = lowlevel_class_loader_.getRegisteredLibraries(); + if (std::find(open_libs.begin(), open_libs.end(), resolved_library_path) != open_libs.end()) { + remove_classes.push_back(it->first); + } + } + + while (!remove_classes.empty()) { + classes_available_.erase(remove_classes.front()); + remove_classes.pop_front(); + } + + // add new classes + plugin_xml_paths_ = getPluginXmlPaths(package_, attrib_name_, true); + std::map updated_classes = determineAvailableClasses(plugin_xml_paths_); + for (std::map::const_iterator it = updated_classes.begin(); + it != updated_classes.end(); it++) + { + if (classes_available_.find(it->first) == classes_available_.end()) { + classes_available_.insert(std::pair(it->first, it->second)); + } + } +} + +template +std::string ClassLoader::stripAllButFileFromPath(const std::string & path) +/***************************************************************************/ +{ + std::string only_file; + size_t c = path.find_last_of(getPathSeparator()); + if (std::string::npos == c) { + return path; + } else { + return path.substr(c, path.size()); + } +} + +template +int ClassLoader::unloadLibraryForClass(const std::string & lookup_name) +/***************************************************************************/ +{ + ClassMapIterator it = classes_available_.find(lookup_name); + if (it != classes_available_.end() && it->second.resolved_library_path_ != "UNRESOLVED") { + std::string library_path = it->second.resolved_library_path_; + ROS_DEBUG_NAMED("pluginlib.ClassLoader", "Attempting to unload library %s for class %s", + library_path.c_str(), lookup_name.c_str()); + return unloadClassLibraryInternal(library_path); + } else { + throw pluginlib::LibraryUnloadException(getErrorStringForUnknownClass(lookup_name)); + } +} + +template +int ClassLoader::unloadClassLibraryInternal(const std::string & library_path) +/***************************************************************************/ +{ + return lowlevel_class_loader_.unloadLibrary(library_path); +} + +} // namespace pluginlib + +#endif // PLUGINLIB__CLASS_LOADER_IMP_HPP_ diff --git a/navigations/pluginlib/include/pluginlib/exceptions.hpp b/navigations/pluginlib/include/pluginlib/exceptions.hpp new file mode 100755 index 0000000..4733d85 --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/exceptions.hpp @@ -0,0 +1,107 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#ifndef PLUGINLIB__EXCEPTIONS_HPP_ +#define PLUGINLIB__EXCEPTIONS_HPP_ + +#include +#include + +namespace pluginlib +{ + +/// A base class for all pluginlib exceptions that inherits from std::runtime_exception. +/** + * \class PluginlibException + */ +class PluginlibException : public std::runtime_error +{ +public: + explicit PluginlibException(const std::string & error_desc) + : std::runtime_error(error_desc) {} +}; + +/// Thrown when pluginlib is unable to load a plugin XML file. +/** + * \class InvalidXMLException + */ +class InvalidXMLException : public PluginlibException +{ +public: + explicit InvalidXMLException(const std::string & error_desc) + : PluginlibException(error_desc) {} +}; + +/// Thrown when pluginlib is unable to load the library associated with a given plugin. +/** + * \class LibraryLoadException + */ +class LibraryLoadException : public PluginlibException +{ +public: + explicit LibraryLoadException(const std::string & error_desc) + : PluginlibException(error_desc) {} +}; + +/// Thrown when pluginlib is unable to instantiate a class loader. +/** + * \class ClassLoaderException + */ +class ClassLoaderException : public PluginlibException +{ +public: + explicit ClassLoaderException(const std::string & error_desc) + : PluginlibException(error_desc) {} +}; + +/// Thrown when pluginlib is unable to unload the library associated with a given plugin. +/** + * \class LibraryUnloadException + */ +class LibraryUnloadException : public PluginlibException +{ +public: + explicit LibraryUnloadException(const std::string & error_desc) + : PluginlibException(error_desc) {} +}; + +/// Thrown when pluginlib is unable to create the class associated with a given plugin. +/** + * \class CreateClassException + */ +class CreateClassException : public PluginlibException +{ +public: + explicit CreateClassException(const std::string & error_desc) + : PluginlibException(error_desc) {} +}; + +} // namespace pluginlib + +#endif // PLUGINLIB__EXCEPTIONS_HPP_ diff --git a/navigations/pluginlib/include/pluginlib/pluginlib_exceptions.h b/navigations/pluginlib/include/pluginlib/pluginlib_exceptions.h new file mode 100755 index 0000000..a98d5fa --- /dev/null +++ b/navigations/pluginlib/include/pluginlib/pluginlib_exceptions.h @@ -0,0 +1,37 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, Open Source Robotics Foundation, 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 copyright holders 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. + */ + +#ifndef PLUGINLIB__PLUGINLIB_EXCEPTIONS_H_ +#define PLUGINLIB__PLUGINLIB_EXCEPTIONS_H_ + +#include "./exceptions.hpp" + +#endif // PLUGINLIB__PLUGINLIB_EXCEPTIONS_H_ diff --git a/navigations/pluginlib/package.xml b/navigations/pluginlib/package.xml new file mode 100755 index 0000000..a64b54f --- /dev/null +++ b/navigations/pluginlib/package.xml @@ -0,0 +1,42 @@ + + + + pluginlib + 1.13.0 + + The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure. + To work, these tools require plugin providers to register their plugins in the package.xml of their package. + + Steven! Ragnarök + BSD + + http://www.ros.org/wiki/pluginlib + https://github.com/ros/pluginlib/issues + https://github.com/ros/pluginlib + Eitan Marder-Eppstein + Tully Foote + Dirk Thomas + Mirza Shah + + catkin + + cmake_modules + libboost-dev + libboost-filesystem-dev + class_loader + rosconsole + roslib + tinyxml2 + + libboost-dev + libboost-filesystem-dev + class_loader + rosconsole + roslib + tinyxml2 + + + + + + diff --git a/navigations/pluginlib/scripts/pluginlib_headers_migration.py b/navigations/pluginlib/scripts/pluginlib_headers_migration.py new file mode 100755 index 0000000..2b5dece --- /dev/null +++ b/navigations/pluginlib/scripts/pluginlib_headers_migration.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python +# Software License Agreement (BSD License) +# +# Copyright (c) 2018, Open Source Robotics Foundation, 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 copyright holders 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. + +# Run this script to update legacy pluginlib include statements +# to utilize the new pluginlib headers. + + +import subprocess + +cmd = "find . -type f ! -name '*.svn-base' -a ! -name '*.hg' -a ! -name '*.git' -a " \ + "\( -name '*.c*' -o -name '*.h*' \)" + +header_mappings = { + 'pluginlib/class_desc.h': 'pluginlib/class_desc.hpp', + 'pluginlib/class_list_macros.h': 'pluginlib/class_list_macros.hpp', + 'pluginlib/class_loader_base.h': 'pluginlib/class_loader_base.hpp', + 'pluginlib/class_loader.h': 'pluginlib/class_loader.hpp', + 'pluginlib/class_loader_imp.h': 'pluginlib/class_loader_imp.hpp', + 'pluginlib/pluginlib_exceptions.h': 'pluginlib/exceptions.hpp', +} +include_tokens = { + '"': '"', + '<': '>', +} +include_prefix = '#include ' +sed_cmd_prefix = ' -exec sed -i \' s' +sed_cmd_suffix = ' {} \; ' +sed_separator = '@' +full_cmd = cmd +for old_header, new_header in header_mappings.items(): + for leading_token, ending_token in include_tokens.items(): + full_cmd += \ + sed_cmd_prefix + sed_separator + \ + include_prefix + leading_token + old_header + ending_token + sed_separator + \ + include_prefix + leading_token + new_header + ending_token + sed_separator + \ + "g'" + sed_cmd_suffix + print("Looking for '%s' to replace with '%s'" % (old_header, new_header)) + +print('Running %s' % full_cmd) +ret_code = subprocess.call(full_cmd, shell=True) +if ret_code == 0: + print('success') +else: + print('failure') diff --git a/navigations/pluginlib/test/test_base.h b/navigations/pluginlib/test/test_base.h new file mode 100755 index 0000000..33340cf --- /dev/null +++ b/navigations/pluginlib/test/test_base.h @@ -0,0 +1,46 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#ifndef TEST_BASE_H_ +#define TEST_BASE_H_ + +namespace test_base +{ +class Fubar +{ +public: + virtual void initialize(double foo) = 0; + virtual double result() = 0; + virtual ~Fubar() {} + +protected: + Fubar() {} +}; +} // namespace test_base +#endif // TEST_BASE_H_ diff --git a/navigations/pluginlib/test/test_plugins.cpp b/navigations/pluginlib/test/test_plugins.cpp new file mode 100755 index 0000000..70edd2c --- /dev/null +++ b/navigations/pluginlib/test/test_plugins.cpp @@ -0,0 +1,35 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#include +#include "./test_base.h" +#include "test_plugins.h" // NOLINT + +PLUGINLIB_EXPORT_CLASS(test_plugins::Foo, test_base::Fubar) +PLUGINLIB_EXPORT_CLASS(test_plugins::Bar, test_base::Fubar) diff --git a/navigations/pluginlib/test/test_plugins.h b/navigations/pluginlib/test/test_plugins.h new file mode 100755 index 0000000..fca0bdd --- /dev/null +++ b/navigations/pluginlib/test/test_plugins.h @@ -0,0 +1,82 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#ifndef TEST_PLUGINS_H_ +#define TEST_PLUGINS_H_ + +#include + +#include "./test_base.h" + +namespace test_plugins +{ +class Bar : public test_base::Fubar +{ +public: + Bar() {} + + void initialize(double foo) + { + foo_ = foo; + } + + double result() + { + return 0.5 * foo_ * getBar(); + } + + double getBar() + { + return sqrt((foo_ * foo_) - ((foo_ / 2) * (foo_ / 2))); + } + +private: + double foo_; +}; + +class Foo : public test_base::Fubar +{ +public: + Foo() {} + + void initialize(double foo) + { + foo_ = foo; + } + + double result() + { + return foo_ * foo_; + } + +private: + double foo_; +}; +} // namespace test_plugins +#endif // TEST_PLUGINS_H_ diff --git a/navigations/pluginlib/test/test_plugins.xml b/navigations/pluginlib/test/test_plugins.xml new file mode 100755 index 0000000..54972be --- /dev/null +++ b/navigations/pluginlib/test/test_plugins.xml @@ -0,0 +1,11 @@ + + + This is a foo plugin. + + + This is a bar plugin. + + + This is a broken none plugin. + + diff --git a/navigations/pluginlib/test/test_plugins_broken.xml b/navigations/pluginlib/test/test_plugins_broken.xml new file mode 100755 index 0000000..f28243c --- /dev/null +++ b/navigations/pluginlib/test/test_plugins_broken.xml @@ -0,0 +1,5 @@ + + + This is a foo plugin. + + diff --git a/navigations/pluginlib/test/unique_ptr_test.cpp b/navigations/pluginlib/test/unique_ptr_test.cpp new file mode 100755 index 0000000..6aaaadf --- /dev/null +++ b/navigations/pluginlib/test/unique_ptr_test.cpp @@ -0,0 +1,99 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#include + +#include + +#include "./test_base.h" + +TEST(PluginlibUniquePtrTest, unknownPlugin) { + pluginlib::ClassLoader test_loader("pluginlib", "test_base::Fubar"); + ASSERT_THROW(test_loader.createUniqueInstance("pluginlib/foobar"), + pluginlib::LibraryLoadException); +} + + +TEST(PluginlibUniquePtrTest, misspelledPlugin) { + pluginlib::ClassLoader bad_test_loader("pluginlib", "test_base::Fuba"); + ASSERT_THROW(bad_test_loader.createUniqueInstance( + "pluginlib/foo"), pluginlib::LibraryLoadException); +} + +TEST(PluginlibTest, brokenPlugin) { + pluginlib::ClassLoader test_loader("pluginlib", "test_base::Fubar"); + ASSERT_THROW(test_loader.createUniqueInstance("pluginlib/none"), pluginlib::PluginlibException); +} + +TEST(PluginlibUniquePtrTest, workingPlugin) { + pluginlib::ClassLoader test_loader("pluginlib", "test_base::Fubar"); + + try { + pluginlib::UniquePtr foo = test_loader.createUniqueInstance("pluginlib/foo"); + foo->initialize(10.0); + EXPECT_EQ(100.0, foo->result()); + } catch (pluginlib::PluginlibException & ex) { + FAIL() << "Throwing exception: " << ex.what(); + return; + } catch (...) { + FAIL() << "Uncaught exception"; + } +} + +TEST(PluginlibUniquePtrTest, createUniqueInstanceAndUnloadLibrary) { + ROS_INFO("Making the ClassLoader..."); + pluginlib::ClassLoader pl("pluginlib", "test_base::Fubar"); + + ROS_INFO("Instantiating plugin..."); + { + pluginlib::UniquePtr inst = pl.createUniqueInstance("pluginlib/foo"); + } + + ROS_INFO("Checking if plugin is loaded with isClassLoaded..."); + if (pl.isClassLoaded("pluginlib/foo")) { + ROS_INFO("Class is loaded"); + } else { + FAIL() << "Library containing class should be loaded but isn't."; + } + + ROS_INFO("Trying to unload class with unloadLibraryForClass..."); + try { + pl.unloadLibraryForClass("pluginlib/foo"); + } catch (pluginlib::PluginlibException & e) { + FAIL() << "Could not unload library when I should be able to."; + } + ROS_INFO("Done."); +} + +// Run all the tests that were declared with TEST() +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/pluginlib/test/utest.cpp b/navigations/pluginlib/test/utest.cpp new file mode 100755 index 0000000..4ca2c77 --- /dev/null +++ b/navigations/pluginlib/test/utest.cpp @@ -0,0 +1,140 @@ +/* + * Copyright (c) 2012, 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, Inc. 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. + */ + +#include + +#include + +#include "./test_base.h" + +TEST(PluginlibTest, unknownPlugin) { + pluginlib::ClassLoader test_loader("pluginlib", "test_base::Fubar"); + ASSERT_THROW(test_loader.createInstance("pluginlib/foobar"), pluginlib::LibraryLoadException); +} + +TEST(PluginlibTest, misspelledPlugin) { + pluginlib::ClassLoader bad_test_loader("pluginlib", "test_base::Fuba"); + ASSERT_THROW(bad_test_loader.createInstance("pluginlib/foo"), pluginlib::LibraryLoadException); +} + +TEST(PluginlibTest, invalidPackage) { + ASSERT_THROW(pluginlib::ClassLoader("pluginlib_bad", + "test_base::Fubar"), + pluginlib::ClassLoaderException); +} + +TEST(PluginlibTest, brokenPlugin) { + pluginlib::ClassLoader test_loader("pluginlib", "test_base::Fubar"); + ASSERT_THROW(test_loader.createInstance("pluginlib/none"), pluginlib::PluginlibException); +} + +TEST(PluginlibTest, workingPlugin) { + pluginlib::ClassLoader test_loader("pluginlib", "test_base::Fubar"); + + try { + boost::shared_ptr foo = test_loader.createInstance("pluginlib/foo"); + foo->initialize(10.0); + EXPECT_EQ(100.0, foo->result()); + } catch (pluginlib::PluginlibException & ex) { + FAIL() << "Throwing exception: " << ex.what(); + return; + } catch (...) { + FAIL() << "Uncaught exception"; + } +} + +TEST(PluginlibTest, createUnmanagedInstanceAndUnloadLibrary) { + ROS_INFO("Making the ClassLoader..."); + pluginlib::ClassLoader pl("pluginlib", "test_base::Fubar"); + + ROS_INFO("Instantiating plugin..."); + test_base::Fubar * inst = pl.createUnmanagedInstance("pluginlib/foo"); + + ROS_INFO("Deleting plugin..."); + delete inst; + + ROS_INFO("Checking if plugin is loaded with isClassLoaded..."); + if (pl.isClassLoaded("pluginlib/foo")) { + ROS_INFO("Class is loaded"); + } else { + FAIL() << "Library containing class should be loaded but isn't."; + } + ROS_INFO("Trying to unload class with unloadLibraryForClass..."); + try { + pl.unloadLibraryForClass("pluginlib/foo"); + } catch (pluginlib::PluginlibException & e) { + FAIL() << "Could not unload library when I should be able to."; + } + ROS_INFO("Done."); +} + +TEST(PluginlibTest, createManagedInstanceAndUnloadLibrary) { + ROS_INFO("Making the ClassLoader..."); + pluginlib::ClassLoader pl("pluginlib", "test_base::Fubar"); + + ROS_INFO("Instantiating plugin..."); + { + boost::shared_ptr inst = pl.createInstance("pluginlib/foo"); + } + + ROS_INFO("Checking if plugin is loaded with isClassLoaded..."); + if (pl.isClassLoaded("pluginlib/foo")) { + ROS_INFO("Class is loaded"); + } else { + FAIL() << "Library containing class should be loaded but isn't."; + } + + ROS_INFO("Trying to unload class with unloadLibraryForClass..."); + try { + pl.unloadLibraryForClass("pluginlib/foo"); + } catch (pluginlib::PluginlibException & e) { + FAIL() << "Could not unload library when I should be able to."; + } + ROS_INFO("Done."); +} + +TEST(PluginlibTest, brokenXML) { + try { + pluginlib::ClassLoader test_loader("pluginlib", "test_base::Fubar", + "plugin_test"); + test_loader.createInstance("pluginlib/foo"); + } catch (pluginlib::PluginlibException & ex) { + SUCCEED(); + return; + } + + ADD_FAILURE() << "Didn't throw exception as expected"; +} + +// Run all the tests that were declared with TEST() +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/pose_follower/CHANGELOG.rst b/navigations/pose_follower/CHANGELOG.rst new file mode 100755 index 0000000..78a819f --- /dev/null +++ b/navigations/pose_follower/CHANGELOG.rst @@ -0,0 +1,46 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package pose_follower +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.4.1 (2022-08-24) +------------------ + +0.4.0 (2022-03-07) +------------------ + +0.3.4 (2020-06-19) +------------------ +* Initial release into noetic * Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +0.3.3 (2019-10-15) +------------------ +* Add dynamic reconfigure to pose_follower (`#40 `_) + Similar to the other available local planners, this commit adds dynamic reconfigure to pose_follower. In addition to this, the collision_planner parameters (used for detecting illegal trajectory) have been moved to the `PoseFollower/collision_planner` namespace. + Major ROS API changes: + * all internal TrajectoryPlannerROS parameters moved into the collision_planner namespace + * all internal TrajectoryPlannerROS publishers (cost_cloud, global_plan, local_plan) moved into the collision_planner namespace + * there is still a global_plan topic without namespace, which is now only published by the pose_follower itself and no longer shared with the internal TrajectoryPlannerROS. +* unused publisher removed (`#41 `_) +* Add READMEs +* Contributors: Martin Günther, Pavel Shumejko + +0.3.2 (2019-01-16) +------------------ +* max rotation vel in in-place rotation limited (`#27 `_) +* pose_follower: Add visualization of global plan (`#26 `_) +* Contributors: Martin Günther, Pavel, sumejko92 + +0.3.1 (2018-09-05) +------------------ + +0.3.0 (2018-09-04) +------------------ +* Convert to TF2 + new navigation API (for melodic) +* Use non deprecated pluginlib macro + headers +* Contributors: Martin Günther + +0.2.0 (2018-09-03) +------------------ +* Initial release into indigo, kinetic, lunar and melodic +* Contributors: Martin Günther, David V. Lu!!, Dave Hershberger, Howard Cochran, Jon Binney, Kaijen Hsiao, Michael Ferguson, cratliff, Eitan Marder-Eppstein, Wim Meeussen diff --git a/navigations/pose_follower/CMakeLists.txt b/navigations/pose_follower/CMakeLists.txt new file mode 100755 index 0000000..3f55bb7 --- /dev/null +++ b/navigations/pose_follower/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 3.5.1) +cmake_policy(SET CMP0048 NEW) +project(pose_follower) +set(pose_follower_ROS_DEPS nav_core base_local_planner costmap_2d roscpp tf2_geometry_msgs tf2_ros nav_msgs pluginlib dynamic_reconfigure) + +find_package(catkin REQUIRED COMPONENTS ${pose_follower_ROS_DEPS}) + +generate_dynamic_reconfigure_options( + cfg/PoseFollower.cfg +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES pose_follower + CATKIN_DEPENDS ${pose_follower_ROS_DEPS} +) + +include_directories(include ${catkin_INCLUDE_DIRS}) + +add_library(pose_follower src/pose_follower.cpp) +add_dependencies(pose_follower ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(pose_follower ${catkin_LIBRARIES}) + +install(TARGETS pose_follower + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(FILES blp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/navigations/pose_follower/README.md b/navigations/pose_follower/README.md new file mode 100755 index 0000000..5991eec --- /dev/null +++ b/navigations/pose_follower/README.md @@ -0,0 +1,5 @@ +pose_follower +============= + +A implementation of a local planner that attempts to follow a plan as closely +as possible. diff --git a/navigations/pose_follower/blp_plugin.xml b/navigations/pose_follower/blp_plugin.xml new file mode 100755 index 0000000..31bc8ab --- /dev/null +++ b/navigations/pose_follower/blp_plugin.xml @@ -0,0 +1,7 @@ + + + + A implementation of a local planner that attempts to follow a plan as closely as possible. + + + diff --git a/navigations/pose_follower/cfg/PoseFollower.cfg b/navigations/pose_follower/cfg/PoseFollower.cfg new file mode 100755 index 0000000..8a640e1 --- /dev/null +++ b/navigations/pose_follower/cfg/PoseFollower.cfg @@ -0,0 +1,33 @@ +#!/usr/bin/env python + +PACKAGE = 'pose_follower' + +from math import pi + +from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, double_t, int_t, bool_t, str_t + +gen = ParameterGenerator() + +gen.add("max_vel_lin", double_t, 0, "Maximum linear velocity in m/s", 0.9, 0.0, 10.0) +gen.add("max_vel_th", double_t, 0, "Maximum angular velocity in rad/s", 1.4, 0.0, 10.0) +gen.add("min_vel_lin", double_t, 0, "Minimum linear velocity for the robot in m/s", 0.1, 0, 10.0) +gen.add("min_vel_th", double_t, 0, "Minimum angular velocity for the robot in rad/s", 0.0, 0, 10.0) +gen.add("min_in_place_vel_th", double_t, 0, "If we're rotating in place, go at least this fast to avoid getting stuck", 0.0, 0, 10.0) +gen.add("in_place_trans_vel", double_t, 0, "When we're near the end and would be trying to go no faster than this translationally, just rotate in place instead", 0.0, 0, 10.0) +gen.add("trans_stopped_velocity", double_t, 0, "The robot is stopped if the velocities are lower than this", 1e-4, 0, 10.0) +gen.add("rot_stopped_velocity", double_t, 0, "The robot is stopped if the velocities are lower than this", 1e-4, 0, 10.0) + +gen.add("tolerance_trans", double_t, 0, "Translational tolerance for the goal", 0.02, 0, 10.0) +gen.add("tolerance_rot", double_t, 0, "Angular tolerance for the goal", 0.04, 0, pi) +gen.add("tolerance_timeout", double_t, 0, "We've reached our goal only if we're within range for this long and stopped", 0.5, 0, 20.0) + +gen.add("samples", int_t, 0, "Number of samples (scaling factors of our current desired twist)", 10, 0, 20) +gen.add("allow_backwards", bool_t, 0, "Allow backwards movement", False) +gen.add("turn_in_place_first", bool_t, 0, "If true, turn in place to face the new goal instead of arching towards it", False) +gen.add("max_heading_diff_before_moving", double_t, 0, "If turn_in_place_first is true, turn in place if our heading is more than this far from facing the goal location", 0.17, 0, pi) + + +gen.add("k_trans", double_t, 0, "Gain factor for translation component of output velocities", 2.0, 0.0, 20.0) +gen.add("k_rot", double_t, 0, "Gain factor for rotation component of output velocities", 2.0, 0.0, 20.0) + +exit(gen.generate(PACKAGE, "pose_follower", "PoseFollower")) diff --git a/navigations/pose_follower/include/pose_follower/pose_follower.h b/navigations/pose_follower/include/pose_follower/pose_follower.h new file mode 100755 index 0000000..2dcad38 --- /dev/null +++ b/navigations/pose_follower/include/pose_follower/pose_follower.h @@ -0,0 +1,109 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef POSE_FOLLOWER_POSE_FOLLOWER_H_ +#define POSE_FOLLOWER_POSE_FOLLOWER_H_ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace pose_follower { + class PoseFollower : public nav_core::BaseLocalPlanner { + public: + PoseFollower(); + ~PoseFollower(); + void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros); + bool isGoalReached(); + bool setPlan(const std::vector& global_plan); + bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel); + + private: + inline double sign(double n){ + return n < 0.0 ? -1.0 : 1.0; + } + + geometry_msgs::Twist diff2D(const geometry_msgs::Pose& pose1, const geometry_msgs::Pose& pose2); + geometry_msgs::Twist limitTwist(const geometry_msgs::Twist& twist); + double headingDiff(double pt_x, double pt_y, double x, double y, double heading); + + bool transformGlobalPlan(const tf2_ros::Buffer& tf, const std::vector& global_plan, + const costmap_2d::Costmap2DROS& costmap, const std::string& global_frame, + std::vector& transformed_plan); + + void odomCallback(const nav_msgs::Odometry::ConstPtr& msg); + bool stopped(); + void publishPlan(const std::vector &path, const ros::Publisher &pub); + void reconfigureCB(pose_follower::PoseFollowerConfig &config, uint32_t level); + + tf2_ros::Buffer *tf_; + costmap_2d::Costmap2DROS *costmap_ros_; + ros::Publisher global_plan_pub_; + boost::mutex odom_lock_; + ros::Subscriber odom_sub_; + nav_msgs::Odometry base_odom_; + ros::Time goal_reached_time_; + unsigned int current_waypoint_; + std::vector global_plan_; + base_local_planner::TrajectoryPlannerROS collision_planner_; + dynamic_reconfigure::Server *dsrv_; + + // Parameters + double max_vel_lin_, max_vel_th_; + double min_vel_lin_, min_vel_th_; + double min_in_place_vel_th_, in_place_trans_vel_; + double trans_stopped_velocity_, rot_stopped_velocity_; + double K_trans_, K_rot_, tolerance_trans_, tolerance_rot_; + double tolerance_timeout_; + int samples_; + bool allow_backwards_; + bool turn_in_place_first_; + double max_heading_diff_before_moving_; + bool holonomic_; + }; +}; +#endif diff --git a/navigations/pose_follower/package.xml b/navigations/pose_follower/package.xml new file mode 100755 index 0000000..6031d6e --- /dev/null +++ b/navigations/pose_follower/package.xml @@ -0,0 +1,30 @@ + + + pose_follower + 0.4.1 + + A implementation of a local planner that attempts to follow a plan as closely as possible. + + Martin Günther + Eitan Marder-Eppstein + BSD + http://wiki.ros.org/pose_follower + https://github.com/ros-planning/navigation_experimental.git + https://github.com/ros-planning/navigation_experimental/issues + + catkin + + base_local_planner + costmap_2d + dynamic_reconfigure + nav_core + nav_msgs + pluginlib + roscpp + tf2_geometry_msgs + tf2_ros + + + + + diff --git a/navigations/pose_follower/src/pose_follower.cpp b/navigations/pose_follower/src/pose_follower.cpp new file mode 100755 index 0000000..c8d1940 --- /dev/null +++ b/navigations/pose_follower/src/pose_follower.cpp @@ -0,0 +1,416 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include + +PLUGINLIB_EXPORT_CLASS(pose_follower::PoseFollower, nav_core::BaseLocalPlanner) + +namespace pose_follower { + PoseFollower::PoseFollower(): tf_(NULL), costmap_ros_(NULL) {} + + PoseFollower::~PoseFollower() { + if (dsrv_) + delete dsrv_; + } + + void PoseFollower::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros){ + tf_ = tf; + costmap_ros_ = costmap_ros; + current_waypoint_ = 0; + goal_reached_time_ = ros::Time::now(); + ros::NodeHandle node_private("~/" + name); + + collision_planner_.initialize(name + "/collision_planner", tf_, costmap_ros_); + + //set this to true if you're using a holonomic robot + node_private.param("holonomic", holonomic_, true); + + global_plan_pub_ = node_private.advertise("global_plan", 1); + + ros::NodeHandle node; + odom_sub_ = node.subscribe("odom", 1, boost::bind(&PoseFollower::odomCallback, this, _1)); + + dsrv_ = new dynamic_reconfigure::Server( + ros::NodeHandle(node_private)); + dynamic_reconfigure::Server::CallbackType cb = + boost::bind(&PoseFollower::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); + + ROS_DEBUG("Initialized"); + } + + void PoseFollower::reconfigureCB(pose_follower::PoseFollowerConfig &config, uint32_t level) { + max_vel_lin_ = config.max_vel_lin; + max_vel_th_ = config.max_vel_th; + min_vel_lin_ = config.min_vel_lin; + min_vel_th_ = config.min_vel_th; + min_in_place_vel_th_ = config.min_in_place_vel_th; + in_place_trans_vel_ = config.in_place_trans_vel; + trans_stopped_velocity_ = config.trans_stopped_velocity; + rot_stopped_velocity_ = config.rot_stopped_velocity; + + tolerance_trans_ = config.tolerance_trans; + tolerance_rot_ = config.tolerance_rot; + tolerance_timeout_ = config.tolerance_timeout; + + samples_ = config.samples; + allow_backwards_ = config.allow_backwards; + turn_in_place_first_ = config.turn_in_place_first; + max_heading_diff_before_moving_ = config.max_heading_diff_before_moving; + + K_trans_ = config.k_trans; + K_rot_ = config.k_rot; + } + + void PoseFollower::odomCallback(const nav_msgs::Odometry::ConstPtr& msg){ + //we assume that the odometry is published in the frame of the base + boost::mutex::scoped_lock lock(odom_lock_); + base_odom_.twist.twist.linear.x = msg->twist.twist.linear.x; + base_odom_.twist.twist.linear.y = msg->twist.twist.linear.y; + base_odom_.twist.twist.angular.z = msg->twist.twist.angular.z; + ROS_DEBUG("In the odometry callback with velocity values: (%.2f, %.2f, %.2f)", + base_odom_.twist.twist.linear.x, base_odom_.twist.twist.linear.y, base_odom_.twist.twist.angular.z); + } + + double PoseFollower::headingDiff(double x, double y, double pt_x, double pt_y, double heading) + { + double v1_x = x - pt_x; + double v1_y = y - pt_y; + double v2_x = cos(heading); + double v2_y = sin(heading); + + double perp_dot = v1_x * v2_y - v1_y * v2_x; + double dot = v1_x * v2_x + v1_y * v2_y; + + //get the signed angle + double vector_angle = atan2(perp_dot, dot); + + return -1.0 * vector_angle; + } + + bool PoseFollower::stopped(){ + //copy over the odometry information + nav_msgs::Odometry base_odom; + { + boost::mutex::scoped_lock lock(odom_lock_); + base_odom = base_odom_; + } + + return fabs(base_odom.twist.twist.angular.z) <= rot_stopped_velocity_ + && fabs(base_odom.twist.twist.linear.x) <= trans_stopped_velocity_ + && fabs(base_odom.twist.twist.linear.y) <= trans_stopped_velocity_; + } + + void PoseFollower::publishPlan(const std::vector &path, + const ros::Publisher &pub) { + // given an empty path we won't do anything + if (path.empty()) + return; + + // create a path message + nav_msgs::Path gui_path; + gui_path.poses.resize(path.size()); + gui_path.header.frame_id = path[0].header.frame_id; + gui_path.header.stamp = path[0].header.stamp; + + // Extract the plan in world co-ordinates, we assume the path is all in the same frame + for (unsigned int i = 0; i < path.size(); i++) { + gui_path.poses[i] = path[i]; + } + pub.publish(gui_path); + } + + bool PoseFollower::computeVelocityCommands(geometry_msgs::Twist& cmd_vel){ + //get the current pose of the robot in the fixed frame + geometry_msgs::PoseStamped robot_pose; + if(!costmap_ros_->getRobotPose(robot_pose)){ + ROS_ERROR("Can't get robot pose"); + geometry_msgs::Twist empty_twist; + cmd_vel = empty_twist; + return false; + } + + //we want to compute a velocity command based on our current waypoint + geometry_msgs::PoseStamped target_pose = global_plan_[current_waypoint_]; + ROS_DEBUG("PoseFollower: current robot pose %f %f ==> %f", robot_pose.pose.position.x, robot_pose.pose.position.y, tf2::getYaw(robot_pose.pose.orientation)); + ROS_DEBUG("PoseFollower: target robot pose %f %f ==> %f", target_pose.pose.position.x, target_pose.pose.position.y, tf2::getYaw(target_pose.pose.orientation)); + + //get the difference between the two poses + geometry_msgs::Twist diff = diff2D(target_pose.pose, robot_pose.pose); + ROS_DEBUG("PoseFollower: diff %f %f ==> %f", diff.linear.x, diff.linear.y, diff.angular.z); + + geometry_msgs::Twist limit_vel = limitTwist(diff); + + geometry_msgs::Twist test_vel = limit_vel; + bool legal_traj = collision_planner_.checkTrajectory(test_vel.linear.x, test_vel.linear.y, test_vel.angular.z, true); + + double scaling_factor = 1.0; + double ds = scaling_factor / samples_; + + //let's make sure that the velocity command is legal... and if not, scale down + if(!legal_traj){ + for(int i = 0; i < samples_; ++i){ + test_vel.linear.x = limit_vel.linear.x * scaling_factor; + test_vel.linear.y = limit_vel.linear.y * scaling_factor; + test_vel.angular.z = limit_vel.angular.z * scaling_factor; + test_vel = limitTwist(test_vel); + if(collision_planner_.checkTrajectory(test_vel.linear.x, test_vel.linear.y, test_vel.angular.z, false)){ + legal_traj = true; + break; + } + scaling_factor -= ds; + } + } + + if(!legal_traj){ + ROS_ERROR("Not legal (%.2f, %.2f, %.2f)", limit_vel.linear.x, limit_vel.linear.y, limit_vel.angular.z); + geometry_msgs::Twist empty_twist; + cmd_vel = empty_twist; + return false; + } + + //if it is legal... we'll pass it on + cmd_vel = test_vel; + + bool in_goal_position = false; + while(fabs(diff.linear.x) <= tolerance_trans_ && + fabs(diff.linear.y) <= tolerance_trans_ && + fabs(diff.angular.z) <= tolerance_rot_) + { + if(current_waypoint_ < global_plan_.size() - 1) + { + current_waypoint_++; + target_pose = global_plan_[current_waypoint_]; + diff = diff2D(target_pose.pose, robot_pose.pose); + } + else + { + ROS_INFO("Reached goal: %d", current_waypoint_); + in_goal_position = true; + break; + } + } + + //if we're not in the goal position, we need to update time + if(!in_goal_position) + goal_reached_time_ = ros::Time::now(); + + //check if we've reached our goal for long enough to succeed + if(goal_reached_time_ + ros::Duration(tolerance_timeout_) < ros::Time::now()){ + geometry_msgs::Twist empty_twist; + cmd_vel = empty_twist; + } + + return true; + } + + bool PoseFollower::setPlan(const std::vector& global_plan){ + current_waypoint_ = 0; + goal_reached_time_ = ros::Time::now(); + if(!transformGlobalPlan(*tf_, global_plan, *costmap_ros_, costmap_ros_->getGlobalFrameID(), global_plan_)){ + ROS_ERROR("Could not transform the global plan to the frame of the controller"); + return false; + } + + ROS_DEBUG("global plan size: %lu", global_plan_.size()); + publishPlan(global_plan_, global_plan_pub_); + return true; + } + + bool PoseFollower::isGoalReached(){ + return goal_reached_time_ + ros::Duration(tolerance_timeout_) < ros::Time::now() && stopped(); + } + + geometry_msgs::Twist PoseFollower::diff2D(const geometry_msgs::Pose& pose1_msg, + const geometry_msgs::Pose& pose2_msg) + { + tf2::Transform pose1, pose2; + tf2::convert(pose1_msg, pose1); + tf2::convert(pose2_msg, pose2); + geometry_msgs::Twist res; + tf2::Transform diff = pose2.inverse() * pose1; + res.linear.x = diff.getOrigin().x(); + res.linear.y = diff.getOrigin().y(); + res.angular.z = tf2::getYaw(diff.getRotation()); + + if(holonomic_ || (fabs(res.linear.x) <= tolerance_trans_ && fabs(res.linear.y) <= tolerance_trans_)) + return res; + + //in the case that we're not rotating to our goal position and we have a non-holonomic robot + //we'll need to command a rotational velocity that will help us reach our desired heading + + //we want to compute a goal based on the heading difference between our pose and the target + double yaw_diff = headingDiff(pose1.getOrigin().x(), pose1.getOrigin().y(), + pose2.getOrigin().x(), pose2.getOrigin().y(), tf2::getYaw(pose2.getRotation())); + + //we'll also check if we can move more effectively backwards + if (allow_backwards_) + { + double neg_yaw_diff = headingDiff(pose1.getOrigin().x(), pose1.getOrigin().y(), + pose2.getOrigin().x(), pose2.getOrigin().y(), M_PI + tf2::getYaw(pose2.getRotation())); + + //check if its faster to just back up + if(fabs(neg_yaw_diff) < fabs(yaw_diff)){ + ROS_DEBUG("Negative is better: %.2f", neg_yaw_diff); + yaw_diff = neg_yaw_diff; + } + } + + //compute the desired quaterion + tf2::Quaternion rot_diff; + rot_diff.setRPY(0.0, 0.0, yaw_diff); + tf2::Quaternion rot = pose2.getRotation() * rot_diff; + tf2::Transform new_pose = pose1; + new_pose.setRotation(rot); + + diff = pose2.inverse() * new_pose; + res.linear.x = diff.getOrigin().x(); + res.linear.y = diff.getOrigin().y(); + res.angular.z = tf2::getYaw(diff.getRotation()); + return res; + } + + + geometry_msgs::Twist PoseFollower::limitTwist(const geometry_msgs::Twist& twist) + { + geometry_msgs::Twist res = twist; + res.linear.x *= K_trans_; + if(!holonomic_) + res.linear.y = 0.0; + else + res.linear.y *= K_trans_; + res.angular.z *= K_rot_; + + //if turn_in_place_first is true, see if we need to rotate in place to face our goal first + if (turn_in_place_first_ && fabs(twist.angular.z) > max_heading_diff_before_moving_) + { + res.linear.x = 0; + res.linear.y = 0; + if (fabs(res.angular.z) > max_vel_th_) res.angular.z = max_vel_th_ * sign(res.angular.z); + if (fabs(res.angular.z) < min_in_place_vel_th_) res.angular.z = min_in_place_vel_th_ * sign(res.angular.z); + return res; + } + + //make sure to bound things by our velocity limits + double lin_overshoot = sqrt(res.linear.x * res.linear.x + res.linear.y * res.linear.y) / max_vel_lin_; + double lin_undershoot = min_vel_lin_ / sqrt(res.linear.x * res.linear.x + res.linear.y * res.linear.y); + if (lin_overshoot > 1.0) + { + res.linear.x /= lin_overshoot; + res.linear.y /= lin_overshoot; + } + + //we only want to enforce a minimum velocity if we're not rotating in place + if(lin_undershoot > 1.0) + { + res.linear.x *= lin_undershoot; + res.linear.y *= lin_undershoot; + } + + if (fabs(res.angular.z) > max_vel_th_) res.angular.z = max_vel_th_ * sign(res.angular.z); + if (fabs(res.angular.z) < min_vel_th_) res.angular.z = min_vel_th_ * sign(res.angular.z); + if (std::isnan(res.linear.x)) + res.linear.x = 0.0; + if (std::isnan(res.linear.y)) + res.linear.y = 0.0; + + //we want to check for whether or not we're desired to rotate in place + if(sqrt(twist.linear.x * twist.linear.x + twist.linear.y * twist.linear.y) < in_place_trans_vel_){ + if (fabs(res.angular.z) < min_in_place_vel_th_) res.angular.z = min_in_place_vel_th_ * sign(res.angular.z); + res.linear.x = 0.0; + res.linear.y = 0.0; + } + + ROS_DEBUG("Angular command %f", res.angular.z); + return res; + } + + bool PoseFollower::transformGlobalPlan(const tf2_ros::Buffer& tf, const std::vector& global_plan, + const costmap_2d::Costmap2DROS& costmap, const std::string& global_frame, + std::vector& transformed_plan){ + const geometry_msgs::PoseStamped& plan_pose = global_plan[0]; + + transformed_plan.clear(); + + try{ + if (global_plan.empty()) + { + ROS_ERROR("Recieved plan with zero length"); + return false; + } + + geometry_msgs::TransformStamped transform; + transform = tf.lookupTransform(global_frame, ros::Time(), + plan_pose.header.frame_id, plan_pose.header.stamp, + plan_pose.header.frame_id); + tf2::Stamped tf_transform; + tf2::convert(transform, tf_transform); + + tf2::Stamped tf_pose; + geometry_msgs::PoseStamped newer_pose; + //now we'll transform until points are outside of our distance threshold + for(unsigned int i = 0; i < global_plan.size(); ++i){ + const geometry_msgs::PoseStamped& pose = global_plan[i]; + tf2::convert(pose, tf_pose); + tf_pose.setData(tf_transform * tf_pose); + tf_pose.stamp_ = tf_transform.stamp_; + tf_pose.frame_id_ = global_frame; + tf2::toMsg(tf_pose, newer_pose); + + transformed_plan.push_back(newer_pose); + } + } + catch(tf2::LookupException& ex) { + ROS_ERROR("No Transform available Error: %s\n", ex.what()); + return false; + } + catch(tf2::ConnectivityException& ex) { + ROS_ERROR("Connectivity Error: %s\n", ex.what()); + return false; + } + catch(tf2::ExtrapolationException& ex) { + ROS_ERROR("Extrapolation Error: %s\n", ex.what()); + if (!global_plan.empty()) + ROS_ERROR("Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str()); + + return false; + } + + return true; + } +}; diff --git a/navigations/robot_localization/.github/ISSUE_TEMPLATE/bug_report.md b/navigations/robot_localization/.github/ISSUE_TEMPLATE/bug_report.md new file mode 100755 index 0000000..85d1156 --- /dev/null +++ b/navigations/robot_localization/.github/ISSUE_TEMPLATE/bug_report.md @@ -0,0 +1,30 @@ +--- +name: Bug report +about: For filing confirmed bugs +title: '' +labels: bug +assignees: ayrton04 + +--- + + + +## Bug report + +**Required Info:** + +- Operating System: + - +- Installation type: + - +- Version or commit hash: + - + +#### Steps to reproduce issue + + +#### Expected behavior + +#### Actual behavior + +#### Additional information diff --git a/navigations/robot_localization/.github/ISSUE_TEMPLATE/feature_request.md b/navigations/robot_localization/.github/ISSUE_TEMPLATE/feature_request.md new file mode 100755 index 0000000..00937ff --- /dev/null +++ b/navigations/robot_localization/.github/ISSUE_TEMPLATE/feature_request.md @@ -0,0 +1,16 @@ +--- +name: Feature request +about: For requesting new features +title: '' +labels: feature request +assignees: ayrton04 + +--- + +## Feature request + +#### Feature description + + +#### Implementation considerations + diff --git a/navigations/robot_localization/.gitignore b/navigations/robot_localization/.gitignore new file mode 100755 index 0000000..581b015 --- /dev/null +++ b/navigations/robot_localization/.gitignore @@ -0,0 +1,4 @@ +doc/html +*.cproject +*.project +*.settings diff --git a/navigations/robot_localization/CHANGELOG.rst b/navigations/robot_localization/CHANGELOG.rst new file mode 100755 index 0000000..e028973 --- /dev/null +++ b/navigations/robot_localization/CHANGELOG.rst @@ -0,0 +1,311 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package robot_localization +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.7.4 (2022-07-27) +------------------ +* Fix odometry and acceleration processing pipeline (`#753 `_) +* Use default CXX, need to specify boost::placeholders::_1 instead of just _1 (`#750 `_) +* Fix odometry msgs with child frame other than baseLink (`#728 `_) +* update documentation (`#723 `_) +* Fix unused-parameter warning (`#721 `_) +* Fix tf lookup timestamp during map->odom publication (`#719 `_) +* UKF cleanup (`#671 `_) +* Added geographiclib to catkin exported depends (`#709 `_) +* Make the navsat tf frame name parametric (`#699 `_) +* Propagate the suppression of tf warnings (`#705 `_) +* Fix typo in base_link_frame_output name. (`#701 `_) +* Contributors: AR Dabbour, Carlos Agüero, Haoguang Yang, J.P.S, Joshua Owen, Leonardo Hemerly, Lucas Walter, Marcus Scheunemann, Stephen Williams, Tom Moore + +2.7.3 (2021-07-23) +------------------ +* Prevent node from crashing on invalid UTM zone, but throw ROS_ERROR to notify user (`#682 `_) +* changed geographiclib to tag (`#684 `_) +* Small formatting and content change (`#677 `_) +* Fixed state transition for sigma points. The state transition function for each sigma point now uses its sigma point's posteriori state instead of always the posteriori state. (`#628 `_) + Co-authored-by: jola6897 +* Contributors: John Stechschulte, Jonas, MCFurry, Vivek Mhatre + +2.7.2 (2021-06-03) +------------------ +* Also test for gamma conversion (`#647 `_) +* fix: Transform gravitation vector to IMU frame before removing acceleration (`#639 `_) +* Fixed a typo in validate filter output error message. (`#646 `_) +* Stick to the global utm_zone\_ when transforming gps to UTM (`#627 `_) + * Stick to the global utm_zone\_ when transforming gps to UTM +* UTM conversions using geographiclib (`#626 `_) + * Use GeographicLib for UTMtoLL conversions +* SHARED linking for Geographiclib (`#624 `_) + * remove GeographicLib specific linking option +* Fixing lat-long to UTM conversion (`#620 `_) + Thanks again for the report. I'll get this into `noetic-devel` and the relevant ROS2 branches. +* Removing xmlrpcpp dependency +* yaml-cpp using find_package as backup (`#618 `_) +* Add ${GeographicLib_LIBRARIES} to navsat_transform (`#617 `_) +* Contributors: Achmad Fathoni, Leonardo Hemerly, Paul Verhoeckx, Tim Clephas, Tobias Fischer, Tom Moore + +2.7.0 (2020-12-17) +------------------ +* Making repeated state publication optional (`#595 `_) +* Fix sign error in dFY_dP part of transferFunctionJacobian\_ (`#592 `_) +* Fix typo in navsat_transform_node.rst (`#588 `_) +* Fix issue caused by starting on uneven terrain (`#582 `_) +* Local Cartesian Option (`#575 `_) +* Fix frame id of imu in differential mode, closes `#482 `_. (`#522 `_) +* navsat_transform diagram to address `#550 `_ (`#570 `_) +* Increasing the minimum CMake version (`#573 `_) +* Contributors: Aleksander Bojda, David Jensen, James Baxter, Jeffrey Kane Johnson, Mabel Zhang, Ronald Ensing, Tom Moore + +2.6.8 (2020-06-03) +------------------ +* Adding conditional build dependencies (`#572 `_) +* Contributors: Tom Moore + +2.6.7 (2020-06-01) +------------------ +* Parameterizing transform failure warnings +* [melodic] Fix Windows build break. (`#557 `_) +* Contributors: Sean Yen, Tom Moore, florianspy + +2.6.5 (2019-08-08) +------------------ +* fix: wall time used when `use_sim_time` is true +* Created service for converting to / from lat long +* Fix bug with tf_prefix +* Adding new contribution to doc +* Add missing undocumented params +* Update wiki location +* Contributors: Andrew Grindstaff, Axel Mousset, Charles Brian Quinn, Oswin So, Tom Moore + +2.6.4 (2019-02-15) +------------------ +* Meridian convergence adjustment added to navsat_transform. +* Documentation changes +* Add broadcast_utm_transform_as_parent_frame +* Enable build optimisations if no build type configured. +* Contributors: G.A. vd. Hoorn, Pavlo Kolomiiets, diasdm + +2.6.3 (2019-01-14) +------------------ +* Rename odomBaseLinkTrans to baseLinkOdomTrans + Adhere to the naming convention Trans used for worldBaseLinkTrans and mapOdomTrans. +* Add const& to catch values to prevent the error: catching polymorphic type ‘class tf2::TransformException’ by value + And ZoneNumber by 0x3fU to prevent error: directive output may be truncated writing between 1 and 11 bytes into a region of size 4 +* Enabling the user to override the output child_frame_id +* Fixing Euler body-to-world transformations +* Whitespace +* fixing no datum service in melodic +* Contributors: Alexis schad, Matthew Jones, Tom Moore, thallerod + +2.6.2 (2018-10-25) +------------------ +* Fixing tests +* Contributors: Tom Moore + +2.6.1 (2018-10-25) +------------------ +* Adding more output for measurement history failures +* Adding filter processing toggle service +* Waiting for valid ROS time before starting navsat_transform_node +* Contributors: Tom Moore, stevemacenski + +2.6.0 (2018-07-27) +------------------ +* Moving to C++14, adding error flags, and fixing all warnings +* Contributors: Tom Moore + +2.5.2 (2018-04-11) +------------------ +* Add published accel topic to documentation +* adding log statements for nans in the invertable matrix +* Fixing issue with potential seg fault +* Contributors: Oleg Kalachev, Tom Moore, stevemacenski + +2.5.1 (2018-01-03) +------------------ +* Fixing CMakeLists +* Contributors: Tom Moore + +2.5.0 (2017-12-15) +------------------ +* Fixing datum precision +* Fixing timing variable +* Fixing state history reversion +* Fixing critical bug with dynamic process noise covariance +* Fix typo in reading Mahalanobis thresholds. +* Zero out rotation in GPS to base_link transform +* Update xmlrpcpp includes for Indigo support +* Removing lastUpdateTime +* Fixing timestamps in map->odom transform +* Simplify enabledAtStartup logic +* Add std_srvs dependency +* Add enabling service +* Ensure all raw sensor input orientations are normalized even if messages are not +* Install params directory. +* Add robot localization estimator +* Adding nodelet support +* Contributors: Jacob Perron, Jacob Seibert, Jiri Hubacek, Mike Purvis, Miquel Massot, Pavlo Kolomiiets, Rein Appeldoorn, Rokus Ottervanger, Simon Gene Gottlieb, Tom Moore, stevemacenski + +2.4.0 (2017-06-12) +------------------ +* Updated documentation +* Added reset_on_time_jump option +* Added feature to optionally publish utm frame as parent in navsat_transform_node +* Moved global callback queue reset +* Added initial_state parameter and documentation +* Fixed ac/deceleration gains default logic +* Added gravity parameter +* Added delay and throttle if tf lookup fails +* Fixed UKF IMUTwistBasicIO test +* Added transform_timeout parameter +* Set gps_odom timestamp before tf2 lookuptransform +* Removed non-portable sincos calls +* Simplified logic to account for correlated error +* Added dynamic process noise covariance calculation +* Fixed catkin_package Eigen warning +* Added optional publication of acceleration state +* Contributors: Brian Gerkey, Enrique Fernandez, Jochen Sprickerhof, Rein Appeldoorn, Simon Gene Gottlieb, Tom Moore + +2.3.1 (2016-10-27) +------------------ +* Adding gitignore +* Adding remaining wiki pages +* Adding config and prep pages +* Adding navsat_transform_node documentation +* use_odometry_yaw fix for n_t_n +* Fixing issue with manual pose reset when history is not empty +* Getting inverse transform when looking up robot's pose. +* Sphinx documentation +* Removing forward slashes from navsat_transform input topics for template launch file +* Adding example launch and parameter files for a two-level EKF setup with navsat_transform_node +* Adding yaml file for navsat_transform_node, and moving parameter documentation to it. +* Updating EKF and UKF parameter templates with usage comments +* Contributors: Tom Moore, asimay + +2.3.0 (2016-07-28) +------------------ +* Fixed issues with datum usage and frame_ids +* Fixed comment for wait_for_datum +* Fixing issue with non-zero navsat sensor orientation offsets +* Fixing issue with base_link->gps transform wrecking the 'true' UTM position computation +* Using correct covariance for filtered GPS +* Fixed unitialized odometry covariance bug +* Added filter history and measurement queue behavior +* Changing output timestamp to more accurately use the time stamp of the most recently-processed measurement +* Added TcpNoDelay() +* Added parameter to make transform publishing optional +* Fixed differential handling for pose data so that it doesn't care about the message's frame_id +* Updated UKF config and launch +* Added a test case for the timestamp diagnostics +* Added reporting of bad timestamps via diagnostics +* Updated tests to match new method signatures +* Added control term +* Added smoothing capability for delayed measurements +* Making variables in navsat_transform conform to ROS coding standards +* Contributors: Adel Fakih, Ivor Wanders, Marc Essinger, Tobias Tueylue, Tom Moore + +2.2.3 (2016-04-24) +------------------ +* Cleaning up callback data structure and callbacks and updating doxygen comments in headers +* Removing MessageFilters +* Removing deprecated parameters +* Adding the ability to handle GPS offsets from the vehicle's origin +* Cleaning up navsat_transform.h +* Making variables in navsat_transform conform to ROS coding standards + +2.2.2 (2016-02-04) +------------------ +* Updating trig functions to use sincos for efficiency +* Updating licensing information and adding Eigen MPL-only flag +* Added state to imu frame transformation +* Using state orientation if imu orientation is missing +* Manually adding second spin for odometry and IMU data that is passed to message filters +* Reducing delay between measurement reception and filter output +* Zero altitute in intital transform too, when zero altitude param is set +* Fixing regression with conversion back to GPS coordinates +* Switched cropping of orientation data in inovationSubset with mahalanobis check to prevent excluding measurements with orientations bigger/smaller than ± PI +* Fix Jacobian for EKF. +* Removing warning about orientation variables when only their velocities are measured +* Checking for -1 in IMU covariances and ignoring relevant message data +* roslint and catkin_lint applied +* Adding base_link to datum specification, and fixing bug with order of measurement handling when a datum is specified. Also added check to make sure IMU data is transformable before using it. +* Contributors: Adnan Ademovic, Jit Ray Chowdhury, Philipp Tscholl, Tom Moore, ayrton04, kphil + +2.2.1 (2015-05-27) +------------------ +* Fixed handling of IMU data w.r.t. differential mode and relative mode + +2.2.0 (2015-05-22) +------------------ +* Added tf2-friendly tf_prefix appending +* Corrected for IMU orientation in navsat_transform +* Fixed issue with out-of-order measurements and pose resets +* Nodes now assume ENU standard for yaw data +* Removed gps_common dependency +* Adding option to navsat_transform_node that enables the use of the heading from the odometry message instead of an IMU. +* Changed frame_id used in setPoseCallback to be the world_frame +* Optimized Eigen arithmetic for signficiant performance boost +* Migrated to tf2 +* Code refactoring and reorganization +* Removed roll and pitch from navsat_transform calculations +* Fixed transform for IMU data to better support mounting IMUs in non-standard orientations +* Added feature to navsat_transform_node whereby filtered odometry data can be coverted back into navsat data +* Added a parameter to allow future dating the world_frame->base_link_frame transform. +* Removed deprecated differential setting handler +* Added relative mode +* Updated and improved tests +* Fixing source frame_id in pose data handling +* Added initial covariance parameter +* Fixed bug in covariance copyinh +* Added parameters for topic queue sizes +* Improved motion model's handling of angular velocities when robot has non-zero roll and pitch +* Changed the way differential measurements are handled +* Added diagnostics + +2.1.7 (2015-01-05) +------------------ +* Added some checks to eliminate unnecessary callbacks +* Updated launch file templates +* Added measurement outlier rejection +* Added failure callbacks for tf message filters +* Added optional broadcast of world_frame->utm transform for navsat_transform_node +* Bug fixes for differential mode and handling of Z acceleration in 2D mode + +2.1.6 (2014-11-06) +------------------ +* Added unscented Kalman filter (UKF) localization node +* Fixed map->odom tf calculation +* Acceleration data from IMUs is now used in computing the state estimate +* Added 2D mode + +2.1.5 (2014-10-07) +------------------ +* Changed initial estimate error covariance to be much smaller +* Fixed some debug output +* Added test suite +* Better compliance with REP-105 +* Fixed differential measurement handling +* Implemented message filters +* Added navsat_transform_node + +2.1.4 (2014-08-22) +------------------ +* Adding utm_transform_node to install targets + +2.1.3 (2014-06-22) +------------------ +* Some changes to ease GPS integration +* Addition of differential integration of pose data +* Some documentation cleanup +* Added UTM transform node and launch file +* Bug fixes + +2.1.2 (2014-04-11) +------------------ +* Updated covariance correction formulation to "Joseph form" to improve filter stability. +* Implemented new versioning scheme. + +2.1.1 (2014-04-11) +------------------ +* Added cmake_modules dependency for Eigen support, and added include to silence boost::signals warning from tf include + diff --git a/navigations/robot_localization/CMakeLists.txt b/navigations/robot_localization/CMakeLists.txt new file mode 100755 index 0000000..cc7f334 --- /dev/null +++ b/navigations/robot_localization/CMakeLists.txt @@ -0,0 +1,354 @@ +cmake_minimum_required(VERSION 3.0.2) +project(robot_localization) + +if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE) + message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.") + set(CMAKE_BUILD_TYPE RelWithDebInfo) +endif() + +find_package(catkin REQUIRED COMPONENTS + angles + diagnostic_msgs + diagnostic_updater + eigen_conversions + geographic_msgs + geometry_msgs + message_filters + message_generation + nav_msgs + nodelet + roscpp + roslint + sensor_msgs + std_msgs + std_srvs + tf2 + tf2_geometry_msgs + tf2_ros) + +find_package(PkgConfig REQUIRED) +pkg_check_modules(YAML_CPP yaml-cpp) +if(NOT YAML_CPP_FOUND) + find_package(yaml-cpp REQUIRED) +endif() + + +# Geographiclib installs FindGeographicLib.cmake to this non-standard location +set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr/share/cmake/geographiclib/") +find_package(GeographicLib REQUIRED) + +# Attempt to find Eigen using its own CMake module. +# If that fails, fall back to cmake_modules package. +find_package(Eigen3) +set(EIGEN_PACKAGE EIGEN3) +if(NOT EIGEN3_FOUND) + find_package(cmake_modules REQUIRED) + find_package(Eigen REQUIRED) + set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) + set(EIGEN_PACKAGE Eigen) +endif() + +if(NOT MSVC) + set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror") +endif() +add_definitions(-DEIGEN_NO_DEBUG -DEIGEN_MPL2_ONLY) + +set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references") +roslint_cpp() + +################################### +## catkin specific configuration ## +################################### +add_service_files( + FILES + GetState.srv + SetDatum.srv + SetPose.srv + SetUTMZone.srv + ToggleFilterProcessing.srv + FromLL.srv + ToLL.srv +) + +generate_messages( + DEPENDENCIES + geographic_msgs + geometry_msgs + std_msgs +) + +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + ekf + ekf_localization_nodelet + filter_base + filter_utilities + navsat_transform + navsat_transform_nodelet + ros_filter + ros_filter_utilities + robot_localization_estimator + ros_robot_localization_listener + ukf + ukf_localization_nodelet + CATKIN_DEPENDS + angles + cmake_modules + diagnostic_msgs + diagnostic_updater + eigen_conversions + geographic_msgs + geometry_msgs + message_filters + message_runtime + nav_msgs + roscpp + sensor_msgs + std_msgs + std_srvs + tf2 + tf2_geometry_msgs + tf2_ros + DEPENDS + ${EIGEN_PACKAGE} + GeographicLib + YAML_CPP +) + +########### +## Build ## +########### + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ${YAML_CPP_INCLUDE_DIRS}) + +link_directories(${YAML_CPP_LIBRARY_DIRS}) + +# Library definitions +add_library(filter_utilities src/filter_utilities.cpp) +add_library(filter_base src/filter_base.cpp) +add_library(ekf src/ekf.cpp) +add_library(ukf src/ukf.cpp) +add_library(robot_localization_estimator src/robot_localization_estimator.cpp) +add_library(ros_robot_localization_listener src/ros_robot_localization_listener.cpp) +add_library(ros_filter_utilities src/ros_filter_utilities.cpp) +add_library(ros_filter src/ros_filter.cpp) +add_library(navsat_transform src/navsat_transform.cpp) +add_library(ekf_localization_nodelet src/ekf_localization_nodelet.cpp) +add_library(ukf_localization_nodelet src/ukf_localization_nodelet.cpp) +add_library(navsat_transform_nodelet src/navsat_transform_nodelet.cpp) + +# Executables +add_executable(ekf_localization_node src/ekf_localization_node.cpp) +add_executable(ukf_localization_node src/ukf_localization_node.cpp) +add_executable(navsat_transform_node src/navsat_transform_node.cpp) +add_executable(robot_localization_listener_node src/robot_localization_listener_node.cpp) + +# Dependencies +add_dependencies(filter_base ${PROJECT_NAME}_gencpp) +add_dependencies(navsat_transform ${PROJECT_NAME}_gencpp) +add_dependencies(robot_localization_listener_node ${PROJECT_NAME}_gencpp) + +# Linking +target_link_libraries(ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) +target_link_libraries(filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) +target_link_libraries(filter_base filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) +target_link_libraries(ekf filter_base ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) +target_link_libraries(ukf filter_base ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) +target_link_libraries(ros_filter ekf ukf ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES}) +target_link_libraries(robot_localization_estimator filter_utilities filter_base ekf ukf ${EIGEN3_LIBRARIES}) +target_link_libraries(ros_robot_localization_listener robot_localization_estimator ros_filter_utilities + ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${YAML_CPP_LIBRARIES}) +target_link_libraries(robot_localization_listener_node ros_robot_localization_listener ${catkin_LIBRARIES}) +target_link_libraries(ekf_localization_node ros_filter ${catkin_LIBRARIES}) +target_link_libraries(ekf_localization_nodelet ros_filter ${catkin_LIBRARIES}) +target_link_libraries(ukf_localization_node ros_filter ${catkin_LIBRARIES}) +target_link_libraries(ukf_localization_nodelet ros_filter ${catkin_LIBRARIES}) +target_link_libraries(navsat_transform filter_utilities ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${GeographicLib_LIBRARIES}) +target_link_libraries(navsat_transform_node navsat_transform ${catkin_LIBRARIES} ${GeographicLib_LIBRARIES}) +target_link_libraries(navsat_transform_nodelet navsat_transform ${catkin_LIBRARIES} ${GeographicLib_LIBRARIES}) + +############# +## Install ## +############# + +## Mark executables and/or libraries for installation +install(TARGETS + ekf + ekf_localization_nodelet + filter_base + filter_utilities + navsat_transform + navsat_transform_nodelet + ros_filter + ros_filter_utilities + robot_localization_estimator + ros_robot_localization_listener + ukf + ukf_localization_nodelet + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + +install(TARGETS + ekf_localization_node + navsat_transform_node + robot_localization_listener_node + ukf_localization_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + FILES_MATCHING PATTERN "*.launch") + +install(DIRECTORY params/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params) + +install(FILES + LICENSE + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(FILES nodelet_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +############# +## Testing ## +############# + +if (CATKIN_ENABLE_TESTING) + + roslint_add_test() + + # Not really necessary, but it will cause the build to fail if it's + # missing, rather than failing once the tests are being executed + find_package(rosbag REQUIRED) + find_package(rostest REQUIRED) + + #### FILTER BASE TESTS #### + catkin_add_gtest(filter_base-test test/test_filter_base.cpp) + target_link_libraries(filter_base-test filter_base ${catkin_LIBRARIES}) + + # This test uses ekf_localization node for convenience. + add_rostest_gtest(test_filter_base_diagnostics_timestamps + test/test_filter_base_diagnostics_timestamps.test + test/test_filter_base_diagnostics_timestamps.cpp) + target_link_libraries(test_filter_base_diagnostics_timestamps ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_filter_base_diagnostics_timestamps ekf_localization_node) + + #### EKF TESTS ##### + add_rostest_gtest(test_ekf + test/test_ekf.test + test/test_ekf.cpp) + target_link_libraries(test_ekf ros_filter ekf ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + + add_rostest_gtest(test_ekf_localization_node_interfaces + test/test_ekf_localization_node_interfaces.test + test/test_ekf_localization_node_interfaces.cpp) + target_link_libraries(test_ekf_localization_node_interfaces ros_filter ekf ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ekf_localization_node_interfaces ekf_localization_node) + + add_rostest_gtest(test_ekf_localization_node_bag1 + test/test_ekf_localization_node_bag1.test + test/test_localization_node_bag_pose_tester.cpp) + target_link_libraries(test_ekf_localization_node_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ekf_localization_node_bag1 ekf_localization_node) + + add_rostest_gtest(test_ekf_localization_node_bag2 + test/test_ekf_localization_node_bag2.test + test/test_localization_node_bag_pose_tester.cpp) + target_link_libraries(test_ekf_localization_node_bag2 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ekf_localization_node_bag2 ekf_localization_node) + + add_rostest_gtest(test_ekf_localization_node_bag3 + test/test_ekf_localization_node_bag3.test + test/test_localization_node_bag_pose_tester.cpp) + target_link_libraries(test_ekf_localization_node_bag3 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ekf_localization_node_bag3 ekf_localization_node) + + add_rostest_gtest(test_ekf_localization_nodelet_bag1 + test/test_ekf_localization_nodelet_bag1.test + test/test_localization_node_bag_pose_tester.cpp) + target_link_libraries(test_ekf_localization_nodelet_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ekf_localization_nodelet_bag1 ekf_localization_nodelet) + + #### UKF TESTS ##### + add_rostest_gtest(test_ukf + test/test_ukf.test + test/test_ukf.cpp) + target_link_libraries(test_ukf ros_filter ukf ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + + add_rostest_gtest(test_ukf_localization_node_interfaces + test/test_ukf_localization_node_interfaces.test + test/test_ukf_localization_node_interfaces.cpp) + target_link_libraries(test_ukf_localization_node_interfaces ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ukf_localization_node_interfaces ukf_localization_node) + + add_rostest_gtest(test_ukf_localization_node_bag1 + test/test_ukf_localization_node_bag1.test + test/test_localization_node_bag_pose_tester.cpp) + target_link_libraries(test_ukf_localization_node_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ukf_localization_node_bag1 ukf_localization_node) + + add_rostest_gtest(test_ukf_localization_node_bag2 + test/test_ukf_localization_node_bag2.test + test/test_localization_node_bag_pose_tester.cpp) + target_link_libraries(test_ukf_localization_node_bag2 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ukf_localization_node_bag2 ukf_localization_node) + + add_rostest_gtest(test_ukf_localization_node_bag3 + test/test_ukf_localization_node_bag3.test + test/test_localization_node_bag_pose_tester.cpp) + target_link_libraries(test_ukf_localization_node_bag3 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ukf_localization_node_bag3 ukf_localization_node) + + add_rostest_gtest(test_ukf_localization_nodelet_bag1 + test/test_ukf_localization_nodelet_bag1.test + test/test_localization_node_bag_pose_tester.cpp) + target_link_libraries(test_ukf_localization_nodelet_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + add_dependencies(test_ukf_localization_nodelet_bag1 ukf_localization_nodelet) + + #### RLE/RLL TESTS ##### + add_rostest_gtest(test_robot_localization_estimator + test/test_robot_localization_estimator.test + test/test_robot_localization_estimator.cpp) + target_link_libraries(test_robot_localization_estimator + robot_localization_estimator + ${catkin_LIBRARIES} + ${rostest_LIBRARIES}) + + add_executable(test_ros_robot_localization_listener_publisher test/test_ros_robot_localization_listener_publisher.cpp) + target_link_libraries(test_ros_robot_localization_listener_publisher + ${catkin_LIBRARIES}) + + add_rostest_gtest(test_ros_robot_localization_listener + test/test_ros_robot_localization_listener.test + test/test_ros_robot_localization_listener.cpp) + target_link_libraries(test_ros_robot_localization_listener + ros_robot_localization_listener + ${catkin_LIBRARIES} + ${rostest_LIBRARIES}) + + #### NAVSAT CONVERSION TESTS #### + catkin_add_gtest(navsat_conversions-test test/test_navsat_conversions.cpp) + target_link_libraries(navsat_conversions-test navsat_transform ${catkin_LIBRARIES}) + + #### NAVSAT TRANSFORM TESTS #### + add_rostest_gtest(test_navsat_transform + test/test_navsat_transform.test + test/test_navsat_transform.cpp) + target_link_libraries(test_navsat_transform ${catkin_LIBRARIES} ${rostest_LIBRARIES}) + +endif() diff --git a/navigations/robot_localization/LICENSE b/navigations/robot_localization/LICENSE new file mode 100755 index 0000000..45521a4 --- /dev/null +++ b/navigations/robot_localization/LICENSE @@ -0,0 +1,68 @@ +All code within the robot_localization package that was developed by Charles +River Analytics is released under the BSD license: + +Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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 {organization} 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 HOLDER 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. + +========================================================================== + +The robot_localization package also makes use of code written by The University +of Texas at Austin. This code is released under a modified BSD license: + +Copyright (C) 2010 Austin Robot Technology, and others +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 names of the University of Texas at Austin, nor + Austin Robot Technology, nor the names of other 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. diff --git a/navigations/robot_localization/README.md b/navigations/robot_localization/README.md new file mode 100755 index 0000000..2220d2f --- /dev/null +++ b/navigations/robot_localization/README.md @@ -0,0 +1,6 @@ +robot_localization +================== + +robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. + +Please see documentation here: http://docs.ros.org/noetic/api/robot_localization/html/index.html diff --git a/navigations/robot_localization/doc/.templates/full_globaltoc.html b/navigations/robot_localization/doc/.templates/full_globaltoc.html new file mode 100755 index 0000000..ba7226e --- /dev/null +++ b/navigations/robot_localization/doc/.templates/full_globaltoc.html @@ -0,0 +1,10 @@ +

{{ _('Table Of Contents') }}

+{{ toctree(includehidden=True) }} + +

{{ _('Further Documentation') }}

+ + + diff --git a/navigations/robot_localization/doc/CHANGELOG.rst b/navigations/robot_localization/doc/CHANGELOG.rst new file mode 100755 index 0000000..e028973 --- /dev/null +++ b/navigations/robot_localization/doc/CHANGELOG.rst @@ -0,0 +1,311 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package robot_localization +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.7.4 (2022-07-27) +------------------ +* Fix odometry and acceleration processing pipeline (`#753 `_) +* Use default CXX, need to specify boost::placeholders::_1 instead of just _1 (`#750 `_) +* Fix odometry msgs with child frame other than baseLink (`#728 `_) +* update documentation (`#723 `_) +* Fix unused-parameter warning (`#721 `_) +* Fix tf lookup timestamp during map->odom publication (`#719 `_) +* UKF cleanup (`#671 `_) +* Added geographiclib to catkin exported depends (`#709 `_) +* Make the navsat tf frame name parametric (`#699 `_) +* Propagate the suppression of tf warnings (`#705 `_) +* Fix typo in base_link_frame_output name. (`#701 `_) +* Contributors: AR Dabbour, Carlos Agüero, Haoguang Yang, J.P.S, Joshua Owen, Leonardo Hemerly, Lucas Walter, Marcus Scheunemann, Stephen Williams, Tom Moore + +2.7.3 (2021-07-23) +------------------ +* Prevent node from crashing on invalid UTM zone, but throw ROS_ERROR to notify user (`#682 `_) +* changed geographiclib to tag (`#684 `_) +* Small formatting and content change (`#677 `_) +* Fixed state transition for sigma points. The state transition function for each sigma point now uses its sigma point's posteriori state instead of always the posteriori state. (`#628 `_) + Co-authored-by: jola6897 +* Contributors: John Stechschulte, Jonas, MCFurry, Vivek Mhatre + +2.7.2 (2021-06-03) +------------------ +* Also test for gamma conversion (`#647 `_) +* fix: Transform gravitation vector to IMU frame before removing acceleration (`#639 `_) +* Fixed a typo in validate filter output error message. (`#646 `_) +* Stick to the global utm_zone\_ when transforming gps to UTM (`#627 `_) + * Stick to the global utm_zone\_ when transforming gps to UTM +* UTM conversions using geographiclib (`#626 `_) + * Use GeographicLib for UTMtoLL conversions +* SHARED linking for Geographiclib (`#624 `_) + * remove GeographicLib specific linking option +* Fixing lat-long to UTM conversion (`#620 `_) + Thanks again for the report. I'll get this into `noetic-devel` and the relevant ROS2 branches. +* Removing xmlrpcpp dependency +* yaml-cpp using find_package as backup (`#618 `_) +* Add ${GeographicLib_LIBRARIES} to navsat_transform (`#617 `_) +* Contributors: Achmad Fathoni, Leonardo Hemerly, Paul Verhoeckx, Tim Clephas, Tobias Fischer, Tom Moore + +2.7.0 (2020-12-17) +------------------ +* Making repeated state publication optional (`#595 `_) +* Fix sign error in dFY_dP part of transferFunctionJacobian\_ (`#592 `_) +* Fix typo in navsat_transform_node.rst (`#588 `_) +* Fix issue caused by starting on uneven terrain (`#582 `_) +* Local Cartesian Option (`#575 `_) +* Fix frame id of imu in differential mode, closes `#482 `_. (`#522 `_) +* navsat_transform diagram to address `#550 `_ (`#570 `_) +* Increasing the minimum CMake version (`#573 `_) +* Contributors: Aleksander Bojda, David Jensen, James Baxter, Jeffrey Kane Johnson, Mabel Zhang, Ronald Ensing, Tom Moore + +2.6.8 (2020-06-03) +------------------ +* Adding conditional build dependencies (`#572 `_) +* Contributors: Tom Moore + +2.6.7 (2020-06-01) +------------------ +* Parameterizing transform failure warnings +* [melodic] Fix Windows build break. (`#557 `_) +* Contributors: Sean Yen, Tom Moore, florianspy + +2.6.5 (2019-08-08) +------------------ +* fix: wall time used when `use_sim_time` is true +* Created service for converting to / from lat long +* Fix bug with tf_prefix +* Adding new contribution to doc +* Add missing undocumented params +* Update wiki location +* Contributors: Andrew Grindstaff, Axel Mousset, Charles Brian Quinn, Oswin So, Tom Moore + +2.6.4 (2019-02-15) +------------------ +* Meridian convergence adjustment added to navsat_transform. +* Documentation changes +* Add broadcast_utm_transform_as_parent_frame +* Enable build optimisations if no build type configured. +* Contributors: G.A. vd. Hoorn, Pavlo Kolomiiets, diasdm + +2.6.3 (2019-01-14) +------------------ +* Rename odomBaseLinkTrans to baseLinkOdomTrans + Adhere to the naming convention Trans used for worldBaseLinkTrans and mapOdomTrans. +* Add const& to catch values to prevent the error: catching polymorphic type ‘class tf2::TransformException’ by value + And ZoneNumber by 0x3fU to prevent error: directive output may be truncated writing between 1 and 11 bytes into a region of size 4 +* Enabling the user to override the output child_frame_id +* Fixing Euler body-to-world transformations +* Whitespace +* fixing no datum service in melodic +* Contributors: Alexis schad, Matthew Jones, Tom Moore, thallerod + +2.6.2 (2018-10-25) +------------------ +* Fixing tests +* Contributors: Tom Moore + +2.6.1 (2018-10-25) +------------------ +* Adding more output for measurement history failures +* Adding filter processing toggle service +* Waiting for valid ROS time before starting navsat_transform_node +* Contributors: Tom Moore, stevemacenski + +2.6.0 (2018-07-27) +------------------ +* Moving to C++14, adding error flags, and fixing all warnings +* Contributors: Tom Moore + +2.5.2 (2018-04-11) +------------------ +* Add published accel topic to documentation +* adding log statements for nans in the invertable matrix +* Fixing issue with potential seg fault +* Contributors: Oleg Kalachev, Tom Moore, stevemacenski + +2.5.1 (2018-01-03) +------------------ +* Fixing CMakeLists +* Contributors: Tom Moore + +2.5.0 (2017-12-15) +------------------ +* Fixing datum precision +* Fixing timing variable +* Fixing state history reversion +* Fixing critical bug with dynamic process noise covariance +* Fix typo in reading Mahalanobis thresholds. +* Zero out rotation in GPS to base_link transform +* Update xmlrpcpp includes for Indigo support +* Removing lastUpdateTime +* Fixing timestamps in map->odom transform +* Simplify enabledAtStartup logic +* Add std_srvs dependency +* Add enabling service +* Ensure all raw sensor input orientations are normalized even if messages are not +* Install params directory. +* Add robot localization estimator +* Adding nodelet support +* Contributors: Jacob Perron, Jacob Seibert, Jiri Hubacek, Mike Purvis, Miquel Massot, Pavlo Kolomiiets, Rein Appeldoorn, Rokus Ottervanger, Simon Gene Gottlieb, Tom Moore, stevemacenski + +2.4.0 (2017-06-12) +------------------ +* Updated documentation +* Added reset_on_time_jump option +* Added feature to optionally publish utm frame as parent in navsat_transform_node +* Moved global callback queue reset +* Added initial_state parameter and documentation +* Fixed ac/deceleration gains default logic +* Added gravity parameter +* Added delay and throttle if tf lookup fails +* Fixed UKF IMUTwistBasicIO test +* Added transform_timeout parameter +* Set gps_odom timestamp before tf2 lookuptransform +* Removed non-portable sincos calls +* Simplified logic to account for correlated error +* Added dynamic process noise covariance calculation +* Fixed catkin_package Eigen warning +* Added optional publication of acceleration state +* Contributors: Brian Gerkey, Enrique Fernandez, Jochen Sprickerhof, Rein Appeldoorn, Simon Gene Gottlieb, Tom Moore + +2.3.1 (2016-10-27) +------------------ +* Adding gitignore +* Adding remaining wiki pages +* Adding config and prep pages +* Adding navsat_transform_node documentation +* use_odometry_yaw fix for n_t_n +* Fixing issue with manual pose reset when history is not empty +* Getting inverse transform when looking up robot's pose. +* Sphinx documentation +* Removing forward slashes from navsat_transform input topics for template launch file +* Adding example launch and parameter files for a two-level EKF setup with navsat_transform_node +* Adding yaml file for navsat_transform_node, and moving parameter documentation to it. +* Updating EKF and UKF parameter templates with usage comments +* Contributors: Tom Moore, asimay + +2.3.0 (2016-07-28) +------------------ +* Fixed issues with datum usage and frame_ids +* Fixed comment for wait_for_datum +* Fixing issue with non-zero navsat sensor orientation offsets +* Fixing issue with base_link->gps transform wrecking the 'true' UTM position computation +* Using correct covariance for filtered GPS +* Fixed unitialized odometry covariance bug +* Added filter history and measurement queue behavior +* Changing output timestamp to more accurately use the time stamp of the most recently-processed measurement +* Added TcpNoDelay() +* Added parameter to make transform publishing optional +* Fixed differential handling for pose data so that it doesn't care about the message's frame_id +* Updated UKF config and launch +* Added a test case for the timestamp diagnostics +* Added reporting of bad timestamps via diagnostics +* Updated tests to match new method signatures +* Added control term +* Added smoothing capability for delayed measurements +* Making variables in navsat_transform conform to ROS coding standards +* Contributors: Adel Fakih, Ivor Wanders, Marc Essinger, Tobias Tueylue, Tom Moore + +2.2.3 (2016-04-24) +------------------ +* Cleaning up callback data structure and callbacks and updating doxygen comments in headers +* Removing MessageFilters +* Removing deprecated parameters +* Adding the ability to handle GPS offsets from the vehicle's origin +* Cleaning up navsat_transform.h +* Making variables in navsat_transform conform to ROS coding standards + +2.2.2 (2016-02-04) +------------------ +* Updating trig functions to use sincos for efficiency +* Updating licensing information and adding Eigen MPL-only flag +* Added state to imu frame transformation +* Using state orientation if imu orientation is missing +* Manually adding second spin for odometry and IMU data that is passed to message filters +* Reducing delay between measurement reception and filter output +* Zero altitute in intital transform too, when zero altitude param is set +* Fixing regression with conversion back to GPS coordinates +* Switched cropping of orientation data in inovationSubset with mahalanobis check to prevent excluding measurements with orientations bigger/smaller than ± PI +* Fix Jacobian for EKF. +* Removing warning about orientation variables when only their velocities are measured +* Checking for -1 in IMU covariances and ignoring relevant message data +* roslint and catkin_lint applied +* Adding base_link to datum specification, and fixing bug with order of measurement handling when a datum is specified. Also added check to make sure IMU data is transformable before using it. +* Contributors: Adnan Ademovic, Jit Ray Chowdhury, Philipp Tscholl, Tom Moore, ayrton04, kphil + +2.2.1 (2015-05-27) +------------------ +* Fixed handling of IMU data w.r.t. differential mode and relative mode + +2.2.0 (2015-05-22) +------------------ +* Added tf2-friendly tf_prefix appending +* Corrected for IMU orientation in navsat_transform +* Fixed issue with out-of-order measurements and pose resets +* Nodes now assume ENU standard for yaw data +* Removed gps_common dependency +* Adding option to navsat_transform_node that enables the use of the heading from the odometry message instead of an IMU. +* Changed frame_id used in setPoseCallback to be the world_frame +* Optimized Eigen arithmetic for signficiant performance boost +* Migrated to tf2 +* Code refactoring and reorganization +* Removed roll and pitch from navsat_transform calculations +* Fixed transform for IMU data to better support mounting IMUs in non-standard orientations +* Added feature to navsat_transform_node whereby filtered odometry data can be coverted back into navsat data +* Added a parameter to allow future dating the world_frame->base_link_frame transform. +* Removed deprecated differential setting handler +* Added relative mode +* Updated and improved tests +* Fixing source frame_id in pose data handling +* Added initial covariance parameter +* Fixed bug in covariance copyinh +* Added parameters for topic queue sizes +* Improved motion model's handling of angular velocities when robot has non-zero roll and pitch +* Changed the way differential measurements are handled +* Added diagnostics + +2.1.7 (2015-01-05) +------------------ +* Added some checks to eliminate unnecessary callbacks +* Updated launch file templates +* Added measurement outlier rejection +* Added failure callbacks for tf message filters +* Added optional broadcast of world_frame->utm transform for navsat_transform_node +* Bug fixes for differential mode and handling of Z acceleration in 2D mode + +2.1.6 (2014-11-06) +------------------ +* Added unscented Kalman filter (UKF) localization node +* Fixed map->odom tf calculation +* Acceleration data from IMUs is now used in computing the state estimate +* Added 2D mode + +2.1.5 (2014-10-07) +------------------ +* Changed initial estimate error covariance to be much smaller +* Fixed some debug output +* Added test suite +* Better compliance with REP-105 +* Fixed differential measurement handling +* Implemented message filters +* Added navsat_transform_node + +2.1.4 (2014-08-22) +------------------ +* Adding utm_transform_node to install targets + +2.1.3 (2014-06-22) +------------------ +* Some changes to ease GPS integration +* Addition of differential integration of pose data +* Some documentation cleanup +* Added UTM transform node and launch file +* Bug fixes + +2.1.2 (2014-04-11) +------------------ +* Updated covariance correction formulation to "Joseph form" to improve filter stability. +* Implemented new versioning scheme. + +2.1.1 (2014-04-11) +------------------ +* Added cmake_modules dependency for Eigen support, and added include to silence boost::signals warning from tf include + diff --git a/navigations/robot_localization/doc/Makefile b/navigations/robot_localization/doc/Makefile new file mode 100755 index 0000000..642efcf --- /dev/null +++ b/navigations/robot_localization/doc/Makefile @@ -0,0 +1,216 @@ +# Makefile for Sphinx documentation +# + +# You can set these variables from the command line. +SPHINXOPTS = +SPHINXBUILD = sphinx-build +PAPER = +BUILDDIR = .build + +# User-friendly check for sphinx-build +ifeq ($(shell which $(SPHINXBUILD) >/dev/null 2>&1; echo $$?), 1) +$(error The '$(SPHINXBUILD)' command was not found. Make sure you have Sphinx installed, then set the SPHINXBUILD environment variable to point to the full path of the '$(SPHINXBUILD)' executable. Alternatively you can add the directory with the executable to your PATH. If you don't have Sphinx installed, grab it from http://sphinx-doc.org/) +endif + +# Internal variables. +PAPEROPT_a4 = -D latex_paper_size=a4 +PAPEROPT_letter = -D latex_paper_size=letter +ALLSPHINXOPTS = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) . +# the i18n builder cannot share the environment and doctrees with the others +I18NSPHINXOPTS = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) . + +.PHONY: help +help: + @echo "Please use \`make ' where is one of" + @echo " html to make standalone HTML files" + @echo " dirhtml to make HTML files named index.html in directories" + @echo " singlehtml to make a single large HTML file" + @echo " pickle to make pickle files" + @echo " json to make JSON files" + @echo " htmlhelp to make HTML files and a HTML help project" + @echo " qthelp to make HTML files and a qthelp project" + @echo " applehelp to make an Apple Help Book" + @echo " devhelp to make HTML files and a Devhelp project" + @echo " epub to make an epub" + @echo " latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter" + @echo " latexpdf to make LaTeX files and run them through pdflatex" + @echo " latexpdfja to make LaTeX files and run them through platex/dvipdfmx" + @echo " text to make text files" + @echo " man to make manual pages" + @echo " texinfo to make Texinfo files" + @echo " info to make Texinfo files and run them through makeinfo" + @echo " gettext to make PO message catalogs" + @echo " changes to make an overview of all changed/added/deprecated items" + @echo " xml to make Docutils-native XML files" + @echo " pseudoxml to make pseudoxml-XML files for display purposes" + @echo " linkcheck to check all external links for integrity" + @echo " doctest to run all doctests embedded in the documentation (if enabled)" + @echo " coverage to run coverage check of the documentation (if enabled)" + +.PHONY: clean +clean: + rm -rf $(BUILDDIR)/* + +.PHONY: html +html: + $(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html + @echo + @echo "Build finished. The HTML pages are in $(BUILDDIR)/html." + +.PHONY: dirhtml +dirhtml: + $(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml + @echo + @echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml." + +.PHONY: singlehtml +singlehtml: + $(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml + @echo + @echo "Build finished. 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The pseudo-XML files are in $(BUILDDIR)/pseudoxml." diff --git a/navigations/robot_localization/doc/conf.py b/navigations/robot_localization/doc/conf.py new file mode 100755 index 0000000..b8aad58 --- /dev/null +++ b/navigations/robot_localization/doc/conf.py @@ -0,0 +1,197 @@ +import sys +import os + +import catkin_pkg.package +catkin_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +catkin_package = catkin_pkg.package.parse_package(os.path.join(catkin_dir, catkin_pkg.package.PACKAGE_MANIFEST_FILENAME)) + +extensions = [ + 'sphinx.ext.autodoc', + 'sphinx.ext.doctest', + 'sphinx.ext.intersphinx', + 'sphinx.ext.todo', + 'sphinx.ext.coverage', + 'sphinx.ext.mathjax', +] + +templates_path = ['.templates'] +source_suffix = '.rst' +master_doc = 'index' + +project = u'robot_localization' +copyright = u'2016, Tom Moore' +author = u'Tom Moore' +version = catkin_package.version +release = catkin_package.version + +language = None +exclude_patterns = ['.build'] +pygments_style = 'sphinx' +todo_include_todos = True + +html_theme = 'nature' + +html_theme_options = { + "sidebarwidth": "350" +} + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +html_logo = 'images/rl_small.png' + +# The name of an image file (relative to this directory) to use as a favicon of +# the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +#html_static_path = ['.static'] + +# Add any extra paths that contain custom files (such as robots.txt or +# .htaccess) here, relative to this directory. These files are copied +# directly to the root of the documentation. +#html_extra_path = [] + +# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, +# using the given strftime format. +#html_last_updated_fmt = '%b %d, %Y' + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +html_sidebars = { '**': ['full_globaltoc.html', 'sourcelink.html', 'searchbox.html'], } + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +#html_domain_indices = True + +# If false, no index is generated. +#html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, "Created using Sphinx" is shown in the HTML footer. Default is True. +#html_show_sphinx = True + +# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. +#html_show_copyright = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# This is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = None + +# Language to be used for generating the HTML full-text search index. +# Sphinx supports the following languages: +# 'da', 'de', 'en', 'es', 'fi', 'fr', 'hu', 'it', 'ja' +# 'nl', 'no', 'pt', 'ro', 'ru', 'sv', 'tr' +#html_search_language = 'en' + +# A dictionary with options for the search language support, empty by default. +# Now only 'ja' uses this config value +#html_search_options = {'type': 'default'} + +# The name of a javascript file (relative to the configuration directory) that +# implements a search results scorer. If empty, the default will be used. +#html_search_scorer = 'scorer.js' + +# Output file base name for HTML help builder. +htmlhelp_basename = 'robot_localizationdoc' + +# -- Options for LaTeX output --------------------------------------------- + +latex_elements = { +# The paper size ('letterpaper' or 'a4paper'). +#'papersize': 'letterpaper', + +# The font size ('10pt', '11pt' or '12pt'). +#'pointsize': '10pt', + +# Additional stuff for the LaTeX preamble. +#'preamble': '', + +# Latex figure (float) alignment +#'figure_align': 'htbp', +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, +# author, documentclass [howto, manual, or own class]). +latex_documents = [ + (master_doc, 'robot_localization.tex', u'robot\\_localization Documentation', + u'Tom Moore', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +#latex_logo = None + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# If true, show page references after internal links. +#latex_show_pagerefs = False + +# If true, show URL addresses after external links. +#latex_show_urls = False + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +#latex_domain_indices = True + + +# -- Options for manual page output --------------------------------------- + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + (master_doc, 'robot_localization', u'robot_localization Documentation', + [author], 1) +] + +# If true, show URL addresses after external links. +#man_show_urls = False + + +# -- Options for Texinfo output ------------------------------------------- + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + (master_doc, 'robot_localization', u'robot_localization Documentation', + author, 'robot_localization', 'One line description of project.', + 'Miscellaneous'), +] + +# Documents to append as an appendix to all manuals. +#texinfo_appendices = [] + +# If false, no module index is generated. +#texinfo_domain_indices = True + +# How to display URL addresses: 'footnote', 'no', or 'inline'. +#texinfo_show_urls = 'footnote' + +# If true, do not generate a @detailmenu in the "Top" node's menu. +#texinfo_no_detailmenu = False + +# Example configuration for intersphinx: refer to the Python standard library. +intersphinx_mapping = {'https://docs.python.org/': None} diff --git a/navigations/robot_localization/doc/configuring_robot_localization.rst b/navigations/robot_localization/doc/configuring_robot_localization.rst new file mode 100755 index 0000000..5db5385 --- /dev/null +++ b/navigations/robot_localization/doc/configuring_robot_localization.rst @@ -0,0 +1,117 @@ +.. _configuring_robot_localization: + +Configuring robot_localization +############################## + + +When incorporating sensor data into the position estimate of any of ``robot_localization``'s state estimation nodes, it is important to extract as much information as possible. This tutorial details the best practices for sensor integration. + +For additional information, users are encouraged to watch this `presentation `_ from ROSCon 2015. + +Sensor Configuration +******************** + +The configuration vector format is the same for all sensors, even if the message type in question doesn't contain some of the variables in the configuration vector (e.g., a <> lacks any pose data, but the configuration vector still has values for pose variables). Unused variables are simply ignored. + +Note that the configuration vector is given in the ``frame_id`` of the input message. For example, consider a velocity sensor that produces a `geometry_msgs/TwistWithCovarianceStamped `_ message with a ``frame_id`` of *velocity_sensor_frame*. In this example, we'll assume that a transform exists from *velocity_sensor_frame* to your robot's ``base_link_frame`` (e.g., *base_link*), and that the transform would convert :math:`X` velocity in the *velocity_sensor_frame* to :math:`Z` velocity in the ``base_link_frame``. To include the :math:`X` velocity data from the sensor into the filter, the configuration vector should set the :math:`X` velocity value to *true*, and **not** the :math:`\dot{Z}` velocity value: + +.. code-block:: xml + + [false, false, false, + false, false, false, + true, false, false, + false, false, false, + false, false, false] + +.. note:: The order of the boolean values are :math:`(X, Y, Z, roll, pitch, yaw, \dot{X}, \dot{Y}, \dot{Z}, \dot{roll}, \dot{pitch}, \dot{yaw}, \ddot{X}, \ddot{Y}, \ddot{Z})`. + +Operating in 2D? +**************** + +The first decision to make when configuring your sensors is whether or not your robot is operating in a planar environment, and you're comfortable with ignoring subtle effects of variations in the ground plane as might be reported from an IMU. If so, please set the ``two_d_mode`` parameter to *true*. This effectively zeros out the 3D pose variables in every measurement and forces them to be fused in the state estimate. + +Fusing Unmeasured Variables +*************************** + +Let's start with an example. Let's say you have a wheeled, nonholonomic robot that works in a planar environment. Your robot has some wheel encoders that are used to estimate instantaneous X velocity as well as absolute pose information. This information is reported in an `nav_msgs/Odometry `_ message. Additionally, your robot has an IMU that measures rotational velocity, vehicle attitude, and linear acceleration. Its data is reported in a `sensor_msgs/Imu `_ message. As we are operating in a planar environment, we set the ``two_d_mode`` parameter to *true*. This will automatically zero out all 3D variables, such as :math:`Z`, :math:`roll`, :math:`pitch`, their respective velocities, and :math:`Z` acceleration. We start with this configuration: + +.. code-block:: xml + + [true, true, false, + false, false, true, + true, false, false, + false, false, true, + false, false, false] + + [false, false, false, + false, false, true, + false, false, false, + false, false, true, + true, false, false] + +As a first pass, this makes sense, as a planar robot only needs to concern itself with :math:`X`, :math:`Y`, :math:`\dot{X}`, :math:`\dot{Y}`, :math:`\ddot{X}`, :math:`\ddot{Y}`, :math:`yaw`, and :math:`\dot{yaw}`. However, there are a few things to note here. + +1. For ``odom0``, we are including :math:`X` and :math:`Y` (reported in a world coordinate frame), :math:`yaw`, :math:`\dot{X}` (reported in the body frame), and :math:`\dot{yaw}`. However, unless your robot is internally using an IMU, it is most likely simply using wheel encoder data to generate the values in its measurements. Therefore, its velocity, heading, and position data are all generated from the same source. In that instance, we don't want to use all the values, as you're feeding duplicate information into the filter. Instead, it's best to just use the velocities: + +.. code-block:: xml + + [false, false, false, + false, false, false, + true, false, false, + false, false, true, + false, false, false] + + [false, false, false, + false, false, true, + false, false, false, + false, false, true, + true, false, false] + +2. Next, we note that we are not fusing :math:`\dot{Y}`. At first glance, this is the right choice, as our robot cannot move instantaneously sideways. However, if the `nav_msgs/Odometry `_ message reports a :math:`0` value for :math:`\dot{Y}` (and the :math:`\dot{Y}` covariance is NOT inflated to a large value), it's best to feed that value to the filter. As a :math:`0` measurement in this case indicates that the robot cannot ever move in that direction, it serves as a perfectly valid measurement: + +.. code-block:: xml + + [false, false, false, + false, false, false, + true, true, false, + false, false, true, + false, false, false] + + [false, false, false, + false, false, true, + false, false, false, + false, false, true, + true, false, false] + +You may wonder why did we not fuse :math:`\dot{Z}` velocity for the same reason. The answer is that we did when we set ``two_d_mode`` to *false*. If we hadn't, we could, in fact, fuse the :math:`0` measurement for :math:`\dot{Z}` velocity into the filter. + +3. Last, we come to the IMU. You may notice that we have set the :math:`\ddot{Y}` to *false*. This is due to the fact that many systems, including the hypothetical one we are discussing here, will not undergo instantaneous :math:`Y` acceleration. However, the IMU will likely report non-zero, noisy values for Y acceleration, which can cause your estimate to drift rapidly. + +The *differential* Parameters +***************************** + +The state estimation nodes in ''robot_localization'' allow users to fuse as many sensors as they like. This allows users to measure certain state vector variables - in particular, pose variables - using more than one source. For example, your robot may obtain absolute orientation information from multiple IMUs, or it may have multiple data sources providing an estimate its absolute position. In this case, users have two options: + +1. Fuse all the absolute position/orientation data as-is, e.g., + +.. code-block:: xml + + [false, false, false, + true, true, true, + false, false, false, + false, false, false, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + false, false, false, + false, false, false] + +In this case, users should be **very** careful and ensure that the covariances on each measured orientation variable are set correctly. If each IMU advertises a yaw variance of, for example, :math:`0.1`, yet the delta between the IMUs' yaw measurements is :math:`> 0.1`, then the output of the filter will oscillate back and forth between the values provided by each sensor. Users should make sure that the noise distributions around each measurement overlap. + +2. Alternatively, users can make use of the ``_differential`` parameter. By setting this to *true* for a given sensor, all pose (position and orientation) data is converted to a velocity by calculating the change in the measurement value between two consecutive time steps. The data is then fused as a velocity. Again, though, users should take care: when measurements are fused absolutely (especially IMUs), if the measurement has a static or non-increasing variance for a given variable, then the variance in the estimate's covariance matrix will be bounded. If that information is converted to a velocity, then at each time step, the estimate will gain some small amount of error, and the variance for the variable in question will grow without bound. For position :math:`(X, Y, Z)` information, this isn't an issue, but for orientation data, it is a problem. For example, it is acceptable for a robot to move around its environment and accumulate :math:`1.5` meters of error in the :math:`X` direction after some time. If that same robot moves around and accumulates :math:`1.5` radians of error in yaw, then when the robot next drives forward, its position error will explode. + +The general rule of thumb for the ``_differential`` parameter is that if a give robot has only one source of orientation data, then the differential parameter should be set to *false*. If there are :math:`N` sources, users can set the ``_differential`` parameter to *true* for :math:`N-1` of them, or simply ensure that the covariance values are large enough to eliminate oscillations. + + diff --git a/navigations/robot_localization/doc/images/figure2.png b/navigations/robot_localization/doc/images/figure2.png new file mode 100755 index 0000000..0224d29 Binary files /dev/null and b/navigations/robot_localization/doc/images/figure2.png differ diff --git a/navigations/robot_localization/doc/images/navsat_transform_workflow.png b/navigations/robot_localization/doc/images/navsat_transform_workflow.png new file mode 100755 index 0000000..450bcf2 Binary files /dev/null and b/navigations/robot_localization/doc/images/navsat_transform_workflow.png differ diff --git a/navigations/robot_localization/doc/images/navsat_transform_workflow.tex b/navigations/robot_localization/doc/images/navsat_transform_workflow.tex new file mode 100755 index 0000000..2dd0ab0 --- /dev/null +++ b/navigations/robot_localization/doc/images/navsat_transform_workflow.tex @@ -0,0 +1,49 @@ +\documentclass{standalone} +\usepackage{tikz} +\usetikzlibrary{positioning} + +\begin{document} + +\sffamily + +\begin{tikzpicture}[>=stealth, + node distance = 3cm, + box/.style={shape=rectangle,draw,rounded corners},] + % Nodes + \node (wheel) [box] {Wheel Odometry}; + \node (imu) [box, right =of wheel]{IMU}; + \node (ekfLocal) [box, below =of wheel]{EKF Local}; + \node (ekfGlobal) [box, below =of imu]{EKF Global}; + \node (navsat) [box, right =7cm of ekfGlobal]{navsat\_transform}; + \node (gps) [box, above =of navsat]{GPS}; + % Coordinates for edges pointing to empty space + \node (gpsF) [right =of navsat]{}; + \node (tfLocal) [below =of ekfLocal]{}; + \node (odomLocal) [left =of ekfLocal]{}; + \node (tfGlobal) [below =of ekfGlobal]{}; + % Edges + \draw[->] (wheel.270) -- (ekfLocal.90); + \draw[->] (wheel.315) -- (ekfGlobal.135) + node [fill=white, pos=0.2, align=center] {\ttfamily"/wheel/odometry"\\nav\_msgs/Odometry}; + \draw[->] (imu.225) -- (ekfLocal.45); + \draw[->] (imu.315) -- (navsat.135); + \draw[->] (imu.270) -- (ekfGlobal.90) + node [fill=white, pos=0.2, align=center] {\ttfamily"/imu/data"\\sensor\_msgs/Imu}; + \draw[->] (gps.270) -- (navsat.90) + node [fill=white, pos=0.2, align=center] {\ttfamily"/gps/fix"\\sensor\_msgs/NavSatFix}; + \draw[->, transform canvas={yshift=1mm}] (ekfGlobal) -- (navsat) + node [fill=white, above=1mm, pos=0.5, align=center] {\ttfamily"/odometry/filtered/global"\\nav\_msgs/Odometry}; + \draw[->, transform canvas={yshift=-1mm}] (navsat) -- (ekfGlobal) + node [fill=white, below=1mm, pos=0.5, align=center] {\ttfamily"/odometry/gps"\\nav\_msgs/Odometry}; + % Outputs not cycled back into the graph + \draw[->, dashed] (navsat) -- (gpsF) + node [fill=white, above=1mm, pos=1.0, align=center] {\ttfamily"/gps/filtered"\\sensor\_msgs/NavSatFix}; + \draw[->, dashed] (ekfLocal) -- (tfLocal) + node [fill=white, pos=0.7, align=center] {\ttfamily"/tf" odom -> base\\tf2\_msgs/TFMessage}; + \draw[->, dashed] (ekfLocal) -- (odomLocal) + node [fill=white, above=1mm, pos=1.0, align=center] {\ttfamily"/odometry/filtered/local"\\nav\_msgs/Odometry}; + \draw[->, dashed] (ekfGlobal) -- (tfGlobal) + node [fill=white, pos=0.7, align=center] {\ttfamily"/tf" map -> odom\\tf2\_msgs/TFMessage}; +\end{tikzpicture} + +\end{document} diff --git a/navigations/robot_localization/doc/images/rl_small.png b/navigations/robot_localization/doc/images/rl_small.png new file mode 100755 index 0000000..33a4d59 Binary files /dev/null and b/navigations/robot_localization/doc/images/rl_small.png differ diff --git a/navigations/robot_localization/doc/index.rst b/navigations/robot_localization/doc/index.rst new file mode 100755 index 0000000..b6c6aee --- /dev/null +++ b/navigations/robot_localization/doc/index.rst @@ -0,0 +1,55 @@ +.. _index: + +robot_localization wiki +*********************** + +``robot_localization`` is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ``ekf_localization_node`` and ``ukf_localization_node``. In addition, ``robot_localization`` provides ``navsat_transform_node``, which aids in the integration of GPS data. + +.. toctree:: + :hidden: + + state_estimation_nodes + navsat_transform_node + preparing_sensor_data + configuring_robot_localization + migrating_from_robot_pose_ekf + integrating_gps + CHANGELOG + user_contributed_tutorials + +Features +======== + +All the state estimation nodes in ``robot_localization`` share common features, namely: + +* Fusion of an arbitrary number of sensors. The nodes do not restrict the number of input sources. If, for example, your robot has multiple IMUs or multiple sources of odometry information, the state estimation nodes within ``robot_localization`` can support all of them. +* Support for multiple ROS message types. All state estimation nodes in ``robot_localization`` can take in `nav_msgs/Odometry `_, `sensor_msgs/Imu `_, `geometry_msgs/PoseWithCovarianceStamped `_, or `geometry_msgs/TwistWithCovarianceStamped `_ messages. +* Per-sensor input customization. If a given sensor message contains data that you don't want to include in your state estimate, the state estimation nodes in ``robot_localization`` allow you to exclude that data on a per-sensor basis. +* Continuous estimation. Each state estimation node in ``robot_localization`` begins estimating the vehicle's state as soon as it receives a single measurement. If there is a holiday in the sensor data (i.e., a long period in which no data is received), the filter will continue to estimate the robot's state via an internal motion model. + +All state estimation nodes track the 15-dimensional state of the vehicle: :math:`(X, Y, Z, roll, pitch, yaw, \dot{X}, \dot{Y}, \dot{Z}, \dot{roll}, \dot{pitch}, \dot{yaw}, \ddot{X}, \ddot{Y}, \ddot{Z})`. + +Other Resources +=============== + +If you're new to ``robot_localization``, check out the `2015 ROSCon talk `_ for some pointers on getting started. + +Further details can be found in :download:`this paper `: + +.. code-block:: none + + @inproceedings{MooreStouchKeneralizedEkf2014, + author = {T. Moore and D. Stouch}, + title = {A Generalized Extended Kalman Filter Implementation for the Robot Operating System}, + year = {2014}, + month = {July}, + booktitle = {Proceedings of the 13th International Conference on Intelligent Autonomous Systems (IAS-13)}, + publisher = {Springer} + } + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`search` + diff --git a/navigations/robot_localization/doc/integrating_gps.rst b/navigations/robot_localization/doc/integrating_gps.rst new file mode 100755 index 0000000..65a7850 --- /dev/null +++ b/navigations/robot_localization/doc/integrating_gps.rst @@ -0,0 +1,165 @@ +Integrating GPS Data +#################### + +Integration of GPS data is a common request from users. ``robot_localization`` contains a node, ``navsat_transform_node``, that transforms GPS data into a frame that is consistent with your robot's starting pose (position and orientation) in its world frame. This greatly simplifies fusion of GPS data. This tutorial explains how to use ``navsat_transform_node``, and delves into some of the math behind it. + +For additional information, users are encouraged to watch this `presentation `_ from ROSCon 2015. + +Notes on Fusing GPS Data +************************ + +Before beginning this tutorial, users should be sure to familiarize themselves with `REP-105 `_. It is important for users to realize that using a position estimate that includes GPS data will likely be unfit for use by navigation modules, owing to the fact that GPS data is subject to discrete discontinuities ("jumps"). If you want to fuse data from a GPS into your position estimate, one potential solution is to do the following: + +1. Run one instance of a ``robot_localization`` state estimation node that fuses only continuous data, such as odometry and IMU data. Set the ``world_frame`` parameter for this instance to the same value as the ``odom_frame`` parameter. Execute local path plans and motions in this frame. +2. Run another instance of a ``robot_localization`` state estimation node that fuses all sources of data, including the GPS. Set the ``world_frame`` parameter for this instance to the same value as the ``map_frame`` parameter. + +This is just a suggestion, however, and users are free to fuse the GPS data into a single instance of a ``robot_localization`` state estimation node. + +Using navsat_transform_node +*************************** + +The diagram below illustrates an example setup: + +.. image:: images/navsat_transform_workflow.png + :width: 800px + :align: center + :alt: navsat_transform workflow + + +Required Inputs +=============== + +``navsat_transform_node`` requires three sources of information: the robot's current pose estimate in its world frame, an earth-referenced heading, and a geographic coordinate expressed as a latitude/longitude pair (with optional altitude). + +These data can be obtained in three different ways: + +1. (Default behavior) The data can come entirely from the robot's sensors and pose estimation software. To enable this mode, make sure the ``wait_for_datum`` parameter is set to *false* (its default value). The required messages are: + + * A `sensor_msgs/NavSatFix `_ message with raw GPS coordinates in it. + * A `sensor_msgs/Imu `_ message with an absolute (earth-referenced) heading. + * A `nav_msgs/Odometry `_ message that contains the robot's current position estimate in the frame specified by its start location (typically the output of a ``robot_localization`` state estimation node). + +2. The datum (global frame origin) can be specified via the ``datum`` parameter. + + .. note:: In order to use this mode, the ``wait_for_datum`` parameter must be set to *true*. + + The ``datum`` parameter takes this form: + + .. code-block:: xml + + [55.944904, -3.186693, 0.0, map, base_link] + + The parameter order is ``latitude`` in decimal degrees, ``longitude`` in decimal degrees, ``heading`` in radians) the ``frame_id`` of your robot's world frame (i.e., the value of the ``world_frame`` parameter in a ``robot_localization`` state estimation node), and the ``frame_id`` of your robot's body frame (i.e., the value of the ``base_link_frame`` parameter in a ``robot_localization`` state estimation node). When this mode is used, the robot assumes that your robot's world frame origin is at the specified latitude and longitude and with a heading of :math:`0` (east). + +3. The datum can be set manually via the ``set_datum`` service and using the `robot_localization/SetDatum `_ service message. + + +GPS Data +^^^^^^^^ + +Please note that all development of ``navsat_transform_node`` was done using a Garmin 18x GPS unit, so there may be intricacies of the data generated by other units that need to be handled. + +The excellent `nmea_navsat_driver `_ package provides the required `sensor_msgs/NavSatFix `_ message. Here is the ``nmea_navsat_driver`` launch file we'll use for this tutorial: + + .. code-block:: xml + + + + + + +This information is only relevant if the user is not manually specifying the origin via the ``datum`` parameter or the ``set_datum`` service. + +IMU Data +^^^^^^^^ + +.. note:: Since version 2.2.1, ``navsat_transform_node`` has moved to a standard wherein all heading data is assumed to start with its zero point facing east. If your IMU does not conform to this standard and instead reports zero when facing north, you can still use the ``yaw_offset`` parameter to correct this. In this case, the value for ``yaw_offset`` would be :math:`\pi / 2` (approximately :math:`1.5707963`). + +Users should make sure their IMUs conform to `REP-105 `_. In particular, check that the signs of your orientation angles increase in the right direction. In addition, users should look up the `magnetic declination `_ for their robot's operating area, convert it to radians, and then use that value for the ``magnetic_declination_radians`` parameter. + +This information is only relevant if the user is not manually specifying the origin via the ``datum`` parameter or the ``set_datum`` service. + +Odometry Data +^^^^^^^^^^^^^ + +This should just be the output of whichever ``robot_localization`` state estimation node instance you are using to fuse GPS data. + +Configuring navsat_transform_node +================================= + +Below is the ``navsat_transform_node`` launch file we'll use for this tutorial: + +.. code-block:: xml + + + + + + + + + + + + + + + + + +These parameters are discussed on the :ref:`main page `. + +Configuring robot_localization +============================== + +Integration with ``robot_localization`` is straightforward at this point. Simply add this block to your state estimation node launch file: + +.. code-block:: xml + + + + [true, true, false, + false, false, false, + false, false, false, + false, false, false, + false, false, false] + + +Make sure to change ``odomN`` to whatever your odometry input values is (e.g., *odom1*, *odom2*, etc.). Also, if you wish to include altitude data, set ``odomN_config``'s third value to ``true``. + +.. note:: If you are operating in 2D don't have any sensor measuring Z or Z velocity, you can either: + + * Set ``navsat_transform_node's`` ``zero_altitude`` parameter to *true*, and then set ``odomN_config``'s third value to *true* + * Set ``two_d_mode`` to *true* in your ``robot_localization`` state estimation node + +You should have no need to modify the ``_differential`` setting within the state estimation node. The GPS is an absolute position sensor, and enabling differential integration defeats the purpose of using it. + +Details +======= + +We'll start with a picture. Consider a robot that starts at some latitude and longitude and with some heading. We assume in this tutorial that the heading comes from an IMU that reads 0 when facing east, and increases according to the ROS spec (i.e., counter-clockwise). The remainder of this tutorial will refer to Figure 2: + +.. image:: images/figure2.png + :width: 800px + :align: center + :alt: Figure 2 + + +`REP-105 `_ suggests four coordinate frames: *base_link*, *odom*, *map*, and *earth*. *base_link* is the coordinate frame that is rigidly attached to the vehicle. The *odom* and *map* frames are world-fixed frames and generally have their origins at the vehicle's start position and orientation. The *earth* frame is used as a common reference frame for multiple map frames, and is not yet supported by ``navsat_transform_node``. Note that in Figure 2, the robot has just started (``t = 0``), and so its *base_link*, *odom*, and *map* frames are aligned. We can also define a coordinate frame for the UTM grid, which we will call *utm*. For the purposes of this tutorial, we will refer to the UTM grid coordinate frame as *utm*. Therefore, what we want to do is create a *utm*->*map* transform. + +Referring to Figure 2, these ideas are (hopefully) made clear. The UTM origin is the :math:`(0_{UTM}, 0_{UTM})` point of the UTM zone that is associated with the robot's GPS location. The robot begins somewhere within the UTM zone at location :math:`(x_{UTM}, y_{UTM})`. The robot's initial orientation is some angle :math:`\theta` above the UTM grid's :math:`X`-axis. Our transform will therefore require that we know :math:`x_{UTM}, y_{UTM}` and :math:`\theta`. + +We now need to convert our latitude and longitude to UTM coordinates. The UTM grid assumes that the :math:`X`-axis faces east, the :math:`Y`-axis faces (true) north, and the :math:`Z`-axis points up out of the ground. This complies with the right-handed coordinate frame as dictated by `REP-105 `_. The REP also states that a yaw angle of :math:`0` means that we are facing straight down the :math:`X`-axis, and that the yaw increases counter-clockwise. ``navsat_transform_node`` assumes your heading data conforms to this standard. However, there are two factors that need to be considered: + +1. The IMU driver may not allow the user to apply the magnetic declination correction factor +2. The IMU driver may incorrectly report :math:`0` when facing north, and not when facing east (even though its headings increase and decrease correctly). Fortunately, ``navsat_transform_node`` exposes two parameters to adddress these possible shortcomings in IMU data: ``magnetic_declination_radians`` and ``yaw_offset``. Referring to Figure 2, for an IMU that is currently measuring a yaw value of ``imu_yaw``, + + :math:`yaw_{imu} = -\omega - offset_{yaw} + \theta` + + :math:`\theta = yaw_{imu} + \omega + offset_{yaw}` + +We now have a translation :math:`(x_{UTM}, y_{UTM})` and rotation :math:`\theta`, which we can use to create the required *utm* -> *map* transform. We use the transform to convert all future GPS positions into the robot's local coordinate frame. ``navsat_transform_node`` will also broadcast this transform if the ``broadcast_utm_transform`` parameter is set to *true*. + +If you have any questions about this tutorial, please feel free to ask questions on `answers.ros.org `_. + + diff --git a/navigations/robot_localization/doc/manifest.yaml b/navigations/robot_localization/doc/manifest.yaml new file mode 100755 index 0000000..a0dc0c4 --- /dev/null +++ b/navigations/robot_localization/doc/manifest.yaml @@ -0,0 +1,38 @@ +actions: [] +authors: Tom Moore +brief: '' +bugtracker: '' +depends: +- catkin +- eigen +- diagnostic_updater +- cmake_modules +- tf2 +- nav_msgs +- roscpp +- rostest +- tf2_ros +- message_generation +- message_filters +- tf2_geometry_msgs +- sensor_msgs +- message_runtime +- std_msgs +- roslint +- rosunit +- diagnostic_msgs +- geographic_msgs +- python-catkin-pkg +- geometry_msgs +- rosbag +description: The robot_localization package provides nonlinear state estimation through + sensor fusion of an abritrary number of sensors. +license: BSD +maintainers: Tom Moore +msgs: [] +package_type: package +repo_url: '' +srvs: +- SetPose +- SetDatum +url: http://ros.org/wiki/robot_localization diff --git a/navigations/robot_localization/doc/migrating_from_robot_pose_ekf.rst b/navigations/robot_localization/doc/migrating_from_robot_pose_ekf.rst new file mode 100755 index 0000000..8ffba57 --- /dev/null +++ b/navigations/robot_localization/doc/migrating_from_robot_pose_ekf.rst @@ -0,0 +1,29 @@ +.. _migrating_from_robot_pose_ekf: + +Migrating from robot_pose_ekf +############################# + +Migration from ``robot_pose_ekf`` is fairly straightforward. This page is meant to highlight relevant differences between the packages to facilitate rapid transitions. + +Covariances in Source Messages +============================== + +For ``robot_pose_ekf``, a common means of getting the filter to ignore measurements is to give it a massively inflated covariance, often on the order of 10^3. However, the state estimation nodes in ``robot_localization`` allow users to specify *which* variables from the measurement should be fused with the current state. If your sensor reports zero for a given variable and you don't want to fuse that value with your filter, or if the sensor is known to produce poor data for that field, then simply set its ``xxxx_config`` parameter value to false for the variable in question (see the main page for a description of this parameter). + +However, users should take care: sometimes platform constraints create implicit :math:`0` measurements of variables. For example, a differential drive robot that cannot move instantaneously in the :math:`Y` direction can safely fuse a :math:`0` measurement for :math:`\dot{Y}` with a small covariance value. + +The ''differential'' Parameter +============================== + +By default, ``robot_pose_ekf`` will take a pose measurement at time :math:`t`, determine the difference between it and the measurement at time :math:`t-1`, transform that difference into the current frame, and then integrate that measurement. This cleverly aids in cases where two sensors are measuring the same pose variable: as time progresses, the values reported by each sensor will start to diverge. If the covariances on at least one of these measurements do not grow appopriately, the filter will eventually start to oscillate between the measured values. By carrying out differential integration, this situation is avoided and measurements are always consistent with the current state. + +This situation can be avoided using three different methods for the ``robot_localization`` state estimation nodes: + +1. If fusing two different sources for the same pose data (e.g., two different sensors measuring :math:`Z` position), ensure that those sources accurately report their covariances. If the two sources begin to diverge, then their covariances should refect the growing error that must be occurring in at least one of them. + +2. If available, fuse velocity data instead of pose data. If you have two separate data sources measuring the same variable, fuse the most accurate one as pose data and the other as velocity. + +3. As an alternative to (2), if velocity data is unavailable for a given pose measurement, enable the ``_differential`` parameter for one of the sensors. This will cause it to be differentiated and fused as a velocity. + + + diff --git a/navigations/robot_localization/doc/navsat_transform_node.rst b/navigations/robot_localization/doc/navsat_transform_node.rst new file mode 100755 index 0000000..28f0359 --- /dev/null +++ b/navigations/robot_localization/doc/navsat_transform_node.rst @@ -0,0 +1,75 @@ +navsat_transform_node +********************* + +``navsat_transform_node`` takes as input a `nav_msgs/Odometry `_ message (usually the output of ``ekf_localization_node`` or ``ukf_localization_node``), a `sensor_msgs/Imu `_ containing an accurate estimate of your robot's heading, and a `sensor_msgs/NavSatFix `_ message containing GPS data. It produces an odometry message in coordinates that are consistent with your robot's world frame. This value can be directly fused into your state estimate. + +.. note:: If you fuse the output of this node with any of the state estimation nodes in ``robot_localization``, you should make sure that the ``odomN_differential`` setting is *false* for that input. + +Parameters +========== + +~frequency +^^^^^^^^^^ +The real-valued frequency, in Hz, at which ``navsat_transform_node`` checks for new `sensor_msgs/NavSatFix `_ messages, and publishes filtered `sensor_msgs/NavSatFix `_ when ``publish_filtered_gps`` is set to *true*. + +~delay +^^^^^^ +The time, in seconds, to wait before calculating the transform from GPS coordinates to your robot's world frame. + +~magnetic_declination_radians +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Enter the magnetic declination for your location. If you don't know it, see `http://www.ngdc.noaa.gov/geomag-web `_ (make sure to convert the value to radians). This parameter is needed if your IMU provides its orientation with respect to the magnetic north. + +~yaw_offset +^^^^^^^^^^^ +Your IMU should read 0 for yaw when facing east. If it doesn't, enter the offset here (desired_value = offset + sensor_raw_value). For example, if your IMU reports 0 when facing north, as most of them do, this parameter would be ``pi/2`` (~1.5707963). This parameter changed in version ``2.2.1``. Previously, ``navsat_transform_node`` assumed that IMUs read 0 when facing north, so yaw_offset was used acordingly. + +~zero_altitude +^^^^^^^^^^^^^^ +If this is *true*, the `nav_msgs/Odometry `_ message produced by this node has its pose Z value set to 0. + +~publish_filtered_gps +^^^^^^^^^^^^^^^^^^^^^ +If *true*, ``navsat_transform_node`` will also transform your robot's world frame (e.g., *map*) position back to GPS coordinates, and publish a `sensor_msgs/NavSatFix `_ message on the ``/gps/filtered`` topic. + +~broadcast_utm_transform +^^^^^^^^^^^^^^^^^^^^^^^^ +If this is *true*, ``navsat_transform_node`` will broadcast the transform between the UTM grid and the frame of the input odometry data. See Published Transforms below for more information. + +~use_odometry_yaw +^^^^^^^^^^^^^^^^^ +If *true*, ``navsat_transform_node`` will not get its heading from the IMU data, but from the input odometry message. Users should take care to only set this to true if your odometry message has orientation data specified in an earth-referenced frame, e.g., as produced by a magnetometer. Additionally, if the odometry source is one of the state estimation nodes in ``robot_localization``, the user should have at least one source of absolute orientation data being fed into the node, with the ``_differential`` and ``_relative`` parameters set to *false*. + +~wait_for_datum +^^^^^^^^^^^^^^^ +If *true*, ``navsat_transform_node`` will wait to get a datum from either: + +* The ``datum`` parameter +* The ``set_datum`` service + +~broadcast_utm_transform_as_parent_frame +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +If *true*, ``navsat_transform_node`` will publish the utm->world_frame transform instead of the world_frame->utm transform. +Note that for the transform to be published ``broadcast_utm_transform`` also has to be set to *true*. + +~transform_timeout +^^^^^^^^^^^^^^^^^^ +This parameter specifies how long we would like to wait if a transformation is not available yet. Defaults to 0 if not set. The value 0 means we just get us the latest available (see ``tf2`` implementation) transform. + +Subscribed Topics +================= +* ``imu/data`` A `sensor_msgs/Imu `_ message with orientation data + +* ``odometry/filtered`` A `nav_msgs/Odometry `_ message of your robot's current position. This is needed in the event that your first GPS reading comes after your robot has attained some non-zero pose. + +* ``gps/fix`` A `sensor_msgs/NavSatFix `_ message containing your robot's GPS coordinates + +Published Topics +================ +* ``odometry/gps`` A `nav_msgs/Odometry `_ message containing the GPS coordinates of your robot, transformed into its world coordinate frame. This message can be directly fused into ``robot_localization``'s state estimation nodes. + +* ``gps/filtered`` (optional) A `sensor_msgs/NavSatFix `_ message containing your robot's world frame position, transformed into GPS coordinates + +Published Transforms +==================== +* ``world_frame->utm`` (optional) - If the ``broadcast_utm_transform`` parameter is set to *true*, ``navsat_transform_node`` calculates a transform from the *utm* frame to the ``frame_id`` of the input odometry data. By default, the *utm* frame is published as a child of the odometry frame by using the inverse transform. With use of the ``broadcast_utm_transform_as_parent_frame`` parameter, the *utm* frame will be published as a parent of the odometry frame. This is useful if you have multiple robots within one TF tree. diff --git a/navigations/robot_localization/doc/preparing_sensor_data.rst b/navigations/robot_localization/doc/preparing_sensor_data.rst new file mode 100755 index 0000000..2d67e6c --- /dev/null +++ b/navigations/robot_localization/doc/preparing_sensor_data.rst @@ -0,0 +1,104 @@ +Preparing Your Data for Use with robot_localization +################################################### + +Before getting started with the state estimation nodes in ``robot_localization``, it is important that users ensure that their sensor data well-formed. There are various considerations for each class of sensor data, and users are encouraged to read this tutorial in its entirety before attempting to use ``robot_localization``. + +For additional information, users are encouraged to watch this `presentation `_ from ROSCon 2015. + +Adherence to ROS Standards +************************** + +The two most important ROS REPs to consider are: + +* `REP-103 `_ (Standard Units of Measure and Coordinate Conventions) +* `REP-105 `_ (Coordinate Frame Conventions). + +Users who are new to ROS or state estimation are encouraged to read over both REPs, as it will almost certainly aid you in preparing your sensor data. ``robot_localization`` attempts to adhere to these standards as much as possible. + +Also, it will likely benefit users to look over the specifications for each of the supported ROS message types: + +* `nav_msgs/Odometry `_ + +* `geometry_msgs/PoseWithCovarianceStamped `_ + +* `geometry_msgs/TwistWithCovarianceStamped `_ + +* `sensor_msgs/Imu `_ + +Coordinate Frames and Transforming Sensor Data +********************************************** + +`REP-105 `_ specifies four principal coordinate frames: *base_link*, *odom*, *map*, and *earth*. The *base_link* frame is rigidly affixed to the robot. The *map* and *odom* frames are world-fixed frames whose origins are typically aligned with the robot's start position. The *earth* frame is used to provide a common reference frame for multiple *map* frames (e.g., for robots distributed over a large area). The *earth* frame is not relevant to this tutorial. + +The state estimation nodes of ``robot_localization`` produce a state estimate whose pose is given in the *map* or *odom* frame and whose velocity is given in the *base_link* frame. All incoming data is transformed into one of these coordinate frames before being fused with the state. The data in each message type is transformed as follows: + +* `nav_msgs/Odometry `_ - All pose data (position and orientation) is transformed from the message header's ``frame_id`` into the coordinate frame specified by the ``world_frame`` parameter (typically *map* or *odom*). In the message itself, this specifically refers to everything contained within the ``pose`` property. All twist data (linear and angular velocity) is transformed from the ``child_frame_id`` of the message into the coordinate frame specified by the ``base_link_frame`` parameter (typically *base_link*). +* `geometry_msgs/PoseWithCovarianceStamped `_ - Handled in the same fashion as the pose data in the Odometry message. +* `geometry_msgs/TwistWithCovarianceStamped `_ - Handled in the same fashion as the twist data in the Odometry message. +* `sensor_msgs/Imu `_ - The IMU message is currently subject to some ambiguity, though this is being addressed by the ROS community. Most IMUs natively report orientation data in a world-fixed frame whose :math:`X` and :math:`Z` axes are defined by the vectors pointing to magnetic north and the center of the earth, respectively, with the Y axis facing east (90 degrees offset from the magnetic north vector). This frame is often referred to as NED (North, East, Down). However, `REP-103 `_ specifies an ENU (East, North, Up) coordinate frame for outdoor navigation. As of this writing, ``robot_localization`` assumes an ENU frame for all IMU data, and does not work with NED frame data. This may change in the future, but for now, users should ensure that data is transformed to the ENU frame before using it with any node in ``robot_localization``. + +The IMU may also be oriented on the robot in a position other than its "neutral" position. For example, the user may mount the IMU on its side, or rotate it so that it faces a direction other than the front of the robot. This offset is typically specified by a static transform from the ``base_link_frame`` parameter to the IMU message's ``frame_id``. The state estimation nodes in ``robot_localization`` will automatically correct for the orientation of the sensor so that its data aligns with the frame specified by the ``base_link_frame`` parameter. + +Handling tf_prefix +****************** + +With the migration to `tf2 `_ as of ROS Indigo, ``robot_localization`` still allows for the use of the ``tf_prefix`` parameter, but, in accordance with `tf2 `_, all ``frame_id`` values will have any leading '/' stripped. + +Considerations for Each Sensor Message Type +******************************************* + +Odometry +======== + +Many robot platforms come equipped with wheel encoders that provide instantaneous translational and rotational velocity. Many also internally integrate these velocities to generate a position estimate. If you are responsible for this data, or can edit it, keep the following in mind: + +1. **Velocities/Poses:** `robot_localization` can integrate velocities or absolute pose information. In general, the best practice is: + + * If the odometry provides both position and linear velocity, fuse the linear velocity. + * If the odometry provides both orientation and angular velocity, fuse the orientation. + + .. note:: If you have two sources of orientation data, then you'll want to be careful. If both produce orientations with accurate covariance matrices, it's safe to fuse the orientations. If, however, one or both under-reports its covariance, then you should only fuse the orientation data from the more accurate sensor. For the other sensor, use the angular velocity (if it's provided), or continue to fuse the absolute orientation data, but turn `_differential` mode on for that sensor. + +2. **frame_id:** See the section on coordinate frames and transforms above. + +3. **Covariance:** Covariance values **matter** to ``robot_localization``. `robot_pose_ekf `_ attempts to fuse all pose variables in an odometry message. Some robots' drivers have been written to accommodate its requirements. This means that if a given sensor does not produce a certain variable (e.g., a robot that doesn't report :math:`Z` position), then the only way to get ``robot_pose_ekf`` to ignore it is to inflate its variance to a very large value (on the order of :math:`1e3`) so that the variable in question is effectively ignored. This practice is both unnecessary and even detrimental to the performance of ``robot_localization``. The exception is the case where you have a second input source measuring the variable in question, in which case inflated covariances will work. + + .. note:: See :ref:`configuring_robot_localization` and :ref:`migrating_from_robot_pose_ekf` for more information. + +4. **Signs:** Adherence to `REP-103 `_ means that you need to ensure that the **signs** of your data are correct. For example, if you have a ground robot and turn it counter-clockwise, then its yaw angle should *increase*, and its yaw velocity should be *positive*. If you drive it *forward*, its X-position should *increase* and its X-velocity should be *positive*. + +5. **Transforms:** Broadcast of the *odom*->*base_link* transform. When the ``world_frame`` parameter is set to the value of the ``odom_frame`` parameter in the configuration file, ``robot_localization``'s state estimation nodes output both a position estimate in a `nav_msgs/Odometry `_ message and a transform from the frame specified by its ``odom_frame`` parameter to its ``base_link_frame`` parameter. However, some robot drivers also broadcast this transform along with their odometry message. If users want ``robot_localization`` to be responsible for this transform, then they need to disable the broadcast of that transform by their robot's driver. This is often exposed as a parameter. + +IMU +=== + +In addition to the following, be sure to read the above section regarding coordinate frames and transforms for IMU data. + +1. **Adherence to specifications:** As with odometry, be sure your data adheres to `REP-103 `_ and the `sensor_msgs/Imu `_ specification. Double-check the signs of your data, and make sure the ``frame_id`` values are correct. + +2. **Covariance:** Echoing the advice for odometry, make sure your covariances make sense. Do not use large values to get the filter to ignore a given variable. Set the configuration for the variable you'd like to ignore to *false*. + +3. **Acceleration:** Be careful with acceleration data. The state estimation nodes in ``robot_localization`` assume that an IMU that is placed in its neutral *right-side-up* position on a flat surface will: + + * Measure **+**:math:`9.81` meters per second squared for the :math:`Z` axis. + * If the sensor is rolled **+**:math:`90` degrees (left side up), the acceleration should be **+**:math:`9.81` meters per second squared for the :math:`Y` axis. + * If the sensor is pitched **+**:math:`90` degrees (front side down), it should read **-**:math:`9.81` meters per second squared for the :math:`X` axis. + +PoseWithCovarianceStamped +========================= + +See the section on odometry. + +TwistWithCovarianceStamped +========================== + +See the section on odometry. + +Common errors +************* + +* Input data doesn't adhere to `REP-103 `_. Make sure that all values (especially orientation angles) increase and decrease in the correct directions. +* Incorrect ``frame_id`` values. Velocity data should be reported in the frame given by the ``base_link_frame`` parameter, or a transform should exist between the ``frame_id`` of the velocity data and the ``base_link_frame``. +* Inflated covariances. The preferred method for ignoring variables in measurements is through the ``odomN_config`` parameter. +* Missing covariances. If you have configured a given sensor to fuse a given variable into the state estimation node, then the variance for that value (i.e., the covariance matrix value at position :math:`(i, i)`, where :math:`i` is the index of that variable) should **not** be :math:`0`. If a :math:`0` variance value is encountered for a variable that is being fused, the state estimation nodes will add a small epsilon value (:math:`1e^{-6}`) to that value. A better solution is for users to set covariances appropriately. + diff --git a/navigations/robot_localization/doc/robot_localization_ias13_revised.pdf b/navigations/robot_localization/doc/robot_localization_ias13_revised.pdf new file mode 100755 index 0000000..4387137 Binary files /dev/null and b/navigations/robot_localization/doc/robot_localization_ias13_revised.pdf differ diff --git a/navigations/robot_localization/doc/state_estimation_nodes.rst b/navigations/robot_localization/doc/state_estimation_nodes.rst new file mode 100755 index 0000000..a913803 --- /dev/null +++ b/navigations/robot_localization/doc/state_estimation_nodes.rst @@ -0,0 +1,336 @@ +State Estimation Nodes +###################### + +ekf_localization_node +********************* +``ekf_localization_node`` is an implementation of an `extended Kalman filter `_. It uses an omnidirectional motion model to project the state forward in time, and corrects that projected estimate using perceived sensor data. + +ukf_localization_node +********************* +``ukf_localization_node`` is an implementation of an `unscented Kalman filter `_. It uses a set of carefully selected sigma points to project the state through the same motion model that is used in the EKF, and then uses those projected sigma points to recover the state estimate and covariance. This eliminates the use of Jacobian matrices and makes the filter more stable. However, it is also more computationally taxing than ``ekf_localization_node``. + +Parameters +********** + +``ekf_localization_node`` and ``ukf_localization_node`` share the vast majority of their parameters, as most of the parameters control how data is treated before being fused with the core filters. + +The relatively large number of parameters available to the state estimation nodes make launch and configuration files the preferred method for starting any of its nodes. The package contains template launch and configuration files to help get users started. + +Parameters Common to *ekf_localization_node* and *ukf_localization_node* +======================================================================== + +Standard Parameters +------------------- + +~frequency +^^^^^^^^^^ +The real-valued frequency, in Hz, at which the filter produces a state estimate. + +.. note:: The filter will not begin computation until it receives at least one message from one of the inputs. + +~sensor_timeout +^^^^^^^^^^^^^^^ +The real-valued period, in seconds, after which we consider any sensor to have timed out. In this event, we carry out a predict cycle on the EKF without correcting it. This parameter can be thought of as the inverse of the minimum frequency at which the filter will generate *new* output. + +~two_d_mode +^^^^^^^^^^^ +If your robot is operating in a planar environment and you're comfortable with ignoring the subtle variations in the ground (as reported by an IMU), then set this to true. It will fuse 0 values for all 3D variables (Z, roll, pitch, and their respective velocities and accelerations). This keeps the covariances for those values from exploding while ensuring that your robot's state estimate remains affixed to the X-Y plane. + +~[frame] +^^^^^^^^^ +Specific parameters: + +* ``~map_frame`` +* ``~odom_frame`` +* ``~base_link_frame`` +* ``~base_link_frame_output`` +* ``~world_frame`` + +These parameters define the operating "mode" for ``robot_localization``. `REP-105 `_ specifies three principal coordinate frames: *map*, *odom*, and *base_link*. *base_link* is the coordinate frame that is affixed to the robot. The robot's position in the *odom* frame will drift over time, but is accurate in the short term and should be continuous. The *map* frame, like the *odom* frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data. Here is how to use these parameters: + +1. Set the ``map_frame``, ``odom_frame``, and ``base_link_frame`` parameters to the appropriate frame names for your system. + + .. note:: If your system does not have a ``map_frame``, just remove it, and make sure ``world_frame`` is set to the value of ``odom_frame``. + .. note:: If you are running multiple EKF instances and would like to "override" the output transform and message to have this frame for its ``child_frame_id``, you may set this. The ``base_link_frame_output`` is optional and will default to the ``base_link_frame``. This helps to enable disconnected TF trees when multiple EKF instances are being run. When the final state is computed, we "override" the output transform and message to have this frame for its ``child_frame_id``. + +2. If you are only fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set ``world_frame`` to your ``odom_frame`` value. This is the default behavior for the state estimation nodes in ``robot_localization``, and the most common use for it. +3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates from landmark observations) then: + + i. Set your ``world_frame`` to your ``map_frame`` value + ii. **Make sure** something else is generating the *odom->base_link* transform. This can even be another instance of a ``robot_localization`` state estimation node. However, that instance should *not* fuse the global data. + +The default values for ``map_frame``, ``odom_frame``, and ``base_link_frame`` are *map*, *odom,* and *base_link,* respectively. The ``base_link_frame_output`` parameter defaults to the value of ``base_link_frame``. The ``world_frame`` parameter defaults to the value of ``odom_frame``. + +~transform_time_offset +^^^^^^^^^^^^^^^^^^^^^^ +Some packages require that your transforms are future-dated by a small time offset. The value of this parameter will be added to the timestamp of *map->odom* or *odom->base_link* transform being generated by the state estimation nodes in ``robot_localization``. + +~transform_timeout +^^^^^^^^^^^^^^^^^^ +The ``robot_localization`` package uses ``tf2``'s ``lookupTransform`` method to request transformations. This parameter specifies how long we would like to wait if a transformation is not available yet. Defaults to 0 if not set. The value 0 means we just get us the latest available (see ``tf2`` implementation) transform so we are not blocking the filter. Specifying a non-zero `transform_timeout` affects the filter's timing since it waits for a maximum of the `transform_timeout` for a transform to become available. This directly implies that mostly the specified desired output rate is not met since the filter has to wait for transforms when updating. + +~[sensor] +^^^^^^^^^ +For each sensor, users need to define this parameter based on the message type. For example, if we define one source of Imu messages and two sources of Odometry messages, the configuration would look like this: + +.. code-block:: xml + + + + + +The index for each parameter name is 0-based (e.g., ``odom0``, ``odom1``, etc.) and must be defined sequentially (e.g., do *not* use ``pose0`` and ``pose2`` if you have not defined ``pose1``). The values for each parameter are the topic name for that sensor. + +~[sensor]_config +^^^^^^^^^^^^^^^^ + +Specific parameters: + +* ``~odomN_config`` +* ``~twistN_config`` +* ``~imuN_config`` +* ``~poseN_config`` + +For each of the sensor messages defined above, users must specify what variables of those messages should be fused into the final state estimate. An example odometry configuration might look like this: + +.. code-block:: xml + + [true, true, false, + false, false, true, + true, false, false, + false, false, true, + false, false, false] + + +The order of the boolean values are :math:`X, Y, Z, roll, pitch, yaw, \dot{X}, \dot{Y}, \dot{Z}, \dot{roll}, \dot{pitch}, \dot{yaw}, \ddot{X}, \ddot{Y}, \ddot{Z}`. In this example, we are fusing :math:`X` and :math:`Y` position, :math:`yaw`, :math:`\dot{X}`, and :math:`\dot{yaw}`. + +.. note:: The specification is done in the ``frame_id`` of the **sensor**, *not* in the ``world_frame`` or ``base_link_frame``. Please see the :doc:`coniguration tutorial ` for more information. + +~[sensor]_queue_size +^^^^^^^^^^^^^^^^^^^^ + +Specific parameters: + +* ``~odomN_queue_size`` +* ``~twistN_queue_size`` +* ``~imuN_queue_size`` +* ``~poseN_queue_size`` + +Users can use these parameters to adjust the callback queue sizes for each sensor. This is useful if your ``frequency`` parameter value is much lower than your sensor's frequency, as it allows the filter to incorporate all measurements that arrived in between update cycles. + +~[sensor]_differential +^^^^^^^^^^^^^^^^^^^^^^ + +Specific parameters: + +* ``~odomN_differential`` +* ``~imuN_differential`` +* ``~poseN_differential`` + +For each of the sensor messages defined above *that contain pose information*, users can specify whether the pose variables should be integrated differentially. If a given value is set to *true*, then for a measurement at time :math:`t` from the sensor in question, we first subtract the measurement at time :math:`t-1`, and convert the resulting value to a velocity. This setting is especially useful if your robot has two sources of absolute pose information, e.g., yaw measurements from odometry and an IMU. In that case, if the variances on the input sources are not configured correctly, these measurements may get out of sync with one another and cause oscillations in the filter, but by integrating one or both of them differentially, we avoid this scenario. + +Users should take care when using this parameter for orientation data, as the conversion to velocity means that the covariance for orientation state variables will grow without bound (unless another source of absolute orientation data is being fused). If you simply want all of your pose variables to start at :math:`0`, then please use the ``_relative`` parameter. + +.. note:: If you are fusing GPS information via ``navsat_transform_node`` or ``utm_transform_node``, you should make sure that the ``_differential`` setting is *false.* + +~[sensor]_relative +^^^^^^^^^^^^^^^^^^ + +Specific parameters: + +* ``~odomN_relative`` +* ``~imuN_relative`` +* ``~poseN_relative`` + +If this parameter is set to ``true``, then any measurements from this sensor will be fused relative to the first measurement received from that sensor. This is useful if, for example, you want your state estimate to always start at :math:`(0, 0, 0)` and with :math:`roll, pitch,` and :math:`yaw` values of :math:`(0, 0, 0)`. It is similar to the ``_differential`` parameter, but instead of removing the measurement at time :math:`t-1`, we always remove the measurement at time :math:`0`, and the measurement is not converted to a velocity. + +~imuN_remove_gravitational_acceleration +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +If fusing accelerometer data from IMUs, this parameter determines whether or not acceleration due to gravity is removed from the acceleration measurement before fusing it. + +.. note:: This assumes that the IMU that is providing the acceleration data is also producing an absolute orientation. The orientation data is required to correctly remove gravitational acceleration. + +~gravitational_acceleration +^^^^^^^^^^^^^^^^^^^^^^^^^^^ +If ``imuN_remove_gravitational_acceleration`` is set to ``true``, then this parameter determines the acceleration in Z due to gravity that will be removed from the IMU's linear acceleration data. Default is 9.80665 (m/s^2). + +~initial_state +^^^^^^^^^^^^^^ +Starts the filter with the specified state. The state is given as a 15-D vector of doubles, in the same order as the sensor configurations. For example, to start your robot at a position of :math:`(5.0, 4.0, 3.0)`, a :math:`yaw` of :math:`1.57`, and a linear velocity of :math:`(0.1, 0.2, 0.3)`, you would use: + +.. code-block:: xml + + [5.0, 4.0, 3.0, + 0.0, 0.0, 1.57, + 0.1, 0.2, 0.3, + 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0] + +~publish_tf +^^^^^^^^^^^ +If *true*, the state estimation node will publish the transform from the frame specified by the ``world_frame`` parameter to the frame specified by the ``base_link_frame`` parameter. Defaults to *true*. + +~publish_acceleration +^^^^^^^^^^^^^^^^^^^^^ +If *true*, the state estimation node will publish the linear acceleration state. Defaults to *false*. + +~permit_corrected_publication +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +When the state estimation nodes publish the state at time `t`, but then receive a measurement with a timestamp < `t`, they re-publish the corrected state, with the same time stamp as the previous publication. Setting this parameter to *false* disables that behavior. Defaults to *false*. + +~print_diagnostics +^^^^^^^^^^^^^^^^^^ +If true, the state estimation node will publish diagnostic messages to the ``/diagnostics`` topic. This is useful for debugging your configuration and sensor data. + +Advanced Parameters +------------------- + +~use_control +^^^^^^^^^^^^ +If *true*, the state estimation node will listen to the `cmd_vel` topic for a `geometry_msgs/Twist `_ message, and use that to generate an acceleration term. This term is then used in the robot's state prediction. This is especially useful in situations where even small amounts of lag in convergence for a given state variable cause problems in your application (e.g., LIDAR shifting during rotations). Defaults to *false*. + +.. note:: The presence and inclusion of linear acceleration data from an IMU will currently "override" the predicted linear acceleration value. + +~stamped_control +^^^^^^^^^^^^^^^^ +If *true* and ``use_control`` is also *true*, looks for a `geometry_msgs/TwistStamped `_ message instead of a `geometry_msgs/Twist `_ message. + +~control_timeout +^^^^^^^^^^^^^^^^ +If ``use_control`` is set to *true* and no control command is received in this amount of time, given in seconds, the control-based acceleration term ceases to be applied. + +~control_config +^^^^^^^^^^^^^^^ +Controls which variables in the ``cmd_vel`` message are used in state prediction. The order of the values is :math:`\dot{X}, \dot{Y}, \dot{Z}, \dot{roll}, \dot{pitch}, \dot{yaw}`. Only used if ``use_control`` is set to *true*. + +.. code-block:: xml + + [true, false, false, + false, false, true] + +~acceleration_limits +^^^^^^^^^^^^^^^^^^^^ +How rapidly your robot can accelerate for each dimension. Matches the parameter order in ``control_config``. Only used if ``use_control`` is set to *true*. + +.. code-block:: xml + + [1.3, 0.0, 0.0, + 0.0, 0.0, 3.2] + +~deceleration_limits +^^^^^^^^^^^^^^^^^^^^ +How rapidly your robot can decelerate for each dimension. Matches the parameter order in ``control_config``. Only used if ``use_control`` is set to *true*. + +~acceleration_gains +^^^^^^^^^^^^^^^^^^^ +If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these gains. Only used if ``use_control`` is set to *true*. + +.. code-block:: xml + + [0.8, 0.0, 0.0, + 0.0, 0.0, 0.9] + +~deceleration_gains +^^^^^^^^^^^^^^^^^^^ +If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these gains. Only used if ``use_control`` is set to *true*. + +~smooth_lagged_data +^^^^^^^^^^^^^^^^^^^ +If any of your sensors produce data with timestamps that are older than the most recent filter update (more plainly, if you have a source of lagged sensor data), setting this parameter to *true* will enable the filter, upon reception of lagged data, to revert to the last state prior to the lagged measurement, then process all measurements until the current time. This is especially useful for measurements that come from nodes that require heavy CPU usage to generate pose estimates (e.g., laser scan matchers), as they are frequently lagged behind the current time. + +~history_length +^^^^^^^^^^^^^^^ +If ``smooth_lagged_data`` is set to *true*, this parameter specifies the number of seconds for which the filter will retain its state and measurement history. This value should be at least as large as the time delta between your lagged measurements and the current time. + +~[sensor]_nodelay +^^^^^^^^^^^^^^^^^ + +Specific parameters: + +* ``~odomN_nodelay`` +* ``~twistN_nodelay`` +* ``~imuN_nodelay`` +* ``~poseN_nodelay`` + +If *true*, sets the `tcpNoDelay` `transport hint `_. There is some evidence that Nagle's algorithm intereferes with the timely reception of large message types, such as the `nav_msgs/Odometry `_ message. Setting this to *true* for an input disables Nagle's algorithm for that subscriber. Defaults to *false*. + +~[sensor]_threshold +^^^^^^^^^^^^^^^^^^^ +Specific parameters: + +* ``~odomN_pose_rejection_threshold`` +* ``odomN_twist_rejection_threshold`` +* ``poseN_rejection_threshold`` +* ``twistN_rejection_threshold`` +* ``imuN_pose_rejection_threshold`` +* ``imuN_angular_velocity_rejection_threshold`` +* ``imuN_linear_acceleration_rejection_threshold`` + +If your data is subject to outliers, use these threshold settings, expressed as `Mahalanobis distances `_, to control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to ``numeric_limits::max()`` if unspecified. + +~debug +^^^^^^ +Boolean flag that specifies whether or not to run in debug mode. WARNING: setting this to true will generate a massive amount of data. The data is written to the value of the ``debug_out_file`` parameter. Defaults to *false*. + +~debug_out_file +^^^^^^^^^^^^^^^^ +If ``debug`` is *true*, the file to which debug output is written. + +~process_noise_covariance +^^^^^^^^^^^^^^^^^^^^^^^^^ +The process noise covariance, commonly denoted *Q*, is used to model uncertainty in the prediction stage of the filtering algorithms. It can be difficult to tune, and has been exposed as a parameter for easier customization. This parameter can be left alone, but you will achieve superior results by tuning it. In general, the larger the value for *Q* relative to the variance for a given variable in an input message, the faster the filter will converge to the value in the measurement. + +~dynamic_process_noise_covariance +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +If *true*, will dynamically scale the ``process_noise_covariance`` based on the robot's velocity. This is useful, e.g., when you want your robot's estimate error covariance to stop growing when the robot is stationary. Defaults to *false*. + +~initial_estimate_covariance +^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +The estimate covariance, commonly denoted *P*, defines the error in the current state estimate. The parameter allows users to set the initial value for the matrix, which will affect how quickly the filter converges. For example, if users set the value at position :math:`[0, 0]` to a very small value, e.g., `1e-12`, and then attempt to fuse measurements of X position with a high variance value for :math:`X`, then the filter will be very slow to "trust" those measurements, and the time required for convergence will increase. Again, users should take care with this parameter. When only fusing velocity data (e.g., no absolute pose information), users will likely *not* want to set the initial covariance values for the absolute pose variables to large numbers. This is because those errors are going to grow without bound (owing to the lack of absolute pose measurements to reduce the error), and starting them with large values will not benefit the state estimate. + +~reset_on_time_jump +^^^^^^^^^^^^^^^^^^^ +If set to *true* and ``ros::Time::isSimTime()`` is *true*, the filter will reset to its uninitialized state when a jump back in time is detected on a topic. This is useful when working with bag data, in that the bag can be restarted without restarting the node. + +~predict_to_current_time +^^^^^^^^^^^^^^^^^^^^^^^^ +If set to *true*, the filter predicts and corrects up to the time of the latest measurement (by default) but will now also predict up to the current time step. + +~disabled_at_startup +^^^^^^^^^^^^^^^^^^^^ +If set to *true* will not run the filter on start. + +Node-specific Parameters +------------------------ +The standard and advanced parameters are common to all state estimation nodes in ``robot_localization``. This section details parameters that are unique to their respective state estimation nodes. + +ukf_localization_node +^^^^^^^^^^^^^^^^^^^^^ + +The parameters for ``ukf_localization_node`` follow the nomenclature of the `original paper `_ and `wiki article `_. + +* **~alpha** - Controls the spread of sigma points. Unless you are familiar with unscented Kalman filters, it's probably best for this setting to remain at its default value (0.001). + +* **~kappa** - Also control the spread of sigma points. Unless you are familiar with unscented Kalman filters, it's probably best for this setting to remain at its default value (0). + +* **~beta** - Relates to the distribution of the state vector. The default value of 2 implies that the distribution is Gaussian. Like the other parameters, this should remain unchanged unless the user is familiar with unscented Kalman filters. + +Published Topics +================ + +* ``odometry/filtered`` (`nav_msgs/Odometry `_) +* ``accel/filtered`` (`geometry_msgs/AccelWithCovarianceStamped `_) (if enabled) + +Published Transforms +==================== + +* If the user's ``world_frame`` parameter is set to the value of ``odom_frame``, a transform is published from the frame given by the ``odom_frame`` parameter to the frame given by the ``base_link_frame`` parameter. + +* If the user's ``world_frame`` parameter is set to the value of ``map_frame``, a transform is published from the frame given by the ``map_frame`` parameter to the frame given by the ``odom_frame`` parameter. + + .. note:: This mode assumes that another node is broadcasting the transform from the frame given by the ``odom_frame`` parameter to the frame given by the ``base_link_frame`` parameter. This can be another instance of a ``robot_localization`` state estimation node. + +Services +======== + +* ``set_pose`` - By issuing a `geometry_msgs/PoseWithCovarianceStamped `_ message to the ``set_pose`` topic, users can manually set the state of the filter. This is useful for resetting the filter during testing, and allows for interaction with ``rviz``. Alternatively, the state estimation nodes advertise a ``SetPose`` service, whose type is `robot_localization/SetPose `_. diff --git a/navigations/robot_localization/doc/user_contributed_tutorials.rst b/navigations/robot_localization/doc/user_contributed_tutorials.rst new file mode 100755 index 0000000..0cbe609 --- /dev/null +++ b/navigations/robot_localization/doc/user_contributed_tutorials.rst @@ -0,0 +1,13 @@ +User-Contributed Tutorials +########################## + +Here's a list of user-contributed tutorials for robot_localization! + +Tutorials +========= + +* `ros-sensor-fusion-tutorial `_ + A comprehensive end-to-end tutorial for setting up robot_localization for sensor fusion, as well as running through the necessary concepts. (Includes a practical example of setting it up with ultrasonic beacons!) + +* `Kapernikov: The ROS robot_localization package `_ + The documentation of the robot_localization package is quite clear once you know how it works. However, it lacks a hands-on tutorial to help you with your first steps. There are some great examples on how to set up the robot_localization package, but they require good working hardware. This tutorial tries to bridge the gap, using the turtlesim package as a virtual robot. diff --git a/navigations/robot_localization/include/robot_localization/ekf.h b/navigations/robot_localization/include/robot_localization/ekf.h new file mode 100755 index 0000000..80218e9 --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/ekf.h @@ -0,0 +1,87 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_EKF_H +#define ROBOT_LOCALIZATION_EKF_H + +#include "robot_localization/filter_base.h" + +#include +#include +#include +#include + +namespace RobotLocalization +{ + +//! @brief Extended Kalman filter class +//! +//! Implementation of an extended Kalman filter (EKF). This +//! class derives from FilterBase and overrides the predict() +//! and correct() methods in keeping with the discrete time +//! EKF algorithm. +//! +class Ekf: public FilterBase +{ + public: + //! @brief Constructor for the Ekf class + //! + //! @param[in] args - Generic argument container (not used here, but + //! needed so that the ROS filters can pass arbitrary arguments to + //! templated filter types). + //! + explicit Ekf(std::vector args = std::vector()); + + //! @brief Destructor for the Ekf class + //! + ~Ekf(); + + //! @brief Carries out the correct step in the predict/update cycle. + //! + //! @param[in] measurement - The measurement to fuse with our estimate + //! + void correct(const Measurement &measurement); + + //! @brief Carries out the predict step in the predict/update cycle. + //! + //! Projects the state and error matrices forward using a model of + //! the vehicle's motion. + //! + //! @param[in] referenceTime - The time at which the prediction is being made + //! @param[in] delta - The time step over which to predict. + //! + void predict(const double referenceTime, const double delta); +}; + +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_EKF_H diff --git a/navigations/robot_localization/include/robot_localization/filter_base.h b/navigations/robot_localization/include/robot_localization/filter_base.h new file mode 100755 index 0000000..825b14c --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/filter_base.h @@ -0,0 +1,534 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_FILTER_BASE_H +#define ROBOT_LOCALIZATION_FILTER_BASE_H + +#include "robot_localization/filter_utilities.h" +#include "robot_localization/filter_common.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +namespace RobotLocalization +{ + +//! @brief Structure used for storing and comparing measurements +//! (for priority queues) +//! +//! Measurement units are assumed to be in meters and radians. +//! Times are real-valued and measured in seconds. +//! +struct Measurement +{ + // The time stamp of the most recent control term (needed for lagged data) + double latestControlTime_; + + // The Mahalanobis distance threshold in number of sigmas + double mahalanobisThresh_; + + // The real-valued time, in seconds, since some epoch + // (presumably the start of execution, but any will do) + double time_; + + // The topic name for this measurement. Needed + // for capturing previous state values for new + // measurements. + std::string topicName_; + + // This defines which variables within this measurement + // actually get passed into the filter. std::vector + // is generally frowned upon, so we use ints. + std::vector updateVector_; + + // The most recent control vector (needed for lagged data) + Eigen::VectorXd latestControl_; + + // The measurement and its associated covariance + Eigen::VectorXd measurement_; + Eigen::MatrixXd covariance_; + + // We want earlier times to have greater priority + bool operator()(const boost::shared_ptr &a, const boost::shared_ptr &b) + { + return (*this)(*(a.get()), *(b.get())); + } + + bool operator()(const Measurement &a, const Measurement &b) + { + return a.time_ > b.time_; + } + + Measurement() : + latestControlTime_(0.0), + mahalanobisThresh_(std::numeric_limits::max()), + time_(0.0), + topicName_("") + { + } +}; +typedef boost::shared_ptr MeasurementPtr; + +//! @brief Structure used for storing and comparing filter states +//! +//! This structure is useful when higher-level classes need to remember filter history. +//! Measurement units are assumed to be in meters and radians. +//! Times are real-valued and measured in seconds. +//! +struct FilterState +{ + // The time stamp of the most recent measurement for the filter + double lastMeasurementTime_; + + // The time stamp of the most recent control term + double latestControlTime_; + + // The most recent control vector + Eigen::VectorXd latestControl_; + + // The filter state vector + Eigen::VectorXd state_; + + // The filter error covariance matrix + Eigen::MatrixXd estimateErrorCovariance_; + + // We want the queue to be sorted from latest to earliest timestamps. + bool operator()(const FilterState &a, const FilterState &b) + { + return a.lastMeasurementTime_ < b.lastMeasurementTime_; + } + + FilterState() : + lastMeasurementTime_(0.0), + latestControlTime_(0.0) + {} +}; +typedef boost::shared_ptr FilterStatePtr; + +class FilterBase +{ + public: + //! @brief Constructor for the FilterBase class + //! + FilterBase(); + + //! @brief Destructor for the FilterBase class + //! + virtual ~FilterBase(); + + //! @brief Resets filter to its unintialized state + //! + void reset(); + + //! @brief Computes a dynamic process noise covariance matrix using the parameterized state + //! + //! This allows us to, e.g., not increase the pose covariance values when the vehicle is not moving + //! + //! @param[in] state - The STATE_SIZE state vector that is used to generate the dynamic process noise covariance + //! + void computeDynamicProcessNoiseCovariance(const Eigen::VectorXd &state, const double delta); + + //! @brief Carries out the correct step in the predict/update cycle. This method + //! must be implemented by subclasses. + //! + //! @param[in] measurement - The measurement to fuse with the state estimate + //! + virtual void correct(const Measurement &measurement) = 0; + + //! @brief Returns the control vector currently being used + //! + //! @return The control vector + //! + const Eigen::VectorXd& getControl(); + + //! @brief Returns the time at which the control term was issued + //! + //! @return The time the control vector was issued + //! + double getControlTime(); + + //! @brief Gets the value of the debug_ variable. + //! + //! @return True if in debug mode, false otherwise + //! + bool getDebug(); + + //! @brief Gets the estimate error covariance + //! + //! @return A copy of the estimate error covariance matrix + //! + const Eigen::MatrixXd& getEstimateErrorCovariance(); + + //! @brief Gets the filter's initialized status + //! + //! @return True if we've received our first measurement, false otherwise + //! + bool getInitializedStatus(); + + //! @brief Gets the most recent measurement time + //! + //! @return The time at which we last received a measurement + //! + double getLastMeasurementTime(); + + //! @brief Gets the filter's predicted state, i.e., the + //! state estimate before correct() is called. + //! + //! @return A constant reference to the predicted state + //! + const Eigen::VectorXd& getPredictedState(); + + //! @brief Gets the filter's process noise covariance + //! + //! @return A constant reference to the process noise covariance + //! + const Eigen::MatrixXd& getProcessNoiseCovariance(); + + //! @brief Gets the sensor timeout value (in seconds) + //! + //! @return The sensor timeout value + //! + double getSensorTimeout(); + + //! @brief Gets the filter state + //! + //! @return A constant reference to the current state + //! + const Eigen::VectorXd& getState(); + + //! @brief Carries out the predict step in the predict/update cycle. + //! Projects the state and error matrices forward using a model of + //! the vehicle's motion. This method must be implemented by subclasses. + //! + //! @param[in] referenceTime - The time at which the prediction is being made + //! @param[in] delta - The time step over which to predict. + //! + virtual void predict(const double referenceTime, const double delta) = 0; + + //! @brief Does some final preprocessing, carries out the predict/update cycle + //! + //! @param[in] measurement - The measurement object to fuse into the filter + //! + virtual void processMeasurement(const Measurement &measurement); + + //! @brief Sets the most recent control term + //! + //! @param[in] control - The control term to be applied + //! @param[in] controlTime - The time at which the control in question was received + //! + void setControl(const Eigen::VectorXd &control, const double controlTime); + + //! @brief Sets the control update vector and acceleration limits + //! + //! @param[in] updateVector - The values the control term affects + //! @param[in] controlTimeout - Timeout value, in seconds, after which a control is considered stale + //! @param[in] accelerationLimits - The acceleration limits for the control variables + //! @param[in] accelerationGains - Gains applied to the control term-derived acceleration + //! @param[in] decelerationLimits - The deceleration limits for the control variables + //! @param[in] decelerationGains - Gains applied to the control term-derived deceleration + //! + void setControlParams(const std::vector &updateVector, const double controlTimeout, + const std::vector &accelerationLimits, const std::vector &accelerationGains, + const std::vector &decelerationLimits, const std::vector &decelerationGains); + + //! @brief Sets the filter into debug mode + //! + //! NOTE: this will generates a lot of debug output to the provided stream. + //! The value must be a pointer to a valid ostream object. + //! + //! @param[in] debug - Whether or not to place the filter in debug mode + //! @param[in] outStream - If debug is true, then this must have a valid pointer. + //! If the pointer is invalid, the filter will not enter debug mode. If debug is + //! false, outStream is ignored. + //! + void setDebug(const bool debug, std::ostream *outStream = NULL); + + //! @brief Enables dynamic process noise covariance calculation + //! + //! @param[in] dynamicProcessNoiseCovariance - Whether or not to compute dynamic process noise covariance matrices + //! + void setUseDynamicProcessNoiseCovariance(const bool dynamicProcessNoiseCovariance); + + //! @brief Manually sets the filter's estimate error covariance + //! + //! @param[in] estimateErrorCovariance - The state to set as the filter's current state + //! + void setEstimateErrorCovariance(const Eigen::MatrixXd &estimateErrorCovariance); + + //! @brief Sets the filter's last measurement time. + //! + //! @param[in] lastMeasurementTime - The last measurement time of the filter + //! + void setLastMeasurementTime(const double lastMeasurementTime); + + //! @brief Sets the process noise covariance for the filter. + //! + //! This enables external initialization, which is important, as this + //! matrix can be difficult to tune for a given implementation. + //! + //! @param[in] processNoiseCovariance - The STATE_SIZExSTATE_SIZE process noise covariance matrix + //! to use for the filter + //! + void setProcessNoiseCovariance(const Eigen::MatrixXd &processNoiseCovariance); + + //! @brief Sets the sensor timeout + //! + //! @param[in] sensorTimeout - The time, in seconds, for a sensor to be + //! considered having timed out + //! + void setSensorTimeout(const double sensorTimeout); + + //! @brief Manually sets the filter's state + //! + //! @param[in] state - The state to set as the filter's current state + //! + void setState(const Eigen::VectorXd &state); + + //! @brief Ensures a given time delta is valid (helps with bag file playback issues) + //! + //! @param[in] delta - The time delta, in seconds, to validate + //! + void validateDelta(double &delta); + + protected: + //! @brief Method for settings bounds on acceleration values derived from controls + //! @param[in] state - The current state variable (e.g., linear X velocity) + //! @param[in] control - The current control commanded velocity corresponding to the state variable + //! @param[in] accelerationLimit - Limit for acceleration (regardless of driving direction) + //! @param[in] accelerationGain - Gain applied to acceleration control error + //! @param[in] decelerationLimit - Limit for deceleration (moving towards zero, regardless of driving direction) + //! @param[in] decelerationGain - Gain applied to deceleration control error + //! @return a usable acceleration estimate for the control vector + //! + inline double computeControlAcceleration(const double state, const double control, const double accelerationLimit, + const double accelerationGain, const double decelerationLimit, const double decelerationGain) + { + FB_DEBUG("---------- FilterBase::computeControlAcceleration ----------\n"); + + const double error = control - state; + const bool sameSign = (::fabs(error) <= ::fabs(control) + 0.01); + const double setPoint = (sameSign ? control : 0.0); + const bool decelerating = ::fabs(setPoint) < ::fabs(state); + double limit = accelerationLimit; + double gain = accelerationGain; + + if (decelerating) + { + limit = decelerationLimit; + gain = decelerationGain; + } + + const double finalAccel = std::min(std::max(gain * error, -limit), limit); + + FB_DEBUG("Control value: " << control << "\n" << + "State value: " << state << "\n" << + "Error: " << error << "\n" << + "Same sign: " << (sameSign ? "true" : "false") << "\n" << + "Set point: " << setPoint << "\n" << + "Decelerating: " << (decelerating ? "true" : "false") << "\n" << + "Limit: " << limit << "\n" << + "Gain: " << gain << "\n" << + "Final is " << finalAccel << "\n"); + + return finalAccel; + } + + //! @brief Keeps the state Euler angles in the range [-pi, pi] + //! + virtual void wrapStateAngles(); + + //! @brief Tests if innovation is within N-sigmas of covariance. Returns true if passed the test. + //! @param[in] innovation - The difference between the measurement and the state + //! @param[in] invCovariance - The innovation error + //! @param[in] nsigmas - Number of standard deviations that are considered acceptable + //! + virtual bool checkMahalanobisThreshold(const Eigen::VectorXd &innovation, + const Eigen::MatrixXd &invCovariance, + const double nsigmas); + + //! @brief Converts the control term to an acceleration to be applied in the prediction step + //! @param[in] referenceTime - The time of the update (measurement used in the prediction step) + //! @param[in] predictionDelta - The amount of time over which we are carrying out our prediction + //! + void prepareControl(const double referenceTime, const double predictionDelta); + + //! @brief Whether or not we've received any measurements + //! + bool initialized_; + + //! @brief Whether or not we apply the control term + //! + bool useControl_; + + //! @brief If true, uses the robot's vehicle state and the static process noise covariance matrix to generate a + //! dynamic process noise covariance matrix + //! + bool useDynamicProcessNoiseCovariance_; + + //! @brief Tracks the time the filter was last updated using a measurement. + //! + //! This value is used to monitor sensor readings with respect to the sensorTimeout_. + //! We also use it to compute the time delta values for our prediction step. + //! + double lastMeasurementTime_; + + //! @brief The time of reception of the most recent control term + //! + double latestControlTime_; + + //! @brief Timeout value, in seconds, after which a control is considered stale + //! + double controlTimeout_; + + //! @brief The updates to the filter - both predict and correct - are driven + //! by measurements. If we get a gap in measurements for some reason, we want + //! the filter to continue estimating. When this gap occurs, as specified by + //! this timeout, we will continue to call predict() at the filter's frequency. + //! + double sensorTimeout_; + + //! @brief Which control variables are being used (e.g., not every vehicle is controllable in Y or Z) + //! + std::vector controlUpdateVector_; + + //! @brief Gains applied to acceleration derived from control term + //! + std::vector accelerationGains_; + + //! @brief Caps the acceleration we apply from control input + //! + std::vector accelerationLimits_; + + //! @brief Gains applied to deceleration derived from control term + //! + std::vector decelerationGains_; + + //! @brief Caps the deceleration we apply from control input + //! + std::vector decelerationLimits_; + + //! @brief Variable that gets updated every time we process a measurement and we have a valid control + //! + Eigen::VectorXd controlAcceleration_; + + //! @brief Latest control term + //! + Eigen::VectorXd latestControl_; + + //! @brief Holds the last predicted state of the filter + //! + Eigen::VectorXd predictedState_; + + //! @brief This is the robot's state vector, which is what we are trying to + //! filter. The values in this vector are what get reported by the node. + //! + Eigen::VectorXd state_; + + //! @brief Covariance matrices can be incredibly unstable. We can + //! add a small value to it at each iteration to help maintain its + //! positive-definite property. + //! + Eigen::MatrixXd covarianceEpsilon_; + + //! @brief Gets updated when useDynamicProcessNoise_ is true + //! + Eigen::MatrixXd dynamicProcessNoiseCovariance_; + + //! @brief This matrix stores the total error in our position + //! estimate (the state_ variable). + //! + Eigen::MatrixXd estimateErrorCovariance_; + + //! @brief We need the identity for a few operations. Better to store it. + //! + Eigen::MatrixXd identity_; + + //! @brief As we move through the world, we follow a predict/update + //! cycle. If one were to imagine a scenario where all we did was make + //! predictions without correcting, the error in our position estimate + //! would grow without bound. This error is stored in the + //! stateEstimateCovariance_ matrix. However, this matrix doesn't answer + //! the question of *how much* our error should grow for each time step. + //! That's where the processNoiseCovariance matrix comes in. When we + //! make a prediction using the transfer function, we add this matrix + //! (times deltaT) to the state estimate covariance matrix. + //! + Eigen::MatrixXd processNoiseCovariance_; + + //! @brief The Kalman filter transfer function + //! + //! Kalman filters and extended Kalman filters project the current + //! state forward in time. This is the "predict" part of the predict/correct + //! cycle. A Kalman filter has a (typically constant) matrix A that defines + //! how to turn the current state, x, into the predicted next state. For an + //! EKF, this matrix becomes a function f(x). However, this function can still + //! be expressed as a matrix to make the math a little cleaner, which is what + //! we do here. Technically, each row in the matrix is actually a function. + //! Some rows will contain many trigonometric functions, which are of course + //! non-linear. In any case, you can think of this as the 'A' matrix in the + //! Kalman filter formulation. + //! + Eigen::MatrixXd transferFunction_; + + //! @brief The Kalman filter transfer function Jacobian + //! + //! The transfer function is allowed to be non-linear in an EKF, but + //! for propagating (predicting) the covariance matrix, we need to linearize + //! it about the current mean (i.e., state). This is done via a Jacobian, + //! which calculates partial derivatives of each row of the transfer function + //! matrix with respect to each state variable. + //! + Eigen::MatrixXd transferFunctionJacobian_; + + //! @brief Used for outputting debug messages + //! + std::ostream *debugStream_; + + private: + //! @brief Whether or not the filter is in debug mode + //! + bool debug_; +}; + +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_FILTER_BASE_H diff --git a/navigations/robot_localization/include/robot_localization/filter_common.h b/navigations/robot_localization/include/robot_localization/filter_common.h new file mode 100755 index 0000000..30d1c54 --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/filter_common.h @@ -0,0 +1,97 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_FILTER_COMMON_H +#define ROBOT_LOCALIZATION_FILTER_COMMON_H + +namespace RobotLocalization +{ + +//! @brief Enumeration that defines the state vector +//! +enum StateMembers +{ + StateMemberX = 0, + StateMemberY, + StateMemberZ, + StateMemberRoll, + StateMemberPitch, + StateMemberYaw, + StateMemberVx, + StateMemberVy, + StateMemberVz, + StateMemberVroll, + StateMemberVpitch, + StateMemberVyaw, + StateMemberAx, + StateMemberAy, + StateMemberAz +}; + +//! @brief Enumeration that defines the control vector +//! +enum ControlMembers +{ + ControlMemberVx, + ControlMemberVy, + ControlMemberVz, + ControlMemberVroll, + ControlMemberVpitch, + ControlMemberVyaw +}; + +//! @brief Global constants that define our state +//! vector size and offsets to groups of values +//! within that state. +const int STATE_SIZE = 15; +const int POSITION_OFFSET = StateMemberX; +const int ORIENTATION_OFFSET = StateMemberRoll; +const int POSITION_V_OFFSET = StateMemberVx; +const int ORIENTATION_V_OFFSET = StateMemberVroll; +const int POSITION_A_OFFSET = StateMemberAx; + +//! @brief Pose and twist messages each +//! contain six variables +const int POSE_SIZE = 6; +const int TWIST_SIZE = 6; +const int POSITION_SIZE = 3; +const int ORIENTATION_SIZE = 3; +const int LINEAR_VELOCITY_SIZE = 3; +const int ACCELERATION_SIZE = 3; + +//! @brief Common variables +const double PI = 3.141592653589793; +const double TAU = 6.283185307179587; + +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_FILTER_COMMON_H diff --git a/navigations/robot_localization/include/robot_localization/filter_utilities.h b/navigations/robot_localization/include/robot_localization/filter_utilities.h new file mode 100755 index 0000000..61e93c9 --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/filter_utilities.h @@ -0,0 +1,71 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_FILTER_UTILITIES_H +#define ROBOT_LOCALIZATION_FILTER_UTILITIES_H + +#include + +#include +#include +#include +#include + +#define FB_DEBUG(msg) if (getDebug()) { *debugStream_ << msg; } + +// Handy methods for debug output +std::ostream& operator<<(std::ostream& os, const Eigen::MatrixXd &mat); +std::ostream& operator<<(std::ostream& os, const Eigen::VectorXd &vec); +std::ostream& operator<<(std::ostream& os, const std::vector &vec); +std::ostream& operator<<(std::ostream& os, const std::vector &vec); + +namespace RobotLocalization +{ +namespace FilterUtilities +{ + + //! @brief Utility method keeping RPY angles in the range [-pi, pi] + //! @param[in] rotation - The rotation to bind + //! @return the bounded value + //! + double clampRotation(double rotation); + + //! @brief Utility method for appending tf2 prefixes cleanly + //! @param[in] tfPrefix - the tf2 prefix to append + //! @param[in, out] frameId - the resulting frame_id value + //! + void appendPrefix(std::string tfPrefix, std::string &frameId); + +} // namespace FilterUtilities +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_FILTER_UTILITIES_H diff --git a/navigations/robot_localization/include/robot_localization/navsat_conversions.h b/navigations/robot_localization/include/robot_localization/navsat_conversions.h new file mode 100755 index 0000000..6c7ad59 --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/navsat_conversions.h @@ -0,0 +1,216 @@ +/* +* Copyright (C) 2010 Austin Robot Technology, and others +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* 2. 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. +* 3. Neither the names of the University of Texas at Austin, nor +* Austin Robot Technology, nor the names of other 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. +* +* This file contains code from multiple files in the original +* source. The originals can be found here: +* +* https://github.com/austin-robot/utexas-art-ros-pkg/blob/afd147a1eb944fc3dbd138574c39699813f797bf/stacks/art_vehicle/art_common/include/art/UTM.h +* https://github.com/austin-robot/utexas-art-ros-pkg/blob/afd147a1eb944fc3dbd138574c39699813f797bf/stacks/art_vehicle/art_common/include/art/conversions.h +*/ + +#ifndef ROBOT_LOCALIZATION_NAVSAT_CONVERSIONS_H +#define ROBOT_LOCALIZATION_NAVSAT_CONVERSIONS_H + +/** @file + + @brief Universal Transverse Mercator transforms. + Functions to convert (spherical) latitude and longitude to and + from (Euclidean) UTM coordinates. + @author Chuck Gantz- chuck.gantz@globalstar.com + */ + +#include +#include + +#include +#include + +#include +#include + +namespace RobotLocalization +{ +namespace NavsatConversions +{ + +const double RADIANS_PER_DEGREE = M_PI/180.0; +const double DEGREES_PER_RADIAN = 180.0/M_PI; + +// Grid granularity for rounding UTM coordinates to generate MapXY. +const double grid_size = 100000.0; // 100 km grid + +// WGS84 Parameters +#define WGS84_A 6378137.0 // major axis +#define WGS84_B 6356752.31424518 // minor axis +#define WGS84_F 0.0033528107 // ellipsoid flattening +#define WGS84_E 0.0818191908 // first eccentricity +#define WGS84_EP 0.0820944379 // second eccentricity + +// UTM Parameters +#define UTM_K0 0.9996 // scale factor +#define UTM_FE 500000.0 // false easting +#define UTM_FN_N 0.0 // false northing, northern hemisphere +#define UTM_FN_S 10000000.0 // false northing, southern hemisphere +#define UTM_E2 (WGS84_E*WGS84_E) // e^2 +#define UTM_E4 (UTM_E2*UTM_E2) // e^4 +#define UTM_E6 (UTM_E4*UTM_E2) // e^6 +#define UTM_EP2 (UTM_E2/(1-UTM_E2)) // e'^2 + +/** + * Utility function to convert geodetic to UTM position + * + * Units in are floating point degrees (sign for east/west) + * + * Units out are meters + * + * @todo deprecate this interface in favor of LLtoUTM() + */ +static inline void UTM(double lat, double lon, double *x, double *y) +{ + // constants + static const double m0 = (1 - UTM_E2/4 - 3*UTM_E4/64 - 5*UTM_E6/256); + static const double m1 = -(3*UTM_E2/8 + 3*UTM_E4/32 + 45*UTM_E6/1024); + static const double m2 = (15*UTM_E4/256 + 45*UTM_E6/1024); + static const double m3 = -(35*UTM_E6/3072); + + // compute the central meridian + int cm = ((lon >= 0.0) + ? (static_cast(lon) - (static_cast(lon)) % 6 + 3) + : (static_cast(lon) - (static_cast(lon)) % 6 - 3)); + + // convert degrees into radians + double rlat = lat * RADIANS_PER_DEGREE; + double rlon = lon * RADIANS_PER_DEGREE; + double rlon0 = cm * RADIANS_PER_DEGREE; + + // compute trigonometric functions + double slat = sin(rlat); + double clat = cos(rlat); + double tlat = tan(rlat); + + // decide the false northing at origin + double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S; + + double T = tlat * tlat; + double C = UTM_EP2 * clat * clat; + double A = (rlon - rlon0) * clat; + double M = WGS84_A * (m0*rlat + m1*sin(2*rlat) + + m2*sin(4*rlat) + m3*sin(6*rlat)); + double V = WGS84_A / sqrt(1 - UTM_E2*slat*slat); + + // compute the easting-northing coordinates + *x = UTM_FE + UTM_K0 * V * (A + (1-T+C)*pow(A, 3)/6 + + (5-18*T+T*T+72*C-58*UTM_EP2)*pow(A, 5)/120); + *y = fn + UTM_K0 * (M + V * tlat * (A*A/2 + + (5-T+9*C+4*C*C)*pow(A, 4)/24 + + ((61-58*T+T*T+600*C-330*UTM_EP2) + * pow(A, 6)/720))); + + return; +} + +/** + * Convert lat/long to UTM coords. + * + * East Longitudes are positive, West longitudes are negative. + * North latitudes are positive, South latitudes are negative + * Lat and Long are in fractional degrees + * + * @param[out] gamma meridian convergence at point (degrees). + */ +static inline void LLtoUTM(const double Lat, const double Long, + double &UTMNorthing, double &UTMEasting, + std::string &UTMZone, double &gamma) +{ + int zone; + bool northp; + double k_unused; + GeographicLib::UTMUPS::Forward(Lat, Long, zone, northp, UTMEasting, UTMNorthing, gamma, + k_unused, GeographicLib::UTMUPS::zonespec::MATCH); + GeographicLib::MGRS::Forward(zone, northp, UTMEasting, UTMNorthing, -1, UTMZone); +} + +/** + * Convert lat/long to UTM coords. + * + * East Longitudes are positive, West longitudes are negative. + * North latitudes are positive, South latitudes are negative + * Lat and Long are in fractional degrees + */ +static inline void LLtoUTM(const double Lat, const double Long, + double &UTMNorthing, double &UTMEasting, + std::string &UTMZone) +{ + double gamma = 0.0; + LLtoUTM(Lat, Long, UTMNorthing, UTMEasting, UTMZone, gamma); +} + +/** + * Converts UTM coords to lat/long. + * + * East Longitudes are positive, West longitudes are negative. + * North latitudes are positive, South latitudes are negative + * Lat and Long are in fractional degrees. + * + * @param[out] gamma meridian convergence at point (degrees). + */ +static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, + const std::string &UTMZone, double& Lat, double& Long, + double& /*gamma*/) +{ + int zone; + bool northp; + double x_unused; + double y_unused; + int prec_unused; + GeographicLib::MGRS::Reverse(UTMZone, zone, northp, x_unused, y_unused, prec_unused, true); + GeographicLib::UTMUPS::Reverse(zone, northp, UTMEasting, UTMNorthing, Lat, Long); +} + +/** + * Converts UTM coords to lat/long. + * + * East Longitudes are positive, West longitudes are negative. + * North latitudes are positive, South latitudes are negative + * Lat and Long are in fractional degrees. + */ +static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, + const std::string &UTMZone, double& Lat, double& Long) +{ + double gamma; + UTMtoLL(UTMNorthing, UTMEasting, UTMZone, Lat, Long, gamma); +} + +} // namespace NavsatConversions +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_NAVSAT_CONVERSIONS_H diff --git a/navigations/robot_localization/include/robot_localization/navsat_transform.h b/navigations/robot_localization/include/robot_localization/navsat_transform.h new file mode 100755 index 0000000..eb50e26 --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/navsat_transform.h @@ -0,0 +1,382 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_NAVSAT_TRANSFORM_H +#define ROBOT_LOCALIZATION_NAVSAT_TRANSFORM_H + +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include + +namespace RobotLocalization +{ + +class NavSatTransform +{ + public: + //! @brief Constructor + //! + NavSatTransform(ros::NodeHandle nh, ros::NodeHandle nh_priv); + + //! @brief Destructor + //! + ~NavSatTransform(); + + private: + //! @brief callback function which is called for periodic updates + //! + void periodicUpdate(const ros::TimerEvent& event); + + //! @brief Computes the transform from the UTM frame to the odom frame + //! + void computeTransform(); + + //! @brief Callback for the datum service + //! + bool datumCallback(robot_localization::SetDatum::Request& request, robot_localization::SetDatum::Response&); + + //! @brief Callback for the to Lat Long service + //! + bool toLLCallback(robot_localization::ToLL::Request& request, robot_localization::ToLL::Response& response); + + //! @brief Callback for the from Lat Long service + //! + bool fromLLCallback(robot_localization::FromLL::Request& request, robot_localization::FromLL::Response& response); + + //! @brief Callback for the UTM zone service + //! + bool setUTMZoneCallback(robot_localization::SetUTMZone::Request& request, + robot_localization::SetUTMZone::Response& response); + + //! @brief Given the pose of the navsat sensor in the cartesian frame, removes the offset from the vehicle's + //! centroid and returns the cartesian-frame pose of said centroid. + //! + void getRobotOriginCartesianPose(const tf2::Transform &gps_cartesian_pose, + tf2::Transform &robot_cartesian_pose, + const ros::Time &transform_time); + + //! @brief Given the pose of the navsat sensor in the world frame, removes the offset from the vehicle's centroid + //! and returns the world-frame pose of said centroid. + //! + void getRobotOriginWorldPose(const tf2::Transform &gps_odom_pose, + tf2::Transform &robot_odom_pose, + const ros::Time &transform_time); + + //! @brief Callback for the GPS fix data + //! @param[in] msg The NavSatFix message to process + //! + void gpsFixCallback(const sensor_msgs::NavSatFixConstPtr& msg); + + //! @brief Callback for the IMU data + //! @param[in] msg The IMU message to process + //! + void imuCallback(const sensor_msgs::ImuConstPtr& msg); + + //! @brief Callback for the odom data + //! @param[in] msg The odometry message to process + //! + void odomCallback(const nav_msgs::OdometryConstPtr& msg); + + //! @brief Converts the odometry data back to GPS and broadcasts it + //! @param[out] filtered_gps The NavSatFix message to prepare + //! + bool prepareFilteredGps(sensor_msgs::NavSatFix &filtered_gps); + + //! @brief Prepares the GPS odometry message before sending + //! @param[out] gps_odom The odometry message to prepare + //! + bool prepareGpsOdometry(nav_msgs::Odometry &gps_odom); + + //! @brief Used for setting the GPS data that will be used to compute the transform + //! @param[in] msg The NavSatFix message to use in the transform + //! + void setTransformGps(const sensor_msgs::NavSatFixConstPtr& msg); + + //! @brief Used for setting the odometry data that will be used to compute the transform + //! @param[in] msg The odometry message to use in the transform + //! + void setTransformOdometry(const nav_msgs::OdometryConstPtr& msg); + + //! @brief Transforms the passed in pose from utm to map frame + //! @param[in] cartesian_pose the pose in cartesian frame to use to transform + //! + nav_msgs::Odometry cartesianToMap(const tf2::Transform& cartesian_pose) const; + + //! @brief Transforms the passed in point from map frame to lat/long + //! @param[in] point the point in map frame to use to transform + //! + void mapToLL(const tf2::Vector3& point, double& latitude, double& longitude, double& altitude) const; + + //! @brief Whether or not we broadcast the cartesian transform + //! + bool broadcast_cartesian_transform_; + + //! @brief Whether to broadcast the cartesian transform as parent frame, default as child + //! + bool broadcast_cartesian_transform_as_parent_frame_; + + //! @brief Whether or not we have new GPS data + //! + //! We only want to compute and broadcast our transformed GPS data if it's new. This variable keeps track of that. + //! + bool gps_updated_; + + //! @brief Whether or not the GPS fix is usable + //! + bool has_transform_gps_; + + //! @brief Signifies that we have received a usable IMU message + //! + bool has_transform_imu_; + + //! @brief Signifies that we have received a usable odometry message + //! + bool has_transform_odom_; + + //! @brief Whether or not we have new odometry data + //! + //! If we're creating filtered GPS messages, then we only want to broadcast them when new odometry data arrives. + //! + bool odom_updated_; + + //! @brief Whether or not we publish filtered GPS messages + //! + bool publish_gps_; + + //! @brief Whether or not we've computed a good heading + //! + bool transform_good_; + + //! @brief Whether we get our datum from the first GPS message or from the set_datum + //! service/parameter + //! + bool use_manual_datum_; + + //! @brief Whether we get the transform's yaw from the odometry or IMU source + //! + bool use_odometry_yaw_; + + //! @brief Whether we use a Local Cartesian (tangent plane ENU) or the UTM coordinates as our cartesian + //! + bool use_local_cartesian_; + + //! @brief When true, do not print warnings for tf lookup failures. + //! + bool tf_silent_failure_; + + //! @brief Local Cartesian projection around gps origin + //! + GeographicLib::LocalCartesian gps_local_cartesian_; + + //! @brief Whether or not to report 0 altitude + //! + //! If this parameter is true, we always report 0 for the altitude of the converted GPS odometry message. + //! + bool zero_altitude_; + + //! @brief Parameter that specifies the magnetic declination for the robot's environment. + //! + double magnetic_declination_; + + //! @brief UTM's meridian convergence + //! + //! Angle between projected meridian (True North) and UTM's grid Y-axis. + //! For UTM projection (Ellipsoidal Transverse Mercator) it is zero on the equator and non-zero everywhere else. + //! It increases as the poles are approached or as we're getting farther from central meridian. + //! + double utm_meridian_convergence_; + + //! @brief IMU's yaw offset + //! + //! Your IMU should read 0 when facing *magnetic* north. If it doesn't, this (parameterized) value gives the offset + //! (NOTE: if you have a magenetic declination, use the parameter setting for that). + //! + double yaw_offset_; + + //! @brief Frame ID of the robot's body frame + //! + //! This is needed for obtaining transforms from the robot's body frame to the frames of sensors (IMU and GPS) + //! + std::string base_link_frame_id_; + + //! @brief The cartesian frame ID, default as 'local_enu' if using Local Cartesian or 'utm' if using the UTM + //! coordinates as our cartesian. + //! + std::string cartesian_frame_id_; + + //! @brief The frame_id of the GPS message (specifies mounting location) + //! + std::string gps_frame_id_; + + //! @brief the UTM zone (zero means UPS) + //! + int utm_zone_; + + //! @brief hemisphere (true means north, false means south) + //! + bool northp_; + + //! @brief Frame ID of the GPS odometry output + //! + //! This will just match whatever your odometry message has + //! + std::string world_frame_id_; + + //! @brief Covariance for most recent odometry data + //! + Eigen::MatrixXd latest_odom_covariance_; + + //! @brief Covariance for most recent GPS/UTM/LocalCartesian data + //! + Eigen::MatrixXd latest_cartesian_covariance_; + + //! @brief Timestamp of the latest good GPS message + //! + //! We assign this value to the timestamp of the odometry message that we output + //! + ros::Time gps_update_time_; + + //! @brief Timestamp of the latest good odometry message + //! + //! We assign this value to the timestamp of the odometry message that we output + //! + ros::Time odom_update_time_; + + //! @brief Parameter that specifies the how long we wait for a transform to become available. + //! + ros::Duration transform_timeout_; + + //! @brief timer calling periodicUpdate + //! + ros::Timer periodicUpdateTimer_; + + //! @brief Latest IMU orientation + //! + tf2::Quaternion transform_orientation_; + + //! @brief Latest GPS data, stored as Cartesian coords + //! + tf2::Transform latest_cartesian_pose_; + + //! @brief Latest odometry pose data + //! + tf2::Transform latest_world_pose_; + + //! @brief Holds the cartesian (UTM or local ENU) pose that is used to compute the transform + //! + tf2::Transform transform_cartesian_pose_; + + //! @brief Latest IMU orientation + //! + tf2::Transform transform_world_pose_; + + //! @brief Holds the Cartesian->odom transform + //! + tf2::Transform cartesian_world_transform_; + + //! @brief Holds the odom->UTM transform for filtered GPS broadcast + //! + tf2::Transform cartesian_world_trans_inverse_; + + //! @brief Publiser for filtered gps data + //! + ros::Publisher filtered_gps_pub_; + + //! @brief GPS subscriber + //! + ros::Subscriber gps_sub_; + + //! @brief Subscribes to imu topic + //! + ros::Subscriber imu_sub_; + + //! @brief Odometry subscriber + //! + ros::Subscriber odom_sub_; + + //! @brief Publisher for gps data + //! + ros::Publisher gps_odom_pub_; + + //! @brief Service for set datum + //! + ros::ServiceServer datum_srv_; + + //! @brief Service for to Lat Long + //! + ros::ServiceServer to_ll_srv_; + + //! @brief Service for from Lat Long + //! + ros::ServiceServer from_ll_srv_; + + //! @brief Service for set UTM zone + //! + ros::ServiceServer set_utm_zone_srv_; + + //! @brief Transform buffer for managing coordinate transforms + //! + tf2_ros::Buffer tf_buffer_; + + //! @brief Transform listener for receiving transforms + //! + tf2_ros::TransformListener tf_listener_; + + //! @brief Used for publishing the static world_frame->cartesian transform + //! + tf2_ros::StaticTransformBroadcaster cartesian_broadcaster_; +}; + +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_NAVSAT_TRANSFORM_H diff --git a/navigations/robot_localization/include/robot_localization/robot_localization_estimator.h b/navigations/robot_localization/include/robot_localization/robot_localization_estimator.h new file mode 100755 index 0000000..ef862f4 --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/robot_localization_estimator.h @@ -0,0 +1,222 @@ +/* + * Copyright (c) 2016, TNO IVS Helmond. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_ROBOT_LOCALIZATION_ESTIMATOR_H +#define ROBOT_LOCALIZATION_ROBOT_LOCALIZATION_ESTIMATOR_H + +#include +#include +#include +#include + +#include "robot_localization/filter_base.h" +#include "robot_localization/filter_utilities.h" +#include "robot_localization/filter_common.h" + +namespace RobotLocalization +{ + +struct Twist +{ + Eigen::Vector3d linear; + Eigen::Vector3d angular; +}; + +//! @brief Robot Localization Estimator State +//! +//! The Estimator State data structure bundles the state information of the estimator. +//! +struct EstimatorState +{ + EstimatorState(): + time_stamp(0.0), + state(STATE_SIZE), + covariance(STATE_SIZE, STATE_SIZE) + { + state.setZero(); + covariance.setZero(); + } + + //! @brief Time at which this state is/was achieved + double time_stamp; + + //! @brief System state at time = time_stamp + Eigen::VectorXd state; + + //! @brief System state covariance at time = time_stamp + Eigen::MatrixXd covariance; + + friend std::ostream& operator<<(std::ostream &os, const EstimatorState& state) + { + return os << "state:\n - time_stamp: " << state.time_stamp << + "\n - state: \n" << state.state << + " - covariance: \n" << state.covariance; + } +}; + +namespace EstimatorResults +{ +enum EstimatorResult +{ + ExtrapolationIntoFuture = 0, + Interpolation, + ExtrapolationIntoPast, + Exact, + EmptyBuffer, + Failed +}; +} // namespace EstimatorResults +typedef EstimatorResults::EstimatorResult EstimatorResult; + +namespace FilterTypes +{ +enum FilterType +{ + EKF = 0, + UKF, + NotDefined +}; +} // namespace FilterTypes +typedef FilterTypes::FilterType FilterType; + +//! @brief Robot Localization Listener class +//! +//! The Robot Localization Estimator class buffers states of and inputs to a system and can interpolate and extrapolate +//! based on a given system model. +//! +class RobotLocalizationEstimator +{ +public: + //! @brief Constructor for the RobotLocalizationListener class + //! + //! @param[in] args - Generic argument container (not used here, but needed so that the ROS filters can pass arbitrary + //! arguments to templated filter types). + //! + explicit RobotLocalizationEstimator(unsigned int buffer_capacity, + FilterType filter_type, + const Eigen::MatrixXd& process_noise_covariance, + const std::vector& filter_args = std::vector()); + + //! @brief Destructor for the RobotLocalizationListener class + //! + virtual ~RobotLocalizationEstimator(); + + //! @brief Sets the current internal state of the listener. + //! + //! @param[in] state - The new state vector to set the internal state to + //! + void setState(const EstimatorState& state); + + //! @brief Returns the state at a given time + //! + //! Projects the current state and error matrices forward using a model of the robot's motion. + //! + //! @param[in] time - The time to which the prediction is being made + //! @param[out] state - The returned state at the given time + //! + //! @return GetStateResult enum + //! + EstimatorResult getState(const double time, EstimatorState &state) const; + + //! @brief Clears the internal state buffer + //! + void clearBuffer(); + + //! @brief Sets the buffer capacity + //! + //! @param[in] capacity - The new buffer capacity + //! + void setBufferCapacity(const int capacity); + + //! @brief Returns the buffer capacity + //! + //! Returns the number of EstimatorState objects that can be pushed to the buffer before old ones are dropped. (The + //! capacity of the buffer). + //! + //! @return buffer capacity + //! + unsigned int getBufferCapacity() const; + + //! @brief Returns the current buffer size + //! + //! Returns the number of EstimatorState objects currently in the buffer. + //! + //! @return current buffer size + //! + unsigned int getSize() const; + +private: + friend std::ostream& operator<<(std::ostream &os, const RobotLocalizationEstimator& rle) + { + for ( boost::circular_buffer::const_iterator it = rle.state_buffer_.begin(); + it != rle.state_buffer_.end(); ++it ) + { + os << *it << "\n"; + } + return os; + } + + //! @brief Extrapolates the given state to a requested time stamp + //! + //! @param[in] boundary_state - state from which to extrapolate + //! @param[in] requested_time - time stamp to extrapolate to + //! @param[out] state_at_req_time - predicted state at requested time + //! + void extrapolate(const EstimatorState& boundary_state, + const double requested_time, + EstimatorState& state_at_req_time) const; + + //! @brief Interpolates the given state to a requested time stamp + //! + //! @param[in] given_state_1 - last state update before requested time + //! @param[in] given_state_2 - next state update after requested time + //! @param[in] requested_time - time stamp to extrapolate to + //! @param[out] state_at_req_time - predicted state at requested time + //! + void interpolate(const EstimatorState& given_state_1, const EstimatorState& given_state_2, + const double requested_time, EstimatorState& state_at_req_time) const; + + //! + //! @brief The buffer holding the system states that have come in. Interpolation and extrapolation is done starting + //! from these states. + //! + boost::circular_buffer state_buffer_; + + //! + //! @brief A pointer to the filter instance that is used for extrapolation + //! + FilterBase* filter_; +}; + +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_ROBOT_LOCALIZATION_ESTIMATOR_H diff --git a/navigations/robot_localization/include/robot_localization/ros_filter.h b/navigations/robot_localization/include/robot_localization/ros_filter.h new file mode 100755 index 0000000..9eb6bf7 --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/ros_filter.h @@ -0,0 +1,767 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_ROS_FILTER_H +#define ROBOT_LOCALIZATION_ROS_FILTER_H + +#include "robot_localization/ros_filter_utilities.h" +#include "robot_localization/filter_common.h" +#include "robot_localization/filter_base.h" + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace RobotLocalization +{ + +struct CallbackData +{ + CallbackData(const std::string &topicName, + const std::vector &updateVector, + const int updateSum, + const bool differential, + const bool relative, + const bool pose_use_child_frame, + const double rejectionThreshold) : + topicName_(topicName), + updateVector_(updateVector), + updateSum_(updateSum), + differential_(differential), + relative_(relative), + pose_use_child_frame_(pose_use_child_frame), + rejectionThreshold_(rejectionThreshold) + { + } + + std::string topicName_; + std::vector updateVector_; + int updateSum_; + bool differential_; + bool relative_; + bool pose_use_child_frame_; + double rejectionThreshold_; +}; + +typedef std::priority_queue, Measurement> MeasurementQueue; +typedef std::deque MeasurementHistoryDeque; +typedef std::deque FilterStateHistoryDeque; + +template class RosFilter +{ + public: + //! @brief Constructor + //! + //! The RosFilter constructor makes sure that anyone using + //! this template is doing so with the correct object type + //! + explicit RosFilter(ros::NodeHandle nh, + ros::NodeHandle nh_priv, + std::string node_name, + std::vector args = std::vector()); + + //! @brief Constructor + //! + //! The RosFilter constructor makes sure that anyone using + //! this template is doing so with the correct object type + //! + explicit RosFilter(ros::NodeHandle nh, ros::NodeHandle nh_priv, std::vector args = std::vector()); + + //! @brief Destructor + //! + //! Clears out the message filters and topic subscribers. + //! + ~RosFilter(); + + //! @brief Initialize filter + // + void initialize(); + + //! @brief Resets the filter to its initial state + //! + void reset(); + + //! @brief Service callback to toggle processing measurements for a standby mode but continuing to publish + //! @param[in] request - The state requested, on (True) or off (False) + //! @param[out] response - status if upon success + //! @return boolean true if successful, false if not + bool toggleFilterProcessingCallback(robot_localization::ToggleFilterProcessing::Request&, + robot_localization::ToggleFilterProcessing::Response&); + + //! @brief Callback method for receiving all acceleration (IMU) messages + //! @param[in] msg - The ROS IMU message to take in. + //! @param[in] callbackData - Relevant static callback data + //! @param[in] targetFrame - The target frame_id into which to transform the data + //! + void accelerationCallback(const sensor_msgs::Imu::ConstPtr &msg, + const CallbackData &callbackData, + const std::string &targetFrame); + + //! @brief Callback method for receiving non-stamped control input + //! @param[in] msg - The ROS twist message to take in + //! + void controlCallback(const geometry_msgs::Twist::ConstPtr &msg); + + //! @brief Callback method for receiving stamped control input + //! @param[in] msg - The ROS stamped twist message to take in + //! + void controlCallback(const geometry_msgs::TwistStamped::ConstPtr &msg); + + //! @brief Adds a measurement to the queue of measurements to be processed + //! + //! @param[in] topicName - The name of the measurement source (only used for debugging) + //! @param[in] measurement - The measurement to enqueue + //! @param[in] measurementCovariance - The covariance of the measurement + //! @param[in] updateVector - The boolean vector that specifies which variables to update from this measurement + //! @param[in] mahalanobisThresh - Threshold, expressed as a Mahalanobis distance, for outlier rejection + //! @param[in] time - The time of arrival (in seconds) + //! + void enqueueMeasurement(const std::string &topicName, + const Eigen::VectorXd &measurement, + const Eigen::MatrixXd &measurementCovariance, + const std::vector &updateVector, + const double mahalanobisThresh, + const ros::Time &time); + + //! @brief Method for zeroing out 3D variables within measurements + //! @param[out] measurement - The measurement whose 3D variables will be zeroed out + //! @param[out] measurementCovariance - The covariance of the measurement + //! @param[out] updateVector - The boolean update vector of the measurement + //! + //! If we're in 2D mode, then for every measurement from every sensor, we call this. + //! It sets the 3D variables to 0, gives those variables tiny variances, and sets + //! their updateVector values to 1. + //! + void forceTwoD(Eigen::VectorXd &measurement, + Eigen::MatrixXd &measurementCovariance, + std::vector &updateVector); + + //! @brief Retrieves the EKF's output for broadcasting + //! @param[out] message - The standard ROS odometry message to be filled + //! @return true if the filter is initialized, false otherwise + //! + bool getFilteredOdometryMessage(nav_msgs::Odometry &message); + + //! @brief Retrieves the EKF's acceleration output for broadcasting + //! @param[out] message - The standard ROS acceleration message to be filled + //! @return true if the filter is initialized, false otherwise + //! + bool getFilteredAccelMessage(geometry_msgs::AccelWithCovarianceStamped &message); + + //! @brief Callback method for receiving all IMU messages + //! @param[in] msg - The ROS IMU message to take in. + //! @param[in] topicName - The topic name for the IMU message (only used for debug output) + //! @param[in] poseCallbackData - Relevant static callback data for orientation variables + //! @param[in] twistCallbackData - Relevant static callback data for angular velocity variables + //! @param[in] accelCallbackData - Relevant static callback data for linear acceleration variables + //! + //! This method separates out the orientation, angular velocity, and linear acceleration data and + //! passed each on to its respective callback. + //! + void imuCallback(const sensor_msgs::Imu::ConstPtr &msg, const std::string &topicName, + const CallbackData &poseCallbackData, const CallbackData &twistCallbackData, + const CallbackData &accelCallbackData); + + //! @brief Processes all measurements in the measurement queue, in temporal order + //! + //! @param[in] currentTime - The time at which to carry out integration (the current time) + //! + void integrateMeasurements(const ros::Time ¤tTime); + + //! @brief Differentiate angular velocity for angular acceleration + //! + //! @param[in] currentTime - The time at which to carry out differentiation (the current time) + //! + //! Maybe more state variables can be time-differentiated to estimate higher-order states, + //! but now we only focus on obtaining the angular acceleration. It implements a backward- + //! Euler differentiation. + //! + void differentiateMeasurements(const ros::Time ¤tTime); + + //! @brief Loads all parameters from file + //! + void loadParams(); + + //! @brief Callback method for receiving all odometry messages + //! @param[in] msg - The ROS odometry message to take in. + //! @param[in] topicName - The topic name for the odometry message (only used for debug output) + //! @param[in] poseCallbackData - Relevant static callback data for pose variables + //! @param[in] twistCallbackData - Relevant static callback data for twist variables + //! + //! This method simply separates out the pose and twist data into two new messages, and passes them into their + //! respective callbacks + //! + void odometryCallback(const nav_msgs::Odometry::ConstPtr &msg, const std::string &topicName, + const CallbackData &poseCallbackData, const CallbackData &twistCallbackData); + + //! @brief Callback method for receiving all pose messages + //! @param[in] msg - The ROS stamped pose with covariance message to take in + //! @param[in] callbackData - Relevant static callback data + //! @param[in] targetFrame - The target frame_id into which to transform the data + //! @param[in] poseSourceFrame - The source frame_id from which to transform the data + //! @param[in] imuData - Whether this data comes from an IMU + //! + void poseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg, + const CallbackData &callbackData, + const std::string &targetFrame, + const std::string &poseSourceFrame, + const bool imuData); + + //! @brief Callback method for manually setting/resetting the internal pose estimate + //! @param[in] msg - The ROS stamped pose with covariance message to take in + //! + void setPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg); + + //! @brief Service callback for manually setting/resetting the internal pose estimate + //! + //! @param[in] request - Custom service request with pose information + //! @return true if successful, false if not + bool setPoseSrvCallback(robot_localization::SetPose::Request& request, + robot_localization::SetPose::Response&); + + //! @brief Service callback for manually enable the filter + //! @param[in] request - N/A + //! @param[out] response - N/A + //! @return boolean true if successful, false if not + bool enableFilterSrvCallback(std_srvs::Empty::Request&, + std_srvs::Empty::Response&); + + //! @brief Callback method for receiving all twist messages + //! @param[in] msg - The ROS stamped twist with covariance message to take in. + //! @param[in] callbackData - Relevant static callback data + //! @param[in] targetFrame - The target frame_id into which to transform the data + //! + void twistCallback(const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg, + const CallbackData &callbackData, + const std::string &targetFrame); + + //! @brief Validates filter outputs for NaNs and Infinite values + //! @param[out] message - The standard ROS odometry message to be validated + //! @return true if the filter output is valid, false otherwise + //! + bool validateFilterOutput(const nav_msgs::Odometry &message); + + protected: + //! @brief Finds the latest filter state before the given timestamp and makes it the current state again. + //! + //! This method also inserts all measurements between the older filter timestamp and now into the measurements + //! queue. + //! + //! @param[in] time - The time to which the filter state should revert + //! @return True if restoring the filter succeeded. False if not. + //! + bool revertTo(const double time); + + //! @brief Saves the current filter state in the queue of previous filter states + //! + //! These measurements will be used in backwards smoothing in the event that older measurements come in. + //! @param[in] filter - The filter base object whose state we want to save + //! + void saveFilterState(FilterBase &filter); + + //! @brief Removes measurements and filter states older than the given cutoff time. + //! @param[in] cutoffTime - Measurements and states older than this time will be dropped. + //! + void clearExpiredHistory(const double cutoffTime); + + //! @brief Clears measurement queue + //! + void clearMeasurementQueue(); + + //! @brief Adds a diagnostic message to the accumulating map and updates the error level + //! @param[in] errLevel - The error level of the diagnostic + //! @param[in] topicAndClass - The sensor topic (if relevant) and class of diagnostic + //! @param[in] message - Details of the diagnostic + //! @param[in] staticDiag - Whether or not this diagnostic information is static + //! + void addDiagnostic(const int errLevel, + const std::string &topicAndClass, + const std::string &message, + const bool staticDiag); + + //! @brief Aggregates all diagnostics so they can be published + //! @param[in] wrapper - The diagnostic status wrapper to update + //! + void aggregateDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &wrapper); + + //! @brief Utility method for copying covariances from ROS covariance arrays + //! to Eigen matrices + //! + //! This method copies the covariances and also does some data validation, which is + //! why it requires more parameters than just the covariance containers. + //! @param[in] arr - The source array for the covariance data + //! @param[in] covariance - The destination matrix for the covariance data + //! @param[in] topicName - The name of the source data topic (for debug purposes) + //! @param[in] updateVector - The update vector for the source topic + //! @param[in] offset - The "starting" location within the array/update vector + //! @param[in] dimension - The number of values to copy, starting at the offset + //! + void copyCovariance(const double *arr, + Eigen::MatrixXd &covariance, + const std::string &topicName, + const std::vector &updateVector, + const size_t offset, + const size_t dimension); + + //! @brief Utility method for copying covariances from Eigen matrices to ROS + //! covariance arrays + //! + //! @param[in] covariance - The source matrix for the covariance data + //! @param[in] arr - The destination array + //! @param[in] dimension - The number of values to copy + //! + void copyCovariance(const Eigen::MatrixXd &covariance, + double *arr, + const size_t dimension); + + //! @brief Loads fusion settings from the config file + //! @param[in] topicName - The name of the topic for which to load settings + //! @return The boolean vector of update settings for each variable for this topic + //! + std::vector loadUpdateConfig(const std::string &topicName); + + //! @brief Prepares an IMU message's linear acceleration for integration into the filter + //! @param[in] msg - The IMU message to prepare + //! @param[in] topicName - The name of the topic over which this message was received + //! @param[in] targetFrame - The target tf frame + //! @param[in] updateVector - The update vector for the data source + //! @param[in] measurement - The twist data converted to a measurement + //! @param[in] measurementCovariance - The covariance of the converted measurement + //! + bool prepareAcceleration(const sensor_msgs::Imu::ConstPtr &msg, + const std::string &topicName, + const std::string &targetFrame, + const bool relative, + std::vector &updateVector, + Eigen::VectorXd &measurement, + Eigen::MatrixXd &measurementCovariance); + + //! @brief Prepares a pose message for integration into the filter + //! @param[in] msg - The pose message to prepare + //! @param[in] topicName - The name of the topic over which this message was received + //! @param[in] targetFrame - The target tf frame + //! @param[in] sourceFrame - The source tf frame + //! @param[in] differential - Whether we're carrying out differential integration + //! @param[in] relative - Whether this measurement is processed relative to the first + //! @param[in] imuData - Whether this measurement is from an IMU + //! @param[in,out] updateVector - The update vector for the data source + //! @param[out] measurement - The pose data converted to a measurement + //! @param[out] measurementCovariance - The covariance of the converted measurement + //! @return true indicates that the measurement was successfully prepared, false otherwise + //! + bool preparePose(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg, + const std::string &topicName, + const std::string &targetFrame, + const std::string &sourceFrame, + const bool differential, + const bool relative, + const bool imuData, + std::vector &updateVector, + Eigen::VectorXd &measurement, + Eigen::MatrixXd &measurementCovariance); + + //! @brief Prepares a twist message for integration into the filter + //! @param[in] msg - The twist message to prepare + //! @param[in] topicName - The name of the topic over which this message was received + //! @param[in] targetFrame - The target tf frame + //! @param[in,out] updateVector - The update vector for the data source + //! @param[out] measurement - The twist data converted to a measurement + //! @param[out] measurementCovariance - The covariance of the converted measurement + //! @return true indicates that the measurement was successfully prepared, false otherwise + //! + bool prepareTwist(const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg, + const std::string &topicName, + const std::string &targetFrame, + std::vector &updateVector, + Eigen::VectorXd &measurement, + Eigen::MatrixXd &measurementCovariance); + + + //! @brief callback function which is called for periodic updates + //! + void periodicUpdate(const ros::TimerEvent& event); + + //! @brief Start the Filter disabled at startup + //! + //! If this is true, the filter reads parameters and prepares publishers and subscribes + //! but does not integrate new messages into the state vector. + //! The filter can be enabled later using a service. + bool disabledAtStartup_; + + //! @brief Whether the filter is enabled or not. See disabledAtStartup_. + bool enabled_; + + //! Whether we'll allow old measurements to cause a re-publication of the updated state + bool permitCorrectedPublication_; + + //! @brief By default, the filter predicts and corrects up to the time of the latest measurement. If this is set + //! to true, the filter does the same, but then also predicts up to the current time step. + //! + bool predictToCurrentTime_; + + //! @brief Whether or not we print diagnostic messages to the /diagnostics topic + //! + bool printDiagnostics_; + + //! @brief Whether we publish the acceleration + //! + bool publishAcceleration_; + + //! @brief Whether we publish the transform from the world_frame to the base_link_frame + //! + bool publishTransform_; + + //! @brief Whether to reset the filters when backwards jump in time is detected + //! + //! This is usually the case when logs are being used and a jump in the logi + //! is done or if a log files restarts from the beginning. + //! + bool resetOnTimeJump_; + + //! @brief Whether or not we use smoothing + //! + bool smoothLaggedData_; + + //! @brief Whether the filter should process new measurements or not. + bool toggledOn_; + + //! @brief Whether or not we're in 2D mode + //! + //! If this is true, the filter binds all 3D variables (Z, + //! roll, pitch, and their respective velocities) to 0 for + //! every measurement. + //! + bool twoDMode_; + + //! @brief Whether or not we use a control term + //! + bool useControl_; + + //! @brief When true, do not print warnings for tf lookup failures. + //! + bool tfSilentFailure_; + + //! @brief The max (worst) dynamic diagnostic level. + //! + int dynamicDiagErrorLevel_; + + //! @brief The max (worst) static diagnostic level. + //! + int staticDiagErrorLevel_; + + //! @brief The frequency of the run loop + //! + double frequency_; + + //! @brief What is the acceleration in Z due to gravity (m/s^2)? Default is +9.80665. + //! + double gravitationalAcc_; + + //! @brief The depth of the history we track for smoothing/delayed measurement processing + //! + //! This is the guaranteed minimum buffer size for which previous states and measurements are kept. + //! + double historyLength_; + + //! @brief minimal frequency + //! + double minFrequency_; + + //! @brief maximal frequency + double maxFrequency_; + + //! @brief tf frame name for the robot's body frame + //! + std::string baseLinkFrameId_; + + //! @brief tf frame name for the robot's body frame + //! + //! When the final state is computed, we "override" the output transform and message to have this frame for its + //! child_frame_id. This helps to enable disconnected TF trees when multiple EKF instances are being run. + //! + std::string baseLinkOutputFrameId_; + + //! @brief tf frame name for the robot's map (world-fixed) frame + //! + std::string mapFrameId_; + + //! @brief tf frame name for the robot's odometry (world-fixed) frame + //! + std::string odomFrameId_; + + //! @brief tf frame name that is the parent frame of the transform that this node will calculate and broadcast. + //! + std::string worldFrameId_; + + //! @brief Used for outputting debug messages + //! + std::ofstream debugStream_; + + //! @brief Contains the state vector variable names in string format + //! + std::vector stateVariableNames_; + + //! @brief Vector to hold our subscribers until they go out of scope + //! + std::vector topicSubs_; + + //! @brief This object accumulates dynamic diagnostics, e.g., diagnostics relating + //! to sensor data. + //! + //! The values are considered transient and are cleared at every iteration. + //! + std::map dynamicDiagnostics_; + + //! @brief Stores the first measurement from each topic for relative measurements + //! + //! When a given sensor is being integrated in relative mode, its first measurement + //! is effectively treated as an offset, and future measurements have this first + //! measurement removed before they are fused. This variable stores the initial + //! measurements. Note that this is different from using differential mode, as in + //! differential mode, pose data is converted to twist data, resulting in boundless + //! error growth for the variables being fused. With relative measurements, the + //! vehicle will start with a 0 heading and position, but the measurements are still + //! fused absolutely. + std::map initialMeasurements_; + + //! @brief Store the last time a message from each topic was received + //! + //! If we're getting messages rapidly, we may accidentally get + //! an older message arriving after a newer one. This variable keeps + //! track of the most recent message time for each subscribed message + //! topic. We also use it when listening to odometry messages to + //! determine if we should be using messages from that topic. + //! + std::map lastMessageTimes_; + + //! @brief We also need the previous covariance matrix for differential data + //! + std::map previousMeasurementCovariances_; + + //! @brief Stores the last measurement from a given topic for differential integration + //! + //! To carry out differential integration, we have to (1) transform + //! that into the target frame (probably the frame specified by + //! @p odomFrameId_), (2) "subtract" the previous measurement from + //! the current measurement, and then (3) transform it again by the previous + //! state estimate. This holds the measurements used for step (2). + //! + std::map previousMeasurements_; + + //! @brief If including acceleration for each IMU input, whether or not we remove acceleration due to gravity + //! + std::map removeGravitationalAcc_; + + //! @brief This object accumulates static diagnostics, e.g., diagnostics relating + //! to the configuration parameters. + //! + //! The values are treated as static and always reported (i.e., this object is never cleared) + //! + std::map staticDiagnostics_; + + //! @brief Last time mark that time-differentiation is calculated + //! + ros::Time lastDiffTime_; + + //! @brief Last record of filtered angular velocity + //! + tf2::Vector3 lastStateTwistRot_; + + //! @brief Calculated angular acceleration from time-differencing + //! + tf2::Vector3 angular_acceleration_; + + //! @brief Covariance of the calculated angular acceleration + //! + Eigen::MatrixXd angular_acceleration_cov_; + + //! @brief The most recent control input + //! + Eigen::VectorXd latestControl_; + + //! @brief Message that contains our latest transform (i.e., state) + //! + //! We use the vehicle's latest state in a number of places, and often + //! use it as a transform, so this is the most convenient variable to + //! use as our global "current state" object + //! + geometry_msgs::TransformStamped worldBaseLinkTransMsg_; + + //! @brief last call of periodicUpdate + //! + ros::Time lastDiagTime_; + + //! @brief The time of the most recent published state + //! + ros::Time lastPublishedStamp_; + + //! @brief Store the last time set pose message was received + //! + //! If we receive a setPose message to reset the filter, we can get in + //! strange situations wherein we process the pose reset, but then even + //! after another spin cycle or two, we can get a new message with a time + //! stamp that is *older* than the setPose message's time stamp. This means + //! we have to check the message's time stamp against the lastSetPoseTime_. + ros::Time lastSetPoseTime_; + + //! @brief The time of the most recent control input + //! + ros::Time latestControlTime_; + + //! @brief For future (or past) dating the world_frame->base_link_frame transform + //! + ros::Duration tfTimeOffset_; + + //! @brief Parameter that specifies the how long we wait for a transform to become available. + //! + ros::Duration tfTimeout_; + + //! @brief Service that allows another node to toggle on/off filter processing while still publishing. + //! Uses a robot_localization ToggleFilterProcessing service. + //! + ros::ServiceServer toggleFilterProcessingSrv_; + + //! @brief timer calling periodicUpdate + //! + ros::Timer periodicUpdateTimer_; + + //! @brief An implicitly time ordered queue of past filter states used for smoothing. + // + // front() refers to the filter state with the earliest timestamp. + // back() refers to the filter state with the latest timestamp. + FilterStateHistoryDeque filterStateHistory_; + + //! @brief A deque of previous measurements which is implicitly ordered from earliest to latest measurement. + // when popped from the measurement priority queue. + // front() refers to the measurement with the earliest timestamp. + // back() refers to the measurement with the latest timestamp. + MeasurementHistoryDeque measurementHistory_; + + //! @brief We process measurements by queueing them up in + //! callbacks and processing them all at once within each + //! iteration + //! + MeasurementQueue measurementQueue_; + + //! @brief Our filter (EKF, UKF, etc.) + //! + T filter_; + + //! @brief Node handle + //! + ros::NodeHandle nh_; + + //! @brief Local node handle (for params) + //! + ros::NodeHandle nhLocal_; + + //! @brief optional acceleration publisher + //! + ros::Publisher accelPub_; + + //! @brief position publisher + //! + ros::Publisher positionPub_; + + //! @brief Subscribes to the control input topic + //! + ros::Subscriber controlSub_; + + //! @brief Subscribes to the set_pose topic (usually published from rviz). Message + //! type is geometry_msgs/PoseWithCovarianceStamped. + //! + ros::Subscriber setPoseSub_; + + //! @brief Service that allows another node to enable the filter. Uses a standard Empty service. + //! + ros::ServiceServer enableFilterSrv_; + + //! @brief Service that allows another node to change the current state and recieve a confirmation. Uses + //! a custom SetPose service. + //! + ros::ServiceServer setPoseSrv_; + + //! @brief Used for updating the diagnostics + //! + diagnostic_updater::Updater diagnosticUpdater_; + + //! @brief Transform buffer for managing coordinate transforms + //! + tf2_ros::Buffer tfBuffer_; + + //! @brief Transform listener for receiving transforms + //! + tf2_ros::TransformListener tfListener_; + + //! @brief broadcaster of worldTransform tfs + //! + tf2_ros::TransformBroadcaster worldTransformBroadcaster_; + + //! @brief optional signaling diagnostic frequency + //! + std::unique_ptr freqDiag_; +}; + +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_ROS_FILTER_H diff --git a/navigations/robot_localization/include/robot_localization/ros_filter_types.h b/navigations/robot_localization/include/robot_localization/ros_filter_types.h new file mode 100755 index 0000000..635572b --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/ros_filter_types.h @@ -0,0 +1,48 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_ROS_FILTER_TYPES_H +#define ROBOT_LOCALIZATION_ROS_FILTER_TYPES_H + +#include "robot_localization/ros_filter.h" +#include "robot_localization/ekf.h" +#include "robot_localization/ukf.h" + +namespace RobotLocalization +{ + +typedef RosFilter RosEkf; +typedef RosFilter RosUkf; + +} + +#endif // ROBOT_LOCALIZATION_ROS_FILTER_TYPES_H diff --git a/navigations/robot_localization/include/robot_localization/ros_filter_utilities.h b/navigations/robot_localization/include/robot_localization/ros_filter_utilities.h new file mode 100755 index 0000000..16346e3 --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/ros_filter_utilities.h @@ -0,0 +1,135 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_ROS_FILTER_UTILITIES_H +#define ROBOT_LOCALIZATION_ROS_FILTER_UTILITIES_H + +#include +#include +#include + +#include + +#include +#include +#include +#include + +#define RF_DEBUG(msg) if (filter_.getDebug()) { debugStream_ << msg; } + +// Handy methods for debug output +std::ostream& operator<<(std::ostream& os, const tf2::Vector3 &vec); +std::ostream& operator<<(std::ostream& os, const tf2::Quaternion &quat); +std::ostream& operator<<(std::ostream& os, const tf2::Transform &trans); +std::ostream& operator<<(std::ostream& os, const std::vector &vec); + +namespace RobotLocalization +{ +namespace RosFilterUtilities +{ + +double getYaw(const tf2::Quaternion quat); + +//! @brief Method for safely obtaining transforms. +//! @param[in] buffer - tf buffer object to use for looking up the transform +//! @param[in] targetFrame - The target frame of the desired transform +//! @param[in] sourceFrame - The source frame of the desired transform +//! @param[in] time - The time at which we want the transform +//! @param[in] timeout - How long to block before falling back to last transform +//! @param[out] targetFrameTrans - The resulting transform object +//! @param[in] silent - Whether or not to print transform warnings +//! @return Sets the value of @p targetFrameTrans and returns true if successful, +//! false otherwise. +//! +//! This method attempts to obtain a transform from the @p sourceFrame to the @p +//! targetFrame at the specific @p time. If no transform is available at that time, +//! it attempts to simply obtain the latest transform. If that still fails, then the +//! method checks to see if the transform is going from a given frame_id to itself. +//! If any of these checks succeed, the method sets the value of @p targetFrameTrans +//! and returns true, otherwise it returns false. +//! +bool lookupTransformSafe(const tf2_ros::Buffer &buffer, + const std::string &targetFrame, + const std::string &sourceFrame, + const ros::Time &time, + const ros::Duration &timeout, + tf2::Transform &targetFrameTrans, + const bool silent = false); + +//! @brief Method for safely obtaining transforms. +//! @param[in] buffer - tf buffer object to use for looking up the transform +//! @param[in] targetFrame - The target frame of the desired transform +//! @param[in] sourceFrame - The source frame of the desired transform +//! @param[in] time - The time at which we want the transform +//! @param[out] targetFrameTrans - The resulting transform object +//! @param[in] silent - Whether or not to print transform warnings +//! @return Sets the value of @p targetFrameTrans and returns true if successful, +//! false otherwise. +//! +//! This method attempts to obtain a transform from the @p sourceFrame to the @p +//! targetFrame at the specific @p time. If no transform is available at that time, +//! it attempts to simply obtain the latest transform. If that still fails, then the +//! method checks to see if the transform is going from a given frame_id to itself. +//! If any of these checks succeed, the method sets the value of @p targetFrameTrans +//! and returns true, otherwise it returns false. +//! +bool lookupTransformSafe(const tf2_ros::Buffer &buffer, + const std::string &targetFrame, + const std::string &sourceFrame, + const ros::Time &time, + tf2::Transform &targetFrameTrans, + const bool silent = false); + +//! @brief Utility method for converting quaternion to RPY +//! @param[in] quat - The quaternion to convert +//! @param[out] roll - The converted roll +//! @param[out] pitch - The converted pitch +//! @param[out] yaw - The converted yaw +//! +void quatToRPY(const tf2::Quaternion &quat, double &roll, double &pitch, double &yaw); + +//! @brief Converts our Eigen state vector into a TF transform/pose +//! @param[in] state - The state to convert +//! @param[out] stateTF - The converted state +//! +void stateToTF(const Eigen::VectorXd &state, tf2::Transform &stateTF); + +//! @brief Converts a TF transform/pose into our Eigen state vector +//! @param[in] stateTF - The state to convert +//! @param[out] state - The converted state +//! +void TFtoState(const tf2::Transform &stateTF, Eigen::VectorXd &state); + +} // namespace RosFilterUtilities +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_ROS_FILTER_UTILITIES_H diff --git a/navigations/robot_localization/include/robot_localization/ros_robot_localization_listener.h b/navigations/robot_localization/include/robot_localization/ros_robot_localization_listener.h new file mode 100755 index 0000000..d0d8ccc --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/ros_robot_localization_listener.h @@ -0,0 +1,171 @@ +/* + * Copyright (c) 2016, TNO IVS Helmond. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_ROS_ROBOT_LOCALIZATION_LISTENER_H +#define ROBOT_LOCALIZATION_ROS_ROBOT_LOCALIZATION_LISTENER_H + +#include "robot_localization/robot_localization_estimator.h" + +#include + +#include +#include +#include +#include +#include +#include + +namespace RobotLocalization +{ + +//! @brief RosRobotLocalizationListener class +//! +//! This class wraps the RobotLocalizationEstimator. It listens to topics over which the (filtered) robot state is +//! published (odom and accel) and pushes them into its instance of the RobotLocalizationEstimator. It exposes a +//! getState method to offer the user the estimated state at a requested time. This class offers the option to run this +//! listener without the need to run a separate node. If you do wish to run this functionality in a separate node, +//! consider the robot localization listener node. +//! +class RosRobotLocalizationListener +{ +public: + //! @brief Constructor + //! + //! The RosRobotLocalizationListener constructor initializes nodehandles, subscribers, a filter for synchronized + //! listening to the topics it subscribes to, and an instance of the RobotLocalizationEstimator. + //! + RosRobotLocalizationListener(); + + //! @brief Destructor + //! + //! Empty destructor + //! + ~RosRobotLocalizationListener(); + + //! @brief Get a state from the localization estimator + //! + //! Requests the predicted state and covariance at a given time from the Robot Localization Estimator. + //! + //! @param[in] time - time of the requested state + //! @param[in] frame_id - frame id of which the state is requested. + //! @param[out] state - state at the requested time + //! @param[out] covariance - covariance at the requested time + //! + //! @return false if buffer is empty, true otherwise + //! + bool getState(const double time, const std::string& frame_id, + Eigen::VectorXd& state, Eigen::MatrixXd& covariance, + std::string world_frame_id = "") const; + + //! @brief Get a state from the localization estimator + //! + //! Overload of getState method for using ros::Time. + //! + //! @param[in] ros_time - ros time of the requested state + //! @param[in] frame_id - frame id of which the state is requested. + //! @param[out] state - state at the requested time + //! @param[out] covariance - covariance at the requested time + //! + //! @return false if buffer is empty, true otherwise + //! + bool getState(const ros::Time& ros_time, const std::string& frame_id, + Eigen::VectorXd& state, Eigen::MatrixXd& covariance, + const std::string& world_frame_id = "") const; + + //! + //! \brief getBaseFrameId Returns the base frame id of the localization listener + //! \return The base frame id + //! + const std::string& getBaseFrameId() const; + + //! + //! \brief getWorldFrameId Returns the world frame id of the localization listener + //! \return The world frame id + //! + const std::string& getWorldFrameId() const; + +private: + //! @brief Callback for odom and accel + //! + //! Puts the information from the odom and accel messages in a Robot Localization Estimator state and sets the most + //! recent state of the estimator. + //! + //! @param[in] odometry message + //! @param[in] accel message + //! + void odomAndAccelCallback(const nav_msgs::Odometry& odom, const geometry_msgs::AccelWithCovarianceStamped& accel); + + //! @brief The core state estimator that facilitates inter- and + //! extrapolation between buffered states. + //! + RobotLocalizationEstimator* estimator_; + + //! @brief A public handle to the ROS node + //! + ros::NodeHandle nh_; + + //! @brief A private handle to the ROS node + //! + ros::NodeHandle nh_p_; + + //! @brief Subscriber to the odometry state topic (output of a filter node) + //! + message_filters::Subscriber odom_sub_; + + //! @brief Subscriber to the acceleration state topic (output of a filter node) + //! + message_filters::Subscriber accel_sub_; + + //! @brief Waits for both an Odometry and an Accel message before calling a single callback function + //! + message_filters::TimeSynchronizer sync_; + + //! @brief Child frame id received from the Odometry message + //! + std::string base_frame_id_; + + //! @brief Frame id received from the odometry message + //! + std::string world_frame_id_; + + //! @brief Tf buffer for looking up transforms + //! + tf2_ros::Buffer tf_buffer_; + + //! @brief Transform listener to fill the tf_buffer + //! + tf2_ros::TransformListener tf_listener_; +}; + +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_ROS_ROBOT_LOCALIZATION_LISTENER_H diff --git a/navigations/robot_localization/include/robot_localization/ukf.h b/navigations/robot_localization/include/robot_localization/ukf.h new file mode 100755 index 0000000..8f5bb63 --- /dev/null +++ b/navigations/robot_localization/include/robot_localization/ukf.h @@ -0,0 +1,139 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#ifndef ROBOT_LOCALIZATION_UKF_H +#define ROBOT_LOCALIZATION_UKF_H + +#include "robot_localization/filter_base.h" + +#include +#include +#include +#include + +namespace RobotLocalization +{ + +//! @brief Unscented Kalman filter class +//! +//! Implementation of an unscenter Kalman filter (UKF). This +//! class derives from FilterBase and overrides the predict() +//! and correct() methods in keeping with the discrete time +//! UKF algorithm. The algorithm was derived from the UKF +//! Wikipedia article at +//! (http://en.wikipedia.org/wiki/Kalman_filter#Unscented_Kalman_filter) +//! ...and this paper: +//! J. J. LaViola, Jr., “A comparison of unscented and extended Kalman +//! filtering for estimating quaternion motion,” in Proc. American Control +//! Conf., Denver, CO, June 4–6, 2003, pp. 2435–2440 +//! Obtained here: http://www.cs.ucf.edu/~jjl/pubs/laviola_acc2003.pdf +//! +class Ukf: public FilterBase +{ + public: + //! @brief Constructor for the Ukf class + //! + //! @param[in] args - Generic argument container. It is assumed + //! that args[0] constains the alpha parameter, args[1] contains + //! the kappa parameter, and args[2] contains the beta parameter. + //! + explicit Ukf(std::vector args); + + //! @brief Destructor for the Ukf class + //! + ~Ukf(); + + //! @brief Carries out the correct step in the predict/update cycle. + //! + //! @param[in] measurement - The measurement to fuse with our estimate + //! + void correct(const Measurement &measurement); + + //! @brief Carries out the predict step in the predict/update cycle. + //! + //! Projects the state and error matrices forward using a model of + //! the vehicle's motion. + //! + //! @param[in] referenceTime - The time at which the prediction is being made + //! @param[in] delta - The time step over which to predict. + //! + void predict(const double referenceTime, const double delta); + + protected: + //! @brief Computes the weighted covariance and sigma points + //! + void generateSigmaPoints(); + + //! @brief Carries out the predict step for the posteriori state of a sigma + //! point. + //! + //! Projects the state and error matrices forward using a model of + //! the vehicle's motion. + //! + //! @param[in,out] sigmaPoint - The sigma point (state vector) to project + //! @param[in] delta - The time step over which to project + //! + void projectSigmaPoint(Eigen::VectorXd& sigmaPoint, double delta); + + //! @brief The UKF sigma points + //! + //! Used to sample possible next states during prediction. + //! + std::vector sigmaPoints_; + + //! @brief This matrix is used to generate the sigmaPoints_ + //! + Eigen::MatrixXd weightedCovarSqrt_; + + //! @brief The weights associated with each sigma point when generating + //! a new state + //! + std::vector stateWeights_; + + //! @brief The weights associated with each sigma point when calculating + //! a predicted estimateErrorCovariance_ + //! + std::vector covarWeights_; + + //! @brief Used in weight generation for the sigma points + //! + double lambda_; + + //! @brief Used to determine if we need to re-compute the sigma + //! points when carrying out multiple corrections + //! + bool uncorrected_; +}; + +} // namespace RobotLocalization + +#endif // ROBOT_LOCALIZATION_UKF_H diff --git a/navigations/robot_localization/launch/dual_ekf_navsat_example.launch b/navigations/robot_localization/launch/dual_ekf_navsat_example.launch new file mode 100755 index 0000000..bec3c16 --- /dev/null +++ b/navigations/robot_localization/launch/dual_ekf_navsat_example.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + diff --git a/navigations/robot_localization/launch/ekf_nodelet_template.launch b/navigations/robot_localization/launch/ekf_nodelet_template.launch new file mode 100755 index 0000000..f4f74ea --- /dev/null +++ b/navigations/robot_localization/launch/ekf_nodelet_template.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + diff --git a/navigations/robot_localization/launch/ekf_template.launch b/navigations/robot_localization/launch/ekf_template.launch new file mode 100755 index 0000000..c5c2bbd --- /dev/null +++ b/navigations/robot_localization/launch/ekf_template.launch @@ -0,0 +1,11 @@ + + + + + + + + diff --git a/navigations/robot_localization/launch/navsat_transform_template.launch b/navigations/robot_localization/launch/navsat_transform_template.launch new file mode 100755 index 0000000..9c2a458 --- /dev/null +++ b/navigations/robot_localization/launch/navsat_transform_template.launch @@ -0,0 +1,51 @@ + + + + + + + + + + + diff --git a/navigations/robot_localization/launch/ukf_template.launch b/navigations/robot_localization/launch/ukf_template.launch new file mode 100755 index 0000000..9d2b0b2 --- /dev/null +++ b/navigations/robot_localization/launch/ukf_template.launch @@ -0,0 +1,11 @@ + + + + + + + + diff --git a/navigations/robot_localization/nodelet_plugins.xml b/navigations/robot_localization/nodelet_plugins.xml new file mode 100755 index 0000000..56b98ef --- /dev/null +++ b/navigations/robot_localization/nodelet_plugins.xml @@ -0,0 +1,27 @@ + + + + ekf_localization_node as nodelet + + + + + + + ukf_localization_node as nodelet + + + + + + + navsat_transform_node as nodelet + + + diff --git a/navigations/robot_localization/package.xml b/navigations/robot_localization/package.xml new file mode 100755 index 0000000..3602e6f --- /dev/null +++ b/navigations/robot_localization/package.xml @@ -0,0 +1,54 @@ + + + robot_localization + 2.7.4 + Provides nonlinear state estimation through sensor fusion of an abritrary number of sensors. + + Tom Moore + + BSD + + http://ros.org/wiki/robot_localization + + Tom Moore + + catkin + + angles + cmake_modules + diagnostic_msgs + diagnostic_updater + eigen + eigen_conversions + geographiclib + geographic_msgs + geometry_msgs + message_filters + nav_msgs + nodelet + roscpp + sensor_msgs + std_msgs + std_srvs + tf2 + tf2_geometry_msgs + tf2_ros + yaml-cpp + + message_generation + python-catkin-pkg + python3-catkin-pkg + roslint + + message_runtime + + rosbag + rostest + rosunit + + + + + + + diff --git a/navigations/robot_localization/params/dual_ekf_navsat_example.yaml b/navigations/robot_localization/params/dual_ekf_navsat_example.yaml new file mode 100755 index 0000000..c6d749d --- /dev/null +++ b/navigations/robot_localization/params/dual_ekf_navsat_example.yaml @@ -0,0 +1,166 @@ +# For parameter descriptions, please refer to the template parameter files for each node. + +ekf_se_odom: + frequency: 30 + sensor_timeout: 0.1 + two_d_mode: false + transform_time_offset: 0.0 + transform_timeout: 0.0 + print_diagnostics: true + debug: false + + map_frame: map + odom_frame: odom + base_link_frame: base_link + world_frame: odom + + odom0: odometry/wheel + odom0_config: [false, false, false, + false, false, false, + true, true, true, + false, false, true, + false, false, false] + odom0_queue_size: 10 + odom0_nodelay: true + odom0_differential: false + odom0_relative: false + + imu0: imu/data + imu0_config: [false, false, false, + true, true, false, + false, false, false, + true, true, true, + true, true, true] + imu0_nodelay: false + imu0_differential: false + imu0_relative: false + imu0_queue_size: 10 + imu0_remove_gravitational_acceleration: true + + use_control: false + + process_noise_covariance: [1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3] + + initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0] + +ekf_se_map: + frequency: 30 + sensor_timeout: 0.1 + two_d_mode: false + transform_time_offset: 0.0 + transform_timeout: 0.0 + print_diagnostics: true + debug: false + + map_frame: map + odom_frame: odom + base_link_frame: base_link + world_frame: map + + odom0: odometry/wheel + odom0_config: [false, false, false, + false, false, false, + true, true, true, + false, false, true, + false, false, false] + odom0_queue_size: 10 + odom0_nodelay: true + odom0_differential: false + odom0_relative: false + + odom1: odometry/gps + odom1_config: [true, true, false, + false, false, false, + false, false, false, + false, false, false, + false, false, false] + odom1_queue_size: 10 + odom1_nodelay: true + odom1_differential: false + odom1_relative: false + + imu0: imu/data + imu0_config: [false, false, false, + true, true, false, + false, false, false, + true, true, true, + true, true, true] + imu0_nodelay: true + imu0_differential: false + imu0_relative: false + imu0_queue_size: 10 + imu0_remove_gravitational_acceleration: true + + use_control: false + + process_noise_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3] + + initial_estimate_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0] + +navsat_transform: + frequency: 30 + delay: 3.0 + magnetic_declination_radians: 0.0429351 # For lat/long 55.944831, -3.186998 + yaw_offset: 1.570796327 # IMU reads 0 facing magnetic north, not east + zero_altitude: false + broadcast_utm_transform: true + publish_filtered_gps: true + use_odometry_yaw: false + wait_for_datum: false + diff --git a/navigations/robot_localization/params/ekf_template.yaml b/navigations/robot_localization/params/ekf_template.yaml new file mode 100755 index 0000000..06e722e --- /dev/null +++ b/navigations/robot_localization/params/ekf_template.yaml @@ -0,0 +1,255 @@ +# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin +# computation until it receives at least one message from one of the inputs. It will then run continuously at the +# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. +frequency: 30 + +silent_tf_failure: false +# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict +# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the +# filter will generate new output. Defaults to 1 / frequency if not specified. +sensor_timeout: 0.1 + +# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is +# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar +# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected +# by, for example, an IMU. Defaults to false if unspecified. +two_d_mode: false + +# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for +# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if +# unspecified. +transform_time_offset: 0.0 + +# Use this parameter to provide specify how long the tf listener should wait for a transform to become available. +# Defaults to 0.0 if unspecified. +transform_timeout: 0.0 + +# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is +# unhappy with any settings or data. +print_diagnostics: true + +# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by +# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious +# effects on the performance of the node. Defaults to false if unspecified. +debug: false + +# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path. +debug_out_file: /path/to/debug/file.txt + +# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified. +publish_tf: true + +# Whether to publish the acceleration state. Defaults to false if unspecified. +publish_acceleration: false + +# Whether we'll allow old measurements to cause a re-publication of the updated state +permit_corrected_publication: false + +# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and +# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames. +# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be +# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom +# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your +# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based +# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame. +# ekf_localization_node and ukf_localization_node are not concerned with the earth frame. +# Here is how to use the following settings: +# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. +# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of +# odom_frame. +# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set +# "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes. +# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates +# from landmark observations) then: +# 3a. Set your "world_frame" to your map_frame value +# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state +# estimation node from robot_localization! However, that instance should *not* fuse the global data. +map_frame: map # Defaults to "map" if unspecified +odom_frame: odom # Defaults to "odom" if unspecified +base_link_frame: base_link # Defaults to "base_link" if unspecified +world_frame: odom # Defaults to the value of odom_frame if unspecified + +# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry, +# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped, +# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0, +# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no +# default values, and must be specified. +odom0: example/odom + +# Each sensor reading updates some or all of the filter's state. These options give you greater control over which +# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only +# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the +# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types +# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message +# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false +# if unspecified, effectively making this parameter required for each sensor. +odom0_config: [true, true, false, + false, false, false, + false, false, false, + false, false, true, + false, false, false] + +# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase +# the size of the subscription queue so that more measurements are fused. +odom0_queue_size: 2 + +# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result +# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's +# algorithm. +odom0_nodelay: false + +# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under- +# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they +# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also +# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't +# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose +# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then +# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true +# for twist measurements has no effect. +odom0_differential: false + +# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" +# for all future measurements. While you can achieve the same effect with the differential paremeter, the key +# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before +# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true. +odom0_relative: false + +# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to +# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to +# numeric_limits::max() if unspecified. It is strongly recommended that these parameters be removed if not +# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation. +# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying +# the thresholds. +odom0_pose_rejection_threshold: 5 +odom0_twist_rejection_threshold: 1 + +# Further input parameter examples +odom1: example/another_odom +odom1_config: [false, false, true, + false, false, false, + false, false, false, + false, false, true, + false, false, false] +odom1_differential: false +odom1_relative: true +odom1_queue_size: 2 +odom1_pose_rejection_threshold: 2 +odom1_twist_rejection_threshold: 0.2 +odom1_nodelay: false + +pose0: example/pose +pose0_config: [true, true, false, + false, false, false, + false, false, false, + false, false, false, + false, false, false] +pose0_differential: true +pose0_relative: false +pose0_queue_size: 5 +pose0_rejection_threshold: 2 # Note the difference in parameter name +pose0_nodelay: false + +twist0: example/twist +twist0_config: [false, false, false, + false, false, false, + true, true, true, + false, false, false, + false, false, false] +twist0_queue_size: 3 +twist0_rejection_threshold: 2 +twist0_nodelay: false + +imu0: example/imu +imu0_config: [false, false, false, + true, true, true, + false, false, false, + true, true, true, + true, true, true] +imu0_nodelay: false +imu0_differential: false +imu0_relative: true +imu0_queue_size: 5 +imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names +imu0_twist_rejection_threshold: 0.8 # +imu0_linear_acceleration_rejection_threshold: 0.8 # + +# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set +# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame. +imu0_remove_gravitational_acceleration: true + +# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no +# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During +# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be +# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When +# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially +# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance +# for the velocity variable in question, or decrease the variance of the variable in question in the measurement +# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we +# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during +# predicition. Note that if an acceleration measurement for the variable in question is available from one of the +# inputs, the control term will be ignored. +# Whether or not we use the control input during predicition. Defaults to false. +use_control: true +# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to +# false. +stamped_control: false +# The last issued control command will be used in prediction for this period. Defaults to 0.2. +control_timeout: 0.2 +# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw. +control_config: [true, false, false, false, false, true] +# Places limits on how large the acceleration term will be. Should match your robot's kinematics. +acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] +# Acceleration and deceleration limits are not always the same for robots. +deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] +# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these +# gains +acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] +# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these +# gains +deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] + +# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is +# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each +# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be. +# However, if users find that a given variable is slow to converge, one approach is to increase the +# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error +# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are +# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if +# unspecified. +process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] + +# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal +# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in +# question. Users should take care not to use large values for variables that will not be measured directly. The values +# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below +#if unspecified. +initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + diff --git a/navigations/robot_localization/params/navsat_transform_template.yaml b/navigations/robot_localization/params/navsat_transform_template.yaml new file mode 100755 index 0000000..5571720 --- /dev/null +++ b/navigations/robot_localization/params/navsat_transform_template.yaml @@ -0,0 +1,48 @@ +# Frequency of the main run loop +frequency: 30 + +# Delay time, in seconds, before we calculate the transform from the UTM frame to your world frame. This is especially +# important if you have use_odometry_yaw set to true. Defaults to 0. +delay: 3.0 + +# PLEASE READ: Like all nodes in robot_localization, this node assumes that your IMU data is reported in the ENU frame. +# Many IMUs report data in the NED frame, so you'll want to verify that your data is in the correct frame before using +# it. + +# If your IMU does not account for magnetic declination, enter the value for your location here. If you don't know it, +# see http://www.ngdc.noaa.gov/geomag-web/ (make sure to convert the value to radians). This parameter is mandatory. +magnetic_declination_radians: 0 + +# Your IMU's yaw, once the magentic_declination_radians value is added to it, should report 0 when facing east. If it +# doesn't, enter the offset here. Defaults to 0. +yaw_offset: 0.0 + +# If this is true, the altitude is set to 0 in the output odometry message. Defaults to false. +zero_altitude: false + +# If this is true, the transform world_frame->utm transform is broadcast for use by other nodes. Defaults to false. +broadcast_utm_transform: false + +# If this is true, the utm->world_frame transform will be published instead of the world_frame->utm transform. +# Note that broadcast_utm_transform still has to be enabled. Defaults to false. +broadcast_utm_transform_as_parent_frame: false + +# If this is true, all received odometry data is converted back to a lat/lon and published as a NavSatFix message as +# /gps/filtered. Defaults to false. +publish_filtered_gps: false + +# If this is true, the node ignores the IMU data and gets its heading from the odometry source (typically the +# /odometry/filtered topic coming from one of robot_localization's state estimation nodes). BE CAREFUL when using this! +# The yaw value in your odometry source *must* be world-referenced, e.g., you cannot use your odometry source for yaw +# if your yaw data is based purely on integrated velocities. Defaults to false. +use_odometry_yaw: false + +# If true, will retrieve the datum from the 'datum' parameter below, if available. If no 'datum' parameter exists, +# navsat_transform_node will wait until the user calls the 'datum' service with the SetDatum service message. +wait_for_datum: false + +# Instead of using the first GPS location and IMU-based heading for the local-frame origin, users can specify the +# origin (datum) using this parameter. The fields in the parameter represent latitude and longitude in decimal degrees, +# and heading in radians. As navsat_transform_node assumes an ENU standard, a 0 heading corresponds to east. +datum: [55.944904, -3.186693, 0.0] + diff --git a/navigations/robot_localization/params/ukf_template.yaml b/navigations/robot_localization/params/ukf_template.yaml new file mode 100755 index 0000000..683313f --- /dev/null +++ b/navigations/robot_localization/params/ukf_template.yaml @@ -0,0 +1,267 @@ +# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin +# computation until it receives at least one message from one of the inputs. It will then run continuously at the +# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified. +frequency: 30 + +# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict +# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the +# filter will generate new output. Defaults to 1 / frequency if not specified. +sensor_timeout: 0.1 + +# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is +# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar +# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected +# by, for example, an IMU. Defaults to false if unspecified. +two_d_mode: false + +# Use this parameter to provide an offset to the transform generated by ekf_localization_node. This can be used for +# future dating the transform, which is required for interaction with some other packages. Defaults to 0.0 if +# unspecified. +transform_time_offset: 0.0 + +# Use this parameter to provide specify how long the tf listener should wait for a transform to become available. +# Defaults to 0.0 if unspecified. +transform_timeout: 0.0 + +# If you're having trouble, try setting this to true, and then echo the /diagnostics_agg topic to see if the node is +# unhappy with any settings or data. +print_diagnostics: true + +# Whether we'll allow old measurements to cause a re-publication of the updated state +permit_corrected_publication: false + +# Debug settings. Not for the faint of heart. Outputs a ludicrous amount of information to the file specified by +# debug_out_file. I hope you like matrices! Please note that setting this to true will have strongly deleterious +# effects on the performance of the node. Defaults to false if unspecified. +debug: false + +# Defaults to "robot_localization_debug.txt" if unspecified. Please specify the full path. +debug_out_file: /path/to/debug/file.txt + +# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified. +publish_tf: true + +# Whether to publish the acceleration state. Defaults to false if unspecified. +publish_acceleration: false + +# Whether we'll allow old measurements to cause a re-publication of the updated state +permit_corrected_publication: false + +# REP-105 (http://www.ros.org/reps/rep-0105.html) specifies four principal coordinate frames: base_link, odom, map, and +# earth. base_link is the coordinate frame that is affixed to the robot. Both odom and map are world-fixed frames. +# The robot's position in the odom frame will drift over time, but is accurate in the short term and should be +# continuous. The odom frame is therefore the best frame for executing local motion plans. The map frame, like the odom +# frame, is a world-fixed coordinate frame, and while it contains the most globally accurate position estimate for your +# robot, it is subject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based +# localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame. +# ekf_localization_node and ukf_localization_node are not concerned with the earth frame. +# Here is how to use the following settings: +# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system. +# 1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of +# odom_frame. +# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set +# "world_frame" to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes. +# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates +# from landmark observations) then: +# 3a. Set your "world_frame" to your map_frame value +# 3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state +# estimation node from robot_localization! However, that instance should *not* fuse the global data. +map_frame: map # Defaults to "map" if unspecified +odom_frame: odom # Defaults to "odom" if unspecified +base_link_frame: base_link # Defaults to "base_link" if unspecified +world_frame: odom # Defaults to the value of odom_frame if unspecified + +# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry, +# geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped, +# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0, +# odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no +# default values, and must be specified. +odom0: example/odom + +# Each sensor reading updates some or all of the filter's state. These options give you greater control over which +# values from each measurement are fed to the filter. For example, if you have an odometry message as input, but only +# want to use its Z position value, then set the entire vector to false, except for the third entry. The order of the +# values is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Note that not some message types +# do not provide some of the state variables estimated by the filter. For example, a TwistWithCovarianceStamped message +# has no pose information, so the first six values would be meaningless in that case. Each vector defaults to all false +# if unspecified, effectively making this parameter required for each sensor. +odom0_config: [true, true, false, + false, false, false, + false, false, false, + false, false, true, + false, false, false] + +# If you have high-frequency data or are running with a low frequency parameter value, then you may want to increase +# the size of the subscription queue so that more measurements are fused. +odom0_queue_size: 2 + +# [ADVANCED] Large messages in ROS can exhibit strange behavior when they arrive at a high frequency. This is a result +# of Nagle's algorithm. This option tells the ROS subscriber to use the tcpNoDelay option, which disables Nagle's +# algorithm. +odom0_nodelay: false + +# [ADVANCED] When measuring one pose variable with two sensors, a situation can arise in which both sensors under- +# report their covariances. This can lead to the filter rapidly jumping back and forth between each measurement as they +# arrive. In these cases, it often makes sense to (a) correct the measurement covariances, or (b) if velocity is also +# measured by one of the sensors, let one sensor measure pose, and the other velocity. However, doing (a) or (b) isn't +# always feasible, and so we expose the differential parameter. When differential mode is enabled, all absolute pose +# data is converted to velocity data by differentiating the absolute pose measurements. These velocities are then +# integrated as usual. NOTE: this only applies to sensors that provide pose measurements; setting differential to true +# for twist measurements has no effect. +odom0_differential: false + +# [ADVANCED] When the node starts, if this parameter is true, then the first measurement is treated as a "zero point" +# for all future measurements. While you can achieve the same effect with the differential paremeter, the key +# difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before +# integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true. +odom0_relative: false + +# [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to +# control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to +# numeric_limits::max() if unspecified. It is strongly recommended that these parameters be removed if not +# required. Data is specified at the level of pose and twist variables, rather than for each variable in isolation. +# For messages that have both pose and twist data, the parameter specifies to which part of the message we are applying +# the thresholds. +odom0_pose_rejection_threshold: 5 +odom0_twist_rejection_threshold: 1 + +# Further input parameter examples +odom1: example/another_odom +odom1_config: [false, false, true, + false, false, false, + false, false, false, + false, false, true, + false, false, false] +odom1_differential: false +odom1_relative: true +odom1_queue_size: 2 +odom1_pose_rejection_threshold: 2 +odom1_twist_rejection_threshold: 0.2 +odom1_nodelay: false + +pose0: example/pose +pose0_config: [true, true, false, + false, false, false, + false, false, false, + false, false, false, + false, false, false] +pose0_differential: true +pose0_relative: false +pose0_queue_size: 5 +pose0_rejection_threshold: 2 # Note the difference in parameter name +pose0_nodelay: false + +twist0: example/twist +twist0_config: [false, false, false, + false, false, false, + true, true, true, + false, false, false, + false, false, false] +twist0_queue_size: 3 +twist0_rejection_threshold: 2 +twist0_nodelay: false + +imu0: example/imu +imu0_config: [false, false, false, + true, true, true, + false, false, false, + true, true, true, + true, true, true] +imu0_nodelay: false +imu0_differential: false +imu0_relative: true +imu0_queue_size: 5 +imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names +imu0_twist_rejection_threshold: 0.8 # +imu0_linear_acceleration_rejection_threshold: 0.8 # + +# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set +# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame. +imu0_remove_gravitational_acceleration: true + +# [ADVANCED] The EKF and UKF models follow a standard predict/correct cycle. During prediction, if there is no +# acceleration reference, the velocity at time t+1 is simply predicted to be the same as the velocity at time t. During +# correction, this predicted value is fused with the measured value to produce the new velocity estimate. This can be +# problematic, as the final velocity will effectively be a weighted average of the old velocity and the new one. When +# this velocity is the integrated into a new pose, the result can be sluggish covergence. This effect is especially +# noticeable with LIDAR data during rotations. To get around it, users can try inflating the process_noise_covariance +# for the velocity variable in question, or decrease the variance of the variable in question in the measurement +# itself. In addition, users can also take advantage of the control command being issued to the robot at the time we +# make the prediction. If control is used, it will get converted into an acceleration term, which will be used during +# predicition. Note that if an acceleration measurement for the variable in question is available from one of the +# inputs, the control term will be ignored. +# Whether or not we use the control input during predicition. Defaults to false. +use_control: true +# Whether the input (assumed to be cmd_vel) is a geometry_msgs/Twist or geometry_msgs/TwistStamped message. Defaults to +# false. +stamped_control: false +# The last issued control command will be used in prediction for this period. Defaults to 0.2. +control_timeout: 0.2 +# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw. +control_config: [true, false, false, false, false, true] +# Places limits on how large the acceleration term will be. Should match your robot's kinematics. +acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4] +# Acceleration and deceleration limits are not always the same for robots. +deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5] +# If your robot cannot instantaneously reach its acceleration limit, the permitted change can be controlled with these +# gains +acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9] +# If your robot cannot instantaneously reach its deceleration limit, the permitted change can be controlled with these +# gains +deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0] + +# [ADVANCED] The process noise covariance matrix can be difficult to tune, and can vary for each application, so it is +# exposed as a configuration parameter. This matrix represents the noise we add to the total error after each +# prediction step. The better the omnidirectional motion model matches your system, the smaller these values can be. +# However, if users find that a given variable is slow to converge, one approach is to increase the +# process_noise_covariance diagonal value for the variable in question, which will cause the filter's predicted error +# to be larger, which will cause the filter to trust the incoming measurement more during correction. The values are +# ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below if +# unspecified. +process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] + +# [ADVANCED] This represents the initial value for the state estimate error covariance matrix. Setting a diagonal +# value (variance) to a large value will result in rapid convergence for initial measurements of the variable in +# question. Users should take care not to use large values for variables that will not be measured directly. The values +# are ordered as x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. Defaults to the matrix below +#if unspecified. +initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + +# [ADVANCED, UKF ONLY] The alpha and kappa variables control the spread of the sigma points. Unless you are familiar +# with UKFs, it's probably a good idea to leave these alone. +# Defaults to 0.001 if unspecified. +alpha: 0.001 +# Defaults to 0 if unspecified. +kappa: 0 + +# [ADVANCED, UKF ONLY] The beta variable relates to the distribution of the state vector. Again, it's probably best to +# leave this alone if you're uncertain. Defaults to 2 if unspecified. +beta: 2 diff --git a/navigations/robot_localization/rosdoc.yaml b/navigations/robot_localization/rosdoc.yaml new file mode 100755 index 0000000..c9c76e3 --- /dev/null +++ b/navigations/robot_localization/rosdoc.yaml @@ -0,0 +1,6 @@ + - builder: sphinx + sphinx_root_dir: doc + - builder: doxygen + output_dir: api + file_patterns: '*.cpp *.h *.dox *.md' + exclude_patterns: '*/test/*' diff --git a/navigations/robot_localization/src/ekf.cpp b/navigations/robot_localization/src/ekf.cpp new file mode 100755 index 0000000..2076028 --- /dev/null +++ b/navigations/robot_localization/src/ekf.cpp @@ -0,0 +1,389 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ekf.h" +#include "robot_localization/filter_common.h" + +#include + +#include +#include +#include +#include + + +namespace RobotLocalization +{ + Ekf::Ekf(std::vector) : + FilterBase() // Must initialize filter base! + { + } + + Ekf::~Ekf() + { + } + + void Ekf::correct(const Measurement &measurement) + { + FB_DEBUG("---------------------- Ekf::correct ----------------------\n" << + "State is:\n" << state_ << "\n" + "Topic is:\n" << measurement.topicName_ << "\n" + "Measurement is:\n" << measurement.measurement_ << "\n" + "Measurement topic name is:\n" << measurement.topicName_ << "\n\n" + "Measurement covariance is:\n" << measurement.covariance_ << "\n"); + + // We don't want to update everything, so we need to build matrices that only update + // the measured parts of our state vector. Throughout prediction and correction, we + // attempt to maximize efficiency in Eigen. + + // First, determine how many state vector values we're updating + std::vector updateIndices; + for (size_t i = 0; i < measurement.updateVector_.size(); ++i) + { + if (measurement.updateVector_[i]) + { + // Handle nan and inf values in measurements + if (std::isnan(measurement.measurement_(i))) + { + FB_DEBUG("Value at index " << i << " was nan. Excluding from update.\n"); + } + else if (std::isinf(measurement.measurement_(i))) + { + FB_DEBUG("Value at index " << i << " was inf. Excluding from update.\n"); + } + else + { + updateIndices.push_back(i); + } + } + } + + FB_DEBUG("Update indices are:\n" << updateIndices << "\n"); + + size_t updateSize = updateIndices.size(); + + // Now set up the relevant matrices + Eigen::VectorXd stateSubset(updateSize); // x (in most literature) + Eigen::VectorXd measurementSubset(updateSize); // z + Eigen::MatrixXd measurementCovarianceSubset(updateSize, updateSize); // R + Eigen::MatrixXd stateToMeasurementSubset(updateSize, state_.rows()); // H + Eigen::MatrixXd kalmanGainSubset(state_.rows(), updateSize); // K + Eigen::VectorXd innovationSubset(updateSize); // z - Hx + + stateSubset.setZero(); + measurementSubset.setZero(); + measurementCovarianceSubset.setZero(); + stateToMeasurementSubset.setZero(); + kalmanGainSubset.setZero(); + innovationSubset.setZero(); + + // Now build the sub-matrices from the full-sized matrices + for (size_t i = 0; i < updateSize; ++i) + { + measurementSubset(i) = measurement.measurement_(updateIndices[i]); + stateSubset(i) = state_(updateIndices[i]); + + for (size_t j = 0; j < updateSize; ++j) + { + measurementCovarianceSubset(i, j) = measurement.covariance_(updateIndices[i], updateIndices[j]); + } + + // Handle negative (read: bad) covariances in the measurement. Rather + // than exclude the measurement or make up a covariance, just take + // the absolute value. + if (measurementCovarianceSubset(i, i) < 0) + { + FB_DEBUG("WARNING: Negative covariance for index " << i << + " of measurement (value is" << measurementCovarianceSubset(i, i) << + "). Using absolute value...\n"); + + measurementCovarianceSubset(i, i) = ::fabs(measurementCovarianceSubset(i, i)); + } + + // If the measurement variance for a given variable is very + // near 0 (as in e-50 or so) and the variance for that + // variable in the covariance matrix is also near zero, then + // the Kalman gain computation will blow up. Really, no + // measurement can be completely without error, so add a small + // amount in that case. + if (measurementCovarianceSubset(i, i) < 1e-9) + { + FB_DEBUG("WARNING: measurement had very small error covariance for index " << updateIndices[i] << + ". Adding some noise to maintain filter stability.\n"); + + measurementCovarianceSubset(i, i) = 1e-9; + } + } + + // The state-to-measurement function, h, will now be a measurement_size x full_state_size + // matrix, with ones in the (i, i) locations of the values to be updated + for (size_t i = 0; i < updateSize; ++i) + { + stateToMeasurementSubset(i, updateIndices[i]) = 1; + } + + FB_DEBUG("Current state subset is:\n" << stateSubset << + "\nMeasurement subset is:\n" << measurementSubset << + "\nMeasurement covariance subset is:\n" << measurementCovarianceSubset << + "\nState-to-measurement subset is:\n" << stateToMeasurementSubset << "\n"); + + // (1) Compute the Kalman gain: K = (PH') / (HPH' + R) + Eigen::MatrixXd pht = estimateErrorCovariance_ * stateToMeasurementSubset.transpose(); + Eigen::MatrixXd hphrInv = (stateToMeasurementSubset * pht + measurementCovarianceSubset).inverse(); + kalmanGainSubset.noalias() = pht * hphrInv; + + innovationSubset = (measurementSubset - stateSubset); + + // Wrap angles in the innovation + for (size_t i = 0; i < updateSize; ++i) + { + if (updateIndices[i] == StateMemberRoll || + updateIndices[i] == StateMemberPitch || + updateIndices[i] == StateMemberYaw) + { + while (innovationSubset(i) < -PI) + { + innovationSubset(i) += TAU; + } + + while (innovationSubset(i) > PI) + { + innovationSubset(i) -= TAU; + } + } + } + + // (2) Check Mahalanobis distance between mapped measurement and state. + if (checkMahalanobisThreshold(innovationSubset, hphrInv, measurement.mahalanobisThresh_)) + { + // (3) Apply the gain to the difference between the state and measurement: x = x + K(z - Hx) + state_.noalias() += kalmanGainSubset * innovationSubset; + + // (4) Update the estimate error covariance using the Joseph form: (I - KH)P(I - KH)' + KRK' + Eigen::MatrixXd gainResidual = identity_; + gainResidual.noalias() -= kalmanGainSubset * stateToMeasurementSubset; + estimateErrorCovariance_ = gainResidual * estimateErrorCovariance_ * gainResidual.transpose(); + estimateErrorCovariance_.noalias() += kalmanGainSubset * + measurementCovarianceSubset * + kalmanGainSubset.transpose(); + + // Handle wrapping of angles + wrapStateAngles(); + + FB_DEBUG("Kalman gain subset is:\n" << kalmanGainSubset << + "\nInnovation is:\n" << innovationSubset << + "\nCorrected full state is:\n" << state_ << + "\nCorrected full estimate error covariance is:\n" << estimateErrorCovariance_ << + "\n\n---------------------- /Ekf::correct ----------------------\n"); + } + } + + void Ekf::predict(const double referenceTime, const double delta) + { + FB_DEBUG("---------------------- Ekf::predict ----------------------\n" << + "delta is " << delta << "\n" << + "state is " << state_ << "\n"); + + double roll = state_(StateMemberRoll); + double pitch = state_(StateMemberPitch); + double yaw = state_(StateMemberYaw); + double xVel = state_(StateMemberVx); + double yVel = state_(StateMemberVy); + double zVel = state_(StateMemberVz); + double pitchVel = state_(StateMemberVpitch); + double yawVel = state_(StateMemberVyaw); + double xAcc = state_(StateMemberAx); + double yAcc = state_(StateMemberAy); + double zAcc = state_(StateMemberAz); + + // We'll need these trig calculations a lot. + double sp = ::sin(pitch); + double cp = ::cos(pitch); + double cpi = 1.0 / cp; + double tp = sp * cpi; + + double sr = ::sin(roll); + double cr = ::cos(roll); + + double sy = ::sin(yaw); + double cy = ::cos(yaw); + + prepareControl(referenceTime, delta); + + // Prepare the transfer function + transferFunction_(StateMemberX, StateMemberVx) = cy * cp * delta; + transferFunction_(StateMemberX, StateMemberVy) = (cy * sp * sr - sy * cr) * delta; + transferFunction_(StateMemberX, StateMemberVz) = (cy * sp * cr + sy * sr) * delta; + transferFunction_(StateMemberX, StateMemberAx) = 0.5 * transferFunction_(StateMemberX, StateMemberVx) * delta; + transferFunction_(StateMemberX, StateMemberAy) = 0.5 * transferFunction_(StateMemberX, StateMemberVy) * delta; + transferFunction_(StateMemberX, StateMemberAz) = 0.5 * transferFunction_(StateMemberX, StateMemberVz) * delta; + transferFunction_(StateMemberY, StateMemberVx) = sy * cp * delta; + transferFunction_(StateMemberY, StateMemberVy) = (sy * sp * sr + cy * cr) * delta; + transferFunction_(StateMemberY, StateMemberVz) = (sy * sp * cr - cy * sr) * delta; + transferFunction_(StateMemberY, StateMemberAx) = 0.5 * transferFunction_(StateMemberY, StateMemberVx) * delta; + transferFunction_(StateMemberY, StateMemberAy) = 0.5 * transferFunction_(StateMemberY, StateMemberVy) * delta; + transferFunction_(StateMemberY, StateMemberAz) = 0.5 * transferFunction_(StateMemberY, StateMemberVz) * delta; + transferFunction_(StateMemberZ, StateMemberVx) = -sp * delta; + transferFunction_(StateMemberZ, StateMemberVy) = cp * sr * delta; + transferFunction_(StateMemberZ, StateMemberVz) = cp * cr * delta; + transferFunction_(StateMemberZ, StateMemberAx) = 0.5 * transferFunction_(StateMemberZ, StateMemberVx) * delta; + transferFunction_(StateMemberZ, StateMemberAy) = 0.5 * transferFunction_(StateMemberZ, StateMemberVy) * delta; + transferFunction_(StateMemberZ, StateMemberAz) = 0.5 * transferFunction_(StateMemberZ, StateMemberVz) * delta; + transferFunction_(StateMemberRoll, StateMemberVroll) = delta; + transferFunction_(StateMemberRoll, StateMemberVpitch) = sr * tp * delta; + transferFunction_(StateMemberRoll, StateMemberVyaw) = cr * tp * delta; + transferFunction_(StateMemberPitch, StateMemberVpitch) = cr * delta; + transferFunction_(StateMemberPitch, StateMemberVyaw) = -sr * delta; + transferFunction_(StateMemberYaw, StateMemberVpitch) = sr * cpi * delta; + transferFunction_(StateMemberYaw, StateMemberVyaw) = cr * cpi * delta; + transferFunction_(StateMemberVx, StateMemberAx) = delta; + transferFunction_(StateMemberVy, StateMemberAy) = delta; + transferFunction_(StateMemberVz, StateMemberAz) = delta; + + // Prepare the transfer function Jacobian. This function is analytically derived from the + // transfer function. + double xCoeff = 0.0; + double yCoeff = 0.0; + double zCoeff = 0.0; + double oneHalfATSquared = 0.5 * delta * delta; + + yCoeff = cy * sp * cr + sy * sr; + zCoeff = -cy * sp * sr + sy * cr; + double dFx_dR = (yCoeff * yVel + zCoeff * zVel) * delta + + (yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; + double dFR_dR = 1.0 + (cr * tp * pitchVel - sr * tp * yawVel) * delta; + + xCoeff = -cy * sp; + yCoeff = cy * cp * sr; + zCoeff = cy * cp * cr; + double dFx_dP = (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + + (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; + double dFR_dP = (cpi * cpi * sr * pitchVel + cpi * cpi * cr * yawVel) * delta; + + xCoeff = -sy * cp; + yCoeff = -sy * sp * sr - cy * cr; + zCoeff = -sy * sp * cr + cy * sr; + double dFx_dY = (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + + (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; + + yCoeff = sy * sp * cr - cy * sr; + zCoeff = -sy * sp * sr - cy * cr; + double dFy_dR = (yCoeff * yVel + zCoeff * zVel) * delta + + (yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; + double dFP_dR = (-sr * pitchVel - cr * yawVel) * delta; + + xCoeff = -sy * sp; + yCoeff = sy * cp * sr; + zCoeff = sy * cp * cr; + double dFy_dP = (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + + (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; + + xCoeff = cy * cp; + yCoeff = cy * sp * sr - sy * cr; + zCoeff = cy * sp * cr + sy * sr; + double dFy_dY = (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + + (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; + + yCoeff = cp * cr; + zCoeff = -cp * sr; + double dFz_dR = (yCoeff * yVel + zCoeff * zVel) * delta + + (yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; + double dFY_dR = (cr * cpi * pitchVel - sr * cpi * yawVel) * delta; + + xCoeff = -cp; + yCoeff = -sp * sr; + zCoeff = -sp * cr; + double dFz_dP = (xCoeff * xVel + yCoeff * yVel + zCoeff * zVel) * delta + + (xCoeff * xAcc + yCoeff * yAcc + zCoeff * zAcc) * oneHalfATSquared; + double dFY_dP = (sr * tp * cpi * pitchVel + cr * tp * cpi * yawVel) * delta; + + // Much of the transfer function Jacobian is identical to the transfer function + transferFunctionJacobian_ = transferFunction_; + transferFunctionJacobian_(StateMemberX, StateMemberRoll) = dFx_dR; + transferFunctionJacobian_(StateMemberX, StateMemberPitch) = dFx_dP; + transferFunctionJacobian_(StateMemberX, StateMemberYaw) = dFx_dY; + transferFunctionJacobian_(StateMemberY, StateMemberRoll) = dFy_dR; + transferFunctionJacobian_(StateMemberY, StateMemberPitch) = dFy_dP; + transferFunctionJacobian_(StateMemberY, StateMemberYaw) = dFy_dY; + transferFunctionJacobian_(StateMemberZ, StateMemberRoll) = dFz_dR; + transferFunctionJacobian_(StateMemberZ, StateMemberPitch) = dFz_dP; + transferFunctionJacobian_(StateMemberRoll, StateMemberRoll) = dFR_dR; + transferFunctionJacobian_(StateMemberRoll, StateMemberPitch) = dFR_dP; + transferFunctionJacobian_(StateMemberPitch, StateMemberRoll) = dFP_dR; + transferFunctionJacobian_(StateMemberYaw, StateMemberRoll) = dFY_dR; + transferFunctionJacobian_(StateMemberYaw, StateMemberPitch) = dFY_dP; + + FB_DEBUG("Transfer function is:\n" << transferFunction_ << + "\nTransfer function Jacobian is:\n" << transferFunctionJacobian_ << + "\nProcess noise covariance is:\n" << processNoiseCovariance_ << + "\nCurrent state is:\n" << state_ << "\n"); + + Eigen::MatrixXd *processNoiseCovariance = &processNoiseCovariance_; + + if (useDynamicProcessNoiseCovariance_) + { + computeDynamicProcessNoiseCovariance(state_, delta); + processNoiseCovariance = &dynamicProcessNoiseCovariance_; + } + + // (1) Apply control terms, which are actually accelerations + state_(StateMemberVroll) += controlAcceleration_(ControlMemberVroll) * delta; + state_(StateMemberVpitch) += controlAcceleration_(ControlMemberVpitch) * delta; + state_(StateMemberVyaw) += controlAcceleration_(ControlMemberVyaw) * delta; + + state_(StateMemberAx) = (controlUpdateVector_[ControlMemberVx] ? + controlAcceleration_(ControlMemberVx) : state_(StateMemberAx)); + state_(StateMemberAy) = (controlUpdateVector_[ControlMemberVy] ? + controlAcceleration_(ControlMemberVy) : state_(StateMemberAy)); + state_(StateMemberAz) = (controlUpdateVector_[ControlMemberVz] ? + controlAcceleration_(ControlMemberVz) : state_(StateMemberAz)); + + // (2) Project the state forward: x = Ax + Bu (really, x = f(x, u)) + state_ = transferFunction_ * state_; + + // Handle wrapping + wrapStateAngles(); + + FB_DEBUG("Predicted state is:\n" << state_ << + "\nCurrent estimate error covariance is:\n" << estimateErrorCovariance_ << "\n"); + + // (3) Project the error forward: P = J * P * J' + Q + estimateErrorCovariance_ = (transferFunctionJacobian_ * + estimateErrorCovariance_ * + transferFunctionJacobian_.transpose()); + estimateErrorCovariance_.noalias() += delta * (*processNoiseCovariance); + + FB_DEBUG("Predicted estimate error covariance is:\n" << estimateErrorCovariance_ << + "\n\n--------------------- /Ekf::predict ----------------------\n"); + } + +} // namespace RobotLocalization diff --git a/navigations/robot_localization/src/ekf_localization_node.cpp b/navigations/robot_localization/src/ekf_localization_node.cpp new file mode 100755 index 0000000..797bbe9 --- /dev/null +++ b/navigations/robot_localization/src/ekf_localization_node.cpp @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_filter_types.h" + +#include + +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "ekf_navigation_node"); + + ros::NodeHandle nh; + ros::NodeHandle nh_priv("~"); + + RobotLocalization::RosEkf ekf(nh, nh_priv); + ekf.initialize(); + ros::spin(); + + return EXIT_SUCCESS; +} diff --git a/navigations/robot_localization/src/ekf_localization_nodelet.cpp b/navigations/robot_localization/src/ekf_localization_nodelet.cpp new file mode 100755 index 0000000..337fa52 --- /dev/null +++ b/navigations/robot_localization/src/ekf_localization_nodelet.cpp @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2017 Simon Gene Gottlieb + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_filter_types.h" + +#include +#include +#include + +#include + +namespace RobotLocalization +{ + +class EkfNodelet : public nodelet::Nodelet +{ +private: + std::unique_ptr ekf; + +public: + virtual void onInit() + { + NODELET_DEBUG("Initializing nodelet..."); + + ros::NodeHandle nh = getNodeHandle(); + ros::NodeHandle nh_priv = getPrivateNodeHandle(); + + ekf = std::make_unique(nh, nh_priv, getName()); + ekf->initialize(); + } +}; + +} // namespace RobotLocalization + +PLUGINLIB_EXPORT_CLASS(RobotLocalization::EkfNodelet, nodelet::Nodelet); diff --git a/navigations/robot_localization/src/filter_base.cpp b/navigations/robot_localization/src/filter_base.cpp new file mode 100755 index 0000000..efd181f --- /dev/null +++ b/navigations/robot_localization/src/filter_base.cpp @@ -0,0 +1,403 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/filter_base.h" +#include "robot_localization/filter_common.h" + +#include +#include +#include +#include +#include + +namespace RobotLocalization +{ + FilterBase::FilterBase() : + initialized_(false), + useControl_(false), + useDynamicProcessNoiseCovariance_(false), + lastMeasurementTime_(0.0), + latestControlTime_(0.0), + controlTimeout_(0.0), + sensorTimeout_(0.0), + controlUpdateVector_(TWIST_SIZE, 0), + accelerationGains_(TWIST_SIZE, 0.0), + accelerationLimits_(TWIST_SIZE, 0.0), + decelerationGains_(TWIST_SIZE, 0.0), + decelerationLimits_(TWIST_SIZE, 0.0), + controlAcceleration_(TWIST_SIZE), + latestControl_(TWIST_SIZE), + predictedState_(STATE_SIZE), + state_(STATE_SIZE), + covarianceEpsilon_(STATE_SIZE, STATE_SIZE), + dynamicProcessNoiseCovariance_(STATE_SIZE, STATE_SIZE), + estimateErrorCovariance_(STATE_SIZE, STATE_SIZE), + identity_(STATE_SIZE, STATE_SIZE), + processNoiseCovariance_(STATE_SIZE, STATE_SIZE), + transferFunction_(STATE_SIZE, STATE_SIZE), + transferFunctionJacobian_(STATE_SIZE, STATE_SIZE), + debugStream_(NULL), + debug_(false) + { + reset(); + } + + FilterBase::~FilterBase() + { + } + + void FilterBase::reset() + { + initialized_ = false; + + // Clear the state and predicted state + state_.setZero(); + predictedState_.setZero(); + controlAcceleration_.setZero(); + + // Prepare the invariant parts of the transfer + // function + transferFunction_.setIdentity(); + + // Clear the Jacobian + transferFunctionJacobian_.setZero(); + + // Set the estimate error covariance. We want our measurements + // to be accepted rapidly when the filter starts, so we should + // initialize the state's covariance with large values. + estimateErrorCovariance_.setIdentity(); + estimateErrorCovariance_ *= 1e-9; + + // We need the identity for the update equations + identity_.setIdentity(); + + // Set the epsilon matrix to be a matrix with small values on the diagonal + // It is used to maintain the positive-definite property of the covariance + covarianceEpsilon_.setIdentity(); + covarianceEpsilon_ *= 0.001; + + // Assume 30Hz from sensor data (configurable) + sensorTimeout_ = 0.033333333; + + // Initialize our measurement time + lastMeasurementTime_ = 0; + + // These can be overridden via the launch parameters, + // but we need default values. + processNoiseCovariance_.setZero(); + processNoiseCovariance_(StateMemberX, StateMemberX) = 0.05; + processNoiseCovariance_(StateMemberY, StateMemberY) = 0.05; + processNoiseCovariance_(StateMemberZ, StateMemberZ) = 0.06; + processNoiseCovariance_(StateMemberRoll, StateMemberRoll) = 0.03; + processNoiseCovariance_(StateMemberPitch, StateMemberPitch) = 0.03; + processNoiseCovariance_(StateMemberYaw, StateMemberYaw) = 0.06; + processNoiseCovariance_(StateMemberVx, StateMemberVx) = 0.025; + processNoiseCovariance_(StateMemberVy, StateMemberVy) = 0.025; + processNoiseCovariance_(StateMemberVz, StateMemberVz) = 0.04; + processNoiseCovariance_(StateMemberVroll, StateMemberVroll) = 0.01; + processNoiseCovariance_(StateMemberVpitch, StateMemberVpitch) = 0.01; + processNoiseCovariance_(StateMemberVyaw, StateMemberVyaw) = 0.02; + processNoiseCovariance_(StateMemberAx, StateMemberAx) = 0.01; + processNoiseCovariance_(StateMemberAy, StateMemberAy) = 0.01; + processNoiseCovariance_(StateMemberAz, StateMemberAz) = 0.015; + + dynamicProcessNoiseCovariance_ = processNoiseCovariance_; + } + + void FilterBase::computeDynamicProcessNoiseCovariance(const Eigen::VectorXd &state, const double delta) + { + // A more principled approach would be to get the current velocity from the state, make a diagonal matrix from it, + // and then rotate it to be in the world frame (i.e., the same frame as the pose data). We could then use this + // rotated velocity matrix to scale the process noise covariance for the pose variables as + // rotatedVelocityMatrix * poseCovariance * rotatedVelocityMatrix' + // However, this presents trouble for robots that may incur rotational error as a result of linear motion (and + // vice-versa). Instead, we create a diagonal matrix whose diagonal values are the vector norm of the state's + // velocity. We use that to scale the process noise covariance. + Eigen::MatrixXd velocityMatrix(TWIST_SIZE, TWIST_SIZE); + velocityMatrix.setIdentity(); + velocityMatrix.diagonal() *= state.segment(POSITION_V_OFFSET, TWIST_SIZE).norm(); + + dynamicProcessNoiseCovariance_.block(POSITION_OFFSET, POSITION_OFFSET) = + velocityMatrix * + processNoiseCovariance_.block(POSITION_OFFSET, POSITION_OFFSET) * + velocityMatrix.transpose(); + } + + const Eigen::VectorXd& FilterBase::getControl() + { + return latestControl_; + } + + double FilterBase::getControlTime() + { + return latestControlTime_; + } + + bool FilterBase::getDebug() + { + return debug_; + } + + const Eigen::MatrixXd& FilterBase::getEstimateErrorCovariance() + { + return estimateErrorCovariance_; + } + + bool FilterBase::getInitializedStatus() + { + return initialized_; + } + + double FilterBase::getLastMeasurementTime() + { + return lastMeasurementTime_; + } + + const Eigen::VectorXd& FilterBase::getPredictedState() + { + return predictedState_; + } + + const Eigen::MatrixXd& FilterBase::getProcessNoiseCovariance() + { + return processNoiseCovariance_; + } + + double FilterBase::getSensorTimeout() + { + return sensorTimeout_; + } + + const Eigen::VectorXd& FilterBase::getState() + { + return state_; + } + + void FilterBase::processMeasurement(const Measurement &measurement) + { + FB_DEBUG("------ FilterBase::processMeasurement (" << measurement.topicName_ << ") ------\n"); + + double delta = 0.0; + + // If we've had a previous reading, then go through the predict/update + // cycle. Otherwise, set our state and covariance to whatever we get + // from this measurement. + if (initialized_) + { + // Determine how much time has passed since our last measurement + delta = measurement.time_ - lastMeasurementTime_; + + FB_DEBUG("Filter is already initialized. Carrying out predict/correct loop...\n" + "Measurement time is " << std::setprecision(20) << measurement.time_ << + ", last measurement time is " << lastMeasurementTime_ << ", delta is " << delta << "\n"); + + // Only want to carry out a prediction if it's + // forward in time. Otherwise, just correct. + if (delta > 0) + { + validateDelta(delta); + predict(measurement.time_, delta); + + // Return this to the user + predictedState_ = state_; + } + + correct(measurement); + } + else + { + FB_DEBUG("First measurement. Initializing filter.\n"); + + // Initialize the filter, but only with the values we're using + size_t measurementLength = measurement.updateVector_.size(); + for (size_t i = 0; i < measurementLength; ++i) + { + state_[i] = (measurement.updateVector_[i] ? measurement.measurement_[i] : state_[i]); + } + + // Same for covariance + for (size_t i = 0; i < measurementLength; ++i) + { + for (size_t j = 0; j < measurementLength; ++j) + { + estimateErrorCovariance_(i, j) = (measurement.updateVector_[i] && measurement.updateVector_[j] ? + measurement.covariance_(i, j) : + estimateErrorCovariance_(i, j)); + } + } + + initialized_ = true; + } + + if (delta >= 0.0) + { + lastMeasurementTime_ = measurement.time_; + } + + FB_DEBUG("------ /FilterBase::processMeasurement (" << measurement.topicName_ << ") ------\n"); + } + + void FilterBase::setControl(const Eigen::VectorXd &control, const double controlTime) + { + latestControl_ = control; + latestControlTime_ = controlTime; + } + + void FilterBase::setControlParams(const std::vector &updateVector, const double controlTimeout, + const std::vector &accelerationLimits, const std::vector &accelerationGains, + const std::vector &decelerationLimits, const std::vector &decelerationGains) + { + useControl_ = true; + controlUpdateVector_ = updateVector; + controlTimeout_ = controlTimeout; + accelerationLimits_ = accelerationLimits; + accelerationGains_ = accelerationGains; + decelerationLimits_ = decelerationLimits; + decelerationGains_ = decelerationGains; + } + + void FilterBase::setDebug(const bool debug, std::ostream *outStream) + { + if (debug) + { + if (outStream != NULL) + { + debugStream_ = outStream; + debug_ = true; + } + else + { + debug_ = false; + } + } + else + { + debug_ = false; + } + } + + void FilterBase::setUseDynamicProcessNoiseCovariance(const bool useDynamicProcessNoiseCovariance) + { + useDynamicProcessNoiseCovariance_ = useDynamicProcessNoiseCovariance; + } + + void FilterBase::setEstimateErrorCovariance(const Eigen::MatrixXd &estimateErrorCovariance) + { + estimateErrorCovariance_ = estimateErrorCovariance; + } + + void FilterBase::setLastMeasurementTime(const double lastMeasurementTime) + { + lastMeasurementTime_ = lastMeasurementTime; + } + + void FilterBase::setProcessNoiseCovariance(const Eigen::MatrixXd &processNoiseCovariance) + { + processNoiseCovariance_ = processNoiseCovariance; + dynamicProcessNoiseCovariance_ = processNoiseCovariance_; + } + + void FilterBase::setSensorTimeout(const double sensorTimeout) + { + sensorTimeout_ = sensorTimeout; + } + + void FilterBase::setState(const Eigen::VectorXd &state) + { + state_ = state; + } + + void FilterBase::validateDelta(double &delta) + { + // This handles issues with ROS time when use_sim_time is on and we're playing from bags. + if (delta > 100000.0) + { + FB_DEBUG("Delta was very large. Suspect playing from bag file. Setting to 0.01\n"); + + delta = 0.01; + } + } + + + void FilterBase::prepareControl(const double referenceTime, const double predictionDelta) + { + controlAcceleration_.setZero(); + + if (useControl_) + { + bool timedOut = ::fabs(referenceTime - latestControlTime_) >= controlTimeout_; + + if (timedOut) + { + FB_DEBUG("Control timed out. Reference time was " << referenceTime << ", latest control time was " << + latestControlTime_ << ", control timeout was " << controlTimeout_ << "\n"); + } + + for (size_t controlInd = 0; controlInd < TWIST_SIZE; ++controlInd) + { + if (controlUpdateVector_[controlInd]) + { + controlAcceleration_(controlInd) = computeControlAcceleration(state_(controlInd + POSITION_V_OFFSET), + (timedOut ? 0.0 : latestControl_(controlInd)), accelerationLimits_[controlInd], + accelerationGains_[controlInd], decelerationLimits_[controlInd], decelerationGains_[controlInd]); + } + } + } + } + + void FilterBase::wrapStateAngles() + { + state_(StateMemberRoll) = FilterUtilities::clampRotation(state_(StateMemberRoll)); + state_(StateMemberPitch) = FilterUtilities::clampRotation(state_(StateMemberPitch)); + state_(StateMemberYaw) = FilterUtilities::clampRotation(state_(StateMemberYaw)); + } + + bool FilterBase::checkMahalanobisThreshold(const Eigen::VectorXd &innovation, + const Eigen::MatrixXd &invCovariance, + const double nsigmas) + { + double sqMahalanobis = innovation.dot(invCovariance * innovation); + double threshold = nsigmas * nsigmas; + + if (sqMahalanobis >= threshold) + { + FB_DEBUG("Innovation mahalanobis distance test failed. Squared Mahalanobis is: " << sqMahalanobis << "\n" << + "Threshold is: " << threshold << "\n" << + "Innovation is: " << innovation << "\n" << + "Innovation covariance is:\n" << invCovariance << "\n"); + + return false; + } + + return true; + } +} // namespace RobotLocalization diff --git a/navigations/robot_localization/src/filter_utilities.cpp b/navigations/robot_localization/src/filter_utilities.cpp new file mode 100755 index 0000000..259644d --- /dev/null +++ b/navigations/robot_localization/src/filter_utilities.cpp @@ -0,0 +1,146 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/filter_utilities.h" +#include "robot_localization/filter_common.h" + +#include +#include + +std::ostream& operator<<(std::ostream& os, const Eigen::MatrixXd &mat) +{ + os << "["; + + int rowCount = static_cast(mat.rows()); + + for (int row = 0; row < rowCount; ++row) + { + if (row > 0) + { + os << " "; + } + + for (int col = 0; col < mat.cols(); ++col) + { + os << std::setiosflags(std::ios::left) << std::setw(12) << std::setprecision(5) << mat(row, col); + } + + if (row < rowCount - 1) + { + os << "\n"; + } + } + + os << "]\n"; + + return os; +} + +std::ostream& operator<<(std::ostream& os, const Eigen::VectorXd &vec) +{ + os << "["; + for (int dim = 0; dim < vec.rows(); ++dim) + { + os << std::setiosflags(std::ios::left) << std::setw(12) << std::setprecision(5) << vec(dim); + } + os << "]\n"; + + return os; +} + +std::ostream& operator<<(std::ostream& os, const std::vector &vec) +{ + os << "["; + for (size_t dim = 0; dim < vec.size(); ++dim) + { + os << std::setiosflags(std::ios::left) << std::setw(12) << std::setprecision(5) << vec[dim]; + } + os << "]\n"; + + return os; +} + +std::ostream& operator<<(std::ostream& os, const std::vector &vec) +{ + os << "["; + for (size_t dim = 0; dim < vec.size(); ++dim) + { + os << std::setiosflags(std::ios::left) << std::setw(3) << (vec[dim] ? "t" : "f"); + } + os << "]\n"; + + return os; +} + +namespace RobotLocalization +{ + +namespace FilterUtilities +{ + void appendPrefix(std::string tfPrefix, std::string &frameId) + { + // Strip all leading slashes for tf2 compliance + if (!frameId.empty() && frameId.at(0) == '/') + { + frameId = frameId.substr(1); + } + + if (!tfPrefix.empty() && tfPrefix.at(0) == '/') + { + tfPrefix = tfPrefix.substr(1); + } + + // If we do have a tf prefix, then put a slash in between + if (!tfPrefix.empty()) + { + frameId = tfPrefix + "/" + frameId; + } + } + + double clampRotation(double rotation) + { + while (rotation > PI) + { + rotation -= TAU; + } + + while (rotation < -PI) + { + rotation += TAU; + } + + return rotation; + } + +} // namespace FilterUtilities + +} // namespace RobotLocalization diff --git a/navigations/robot_localization/src/navsat_transform.cpp b/navigations/robot_localization/src/navsat_transform.cpp new file mode 100755 index 0000000..5ec9f1b --- /dev/null +++ b/navigations/robot_localization/src/navsat_transform.cpp @@ -0,0 +1,915 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/navsat_transform.h" +#include "robot_localization/filter_common.h" +#include "robot_localization/filter_utilities.h" +#include "robot_localization/navsat_conversions.h" +#include "robot_localization/ros_filter_utilities.h" + +#include +#include + +#include + +namespace RobotLocalization +{ + NavSatTransform::NavSatTransform(ros::NodeHandle nh, ros::NodeHandle nh_priv) : + broadcast_cartesian_transform_(false), + broadcast_cartesian_transform_as_parent_frame_(false), + gps_updated_(false), + has_transform_gps_(false), + has_transform_imu_(false), + has_transform_odom_(false), + odom_updated_(false), + publish_gps_(false), + transform_good_(false), + use_manual_datum_(false), + use_odometry_yaw_(false), + use_local_cartesian_(false), + zero_altitude_(false), + magnetic_declination_(0.0), + yaw_offset_(0.0), + base_link_frame_id_("base_link"), + gps_frame_id_(""), + utm_zone_(0), + world_frame_id_("odom"), + transform_timeout_(ros::Duration(0)), + tf_listener_(tf_buffer_) + { + ROS_INFO("Waiting for valid clock time..."); + ros::Time::waitForValid(); + ROS_INFO("Valid clock time received. Starting node."); + + latest_cartesian_covariance_.resize(POSE_SIZE, POSE_SIZE); + latest_odom_covariance_.resize(POSE_SIZE, POSE_SIZE); + + double frequency; + double delay = 0.0; + double transform_timeout = 0.0; + + // Load the parameters we need + nh_priv.getParam("magnetic_declination_radians", magnetic_declination_); + nh_priv.param("yaw_offset", yaw_offset_, 0.0); + nh_priv.param("broadcast_cartesian_transform", broadcast_cartesian_transform_, false); + nh_priv.param("broadcast_cartesian_transform_as_parent_frame", + broadcast_cartesian_transform_as_parent_frame_, false); + nh_priv.param("zero_altitude", zero_altitude_, false); + nh_priv.param("publish_filtered_gps", publish_gps_, false); + nh_priv.param("use_odometry_yaw", use_odometry_yaw_, false); + nh_priv.param("wait_for_datum", use_manual_datum_, false); + nh_priv.param("use_local_cartesian", use_local_cartesian_, false); + nh_priv.param("frequency", frequency, 10.0); + nh_priv.param("delay", delay, 0.0); + nh_priv.param("transform_timeout", transform_timeout, 0.0); + nh_priv.param("cartesian_frame_id", cartesian_frame_id_, std::string(use_local_cartesian_ ? "local_enu" : "utm")); + transform_timeout_.fromSec(transform_timeout); + + // Check for deprecated parameters + if (nh_priv.getParam("broadcast_utm_transform", broadcast_cartesian_transform_)) + { + ROS_WARN("navsat_transform, Parameter 'broadcast_utm_transform' has been deprecated. Please use" + "'broadcast_cartesian_transform' instead."); + } + if (nh_priv.getParam("broadcast_utm_transform_as_parent_frame", broadcast_cartesian_transform_as_parent_frame_)) + { + ROS_WARN("navsat_transform, Parameter 'broadcast_utm_transform_as_parent_frame' has been deprecated. Please use" + "'broadcast_cartesian_transform_as_parent_frame' instead."); + } + + // Check if tf warnings should be suppressed + nh.getParam("/silent_tf_failure", tf_silent_failure_); + + // Subscribe to the messages and services we need + datum_srv_ = nh.advertiseService("datum", &NavSatTransform::datumCallback, this); + + to_ll_srv_ = nh.advertiseService("toLL", &NavSatTransform::toLLCallback, this); + from_ll_srv_ = nh.advertiseService("fromLL", &NavSatTransform::fromLLCallback, this); + set_utm_zone_srv_ = nh.advertiseService("setUTMZone", &NavSatTransform::setUTMZoneCallback, this); + + if (use_manual_datum_ && nh_priv.hasParam("datum")) + { + XmlRpc::XmlRpcValue datum_config; + + try + { + double datum_lat; + double datum_lon; + double datum_yaw; + + nh_priv.getParam("datum", datum_config); + + // Handle datum specification. Users should always specify a baseLinkFrameId_ in the + // datum config, but we had a release where it wasn't used, so we'll maintain compatibility. + ROS_ASSERT(datum_config.getType() == XmlRpc::XmlRpcValue::TypeArray); + ROS_ASSERT(datum_config.size() >= 3); + + if (datum_config.size() > 3) + { + ROS_WARN_STREAM("Deprecated datum parameter configuration detected. Only the first three parameters " + "(latitude, longitude, yaw) will be used. frame_ids will be derived from odometry and navsat inputs."); + } + + std::ostringstream ostr; + ostr << std::setprecision(20) << datum_config[0] << " " << datum_config[1] << " " << datum_config[2]; + std::istringstream istr(ostr.str()); + istr >> datum_lat >> datum_lon >> datum_yaw; + + // Try to resolve tf_prefix + std::string tf_prefix = ""; + std::string tf_prefix_path = ""; + if (nh_priv.searchParam("tf_prefix", tf_prefix_path)) + { + nh_priv.getParam(tf_prefix_path, tf_prefix); + } + + // Append the tf prefix in a tf2-friendly manner + FilterUtilities::appendPrefix(tf_prefix, world_frame_id_); + FilterUtilities::appendPrefix(tf_prefix, base_link_frame_id_); + + robot_localization::SetDatum::Request request; + request.geo_pose.position.latitude = datum_lat; + request.geo_pose.position.longitude = datum_lon; + request.geo_pose.position.altitude = 0.0; + tf2::Quaternion quat; + quat.setRPY(0.0, 0.0, datum_yaw); + request.geo_pose.orientation = tf2::toMsg(quat); + robot_localization::SetDatum::Response response; + datumCallback(request, response); + } + catch (XmlRpc::XmlRpcException &e) + { + ROS_ERROR_STREAM("ERROR reading sensor config: " << e.getMessage() << + " for process_noise_covariance (type: " << datum_config.getType() << ")"); + } + } + + odom_sub_ = nh.subscribe("odometry/filtered", 1, &NavSatTransform::odomCallback, this); + gps_sub_ = nh.subscribe("gps/fix", 1, &NavSatTransform::gpsFixCallback, this); + + if (!use_odometry_yaw_ && !use_manual_datum_) + { + imu_sub_ = nh.subscribe("imu/data", 1, &NavSatTransform::imuCallback, this); + } + + gps_odom_pub_ = nh.advertise("odometry/gps", 10); + + if (publish_gps_) + { + filtered_gps_pub_ = nh.advertise("gps/filtered", 10); + } + + // Sleep for the parameterized amount of time, to give + // other nodes time to start up (not always necessary) + ros::Duration start_delay(delay); + start_delay.sleep(); + + periodicUpdateTimer_ = nh.createTimer(ros::Duration(1./frequency), &NavSatTransform::periodicUpdate, this); + } + + NavSatTransform::~NavSatTransform() + { + } + +// void NavSatTransform::run() + void NavSatTransform::periodicUpdate(const ros::TimerEvent& event) + { + if (!transform_good_) + { + computeTransform(); + + if (transform_good_ && !use_odometry_yaw_ && !use_manual_datum_) + { + // Once we have the transform, we don't need the IMU + imu_sub_.shutdown(); + } + } + else + { + nav_msgs::Odometry gps_odom; + if (prepareGpsOdometry(gps_odom)) + { + gps_odom_pub_.publish(gps_odom); + } + + if (publish_gps_) + { + sensor_msgs::NavSatFix odom_gps; + if (prepareFilteredGps(odom_gps)) + { + filtered_gps_pub_.publish(odom_gps); + } + } + } + } + + void NavSatTransform::computeTransform() + { + // Only do this if: + // 1. We haven't computed the odom_frame->cartesian_frame transform before + // 2. We've received the data we need + if (!transform_good_ && + has_transform_odom_ && + has_transform_gps_ && + has_transform_imu_) + { + // The cartesian pose we have is given at the location of the GPS sensor on the robot. We need to get the + // cartesian pose of the robot's origin. + tf2::Transform transform_cartesian_pose_corrected; + if (!use_manual_datum_) + { + getRobotOriginCartesianPose(transform_cartesian_pose_, transform_cartesian_pose_corrected, ros::Time(0)); + } + else + { + transform_cartesian_pose_corrected = transform_cartesian_pose_; + } + + // Get the IMU's current RPY values. Need the raw values (for yaw, anyway). + tf2::Matrix3x3 mat(transform_orientation_); + + // Convert to RPY + double imu_roll; + double imu_pitch; + double imu_yaw; + mat.getRPY(imu_roll, imu_pitch, imu_yaw); + + /* The IMU's heading was likely originally reported w.r.t. magnetic north. + * However, all the nodes in robot_localization assume that orientation data, + * including that reported by IMUs, is reported in an ENU frame, with a 0 yaw + * value being reported when facing east and increasing counter-clockwise (i.e., + * towards north). To make the world frame ENU aligned, where X is east + * and Y is north, we have to take into account three additional considerations: + * 1. The IMU may have its non-ENU frame data transformed to ENU, but there's + * a possibility that its data has not been corrected for magnetic + * declination. We need to account for this. A positive magnetic + * declination is counter-clockwise in an ENU frame. Therefore, if + * we have a magnetic declination of N radians, then when the sensor + * is facing a heading of N, it reports 0. Therefore, we need to add + * the declination angle. + * 2. To account for any other offsets that may not be accounted for by the + * IMU driver or any interim processing node, we expose a yaw offset that + * lets users work with navsat_transform_node. + * 3. UTM grid isn't aligned with True East\North. To account for the difference + * we need to add meridian convergence angle when using UTM. This value will be + * 0.0 when use_local_cartesian is TRUE. + */ + imu_yaw += (magnetic_declination_ + yaw_offset_ + utm_meridian_convergence_); + + ROS_INFO_STREAM("Corrected for magnetic declination of " << std::fixed << magnetic_declination_ << + ", user-specified offset of " << yaw_offset_ << + " and meridian convergence of " << utm_meridian_convergence_ << "." << + " Transform heading factor is now " << imu_yaw); + + // Convert to tf-friendly structures + tf2::Quaternion imu_quat; + imu_quat.setRPY(0.0, 0.0, imu_yaw); + + // The transform order will be orig_odom_pos * orig_cartesian_pos_inverse * cur_cartesian_pos. + // Doing it this way will allow us to cope with having non-zero odometry position + // when we get our first GPS message. + tf2::Transform cartesian_pose_with_orientation; + cartesian_pose_with_orientation.setOrigin(transform_cartesian_pose_corrected.getOrigin()); + cartesian_pose_with_orientation.setRotation(imu_quat); + + // Remove roll and pitch from odometry pose + // Must be done because roll and pitch is removed from cartesian_pose_with_orientation + double odom_roll, odom_pitch, odom_yaw; + tf2::Matrix3x3(transform_world_pose_.getRotation()).getRPY(odom_roll, odom_pitch, odom_yaw); + tf2::Quaternion odom_quat; + odom_quat.setRPY(0.0, 0.0, odom_yaw); + tf2::Transform transform_world_pose_yaw_only(transform_world_pose_); + transform_world_pose_yaw_only.setRotation(odom_quat); + + cartesian_world_transform_.mult(transform_world_pose_yaw_only, cartesian_pose_with_orientation.inverse()); + + cartesian_world_trans_inverse_ = cartesian_world_transform_.inverse(); + + ROS_INFO_STREAM("Transform world frame pose is: " << transform_world_pose_); + ROS_INFO_STREAM("World frame->cartesian transform is " << cartesian_world_transform_); + + transform_good_ = true; + + // Send out the (static) Cartesian transform in case anyone else would like to use it. + if (broadcast_cartesian_transform_) + { + geometry_msgs::TransformStamped cartesian_transform_stamped; + cartesian_transform_stamped.header.stamp = ros::Time::now(); + cartesian_transform_stamped.header.frame_id = (broadcast_cartesian_transform_as_parent_frame_ ? + cartesian_frame_id_ : world_frame_id_); + cartesian_transform_stamped.child_frame_id = (broadcast_cartesian_transform_as_parent_frame_ ? + world_frame_id_ : cartesian_frame_id_); + cartesian_transform_stamped.transform = (broadcast_cartesian_transform_as_parent_frame_ ? + tf2::toMsg(cartesian_world_trans_inverse_) : + tf2::toMsg(cartesian_world_transform_)); + cartesian_transform_stamped.transform.translation.z = (zero_altitude_ ? + 0.0 : cartesian_transform_stamped.transform.translation.z); + cartesian_broadcaster_.sendTransform(cartesian_transform_stamped); + } + } + } + + bool NavSatTransform::datumCallback(robot_localization::SetDatum::Request& request, + robot_localization::SetDatum::Response&) + { + // If we get a service call with a manual datum, even if we already computed the transform using the robot's + // initial pose, then we want to assume that we are using a datum from now on, and we want other methods to + // not attempt to transform the values we are specifying here. + use_manual_datum_ = true; + + transform_good_ = false; + + sensor_msgs::NavSatFix *fix = new sensor_msgs::NavSatFix(); + fix->latitude = request.geo_pose.position.latitude; + fix->longitude = request.geo_pose.position.longitude; + fix->altitude = request.geo_pose.position.altitude; + fix->header.stamp = ros::Time::now(); + fix->position_covariance[0] = 0.1; + fix->position_covariance[4] = 0.1; + fix->position_covariance[8] = 0.1; + fix->position_covariance_type = sensor_msgs::NavSatStatus::STATUS_FIX; + sensor_msgs::NavSatFixConstPtr fix_ptr(fix); + setTransformGps(fix_ptr); + + nav_msgs::Odometry *odom = new nav_msgs::Odometry(); + odom->pose.pose.orientation.x = 0; + odom->pose.pose.orientation.y = 0; + odom->pose.pose.orientation.z = 0; + odom->pose.pose.orientation.w = 1; + odom->pose.pose.position.x = 0; + odom->pose.pose.position.y = 0; + odom->pose.pose.position.z = 0; + odom->header.frame_id = world_frame_id_; + odom->child_frame_id = base_link_frame_id_; + nav_msgs::OdometryConstPtr odom_ptr(odom); + setTransformOdometry(odom_ptr); + + sensor_msgs::Imu *imu = new sensor_msgs::Imu(); + imu->orientation = request.geo_pose.orientation; + imu->header.frame_id = base_link_frame_id_; + sensor_msgs::ImuConstPtr imu_ptr(imu); + imuCallback(imu_ptr); + + return true; + } + + bool NavSatTransform::toLLCallback(robot_localization::ToLL::Request& request, + robot_localization::ToLL::Response& response) + { + if (!transform_good_) + { + ROS_ERROR("No transform available (yet)"); + return false; + } + tf2::Vector3 point; + tf2::fromMsg(request.map_point, point); + mapToLL(point, response.ll_point.latitude, response.ll_point.longitude, response.ll_point.altitude); + + return true; + } + + bool NavSatTransform::fromLLCallback(robot_localization::FromLL::Request& request, + robot_localization::FromLL::Response& response) + { + double altitude = request.ll_point.altitude; + double longitude = request.ll_point.longitude; + double latitude = request.ll_point.latitude; + + tf2::Transform cartesian_pose; + + double cartesian_x; + double cartesian_y; + double cartesian_z; + + if (use_local_cartesian_) + { + gps_local_cartesian_.Forward(latitude, longitude, altitude, cartesian_x, cartesian_y, cartesian_z); + } + else + { + int zone_tmp; + bool nortp_tmp; + try + { + GeographicLib::UTMUPS::Forward(latitude, longitude, zone_tmp, nortp_tmp, cartesian_x, cartesian_y, utm_zone_); + } + catch (const GeographicLib::GeographicErr& e) + { + ROS_ERROR_STREAM_THROTTLE(1.0, e.what()); + return false; + } + } + + cartesian_pose.setOrigin(tf2::Vector3(cartesian_x, cartesian_y, altitude)); + + nav_msgs::Odometry gps_odom; + + if (!transform_good_) + { + ROS_ERROR("No transform available (yet)"); + return false; + } + + response.map_point = cartesianToMap(cartesian_pose).pose.pose.position; + + return true; + } + + bool NavSatTransform::setUTMZoneCallback(robot_localization::SetUTMZone::Request& request, + robot_localization::SetUTMZone::Response& response) + { + double x_unused; + double y_unused; + int prec_unused; + GeographicLib::MGRS::Reverse(request.utm_zone, utm_zone_, northp_, x_unused, y_unused, prec_unused, true); + ROS_INFO("UTM zone set to %d %s", utm_zone_, northp_ ? "north" : "south"); + return true; + } + + nav_msgs::Odometry NavSatTransform::cartesianToMap(const tf2::Transform& cartesian_pose) const + { + nav_msgs::Odometry gps_odom{}; + + tf2::Transform transformed_cartesian_gps{}; + + transformed_cartesian_gps.mult(cartesian_world_transform_, cartesian_pose); + transformed_cartesian_gps.setRotation(tf2::Quaternion::getIdentity()); + + // Set header information stamp because we would like to know the robot's position at that timestamp + gps_odom.header.frame_id = world_frame_id_; + gps_odom.header.stamp = gps_update_time_; + + // Now fill out the message. Set the orientation to the identity. + tf2::toMsg(transformed_cartesian_gps, gps_odom.pose.pose); + gps_odom.pose.pose.position.z = (zero_altitude_ ? 0.0 : gps_odom.pose.pose.position.z); + + return gps_odom; + } + + void NavSatTransform::mapToLL(const tf2::Vector3& point, double& latitude, double& longitude, double& altitude) const + { + tf2::Transform odom_as_cartesian{}; + + tf2::Transform pose{}; + pose.setOrigin(point); + pose.setRotation(tf2::Quaternion::getIdentity()); + + odom_as_cartesian.mult(cartesian_world_trans_inverse_, pose); + odom_as_cartesian.setRotation(tf2::Quaternion::getIdentity()); + + if (use_local_cartesian_) + { + double altitude_tmp = 0.0; + gps_local_cartesian_.Reverse(odom_as_cartesian.getOrigin().getX(), + odom_as_cartesian.getOrigin().getY(), + 0.0, + latitude, + longitude, + altitude_tmp); + altitude = odom_as_cartesian.getOrigin().getZ(); + } + else + { + GeographicLib::UTMUPS::Reverse(utm_zone_, + northp_, + odom_as_cartesian.getOrigin().getX(), + odom_as_cartesian.getOrigin().getY(), + latitude, + longitude); + altitude = odom_as_cartesian.getOrigin().getZ(); + } + } + + void NavSatTransform::getRobotOriginCartesianPose(const tf2::Transform &gps_cartesian_pose, + tf2::Transform &robot_cartesian_pose, + const ros::Time &transform_time) + { + robot_cartesian_pose.setIdentity(); + + // Get linear offset from origin for the GPS + tf2::Transform offset; + bool can_transform = RosFilterUtilities::lookupTransformSafe(tf_buffer_, + base_link_frame_id_, + gps_frame_id_, + transform_time, + ros::Duration(transform_timeout_), + offset, + tf_silent_failure_); + + if (can_transform) + { + // Get the orientation we'll use for our Cartesian->world transform + tf2::Quaternion cartesian_orientation = transform_orientation_; + tf2::Matrix3x3 mat(cartesian_orientation); + + // Add the offsets + double roll; + double pitch; + double yaw; + mat.getRPY(roll, pitch, yaw); + yaw += (magnetic_declination_ + yaw_offset_ + utm_meridian_convergence_); + cartesian_orientation.setRPY(roll, pitch, yaw); + + // Rotate the GPS linear offset by the orientation + // Zero out the orientation, because the GPS orientation is meaningless, and if it's non-zero, it will make the + // the computation of robot_cartesian_pose erroneous. + offset.setOrigin(tf2::quatRotate(cartesian_orientation, offset.getOrigin())); + offset.setRotation(tf2::Quaternion::getIdentity()); + + // Update the initial pose + robot_cartesian_pose = offset.inverse() * gps_cartesian_pose; + } + else + { + if (gps_frame_id_ != "") + { + ROS_WARN_STREAM_ONCE("Unable to obtain " << base_link_frame_id_ << "->" << gps_frame_id_ << + " transform. Will assume navsat device is mounted at robot's origin"); + } + + robot_cartesian_pose = gps_cartesian_pose; + } + } + + void NavSatTransform::getRobotOriginWorldPose(const tf2::Transform &gps_odom_pose, + tf2::Transform &robot_odom_pose, + const ros::Time &transform_time) + { + robot_odom_pose.setIdentity(); + + // Remove the offset from base_link + tf2::Transform gps_offset_rotated; + bool can_transform = RosFilterUtilities::lookupTransformSafe(tf_buffer_, + base_link_frame_id_, + gps_frame_id_, + transform_time, + transform_timeout_, + gps_offset_rotated, + tf_silent_failure_); + + if (can_transform) + { + tf2::Transform robot_orientation; + can_transform = RosFilterUtilities::lookupTransformSafe(tf_buffer_, + world_frame_id_, + base_link_frame_id_, + transform_time, + transform_timeout_, + robot_orientation, + tf_silent_failure_); + + if (can_transform) + { + // Zero out rotation because we don't care about the orientation of the + // GPS receiver relative to base_link + gps_offset_rotated.setOrigin(tf2::quatRotate(robot_orientation.getRotation(), gps_offset_rotated.getOrigin())); + gps_offset_rotated.setRotation(tf2::Quaternion::getIdentity()); + robot_odom_pose = gps_offset_rotated.inverse() * gps_odom_pose; + } + else + { + ROS_WARN_STREAM_THROTTLE(5.0, "Could not obtain " << world_frame_id_ << "->" << base_link_frame_id_ << + " transform. Will not remove offset of navsat device from robot's origin."); + } + } + else + { + ROS_WARN_STREAM_THROTTLE(5.0, "Could not obtain " << base_link_frame_id_ << "->" << gps_frame_id_ << + " transform. Will not remove offset of navsat device from robot's origin."); + } + } + + void NavSatTransform::gpsFixCallback(const sensor_msgs::NavSatFixConstPtr& msg) + { + gps_frame_id_ = msg->header.frame_id; + + if (gps_frame_id_.empty()) + { + ROS_WARN_STREAM_ONCE("NavSatFix message has empty frame_id. Will assume navsat device is mounted at robot's " + "origin."); + } + + // Make sure the GPS data is usable + bool good_gps = (msg->status.status != sensor_msgs::NavSatStatus::STATUS_NO_FIX && + !std::isnan(msg->altitude) && + !std::isnan(msg->latitude) && + !std::isnan(msg->longitude)); + + if (good_gps) + { + // If we haven't computed the transform yet, then + // store this message as the initial GPS data to use + if (!transform_good_ && !use_manual_datum_) + { + setTransformGps(msg); + } + + double cartesian_x = 0.0; + double cartesian_y = 0.0; + double cartesian_z = 0.0; + if (use_local_cartesian_) + { + gps_local_cartesian_.Forward(msg->latitude, msg->longitude, msg->altitude, + cartesian_x, cartesian_y, cartesian_z); + } + else + { + // Transform to UTM using the fixed utm_zone_ + int zone_tmp; + bool northp_tmp; + try + { + GeographicLib::UTMUPS::Forward(msg->latitude, msg->longitude, + zone_tmp, northp_tmp, cartesian_x, cartesian_y, utm_zone_); + } + catch (const GeographicLib::GeographicErr& e) + { + ROS_ERROR_STREAM_THROTTLE(1.0, e.what()); + return; + } + } + latest_cartesian_pose_.setOrigin(tf2::Vector3(cartesian_x, cartesian_y, msg->altitude)); + latest_cartesian_covariance_.setZero(); + + // Copy the measurement's covariance matrix so that we can rotate it later + for (size_t i = 0; i < POSITION_SIZE; i++) + { + for (size_t j = 0; j < POSITION_SIZE; j++) + { + latest_cartesian_covariance_(i, j) = msg->position_covariance[POSITION_SIZE * i + j]; + } + } + + gps_update_time_ = msg->header.stamp; + gps_updated_ = true; + } + } + + void NavSatTransform::imuCallback(const sensor_msgs::ImuConstPtr& msg) + { + // We need the baseLinkFrameId_ from the odometry message, so + // we need to wait until we receive it. + if (has_transform_odom_) + { + /* This method only gets called if we don't yet have the + * IMU data (the subscriber gets shut down once we compute + * the transform), so we can assumed that every IMU message + * that comes here is meant to be used for that purpose. */ + tf2::fromMsg(msg->orientation, transform_orientation_); + + // Correct for the IMU's orientation w.r.t. base_link + tf2::Transform target_frame_trans; + bool can_transform = RosFilterUtilities::lookupTransformSafe(tf_buffer_, + base_link_frame_id_, + msg->header.frame_id, + msg->header.stamp, + transform_timeout_, + target_frame_trans, + tf_silent_failure_); + + if (can_transform) + { + double roll_offset = 0; + double pitch_offset = 0; + double yaw_offset = 0; + double roll = 0; + double pitch = 0; + double yaw = 0; + RosFilterUtilities::quatToRPY(target_frame_trans.getRotation(), roll_offset, pitch_offset, yaw_offset); + RosFilterUtilities::quatToRPY(transform_orientation_, roll, pitch, yaw); + + ROS_DEBUG_STREAM("Initial orientation is " << transform_orientation_); + + // Apply the offset (making sure to bound them), and throw them in a vector + tf2::Vector3 rpy_angles(FilterUtilities::clampRotation(roll - roll_offset), + FilterUtilities::clampRotation(pitch - pitch_offset), + FilterUtilities::clampRotation(yaw - yaw_offset)); + + // Now we need to rotate the roll and pitch by the yaw offset value. + // Imagine a case where an IMU is mounted facing sideways. In that case + // pitch for the IMU's world frame is roll for the robot. + tf2::Matrix3x3 mat; + mat.setRPY(0.0, 0.0, yaw_offset); + rpy_angles = mat * rpy_angles; + transform_orientation_.setRPY(rpy_angles.getX(), rpy_angles.getY(), rpy_angles.getZ()); + + ROS_DEBUG_STREAM("Initial corrected orientation roll, pitch, yaw is (" << + rpy_angles.getX() << ", " << rpy_angles.getY() << ", " << rpy_angles.getZ() << ")"); + + has_transform_imu_ = true; + } + } + } + + void NavSatTransform::odomCallback(const nav_msgs::OdometryConstPtr& msg) + { + world_frame_id_ = msg->header.frame_id; + base_link_frame_id_ = msg->child_frame_id; + + if (!transform_good_ && !use_manual_datum_) + { + setTransformOdometry(msg); + } + + tf2::fromMsg(msg->pose.pose, latest_world_pose_); + latest_odom_covariance_.setZero(); + for (size_t row = 0; row < POSE_SIZE; ++row) + { + for (size_t col = 0; col < POSE_SIZE; ++col) + { + latest_odom_covariance_(row, col) = msg->pose.covariance[row * POSE_SIZE + col]; + } + } + + odom_update_time_ = msg->header.stamp; + odom_updated_ = true; + } + + + bool NavSatTransform::prepareFilteredGps(sensor_msgs::NavSatFix &filtered_gps) + { + bool new_data = false; + + if (transform_good_ && odom_updated_) + { + mapToLL(latest_world_pose_.getOrigin(), filtered_gps.latitude, filtered_gps.longitude, filtered_gps.altitude); + + // Rotate the covariance as well + tf2::Matrix3x3 rot(cartesian_world_trans_inverse_.getRotation()); + Eigen::MatrixXd rot_6d(POSE_SIZE, POSE_SIZE); + rot_6d.setIdentity(); + + for (size_t rInd = 0; rInd < POSITION_SIZE; ++rInd) + { + rot_6d(rInd, 0) = rot.getRow(rInd).getX(); + rot_6d(rInd, 1) = rot.getRow(rInd).getY(); + rot_6d(rInd, 2) = rot.getRow(rInd).getZ(); + rot_6d(rInd+POSITION_SIZE, 3) = rot.getRow(rInd).getX(); + rot_6d(rInd+POSITION_SIZE, 4) = rot.getRow(rInd).getY(); + rot_6d(rInd+POSITION_SIZE, 5) = rot.getRow(rInd).getZ(); + } + + // Rotate the covariance + latest_odom_covariance_ = rot_6d * latest_odom_covariance_.eval() * rot_6d.transpose(); + + // Copy the measurement's covariance matrix back + for (size_t i = 0; i < POSITION_SIZE; i++) + { + for (size_t j = 0; j < POSITION_SIZE; j++) + { + filtered_gps.position_covariance[POSITION_SIZE * i + j] = latest_odom_covariance_(i, j); + } + } + + filtered_gps.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_KNOWN; + filtered_gps.status.status = sensor_msgs::NavSatStatus::STATUS_GBAS_FIX; + filtered_gps.header.frame_id = base_link_frame_id_; + filtered_gps.header.stamp = odom_update_time_; + + // Mark this GPS as used + odom_updated_ = false; + new_data = true; + } + + return new_data; + } + + bool NavSatTransform::prepareGpsOdometry(nav_msgs::Odometry &gps_odom) + { + bool new_data = false; + + if (transform_good_ && gps_updated_ && odom_updated_) + { + gps_odom = cartesianToMap(latest_cartesian_pose_); + + tf2::Transform transformed_cartesian_gps; + tf2::fromMsg(gps_odom.pose.pose, transformed_cartesian_gps); + + // Want the pose of the vehicle origin, not the GPS + tf2::Transform transformed_cartesian_robot; + getRobotOriginWorldPose(transformed_cartesian_gps, transformed_cartesian_robot, gps_odom.header.stamp); + + // Rotate the covariance as well + tf2::Matrix3x3 rot(cartesian_world_transform_.getRotation()); + Eigen::MatrixXd rot_6d(POSE_SIZE, POSE_SIZE); + rot_6d.setIdentity(); + + for (size_t rInd = 0; rInd < POSITION_SIZE; ++rInd) + { + rot_6d(rInd, 0) = rot.getRow(rInd).getX(); + rot_6d(rInd, 1) = rot.getRow(rInd).getY(); + rot_6d(rInd, 2) = rot.getRow(rInd).getZ(); + rot_6d(rInd+POSITION_SIZE, 3) = rot.getRow(rInd).getX(); + rot_6d(rInd+POSITION_SIZE, 4) = rot.getRow(rInd).getY(); + rot_6d(rInd+POSITION_SIZE, 5) = rot.getRow(rInd).getZ(); + } + + // Rotate the covariance + latest_cartesian_covariance_ = rot_6d * latest_cartesian_covariance_.eval() * rot_6d.transpose(); + + // Now fill out the message. Set the orientation to the identity. + tf2::toMsg(transformed_cartesian_robot, gps_odom.pose.pose); + gps_odom.pose.pose.position.z = (zero_altitude_ ? 0.0 : gps_odom.pose.pose.position.z); + + // Copy the measurement's covariance matrix so that we can rotate it later + for (size_t i = 0; i < POSE_SIZE; i++) + { + for (size_t j = 0; j < POSE_SIZE; j++) + { + gps_odom.pose.covariance[POSE_SIZE * i + j] = latest_cartesian_covariance_(i, j); + } + } + + // Mark this GPS as used + gps_updated_ = false; + new_data = true; + } + + return new_data; + } + + void NavSatTransform::setTransformGps(const sensor_msgs::NavSatFixConstPtr& msg) + { + double cartesian_x = 0; + double cartesian_y = 0; + double cartesian_z = 0; + if (use_local_cartesian_) + { + const double hae_altitude = 0.0; + gps_local_cartesian_.Reset(msg->latitude, msg->longitude, hae_altitude); + gps_local_cartesian_.Forward(msg->latitude, msg->longitude, msg->altitude, cartesian_x, cartesian_y, cartesian_z); + + // UTM meridian convergence is not meaningful when using local cartesian, so set it to 0.0 + utm_meridian_convergence_ = 0.0; + } + else + { + double k_tmp; + double utm_meridian_convergence_degrees; + GeographicLib::UTMUPS::Forward(msg->latitude, msg->longitude, utm_zone_, northp_, + cartesian_x, cartesian_y, utm_meridian_convergence_degrees, k_tmp); + utm_meridian_convergence_ = utm_meridian_convergence_degrees * NavsatConversions::RADIANS_PER_DEGREE; + } + + ROS_INFO_STREAM("Datum (latitude, longitude, altitude) is (" << std::fixed << msg->latitude << ", " << + msg->longitude << ", " << msg->altitude << ")"); + ROS_INFO_STREAM("Datum " << ((use_local_cartesian_)? "Local Cartesian" : "UTM") << + " coordinate is (" << std::fixed << cartesian_x << ", " << cartesian_y << ") zone " << utm_zone_); + + transform_cartesian_pose_.setOrigin(tf2::Vector3(cartesian_x, cartesian_y, msg->altitude)); + transform_cartesian_pose_.setRotation(tf2::Quaternion::getIdentity()); + has_transform_gps_ = true; + } + + void NavSatTransform::setTransformOdometry(const nav_msgs::OdometryConstPtr& msg) + { + tf2::fromMsg(msg->pose.pose, transform_world_pose_); + has_transform_odom_ = true; + + ROS_INFO_STREAM_ONCE("Initial odometry pose is " << transform_world_pose_); + + // Users can optionally use the (potentially fused) heading from + // the odometry source, which may have multiple fused sources of + // heading data, and so would act as a better heading for the + // Cartesian->world_frame transform. + if (!transform_good_ && use_odometry_yaw_ && !use_manual_datum_) + { + sensor_msgs::Imu *imu = new sensor_msgs::Imu(); + imu->orientation = msg->pose.pose.orientation; + imu->header.frame_id = msg->child_frame_id; + imu->header.stamp = msg->header.stamp; + sensor_msgs::ImuConstPtr imuPtr(imu); + imuCallback(imuPtr); + } + } + +} // namespace RobotLocalization diff --git a/navigations/robot_localization/src/navsat_transform_node.cpp b/navigations/robot_localization/src/navsat_transform_node.cpp new file mode 100755 index 0000000..16023fa --- /dev/null +++ b/navigations/robot_localization/src/navsat_transform_node.cpp @@ -0,0 +1,51 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/navsat_transform.h" + +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "navsat_transform_node"); + + ros::NodeHandle nh; + ros::NodeHandle nh_priv("~"); + + + RobotLocalization::NavSatTransform trans(nh, nh_priv); + ros::spin(); + + return EXIT_SUCCESS; +} + + diff --git a/navigations/robot_localization/src/navsat_transform_nodelet.cpp b/navigations/robot_localization/src/navsat_transform_nodelet.cpp new file mode 100755 index 0000000..994ddc1 --- /dev/null +++ b/navigations/robot_localization/src/navsat_transform_nodelet.cpp @@ -0,0 +1,63 @@ +/* + * Copyright (c) 2017 Simon Gene Gottlieb + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/navsat_transform.h" + +#include +#include +#include + +#include + +namespace RobotLocalization +{ + +class NavSatTransformNodelet : public nodelet::Nodelet +{ +private: + std::unique_ptr trans; + +public: + virtual void onInit() + { + NODELET_DEBUG("Initializing nodelet..."); + + ros::NodeHandle nh = getNodeHandle(); + ros::NodeHandle nh_priv = getPrivateNodeHandle(); + + trans = std::make_unique(nh, nh_priv); + } +}; + +} // namespace RobotLocalization + +PLUGINLIB_EXPORT_CLASS(RobotLocalization::NavSatTransformNodelet, nodelet::Nodelet); diff --git a/navigations/robot_localization/src/robot_localization_estimator.cpp b/navigations/robot_localization/src/robot_localization_estimator.cpp new file mode 100755 index 0000000..9de64c3 --- /dev/null +++ b/navigations/robot_localization/src/robot_localization_estimator.cpp @@ -0,0 +1,212 @@ +/* + * Copyright (c) 2016, TNO IVS Helmond. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/robot_localization_estimator.h" +#include "robot_localization/ekf.h" +#include "robot_localization/ukf.h" + +#include + +namespace RobotLocalization +{ +RobotLocalizationEstimator::RobotLocalizationEstimator(unsigned int buffer_capacity, + FilterType filter_type, + const Eigen::MatrixXd& process_noise_covariance, + const std::vector& filter_args) +{ + state_buffer_.set_capacity(buffer_capacity); + + // Set up the filter that is used for predictions + if ( filter_type == FilterTypes::EKF ) + { + filter_ = new Ekf; + } + else if ( filter_type == FilterTypes::UKF ) + { + filter_ = new Ukf(filter_args); + } + + filter_->setProcessNoiseCovariance(process_noise_covariance); +} + +RobotLocalizationEstimator::~RobotLocalizationEstimator() +{ + delete filter_; +} + +void RobotLocalizationEstimator::setState(const EstimatorState& state) +{ + // If newly received state is newer than any in the buffer, push back + if ( state_buffer_.empty() || state.time_stamp > state_buffer_.back().time_stamp ) + { + state_buffer_.push_back(state); + } + // If it is older, put it in the right position + else + { + for ( boost::circular_buffer::iterator it = state_buffer_.begin(); it != state_buffer_.end(); ++it ) + { + if ( state.time_stamp < it->time_stamp ) + { + state_buffer_.insert(it, state); + return; + } + } + } +} + +EstimatorResult RobotLocalizationEstimator::getState(const double time, + EstimatorState& state) const +{ + // If there's nothing in the buffer, there's nothing to give. + if ( state_buffer_.size() == 0 ) + { + return EstimatorResults::EmptyBuffer; + } + + // Set state to the most recent one for now + state = state_buffer_.back(); + + // Go through buffer from new to old + EstimatorState last_state_before_time = state_buffer_.front(); + EstimatorState next_state_after_time = state_buffer_.back(); + bool previous_state_found = false; + bool next_state_found = false; + + for (boost::circular_buffer::const_reverse_iterator it = state_buffer_.rbegin(); + it != state_buffer_.rend(); ++it) + { + /* If the time stamp of the current state from the buffer is + * older than the requested time, store it as the last state + * before the requested time. If it is younger, save it as the + * next one after, and go on to find the last one before. + */ + if ( it->time_stamp == time ) + { + state = *it; + return EstimatorResults::Exact; + } + else if ( it->time_stamp <= time ) + { + last_state_before_time = *it; + previous_state_found = true; + break; + } + else + { + next_state_after_time = *it; + next_state_found = true; + } + } + + // If we found a previous state and a next state, we can do interpolation + if ( previous_state_found && next_state_found ) + { + interpolate(last_state_before_time, next_state_after_time, time, state); + return EstimatorResults::Interpolation; + } + + // If only a previous state is found, we can do extrapolation into the future + else if ( previous_state_found ) + { + extrapolate(last_state_before_time, time, state); + return EstimatorResults::ExtrapolationIntoFuture; + } + + // If only a next state is found, we'll have to extrapolate into the past. + else if ( next_state_found ) + { + extrapolate(next_state_after_time, time, state); + return EstimatorResults::ExtrapolationIntoPast; + } + + else + { + return EstimatorResults::Failed; + } +} + +void RobotLocalizationEstimator::setBufferCapacity(const int capacity) +{ + state_buffer_.set_capacity(capacity); +} + +void RobotLocalizationEstimator::clearBuffer() +{ + state_buffer_.clear(); +} + +unsigned int RobotLocalizationEstimator::getBufferCapacity() const +{ + return state_buffer_.capacity(); +} + +unsigned int RobotLocalizationEstimator::getSize() const +{ + return state_buffer_.size(); +} + +void RobotLocalizationEstimator::extrapolate(const EstimatorState& boundary_state, + const double requested_time, + EstimatorState& state_at_req_time) const +{ + // Set up the filter with the boundary state + filter_->setState(boundary_state.state); + filter_->setEstimateErrorCovariance(boundary_state.covariance); + + // Calculate how much time we need to extrapolate into the future + double delta = requested_time - boundary_state.time_stamp; + + // Use the filter to predict + filter_->predict(boundary_state.time_stamp, delta); + + state_at_req_time.time_stamp = requested_time; + state_at_req_time.state = filter_->getState(); + state_at_req_time.covariance = filter_->getEstimateErrorCovariance(); + + return; +} + +void RobotLocalizationEstimator::interpolate(const EstimatorState& given_state_1, + const EstimatorState& given_state_2, + const double requested_time, + EstimatorState& state_at_req_time) const +{ + /* + * TODO: Right now, we only extrapolate from the last known state before the requested time. But as the state after + * the requested time is also known, we may want to perform interpolation between states. + */ + extrapolate(given_state_1, requested_time, state_at_req_time); + return; +} + +} // namespace RobotLocalization diff --git a/navigations/robot_localization/src/robot_localization_listener_node.cpp b/navigations/robot_localization/src/robot_localization_listener_node.cpp new file mode 100755 index 0000000..697070c --- /dev/null +++ b/navigations/robot_localization/src/robot_localization_listener_node.cpp @@ -0,0 +1,98 @@ +/* + * Copyright (c) 2016, TNO IVS Helmond. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_robot_localization_listener.h" +#include "robot_localization/GetState.h" + +#include + +namespace RobotLocalization +{ + +class RobotLocalizationListenerNode +{ +public: + RobotLocalizationListenerNode() + { + service_ = n_.advertiseService("get_state", &RobotLocalizationListenerNode::getStateCallback, this); + } + + std::string getService() + { + return service_.getService(); + } + +private: + RosRobotLocalizationListener rll_; + ros::NodeHandle n_; + ros::ServiceServer service_; + + bool getStateCallback(robot_localization::GetState::Request &req, + robot_localization::GetState::Response &res) + { + Eigen::VectorXd state(STATE_SIZE); + Eigen::MatrixXd covariance(STATE_SIZE, STATE_SIZE); + + if ( !rll_.getState(req.time_stamp, req.frame_id, state, covariance) ) + { + ROS_ERROR("Robot Localization Listener Node: Listener instance returned false at getState call."); + return false; + } + + for (size_t i = 0; i < STATE_SIZE; i++) + { + res.state[i] = (*(state.data() + i)); + } + + for (size_t i = 0; i < STATE_SIZE * STATE_SIZE; i++) + { + res.covariance[i] = (*(covariance.data() + i)); + } + + ROS_DEBUG("Robot Localization Listener Node: Listener responded with state and covariance at the requested time."); + return true; + } +}; + +} // namespace RobotLocalization + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "robot_localization_listener_node"); + + RobotLocalization::RobotLocalizationListenerNode rlln; + ROS_INFO_STREAM("Robot Localization Listener Node: Ready to handle GetState requests at " << rlln.getService()); + + ros::spin(); + + return 0; +} diff --git a/navigations/robot_localization/src/ros_filter.cpp b/navigations/robot_localization/src/ros_filter.cpp new file mode 100755 index 0000000..4cacacf --- /dev/null +++ b/navigations/robot_localization/src/ros_filter.cpp @@ -0,0 +1,3361 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_filter.h" +#include "robot_localization/filter_utilities.h" +#include "robot_localization/ekf.h" +#include "robot_localization/ukf.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#if defined(_WIN32) && defined(ERROR) + #undef ERROR +#endif + +namespace RobotLocalization +{ + template + RosFilter::RosFilter(ros::NodeHandle nh, + ros::NodeHandle nh_priv, + std::string node_name, + std::vector args) : + disabledAtStartup_(false), + enabled_(false), + predictToCurrentTime_(false), + printDiagnostics_(true), + publishAcceleration_(false), + publishTransform_(true), + resetOnTimeJump_(false), + smoothLaggedData_(false), + toggledOn_(true), + twoDMode_(false), + useControl_(false), + dynamicDiagErrorLevel_(diagnostic_msgs::DiagnosticStatus::OK), + staticDiagErrorLevel_(diagnostic_msgs::DiagnosticStatus::OK), + frequency_(30.0), + gravitationalAcc_(9.80665), + historyLength_(0), + minFrequency_(frequency_ - 2.0), + maxFrequency_(frequency_ + 2.0), + baseLinkFrameId_("base_link"), + mapFrameId_("map"), + odomFrameId_("odom"), + worldFrameId_(odomFrameId_), + lastDiagTime_(0), + lastSetPoseTime_(0), + latestControlTime_(0), + tfTimeOffset_(ros::Duration(0)), + tfTimeout_(ros::Duration(0)), + filter_(args), + nh_(nh), + nhLocal_(nh_priv), + diagnosticUpdater_(nh, nh_priv, node_name), + tfListener_(tfBuffer_) + { + stateVariableNames_.push_back("X"); + stateVariableNames_.push_back("Y"); + stateVariableNames_.push_back("Z"); + stateVariableNames_.push_back("ROLL"); + stateVariableNames_.push_back("PITCH"); + stateVariableNames_.push_back("YAW"); + stateVariableNames_.push_back("X_VELOCITY"); + stateVariableNames_.push_back("Y_VELOCITY"); + stateVariableNames_.push_back("Z_VELOCITY"); + stateVariableNames_.push_back("ROLL_VELOCITY"); + stateVariableNames_.push_back("PITCH_VELOCITY"); + stateVariableNames_.push_back("YAW_VELOCITY"); + stateVariableNames_.push_back("X_ACCELERATION"); + stateVariableNames_.push_back("Y_ACCELERATION"); + stateVariableNames_.push_back("Z_ACCELERATION"); + + diagnosticUpdater_.setHardwareID("none"); + } + + template + RosFilter::RosFilter(ros::NodeHandle nh, ros::NodeHandle nh_priv, std::vector args) : + RosFilter::RosFilter(nh, nh_priv, ros::this_node::getName(), args) + {} + + template + RosFilter::~RosFilter() + { + topicSubs_.clear(); + } + + template + void RosFilter::initialize() + { + loadParams(); + + if (printDiagnostics_) + { + diagnosticUpdater_.add("Filter diagnostic updater", this, &RosFilter::aggregateDiagnostics); + } + + // Set up the frequency diagnostic + minFrequency_ = frequency_ - 2; + maxFrequency_ = frequency_ + 2; + freqDiag_ = std::make_unique( + "odometry/filtered", + diagnosticUpdater_, + diagnostic_updater::FrequencyStatusParam( + &minFrequency_, + &maxFrequency_, + 0.1, + 10)); + + // Publisher + positionPub_ = nh_.advertise("odometry/filtered", 20); + + // Optional acceleration publisher + if (publishAcceleration_) + { + accelPub_ = nh_.advertise("accel/filtered", 20); + } + + lastDiagTime_ = ros::Time::now(); + + periodicUpdateTimer_ = nh_.createTimer(ros::Duration(1./frequency_), &RosFilter::periodicUpdate, this); + } + + template + void RosFilter::reset() + { + // Get rid of any initial poses (pretend we've never had a measurement) + initialMeasurements_.clear(); + previousMeasurements_.clear(); + previousMeasurementCovariances_.clear(); + + clearMeasurementQueue(); + + filterStateHistory_.clear(); + measurementHistory_.clear(); + + // Also set the last set pose time, so we ignore all messages + // that occur before it + lastSetPoseTime_ = ros::Time(0); + + // clear tf buffer to avoid TF_OLD_DATA errors + tfBuffer_.clear(); + + // clear last message timestamp, so older messages will be accepted + lastMessageTimes_.clear(); + + // reset filter to uninitialized state + filter_.reset(); + + // clear all waiting callbacks + ros::getGlobalCallbackQueue()->clear(); + } + + template + bool RosFilter::toggleFilterProcessingCallback(robot_localization::ToggleFilterProcessing::Request& req, + robot_localization::ToggleFilterProcessing::Response& resp) + { + if (req.on == toggledOn_) + { + ROS_WARN_STREAM("Service was called to toggle filter processing but state was already as requested."); + resp.status = false; + } + else + { + ROS_INFO("Toggling filter measurement filtering to %s.", req.on ? "On" : "Off"); + toggledOn_ = req.on; + resp.status = true; + } + return true; + } + + // @todo: Replace with AccelWithCovarianceStamped + template + void RosFilter::accelerationCallback(const sensor_msgs::Imu::ConstPtr &msg, const CallbackData &callbackData, + const std::string &targetFrame) + { + // If we've just reset the filter, then we want to ignore any messages + // that arrive with an older timestamp + if (msg->header.stamp <= lastSetPoseTime_) + { + return; + } + + const std::string &topicName = callbackData.topicName_; + + RF_DEBUG("------ RosFilter::accelerationCallback (" << topicName << ") ------\n" + "Twist message:\n" << *msg); + + if (lastMessageTimes_.count(topicName) == 0) + { + lastMessageTimes_.insert(std::pair(topicName, msg->header.stamp)); + } + + // Make sure this message is newer than the last one + if (msg->header.stamp >= lastMessageTimes_[topicName]) + { + RF_DEBUG("Update vector for " << topicName << " is:\n" << topicName); + + Eigen::VectorXd measurement(STATE_SIZE); + Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); + + measurement.setZero(); + measurementCovariance.setZero(); + + // Make sure we're actually updating at least one of these variables + std::vector updateVectorCorrected = callbackData.updateVector_; + + // Prepare the twist data for inclusion in the filter + if (prepareAcceleration(msg, topicName, targetFrame, callbackData.relative_, updateVectorCorrected, measurement, + measurementCovariance)) + { + // Store the measurement. Add an "acceleration" suffix so we know what kind of measurement + // we're dealing with when we debug the core filter logic. + enqueueMeasurement(topicName, + measurement, + measurementCovariance, + updateVectorCorrected, + callbackData.rejectionThreshold_, + msg->header.stamp); + + RF_DEBUG("Enqueued new measurement for " << topicName << "_acceleration\n"); + } + else + { + RF_DEBUG("Did *not* enqueue measurement for " << topicName << "_acceleration\n"); + } + + lastMessageTimes_[topicName] = msg->header.stamp; + + RF_DEBUG("Last message time for " << topicName << " is now " << + lastMessageTimes_[topicName] << "\n"); + } + else if (resetOnTimeJump_ && ros::Time::isSimTime()) + { + reset(); + } + else + { + std::stringstream stream; + stream << "The " << topicName << " message has a timestamp before that of the previous message received," << + " this message will be ignored. This may indicate a bad timestamp. (message time: " << + msg->header.stamp.toSec() << ")"; + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_timestamp", + stream.str(), + false); + + RF_DEBUG("Message is too old. Last message time for " << topicName << + " is " << lastMessageTimes_[topicName] << ", current message time is " << + msg->header.stamp << ".\n"); + } + + RF_DEBUG("\n----- /RosFilter::accelerationCallback (" << topicName << ") ------\n"); + } + + template + void RosFilter::controlCallback(const geometry_msgs::Twist::ConstPtr &msg) + { + geometry_msgs::TwistStampedPtr twistStampedPtr = geometry_msgs::TwistStampedPtr(new geometry_msgs::TwistStamped()); + twistStampedPtr->twist = *msg; + twistStampedPtr->header.frame_id = baseLinkFrameId_; + twistStampedPtr->header.stamp = ros::Time::now(); + controlCallback(twistStampedPtr); + } + + template + void RosFilter::controlCallback(const geometry_msgs::TwistStamped::ConstPtr &msg) + { + if (msg->header.frame_id == baseLinkFrameId_ || msg->header.frame_id == "") + { + latestControl_(ControlMemberVx) = msg->twist.linear.x; + latestControl_(ControlMemberVy) = msg->twist.linear.y; + latestControl_(ControlMemberVz) = msg->twist.linear.z; + latestControl_(ControlMemberVroll) = msg->twist.angular.x; + latestControl_(ControlMemberVpitch) = msg->twist.angular.y; + latestControl_(ControlMemberVyaw) = msg->twist.angular.z; + latestControlTime_ = msg->header.stamp; + + // Update the filter with this control term + filter_.setControl(latestControl_, msg->header.stamp.toSec()); + } + else + { + ROS_WARN_STREAM_THROTTLE(5.0, "Commanded velocities must be given in the robot's body frame (" << + baseLinkFrameId_ << "). Message frame was " << msg->header.frame_id); + } + } + + template + void RosFilter::enqueueMeasurement(const std::string &topicName, + const Eigen::VectorXd &measurement, + const Eigen::MatrixXd &measurementCovariance, + const std::vector &updateVector, + const double mahalanobisThresh, + const ros::Time &time) + { + MeasurementPtr meas = MeasurementPtr(new Measurement()); + + meas->topicName_ = topicName; + meas->measurement_ = measurement; + meas->covariance_ = measurementCovariance; + meas->updateVector_ = updateVector; + meas->time_ = time.toSec(); + meas->mahalanobisThresh_ = mahalanobisThresh; + meas->latestControl_ = latestControl_; + meas->latestControlTime_ = latestControlTime_.toSec(); + measurementQueue_.push(meas); + } + + template + void RosFilter::forceTwoD(Eigen::VectorXd &measurement, + Eigen::MatrixXd &measurementCovariance, + std::vector &updateVector) + { + measurement(StateMemberZ) = 0.0; + measurement(StateMemberRoll) = 0.0; + measurement(StateMemberPitch) = 0.0; + measurement(StateMemberVz) = 0.0; + measurement(StateMemberVroll) = 0.0; + measurement(StateMemberVpitch) = 0.0; + measurement(StateMemberAz) = 0.0; + + measurementCovariance(StateMemberZ, StateMemberZ) = 1e-6; + measurementCovariance(StateMemberRoll, StateMemberRoll) = 1e-6; + measurementCovariance(StateMemberPitch, StateMemberPitch) = 1e-6; + measurementCovariance(StateMemberVz, StateMemberVz) = 1e-6; + measurementCovariance(StateMemberVroll, StateMemberVroll) = 1e-6; + measurementCovariance(StateMemberVpitch, StateMemberVpitch) = 1e-6; + measurementCovariance(StateMemberAz, StateMemberAz) = 1e-6; + + updateVector[StateMemberZ] = 1; + updateVector[StateMemberRoll] = 1; + updateVector[StateMemberPitch] = 1; + updateVector[StateMemberVz] = 1; + updateVector[StateMemberVroll] = 1; + updateVector[StateMemberVpitch] = 1; + updateVector[StateMemberAz] = 1; + } + + template + bool RosFilter::getFilteredOdometryMessage(nav_msgs::Odometry &message) + { + // If the filter has received a measurement at some point... + if (filter_.getInitializedStatus()) + { + // Grab our current state and covariance estimates + const Eigen::VectorXd &state = filter_.getState(); + const Eigen::MatrixXd &estimateErrorCovariance = filter_.getEstimateErrorCovariance(); + + // Convert from roll, pitch, and yaw back to quaternion for + // orientation values + tf2::Quaternion quat; + quat.setRPY(state(StateMemberRoll), state(StateMemberPitch), state(StateMemberYaw)); + + // Fill out the message + message.pose.pose.position.x = state(StateMemberX); + message.pose.pose.position.y = state(StateMemberY); + message.pose.pose.position.z = state(StateMemberZ); + message.pose.pose.orientation.x = quat.x(); + message.pose.pose.orientation.y = quat.y(); + message.pose.pose.orientation.z = quat.z(); + message.pose.pose.orientation.w = quat.w(); + message.twist.twist.linear.x = state(StateMemberVx); + message.twist.twist.linear.y = state(StateMemberVy); + message.twist.twist.linear.z = state(StateMemberVz); + message.twist.twist.angular.x = state(StateMemberVroll); + message.twist.twist.angular.y = state(StateMemberVpitch); + message.twist.twist.angular.z = state(StateMemberVyaw); + + // Our covariance matrix layout doesn't quite match + for (size_t i = 0; i < POSE_SIZE; i++) + { + for (size_t j = 0; j < POSE_SIZE; j++) + { + message.pose.covariance[POSE_SIZE * i + j] = estimateErrorCovariance(i, j); + } + } + + // POSE_SIZE and TWIST_SIZE are currently the same size, but we can spare a few + // cycles to be meticulous and not index a twist covariance array on the size of + // a pose covariance array + for (size_t i = 0; i < TWIST_SIZE; i++) + { + for (size_t j = 0; j < TWIST_SIZE; j++) + { + message.twist.covariance[TWIST_SIZE * i + j] = + estimateErrorCovariance(i + POSITION_V_OFFSET, j + POSITION_V_OFFSET); + } + } + + message.header.stamp = ros::Time(filter_.getLastMeasurementTime()); + message.header.frame_id = worldFrameId_; + message.child_frame_id = baseLinkOutputFrameId_; + } + + return filter_.getInitializedStatus(); + } + + template + bool RosFilter::getFilteredAccelMessage(geometry_msgs::AccelWithCovarianceStamped &message) + { + // If the filter has received a measurement at some point... + if (filter_.getInitializedStatus()) + { + // Grab our current state and covariance estimates + const Eigen::VectorXd &state = filter_.getState(); + const Eigen::MatrixXd &estimateErrorCovariance = filter_.getEstimateErrorCovariance(); + + //! Fill out the accel_msg + message.accel.accel.linear.x = state(StateMemberAx); + message.accel.accel.linear.y = state(StateMemberAy); + message.accel.accel.linear.z = state(StateMemberAz); + message.accel.accel.angular.x = angular_acceleration_.x(); + message.accel.accel.angular.y = angular_acceleration_.y(); + message.accel.accel.angular.z = angular_acceleration_.z(); + // Fill the covariance (only the left-upper matrix since we are not estimating + // the rotational accelerations arround the axes + for (size_t i = 0; i < ACCELERATION_SIZE; i++) + { + for (size_t j = 0; j < ACCELERATION_SIZE; j++) + { + // We use the POSE_SIZE since the accel cov matrix of ROS is 6x6 + message.accel.covariance[POSE_SIZE * i + j] = + estimateErrorCovariance(i + POSITION_A_OFFSET, j + POSITION_A_OFFSET); + } + } + for (size_t i = ACCELERATION_SIZE; i < POSE_SIZE; i++) + { + for (size_t j = ACCELERATION_SIZE; j < POSE_SIZE; j++) + { + // fill out the angular portion. We assume the linear and angular portions are independent. + message.accel.covariance[POSE_SIZE * i + j] = + angular_acceleration_cov_(i - ACCELERATION_SIZE, j - ACCELERATION_SIZE); + } + } + + // Fill header information + message.header.stamp = ros::Time(filter_.getLastMeasurementTime()); + message.header.frame_id = baseLinkOutputFrameId_; + } + + return filter_.getInitializedStatus(); + } + + template + void RosFilter::imuCallback(const sensor_msgs::Imu::ConstPtr &msg, + const std::string &topicName, + const CallbackData &poseCallbackData, + const CallbackData &twistCallbackData, + const CallbackData &accelCallbackData) + { + RF_DEBUG("------ RosFilter::imuCallback (" << topicName << ") ------\n" << "IMU message:\n" << *msg); + + // If we've just reset the filter, then we want to ignore any messages + // that arrive with an older timestamp + if (msg->header.stamp <= lastSetPoseTime_) + { + std::stringstream stream; + stream << "The " << topicName << " message has a timestamp equal to or before the last filter reset, " << + "this message will be ignored. This may indicate an empty or bad timestamp. (message time: " << + msg->header.stamp.toSec() << ")"; + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_timestamp", + stream.str(), + false); + RF_DEBUG("Received message that preceded the most recent pose reset. Ignoring..."); + + return; + } + + // As with the odometry message, we can separate out the pose- and twist-related variables + // in the IMU message and pass them to the pose and twist callbacks (filters) + if (poseCallbackData.updateSum_ > 0) + { + // Per the IMU message specification, if the IMU does not provide orientation, + // then its first covariance value should be set to -1, and we should ignore + // that portion of the message. robot_localization allows users to explicitly + // ignore data using its parameters, but we should also be compliant with + // message specs. + if (::fabs(msg->orientation_covariance[0] + 1) < 1e-9) + { + RF_DEBUG("Received IMU message with -1 as its first covariance value for orientation. " + "Ignoring orientation..."); + } + else + { + // Extract the pose (orientation) data, pass it to its filter + geometry_msgs::PoseWithCovarianceStamped *posPtr = new geometry_msgs::PoseWithCovarianceStamped(); + posPtr->header = msg->header; + posPtr->pose.pose.orientation = msg->orientation; + + // Copy the covariance for roll, pitch, and yaw + for (size_t i = 0; i < ORIENTATION_SIZE; i++) + { + for (size_t j = 0; j < ORIENTATION_SIZE; j++) + { + posPtr->pose.covariance[POSE_SIZE * (i + ORIENTATION_SIZE) + (j + ORIENTATION_SIZE)] = + msg->orientation_covariance[ORIENTATION_SIZE * i + j]; + } + } + + // IMU data gets handled a bit differently, since the message is ambiguous and has only a single frame_id, + // even though the data in it is reported in two different frames. As we assume users will specify a base_link + // to imu transform, we make the target and child frame baseLinkFrameId_ and tell the poseCallback that it is + // working with IMU data. This will cause it to apply different logic to the data. + geometry_msgs::PoseWithCovarianceStampedConstPtr pptr(posPtr); + poseCallback(pptr, poseCallbackData, baseLinkFrameId_, + baseLinkFrameId_, true); + } + } + + if (twistCallbackData.updateSum_ > 0) + { + // Ignore rotational velocity if the first covariance value is -1 + if (::fabs(msg->angular_velocity_covariance[0] + 1) < 1e-9) + { + RF_DEBUG("Received IMU message with -1 as its first covariance value for angular " + "velocity. Ignoring angular velocity..."); + } + else + { + // Repeat for velocity + geometry_msgs::TwistWithCovarianceStamped *twistPtr = new geometry_msgs::TwistWithCovarianceStamped(); + twistPtr->header = msg->header; + twistPtr->twist.twist.angular = msg->angular_velocity; + + // Copy the covariance + for (size_t i = 0; i < ORIENTATION_SIZE; i++) + { + for (size_t j = 0; j < ORIENTATION_SIZE; j++) + { + twistPtr->twist.covariance[TWIST_SIZE * (i + ORIENTATION_SIZE) + (j + ORIENTATION_SIZE)] = + msg->angular_velocity_covariance[ORIENTATION_SIZE * i + j]; + } + } + + geometry_msgs::TwistWithCovarianceStampedConstPtr tptr(twistPtr); + twistCallback(tptr, twistCallbackData, baseLinkFrameId_); + } + } + + if (accelCallbackData.updateSum_ > 0) + { + // Ignore linear acceleration if the first covariance value is -1 + if (::fabs(msg->linear_acceleration_covariance[0] + 1) < 1e-9) + { + RF_DEBUG("Received IMU message with -1 as its first covariance value for linear " + "acceleration. Ignoring linear acceleration..."); + } + else + { + // Pass the message on + accelerationCallback(msg, accelCallbackData, baseLinkFrameId_); + } + } + + RF_DEBUG("\n----- /RosFilter::imuCallback (" << topicName << ") ------\n"); + } + + template + void RosFilter::integrateMeasurements(const ros::Time ¤tTime) + { + const double currentTimeSec = currentTime.toSec(); + + RF_DEBUG("------ RosFilter::integrateMeasurements ------\n\n" + "Integration time is " << std::setprecision(20) << currentTimeSec << "\n" + << measurementQueue_.size() << " measurements in queue.\n"); + + bool predictToCurrentTime = predictToCurrentTime_; + + // If we have any measurements in the queue, process them + if (!measurementQueue_.empty()) + { + // Check if the first measurement we're going to process is older than the filter's last measurement. + // This means we have received an out-of-sequence message (one with an old timestamp), and we need to + // revert both the filter state and measurement queue to the first state that preceded the time stamp + // of our first measurement. + const MeasurementPtr& firstMeasurement = measurementQueue_.top(); + int restoredMeasurementCount = 0; + if (smoothLaggedData_ && firstMeasurement->time_ < filter_.getLastMeasurementTime()) + { + RF_DEBUG("Received a measurement that was " << filter_.getLastMeasurementTime() - firstMeasurement->time_ << + " seconds in the past. Reverting filter state and measurement queue..."); + + int originalCount = static_cast(measurementQueue_.size()); + const double firstMeasurementTime = firstMeasurement->time_; + const std::string firstMeasurementTopic = firstMeasurement->topicName_; + if (!revertTo(firstMeasurementTime - 1e-9)) // revertTo may invalidate firstMeasurement + { + RF_DEBUG("ERROR: history interval is too small to revert to time " << firstMeasurementTime << "\n"); + ROS_WARN_STREAM_DELAYED_THROTTLE(historyLength_, "Received old measurement for topic " << + firstMeasurementTopic << ", but history interval is insufficiently sized. Measurement time is " << + std::setprecision(20) << firstMeasurementTime << ", current time is " << currentTime.toSec() << + ", history length is " << historyLength_ << "."); + restoredMeasurementCount = 0; + } + + restoredMeasurementCount = static_cast(measurementQueue_.size()) - originalCount; + } + + while (!measurementQueue_.empty() && ros::ok()) + { + MeasurementPtr measurement = measurementQueue_.top(); + + // If we've reached a measurement that has a time later than now, it should wait until a future iteration. + // Since measurements are stored in a priority queue, all remaining measurements will be in the future. + if (measurement->time_ > currentTime.toSec()) + { + break; + } + + measurementQueue_.pop(); + + // When we receive control messages, we call this directly in the control callback. However, we also associate + // a control with each sensor message so that we can support lagged smoothing. As we cannot guarantee that the + // new control callback will fire before a new measurement, we should only perform this operation if we are + // processing messages from the history. Otherwise, we may get a new measurement, store the "old" latest + // control, then receive a control, call setControl, and then overwrite that value with this one (i.e., with + // the "old" control we associated with the measurement). + if (useControl_ && restoredMeasurementCount > 0) + { + filter_.setControl(measurement->latestControl_, measurement->latestControlTime_); + restoredMeasurementCount--; + } + + // This will call predict and, if necessary, correct + filter_.processMeasurement(*(measurement.get())); + + // Store old states and measurements if we're smoothing + if (smoothLaggedData_) + { + // Invariant still holds: measurementHistoryDeque_.back().time_ < measurementQueue_.top().time_ + measurementHistory_.push_back(measurement); + + // We should only save the filter state once per unique timstamp + if (measurementQueue_.empty() || + ::fabs(measurementQueue_.top()->time_ - filter_.getLastMeasurementTime()) > 1e-9) + { + saveFilterState(filter_); + } + } + } + } + else if (filter_.getInitializedStatus()) + { + // In the event that we don't get any measurements for a long time, + // we still need to continue to estimate our state. Therefore, we + // should project the state forward here. + double lastUpdateDelta = currentTimeSec - filter_.getLastMeasurementTime(); + + // If we get a large delta, then continuously predict until + if (lastUpdateDelta >= filter_.getSensorTimeout()) + { + predictToCurrentTime = true; + + RF_DEBUG("Sensor timeout! Last measurement time was " << filter_.getLastMeasurementTime() << + ", current time is " << currentTimeSec << + ", delta is " << lastUpdateDelta << "\n"); + } + } + else + { + RF_DEBUG("Filter not yet initialized.\n"); + } + + if (filter_.getInitializedStatus() && predictToCurrentTime) + { + double lastUpdateDelta = currentTimeSec - filter_.getLastMeasurementTime(); + + filter_.validateDelta(lastUpdateDelta); + filter_.predict(currentTimeSec, lastUpdateDelta); + + // Update the last measurement time and last update time + filter_.setLastMeasurementTime(filter_.getLastMeasurementTime() + lastUpdateDelta); + } + + RF_DEBUG("\n----- /RosFilter::integrateMeasurements ------\n"); + } + + template + void RosFilter::differentiateMeasurements(const ros::Time ¤tTime) + { + if (filter_.getInitializedStatus()) + { + const double dt = (currentTime - lastDiffTime_).toSec(); + const Eigen::VectorXd &state = filter_.getState(); + // Specific to angular acceleration for now... + tf2::Vector3 newStateTwistRot(state(StateMemberVroll), + state(StateMemberVpitch), + state(StateMemberVyaw)); + angular_acceleration_ = (newStateTwistRot - lastStateTwistRot_)/dt; + const Eigen::MatrixXd &cov = filter_.getEstimateErrorCovariance(); + for (size_t i = 0; i < 3; i ++) + { + for (size_t j = 0; j < 3; j ++) + { + angular_acceleration_cov_(i, j) = cov(i+ORIENTATION_V_OFFSET, j+ORIENTATION_V_OFFSET) + * 2. / (dt * dt); + } + } + lastStateTwistRot_ = newStateTwistRot; + lastDiffTime_ = currentTime; + } + } + + template + void RosFilter::loadParams() + { + /* For diagnostic purposes, collect information about how many different + * sources are measuring each absolute pose variable and do not have + * differential integration enabled. + */ + std::map absPoseVarCounts; + absPoseVarCounts[StateMemberX] = 0; + absPoseVarCounts[StateMemberY] = 0; + absPoseVarCounts[StateMemberZ] = 0; + absPoseVarCounts[StateMemberRoll] = 0; + absPoseVarCounts[StateMemberPitch] = 0; + absPoseVarCounts[StateMemberYaw] = 0; + + // Same for twist variables + std::map twistVarCounts; + twistVarCounts[StateMemberVx] = 0; + twistVarCounts[StateMemberVy] = 0; + twistVarCounts[StateMemberVz] = 0; + twistVarCounts[StateMemberVroll] = 0; + twistVarCounts[StateMemberVpitch] = 0; + twistVarCounts[StateMemberVyaw] = 0; + + // Determine if we'll be printing diagnostic information + nhLocal_.param("print_diagnostics", printDiagnostics_, true); + + // Check for custom gravitational acceleration value + nhLocal_.param("gravitational_acceleration", gravitationalAcc_, 9.80665); + + // Grab the debug param. If true, the node will produce a LOT of output. + bool debug; + nhLocal_.param("debug", debug, false); + + if (debug) + { + std::string debugOutFile; + + try + { + nhLocal_.param("debug_out_file", debugOutFile, std::string("robot_localization_debug.txt")); + debugStream_.open(debugOutFile.c_str()); + + // Make sure we succeeded + if (debugStream_.is_open()) + { + filter_.setDebug(debug, &debugStream_); + } + else + { + ROS_WARN_STREAM("RosFilter::loadParams() - unable to create debug output file " << debugOutFile); + } + } + catch(const std::exception &e) + { + ROS_WARN_STREAM("RosFilter::loadParams() - unable to create debug output file" << debugOutFile + << ". Error was " << e.what() << "\n"); + } + } + + // These params specify the name of the robot's body frame (typically + // base_link) and odometry frame (typically odom) + nhLocal_.param("map_frame", mapFrameId_, std::string("map")); + nhLocal_.param("odom_frame", odomFrameId_, std::string("odom")); + nhLocal_.param("base_link_frame", baseLinkFrameId_, std::string("base_link")); + nhLocal_.param("base_link_frame_output", baseLinkOutputFrameId_, baseLinkFrameId_); + + /* + * These parameters are designed to enforce compliance with REP-105: + * http://www.ros.org/reps/rep-0105.html + * When fusing absolute position data from sensors such as GPS, the state + * estimate can undergo discrete jumps. According to REP-105, we want three + * coordinate frames: map, odom, and base_link. The map frame can have + * discontinuities, but is the frame with the most accurate position estimate + * for the robot and should not suffer from drift. The odom frame drifts over + * time, but is guaranteed to be continuous and is accurate enough for local + * planning and navigation. The base_link frame is affixed to the robot. The + * intention is that some odometry source broadcasts the odom->base_link + * transform. The localization software should broadcast map->base_link. + * However, tf does not allow multiple parents for a coordinate frame, so + * we must *compute* map->base_link, but then use the existing odom->base_link + * transform to compute *and broadcast* map->odom. + * + * The state estimation nodes in robot_localization therefore have two "modes." + * If your world_frame parameter value matches the odom_frame parameter value, + * then robot_localization will assume someone else is broadcasting a transform + * from odom_frame->base_link_frame, and it will compute the + * map_frame->odom_frame transform. Otherwise, it will simply compute the + * odom_frame->base_link_frame transform. + * + * The default is the latter behavior (broadcast of odom->base_link). + */ + nhLocal_.param("world_frame", worldFrameId_, odomFrameId_); + + ROS_FATAL_COND(mapFrameId_ == odomFrameId_ || + odomFrameId_ == baseLinkFrameId_ || + mapFrameId_ == baseLinkFrameId_ || + odomFrameId_ == baseLinkOutputFrameId_ || + mapFrameId_ == baseLinkOutputFrameId_, + "Invalid frame configuration! The values for map_frame, odom_frame, " + "and base_link_frame must be unique. If using a base_link_frame_output values, it " + "must not match the map_frame or odom_frame."); + + // Try to resolve tf_prefix + std::string tfPrefix = ""; + std::string tfPrefixPath = ""; + if (nhLocal_.searchParam("tf_prefix", tfPrefixPath)) + { + nhLocal_.getParam(tfPrefixPath, tfPrefix); + } + + // Append the tf prefix in a tf2-friendly manner + FilterUtilities::appendPrefix(tfPrefix, mapFrameId_); + FilterUtilities::appendPrefix(tfPrefix, odomFrameId_); + FilterUtilities::appendPrefix(tfPrefix, baseLinkFrameId_); + FilterUtilities::appendPrefix(tfPrefix, baseLinkOutputFrameId_); + FilterUtilities::appendPrefix(tfPrefix, worldFrameId_); + + // Whether we're publshing the world_frame->base_link_frame transform + nhLocal_.param("publish_tf", publishTransform_, true); + + // Whether we're publishing the acceleration state transform + nhLocal_.param("publish_acceleration", publishAcceleration_, false); + + // Whether we'll allow old measurements to cause a re-publication of the updated state + nhLocal_.param("permit_corrected_publication", permitCorrectedPublication_, false); + + // Transform future dating + double offsetTmp; + nhLocal_.param("transform_time_offset", offsetTmp, 0.0); + tfTimeOffset_.fromSec(offsetTmp); + + // Transform timeout + double timeoutTmp; + nhLocal_.param("transform_timeout", timeoutTmp, 0.0); + tfTimeout_.fromSec(timeoutTmp); + + // Update frequency and sensor timeout + double sensorTimeout; + nhLocal_.param("frequency", frequency_, 30.0); + nhLocal_.param("sensor_timeout", sensorTimeout, 1.0 / frequency_); + filter_.setSensorTimeout(sensorTimeout); + + // Determine if we're in 2D mode + nhLocal_.param("two_d_mode", twoDMode_, false); + + // Smoothing window size + nhLocal_.param("smooth_lagged_data", smoothLaggedData_, false); + nhLocal_.param("history_length", historyLength_, 0.0); + + // Wether we reset filter on jump back in time + nhLocal_.param("reset_on_time_jump", resetOnTimeJump_, false); + + if (!smoothLaggedData_ && ::fabs(historyLength_) > 1e-9) + { + ROS_WARN_STREAM("Filter history interval of " << historyLength_ << + " specified, but smooth_lagged_data is set to false. Lagged data will not be smoothed."); + } + + if (smoothLaggedData_ && historyLength_ < -1e9) + { + ROS_WARN_STREAM("Negative history interval of " << historyLength_ << + " specified. Absolute value will be assumed."); + } + + historyLength_ = ::fabs(historyLength_); + + nhLocal_.param("predict_to_current_time", predictToCurrentTime_, false); + + // Determine if we're using a control term + bool stampedControl = false; + double controlTimeout = sensorTimeout; + std::vector controlUpdateVector(TWIST_SIZE, 0); + std::vector accelerationLimits(TWIST_SIZE, 1.0); + std::vector accelerationGains(TWIST_SIZE, 1.0); + std::vector decelerationLimits(TWIST_SIZE, 1.0); + std::vector decelerationGains(TWIST_SIZE, 1.0); + + nhLocal_.param("use_control", useControl_, false); + nhLocal_.param("stamped_control", stampedControl, false); + nhLocal_.param("control_timeout", controlTimeout, sensorTimeout); + + if (useControl_) + { + if (nhLocal_.getParam("control_config", controlUpdateVector)) + { + if (controlUpdateVector.size() != TWIST_SIZE) + { + ROS_ERROR_STREAM("Control configuration must be of size " << TWIST_SIZE << ". Provided config was of " + "size " << controlUpdateVector.size() << ". No control term will be used."); + useControl_ = false; + } + } + else + { + ROS_ERROR_STREAM("use_control is set to true, but control_config is missing. No control term will be used."); + useControl_ = false; + } + + if (nhLocal_.getParam("acceleration_limits", accelerationLimits)) + { + if (accelerationLimits.size() != TWIST_SIZE) + { + ROS_ERROR_STREAM("Acceleration configuration must be of size " << TWIST_SIZE << ". Provided config was of " + "size " << accelerationLimits.size() << ". No control term will be used."); + useControl_ = false; + } + } + else + { + ROS_WARN_STREAM("use_control is set to true, but acceleration_limits is missing. Will use default values."); + } + + if (nhLocal_.getParam("acceleration_gains", accelerationGains)) + { + const int size = accelerationGains.size(); + if (size != TWIST_SIZE) + { + ROS_ERROR_STREAM("Acceleration gain configuration must be of size " << TWIST_SIZE << + ". Provided config was of size " << size << ". All gains will be assumed to be 1."); + std::fill_n(accelerationGains.begin(), std::min(size, TWIST_SIZE), 1.0); + accelerationGains.resize(TWIST_SIZE, 1.0); + } + } + + if (nhLocal_.getParam("deceleration_limits", decelerationLimits)) + { + if (decelerationLimits.size() != TWIST_SIZE) + { + ROS_ERROR_STREAM("Deceleration configuration must be of size " << TWIST_SIZE << + ". Provided config was of size " << decelerationLimits.size() << ". No control term will be used."); + useControl_ = false; + } + } + else + { + ROS_INFO_STREAM("use_control is set to true, but no deceleration_limits specified. Will use acceleration " + "limits."); + decelerationLimits = accelerationLimits; + } + + if (nhLocal_.getParam("deceleration_gains", decelerationGains)) + { + const int size = decelerationGains.size(); + if (size != TWIST_SIZE) + { + ROS_ERROR_STREAM("Deceleration gain configuration must be of size " << TWIST_SIZE << + ". Provided config was of size " << size << ". All gains will be assumed to be 1."); + std::fill_n(decelerationGains.begin(), std::min(size, TWIST_SIZE), 1.0); + decelerationGains.resize(TWIST_SIZE, 1.0); + } + } + else + { + ROS_INFO_STREAM("use_control is set to true, but no deceleration_gains specified. Will use acceleration " + "gains."); + decelerationGains = accelerationGains; + } + } + + bool dynamicProcessNoiseCovariance = false; + nhLocal_.param("dynamic_process_noise_covariance", dynamicProcessNoiseCovariance, false); + filter_.setUseDynamicProcessNoiseCovariance(dynamicProcessNoiseCovariance); + + std::vector initialState(STATE_SIZE, 0.0); + if (nhLocal_.getParam("initial_state", initialState)) + { + if (initialState.size() != STATE_SIZE) + { + ROS_ERROR_STREAM("Initial state must be of size " << STATE_SIZE << ". Provided config was of size " << + initialState.size() << ". The initial state will be ignored."); + } + else + { + Eigen::Map eigenState(initialState.data(), initialState.size()); + filter_.setState(eigenState); + } + } + + // Check if the filter should start or not + nhLocal_.param("disabled_at_startup", disabledAtStartup_, false); + enabled_ = !disabledAtStartup_; + + // Check if tf warnings should be suppressed + nh_.getParam("/silent_tf_failure", tfSilentFailure_); + + // Debugging writes to file + RF_DEBUG("tf_prefix is " << tfPrefix << + "\nmap_frame is " << mapFrameId_ << + "\nodom_frame is " << odomFrameId_ << + "\nbase_link_frame is " << baseLinkFrameId_ << + "\base_link_frame_output is " << baseLinkOutputFrameId_ << + "\nworld_frame is " << worldFrameId_ << + "\ntransform_time_offset is " << tfTimeOffset_.toSec() << + "\ntransform_timeout is " << tfTimeout_.toSec() << + "\nfrequency is " << frequency_ << + "\nsensor_timeout is " << filter_.getSensorTimeout() << + "\ntwo_d_mode is " << std::boolalpha << twoDMode_ << + "\nsmooth_lagged_data is " << std::boolalpha << smoothLaggedData_ << + "\nhistory_length is " << historyLength_ << + "\nuse_control is " << std::boolalpha << useControl_ << + "\nstamped_control is " << std::boolalpha << stampedControl << + "\ncontrol_config is " << controlUpdateVector << + "\ncontrol_timeout is " << controlTimeout << + "\nacceleration_limits are " << accelerationLimits << + "\nacceleration_gains are " << accelerationGains << + "\ndeceleration_limits are " << decelerationLimits << + "\ndeceleration_gains are " << decelerationGains << + "\ninitial state is " << filter_.getState() << + "\ndynamic_process_noise_covariance is " << std::boolalpha << dynamicProcessNoiseCovariance << + "\npermit_corrected_publication is " << std::boolalpha << permitCorrectedPublication_ << + "\nprint_diagnostics is " << std::boolalpha << printDiagnostics_ << + "\nsuppress tf warnings is " << std::boolalpha << tfSilentFailure_ << "\n" "\n"); + + // Create a subscriber for manually setting/resetting pose + setPoseSub_ = nh_.subscribe("set_pose", + 1, + &RosFilter::setPoseCallback, + this, ros::TransportHints().tcpNoDelay(false)); + + // Create a service for manually setting/resetting pose + setPoseSrv_ = nh_.advertiseService("set_pose", &RosFilter::setPoseSrvCallback, this); + + // Create a service for manually enabling the filter + enableFilterSrv_ = nhLocal_.advertiseService("enable", &RosFilter::enableFilterSrvCallback, this); + + // Create a service for toggling processing new measurements while still publishing + toggleFilterProcessingSrv_ = + nhLocal_.advertiseService("toggle", &RosFilter::toggleFilterProcessingCallback, this); + + // Init the last measurement time so we don't get a huge initial delta + filter_.setLastMeasurementTime(ros::Time::now().toSec()); + + // Now pull in each topic to which we want to subscribe. + // Start with odom. + size_t topicInd = 0; + bool moreParams = false; + do + { + // Build the string in the form of "odomX", where X is the odom topic number, + // then check if we have any parameters with that value. Users need to make + // sure they don't have gaps in their configs (e.g., odom0 and then odom2) + std::stringstream ss; + ss << "odom" << topicInd++; + std::string odomTopicName = ss.str(); + moreParams = nhLocal_.hasParam(odomTopicName); + + if (moreParams) + { + // Determine if we want to integrate this sensor differentially + bool differential; + nhLocal_.param(odomTopicName + std::string("_differential"), differential, false); + + // Determine if we want to integrate this sensor relatively + bool relative; + nhLocal_.param(odomTopicName + std::string("_relative"), relative, false); + + if (relative && differential) + { + ROS_WARN_STREAM("Both " << odomTopicName << "_differential" << " and " << odomTopicName << + "_relative were set to true. Using differential mode."); + + relative = false; + } + + // Consider odometry transformation from the child_frame_id instead of the base_link_frame_id + bool pose_use_child_frame; + nhLocal_.param(odomTopicName + std::string("_pose_use_child_frame"), pose_use_child_frame, false); + + std::string odomTopic; + nhLocal_.getParam(odomTopicName, odomTopic); + + // Check for pose rejection threshold + double poseMahalanobisThresh; + nhLocal_.param(odomTopicName + std::string("_pose_rejection_threshold"), + poseMahalanobisThresh, + std::numeric_limits::max()); + + // Check for twist rejection threshold + double twistMahalanobisThresh; + nhLocal_.param(odomTopicName + std::string("_twist_rejection_threshold"), + twistMahalanobisThresh, + std::numeric_limits::max()); + + // Now pull in its boolean update vector configuration. Create separate vectors for pose + // and twist data, and then zero out the opposite values in each vector (no pose data in + // the twist update vector and vice-versa). + std::vector updateVec = loadUpdateConfig(odomTopicName); + std::vector poseUpdateVec = updateVec; + std::fill(poseUpdateVec.begin() + POSITION_V_OFFSET, poseUpdateVec.begin() + POSITION_V_OFFSET + TWIST_SIZE, 0); + std::vector twistUpdateVec = updateVec; + std::fill(twistUpdateVec.begin() + POSITION_OFFSET, twistUpdateVec.begin() + POSITION_OFFSET + POSE_SIZE, 0); + + int poseUpdateSum = std::accumulate(poseUpdateVec.begin(), poseUpdateVec.end(), 0); + int twistUpdateSum = std::accumulate(twistUpdateVec.begin(), twistUpdateVec.end(), 0); + int odomQueueSize = 1; + nhLocal_.param(odomTopicName + "_queue_size", odomQueueSize, 1); + + const CallbackData poseCallbackData(odomTopicName + "_pose", poseUpdateVec, poseUpdateSum, differential, + relative, pose_use_child_frame, poseMahalanobisThresh); + const CallbackData twistCallbackData(odomTopicName + "_twist", twistUpdateVec, twistUpdateSum, false, false, + false, twistMahalanobisThresh); + + bool nodelayOdom = false; + nhLocal_.param(odomTopicName + "_nodelay", nodelayOdom, false); + + // Store the odometry topic subscribers so they don't go out of scope. + if (poseUpdateSum + twistUpdateSum > 0) + { + topicSubs_.push_back( + nh_.subscribe(odomTopic, odomQueueSize, + boost::bind(&RosFilter::odometryCallback, this, boost::placeholders::_1, + odomTopicName, poseCallbackData, twistCallbackData), + ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayOdom))); + } + else + { + std::stringstream stream; + stream << odomTopic << " is listed as an input topic, but all update variables are false"; + + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + odomTopic + "_configuration", + stream.str(), + true); + } + + if (poseUpdateSum > 0) + { + if (differential) + { + twistVarCounts[StateMemberVx] += poseUpdateVec[StateMemberX]; + twistVarCounts[StateMemberVy] += poseUpdateVec[StateMemberY]; + twistVarCounts[StateMemberVz] += poseUpdateVec[StateMemberZ]; + twistVarCounts[StateMemberVroll] += poseUpdateVec[StateMemberRoll]; + twistVarCounts[StateMemberVpitch] += poseUpdateVec[StateMemberPitch]; + twistVarCounts[StateMemberVyaw] += poseUpdateVec[StateMemberYaw]; + } + else + { + absPoseVarCounts[StateMemberX] += poseUpdateVec[StateMemberX]; + absPoseVarCounts[StateMemberY] += poseUpdateVec[StateMemberY]; + absPoseVarCounts[StateMemberZ] += poseUpdateVec[StateMemberZ]; + absPoseVarCounts[StateMemberRoll] += poseUpdateVec[StateMemberRoll]; + absPoseVarCounts[StateMemberPitch] += poseUpdateVec[StateMemberPitch]; + absPoseVarCounts[StateMemberYaw] += poseUpdateVec[StateMemberYaw]; + } + } + + if (twistUpdateSum > 0) + { + twistVarCounts[StateMemberVx] += twistUpdateVec[StateMemberVx]; + twistVarCounts[StateMemberVy] += twistUpdateVec[StateMemberVx]; + twistVarCounts[StateMemberVz] += twistUpdateVec[StateMemberVz]; + twistVarCounts[StateMemberVroll] += twistUpdateVec[StateMemberVroll]; + twistVarCounts[StateMemberVpitch] += twistUpdateVec[StateMemberVpitch]; + twistVarCounts[StateMemberVyaw] += twistUpdateVec[StateMemberVyaw]; + } + + RF_DEBUG("Subscribed to " << odomTopic << " (" << odomTopicName << ")\n\t" << + odomTopicName << "_differential is " << (differential ? "true" : "false") << "\n\t" << + odomTopicName << "_pose_rejection_threshold is " << poseMahalanobisThresh << "\n\t" << + odomTopicName << "_twist_rejection_threshold is " << twistMahalanobisThresh << "\n\t" << + odomTopicName << "_queue_size is " << odomQueueSize << "\n\t" << + odomTopicName << " pose update vector is " << poseUpdateVec << "\t"<< + odomTopicName << " twist update vector is " << twistUpdateVec); + } + } + while (moreParams); + + // Repeat for pose + topicInd = 0; + moreParams = false; + do + { + std::stringstream ss; + ss << "pose" << topicInd++; + std::string poseTopicName = ss.str(); + moreParams = nhLocal_.hasParam(poseTopicName); + + if (moreParams) + { + bool differential; + nhLocal_.param(poseTopicName + std::string("_differential"), differential, false); + + // Determine if we want to integrate this sensor relatively + bool relative; + nhLocal_.param(poseTopicName + std::string("_relative"), relative, false); + + if (relative && differential) + { + ROS_WARN_STREAM("Both " << poseTopicName << "_differential" << " and " << poseTopicName << + "_relative were set to true. Using differential mode."); + + relative = false; + } + + std::string poseTopic; + nhLocal_.getParam(poseTopicName, poseTopic); + + // Check for pose rejection threshold + double poseMahalanobisThresh; + nhLocal_.param(poseTopicName + std::string("_rejection_threshold"), + poseMahalanobisThresh, + std::numeric_limits::max()); + + int poseQueueSize = 1; + nhLocal_.param(poseTopicName + "_queue_size", poseQueueSize, 1); + + bool nodelayPose = false; + nhLocal_.param(poseTopicName + "_nodelay", nodelayPose, false); + + // Pull in the sensor's config, zero out values that are invalid for the pose type + std::vector poseUpdateVec = loadUpdateConfig(poseTopicName); + std::fill(poseUpdateVec.begin() + POSITION_V_OFFSET, + poseUpdateVec.begin() + POSITION_V_OFFSET + TWIST_SIZE, + 0); + std::fill(poseUpdateVec.begin() + POSITION_A_OFFSET, + poseUpdateVec.begin() + POSITION_A_OFFSET + ACCELERATION_SIZE, + 0); + + int poseUpdateSum = std::accumulate(poseUpdateVec.begin(), poseUpdateVec.end(), 0); + + if (poseUpdateSum > 0) + { + const CallbackData callbackData(poseTopicName, poseUpdateVec, poseUpdateSum, differential, relative, + false, poseMahalanobisThresh); + + topicSubs_.push_back( + nh_.subscribe(poseTopic, poseQueueSize, + boost::bind(&RosFilter::poseCallback, this, boost::placeholders::_1, + callbackData, worldFrameId_, baseLinkFrameId_, false), + ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayPose))); + + if (differential) + { + twistVarCounts[StateMemberVx] += poseUpdateVec[StateMemberX]; + twistVarCounts[StateMemberVy] += poseUpdateVec[StateMemberY]; + twistVarCounts[StateMemberVz] += poseUpdateVec[StateMemberZ]; + twistVarCounts[StateMemberVroll] += poseUpdateVec[StateMemberRoll]; + twistVarCounts[StateMemberVpitch] += poseUpdateVec[StateMemberPitch]; + twistVarCounts[StateMemberVyaw] += poseUpdateVec[StateMemberYaw]; + } + else + { + absPoseVarCounts[StateMemberX] += poseUpdateVec[StateMemberX]; + absPoseVarCounts[StateMemberY] += poseUpdateVec[StateMemberY]; + absPoseVarCounts[StateMemberZ] += poseUpdateVec[StateMemberZ]; + absPoseVarCounts[StateMemberRoll] += poseUpdateVec[StateMemberRoll]; + absPoseVarCounts[StateMemberPitch] += poseUpdateVec[StateMemberPitch]; + absPoseVarCounts[StateMemberYaw] += poseUpdateVec[StateMemberYaw]; + } + } + else + { + ROS_WARN_STREAM("Warning: " << poseTopic << " is listed as an input topic, " + "but all pose update variables are false"); + } + + RF_DEBUG("Subscribed to " << poseTopic << " (" << poseTopicName << ")\n\t" << + poseTopicName << "_differential is " << (differential ? "true" : "false") << "\n\t" << + poseTopicName << "_rejection_threshold is " << poseMahalanobisThresh << "\n\t" << + poseTopicName << "_queue_size is " << poseQueueSize << "\n\t" << + poseTopicName << " update vector is " << poseUpdateVec); + } + } + while (moreParams); + + // Repeat for twist + topicInd = 0; + moreParams = false; + do + { + std::stringstream ss; + ss << "twist" << topicInd++; + std::string twistTopicName = ss.str(); + moreParams = nhLocal_.hasParam(twistTopicName); + + if (moreParams) + { + std::string twistTopic; + nhLocal_.getParam(twistTopicName, twistTopic); + + // Check for twist rejection threshold + double twistMahalanobisThresh; + nhLocal_.param(twistTopicName + std::string("_rejection_threshold"), + twistMahalanobisThresh, + std::numeric_limits::max()); + + int twistQueueSize = 1; + nhLocal_.param(twistTopicName + "_queue_size", twistQueueSize, 1); + + bool nodelayTwist = false; + nhLocal_.param(twistTopicName + "_nodelay", nodelayTwist, false); + + // Pull in the sensor's config, zero out values that are invalid for the twist type + std::vector twistUpdateVec = loadUpdateConfig(twistTopicName); + std::fill(twistUpdateVec.begin() + POSITION_OFFSET, twistUpdateVec.begin() + POSITION_OFFSET + POSE_SIZE, 0); + + int twistUpdateSum = std::accumulate(twistUpdateVec.begin(), twistUpdateVec.end(), 0); + + if (twistUpdateSum > 0) + { + const CallbackData callbackData(twistTopicName, twistUpdateVec, twistUpdateSum, false, false, + false, twistMahalanobisThresh); + + topicSubs_.push_back( + nh_.subscribe(twistTopic, twistQueueSize, + boost::bind(&RosFilter::twistCallback, this, boost::placeholders::_1, + callbackData, baseLinkFrameId_), + ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayTwist))); + + twistVarCounts[StateMemberVx] += twistUpdateVec[StateMemberVx]; + twistVarCounts[StateMemberVy] += twistUpdateVec[StateMemberVy]; + twistVarCounts[StateMemberVz] += twistUpdateVec[StateMemberVz]; + twistVarCounts[StateMemberVroll] += twistUpdateVec[StateMemberVroll]; + twistVarCounts[StateMemberVpitch] += twistUpdateVec[StateMemberVpitch]; + twistVarCounts[StateMemberVyaw] += twistUpdateVec[StateMemberVyaw]; + } + else + { + ROS_WARN_STREAM("Warning: " << twistTopic << " is listed as an input topic, " + "but all twist update variables are false"); + } + + RF_DEBUG("Subscribed to " << twistTopic << " (" << twistTopicName << ")\n\t" << + twistTopicName << "_rejection_threshold is " << twistMahalanobisThresh << "\n\t" << + twistTopicName << "_queue_size is " << twistQueueSize << "\n\t" << + twistTopicName << " update vector is " << twistUpdateVec); + } + } + while (moreParams); + + // Repeat for IMU + topicInd = 0; + moreParams = false; + do + { + std::stringstream ss; + ss << "imu" << topicInd++; + std::string imuTopicName = ss.str(); + moreParams = nhLocal_.hasParam(imuTopicName); + + if (moreParams) + { + bool differential; + nhLocal_.param(imuTopicName + std::string("_differential"), differential, false); + + // Determine if we want to integrate this sensor relatively + bool relative; + nhLocal_.param(imuTopicName + std::string("_relative"), relative, false); + + if (relative && differential) + { + ROS_WARN_STREAM("Both " << imuTopicName << "_differential" << " and " << imuTopicName << + "_relative were set to true. Using differential mode."); + + relative = false; + } + + std::string imuTopic; + nhLocal_.getParam(imuTopicName, imuTopic); + + // Check for pose rejection threshold + double poseMahalanobisThresh; + nhLocal_.param(imuTopicName + std::string("_pose_rejection_threshold"), + poseMahalanobisThresh, + std::numeric_limits::max()); + + // Check for angular velocity rejection threshold + double twistMahalanobisThresh; + std::string imuTwistRejectionName = + imuTopicName + std::string("_twist_rejection_threshold"); + nhLocal_.param(imuTwistRejectionName, twistMahalanobisThresh, std::numeric_limits::max()); + + // Check for acceleration rejection threshold + double accelMahalanobisThresh; + nhLocal_.param(imuTopicName + std::string("_linear_acceleration_rejection_threshold"), + accelMahalanobisThresh, + std::numeric_limits::max()); + + bool removeGravAcc = false; + nhLocal_.param(imuTopicName + "_remove_gravitational_acceleration", removeGravAcc, false); + removeGravitationalAcc_[imuTopicName + "_acceleration"] = removeGravAcc; + + // Now pull in its boolean update vector configuration and differential + // update configuration (as this contains pose information) + std::vector updateVec = loadUpdateConfig(imuTopicName); + + // sanity checks for update config settings + std::vector positionUpdateVec(updateVec.begin() + POSITION_OFFSET, + updateVec.begin() + POSITION_OFFSET + POSITION_SIZE); + int positionUpdateSum = std::accumulate(positionUpdateVec.begin(), positionUpdateVec.end(), 0); + if (positionUpdateSum > 0) + { + ROS_WARN_STREAM("Warning: Some position entries in parameter " << imuTopicName << "_config are listed true, " + "but sensor_msgs/Imu contains no information about position"); + } + std::vector linearVelocityUpdateVec(updateVec.begin() + POSITION_V_OFFSET, + updateVec.begin() + POSITION_V_OFFSET + LINEAR_VELOCITY_SIZE); + int linearVelocityUpdateSum = std::accumulate(linearVelocityUpdateVec.begin(), + linearVelocityUpdateVec.end(), + 0); + if (linearVelocityUpdateSum > 0) + { + ROS_WARN_STREAM("Warning: Some linear velocity entries in parameter " << imuTopicName << "_config are listed " + "true, but an sensor_msgs/Imu contains no information about linear velocities"); + } + + std::vector poseUpdateVec = updateVec; + // IMU message contains no information about position, filter everything except orientation + std::fill(poseUpdateVec.begin() + POSITION_OFFSET, + poseUpdateVec.begin() + POSITION_OFFSET + POSITION_SIZE, + 0); + std::fill(poseUpdateVec.begin() + POSITION_V_OFFSET, + poseUpdateVec.begin() + POSITION_V_OFFSET + TWIST_SIZE, + 0); + std::fill(poseUpdateVec.begin() + POSITION_A_OFFSET, + poseUpdateVec.begin() + POSITION_A_OFFSET + ACCELERATION_SIZE, + 0); + + std::vector twistUpdateVec = updateVec; + // IMU message contains no information about linear speeds, filter everything except angular velocity + std::fill(twistUpdateVec.begin() + POSITION_OFFSET, + twistUpdateVec.begin() + POSITION_OFFSET + POSE_SIZE, + 0); + std::fill(twistUpdateVec.begin() + POSITION_V_OFFSET, + twistUpdateVec.begin() + POSITION_V_OFFSET + LINEAR_VELOCITY_SIZE, + 0); + std::fill(twistUpdateVec.begin() + POSITION_A_OFFSET, + twistUpdateVec.begin() + POSITION_A_OFFSET + ACCELERATION_SIZE, + 0); + + std::vector accelUpdateVec = updateVec; + std::fill(accelUpdateVec.begin() + POSITION_OFFSET, + accelUpdateVec.begin() + POSITION_OFFSET + POSE_SIZE, + 0); + std::fill(accelUpdateVec.begin() + POSITION_V_OFFSET, + accelUpdateVec.begin() + POSITION_V_OFFSET + TWIST_SIZE, + 0); + + int poseUpdateSum = std::accumulate(poseUpdateVec.begin(), poseUpdateVec.end(), 0); + int twistUpdateSum = std::accumulate(twistUpdateVec.begin(), twistUpdateVec.end(), 0); + int accelUpdateSum = std::accumulate(accelUpdateVec.begin(), accelUpdateVec.end(), 0); + + // Check if we're using control input for any of the acceleration variables; turn off if so + if (static_cast(controlUpdateVector[ControlMemberVx]) && static_cast(accelUpdateVec[StateMemberAx])) + { + ROS_WARN_STREAM("X acceleration is being measured from IMU; X velocity control input is disabled"); + controlUpdateVector[ControlMemberVx] = 0; + } + if (static_cast(controlUpdateVector[ControlMemberVy]) && static_cast(accelUpdateVec[StateMemberAy])) + { + ROS_WARN_STREAM("Y acceleration is being measured from IMU; Y velocity control input is disabled"); + controlUpdateVector[ControlMemberVy] = 0; + } + if (static_cast(controlUpdateVector[ControlMemberVz]) && static_cast(accelUpdateVec[StateMemberAz])) + { + ROS_WARN_STREAM("Z acceleration is being measured from IMU; Z velocity control input is disabled"); + controlUpdateVector[ControlMemberVz] = 0; + } + + int imuQueueSize = 1; + nhLocal_.param(imuTopicName + "_queue_size", imuQueueSize, 1); + + bool nodelayImu = false; + nhLocal_.param(imuTopicName + "_nodelay", nodelayImu, false); + + if (poseUpdateSum + twistUpdateSum + accelUpdateSum > 0) + { + const CallbackData poseCallbackData(imuTopicName + "_pose", poseUpdateVec, poseUpdateSum, differential, + relative, false, poseMahalanobisThresh); + const CallbackData twistCallbackData(imuTopicName + "_twist", twistUpdateVec, twistUpdateSum, differential, + relative, false, twistMahalanobisThresh); + const CallbackData accelCallbackData(imuTopicName + "_acceleration", accelUpdateVec, accelUpdateSum, + differential, relative, false, accelMahalanobisThresh); + + topicSubs_.push_back( + nh_.subscribe(imuTopic, imuQueueSize, + boost::bind(&RosFilter::imuCallback, this, boost::placeholders::_1, + imuTopicName, poseCallbackData, twistCallbackData, + accelCallbackData), ros::VoidPtr(), ros::TransportHints().tcpNoDelay(nodelayImu))); + } + else + { + ROS_WARN_STREAM("Warning: " << imuTopic << " is listed as an input topic, " + "but all its update variables are false"); + } + + if (poseUpdateSum > 0) + { + if (differential) + { + twistVarCounts[StateMemberVroll] += poseUpdateVec[StateMemberRoll]; + twistVarCounts[StateMemberVpitch] += poseUpdateVec[StateMemberPitch]; + twistVarCounts[StateMemberVyaw] += poseUpdateVec[StateMemberYaw]; + } + else + { + absPoseVarCounts[StateMemberRoll] += poseUpdateVec[StateMemberRoll]; + absPoseVarCounts[StateMemberPitch] += poseUpdateVec[StateMemberPitch]; + absPoseVarCounts[StateMemberYaw] += poseUpdateVec[StateMemberYaw]; + } + } + + if (twistUpdateSum > 0) + { + twistVarCounts[StateMemberVroll] += twistUpdateVec[StateMemberVroll]; + twistVarCounts[StateMemberVpitch] += twistUpdateVec[StateMemberVpitch]; + twistVarCounts[StateMemberVyaw] += twistUpdateVec[StateMemberVyaw]; + } + + RF_DEBUG("Subscribed to " << imuTopic << " (" << imuTopicName << ")\n\t" << + imuTopicName << "_differential is " << (differential ? "true" : "false") << "\n\t" << + imuTopicName << "_pose_rejection_threshold is " << poseMahalanobisThresh << "\n\t" << + imuTopicName << "_twist_rejection_threshold is " << twistMahalanobisThresh << "\n\t" << + imuTopicName << "_linear_acceleration_rejection_threshold is " << accelMahalanobisThresh << "\n\t" << + imuTopicName << "_remove_gravitational_acceleration is " << + (removeGravAcc ? "true" : "false") << "\n\t" << + imuTopicName << "_queue_size is " << imuQueueSize << "\n\t" << + imuTopicName << " pose update vector is " << poseUpdateVec << "\t"<< + imuTopicName << " twist update vector is " << twistUpdateVec << "\t" << + imuTopicName << " acceleration update vector is " << accelUpdateVec); + } + } + while (moreParams); + angular_acceleration_cov_.resize(ORIENTATION_SIZE, ORIENTATION_SIZE); + angular_acceleration_cov_.setZero(); + + // Now that we've checked if IMU linear acceleration is being used, we can determine our final control parameters + if (useControl_ && std::accumulate(controlUpdateVector.begin(), controlUpdateVector.end(), 0) == 0) + { + ROS_ERROR_STREAM("use_control is set to true, but control_config has only false values. No control term " + "will be used."); + useControl_ = false; + } + + // If we're using control, set the parameters and create the necessary subscribers + if (useControl_) + { + latestControl_.resize(TWIST_SIZE); + latestControl_.setZero(); + + filter_.setControlParams(controlUpdateVector, controlTimeout, accelerationLimits, accelerationGains, + decelerationLimits, decelerationGains); + + if (stampedControl) + { + controlSub_ = nh_.subscribe("cmd_vel", 1, &RosFilter::controlCallback, this); + } + else + { + controlSub_ = nh_.subscribe("cmd_vel", 1, &RosFilter::controlCallback, this); + } + } + + /* Warn users about: + * 1. Multiple non-differential input sources + * 2. No absolute *or* velocity measurements for pose variables + */ + if (printDiagnostics_) + { + for (int stateVar = StateMemberX; stateVar <= StateMemberYaw; ++stateVar) + { + if (absPoseVarCounts[static_cast(stateVar)] > 1) + { + std::stringstream stream; + stream << absPoseVarCounts[static_cast(stateVar - POSITION_OFFSET)] << + " absolute pose inputs detected for " << stateVariableNames_[stateVar] << + ". This may result in oscillations. Please ensure that your variances for each " + "measured variable are set appropriately."; + + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + stateVariableNames_[stateVar] + "_configuration", + stream.str(), + true); + } + else if (absPoseVarCounts[static_cast(stateVar)] == 0) + { + if ((static_cast(stateVar) == StateMemberX && + twistVarCounts[static_cast(StateMemberVx)] == 0) || + (static_cast(stateVar) == StateMemberY && + twistVarCounts[static_cast(StateMemberVy)] == 0) || + (static_cast(stateVar) == StateMemberZ && + twistVarCounts[static_cast(StateMemberVz)] == 0 && + twoDMode_ == false) || + (static_cast(stateVar) == StateMemberRoll && + twistVarCounts[static_cast(StateMemberVroll)] == 0 && + twoDMode_ == false) || + (static_cast(stateVar) == StateMemberPitch && + twistVarCounts[static_cast(StateMemberVpitch)] == 0 && + twoDMode_ == false) || + (static_cast(stateVar) == StateMemberYaw && + twistVarCounts[static_cast(StateMemberVyaw)] == 0)) + { + std::stringstream stream; + stream << "Neither " << stateVariableNames_[stateVar] << " nor its " + "velocity is being measured. This will result in unbounded " + "error growth and erratic filter behavior."; + + addDiagnostic(diagnostic_msgs::DiagnosticStatus::ERROR, + stateVariableNames_[stateVar] + "_configuration", + stream.str(), + true); + } + } + } + } + + // Load up the process noise covariance (from the launch file/parameter server) + Eigen::MatrixXd processNoiseCovariance(STATE_SIZE, STATE_SIZE); + processNoiseCovariance.setZero(); + XmlRpc::XmlRpcValue processNoiseCovarConfig; + + if (nhLocal_.hasParam("process_noise_covariance")) + { + try + { + nhLocal_.getParam("process_noise_covariance", processNoiseCovarConfig); + + ROS_ASSERT(processNoiseCovarConfig.getType() == XmlRpc::XmlRpcValue::TypeArray); + + int matSize = processNoiseCovariance.rows(); + + for (int i = 0; i < matSize; i++) + { + for (int j = 0; j < matSize; j++) + { + try + { + // These matrices can cause problems if all the types + // aren't specified with decimal points. Handle that + // using string streams. + std::ostringstream ostr; + ostr << processNoiseCovarConfig[matSize * i + j]; + std::istringstream istr(ostr.str()); + istr >> processNoiseCovariance(i, j); + } + catch(XmlRpc::XmlRpcException &e) + { + throw e; + } + catch(...) + { + throw; + } + } + } + + RF_DEBUG("Process noise covariance is:\n" << processNoiseCovariance << "\n"); + } + catch (XmlRpc::XmlRpcException &e) + { + ROS_ERROR_STREAM("ERROR reading sensor config: " << + e.getMessage() << + " for process_noise_covariance (type: " << + processNoiseCovarConfig.getType() << ")"); + } + + filter_.setProcessNoiseCovariance(processNoiseCovariance); + } + + // Load up the process noise covariance (from the launch file/parameter server) + Eigen::MatrixXd initialEstimateErrorCovariance(STATE_SIZE, STATE_SIZE); + initialEstimateErrorCovariance.setZero(); + XmlRpc::XmlRpcValue estimateErrorCovarConfig; + + if (nhLocal_.hasParam("initial_estimate_covariance")) + { + try + { + nhLocal_.getParam("initial_estimate_covariance", estimateErrorCovarConfig); + + ROS_ASSERT(estimateErrorCovarConfig.getType() == XmlRpc::XmlRpcValue::TypeArray); + + int matSize = initialEstimateErrorCovariance.rows(); + + for (int i = 0; i < matSize; i++) + { + for (int j = 0; j < matSize; j++) + { + try + { + // These matrices can cause problems if all the types + // aren't specified with decimal points. Handle that + // using string streams. + std::ostringstream ostr; + ostr << estimateErrorCovarConfig[matSize * i + j]; + std::istringstream istr(ostr.str()); + istr >> initialEstimateErrorCovariance(i, j); + } + catch(XmlRpc::XmlRpcException &e) + { + throw e; + } + catch(...) + { + throw; + } + } + } + + RF_DEBUG("Initial estimate error covariance is:\n" << initialEstimateErrorCovariance << "\n"); + } + catch (XmlRpc::XmlRpcException &e) + { + ROS_ERROR_STREAM("ERROR reading initial_estimate_covariance (type: " << + estimateErrorCovarConfig.getType() << + "): " << + e.getMessage()); + } + catch(...) + { + ROS_ERROR_STREAM( + "ERROR reading initial_estimate_covariance (type: " << estimateErrorCovarConfig.getType() << ")"); + } + + filter_.setEstimateErrorCovariance(initialEstimateErrorCovariance); + } + } + + template + void RosFilter::odometryCallback(const nav_msgs::Odometry::ConstPtr &msg, const std::string &topicName, + const CallbackData &poseCallbackData, const CallbackData &twistCallbackData) + { + // If we've just reset the filter, then we want to ignore any messages + // that arrive with an older timestamp + if (msg->header.stamp <= lastSetPoseTime_) + { + std::stringstream stream; + stream << "The " << topicName << " message has a timestamp equal to or before the last filter reset, " << + "this message will be ignored. This may indicate an empty or bad timestamp. (message time: " << + msg->header.stamp.toSec() << ")"; + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_timestamp", + stream.str(), + false); + RF_DEBUG("Received message that preceded the most recent pose reset. Ignoring..."); + + return; + } + + RF_DEBUG("------ RosFilter::odometryCallback (" << topicName << ") ------\n" << "Odometry message:\n" << *msg); + + if (poseCallbackData.updateSum_ > 0) + { + // Grab the pose portion of the message and pass it to the poseCallback + geometry_msgs::PoseWithCovarianceStamped *posPtr = new geometry_msgs::PoseWithCovarianceStamped(); + posPtr->header = msg->header; + posPtr->pose = msg->pose; // Entire pose object, also copies covariance + + geometry_msgs::PoseWithCovarianceStampedConstPtr pptr(posPtr); + if (poseCallbackData.pose_use_child_frame_) + { + poseCallback(pptr, poseCallbackData, worldFrameId_, msg->child_frame_id, false); + } + else + { + poseCallback(pptr, poseCallbackData, worldFrameId_, baseLinkFrameId_, false); + } + } + + if (twistCallbackData.updateSum_ > 0) + { + // Grab the twist portion of the message and pass it to the twistCallback + geometry_msgs::TwistWithCovarianceStamped *twistPtr = new geometry_msgs::TwistWithCovarianceStamped(); + twistPtr->header = msg->header; + twistPtr->header.frame_id = msg->child_frame_id; + twistPtr->twist = msg->twist; // Entire twist object, also copies covariance + + geometry_msgs::TwistWithCovarianceStampedConstPtr tptr(twistPtr); + twistCallback(tptr, twistCallbackData, baseLinkFrameId_); + } + + RF_DEBUG("\n----- /RosFilter::odometryCallback (" << topicName << ") ------\n"); + } + + template + void RosFilter::poseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg, + const CallbackData &callbackData, + const std::string &targetFrame, + const std::string &poseSourceFrame, + const bool imuData) + { + const std::string &topicName = callbackData.topicName_; + + // If we've just reset the filter, then we want to ignore any messages + // that arrive with an older timestamp + if (msg->header.stamp <= lastSetPoseTime_) + { + std::stringstream stream; + stream << "The " << topicName << " message has a timestamp equal to or before the last filter reset, " << + "this message will be ignored. This may indicate an empty or bad timestamp. (message time: " << + msg->header.stamp.toSec() << ")"; + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_timestamp", + stream.str(), + false); + return; + } + + RF_DEBUG("------ RosFilter::poseCallback (" << topicName << ") ------\n" << + "Pose message:\n" << *msg); + + // Put the initial value in the lastMessagTimes_ for this variable if it's empty + if (lastMessageTimes_.count(topicName) == 0) + { + lastMessageTimes_.insert(std::pair(topicName, msg->header.stamp)); + } + + // Make sure this message is newer than the last one + if (msg->header.stamp >= lastMessageTimes_[topicName]) + { + RF_DEBUG("Update vector for " << topicName << " is:\n" << callbackData.updateVector_); + + Eigen::VectorXd measurement(STATE_SIZE); + Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); + + measurement.setZero(); + measurementCovariance.setZero(); + + // Make sure we're actually updating at least one of these variables + std::vector updateVectorCorrected = callbackData.updateVector_; + + // Prepare the pose data for inclusion in the filter + if (preparePose(msg, + topicName, + targetFrame, + poseSourceFrame, + callbackData.differential_, + callbackData.relative_, + imuData, + updateVectorCorrected, + measurement, + measurementCovariance)) + { + // Store the measurement. Add a "pose" suffix so we know what kind of measurement + // we're dealing with when we debug the core filter logic. + enqueueMeasurement(topicName, + measurement, + measurementCovariance, + updateVectorCorrected, + callbackData.rejectionThreshold_, + msg->header.stamp); + + RF_DEBUG("Enqueued new measurement for " << topicName << "\n"); + } + else + { + RF_DEBUG("Did *not* enqueue measurement for " << topicName << "\n"); + } + + lastMessageTimes_[topicName] = msg->header.stamp; + + RF_DEBUG("Last message time for " << topicName << " is now " << + lastMessageTimes_[topicName] << "\n"); + } + else if (resetOnTimeJump_ && ros::Time::isSimTime()) + { + reset(); + } + else + { + std::stringstream stream; + stream << "The " << topicName << " message has a timestamp before that of the previous message received," << + " this message will be ignored. This may indicate a bad timestamp. (message time: " << + msg->header.stamp.toSec() << ")"; + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_timestamp", + stream.str(), + false); + + RF_DEBUG("Message is too old. Last message time for " << topicName << " is " + << lastMessageTimes_[topicName] << ", current message time is " + << msg->header.stamp << ".\n"); + } + + RF_DEBUG("\n----- /RosFilter::poseCallback (" << topicName << ") ------\n"); + } + + template + void RosFilter::periodicUpdate(const ros::TimerEvent& event) + { + // Warn the user if the update took too long (> 2 cycles) + const double loop_elapsed = (event.current_real - event.last_expected).toSec(); + if (loop_elapsed > 2./frequency_) + { + ROS_WARN_STREAM("Failed to meet update rate! Took " << std::setprecision(20) << loop_elapsed); + } + + // Wait for the filter to be enabled + if (!enabled_) + { + ROS_INFO_STREAM_ONCE("Filter is disabled. To enable it call the " << enableFilterSrv_.getService() << + " service"); + return; + } + + ros::Time curTime = ros::Time::now(); + + if (toggledOn_) + { + // Now we'll integrate any measurements we've received if requested, and update angular acceleration. + integrateMeasurements(curTime); + differentiateMeasurements(curTime); + } + else + { + // clear out measurements since we're not currently processing new entries + clearMeasurementQueue(); + + // Reset last measurement time so we don't get a large time delta on toggle on + if (filter_.getInitializedStatus()) + { + filter_.setLastMeasurementTime(ros::Time::now().toSec()); + } + } + + // Get latest state and publish it + nav_msgs::Odometry filteredPosition; + + bool corrected_data = false; + + if (getFilteredOdometryMessage(filteredPosition)) + { + worldBaseLinkTransMsg_.transform = tf2::toMsg(tf2::Transform::getIdentity()); + worldBaseLinkTransMsg_.header.stamp = filteredPosition.header.stamp + tfTimeOffset_; + worldBaseLinkTransMsg_.header.frame_id = filteredPosition.header.frame_id; + worldBaseLinkTransMsg_.child_frame_id = filteredPosition.child_frame_id; + + worldBaseLinkTransMsg_.transform.translation.x = filteredPosition.pose.pose.position.x; + worldBaseLinkTransMsg_.transform.translation.y = filteredPosition.pose.pose.position.y; + worldBaseLinkTransMsg_.transform.translation.z = filteredPosition.pose.pose.position.z; + worldBaseLinkTransMsg_.transform.rotation = filteredPosition.pose.pose.orientation; + + // the filteredPosition is the message containing the state and covariances: nav_msgs Odometry + + if (!validateFilterOutput(filteredPosition)) + { + ROS_ERROR_STREAM("Critical Error, NaNs were detected in the output state of the filter." << + " This was likely due to poorly conditioned process, noise, or sensor covariances."); + } + + // If we're trying to publish with the same time stamp, it means that we had a measurement get inserted into the + // filter history, and our state estimate was updated after it was already published. As of ROS Noetic, TF2 will + // issue warnings whenever this occurs, so we make this behavior optional. + // Just for safety, we also check for the condition where the last published stamp is *later* than this stamp. + // This should never happen, but we should handle the case anyway. + corrected_data = (!permitCorrectedPublication_ && lastPublishedStamp_ >= filteredPosition.header.stamp); + + // If the worldFrameId_ is the odomFrameId_ frame, then we can just send the transform. If the + // worldFrameId_ is the mapFrameId_ frame, we'll have some work to do. + if (publishTransform_ && !corrected_data) + { + if (filteredPosition.header.frame_id == odomFrameId_) + { + worldTransformBroadcaster_.sendTransform(worldBaseLinkTransMsg_); + } + else if (filteredPosition.header.frame_id == mapFrameId_) + { + /* + * First, see these two references: + * http://wiki.ros.org/tf/Overview/Using%20Published%20Transforms#lookupTransform + * http://wiki.ros.org/geometry/CoordinateFrameConventions#Transform_Direction + * We have a transform from mapFrameId_->baseLinkFrameId_, but it would actually transform + * a given pose from baseLinkFrameId_->mapFrameId_. We then used lookupTransform, whose + * first two arguments are target frame and source frame, to get a transform from + * baseLinkFrameId_->odomFrameId_. However, this transform would actually transform data + * from odomFrameId_->baseLinkFrameId_. Now imagine that we have a position in the + * mapFrameId_ frame. First, we multiply it by the inverse of the + * mapFrameId_->baseLinkFrameId, which will transform that data from mapFrameId_ to + * baseLinkFrameId_. Now we want to go from baseLinkFrameId_->odomFrameId_, but the + * transform we have takes data from odomFrameId_->baseLinkFrameId_, so we need its + * inverse as well. We have now transformed our data from mapFrameId_ to odomFrameId_. + * However, if we want other users to be able to do the same, we need to broadcast + * the inverse of that entire transform. + */ + + tf2::Transform baseLinkOdomTrans; + if (RosFilterUtilities::lookupTransformSafe( + tfBuffer_, + baseLinkFrameId_, + odomFrameId_, + filteredPosition.header.stamp, + tfTimeout_, + baseLinkOdomTrans, + tfSilentFailure_)) + { + tf2::Transform worldBaseLinkTrans; + tf2::fromMsg(worldBaseLinkTransMsg_.transform, worldBaseLinkTrans); + + tf2::Transform mapOdomTrans; + mapOdomTrans.mult(worldBaseLinkTrans, baseLinkOdomTrans); + + geometry_msgs::TransformStamped mapOdomTransMsg; + mapOdomTransMsg.transform = tf2::toMsg(mapOdomTrans); + mapOdomTransMsg.header.stamp = filteredPosition.header.stamp + tfTimeOffset_; + mapOdomTransMsg.header.frame_id = mapFrameId_; + mapOdomTransMsg.child_frame_id = odomFrameId_; + + worldTransformBroadcaster_.sendTransform(mapOdomTransMsg); + } + else + { + ROS_ERROR_STREAM_DELAYED_THROTTLE(5.0, "Could not obtain transform from " << odomFrameId_ << + "->" << baseLinkFrameId_); + } + } + else + { + ROS_ERROR_STREAM("Odometry message frame_id was " << filteredPosition.header.frame_id << + ", expected " << mapFrameId_ << " or " << odomFrameId_); + } + } + + // Fire off the position and the transform + if (!corrected_data) + { + positionPub_.publish(filteredPosition); + } + + // Retain the last published stamp so we can detect repeated transforms in future cycles + lastPublishedStamp_ = filteredPosition.header.stamp; + + if (printDiagnostics_) + { + freqDiag_->tick(); + } + } + + // Publish the acceleration if desired and filter is initialized + geometry_msgs::AccelWithCovarianceStamped filteredAcceleration; + if (publishAcceleration_ && getFilteredAccelMessage(filteredAcceleration) && !corrected_data) + { + accelPub_.publish(filteredAcceleration); + } + + /* Diagnostics can behave strangely when playing back from bag + * files and using simulated time, so we have to check for + * time suddenly moving backwards as well as the standard + * timeout criterion before publishing. */ + double diagDuration = (curTime - lastDiagTime_).toSec(); + if (printDiagnostics_ && (diagDuration >= diagnosticUpdater_.getPeriod() || diagDuration < 0.0)) + { + diagnosticUpdater_.force_update(); + lastDiagTime_ = curTime; + } + + // Clear out expired history data + if (smoothLaggedData_) + { + clearExpiredHistory(filter_.getLastMeasurementTime() - historyLength_); + } + } + + template + void RosFilter::setPoseCallback(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg) + { + RF_DEBUG("------ RosFilter::setPoseCallback ------\nPose message:\n" << *msg); + + ROS_INFO_STREAM("Received set_pose request with value\n" << *msg); + + std::string topicName("setPose"); + + // Get rid of any initial poses (pretend we've never had a measurement) + initialMeasurements_.clear(); + previousMeasurements_.clear(); + previousMeasurementCovariances_.clear(); + + clearMeasurementQueue(); + + filterStateHistory_.clear(); + measurementHistory_.clear(); + + // Also set the last set pose time, so we ignore all messages + // that occur before it + lastSetPoseTime_ = msg->header.stamp; + + // Set the state vector to the reported pose + Eigen::VectorXd measurement(STATE_SIZE); + Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); + std::vector updateVector(STATE_SIZE, true); + + // We only measure pose variables, so initialize the vector to 0 + measurement.setZero(); + + // Set this to the identity and let the message reset it + measurementCovariance.setIdentity(); + measurementCovariance *= 1e-6; + + // Prepare the pose data (really just using this to transform it into the target frame). + // Twist data is going to get zeroed out. + // Since pose messages do not provide a child_frame_id, it defaults to baseLinkFrameId_ + preparePose(msg, topicName, worldFrameId_, baseLinkFrameId_, false, false, + false, updateVector, measurement, measurementCovariance); + + // For the state + filter_.setState(measurement); + filter_.setEstimateErrorCovariance(measurementCovariance); + + filter_.setLastMeasurementTime(ros::Time::now().toSec()); + + RF_DEBUG("\n------ /RosFilter::setPoseCallback ------\n"); + } + + template + bool RosFilter::setPoseSrvCallback(robot_localization::SetPose::Request& request, + robot_localization::SetPose::Response&) + { + geometry_msgs::PoseWithCovarianceStamped::Ptr msg; + msg = boost::make_shared(request.pose); + setPoseCallback(msg); + + return true; + } + + template + bool RosFilter::enableFilterSrvCallback(std_srvs::Empty::Request&, + std_srvs::Empty::Response&) + { + RF_DEBUG("\n[" << ros::this_node::getName() << ":]" << " ------ /RosFilter::enableFilterSrvCallback ------\n"); + if (enabled_) + { + ROS_WARN_STREAM("[" << ros::this_node::getName() << ":] Asking for enabling filter service, but the filter was " + "already enabled! Use param disabled_at_startup."); + } + else + { + ROS_INFO_STREAM("[" << ros::this_node::getName() << ":] Enabling filter..."); + enabled_ = true; + } + return true; + } + + template + void RosFilter::twistCallback(const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg, + const CallbackData &callbackData, + const std::string &targetFrame) + { + const std::string &topicName = callbackData.topicName_; + + // If we've just reset the filter, then we want to ignore any messages + // that arrive with an older timestamp + if (msg->header.stamp <= lastSetPoseTime_) + { + std::stringstream stream; + stream << "The " << topicName << " message has a timestamp equal to or before the last filter reset, " << + "this message will be ignored. This may indicate an empty or bad timestamp. (message time: " << + msg->header.stamp.toSec() << ")"; + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_timestamp", + stream.str(), + false); + return; + } + + RF_DEBUG("------ RosFilter::twistCallback (" << topicName << ") ------\n" + "Twist message:\n" << *msg); + + if (lastMessageTimes_.count(topicName) == 0) + { + lastMessageTimes_.insert(std::pair(topicName, msg->header.stamp)); + } + + // Make sure this message is newer than the last one + if (msg->header.stamp >= lastMessageTimes_[topicName]) + { + RF_DEBUG("Update vector for " << topicName << " is:\n" << callbackData.updateVector_); + + Eigen::VectorXd measurement(STATE_SIZE); + Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); + + measurement.setZero(); + measurementCovariance.setZero(); + + // Make sure we're actually updating at least one of these variables + std::vector updateVectorCorrected = callbackData.updateVector_; + + // Prepare the twist data for inclusion in the filter + if (prepareTwist(msg, topicName, targetFrame, updateVectorCorrected, measurement, measurementCovariance)) + { + // Store the measurement. Add a "twist" suffix so we know what kind of measurement + // we're dealing with when we debug the core filter logic. + enqueueMeasurement(topicName, + measurement, + measurementCovariance, + updateVectorCorrected, + callbackData.rejectionThreshold_, + msg->header.stamp); + + RF_DEBUG("Enqueued new measurement for " << topicName << "_twist\n"); + } + else + { + RF_DEBUG("Did *not* enqueue measurement for " << topicName << "_twist\n"); + } + + lastMessageTimes_[topicName] = msg->header.stamp; + + RF_DEBUG("Last message time for " << topicName << " is now " << + lastMessageTimes_[topicName] << "\n"); + } + else if (resetOnTimeJump_ && ros::Time::isSimTime()) + { + reset(); + } + else + { + std::stringstream stream; + stream << "The " << topicName << " message has a timestamp before that of the previous message received," << + " this message will be ignored. This may indicate a bad timestamp. (message time: " << + msg->header.stamp.toSec() << ")"; + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_timestamp", + stream.str(), + false); + + RF_DEBUG("Message is too old. Last message time for " << topicName << " is " << lastMessageTimes_[topicName] << + ", current message time is " << msg->header.stamp << ".\n"); + } + + RF_DEBUG("\n----- /RosFilter::twistCallback (" << topicName << ") ------\n"); + } + + template + void RosFilter::addDiagnostic(const int errLevel, + const std::string &topicAndClass, + const std::string &message, + const bool staticDiag) + { + if (staticDiag) + { + staticDiagnostics_[topicAndClass] = message; + staticDiagErrorLevel_ = std::max(staticDiagErrorLevel_, errLevel); + } + else + { + dynamicDiagnostics_[topicAndClass] = message; + dynamicDiagErrorLevel_ = std::max(dynamicDiagErrorLevel_, errLevel); + } + } + + template + void RosFilter::aggregateDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &wrapper) + { + wrapper.clear(); + wrapper.clearSummary(); + + int maxErrLevel = std::max(staticDiagErrorLevel_, dynamicDiagErrorLevel_); + + // Report the overall status + switch (maxErrLevel) + { + case diagnostic_msgs::DiagnosticStatus::ERROR: + wrapper.summary(maxErrLevel, + "Erroneous data or settings detected for a robot_localization state estimation node."); + break; + case diagnostic_msgs::DiagnosticStatus::WARN: + wrapper.summary(maxErrLevel, + "Potentially erroneous data or settings detected for " + "a robot_localization state estimation node."); + break; + case diagnostic_msgs::DiagnosticStatus::STALE: + wrapper.summary(maxErrLevel, + "The state of the robot_localization state estimation node is stale."); + break; + case diagnostic_msgs::DiagnosticStatus::OK: + wrapper.summary(maxErrLevel, + "The robot_localization state estimation node appears to be functioning properly."); + break; + default: + break; + } + + // Aggregate all the static messages + for (std::map::iterator diagIt = staticDiagnostics_.begin(); + diagIt != staticDiagnostics_.end(); + ++diagIt) + { + wrapper.add(diagIt->first, diagIt->second); + } + + // Aggregate all the dynamic messages, then clear them + for (std::map::iterator diagIt = dynamicDiagnostics_.begin(); + diagIt != dynamicDiagnostics_.end(); + ++diagIt) + { + wrapper.add(diagIt->first, diagIt->second); + } + dynamicDiagnostics_.clear(); + + // Reset the warning level for the dynamic diagnostic messages + dynamicDiagErrorLevel_ = diagnostic_msgs::DiagnosticStatus::OK; + } + + template + void RosFilter::copyCovariance(const double *arr, + Eigen::MatrixXd &covariance, + const std::string &topicName, + const std::vector &updateVector, + const size_t offset, + const size_t dimension) + { + for (size_t i = 0; i < dimension; i++) + { + for (size_t j = 0; j < dimension; j++) + { + covariance(i, j) = arr[dimension * i + j]; + + if (printDiagnostics_) + { + std::string iVar = stateVariableNames_[offset + i]; + + if (covariance(i, j) > 1e3 && (updateVector[offset + i] || updateVector[offset + j])) + { + std::string jVar = stateVariableNames_[offset + j]; + + std::stringstream stream; + stream << "The covariance at position (" << dimension * i + j << "), which corresponds to " << + (i == j ? iVar + " variance" : iVar + " and " + jVar + " covariance") << + ", the value is extremely large (" << covariance(i, j) << "), but the update vector for " << + (i == j ? iVar : iVar + " and/or " + jVar) << " is set to true. This may produce undesirable results."; + + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_covariance", + stream.str(), + false); + } + else if (updateVector[i] && i == j && covariance(i, j) == 0) + { + std::stringstream stream; + stream << "The covariance at position (" << dimension * i + j << "), which corresponds to " << + iVar << " variance, was zero. This will be replaced with a small value to maintain filter " + "stability, but should be corrected at the message origin node."; + + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_covariance", + stream.str(), + false); + } + else if (updateVector[i] && i == j && covariance(i, j) < 0) + { + std::stringstream stream; + stream << "The covariance at position (" << dimension * i + j << + "), which corresponds to " << iVar << " variance, was negative. This will be replaced with a " + "small positive value to maintain filter stability, but should be corrected at the message " + "origin node."; + + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_covariance", + stream.str(), + false); + } + } + } + } + } + + template + void RosFilter::copyCovariance(const Eigen::MatrixXd &covariance, + double *arr, + const size_t dimension) + { + for (size_t i = 0; i < dimension; i++) + { + for (size_t j = 0; j < dimension; j++) + { + arr[dimension * i + j] = covariance(i, j); + } + } + } + + template + std::vector RosFilter::loadUpdateConfig(const std::string &topicName) + { + XmlRpc::XmlRpcValue topicConfig; + std::vector updateVector(STATE_SIZE, 0); + std::string topicConfigName = topicName + "_config"; + + try + { + nhLocal_.getParam(topicConfigName, topicConfig); + + ROS_ASSERT(topicConfig.getType() == XmlRpc::XmlRpcValue::TypeArray); + + if (topicConfig.size() != STATE_SIZE) + { + ROS_WARN_STREAM("Configuration vector for " << topicConfigName << " should have 15 entries."); + } + + for (int i = 0; i < topicConfig.size(); i++) + { + // The double cast looks strange, but we'll get exceptions if we + // remove the cast to bool. vector is discouraged, so updateVector + // uses integers. + updateVector[i] = static_cast(static_cast(topicConfig[i])); + } + } + catch (XmlRpc::XmlRpcException &e) + { + ROS_FATAL_STREAM("Could not read sensor update configuration for topic " << topicName << + " (type: " << topicConfig.getType() << ", expected: " << XmlRpc::XmlRpcValue::TypeArray + << "). Error was " << e.getMessage() << "\n"); + } + + return updateVector; + } + + template + bool RosFilter::prepareAcceleration(const sensor_msgs::Imu::ConstPtr &msg, + const std::string &topicName, + const std::string &targetFrame, + const bool relative, + std::vector &updateVector, + Eigen::VectorXd &measurement, + Eigen::MatrixXd &measurementCovariance) + { + RF_DEBUG("------ RosFilter::prepareAcceleration (" << topicName << ") ------\n"); + + // 1. Get the measurement into a vector + tf2::Vector3 accTmp(msg->linear_acceleration.x, + msg->linear_acceleration.y, + msg->linear_acceleration.z); + + // Set relevant header info + std::string msgFrame = (msg->header.frame_id == "" ? baseLinkFrameId_ : msg->header.frame_id); + + // 2. robot_localization lets users configure which variables from the sensor should be + // fused with the filter. This is specified at the sensor level. However, the data + // may go through transforms before being fused with the state estimate. In that case, + // we need to know which of the transformed variables came from the pre-transformed + // "approved" variables (i.e., the ones that had "true" in their xxx_config parameter). + // To do this, we create a pose from the original upate vector, which contains only + // zeros and ones. This pose goes through the same transforms as the measurement. The + // non-zero values that result will be used to modify the updateVector. + tf2::Matrix3x3 maskAcc(updateVector[StateMemberAx], 0, 0, + 0, updateVector[StateMemberAy], 0, + 0, 0, updateVector[StateMemberAz]); + + // 3. We'll need to rotate the covariance as well + Eigen::MatrixXd covarianceRotated(ACCELERATION_SIZE, ACCELERATION_SIZE); + covarianceRotated.setZero(); + + this->copyCovariance(&(msg->linear_acceleration_covariance[0]), + covarianceRotated, + topicName, + updateVector, + POSITION_A_OFFSET, + ACCELERATION_SIZE); + + RF_DEBUG("Original measurement as tf object: " << accTmp << + "\nOriginal update vector:\n" << updateVector << + "\nOriginal covariance matrix:\n" << covarianceRotated << "\n"); + + // 4. We need to transform this into the target frame (probably base_link) + // It's unlikely that we'll get a velocity measurement in another frame, but + // we have to handle the situation. + tf2::Transform targetFrameTrans; + bool canTransform = RosFilterUtilities::lookupTransformSafe(tfBuffer_, + targetFrame, + msgFrame, + msg->header.stamp, + tfTimeout_, + targetFrameTrans, + tfSilentFailure_); + + if (canTransform) + { + const Eigen::VectorXd &state = filter_.getState(); + + // We don't know if the user has already handled the removal + // of normal forces, so we use a parameter + if (removeGravitationalAcc_[topicName]) + { + tf2::Vector3 normAcc(0, 0, gravitationalAcc_); + tf2::Transform trans; + tf2::Vector3 rotNorm; + + if (::fabs(msg->orientation_covariance[0] + 1) < 1e-9) + { + // Imu message contains no orientation, so we should use orientation + // from filter state to transform and remove acceleration + tf2::Matrix3x3 stateTmp; + stateTmp.setRPY(state(StateMemberRoll), + state(StateMemberPitch), + state(StateMemberYaw)); + + // transform state orientation to IMU frame + trans.setBasis(stateTmp * targetFrameTrans.getBasis()); + rotNorm = trans.getBasis().inverse() * normAcc; + } + else + { + tf2::Quaternion curAttitude; + tf2::fromMsg(msg->orientation, curAttitude); + if (fabs(curAttitude.length() - 1.0) > 0.01) + { + ROS_WARN_ONCE("An input was not normalized, this should NOT happen, but will normalize."); + curAttitude.normalize(); + } + trans.setRotation(curAttitude); + if (!relative) + { + // curAttitude is the true world-frame attitude of the sensor + rotNorm = trans.getBasis().inverse() * normAcc; + } + else + { + // curAttitude is relative to the initial pose of the sensor. + // Assumption: IMU sensor is rigidly attached to the base_link (but a static rotation is possible). + rotNorm = targetFrameTrans.getBasis().inverse() * trans.getBasis().inverse() * normAcc; + } + } + accTmp.setX(accTmp.getX() - rotNorm.getX()); + accTmp.setY(accTmp.getY() - rotNorm.getY()); + accTmp.setZ(accTmp.getZ() - rotNorm.getZ()); + + RF_DEBUG("Orientation is " << trans.getRotation() << + "Acceleration due to gravity is " << rotNorm << + "After removing acceleration due to gravity, acceleration is " << accTmp << "\n"); + } + + // Transform to correct frame + tf2::Vector3 stateTwistRot(state(StateMemberVroll), + state(StateMemberVpitch), + state(StateMemberVyaw)); + accTmp = targetFrameTrans.getBasis() * accTmp + targetFrameTrans.getOrigin().cross(angular_acceleration_) + - targetFrameTrans.getOrigin().cross(stateTwistRot).cross(stateTwistRot); + maskAcc = targetFrameTrans.getBasis() * maskAcc; + + // Now use the mask values to determine which update vector values should be true + updateVector[StateMemberAx] = static_cast( + maskAcc.getRow(StateMemberAx - POSITION_A_OFFSET).length() >= 1e-6); + updateVector[StateMemberAy] = static_cast( + maskAcc.getRow(StateMemberAy - POSITION_A_OFFSET).length() >= 1e-6); + updateVector[StateMemberAz] = static_cast( + maskAcc.getRow(StateMemberAz - POSITION_A_OFFSET).length() >= 1e-6); + + RF_DEBUG(msg->header.frame_id << "->" << targetFrame << " transform:\n" << targetFrameTrans << + "\nAfter applying transform to " << targetFrame << ", update vector is:\n" << updateVector << + "\nAfter applying transform to " << targetFrame << ", measurement is:\n" << accTmp << "\n"); + + // 5. Now rotate the covariance: create an augmented + // matrix that contains a 3D rotation matrix in the + // upper-left and lower-right quadrants, and zeros + // elsewhere + tf2::Matrix3x3 rot(targetFrameTrans.getRotation()); + Eigen::MatrixXd rot3d(ACCELERATION_SIZE, ACCELERATION_SIZE); + rot3d.setIdentity(); + + for (size_t rInd = 0; rInd < ACCELERATION_SIZE; ++rInd) + { + rot3d(rInd, 0) = rot.getRow(rInd).getX(); + rot3d(rInd, 1) = rot.getRow(rInd).getY(); + rot3d(rInd, 2) = rot.getRow(rInd).getZ(); + } + + // Carry out the rotation + covarianceRotated = rot3d * covarianceRotated.eval() * rot3d.transpose(); + + RF_DEBUG("Transformed covariance is \n" << covarianceRotated << "\n"); + + // 6. Store our corrected measurement and covariance + measurement(StateMemberAx) = accTmp.getX(); + measurement(StateMemberAy) = accTmp.getY(); + measurement(StateMemberAz) = accTmp.getZ(); + + // Copy the covariances + measurementCovariance.block(POSITION_A_OFFSET, POSITION_A_OFFSET, ACCELERATION_SIZE, ACCELERATION_SIZE) = + covarianceRotated.block(0, 0, ACCELERATION_SIZE, ACCELERATION_SIZE); + + // 7. Handle 2D mode + if (twoDMode_) + { + forceTwoD(measurement, measurementCovariance, updateVector); + } + } + else + { + RF_DEBUG("Could not transform measurement into " << targetFrame << ". Ignoring...\n"); + } + + RF_DEBUG("\n----- /RosFilter::prepareAcceleration(" << topicName << ") ------\n"); + + return canTransform; + } + + template + bool RosFilter::preparePose(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg, + const std::string &topicName, + const std::string &targetFrame, + const std::string &sourceFrame, + const bool differential, + const bool relative, + const bool imuData, + std::vector &updateVector, + Eigen::VectorXd &measurement, + Eigen::MatrixXd &measurementCovariance) + { + bool retVal = false; + + RF_DEBUG("------ RosFilter::preparePose (" << topicName << ") ------\n"); + + // 1. Get the measurement into a tf-friendly transform (pose) object + tf2::Stamped poseTmp; + + // We'll need this later for storing this measurement for differential integration + tf2::Transform curMeasurement; + + // Handle issues where frame_id data is not filled out properly + // @todo: verify that this is necessary still. New IMU handling may + // have rendered this obsolete. + std::string finalTargetFrame; + if (targetFrame == "") + { + if (msg->header.frame_id == "") + { + // Blank target and message frames mean we can just + // use our world_frame + finalTargetFrame = worldFrameId_; + poseTmp.frame_id_ = finalTargetFrame; + } + else + { // (targetFrame == "") + // A blank target frame means we shouldn't bother + // transforming the data + finalTargetFrame = msg->header.frame_id; + poseTmp.frame_id_ = finalTargetFrame; + } + } + else + { + // Otherwise, we should use our target frame + finalTargetFrame = targetFrame; + poseTmp.frame_id_ = (differential && !imuData ? finalTargetFrame : msg->header.frame_id); + } + + RF_DEBUG("Final target frame for " << topicName << " is " << finalTargetFrame << "\n"); + + poseTmp.stamp_ = msg->header.stamp; + + // Fill out the position data + poseTmp.setOrigin(tf2::Vector3(msg->pose.pose.position.x, + msg->pose.pose.position.y, + msg->pose.pose.position.z)); + + tf2::Quaternion orientation; + + // Handle bad (empty) quaternions + if (msg->pose.pose.orientation.x == 0 && msg->pose.pose.orientation.y == 0 && + msg->pose.pose.orientation.z == 0 && msg->pose.pose.orientation.w == 0) + { + orientation.setValue(0.0, 0.0, 0.0, 1.0); + + if (updateVector[StateMemberRoll] || updateVector[StateMemberPitch] || updateVector[StateMemberYaw]) + { + std::stringstream stream; + stream << "The " << topicName << " message contains an invalid orientation quaternion, " << + "but its configuration is such that orientation data is being used. Correcting..."; + + addDiagnostic(diagnostic_msgs::DiagnosticStatus::WARN, + topicName + "_orientation", + stream.str(), + false); + } + } + else + { + tf2::fromMsg(msg->pose.pose.orientation, orientation); + if (fabs(orientation.length() - 1.0) > 0.01) + { + ROS_WARN_ONCE("An input was not normalized, this should NOT happen, but will normalize."); + orientation.normalize(); + } + } + + // Fill out the orientation data + poseTmp.setRotation(orientation); + + // 2. Get the target frame transformation + tf2::Transform targetFrameTrans; + bool canTransform = RosFilterUtilities::lookupTransformSafe(tfBuffer_, + finalTargetFrame, + poseTmp.frame_id_, + poseTmp.stamp_, + tfTimeout_, + targetFrameTrans, + tfSilentFailure_); + + // handling multiple odometry origins: convert to the origin adherent to base_link. + // make pose refer to the baseLinkFrame as source + tf2::Transform sourceFrameTrans; + bool canSrcTransform = false; + if ( sourceFrame != baseLinkFrameId_ ) + { + canSrcTransform = RosFilterUtilities::lookupTransformSafe(tfBuffer_, + sourceFrame, + baseLinkFrameId_, + poseTmp.stamp_, + tfTimeout_, + sourceFrameTrans, + tfSilentFailure_); + } + + // 3. Make sure we can work with this data before carrying on + if (canTransform) + { + /* 4. robot_localization lets users configure which variables from the sensor should be + * fused with the filter. This is specified at the sensor level. However, the data + * may go through transforms before being fused with the state estimate. In that case, + * we need to know which of the transformed variables came from the pre-transformed + * "approved" variables (i.e., the ones that had "true" in their xxx_config parameter). + * To do this, we construct matrices using the update vector values on the diagonals, + * pass this matrix through the rotation, and use the length of each row to determine + * the transformed update vector. The process is slightly different for IMUs, as the + * coordinate frame transform is really the base_link->imu_frame transform, and not + * a transform from some other world-fixed frame (even though the IMU data itself *is* + * reported in a world fixed frame). */ + tf2::Matrix3x3 maskPosition(updateVector[StateMemberX], 0, 0, + 0, updateVector[StateMemberY], 0, + 0, 0, updateVector[StateMemberZ]); + + tf2::Matrix3x3 maskOrientation(updateVector[StateMemberRoll], 0, 0, + 0, updateVector[StateMemberPitch], 0, + 0, 0, updateVector[StateMemberYaw]); + + if (imuData) + { + /* We have to treat IMU orientation data differently. Even though we are dealing with pose + * data when we work with orientations, for IMUs, the frame_id is the frame in which the + * sensor is mounted, and not the coordinate frame of the IMU. Imagine an IMU that is mounted + * facing sideways. The pitch in the IMU frame becomes roll for the vehicle. This means that + * we need to rotate roll and pitch angles by the IMU's mounting yaw offset, and we must apply + * similar treatment to its update mask and covariance. */ + + double dummy, yaw; + targetFrameTrans.getBasis().getRPY(dummy, dummy, yaw); + tf2::Matrix3x3 transTmp; + transTmp.setRPY(0.0, 0.0, yaw); + + maskPosition = transTmp * maskPosition; + maskOrientation = transTmp * maskOrientation; + } + else + { + maskPosition = targetFrameTrans.getBasis() * maskPosition; + maskOrientation = targetFrameTrans.getBasis() * maskOrientation; + } + + // Now copy the mask values back into the update vector: any row with a significant vector length + // indicates that we want to set that variable to true in the update vector. + updateVector[StateMemberX] = static_cast( + maskPosition.getRow(StateMemberX - POSITION_OFFSET).length() >= 1e-6); + updateVector[StateMemberY] = static_cast( + maskPosition.getRow(StateMemberY - POSITION_OFFSET).length() >= 1e-6); + updateVector[StateMemberZ] = static_cast( + maskPosition.getRow(StateMemberZ - POSITION_OFFSET).length() >= 1e-6); + updateVector[StateMemberRoll] = static_cast( + maskOrientation.getRow(StateMemberRoll - ORIENTATION_OFFSET).length() >= 1e-6); + updateVector[StateMemberPitch] = static_cast( + maskOrientation.getRow(StateMemberPitch - ORIENTATION_OFFSET).length() >= 1e-6); + updateVector[StateMemberYaw] = static_cast( + maskOrientation.getRow(StateMemberYaw - ORIENTATION_OFFSET).length() >= 1e-6); + + // 5a. We'll need to rotate the covariance as well. Create a container and copy over the + // covariance data + Eigen::MatrixXd covariance(POSE_SIZE, POSE_SIZE); + covariance.setZero(); + copyCovariance(&(msg->pose.covariance[0]), covariance, topicName, updateVector, POSITION_OFFSET, POSE_SIZE); + + // 5b. Now rotate the covariance: create an augmented matrix that + // contains a 3D rotation matrix in the upper-left and lower-right + // quadrants, with zeros elsewhere. + tf2::Matrix3x3 rot; + Eigen::MatrixXd rot6d(POSE_SIZE, POSE_SIZE); + rot6d.setIdentity(); + Eigen::MatrixXd covarianceRotated; + + // Transform pose covariance due to a different pose source origin + if (canSrcTransform) + { + rot.setRotation(sourceFrameTrans.getRotation()); + for (size_t rInd = 0; rInd < POSITION_SIZE; ++rInd) + { + rot6d(rInd, 0) = rot.getRow(rInd).getX(); + rot6d(rInd, 1) = rot.getRow(rInd).getY(); + rot6d(rInd, 2) = rot.getRow(rInd).getZ(); + rot6d(rInd+POSITION_SIZE, 3) = rot.getRow(rInd).getX(); + rot6d(rInd+POSITION_SIZE, 4) = rot.getRow(rInd).getY(); + rot6d(rInd+POSITION_SIZE, 5) = rot.getRow(rInd).getZ(); + } + // since the transformation is a post-multiply + covariance = rot6d.transpose() * covariance.eval() * rot6d; + } + + rot6d.setIdentity(); + + if (imuData) + { + // Apply the same special logic to the IMU covariance rotation + double dummy, yaw; + targetFrameTrans.getBasis().getRPY(dummy, dummy, yaw); + rot.setRPY(0.0, 0.0, yaw); + } + else + { + rot.setRotation(targetFrameTrans.getRotation()); + } + + for (size_t rInd = 0; rInd < POSITION_SIZE; ++rInd) + { + rot6d(rInd, 0) = rot.getRow(rInd).getX(); + rot6d(rInd, 1) = rot.getRow(rInd).getY(); + rot6d(rInd, 2) = rot.getRow(rInd).getZ(); + rot6d(rInd+POSITION_SIZE, 3) = rot.getRow(rInd).getX(); + rot6d(rInd+POSITION_SIZE, 4) = rot.getRow(rInd).getY(); + rot6d(rInd+POSITION_SIZE, 5) = rot.getRow(rInd).getZ(); + } + + // Now carry out the rotation + covarianceRotated = rot6d * covariance * rot6d.transpose(); + + RF_DEBUG("After rotating into the " << finalTargetFrame << + " frame, covariance is \n" << covarianceRotated << "\n"); + + /* 6a. For IMU data, the transform that we get is the transform from the body + * frame of the robot (e.g., base_link) to the mounting frame of the robot. It + * is *not* the coordinate frame in which the IMU orientation data is reported. + * If the IMU is mounted in a non-neutral orientation, we need to remove those + * offsets, and then we need to potentially "swap" roll and pitch. + * Note that this transform does NOT handle NED->ENU conversions. Data is assumed + * to be in the ENU frame when it is received. + * */ + if (imuData) + { + // First, convert the transform and measurement rotation to RPY + // @todo: There must be a way to handle this with quaternions. Need to look into it. + double rollOffset = 0; + double pitchOffset = 0; + double yawOffset = 0; + double roll = 0; + double pitch = 0; + double yaw = 0; + RosFilterUtilities::quatToRPY(targetFrameTrans.getRotation(), rollOffset, pitchOffset, yawOffset); + RosFilterUtilities::quatToRPY(poseTmp.getRotation(), roll, pitch, yaw); + + // 6b. Apply the offset (making sure to bound them), and throw them in a vector + tf2::Vector3 rpyAngles(FilterUtilities::clampRotation(roll - rollOffset), + FilterUtilities::clampRotation(pitch - pitchOffset), + FilterUtilities::clampRotation(yaw - yawOffset)); + + // 6c. Now we need to rotate the roll and pitch by the yaw offset value. + // Imagine a case where an IMU is mounted facing sideways. In that case + // pitch for the IMU's world frame is roll for the robot. + tf2::Matrix3x3 mat; + mat.setRPY(0.0, 0.0, yawOffset); + rpyAngles = mat * rpyAngles; + poseTmp.getBasis().setRPY(rpyAngles.getX(), rpyAngles.getY(), rpyAngles.getZ()); + + // We will use this target transformation later on, but + // we've already transformed this data as if the IMU + // were mounted neutrall on the robot, so we can just + // make the transform the identity. + targetFrameTrans.setIdentity(); + } + + // 7. Two cases: if we're in differential mode, we need to generate a twist + // message. Otherwise, we just transform it to the target frame. + if (differential) + { + bool success = false; + + // We're going to be playing with poseTmp, so store it, + // as we'll need to save its current value for the next + // measurement. + curMeasurement = poseTmp; + + // Make sure we have previous measurements to work with + if (previousMeasurements_.count(topicName) > 0 && previousMeasurementCovariances_.count(topicName) > 0) + { + // 7a. If we are carrying out differential integration and + // we have a previous measurement for this sensor,then we + // need to apply the inverse of that measurement to this new + // measurement to produce a "delta" measurement between the two. + // Even if we're not using all of the variables from this sensor, + // we need to use the whole measurement to determine the delta + // to the new measurement + tf2::Transform prevMeasurement = previousMeasurements_[topicName]; + poseTmp.setData(prevMeasurement.inverseTimes(poseTmp)); + + RF_DEBUG("Previous measurement:\n" << previousMeasurements_[topicName] << + "\nAfter removing previous measurement, measurement delta is:\n" << poseTmp << "\n"); + + // 7b. Now we we have a measurement delta in the frame_id of the + // message, but we want that delta to be in the target frame, so + // we need to apply the rotation of the target frame transform. + targetFrameTrans.setOrigin(tf2::Vector3(0.0, 0.0, 0.0)); + poseTmp.mult(targetFrameTrans, poseTmp); + + RF_DEBUG("After rotating to the target frame, measurement delta is:\n" << poseTmp << "\n"); + + // 7c. Now use the time difference from the last message to compute + // translational and rotational velocities + double dt = msg->header.stamp.toSec() - lastMessageTimes_[topicName].toSec(); + double xVel = poseTmp.getOrigin().getX() / dt; + double yVel = poseTmp.getOrigin().getY() / dt; + double zVel = poseTmp.getOrigin().getZ() / dt; + + double rollVel = 0; + double pitchVel = 0; + double yawVel = 0; + + RosFilterUtilities::quatToRPY(poseTmp.getRotation(), rollVel, pitchVel, yawVel); + rollVel /= dt; + pitchVel /= dt; + yawVel /= dt; + + RF_DEBUG("Previous message time was " << lastMessageTimes_[topicName].toSec() << + ", current message time is " << msg->header.stamp.toSec() << ", delta is " << + dt << ", velocity is (vX, vY, vZ): (" << xVel << ", " << yVel << ", " << zVel << + ")\n" << "(vRoll, vPitch, vYaw): (" << rollVel << ", " << pitchVel << ", " << + yawVel << ")\n"); + + // 7d. Fill out the velocity data in the message + geometry_msgs::TwistWithCovarianceStamped *twistPtr = new geometry_msgs::TwistWithCovarianceStamped(); + twistPtr->header = msg->header; + twistPtr->header.frame_id = sourceFrame; + twistPtr->twist.twist.linear.x = xVel; + twistPtr->twist.twist.linear.y = yVel; + twistPtr->twist.twist.linear.z = zVel; + twistPtr->twist.twist.angular.x = rollVel; + twistPtr->twist.twist.angular.y = pitchVel; + twistPtr->twist.twist.angular.z = yawVel; + std::vector twistUpdateVec(STATE_SIZE, false); + std::copy(updateVector.begin() + POSITION_OFFSET, + updateVector.begin() + POSE_SIZE, + twistUpdateVec.begin() + POSITION_V_OFFSET); + std::copy(twistUpdateVec.begin(), twistUpdateVec.end(), updateVector.begin()); + geometry_msgs::TwistWithCovarianceStampedConstPtr ptr(twistPtr); + + // 7e. Now rotate the previous covariance for this measurement to get it + // into the target frame, and add the current measurement's rotated covariance + // to the previous measurement's rotated covariance, and multiply by the time delta. + Eigen::MatrixXd prevCovarRotated = rot6d * previousMeasurementCovariances_[topicName] * rot6d.transpose(); + covarianceRotated = (covarianceRotated.eval() + prevCovarRotated) * dt; + copyCovariance(covarianceRotated, &(twistPtr->twist.covariance[0]), POSE_SIZE); + + RF_DEBUG("Previous measurement covariance:\n" << previousMeasurementCovariances_[topicName] << + "\nPrevious measurement covariance rotated:\n" << prevCovarRotated << + "\nFinal twist covariance:\n" << covarianceRotated << "\n"); + + // Now pass this on to prepareTwist, which will convert it to the required frame + success = prepareTwist(ptr, + topicName + "_twist", + baseLinkFrameId_, + updateVector, + measurement, + measurementCovariance); + } + + // 7f. Update the previous measurement and measurement covariance + previousMeasurements_[topicName] = curMeasurement; + previousMeasurementCovariances_[topicName] = covariance; + + retVal = success; + } + else + { + // make pose refer to the baseLinkFrame as source + // canSrcTransform == true => ( sourceFrame != baseLinkFrameId_ ) + if (canSrcTransform) + { + poseTmp.setData(poseTmp * sourceFrameTrans); + } + + // 7g. If we're in relative mode, remove the initial measurement + if (relative) + { + if (initialMeasurements_.count(topicName) == 0) + { + initialMeasurements_.insert(std::pair(topicName, poseTmp)); + } + + tf2::Transform initialMeasurement = initialMeasurements_[topicName]; + poseTmp.setData(initialMeasurement.inverseTimes(poseTmp)); + } + + // 7h. Apply the target frame transformation to the pose object. + poseTmp.mult(targetFrameTrans, poseTmp); + poseTmp.frame_id_ = finalTargetFrame; + + // 7i. Finally, copy everything into our measurement and covariance objects + measurement(StateMemberX) = poseTmp.getOrigin().x(); + measurement(StateMemberY) = poseTmp.getOrigin().y(); + measurement(StateMemberZ) = poseTmp.getOrigin().z(); + + // The filter needs roll, pitch, and yaw values instead of quaternions + double roll, pitch, yaw; + RosFilterUtilities::quatToRPY(poseTmp.getRotation(), roll, pitch, yaw); + measurement(StateMemberRoll) = roll; + measurement(StateMemberPitch) = pitch; + measurement(StateMemberYaw) = yaw; + + measurementCovariance.block(0, 0, POSE_SIZE, POSE_SIZE) = covarianceRotated.block(0, 0, POSE_SIZE, POSE_SIZE); + + // 8. Handle 2D mode + if (twoDMode_) + { + forceTwoD(measurement, measurementCovariance, updateVector); + } + + retVal = true; + } + } + else + { + retVal = false; + + RF_DEBUG("Could not transform measurement into " << finalTargetFrame << ". Ignoring..."); + } + + RF_DEBUG("\n----- /RosFilter::preparePose (" << topicName << ") ------\n"); + + return retVal; + } + + template + bool RosFilter::prepareTwist(const geometry_msgs::TwistWithCovarianceStamped::ConstPtr &msg, + const std::string &topicName, + const std::string &targetFrame, + std::vector &updateVector, + Eigen::VectorXd &measurement, + Eigen::MatrixXd &measurementCovariance) + { + RF_DEBUG("------ RosFilter::prepareTwist (" << topicName << ") ------\n"); + + // 1. Get the measurement into two separate vector objects. + tf2::Vector3 twistLin(msg->twist.twist.linear.x, + msg->twist.twist.linear.y, + msg->twist.twist.linear.z); + tf2::Vector3 measTwistRot(msg->twist.twist.angular.x, + msg->twist.twist.angular.y, + msg->twist.twist.angular.z); + + // 1a. This sensor may or may not measure rotational velocity. Regardless, + // if it measures linear velocity, then later on, we'll need to remove "false" + // linear velocity resulting from angular velocity and the translational offset + // of the sensor from the vehicle origin. + const Eigen::VectorXd &state = filter_.getState(); + tf2::Vector3 stateTwistRot(state(StateMemberVroll), + state(StateMemberVpitch), + state(StateMemberVyaw)); + + // Determine the frame_id of the data + std::string msgFrame = (msg->header.frame_id == "" ? targetFrame : msg->header.frame_id); + + // 2. robot_localization lets users configure which variables from the sensor should be + // fused with the filter. This is specified at the sensor level. However, the data + // may go through transforms before being fused with the state estimate. In that case, + // we need to know which of the transformed variables came from the pre-transformed + // "approved" variables (i.e., the ones that had "true" in their xxx_config parameter). + // To do this, we construct matrices using the update vector values on the diagonals, + // pass this matrix through the rotation, and use the length of each row to determine + // the transformed update vector. + tf2::Matrix3x3 maskLin(updateVector[StateMemberVx], 0, 0, + 0, updateVector[StateMemberVy], 0, + 0, 0, updateVector[StateMemberVz]); + + tf2::Matrix3x3 maskRot(updateVector[StateMemberVroll], 0, 0, + 0, updateVector[StateMemberVpitch], 0, + 0, 0, updateVector[StateMemberVyaw]); + + // 3. We'll need to rotate the covariance as well + Eigen::MatrixXd covarianceRotated(TWIST_SIZE, TWIST_SIZE); + covarianceRotated.setZero(); + + copyCovariance(&(msg->twist.covariance[0]), + covarianceRotated, + topicName, + updateVector, + POSITION_V_OFFSET, + TWIST_SIZE); + + RF_DEBUG("Original measurement as tf object:\nLinear: " << twistLin << + "Rotational: " << measTwistRot << + "\nOriginal update vector:\n" << updateVector << + "\nOriginal covariance matrix:\n" << covarianceRotated << "\n"); + + // 4. We need to transform this into the target frame (probably base_link) + tf2::Transform targetFrameTrans; + bool canTransform = RosFilterUtilities::lookupTransformSafe(tfBuffer_, + targetFrame, + msgFrame, + msg->header.stamp, + tfTimeout_, + targetFrameTrans, + tfSilentFailure_); + + if (canTransform) + { + // Transform to correct frame. Note that we can get linear velocity + // as a result of the sensor offset and rotational velocity + measTwistRot = targetFrameTrans.getBasis() * measTwistRot; + twistLin = targetFrameTrans.getBasis() * twistLin + targetFrameTrans.getOrigin().cross(stateTwistRot); + maskLin = targetFrameTrans.getBasis() * maskLin; + maskRot = targetFrameTrans.getBasis() * maskRot; + + // Now copy the mask values back into the update vector + updateVector[StateMemberVx] = static_cast( + maskLin.getRow(StateMemberVx - POSITION_V_OFFSET).length() >= 1e-6); + updateVector[StateMemberVy] = static_cast( + maskLin.getRow(StateMemberVy - POSITION_V_OFFSET).length() >= 1e-6); + updateVector[StateMemberVz] = static_cast( + maskLin.getRow(StateMemberVz - POSITION_V_OFFSET).length() >= 1e-6); + updateVector[StateMemberVroll] = static_cast( + maskRot.getRow(StateMemberVroll - ORIENTATION_V_OFFSET).length() >= 1e-6); + updateVector[StateMemberVpitch] = static_cast( + maskRot.getRow(StateMemberVpitch - ORIENTATION_V_OFFSET).length() >= 1e-6); + updateVector[StateMemberVyaw] = static_cast( + maskRot.getRow(StateMemberVyaw - ORIENTATION_V_OFFSET).length() >= 1e-6); + + RF_DEBUG(msg->header.frame_id << "->" << targetFrame << " transform:\n" << targetFrameTrans << + "\nAfter applying transform to " << targetFrame << ", update vector is:\n" << updateVector << + "\nAfter applying transform to " << targetFrame << ", measurement is:\n" << + "Linear: " << twistLin << "Rotational: " << measTwistRot << "\n"); + + // 5. Now rotate the covariance: create an augmented + // matrix that contains a 3D rotation matrix in the + // upper-left and lower-right quadrants, and zeros + // elsewhere + tf2::Matrix3x3 rot(targetFrameTrans.getRotation()); + Eigen::MatrixXd rot6d(TWIST_SIZE, TWIST_SIZE); + rot6d.setIdentity(); + + for (size_t rInd = 0; rInd < POSITION_SIZE; ++rInd) + { + rot6d(rInd, 0) = rot.getRow(rInd).getX(); + rot6d(rInd, 1) = rot.getRow(rInd).getY(); + rot6d(rInd, 2) = rot.getRow(rInd).getZ(); + rot6d(rInd+POSITION_SIZE, 3) = rot.getRow(rInd).getX(); + rot6d(rInd+POSITION_SIZE, 4) = rot.getRow(rInd).getY(); + rot6d(rInd+POSITION_SIZE, 5) = rot.getRow(rInd).getZ(); + } + + // Carry out the rotation + covarianceRotated = rot6d * covarianceRotated.eval() * rot6d.transpose(); + + RF_DEBUG("Transformed covariance is \n" << covarianceRotated << "\n"); + + // 6. Store our corrected measurement and covariance + measurement(StateMemberVx) = twistLin.getX(); + measurement(StateMemberVy) = twistLin.getY(); + measurement(StateMemberVz) = twistLin.getZ(); + measurement(StateMemberVroll) = measTwistRot.getX(); + measurement(StateMemberVpitch) = measTwistRot.getY(); + measurement(StateMemberVyaw) = measTwistRot.getZ(); + + // Copy the covariances + measurementCovariance.block(POSITION_V_OFFSET, POSITION_V_OFFSET, TWIST_SIZE, TWIST_SIZE) = + covarianceRotated.block(0, 0, TWIST_SIZE, TWIST_SIZE); + + // 7. Handle 2D mode + if (twoDMode_) + { + forceTwoD(measurement, measurementCovariance, updateVector); + } + } + else + { + RF_DEBUG("Could not transform measurement into " << targetFrame << ". Ignoring..."); + } + + RF_DEBUG("\n----- /RosFilter::prepareTwist (" << topicName << ") ------\n"); + + return canTransform; + } + + template + void RosFilter::saveFilterState(FilterBase& filter) + { + FilterStatePtr state = FilterStatePtr(new FilterState()); + state->state_ = Eigen::VectorXd(filter.getState()); + state->estimateErrorCovariance_ = Eigen::MatrixXd(filter.getEstimateErrorCovariance()); + state->lastMeasurementTime_ = filter.getLastMeasurementTime(); + state->latestControl_ = Eigen::VectorXd(filter.getControl()); + state->latestControlTime_ = filter.getControlTime(); + filterStateHistory_.push_back(state); + RF_DEBUG("Saved state with timestamp " << std::setprecision(20) << state->lastMeasurementTime_ << + " to history. " << filterStateHistory_.size() << " measurements are in the queue.\n"); + } + + template + bool RosFilter::revertTo(const double time) + { + RF_DEBUG("\n----- RosFilter::revertTo -----\n"); + RF_DEBUG("\nRequested time was " << std::setprecision(20) << time << "\n") + + size_t history_size = filterStateHistory_.size(); + + // Walk back through the queue until we reach a filter state whose time stamp is less than or equal to the + // requested time. Since every saved state after that time will be overwritten/corrected, we can pop from + // the queue. If the history is insufficiently short, we just take the oldest state we have. + FilterStatePtr lastHistoryState; + while (!filterStateHistory_.empty() && filterStateHistory_.back()->lastMeasurementTime_ > time) + { + lastHistoryState = filterStateHistory_.back(); + filterStateHistory_.pop_back(); + } + + // If the state history is not empty at this point, it means that our history was large enough, and we + // should revert to the state at the back of the history deque. + bool retVal = false; + if (!filterStateHistory_.empty()) + { + retVal = true; + lastHistoryState = filterStateHistory_.back(); + } + else + { + RF_DEBUG("Insufficient history to revert to time " << time << "\n"); + + if (lastHistoryState) + { + RF_DEBUG("Will revert to oldest state at " << lastHistoryState->latestControlTime_ << ".\n"); + ROS_WARN_STREAM_DELAYED_THROTTLE(historyLength_, "Could not revert to state with time " << + std::setprecision(20) << time << ". Instead reverted to state with time " << + lastHistoryState->lastMeasurementTime_ << ". History size was " << history_size); + } + } + + // If we have a valid reversion state, revert + if (lastHistoryState) + { + // Reset filter to the latest state from the queue. + const FilterStatePtr &state = lastHistoryState; + filter_.setState(state->state_); + filter_.setEstimateErrorCovariance(state->estimateErrorCovariance_); + filter_.setLastMeasurementTime(state->lastMeasurementTime_); + + RF_DEBUG("Reverted to state with time " << std::setprecision(20) << state->lastMeasurementTime_ << "\n"); + + // Repeat for measurements, but push every measurement onto the measurement queue as we go + int restored_measurements = 0; + while (!measurementHistory_.empty() && measurementHistory_.back()->time_ > time) + { + // Don't need to restore measurements that predate our earliest state time + if (state->lastMeasurementTime_ <= measurementHistory_.back()->time_) + { + measurementQueue_.push(measurementHistory_.back()); + restored_measurements++; + } + + measurementHistory_.pop_back(); + } + + RF_DEBUG("Restored " << restored_measurements << " to measurement queue.\n"); + } + + RF_DEBUG("\n----- /RosFilter::revertTo\n"); + + return retVal; + } + + template + bool RosFilter::validateFilterOutput(const nav_msgs::Odometry &message) + { + return !std::isnan(message.pose.pose.position.x) && !std::isinf(message.pose.pose.position.x) && + !std::isnan(message.pose.pose.position.y) && !std::isinf(message.pose.pose.position.y) && + !std::isnan(message.pose.pose.position.z) && !std::isinf(message.pose.pose.position.z) && + !std::isnan(message.pose.pose.orientation.x) && !std::isinf(message.pose.pose.orientation.x) && + !std::isnan(message.pose.pose.orientation.y) && !std::isinf(message.pose.pose.orientation.y) && + !std::isnan(message.pose.pose.orientation.z) && !std::isinf(message.pose.pose.orientation.z) && + !std::isnan(message.pose.pose.orientation.w) && !std::isinf(message.pose.pose.orientation.w) && + !std::isnan(message.twist.twist.linear.x) && !std::isinf(message.twist.twist.linear.x) && + !std::isnan(message.twist.twist.linear.y) && !std::isinf(message.twist.twist.linear.y) && + !std::isnan(message.twist.twist.linear.z) && !std::isinf(message.twist.twist.linear.z) && + !std::isnan(message.twist.twist.angular.x) && !std::isinf(message.twist.twist.angular.x) && + !std::isnan(message.twist.twist.angular.y) && !std::isinf(message.twist.twist.angular.y) && + !std::isnan(message.twist.twist.angular.z) && !std::isinf(message.twist.twist.angular.z); + } + + template + void RosFilter::clearExpiredHistory(const double cutOffTime) + { + RF_DEBUG("\n----- RosFilter::clearExpiredHistory -----" << + "\nCutoff time is " << cutOffTime << "\n"); + + int poppedMeasurements = 0; + int poppedStates = 0; + + while (!measurementHistory_.empty() && measurementHistory_.front()->time_ < cutOffTime) + { + measurementHistory_.pop_front(); + poppedMeasurements++; + } + + while (!filterStateHistory_.empty() && filterStateHistory_.front()->lastMeasurementTime_ < cutOffTime) + { + filterStateHistory_.pop_front(); + poppedStates++; + } + + RF_DEBUG("\nPopped " << poppedMeasurements << " measurements and " << + poppedStates << " states from their respective queues." << + "\n---- /RosFilter::clearExpiredHistory ----\n"); + } + + template + void RosFilter::clearMeasurementQueue() + { + while (!measurementQueue_.empty() && ros::ok()) + { + measurementQueue_.pop(); + } + return; + } +} // namespace RobotLocalization + +// Instantiations of classes is required when template class code +// is placed in a .cpp file. +template class RobotLocalization::RosFilter; +template class RobotLocalization::RosFilter; diff --git a/navigations/robot_localization/src/ros_filter_utilities.cpp b/navigations/robot_localization/src/ros_filter_utilities.cpp new file mode 100755 index 0000000..e1a5bfb --- /dev/null +++ b/navigations/robot_localization/src/ros_filter_utilities.cpp @@ -0,0 +1,195 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_filter_utilities.h" +#include "robot_localization/filter_common.h" + +#include +#include + +#include +#include + +std::ostream& operator<<(std::ostream& os, const tf2::Vector3 &vec) +{ + os << "(" << std::setprecision(20) << vec.getX() << " " << vec.getY() << " " << vec.getZ() << ")\n"; + + return os; +} + +std::ostream& operator<<(std::ostream& os, const tf2::Quaternion &quat) +{ + double roll, pitch, yaw; + tf2::Matrix3x3 orTmp(quat); + orTmp.getRPY(roll, pitch, yaw); + + os << "(" << std::setprecision(20) << roll << ", " << pitch << ", " << yaw << ")\n"; + + return os; +} + +std::ostream& operator<<(std::ostream& os, const tf2::Transform &trans) +{ + os << "Origin: " << trans.getOrigin() << + "Rotation (RPY): " << trans.getRotation(); + + return os; +} + +std::ostream& operator<<(std::ostream& os, const std::vector &vec) +{ + os << "(" << std::setprecision(20); + + for (size_t i = 0; i < vec.size(); ++i) + { + os << vec[i] << " "; + } + + os << ")\n"; + + return os; +} + +namespace RobotLocalization +{ +namespace RosFilterUtilities +{ + + double getYaw(const tf2::Quaternion quat) + { + tf2::Matrix3x3 mat(quat); + + double dummy; + double yaw; + mat.getRPY(dummy, dummy, yaw); + + return yaw; + } + + bool lookupTransformSafe(const tf2_ros::Buffer &buffer, + const std::string &targetFrame, + const std::string &sourceFrame, + const ros::Time &time, + const ros::Duration &timeout, + tf2::Transform &targetFrameTrans, + const bool silent) + { + bool retVal = true; + + // First try to transform the data at the requested time + try + { + tf2::fromMsg(buffer.lookupTransform(targetFrame, sourceFrame, time, timeout).transform, + targetFrameTrans); + } + catch (tf2::TransformException &ex) + { + // The issue might be that the transforms that are available are not close + // enough temporally to be used. In that case, just use the latest available + // transform and warn the user. + try + { + tf2::fromMsg(buffer.lookupTransform(targetFrame, sourceFrame, ros::Time(0)).transform, + targetFrameTrans); + + if (!silent) + { + ROS_WARN_STREAM_THROTTLE(2.0, "Transform from " << sourceFrame << " to " << targetFrame << + " was unavailable for the time requested. Using latest instead.\n"); + } + } + catch(tf2::TransformException &ex) + { + if (!silent) + { + ROS_WARN_STREAM_THROTTLE(2.0, "Could not obtain transform from " << sourceFrame << + " to " << targetFrame << ". Error was " << ex.what() << "\n"); + } + + retVal = false; + } + } + + // Transforming from a frame id to itself can fail when the tf tree isn't + // being broadcast (e.g., for some bag files). This is the only failure that + // would throw an exception, so check for this situation before giving up. + if (!retVal) + { + if (targetFrame == sourceFrame) + { + targetFrameTrans.setIdentity(); + retVal = true; + } + } + + return retVal; + } + + bool lookupTransformSafe(const tf2_ros::Buffer &buffer, + const std::string &targetFrame, + const std::string &sourceFrame, + const ros::Time &time, + tf2::Transform &targetFrameTrans, + const bool silent) + { + return lookupTransformSafe(buffer, targetFrame, sourceFrame, time, ros::Duration(0), targetFrameTrans, silent); + } + + void quatToRPY(const tf2::Quaternion &quat, double &roll, double &pitch, double &yaw) + { + tf2::Matrix3x3 orTmp(quat); + orTmp.getRPY(roll, pitch, yaw); + } + + void stateToTF(const Eigen::VectorXd &state, tf2::Transform &stateTF) + { + stateTF.setOrigin(tf2::Vector3(state(StateMemberX), + state(StateMemberY), + state(StateMemberZ))); + tf2::Quaternion quat; + quat.setRPY(state(StateMemberRoll), + state(StateMemberPitch), + state(StateMemberYaw)); + + stateTF.setRotation(quat); + } + + void TFtoState(const tf2::Transform &stateTF, Eigen::VectorXd &state) + { + state(StateMemberX) = stateTF.getOrigin().getX(); + state(StateMemberY) = stateTF.getOrigin().getY(); + state(StateMemberZ) = stateTF.getOrigin().getZ(); + quatToRPY(stateTF.getRotation(), state(StateMemberRoll), state(StateMemberPitch), state(StateMemberYaw)); + } + +} // namespace RosFilterUtilities +} // namespace RobotLocalization diff --git a/navigations/robot_localization/src/ros_robot_localization_listener.cpp b/navigations/robot_localization/src/ros_robot_localization_listener.cpp new file mode 100755 index 0000000..85e5465 --- /dev/null +++ b/navigations/robot_localization/src/ros_robot_localization_listener.cpp @@ -0,0 +1,539 @@ +/* + * Copyright (c) 2016, TNO IVS Helmond. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_robot_localization_listener.h" +#include "robot_localization/ros_filter_utilities.h" + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +namespace RobotLocalization +{ + +FilterType filterTypeFromString(const std::string& filter_type_str) +{ + if ( filter_type_str == "ekf" ) + { + return FilterTypes::EKF; + } + else if ( filter_type_str == "ukf" ) + { + return FilterTypes::UKF; + } + else + { + return FilterTypes::NotDefined; + } +} + +RosRobotLocalizationListener::RosRobotLocalizationListener(): + nh_p_("robot_localization"), + odom_sub_(nh_, "odometry/filtered", 1), + accel_sub_(nh_, "accel/filtered", 1), + sync_(odom_sub_, accel_sub_, 10), + base_frame_id_(""), + world_frame_id_(""), + tf_listener_(tf_buffer_) +{ + int buffer_size; + nh_p_.param("buffer_size", buffer_size, 10); + + std::string param_ns; + nh_p_.param("parameter_namespace", param_ns, nh_p_.getNamespace()); + + ros::NodeHandle nh_param(param_ns); + + std::string filter_type_str; + nh_param.param("filter_type", filter_type_str, std::string("ekf")); + FilterType filter_type = filterTypeFromString(filter_type_str); + if ( filter_type == FilterTypes::NotDefined ) + { + ROS_ERROR("RosRobotLocalizationListener: Parameter filter_type invalid"); + return; + } + + // Load up the process noise covariance (from the launch file/parameter server) + // TODO(reinzor): this code is copied from ros_filter. In a refactor, this could be moved to a function in + // ros_filter_utilities + Eigen::MatrixXd process_noise_covariance(STATE_SIZE, STATE_SIZE); + process_noise_covariance.setZero(); + XmlRpc::XmlRpcValue process_noise_covar_config; + + if (!nh_param.hasParam("process_noise_covariance")) + { + ROS_FATAL_STREAM("Process noise covariance not found in the robot localization listener config (namespace " << + nh_param.getNamespace() << ")! Use the ~parameter_namespace to specify the parameter namespace."); + } + else + { + try + { + nh_param.getParam("process_noise_covariance", process_noise_covar_config); + + ROS_ASSERT(process_noise_covar_config.getType() == XmlRpc::XmlRpcValue::TypeArray); + + int mat_size = process_noise_covariance.rows(); + + for (int i = 0; i < mat_size; i++) + { + for (int j = 0; j < mat_size; j++) + { + try + { + // These matrices can cause problems if all the types + // aren't specified with decimal points. Handle that + // using string streams. + std::ostringstream ostr; + process_noise_covar_config[mat_size * i + j].write(ostr); + std::istringstream istr(ostr.str()); + istr >> process_noise_covariance(i, j); + } + catch(XmlRpc::XmlRpcException &e) + { + throw e; + } + catch(...) + { + throw; + } + } + } + + ROS_DEBUG_STREAM("Process noise covariance is:\n" << process_noise_covariance << "\n"); + } + catch (XmlRpc::XmlRpcException &e) + { + ROS_ERROR_STREAM("ERROR reading robot localization listener config: " << + e.getMessage() << + " for process_noise_covariance (type: " << + process_noise_covar_config.getType() << ")"); + } + } + + std::vector filter_args; + nh_param.param("filter_args", filter_args, std::vector()); + + estimator_ = new RobotLocalizationEstimator(buffer_size, filter_type, process_noise_covariance, filter_args); + + sync_.registerCallback(&RosRobotLocalizationListener::odomAndAccelCallback, this); + + ROS_INFO_STREAM("Ros Robot Localization Listener: Listening to topics " << + odom_sub_.getTopic() << " and " << accel_sub_.getTopic()); + + // Wait until the base and world frames are set by the incoming messages + while (ros::ok() && base_frame_id_.empty()) + { + ros::spinOnce(); + ROS_INFO_STREAM_THROTTLE(1.0, "Ros Robot Localization Listener: Waiting for incoming messages on topics " << + odom_sub_.getTopic() << " and " << accel_sub_.getTopic()); + ros::Duration(0.1).sleep(); + } +} + +RosRobotLocalizationListener::~RosRobotLocalizationListener() +{ + delete estimator_; +} + +void RosRobotLocalizationListener::odomAndAccelCallback(const nav_msgs::Odometry& odom, + const geometry_msgs::AccelWithCovarianceStamped& accel) +{ + // Instantiate a state that can be added to the robot localization estimator + EstimatorState state; + + // Set its time stamp and the state received from the messages + state.time_stamp = odom.header.stamp.toSec(); + + // Get the base frame id from the odom message + if ( base_frame_id_.empty() ) + base_frame_id_ = odom.child_frame_id; + + // Get the world frame id from the odom message + if ( world_frame_id_.empty() ) + world_frame_id_ = odom.header.frame_id; + + // Pose: Position + state.state(StateMemberX) = odom.pose.pose.position.x; + state.state(StateMemberY) = odom.pose.pose.position.y; + state.state(StateMemberZ) = odom.pose.pose.position.z; + + // Pose: Orientation + tf2::Quaternion orientation_quat; + tf2::fromMsg(odom.pose.pose.orientation, orientation_quat); + double roll, pitch, yaw; + RosFilterUtilities::quatToRPY(orientation_quat, roll, pitch, yaw); + + state.state(StateMemberRoll) = roll; + state.state(StateMemberPitch) = pitch; + state.state(StateMemberYaw) = yaw; + + // Pose: Covariance + for ( unsigned int i = 0; i < POSE_SIZE; i++ ) + { + for ( unsigned int j = 0; j < POSE_SIZE; j++ ) + { + state.covariance(POSITION_OFFSET + i, POSITION_OFFSET + j) = odom.pose.covariance[i*POSE_SIZE + j]; + } + } + + // Velocity: Linear + state.state(StateMemberVx) = odom.twist.twist.linear.x; + state.state(StateMemberVy) = odom.twist.twist.linear.y; + state.state(StateMemberVz) = odom.twist.twist.linear.z; + + // Velocity: Angular + state.state(StateMemberVroll) = odom.twist.twist.angular.x; + state.state(StateMemberVpitch) = odom.twist.twist.angular.y; + state.state(StateMemberVyaw) = odom.twist.twist.angular.z; + + // Velocity: Covariance + for ( unsigned int i = 0; i < TWIST_SIZE; i++ ) + { + for ( unsigned int j = 0; j < TWIST_SIZE; j++ ) + { + state.covariance(POSITION_V_OFFSET + i, POSITION_V_OFFSET + j) = odom.twist.covariance[i*TWIST_SIZE + j]; + } + } + + // Acceleration: Linear + state.state(StateMemberAx) = accel.accel.accel.linear.x; + state.state(StateMemberAy) = accel.accel.accel.linear.y; + state.state(StateMemberAz) = accel.accel.accel.linear.z; + + // Acceleration: Angular is not available in state + + // Acceleration: Covariance + for ( unsigned int i = 0; i < ACCELERATION_SIZE; i++ ) + { + for ( unsigned int j = 0; j < ACCELERATION_SIZE; j++ ) + { + state.covariance(POSITION_A_OFFSET + i, POSITION_A_OFFSET + j) = accel.accel.covariance[i*TWIST_SIZE + j]; + } + } + + // Add the state to the buffer, so that we can later interpolate between this and earlier states + estimator_->setState(state); + + return; +} + +bool findAncestorRecursiveYAML(YAML::Node& tree, const std::string& source_frame, const std::string& target_frame) +{ + if ( source_frame == target_frame ) + { + return true; + } + + std::string parent_frame = tree[source_frame]["parent"].Scalar(); + + if ( parent_frame.empty() ) + { + return false; + } + + return findAncestorRecursiveYAML(tree, parent_frame, target_frame); +} + +// Cache, assumption that the tree parent child order does not change over time +static std::map > ancestor_map; +static std::map > descendant_map; +bool findAncestor(const tf2_ros::Buffer& buffer, const std::string& source_frame, const std::string& target_frame) +{ + // Check cache + const std::vector& ancestors = ancestor_map[source_frame]; + if (std::find(ancestors.begin(), ancestors.end(), target_frame) != ancestors.end()) + { + return true; + } + const std::vector& descendants = descendant_map[source_frame]; + if (std::find(descendants.begin(), descendants.end(), target_frame) != descendants.end()) + { + return false; + } + + std::stringstream frames_stream(buffer.allFramesAsYAML()); + YAML::Node frames_yaml = YAML::Load(frames_stream); + + bool target_frame_is_ancestor = findAncestorRecursiveYAML(frames_yaml, source_frame, target_frame); + bool target_frame_is_descendant = findAncestorRecursiveYAML(frames_yaml, target_frame, source_frame); + + // Caching + if (target_frame_is_ancestor) + { + ancestor_map[source_frame].push_back(target_frame); + } + if (target_frame_is_descendant) + { + descendant_map[source_frame].push_back(target_frame); + } + + return target_frame_is_ancestor; +} + + +bool RosRobotLocalizationListener::getState(const double time, + const std::string& frame_id, + Eigen::VectorXd& state, + Eigen::MatrixXd& covariance, + std::string world_frame_id) const +{ + EstimatorState estimator_state; + state.resize(STATE_SIZE); + state.setZero(); + covariance.resize(STATE_SIZE, STATE_SIZE); + covariance.setZero(); + + if ( base_frame_id_.empty() || world_frame_id_.empty() ) + { + if ( estimator_->getSize() == 0 ) + { + ROS_WARN("Ros Robot Localization Listener: The base or world frame id is not set. " + "No odom/accel messages have come in."); + } + else + { + ROS_ERROR("Ros Robot Localization Listener: The base or world frame id is not set. " + "Are the child_frame_id and the header.frame_id in the odom messages set?"); + } + + return false; + } + + if ( estimator_->getState(time, estimator_state) == EstimatorResults::ExtrapolationIntoPast ) + { + ROS_WARN("Ros Robot Localization Listener: A state is requested at a time stamp older than the oldest in the " + "estimator buffer. The result is an extrapolation into the past. Maybe you should increase the buffer " + "size?"); + } + + // If no world_frame_id is specified, we will default to the world frame_id of the received odometry message + if (world_frame_id.empty()) + { + world_frame_id = world_frame_id_; + } + + if ( frame_id == base_frame_id_ && world_frame_id == world_frame_id_ ) + { + // If the state of the base frame is requested and the world frame equals the world frame of the robot_localization + // estimator, we can simply return the state we got from the state estimator + state = estimator_state.state; + covariance = estimator_state.covariance; + return true; + } + + // - - - - - - - - - - - - - - - - - - + // Get the transformation between the requested world frame and the world_frame of the estimator + // - - - - - - - - - - - - - - - - - - + Eigen::Affine3d world_pose_requested_frame; + + // If the requested frame is the same as the tracker, set to identity + if (world_frame_id == world_frame_id_) + { + world_pose_requested_frame.setIdentity(); + } + else + { + geometry_msgs::TransformStamped world_requested_to_world_transform; + try + { + // TODO(reinzor): magic number + world_requested_to_world_transform = tf_buffer_.lookupTransform(world_frame_id, + world_frame_id_, + ros::Time(time), + ros::Duration(0.1)); + + if ( findAncestor(tf_buffer_, world_frame_id, base_frame_id_) ) + { + ROS_ERROR_STREAM("You are trying to get the state with respect to world frame " << world_frame_id << + ", but this frame is a child of robot base frame " << base_frame_id_ << + ", so this doesn't make sense."); + return false; + } + } + catch ( const tf2::TransformException &e ) + { + ROS_WARN_STREAM("Ros Robot Localization Listener: Could not look up transform: " << e.what()); + return false; + } + + // Convert to pose + tf::transformMsgToEigen(world_requested_to_world_transform.transform, world_pose_requested_frame); + } + + // - - - - - - - - - - - - - - - - - - + // Calculate the state of the requested frame from the state of the base frame. + // - - - - - - - - - - - - - - - - - - + + // First get the transform from base to target + geometry_msgs::TransformStamped base_to_target_transform; + try + { + base_to_target_transform = tf_buffer_.lookupTransform(base_frame_id_, + frame_id, + ros::Time(time), + ros::Duration(0.1)); // TODO(reinzor): magic number + + // Check that frame_id is a child of the base frame. If it is not, it does not make sense to request its state. + // Do this after tf lookup, so we know that there is a connection. + if ( !findAncestor(tf_buffer_, frame_id, base_frame_id_) ) + { + ROS_ERROR_STREAM("You are trying to get the state of " << frame_id << ", but this frame is not a child of the " + "base frame: " << base_frame_id_ << "."); + return false; + } + } + catch ( const tf2::TransformException &e ) + { + ROS_WARN_STREAM("Ros Robot Localization Listener: Could not look up transform: " << e.what()); + return false; + } + + // And convert it to an eigen Affine transformation + Eigen::Affine3d target_pose_base; + tf::transformMsgToEigen(base_to_target_transform.transform, target_pose_base); + + // Then convert the base pose to an Eigen Affine transformation + Eigen::Vector3d base_position(estimator_state.state(StateMemberX), + estimator_state.state(StateMemberY), + estimator_state.state(StateMemberZ)); + + Eigen::AngleAxisd roll_angle(estimator_state.state(StateMemberRoll), Eigen::Vector3d::UnitX()); + Eigen::AngleAxisd pitch_angle(estimator_state.state(StateMemberPitch), Eigen::Vector3d::UnitY()); + Eigen::AngleAxisd yaw_angle(estimator_state.state(StateMemberYaw), Eigen::Vector3d::UnitZ()); + + Eigen::Quaterniond base_orientation(yaw_angle * pitch_angle * roll_angle); + + Eigen::Affine3d base_pose(Eigen::Translation3d(base_position) * base_orientation); + + // Now we can calculate the transform from odom to the requested frame (target)... + Eigen::Affine3d target_pose_odom = world_pose_requested_frame * base_pose * target_pose_base; + + // ... and put it in the output state + state(StateMemberX) = target_pose_odom.translation().x(); + state(StateMemberY) = target_pose_odom.translation().y(); + state(StateMemberZ) = target_pose_odom.translation().z(); + + Eigen::Vector3d ypr = target_pose_odom.rotation().eulerAngles(2, 1, 0); + + state(StateMemberRoll) = ypr[2]; + state(StateMemberPitch) = ypr[1]; + state(StateMemberYaw) = ypr[0]; + + // Now let's calculate the twist of the target frame + // First get the base's twist + Twist base_velocity; + Twist target_velocity_base; + base_velocity.linear = Eigen::Vector3d(estimator_state.state(StateMemberVx), + estimator_state.state(StateMemberVy), + estimator_state.state(StateMemberVz)); + base_velocity.angular = Eigen::Vector3d(estimator_state.state(StateMemberVroll), + estimator_state.state(StateMemberVpitch), + estimator_state.state(StateMemberVyaw)); + + // Then calculate the target frame's twist as a result of the base's twist. + /* + * We first calculate the coordinates of the velocity vectors (linear and angular) in the base frame. We have to keep + * in mind that a rotation of the base frame, together with the translational offset of the target frame from the base + * frame, induces a translational velocity of the target frame. + */ + target_velocity_base.linear = base_velocity.linear + base_velocity.angular.cross(target_pose_base.translation()); + target_velocity_base.angular = base_velocity.angular; + + // Now we can transform that to the target frame + Twist target_velocity; + target_velocity.linear = target_pose_base.rotation().transpose() * target_velocity_base.linear; + target_velocity.angular = target_pose_base.rotation().transpose() * target_velocity_base.angular; + + state(StateMemberVx) = target_velocity.linear(0); + state(StateMemberVy) = target_velocity.linear(1); + state(StateMemberVz) = target_velocity.linear(2); + + state(StateMemberVroll) = target_velocity.angular(0); + state(StateMemberVpitch) = target_velocity.angular(1); + state(StateMemberVyaw) = target_velocity.angular(2); + + // Rotate the covariance as well + Eigen::MatrixXd rot_6d(POSE_SIZE, POSE_SIZE); + rot_6d.setIdentity(); + + rot_6d.block(POSITION_OFFSET, POSITION_OFFSET) = target_pose_base.rotation(); + rot_6d.block(ORIENTATION_OFFSET, ORIENTATION_OFFSET) = + target_pose_base.rotation(); + + // Rotate the covariance + covariance.block(POSITION_OFFSET, POSITION_OFFSET) = + rot_6d * estimator_state.covariance.block(POSITION_OFFSET, POSITION_OFFSET) * + rot_6d.transpose(); + + return true; +} + +bool RosRobotLocalizationListener::getState(const ros::Time& ros_time, const std::string& frame_id, + Eigen::VectorXd& state, Eigen::MatrixXd& covariance, + const std::string& world_frame_id) const +{ + double time; + if ( ros_time.isZero() ) + { + ROS_INFO("Ros Robot Localization Listener: State requested at time = zero, returning state at current time"); + time = ros::Time::now().toSec(); + } + else + { + time = ros_time.toSec(); + } + + return getState(time, frame_id, state, covariance, world_frame_id); +} + +const std::string& RosRobotLocalizationListener::getBaseFrameId() const +{ + return base_frame_id_; +} + +const std::string& RosRobotLocalizationListener::getWorldFrameId() const +{ + return world_frame_id_; +} + +} // namespace RobotLocalization + diff --git a/navigations/robot_localization/src/ukf.cpp b/navigations/robot_localization/src/ukf.cpp new file mode 100755 index 0000000..5b55a43 --- /dev/null +++ b/navigations/robot_localization/src/ukf.cpp @@ -0,0 +1,458 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ukf.h" +#include "robot_localization/filter_common.h" + +#include +#include +#include + +#include + + +namespace RobotLocalization +{ + Ukf::Ukf(std::vector args) : + FilterBase(), // Must initialize filter base! + uncorrected_(true) + { + assert(args.size() == 3); + + double alpha = args[0]; + double kappa = args[1]; + double beta = args[2]; + + size_t sigmaCount = (STATE_SIZE << 1) + 1; + sigmaPoints_.resize(sigmaCount, Eigen::VectorXd(STATE_SIZE)); + + // Prepare constants + lambda_ = alpha * alpha * (STATE_SIZE + kappa) - STATE_SIZE; + + stateWeights_.resize(sigmaCount); + covarWeights_.resize(sigmaCount); + + stateWeights_[0] = lambda_ / (STATE_SIZE + lambda_); + covarWeights_[0] = stateWeights_[0] + (1 - (alpha * alpha) + beta); + sigmaPoints_[0].setZero(); + for (size_t i = 1; i < sigmaCount; ++i) + { + sigmaPoints_[i].setZero(); + stateWeights_[i] = 1 / (2 * (STATE_SIZE + lambda_)); + covarWeights_[i] = stateWeights_[i]; + } + } + + Ukf::~Ukf() + { + } + + void Ukf::correct(const Measurement &measurement) + { + FB_DEBUG("---------------------- Ukf::correct ----------------------\n" << + "State is:\n" << state_ << + "\nMeasurement is:\n" << measurement.measurement_ << + "\nMeasurement covariance is:\n" << measurement.covariance_ << "\n"); + + // In our implementation, it may be that after we call predict once, we call correct + // several times in succession (multiple measurements with different time stamps). In + // that event, the sigma points need to be updated to reflect the current state. + // Throughout prediction and correction, we attempt to maximize efficiency in Eigen. + if (!uncorrected_) + { + generateSigmaPoints(); + } + + // We don't want to update everything, so we need to build matrices that only update + // the measured parts of our state vector + + // First, determine how many state vector values we're updating + std::vector updateIndices; + for (size_t i = 0; i < measurement.updateVector_.size(); ++i) + { + if (measurement.updateVector_[i]) + { + // Handle nan and inf values in measurements + if (std::isnan(measurement.measurement_(i))) + { + FB_DEBUG("Value at index " << i << " was nan. Excluding from update.\n"); + } + else if (std::isinf(measurement.measurement_(i))) + { + FB_DEBUG("Value at index " << i << " was inf. Excluding from update.\n"); + } + else + { + updateIndices.push_back(i); + } + } + } + + FB_DEBUG("Update indices are:\n" << updateIndices << "\n"); + + size_t updateSize = updateIndices.size(); + + // Now set up the relevant matrices + Eigen::VectorXd stateSubset(updateSize); // x (in most literature) + Eigen::VectorXd measurementSubset(updateSize); // z + Eigen::MatrixXd measurementCovarianceSubset(updateSize, updateSize); // R + Eigen::MatrixXd stateToMeasurementSubset(updateSize, STATE_SIZE); // H + Eigen::MatrixXd kalmanGainSubset(STATE_SIZE, updateSize); // K + Eigen::VectorXd innovationSubset(updateSize); // z - Hx + Eigen::VectorXd predictedMeasurement(updateSize); + Eigen::VectorXd sigmaDiff(updateSize); + Eigen::MatrixXd predictedMeasCovar(updateSize, updateSize); + Eigen::MatrixXd crossCovar(STATE_SIZE, updateSize); + + std::vector sigmaPointMeasurements(sigmaPoints_.size(), Eigen::VectorXd(updateSize)); + + stateSubset.setZero(); + measurementSubset.setZero(); + measurementCovarianceSubset.setZero(); + stateToMeasurementSubset.setZero(); + kalmanGainSubset.setZero(); + innovationSubset.setZero(); + predictedMeasurement.setZero(); + predictedMeasCovar.setZero(); + crossCovar.setZero(); + + // Now build the sub-matrices from the full-sized matrices + for (size_t i = 0; i < updateSize; ++i) + { + measurementSubset(i) = measurement.measurement_(updateIndices[i]); + stateSubset(i) = state_(updateIndices[i]); + + for (size_t j = 0; j < updateSize; ++j) + { + measurementCovarianceSubset(i, j) = measurement.covariance_(updateIndices[i], updateIndices[j]); + } + + // Handle negative (read: bad) covariances in the measurement. Rather + // than exclude the measurement or make up a covariance, just take + // the absolute value. + if (measurementCovarianceSubset(i, i) < 0) + { + FB_DEBUG("WARNING: Negative covariance for index " << i << + " of measurement (value is" << measurementCovarianceSubset(i, i) << + "). Using absolute value...\n"); + + measurementCovarianceSubset(i, i) = ::fabs(measurementCovarianceSubset(i, i)); + } + + // If the measurement variance for a given variable is very + // near 0 (as in e-50 or so) and the variance for that + // variable in the covariance matrix is also near zero, then + // the Kalman gain computation will blow up. Really, no + // measurement can be completely without error, so add a small + // amount in that case. + if (measurementCovarianceSubset(i, i) < 1e-9) + { + measurementCovarianceSubset(i, i) = 1e-9; + + FB_DEBUG("WARNING: measurement had very small error covariance for index " << + updateIndices[i] << + ". Adding some noise to maintain filter stability.\n"); + } + } + + // The state-to-measurement function, h, will now be a measurement_size x full_state_size + // matrix, with ones in the (i, i) locations of the values to be updated + for (size_t i = 0; i < updateSize; ++i) + { + stateToMeasurementSubset(i, updateIndices[i]) = 1; + } + + FB_DEBUG("Current state subset is:\n" << stateSubset << + "\nMeasurement subset is:\n" << measurementSubset << + "\nMeasurement covariance subset is:\n" << measurementCovarianceSubset << + "\nState-to-measurement subset is:\n" << stateToMeasurementSubset << "\n"); + + double roll_sum_x {}; + double roll_sum_y {}; + double pitch_sum_x {}; + double pitch_sum_y {}; + double yaw_sum_x {}; + double yaw_sum_y {}; + + // (1) Generate sigma points, use them to generate a predicted measurement + for (size_t sigmaInd = 0; sigmaInd < sigmaPoints_.size(); ++sigmaInd) + { + sigmaPointMeasurements[sigmaInd] = stateToMeasurementSubset * sigmaPoints_[sigmaInd]; + predictedMeasurement.noalias() += stateWeights_[sigmaInd] * sigmaPointMeasurements[sigmaInd]; + + // Euler angle averaging requires special care + for (size_t i = 0; i < updateSize; ++i) + { + if (updateIndices[i] == StateMemberRoll) + { + roll_sum_x += stateWeights_[sigmaInd] * ::cos(sigmaPointMeasurements[sigmaInd](i)); + roll_sum_y += stateWeights_[sigmaInd] * ::sin(sigmaPointMeasurements[sigmaInd](i)); + } + else if (updateIndices[i] == StateMemberPitch) + { + pitch_sum_x += stateWeights_[sigmaInd] * ::cos(sigmaPointMeasurements[sigmaInd](i)); + pitch_sum_y += stateWeights_[sigmaInd] * ::sin(sigmaPointMeasurements[sigmaInd](i)); + } + else if (updateIndices[i] == StateMemberYaw) + { + yaw_sum_x += stateWeights_[sigmaInd] * ::cos(sigmaPointMeasurements[sigmaInd](i)); + yaw_sum_y += stateWeights_[sigmaInd] * ::sin(sigmaPointMeasurements[sigmaInd](i)); + } + } + } + + // Wrap angles in the innovation + for (size_t i = 0; i < updateSize; ++i) + { + if (updateIndices[i] == StateMemberRoll) + { + predictedMeasurement(i) = ::atan2(roll_sum_y, roll_sum_x); + } + else if (updateIndices[i] == StateMemberPitch) + { + predictedMeasurement(i) = ::atan2(pitch_sum_y, pitch_sum_x); + } + else if (updateIndices[i] == StateMemberYaw) + { + predictedMeasurement(i) = ::atan2(yaw_sum_y, yaw_sum_x); + } + } + + // (2) Use the sigma point measurements and predicted measurement to compute a predicted + // measurement covariance matrix P_zz and a state/measurement cross-covariance matrix P_xz. + for (size_t sigmaInd = 0; sigmaInd < sigmaPoints_.size(); ++sigmaInd) + { + sigmaDiff = sigmaPointMeasurements[sigmaInd] - predictedMeasurement; + Eigen::VectorXd sigmaStateDiff = sigmaPoints_[sigmaInd] - state_; + + for (size_t i = 0; i < updateSize; ++i) + { + if (updateIndices[i] == StateMemberRoll || + updateIndices[i] == StateMemberPitch || + updateIndices[i] == StateMemberYaw) + { + sigmaDiff(i) = angles::normalize_angle(sigmaDiff(i)); + sigmaStateDiff(i) = angles::normalize_angle(sigmaStateDiff(i)); + } + } + + predictedMeasCovar.noalias() += covarWeights_[sigmaInd] * (sigmaDiff * sigmaDiff.transpose()); + crossCovar.noalias() += covarWeights_[sigmaInd] * (sigmaStateDiff * sigmaDiff.transpose()); + } + + // (3) Compute the Kalman gain, making sure to use the actual measurement covariance: K = P_xz * (P_zz + R)^-1 + Eigen::MatrixXd invInnovCov = (predictedMeasCovar + measurementCovarianceSubset).inverse(); + kalmanGainSubset = crossCovar * invInnovCov; + + // (4) Apply the gain to the difference between the actual and predicted measurements: x = x + K(z - z_hat) + innovationSubset = (measurementSubset - predictedMeasurement); + + // Wrap angles in the innovation + for (size_t i = 0; i < updateSize; ++i) + { + if (updateIndices[i] == StateMemberRoll || + updateIndices[i] == StateMemberPitch || + updateIndices[i] == StateMemberYaw) + { + innovationSubset(i) = angles::normalize_angle(innovationSubset(i)); + } + } + + // (5) Check Mahalanobis distance of innovation + if (checkMahalanobisThreshold(innovationSubset, invInnovCov, measurement.mahalanobisThresh_)) + { + state_.noalias() += kalmanGainSubset * innovationSubset; + + // (6) Compute the new estimate error covariance P = P - (K * P_zz * K') + estimateErrorCovariance_.noalias() -= (kalmanGainSubset * predictedMeasCovar * kalmanGainSubset.transpose()); + + wrapStateAngles(); + + // Mark that we need to re-compute sigma points for successive corrections + uncorrected_ = false; + + FB_DEBUG("Predicated measurement covariance is:\n" << predictedMeasCovar << + "\nCross covariance is:\n" << crossCovar << + "\nKalman gain subset is:\n" << kalmanGainSubset << + "\nInnovation:\n" << innovationSubset << + "\nCorrected full state is:\n" << state_ << + "\nCorrected full estimate error covariance is:\n" << estimateErrorCovariance_ << + "\n\n---------------------- /Ukf::correct ----------------------\n"); + } + } + + void Ukf::predict(const double referenceTime, const double delta) + { + FB_DEBUG("---------------------- Ukf::predict ----------------------\n" << + "delta is " << delta << + "\nstate is " << state_ << "\n"); + + prepareControl(referenceTime, delta); + + generateSigmaPoints(); + + double roll_sum_x {}; + double roll_sum_y {}; + double pitch_sum_x {}; + double pitch_sum_y {}; + double yaw_sum_x {}; + double yaw_sum_y {}; + + // Sum the weighted sigma points to generate a new state prediction + state_.setZero(); + for (size_t sigmaInd = 0; sigmaInd < sigmaPoints_.size(); ++sigmaInd) + { + // Apply the state transition function to this sigma point + projectSigmaPoint(sigmaPoints_[sigmaInd], delta); + state_.noalias() += stateWeights_[sigmaInd] * sigmaPoints_[sigmaInd]; + + // Euler angle averaging requires special care + roll_sum_x += stateWeights_[sigmaInd] * ::cos(sigmaPoints_[sigmaInd](StateMemberRoll)); + roll_sum_y += stateWeights_[sigmaInd] * ::sin(sigmaPoints_[sigmaInd](StateMemberRoll)); + pitch_sum_x += stateWeights_[sigmaInd] * ::cos(sigmaPoints_[sigmaInd](StateMemberPitch)); + pitch_sum_y += stateWeights_[sigmaInd] * ::sin(sigmaPoints_[sigmaInd](StateMemberPitch)); + yaw_sum_x += stateWeights_[sigmaInd] * ::cos(sigmaPoints_[sigmaInd](StateMemberYaw)); + yaw_sum_y += stateWeights_[sigmaInd] * ::sin(sigmaPoints_[sigmaInd](StateMemberYaw)); + } + + // Recover average Euler angles + state_(StateMemberRoll) = ::atan2(roll_sum_y, roll_sum_x); + state_(StateMemberPitch) = ::atan2(pitch_sum_y, pitch_sum_x); + state_(StateMemberYaw) = ::atan2(yaw_sum_y, yaw_sum_x); + + // Now use the sigma points and the predicted state to compute a predicted covariance + estimateErrorCovariance_.setZero(); + Eigen::VectorXd sigmaDiff(STATE_SIZE); + for (size_t sigmaInd = 0; sigmaInd < sigmaPoints_.size(); ++sigmaInd) + { + sigmaDiff = (sigmaPoints_[sigmaInd] - state_); + + sigmaDiff(StateMemberRoll) = angles::normalize_angle(sigmaDiff(StateMemberRoll)); + sigmaDiff(StateMemberPitch) = angles::normalize_angle(sigmaDiff(StateMemberPitch)); + sigmaDiff(StateMemberYaw) = angles::normalize_angle(sigmaDiff(StateMemberYaw)); + + estimateErrorCovariance_.noalias() += covarWeights_[sigmaInd] * (sigmaDiff * sigmaDiff.transpose()); + } + + // Not strictly in the theoretical UKF formulation, but necessary here + // to ensure that we actually incorporate the processNoiseCovariance_ + Eigen::MatrixXd *processNoiseCovariance = &processNoiseCovariance_; + + if (useDynamicProcessNoiseCovariance_) + { + computeDynamicProcessNoiseCovariance(state_, delta); + processNoiseCovariance = &dynamicProcessNoiseCovariance_; + } + + estimateErrorCovariance_.noalias() += delta * (*processNoiseCovariance); + + // Keep the angles bounded + wrapStateAngles(); + + // Mark that we can keep these sigma points + uncorrected_ = true; + + FB_DEBUG("Predicted state is:\n" << state_ << + "\nPredicted estimate error covariance is:\n" << estimateErrorCovariance_ << + "\n\n--------------------- /Ukf::predict ----------------------\n"); + } + + void Ukf::generateSigmaPoints() + { + // Take the square root of a small fraction of the estimateErrorCovariance_ using LL' decomposition + weightedCovarSqrt_ = ((static_cast(STATE_SIZE) + lambda_) * estimateErrorCovariance_).llt().matrixL(); + + // Compute sigma points + + // First sigma point is the current state + sigmaPoints_[0] = state_; + + // Next STATE_SIZE sigma points are state + weightedCovarSqrt_[ith column] + // STATE_SIZE sigma points after that are state - weightedCovarSqrt_[ith column] + for (size_t sigmaInd = 0; sigmaInd < STATE_SIZE; ++sigmaInd) + { + sigmaPoints_[sigmaInd + 1] = state_ + weightedCovarSqrt_.col(sigmaInd); + sigmaPoints_[sigmaInd + 1 + STATE_SIZE] = state_ - weightedCovarSqrt_.col(sigmaInd); + } + } + + void Ukf::projectSigmaPoint(Eigen::VectorXd& sigmaPoint, double delta) + { + double roll = sigmaPoint(StateMemberRoll); + double pitch = sigmaPoint(StateMemberPitch); + double yaw = sigmaPoint(StateMemberYaw); + + // We'll need these trig calculations a lot. + double sp = ::sin(pitch); + double cp = ::cos(pitch); + double cpi = 1.0 / cp; + double tp = sp * cpi; + + double sr = ::sin(roll); + double cr = ::cos(roll); + + double sy = ::sin(yaw); + double cy = ::cos(yaw); + + // Prepare the transfer function + transferFunction_(StateMemberX, StateMemberVx) = cy * cp * delta; + transferFunction_(StateMemberX, StateMemberVy) = (cy * sp * sr - sy * cr) * delta; + transferFunction_(StateMemberX, StateMemberVz) = (cy * sp * cr + sy * sr) * delta; + transferFunction_(StateMemberX, StateMemberAx) = 0.5 * transferFunction_(StateMemberX, StateMemberVx) * delta; + transferFunction_(StateMemberX, StateMemberAy) = 0.5 * transferFunction_(StateMemberX, StateMemberVy) * delta; + transferFunction_(StateMemberX, StateMemberAz) = 0.5 * transferFunction_(StateMemberX, StateMemberVz) * delta; + transferFunction_(StateMemberY, StateMemberVx) = sy * cp * delta; + transferFunction_(StateMemberY, StateMemberVy) = (sy * sp * sr + cy * cr) * delta; + transferFunction_(StateMemberY, StateMemberVz) = (sy * sp * cr - cy * sr) * delta; + transferFunction_(StateMemberY, StateMemberAx) = 0.5 * transferFunction_(StateMemberY, StateMemberVx) * delta; + transferFunction_(StateMemberY, StateMemberAy) = 0.5 * transferFunction_(StateMemberY, StateMemberVy) * delta; + transferFunction_(StateMemberY, StateMemberAz) = 0.5 * transferFunction_(StateMemberY, StateMemberVz) * delta; + transferFunction_(StateMemberZ, StateMemberVx) = -sp * delta; + transferFunction_(StateMemberZ, StateMemberVy) = cp * sr * delta; + transferFunction_(StateMemberZ, StateMemberVz) = cp * cr * delta; + transferFunction_(StateMemberZ, StateMemberAx) = 0.5 * transferFunction_(StateMemberZ, StateMemberVx) * delta; + transferFunction_(StateMemberZ, StateMemberAy) = 0.5 * transferFunction_(StateMemberZ, StateMemberVy) * delta; + transferFunction_(StateMemberZ, StateMemberAz) = 0.5 * transferFunction_(StateMemberZ, StateMemberVz) * delta; + transferFunction_(StateMemberRoll, StateMemberVroll) = delta; + transferFunction_(StateMemberRoll, StateMemberVpitch) = sr * tp * delta; + transferFunction_(StateMemberRoll, StateMemberVyaw) = cr * tp * delta; + transferFunction_(StateMemberPitch, StateMemberVpitch) = cr * delta; + transferFunction_(StateMemberPitch, StateMemberVyaw) = -sr * delta; + transferFunction_(StateMemberYaw, StateMemberVpitch) = sr * cpi * delta; + transferFunction_(StateMemberYaw, StateMemberVyaw) = cr * cpi * delta; + transferFunction_(StateMemberVx, StateMemberAx) = delta; + transferFunction_(StateMemberVy, StateMemberAy) = delta; + transferFunction_(StateMemberVz, StateMemberAz) = delta; + + sigmaPoint.applyOnTheLeft(transferFunction_); + } +} // namespace RobotLocalization diff --git a/navigations/robot_localization/src/ukf_localization_node.cpp b/navigations/robot_localization/src/ukf_localization_node.cpp new file mode 100755 index 0000000..6f1d99e --- /dev/null +++ b/navigations/robot_localization/src/ukf_localization_node.cpp @@ -0,0 +1,57 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_filter_types.h" + +#include + +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "ukf_navigation_node"); + ros::NodeHandle nh; + ros::NodeHandle nhLocal("~"); + + std::vector args(3, 0); + + nhLocal.param("alpha", args[0], 0.001); + nhLocal.param("kappa", args[1], 0.0); + nhLocal.param("beta", args[2], 2.0); + + RobotLocalization::RosUkf ukf(nh, nhLocal, args); + ukf.initialize(); + ros::spin(); + + return EXIT_SUCCESS; +} diff --git a/navigations/robot_localization/src/ukf_localization_nodelet.cpp b/navigations/robot_localization/src/ukf_localization_nodelet.cpp new file mode 100755 index 0000000..f33e1fd --- /dev/null +++ b/navigations/robot_localization/src/ukf_localization_nodelet.cpp @@ -0,0 +1,71 @@ +/* + * Copyright (c) 2017 Simon Gene Gottlieb + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_filter_types.h" + +#include +#include +#include + +#include +#include + +namespace RobotLocalization +{ + +class UkfNodelet : public nodelet::Nodelet +{ +private: + std::unique_ptr ukf; + +public: + virtual void onInit() + { + NODELET_DEBUG("Initializing nodelet..."); + + ros::NodeHandle nh = getNodeHandle(); + ros::NodeHandle nh_priv = getPrivateNodeHandle(); + + std::vector args(3, 0); + + nh_priv.param("alpha", args[0], 0.001); + nh_priv.param("kappa", args[1], 0.0); + nh_priv.param("beta", args[2], 2.0); + + ukf = std::make_unique(nh, nh_priv, getName(), args); + ukf->initialize(); + } +}; + +} // namespace RobotLocalization + +PLUGINLIB_EXPORT_CLASS(RobotLocalization::UkfNodelet, nodelet::Nodelet); diff --git a/navigations/robot_localization/srv/FromLL.srv b/navigations/robot_localization/srv/FromLL.srv new file mode 100755 index 0000000..60c9d54 --- /dev/null +++ b/navigations/robot_localization/srv/FromLL.srv @@ -0,0 +1,3 @@ +geographic_msgs/GeoPoint ll_point +--- +geometry_msgs/Point map_point diff --git a/navigations/robot_localization/srv/GetState.srv b/navigations/robot_localization/srv/GetState.srv new file mode 100755 index 0000000..3d9bb86 --- /dev/null +++ b/navigations/robot_localization/srv/GetState.srv @@ -0,0 +1,8 @@ +time time_stamp +string frame_id +--- +# State vector: x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az +float64[15] state + +# Covariance matrix in row-major order +float64[225] covariance diff --git a/navigations/robot_localization/srv/SetDatum.srv b/navigations/robot_localization/srv/SetDatum.srv new file mode 100755 index 0000000..25cbe4a --- /dev/null +++ b/navigations/robot_localization/srv/SetDatum.srv @@ -0,0 +1,2 @@ +geographic_msgs/GeoPose geo_pose +--- diff --git a/navigations/robot_localization/srv/SetPose.srv b/navigations/robot_localization/srv/SetPose.srv new file mode 100755 index 0000000..7089d1a --- /dev/null +++ b/navigations/robot_localization/srv/SetPose.srv @@ -0,0 +1,2 @@ +geometry_msgs/PoseWithCovarianceStamped pose +--- diff --git a/navigations/robot_localization/srv/SetUTMZone.srv b/navigations/robot_localization/srv/SetUTMZone.srv new file mode 100755 index 0000000..c96c3c4 --- /dev/null +++ b/navigations/robot_localization/srv/SetUTMZone.srv @@ -0,0 +1,4 @@ +# Set an UTM zone navsat_transform should stick to. +# Example: 31U +string utm_zone +--- diff --git a/navigations/robot_localization/srv/ToLL.srv b/navigations/robot_localization/srv/ToLL.srv new file mode 100755 index 0000000..e99723d --- /dev/null +++ b/navigations/robot_localization/srv/ToLL.srv @@ -0,0 +1,3 @@ +geometry_msgs/Point map_point +--- +geographic_msgs/GeoPoint ll_point diff --git a/navigations/robot_localization/srv/ToggleFilterProcessing.srv b/navigations/robot_localization/srv/ToggleFilterProcessing.srv new file mode 100755 index 0000000..01f8bcd --- /dev/null +++ b/navigations/robot_localization/srv/ToggleFilterProcessing.srv @@ -0,0 +1,3 @@ +bool on +--- +bool status diff --git a/navigations/robot_localization/test/record_all_stats.sh b/navigations/robot_localization/test/record_all_stats.sh new file mode 100755 index 0000000..9a39760 --- /dev/null +++ b/navigations/robot_localization/test/record_all_stats.sh @@ -0,0 +1,9 @@ +#!/bin/bash + +./stat_recorder.sh test_ekf_localization_node_bag1.test $1/ekf1.txt +./stat_recorder.sh test_ekf_localization_node_bag2.test $1/ekf2.txt +./stat_recorder.sh test_ekf_localization_node_bag3.test $1/ekf3.txt + +./stat_recorder.sh test_ukf_localization_node_bag1.test $1/ukf1.txt +./stat_recorder.sh test_ukf_localization_node_bag2.test $1/ukf2.txt +./stat_recorder.sh test_ukf_localization_node_bag3.test $1/ukf3.txt diff --git a/navigations/robot_localization/test/stat_recorder.sh b/navigations/robot_localization/test/stat_recorder.sh new file mode 100755 index 0000000..afc236c --- /dev/null +++ b/navigations/robot_localization/test/stat_recorder.sh @@ -0,0 +1,18 @@ +#!/bin/bash + +rm $2 +echo "x = [" > $2 + +i="0" + +while [ $i -lt 30 ] +do +rostest robot_localization $1 output_final_position:=true output_location:=$2 +i=$[$i+1] +sleep 3 +done + +echo "]" >> $2 +echo "mean(x)" >> $2 +echo "sqrt(sum((4 * std(x)).^2))" >> $2 + diff --git a/navigations/robot_localization/test/test1.bag b/navigations/robot_localization/test/test1.bag new file mode 100755 index 0000000..565f14c Binary files /dev/null and b/navigations/robot_localization/test/test1.bag differ diff --git a/navigations/robot_localization/test/test2.bag b/navigations/robot_localization/test/test2.bag new file mode 100755 index 0000000..0559965 Binary files /dev/null and b/navigations/robot_localization/test/test2.bag differ diff --git a/navigations/robot_localization/test/test3.bag b/navigations/robot_localization/test/test3.bag new file mode 100755 index 0000000..6e139cb Binary files /dev/null and b/navigations/robot_localization/test/test3.bag differ diff --git a/navigations/robot_localization/test/test_ekf.cpp b/navigations/robot_localization/test/test_ekf.cpp new file mode 100755 index 0000000..63f8b67 --- /dev/null +++ b/navigations/robot_localization/test/test_ekf.cpp @@ -0,0 +1,135 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_filter_types.h" + +#include + +#include +#include + +using RobotLocalization::Ekf; +using RobotLocalization::RosEkf; +using RobotLocalization::STATE_SIZE; + +class RosEkfPassThrough : public RosEkf +{ + public: + RosEkfPassThrough() : RosEkf(ros::NodeHandle(), ros::NodeHandle("~")) + { + } + + Ekf &getFilter() + { + return filter_; + } +}; + +TEST(EkfTest, Measurements) +{ + RosEkfPassThrough ekf; + + Eigen::MatrixXd initialCovar(15, 15); + initialCovar.setIdentity(); + initialCovar *= 0.5; + ekf.getFilter().setEstimateErrorCovariance(initialCovar); + + Eigen::VectorXd measurement(STATE_SIZE); + measurement.setIdentity(); + for (size_t i = 0; i < STATE_SIZE; ++i) + { + measurement[i] = i * 0.01 * STATE_SIZE; + } + + Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); + measurementCovariance.setIdentity(); + for (size_t i = 0; i < STATE_SIZE; ++i) + { + measurementCovariance(i, i) = 1e-9; + } + + std::vector updateVector(STATE_SIZE, true); + + // Ensure that measurements are being placed in the queue correctly + ros::Time time; + time.fromSec(1000); + ekf.enqueueMeasurement("odom0", + measurement, + measurementCovariance, + updateVector, + std::numeric_limits::max(), + time); + + ekf.integrateMeasurements(ros::Time(1001)); + + EXPECT_EQ(ekf.getFilter().getState(), measurement); + EXPECT_EQ(ekf.getFilter().getEstimateErrorCovariance(), measurementCovariance); + + ekf.getFilter().setEstimateErrorCovariance(initialCovar); + + // Now fuse another measurement and check the output. + // We know what the filter's state should be when + // this is complete, so we'll check the difference and + // make sure it's suitably small. + Eigen::VectorXd measurement2 = measurement; + + measurement2 *= 2.0; + + for (size_t i = 0; i < STATE_SIZE; ++i) + { + measurementCovariance(i, i) = 1e-9; + } + + time.fromSec(1002); + ekf.enqueueMeasurement("odom0", + measurement2, + measurementCovariance, + updateVector, + std::numeric_limits::max(), + time); + + ekf.integrateMeasurements(ros::Time(1003)); + + measurement = measurement2.eval() - ekf.getFilter().getState(); + for (size_t i = 0; i < STATE_SIZE; ++i) + { + EXPECT_LT(::fabs(measurement[i]), 0.001); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "ekf"); + + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/robot_localization/test/test_ekf.test b/navigations/robot_localization/test/test_ekf.test new file mode 100755 index 0000000..92f8235 --- /dev/null +++ b/navigations/robot_localization/test/test_ekf.test @@ -0,0 +1,7 @@ + + + + + + + diff --git a/navigations/robot_localization/test/test_ekf_localization_node_bag1.test b/navigations/robot_localization/test/test_ekf_localization_node_bag1.test new file mode 100755 index 0000000..8d37e92 --- /dev/null +++ b/navigations/robot_localization/test/test_ekf_localization_node_bag1.test @@ -0,0 +1,105 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [false, false, false, + false, false, false, + true, true, true, + false, false, false, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + true, true, false, + true, true, true] + + + + + + + + + + + + + + + + + + [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] + + [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + + + + + + + + + + + + + diff --git a/navigations/robot_localization/test/test_ekf_localization_node_bag2.test b/navigations/robot_localization/test/test_ekf_localization_node_bag2.test new file mode 100755 index 0000000..5ea3285 --- /dev/null +++ b/navigations/robot_localization/test/test_ekf_localization_node_bag2.test @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [false, false, false, + false, false, false, + true, true, true, + false, false, true, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + true, true, true, + true, true, true] + + + + + + + [0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.05, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.002, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.002, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.004, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01] + + [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + + + + + + + + + + + + + diff --git a/navigations/robot_localization/test/test_ekf_localization_node_bag3.test b/navigations/robot_localization/test/test_ekf_localization_node_bag3.test new file mode 100755 index 0000000..eb0c6bf --- /dev/null +++ b/navigations/robot_localization/test/test_ekf_localization_node_bag3.test @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [false, false, true, + false, false, false, + true, true, false, + false, false, true, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + true, true, true, + false, false, false] + + + + + + + [0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] + + + + + + + + + + + + + diff --git a/navigations/robot_localization/test/test_ekf_localization_node_interfaces.cpp b/navigations/robot_localization/test/test_ekf_localization_node_interfaces.cpp new file mode 100755 index 0000000..bf501cd --- /dev/null +++ b/navigations/robot_localization/test/test_ekf_localization_node_interfaces.cpp @@ -0,0 +1,1075 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/SetPose.h" + +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +nav_msgs::Odometry filtered_; + +bool stateUpdated_; + +void resetFilter() +{ + ros::NodeHandle nh; + ros::ServiceClient client = nh.serviceClient("/set_pose"); + + robot_localization::SetPose setPose; + setPose.request.pose.pose.pose.orientation.w = 1; + setPose.request.pose.header.frame_id = "odom"; + for (size_t ind = 0; ind < 36; ind+=7) + { + setPose.request.pose.pose.covariance[ind] = 1e-6; + } + + setPose.request.pose.header.stamp = ros::Time::now(); + client.call(setPose); + setPose.request.pose.header.seq++; + ros::spinOnce(); + ros::Duration(0.01).sleep(); + stateUpdated_ = false; + + double deltaX = 0.0; + double deltaY = 0.0; + double deltaZ = 0.0; + + while (!stateUpdated_ || ::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ) > 0.1) + { + ros::spinOnce(); + ros::Duration(0.01).sleep(); + + deltaX = filtered_.pose.pose.position.x - setPose.request.pose.pose.pose.position.x; + deltaY = filtered_.pose.pose.position.y - setPose.request.pose.pose.pose.position.y; + deltaZ = filtered_.pose.pose.position.z - setPose.request.pose.pose.pose.position.z; + } + + EXPECT_LT(::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ), 0.1); +} + +void filterCallback(const nav_msgs::OdometryConstPtr &msg) +{ + filtered_ = *msg; + stateUpdated_ = true; +} + +TEST(InterfacesTest, OdomPoseBasicIO) +{ + stateUpdated_ = false; + + ros::NodeHandle nh; + ros::Publisher odomPub = nh.advertise("/odom_input0", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + nav_msgs::Odometry odom; + odom.pose.pose.position.x = 20.0; + odom.pose.pose.position.y = 10.0; + odom.pose.pose.position.z = -40.0; + + odom.pose.covariance[0] = 2.0; + odom.pose.covariance[7] = 2.0; + odom.pose.covariance[14] = 2.0; + + odom.header.frame_id = "odom"; + odom.child_frame_id = "base_link"; + + ros::Rate loopRate(50); + for (size_t i = 0; i < 50; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + + // Now check the values from the callback + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - odom.pose.pose.position.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); // Configuration for this variable for this sensor is false + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - odom.pose.pose.position.z), 0.01); + + EXPECT_LT(filtered_.pose.covariance[0], 0.5); + EXPECT_LT(filtered_.pose.covariance[7], 0.25); // Configuration for this variable for this sensor is false + EXPECT_LT(filtered_.pose.covariance[14], 0.5); + + resetFilter(); +} + +TEST(InterfacesTest, OdomTwistBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher odomPub = nh.advertise("/odom_input2", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + nav_msgs::Odometry odom; + odom.twist.twist.linear.x = 5.0; + odom.twist.twist.linear.y = 0.0; + odom.twist.twist.linear.z = 0.0; + odom.twist.twist.angular.x = 0.0; + odom.twist.twist.angular.y = 0.0; + odom.twist.twist.angular.z = 0.0; + + for (size_t ind = 0; ind < 36; ind+=7) + { + odom.twist.covariance[ind] = 1e-6; + } + + odom.header.frame_id = "odom"; + odom.child_frame_id = "base_link"; + + ros::Rate loopRate(20); + for (size_t i = 0; i < 400; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 100.0), 2.0); + + resetFilter(); + + odom.twist.twist.linear.x = 0.0; + odom.twist.twist.linear.y = 5.0; + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 200; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.y - odom.twist.twist.linear.y), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 50.0), 1.0); + + resetFilter(); + + odom.twist.twist.linear.y = 0.0; + odom.twist.twist.linear.z = 5.0; + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - odom.twist.twist.linear.z), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 25.0), 1.0); + + resetFilter(); + + odom.twist.twist.linear.z = 0.0; + odom.twist.twist.linear.x = 1.0; + odom.twist.twist.angular.z = (M_PI/2) / (100.0 * 0.05); + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.twist.twist.angular.z - odom.twist.twist.angular.z), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - filtered_.pose.pose.position.y), 0.5); + + resetFilter(); + + odom.twist.twist.linear.x = 0.0; + odom.twist.twist.angular.z = 0.0; + odom.twist.twist.angular.x = -(M_PI/2) / (100.0 * 0.05); + + // First, roll the vehicle on its side + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + odom.twist.twist.angular.x = 0.0; + odom.twist.twist.angular.y = (M_PI/2) / (100.0 * 0.05); + + // Now, pitch it down (positive pitch velocity in vehicle frame) + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + odom.twist.twist.angular.y = 0.0; + odom.twist.twist.linear.x = 3.0; + + // We should now be on our side and facing -Y. Move forward in + // the vehicle frame X direction, and make sure Y decreases in + // the world frame. + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 15), 1.0); + + resetFilter(); +} + +TEST(InterfacesTest, PoseBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher posePub = nh.advertise("/pose_input0", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + geometry_msgs::PoseWithCovarianceStamped pose; + pose.pose.pose.position.x = 20.0; + pose.pose.pose.position.y = 10.0; + pose.pose.pose.position.z = -40.0; + pose.pose.pose.orientation.x = 0; + pose.pose.pose.orientation.y = 0; + pose.pose.pose.orientation.z = 0; + pose.pose.pose.orientation.w = 1; + + for (size_t ind = 0; ind < 36; ind+=7) + { + pose.pose.covariance[ind] = 1e-6; + } + + pose.header.frame_id = "odom"; + + ros::Rate loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + pose.header.stamp = ros::Time::now(); + posePub.publish(pose); + ros::spinOnce(); + + loopRate.sleep(); + + pose.header.seq++; + } + + // Now check the values from the callback + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - pose.pose.pose.position.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.1); // Configuration for this variable for this sensor is false + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - pose.pose.pose.position.z), 0.1); + + EXPECT_LT(filtered_.pose.covariance[0], 0.5); + EXPECT_LT(filtered_.pose.covariance[7], 0.25); // Configuration for this variable for this sensor is false + EXPECT_LT(filtered_.pose.covariance[14], 0.5); + + resetFilter(); +} + +TEST(InterfacesTest, TwistBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher twistPub = nh.advertise("/twist_input0", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + geometry_msgs::TwistWithCovarianceStamped twist; + twist.twist.twist.linear.x = 5.0; + twist.twist.twist.linear.y = 0; + twist.twist.twist.linear.z = 0; + twist.twist.twist.angular.x = 0; + twist.twist.twist.angular.y = 0; + twist.twist.twist.angular.z = 0; + + for (size_t ind = 0; ind < 36; ind+=7) + { + twist.twist.covariance[ind] = 1e-6; + } + + twist.header.frame_id = "base_link"; + + ros::Rate loopRate = ros::Rate(20); + for (size_t i = 0; i < 400; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 100.0), 2.0); + + resetFilter(); + + twist.twist.twist.linear.x = 0.0; + twist.twist.twist.linear.y = 5.0; + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 200; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.y - twist.twist.twist.linear.y), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 50.0), 1.0); + + resetFilter(); + + twist.twist.twist.linear.y = 0.0; + twist.twist.twist.linear.z = 5.0; + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - twist.twist.twist.linear.z), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 25.0), 1.0); + + resetFilter(); + + twist.twist.twist.linear.z = 0.0; + twist.twist.twist.linear.x = 1.0; + twist.twist.twist.angular.z = (M_PI/2) / (100.0 * 0.05); + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.twist.twist.angular.z - twist.twist.twist.angular.z), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - filtered_.pose.pose.position.y), 0.5); + + resetFilter(); + + twist.twist.twist.linear.x = 0.0; + twist.twist.twist.angular.z = 0.0; + twist.twist.twist.angular.x = -(M_PI/2) / (100.0 * 0.05); + + // First, roll the vehicle on its side + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + twist.twist.twist.angular.x = 0.0; + twist.twist.twist.angular.y = (M_PI/2) / (100.0 * 0.05); + + // Now, pitch it down (positive pitch velocity in vehicle frame) + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + twist.twist.twist.angular.y = 0.0; + twist.twist.twist.linear.x = 3.0; + + // We should now be on our side and facing -Y. Move forward in + // the vehicle frame X direction, and make sure Y decreases in + // the world frame. + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 15), 1.0); + + resetFilter(); +} + +TEST(InterfacesTest, ImuPoseBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher imuPub = nh.advertise("/imu_input0", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + sensor_msgs::Imu imu; + tf2::Quaternion quat; + quat.setRPY(M_PI/4, -M_PI/4, M_PI/2); + imu.orientation = tf2::toMsg(quat); + + for (size_t ind = 0; ind < 9; ind+=4) + { + imu.orientation_covariance[ind] = 1e-6; + } + + imu.header.frame_id = "base_link"; + + // Make sure the pose reset worked. Test will timeout + // if this fails. + ros::Rate loopRate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + ros::spinOnce(); + + loopRate.sleep(); + + imu.header.seq++; + } + + // Now check the values from the callback + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + tf2::Matrix3x3 mat(quat); + double r, p, y; + mat.getRPY(r, p, y); + EXPECT_LT(::fabs(r - M_PI/4), 0.1); + EXPECT_LT(::fabs(p + M_PI/4), 0.1); + EXPECT_LT(::fabs(y - M_PI/2), 0.1); + + EXPECT_LT(filtered_.pose.covariance[21], 0.5); + EXPECT_LT(filtered_.pose.covariance[28], 0.25); + EXPECT_LT(filtered_.pose.covariance[35], 0.5); + + resetFilter(); + + // Test to see if the orientation data is ignored when we set the + // first covariance value to -1 + sensor_msgs::Imu imuIgnore; + imuIgnore.orientation.x = 0.1; + imuIgnore.orientation.y = 0.2; + imuIgnore.orientation.z = 0.3; + imuIgnore.orientation.w = 0.4; + imuIgnore.orientation_covariance[0] = -1; + + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imuIgnore.header.stamp = ros::Time::now(); + imuPub.publish(imuIgnore); + loopRate.sleep(); + ros::spinOnce(); + + imuIgnore.header.seq++; + } + + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + mat.setRotation(quat); + mat.getRPY(r, p, y); + EXPECT_LT(::fabs(r), 1e-3); + EXPECT_LT(::fabs(p), 1e-3); + EXPECT_LT(::fabs(y), 1e-3); + + resetFilter(); +} + +TEST(InterfacesTest, ImuTwistBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher imuPub = nh.advertise("/imu_input1", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + sensor_msgs::Imu imu; + tf2::Quaternion quat; + imu.angular_velocity.x = (M_PI / 2.0); + + for (size_t ind = 0; ind < 9; ind+=4) + { + imu.angular_velocity_covariance[ind] = 1e-6; + } + + imu.header.frame_id = "base_link"; + + ros::Rate loopRate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + // Now check the values from the callback + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + tf2::Matrix3x3 mat(quat); + double r, p, y; + mat.getRPY(r, p, y); + + // Tolerances may seem loose, but the initial state covariances + // are tiny, so the filter is sluggish to accept velocity data + EXPECT_LT(::fabs(r - M_PI / 2.0), 0.7); + EXPECT_LT(::fabs(p), 0.1); + EXPECT_LT(::fabs(y), 0.1); + + EXPECT_LT(filtered_.twist.covariance[21], 1e-3); + EXPECT_LT(filtered_.pose.covariance[21], 0.1); + + resetFilter(); + + imu.angular_velocity.x = 0.0; + imu.angular_velocity.y = -(M_PI / 2.0); + + // Make sure the pose reset worked. Test will timeout + // if this fails. + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + // Now check the values from the callback + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + mat.setRotation(quat); + mat.getRPY(r, p, y); + EXPECT_LT(::fabs(r), 0.1); + EXPECT_LT(::fabs(p + M_PI / 2.0), 0.7); + EXPECT_LT(::fabs(y), 0.1); + + EXPECT_LT(filtered_.twist.covariance[28], 1e-3); + EXPECT_LT(filtered_.pose.covariance[28], 0.1); + + resetFilter(); + + imu.angular_velocity.y = 0; + imu.angular_velocity.z = M_PI / 4.0; + + // Make sure the pose reset worked. Test will timeout + // if this fails. + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + // Now check the values from the callback + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + mat.setRotation(quat); + mat.getRPY(r, p, y); + EXPECT_LT(::fabs(r), 0.1); + EXPECT_LT(::fabs(p), 0.1); + EXPECT_LT(::fabs(y - M_PI / 4.0), 0.7); + + EXPECT_LT(filtered_.twist.covariance[35], 1e-3); + EXPECT_LT(filtered_.pose.covariance[35], 0.1); + + resetFilter(); + + // Test to see if the angular velocity data is ignored when we set the + // first covariance value to -1 + sensor_msgs::Imu imuIgnore; + imuIgnore.angular_velocity.x = 100; + imuIgnore.angular_velocity.y = 100; + imuIgnore.angular_velocity.z = 100; + imuIgnore.angular_velocity_covariance[0] = -1; + + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imuIgnore.header.stamp = ros::Time::now(); + imuPub.publish(imuIgnore); + loopRate.sleep(); + ros::spinOnce(); + + imuIgnore.header.seq++; + } + + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + mat.setRotation(quat); + mat.getRPY(r, p, y); + EXPECT_LT(::fabs(r), 1e-3); + EXPECT_LT(::fabs(p), 1e-3); + EXPECT_LT(::fabs(y), 1e-3); + + resetFilter(); +} + +TEST(InterfacesTest, ImuAccBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher imuPub = nh.advertise("/imu_input2", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + sensor_msgs::Imu imu; + imu.header.frame_id = "base_link"; + imu.linear_acceleration_covariance[0] = 1e-6; + imu.linear_acceleration_covariance[4] = 1e-6; + imu.linear_acceleration_covariance[8] = 1e-6; + + imu.linear_acceleration.x = 1; + imu.linear_acceleration.y = -1; + imu.linear_acceleration.z = 1; + + // Move with constant acceleration for 1 second, + // then check our velocity. + ros::Rate loopRate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - 1.0), 0.4); + EXPECT_LT(::fabs(filtered_.twist.twist.linear.y + 1.0), 0.4); + EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - 1.0), 0.4); + + imu.linear_acceleration.x = 0.0; + imu.linear_acceleration.y = 0.0; + imu.linear_acceleration.z = 0.0; + + // Now move for another second, and see where we + // end up + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1.2), 0.4); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 1.2), 0.4); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 1.2), 0.4); + + resetFilter(); + + // Test to see if the linear acceleration data is ignored when we set the + // first covariance value to -1 + sensor_msgs::Imu imuIgnore; + imuIgnore.linear_acceleration.x = 1000; + imuIgnore.linear_acceleration.y = 1000; + imuIgnore.linear_acceleration.z = 1000; + imuIgnore.linear_acceleration_covariance[0] = -1; + + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imuIgnore.header.stamp = ros::Time::now(); + imuPub.publish(imuIgnore); + loopRate.sleep(); + ros::spinOnce(); + + imuIgnore.header.seq++; + } + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 1e-3); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 1e-3); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 1e-3); + + resetFilter(); +} + +TEST(InterfacesTest, OdomDifferentialIO) +{ + ros::NodeHandle nh; + ros::Publisher odomPub = nh.advertise("/odom_input1", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + nav_msgs::Odometry odom; + odom.pose.pose.position.x = 20.0; + odom.pose.pose.position.y = 10.0; + odom.pose.pose.position.z = -40.0; + + odom.pose.pose.orientation.w = 1; + + odom.pose.covariance[0] = 2.0; + odom.pose.covariance[7] = 2.0; + odom.pose.covariance[14] = 2.0; + odom.pose.covariance[21] = 0.2; + odom.pose.covariance[28] = 0.2; + odom.pose.covariance[35] = 0.2; + + odom.header.frame_id = "odom"; + odom.child_frame_id = "base_link"; + + // No guaranteeing that the zero state + // we're expecting to see here isn't just + // a result of zeroing it out previously, + // so check 10 times in succession. + size_t zeroCount = 0; + while (zeroCount++ < 10) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.y), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.z), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.w - 1), 0.01); + + ros::Duration(0.1).sleep(); + + odom.header.seq++; + } + + for (size_t ind = 0; ind < 36; ind+=7) + { + odom.pose.covariance[ind] = 1e-6; + } + + // Slowly move the position, and hope that the + // differential position keeps up + ros::Rate loopRate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.pose.pose.position.x += 0.01; + odom.pose.pose.position.y += 0.02; + odom.pose.pose.position.z -= 0.03; + + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1), 0.2); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 2), 0.4); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z + 3), 0.6); + + resetFilter(); +} + +TEST(InterfacesTest, PoseDifferentialIO) +{ + ros::NodeHandle nh; + ros::Publisher posePub = nh.advertise("/pose_input1", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + geometry_msgs::PoseWithCovarianceStamped pose; + pose.pose.pose.position.x = 20.0; + pose.pose.pose.position.y = 10.0; + pose.pose.pose.position.z = -40.0; + + pose.pose.pose.orientation.w = 1; + + pose.pose.covariance[0] = 2.0; + pose.pose.covariance[7] = 2.0; + pose.pose.covariance[14] = 2.0; + pose.pose.covariance[21] = 0.2; + pose.pose.covariance[28] = 0.2; + pose.pose.covariance[35] = 0.2; + + pose.header.frame_id = "odom"; + + // No guaranteeing that the zero state + // we're expecting to see here isn't just + // a result of zeroing it out previously, + // so check 10 times in succession. + size_t zeroCount = 0; + while (zeroCount++ < 10) + { + pose.header.stamp = ros::Time::now(); + posePub.publish(pose); + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.y), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.z), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.w - 1), 0.01); + + ros::Duration(0.1).sleep(); + + pose.header.seq++; + } + + // ...but only if we give the measurement a tiny covariance + for (size_t ind = 0; ind < 36; ind+=7) + { + pose.pose.covariance[ind] = 1e-6; + } + + // Issue this location repeatedly, and see if we get + // a final reported position of (1, 2, -3) + ros::Rate loopRate(20); + for (size_t i = 0; i < 100; ++i) + { + pose.pose.pose.position.x += 0.01; + pose.pose.pose.position.y += 0.02; + pose.pose.pose.position.z -= 0.03; + + pose.header.stamp = ros::Time::now(); + posePub.publish(pose); + ros::spinOnce(); + + loopRate.sleep(); + + pose.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1), 0.2); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 2), 0.4); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z + 3), 0.6); + + resetFilter(); +} + +TEST(InterfacesTest, ImuDifferentialIO) +{ + ros::NodeHandle nh; + ros::Publisher imu0Pub = nh.advertise("/imu_input0", 5); + ros::Publisher imu1Pub = nh.advertise("/imu_input1", 5); + ros::Publisher imuPub = nh.advertise("/imu_input3", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + sensor_msgs::Imu imu; + imu.header.frame_id = "base_link"; + tf2::Quaternion quat; + const double roll = M_PI/2.0; + const double pitch = -M_PI; + const double yaw = -M_PI/4.0; + quat.setRPY(roll, pitch, yaw); + imu.orientation = tf2::toMsg(quat); + + imu.orientation_covariance[0] = 0.02; + imu.orientation_covariance[4] = 0.02; + imu.orientation_covariance[8] = 0.02; + + imu.angular_velocity_covariance[0] = 0.02; + imu.angular_velocity_covariance[4] = 0.02; + imu.angular_velocity_covariance[8] = 0.02; + + size_t setCount = 0; + while (setCount++ < 10) + { + imu.header.stamp = ros::Time::now(); + imu0Pub.publish(imu); // Use this to move the absolute orientation + imu1Pub.publish(imu); // Use this to keep velocities at 0 + ros::spinOnce(); + + ros::Duration(0.1).sleep(); + + imu.header.seq++; + } + + size_t zeroCount = 0; + while (zeroCount++ < 10) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + ros::spinOnce(); + + ros::Duration(0.1).sleep(); + + imu.header.seq++; + } + + double rollFinal = roll; + double pitchFinal = pitch; + double yawFinal = yaw; + + // Move the orientation slowly, and see if we + // can push it to 0 + ros::Rate loopRate(20); + for (size_t i = 0; i < 100; ++i) + { + yawFinal -= 0.01 * (3.0 * M_PI/4.0); + + quat.setRPY(rollFinal, pitchFinal, yawFinal); + + imu.orientation = tf2::toMsg(quat); + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + ros::spinOnce(); + + loopRate.sleep(); + + imu.header.seq++; + } + ros::spinOnce(); + + // Move the orientation slowly, and see if we + // can push it to 0 + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + rollFinal += 0.01 * (M_PI/2.0); + + quat.setRPY(rollFinal, pitchFinal, yawFinal); + + imu.orientation = tf2::toMsg(quat); + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + ros::spinOnce(); + + loopRate.sleep(); + + imu.header.seq++; + } + ros::spinOnce(); + + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + tf2::Matrix3x3 mat(quat); + mat.getRPY(rollFinal, pitchFinal, yawFinal); + EXPECT_LT(::fabs(rollFinal), 0.2); + EXPECT_LT(::fabs(pitchFinal), 0.2); + EXPECT_LT(::fabs(yawFinal), 0.2); + + resetFilter(); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + + ros::init(argc, argv, "ekf_navigation_node-test-interfaces"); + ros::Time::init(); + + // Give ekf_localization_node time to initialize + ros::Duration(2.0).sleep(); + + return RUN_ALL_TESTS(); +} diff --git a/navigations/robot_localization/test/test_ekf_localization_node_interfaces.test b/navigations/robot_localization/test/test_ekf_localization_node_interfaces.test new file mode 100755 index 0000000..f440b92 --- /dev/null +++ b/navigations/robot_localization/test/test_ekf_localization_node_interfaces.test @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] + [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] + [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] + + [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] + [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] + + [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] + + [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] + [false, false, false, false, false, false, false, false, false, true, true, true, false, false, false] + [false, false, false, false, false, false, false, false, false, false, false, false, true, true, true] + [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] + + + + + + + + + + + [0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] + + + + + + diff --git a/navigations/robot_localization/test/test_ekf_localization_nodelet_bag1.test b/navigations/robot_localization/test/test_ekf_localization_nodelet_bag1.test new file mode 100755 index 0000000..b49c7fe --- /dev/null +++ b/navigations/robot_localization/test/test_ekf_localization_nodelet_bag1.test @@ -0,0 +1,104 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [false, false, false, + false, false, false, + true, true, true, + false, false, false, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + true, true, false, + true, true, true] + + + + + + + + + + + + + + + + + + [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] + + [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + + + + + + + + + + + + + diff --git a/navigations/robot_localization/test/test_filter_base.cpp b/navigations/robot_localization/test/test_filter_base.cpp new file mode 100755 index 0000000..8ae42f3 --- /dev/null +++ b/navigations/robot_localization/test/test_filter_base.cpp @@ -0,0 +1,216 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/filter_base.h" +#include "robot_localization/filter_common.h" + +#include + +#include + +#include +#include +#include + +using RobotLocalization::STATE_SIZE; +using RobotLocalization::Measurement; + +namespace RobotLocalization +{ + +class FilterDerived : public FilterBase +{ + public: + double val; + + FilterDerived() : val(0) { } + + void correct(const Measurement &measurement) + { + EXPECT_EQ(val, measurement.time_); + EXPECT_EQ(measurement.topicName_, "topic"); + + EXPECT_EQ(measurement.updateVector_.size(), 10u); + for (size_t i = 0; i < measurement.updateVector_.size(); ++i) + { + EXPECT_EQ(measurement.updateVector_[i], true); + } + } + + void predict(const double refTime, const double delta) + { + val = delta; + } +}; + +class FilterDerived2 : public FilterBase +{ + public: + FilterDerived2() { } + + void correct(const Measurement &measurement) + { + } + + void predict(const double refTime, const double delta) + { + } + + void processMeasurement(const Measurement &measurement) + { + FilterBase::processMeasurement(measurement); + } +}; + +} // namespace RobotLocalization + +TEST(FilterBaseTest, MeasurementStruct) +{ + RobotLocalization::Measurement meas1; + RobotLocalization::Measurement meas2; + + EXPECT_EQ(meas1.topicName_, std::string("")); + EXPECT_EQ(meas1.time_, 0); + EXPECT_EQ(meas2.time_, 0); + + // Comparison test is true if the first + // argument is > the second, so should + // be false if they're equal. + EXPECT_EQ(meas1(meas1, meas2), false); + EXPECT_EQ(meas2(meas2, meas1), false); + + meas1.time_ = 100; + meas2.time_ = 200; + + EXPECT_EQ(meas1(meas1, meas2), false); + EXPECT_EQ(meas1(meas2, meas1), true); + EXPECT_EQ(meas2(meas1, meas2), false); + EXPECT_EQ(meas2(meas2, meas1), true); +} + +TEST(FilterBaseTest, DerivedFilterGetSet) +{ + using RobotLocalization::FilterDerived; + + FilterDerived derived; + + // With the ostream argument as NULL, + // the debug flag will remain false. + derived.setDebug(true); + + EXPECT_FALSE(derived.getDebug()); + + // Now set the stream and do it again + std::stringstream os; + derived.setDebug(true, &os); + + EXPECT_TRUE(derived.getDebug()); + + // Simple get/set checks + double timeout = 7.4; + derived.setSensorTimeout(timeout); + EXPECT_EQ(derived.getSensorTimeout(), timeout); + + double lastMeasTime = 3.83; + derived.setLastMeasurementTime(lastMeasTime); + EXPECT_EQ(derived.getLastMeasurementTime(), lastMeasTime); + + Eigen::MatrixXd pnCovar(STATE_SIZE, STATE_SIZE); + for (size_t i = 0; i < STATE_SIZE; ++i) + { + for (size_t j = 0; j < STATE_SIZE; ++j) + { + pnCovar(i, j) = static_cast(i * j); + } + } + derived.setProcessNoiseCovariance(pnCovar); + EXPECT_EQ(derived.getProcessNoiseCovariance(), pnCovar); + + Eigen::VectorXd state(STATE_SIZE); + state.setZero(); + derived.setState(state); + EXPECT_EQ(derived.getState(), state); + + EXPECT_EQ(derived.getInitializedStatus(), false); +} + +TEST(FilterBaseTest, MeasurementProcessing) +{ + using RobotLocalization::FilterDerived2; + + FilterDerived2 derived; + + Measurement meas; + + Eigen::VectorXd measurement(STATE_SIZE); + for (size_t i = 0; i < STATE_SIZE; ++i) + { + measurement[i] = 0.1 * static_cast(i); + } + + Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); + for (size_t i = 0; i < STATE_SIZE; ++i) + { + for (size_t j = 0; j < STATE_SIZE; ++j) + { + measurementCovariance(i, j) = 0.1 * static_cast(i * j); + } + } + + meas.topicName_ = "odomTest"; + meas.measurement_ = measurement; + meas.covariance_ = measurementCovariance; + meas.updateVector_.resize(STATE_SIZE, true); + meas.time_ = 1000; + + // The filter shouldn't be initializedyet + EXPECT_FALSE(derived.getInitializedStatus()); + + derived.processMeasurement(meas); + + // Now it's initialized, and the entire filter state + // should be equal to the first state + EXPECT_TRUE(derived.getInitializedStatus()); + EXPECT_EQ(derived.getState(), measurement); + + // Process a measurement and make sure it updates the + // lastMeasurementTime variable + meas.time_ = 1002; + derived.processMeasurement(meas); + EXPECT_EQ(derived.getLastMeasurementTime(), meas.time_); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/robot_localization/test/test_filter_base_diagnostics_timestamps.cpp b/navigations/robot_localization/test/test_filter_base_diagnostics_timestamps.cpp new file mode 100755 index 0000000..0fa6fda --- /dev/null +++ b/navigations/robot_localization/test/test_filter_base_diagnostics_timestamps.cpp @@ -0,0 +1,434 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include +#include +#include +#include +#include + +#include "robot_localization/filter_base.h" +#include "robot_localization/filter_common.h" +#include "robot_localization/SetPose.h" + + +#include + +#include + +#include + +namespace RobotLocalization +{ + +/* + Convenience functions to get valid messages. +*/ + +geometry_msgs::PoseWithCovarianceStamped getValidPose() +{ + geometry_msgs::PoseWithCovarianceStamped pose_msg; + pose_msg.header.frame_id = "base_link"; + pose_msg.pose.pose.position.x = 1; + pose_msg.pose.pose.orientation.w = 1; + for (size_t i = 0; i < 6 ; i++) + { + pose_msg.pose.covariance[i*6 + i] = 1; + } + return pose_msg; +} + +geometry_msgs::TwistWithCovarianceStamped getValidTwist() +{ + geometry_msgs::TwistWithCovarianceStamped twist_msg; + twist_msg.header.frame_id = "base_link"; + for (size_t i = 0; i < 6 ; i++) + { + twist_msg.twist.covariance[i*6 + i] = 1; + } + return twist_msg; +} + + +sensor_msgs::Imu getValidImu() +{ + sensor_msgs::Imu imu_msg; + imu_msg.header.frame_id = "base_link"; + imu_msg.orientation.w = 1; + for (size_t i = 0; i < 3 ; i++) + { + imu_msg.orientation_covariance[i * 3 + i] = 1; + imu_msg.angular_velocity_covariance[i * 3 + i] = 1; + imu_msg.linear_acceleration_covariance[i * 3 + i] = 1; + } + return imu_msg; +} + +nav_msgs::Odometry getValidOdometry() +{ + nav_msgs::Odometry odom_msg; + odom_msg.header.frame_id = "odom"; + odom_msg.child_frame_id = "base_link"; + odom_msg.pose = getValidPose().pose; + odom_msg.twist = getValidTwist().twist; + return odom_msg; +} + +/* + Helper class to handle the setup and message publishing for the testcases. + + It provides convenience to send valid messages with a specified timestamp. + + All diagnostic messages are stored into the public diagnostics attribute. +*/ +class DiagnosticsHelper +{ + private: + ros::Publisher odom_pub_; + ros::Publisher pose_pub_; + ros::Publisher twist_pub_; + ros::Publisher imu_pub_; + + geometry_msgs::PoseWithCovarianceStamped pose_msg_; + geometry_msgs::TwistWithCovarianceStamped twist_msg_; + nav_msgs::Odometry odom_msg_; + sensor_msgs::Imu imu_msg_; + + ros::Subscriber diagnostic_sub_; + ros::ServiceClient set_pose_; + + public: + std::vector< diagnostic_msgs::DiagnosticArray > diagnostics; + + DiagnosticsHelper() + { + ros::NodeHandle nh; + ros::NodeHandle nhLocal("~"); + + // ready the valid messages. + pose_msg_ = getValidPose(); + twist_msg_ = getValidTwist(); + odom_msg_ = getValidOdometry(); + imu_msg_ = getValidImu(); + + // subscribe to diagnostics and create publishers for the odometry messages. + odom_pub_ = nh.advertise("example/odom", 10); + pose_pub_ = nh.advertise("example/pose", 10); + twist_pub_ = nh.advertise("example/twist", 10); + imu_pub_ = nh.advertise("example/imu/data", 10); + + diagnostic_sub_ = nh.subscribe("/diagnostics", 10, &DiagnosticsHelper::diagnosticCallback, this); + set_pose_ = nh.serviceClient("/set_pose"); + } + + void diagnosticCallback(const diagnostic_msgs::DiagnosticArrayPtr &msg) + { + diagnostics.push_back(*msg); + } + + void publishMessages(ros::Time t) + { + odom_msg_.header.stamp = t; + odom_msg_.header.seq++; + odom_pub_.publish(odom_msg_); + + pose_msg_.header.stamp = t; + pose_msg_.header.seq++; + pose_pub_.publish(pose_msg_); + + twist_msg_.header.stamp = t; + twist_msg_.header.seq++; + twist_pub_.publish(twist_msg_); + + imu_msg_.header.stamp = t; + imu_msg_.header.seq++; + imu_pub_.publish(imu_msg_); + } + + void setPose(ros::Time t) + { + robot_localization::SetPose pose_; + pose_.request.pose = getValidPose(); + pose_.request.pose.header.stamp = t; + set_pose_.call(pose_); + } +}; + +} // namespace RobotLocalization + +/* + First test; we run for a bit; then send messagse with an empty timestamp. + Then we check if the diagnostics showed a warning. +*/ +TEST(FilterBaseDiagnosticsTest, EmptyTimestamps) +{ + RobotLocalization::DiagnosticsHelper dh_; + + // keep track of which diagnostic messages are detected. + bool received_warning_imu = false; + bool received_warning_odom = false; + bool received_warning_twist = false; + bool received_warning_pose = false; + + // For about a second, send correct messages. + ros::Rate loopRate(10); + for (size_t i = 0; i < 10; ++i) + { + ros::spinOnce(); + dh_.publishMessages(ros::Time::now()); + loopRate.sleep(); + } + + ros::spinOnce(); + + // create an empty timestamp and send all messages with this empty timestamp. + ros::Time empty; + empty.fromSec(0); + + dh_.publishMessages(empty); + + ros::spinOnce(); + + // The filter runs and sends the diagnostics every second. + // Just run this for two seconds to ensure we get all the diagnostic message. + for (size_t i = 0; i < 20; ++i) + { + ros::spinOnce(); + loopRate.sleep(); + } + + /* + Now the diagnostic messages have to be investigated to see whether they contain our warning. + */ + for (size_t i=0; i < dh_.diagnostics.size(); i++) + { + for (size_t status_index=0; status_index < dh_.diagnostics[i].status.size(); status_index++) + { + for (size_t key=0; key < dh_.diagnostics[i].status[status_index].values.size(); key++) + { + diagnostic_msgs::KeyValue kv = dh_.diagnostics[i].status[status_index].values[key]; + // Now the keys can be checked to see whether we found our warning. + + if (kv.key == "imu0_timestamp") + { + received_warning_imu = true; + } + if (kv.key == "odom0_timestamp") + { + received_warning_odom = true; + } + if (kv.key == "twist0_timestamp") + { + received_warning_twist = true; + } + if (kv.key == "pose0_timestamp") + { + received_warning_pose = true; + } + } + } + } + EXPECT_TRUE(received_warning_imu); + EXPECT_TRUE(received_warning_odom); + EXPECT_TRUE(received_warning_twist); + EXPECT_TRUE(received_warning_pose); +} + +TEST(FilterBaseDiagnosticsTest, TimestampsBeforeSetPose) +{ + RobotLocalization::DiagnosticsHelper dh_; + + // keep track of which diagnostic messages are detected. + bool received_warning_imu = false; + bool received_warning_odom = false; + bool received_warning_twist = false; + bool received_warning_pose = false; + + // For about a second, send correct messages. + ros::Rate loopRate(10); + for (size_t i = 0; i < 10; ++i) + { + ros::spinOnce(); + dh_.publishMessages(ros::Time::now()); + loopRate.sleep(); + } + ros::spinOnce(); + + // Set the pose to the current timestamp. + dh_.setPose(ros::Time::now()); + ros::spinOnce(); + + // send messages from one second before that pose reset. + dh_.publishMessages(ros::Time::now() - ros::Duration(1)); + + // The filter runs and sends the diagnostics every second. + // Just run this for two seconds to ensure we get all the diagnostic message. + for (size_t i = 0; i < 20; ++i) + { + ros::spinOnce(); + loopRate.sleep(); + } + + /* + Now the diagnostic messages have to be investigated to see whether they contain our warning. + */ + for (size_t i=0; i < dh_.diagnostics.size(); i++) + { + for (size_t status_index=0; status_index < dh_.diagnostics[i].status.size(); status_index++) + { + for (size_t key=0; key < dh_.diagnostics[i].status[status_index].values.size(); key++) + { + diagnostic_msgs::KeyValue kv = dh_.diagnostics[i].status[status_index].values[key]; + // Now the keys can be checked to see whether we found our warning. + + if (kv.key == "imu0_timestamp") + { + received_warning_imu = true; + } + if (kv.key == "odom0_timestamp") + { + received_warning_odom = true; + } + if (kv.key == "twist0_timestamp") + { + received_warning_twist = true; + } + if (kv.key == "pose0_timestamp") + { + received_warning_pose = true; + } + } + } + } + EXPECT_TRUE(received_warning_imu); + EXPECT_TRUE(received_warning_odom); + EXPECT_TRUE(received_warning_twist); + EXPECT_TRUE(received_warning_pose); +} + +TEST(FilterBaseDiagnosticsTest, TimestampsBeforePrevious) +{ + RobotLocalization::DiagnosticsHelper dh_; + + // keep track of which diagnostic messages are detected. + // we have more things to check here because the messages get split over + // various callbacks if they pass the check if they predate the set_pose time. + bool received_warning_imu_accel = false; + bool received_warning_imu_pose = false; + bool received_warning_imu_twist = false; + bool received_warning_odom_twist = false; + bool received_warning_twist = false; + bool received_warning_pose = false; + + // For two seconds send correct messages. + ros::Rate loopRate(10); + for (size_t i = 0; i < 20; ++i) + { + ros::spinOnce(); + dh_.publishMessages(ros::Time::now()); + loopRate.sleep(); + } + ros::spinOnce(); + + // Send message that is one second in the past. + dh_.publishMessages(ros::Time::now() - ros::Duration(1)); + + // The filter runs and sends the diagnostics every second. + // Just run this for two seconds to ensure we get all the diagnostic message. + for (size_t i = 0; i < 20; ++i) + { + ros::spinOnce(); + loopRate.sleep(); + } + + /* + Now the diagnostic messages have to be investigated to see whether they contain our warning. + */ + for (size_t i=0; i < dh_.diagnostics.size(); i++) + { + for (size_t status_index=0; status_index < dh_.diagnostics[i].status.size(); status_index++) + { + for (size_t key=0; key < dh_.diagnostics[i].status[status_index].values.size(); key++) + { + diagnostic_msgs::KeyValue kv = dh_.diagnostics[i].status[status_index].values[key]; + // Now the keys can be checked to see whether we found our warning. + + if (kv.key == "imu0_acceleration_timestamp") + { + received_warning_imu_accel = true; + } + if (kv.key == "imu0_pose_timestamp") + { + received_warning_imu_pose = true; + } + if (kv.key == "imu0_twist_timestamp") + { + received_warning_imu_twist = true; + } + + if (kv.key == "odom0_twist_timestamp") + { + received_warning_twist = true; + } + + if (kv.key == "pose0_timestamp") + { + received_warning_pose = true; + } + if (kv.key == "twist0_timestamp") + { + received_warning_odom_twist = true; + } + } + } + } + + EXPECT_TRUE(received_warning_imu_accel); + EXPECT_TRUE(received_warning_imu_pose); + EXPECT_TRUE(received_warning_imu_twist); + EXPECT_TRUE(received_warning_odom_twist); + EXPECT_TRUE(received_warning_pose); + EXPECT_TRUE(received_warning_twist); +} + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "filter_base_diagnostics_timestamps-test-interfaces"); + ros::Time::init(); + + // Give ekf_localization_node time to initialize + ros::Duration(2.0).sleep(); + + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/robot_localization/test/test_filter_base_diagnostics_timestamps.test b/navigations/robot_localization/test/test_filter_base_diagnostics_timestamps.test new file mode 100755 index 0000000..40cf75b --- /dev/null +++ b/navigations/robot_localization/test/test_filter_base_diagnostics_timestamps.test @@ -0,0 +1,44 @@ + + + + + + + + + + + + [false, false, false, + false, false, false, + true, false, false, + false, false, false, + false, false, false] + + [true, true, false, + false, false, false, + false, false, false, + false, false, false, + false, false, false] + + [false, false, false, + false, false, false, + true, true, true, + true, true, true, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + true, true, true, + true, true, true] + + + + + + + + diff --git a/navigations/robot_localization/test/test_localization_node_bag_pose_tester.cpp b/navigations/robot_localization/test/test_localization_node_bag_pose_tester.cpp new file mode 100755 index 0000000..a38fa58 --- /dev/null +++ b/navigations/robot_localization/test/test_localization_node_bag_pose_tester.cpp @@ -0,0 +1,111 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include +#include + +#include + +#include +#include +#include + +nav_msgs::Odometry filtered_; + +void filterCallback(const nav_msgs::OdometryConstPtr &msg) +{ + filtered_ = *msg; +} + +TEST(BagTest, PoseCheck) +{ + ros::NodeHandle nh; + ros::NodeHandle nhLocal("~"); + + double finalX = 0; + double finalY = 0; + double finalZ = 0; + double tolerance = 0; + bool outputFinalPosition = false; + std::string finalPositionFile; + + nhLocal.getParam("final_x", finalX); + nhLocal.getParam("final_y", finalY); + nhLocal.getParam("final_z", finalZ); + nhLocal.getParam("tolerance", tolerance); + nhLocal.param("output_final_position", outputFinalPosition, false); + nhLocal.param("output_location", finalPositionFile, std::string("test.txt")); + + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + while (ros::ok()) + { + ros::spinOnce(); + ros::Duration(0.0333333).sleep(); + } + + if (outputFinalPosition) + { + try + { + std::ofstream posOut; + posOut.open(finalPositionFile.c_str(), std::ofstream::app); + posOut << filtered_.pose.pose.position.x << " " << filtered_.pose.pose.position.y << " " << + filtered_.pose.pose.position.z << std::endl; + posOut.close(); + } + catch(...) + { + ROS_ERROR_STREAM("Unable to open output file.\n"); + } + } + + double xDiff = filtered_.pose.pose.position.x - finalX; + double yDiff = filtered_.pose.pose.position.y - finalY; + double zDiff = filtered_.pose.pose.position.z - finalZ; + + EXPECT_LT(::sqrt(xDiff*xDiff + yDiff*yDiff + zDiff*zDiff), tolerance); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + + ros::init(argc, argv, "localization_node-bag-pose-tester"); + ros::Time::init(); + + // Give ekf_localization_node time to initialize + ros::Duration(2.0).sleep(); + + return RUN_ALL_TESTS(); +} + diff --git a/navigations/robot_localization/test/test_navsat_conversions.cpp b/navigations/robot_localization/test/test_navsat_conversions.cpp new file mode 100755 index 0000000..15f85ab --- /dev/null +++ b/navigations/robot_localization/test/test_navsat_conversions.cpp @@ -0,0 +1,69 @@ +/* + * Copyright (c) 2021, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/navsat_conversions.h" + +#include + +#include + +void NavsatConversionsTest(const double lat, const double lon, + const double UTMNorthing, const double UTMEasting, + const std::string UTMZone, const double gamma) +{ + double UTMNorthing_new; + double UTMEasting_new; + std::string UTMZone_new; + double gamma_new; + RobotLocalization::NavsatConversions::LLtoUTM(lat, lon, UTMNorthing_new, UTMEasting_new, UTMZone_new, gamma_new); + EXPECT_NEAR(UTMNorthing, UTMNorthing_new, 1e-2); + EXPECT_NEAR(UTMEasting, UTMEasting_new, 1e-2); + EXPECT_EQ(UTMZone, UTMZone_new); + EXPECT_NEAR(gamma, gamma_new, 1e-2); + double lat_new; + double lon_new; + RobotLocalization::NavsatConversions::UTMtoLL(UTMNorthing, UTMEasting, UTMZone, lat_new, lon_new); + EXPECT_NEAR(lat_new, lat, 1e-5); + EXPECT_NEAR(lon_new, lon, 1e-5); +} + +TEST(NavsatConversionsTest, UtmTest) +{ + NavsatConversionsTest(51.423964, 5.494271, 5699924.709, 673409.989, "31U", 1.950); + NavsatConversionsTest(-43.530955, 172.636645, 5178919.718, 632246.802, "59G", -1.127); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/robot_localization/test/test_navsat_transform.cpp b/navigations/robot_localization/test/test_navsat_transform.cpp new file mode 100755 index 0000000..72db4e5 --- /dev/null +++ b/navigations/robot_localization/test/test_navsat_transform.cpp @@ -0,0 +1,91 @@ +/* + * Copyright (c) 2021, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/navsat_transform.h" +#include +#include +#include + +#include + +#include + +TEST(NavSatTransformUTMJumpTest, UtmTest) +{ + ros::NodeHandle nh; + ros::ServiceClient set_datum_client = nh.serviceClient("/datum"); + ros::ServiceClient from_ll_client = nh.serviceClient("/fromLL"); + + EXPECT_TRUE(set_datum_client.waitForExistence(ros::Duration(5))); + + // Initialise the navsat_transform node to a UTM zone + robot_localization::SetDatum set_datum_srv; + set_datum_srv.request.geo_pose.position.latitude = 1; + set_datum_srv.request.geo_pose.position.longitude = 4; + set_datum_srv.request.geo_pose.orientation.w = 1; + EXPECT_TRUE(set_datum_client.call(set_datum_srv)); + + // Let the node figure out its transforms + ros::Duration(0.2).sleep(); + + // Request the GPS point of said point: + robot_localization::FromLL from_ll_srv; + from_ll_srv.request.ll_point.latitude = 10; + from_ll_srv.request.ll_point.longitude = 4.5; + EXPECT_TRUE(from_ll_client.call(from_ll_srv)); + auto initial_response = from_ll_srv.response; + + // Request GPS point also in that zone + from_ll_srv.request.ll_point.longitude = 5.5; + EXPECT_TRUE(from_ll_client.call(from_ll_srv)); + auto same_zone_response = from_ll_srv.response; + + // 1° of longitude is about 111 kilometers in length + EXPECT_NEAR(initial_response.map_point.x, same_zone_response.map_point.x, 120e3); + EXPECT_NEAR(initial_response.map_point.y, same_zone_response.map_point.y, 120e3); + + // Request GPS point from neighboring zone (zone crossing is at 6 degrees) + from_ll_srv.request.ll_point.longitude = 6.5; + from_ll_client.call(from_ll_srv); + auto neighbour_zone_response = from_ll_srv.response; + + EXPECT_NEAR(initial_response.map_point.x, neighbour_zone_response.map_point.x, 2*120e3); + EXPECT_NEAR(initial_response.map_point.y, neighbour_zone_response.map_point.y, 2*120e3); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "test_navsat_transform"); + + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/robot_localization/test/test_navsat_transform.test b/navigations/robot_localization/test/test_navsat_transform.test new file mode 100755 index 0000000..d8873b2 --- /dev/null +++ b/navigations/robot_localization/test/test_navsat_transform.test @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/navigations/robot_localization/test/test_robot_localization_estimator.cpp b/navigations/robot_localization/test/test_robot_localization_estimator.cpp new file mode 100755 index 0000000..757423e --- /dev/null +++ b/navigations/robot_localization/test/test_robot_localization_estimator.cpp @@ -0,0 +1,169 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/robot_localization_estimator.h" + +#include +#include + +#include + +TEST(RLETest, StateBuffer) +{ + // Generate a few estimator states + std::vector states; + + for ( int i = 0; i < 10; i++ ) + { + /* + * t = i s; + * x = i m; + * vx = 1.0 m/s; + */ + RobotLocalization::EstimatorState state; + state.time_stamp = i; + state.state(RobotLocalization::StateMemberX) = i; + state.state(RobotLocalization::StateMemberY) = 0; + state.state(RobotLocalization::StateMemberZ) = 0; + + state.state(RobotLocalization::StateMemberRoll) = 0; + state.state(RobotLocalization::StateMemberPitch) = 0; + state.state(RobotLocalization::StateMemberYaw) = 0; + + state.state(RobotLocalization::StateMemberVx) = 1; + state.state(RobotLocalization::StateMemberVy) = 0; + state.state(RobotLocalization::StateMemberVz) = 0; + + state.state(RobotLocalization::StateMemberVroll) = 0; + state.state(RobotLocalization::StateMemberVpitch) = 0; + state.state(RobotLocalization::StateMemberVyaw) = 0; + + state.state(RobotLocalization::StateMemberAx) = 0; + state.state(RobotLocalization::StateMemberAy) = 0; + state.state(RobotLocalization::StateMemberAz) = 0; + states.push_back(state); + } + + // Instantiate a robot localization estimator with a buffer capacity of 5 + int buffer_capacity = 5; + Eigen::MatrixXd process_noise_covariance = Eigen::MatrixXd::Identity(RobotLocalization::STATE_SIZE, + RobotLocalization::STATE_SIZE); + RobotLocalization::RobotLocalizationEstimator estimator(buffer_capacity, RobotLocalization::FilterTypes::EKF, + process_noise_covariance); + + RobotLocalization::EstimatorState state; + + // Add the states in chronological order + for ( int i = 0; i < 6; i++ ) + { + estimator.setState(states[i]); + + // Check that the state is added correctly + estimator.getState(states[i].time_stamp, state); + EXPECT_EQ(state.time_stamp, states[i].time_stamp); + } + + // We filled the buffer with more states that it can hold, so its size should now be equal to the capacity + EXPECT_EQ(static_cast(estimator.getSize()), buffer_capacity); + + // Clear the buffer and check if it's really empty afterwards + estimator.clearBuffer(); + EXPECT_EQ(estimator.getSize(), 0u); + + // Add states at time 1 through 3 inclusive to the buffer (buffer is not yet full) + for ( int i = 1; i < 4; i++ ) + { + estimator.setState(states[i]); + } + + // Now add a state at time 0, but let's change it a bit (set StateMemberY=12) so that we can inspect if it is + // correctly added to the buffer. + RobotLocalization::EstimatorState state_2 = states[0]; + state_2.state(RobotLocalization::StateMemberY) = 12; + estimator.setState(state_2); + EXPECT_EQ(RobotLocalization::EstimatorResults::Exact, + estimator.getState(states[0].time_stamp, state)); + + // Check if the state is correctly added + EXPECT_EQ(state.state, state_2.state); + + // Add some more states. State at t=0 should now be dropped, so we should get the prediction, which means y=0 + for ( int i = 5; i < 8; i++ ) + { + estimator.setState(states[i]); + } + EXPECT_EQ(RobotLocalization::EstimatorResults::ExtrapolationIntoPast, + estimator.getState(states[0].time_stamp, state)); + EXPECT_EQ(states[0].state, state.state); + + // Estimate a state that is not in the buffer, but can be determined by interpolation. The predicted state vector + // should be equal to the designed state at the requested time. + EXPECT_EQ(RobotLocalization::EstimatorResults::Interpolation, + estimator.getState(states[4].time_stamp, state)); + EXPECT_EQ(states[4].state, state.state); + + // Estimate a state that is not in the buffer, but can be determined by extrapolation into the future. The predicted + // state vector should be equal to the designed state at the requested time. + EXPECT_EQ(RobotLocalization::EstimatorResults::ExtrapolationIntoFuture, + estimator.getState(states[8].time_stamp, state)); + EXPECT_EQ(states[8].state, state.state); + + // Add missing state somewhere in the middle + estimator.setState(states[4]); + + // Overwrite state at t=3 (oldest state now in the buffer) and check if it's correctly overwritten. + state_2 = states[3]; + state_2.state(RobotLocalization::StateMemberVy) = -1.0; + estimator.setState(state_2); + EXPECT_EQ(RobotLocalization::EstimatorResults::Exact, + estimator.getState(states[3].time_stamp, state)); + EXPECT_EQ(state_2.state, state.state); + + // Add state that came too late + estimator.setState(states[0]); + + // Check if getState needed to do extrapolation into the past + EXPECT_EQ(estimator.getState(states[0].time_stamp, state), + RobotLocalization::EstimatorResults::ExtrapolationIntoPast); + + // Check state at t=0. This can only work correctly if the state at t=3 is + // overwritten and the state at zero is not in the buffer. + EXPECT_DOUBLE_EQ(3.0, state.state(RobotLocalization::StateMemberY)); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "test_robot_localization_estimator"); + + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/robot_localization/test/test_robot_localization_estimator.test b/navigations/robot_localization/test/test_robot_localization_estimator.test new file mode 100755 index 0000000..ebd8db5 --- /dev/null +++ b/navigations/robot_localization/test/test_robot_localization_estimator.test @@ -0,0 +1,7 @@ + + + + + + + diff --git a/navigations/robot_localization/test/test_ros_robot_localization_listener.cpp b/navigations/robot_localization/test/test_ros_robot_localization_listener.cpp new file mode 100755 index 0000000..00cfc88 --- /dev/null +++ b/navigations/robot_localization/test/test_ros_robot_localization_listener.cpp @@ -0,0 +1,132 @@ +/* + * Copyright (c) 2016, TNO IVS, Helmond + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_robot_localization_listener.h" +#include "robot_localization/filter_common.h" + +#include + +#include +#include + +#include + +RobotLocalization::RosRobotLocalizationListener* g_listener; + +TEST(LocalizationListenerTest, testGetStateOfBaseLink) +{ + ros::spinOnce(); + + ros::Time time2(1001); + + Eigen::VectorXd state(RobotLocalization::STATE_SIZE); + Eigen::MatrixXd covariance(RobotLocalization::STATE_SIZE, RobotLocalization::STATE_SIZE); + + std::string base_frame("base_link"); + g_listener->getState(time2, base_frame, state, covariance); + + EXPECT_DOUBLE_EQ(1.0, state(RobotLocalization::StateMemberX)); + EXPECT_DOUBLE_EQ(0.0, state(RobotLocalization::StateMemberY)); + EXPECT_DOUBLE_EQ(0.0, state(RobotLocalization::StateMemberZ)); + + EXPECT_FLOAT_EQ(M_PI/4, state(RobotLocalization::StateMemberRoll)); + EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberPitch)); + EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberYaw)); + + EXPECT_DOUBLE_EQ(M_PI/4.0, state(RobotLocalization::StateMemberVroll)); + EXPECT_DOUBLE_EQ(0.0, state(RobotLocalization::StateMemberVpitch)); + EXPECT_DOUBLE_EQ(0.0, state(RobotLocalization::StateMemberVyaw)); +} + +TEST(LocalizationListenerTest, GetStateOfRelatedFrame) +{ + ros::spinOnce(); + + Eigen::VectorXd state(RobotLocalization::STATE_SIZE); + Eigen::MatrixXd covariance(RobotLocalization::STATE_SIZE, RobotLocalization::STATE_SIZE); + + ros::Time time1(1000); + ros::Time time2(1001); + + std::string sensor_frame("sensor"); + + EXPECT_TRUE(g_listener->getState(time1, sensor_frame, state, covariance) ); + + EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberX)); + EXPECT_FLOAT_EQ(1.0, state(RobotLocalization::StateMemberY)); + EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberZ)); + + EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberRoll)); + EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberPitch)); + EXPECT_FLOAT_EQ(M_PI/2, state(RobotLocalization::StateMemberYaw)); + + EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberVx)); + EXPECT_FLOAT_EQ(-1.0, state(RobotLocalization::StateMemberVy)); + EXPECT_FLOAT_EQ(M_PI/4.0, state(RobotLocalization::StateMemberVz)); + + EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberVroll)); + EXPECT_FLOAT_EQ(-M_PI/4.0, state(RobotLocalization::StateMemberVpitch)); + EXPECT_FLOAT_EQ(0.0, state(RobotLocalization::StateMemberVyaw)); + + EXPECT_TRUE(g_listener->getState(time2, sensor_frame, state, covariance)); + + EXPECT_FLOAT_EQ(1.0, state(RobotLocalization::StateMemberX)); + EXPECT_FLOAT_EQ(sqrt(2)/2.0, state(RobotLocalization::StateMemberY)); + EXPECT_FLOAT_EQ(sqrt(2)/2.0, state(RobotLocalization::StateMemberZ)); + + EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberRoll)); + EXPECT_TRUE(1e-12 > fabs(-M_PI/4.0 - state(RobotLocalization::StateMemberPitch))); + EXPECT_FLOAT_EQ(M_PI/2, state(RobotLocalization::StateMemberYaw)); + + EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberVx)); + EXPECT_FLOAT_EQ(-1.0, state(RobotLocalization::StateMemberVy)); + EXPECT_FLOAT_EQ(M_PI/4, state(RobotLocalization::StateMemberVz)); + + EXPECT_TRUE(1e-12 > state(RobotLocalization::StateMemberVroll)); + EXPECT_FLOAT_EQ(-M_PI/4.0, state(RobotLocalization::StateMemberVpitch)); + EXPECT_FLOAT_EQ(0, state(RobotLocalization::StateMemberVyaw)); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "test_robot_localization_estimator"); + + g_listener = new RobotLocalization::RosRobotLocalizationListener(); + + testing::InitGoogleTest(&argc, argv); + + int res = RUN_ALL_TESTS(); + + delete g_listener; + + return res; +} diff --git a/navigations/robot_localization/test/test_ros_robot_localization_listener.test b/navigations/robot_localization/test/test_ros_robot_localization_listener.test new file mode 100755 index 0000000..e706abd --- /dev/null +++ b/navigations/robot_localization/test/test_ros_robot_localization_listener.test @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] + [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] + [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] + + [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] + [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] + + [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] + + [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] + [false, false, false, false, false, false, false, false, false, true, true, true, false, false, false] + [false, false, false, false, false, false, false, false, false, false, false, false, true, true, true] + [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] + + + + + + + + + + + [0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] + + + + + + + diff --git a/navigations/robot_localization/test/test_ros_robot_localization_listener_publisher.cpp b/navigations/robot_localization/test/test_ros_robot_localization_listener_publisher.cpp new file mode 100755 index 0000000..5dbff22 --- /dev/null +++ b/navigations/robot_localization/test/test_ros_robot_localization_listener_publisher.cpp @@ -0,0 +1,117 @@ +/* + * Copyright (c) 2016, TNO IVS, Helmond + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include +#include +#include + +#include +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "test_robot_localization_listener_publisher"); + + ros::NodeHandle nh; + ros::Publisher odom_pub = nh.advertise("odometry/filtered", 1); + ros::Publisher accel_pub = nh.advertise("accel/filtered", 1); + tf2_ros::StaticTransformBroadcaster transform_broadcaster; + + ros::Time end_time = ros::Time::now() + ros::Duration(10); + while (ros::ok() && ros::Time::now() < end_time) + { + ros::Time time1(1000); + double x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az; + x = y = z = roll = pitch = yaw = vy = vz = vroll = vpitch = vyaw = ax = ay = az = 0.0; + vx = 1.0; + vroll = M_PI/4.0; + + tf2::Quaternion q; + q.setRPY(0, 0, 0); + + nav_msgs::Odometry odom_msg; + odom_msg.header.stamp = time1; + odom_msg.header.frame_id = "map"; + odom_msg.child_frame_id = "base_link"; + odom_msg.pose.pose.position.x = x; + odom_msg.pose.pose.position.y = y; + odom_msg.pose.pose.position.y = z; + odom_msg.pose.pose.orientation.x = q.x(); + odom_msg.pose.pose.orientation.y = q.y(); + odom_msg.pose.pose.orientation.z = q.z(); + odom_msg.pose.pose.orientation.w = q.w(); + + odom_msg.twist.twist.linear.x = vx; + odom_msg.twist.twist.linear.y = vy; + odom_msg.twist.twist.linear.z = vz; + odom_msg.twist.twist.angular.x = vroll; + odom_msg.twist.twist.angular.y = vpitch; + odom_msg.twist.twist.angular.z = vyaw; + + geometry_msgs::AccelWithCovarianceStamped accel_msg; + accel_msg.header.stamp = time1; + accel_msg.header.frame_id = "base_link"; + accel_msg.accel.accel.linear.x = ax; + accel_msg.accel.accel.linear.y = ay; + accel_msg.accel.accel.linear.z = az; + accel_msg.accel.accel.angular.x = 0; + accel_msg.accel.accel.angular.y = 0; + accel_msg.accel.accel.angular.z = 0; + + odom_pub.publish(odom_msg); + accel_pub.publish(accel_msg); + + geometry_msgs::TransformStamped transformStamped; + + transformStamped.header.stamp = ros::Time::now(); + transformStamped.header.frame_id = "base_link"; + transformStamped.child_frame_id = "sensor"; + transformStamped.transform.translation.x = 0.0; + transformStamped.transform.translation.y = 1.0; + transformStamped.transform.translation.z = 0.0; + { + tf2::Quaternion q; + q.setRPY(0, 0, M_PI/2); + transformStamped.transform.rotation.x = q.x(); + transformStamped.transform.rotation.y = q.y(); + transformStamped.transform.rotation.z = q.z(); + transformStamped.transform.rotation.w = q.w(); + + transform_broadcaster.sendTransform(transformStamped); + } + + ros::Duration(0.1).sleep(); + } + + return 0; +} diff --git a/navigations/robot_localization/test/test_ukf.cpp b/navigations/robot_localization/test/test_ukf.cpp new file mode 100755 index 0000000..4348863 --- /dev/null +++ b/navigations/robot_localization/test/test_ukf.cpp @@ -0,0 +1,141 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/ros_filter_types.h" + +#include + +#include +#include + +using RobotLocalization::Ukf; +using RobotLocalization::RosUkf; +using RobotLocalization::STATE_SIZE; + +class RosUkfPassThrough : public RosUkf +{ + public: + explicit RosUkfPassThrough(std::vector &args) : RosUkf(ros::NodeHandle(), ros::NodeHandle("~"), args) + { + } + + Ukf &getFilter() + { + return filter_; + } +}; + +TEST(UkfTest, Measurements) +{ + std::vector args; + args.push_back(0.001); + args.push_back(0); + args.push_back(2); + + RosUkfPassThrough ukf(args); + + Eigen::MatrixXd initialCovar(15, 15); + initialCovar.setIdentity(); + initialCovar *= 0.5; + ukf.getFilter().setEstimateErrorCovariance(initialCovar); + + EXPECT_EQ(ukf.getFilter().getEstimateErrorCovariance(), initialCovar); + + Eigen::VectorXd measurement(STATE_SIZE); + for (size_t i = 0; i < STATE_SIZE; ++i) + { + measurement[i] = i * 0.01 * STATE_SIZE; + } + + Eigen::MatrixXd measurementCovariance(STATE_SIZE, STATE_SIZE); + measurementCovariance.setIdentity(); + for (size_t i = 0; i < STATE_SIZE; ++i) + { + measurementCovariance(i, i) = 1e-9; + } + + std::vector updateVector(STATE_SIZE, true); + + // Ensure that measurements are being placed in the queue correctly + ros::Time time; + time.fromSec(1000); + ukf.enqueueMeasurement("odom0", + measurement, + measurementCovariance, + updateVector, + std::numeric_limits::max(), + time); + + ukf.integrateMeasurements(ros::Time(1001)); + + EXPECT_EQ(ukf.getFilter().getState(), measurement); + EXPECT_EQ(ukf.getFilter().getEstimateErrorCovariance(), measurementCovariance); + + ukf.getFilter().setEstimateErrorCovariance(initialCovar); + + // Now fuse another measurement and check the output. + // We know what the filter's state should be when + // this is complete, so we'll check the difference and + // make sure it's suitably small. + Eigen::VectorXd measurement2 = measurement; + + measurement2 *= 2.0; + + for (size_t i = 0; i < STATE_SIZE; ++i) + { + measurementCovariance(i, i) = 1e-9; + } + + time.fromSec(1002); + ukf.enqueueMeasurement("odom0", + measurement2, + measurementCovariance, + updateVector, + std::numeric_limits::max(), + time); + + ukf.integrateMeasurements(ros::Time(1003)); + + measurement = measurement2.eval() - ukf.getFilter().getState(); + for (size_t i = 0; i < STATE_SIZE; ++i) + { + EXPECT_LT(::fabs(measurement[i]), 0.001); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "ukf"); + + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/robot_localization/test/test_ukf.test b/navigations/robot_localization/test/test_ukf.test new file mode 100755 index 0000000..211480a --- /dev/null +++ b/navigations/robot_localization/test/test_ukf.test @@ -0,0 +1,7 @@ + + + + + + + diff --git a/navigations/robot_localization/test/test_ukf_localization_node_bag1.test b/navigations/robot_localization/test/test_ukf_localization_node_bag1.test new file mode 100755 index 0000000..1592c65 --- /dev/null +++ b/navigations/robot_localization/test/test_ukf_localization_node_bag1.test @@ -0,0 +1,110 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [false, false, false, + false, false, false, + true, true, true, + false, false, false, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + true, true, false, + true, true, true] + + + + + + + + + + + + + + + + + + [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] + + [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + + + + + + + + + + + + + + + + + diff --git a/navigations/robot_localization/test/test_ukf_localization_node_bag2.test b/navigations/robot_localization/test/test_ukf_localization_node_bag2.test new file mode 100755 index 0000000..5fbbe16 --- /dev/null +++ b/navigations/robot_localization/test/test_ukf_localization_node_bag2.test @@ -0,0 +1,91 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + [false, false, false, + false, false, false, + true, true, true, + false, false, true, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + true, true, true, + true, true, true] + + + + + + + [0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.05, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.002, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.002, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.004, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01] + + [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + + + + + + + + + + + + + + + + + diff --git a/navigations/robot_localization/test/test_ukf_localization_node_bag3.test b/navigations/robot_localization/test/test_ukf_localization_node_bag3.test new file mode 100755 index 0000000..d2c0e6a --- /dev/null +++ b/navigations/robot_localization/test/test_ukf_localization_node_bag3.test @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + [false, false, true, + false, false, false, + true, true, false, + false, false, true, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + true, true, true, + false, false, false] + + + + + + + + + + + + + + + [0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.4, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.03, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] + + + + + + + + + + + + + diff --git a/navigations/robot_localization/test/test_ukf_localization_node_interfaces.cpp b/navigations/robot_localization/test/test_ukf_localization_node_interfaces.cpp new file mode 100755 index 0000000..153acb0 --- /dev/null +++ b/navigations/robot_localization/test/test_ukf_localization_node_interfaces.cpp @@ -0,0 +1,1079 @@ +/* + * Copyright (c) 2014, 2015, 2016, Charles River Analytics, 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: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. 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. + * 3. Neither the name of the copyright holder 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 HOLDER 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. + */ + +#include "robot_localization/SetPose.h" + +#include +#include +#include +#include +#include + +#include +#include + +#include + +#include + +nav_msgs::Odometry filtered_; + +bool stateUpdated_; + +void resetFilter() +{ + ros::NodeHandle nh; + ros::ServiceClient client = nh.serviceClient("/set_pose"); + + robot_localization::SetPose setPose; + setPose.request.pose.pose.pose.orientation.w = 1; + setPose.request.pose.header.frame_id = "odom"; + for (size_t ind = 0; ind < 36; ind+=7) + { + setPose.request.pose.pose.covariance[ind] = 1e-6; + } + + setPose.request.pose.header.stamp = ros::Time::now(); + client.call(setPose); + setPose.request.pose.header.seq++; + ros::spinOnce(); + ros::Duration(0.01).sleep(); + stateUpdated_ = false; + + double deltaX = 0.0; + double deltaY = 0.0; + double deltaZ = 0.0; + + while (!stateUpdated_ || ::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ) > 0.1) + { + ros::spinOnce(); + ros::Duration(0.01).sleep(); + + deltaX = filtered_.pose.pose.position.x - setPose.request.pose.pose.pose.position.x; + deltaY = filtered_.pose.pose.position.y - setPose.request.pose.pose.pose.position.y; + deltaZ = filtered_.pose.pose.position.z - setPose.request.pose.pose.pose.position.z; + } + + EXPECT_LT(::sqrt(deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ), 0.1); +} + +void filterCallback(const nav_msgs::OdometryConstPtr &msg) +{ + filtered_ = *msg; + stateUpdated_ = true; +} + +TEST(InterfacesTest, OdomPoseBasicIO) +{ + stateUpdated_ = false; + + ros::NodeHandle nh; + ros::Publisher odomPub = nh.advertise("/odom_input0", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + nav_msgs::Odometry odom; + odom.pose.pose.position.x = 20.0; + odom.pose.pose.position.y = 10.0; + odom.pose.pose.position.z = -40.0; + + odom.pose.covariance[0] = 2.0; + odom.pose.covariance[7] = 2.0; + odom.pose.covariance[14] = 2.0; + + odom.header.frame_id = "odom"; + odom.child_frame_id = "base_link"; + + ros::Rate loopRate(50); + for (size_t i = 0; i < 50; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + + // Now check the values from the callback + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - odom.pose.pose.position.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); // Configuration for this variable for this sensor is false + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - odom.pose.pose.position.z), 0.01); + + EXPECT_LT(filtered_.pose.covariance[0], 0.5); + EXPECT_LT(filtered_.pose.covariance[7], 0.25); // Configuration for this variable for this sensor is false + EXPECT_LT(filtered_.pose.covariance[14], 0.6); + + resetFilter(); +} + +TEST(InterfacesTest, OdomTwistBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher odomPub = nh.advertise("/odom_input2", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + nav_msgs::Odometry odom; + odom.twist.twist.linear.x = 5.0; + odom.twist.twist.linear.y = 0.0; + odom.twist.twist.linear.z = 0.0; + odom.twist.twist.angular.x = 0.0; + odom.twist.twist.angular.y = 0.0; + odom.twist.twist.angular.z = 0.0; + + for (size_t ind = 0; ind < 36; ind+=7) + { + odom.twist.covariance[ind] = 1e-6; + } + + odom.header.frame_id = "odom"; + odom.child_frame_id = "base_link"; + + ros::Rate loopRate(20); + for (size_t i = 0; i < 400; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 100.0), 2.0); + + resetFilter(); + + odom.twist.twist.linear.x = 0.0; + odom.twist.twist.linear.y = 5.0; + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 200; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.y - odom.twist.twist.linear.y), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 50.0), 1.0); + + resetFilter(); + + odom.twist.twist.linear.y = 0.0; + odom.twist.twist.linear.z = 5.0; + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - odom.twist.twist.linear.z), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 25.0), 1.0); + + resetFilter(); + + odom.twist.twist.linear.z = 0.0; + odom.twist.twist.linear.x = 1.0; + odom.twist.twist.angular.z = (M_PI/2) / (100.0 * 0.05); + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.twist.twist.angular.z - odom.twist.twist.angular.z), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - filtered_.pose.pose.position.y), 0.5); + + resetFilter(); + + odom.twist.twist.linear.x = 0.0; + odom.twist.twist.angular.z = 0.0; + odom.twist.twist.angular.x = -(M_PI/2) / (100.0 * 0.05); + + // First, roll the vehicle on its side + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + odom.twist.twist.angular.x = 0.0; + odom.twist.twist.angular.y = (M_PI/2) / (100.0 * 0.05); + + // Now, pitch it down (positive pitch velocity in vehicle frame) + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + odom.twist.twist.angular.y = 0.0; + odom.twist.twist.linear.x = 3.0; + + // We should now be on our side and facing -Y. Move forward in + // the vehicle frame X direction, and make sure Y decreases in + // the world frame. + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - odom.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 15), 1.0); + + resetFilter(); +} + +TEST(InterfacesTest, PoseBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher posePub = nh.advertise("/pose_input0", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + geometry_msgs::PoseWithCovarianceStamped pose; + pose.pose.pose.position.x = 20.0; + pose.pose.pose.position.y = 10.0; + pose.pose.pose.position.z = -40.0; + pose.pose.pose.orientation.x = 0; + pose.pose.pose.orientation.y = 0; + pose.pose.pose.orientation.z = 0; + pose.pose.pose.orientation.w = 1; + + for (size_t ind = 0; ind < 36; ind+=7) + { + pose.pose.covariance[ind] = 1e-6; + } + + pose.header.frame_id = "odom"; + + ros::Rate loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + pose.header.stamp = ros::Time::now(); + posePub.publish(pose); + ros::spinOnce(); + + loopRate.sleep(); + + pose.header.seq++; + } + + // Now check the values from the callback + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - pose.pose.pose.position.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.1); // Configuration for this variable for this sensor is false + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - pose.pose.pose.position.z), 0.1); + + EXPECT_LT(filtered_.pose.covariance[0], 0.5); + EXPECT_LT(filtered_.pose.covariance[7], 0.25); // Configuration for this variable for this sensor is false + EXPECT_LT(filtered_.pose.covariance[14], 0.5); + + resetFilter(); +} + +TEST(InterfacesTest, TwistBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher twistPub = nh.advertise("/twist_input0", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + geometry_msgs::TwistWithCovarianceStamped twist; + twist.twist.twist.linear.x = 5.0; + twist.twist.twist.linear.y = 0; + twist.twist.twist.linear.z = 0; + twist.twist.twist.angular.x = 0; + twist.twist.twist.angular.y = 0; + twist.twist.twist.angular.z = 0; + + for (size_t ind = 0; ind < 36; ind+=7) + { + twist.twist.covariance[ind] = 1e-6; + } + + twist.header.frame_id = "base_link"; + + ros::Rate loopRate = ros::Rate(20); + for (size_t i = 0; i < 400; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 100.0), 2.0); + + resetFilter(); + + twist.twist.twist.linear.x = 0.0; + twist.twist.twist.linear.y = 5.0; + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 200; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.y - twist.twist.twist.linear.y), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 50.0), 1.0); + + resetFilter(); + + twist.twist.twist.linear.y = 0.0; + twist.twist.twist.linear.z = 5.0; + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - twist.twist.twist.linear.z), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 25.0), 1.0); + + resetFilter(); + + twist.twist.twist.linear.z = 0.0; + twist.twist.twist.linear.x = 1.0; + twist.twist.twist.angular.z = (M_PI/2) / (100.0 * 0.05); + + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.twist.twist.angular.z - twist.twist.twist.angular.z), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - filtered_.pose.pose.position.y), 0.5); + + resetFilter(); + + twist.twist.twist.linear.x = 0.0; + twist.twist.twist.angular.z = 0.0; + twist.twist.twist.angular.x = -(M_PI/2) / (100.0 * 0.05); + + // First, roll the vehicle on its side + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + twist.twist.twist.angular.x = 0.0; + twist.twist.twist.angular.y = (M_PI/2) / (100.0 * 0.05); + + // Now, pitch it down (positive pitch velocity in vehicle frame) + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + twist.twist.twist.angular.y = 0.0; + twist.twist.twist.linear.x = 3.0; + + // We should now be on our side and facing -Y. Move forward in + // the vehicle frame X direction, and make sure Y decreases in + // the world frame. + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + twist.header.stamp = ros::Time::now(); + twistPub.publish(twist); + ros::spinOnce(); + + loopRate.sleep(); + + twist.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - twist.twist.twist.linear.x), 0.1); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 15), 1.0); + + resetFilter(); +} + +TEST(InterfacesTest, ImuPoseBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher imuPub = nh.advertise("/imu_input0", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + sensor_msgs::Imu imu; + tf2::Quaternion quat; + quat.setRPY(M_PI/4, -M_PI/4, M_PI/2); + imu.orientation = tf2::toMsg(quat); + + for (size_t ind = 0; ind < 9; ind+=4) + { + imu.orientation_covariance[ind] = 1e-6; + } + + imu.header.frame_id = "base_link"; + + // Make sure the pose reset worked. Test will timeout + // if this fails. + ros::Rate loopRate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + ros::spinOnce(); + + loopRate.sleep(); + + imu.header.seq++; + } + + // Now check the values from the callback + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + tf2::Matrix3x3 mat(quat); + double r, p, y; + mat.getRPY(r, p, y); + EXPECT_LT(::fabs(r - M_PI/4), 0.1); + EXPECT_LT(::fabs(p + M_PI/4), 0.1); + EXPECT_LT(::fabs(y - M_PI/2), 0.1); + + EXPECT_LT(filtered_.pose.covariance[21], 0.5); + EXPECT_LT(filtered_.pose.covariance[28], 0.25); + EXPECT_LT(filtered_.pose.covariance[35], 0.5); + + resetFilter(); + + // Test to see if the orientation data is ignored when we set the + // first covariance value to -1 + sensor_msgs::Imu imuIgnore; + imuIgnore.orientation.x = 0.1; + imuIgnore.orientation.y = 0.2; + imuIgnore.orientation.z = 0.3; + imuIgnore.orientation.w = 0.4; + imuIgnore.orientation_covariance[0] = -1; + + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imuIgnore.header.stamp = ros::Time::now(); + imuPub.publish(imuIgnore); + loopRate.sleep(); + ros::spinOnce(); + + imuIgnore.header.seq++; + } + + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + mat.setRotation(quat); + mat.getRPY(r, p, y); + EXPECT_LT(::fabs(r), 1e-3); + EXPECT_LT(::fabs(p), 1e-3); + EXPECT_LT(::fabs(y), 1e-3); + + resetFilter(); +} + +TEST(InterfacesTest, ImuTwistBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher imuPub = nh.advertise("/imu_input1", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + sensor_msgs::Imu imu; + tf2::Quaternion quat; + imu.angular_velocity.x = (M_PI / 2.0); + + for (size_t ind = 0; ind < 9; ind+=4) + { + imu.angular_velocity_covariance[ind] = 1e-6; + } + + imu.header.frame_id = "base_link"; + + ros::Rate loopRate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + // Now check the values from the callback + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + tf2::Matrix3x3 mat(quat); + double r, p, y; + mat.getRPY(r, p, y); + + // Tolerances may seem loose, but the initial state covariances + // are tiny, so the filter is sluggish to accept velocity data + EXPECT_LT(::fabs(r - M_PI / 2.0), 0.7); + EXPECT_LT(::fabs(p), 0.1); + EXPECT_LT(::fabs(y), 0.1); + + EXPECT_LT(filtered_.twist.covariance[21], 1e-3); + EXPECT_LT(filtered_.pose.covariance[21], 0.1); + + resetFilter(); + + imu.angular_velocity.x = 0.0; + imu.angular_velocity.y = -(M_PI / 2.0); + + // Make sure the pose reset worked. Test will timeout + // if this fails. + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + // Now check the values from the callback + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + + tf2::Quaternion expected_quat(tf2::Vector3(0., 1., 0.), -M_PI/2.0); + + EXPECT_LT(std::abs(tf2Angle(expected_quat.getAxis(), quat.getAxis())), 0.1); + EXPECT_LT(std::abs(expected_quat.getAngle() - quat.getAngle()), 0.7); + + EXPECT_LT(filtered_.twist.covariance[28], 1e-3); + EXPECT_LT(filtered_.pose.covariance[28], 0.1); + + resetFilter(); + + imu.angular_velocity.y = 0; + imu.angular_velocity.z = M_PI / 4.0; + + // Make sure the pose reset worked. Test will timeout + // if this fails. + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + // Now check the values from the callback + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + mat.setRotation(quat); + mat.getRPY(r, p, y); + EXPECT_LT(::fabs(r), 0.1); + EXPECT_LT(::fabs(p), 0.1); + EXPECT_LT(::fabs(y - M_PI / 4.0), 0.7); + + EXPECT_LT(filtered_.twist.covariance[35], 1e-3); + EXPECT_LT(filtered_.pose.covariance[35], 0.1); + + resetFilter(); + + // Test to see if the angular velocity data is ignored when we set the + // first covariance value to -1 + sensor_msgs::Imu imuIgnore; + imuIgnore.angular_velocity.x = 100; + imuIgnore.angular_velocity.y = 100; + imuIgnore.angular_velocity.z = 100; + imuIgnore.angular_velocity_covariance[0] = -1; + + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imuIgnore.header.stamp = ros::Time::now(); + imuPub.publish(imuIgnore); + loopRate.sleep(); + ros::spinOnce(); + + imuIgnore.header.seq++; + } + + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + mat.setRotation(quat); + mat.getRPY(r, p, y); + EXPECT_LT(::fabs(r), 1e-3); + EXPECT_LT(::fabs(p), 1e-3); + EXPECT_LT(::fabs(y), 1e-3); + + resetFilter(); +} + +TEST(InterfacesTest, ImuAccBasicIO) +{ + ros::NodeHandle nh; + ros::Publisher imuPub = nh.advertise("/imu_input2", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + sensor_msgs::Imu imu; + imu.header.frame_id = "base_link"; + imu.linear_acceleration_covariance[0] = 1e-6; + imu.linear_acceleration_covariance[4] = 1e-6; + imu.linear_acceleration_covariance[8] = 1e-6; + + imu.linear_acceleration.x = 1; + imu.linear_acceleration.y = -1; + imu.linear_acceleration.z = 1; + + // Move with constant acceleration for 1 second, + // then check our velocity. + ros::Rate loopRate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + EXPECT_LT(::fabs(filtered_.twist.twist.linear.x - 1.0), 0.4); + EXPECT_LT(::fabs(filtered_.twist.twist.linear.y + 1.0), 0.4); + EXPECT_LT(::fabs(filtered_.twist.twist.linear.z - 1.0), 0.4); + + imu.linear_acceleration.x = 0.0; + imu.linear_acceleration.y = 0.0; + imu.linear_acceleration.z = 0.0; + + // Now move for another second, and see where we + // end up + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + loopRate.sleep(); + ros::spinOnce(); + + imu.header.seq++; + } + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1.2), 0.4); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y + 1.2), 0.4); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z - 1.2), 0.4); + + resetFilter(); + + // Test to see if the linear acceleration data is ignored when we set the + // first covariance value to -1 + sensor_msgs::Imu imuIgnore; + imuIgnore.linear_acceleration.x = 1000; + imuIgnore.linear_acceleration.y = 1000; + imuIgnore.linear_acceleration.z = 1000; + imuIgnore.linear_acceleration_covariance[0] = -1; + + loopRate = ros::Rate(50); + for (size_t i = 0; i < 50; ++i) + { + imuIgnore.header.stamp = ros::Time::now(); + imuPub.publish(imuIgnore); + loopRate.sleep(); + ros::spinOnce(); + + imuIgnore.header.seq++; + } + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 1e-3); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 1e-3); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 1e-3); + + resetFilter(); +} + +TEST(InterfacesTest, OdomDifferentialIO) +{ + ros::NodeHandle nh; + ros::Publisher odomPub = nh.advertise("/odom_input1", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + nav_msgs::Odometry odom; + odom.pose.pose.position.x = 20.0; + odom.pose.pose.position.y = 10.0; + odom.pose.pose.position.z = -40.0; + + odom.pose.pose.orientation.w = 1; + + odom.pose.covariance[0] = 2.0; + odom.pose.covariance[7] = 2.0; + odom.pose.covariance[14] = 2.0; + odom.pose.covariance[21] = 0.2; + odom.pose.covariance[28] = 0.2; + odom.pose.covariance[35] = 0.2; + + odom.header.frame_id = "odom"; + odom.child_frame_id = "base_link"; + + // No guaranteeing that the zero state + // we're expecting to see here isn't just + // a result of zeroing it out previously, + // so check 10 times in succession. + size_t zeroCount = 0; + while (zeroCount++ < 10) + { + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.y), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.z), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.w - 1), 0.01); + + ros::Duration(0.1).sleep(); + + odom.header.seq++; + } + + for (size_t ind = 0; ind < 36; ind+=7) + { + odom.pose.covariance[ind] = 1e-6; + } + + // Slowly move the position, and hope that the + // differential position keeps up + ros::Rate loopRate(20); + for (size_t i = 0; i < 100; ++i) + { + odom.pose.pose.position.x += 0.01; + odom.pose.pose.position.y += 0.02; + odom.pose.pose.position.z -= 0.03; + + odom.header.stamp = ros::Time::now(); + odomPub.publish(odom); + ros::spinOnce(); + + loopRate.sleep(); + + odom.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1), 0.2); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 2), 0.4); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z + 3), 0.6); + + resetFilter(); +} + +TEST(InterfacesTest, PoseDifferentialIO) +{ + ros::NodeHandle nh; + ros::Publisher posePub = nh.advertise("/pose_input1", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + geometry_msgs::PoseWithCovarianceStamped pose; + pose.pose.pose.position.x = 20.0; + pose.pose.pose.position.y = 10.0; + pose.pose.pose.position.z = -40.0; + + pose.pose.pose.orientation.w = 1; + + pose.pose.covariance[0] = 2.0; + pose.pose.covariance[7] = 2.0; + pose.pose.covariance[14] = 2.0; + pose.pose.covariance[21] = 0.2; + pose.pose.covariance[28] = 0.2; + pose.pose.covariance[35] = 0.2; + + pose.header.frame_id = "odom"; + + // No guaranteeing that the zero state + // we're expecting to see here isn't just + // a result of zeroing it out previously, + // so check 10 times in succession. + size_t zeroCount = 0; + while (zeroCount++ < 10) + { + pose.header.stamp = ros::Time::now(); + posePub.publish(pose); + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.x), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.y), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.z), 0.01); + EXPECT_LT(::fabs(filtered_.pose.pose.orientation.w - 1), 0.01); + + ros::Duration(0.1).sleep(); + + pose.header.seq++; + } + + // ...but only if we give the measurement a tiny covariance + for (size_t ind = 0; ind < 36; ind+=7) + { + pose.pose.covariance[ind] = 1e-6; + } + + // Issue this location repeatedly, and see if we get + // a final reported position of (1, 2, -3) + ros::Rate loopRate(20); + for (size_t i = 0; i < 100; ++i) + { + pose.pose.pose.position.x += 0.01; + pose.pose.pose.position.y += 0.02; + pose.pose.pose.position.z -= 0.03; + + pose.header.stamp = ros::Time::now(); + posePub.publish(pose); + ros::spinOnce(); + + loopRate.sleep(); + + pose.header.seq++; + } + ros::spinOnce(); + + EXPECT_LT(::fabs(filtered_.pose.pose.position.x - 1), 0.2); + EXPECT_LT(::fabs(filtered_.pose.pose.position.y - 2), 0.4); + EXPECT_LT(::fabs(filtered_.pose.pose.position.z + 3), 0.6); + + resetFilter(); +} + +TEST(InterfacesTest, ImuDifferentialIO) +{ + ros::NodeHandle nh; + ros::Publisher imu0Pub = nh.advertise("/imu_input0", 5); + ros::Publisher imu1Pub = nh.advertise("/imu_input1", 5); + ros::Publisher imuPub = nh.advertise("/imu_input3", 5); + ros::Subscriber filteredSub = nh.subscribe("/odometry/filtered", 1, &filterCallback); + + sensor_msgs::Imu imu; + imu.header.frame_id = "base_link"; + tf2::Quaternion quat; + const double roll = M_PI/2.0; + const double pitch = -M_PI; + const double yaw = -M_PI/4.0; + quat.setRPY(roll, pitch, yaw); + imu.orientation = tf2::toMsg(quat); + + imu.orientation_covariance[0] = 0.02; + imu.orientation_covariance[4] = 0.02; + imu.orientation_covariance[8] = 0.02; + + imu.angular_velocity_covariance[0] = 0.02; + imu.angular_velocity_covariance[4] = 0.02; + imu.angular_velocity_covariance[8] = 0.02; + + ros::Duration(0.1).sleep(); + ros::spinOnce(); + + size_t setCount = 0; + while (setCount++ < 1000) + { + imu.header.stamp = ros::Time::now(); + imu0Pub.publish(imu); // Use this to move the absolute orientation + imu1Pub.publish(imu); // Use this to keep velocities at 0 + ros::spinOnce(); + + ros::Duration(0.001).sleep(); + + imu.header.seq++; + } + + size_t zeroCount = 0; + while (zeroCount++ < 10) + { + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + ros::spinOnce(); + + ros::Duration(0.1).sleep(); + + imu.header.seq++; + } + + double rollFinal = roll; + double pitchFinal = pitch; + double yawFinal = yaw; + + // Move the orientation slowly, and see if we + // can push it to 0 + ros::Rate loopRate(20); + for (size_t i = 0; i < 100; ++i) + { + yawFinal -= 0.01 * (3.0 * M_PI/4.0); + + quat.setRPY(rollFinal, pitchFinal, yawFinal); + + imu.orientation = tf2::toMsg(quat); + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + ros::spinOnce(); + + loopRate.sleep(); + + imu.header.seq++; + } + ros::spinOnce(); + + // Move the orientation slowly, and see if we + // can push it to 0 + loopRate = ros::Rate(20); + for (size_t i = 0; i < 100; ++i) + { + rollFinal += 0.01 * (M_PI/2.0); + + quat.setRPY(rollFinal, pitchFinal, yawFinal); + + imu.orientation = tf2::toMsg(quat); + imu.header.stamp = ros::Time::now(); + imuPub.publish(imu); + ros::spinOnce(); + + loopRate.sleep(); + + imu.header.seq++; + } + ros::spinOnce(); + + tf2::fromMsg(filtered_.pose.pose.orientation, quat); + tf2::Matrix3x3 mat(quat); + mat.getRPY(rollFinal, pitchFinal, yawFinal); + EXPECT_LT(::fabs(rollFinal), 0.2); + EXPECT_LT(::fabs(pitchFinal), 0.2); + EXPECT_LT(::fabs(yawFinal), 0.2); + + resetFilter(); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + + ros::init(argc, argv, "ukf_navigation_node-test-interfaces"); + ros::Time::init(); + + // Give ukf_localization_node time to initialize + ros::Duration(2.0).sleep(); + + return RUN_ALL_TESTS(); +} diff --git a/navigations/robot_localization/test/test_ukf_localization_node_interfaces.test b/navigations/robot_localization/test/test_ukf_localization_node_interfaces.test new file mode 100755 index 0000000..8959361 --- /dev/null +++ b/navigations/robot_localization/test/test_ukf_localization_node_interfaces.test @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] + [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] + [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] + + [true, false, true, false, false, false, false, false, false, false, false, false, false, false, false] + [true, true, true, true, true, true, false, false, false, false, false, false, false, false, false] + + [false, false, false, false, false, false, true, true, true, true, true, true, false, false, false] + + [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] + [false, false, false, false, false, false, false, false, false, true, true, true, false, false, false] + [false, false, false, false, false, false, false, false, false, false, false, false, true, true, true] + [false, false, false, true, true, true, false, false, false, false, false, false, false, false, false] + + + + + + + + + + + + [1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 1e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.002, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.004, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01] + + + + + + + + + + diff --git a/navigations/robot_localization/test/test_ukf_localization_nodelet_bag1.test b/navigations/robot_localization/test/test_ukf_localization_nodelet_bag1.test new file mode 100755 index 0000000..546ad80 --- /dev/null +++ b/navigations/robot_localization/test/test_ukf_localization_nodelet_bag1.test @@ -0,0 +1,111 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [false, false, false, + false, false, false, + true, true, true, + false, false, false, + false, false, false] + + [false, false, false, + true, true, true, + false, false, false, + true, true, false, + true, true, true] + + + + + + + + + + + + + + + + + + [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015] + + [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9] + + + + + + + + + + + + + + + + + diff --git a/navigations/rospy_message_converter/.flake8 b/navigations/rospy_message_converter/.flake8 new file mode 100755 index 0000000..1edf3cd --- /dev/null +++ b/navigations/rospy_message_converter/.flake8 @@ -0,0 +1,9 @@ +[flake8] +# The line length here has to match the black config in pyproject.toml +max-line-length = 120 +exclude = + .git, + __pycache__ +extend-ignore = + # See https://github.com/PyCQA/pycodestyle/issues/373 + E203, diff --git a/navigations/rospy_message_converter/.github/workflows/github-actions.yml b/navigations/rospy_message_converter/.github/workflows/github-actions.yml new file mode 100755 index 0000000..1e681c0 --- /dev/null +++ b/navigations/rospy_message_converter/.github/workflows/github-actions.yml @@ -0,0 +1,41 @@ +name: Build and run ROS tests +on: [push, pull_request] +jobs: + build: + strategy: + matrix: + rosdistro: [noetic] + runs-on: ubuntu-latest + container: + image: ros:${{ matrix.rosdistro }}-ros-core + steps: + - name: Install apt dependencies + run: | + sudo apt-get update + sudo apt-get install -y build-essential clang-format-10 file git python3-catkin-lint python3-pip python3-rosdep + - name: Install pip dependencies + run: pip install pre-commit + - name: Checkout repository + uses: actions/checkout@v3 + with: + path: src/rospy_message_converter + - name: Use rosdep to install remaining dependencies + run: | + sudo rosdep init + rosdep update + rosdep install --from-paths src -i -y --rosdistro ${{ matrix.rosdistro }} + - name: Build + run: | + . /opt/ros/${{ matrix.rosdistro }}/setup.sh + catkin_make install + - name: Run tests + run: | + . devel/setup.sh + CTEST_OUTPUT_ON_FAILURE=1 catkin_make test + cd src/rospy_message_converter + python3 src/rospy_message_converter/json_message_converter.py + python3 src/rospy_message_converter/message_converter.py + - name: Run pre-commit hooks + run: | + cd src/rospy_message_converter + pre-commit run -a diff --git a/navigations/rospy_message_converter/.gitignore b/navigations/rospy_message_converter/.gitignore new file mode 100755 index 0000000..ad1d299 --- /dev/null +++ b/navigations/rospy_message_converter/.gitignore @@ -0,0 +1,3 @@ +*.pyc +.idea +*.iml diff --git a/navigations/rospy_message_converter/.pre-commit-config.yaml b/navigations/rospy_message_converter/.pre-commit-config.yaml new file mode 100755 index 0000000..58e8641 --- /dev/null +++ b/navigations/rospy_message_converter/.pre-commit-config.yaml @@ -0,0 +1,55 @@ +# To use: +# +# pre-commit run -a +# +# Or: +# +# pre-commit install # (runs every time you commit in git) +# +# To update this file: +# +# pre-commit autoupdate +# +# See https://github.com/pre-commit/pre-commit + +repos: + # Standard hooks + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.1.0 + hooks: + - id: check-added-large-files + - id: check-case-conflict + - id: check-executables-have-shebangs + - id: check-docstring-first + - id: check-merge-conflict + - id: check-shebang-scripts-are-executable + - id: check-symlinks + - id: check-vcs-permalinks + - id: check-xml + - id: check-yaml + - id: debug-statements + - id: end-of-file-fixer + - id: fix-byte-order-marker + - id: mixed-line-ending + - id: trailing-whitespace + + - repo: https://github.com/psf/black + rev: 22.3.0 + hooks: + - id: black + + - repo: https://github.com/PyCQA/flake8.git + rev: 5.0.4 + hooks: + - id: flake8 + + - repo: local + hooks: + - id: catkin_lint + name: catkin_lint + description: Check package.xml and cmake files + entry: catkin_lint . + language: system + always_run: true + pass_filenames: false + args: [ "--strict" ] diff --git a/navigations/rospy_message_converter/CHANGELOG.rst b/navigations/rospy_message_converter/CHANGELOG.rst new file mode 100755 index 0000000..5fc4e38 --- /dev/null +++ b/navigations/rospy_message_converter/CHANGELOG.rst @@ -0,0 +1,161 @@ +Change Log +========== + +0.5.9 (2022-09-12) +------------------ +* Fix flake8 errors +* Re-format code using black +* package.xml: Add missing build_export_depend +* Fix EOF and trailing whitespace +* Add pre-commit config +* README: Add note about branches +* pass down log_level to helper functions (`#60 `_) +* Declare file encoding + This is necessary on ROS Melodic (Python2), because I have added a + non-ASCII character (u umlaut) in my last commit. +* Add LICENSE file and license headers +* Contributors: Martin Günther, Yuri Rocha + +0.5.8 (2022-03-03) +------------------ +* add option to change log level (`#58 `_) +* Contributors: Yuri Rocha + +0.5.7 (2021-09-08) +------------------ +* Handle None values in dictionary +* Add tests for None +* Dockerfile-kinetic: Add --include-eol-distros +* Contributors: Martin Günther + +0.5.6 (2021-03-01) +------------------ +* Propagate strict_mode, check_missing_fields in _convert_to_ros_type + Previously, _convert_to_ros_type dropped strict_mode and + check_missing_fields in nested messages. +* Add NestedUint8ArrayTestService tests +* propagate check_types in _convert_to_ros_type (`#51 `_) + Co-authored-by: Martin Günther +* Fix binary_array_as_bytes=False with nested msgs +* Add param binary_array_as_bytes + Closes `#45 `_. +* Contributors: Marc Bosch-Jorge, Martin Günther, Otacon5555 + +0.5.5 (2020-11-09) +------------------ +* Decode strings from ROS messages as UTF8 + This makes the python2 behavior equal to python3. +* python3 only: Validate base64 strings +* Add bytes to python3 string types + This means that `bytes` will now also be base64-decoded, which fixes the following tests on python3: + * test_dictionary_with_uint8_array_bytes + * test_dictionary_with_uint8_array_bytes_unencoded + * test_dictionary_with_3uint8_array_bytes + On python2, `bytes` is just an alias for `str`, which is why it worked + without this. +* Fix and add tests +* Contributors: Martin Günther + +0.5.4 (2020-10-13) +------------------ +* Avoid numpy dependency +* Contributors: Martin Günther, betaboon + +0.5.3 (2020-08-20) +------------------ +* Add check_types parameter to convert_dictionary_to_ros_message (`#42 `_) +* Allow numpy numeric types in numeric fields (`#41 `_) + Fixes `#39 `_. +* perf: Remove remaining regexes + This is only a small speedup of about 1.03x. +* perf: Avoid regex in _is_field_type_a_primitive_array + This makes the function almost 3x faster. +* perf: Reorder type checks + Perform the cheaper checks first. This results in a speedup of about + 1.2x. +* perf: Avoid regex in is_ros_binary_type + This makes is_ros_binary_type almost 5x faster and as a result the whole + convert_ros_message_to_dictionary function almost 2x faster. +* Compare types, not type names; improve error message + Old error message: + TypeError: Wrong type: '1.0' must be float64 + New error message: + TypeError: Field 'x' has wrong type (valid types: [, ]) +* Remove unused python_to_ros_type_map +* added test for convert_dictionary_to_ros_message with int8 array +* python 3 fix for _convert_to_ros_binary +* Contributors: Martin Günther, Steffen Rühl + +0.5.2 (2020-07-09) +------------------ +* Check for wrong field types when converting from dict to ros msg +* Check for missing fields when converting from dict to ros msg +* Contributors: Martin Günther, alecarnevale + +0.5.1 (2020-05-25) +------------------ +* Initial release into Noetic +* Decode base64-encoded byte arrays as unicode +* Make tests compatible with python3 +* add check for python3 str serializing `#33 `_ (`#34 `_) +* efficient conversion of primitive array to ros type (`#31 `_) +* efficient conversion of primitive array +* removed unused _convert_from_ros_primitive +* optionally ignore extra fields when deserializing (`#29 `_) +* Remove EOL distros indigo + lunar from CI +* travis CI: Use matrix to split ROS distros +* Update README (convert to md, add build status) +* Contributors: Martin Günther, George Hartt, Jannik Abbenseth, Omri Rozenzaft + +0.5.0 (2019-01-17) +------------------ +* Initial release into Lunar and Melodic +* Remove support for Jade (EOL) +* Change maintainer from Brandon Alexander to Martin Günther +* Move repo from baalexander to uos +* Add serialize_deserialize to unit tests, fix incorrect tests caught by this +* Remove dependency on ROS master in tests; all tests are now unit + tests (`#18 `_) +* Add service request/response support (`#17 `_) +* Fix fixed-size uint8 array conversion failure (`#15 `_) +* Fix unicode handling in string fields (`#13 `_) +* Enable testing only if CATKIN_ENABLE_TESTING is set (`#9 `_) +* Contributors: Martin Günther, Brandon Alexander, George Laurent, Jean-Baptiste Doyon, Viktor Schlegel, Rein Appeldoorn, Will Baker, neka-nat + +0.4.0 (2015-12-13) +------------------ +* Adds support for ROS Jade +* Removes support for ROS Groovy and Hydro (EOL) +* Uses single branch for all ROS versions +* Docker support for local development and Travis CI + +0.3.0 (2014-06-03) +------------------ +* Adds support for ROS Indigo + +0.2.0 (2013-07-15) +------------------ +* Updates to ROS Hydro +* Builds and runs tests with Travis CI +* Adds CHANGELOG + +0.1.4 (2013-04-16) +------------------ +* Documents Python functions +* Throws error if invalid JSON or dictionary + +0.1.3 (2013-03-04) +------------------ +* Adds rostest dependency + +0.1.2 (2013-03-04) +------------------ +* Adds missing build_depends and run_depends + +0.1.1 (2013-03-01) +------------------ +* Adds message_generation dependency to fix build + +0.1.0 (2013-02-27) +------------------ +* Initial release of rospy_message_converter diff --git a/navigations/rospy_message_converter/CMakeLists.txt b/navigations/rospy_message_converter/CMakeLists.txt new file mode 100755 index 0000000..977762b --- /dev/null +++ b/navigations/rospy_message_converter/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 3.5.1) +cmake_policy(SET CMP0048 NEW) +project(rospy_message_converter) + +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) + +# Generate messages for testing (NOINSTALL) +add_message_files( + FILES + NestedUint8ArrayTestMessage.msg + TestArray.msg + Uint8Array3TestMessage.msg + Uint8ArrayTestMessage.msg + NOINSTALL +) + +add_service_files( + FILES + NestedUint8ArrayTestService.srv + NOINSTALL +) + +catkin_python_setup() + +# Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +catkin_package(CATKIN_DEPENDS message_runtime std_msgs) + +# Testing +if(CATKIN_ENABLE_TESTING) + catkin_add_nosetests(test/test_json_message_converter.py) + catkin_add_nosetests(test/test_message_converter.py) +endif() diff --git a/navigations/rospy_message_converter/Dockerfile-kinetic b/navigations/rospy_message_converter/Dockerfile-kinetic new file mode 100755 index 0000000..fb93554 --- /dev/null +++ b/navigations/rospy_message_converter/Dockerfile-kinetic @@ -0,0 +1,18 @@ +FROM ros:kinetic-ros-core + +RUN apt-get update \ + && apt-get install -y build-essential python-rosdep cmake \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* + +RUN rosdep init && rosdep update --include-eol-distros + +# Create ROS workspace +COPY . /ws/src/rospy_message_converter +WORKDIR /ws + +# Install the package and its dependencies +RUN rosdep install --from-paths src --ignore-src --rosdistro kinetic -y + +# Set up the development environment +RUN /bin/bash -c "source /opt/ros/kinetic/setup.bash && \ + catkin_make install" diff --git a/navigations/rospy_message_converter/Dockerfile-melodic b/navigations/rospy_message_converter/Dockerfile-melodic new file mode 100755 index 0000000..bd4fb12 --- /dev/null +++ b/navigations/rospy_message_converter/Dockerfile-melodic @@ -0,0 +1,18 @@ +FROM ros:melodic-ros-core + +RUN apt-get update \ + && apt-get install -y build-essential python-rosdep cmake \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* + +RUN rosdep init && rosdep update + +# Create ROS workspace +COPY . /ws/src/rospy_message_converter +WORKDIR /ws + +# Install the package and its dependencies +RUN rosdep install --from-paths src --ignore-src --rosdistro melodic -y + +# Set up the development environment +RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && \ + catkin_make install" diff --git a/navigations/rospy_message_converter/Dockerfile-noetic b/navigations/rospy_message_converter/Dockerfile-noetic new file mode 100755 index 0000000..7639001 --- /dev/null +++ b/navigations/rospy_message_converter/Dockerfile-noetic @@ -0,0 +1,18 @@ +FROM ros:noetic-ros-core + +RUN apt-get update \ + && apt-get install -y build-essential python3-rosdep cmake \ + && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* + +RUN rosdep init && rosdep update + +# Create ROS workspace +COPY . /ws/src/rospy_message_converter +WORKDIR /ws + +# Install the package and its dependencies +RUN rosdep install --from-paths src --ignore-src --rosdistro noetic -y + +# Set up the development environment +RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \ + catkin_make install" diff --git a/navigations/rospy_message_converter/LICENSE b/navigations/rospy_message_converter/LICENSE new file mode 100755 index 0000000..f1486ba --- /dev/null +++ b/navigations/rospy_message_converter/LICENSE @@ -0,0 +1,28 @@ +Copyright (c) 2019-2022, Martin Günther (DFKI GmbH) and others +Copyright (c) 2013-2016, Brandon Alexander + +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 this project 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. diff --git a/navigations/rospy_message_converter/README.md b/navigations/rospy_message_converter/README.md new file mode 100755 index 0000000..a004795 --- /dev/null +++ b/navigations/rospy_message_converter/README.md @@ -0,0 +1,104 @@ +rospy_message_converter +======================= + +Rospy_message_converter is a lightweight ROS package and Python library to +convert from Python dictionaries and JSON messages to rospy messages, and vice +versa. + +ROS 1 and ROS 2 branches +------------------------ + +ROS 1 users should use the `master` branch. ROS 2 users should use the appropriate +branch for their distro (`foxy`/`galactic`/`humble`/`rolling`/...). + +Usage +----- + +Convert a dictionary to a ROS message + +```python +from rospy_message_converter import message_converter +from std_msgs.msg import String +dictionary = { 'data': 'Howdy' } +message = message_converter.convert_dictionary_to_ros_message('std_msgs/String', dictionary) +``` + +Convert a ROS message to a dictionary + +```python +from rospy_message_converter import message_converter +from std_msgs.msg import String +message = String(data = 'Howdy') +dictionary = message_converter.convert_ros_message_to_dictionary(message) +``` + +Convert JSON to a ROS message + +```python +from rospy_message_converter import json_message_converter +from std_msgs.msg import String +json_str = '{"data": "Hello"}' +message = json_message_converter.convert_json_to_ros_message('std_msgs/String', json_str) +``` + +Convert a ROS message to JSON + +```python +from rospy_message_converter import json_message_converter +from std_msgs.msg import String +message = String(data = 'Hello') +json_str = json_message_converter.convert_ros_message_to_json(message) +``` + +Test +---- + +To run the tests: + +```bash +catkin_make test +``` + +pre-commit Formatting Checks +---------------------------- + +This repo has a [pre-commit](https://pre-commit.com/) check that runs in CI. +You can use this locally and set it up to run automatically before you commit +something. To install, use pip: + +```bash +pip3 install --user pre-commit +``` + +To run over all the files in the repo manually: + +```bash +pre-commit run -a +``` + +To run pre-commit automatically before committing in the local repo, install the git hooks: + +```bash +pre-commit install +``` + + +License +------- + +Project is released under the BSD license. + +GitHub actions - Continuous Integration +--------------------------------------- + +[![Build Status](https://github.com/DFKI-NI/rospy_message_converter/actions/workflows/github-actions.yml/badge.svg)](https://github.com/DFKI-NI/rospy_message_converter/actions/workflows/github-actions.yml/) + + +ROS Buildfarm +------------- + +| | binary deb | source deb | devel | doc | +|-----------|------------|------------|-------|-----| +| kinetic | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__rospy_message_converter__ubuntu_xenial_amd64__binary)](http://build.ros.org/job/Kbin_uX64__rospy_message_converter__ubuntu_xenial_amd64__binary/) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ksrc_uX__rospy_message_converter__ubuntu_xenial__source)](http://build.ros.org/job/Ksrc_uX__rospy_message_converter__ubuntu_xenial__source/) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__rospy_message_converter__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdev__rospy_message_converter__ubuntu_xenial_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdoc__rospy_message_converter__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdoc__rospy_message_converter__ubuntu_xenial_amd64) | +| melodic | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mbin_uB64__rospy_message_converter__ubuntu_bionic_amd64__binary)](http://build.ros.org/job/Mbin_uB64__rospy_message_converter__ubuntu_bionic_amd64__binary) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__rospy_message_converter__ubuntu_bionic__source)](http://build.ros.org/job/Msrc_uB__rospy_message_converter__ubuntu_bionic__source/) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mdev__rospy_message_converter__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__rospy_message_converter__ubuntu_bionic_amd64) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Mdoc__rospy_message_converter__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdoc__rospy_message_converter__ubuntu_bionic_amd64) | +| noetic | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__rospy_message_converter__ubuntu_focal_amd64__binary)](http://build.ros.org/job/Nbin_uF64__rospy_message_converter__ubuntu_focal_amd64__binary/) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__rospy_message_converter__ubuntu_focal__source)](http://build.ros.org/job/Nsrc_uF__rospy_message_converter__ubuntu_focal__source/) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ndev__rospy_message_converter__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__rospy_message_converter__ubuntu_focal_amd64/) | [![Build Status](http://build.ros.org/buildStatus/icon?job=Ndoc__rospy_message_converter__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__rospy_message_converter__ubuntu_focal_amd64/) | diff --git a/navigations/rospy_message_converter/msg/NestedUint8ArrayTestMessage.msg b/navigations/rospy_message_converter/msg/NestedUint8ArrayTestMessage.msg new file mode 100755 index 0000000..cf7dbd6 --- /dev/null +++ b/navigations/rospy_message_converter/msg/NestedUint8ArrayTestMessage.msg @@ -0,0 +1,2 @@ +# array of arrays for testing purposes +Uint8ArrayTestMessage[] arrays diff --git a/navigations/rospy_message_converter/msg/TestArray.msg b/navigations/rospy_message_converter/msg/TestArray.msg new file mode 100755 index 0000000..922220f --- /dev/null +++ b/navigations/rospy_message_converter/msg/TestArray.msg @@ -0,0 +1 @@ +float64[] data diff --git a/navigations/rospy_message_converter/msg/Uint8Array3TestMessage.msg b/navigations/rospy_message_converter/msg/Uint8Array3TestMessage.msg new file mode 100755 index 0000000..e97c0cd --- /dev/null +++ b/navigations/rospy_message_converter/msg/Uint8Array3TestMessage.msg @@ -0,0 +1,2 @@ +# Fixed size uint8 array for testing purposes +uint8[3] data diff --git a/navigations/rospy_message_converter/msg/Uint8ArrayTestMessage.msg b/navigations/rospy_message_converter/msg/Uint8ArrayTestMessage.msg new file mode 100755 index 0000000..b66b73a --- /dev/null +++ b/navigations/rospy_message_converter/msg/Uint8ArrayTestMessage.msg @@ -0,0 +1,2 @@ +# Size-agnostic uint8 array for testing purposes +uint8[] data diff --git a/navigations/rospy_message_converter/package.xml b/navigations/rospy_message_converter/package.xml new file mode 100755 index 0000000..a7b218b --- /dev/null +++ b/navigations/rospy_message_converter/package.xml @@ -0,0 +1,28 @@ + + + rospy_message_converter + 0.5.9 + Converts between Python dictionaries and JSON to rospy messages. + Martin Günther + BSD + http://ros.org/wiki/rospy_message_converter + https://github.com/DFKI-NI/rospy_message_converter + https://github.com/DFKI-NI/rospy_message_converter/issues + Brandon Alexander + + catkin + + message_generation + std_msgs + std_msgs + + roslib + rospy + message_runtime + std_msgs + + rosunit + std_srvs + python-numpy + python3-numpy + diff --git a/navigations/rospy_message_converter/pyproject.toml b/navigations/rospy_message_converter/pyproject.toml new file mode 100755 index 0000000..9366856 --- /dev/null +++ b/navigations/rospy_message_converter/pyproject.toml @@ -0,0 +1,5 @@ +[tool.black] +# The line length here has to match the flake8 config in .flake8 +line-length = 120 +target-version = ['py38'] +skip-string-normalization = true diff --git a/navigations/rospy_message_converter/setup.py b/navigations/rospy_message_converter/setup.py new file mode 100755 index 0000000..bb8a9b3 --- /dev/null +++ b/navigations/rospy_message_converter/setup.py @@ -0,0 +1,11 @@ +# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['rospy_message_converter'], + package_dir={'': 'src'}, +) + +setup(**d) diff --git a/navigations/rospy_message_converter/src/rospy_message_converter/__init__.py b/navigations/rospy_message_converter/src/rospy_message_converter/__init__.py new file mode 100755 index 0000000..e69de29 diff --git a/navigations/rospy_message_converter/src/rospy_message_converter/json_message_converter.py b/navigations/rospy_message_converter/src/rospy_message_converter/json_message_converter.py new file mode 100755 index 0000000..4d023b5 --- /dev/null +++ b/navigations/rospy_message_converter/src/rospy_message_converter/json_message_converter.py @@ -0,0 +1,97 @@ +# -*- coding: utf-8 -*- +# +# Software License Agreement (BSD License) +# +# Copyright (c) 2019-2022, Martin Günther (DFKI GmbH) and others +# Copyright (c) 2013-2016, Brandon Alexander +# +# 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 this project 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 json + +from rospy_message_converter import message_converter + + +def convert_json_to_ros_message(message_type, json_message, strict_mode=True, log_level='error'): + """ + Takes in the message type and a JSON-formatted string and returns a ROS + message. + + :param message_type: The desired ROS message type of the result + :type message_type: str + :param json_message: A JSON-formatted string + :type json_message: str + :param strict_mode: If strict_mode is set, an exception will be thrown if the json message contains extra fields. + :type strict_mode: bool, optional + :param log_level: The log level to be used. Available levels: debug, info, warning, error, critical + :type log_level: str, optional + :return: A ROS message + :rtype: class:`genpy.Message` + + Example: + >>> msg_type = "std_msgs/String" + >>> json_msg = '{"data": "Hello, Robot"}' + >>> convert_json_to_ros_message(msg_type, json_msg) + data: "Hello, Robot" + """ + dictionary = json.loads(json_message) + return message_converter.convert_dictionary_to_ros_message( + message_type, dictionary, strict_mode=strict_mode, log_level=log_level + ) + + +def convert_ros_message_to_json(message, binary_array_as_bytes=True): + """ + Takes in a ROS message and returns a JSON-formatted string. + + :param message: A ROS message to convert + :type message: class:`genpy.Message` + :param binary_array_as_bytes: rospy treats `uint8[]` data as a `bytes`, which is the Python representation for byte + data. In Python 2, this is the same as `str`. If this parameter is `False`, all `uint8[]` fields will be + converted to `list(int)` instead. + :type binary_array_as_bytes: bool, optional + :return: A JSON-formatted string + :rtype: str + + Example: + >>> import std_msgs.msg + >>> ros_message = std_msgs.msg.String(data="Hello, Robot") + >>> convert_ros_message_to_json(ros_message) + '{"data": "Hello, Robot"}' + """ + dictionary = message_converter.convert_ros_message_to_dictionary(message, binary_array_as_bytes) + json_message = json.dumps(dictionary) + return json_message + + +if __name__ == "__main__": + import doctest + + doctest.testmod() diff --git a/navigations/rospy_message_converter/src/rospy_message_converter/message_converter.py b/navigations/rospy_message_converter/src/rospy_message_converter/message_converter.py new file mode 100755 index 0000000..4ac3e8a --- /dev/null +++ b/navigations/rospy_message_converter/src/rospy_message_converter/message_converter.py @@ -0,0 +1,397 @@ +# -*- coding: utf-8 -*- +# +# Software License Agreement (BSD License) +# +# Copyright (c) 2019-2022, Martin Günther (DFKI GmbH) and others +# Copyright (c) 2013-2016, Brandon Alexander +# +# 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 this project 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 logging +import roslib.message +import rospy +import base64 +import sys +import copy +import collections + +python3 = sys.hexversion > 0x03000000 + +python_list_types = [list, tuple] + +if python3: + python_string_types = [str, bytes] + python_int_types = [int] +else: + python_string_types = [str, unicode] # noqa + python_int_types = [int, long] # noqa + +python_float_types = [float] + +ros_to_python_type_map = { + 'bool': [bool], + 'float32': copy.deepcopy(python_float_types + python_int_types), + 'float64': copy.deepcopy(python_float_types + python_int_types), + 'int8': copy.deepcopy(python_int_types), + 'int16': copy.deepcopy(python_int_types), + 'int32': copy.deepcopy(python_int_types), + 'int64': copy.deepcopy(python_int_types), + 'uint8': copy.deepcopy(python_int_types), + 'uint16': copy.deepcopy(python_int_types), + 'uint32': copy.deepcopy(python_int_types), + 'uint64': copy.deepcopy(python_int_types), + 'byte': copy.deepcopy(python_int_types), + 'char': copy.deepcopy(python_int_types), + 'string': copy.deepcopy(python_string_types), +} + +try: + import numpy as np + + _ros_to_numpy_type_map = { + 'float32': [np.float32, np.int8, np.int16, np.uint8, np.uint16], + # don't include int32, because conversion to float may change value: + # v = np.iinfo(np.int32).max; np.float32(v) != v + 'float64': [np.float32, np.float64, np.int8, np.int16, np.int32, np.uint8, np.uint16, np.uint32], + 'int8': [np.int8], + 'int16': [np.int8, np.int16, np.uint8], + 'int32': [np.int8, np.int16, np.int32, np.uint8, np.uint16], + 'int64': [np.int8, np.int16, np.int32, np.int64, np.uint8, np.uint16, np.uint32], + 'uint8': [np.uint8], + 'uint16': [np.uint8, np.uint16], + 'uint32': [np.uint8, np.uint16, np.uint32], + 'uint64': [np.uint8, np.uint16, np.uint32, np.uint64], + 'byte': [np.int8], + 'char': [np.uint8], + } + + # merge type_maps + merged = collections.defaultdict(list, ros_to_python_type_map) + for k, v in _ros_to_numpy_type_map.items(): + merged[k].extend(v) + ros_to_python_type_map = dict(merged) +except ImportError: + pass + + +ros_time_types = ['time', 'duration'] +ros_primitive_types = [ + 'bool', + 'byte', + 'char', + 'int8', + 'uint8', + 'int16', + 'uint16', + 'int32', + 'uint32', + 'int64', + 'uint64', + 'float32', + 'float64', + 'string', +] +ros_header_types = ['Header', 'std_msgs/Header', 'roslib/Header'] + + +def convert_dictionary_to_ros_message( + message_type, + dictionary, + kind='message', + strict_mode=True, + check_missing_fields=False, + check_types=True, + log_level='error', +): + """ + Takes in the message type and a Python dictionary and returns a ROS message. + + Example: + >>> msg_type = "std_msgs/String" + >>> dict_msg = { "data": "Hello, Robot" } + >>> convert_dictionary_to_ros_message(msg_type, dict_msg) + data: "Hello, Robot" + + >>> msg_type = "std_srvs/SetBool" + >>> dict_msg = { "data": True } + >>> kind = "request" + >>> convert_dictionary_to_ros_message(msg_type, dict_msg, kind) + data: True + """ + if kind == 'message': + message_class = roslib.message.get_message_class(message_type) + message = message_class() + elif kind == 'request': + service_class = roslib.message.get_service_class(message_type) + message = service_class._request_class() + elif kind == 'response': + service_class = roslib.message.get_service_class(message_type) + message = service_class._response_class() + else: + raise ValueError('Unknown kind "%s".' % kind) + message_fields = dict(_get_message_fields(message)) + + remaining_message_fields = copy.deepcopy(message_fields) + + if dictionary is None: + dictionary = {} + for field_name, field_value in dictionary.items(): + if field_name in message_fields: + field_type = message_fields[field_name] + if field_value is not None: + field_value = _convert_to_ros_type( + field_name, field_type, field_value, strict_mode, check_missing_fields, check_types, log_level + ) + setattr(message, field_name, field_value) + del remaining_message_fields[field_name] + else: + error_message = 'ROS message type "{0}" has no field named "{1}"'.format(message_type, field_name) + if strict_mode: + raise ValueError(error_message) + else: + if log_level not in ["debug", "info", "warning", "error", "critical"]: + log_level = "error" + logger = logging.getLogger('rosout') + log_func = getattr(logger, log_level) + + log_func('{}! It will be ignored.'.format(error_message)) + + if check_missing_fields and remaining_message_fields: + error_message = 'Missing fields "{0}"'.format(remaining_message_fields) + raise ValueError(error_message) + + return message + + +def _convert_to_ros_type( + field_name, + field_type, + field_value, + strict_mode=True, + check_missing_fields=False, + check_types=True, + log_level='error', +): + if _is_ros_binary_type(field_type): + field_value = _convert_to_ros_binary(field_type, field_value) + elif field_type in ros_time_types: + field_value = _convert_to_ros_time(field_type, field_value) + elif field_type in ros_primitive_types: + # Note: one could also use genpy.message.check_type() here, but: + # 1. check_type is "not designed to run fast and is meant only for error diagnosis" + # 2. it doesn't check floats (see ros/genpy#130) + # 3. it rejects numpy types, although they can be serialized + if check_types and type(field_value) not in ros_to_python_type_map[field_type]: + raise TypeError( + "Field '{0}' has wrong type {1} (valid types: {2})".format( + field_name, type(field_value), ros_to_python_type_map[field_type] + ) + ) + field_value = _convert_to_ros_primitive(field_type, field_value) + elif _is_field_type_a_primitive_array(field_type): + field_value = field_value + elif _is_field_type_an_array(field_type): + field_value = _convert_to_ros_array( + field_name, field_type, field_value, strict_mode, check_missing_fields, check_types, log_level + ) + else: + field_value = convert_dictionary_to_ros_message( + field_type, + field_value, + strict_mode=strict_mode, + check_missing_fields=check_missing_fields, + check_types=check_types, + log_level=log_level, + ) + return field_value + + +def _convert_to_ros_binary(field_type, field_value): + if type(field_value) in python_string_types: + if python3: + # base64 in python3 added the `validate` arg: + # If field_value is not properly base64 encoded and there are non-base64-alphabet characters in the input, + # a binascii.Error will be raised. + binary_value_as_string = base64.b64decode(field_value, validate=True) + else: + # base64 in python2 doesn't have the `validate` arg: characters that are not in the base-64 alphabet are + # silently discarded, resulting in garbage output. + binary_value_as_string = base64.b64decode(field_value) + else: + binary_value_as_string = bytes(bytearray(field_value)) + return binary_value_as_string + + +def _convert_to_ros_time(field_type, field_value): + time = None + + if field_type == 'time' and field_value == 'now': + time = rospy.get_rostime() + else: + if field_type == 'time': + time = rospy.rostime.Time() + elif field_type == 'duration': + time = rospy.rostime.Duration() + if 'secs' in field_value and field_value['secs'] is not None: + setattr(time, 'secs', field_value['secs']) + if 'nsecs' in field_value and field_value['nsecs'] is not None: + setattr(time, 'nsecs', field_value['nsecs']) + + return time + + +def _convert_to_ros_primitive(field_type, field_value): + # std_msgs/msg/_String.py always calls encode() on python3, so don't do it here + if field_type == "string" and not python3: + field_value = field_value.encode('utf-8') + return field_value + + +def _convert_to_ros_array( + field_name, + field_type, + list_value, + strict_mode=True, + check_missing_fields=False, + check_types=True, + log_level='error', +): + # use index to raise ValueError if '[' not present + list_type = field_type[: field_type.index('[')] + return [ + _convert_to_ros_type(field_name, list_type, value, strict_mode, check_missing_fields, check_types, log_level) + for value in list_value + ] + + +def convert_ros_message_to_dictionary(message, binary_array_as_bytes=True): + """ + Takes in a ROS message and returns a Python dictionary. + + Example: + >>> import std_msgs.msg + >>> ros_message = std_msgs.msg.UInt32(data=42) + >>> convert_ros_message_to_dictionary(ros_message) + {'data': 42} + """ + dictionary = {} + message_fields = _get_message_fields(message) + for field_name, field_type in message_fields: + field_value = getattr(message, field_name) + dictionary[field_name] = _convert_from_ros_type(field_type, field_value, binary_array_as_bytes) + + return dictionary + + +def _convert_from_ros_type(field_type, field_value, binary_array_as_bytes=True): + if field_type in ros_primitive_types: + field_value = _convert_from_ros_primitive(field_type, field_value) + elif field_type in ros_time_types: + field_value = _convert_from_ros_time(field_type, field_value) + elif _is_ros_binary_type(field_type): + if binary_array_as_bytes: + field_value = _convert_from_ros_binary(field_type, field_value) + elif type(field_value) == str: + field_value = [ord(v) for v in field_value] + else: + field_value = list(field_value) + elif _is_field_type_a_primitive_array(field_type): + field_value = list(field_value) + elif _is_field_type_an_array(field_type): + field_value = _convert_from_ros_array(field_type, field_value, binary_array_as_bytes) + else: + field_value = convert_ros_message_to_dictionary(field_value, binary_array_as_bytes) + + return field_value + + +def _is_ros_binary_type(field_type): + """Checks if the field is a binary array one, fixed size or not + + >>> _is_ros_binary_type("uint8") + False + >>> _is_ros_binary_type("uint8[]") + True + >>> _is_ros_binary_type("uint8[3]") + True + >>> _is_ros_binary_type("char") + False + >>> _is_ros_binary_type("char[]") + True + >>> _is_ros_binary_type("char[3]") + True + """ + return field_type.startswith('uint8[') or field_type.startswith('char[') + + +def _convert_from_ros_binary(field_type, field_value): + field_value = base64.b64encode(field_value).decode('utf-8') + return field_value + + +def _convert_from_ros_time(field_type, field_value): + field_value = {'secs': field_value.secs, 'nsecs': field_value.nsecs} + return field_value + + +def _convert_from_ros_primitive(field_type, field_value): + # std_msgs/msg/_String.py always calls decode() on python3, so don't do it here + if field_type == "string" and not python3: + field_value = field_value.decode('utf-8') + return field_value + + +def _convert_from_ros_array(field_type, field_value, binary_array_as_bytes=True): + # use index to raise ValueError if '[' not present + list_type = field_type[: field_type.index('[')] + return [_convert_from_ros_type(list_type, value, binary_array_as_bytes) for value in field_value] + + +def _get_message_fields(message): + return zip(message.__slots__, message._slot_types) + + +def _is_field_type_an_array(field_type): + return field_type.find('[') >= 0 + + +def _is_field_type_a_primitive_array(field_type): + bracket_index = field_type.find('[') + if bracket_index < 0: + return False + else: + list_type = field_type[:bracket_index] + return list_type in ros_primitive_types + + +if __name__ == "__main__": + import doctest + + doctest.testmod() diff --git a/navigations/rospy_message_converter/srv/NestedUint8ArrayTestService.srv b/navigations/rospy_message_converter/srv/NestedUint8ArrayTestService.srv new file mode 100755 index 0000000..d48997e --- /dev/null +++ b/navigations/rospy_message_converter/srv/NestedUint8ArrayTestService.srv @@ -0,0 +1,6 @@ +# service with nested types for testing purposes +NestedUint8ArrayTestMessage input + +--- + +NestedUint8ArrayTestMessage output diff --git a/navigations/rospy_message_converter/test/__init__.py b/navigations/rospy_message_converter/test/__init__.py new file mode 100755 index 0000000..e69de29 diff --git a/navigations/rospy_message_converter/test/test_json_message_converter.py b/navigations/rospy_message_converter/test/test_json_message_converter.py new file mode 100755 index 0000000..4442fad --- /dev/null +++ b/navigations/rospy_message_converter/test/test_json_message_converter.py @@ -0,0 +1,172 @@ +# -*- coding: utf-8 -*- +# +# Software License Agreement (BSD License) +# +# Copyright (c) 2019-2022, Martin Günther (DFKI GmbH) and others +# Copyright (c) 2013-2016, Brandon Alexander +# +# 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 this project 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 unittest +import rospy +from rospy_message_converter import json_message_converter + + +class TestJsonMessageConverter(unittest.TestCase): + def test_ros_message_with_string(self): + from std_msgs.msg import String + + expected_json = '{"data": "Hello"}' + message = String(data='Hello') + message = serialize_deserialize(message) + returned_json = json_message_converter.convert_ros_message_to_json(message) + self.assertEqual(returned_json, expected_json) + + def test_ros_message_with_string_unicode(self): + from std_msgs.msg import String + + expected_json = '{"data": "Hello \\u00dcnicode"}' + message = String(data=u'Hello \u00dcnicode') + message = serialize_deserialize(message) + returned_json = json_message_converter.convert_ros_message_to_json(message) + self.assertEqual(returned_json, expected_json) + + def test_ros_message_with_header(self): + from std_msgs.msg import Header + from time import time + + now_time = rospy.Time(time()) + expected_json1 = '{{"stamp": {{"secs": {0}, "nsecs": {1}}}, "frame_id": "my_frame", "seq": 3}}'.format( + now_time.secs, now_time.nsecs + ) + expected_json2 = '{{"seq": 3, "stamp": {{"secs": {0}, "nsecs": {1}}}, "frame_id": "my_frame"}}'.format( + now_time.secs, now_time.nsecs + ) + expected_json3 = '{{"frame_id": "my_frame", "seq": 3, "stamp": {{"secs": {0}, "nsecs": {1}}}}}'.format( + now_time.secs, now_time.nsecs + ) + message = Header(stamp=now_time, frame_id='my_frame', seq=3) + message = serialize_deserialize(message) + returned_json = json_message_converter.convert_ros_message_to_json(message) + self.assertTrue( + returned_json == expected_json1 or returned_json == expected_json2 or returned_json == expected_json3 + ) + + def test_ros_message_with_uint8_array(self): + from rospy_message_converter.msg import Uint8ArrayTestMessage + + input_data = [97, 98, 99, 100] + expected_json = '{"data": "YWJjZA=="}' # base64.b64encode("abcd") is "YWJjZA==" + message = Uint8ArrayTestMessage(data=input_data) + message = serialize_deserialize(message) + returned_json = json_message_converter.convert_ros_message_to_json(message) + self.assertEqual(returned_json, expected_json) + + def test_ros_message_with_3uint8_array(self): + from rospy_message_converter.msg import Uint8Array3TestMessage + + input_data = [97, 98, 99] + expected_json = '{"data": "YWJj"}' # base64.b64encode("abc") is "YWJj" + message = Uint8Array3TestMessage(data=input_data) + message = serialize_deserialize(message) + returned_json = json_message_converter.convert_ros_message_to_json(message) + self.assertEqual(returned_json, expected_json) + + def test_json_with_string(self): + from std_msgs.msg import String + + expected_message = String(data='Hello') + json_str = '{"data": "Hello"}' + message = json_message_converter.convert_json_to_ros_message('std_msgs/String', json_str) + expected_message = serialize_deserialize(expected_message) + self.assertEqual(message, expected_message) + + def test_json_with_string_unicode(self): + from std_msgs.msg import String + + expected_message = String(data=u'Hello \u00dcnicode') + json_str = '{"data": "Hello \\u00dcnicode"}' + message = json_message_converter.convert_json_to_ros_message('std_msgs/String', json_str) + expected_message = serialize_deserialize(expected_message) + self.assertEqual(message, expected_message) + + def test_json_with_header(self): + from std_msgs.msg import Header + from time import time + + now_time = rospy.Time(time()) + expected_message = Header(stamp=now_time, frame_id='my_frame', seq=12) + json_str = '{{"stamp": {{"secs": {0}, "nsecs": {1}}}, "frame_id": "my_frame", "seq": 12}}'.format( + now_time.secs, now_time.nsecs + ) + message = json_message_converter.convert_json_to_ros_message('std_msgs/Header', json_str) + expected_message = serialize_deserialize(expected_message) + self.assertEqual(message, expected_message) + + def test_json_with_string_null(self): + from std_msgs.msg import String + + expected_message = String(data='') + json_str = '{"data": null}' + message = json_message_converter.convert_json_to_ros_message('std_msgs/String', json_str) + expected_message = serialize_deserialize(expected_message) + self.assertEqual(message, expected_message) + + def test_json_with_invalid_message_fields(self): + self.assertRaises( + ValueError, json_message_converter.convert_json_to_ros_message, 'std_msgs/String', '{"not_data": "Hello"}' + ) + + +def serialize_deserialize(message): + """ + Serialize and then deserialize a message. This simulates sending a message + between ROS nodes and makes sure that the ROS messages being tested are + actually serializable, and are in the same format as they would be received + over the network. In rospy, it is possible to assign an illegal data type + to a message field (for example, `message = String(data=42)`), but trying + to publish this message will throw `SerializationError: field data must be + of type str`. This method will expose such bugs. + """ + from io import BytesIO + + buff = BytesIO() + message.serialize(buff) + result = message.__class__() # create new instance of same class as message + result.deserialize(buff.getvalue()) + return result + + +PKG = 'rospy_message_converter' +NAME = 'test_json_message_converter' +if __name__ == '__main__': + import rosunit + + rosunit.unitrun(PKG, NAME, TestJsonMessageConverter) diff --git a/navigations/rospy_message_converter/test/test_message_converter.py b/navigations/rospy_message_converter/test/test_message_converter.py new file mode 100755 index 0000000..03dab47 --- /dev/null +++ b/navigations/rospy_message_converter/test/test_message_converter.py @@ -0,0 +1,1188 @@ +# -*- coding: utf-8 -*- +# +# Software License Agreement (BSD License) +# +# Copyright (c) 2019-2022, Martin Günther (DFKI GmbH) and others +# Copyright (c) 2013-2016, Brandon Alexander +# +# 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 this project 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 struct +import sys +import unittest + +import rospy +from rospy.exceptions import ROSInitException +from rospy_message_converter import message_converter + +python3 = sys.hexversion > 0x03000000 + + +class TestMessageConverter(unittest.TestCase): + def test_ros_message_with_array(self): + from rospy_message_converter.msg import TestArray + + expected_dictionary = {'data': [1.1, 2.2, 3.3]} + message = TestArray(data=expected_dictionary['data']) + message = serialize_deserialize(message) + dictionary = message_converter.convert_ros_message_to_dictionary(message) + self.assertEqual(dictionary, expected_dictionary) + + def test_ros_message_with_bool(self): + from std_msgs.msg import Bool + + expected_dictionary = {'data': True} + message = Bool(data=expected_dictionary['data']) + message = serialize_deserialize(message) + dictionary = message_converter.convert_ros_message_to_dictionary(message) + self.assertEqual(dictionary, expected_dictionary) + + def test_ros_message_with_byte(self): + from std_msgs.msg import Byte + + expected_dictionary = {'data': 5} + message = Byte(data=expected_dictionary['data']) + message = serialize_deserialize(message) + dictionary = message_converter.convert_ros_message_to_dictionary(message) + self.assertEqual(dictionary, expected_dictionary) + + def test_ros_message_with_char(self): + from std_msgs.msg import Char + + expected_dictionary = {'data': 99} + message = Char(data=expected_dictionary['data']) + message = serialize_deserialize(message) + dictionary = message_converter.convert_ros_message_to_dictionary(message) + self.assertEqual(dictionary, expected_dictionary) + + def test_ros_message_with_duration(self): + from std_msgs.msg import Duration + + duration = rospy.rostime.Duration(33, 25) + expected_dictionary = {'data': {'secs': duration.secs, 'nsecs': duration.nsecs}} + message = Duration(data=duration) + message = serialize_deserialize(message) + dictionary = message_converter.convert_ros_message_to_dictionary(message) + self.assertEqual(dictionary, expected_dictionary) + + def test_ros_message_with_empty(self): + from std_msgs.msg import Empty + + expected_dictionary = {} + message = Empty() + message = serialize_deserialize(message) + dictionary = message_converter.convert_ros_message_to_dictionary(message) + self.assertEqual(dictionary, expected_dictionary) + + def test_ros_message_with_float32(self): + from std_msgs.msg import Float32 + + expected_dictionary = {'data': struct.unpack('`_) + * do not specify obsolete c++11 standard + this breaks with current versions of log4cxx. + * update pluginlib include paths + the non-hpp headers have been deprecated since kinetic + * use lambdas in favor of boost::bind + Using boost's _1 as a global system is deprecated since C++11. + The ROS packages in Debian removed the implicit support for the global symbols, + so this code fails to compile there without the patch. +* Contributors: Michael Görner + +1.17.2 (2022-06-20) +------------------- + +1.17.1 (2020-08-27) +------------------- + +1.17.0 (2020-04-02) +------------------- +* Merge pull request `#982 `_ from ros-planning/noetic_prep + Noetic Migration +* increase required cmake version +* Contributors: Michael Ferguson + +1.16.6 (2020-03-18) +------------------- + +1.16.5 (2020-03-15) +------------------- +* [melodic] updated install for better portability. (`#973 `_) +* Contributors: Sean Yen + +1.16.4 (2020-03-04) +------------------- +* [Windows][melodic] Navigation (except for map_server and amcl) Windows build bring up (`#851 `_) +* Contributors: Sean Yen + +1.16.3 (2019-11-15) +------------------- +* Merge branch 'melodic-devel' into layer_clear_area-melodic +* Cherry pick `#914 `_ (`#919 `_) +* Contributors: David V. Lu!!, Steven Macenski + +1.16.2 (2018-07-31) +------------------- +* Merge pull request `#773 `_ from ros-planning/packaging_fixes + packaging fixes +* fix rotate_recovery debian build + * add depend on tf2_geometry_msgs (due to https://github.com/ros/geometry2/issues/275) + * add other hidden depends: angles, geometry_msgs, tf2 +* Contributors: Michael Ferguson + +1.16.1 (2018-07-28) +------------------- + +1.16.0 (2018-07-25) +------------------- +* Remove dependency on PCL +* Switch to TF2 `#755 `_ +* fix param names of RotateRecovery, closes `#706 `_ +* Contributors: David V. Lu, Michael Ferguson, Vincent Rabaud + +1.15.2 (2018-03-22) +------------------- +* Merge pull request `#673 `_ from ros-planning/email_update_lunar + update maintainer email (lunar) +* Merge pull request `#649 `_ from aaronhoy/lunar_add_ahoy + Add myself as a maintainer. +* Rebase PRs from Indigo/Kinetic (`#637 `_) + * Respect planner_frequency intended behavior (`#622 `_) + * Only do a getRobotPose when no start pose is given (`#628 `_) + Omit the unnecessary call to getRobotPose when the start pose was + already given, so that move_base can also generate a path in + situations where getRobotPose would fail. + This is actually to work around an issue of getRobotPose randomly + failing. + * Update gradient_path.cpp (`#576 `_) + * Update gradient_path.cpp + * Update navfn.cpp + * update to use non deprecated pluginlib macro (`#630 `_) + * update to use non deprecated pluginlib macro + * multiline version as well + * Print SDL error on IMG_Load failure in server_map (`#631 `_) +* Contributors: Aaron Hoy, David V. Lu!!, Michael Ferguson + +1.15.1 (2017-08-14) +------------------- + +1.15.0 (2017-08-07) +------------------- +* convert packages to format2 +* Fix CMakeLists + package.xmls (`#548 `_) +* Contributors: Martin Günther, Mikael Arguedas, Vincent Rabaud + +1.14.0 (2016-05-20) +------------------- + +1.13.1 (2015-10-29) +------------------- + +1.13.0 (2015-03-17) +------------------- + +1.12.0 (2015-02-04) +------------------- +* update maintainer email +* Contributors: Michael Ferguson + +1.11.15 (2015-02-03) +-------------------- +* Add ARCHIVE_DESTINATION for static builds +* Contributors: Gary Servin + +1.11.14 (2014-12-05) +-------------------- + +1.11.13 (2014-10-02) +-------------------- + +1.11.12 (2014-10-01) +-------------------- + +1.11.11 (2014-07-23) +-------------------- + +1.11.10 (2014-06-25) +-------------------- + +1.11.9 (2014-06-10) +------------------- + +1.11.8 (2014-05-21) +------------------- + +1.11.7 (2014-05-21) +------------------- +* update build to find eigen using cmake_modules +* Contributors: Michael Ferguson + +1.11.4 (2013-09-27) +------------------- +* Package URL Updates diff --git a/navigations/rotate_recovery/CMakeLists.txt b/navigations/rotate_recovery/CMakeLists.txt new file mode 100755 index 0000000..c41b5b6 --- /dev/null +++ b/navigations/rotate_recovery/CMakeLists.txt @@ -0,0 +1,58 @@ +cmake_minimum_required(VERSION 3.0.2) +project(rotate_recovery) + +find_package(catkin REQUIRED + COMPONENTS + angles + base_local_planner + cmake_modules + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + tf2 + tf2_geometry_msgs + tf2_ros +) + +find_package(Eigen3 REQUIRED) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} +) +add_definitions(${EIGEN3_DEFINITIONS}) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES rotate_recovery + CATKIN_DEPENDS + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + tf2 + tf2_ros +) + +add_library(rotate_recovery src/rotate_recovery.cpp) +add_dependencies(rotate_recovery ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(rotate_recovery ${catkin_LIBRARIES}) + +install(TARGETS rotate_recovery + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(FILES rotate_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + diff --git a/navigations/rotate_recovery/include/rotate_recovery/rotate_recovery.h b/navigations/rotate_recovery/include/rotate_recovery/rotate_recovery.h new file mode 100755 index 0000000..cbfdf2d --- /dev/null +++ b/navigations/rotate_recovery/include/rotate_recovery/rotate_recovery.h @@ -0,0 +1,86 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef ROTATE_RECOVERY_ROTATE_RECOVERY_H +#define ROTATE_RECOVERY_ROTATE_RECOVERY_H +#include +#include +#include +#include +#include + +namespace rotate_recovery +{ +/** + * @class RotateRecovery + * @brief A recovery behavior that rotates the robot in-place to attempt to clear out space + */ +class RotateRecovery : public nav_core::RecoveryBehavior +{ +public: + /** + * @brief Constructor, make sure to call initialize in addition to actually initialize the object + */ + RotateRecovery(); + + /** + * @brief Initialization function for the RotateRecovery recovery behavior + * @param name Namespace used in initialization + * @param tf (unused) + * @param global_costmap (unused) + * @param local_costmap A pointer to the local_costmap used by the navigation stack + */ + void initialize(std::string name, tf2_ros::Buffer*, + costmap_2d::Costmap2DROS*, costmap_2d::Costmap2DROS* local_costmap); + + /** + * @brief Run the RotateRecovery recovery behavior. + */ + void runBehavior(); + + /** + * @brief Destructor for the rotate recovery behavior + */ + ~RotateRecovery(); + +private: + costmap_2d::Costmap2DROS* local_costmap_; + bool initialized_; + double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_; + base_local_planner::CostmapModel* world_model_; +}; +}; // namespace rotate_recovery +#endif // ROTATE_RECOVERY_ROTATE_RECOVERY_H diff --git a/navigations/rotate_recovery/package.xml b/navigations/rotate_recovery/package.xml new file mode 100755 index 0000000..cfec387 --- /dev/null +++ b/navigations/rotate_recovery/package.xml @@ -0,0 +1,39 @@ + + + + rotate_recovery + 1.17.3 + + + This package provides a recovery behavior for the navigation stack that attempts to clear space by performing a 360 degree rotation of the robot. + + + Eitan Marder-Eppstein + contradict@gmail.com + David V. Lu!! + Michael Ferguson + Aaron Hoy + BSD + http://wiki.ros.org/rotate_recovery + + catkin + + angles + base_local_planner + cmake_modules + + costmap_2d + eigen + geometry_msgs + nav_core + pluginlib + roscpp + tf2 + tf2_geometry_msgs + tf2_ros + + + + + + diff --git a/navigations/rotate_recovery/rotate_plugin.xml b/navigations/rotate_recovery/rotate_plugin.xml new file mode 100755 index 0000000..1b6cf3e --- /dev/null +++ b/navigations/rotate_recovery/rotate_plugin.xml @@ -0,0 +1,7 @@ + + + + A recovery behavior that performs a 360 degree in-place rotation to attempt to clear out space. + + + diff --git a/navigations/rotate_recovery/src/rotate_recovery.cpp b/navigations/rotate_recovery/src/rotate_recovery.cpp new file mode 100755 index 0000000..b144736 --- /dev/null +++ b/navigations/rotate_recovery/src/rotate_recovery.cpp @@ -0,0 +1,183 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +// register this planner as a RecoveryBehavior plugin +PLUGINLIB_EXPORT_CLASS(rotate_recovery::RotateRecovery, nav_core::RecoveryBehavior) + +namespace rotate_recovery +{ +RotateRecovery::RotateRecovery(): local_costmap_(NULL), initialized_(false), world_model_(NULL) +{ +} + +void RotateRecovery::initialize(std::string name, tf2_ros::Buffer*, + costmap_2d::Costmap2DROS*, costmap_2d::Costmap2DROS* local_costmap) +{ + if (!initialized_) + { + local_costmap_ = local_costmap; + + // get some parameters from the parameter server + ros::NodeHandle private_nh("~/" + name); + ros::NodeHandle blp_nh("~/TrajectoryPlannerROS"); + + // we'll simulate every degree by default + private_nh.param("sim_granularity", sim_granularity_, 0.017); + private_nh.param("frequency", frequency_, 20.0); + + acc_lim_th_ = nav_core::loadParameterWithDeprecation(blp_nh, "acc_lim_theta", "acc_lim_th", 3.2); + max_rotational_vel_ = nav_core::loadParameterWithDeprecation(blp_nh, "max_vel_theta", "max_rotational_vel", 1.0); + min_rotational_vel_ = nav_core::loadParameterWithDeprecation(blp_nh, "min_in_place_vel_theta", "min_in_place_rotational_vel", 0.4); + blp_nh.param("yaw_goal_tolerance", tolerance_, 0.10); + + world_model_ = new base_local_planner::CostmapModel(*local_costmap_->getCostmap()); + + initialized_ = true; + } + else + { + ROS_ERROR("You should not call initialize twice on this object, doing nothing"); + } +} + +RotateRecovery::~RotateRecovery() +{ + delete world_model_; +} + +void RotateRecovery::runBehavior() +{ + if (!initialized_) + { + ROS_ERROR("This object must be initialized before runBehavior is called"); + return; + } + + if (local_costmap_ == NULL) + { + ROS_ERROR("The costmap passed to the RotateRecovery object cannot be NULL. Doing nothing."); + return; + } + ROS_WARN("Rotate recovery behavior started."); + + ros::Rate r(frequency_); + ros::NodeHandle n; + ros::Publisher vel_pub = n.advertise("cmd_vel", 10); + + geometry_msgs::PoseStamped global_pose; + local_costmap_->getRobotPose(global_pose); + + double current_angle = tf2::getYaw(global_pose.pose.orientation); + double start_angle = current_angle; + + bool got_180 = false; + + while (n.ok() && + (!got_180 || + std::fabs(angles::shortest_angular_distance(current_angle, start_angle)) > tolerance_)) + { + // Update Current Angle + local_costmap_->getRobotPose(global_pose); + current_angle = tf2::getYaw(global_pose.pose.orientation); + + // compute the distance left to rotate + double dist_left; + if (!got_180) + { + // If we haven't hit 180 yet, we need to rotate a half circle plus the distance to the 180 point + double distance_to_180 = std::fabs(angles::shortest_angular_distance(current_angle, start_angle + M_PI)); + dist_left = M_PI + distance_to_180; + + if (distance_to_180 < tolerance_) + { + got_180 = true; + } + } + else + { + // If we have hit the 180, we just have the distance back to the start + dist_left = std::fabs(angles::shortest_angular_distance(current_angle, start_angle)); + } + + double x = global_pose.pose.position.x, y = global_pose.pose.position.y; + + // check if that velocity is legal by forward simulating + double sim_angle = 0.0; + while (sim_angle < dist_left) + { + double theta = current_angle + sim_angle; + + // make sure that the point is legal, if it isn't... we'll abort + double footprint_cost = world_model_->footprintCost(x, y, theta, local_costmap_->getRobotFootprint(), 0.0, 0.0); + if (footprint_cost < 0.0) + { + ROS_ERROR("Rotate recovery can't rotate in place because there is a potential collision. Cost: %.2f", + footprint_cost); + return; + } + + sim_angle += sim_granularity_; + } + + // compute the velocity that will let us stop by the time we reach the goal + double vel = sqrt(2 * acc_lim_th_ * dist_left); + + // make sure that this velocity falls within the specified limits + vel = std::min(std::max(vel, min_rotational_vel_), max_rotational_vel_); + + geometry_msgs::Twist cmd_vel; + cmd_vel.linear.x = 0.0; + cmd_vel.linear.y = 0.0; + cmd_vel.angular.z = vel; + + vel_pub.publish(cmd_vel); + + r.sleep(); + } +} +}; // namespace rotate_recovery diff --git a/navigations/sbpl/.gitignore b/navigations/sbpl/.gitignore new file mode 100755 index 0000000..051d772 --- /dev/null +++ b/navigations/sbpl/.gitignore @@ -0,0 +1,13 @@ +cmake_install.cmake + +envdebug.txt +debug.txt +sol.txt + +bin/* +lib/* +CMakeFiles/* +build/* + +.project +.cproject diff --git a/navigations/sbpl/CMakeLists.txt b/navigations/sbpl/CMakeLists.txt new file mode 100755 index 0000000..99723df --- /dev/null +++ b/navigations/sbpl/CMakeLists.txt @@ -0,0 +1,80 @@ +cmake_minimum_required(VERSION 2.8) +PROJECT( sbpl ) + +# version (e.g. for packaging) +set(SBPL_MAJOR_VERSION 1) +set(SBPL_MINOR_VERSION 3) +set(SBPL_PATCH_VERSION 1) +set(SBPL_VERSION ${SBPL_MAJOR_VERSION}.${SBPL_MINOR_VERSION}.${SBPL_PATCH_VERSION}) + +set(CMAKE_BUILD_TYPE Release) + +include_directories(src/include) + +add_library(sbpl SHARED + src/discrete_space_information/environment_nav2D.cpp + src/discrete_space_information/environment_navxythetalat.cpp + src/discrete_space_information/environment_navxythetamlevlat.cpp + src/discrete_space_information/environment_nav2Duu.cpp + src/discrete_space_information/environment_XXX.cpp + src/discrete_space_information/environment_robarm.cpp + src/heuristics/embedded_heuristic.cpp + src/planners/adplanner.cpp + src/planners/ANAplanner.cpp + src/planners/araplanner.cpp + src/planners/lazyARA.cpp + src/planners/mhaplanner.cpp + src/planners/ppcpplanner.cpp + src/planners/rstarplanner.cpp + src/planners/viplanner.cpp + src/utils/heap.cpp + src/utils/mdp.cpp + src/utils/utils.cpp + src/utils/2Dgridsearch.cpp + src/utils/config.cpp + ) + +set(SBPL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include") +set(SBPL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib") + +# support for pkg-config +set(PKG_NAME "sbpl") +set(PKG_DESC "The Search Based Planning Library") +set(PKG_SBPL_LIBS "-lsbpl") +set(pkg_conf_file_in "${CMAKE_CURRENT_SOURCE_DIR}/sbpl.pc.in") +set(pkg_conf_file "${PROJECT_BINARY_DIR}/InstallFiles/sbpl.pc") +configure_file("${pkg_conf_file_in}" "${pkg_conf_file}" @ONLY) +install(FILES ${pkg_conf_file} DESTINATION lib/pkgconfig/ COMPONENT pkgconfig) + +# support for cmake-config: +configure_file(sbpl-config.cmake.in + "${PROJECT_BINARY_DIR}/InstallFiles/sbpl-config.cmake" @ONLY) +configure_file(sbpl-config-version.cmake.in + "${PROJECT_BINARY_DIR}/InstallFiles/sbpl-config-version.cmake" @ONLY) +install(FILES + "${PROJECT_BINARY_DIR}/InstallFiles/sbpl-config.cmake" + "${PROJECT_BINARY_DIR}/InstallFiles/sbpl-config-version.cmake" +DESTINATION share/sbpl/) + +# support for build tree export +option(SBPL_BUILD_TREE_EXPORT "Enable build tree exports" OFF) +if (${SBPL_BUILD_TREE_EXPORT}) + export(TARGETS sbpl FILE sbpl-targets.cmake) + set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/src/include") + configure_file( + sbpl-config-tree-export.cmake.in + "${PROJECT_BINARY_DIR}/sbpl-config.cmake" + @ONLY) + export(PACKAGE sbpl) +endif() + +install(DIRECTORY src/include/sbpl DESTINATION include + FILES_MATCHING PATTERN "*.h") +install(TARGETS sbpl + LIBRARY DESTINATION lib) + +add_executable(test_sbpl src/test/main.cpp) +target_link_libraries(test_sbpl sbpl) + +add_executable(test_adjacency_list src/test/test_adjacency_list.cpp) +target_link_libraries(test_adjacency_list sbpl) diff --git a/navigations/sbpl/Doxyfile b/navigations/sbpl/Doxyfile new file mode 100755 index 0000000..b513a4c --- /dev/null +++ b/navigations/sbpl/Doxyfile @@ -0,0 +1,207 @@ +PROJECT_NAME = "ROS SBPL Motion Planner Library" +PROJECT_NUMBER = +OUTPUT_DIRECTORY = . +OUTPUT_LANGUAGE = English +USE_WINDOWS_ENCODING = NO +BRIEF_MEMBER_DESC = YES +REPEAT_BRIEF = YES +ALWAYS_DETAILED_SEC = NO +INLINE_INHERITED_MEMB = NO +FULL_PATH_NAMES = NO +STRIP_FROM_PATH = +SHORT_NAMES = NO +JAVADOC_AUTOBRIEF = NO +MULTILINE_CPP_IS_BRIEF = NO +DETAILS_AT_TOP = NO +INHERIT_DOCS = YES +DISTRIBUTE_GROUP_DOC = NO +TAB_SIZE = 8 +ALIASES = +OPTIMIZE_OUTPUT_FOR_C = NO +OPTIMIZE_OUTPUT_JAVA = NO +SUBGROUPING = YES + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +EXTRACT_ALL = YES +EXTRACT_PRIVATE = YES +EXTRACT_STATIC = YES +EXTRACT_LOCAL_CLASSES = YES +HIDE_UNDOC_MEMBERS = NO +HIDE_UNDOC_CLASSES = NO +HIDE_FRIEND_COMPOUNDS = NO +HIDE_IN_BODY_DOCS = NO +INTERNAL_DOCS = NO +CASE_SENSE_NAMES = YES +HIDE_SCOPE_NAMES = NO +SHOW_INCLUDE_FILES = YES +INLINE_INFO = YES +SORT_MEMBER_DOCS = YES +GENERATE_TODOLIST = YES +GENERATE_TESTLIST = YES +GENERATE_BUGLIST = YES +GENERATE_DEPRECATEDLIST= YES +ENABLED_SECTIONS = +MAX_INITIALIZER_LINES = 30 +SHOW_USED_FILES = YES + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +QUIET = YES +WARNINGS = YES +WARN_IF_UNDOCUMENTED = NO +WARN_IF_DOC_ERROR = YES +WARN_FORMAT = "$file:$line: $text" +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +INPUT = src +FILE_PATTERNS = *.h *.cpp +RECURSIVE = YES +EXCLUDE = +EXCLUDE_SYMLINKS = NO +EXCLUDE_PATTERNS = +EXAMPLE_PATH = +EXAMPLE_PATTERNS = +EXAMPLE_RECURSIVE = NO +IMAGE_PATH = +INPUT_FILTER = +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +SOURCE_BROWSER = NO +INLINE_SOURCES = NO +STRIP_CODE_COMMENTS = YES +REFERENCED_BY_RELATION = YES +REFERENCES_RELATION = YES +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +ALPHABETICAL_INDEX = NO +COLS_IN_ALPHA_INDEX = 5 +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +GENERATE_HTML = YES +HTML_OUTPUT = html +HTML_FILE_EXTENSION = .html +HTML_HEADER = +HTML_FOOTER = +HTML_STYLESHEET = +HTML_ALIGN_MEMBERS = YES +GENERATE_HTMLHELP = NO +CHM_FILE = +HHC_LOCATION = +GENERATE_CHI = NO +BINARY_TOC = NO +TOC_EXPAND = NO +DISABLE_INDEX = NO +ENUM_VALUES_PER_LINE = 4 +GENERATE_TREEVIEW = NO +TREEVIEW_WIDTH = 250 + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +GENERATE_LATEX = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +GENERATE_RTF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +GENERATE_MAN = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +GENERATE_XML = NO + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +GENERATE_PERLMOD = NO + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +ENABLE_PREPROCESSING = YES +MACRO_EXPANSION = NO +EXPAND_ONLY_PREDEF = NO +SEARCH_INCLUDES = YES +INCLUDE_PATH = +INCLUDE_FILE_PATTERNS = +PREDEFINED = +EXPAND_AS_DEFINED = +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::addtions related to external references +#--------------------------------------------------------------------------- + +TAGFILES = +GENERATE_TAGFILE = +ALLEXTERNALS = NO +EXTERNAL_GROUPS = YES +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +CLASS_DIAGRAMS = YES +HIDE_UNDOC_RELATIONS = NO +HAVE_DOT = YES +CLASS_GRAPH = YES +COLLABORATION_GRAPH = YES +UML_LOOK = NO +TEMPLATE_RELATIONS = YES +INCLUDE_GRAPH = YES +INCLUDED_BY_GRAPH = YES +CALL_GRAPH = NO +GRAPHICAL_HIERARCHY = YES +DOT_IMAGE_FORMAT = png +DOT_PATH = +DOTFILE_DIRS = +MAX_DOT_GRAPH_WIDTH = 1024 +MAX_DOT_GRAPH_HEIGHT = 1024 +MAX_DOT_GRAPH_DEPTH = 0 +GENERATE_LEGEND = YES +DOT_CLEANUP = YES + +#--------------------------------------------------------------------------- +# Configuration::addtions related to the search engine +#--------------------------------------------------------------------------- + +SEARCHENGINE = NO diff --git a/navigations/sbpl/README.txt b/navigations/sbpl/README.txt new file mode 100755 index 0000000..b794ce0 --- /dev/null +++ b/navigations/sbpl/README.txt @@ -0,0 +1,173 @@ +I. Building, Installing, and Using SBPL + + SBPL is available as a standalone software library. SBPL itself has no + dependencies other than the C/C++ standard library. + + These build and install instructions are primarily for Linux. For other + operating systems, CMake can generate the platform-specific build and project + files necessary for building SBPL. + + Versions of ROS older than Fuerte may contain packages that depend on a ROS + package version of SBPL. The recommended method to install SBPL is to install + it as a standard system library. However, if you wish to use the old ROS + package version of SBPL, you may follow these instructions. + + 1. Building and Installing SBPL from source + + 1.1 Build SBPL + + SBPL uses git as its version control system. From the directory where + you want the SBPL source to reside, clone the latest source from + https://github.com/sbpl/sbpl: + + git clone https://github.com/sbpl/sbpl.git + + In the source directory, build the SBPL library using standard + CMake build conventions: + + mkdir build + cd build + cmake .. + make + + 1.2 Install SBPL + + Install the built library and headers onto your local system + (usually into /usr/local): + + sudo make install + + 2. Installing SBPL from pre-built binary package + + A pre-built Debian package exists on Linux for ROS distributions + Fuerte and newer. To install the Debian, run: + + sudo apt-get install ros-distro-sbpl + + where distro is the name of your ROS distribution. This will install + the SBPL library and associated development headers alongside other + ROS components (in /opt/ros/distro on Ubuntu distributions). A + pkg-config file is also included to allow you to locate the SBPL + library components in your build system. + + 3. Build your (ROS) package with SBPL as a dependency (CMake) + + In the CMakeLists.txt for your (ROS) package, the following lines are + needed to find the installed SBPL files: + + find_package(PkgConfig REQUIRED) + pkg_check_modules(SBPL REQUIRED sbpl) + include_directories(${SBPL_INCLUDE_DIRS}) + link_directories(${SBPL_LIBRARY_DIRS}) + + Then, after you've declared your binaries, you need to link them + against SBPL with the following line: + + target_link_libraries(your-binary-here ${SBPL_LIBRARIES}) + + 4. Installing and Using SBPL as a ROS package + + The ROS package version of SBPL was deprecated with the release of ROS + Fuerte. However, packages in ROS Electric may still require the ROS + package version of SBPL. + + 4.1 Install SBPL + + 4.1.1 Source install + + SBPL uses git as its version control system. From the + directory where you want the SBPL source to reside, clone the + latest source from https://github.com/sbpl/sbpl: + + git clone https://github.com/sbpl/sbpl.git + + In the source directory, checkout the electric branch of the + repository to revert to the old ROS package version: + + git checkout -b electric + + Ensure that SBPL is on your ROS_PACKAGE_PATH and type: + + rosmake sbpl + + 4.1.2 Binary install + + SBPL is also available as a pre-built Debian in ROS Electric. + To instal the Debian, run: + + sudo apt-get install ros-electric-arm-navigation + + 4.2 Build your ROS package with SBPL as a depency (rosbuild) + + In the manifest.xml for your package, you need to add the + following line to declare the SBPL package as a dependency: + + + +II. Usage + + Examples for how to use SBPL are in src/test/main.cpp. Please follow the + examples carefully. The library contains a number of planning problem + examples, stored as ascii files. These files (with extension .cfg) should + be passed in as arguments into the main function in main.cpp. The files + can be found in env_examples directory. + + Command-line usage for the test_sbpl program can be viewed by passing '-h' + as argument to the executable. + + Examples: + + The following can be run from the directory containing test_sbpl, + which we assume is a build directory in the root of this project. + + $ ./test_sbpl ../env_examples/nav3d/env1.cfg + Environment: xytheta; Planner: arastar; Search direction: backward + Initializing ARAPlanner... + start planning... + done planning + size of solution=16 + solution size=0 + Solution is found + + $ ./test_sbpl --env=2d ../env_examples/nav2d/env1.cfg #2d is needed here in order to use 2d config + Environment: 2d; Planner: arastar; Search direction: backward + Initializing ARAPlanner... + start planning... + done planning + size of solution=22 + Solution is found + + $ ./test_sbpl --env=robarm --search-dir=forward --planner=rstar ../env_examples/robarm/env1_6d.cfg + Environment: robarm; Planner: rstar; Search direction: forward + Initializing RSTARPlanner... + start planning... + done planning + size of solution=44 + Solution is found + + Motion primitives files can be found in sbpl/matlab/mprim directory. + + Finally, few visualization scripts can be found in + sbpl/matlab/visualization. In particular, plot_3Dpath.m function can be + used to visualize the path found by xytheta lattice planner. This + functions takes in .cfg file that specified environment and sol.txt file + that was generated within main.cpp by xythetalattice planners. + + Note: If you compile the library with the ROS symbol defined, all text + output will be redirected to ROS logging constructions. Without the ROS + symbol defined, SBPL will print messages to stdout and test_sbpl will + generate a solution file, sol.txt, as well as a debugging information + file, debug.txt + +III. Links + + These instructions and more tutorials can be found at www.sbpl.net + + For more information and documentation on SBPL visit: + + http://www.ros.org/wiki/sbpl + + For more information and documentation on using the x,y,theta environment + available in ROS visit: + + http://www.ros.org/wiki/sbpl_lattice_planner diff --git a/navigations/sbpl/env_examples/nav2d/env1.cfg b/navigations/sbpl/env_examples/nav2d/env1.cfg new file mode 100755 index 0000000..3f93f3a --- /dev/null +++ b/navigations/sbpl/env_examples/nav2d/env1.cfg @@ -0,0 +1,20 @@ +discretization(cells): 15 15 +obsthresh: 1 +start(cells): 0 0 +end(cells): 14 14 +environment: +0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 +0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 +0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 +0 0 0 0 0 0 1 1 1 1 1 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 +1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 diff --git a/navigations/sbpl/env_examples/nav2d/env2.cfg b/navigations/sbpl/env_examples/nav2d/env2.cfg new file mode 100755 index 0000000..0b4c3c8 --- /dev/null +++ b/navigations/sbpl/env_examples/nav2d/env2.cfg @@ -0,0 +1,1205 @@ +discretization(cells): 100 1200 +obsthresh: 1 +start(cells): 0 0 +end(cells): 99 999 +environment: +0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 +0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 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index 0000000..f959c35 --- /dev/null +++ b/navigations/sbpl/matlab/mprim/genmprim.m @@ -0,0 +1,316 @@ +% /* +% * 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(outfilename) + +% +%generates motion primitives and saves them into file +% +%written by Maxim Likhachev +%--------------------------------------------------- +% + +%defines + +LINESEGMENT_MPRIMS = 1; %set the desired type of motion primitives +UNICYCLE_MPRIMS = 0; + + + +if LINESEGMENT_MPRIMS == 1 + resolution = 0.01; + numberofangles = 32; %preferably a power of 2, definitely multiple of 8 + numberofprimsperangle = 16; + + %multipliers (multiplier is used as costmult*cost) + forwardcostmult = 1; + backwardcostmult = 5; + forwardandturncostmult = 1; + sidestepcostmult = 50; + turninplacecostmult = 50; + + %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,:) = [4 0 0 forwardcostmult]; + basemprimendpts0_c(3,:) = [8 0 0 forwardcostmult]; + basemprimendpts0_c(4,:) = [6 2 0 sidestepcostmult]; + basemprimendpts0_c(5,:) = [6 -2 0 sidestepcostmult]; + basemprimendpts0_c(6,:) = [2 3 0 sidestepcostmult]; + basemprimendpts0_c(7,:) = [2 -3 0 sidestepcostmult]; + basemprimendpts0_c(8,:) = [-5 0 0 backwardcostmult]; + %1/32 theta change + basemprimendpts0_c(9,:) = [6 2 1 forwardandturncostmult]; + basemprimendpts0_c(10,:) = [6 -2 -1 forwardandturncostmult]; + %2/32 theta change + basemprimendpts0_c(11,:) = [4 3 2 forwardandturncostmult]; + basemprimendpts0_c(12,:) = [4 -3 -2 forwardandturncostmult]; + %turn in place + basemprimendpts0_c(13,:) = [0 0 1 turninplacecostmult]; + basemprimendpts0_c(14,:) = [0 0 -1 turninplacecostmult]; + basemprimendpts0_c(15,:) = [0 0 3 turninplacecostmult]; + basemprimendpts0_c(16,:) = [0 0 -3 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,:) = [3 3 0 forwardcostmult]; + basemprimendpts45_c(3,:) = [6 6 0 forwardcostmult]; + basemprimendpts45_c(4,:) = [2 6 0 sidestepcostmult]; + basemprimendpts45_c(5,:) = [6 2 0 sidestepcostmult]; + basemprimendpts45_c(6,:) = [0 4 0 sidestepcostmult]; + basemprimendpts45_c(7,:) = [4 0 0 sidestepcostmult]; + basemprimendpts45_c(8,:) = [-4 -4 0 backwardcostmult]; + %1/32 theta change + basemprimendpts45_c(9,:) = [2 6 1 forwardandturncostmult]; + basemprimendpts45_c(10,:) = [6 2 -1 forwardandturncostmult]; + %2/32 theta change + basemprimendpts45_c(11,:) = [1 5 2 forwardandturncostmult]; + basemprimendpts45_c(12,:) = [5 1 -2 forwardandturncostmult]; + %turn in place + basemprimendpts45_c(13,:) = [0 0 1 turninplacecostmult]; + basemprimendpts45_c(14,:) = [0 0 -1 turninplacecostmult]; + basemprimendpts45_c(15,:) = [0 0 3 turninplacecostmult]; + basemprimendpts45_c(16,:) = [0 0 -3 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,:) = [4 2 0 forwardcostmult]; + basemprimendpts22p5_c(3,:) = [6 3 0 forwardcostmult]; + basemprimendpts22p5_c(4,:) = [4 4 0 sidestepcostmult]; + basemprimendpts22p5_c(5,:) = [6 2 0 sidestepcostmult]; + basemprimendpts22p5_c(6,:) = [0 3 0 sidestepcostmult]; + basemprimendpts22p5_c(7,:) = [4 -1 0 sidestepcostmult]; + basemprimendpts22p5_c(8,:) = [-4 -2 0 backwardcostmult]; + %1/32 theta change + basemprimendpts22p5_c(9,:) = [4 4 1 forwardandturncostmult]; + basemprimendpts22p5_c(10,:) = [6 2 -1 forwardandturncostmult]; + %2/32 theta change + basemprimendpts22p5_c(11,:) = [2 4 2 forwardandturncostmult]; + basemprimendpts22p5_c(12,:) = [6 0 -2 forwardandturncostmult]; + %turn in place + basemprimendpts22p5_c(13,:) = [0 0 1 turninplacecostmult]; + basemprimendpts22p5_c(14,:) = [0 0 -1 turninplacecostmult]; + basemprimendpts22p5_c(15,:) = [0 0 3 turninplacecostmult]; + basemprimendpts22p5_c(16,:) = [0 0 -3 turninplacecostmult]; + + %11.25 degrees + basemprimendpts11p25_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 + basemprimendpts11p25_c(1,:) = [3 1 0 forwardcostmult]; + basemprimendpts11p25_c(2,:) = [6 2 0 forwardcostmult]; + basemprimendpts11p25_c(3,:) = [9 3 0 forwardcostmult]; + basemprimendpts11p25_c(4,:) = [4 3 0 sidestepcostmult]; + basemprimendpts11p25_c(5,:) = [6 0 0 sidestepcostmult]; + basemprimendpts11p25_c(6,:) = [1 3 0 sidestepcostmult]; + basemprimendpts11p25_c(7,:) = [3 -2 0 sidestepcostmult]; + basemprimendpts11p25_c(8,:) = [-6 -2 0 backwardcostmult]; + %1/32 theta change + basemprimendpts11p25_c(9,:) = [4 3 1 forwardandturncostmult]; + basemprimendpts11p25_c(10,:) = [6 0 -1 forwardandturncostmult]; + %2/32 theta change + basemprimendpts11p25_c(11,:) = [2 4 2 forwardandturncostmult]; + basemprimendpts11p25_c(12,:) = [5 -1 -2 forwardandturncostmult]; + %turn in place + basemprimendpts11p25_c(13,:) = [0 0 1 turninplacecostmult]; + basemprimendpts11p25_c(14,:) = [0 0 -1 turninplacecostmult]; + basemprimendpts11p25_c(15,:) = [0 0 3 turninplacecostmult]; + basemprimendpts11p25_c(16,:) = [0 0 -3 turninplacecostmult]; + + %33.75 degrees + basemprimendpts33p75_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult + %x aligned with the heading of the robot, angles are positive + %counterclockwise + %0 theta change + basemprimendpts33p75_c(1,:) = [3 2 0 forwardcostmult]; + basemprimendpts33p75_c(2,:) = [6 4 0 forwardcostmult]; + basemprimendpts33p75_c(3,:) = [9 6 0 forwardcostmult]; + basemprimendpts33p75_c(4,:) = [4 5 0 sidestepcostmult]; + basemprimendpts33p75_c(5,:) = [6 2 0 sidestepcostmult]; + basemprimendpts33p75_c(6,:) = [0 4 0 sidestepcostmult]; + basemprimendpts33p75_c(7,:) = [3 -2 0 sidestepcostmult]; + basemprimendpts33p75_c(8,:) = [-6 -4 0 backwardcostmult]; + %1/32 theta change + basemprimendpts33p75_c(9,:) = [4 5 1 forwardandturncostmult]; + basemprimendpts33p75_c(10,:) = [6 2 -1 forwardandturncostmult]; + %2/32 theta change + basemprimendpts33p75_c(11,:) = [1 5 2 forwardandturncostmult]; + basemprimendpts33p75_c(12,:) = [3 -2 -2 forwardandturncostmult]; + %turn in place + basemprimendpts33p75_c(13,:) = [0 0 1 turninplacecostmult]; + basemprimendpts33p75_c(14,:) = [0 0 -1 turninplacecostmult]; + basemprimendpts33p75_c(15,:) = [0 0 3 turninplacecostmult]; + basemprimendpts33p75_c(16,:) = [0 0 -3 turninplacecostmult]; + + +elseif UNICYCLE_MPRIMS == 1 + fprintf(1, 'ERROR: unsupported mprims type\n'); + return; +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 LINESEGMENT_MPRIMS == 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); + 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; + 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)); + text(intermcells_m(numofsamples,1), intermcells_m(numofsamples,2), int2str(endpose_c(3))); + hold on; + + end; + grid; + pause; +end; + +fclose('all'); diff --git a/navigations/sbpl/matlab/mprim/genmprim_unicycle.m b/navigations/sbpl/matlab/mprim/genmprim_unicycle.m new file mode 100755 index 0000000..c0722bb --- /dev/null +++ b/navigations/sbpl/matlab/mprim/genmprim_unicycle.m @@ -0,0 +1,279 @@ +% /* +% * 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(outfilename) + +% +%generates motion primitives and saves them into file +% +%written by Maxim Likhachev +%--------------------------------------------------- +% + +%defines + +UNICYCLE_MPRIM_16DEGS = 1; + + +if UNICYCLE_MPRIM_16DEGS == 1 + resolution = 0.025; + numberofangles = 16; %preferably a power of 2, definitely multiple of 8 + numberofprimsperangle = 5; + + %multipliers (multiplier is used as costmult*cost) + forwardcostmult = 1; + backwardcostmult = 5; + forwardandturncostmult = 2; + sidestepcostmult = 10; + turninplacecostmult = 5; + + %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/navigations/sbpl/matlab/mprim/genmprim_unicycle_circular_non_uniform.m b/navigations/sbpl/matlab/mprim/genmprim_unicycle_circular_non_uniform.m new file mode 100755 index 0000000..a693491 --- /dev/null +++ b/navigations/sbpl/matlab/mprim/genmprim_unicycle_circular_non_uniform.m @@ -0,0 +1,741 @@ +function[] = genmprim_unicycle_circular_non_uniform (outfilename) +% Generates circular motion primitives with min turning radius and saves them into a file. +% For each angle from the list_of_angles array generates a set of 4 forward moving motion primitives +% and 4 symmetric backward moving motion primitives. +% +% This function takes one optional argument - 'outfilename', which specifies +% the location of the output file where motion primitives data is saved. +% If this argiment is omitted, the file name is hardcoded. +% +% The script builds the following types of motion primitives with unique ids for each +% angle from the list_of_angles array: +% +% if has_turn_in_place_prims == 0 +% +% 1 - short forward +% 2 - long forward +% 3 - forward and turn left +% 4 - forward and turn right +% 5 - short backward +% 6 - long backward +% 7 - backward and turn left +% 8 - backward and turn right +% +% if has_turn_in_place_prims == 1 +% +% 1 - short forward +% 2 - long forward +% 3 - forward and turn left +% 4 - forward and turn right +% 5 - turn in place forward +% 6 - short backward +% 7 - long backward +% 8 - backward and turn left +% 9 - backward and turn right +% 10 - turn in place backward +% +% +% Configurarion parameters: +% resolution grid resolution +% errmin max acceptable error for the distance between the endpoint of the motion primitive and the grid node. +% rmin_m min acceptable turning radius im meters +% xmin min x coordinate for the endpoint of the circular motion primitive +% ymin min y coordinate for the endpoint of the circular motion primitive +% xmax max x coordinate for the endpoint of the circular motion primitive +% ymax max y coordinate for the endpoint of the circular motion primitive +% countmax max number of different acceptable (by errmin and rmax) primitives of different lengths to calculate before choosing the best among them. +% +% alfa the angle satisfying the condition: alfa = atan(0.5)= 26.56505118 degrees, 0.46364761 radians +% numberofangles number of angles for which motion primitives are generated +% number_of_base_prims_per_angle number of base (forward moving) primitives per angle +% numberofbaseangles number of base angles: 0, alfa and 45 +% degrees. All other angles are rotations or reflections of these base angles. +% has_backward_prims can be 1 or 0, if 0, backward moving primitives are not generated. +% list_if_angles list of angles for which sets of motion primitives are built +% degrees: 0 26.5651 45.00 63.4349 90.00 116.5651 135.00 153.4349 180.00 206.5651 225.00 243.4349 270.00 296.5651 315.00 333.4349 360.00 +% radians: 0 0.4538 0.7854 1.1170 1.5708 2.0246 2.3562 2.6878 3.1416 3.5954 3.9270 4.2586 4.7124 5.1662 5.4978 5.8294 6.2832 +% +% Cost multipliers (multiplier is used as costmult*cost) +% forwardcostmult cost multiplier for the forward motion +% backwardcostmult cost multiplier for the backward motion +% forwardandturncostmult cost multiplier for the forward-and-turn motion +% backwardandturncostmult cost multiplier for the backward-and-turn motion +% +% This script prints 3 coordinates for each motion primitive: x, y, theta +%%%%% + +fprintf(1, 'genmprim_unicycle_circular_non_uniform\n'); + +% configuration parameters +resolution = 0.1; %0.025; %0.1; +errmin = 0.05; %0.05; +rmin_m = 3.0; %1.0; +rmin_c = rmin_m/resolution; +fprintf(1, 'resolution=%f rmin_m=%f meters rmin_c=%f cells errmin=%f\n', resolution, rmin_m, rmin_c, errmin); + +if nargin < 1 + %outputFile = 0; + basefilename = 'non_uniform_'; + outfilename = generate_file_name(basefilename, resolution, rmin_m, errmin); + fprintf(1, 'outfilename = %s\n', outfilename); +end + +xmin = 0; +ymin = 0; +xmax = 40; +ymax = 40; +countmax = 40; +interm_spacing_m = resolution/2; % Approximate spacing of intermediate poses in meters +interm_spacing_c = interm_spacing_m/resolution; +interm_spacing_rad = 0.05; % Approximate spacing of intermediate poses in radians +fprintf(1, 'xmin=%f xmax=%f ymin=%f ymax=%f\n', xmin, xmax, ymin, ymax); +fprintf(1, 'countmax=%d interm_spacing_m=%f meters interm_spacing_rad=%f radians\n', countmax, interm_spacing_m, interm_spacing_rad); + +numberofangles = 16; +%number_of_base_prims_per_angle = 4; +%max_number_of_prims_per_angle = 8; +numberofbaseangles = 3; % 0, alfa and 45 degrees +has_backward_prims = 1; +has_turn_in_place_prims = 1; +number_of_base_prims_per_angle = 4 + has_turn_in_place_prims; +max_number_of_prims_per_angle = 2 * number_of_base_prims_per_angle; %this is only needed for arrays memory allocations +numberofprimsperangle = (1 + has_backward_prims) * number_of_base_prims_per_angle; % This is the total number of primitives per angle + +totalnumberofprimitives = numberofprimsperangle*numberofangles; +fprintf(1, 'numberofangles=%d number_of_base_prims_per_angle=%d\n', numberofangles, number_of_base_prims_per_angle); +fprintf(1, 'has_backward_prims=%d\n', has_backward_prims); +fprintf(1, 'has_turn_in_place_prims=%d\n', has_turn_in_place_prims); +fprintf(1, 'numberofprimsperangle=%d totalnumberofprimitives=%d\n', numberofprimsperangle, totalnumberofprimitives); + +start_x = 0.0; +start_y = 0.0; + +%multipliers (multiplier is used as costmult*cost) +forwardcostmult = 1; +backwardcostmult = 5; +forwardandturncostmult = 2; +backwardandturncostmult = 3; +turninplacecostmult = 5; + +costmult = [] +if (has_turn_in_place_prims) + costmult = [forwardcostmult, forwardcostmult, forwardandturncostmult, forwardandturncostmult, turninplacecostmult, backwardcostmult, backwardcostmult, backwardandturncostmult, backwardandturncostmult, turninplacecostmult]; +else + costmult = [forwardcostmult, forwardcostmult, forwardandturncostmult, forwardandturncostmult, tbackwardcostmult, backwardcostmult, backwardandturncostmult, backwardandturncostmult]; +end; + +% list of angles increments in discrete units for the end pose of the primitive relative to the start pose +prim_angle_increments = [0, 0, 1, -1]; + +alfa = 26.56505118; +alfa1 = alfa*100000000; +beta = 90 - alfa; +beta1 = beta*100000000; +imax = has_backward_prims + 1; +fprintf(1, 'alfa1=%f beta=%f beta1=%f imax=%d\n', alfa1, beta, beta1, imax); + +%list_of_angles (degrees): 0 26.5651 45.00 63.4349 90.00 116.5651 135.00 153.4349 180.00 206.5651 225.00 243.4349 270.00 296.5651 315.00 333.4349 360.00 +%list_of_angles (radians): 0 0.4538 0.7854 1.1170 1.5708 2.0246 2.3562 2.6878 3.1416 3.5954 3.9270 4.2586 4.7124 5.1662 5.4978 5.8294 6.2832 +fprintf(1, '*******************************\n'); +list_of_angles = zeros(1, numberofangles+1); +list_of_angles(1:2:17) = (0:45:360); +list_of_angles([2 6 10 14]) = list_of_angles([1 5 9 13]) + alfa; +list_of_angles([4 8 12 16]) = list_of_angles([5 9 13 17]) - alfa; +list_of_angles +list_of_angles = list_of_angles .* pi/180; +list_of_angles +fprintf(1, '*******************************\n'); + +fout = fopen(outfilename, 'w'); +%write the header +fprintf(fout, 'resolution_m: %f\n', resolution); +fprintf(fout, 'min_turning_radius_m: %f\n', rmin_m); +fprintf(fout, 'numberofangles: %d\n', numberofangles); +for angleind = 1:numberofangles + fprintf(fout, 'angle:%d %.8f\n', angleind-1, list_of_angles(angleind)); +end; +fprintf(fout, 'totalnumberofprimitives: %d\n', totalnumberofprimitives); + +% Note, what is shown x,y,theta changes (not absolute numbers) x aligned +% with the heading of the robot, angles are positive and counterclockwise + +% Initialize arrays to store acceptable circular primitives before choosing the best among them. +% We only need 3 base sets of primitives for angles 0, alfa and 45 degrees. +primdata = zeros(numberofbaseangles, max_number_of_prims_per_angle, countmax, 8); % startx, starty, starttheta, endx, endy, endtheta, tvoverrv, rv +primcount = zeros(numberofbaseangles, max_number_of_prims_per_angle); +basemprimendpts_c = zeros(numberofbaseangles, numberofprimsperangle, 6); % x_c, y_c, theta_c, costmult, tvoverrv, rv + +% Calculate sets of valid primitives with ids 2,3,4 for base angles 0, alfa and 45 degrees. +% Primitives with id=1 (short forward) will be calculated by re-scaling primitives with id=2 (long forward). +for angleind=1:3 + for primind=2:4 + if (angleind == 1 && primind == 4) + gen_base_prims(angleind, primind, xmin, xmax, -ymax, -ymin); + else + gen_base_prims(angleind, primind, xmin, xmax, ymin, ymax); + end; + end; +end; + +fprintf(1, '\n'); +fprintf(1, 'find best primitives start:\n'); +find_best_prims(); + +fprintf(1, '\n++++++++++++++++++\n'); +fprintf(1, 'start writing primitives to file:\n'); +fprintf(1, '\n'); + +h1f = figure(1); +h1a = axes('parent',h1f); +hold on; + +s = 2.0; %0.6; +xxmin = -s; +xxmax = s; +yymin = -s; +yymax = s; +xt = 5*resolution; +yt = 5*resolution; + +axis equal; +axis([xxmin xxmax yymin yymax]); +%axis([-0.5 0.5 -0.5 0.5]); +set(gca,'XTick', xxmin:xt:xxmax); +set(gca,'YTick',yymin:yt:yymax); +grid on; + +primposes = []; +primsamples = []; +primendangle = []; + +% Iterate over angles +for angleind = 1:numberofangles + fprintf(1, '***************\n'); + fprintf(1, 'angleind=%d\n', angleind-1); + + currentangle = list_of_angles(angleind); + currentangle_36000int = round(currentangle*18000000000/pi); + + fprintf(1, '--------------------\n'); + fprintf(1, 'currentangle=%f currentangle_36000int=%d\n', currentangle, currentangle_36000int); + + numofsamples0 = zeros(numberofprimsperangle); + endPoses_c = zeros(numberofprimsperangle, 3); % x_c, y_c, theta_c + turningradiuses = zeros(numberofprimsperangle); + intermposes_m = []; + intermcells_m_orig = []; %zeros(numofsamples, 3); %x,y,theta + + for primind = 1:numberofprimsperangle %number_of_base_prims_per_angle %[1,3,4] + + fprintf(1, '+++++++++++++++++++++++++++\n'); + fprintf(1, 'primind=%d\n', primind-1); + + %compute which template to use + if (rem(currentangle_36000int, 9000000000) == 0) + mprimendpts_c = basemprimendpts_c(1, primind,:); + angle = currentangle; + turning_radius = mprimendpts_c(5); + rvel = mprimendpts_c(6); + fprintf(1, '0000 angle=%f\n', angle); + elseif (rem(currentangle_36000int, 4500000000) == 0) + mprimendpts_c = basemprimendpts_c(3, primind,:); + angle = currentangle - 45*pi/180; + turning_radius = mprimendpts_c(5); + rvel = mprimendpts_c(6); + fprintf(1, '4500 angle=%f\n', angle); + elseif (rem(currentangle_36000int-beta1, 9000000000) == 0) %6400 + mprimendpts_c = basemprimendpts_c(2, primind,:); + mprimendpts_c(1) = basemprimendpts_c(2, primind,2); %reeverse x and y + mprimendpts_c(2) = basemprimendpts_c(2, primind,1); + mprimendpts_c(3) = -basemprimendpts_c(2, primind,3); %reverse the angle as well + angle = currentangle - beta*pi/180; + turning_radius = -mprimendpts_c(5); + rvel = -mprimendpts_c(6); + fprintf(1, '90-alfa angle=%f\n', angle); + elseif (rem(currentangle_36000int-alfa1, 9000000000) == 0) + mprimendpts_c = basemprimendpts_c(2, primind,:); + angle = currentangle - alfa*pi/180; + turning_radius = mprimendpts_c(5); + rvel = mprimendpts_c(6); + fprintf(1, 'alfa angle=%f\n', angle); + else + fprintf(1, 'ERROR: invalid angular resolution. angle = %d\n', currentangle_36000int); + return; + end; + + [res, turning_radius_center] = generate_intermediate_poses(angleind, primind, currentangle, angle, rvel, turning_radius, mprimendpts_c); + + for ii = 1:numofsamples + intermposes_m(primind, ii, :) = [intermcells_m(primind,ii,1)*resolution intermcells_m(primind,ii,2)*resolution intermcells_m(primind,ii,3)]; % x, y, theta + %intermposes_m_orig(primind, iind, :) = [sgn*intermcells_m_orig(iind,1) sgn*intermcells_m_orig(iind,2) intermcells_m(iind,3)]; % x, y, theta + primposes(angleind, primind, ii, :) = intermposes_m(primind, ii, :); + end; + %pause; + + end; %for primind = 1:numberofprimsperangle + + %output to the mprim file and plot + for primind = 1:numberofprimsperangle + fprintf(fout, 'primID: %d\n', primind-1); + fprintf(fout, 'startangle_c: %d\n', angleind-1); + fprintf(fout, 'endpose_c: %d %d %d\n', endPoses_c(primind,1), endPoses_c(primind,2), endPoses_c(primind,3)); + + additionalcostmult = costmult(primind); + + fprintf(fout, 'additionalactioncostmult: %d\n', additionalcostmult); + fprintf(fout, 'turning_radius: %.4f\n', turningradiuses(primind)); + + numofsamples = numofsamples0(primind); + + fprintf(fout, 'intermediateposes: %d\n', numofsamples); + for interind = 1:numofsamples + fprintf(fout, '%.4f %.4f %.4f\n', intermposes_m(primind,interind,1), intermposes_m(primind,interind,2), intermposes_m(primind,interind,3)); + end; + plot(squeeze(intermposes_m(primind, 1:numofsamples, 1)), squeeze(intermposes_m(primind, 1:numofsamples, 2)), 'r'); + + dl = 0.0; + if (primind == 3) + dl = 0.05; + elseif (primind == 4) + dl = -0.05; + end; + slabel = [int2str(angleind), '-', int2str(primind)]; + %text(intermposes_m(primind,numofsamples,1)+dl, intermposes_m(primind,numofsamples,2)+dl, slabel); + + end; %primid + %pause; +end; %angleid + +%%%%%%%%%%%%%%%%%%%%%%%****************************** + +fprintf(1, '!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n'); +fclose('all'); + +function[] = gen_base_prims(angle_ind, prim_ind, xmin0, xmax0, ymin0, ymax0) + + fprintf(1, '\ngen_base_prims: angle_ind=%d prim_ind=%d\n', angle_ind, prim_ind); + angle_incr = prim_angle_increments(prim_ind); + start_theta = list_of_angles(angle_ind); + if (angle_ind == 1 && angle_incr == -1) + end_theta = -list_of_angles(2); + else + end_theta = list_of_angles(angle_ind + angle_incr); + end; + + for i=1:imax + count = 0; + if (i == 1) + xmn0 = xmin0; + xmx0 = xmax0; + ymn0 = ymin0; + ymx0 = ymax0; + prm_ind = prim_ind; + else + xmn0 = -xmax0; + xmx0 = -xmin0; + ymn0 = -ymax0; + ymx0 = -ymin0; + prm_ind = prim_ind + number_of_base_prims_per_angle; %4; + end; + basemprimendpts_c(angle_ind, prm_ind, 3) = angle_incr; + + fprintf(1, '\nangle_ind=%d prm_ind=%d\n', angle_ind, prm_ind); + fprintf(1, 'start_theta=%f end_theta=%f basemprimendpts_c(3)=%f angle_incr=%d\n', start_theta, end_theta, basemprimendpts_c(angle_ind,prim_ind,3), angle_incr); + + %fprintf(1,'xmn0=%f xmx0=%f\n', xmn0,xmx0); + %fprintf(1,'ymn0=%f ymx0=%f\n', ymn0,ymx0); + + for endx_c = xmn0:xmx0 + for endy_c = ymn0:ymx0 + prim_endx_c = endx_c; + prim_endy_c = endy_c; + + if (prim_ind == 3 || prim_ind == 4) + R = [sin(end_theta) - sin(start_theta); cos(start_theta) - cos(end_theta)]; + RT = R'; + B = [prim_endx_c - start_x; prim_endy_c - start_y]; + tvoverrv = pinv(RT*R)*RT*B; + if (abs(tvoverrv) < rmin_c) + continue; + end; + + rv = end_theta - start_theta; + tv = rv*tvoverrv; + err = abs(R*tvoverrv - B); + errxy = norm(err); + + if (errxy < errmin) + fprintf(1, 'count=%d endx_c=%d endy_c=%d errxy=%f tvoverrv=%f rv=%f tv=%f prim_endx_c=%f prim_endy_c=%f\n', count, endx_c, endy_c, errxy, tvoverrv, rv, tv, prim_endx_c, prim_endy_c); + end + else + yy = prim_endx_c*tan(end_theta); + errxy = abs(prim_endy_c - yy); + tvoverrv = sqrt(prim_endx_c*prim_endx_c + yy*yy); + rv = 0.0; + tv = tvoverrv; + % if (errxy < 2*errmin) + % fprintf(1, 'count=%d endx_c=%d endy_c=%d errxy=%f tvoverrv=%f rv=%f tv=%f prim_endx_c=%f prim_endy_c=%f\n', count, endx_c, endy_c, errxy, tvoverrv, rv, tv, prim_endx_c, prim_endy_c); + % end + end; + + if (errxy > errmin) + continue; + end; + + if (count+1 > countmax) + fprintf(1, 'endy: count = %d, countmax = %d\n', count, countmax); + break; + end; + count = count + 1; + + primdata(angle_ind, prm_ind, count, 1) = start_x; + primdata(angle_ind, prm_ind, count, 2) = start_y; + primdata(angle_ind, prm_ind, count, 3) = start_theta; + primdata(angle_ind, prm_ind, count, 4) = prim_endx_c; + primdata(angle_ind, prm_ind, count, 5) = prim_endy_c; + primdata(angle_ind, prm_ind, count, 6) = end_theta; + primdata(angle_ind, prm_ind, count, 7) = tvoverrv; + primdata(angle_ind, prm_ind, count, 8) = rv; + %pause; + end; %for end_y + + if (count+1 > countmax) + fprintf(1, 'endx: count = %d, countmax = %d\n', count, countmax); + break; + end; + + end; %for end_x + primcount(angle_ind, prm_ind) = count; + fprintf(1, 'count=%f\n', primcount(angle_ind, prm_ind)); + + end %for i=1:imax +end + +function[] = find_best_prims() + % First find the motion primitive for angle_ind = 1 and prim_ind = 4 + % with minimal turning radius among selected set of primitives that + % satisfy the given min turning radius and epsilon conditions. + + [rmin0, countmin] = min(abs(primdata(1, 4, 1:primcount(1, 4), 7))); + fprintf(1, 'countmin=%f rmin0=%f\n', countmin, rmin0); + + %Iterate over all saved motion primitives for all angles and for each + %angle find a set of primitives with turning radius closest to the min radius found above. + + rrm = rmin0; + %rrm = 30.0; + %rad = []; + + for angle_id=1:numberofbaseangles + + fprintf(1, '************* angle_id=%f *********\n', angle_id); + + i1 = number_of_base_prims_per_angle + 3; %7; + i2 = number_of_base_prims_per_angle + 4; %8; + + for prim_ind = [3,4,i1,i2] %4:-1:3 + if (has_backward_prims == 0 && prim_ind > number_of_base_prims_per_angle) %>4 + continue; + end + + fprintf(1, '------------- prim_ind=%f -----------\n', prim_ind); + +% [dmin, countmin] = min(abs(abs(primdata(angle_id, prim_ind, 1:primcount(angle_id, prim_ind), 7)) - rmin0)); +% if (angle_id == 1) +% rrm = rmin0; +% elseif (prim_ind == 3) +% rrm = rad(angle_id, 4); +% else +% rrm = rad(angle_id-1, 3); +% end; + fprintf(1, 'rrm=%f\n', rrm); + + fprintf(1, 'primcount(angle_id, prim_ind)=%d\n', primcount(angle_id, prim_ind)); + + [dmin, countmin] = min(abs(abs(primdata(angle_id, prim_ind, 1:primcount(angle_id, prim_ind), 7)) - rrm)); + fprintf(1, 'countmin=%f dmin=%f\n', countmin, dmin); + + tvoverrv = primdata(angle_id, prim_ind, countmin, 7); + %rad(angle_id, prim_ind) = abs(tvoverrv); + + rv = primdata(angle_id, prim_ind, countmin, 6) - primdata(angle_id, prim_ind, countmin, 3); + tv = rv*tvoverrv; + fprintf(1, 'tvoverrv=%f rv=%f tv=%f\n', tvoverrv, rv, tv); + + basemprimendpts_c(angle_id, prim_ind, 1) = primdata(angle_id, prim_ind, countmin, 4); + basemprimendpts_c(angle_id, prim_ind, 2) = primdata(angle_id, prim_ind, countmin, 5); + basemprimendpts_c(angle_id, prim_ind, 5) = primdata(angle_id, prim_ind, countmin, 7); + basemprimendpts_c(angle_id, prim_ind, 6) = primdata(angle_id, prim_ind, countmin, 8); + + fprintf(1, 'basemprimendpts_c=%f %f %f %f %f %f\n', basemprimendpts_c(angle_id, prim_ind, :)); %x, y, angle_incr, costmult,tvoverrv, rv + end; + + for i = 1:imax + %prim_ind = 2; %long forward + prim_ind = 2 + (i-1)*number_of_base_prims_per_angle; %4; + fprintf(1, '------------- prim_ind=%f -----------\n', prim_ind); + i1 = prim_ind+1; + i2 = prim_ind+2; + + x = (basemprimendpts_c(angle_id, i1, 1) + basemprimendpts_c(angle_id, i2, 1))/2; + y = (basemprimendpts_c(angle_id, i1, 2) + basemprimendpts_c(angle_id, i2, 2))/2; + fprintf(1, 'x=%f y=%f primcount=%d\n', x, y, primcount(angle_id, prim_ind)); + + [dmin, countmin] = min(sqrt((primdata(angle_id, prim_ind, 1:primcount(angle_id, prim_ind), 4)-x).^2 + (primdata(angle_id, prim_ind, 1:primcount(angle_id, prim_ind), 5)-y).^2)); + + fprintf(1, 'angle_id=%d prim_ind=%d countmin=%d dmin=%f\n', angle_id, prim_ind, countmin, dmin); + basemprimendpts_c(angle_id, prim_ind, 1) = primdata(angle_id, prim_ind, countmin, 4); + basemprimendpts_c(angle_id, prim_ind, 2) = primdata(angle_id, prim_ind, countmin, 5); + fprintf(1, 'basemprimendpts_c=%f %f %f %f %f %f\n', basemprimendpts_c(angle_id, prim_ind, :)); + + %prim_ind = 1; %short forward + i1 = prim_ind; + prim_ind = prim_ind - 1; + fprintf(1, '------------- prim_ind=%f -----------\n', prim_ind); + x = basemprimendpts_c(angle_id, i1, 1); + y = basemprimendpts_c(angle_id, i1, 2); + d = nonzero_min(abs(x), abs(y)); + basemprimendpts_c(angle_id, prim_ind, 1) = x/d; + basemprimendpts_c(angle_id, prim_ind, 2) = y/d; + fprintf(1, 'basemprimendpts_c=%f %f %f %f %f %f\n', basemprimendpts_c(angle_id, prim_ind, :)); + + %prim_ind = 5; %short forward + if (has_turn_in_place_prims == 1) + prim_ind = 5 + (i-1)*number_of_base_prims_per_angle; + fprintf(1, '------------- prim_ind=%f -----------\n', prim_ind); + basemprimendpts_c(angle_id, prim_ind, 1) = 0.0; + basemprimendpts_c(angle_id, prim_ind, 2) = 0.0; + if (prim_ind == 5) + i1 = prim_ind-2; + else + i1 = prim_ind-1; + end; + basemprimendpts_c(angle_id, prim_ind, 3) = basemprimendpts_c(angle_id, i1, 3); + basemprimendpts_c(angle_id, prim_ind, 5) = 0.0; + basemprimendpts_c(angle_id, prim_ind, 6) = basemprimendpts_c(angle_id, i1, 6); + fprintf(1, 'basemprimendpts_c=%f %f %f %f %f %f\n', basemprimendpts_c(angle_id, prim_ind, :)); + end + end; + end; +end + +%generate intermediate poses (remember they are w.r.t 0,0 (and not centers of the cells) +function[res, turning_radius_center] = generate_intermediate_poses(angleind, primind, currentangle, angle, rvel, turning_radius, mprimendpts_c) + + baseendpose_c = mprimendpts_c(1:3); + endtheta_c = rem(angleind - 1 + baseendpose_c(3), numberofangles); + + fprintf(1,'\n'); + fprintf(1, 'generate_intermediate_poses start\n'); + fprintf(1, 'baseendpose_c: %f %f %f endtheta_c=%d\n', baseendpose_c, endtheta_c); + startpt = [0 0 currentangle]; + + 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)); + if (angleind == 1 && endtheta_c == -1) + end_angle = -list_of_angles(2); + else + end_angle = list_of_angles(endtheta_c + 1); + end; + endpt = [endx_c endy_c end_angle]; + + dist_m = sqrt(sum((endpt(1:2) - startpt(1:2)).^2)); + dist_rad = abs(currentangle - end_angle); + fprintf(1, 'currentangle=%f end_angle=%f\n', currentangle, end_angle); + + if (endx_c == 0 && endy_c == 0) + numofsamples = abs(round(dist_rad/interm_spacing_rad)); + else + numofsamples = floor(dist_m/interm_spacing_c) + 1; + end; + %numofsamples = 1 + max(round(dist_m/interm_spacing_m), abs(round(dist_rad/interm_spacing_rad))); + fprintf(1, 'endx_c=%f endy_c=%f endtheta_c=%d turning_radius=%f rvel=%f transformation angle=%f end_angle=%f numofsamples=%d dist_m=%f dist_rad=%f\n', endx_c, endy_c, endtheta_c, turning_radius, rvel, angle*180/pi, end_angle, numofsamples, dist_m, dist_rad); + numofsamples0(primind) = numofsamples; + + if (baseendpose_c(3) == 0) %move forward/backward + for iind = 1:numofsamples + dt = (iind-1)/(numofsamples-1); + intermcells_m(primind, iind,:) = [startpt(1) + (endpt(1) - startpt(1))*dt ... + startpt(2) + (endpt(2) - startpt(2))*dt ... + rem(startpt(3) + (endpt(3) - startpt(3))*dt, 2*pi)]; + end; + res = correct_poses(); + turning_radius_center = 0.0; + elseif (endx_c == 0 && endy_c == 0) %turn in place + for iind = 1:numofsamples + dt = (iind-1)/(numofsamples-1); + dtheta = rvel*dt + startpt(3); + intermcells_m(primind, iind,:) = [0.0 0.0 dtheta]; + end; + res = correct_poses(); + turning_radius_center = 0.0; + else + for iind = 1:numofsamples + dt = (iind-1)/(numofsamples-1); + + dtheta = rvel*dt + startpt(3); + x = startpt(1) + turning_radius*(sin(dtheta) - sin(startpt(3))); + y = startpt(2) + turning_radius*(cos(startpt(3)) - cos(dtheta)); + intermcells_m(primind, iind,:) = [x y dtheta]; +% fprintf(1, 'iind=%d dt=%f x=%f y=%f dtheta=%f %f %f\n', iind, dt, intermcells_m(iind,1), intermcells_m(iind,2), dtheta, x, y); + end; + res = correct_poses(); + [turning_radius_center, arc_len_m, turn_angle] = average_turning_radius(); + end; + %pause; + + k = primind; + endPoses_c(k, :) = [round(endx_c) round(endy_c) round(endtheta_c)]; + turningradiuses(k) = turning_radius*resolution; + turningradiuses_center(k) = turning_radius_center; + + primsamples(angleind, k) = numofsamples; + primendangle(angleind, k) = endtheta_c; + %pause; + + function[turn_rad_aver, arc_len_m, turn_angle] = average_turning_radius() + + turn_angle = 0.0; + turn_rad_aver = 0.0; + arc_len_m = 0.0; + for ind = 1:numofsamples + if (ind > 1) + dx = intermcells_m(primind, ind,1) - intermcells_m(primind, ind-1,1); + dy = intermcells_m(primind, ind,2) - intermcells_m(primind, ind-1,2); + ds = sqrt(dx*dx + dy*dy); + dth = (intermcells_m(primind, ind,3) - intermcells_m(primind, ind-1,3)); + arc_len_m = arc_len_m + ds; + turn_angle = turn_angle + dth; + turn_rad = ds/dth; + turn_rad_aver = turn_rad_aver + abs(turn_rad); + %fprintf(1, 'ind=%d ds=%f dth=%f turn_rad=%f\n', ind, ds, dth, turn_rad); + end; + end + turn_rad_aver = turn_rad_aver/(numofsamples - 1); + turn_angle = abs(turn_angle); + fprintf('arc_len_m = %f turn_angle = %f turn_rad_aver = %f\n', arc_len_m, turn_angle, turn_rad_aver); + end + + %correct intermediate poses using interpolation to place the end point of the motion primitive exactly to the grid node. + function[status] = correct_poses() + + status = true; + %error = [endpt(1) - intermcells_m(primind, numofsamples,1) endpt(2) - intermcells_m(primind, numofsamples,2) endpt(3) - intermcells_m(primind, numofsamples,3)]; + errx = endpt(1) - intermcells_m(primind, numofsamples,1); + erry = endpt(2) - intermcells_m(primind, numofsamples,2); + errth = endpt(3) - intermcells_m(primind, numofsamples,3); + + fprintf(1, '********************\n'); + fprintf(1, 'correction:\n'); + fprintf(1,'numofsamples = %d\n', numofsamples); + fprintf(1, 'startpt(1)=%f startpt(2)=%f startpt(3)=%f\n', startpt(1), startpt(2), startpt(3)); + fprintf(1, 'endpt(1)=%f endpt(2)=%f endpt(3)=%f\n', endpt(1), endpt(2), endpt(3)); + fprintf(1, 'mprimendpts_c(1)=%f mprimendpts_c(2)=%f mprimendpts_c(3)=%f\n', mprimendpts_c(1), mprimendpts_c(2), mprimendpts_c(3)); + + fprintf(1, 'error: dx %f dy %f dtheta %f\n', errx, erry, errth); + + R0 = [sin(end_angle) - sin(startpt(3)); cos(startpt(3)) - cos(end_angle)]; + RT0 = R0'; + B0 = [endpt(1) - start_x; endpt(2) - start_y]; + tr = abs(pinv(RT0*R0)*RT0*B0); + fprintf(1, 'tr = %f\n', tr); + + if (tr > 0 && tr < rmin_m) + fprintf(1, 'WARNING: After interpolation turning radius is less than the specified min!\n'); + status = false; + end; + + interpfactor = 0:1/(numofsamples-1):1; + + %save original motion for display purposes only + for i=1:numofsamples + intermcells_m_orig(primind, i,1) = intermcells_m(primind, i,1); + intermcells_m_orig(primind, i,2) = intermcells_m(primind, i,2); + intermcells_m_orig(primind, i,3) = intermcells_m(primind, i,3); + end; + + %correct intermideate poses using interpolation + for i=1:numofsamples + intermcells_m(primind, i,1) = intermcells_m(primind, i,1) + errx*interpfactor(i); + intermcells_m(primind, i,2) = intermcells_m(primind, i,2) + erry*interpfactor(i); + end; + end +end + +function d = nonzero_min(x,y) + if (x == 0) + d = y; + elseif (y == 0) + d = x; + else + d = min(x, y); + end; +end + +function[x1,y1,theta1] = rotate(x,y,theta,theta0) + x1 = x * cos(theta0) - y * sin(theta0); + y1 = x * sin(theta0) + y * cos(theta0); + + r = [cos(theta/2), 0.0, 0.0, sin(theta/2)]; + q = [cos(theta0/2), 0.0, 0.0, sin(theta0/2)]; + + f(1) = (r(1) * q(1)) - (r(2) * q(2)) - (r(3) * q(3)) - (r(4) * q(4)); + f(2) = (r(1) * q(2)) + (r(2) * q(1)) - (r(3) * q(4)) + (r(4) * q(3)); + f(3) = (r(1) * q(3)) + (r(2) * q(4)) + (r(3) * q(1)) - (r(4) * q(2)); + f(4) = (r(1) * q(4)) - (r(2) * q(3)) + (r(3) * q(2)) + (r(4) * q(1)); + theta1 = 2*atan2(f(4), f(1)); +end + +function[x1,y1,theta1] = rotate_clockwise(x,y,theta,theta0) + + r = [cos(theta/2), 0.0, 0.0, sin(theta/2)]; + q = [cos(theta0/2), 0.0, 0.0, sin(theta0/2)]; + q(4) = -q(4); + theta00 = 2*atan2(q(4), q(1)); + + x1 = x * cos(theta00) - y * sin(theta00); + y1 = x * sin(theta00) + y * cos(theta00); + + f(1) = (r(1) * q(1)) - (r(2) * q(2)) - (r(3) * q(3)) - (r(4) * q(4)); + f(2) = (r(1) * q(2)) + (r(2) * q(1)) - (r(3) * q(4)) + (r(4) * q(3)); + f(3) = (r(1) * q(3)) + (r(2) * q(4)) + (r(3) * q(1)) - (r(4) * q(2)); + f(4) = (r(1) * q(4)) - (r(2) * q(3)) + (r(3) * q(2)) + (r(4) * q(1)); + theta1 = 2*atan2(f(4), f(1)); +end + +function[x1,y1,theta1] = add_origin_and_turn(x,y,theta, x0,y0,theta0) + [x1,y1,theta1] = rotate(x,y,theta,theta0); + x1 = x1 + x0; + y1 = y1 + y0; +end + +function[x1,y1,theta1] = remove_origin_and_turn(x,y,theta, x0,y0,theta0) + x2 = x - x0; + y2 = y - y0; + [x1,y1,theta1] = rotate_clockwise(x2,y2,theta,theta0); +end + +function[x2,y2,theta2] = transform(x0, y0, theta0, start_theta) + [x1,y1,theta1] = add_origin_and_turn(1.0,0.0,0.0, x0,y0,theta0); + x2 = x1 - cos(start_theta); + y2 = y1 - sin(start_theta); + theta2 = theta1; +end + +function[outfilename] = generate_file_name(base_name, res, rmin_m, errmin) + res_s = num2str(res, 2); + res_s = strrep(res_s, '.', ''); + rmin_s = num2str(rmin_m, 2); + rmin_s = strrep(rmin_s, '.', ''); + err_s = num2str(errmin, 2); + err_s = strrep(err_s, '.', ''); + outfilename1 = strcat(base_name, 'res'); + outfilename2 = strcat(outfilename1, res_s); + outfilename1 = strcat(outfilename2, '_rad'); + outfilename2 = strcat(outfilename1, rmin_s); + outfilename1 = strcat(outfilename2, '_err'); + outfilename2 = strcat(outfilename1, err_s); + outfilename = strcat(outfilename2, '.mprim'); +end + +end \ No newline at end of file diff --git a/navigations/sbpl/matlab/mprim/genmprim_unicycleplussideways.m b/navigations/sbpl/matlab/mprim/genmprim_unicycleplussideways.m new file mode 100755 index 0000000..b4f0903 --- /dev/null +++ b/navigations/sbpl/matlab/mprim/genmprim_unicycleplussideways.m @@ -0,0 +1,286 @@ +% /* +% * 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_unicycleplussideways(outfilename) + +% +%generates motion primitives and saves them into file +% +%written by Maxim Likhachev +%--------------------------------------------------- +% + +%defines + +UNICYCLE_MPRIM_16DEGS = 1; + + +if UNICYCLE_MPRIM_16DEGS == 1 + resolution = 0.025; + numberofangles = 16; %preferably a power of 2, definitely multiple of 8 + numberofprimsperangle = 9; + + %multipliers (multiplier is used as costmult*cost) + forwardcostmult = 1; + backwardcostmult = 5; + forwardandturncostmult = 3; + sidestepcostmult = 2; + turninplacecostmult = 1; + + %note, what is shown x,y,theta *changes* (that is, dx,dy,dtheta and not absolute numbers) + + %0 degreees + basemprimendpts0_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult + %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]; + %sideways maintaining the same heading + basemprimendpts0_c(8,:) = [0 1 0 sidestepcostmult]; + basemprimendpts0_c(9,:) = [0 -1 0 sidestepcostmult]; + + %45 degrees + basemprimendpts45_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost) + %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]; + %sideways maintaining the same heading + basemprimendpts45_c(8,:) = [-1 1 0 sidestepcostmult]; + basemprimendpts45_c(9,:) = [1 -1 0 sidestepcostmult]; + + %22.5 degrees + basemprimendpts22p5_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost) + %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]; + %sideways maintaining the same heading + basemprimendpts22p5_c(8,:) = [-1 2 0 sidestepcostmult]; + basemprimendpts22p5_c(9,:) = [1 -2 0 sidestepcostmult]; + +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; + fprintf(1, '90\n'); + elseif (rem(currentangle_36000int, 4500) == 0) + basemprimendpts_c = basemprimendpts45_c(primind,:); + angle = currentangle - 45*pi/180; + fprintf(1, '45\n'); + 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/navigations/sbpl/matlab/mprim/genmprim_unicycleplussidewaysplusbackturn.m b/navigations/sbpl/matlab/mprim/genmprim_unicycleplussidewaysplusbackturn.m new file mode 100755 index 0000000..320dea2 --- /dev/null +++ b/navigations/sbpl/matlab/mprim/genmprim_unicycleplussidewaysplusbackturn.m @@ -0,0 +1,296 @@ +% /* +% * 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_unicycleplussidewaysplusbackturn(outfilename) + +% +%generates motion primitives and saves them into file +% +%written by Maxim Likhachev +%--------------------------------------------------- +% + +%defines + +UNICYCLE_MPRIM_16DEGS = 1; + + +if UNICYCLE_MPRIM_16DEGS == 1 + resolution = 0.025; + numberofangles = 16; %preferably a power of 2, definitely multiple of 8 + numberofprimsperangle = 11; + + %multipliers (multiplier is used as costmult*cost) + forwardcostmult = 1; + backwardcostmult = 5; + forwardandturncostmult = 3; + sidestepcostmult = 2; + turninplacecostmult = 1; + + %note, what is shown x,y,theta *changes* (that is, dx,dy,dtheta and not absolute numbers) + + %0 degreees + basemprimendpts0_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult + %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]; + %sideways maintaining the same heading + basemprimendpts0_c(8,:) = [0 1 0 sidestepcostmult]; + basemprimendpts0_c(9,:) = [0 -1 0 sidestepcostmult]; + %1/16 theta change going backward + basemprimendpts0_c(10,:) = [-8 -1 1 backwardcostmult]; + basemprimendpts0_c(11,:) = [-8 1 -1 backwardcostmult]; + + %45 degrees + basemprimendpts45_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost) + %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]; + %sideways maintaining the same heading + basemprimendpts45_c(8,:) = [-1 1 0 sidestepcostmult]; + basemprimendpts45_c(9,:) = [1 -1 0 sidestepcostmult]; + %1/16 theta change going back + basemprimendpts45_c(10,:) = [-5 -7 1 backwardcostmult]; + basemprimendpts45_c(11,:) = [-7 -5 -1 backwardcostmult]; + + %22.5 degrees + basemprimendpts22p5_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost) + %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]; + %sideways maintaining the same heading + basemprimendpts22p5_c(8,:) = [-1 2 0 sidestepcostmult]; + basemprimendpts22p5_c(9,:) = [1 -2 0 sidestepcostmult]; + %1/16 theta change going back + basemprimendpts22p5_c(10,:) = [-5 -4 1 backwardcostmult]; + basemprimendpts22p5_c(11,:) = [-7 -2 -1 backwardcostmult]; + + +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; + fprintf(1, '90\n'); + elseif (rem(currentangle_36000int, 4500) == 0) + basemprimendpts_c = basemprimendpts45_c(primind,:); + angle = currentangle - 45*pi/180; + fprintf(1, '45\n'); + 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 & tv > 0) | (l > 0 & tv < 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(abs(dt*tv) < abs(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/navigations/sbpl/matlab/mprim/genmprim_unicycleplussidewaysplusbackturnplusdiag.m b/navigations/sbpl/matlab/mprim/genmprim_unicycleplussidewaysplusbackturnplusdiag.m new file mode 100755 index 0000000..157fe52 --- /dev/null +++ b/navigations/sbpl/matlab/mprim/genmprim_unicycleplussidewaysplusbackturnplusdiag.m @@ -0,0 +1,306 @@ +% /* +% * 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_unicycleplussidewaysplusbackturnplusdiag(outfilename) + +% +%generates motion primitives and saves them into file +% +%written by Maxim Likhachev +%--------------------------------------------------- +% + +%defines + +UNICYCLE_MPRIM_16DEGS = 1; + + +if UNICYCLE_MPRIM_16DEGS == 1 + resolution = 0.025; + numberofangles = 16; %preferably a power of 2, definitely multiple of 8 + numberofprimsperangle = 13; + + %multipliers (multiplier is used as costmult*cost) + forwardcostmult = 1; + backwardcostmult = 1; + forwardandturncostmult = 20; % 3; + sidestepcostmult = 2; + turninplacecostmult = 20; + forwarddiagcostmult = 1; %move forward slightly to the left/right without changing heading + + %note, what is shown x,y,theta *changes* (that is, dx,dy,dtheta and not absolute numbers) + + %0 degreees + basemprimendpts0_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult + %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]; + %sideways maintaining the same heading + basemprimendpts0_c(8,:) = [0 1 0 sidestepcostmult]; + basemprimendpts0_c(9,:) = [0 -1 0 sidestepcostmult]; + %1/16 theta change going backward + basemprimendpts0_c(10,:) = [-8 -1 1 backwardcostmult]; + basemprimendpts0_c(11,:) = [-8 1 -1 backwardcostmult]; + %forward diagonal + basemprimendpts0_c(12,:) = [8 1 0 forwarddiagcostmult]; + basemprimendpts0_c(13,:) = [8 -1 0 forwarddiagcostmult]; + + %45 degrees + basemprimendpts45_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost) + %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]; + %sideways maintaining the same heading + basemprimendpts45_c(8,:) = [-1 1 0 sidestepcostmult]; + basemprimendpts45_c(9,:) = [1 -1 0 sidestepcostmult]; + %1/16 theta change going back + basemprimendpts45_c(10,:) = [-5 -7 1 backwardcostmult]; + basemprimendpts45_c(11,:) = [-7 -5 -1 backwardcostmult]; + %forward diagonal + basemprimendpts45_c(12,:) = [5 7 0 forwarddiagcostmult]; + basemprimendpts45_c(13,:) = [7 5 0 forwarddiagcostmult]; + + %22.5 degrees + basemprimendpts22p5_c = zeros(numberofprimsperangle, 4); %x,y,theta,costmult (multiplier is used as costmult*cost) + %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]; + %sideways maintaining the same heading + basemprimendpts22p5_c(8,:) = [-1 2 0 sidestepcostmult]; + basemprimendpts22p5_c(9,:) = [1 -2 0 sidestepcostmult]; + %1/16 theta change going back + basemprimendpts22p5_c(10,:) = [-5 -4 1 backwardcostmult]; + basemprimendpts22p5_c(11,:) = [-7 -2 -1 backwardcostmult]; + %forward diagonal + basemprimendpts22p5_c(12,:) = [5 4 0 forwarddiagcostmult]; + basemprimendpts22p5_c(13,:) = [7 2 0 forwarddiagcostmult]; + + +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; + fprintf(1, '90\n'); + elseif (rem(currentangle_36000int, 4500) == 0) + basemprimendpts_c = basemprimendpts45_c(primind,:); + angle = currentangle - 45*pi/180; + fprintf(1, '45\n'); + 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 & tv > 0) | (l > 0 & tv < 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(abs(dt*tv) < abs(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/navigations/sbpl/matlab/mprim/mprim_unic_sideback.mprim b/navigations/sbpl/matlab/mprim/mprim_unic_sideback.mprim new file mode 100755 index 0000000..e74eee1 --- /dev/null +++ b/navigations/sbpl/matlab/mprim/mprim_unic_sideback.mprim @@ -0,0 +1,2643 @@ +resolution_m: 0.025000 +numberofangles: 16 +totalnumberofprimitives: 176 +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 0.0000 0.0000 +0.1778 0.0000 0.0000 +0.2000 0.0000 0.0000 +primID: 2 +startangle_c: 0 +endpose_c: -1 0 0 +additionalactioncostmult: 5 +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: 3 +startangle_c: 0 +endpose_c: 8 1 1 +additionalactioncostmult: 3 +intermediateposes: 10 +0.0000 0.0000 0.0000 +0.0226 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+endpose_c: 7 -5 15 +additionalactioncostmult: 2 +intermediateposes: 10 +0.0000 0.0000 5.4978 +0.0170 -0.0170 5.4978 +0.0342 -0.0339 5.5275 +0.0522 -0.0500 5.5793 +0.0709 -0.0651 5.6312 +0.0904 -0.0792 5.6830 +0.1107 -0.0923 5.7349 +0.1315 -0.1043 5.7868 +0.1530 -0.1152 5.8386 +0.1750 -0.1250 5.8905 +primID: 4 +startangle_c: 14 +endpose_c: 5 -7 13 +additionalactioncostmult: 2 +intermediateposes: 10 +0.0000 0.0000 5.4978 +0.0170 -0.0170 5.4978 +0.0339 -0.0342 5.4681 +0.0500 -0.0522 5.4162 +0.0651 -0.0709 5.3644 +0.0792 -0.0904 5.3125 +0.0923 -0.1107 5.2607 +0.1043 -0.1315 5.2088 +0.1152 -0.1530 5.1569 +0.1250 -0.1750 5.1051 +primID: 0 +startangle_c: 15 +endpose_c: 2 -1 15 +additionalactioncostmult: 1 +intermediateposes: 10 +0.0000 0.0000 5.8905 +0.0056 -0.0028 5.8905 +0.0111 -0.0056 5.8905 +0.0167 -0.0083 5.8905 +0.0222 -0.0111 5.8905 +0.0278 -0.0139 5.8905 +0.0333 -0.0167 5.8905 +0.0389 -0.0194 5.8905 +0.0444 -0.0222 5.8905 +0.0500 -0.0250 5.8905 +primID: 1 +startangle_c: 15 +endpose_c: 6 -3 15 +additionalactioncostmult: 1 +intermediateposes: 10 +0.0000 0.0000 5.8905 +0.0167 -0.0083 5.8905 +0.0333 -0.0167 5.8905 +0.0500 -0.0250 5.8905 +0.0667 -0.0333 5.8905 +0.0833 -0.0417 5.8905 +0.1000 -0.0500 5.8905 +0.1167 -0.0583 5.8905 +0.1333 -0.0667 5.8905 +0.1500 -0.0750 5.8905 +primID: 2 +startangle_c: 15 +endpose_c: -2 1 15 +additionalactioncostmult: 5 +intermediateposes: 10 +0.0000 0.0000 5.8905 +-0.0056 0.0028 5.8905 +-0.0111 0.0056 5.8905 +-0.0167 0.0083 5.8905 +-0.0222 0.0111 5.8905 +-0.0278 0.0139 5.8905 +-0.0333 0.0167 5.8905 +-0.0389 0.0194 5.8905 +-0.0444 0.0222 5.8905 +-0.0500 0.0250 5.8905 +primID: 3 +startangle_c: 15 +endpose_c: 5 -4 14 +additionalactioncostmult: 2 +intermediateposes: 10 +0.0000 0.0000 5.8905 +0.0149 -0.0092 5.8602 +0.0296 -0.0189 5.8299 +0.0440 -0.0291 5.7996 +0.0582 -0.0398 5.7693 +0.0722 -0.0509 5.7390 +0.0858 -0.0625 5.7087 +0.0992 -0.0746 5.6784 +0.1123 -0.0871 5.6481 +0.1250 -0.1000 5.6178 +primID: 4 +startangle_c: 15 +endpose_c: 7 -2 0 +additionalactioncostmult: 2 +intermediateposes: 10 +0.0000 0.0000 5.8905 +0.0188 -0.0078 5.8905 +0.0377 -0.0156 5.8905 +0.0565 -0.0234 5.8905 +0.0754 -0.0312 5.9096 +0.0946 -0.0379 5.9843 +0.1143 -0.0432 6.0590 +0.1344 -0.0470 6.1337 +0.1546 -0.0492 6.2085 +0.1750 -0.0500 6.2832 diff --git a/navigations/sbpl/matlab/visualization/plot_3Dpath.m b/navigations/sbpl/matlab/visualization/plot_3Dpath.m new file mode 100755 index 0000000..f06ad52 --- /dev/null +++ b/navigations/sbpl/matlab/visualization/plot_3Dpath.m @@ -0,0 +1,122 @@ +% /* +% * 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[] = plot_3Dpath(solfilename, mapfilename, resolution) + +% +%Plots a 3D path overlaid on top of the map. +%Resolution should be in meters +% +%written by Maxim Likhachev +%--------------------------------------------------- +% + +%close all; + +obsthresh = 254; + +robot_width = 0.6; +robot_length = 1.5; + +vehicle = [-robot_length/2.0 -robot_width/2.0 + robot_length/2.0 -robot_width/2.0 + robot_length/2.0 robot_width/2.0 + -robot_length/2.0 robot_width/2.0]; + + +cellsize = resolution; +x = load(solfilename); + +%now read in map +fmap = fopen(mapfilename, 'r'); +xsize = -1; +ysize = -1; +while(feof(fmap) ~= 1) + s = fscanf(fmap, '%s', 1); + if (strcmp('environment:',s) == 1) + break; + elseif (strcmp('discretization(cells):', s) == 1) + xsize = fscanf(fmap, '%d', 1); + ysize = fscanf(fmap, '%d', 1); + end; +end; +%read the environment itself +fprintf(1, 'reading in map of size %d by %d\n', xsize, ysize); +map = fscanf(fmap, '%d', [xsize, ysize]); +map = map'; %correct matlab loading order + +figure(3); +%h = plot(x(:,1),x(:,2), 'k'); +%h = plot(x(:,2),size(map,1)*cellsize-x(:,1), 'k'); +h = plot(x(:,1),size(map,1)*cellsize-x(:,2), 'k'); +set(h,'LineWidth',3); +hold on; + +h = text(x(1,1), size(map,1)*cellsize-x(1,2), 'START'); +set(h,'LineWidth',5); +h = text(x(size(x,1),1), size(map,1)*cellsize-x(size(x,1),2), 'GOAL'); +set(h,'LineWidth',5); + +%plot vehicle +%for pind = 1:ceil(length(x)/40):length(x) +for pind = 1:5:length(x) + for i = 1:4 + xstartrot = vehicle(i,1)*cos(x(pind,3)) - vehicle(i,2)*sin(x(pind,3)) + x(pind,1); + ystartrot = vehicle(i,1)*sin(x(pind,3)) + vehicle(i,2)*cos(x(pind,3)) + x(pind,2); + if i < 4 + xendrot = vehicle(i+1,1)*cos(x(pind,3)) - vehicle(i+1,2)*sin(x(pind,3)) + x(pind,1);; + yendrot = vehicle(i+1,1)*sin(x(pind,3)) + vehicle(i+1,2)*cos(x(pind,3)) + x(pind,2);; + else + xendrot = vehicle(1,1)*cos(x(pind,3)) - vehicle(1,2)*sin(x(pind,3)) + x(pind,1);; + yendrot = vehicle(1,1)*sin(x(pind,3)) + vehicle(1,2)*cos(x(pind,3)) + x(pind,2);; + end; +%%% plot([xstartrot xendrot], [ystartrot yendrot]); +%%% plot([ystartrot yendrot], [size(map,1)*cellsize-xstartrot size(map,1)*cellsize-xendrot]); + plot([xstartrot xendrot], [size(map,1)*cellsize-ystartrot size(map,1)*cellsize-yendrot]); + end; +end; + +if 1 +for row = 1:size(map,1) + for col = 1:size(map,2) + if(map(row,col) >= obsthresh) +% plot(col*cellsize,row*cellsize,'x'); + plot(col*cellsize, (size(map,1)-row)*cellsize,'x'); + elseif(map(row,col) > 0) + %plot(col*cellsize, (size(map,1)-row)*cellsize,'.'); + end; + end; +end; +end; + +%%fplot('2',[6 40 0 5]); +%%fplot('18',[6 40 0 5]); +%%plot(6*ones(length([2:18]),1), [2:18]); + +%axis([min(x(:,1))-1 max(x(:,1))+1 min(x(:,2))-1 max(x(:,2))+1]); +%axis([-1 5 -1 5]); diff --git a/navigations/sbpl/sbpl-config-tree-export.cmake.in b/navigations/sbpl/sbpl-config-tree-export.cmake.in new file mode 100755 index 0000000..ec1b2d8 --- /dev/null +++ b/navigations/sbpl/sbpl-config-tree-export.cmake.in @@ -0,0 +1,15 @@ +# - Config file for the sbpl package +# It defines the following variables +# SBPL_INCLUDE_DIRS - include directories for sbpl +# SBPL_LIBRARIES - libraries to link against + +get_filename_component(SBPL_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) +set(SBPL_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@") + +# Our library dependencies (contains definitions for IMPORTED targets) +if (NOT TARGET sbpl AND NOT sbpl_BINARY_DIR) + include("${SBPL_CMAKE_DIR}/sbpl-targets.cmake") +endif() + +# These are IMPORTED targets created by sbpl-targets.cmake +set(SBPL_LIBRARIES sbpl) diff --git a/navigations/sbpl/sbpl-config-version.cmake.in b/navigations/sbpl/sbpl-config-version.cmake.in new file mode 100755 index 0000000..f1db335 --- /dev/null +++ b/navigations/sbpl/sbpl-config-version.cmake.in @@ -0,0 +1,11 @@ +set(PACKAGE_VERSION "@SBPL_VERSION@") + +# Check whether the requested PACKAGE_FIND_VERSION is compatible +if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE FALSE) +else() + set(PACKAGE_VERSION_COMPATIBLE TRUE) + if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}") + set(PACKAGE_VERSION_EXACT TRUE) + endif() +endif() \ No newline at end of file diff --git a/navigations/sbpl/sbpl-config.cmake.in b/navigations/sbpl/sbpl-config.cmake.in new file mode 100755 index 0000000..69d8fd4 --- /dev/null +++ b/navigations/sbpl/sbpl-config.cmake.in @@ -0,0 +1,30 @@ +# =================================================================================== +# The SBPL CMake configuration file +# +# ** File generated automatically, do not modify ** +# +# Usage from an external project: +# In your CMakeLists.txt, add these lines: +# +# FIND_PACKAGE(sbpl REQUIRED ) +# INCLUDE_DIRECTORIES(${SBPL_INCLUDE_DIRS}) +# TARGET_LINK_LIBRARIES(MY_TARGET_NAME ${SBPL_LIBRARIES}) +# +# This file will define the following variables: +# - SBPL_LIBRARIES : The list of libraries to links against as absolute path +# - SBPL_LIBRARY_DIRS : The directory where lib files are. Calling +# LINK_DIRECTORIES with this path is NOT needed. +# - SBPL_INCLUDE_DIRS : The SBPL include directories. +# +# Based on the example CMake Tutorial +# http://www.vtk.org/Wiki/CMake/Tutorials/How_to_create_a_ProjectConfig.cmake_file +# and OpenCVConfig.cmake.in from OpenCV +# =================================================================================== + + +set(SBPL_INCLUDE_DIRS "@SBPL_INCLUDE_DIR@") +set(SBPL_LIBRARY_DIRS "@SBPL_LIB_DIR@") + + +# Set library names as absolute paths: +set(SBPL_LIBRARIES "@SBPL_LIB_DIR@/libsbpl@CMAKE_SHARED_LIBRARY_SUFFIX@") \ No newline at end of file diff --git a/navigations/sbpl/sbpl.pc.in b/navigations/sbpl/sbpl.pc.in new file mode 100755 index 0000000..87955d6 --- /dev/null +++ b/navigations/sbpl/sbpl.pc.in @@ -0,0 +1,12 @@ +# This file was generated by CMake for @PROJECT_NAME@ +exec_prefix=@CMAKE_INSTALL_PREFIX@ +libdir=@SBPL_LIB_DIR@ +includedir=@SBPL_INCLUDE_DIR@ + +Name: @PKG_NAME@ +Description: @PKG_DESC@ +Version: @SBPL_VERSION@ +Requires: @PKG_EXTERNAL_DEPS@ +Libs: -L${libdir} @PKG_SBPL_LIBS@ +Cflags: -I${includedir} + diff --git a/navigations/sbpl/src/discrete_space_information/environment_XXX.cpp b/navigations/sbpl/src/discrete_space_information/environment_XXX.cpp new file mode 100755 index 0000000..399b182 --- /dev/null +++ b/navigations/sbpl/src/discrete_space_information/environment_XXX.cpp @@ -0,0 +1,429 @@ +/* + * 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. + */ + +#include + +#include + +#include +#include +#include + +using namespace std; + +//extern clock_t time3_addallout; +//extern clock_t time_gethash; +//extern clock_t time_createhash; + +//function prototypes + +//-------------------problem specific and local functions--------------------- + +static unsigned int inthash(unsigned int key) +{ + key += (key << 12); + key ^= (key >> 22); + key += (key << 4); + key ^= (key >> 9); + key += (key << 10); + key ^= (key >> 2); + key += (key << 7); + key ^= (key >> 12); + return key; +} + +//examples of hash functions: map state coordinates onto a hash value +//#define GETHASHBIN(X, Y) (Y*WIDTH_Y+X) +//here we have state coord: +unsigned int EnvironmentXXX::GETHASHBIN(unsigned int X1, unsigned int X2, unsigned int X3, unsigned int X4) +{ + return inthash((inthash(X1) + (inthash(X2) << 1) + (inthash(X3) << 2) + (inthash(X4) << 3))) & + (EnvXXX.HashTableSize - 1); +} + +void EnvironmentXXX::PrintHashTableHist() +{ + int s0 = 0, s1 = 0, s50 = 0, s100 = 0, s200 = 0, s300 = 0, slarge = 0; + + for (int j = 0; j < (int)EnvXXX.HashTableSize; j++) { + if ((int)EnvXXX.Coord2StateIDHashTable[j].size() == 0) + s0++; + else if ((int)EnvXXX.Coord2StateIDHashTable[j].size() < 50) + s1++; + else if ((int)EnvXXX.Coord2StateIDHashTable[j].size() < 100) + s50++; + else if ((int)EnvXXX.Coord2StateIDHashTable[j].size() < 200) + s100++; + else if ((int)EnvXXX.Coord2StateIDHashTable[j].size() < 300) + s200++; + else if ((int)EnvXXX.Coord2StateIDHashTable[j].size() < 400) + s300++; + else + slarge++; + } + SBPL_PRINTF("hash table histogram: 0:%d, <50:%d, <100:%d, <200:%d, <300:%d, <400:%d >400:%d\n", s0, s1, s50, s100, + s200, s300, slarge); +} + +void EnvironmentXXX::ReadConfiguration(FILE* fCfg) +{ + //read in the configuration of environment and initialize EnvCfg structure +} + +void EnvironmentXXX::InitializeEnvConfig() +{ + //aditional to configuration file initialization of EnvCfg if necessary +} + +EnvXXXHashEntry_t* EnvironmentXXX::GetHashEntry(unsigned int X1, unsigned int X2, unsigned int X3, unsigned int X4) +{ + //clock_t currenttime = clock(); + + int binid = GETHASHBIN(X1, X2, X3, X4); + +#if DEBUG + if ((int)EnvXXX.Coord2StateIDHashTable[binid].size() > 500) + { + SBPL_PRINTF("WARNING: Hash table has a bin %d (X1=%d X2=%d X3=%d X4=%d) of size %d\n", + binid, X1, X2, X3, X4, (int)EnvXXX.Coord2StateIDHashTable[binid].size()); + + PrintHashTableHist(); + } +#endif + + //iterate over the states in the bin and select the perfect match + for (int ind = 0; ind < (int)EnvXXX.Coord2StateIDHashTable[binid].size(); ind++) { + if (EnvXXX.Coord2StateIDHashTable[binid][ind]->X1 == X1 && + EnvXXX.Coord2StateIDHashTable[binid][ind]->X2 == X2 && + EnvXXX.Coord2StateIDHashTable[binid][ind]->X3 == X3 && + EnvXXX.Coord2StateIDHashTable[binid][ind]->X4 == X4) + { + //time_gethash += clock()-currenttime; + return EnvXXX.Coord2StateIDHashTable[binid][ind]; + } + } + + //time_gethash += clock()-currenttime; + + return NULL; +} + +EnvXXXHashEntry_t* EnvironmentXXX::CreateNewHashEntry(unsigned int X1, unsigned int X2, unsigned int X3, + unsigned int X4) +{ + int i; + + //clock_t currenttime = clock(); + + EnvXXXHashEntry_t* HashEntry = new EnvXXXHashEntry_t; + + HashEntry->X1 = X1; + HashEntry->X2 = X2; + HashEntry->X3 = X3; + HashEntry->X4 = X4; + + HashEntry->stateID = EnvXXX.StateID2CoordTable.size(); + + //insert into the tables + EnvXXX.StateID2CoordTable.push_back(HashEntry); + + //get the hash table bin + i = GETHASHBIN(HashEntry->X1, HashEntry->X2, HashEntry->X3, HashEntry->X4); + + //insert the entry into the bin + EnvXXX.Coord2StateIDHashTable[i].push_back(HashEntry); + + //insert into and initialize the mappings + int* entry = new int[NUMOFINDICES_STATEID2IND]; + StateID2IndexMapping.push_back(entry); + for (i = 0; i < NUMOFINDICES_STATEID2IND; i++) { + StateID2IndexMapping[HashEntry->stateID][i] = -1; + } + + if (HashEntry->stateID != (int)StateID2IndexMapping.size() - 1) { + throw SBPL_Exception("ERROR in Env... function: last state has incorrect stateID"); + } + + //time_createhash += clock()-currenttime; + + return HashEntry; +} + +void EnvironmentXXX::CreateStartandGoalStates() +{ + EnvXXXHashEntry_t* HashEntry; + + //create start state + unsigned int X1 = 0; + unsigned int X2 = 0; + unsigned int X3 = 0; + unsigned int X4 = 0; + HashEntry = CreateNewHashEntry(X1, X2, X3, X4); + EnvXXX.startstateid = HashEntry->stateID; + + //create goal state + X1 = X2 = X3 = X4 = 1; + HashEntry = CreateNewHashEntry(X1, X2, X3, X4); + EnvXXX.goalstateid = HashEntry->stateID; +} + +void EnvironmentXXX::InitializeEnvironment() +{ + + //initialize the map from Coord to StateID + EnvXXX.HashTableSize = 32 * 1024; //should be power of two + EnvXXX.Coord2StateIDHashTable = new vector [EnvXXX.HashTableSize]; + + //initialize the map from StateID to Coord + EnvXXX.StateID2CoordTable.clear(); + + //create start and goal states + CreateStartandGoalStates(); +} + +void EnvironmentXXX::AddAllOutcomes(unsigned int SourceX1, unsigned int SourceX2, unsigned int SourceX3, + unsigned int SourceX4, CMDPACTION* action, int cost) +{ + EnvXXXHashEntry_t* OutHashEntry; + int i; + float CumProb = 0.0; + + //iterate over outcomes + for (i = 0; i < 2; i++) { + unsigned int newX1 = SourceX1 + i; + unsigned int newX2 = SourceX2 + i; + unsigned int newX3 = SourceX3 + i; + unsigned int newX4 = SourceX4 + i; + + //add the outcome + if ((OutHashEntry = GetHashEntry(newX1, newX2, newX3, newX4)) == NULL) { + //have to create a new entry + OutHashEntry = CreateNewHashEntry(newX1, newX2, newX3, newX4); + } + float Prob = 0.5; //probability of the outcome + action->AddOutcome(OutHashEntry->stateID, cost, Prob); + CumProb += Prob; + + } //while + + if (CumProb != 1.0) { + std::stringstream ss("ERROR in EnvXXX... function: prob. of all action outcomes="); + ss << CumProb; + throw SBPL_Exception(ss.str()); + } +} + +//------------------------------------------------------------------------------ + +//------------------------------Heuristic computation-------------------------- + +void EnvironmentXXX::ComputeHeuristicValues() +{ + //whatever necessary pre-computation of heuristic values is done here + SBPL_PRINTF("Precomputing heuristics\n"); + + SBPL_PRINTF("done\n"); +} + +//-----------interface with outside functions----------------------------------- + +bool EnvironmentXXX::InitializeEnv(const char* sEnvFile) +{ + FILE* fCfg = fopen(sEnvFile, "r"); + if (fCfg == NULL) { + std::stringstream ss("ERROR: unable to open "); + ss << sEnvFile; + throw SBPL_Exception(ss.str()); + } + ReadConfiguration(fCfg); + fclose(fCfg); + + //Initialize other parameters of the environment + InitializeEnvConfig(); + + //initialize Environment + InitializeEnvironment(); + + //pre-compute heuristics + ComputeHeuristicValues(); + + return true; +} + +bool EnvironmentXXX::InitializeMDPCfg(MDPConfig *MDPCfg) +{ + //initialize MDPCfg with the start and goal ids + MDPCfg->goalstateid = EnvXXX.goalstateid; + MDPCfg->startstateid = EnvXXX.startstateid; + + return true; +} + +int EnvironmentXXX::GetFromToHeuristic(int FromStateID, int ToStateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if(FromStateID >= (int)EnvXXX.StateID2CoordTable.size() || + ToStateID >= (int)EnvXXX.StateID2CoordTable.size()) + { + throw SBPL_Exception("ERROR in EnvXXX... function: stateID illegal"); + } +#endif + + //define this function if it is used in the planner + + throw SBPL_Exception("ERROR in EnvXXX.. function: FromToHeuristic is undefined"); + + return 0; +} + +int EnvironmentXXX::GetGoalHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (stateID >= (int)EnvXXX.StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvXXX... function: stateID illegal"); + } +#endif + + //define this function if it used in the planner (heuristic forward search would use it) + + throw SBPL_Exception("ERROR in EnvXXX.. function: GetGoalHeuristic is undefined"); +} + +int EnvironmentXXX::GetStartHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (stateID >= (int)EnvXXX.StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvXXX... function: stateID illegal"); + } +#endif + + //define this function if it used in the planner (heuristic backward search would use it) + + throw SBPL_Exception("ERROR in EnvXXX.. function: GetStartHeuristic is undefined"); + + return 0; +} + +void EnvironmentXXX::SetAllActionsandAllOutcomes(CMDPSTATE* state) +{ + +#if DEBUG + if (state->StateID >= (int)EnvXXX.StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvXXX... function: stateID illegal"); + } + + if ((int)state->Actions.size() != 0) { + throw SBPL_Exception("ERROR in Env_setAllActionsandAllOutcomes: actions already exist for the state"); + } +#endif + + //if it is goal then no successors + if (state->StateID == EnvXXX.goalstateid) return; + + //get values for the state + EnvXXXHashEntry_t* HashEntry = EnvXXX.StateID2CoordTable[state->StateID]; + + //iterate through the actions for the state + for (int aind = 0; aind < XXX_MAXACTIONSWIDTH; aind++) { + int cost = 1; + + //Add Action + CMDPACTION* action = state->AddAction(aind); + + //clock_t currenttime = clock(); + //add all the outcomes to the action + AddAllOutcomes(HashEntry->X1, HashEntry->X2, HashEntry->X3, HashEntry->X4, action, cost); + + //you can break if the number of actual actions is smaller than the maximum possible + + //time3_addallout += clock()-currenttime; + } +} + +void EnvironmentXXX::SetAllPreds(CMDPSTATE* state) +{ + //implement this if the planner needs access to predecessors + + throw SBPL_Exception("ERROR in EnvXXX... function: SetAllPreds is undefined"); +} + +void EnvironmentXXX::GetSuccs(int SourceStateID, vector* SuccIDV, vector* CostV) +{ + throw SBPL_Exception("ERROR in EnvXXX... function: GetSuccs is undefined"); +} + +void EnvironmentXXX::GetPreds(int TargetStateID, vector* PredIDV, vector* CostV) +{ + throw SBPL_Exception("ERROR in EnvXXX... function: GetPreds is undefined"); +} + +int EnvironmentXXX::SizeofCreatedEnv() +{ + return (int)EnvXXX.StateID2CoordTable.size(); +} + +void EnvironmentXXX::PrintState(int stateID, bool bVerbose, FILE* fOut /*=NULL*/) +{ +#if DEBUG + if(stateID >= (int)EnvXXX.StateID2CoordTable.size()) + { + throw SBPL_Exception("ERROR in EnvXXX... function: stateID illegal (2)"); + } +#endif + + if (fOut == NULL) fOut = stdout; + + EnvXXXHashEntry_t* HashEntry = EnvXXX.StateID2CoordTable[stateID]; + + if (stateID == EnvXXX.goalstateid) { + SBPL_FPRINTF(fOut, "the state is a goal state\n"); + } + + SBPL_FPRINTF(fOut, "X1=%d X2=%d X3=%d X4=%d\n", HashEntry->X1, HashEntry->X2, HashEntry->X3, HashEntry->X4); +} + +void EnvironmentXXX::PrintEnv_Config(FILE* fOut) +{ + //implement this if the planner needs to print out EnvXXX. configuration + throw SBPL_Exception("ERROR in EnvXXX... function: PrintEnv_Config is undefined"); +} + +//------------------------------------------------------------------------------ diff --git a/navigations/sbpl/src/discrete_space_information/environment_nav2D.cpp b/navigations/sbpl/src/discrete_space_information/environment_nav2D.cpp new file mode 100755 index 0000000..2f49af9 --- /dev/null +++ b/navigations/sbpl/src/discrete_space_information/environment_nav2D.cpp @@ -0,0 +1,1288 @@ +/* + * 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. + */ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +using namespace std; + +#if TIME_DEBUG +static clock_t time3_addallout = 0; +static clock_t time_gethash = 0; +static clock_t time_createhash = 0; +static clock_t time_getsuccs = 0; +#endif + +//-------------------constructor-------------------------------------------- +EnvironmentNAV2D::EnvironmentNAV2D() +{ + EnvNAV2DCfg.obsthresh = ENVNAV2D_DEFAULTOBSTHRESH; + + EnvNAV2DCfg.numofdirs = 8; + EnvNAV2D.bInitialized = false; +} + +//-------------------problem specific and local functions--------------------- + +static unsigned int inthash(unsigned int key) +{ + key += (key << 12); + key ^= (key >> 22); + key += (key << 4); + key ^= (key >> 9); + key += (key << 10); + key ^= (key >> 2); + key += (key << 7); + key ^= (key >> 12); + return key; +} + +//examples of hash functions: map state coordinates onto a hash value +//#define GETHASHBIN(X, Y) (Y*WIDTH_Y+X) +//here we have state coord: +unsigned int EnvironmentNAV2D::GETHASHBIN(unsigned int X1, unsigned int X2) +{ + return inthash(inthash(X1) + (inthash(X2) << 1)) & (EnvNAV2D.HashTableSize - 1); +} + +void EnvironmentNAV2D::PrintHashTableHist() +{ + int s0 = 0, s1 = 0, s50 = 0, s100 = 0, s200 = 0, s300 = 0, slarge = 0; + + for (int j = 0; j < EnvNAV2D.HashTableSize; j++) { + if ((int)EnvNAV2D.Coord2StateIDHashTable[j].size() == 0) + s0++; + else if ((int)EnvNAV2D.Coord2StateIDHashTable[j].size() < 50) + s1++; + else if ((int)EnvNAV2D.Coord2StateIDHashTable[j].size() < 100) + s50++; + else if ((int)EnvNAV2D.Coord2StateIDHashTable[j].size() < 200) + s100++; + else if ((int)EnvNAV2D.Coord2StateIDHashTable[j].size() < 300) + s200++; + else if ((int)EnvNAV2D.Coord2StateIDHashTable[j].size() < 400) + s300++; + else + slarge++; + } + SBPL_PRINTF("hash table histogram: 0:%d, <50:%d, <100:%d, <200:%d, <300:%d, <400:%d >400:%d\n", s0, s1, s50, s100, + s200, s300, slarge); +} + +void EnvironmentNAV2D::SetConfiguration(int width, int height, const unsigned char* mapdata, int startx, int starty, + int goalx, int goaly) +{ + EnvNAV2DCfg.EnvWidth_c = width; + EnvNAV2DCfg.EnvHeight_c = height; + EnvNAV2DCfg.StartX_c = startx; + EnvNAV2DCfg.StartY_c = starty; + + if (EnvNAV2DCfg.StartX_c < 0 || EnvNAV2DCfg.StartX_c >= EnvNAV2DCfg.EnvWidth_c) { + throw SBPL_Exception("illegal start coordinates"); + } + if (EnvNAV2DCfg.StartY_c < 0 || EnvNAV2DCfg.StartY_c >= EnvNAV2DCfg.EnvHeight_c) { + throw SBPL_Exception("illegal start coordinates"); + } + + EnvNAV2DCfg.EndX_c = goalx; + EnvNAV2DCfg.EndY_c = goaly; + + //allocate the 2D environment + EnvNAV2DCfg.Grid2D = new unsigned char*[EnvNAV2DCfg.EnvWidth_c]; + for (int x = 0; x < EnvNAV2DCfg.EnvWidth_c; x++) { + EnvNAV2DCfg.Grid2D[x] = new unsigned char[EnvNAV2DCfg.EnvHeight_c]; + } + + //environment: + if (0 == mapdata) { + for (int y = 0; y < EnvNAV2DCfg.EnvHeight_c; y++) { + for (int x = 0; x < EnvNAV2DCfg.EnvWidth_c; x++) { + EnvNAV2DCfg.Grid2D[x][y] = 0; + } + } + } + else { + for (int y = 0; y < EnvNAV2DCfg.EnvHeight_c; y++) { + for (int x = 0; x < EnvNAV2DCfg.EnvWidth_c; x++) { + unsigned char cval = mapdata[x + y * width]; + EnvNAV2DCfg.Grid2D[x][y] = cval; + } + } + } +} + +void EnvironmentNAV2D::ReadConfiguration(FILE* fCfg) +{ + //read in the configuration of environment and initialize EnvNAV2DCfg structure + char sTemp[1024], sTemp1[1024]; + int dTemp; + int x, y; + + //discretization(cells) + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + EnvNAV2DCfg.EnvWidth_c = atoi(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + EnvNAV2DCfg.EnvHeight_c = atoi(sTemp); + + //obsthresh: + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + strcpy(sTemp1, "obsthresh:"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss("configuration file has incorrect format"); + ss << "Expected " << sTemp1 << " got " << sTemp; + throw SBPL_Exception(ss.str()); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + EnvNAV2DCfg.obsthresh = (int)(atof(sTemp)); + SBPL_PRINTF("obsthresh = %d\n", EnvNAV2DCfg.obsthresh); + + //start(cells): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + EnvNAV2DCfg.StartX_c = atoi(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + EnvNAV2DCfg.StartY_c = atoi(sTemp); + + if (EnvNAV2DCfg.StartX_c < 0 || EnvNAV2DCfg.StartX_c >= EnvNAV2DCfg.EnvWidth_c) { + throw SBPL_Exception("illegal start coordinates"); + } + if (EnvNAV2DCfg.StartY_c < 0 || EnvNAV2DCfg.StartY_c >= EnvNAV2DCfg.EnvHeight_c) { + throw SBPL_Exception("illegal start coordinates"); + } + + //end(cells): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + EnvNAV2DCfg.EndX_c = atoi(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + EnvNAV2DCfg.EndY_c = atoi(sTemp); + + if (EnvNAV2DCfg.EndX_c < 0 || EnvNAV2DCfg.EndX_c >= EnvNAV2DCfg.EnvWidth_c) { + throw SBPL_Exception("illegal end coordinates"); + } + if (EnvNAV2DCfg.EndY_c < 0 || EnvNAV2DCfg.EndY_c >= EnvNAV2DCfg.EnvHeight_c) { + throw SBPL_Exception("illegal end coordinates"); + } + + //allocate the 2D environment + EnvNAV2DCfg.Grid2D = new unsigned char*[EnvNAV2DCfg.EnvWidth_c]; + for (x = 0; x < EnvNAV2DCfg.EnvWidth_c; x++) { + EnvNAV2DCfg.Grid2D[x] = new unsigned char[EnvNAV2DCfg.EnvHeight_c]; + } + + //environment: + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ran out of env file early"); + } + for (y = 0; y < EnvNAV2DCfg.EnvHeight_c; y++) + for (x = 0; x < EnvNAV2DCfg.EnvWidth_c; x++) { + if (fscanf(fCfg, "%d", &dTemp) != 1) { + throw SBPL_Exception("incorrect format of config file"); + } + EnvNAV2DCfg.Grid2D[x][y] = dTemp; + } + + SBPL_PRINTF("start has cost=%d goal has cost=%d\n", EnvNAV2DCfg.Grid2D[EnvNAV2DCfg.StartX_c][EnvNAV2DCfg.StartY_c], + EnvNAV2DCfg.Grid2D[EnvNAV2DCfg.EndX_c][EnvNAV2DCfg.EndY_c]); +} + +void EnvironmentNAV2D::InitializeEnvConfig() +{ + //aditional to configuration file initialization of EnvNAV2DCfg if necessary + + /* + //actions + EnvNAV2DCfg.dXY[0][0] = -1; + EnvNAV2DCfg.dXY[0][1] = -1; + EnvNAV2DCfg.dXY[1][0] = -1; + EnvNAV2DCfg.dXY[1][1] = 0; + EnvNAV2DCfg.dXY[2][0] = -1; + EnvNAV2DCfg.dXY[2][1] = 1; + EnvNAV2DCfg.dXY[3][0] = 0; + EnvNAV2DCfg.dXY[3][1] = -1; + EnvNAV2DCfg.dXY[4][0] = 0; + EnvNAV2DCfg.dXY[4][1] = 1; + EnvNAV2DCfg.dXY[5][0] = 1; + EnvNAV2DCfg.dXY[5][1] = -1; + EnvNAV2DCfg.dXY[6][0] = 1; + EnvNAV2DCfg.dXY[6][1] = 0; + EnvNAV2DCfg.dXY[7][0] = 1; + EnvNAV2DCfg.dXY[7][1] = 1; + */ + Computedxy(); +} + +void EnvironmentNAV2D::Computedxy() +{ + //initialize some constants for 2D search + EnvNAV2DCfg.dx_[0] = 1; + EnvNAV2DCfg.dy_[0] = 1; + EnvNAV2DCfg.dxintersects_[0][0] = 0; + EnvNAV2DCfg.dyintersects_[0][0] = 1; + EnvNAV2DCfg.dxintersects_[0][1] = 1; + EnvNAV2DCfg.dyintersects_[0][1] = 0; + + EnvNAV2DCfg.dx_[1] = 1; + EnvNAV2DCfg.dy_[1] = 0; + EnvNAV2DCfg.dxintersects_[1][0] = 0; + EnvNAV2DCfg.dyintersects_[1][0] = 0; + EnvNAV2DCfg.dxintersects_[1][1] = 0; + EnvNAV2DCfg.dyintersects_[1][1] = 0; + + EnvNAV2DCfg.dx_[2] = 1; + EnvNAV2DCfg.dy_[2] = -1; + EnvNAV2DCfg.dxintersects_[2][0] = 0; + EnvNAV2DCfg.dyintersects_[2][0] = -1; + EnvNAV2DCfg.dxintersects_[2][1] = 1; + EnvNAV2DCfg.dyintersects_[2][1] = 0; + + EnvNAV2DCfg.dx_[3] = 0; + EnvNAV2DCfg.dy_[3] = 1; + EnvNAV2DCfg.dxintersects_[3][0] = 0; + EnvNAV2DCfg.dyintersects_[3][0] = 0; + EnvNAV2DCfg.dxintersects_[3][1] = 0; + EnvNAV2DCfg.dyintersects_[3][1] = 0; + + EnvNAV2DCfg.dx_[4] = 0; + EnvNAV2DCfg.dy_[4] = -1; + EnvNAV2DCfg.dxintersects_[4][0] = 0; + EnvNAV2DCfg.dyintersects_[4][0] = 0; + EnvNAV2DCfg.dxintersects_[4][1] = 0; + EnvNAV2DCfg.dyintersects_[4][1] = 0; + + EnvNAV2DCfg.dx_[5] = -1; + EnvNAV2DCfg.dy_[5] = 1; + EnvNAV2DCfg.dxintersects_[5][0] = 0; + EnvNAV2DCfg.dyintersects_[5][0] = 1; + EnvNAV2DCfg.dxintersects_[5][1] = -1; + EnvNAV2DCfg.dyintersects_[5][1] = 0; + + EnvNAV2DCfg.dx_[6] = -1; + EnvNAV2DCfg.dy_[6] = 0; + EnvNAV2DCfg.dxintersects_[6][0] = 0; + EnvNAV2DCfg.dyintersects_[6][0] = 0; + EnvNAV2DCfg.dxintersects_[6][1] = 0; + EnvNAV2DCfg.dyintersects_[6][1] = 0; + + EnvNAV2DCfg.dx_[7] = -1; + EnvNAV2DCfg.dy_[7] = -1; + EnvNAV2DCfg.dxintersects_[7][0] = 0; + EnvNAV2DCfg.dyintersects_[7][0] = -1; + EnvNAV2DCfg.dxintersects_[7][1] = -1; + EnvNAV2DCfg.dyintersects_[7][1] = 0; + + //Note: these actions have to be starting at 8 and through 15, since they + //get multiplied correspondingly in Dijkstra's search based on index + EnvNAV2DCfg.dx_[8] = 2; + EnvNAV2DCfg.dy_[8] = 1; + EnvNAV2DCfg.dxintersects_[8][0] = 1; + EnvNAV2DCfg.dyintersects_[8][0] = 0; + EnvNAV2DCfg.dxintersects_[8][1] = 1; + EnvNAV2DCfg.dyintersects_[8][1] = 1; + + EnvNAV2DCfg.dx_[9] = 1; + EnvNAV2DCfg.dy_[9] = 2; + EnvNAV2DCfg.dxintersects_[9][0] = 0; + EnvNAV2DCfg.dyintersects_[9][0] = 1; + EnvNAV2DCfg.dxintersects_[9][1] = 1; + EnvNAV2DCfg.dyintersects_[9][1] = 1; + + EnvNAV2DCfg.dx_[10] = -1; + EnvNAV2DCfg.dy_[10] = 2; + EnvNAV2DCfg.dxintersects_[10][0] = 0; + EnvNAV2DCfg.dyintersects_[10][0] = 1; + EnvNAV2DCfg.dxintersects_[10][1] = -1; + EnvNAV2DCfg.dyintersects_[10][1] = 1; + + EnvNAV2DCfg.dx_[11] = -2; + EnvNAV2DCfg.dy_[11] = 1; + EnvNAV2DCfg.dxintersects_[11][0] = -1; + EnvNAV2DCfg.dyintersects_[11][0] = 0; + EnvNAV2DCfg.dxintersects_[11][1] = -1; + EnvNAV2DCfg.dyintersects_[11][1] = 1; + + EnvNAV2DCfg.dx_[12] = -2; + EnvNAV2DCfg.dy_[12] = -1; + EnvNAV2DCfg.dxintersects_[12][0] = -1; + EnvNAV2DCfg.dyintersects_[12][0] = 0; + EnvNAV2DCfg.dxintersects_[12][1] = -1; + EnvNAV2DCfg.dyintersects_[12][1] = -1; + + EnvNAV2DCfg.dx_[13] = -1; + EnvNAV2DCfg.dy_[13] = -2; + EnvNAV2DCfg.dxintersects_[13][0] = 0; + EnvNAV2DCfg.dyintersects_[13][0] = -1; + EnvNAV2DCfg.dxintersects_[13][1] = -1; + EnvNAV2DCfg.dyintersects_[13][1] = -1; + + EnvNAV2DCfg.dx_[14] = 1; + EnvNAV2DCfg.dy_[14] = -2; + EnvNAV2DCfg.dxintersects_[14][0] = 0; + EnvNAV2DCfg.dyintersects_[14][0] = -1; + EnvNAV2DCfg.dxintersects_[14][1] = 1; + EnvNAV2DCfg.dyintersects_[14][1] = -1; + + EnvNAV2DCfg.dx_[15] = 2; + EnvNAV2DCfg.dy_[15] = -1; + EnvNAV2DCfg.dxintersects_[15][0] = 1; + EnvNAV2DCfg.dyintersects_[15][0] = 0; + EnvNAV2DCfg.dxintersects_[15][1] = 1; + EnvNAV2DCfg.dyintersects_[15][1] = -1; + + //compute distances + for (int dind = 0; dind < ENVNAV2D_MAXDIRS; dind++) { + if (EnvNAV2DCfg.dx_[dind] != 0 && EnvNAV2DCfg.dy_[dind] != 0) { + if (dind <= 7) + //the cost of a diagonal move in millimeters + EnvNAV2DCfg.dxy_distance_mm_[dind] = (int)ceil(ENVNAV2D_COSTMULT * 1.414); + else + //the cost of a move to 1,2 or 2,1 or so on in millimeters + EnvNAV2DCfg.dxy_distance_mm_[dind] = (int)ceil(ENVNAV2D_COSTMULT * 2.236); + } + else + EnvNAV2DCfg.dxy_distance_mm_[dind] = ENVNAV2D_COSTMULT; //the cost of a horizontal move in millimeters + } +} + +EnvNAV2DHashEntry_t* EnvironmentNAV2D::GetHashEntry(int X, int Y) +{ +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + int binid = GETHASHBIN(X, Y); + +#if DEBUG + if ((int)EnvNAV2D.Coord2StateIDHashTable[binid].size() > 500) { + SBPL_PRINTF("WARNING: Hash table has a bin %d (X=%d Y=%d) of size %u\n", + binid, X, Y, (unsigned)EnvNAV2D.Coord2StateIDHashTable[binid].size()); + + PrintHashTableHist(); + } +#endif + + //iterate over the states in the bin and select the perfect match + for (int ind = 0; ind < (int)EnvNAV2D.Coord2StateIDHashTable[binid].size(); ind++) { + if (EnvNAV2D.Coord2StateIDHashTable[binid][ind]->X == X && + EnvNAV2D.Coord2StateIDHashTable[binid][ind]->Y == Y) + { +#if TIME_DEBUG + time_gethash += clock()-currenttime; +#endif + return EnvNAV2D.Coord2StateIDHashTable[binid][ind]; + } + } + +#if TIME_DEBUG + time_gethash += clock()-currenttime; +#endif + + return NULL; +} + +EnvNAV2DHashEntry_t* EnvironmentNAV2D::CreateNewHashEntry(int X, int Y) +{ + int i; + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + EnvNAV2DHashEntry_t* HashEntry = new EnvNAV2DHashEntry_t; + + HashEntry->X = X; + HashEntry->Y = Y; + + HashEntry->stateID = EnvNAV2D.StateID2CoordTable.size(); + + //insert into the tables + EnvNAV2D.StateID2CoordTable.push_back(HashEntry); + + //get the hash table bin + i = GETHASHBIN(HashEntry->X, HashEntry->Y); + + //insert the entry into the bin + EnvNAV2D.Coord2StateIDHashTable[i].push_back(HashEntry); + + //insert into and initialize the mappings + int* entry = new int[NUMOFINDICES_STATEID2IND]; + StateID2IndexMapping.push_back(entry); + for (i = 0; i < NUMOFINDICES_STATEID2IND; i++) { + StateID2IndexMapping[HashEntry->stateID][i] = -1; + } + + if (HashEntry->stateID != (int)StateID2IndexMapping.size() - 1) { + throw SBPL_Exception("Env: function: last state has incorrect stateID"); + } + +#if TIME_DEBUG + time_createhash += clock()-currenttime; +#endif + + return HashEntry; +} + +bool EnvironmentNAV2D::IsValidCell(int X, int Y) +{ + return (X >= 0 && X < EnvNAV2DCfg.EnvWidth_c && Y >= 0 && Y < EnvNAV2DCfg.EnvHeight_c && + EnvNAV2DCfg.Grid2D[X][Y] < EnvNAV2DCfg.obsthresh); +} + +bool EnvironmentNAV2D::IsWithinMapCell(int X, int Y) +{ + return (X >= 0 && X < EnvNAV2DCfg.EnvWidth_c && Y >= 0 && Y < EnvNAV2DCfg.EnvHeight_c); +} + +EnvironmentNAV2D::~EnvironmentNAV2D() +{ + if (EnvNAV2D.Coord2StateIDHashTable != NULL) { + delete[] EnvNAV2D.Coord2StateIDHashTable; + } + + for (unsigned int i = 0; i < EnvNAV2D.StateID2CoordTable.size(); ++i) { + if (EnvNAV2D.StateID2CoordTable[i] != NULL) delete EnvNAV2D.StateID2CoordTable[i]; + } + + if (EnvNAV2DCfg.Grid2D != NULL) { + for (int x = 0; x < EnvNAV2DCfg.EnvWidth_c; x++) { + if (EnvNAV2DCfg.Grid2D[x] != NULL) delete[] EnvNAV2DCfg.Grid2D[x]; + } + delete[] EnvNAV2DCfg.Grid2D; + } +} + +void EnvironmentNAV2D::InitializeEnvironment() +{ + EnvNAV2DHashEntry_t* HashEntry; + + //initialize the map from Coord to StateID + EnvNAV2D.HashTableSize = 64 * 1024; //should be power of two + EnvNAV2D.Coord2StateIDHashTable = new vector [EnvNAV2D.HashTableSize]; + + //initialize the map from StateID to Coord + EnvNAV2D.StateID2CoordTable.clear(); + + //create start state + if ((HashEntry = GetHashEntry(EnvNAV2DCfg.StartX_c, EnvNAV2DCfg.StartY_c)) == NULL) { + HashEntry = CreateNewHashEntry(EnvNAV2DCfg.StartX_c, EnvNAV2DCfg.StartY_c); + } + EnvNAV2D.startstateid = HashEntry->stateID; + + //create goal state + if ((HashEntry = GetHashEntry(EnvNAV2DCfg.EndX_c, EnvNAV2DCfg.EndY_c)) == NULL) { + HashEntry = CreateNewHashEntry(EnvNAV2DCfg.EndX_c, EnvNAV2DCfg.EndY_c); + } + EnvNAV2D.goalstateid = HashEntry->stateID; + + EnvNAV2D.bInitialized = true; +} + +static int EuclideanDistance(int X1, int Y1, int X2, int Y2) +{ + int sqdist = ((X1 - X2) * (X1 - X2) + (Y1 - Y2) * (Y1 - Y2)); + double dist = sqrt((double)sqdist); + return (int)(ENVNAV2D_COSTMULT * dist); +} + +//generates nNumofNeighs random neighbors of cell at distance nDist_c (measured in cells) +//it will also generate goal if within this distance as an additional neighbor +//bSuccs is set to true if we are computing successor states, otherwise it is Preds +void EnvironmentNAV2D::GetRandomNeighs(int stateID, std::vector* NeighIDV, std::vector* CLowV, + int nNumofNeighs, int nDist_c, bool bSuccs) +{ + //clear the successor array + NeighIDV->clear(); + CLowV->clear(); + + //get X, Y for the states + EnvNAV2DHashEntry_t* HashEntry = EnvNAV2D.StateID2CoordTable[stateID]; + int X = HashEntry->X; + int Y = HashEntry->Y; + + //iterate through random actions + for (int i = 0, nAttempts = 0; i < nNumofNeighs && nAttempts < 5 * nNumofNeighs; i++, nAttempts++) { + int dX = 0; + int dY = 0; + + //pick a direction + float fDir = (float)(2 * PI_CONST * (((double)rand()) / RAND_MAX)); + + //compute the successor that result from following this direction until + //one of the coordinates reaches the desired distance + //decide whether |dX| = dist or |dY| = dist + float fRadius = 0; + if (fabs(cos(fDir)) > fabs(sin(fDir))) { + fRadius = (float)((nDist_c + 0.5) / fabs(cos(fDir))); + } + else { + fRadius = (float)((nDist_c + 0.5) / fabs(sin(fDir))); + } + + dX = (int)(fRadius * cos(fDir)); + dY = (int)(fRadius * sin(fDir)); + + if ((fabs((float)dX) < nDist_c && fabs((float)dY) < nDist_c) || fabs((float)dX) > nDist_c || + fabs((float)dY) > nDist_c) + { + std::stringstream ss("ERROR in EnvNav2D genneighs function:"); + ss << " dx=" << dX; + ss << " dy=" << dY; + throw SBPL_Exception(ss.str()); + } + + //get the coords of the state + int newX = X + dX; + int newY = Y + dY; + + //skip the invalid cells + if (!IsValidCell(newX, newY)) { + i--; + continue; + } + + //get the state + EnvNAV2DHashEntry_t* OutHashEntry; + if ((OutHashEntry = GetHashEntry(newX, newY)) == NULL) { + //have to create a new entry + OutHashEntry = CreateNewHashEntry(newX, newY); + } + + //compute clow + int clow; + if (bSuccs) + clow = GetFromToHeuristic(stateID, OutHashEntry->stateID); + else + clow = GetFromToHeuristic(OutHashEntry->stateID, stateID); + + //insert it into the list + NeighIDV->push_back(OutHashEntry->stateID); + CLowV->push_back(clow); + } + + //see if the goal/start belongs to the inside area and if yes then add it to Neighs as well + int desX_c = EnvNAV2DCfg.EndX_c; + int desY_c = EnvNAV2DCfg.EndY_c; + int desstateID = EnvNAV2D.goalstateid; + if (bSuccs == false) { + desX_c = EnvNAV2DCfg.StartX_c; + desY_c = EnvNAV2DCfg.StartY_c; + desstateID = EnvNAV2D.startstateid; + } + //add it if within the distance + if (abs(desX_c - X) <= nDist_c && abs(desY_c - Y) <= nDist_c) { + //compute clow + int clow; + if (bSuccs) + clow = GetFromToHeuristic(stateID, desstateID); + else + clow = GetFromToHeuristic(desstateID, stateID); + + NeighIDV->push_back(desstateID); + CLowV->push_back(clow); + } +} + +//------------------------------------------------------------------------------ + +//------------------------------Heuristic computation-------------------------- + +void EnvironmentNAV2D::ComputeHeuristicValues() +{ + //whatever necessary pre-computation of heuristic values is done here + SBPL_PRINTF("Precomputing heuristics...\n"); + + SBPL_PRINTF("done\n"); +} + +//-----------interface with outside functions----------------------------------- + +bool EnvironmentNAV2D::InitializeEnv(const char* sEnvFile) +{ + FILE* fCfg = fopen(sEnvFile, "r"); + if (fCfg == NULL) { + SBPL_ERROR("ERROR: unable to open %s\n", sEnvFile); + std::stringstream ss("ERROR: unable to open "); ss << sEnvFile; + throw SBPL_Exception(ss.str()); + } + ReadConfiguration(fCfg); + fclose(fCfg); + + InitGeneral(); + + return true; +} + +bool EnvironmentNAV2D::InitializeEnv(int width, int height, const unsigned char* mapdata, unsigned char obsthresh) +{ + return InitializeEnv(width, height, mapdata, 0, 0, 0, 0, // just use (0,0) for start and goal + obsthresh); +} + +bool EnvironmentNAV2D::InitializeEnv(int width, int height, const unsigned char* mapdata, int startx, int starty, + int goalx, int goaly, unsigned char obsthresh) +{ + SBPL_PRINTF("env: initialized with width=%d height=%d, start=%d %d, goal=%d %d, obsthresh=%d\n", width, height, + startx, starty, goalx, goaly, obsthresh); + + EnvNAV2DCfg.obsthresh = obsthresh; + + SetConfiguration(width, height, mapdata, startx, starty, goalx, goaly); + + InitGeneral(); + + return true; +} + +bool EnvironmentNAV2D::InitGeneral() +{ + //Initialize other parameters of the environment + InitializeEnvConfig(); + + //initialize Environment + InitializeEnvironment(); + + //pre-compute heuristics + ComputeHeuristicValues(); + + return true; +} + +bool EnvironmentNAV2D::InitializeMDPCfg(MDPConfig *MDPCfg) +{ + //initialize MDPCfg with the start and goal ids + MDPCfg->goalstateid = EnvNAV2D.goalstateid; + MDPCfg->startstateid = EnvNAV2D.startstateid; + + return true; +} + +int EnvironmentNAV2D::GetFromToHeuristic(int FromStateID, int ToStateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (FromStateID >= (int)EnvNAV2D.StateID2CoordTable.size() || + ToStateID >= (int)EnvNAV2D.StateID2CoordTable.size()) + { + throw SBPL_Exception("EnvNAV2D... function: stateID illegal"); + } +#endif + + //get X, Y for the state + EnvNAV2DHashEntry_t* FromHashEntry = EnvNAV2D.StateID2CoordTable[FromStateID]; + EnvNAV2DHashEntry_t* ToHashEntry = EnvNAV2D.StateID2CoordTable[ToStateID]; + + return EuclideanDistance(FromHashEntry->X, FromHashEntry->Y, ToHashEntry->X, ToHashEntry->Y); +} + +int EnvironmentNAV2D::GetGoalHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (stateID >= (int)EnvNAV2D.StateID2CoordTable.size()) { + throw SBPL_Exception("EnvNAV2D... function: stateID illegal"); + } +#endif + + //define this function if it used in the planner (heuristic forward search would use it) + return GetFromToHeuristic(stateID, EnvNAV2D.goalstateid); +} + +int EnvironmentNAV2D::GetStartHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (stateID >= (int)EnvNAV2D.StateID2CoordTable.size()) { + throw SBPL_Exception("EnvNAV2D... function: stateID illegal"); + } +#endif + + //define this function if it used in the planner (heuristic backward search would use it) + return GetFromToHeuristic(EnvNAV2D.startstateid, stateID); +} + +void EnvironmentNAV2D::SetAllActionsandAllOutcomes(CMDPSTATE* state) +{ + int cost; + +#if DEBUG + if (state->StateID >= (int)EnvNAV2D.StateID2CoordTable.size()) { + SBPL_ERROR("ERROR in Env... function: stateID illegal\n"); + throw SBPL_Exception("Env: function: stateID illegal"); + } + + if ((int)state->Actions.size() != 0) { + throw SBPL_Exception("Env setAllActionsandAllOutcomes: actions already exist for the state"); + } +#endif + + //goal state should be absorbing + if (state->StateID == EnvNAV2D.goalstateid) return; + + //get X, Y for the state + EnvNAV2DHashEntry_t* HashEntry = EnvNAV2D.StateID2CoordTable[state->StateID]; + + //iterate through actions + bool bTestBounds = false; + if (HashEntry->X <= 1 || HashEntry->X >= EnvNAV2DCfg.EnvWidth_c - 2 || HashEntry->Y <= 1 || + HashEntry->Y >= EnvNAV2DCfg.EnvHeight_c - 2) + { + bTestBounds = true; + } + for (int aind = 0; aind < EnvNAV2DCfg.numofdirs; aind++) { + int newX = HashEntry->X + EnvNAV2DCfg.dx_[aind]; + int newY = HashEntry->Y + EnvNAV2DCfg.dy_[aind]; + + //skip the invalid cells + if (bTestBounds) { + if (!IsValidCell(newX, newY)) continue; + } + + //compute cost multiplier + int costmult = EnvNAV2DCfg.Grid2D[newX][newY]; + //for diagonal move, take max over adjacent cells + if (newX != HashEntry->X && newY != HashEntry->Y && aind <= 7) { + //check two more cells through which the action goes + costmult = __max(costmult, EnvNAV2DCfg.Grid2D[HashEntry->X][newY]); + costmult = __max(costmult, EnvNAV2DCfg.Grid2D[newX][HashEntry->Y]); + } + else if (aind > 7) { + //check two more cells through which the action goes + costmult = __max(costmult, + EnvNAV2DCfg.Grid2D[HashEntry->X + EnvNAV2DCfg.dxintersects_[aind][0]][HashEntry->Y + + EnvNAV2DCfg.dyintersects_[aind][0]]); + costmult = __max(costmult, + EnvNAV2DCfg.Grid2D[HashEntry->X + EnvNAV2DCfg.dxintersects_[aind][1]][HashEntry->Y + + EnvNAV2DCfg.dyintersects_[aind][1]]); + } + + //check that it is valid + if (costmult >= EnvNAV2DCfg.obsthresh) continue; + + //otherwise compute the actual cost + cost = (costmult + 1) * EnvNAV2DCfg.dxy_distance_mm_[aind]; + + //add the action + CMDPACTION* action = state->AddAction(aind); + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + EnvNAV2DHashEntry_t* OutHashEntry; + if ((OutHashEntry = GetHashEntry(newX, newY)) == NULL) { + //have to create a new entry + OutHashEntry = CreateNewHashEntry(newX, newY); + } + action->AddOutcome(OutHashEntry->stateID, cost, 1.0); + +#if TIME_DEBUG + time3_addallout += clock()-currenttime; +#endif + } +} + +void EnvironmentNAV2D::SetAllPreds(CMDPSTATE* state) +{ + //implement this if the planner needs access to predecessors + throw SBPL_Exception("EnvNAV2D: function: SetAllPreds is undefined"); +} + +void EnvironmentNAV2D::GetSuccs(int SourceStateID, vector* SuccIDV, vector* CostV) +{ + int aind; + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + //clear the successor array + SuccIDV->clear(); + CostV->clear(); + SuccIDV->reserve(EnvNAV2DCfg.numofdirs); + CostV->reserve(EnvNAV2DCfg.numofdirs); + + //goal state should be absorbing + if (SourceStateID == EnvNAV2D.goalstateid) return; + + //get X, Y for the state + EnvNAV2DHashEntry_t* HashEntry = EnvNAV2D.StateID2CoordTable[SourceStateID]; + + //iterate through actions + bool bTestBounds = false; + if (HashEntry->X <= 1 || HashEntry->X >= EnvNAV2DCfg.EnvWidth_c - 2 || HashEntry->Y <= 1 || + HashEntry->Y >= EnvNAV2DCfg.EnvHeight_c - 2) + { + bTestBounds = true; + } + for (aind = 0; aind < EnvNAV2DCfg.numofdirs; aind++) { + int newX = HashEntry->X + EnvNAV2DCfg.dx_[aind]; + int newY = HashEntry->Y + EnvNAV2DCfg.dy_[aind]; + + //skip the invalid cells + if (bTestBounds) { + if (!IsValidCell(newX, newY)) continue; + } + + int costmult = EnvNAV2DCfg.Grid2D[newX][newY]; + + //for diagonal move, take max over adjacent cells + if (newX != HashEntry->X && newY != HashEntry->Y && aind <= 7) { + costmult = __max(costmult, EnvNAV2DCfg.Grid2D[HashEntry->X][newY]); + costmult = __max(costmult, EnvNAV2DCfg.Grid2D[newX][HashEntry->Y]); + } + else if (aind > 7) { + //check two more cells through which the action goes + costmult = __max(costmult, + EnvNAV2DCfg.Grid2D[HashEntry->X + EnvNAV2DCfg.dxintersects_[aind][0]][HashEntry->Y + + EnvNAV2DCfg.dyintersects_[aind][0]]); + costmult = __max(costmult, + EnvNAV2DCfg.Grid2D[HashEntry->X + EnvNAV2DCfg.dxintersects_[aind][1]][HashEntry->Y + + EnvNAV2DCfg.dyintersects_[aind][1]]); + } + + //check that it is valid + if (costmult >= EnvNAV2DCfg.obsthresh) continue; + + //otherwise compute the actual cost + int cost = (costmult + 1) * EnvNAV2DCfg.dxy_distance_mm_[aind]; + + EnvNAV2DHashEntry_t* OutHashEntry; + if ((OutHashEntry = GetHashEntry(newX, newY)) == NULL) { + //have to create a new entry + OutHashEntry = CreateNewHashEntry(newX, newY); + } + + SuccIDV->push_back(OutHashEntry->stateID); + CostV->push_back(cost); + } + +#if TIME_DEBUG + time_getsuccs += clock()-currenttime; +#endif +} + +void EnvironmentNAV2D::GetPreds(int TargetStateID, vector* PredIDV, vector* CostV) +{ + int aind; + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + //clear the successor array + PredIDV->clear(); + CostV->clear(); + PredIDV->reserve(EnvNAV2DCfg.numofdirs); + CostV->reserve(EnvNAV2DCfg.numofdirs); + + //get X, Y for the state + EnvNAV2DHashEntry_t* HashEntry = EnvNAV2D.StateID2CoordTable[TargetStateID]; + + //no predecessors if obstacle + if (EnvNAV2DCfg.Grid2D[HashEntry->X][HashEntry->Y] >= EnvNAV2DCfg.obsthresh) return; + + int targetcostmult = EnvNAV2DCfg.Grid2D[HashEntry->X][HashEntry->Y]; + + //iterate through actions + bool bTestBounds = false; + if (HashEntry->X <= 1 || HashEntry->X >= EnvNAV2DCfg.EnvWidth_c - 2 || HashEntry->Y <= 1 || + HashEntry->Y >= EnvNAV2DCfg.EnvHeight_c - 2) + { + bTestBounds = true; + } + for (aind = 0; aind < EnvNAV2DCfg.numofdirs; aind++) { + // the actions are undirected, so we can use the same array of actions as in getsuccs case + int predX = HashEntry->X + EnvNAV2DCfg.dx_[aind]; + int predY = HashEntry->Y + EnvNAV2DCfg.dy_[aind]; + + // skip the invalid cells + if (bTestBounds) { + if (!IsValidCell(predX, predY)) continue; + } + + // compute costmult + int costmult = targetcostmult; + // for diagonal move, take max over adjacent cells + if (predX != HashEntry->X && predY != HashEntry->Y && aind <= 7) { + costmult = __max(costmult, EnvNAV2DCfg.Grid2D[HashEntry->X][predY]); + costmult = __max(costmult, EnvNAV2DCfg.Grid2D[predX][HashEntry->Y]); + } + else if (aind > 7) { + // check two more cells through which the action goes since actions + // are undirected, we don't have to figure out what are the + // intersecting cells on moving from to . it is + // the same cells as moving from to , which is + // action aind + costmult = __max(costmult, + EnvNAV2DCfg.Grid2D[HashEntry->X + EnvNAV2DCfg.dxintersects_[aind][0]][HashEntry->Y + + EnvNAV2DCfg.dyintersects_[aind][0]]); + costmult = __max(costmult, + EnvNAV2DCfg.Grid2D[HashEntry->X + EnvNAV2DCfg.dxintersects_[aind][1]][HashEntry->Y + + EnvNAV2DCfg.dyintersects_[aind][1]]); + } + + // check that it is valid + if (costmult >= EnvNAV2DCfg.obsthresh) continue; + + // otherwise compute the actual cost (once again we use the fact that + // actions are undirected to determine the cost) + int cost = (costmult + 1) * EnvNAV2DCfg.dxy_distance_mm_[aind]; + + EnvNAV2DHashEntry_t* OutHashEntry; + if ((OutHashEntry = GetHashEntry(predX, predY)) == NULL) { + // have to create a new entry + OutHashEntry = CreateNewHashEntry(predX, predY); + } + + PredIDV->push_back(OutHashEntry->stateID); + CostV->push_back(cost); + } + +#if TIME_DEBUG + time_getsuccs += clock()-currenttime; +#endif +} + +int EnvironmentNAV2D::SizeofCreatedEnv() +{ + return (int)EnvNAV2D.StateID2CoordTable.size(); +} + +void EnvironmentNAV2D::PrintState(int stateID, bool bVerbose, FILE* fOut /*=NULL*/) +{ +#if DEBUG + if (stateID >= (int)EnvNAV2D.StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvNAV2D... function: stateID illegal (2)"); + } +#endif + + if (fOut == NULL) fOut = stdout; + + EnvNAV2DHashEntry_t* HashEntry = EnvNAV2D.StateID2CoordTable[stateID]; + + if (stateID == EnvNAV2D.goalstateid && bVerbose) { + SBPL_FPRINTF(fOut, "the state is a goal state\n"); + } + + if (bVerbose) + SBPL_FPRINTF(fOut, "X=%d Y=%d\n", HashEntry->X, HashEntry->Y); + else + SBPL_FPRINTF(fOut, "%d %d\n", HashEntry->X, HashEntry->Y); +} + +void EnvironmentNAV2D::GetCoordFromState(int stateID, int& x, int& y) const +{ + EnvNAV2DHashEntry_t* HashEntry = EnvNAV2D.StateID2CoordTable[stateID]; + x = HashEntry->X; + y = HashEntry->Y; +} + +int EnvironmentNAV2D::GetStateFromCoord(int x, int y) +{ + EnvNAV2DHashEntry_t* OutHashEntry; + if ((OutHashEntry = GetHashEntry(x, y)) == NULL) { + //have to create a new entry + OutHashEntry = CreateNewHashEntry(x, y); + } + return OutHashEntry->stateID; +} + +const EnvNAV2DConfig_t* EnvironmentNAV2D::GetEnvNavConfig() +{ + return &EnvNAV2DCfg; +} + +//returns the stateid if success, and -1 otherwise +int EnvironmentNAV2D::SetGoal(int x, int y) +{ + if (!IsWithinMapCell(x, y)) { + SBPL_ERROR("ERROR: trying to set a goal cell %d %d that is outside of map\n", x, y); + return -1; + } + + if (!IsValidCell(x, y)) { + SBPL_PRINTF("WARNING: goal cell is invalid\n"); + } + + EnvNAV2DHashEntry_t* OutHashEntry; + if ((OutHashEntry = GetHashEntry(x, y)) == NULL) { + //have to create a new entry + OutHashEntry = CreateNewHashEntry(x, y); + } + EnvNAV2D.goalstateid = OutHashEntry->stateID; + EnvNAV2DCfg.EndX_c = x; + EnvNAV2DCfg.EndY_c = y; + + return EnvNAV2D.goalstateid; +} + +void EnvironmentNAV2D::SetGoalTolerance(double tol_x, double tol_y, double tol_theta) +{ + // not used yet +} + +//returns the stateid if success, and -1 otherwise +int EnvironmentNAV2D::SetStart(int x, int y) +{ + if (!IsWithinMapCell(x, y)) { + SBPL_ERROR("ERROR: trying to set a start cell %d %d that is outside of map\n", x, y); + return -1; + } + + if (!IsValidCell(x, y)) { + SBPL_PRINTF("WARNING: start cell is invalid\n"); + } + + EnvNAV2DHashEntry_t* OutHashEntry; + if ((OutHashEntry = GetHashEntry(x, y)) == NULL) { + //have to create a new entry + OutHashEntry = CreateNewHashEntry(x, y); + } + EnvNAV2D.startstateid = OutHashEntry->stateID; + EnvNAV2DCfg.StartX_c = x; + EnvNAV2DCfg.StartY_c = y; + + return EnvNAV2D.startstateid; +} + +bool EnvironmentNAV2D::UpdateCost(int x, int y, unsigned char newcost) +{ + EnvNAV2DCfg.Grid2D[x][y] = newcost; + + return true; +} + +void EnvironmentNAV2D::PrintEnv_Config(FILE* fOut) +{ + //implement this if the planner needs to print out EnvNAV2D. configuration + + throw SBPL_Exception("ERROR in EnvNAV2D... function: PrintEnv_Config is undefined"); +} + +void EnvironmentNAV2D::PrintTimeStat(FILE* fOut) +{ +#if TIME_DEBUG + SBPL_FPRINTF(fOut, + "time3_addallout = %f secs, time_gethash = %f secs, time_createhash = %f secs, time_getsuccs = %f\n", + time3_addallout/(double)CLOCKS_PER_SEC, time_gethash/(double)CLOCKS_PER_SEC, + time_createhash/(double)CLOCKS_PER_SEC, time_getsuccs/(double)CLOCKS_PER_SEC); +#endif +} + +void EnvironmentNAV2D::GetPredsofChangedEdges(vector const * changedcellsV, + vector *preds_of_changededgesIDV) +{ + nav2dcell_t cell; + int aind; + + for (int i = 0; i < (int)changedcellsV->size(); i++) { + cell = changedcellsV->at(i); + preds_of_changededgesIDV->push_back(GetStateFromCoord(cell.x, cell.y)); + + for (aind = 0; aind < EnvNAV2DCfg.numofdirs; aind++) { + //the actions are undirected, so we can use the same array of actions as in getsuccs case + int affx = cell.x + EnvNAV2DCfg.dx_[aind]; + int affy = cell.y + EnvNAV2DCfg.dy_[aind]; + if (affx < 0 || affx >= EnvNAV2DCfg.EnvWidth_c || affy < 0 || affy >= EnvNAV2DCfg.EnvHeight_c) continue; + preds_of_changededgesIDV->push_back(GetStateFromCoord(affx, affy)); + } + } +} + +// identical to GetPredsofChangedEdges except for changing "preds" +// into "succs"... can probably have just one method. +void EnvironmentNAV2D::GetSuccsofChangedEdges(vector const * changedcellsV, + vector *succs_of_changededgesIDV) +{ + nav2dcell_t cell; + int aind; + + for (int i = 0; i < (int)changedcellsV->size(); i++) { + cell = changedcellsV->at(i); + succs_of_changededgesIDV->push_back(GetStateFromCoord(cell.x, cell.y)); + for (aind = 0; aind < EnvNAV2DCfg.numofdirs; aind++) { + int affx = cell.x + EnvNAV2DCfg.dx_[aind]; + int affy = cell.y + EnvNAV2DCfg.dy_[aind]; + if (affx < 0 || affx >= EnvNAV2DCfg.EnvWidth_c || affy < 0 || affy >= EnvNAV2DCfg.EnvHeight_c) continue; + succs_of_changededgesIDV->push_back(GetStateFromCoord(affx, affy)); + } + } +} + +bool EnvironmentNAV2D::IsObstacle(int x, int y) +{ + return (EnvNAV2DCfg.Grid2D[x][y] >= EnvNAV2DCfg.obsthresh); +} + +unsigned char EnvironmentNAV2D::GetMapCost(int x, int y) +{ + return EnvNAV2DCfg.Grid2D[x][y]; +} + +void EnvironmentNAV2D::GetEnvParms(int *size_x, int *size_y, int* startx, int* starty, int* goalx, int* goaly, + unsigned char* obsthresh) +{ + *size_x = EnvNAV2DCfg.EnvWidth_c; + *size_y = EnvNAV2DCfg.EnvHeight_c; + + *startx = EnvNAV2DCfg.StartX_c; + *starty = EnvNAV2DCfg.StartY_c; + *goalx = EnvNAV2DCfg.EndX_c; + *goaly = EnvNAV2DCfg.EndY_c; + + *obsthresh = EnvNAV2DCfg.obsthresh; +} + +bool EnvironmentNAV2D::SetEnvParameter(const char* parameter, int value) +{ + if (EnvNAV2D.bInitialized == true) { + SBPL_ERROR("ERROR: all parameters must be set before initialization of the environment\n"); + return false; + } + + SBPL_PRINTF("setting parameter %s to %d\n", parameter, value); + + if (strcmp(parameter, "is16connected") == 0) { + if (value != 0) + EnvNAV2DCfg.numofdirs = 16; + else + EnvNAV2DCfg.numofdirs = 8; + } + else { + SBPL_ERROR("ERROR: invalid parameter %s\n", parameter); + return false; + } + + return true; +} + +//returns true if two states meet the same condition - see environment.h for more info +bool EnvironmentNAV2D::AreEquivalent(int StateID1, int StateID2) +{ +#if DEBUG + if (StateID1 >= (int)EnvNAV2D.StateID2CoordTable.size() || StateID2 >= (int)EnvNAV2D.StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvNAV2D... function: stateID illegal (2)"); + } +#endif + + //get X, Y for the states + EnvNAV2DHashEntry_t* HashEntry1 = EnvNAV2D.StateID2CoordTable[StateID1]; + EnvNAV2DHashEntry_t* HashEntry2 = EnvNAV2D.StateID2CoordTable[StateID2]; + + if (HashEntry1->X == HashEntry2->X && HashEntry1->Y == HashEntry2->Y) return true; + + return false; +} + +//generate succs at some domain-dependent distance - see environment.h for more info +void EnvironmentNAV2D::GetRandomSuccsatDistance(int SourceStateID, std::vector* SuccIDV, std::vector* CLowV) +{ + //number of random neighbors + int nNumofNeighs = 10; + //distance at which the neighbors are generated + int nDist_c = 100; + +#if DEBUG + if (SourceStateID >= (int)EnvNAV2D.StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvNAV2DGetRandSuccs... function: stateID illegal"); + } +#endif + + //goal state should be absorbing + if (SourceStateID == EnvNAV2D.goalstateid) return; + + //get the successors + bool bSuccs = true; + GetRandomNeighs(SourceStateID, SuccIDV, CLowV, nNumofNeighs, nDist_c, bSuccs); +} + +//generate preds at some domain-dependent distance - see environment.h for more info +void EnvironmentNAV2D::GetRandomPredsatDistance(int TargetStateID, std::vector* PredIDV, std::vector* CLowV) +{ + //number of random neighbors + int nNumofNeighs = 10; + //distance at which the neighbors are generated + int nDist_c = 5; //TODO-was100; + +#if DEBUG + if (TargetStateID >= (int)EnvNAV2D.StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvNAV2DGetRandSuccs... function: stateID illegal"); + } +#endif + + //start state does not have start state + if (TargetStateID == EnvNAV2D.startstateid) + return; + + //get the predecessors + bool bSuccs = false; + GetRandomNeighs(TargetStateID, PredIDV, CLowV, nNumofNeighs, nDist_c, bSuccs); +} + +//------------------------------------------------------------------------------ diff --git a/navigations/sbpl/src/discrete_space_information/environment_nav2Duu.cpp b/navigations/sbpl/src/discrete_space_information/environment_nav2Duu.cpp new file mode 100755 index 0000000..cd09c04 --- /dev/null +++ b/navigations/sbpl/src/discrete_space_information/environment_nav2Duu.cpp @@ -0,0 +1,710 @@ +/* + * Copyright (c) 2009, 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. + */ + +#include +#include +#include + +#include +#include +#include + +using namespace std; + +//extern clock_t time3_addallout; +//extern clock_t time_gethash; +//extern clock_t time_createhash; + +#define NAV2DUU_ERR_EPS 0.00001 + +//function prototypes + +//-------------------constructors--------------------- +EnvironmentNAV2DUU::EnvironmentNAV2DUU() +{ + EnvNAV2DUU.bInitialized = false; +} + +//----------------------------------------------------- + +//-------------------problem specific and local functions--------------------- + +void EnvironmentNAV2DUU::ReadConfiguration(FILE* fCfg) +{ + //read in the configuration of environment and initialize EnvCfg structure + char sTemp[1024], sTemp1[1024]; + //int dTemp; + int x, y; + float fTemp; + + //discretization(cells) + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + strcpy(sTemp1, "discretization(cells):"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss("ERROR: configuration file has incorrect format. Expected "); + ss << sTemp1 << " got " << sTemp; + throw SBPL_Exception(ss.str()); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAV2DUUCfg.EnvWidth_c = atoi(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAV2DUUCfg.EnvHeight_c = atoi(sTemp); + + //obsthresh: + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + strcpy(sTemp1, "obsthresh:"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss("ERROR: configuration file has incorrect format. Expected "); + ss << sTemp1 << " got " << sTemp; + throw SBPL_Exception(ss.str()); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAV2DUUCfg.obsthresh = (int)(atof(sTemp)); + + //start(cells): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAV2DUUCfg.StartX_c = atoi(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAV2DUUCfg.StartY_c = atoi(sTemp); + + if (EnvNAV2DUUCfg.StartX_c < 0 || EnvNAV2DUUCfg.StartX_c >= EnvNAV2DUUCfg.EnvWidth_c) { + throw SBPL_Exception("ERROR: illegal start coordinates"); + } + if (EnvNAV2DUUCfg.StartY_c < 0 || EnvNAV2DUUCfg.StartY_c >= EnvNAV2DUUCfg.EnvHeight_c) { + throw SBPL_Exception("ERROR: illegal start coordinates"); + } + + //end(cells): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAV2DUUCfg.EndX_c = atoi(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAV2DUUCfg.EndY_c = atoi(sTemp); + + if (EnvNAV2DUUCfg.EndX_c < 0 || EnvNAV2DUUCfg.EndX_c >= EnvNAV2DUUCfg.EnvWidth_c) { + throw SBPL_Exception("ERROR: illegal end coordinates"); + } + if (EnvNAV2DUUCfg.EndY_c < 0 || EnvNAV2DUUCfg.EndY_c >= EnvNAV2DUUCfg.EnvHeight_c) { + throw SBPL_Exception("ERROR: illegal end coordinates"); + } + + //allocate the 2D environment and corresponding uncertainty matrix + EnvNAV2DUUCfg.Grid2D = new unsigned char*[EnvNAV2DUUCfg.EnvWidth_c]; + EnvNAV2DUUCfg.UncertaintyGrid2D = new float*[EnvNAV2DUUCfg.EnvWidth_c]; + for (x = 0; x < EnvNAV2DUUCfg.EnvWidth_c; x++) { + EnvNAV2DUUCfg.Grid2D[x] = new unsigned char[EnvNAV2DUUCfg.EnvHeight_c]; + EnvNAV2DUUCfg.UncertaintyGrid2D[x] = new float[EnvNAV2DUUCfg.EnvHeight_c]; + } + + //environment: + EnvNAV2DUUCfg.sizeofH = 0; + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + for (y = 0; y < EnvNAV2DUUCfg.EnvHeight_c; y++) + for (x = 0; x < EnvNAV2DUUCfg.EnvWidth_c; x++) { + if (fscanf(fCfg, "%f", &fTemp) != 1) { + throw SBPL_Exception("ERROR: incorrect format of config file"); + } + + if (fTemp > 1.0 - NAV2DUU_ERR_EPS || fTemp < NAV2DUU_ERR_EPS) { + //we assume that the value is just a cost + EnvNAV2DUUCfg.Grid2D[x][y] = (int)fTemp; + if (EnvNAV2DUUCfg.Grid2D[x][y] >= EnvNAV2DUUCfg.obsthresh) + EnvNAV2DUUCfg.UncertaintyGrid2D[x][y] = 1.0; + else + EnvNAV2DUUCfg.UncertaintyGrid2D[x][y] = 0.0; + } + else { + //the value is probability of being free + EnvNAV2DUUCfg.Grid2D[x][y] = 0; //assume cost is 0 if traversable + EnvNAV2DUUCfg.UncertaintyGrid2D[x][y] = fTemp; + EnvNAV2DUUCfg.sizeofH++; + } + } + + EnvNAV2DUUCfg.sizeofS = this->EnvNAV2DUUCfg.EnvWidth_c * this->EnvNAV2DUUCfg.EnvHeight_c; + + SBPL_PRINTF("total size of environment=%d, number of unknown cells=%d\n", EnvNAV2DUUCfg.sizeofS, + EnvNAV2DUUCfg.sizeofH); +} + +//mapdata and uncertaintymapdata is assumed to be organized into a linear array with y being major: map[x+y*width] +void EnvironmentNAV2DUU::SetConfiguration(int width, int height, const unsigned char* mapdata, + const float* uncertaintymapdata) +{ + EnvNAV2DUUCfg.EnvWidth_c = width; + EnvNAV2DUUCfg.EnvHeight_c = height; + + int x, y; + + //set start and goal to zeros for now + EnvNAV2DUUCfg.StartX_c = 0; + EnvNAV2DUUCfg.StartY_c = 0; + EnvNAV2DUUCfg.EndX_c = 0; + EnvNAV2DUUCfg.EndY_c = 0; + + //environment: + //allocate the 2D environment and corresponding uncertainty matrix + EnvNAV2DUUCfg.Grid2D = new unsigned char*[EnvNAV2DUUCfg.EnvWidth_c]; + EnvNAV2DUUCfg.UncertaintyGrid2D = new float*[EnvNAV2DUUCfg.EnvWidth_c]; + for (x = 0; x < EnvNAV2DUUCfg.EnvWidth_c; x++) { + EnvNAV2DUUCfg.Grid2D[x] = new unsigned char[EnvNAV2DUUCfg.EnvHeight_c]; + EnvNAV2DUUCfg.UncertaintyGrid2D[x] = new float[EnvNAV2DUUCfg.EnvHeight_c]; + } + + //initialize the mape + EnvNAV2DUUCfg.sizeofH = 0; + for (y = 0; y < EnvNAV2DUUCfg.EnvHeight_c; y++) { + for (x = 0; x < EnvNAV2DUUCfg.EnvWidth_c; x++) { + if (mapdata == NULL) { + //special case - all is traversable + EnvNAV2DUUCfg.Grid2D[x][y] = 0; + EnvNAV2DUUCfg.UncertaintyGrid2D[x][y] = 0; + } + else { + EnvNAV2DUUCfg.Grid2D[x][y] = mapdata[x + y * width]; + EnvNAV2DUUCfg.UncertaintyGrid2D[x][y] = uncertaintymapdata[x + y * width]; + if (EnvNAV2DUUCfg.UncertaintyGrid2D[x][y] >= NAV2DUU_ERR_EPS && EnvNAV2DUUCfg.UncertaintyGrid2D[x][y] + <= (1.0 - NAV2DUU_ERR_EPS)) EnvNAV2DUUCfg.sizeofH++; + } + } + } + + EnvNAV2DUUCfg.sizeofS = this->EnvNAV2DUUCfg.EnvWidth_c * this->EnvNAV2DUUCfg.EnvHeight_c; + + SBPL_PRINTF("total size of environment=%d, number of unknown cells=%d\n", EnvNAV2DUUCfg.sizeofS, + EnvNAV2DUUCfg.sizeofH); +} + +void EnvironmentNAV2DUU::InitializeEnvironment() +{ + //initialize goal/start IDs + EnvNAV2DUU.startstateid = ENVNAV2DUU_XYTOSTATEID(EnvNAV2DUUCfg.StartX_c, EnvNAV2DUUCfg.StartY_c); + EnvNAV2DUU.goalstateid = ENVNAV2DUU_XYTOSTATEID(EnvNAV2DUUCfg.EndX_c, EnvNAV2DUUCfg.EndY_c); + + //environment initialized + EnvNAV2DUU.bInitialized = true; +} + +void EnvironmentNAV2DUU::InitializeEnvConfig() +{ + //aditional to configuration file initialization if necessary + Computedxy(); + + //compute IDs of hidden variables + int x, y; + int idcount = 0; + EnvNAV2DUUCfg.HiddenVariableXY2ID = new int*[EnvNAV2DUUCfg.EnvWidth_c]; + for (x = 0; x < EnvNAV2DUUCfg.EnvWidth_c; x++) { + EnvNAV2DUUCfg.HiddenVariableXY2ID[x] = new int[EnvNAV2DUUCfg.EnvHeight_c]; + for (y = 0; y < EnvNAV2DUUCfg.EnvWidth_c; y++) { + if (EnvNAV2DUUCfg.UncertaintyGrid2D[x][y] >= NAV2DUU_ERR_EPS && EnvNAV2DUUCfg.UncertaintyGrid2D[x][y] + <= (1.0 - NAV2DUU_ERR_EPS)) { + EnvNAV2DUUCfg.HiddenVariableXY2ID[x][y] = idcount; + idcount++; + } + else + EnvNAV2DUUCfg.HiddenVariableXY2ID[x][y] = -1; + } + } + + if (idcount != EnvNAV2DUUCfg.sizeofH) { + throw SBPL_Exception("ERROR: idcount not equal to sizeofH"); + } +} + +int EnvironmentNAV2DUU::SizeofCreatedEnv() +{ + return EnvNAV2DUUCfg.sizeofS; +} + +int EnvironmentNAV2DUU::SizeofH() +{ + return EnvNAV2DUUCfg.sizeofH; +} + +bool EnvironmentNAV2DUU::IsValidRobotPosition(int X, int Y) +{ + return (X >= 0 && X < EnvNAV2DUUCfg.EnvWidth_c && Y >= 0 && Y < EnvNAV2DUUCfg.EnvHeight_c && + EnvNAV2DUUCfg.Grid2D[X][Y] < EnvNAV2DUUCfg.obsthresh && + EnvNAV2DUUCfg.UncertaintyGrid2D[X][Y] < NAV2DUU_ERR_EPS); +} + +bool EnvironmentNAV2DUU::IsWithinMapCell(int X, int Y) +{ + return (X >= 0 && X < EnvNAV2DUUCfg.EnvWidth_c && Y >= 0 && Y < EnvNAV2DUUCfg.EnvHeight_c); +} + +void EnvironmentNAV2DUU::Computedxy() +{ + //initialize some constants for 2D search + EnvNAV2DUUCfg.dx_[0] = 1; + EnvNAV2DUUCfg.dy_[0] = 1; + EnvNAV2DUUCfg.dxintersects_[0][0] = 0; + EnvNAV2DUUCfg.dyintersects_[0][0] = 1; + EnvNAV2DUUCfg.dxintersects_[0][1] = 1; + EnvNAV2DUUCfg.dyintersects_[0][1] = 0; + EnvNAV2DUUCfg.dx_[1] = 1; + EnvNAV2DUUCfg.dy_[1] = 0; + EnvNAV2DUUCfg.dxintersects_[1][0] = 0; + EnvNAV2DUUCfg.dyintersects_[1][0] = 0; + EnvNAV2DUUCfg.dxintersects_[1][1] = 0; + EnvNAV2DUUCfg.dyintersects_[1][1] = 0; + EnvNAV2DUUCfg.dx_[2] = 1; + EnvNAV2DUUCfg.dy_[2] = -1; + EnvNAV2DUUCfg.dxintersects_[2][0] = 0; + EnvNAV2DUUCfg.dyintersects_[2][0] = -1; + EnvNAV2DUUCfg.dxintersects_[2][1] = 1; + EnvNAV2DUUCfg.dyintersects_[2][1] = 0; + EnvNAV2DUUCfg.dx_[3] = 0; + EnvNAV2DUUCfg.dy_[3] = 1; + EnvNAV2DUUCfg.dxintersects_[3][0] = 0; + EnvNAV2DUUCfg.dyintersects_[3][0] = 0; + EnvNAV2DUUCfg.dxintersects_[3][1] = 0; + EnvNAV2DUUCfg.dyintersects_[3][1] = 0; + EnvNAV2DUUCfg.dx_[4] = 0; + EnvNAV2DUUCfg.dy_[4] = -1; + EnvNAV2DUUCfg.dxintersects_[4][0] = 0; + EnvNAV2DUUCfg.dyintersects_[4][0] = 0; + EnvNAV2DUUCfg.dxintersects_[4][1] = 0; + EnvNAV2DUUCfg.dyintersects_[4][1] = 0; + EnvNAV2DUUCfg.dx_[5] = -1; + EnvNAV2DUUCfg.dy_[5] = 1; + EnvNAV2DUUCfg.dxintersects_[5][0] = 0; + EnvNAV2DUUCfg.dyintersects_[5][0] = 1; + EnvNAV2DUUCfg.dxintersects_[5][1] = -1; + EnvNAV2DUUCfg.dyintersects_[5][1] = 0; + EnvNAV2DUUCfg.dx_[6] = -1; + EnvNAV2DUUCfg.dy_[6] = 0; + EnvNAV2DUUCfg.dxintersects_[6][0] = 0; + EnvNAV2DUUCfg.dyintersects_[6][0] = 0; + EnvNAV2DUUCfg.dxintersects_[6][1] = 0; + EnvNAV2DUUCfg.dyintersects_[6][1] = 0; + EnvNAV2DUUCfg.dx_[7] = -1; + EnvNAV2DUUCfg.dy_[7] = -1; + EnvNAV2DUUCfg.dxintersects_[7][0] = 0; + EnvNAV2DUUCfg.dyintersects_[7][0] = -1; + EnvNAV2DUUCfg.dxintersects_[7][1] = -1; + EnvNAV2DUUCfg.dyintersects_[7][1] = 0; + + //compute distances + for (int dind = 0; dind < ENVNAV2DUU_MAXDIRS; dind++) { + + if (EnvNAV2DUUCfg.dx_[dind] != 0 && EnvNAV2DUUCfg.dy_[dind] != 0) { + if (dind <= 7) { + //the cost of a diagonal move in millimeters + EnvNAV2DUUCfg.dxy_distance_mm_[dind] = (int)(ENVNAV2DUU_COSTMULT * 1.414); + } + else { + //the cost of a move to 1,2 or 2,1 or so on in millimeters + EnvNAV2DUUCfg.dxy_distance_mm_[dind] = (int)(ENVNAV2DUU_COSTMULT * 2.236); + } + } + else + EnvNAV2DUUCfg.dxy_distance_mm_[dind] = ENVNAV2DUU_COSTMULT; //the cost of a horizontal move in millimeters + } +} + +/* +void EnvironmentNAV2DUU::ComputeReversedxy() +{ + int revaind; + + //iterate over actions + for (int aind = 0; aind < NAVLSENV_ROBOTNAVACTIONSWIDTH; aind++) + { + //get the cell location and reverse it + int dX = -EnvNAVLSCfg.dXY[aind][0]; + int dY = -EnvNAVLSCfg.dXY[aind][1]; + + //find the index that corresponds to these offsets + for (revaind = 0; revaind < NAVLSENV_ROBOTNAVACTIONSWIDTH; revaind++) + { + if(EnvNAVLSCfg.dXY[revaind][0] == dX && EnvNAVLSCfg.dXY[revaind][1] == dY) + { + EnvNAVLSCfg.reversedXY[aind] = revaind; + break; + } + } + + if(revaind == NAVLSENV_ROBOTNAVACTIONSWIDTH) + { + SBPL_ERROR("ERROR: can not determine a reversed index for aind=%d (dX=%d dY=%d)\n", + aind, EnvNAVLSCfg.dXY[aind][0], EnvNAVLSCfg.dXY[aind][1]); + } + } +} +*/ + +//------------------------------------------------------------------------------ + +//------------------------------Heuristic computation-------------------------- + +void EnvironmentNAV2DUU::ComputeHeuristicValues() +{ + //whatever necessary pre-computation of heuristic values is done here + SBPL_PRINTF("Precomputing heuristics\n"); + + SBPL_PRINTF("done\n"); +} + +//------------------------------------------------------------------------------ + +//-----------------Printing Routines-------------------------------------------- + +void EnvironmentNAV2DUU::PrintState(int stateID, bool bVerbose, FILE* fOut /*=NULL*/) +{ +#if DEBUG + if (stateID >= this->EnvNAV2DUUCfg.EnvWidth_c*this->EnvNAV2DUUCfg.EnvHeight_c) { + throw SBPL_Exception("ERROR in EnvNAV2DUU... function: st ateID illegal (2)"); + } +#endif + + if (fOut == NULL) fOut = stdout; + + if (stateID == EnvNAV2DUU.goalstateid && bVerbose) { + SBPL_FPRINTF(fOut, "the state is a goal state\n"); + } + + if (bVerbose) + SBPL_FPRINTF(fOut, "X=%d Y=%d\n", ENVNAV2DUU_STATEIDTOX(stateID), ENVNAV2DUU_STATEIDTOY(stateID)); + else + SBPL_FPRINTF(fOut, "%d %d\n", ENVNAV2DUU_STATEIDTOX(stateID), ENVNAV2DUU_STATEIDTOY(stateID)); +} + +void EnvironmentNAV2DUU::PrintEnv_Config(FILE* fOut) +{ + //implement this if the planner needs to print out EnvNAV2DUU. configuration + throw SBPL_Exception("ERROR in EnvNAV2DUU... function: PrintEnv_Config is undefined"); +} + +//------------------------------------------------------------------------------- + + +//-----------interface with outside functions----------------------------------- + +bool EnvironmentNAV2DUU::InitializeEnv(const char* sEnvFile) +{ + FILE* fCfg = fopen(sEnvFile, "r"); + if (fCfg == NULL) { + std::stringstream ss("ERROR: unable to open "); + ss << sEnvFile; + throw SBPL_Exception(ss.str()); + } + ReadConfiguration(fCfg); + fclose(fCfg); + + InitGeneral(); + + return true; +} + +bool EnvironmentNAV2DUU::InitializeEnv(int width, int height, const unsigned char* mapdata, + const float* uncertaintymapdata, unsigned char obsthresh) +{ + SBPL_PRINTF("env: initialized with width=%d height=%d, obsthresh=%d\n", width, height, obsthresh); + + EnvNAV2DUUCfg.obsthresh = obsthresh; + + SetConfiguration(width, height, mapdata, uncertaintymapdata); + + InitGeneral(); + + return true; +} + +bool EnvironmentNAV2DUU::InitGeneral() +{ + //initialize other variables in Cfg + InitializeEnvConfig(); + + //initialize Environment + InitializeEnvironment(); + + //pre-compute heuristics + ComputeHeuristicValues(); + + return true; +} + +bool EnvironmentNAV2DUU::InitializeMDPCfg(MDPConfig *MDPCfg) +{ + //initialize MDPCfg with the start and goal ids + MDPCfg->goalstateid = EnvNAV2DUU.goalstateid; + MDPCfg->startstateid = EnvNAV2DUU.startstateid; + + return true; +} + +int EnvironmentNAV2DUU::GetFromToHeuristic(int FromStateID, int ToStateID) +{ +#if USE_HEUR==0 + return 0; +#endif + + //define this function if it is used in the planner + + throw SBPL_Exception("ERROR in EnvNAV2DUU.. function: FromToHeuristic is undefined"); + + return 0; +} + +int EnvironmentNAV2DUU::GetGoalHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + + //define this function if it used in the planner (heuristic forward search would use it) + + throw SBPL_Exception("ERROR in EnvNAV2DUU..function: GetGoalHeuristic is undefined"); +} + +int EnvironmentNAV2DUU::GetStartHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + + //define this function if it used in the planner (heuristic backward search would use it) + + throw SBPL_Exception("ERROR in EnvNAV2DUU.. function: GetStartHeuristic is undefined"); + + return 0; +} + +void EnvironmentNAV2DUU::GetPreds(int stateID, const vector* updatedhvaluesV, + vector* IncomingDetActionV, vector* IncomingStochActionV, + vector* StochActionNonpreferredOutcomeV) +{ + int aind; + + //get state coords + int destx = ENVNAV2DUU_STATEIDTOX(stateID); + int desty = ENVNAV2DUU_STATEIDTOY(stateID); + + //clear succs + IncomingDetActionV->clear(); + IncomingStochActionV->clear(); + StochActionNonpreferredOutcomeV->clear(); + + //check that the destination is valid + if (!IsWithinMapCell(destx, desty) || EnvNAV2DUUCfg.Grid2D[destx][desty] >= EnvNAV2DUUCfg.obsthresh) return; + + //see if the destination was originally uncertain + bool bDet = false; + //no need to worry about ==1.0 since obstacles are rejected above + if (EnvNAV2DUUCfg.UncertaintyGrid2D[destx][desty] < NAV2DUU_ERR_EPS) + bDet = true; + + //if yes, then figure out the probability of being an obstacle + float ProbObs = EnvNAV2DUUCfg.UncertaintyGrid2D[destx][desty]; + int desth_ID = EnvNAV2DUUCfg.HiddenVariableXY2ID[destx][desty]; + bool bFreeh = false; + + //iterate over updated h-values to make sure dest cell is not in there + for (int hind = 0; hind < (int)updatedhvaluesV->size(); hind++) { + if (updatedhvaluesV->at(hind).Prob < NAV2DUU_ERR_EPS) bFreeh = true; //there are elements that are free + + if (updatedhvaluesV->at(hind).h_ID == desth_ID) { + ProbObs = updatedhvaluesV->at(hind).Prob; //found + } + } + + //if now known to be an obstacle, then no preds + if (ProbObs > 1.0 - NAV2DUU_ERR_EPS) + return; + else if (ProbObs < NAV2DUU_ERR_EPS) bDet = false; //now it is a deterministic cell + + //get the destination costmult + int destcostmult = EnvNAV2DUUCfg.Grid2D[destx][desty]; + +#if DEBUG + if (EnvNAV2DUUCfg.numofdirs > 8) { + throw SBPL_Exception("ERROR: number of directions can not exceed 8 for now"); + } +#endif + + //iterate over neighbors + for (aind = 0; aind < EnvNAV2DUUCfg.numofdirs; aind++) { + //the actions are undirected, so we can use the same array of actions as in getsuccs case + int predX = destx + EnvNAV2DUUCfg.dx_[aind]; + int predY = desty + EnvNAV2DUUCfg.dy_[aind]; + + //skip the invalid cells + if (!IsWithinMapCell(predX, predY) || EnvNAV2DUUCfg.Grid2D[predX][predY] >= EnvNAV2DUUCfg.obsthresh) continue; + + //running costmult + int costmult = destcostmult; + + //get the costmultiplier of pred and update total costmult + costmult = __max(costmult, EnvNAV2DUUCfg.Grid2D[predX][predY]); + + //if diagonal move + if (predX != destx && predY != desty) { + //check intersecting cells to make sure they are not uncertain + if (EnvNAV2DUUCfg.UncertaintyGrid2D[destx][predY] >= NAV2DUU_ERR_EPS) { + if (!bFreeh) continue; + + //check that it is not known to be free. Otherwise - invalid move + int tempID = EnvNAV2DUUCfg.HiddenVariableXY2ID[destx][predY]; + bool btempfree = false; + for (int hind = 0; hind < (int)updatedhvaluesV->size(); hind++) { + if (updatedhvaluesV->at(hind).h_ID == tempID) { + if (updatedhvaluesV->at(hind).Prob < NAV2DUU_ERR_EPS) { + btempfree = true; + break; + } + } + } + if (!btempfree) continue; + } + + if (EnvNAV2DUUCfg.UncertaintyGrid2D[predX][desty] >= NAV2DUU_ERR_EPS) { + if (!bFreeh) continue; + + //check that it is not known to be free. Otherwise - invalid move + int tempID = EnvNAV2DUUCfg.HiddenVariableXY2ID[predX][desty]; + bool btempfree = false; + for (int hind = 0; hind < (int)updatedhvaluesV->size(); hind++) { + if (updatedhvaluesV->at(hind).h_ID == tempID) { + if (updatedhvaluesV->at(hind).Prob < NAV2DUU_ERR_EPS) { + btempfree = true; + break; + } + } + } + if (!btempfree) continue; + } + + //compute the costmultiplier of intersect cells and update total costmult + costmult = __max(costmult, EnvNAV2DUUCfg.Grid2D[destx][predY]); + costmult = __max(costmult, EnvNAV2DUUCfg.Grid2D[predX][desty]); + } + + //make sure cost is still valid + if (costmult >= EnvNAV2DUUCfg.obsthresh) continue; + + //otherwise compute the actual cost (once again we use the fact that + //actions are undirected to determine the cost) + int cost = (((int)costmult) + 1) * EnvNAV2DUUCfg.dxy_distance_mm_[aind]; + + //create action + int predstateID = ENVNAV2DUU_XYTOSTATEID(predX, predY); + CMDPACTION action(aind, predstateID); //TODO-use reverseindex + + if (bDet) { + //if dest is known - then form a deterministic action + action.AddOutcome(stateID, cost, 1.0); + IncomingDetActionV->push_back(action); + } + else { + //if dest is unknown - then form a stoch action and compute the corresponding belief part + action.AddOutcome(stateID, cost, 1 - ProbObs); //preferred outcome + action.AddOutcome(predstateID, 2 * cost, ProbObs); //non-preferred outcome (stateID is untraversable) + IncomingStochActionV->push_back(action); + //also insert the corresponding hidden variable value + sbpl_BinaryHiddenVar_t hval; + hval.h_ID = desth_ID; + hval.Prob = 1; //known to be an obstacle + StochActionNonpreferredOutcomeV->push_back(hval); + } + } +} + +//returns the stateid if success, and -1 otherwise +int EnvironmentNAV2DUU::SetGoal(int x, int y) +{ + if (!IsWithinMapCell(x, y)) { + SBPL_ERROR("ERROR: trying to set a goal cell %d %d that is outside of map\n", x, y); + return -1; + } + + if (!IsValidRobotPosition(x, y)) { + SBPL_PRINTF("WARNING: goal cell is invalid\n"); + } + + EnvNAV2DUU.goalstateid = ENVNAV2DUU_XYTOSTATEID(x, y); + EnvNAV2DUUCfg.EndX_c = x; + EnvNAV2DUUCfg.EndY_c = y; + + return EnvNAV2DUU.goalstateid; +} + +//returns the stateid if success, and -1 otherwise +int EnvironmentNAV2DUU::SetStart(int x, int y) +{ + if (!IsWithinMapCell(x, y)) { + SBPL_ERROR("ERROR: trying to set a start cell %d %d that is outside of map\n", x, y); + return -1; + } + + if (!IsValidRobotPosition(x, y)) { + SBPL_PRINTF("WARNING: start cell is invalid\n"); + } + + EnvNAV2DUU.startstateid = ENVNAV2DUU_XYTOSTATEID(x, y); + EnvNAV2DUUCfg.StartX_c = x; + EnvNAV2DUUCfg.StartY_c = y; + + return EnvNAV2DUU.startstateid; +} + +bool EnvironmentNAV2DUU::UpdateCost(int x, int y, unsigned char newcost) +{ + EnvNAV2DUUCfg.Grid2D[x][y] = newcost; + + return true; +} + +//------------------------------------------------------------------------------ diff --git a/navigations/sbpl/src/discrete_space_information/environment_navxythetalat.cpp b/navigations/sbpl/src/discrete_space_information/environment_navxythetalat.cpp new file mode 100755 index 0000000..d4f6533 --- /dev/null +++ b/navigations/sbpl/src/discrete_space_information/environment_navxythetalat.cpp @@ -0,0 +1,3410 @@ +/* + * 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. + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#if TIME_DEBUG +static clock_t time3_addallout = 0; +static clock_t time_gethash = 0; +static clock_t time_createhash = 0; +static clock_t time_getsuccs = 0; +#endif + +static long int checks = 0; + +#define XYTHETA2INDEX(X,Y,THETA) (THETA + X*EnvNAVXYTHETALATCfg.NumThetaDirs + \ + Y*EnvNAVXYTHETALATCfg.EnvWidth_c*EnvNAVXYTHETALATCfg.NumThetaDirs) + +EnvironmentNAVXYTHETALATTICE::EnvironmentNAVXYTHETALATTICE() +{ + EnvNAVXYTHETALATCfg.obsthresh = ENVNAVXYTHETALAT_DEFAULTOBSTHRESH; + // the value that pretty much makes it disabled + EnvNAVXYTHETALATCfg.cost_inscribed_thresh = EnvNAVXYTHETALATCfg.obsthresh; + // the value that pretty much makes it disabled + EnvNAVXYTHETALATCfg.cost_possibly_circumscribed_thresh = -1; + + grid2Dsearchfromstart = NULL; + grid2Dsearchfromgoal = NULL; + bNeedtoRecomputeStartHeuristics = true; + bNeedtoRecomputeGoalHeuristics = true; + iteration = 0; + bucketsize = 0; // fixed bucket size + blocksize = 1; + bUseNonUniformAngles = false; + + EnvNAVXYTHETALAT.bInitialized = false; + + EnvNAVXYTHETALATCfg.actionwidth = NAVXYTHETALAT_DEFAULT_ACTIONWIDTH; + + EnvNAVXYTHETALATCfg.NumThetaDirs = NAVXYTHETALAT_THETADIRS; + + // no memory allocated in cfg yet + EnvNAVXYTHETALATCfg.Grid2D = NULL; + EnvNAVXYTHETALATCfg.ActionsV = NULL; + EnvNAVXYTHETALATCfg.PredActionsV = NULL; +} + +EnvironmentNAVXYTHETALATTICE::~EnvironmentNAVXYTHETALATTICE() +{ + SBPL_PRINTF("destroying XYTHETALATTICE\n"); + if (grid2Dsearchfromstart != NULL) { + delete grid2Dsearchfromstart; + } + grid2Dsearchfromstart = NULL; + + if (grid2Dsearchfromgoal != NULL) { + delete grid2Dsearchfromgoal; + } + grid2Dsearchfromgoal = NULL; + + if (EnvNAVXYTHETALATCfg.Grid2D != NULL) { + for (int x = 0; x < EnvNAVXYTHETALATCfg.EnvWidth_c; x++) { + delete[] EnvNAVXYTHETALATCfg.Grid2D[x]; + } + delete[] EnvNAVXYTHETALATCfg.Grid2D; + EnvNAVXYTHETALATCfg.Grid2D = NULL; + } + + //delete actions + if (EnvNAVXYTHETALATCfg.ActionsV != NULL) { + for (int tind = 0; tind < EnvNAVXYTHETALATCfg.NumThetaDirs; tind++) { + delete[] EnvNAVXYTHETALATCfg.ActionsV[tind]; + } + delete[] EnvNAVXYTHETALATCfg.ActionsV; + EnvNAVXYTHETALATCfg.ActionsV = NULL; + } + if (EnvNAVXYTHETALATCfg.PredActionsV != NULL) { + delete[] EnvNAVXYTHETALATCfg.PredActionsV; + EnvNAVXYTHETALATCfg.PredActionsV = NULL; + } +} + +static unsigned int inthash(unsigned int key) +{ + key += (key << 12); + key ^= (key >> 22); + key += (key << 4); + key ^= (key >> 9); + key += (key << 10); + key ^= (key >> 2); + key += (key << 7); + key ^= (key >> 12); + return key; +} + +void EnvironmentNAVXYTHETALATTICE::SetConfiguration( + int width, int height, const unsigned char* mapdata, + int startx, int starty, int starttheta, + int goalx, int goaly, int goaltheta, + double cellsize_m, + double nominalvel_mpersecs, + double timetoturn45degsinplace_secs, + const std::vector& robot_perimeterV) +{ + EnvNAVXYTHETALATCfg.EnvWidth_c = width; + EnvNAVXYTHETALATCfg.EnvHeight_c = height; + EnvNAVXYTHETALATCfg.StartX_c = startx; + EnvNAVXYTHETALATCfg.StartY_c = starty; + EnvNAVXYTHETALATCfg.StartTheta = starttheta; + + if (EnvNAVXYTHETALATCfg.StartX_c < 0 || + EnvNAVXYTHETALATCfg.StartX_c >= EnvNAVXYTHETALATCfg.EnvWidth_c) + { + throw SBPL_Exception("ERROR: illegal start coordinates"); + } + if (EnvNAVXYTHETALATCfg.StartY_c < 0 || + EnvNAVXYTHETALATCfg.StartY_c >= EnvNAVXYTHETALATCfg.EnvHeight_c) + { + throw SBPL_Exception("ERROR: illegal start coordinates"); + } + if (EnvNAVXYTHETALATCfg.StartTheta < 0 || + EnvNAVXYTHETALATCfg.StartTheta >= EnvNAVXYTHETALATCfg.NumThetaDirs) + { + throw SBPL_Exception("ERROR: illegal start coordinates for theta"); + } + + EnvNAVXYTHETALATCfg.EndX_c = goalx; + EnvNAVXYTHETALATCfg.EndY_c = goaly; + EnvNAVXYTHETALATCfg.EndTheta = goaltheta; + + if (EnvNAVXYTHETALATCfg.EndX_c < 0 || + EnvNAVXYTHETALATCfg.EndX_c >= EnvNAVXYTHETALATCfg.EnvWidth_c) + { + throw SBPL_Exception("ERROR: illegal goal coordinates"); + } + if (EnvNAVXYTHETALATCfg.EndY_c < 0 || + EnvNAVXYTHETALATCfg.EndY_c >= EnvNAVXYTHETALATCfg.EnvHeight_c) + { + throw SBPL_Exception("ERROR: illegal goal coordinates"); + } + if (EnvNAVXYTHETALATCfg.EndTheta < 0 || + EnvNAVXYTHETALATCfg.EndTheta >= EnvNAVXYTHETALATCfg.NumThetaDirs) + { + throw SBPL_Exception("ERROR: illegal goal coordinates for theta"); + } + + EnvNAVXYTHETALATCfg.FootprintPolygon = robot_perimeterV; + + EnvNAVXYTHETALATCfg.nominalvel_mpersecs = nominalvel_mpersecs; + EnvNAVXYTHETALATCfg.cellsize_m = cellsize_m; + EnvNAVXYTHETALATCfg.timetoturn45degsinplace_secs = timetoturn45degsinplace_secs; + + // unallocate the 2D environment + if (EnvNAVXYTHETALATCfg.Grid2D != NULL) { + for (int x = 0; x < EnvNAVXYTHETALATCfg.EnvWidth_c; x++) { + delete[] EnvNAVXYTHETALATCfg.Grid2D[x]; + } + delete[] EnvNAVXYTHETALATCfg.Grid2D; + EnvNAVXYTHETALATCfg.Grid2D = NULL; + } + + // allocate the 2D environment + EnvNAVXYTHETALATCfg.Grid2D = new unsigned char*[EnvNAVXYTHETALATCfg.EnvWidth_c]; + for (int x = 0; x < EnvNAVXYTHETALATCfg.EnvWidth_c; x++) { + EnvNAVXYTHETALATCfg.Grid2D[x] = new unsigned char[EnvNAVXYTHETALATCfg.EnvHeight_c]; + } + + // environment: + if (0 == mapdata) { + for (int y = 0; y < EnvNAVXYTHETALATCfg.EnvHeight_c; y++) { + for (int x = 0; x < EnvNAVXYTHETALATCfg.EnvWidth_c; x++) { + EnvNAVXYTHETALATCfg.Grid2D[x][y] = 0; + } + } + } + else { + for (int y = 0; y < EnvNAVXYTHETALATCfg.EnvHeight_c; y++) { + for (int x = 0; x < EnvNAVXYTHETALATCfg.EnvWidth_c; x++) { + EnvNAVXYTHETALATCfg.Grid2D[x][y] = mapdata[x + y * width]; + } + } + } +} + +void EnvironmentNAVXYTHETALATTICE::ReadConfiguration(FILE* fCfg) +{ + // read in the configuration of environment and initialize + // EnvNAVXYTHETALATCfg structure + char sTemp[1024], sTemp1[1024]; + int dTemp; + int x, y; + + // discretization(cells) + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early (discretization)"); + } + strcpy(sTemp1, "discretization(cells):"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss; + ss << "ERROR: configuration file has incorrect format (discretization)" << + " Expected " << sTemp1 << " got " << sTemp; + throw SBPL_Exception(ss.str()); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early (discretization)"); + } + EnvNAVXYTHETALATCfg.EnvWidth_c = atoi(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early (discretization)"); + } + EnvNAVXYTHETALATCfg.EnvHeight_c = atoi(sTemp); + + // Scan for optional NumThetaDirs parameter. Check for following obsthresh. + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + strcpy(sTemp1, "NumThetaDirs:"); + if (strcmp(sTemp1, sTemp) != 0) { + // optional NumThetaDirs not available; default is NAVXYTHETALAT_THETADIRS (16) + strcpy(sTemp1, "obsthresh:"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss; + ss << "ERROR: configuration file has incorrect format" << + " Expected " << sTemp1 << " got " << sTemp; + throw SBPL_Exception(ss.str()); + } + else { + EnvNAVXYTHETALATCfg.NumThetaDirs = NAVXYTHETALAT_THETADIRS; + } + } + else { + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early (NumThetaDirs)"); + } + EnvNAVXYTHETALATCfg.NumThetaDirs = atoi(sTemp); + + //obsthresh: + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early (obsthresh)"); + } + strcpy(sTemp1, "obsthresh:"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss; + ss << "ERROR: configuration file has incorrect format" << + " Expected " << sTemp1 << " got " << sTemp << + " see existing examples of env files for the right format of heading"; + throw SBPL_Exception(ss.str()); + } + } + + // obsthresh + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.obsthresh = atoi(sTemp); + SBPL_PRINTF("obsthresh = %d\n", EnvNAVXYTHETALATCfg.obsthresh); + + //cost_inscribed_thresh: + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + strcpy(sTemp1, "cost_inscribed_thresh:"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss; + ss << "ERROR: configuration file has incorrect format" << + " Expected " << sTemp1 << " got " << sTemp << + " see existing examples of env files for the right format of heading"; + throw SBPL_Exception(ss.str()); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.cost_inscribed_thresh = atoi(sTemp); + SBPL_PRINTF("cost_inscribed_thresh = %d\n", EnvNAVXYTHETALATCfg.cost_inscribed_thresh); + + //cost_possibly_circumscribed_thresh: + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + strcpy(sTemp1, "cost_possibly_circumscribed_thresh:"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss; + ss << "ERROR: configuration file has incorrect format" << + " Expected " << sTemp1 << " got " << sTemp << + " see existing examples of env files for the right format of heading"; + throw SBPL_Exception(ss.str()); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.cost_possibly_circumscribed_thresh = atoi(sTemp); + SBPL_PRINTF("cost_possibly_circumscribed_thresh = %d\n", EnvNAVXYTHETALATCfg.cost_possibly_circumscribed_thresh); + + //cellsize + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + strcpy(sTemp1, "cellsize(meters):"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss; + ss << "ERROR: configuration file has incorrect format" << + " Expected " << sTemp1 << " got " << sTemp; + throw SBPL_Exception(ss.str()); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.cellsize_m = atof(sTemp); + + //speeds + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + strcpy(sTemp1, "nominalvel(mpersecs):"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss; + ss << "ERROR: configuration file has incorrect format" << + " Expected " << sTemp1 << " got " << sTemp; + throw SBPL_Exception(ss.str()); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.nominalvel_mpersecs = atof(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + strcpy(sTemp1, "timetoturn45degsinplace(secs):"); + if (strcmp(sTemp1, sTemp) != 0) { + std::stringstream ss; + ss << "ERROR: configuration file has incorrect format" << + " Expected " << sTemp1 << " got " << sTemp; + throw SBPL_Exception(ss.str()); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.timetoturn45degsinplace_secs = atof(sTemp); + + // start(meters,rads): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.StartX_c = CONTXY2DISC(atof(sTemp), EnvNAVXYTHETALATCfg.cellsize_m); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.StartY_c = CONTXY2DISC(atof(sTemp), EnvNAVXYTHETALATCfg.cellsize_m); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + + EnvNAVXYTHETALATCfg.StartTheta_rad = atof(sTemp); + + if (EnvNAVXYTHETALATCfg.StartX_c < 0 || + EnvNAVXYTHETALATCfg.StartX_c >= EnvNAVXYTHETALATCfg.EnvWidth_c) + { + throw SBPL_Exception("ERROR: illegal start coordinates"); + } + if (EnvNAVXYTHETALATCfg.StartY_c < 0 || + EnvNAVXYTHETALATCfg.StartY_c >= EnvNAVXYTHETALATCfg.EnvHeight_c) + { + throw SBPL_Exception("ERROR: illegal start coordinates"); + } + + // end(meters,rads): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.EndX_c = CONTXY2DISC(atof(sTemp), EnvNAVXYTHETALATCfg.cellsize_m); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvNAVXYTHETALATCfg.EndY_c = CONTXY2DISC(atof(sTemp), EnvNAVXYTHETALATCfg.cellsize_m); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + + EnvNAVXYTHETALATCfg.EndTheta_rad = atof(sTemp); + + if (EnvNAVXYTHETALATCfg.EndX_c < 0 || + EnvNAVXYTHETALATCfg.EndX_c >= EnvNAVXYTHETALATCfg.EnvWidth_c) + { + throw SBPL_Exception("ERROR: illegal end coordinates"); + } + if (EnvNAVXYTHETALATCfg.EndY_c < 0 || + EnvNAVXYTHETALATCfg.EndY_c >= EnvNAVXYTHETALATCfg.EnvHeight_c) + { + throw SBPL_Exception("ERROR: illegal end coordinates"); + } + + // unallocate the 2d environment + if (EnvNAVXYTHETALATCfg.Grid2D != NULL) { + for (x = 0; x < EnvNAVXYTHETALATCfg.EnvWidth_c; x++) { + delete[] EnvNAVXYTHETALATCfg.Grid2D[x]; + } + delete[] EnvNAVXYTHETALATCfg.Grid2D; + EnvNAVXYTHETALATCfg.Grid2D = NULL; + } + + // allocate the 2D environment + EnvNAVXYTHETALATCfg.Grid2D = new unsigned char*[EnvNAVXYTHETALATCfg.EnvWidth_c]; + for (x = 0; x < EnvNAVXYTHETALATCfg.EnvWidth_c; x++) { + EnvNAVXYTHETALATCfg.Grid2D[x] = new unsigned char[EnvNAVXYTHETALATCfg.EnvHeight_c]; + } + + // environment: + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + for (y = 0; y < EnvNAVXYTHETALATCfg.EnvHeight_c; y++) { + for (x = 0; x < EnvNAVXYTHETALATCfg.EnvWidth_c; x++) { + if (fscanf(fCfg, "%d", &dTemp) != 1) { + throw SBPL_Exception("ERROR: incorrect format of config file"); + } + EnvNAVXYTHETALATCfg.Grid2D[x][y] = dTemp; + } + } +} + +bool EnvironmentNAVXYTHETALATTICE::ReadinCell( + sbpl_xy_theta_cell_t* cell, + FILE* fIn) +{ + char sTemp[60]; + + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + cell->x = atoi(sTemp); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + cell->y = atoi(sTemp); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + cell->theta = atoi(sTemp); + + // normalize the angle + cell->theta = normalizeDiscAngle(cell->theta); + // cell->theta = NORMALIZEDISCTHETA(cell->theta, EnvNAVXYTHETALATCfg.NumThetaDirs); + + return true; +} + +bool EnvironmentNAVXYTHETALATTICE::ReadinPose( + sbpl_xy_theta_pt_t* pose, + FILE* fIn) +{ + char sTemp[60]; + + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + pose->x = atof(sTemp); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + pose->y = atof(sTemp); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + pose->theta = atof(sTemp); + + pose->theta = normalizeAngle(pose->theta); + + return true; +} + +int EnvironmentNAVXYTHETALATTICE::normalizeDiscAngle(int theta) const +{ + if (bUseNonUniformAngles) { + if (theta < 0) { + theta += EnvNAVXYTHETALATCfg.NumThetaDirs; + } + if (theta >= EnvNAVXYTHETALATCfg.NumThetaDirs) { + theta -= EnvNAVXYTHETALATCfg.NumThetaDirs; + } + } + else { + theta = NORMALIZEDISCTHETA(theta, EnvNAVXYTHETALATCfg.NumThetaDirs); + } + return theta; +} + +double EnvironmentNAVXYTHETALATTICE::DiscTheta2ContNew(int theta) const +{ + if (bUseNonUniformAngles) { + return DiscTheta2ContFromSet(theta); + } + else { + return DiscTheta2Cont(theta, EnvNAVXYTHETALATCfg.NumThetaDirs); + } +} + +int EnvironmentNAVXYTHETALATTICE::ContTheta2DiscNew(double theta) const +{ + if (bUseNonUniformAngles) { + return ContTheta2DiscFromSet(theta); + } + else { + return ContTheta2Disc(theta, EnvNAVXYTHETALATCfg.NumThetaDirs); + } +} + +double EnvironmentNAVXYTHETALATTICE::DiscTheta2ContFromSet(int theta) const +{ + theta = normalizeDiscAngle(theta); + + // ThetaDirs should contain extra angle (2PI) for overlap + if (EnvNAVXYTHETALATCfg.NumThetaDirs >= (int)EnvNAVXYTHETALATCfg.ThetaDirs.size()) { + throw SBPL_Exception("ERROR: list of bin angles are not properly set to use function DiscTheta2ConfFromSet"); + } + + if (theta > EnvNAVXYTHETALATCfg.NumThetaDirs || theta < 0) { + std::stringstream ss; + ss << "ERROR: discrete value theta " << theta << " out of range"; + throw SBPL_Exception(ss.str()); + } + return EnvNAVXYTHETALATCfg.ThetaDirs[theta]; +} + +int EnvironmentNAVXYTHETALATTICE::ContTheta2DiscFromSet(double theta) const +{ + theta = normalizeAngle(theta); + // ThetaDirs should contain extra angle (2PI) for overlap + if (EnvNAVXYTHETALATCfg.NumThetaDirs >= (int) EnvNAVXYTHETALATCfg.ThetaDirs.size()) { + throw SBPL_Exception("ERROR: list of bin angles are not properly set to use function ContTheta2DiscFromSet"); + } + + int lower_bound_ind = -1; + int upper_bound_ind = -1; + for (int i = 1; i < (int) EnvNAVXYTHETALATCfg.ThetaDirs.size(); i++) { + if ((EnvNAVXYTHETALATCfg.ThetaDirs[i]) >= theta) { + lower_bound_ind = i - 1; + upper_bound_ind = i; + break; + } + } + + // Critical error if could not find bin location from given angle + if (lower_bound_ind == -1) { + std::stringstream ss; + ss << "ERROR: unable to find bin index for angle " << theta; + throw SBPL_Exception(ss.str()); + } + + // Get closest angle of two + double angle_low = EnvNAVXYTHETALATCfg.ThetaDirs[lower_bound_ind]; + double angle_up = EnvNAVXYTHETALATCfg.ThetaDirs[upper_bound_ind]; + double diff_low = fabs(theta - angle_low); + double diff_up = fabs(theta - angle_up); + + if (diff_low < diff_up) { + return lower_bound_ind; + } + else { + // Wrap upper bound index around when it reaches last index (assumed to be 2PI) + if (upper_bound_ind == EnvNAVXYTHETALATCfg.NumThetaDirs) { + upper_bound_ind = 0; + } + return upper_bound_ind; + } +} + +bool EnvironmentNAVXYTHETALATTICE::ReadinMotionPrimitive( + SBPL_xytheta_mprimitive* pMotPrim, + FILE* fIn) +{ + char sTemp[1024]; + int dTemp; + char sExpected[1024]; + int numofIntermPoses; + float fTemp; + + // read in actionID + strcpy(sExpected, "primID:"); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + fflush(stdout); + return false; + } + if (fscanf(fIn, "%d", &pMotPrim->motprimID) != 1) { + return false; + } + + // read in start angle + strcpy(sExpected, "startangle_c:"); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + return false; + } + if (fscanf(fIn, "%d", &dTemp) == 0) { + SBPL_ERROR("ERROR reading startangle\n"); + return false; + } + pMotPrim->starttheta_c = dTemp; + + // read in end pose + strcpy(sExpected, "endpose_c:"); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + return false; + } + + if (ReadinCell(&pMotPrim->endcell, fIn) == false) { + SBPL_ERROR("ERROR: failed to read in endsearchpose\n"); + return false; + } + + // read in action cost + strcpy(sExpected, "additionalactioncostmult:"); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + return false; + } + if (fscanf(fIn, "%d", &dTemp) != 1) { + return false; + } + pMotPrim->additionalactioncostmult = dTemp; + + if (bUseNonUniformAngles) { + // read in action turning radius + strcpy(sExpected, "turning_radius:"); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + return false; + } + if (fscanf(fIn, "%f", &fTemp) != 1) { + return false; + } + pMotPrim->turning_radius = fTemp; + } + + // read in intermediate poses + strcpy(sExpected, "intermediateposes:"); + if (fscanf(fIn, "%s", sTemp) == 0) { + return false; + } + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + return false; + } + if (fscanf(fIn, "%d", &numofIntermPoses) != 1) { + return false; + } + // all intermposes should be with respect to 0,0 as starting pose since it + // will be added later and should be done after the action is rotated by + // initial orientation + for (int i = 0; i < numofIntermPoses; i++) { + sbpl_xy_theta_pt_t intermpose; + if (ReadinPose(&intermpose, fIn) == false) { + SBPL_ERROR("ERROR: failed to read in intermediate poses\n"); + return false; + } + pMotPrim->intermptV.push_back(intermpose); + } + + // Check that the last pose of the motion matches (within lattice + // resolution) the designated end pose of the primitive + sbpl_xy_theta_pt_t sourcepose; + sourcepose.x = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.y = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.theta = DiscTheta2ContNew(pMotPrim->starttheta_c); + double mp_endx_m = sourcepose.x + pMotPrim->intermptV[pMotPrim->intermptV.size() - 1].x; + double mp_endy_m = sourcepose.y + pMotPrim->intermptV[pMotPrim->intermptV.size() - 1].y; + double mp_endtheta_rad = pMotPrim->intermptV[pMotPrim->intermptV.size() - 1].theta; + + int endtheta_c; + int endx_c = CONTXY2DISC(mp_endx_m, EnvNAVXYTHETALATCfg.cellsize_m); + int endy_c = CONTXY2DISC(mp_endy_m, EnvNAVXYTHETALATCfg.cellsize_m); + endtheta_c = ContTheta2DiscNew(mp_endtheta_rad); + if (endx_c != pMotPrim->endcell.x || + endy_c != pMotPrim->endcell.y || + endtheta_c != pMotPrim->endcell.theta) + { + SBPL_ERROR( "ERROR: incorrect primitive %d with startangle=%d " + "last interm point %f %f %f does not match end pose %d %d %d\n", + pMotPrim->motprimID, pMotPrim->starttheta_c, + pMotPrim->intermptV[pMotPrim->intermptV.size() - 1].x, + pMotPrim->intermptV[pMotPrim->intermptV.size() - 1].y, + pMotPrim->intermptV[pMotPrim->intermptV.size() - 1].theta, + pMotPrim->endcell.x, pMotPrim->endcell.y, + pMotPrim->endcell.theta); + SBPL_FFLUSH(stdout); + return false; + } + + return true; +} + +bool EnvironmentNAVXYTHETALATTICE::ReadMotionPrimitives(FILE* fMotPrims) +{ + char sTemp[1024], sExpected[1024]; + float fTemp; + int dTemp; + int totalNumofActions = 0; + + SBPL_INFO("Reading in motion primitives..."); + fflush(stdout); + + //read in the resolution + strcpy(sExpected, "resolution_m:"); + if (fscanf(fMotPrims, "%s", sTemp) == 0) { + return false; + } + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + fflush(stdout); + return false; + } + if (fscanf(fMotPrims, "%f", &fTemp) == 0) { + return false; + } + if (fabs(fTemp - EnvNAVXYTHETALATCfg.cellsize_m) > ERR_EPS) { + SBPL_ERROR("ERROR: invalid resolution %f (instead of %f) in the dynamics file\n", fTemp, EnvNAVXYTHETALATCfg.cellsize_m); + fflush(stdout); + return false; + } + SBPL_INFO("resolution_m: %f\n", fTemp); + + if (fscanf(fMotPrims, "%s", sTemp) == 0) { + return false; + } + SBPL_INFO("sTemp: %s\n", sTemp); + if (strncmp(sTemp, "min_turning_radius_m:", 21) == 0) { + bUseNonUniformAngles = true; + } + SBPL_INFO("bUseNonUniformAngles = %d", bUseNonUniformAngles); + + if (bUseNonUniformAngles) { + float min_turn_rad; + strcpy(sExpected, "min_turning_radius_m:"); + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + fflush(stdout); + return false; + } + if (fscanf(fMotPrims, "%f", &min_turn_rad) == 0) { + return false; + } + SBPL_PRINTF("min_turn_rad: %f\n", min_turn_rad); + fflush(stdout); + if (fscanf(fMotPrims, "%s", sTemp) == 0) { + return false; + } + } + + // read in the angular resolution + strcpy(sExpected, "numberofangles:"); + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + return false; + } + if (fscanf(fMotPrims, "%d", &dTemp) == 0) { + return false; + } + if (dTemp != EnvNAVXYTHETALATCfg.NumThetaDirs) { + SBPL_ERROR("ERROR: invalid angular resolution %d angles (instead of %d angles) in the motion primitives file\n", dTemp, EnvNAVXYTHETALATCfg.NumThetaDirs); + return false; + } + SBPL_PRINTF("numberofangles: %d\n", dTemp); + EnvNAVXYTHETALATCfg.NumThetaDirs = dTemp; + + if (bUseNonUniformAngles) { + // read in angles + EnvNAVXYTHETALATCfg.ThetaDirs.clear(); + for (int i = 0; i < EnvNAVXYTHETALATCfg.NumThetaDirs; i++) + { + std::ostringstream string_angle_index; + string_angle_index << i; + std::string angle_string = "angle:" + string_angle_index.str(); + + float angle; + strcpy(sExpected, angle_string.c_str()); + if (fscanf(fMotPrims, "%s", sTemp) == 0) { + return false; + } + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + return false; + } + if (fscanf(fMotPrims, "%f", &angle) == 0) { + return false; + } + SBPL_PRINTF("%s %f\n", angle_string.c_str(), angle); + EnvNAVXYTHETALATCfg.ThetaDirs.push_back(angle); + } + EnvNAVXYTHETALATCfg.ThetaDirs.push_back(2.0 * M_PI); // Add 2 PI at end for overlap + } + + // read in the total number of actions + strcpy(sExpected, "totalnumberofprimitives:"); + if (fscanf(fMotPrims, "%s", sTemp) == 0) { + return false; + } + if (strcmp(sTemp, sExpected) != 0) { + SBPL_ERROR("ERROR: expected %s but got %s\n", sExpected, sTemp); + return false; + } + if (fscanf(fMotPrims, "%d", &totalNumofActions) == 0) { + return false; + } + SBPL_PRINTF("totalnumberofprimitives: %d\n", totalNumofActions); + + // Read in motion primitive for each action + for (int i = 0; i < totalNumofActions; i++) { + SBPL_xytheta_mprimitive motprim; + + if (!EnvironmentNAVXYTHETALATTICE::ReadinMotionPrimitive(&motprim, fMotPrims)) { + return false; + } + + EnvNAVXYTHETALATCfg.mprimV.push_back(motprim); + } + SBPL_PRINTF("done"); + SBPL_FFLUSH(stdout); + return true; +} + +void EnvironmentNAVXYTHETALATTICE::ComputeReplanningDataforAction( + EnvNAVXYTHETALATAction_t* action) +{ + int j; + + // iterate over all the cells involved in the action + sbpl_xy_theta_cell_t startcell3d, endcell3d; + for (int i = 0; i < (int)action->intersectingcellsV.size(); i++) { + // compute the translated affected search Pose - what state has an + // outgoing action whose intersecting cell is at 0,0 + startcell3d.theta = action->starttheta; + startcell3d.x = -action->intersectingcellsV.at(i).x; + startcell3d.y = -action->intersectingcellsV.at(i).y; + + // compute the translated affected search Pose - what state has an + // incoming action whose intersecting cell is at 0,0 + if (bUseNonUniformAngles) { + endcell3d.theta = normalizeDiscAngle(action->endtheta); + } + else { + endcell3d.theta = NORMALIZEDISCTHETA(action->endtheta, EnvNAVXYTHETALATCfg.NumThetaDirs); + } + endcell3d.x = startcell3d.x + action->dX; + endcell3d.y = startcell3d.y + action->dY; + + //store the cells if not already there + for (j = 0; j < (int)affectedsuccstatesV.size(); j++) { + if (affectedsuccstatesV.at(j) == endcell3d) { + break; + } + } + if (j == (int)affectedsuccstatesV.size()) { + affectedsuccstatesV.push_back(endcell3d); + } + + for (j = 0; j < (int)affectedpredstatesV.size(); j++) { + if (affectedpredstatesV.at(j) == startcell3d) { + break; + } + } + if (j == (int)affectedpredstatesV.size()) { + affectedpredstatesV.push_back(startcell3d); + } + } // over intersecting cells + + // add the centers since with h2d we are using these in cost computations + // ---intersecting cell = origin + // compute the translated affected search Pose - what state has an outgoing + // action whose intersecting cell is at 0,0 + startcell3d.theta = action->starttheta; + startcell3d.x = -0; + startcell3d.y = -0; + + // compute the translated affected search Pose - what state has an incoming + // action whose intersecting cell is at 0,0 + if (bUseNonUniformAngles) { + endcell3d.theta = normalizeDiscAngle(action->endtheta); + } + else { + endcell3d.theta = NORMALIZEDISCTHETA(action->endtheta, EnvNAVXYTHETALATCfg.NumThetaDirs); + } + endcell3d.x = startcell3d.x + action->dX; + endcell3d.y = startcell3d.y + action->dY; + + //store the cells if not already there + for (j = 0; j < (int)affectedsuccstatesV.size(); j++) { + if (affectedsuccstatesV.at(j) == endcell3d) { + break; + } + } + if (j == (int)affectedsuccstatesV.size()) { + affectedsuccstatesV.push_back(endcell3d); + } + + for (j = 0; j < (int)affectedpredstatesV.size(); j++) { + if (affectedpredstatesV.at(j) == startcell3d) { + break; + } + } + if (j == (int)affectedpredstatesV.size()) { + affectedpredstatesV.push_back(startcell3d); + } + + //---intersecting cell = outcome state + // compute the translated affected search Pose - what state has an outgoing + // action whose intersecting cell is at 0,0 + startcell3d.theta = action->starttheta; + startcell3d.x = -action->dX; + startcell3d.y = -action->dY; + + // compute the translated affected search Pose - what state has an incoming + // action whose intersecting cell is at 0,0 + if (bUseNonUniformAngles) { + endcell3d.theta = normalizeDiscAngle(action->endtheta); + } + else { + endcell3d.theta = NORMALIZEDISCTHETA(action->endtheta, EnvNAVXYTHETALATCfg.NumThetaDirs); + } + endcell3d.x = startcell3d.x + action->dX; + endcell3d.y = startcell3d.y + action->dY; + + for (j = 0; j < (int)affectedsuccstatesV.size(); j++) { + if (affectedsuccstatesV.at(j) == endcell3d) { + break; + } + } + if (j == (int)affectedsuccstatesV.size()) { + affectedsuccstatesV.push_back(endcell3d); + } + + for (j = 0; j < (int)affectedpredstatesV.size(); j++) { + if (affectedpredstatesV.at(j) == startcell3d) { + break; + } + } + if (j == (int)affectedpredstatesV.size()) { + affectedpredstatesV.push_back(startcell3d); + } +} + +// computes all the 3D states whose outgoing actions are potentially affected +// when cell (0,0) changes its status it also does the same for the 3D states +// whose incoming actions are potentially affected when cell (0,0) changes its +// status +void EnvironmentNAVXYTHETALATTICE::ComputeReplanningData() +{ + // iterate over all actions + // orientations + for (int tind = 0; tind < EnvNAVXYTHETALATCfg.NumThetaDirs; tind++) { + // actions + for (int aind = 0; aind < EnvNAVXYTHETALATCfg.actionwidth; aind++) { + // compute replanning data for this action + ComputeReplanningDataforAction(&EnvNAVXYTHETALATCfg.ActionsV[tind][aind]); + } + } +} + +// here motionprimitivevector contains actions only for 0 angle +void EnvironmentNAVXYTHETALATTICE::PrecomputeActionswithBaseMotionPrimitive( + std::vector* motionprimitiveV) +{ + SBPL_PRINTF("Pre-computing action data using base motion primitives...\n"); + EnvNAVXYTHETALATCfg.ActionsV = new EnvNAVXYTHETALATAction_t*[EnvNAVXYTHETALATCfg.NumThetaDirs]; + EnvNAVXYTHETALATCfg.PredActionsV = new std::vector [EnvNAVXYTHETALATCfg.NumThetaDirs]; + std::vector footprint; + + //iterate over source angles + for (int tind = 0; tind < EnvNAVXYTHETALATCfg.NumThetaDirs; tind++) { + SBPL_PRINTF("pre-computing for angle %d out of %d angles\n", tind, EnvNAVXYTHETALATCfg.NumThetaDirs); + EnvNAVXYTHETALATCfg.ActionsV[tind] = new EnvNAVXYTHETALATAction_t[motionprimitiveV->size()]; + + //compute sourcepose + sbpl_xy_theta_pt_t sourcepose; + sourcepose.x = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.y = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.theta = DiscTheta2ContNew(tind); + //sourcepose.theta = DiscTheta2Cont(tind, EnvNAVXYTHETALATCfg.NumThetaDirs); + + //iterate over motion primitives + for (size_t aind = 0; aind < motionprimitiveV->size(); aind++) { + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].aind = aind; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].starttheta = tind; + double mp_endx_m = motionprimitiveV->at(aind).intermptV[motionprimitiveV->at(aind).intermptV.size() - 1].x; + double mp_endy_m = motionprimitiveV->at(aind).intermptV[motionprimitiveV->at(aind).intermptV.size() - 1].y; + double mp_endtheta_rad = + motionprimitiveV->at(aind).intermptV[motionprimitiveV->at(aind).intermptV.size() - 1].theta; + + double endx = sourcepose.x + (mp_endx_m * cos(sourcepose.theta) - mp_endy_m * sin(sourcepose.theta)); + double endy = sourcepose.y + (mp_endx_m * sin(sourcepose.theta) + mp_endy_m * cos(sourcepose.theta)); + + int endx_c = CONTXY2DISC(endx, EnvNAVXYTHETALATCfg.cellsize_m); + int endy_c = CONTXY2DISC(endy, EnvNAVXYTHETALATCfg.cellsize_m); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta = ContTheta2DiscNew(mp_endtheta_rad + sourcepose.theta); + //EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta = ContTheta2Disc(mp_endtheta_rad + sourcepose.theta, EnvNAVXYTHETALATCfg.NumThetaDirs); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX = endx_c; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY = endy_c; + + if (EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY != 0 || EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX != 0) + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost = (int)(ceil(NAVXYTHETALAT_COSTMULT_MTOMM + * EnvNAVXYTHETALATCfg.cellsize_m / EnvNAVXYTHETALATCfg.nominalvel_mpersecs + * sqrt((double)(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX + * EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY + * EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY)))); + else + //cost of turn in place + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost = (int)(NAVXYTHETALAT_COSTMULT_MTOMM + * EnvNAVXYTHETALATCfg.timetoturn45degsinplace_secs + * fabs(computeMinUnsignedAngleDiff(mp_endtheta_rad, 0)) / (PI_CONST / 4.0)); + + //compute and store interm points as well as intersecting cells + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV.clear(); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.clear(); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].interm3DcellsV.clear(); + sbpl_xy_theta_cell_t previnterm3Dcell; + previnterm3Dcell.theta = previnterm3Dcell.x = previnterm3Dcell.y = 0; + + for (int pind = 0; pind < (int)motionprimitiveV->at(aind).intermptV.size(); pind++) { + sbpl_xy_theta_pt_t intermpt = motionprimitiveV->at(aind).intermptV[pind]; + + //rotate it appropriately + double rotx = intermpt.x * cos(sourcepose.theta) - intermpt.y * sin(sourcepose.theta); + double roty = intermpt.x * sin(sourcepose.theta) + intermpt.y * cos(sourcepose.theta); + intermpt.x = rotx; + intermpt.y = roty; + intermpt.theta = normalizeAngle(sourcepose.theta + intermpt.theta); + + //store it (they are with reference to 0,0,stattheta (not + //sourcepose.x,sourcepose.y,starttheta (that is, half-bin)) + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.push_back(intermpt); + } + //now compute the intersecting cells for this motion (including ignoring the source footprint) + get_2d_motion_cells(EnvNAVXYTHETALATCfg.FootprintPolygon, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV, + &EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV, + EnvNAVXYTHETALATCfg.cellsize_m); + +#if DEBUG + SBPL_FPRINTF(fDeb, + "action tind=%d aind=%d: dX=%d dY=%d endtheta=%d (%.2f degs -> %.2f degs) " + "cost=%d (mprim: %.2f %.2f %.2f)\n", + tind, + (int)aind, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta, + sourcepose.theta * 180.0 / PI_CONST, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV[EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.size() - 1].theta * 180.0 / PI_CONST, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost, + mp_endx_m, + mp_endy_m, + mp_endtheta_rad); +#endif + + //add to the list of backward actions + int targettheta = EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta; + if (targettheta < 0) targettheta = targettheta + EnvNAVXYTHETALATCfg.NumThetaDirs; + EnvNAVXYTHETALATCfg.PredActionsV[targettheta].push_back(&(EnvNAVXYTHETALATCfg.ActionsV[tind][aind])); + } + } + + //set number of actions + EnvNAVXYTHETALATCfg.actionwidth = motionprimitiveV->size(); + + //now compute replanning data + ComputeReplanningData(); + + SBPL_PRINTF("done pre-computing action data based on motion primitives\n"); +} + +// here motionprimitivevector contains actions for all angles +void EnvironmentNAVXYTHETALATTICE::PrecomputeActionswithCompleteMotionPrimitive( + std::vector* motionprimitiveV) +{ + SBPL_PRINTF("Pre-computing action data using motion primitives for every angle...\n"); + EnvNAVXYTHETALATCfg.ActionsV = new EnvNAVXYTHETALATAction_t*[EnvNAVXYTHETALATCfg.NumThetaDirs]; + EnvNAVXYTHETALATCfg.PredActionsV = new std::vector[EnvNAVXYTHETALATCfg.NumThetaDirs]; + std::vector footprint; + + if (motionprimitiveV->size() % EnvNAVXYTHETALATCfg.NumThetaDirs != 0) { + throw SBPL_Exception("ERROR: motionprimitives should be uniform across actions"); + } + + EnvNAVXYTHETALATCfg.actionwidth = ((int)motionprimitiveV->size()) / EnvNAVXYTHETALATCfg.NumThetaDirs; + + // iterate over source angles + int maxnumofactions = 0; + for (int tind = 0; tind < EnvNAVXYTHETALATCfg.NumThetaDirs; tind++) { + SBPL_PRINTF("pre-computing for angle %d out of %d angles\n", tind, EnvNAVXYTHETALATCfg.NumThetaDirs); + + EnvNAVXYTHETALATCfg.ActionsV[tind] = new EnvNAVXYTHETALATAction_t[EnvNAVXYTHETALATCfg.actionwidth]; + + // compute sourcepose + sbpl_xy_theta_pt_t sourcepose; + sourcepose.x = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.y = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.theta = DiscTheta2ContNew(tind); + + // iterate over motion primitives + int numofactions = 0; + int aind = -1; + for (int mind = 0; mind < (int)motionprimitiveV->size(); mind++) { + //find a motion primitive for this angle + if (motionprimitiveV->at(mind).starttheta_c != tind) { + continue; + } + + aind++; + numofactions++; + + // action index + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].aind = aind; + + // start angle + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].starttheta = tind; + + // compute dislocation + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta = motionprimitiveV->at(mind).endcell.theta; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX = motionprimitiveV->at(mind).endcell.x; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY = motionprimitiveV->at(mind).endcell.y; + + // compute and store interm points as well as intersecting cells + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV.clear(); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.clear(); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].interm3DcellsV.clear(); + + sbpl_xy_theta_cell_t previnterm3Dcell; + previnterm3Dcell.x = 0; + previnterm3Dcell.y = 0; + + // Compute all the intersected cells for this action (intermptV and interm3DcellsV) + for (int pind = 0; pind < (int)motionprimitiveV->at(mind).intermptV.size(); pind++) { + sbpl_xy_theta_pt_t intermpt = motionprimitiveV->at(mind).intermptV[pind]; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.push_back(intermpt); + + // also compute the intermediate discrete cells if not there already + sbpl_xy_theta_pt_t pose; + pose.x = intermpt.x + sourcepose.x; + pose.y = intermpt.y + sourcepose.y; + pose.theta = intermpt.theta; + + sbpl_xy_theta_cell_t intermediate2dCell; + intermediate2dCell.x = CONTXY2DISC(pose.x, EnvNAVXYTHETALATCfg.cellsize_m); + intermediate2dCell.y = CONTXY2DISC(pose.y, EnvNAVXYTHETALATCfg.cellsize_m); + + // add unique cells to the list + if (EnvNAVXYTHETALATCfg.ActionsV[tind][aind].interm3DcellsV.size() == 0 || + intermediate2dCell.x != previnterm3Dcell.x || + intermediate2dCell.y != previnterm3Dcell.y) + { + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].interm3DcellsV.push_back(intermediate2dCell); + } + + previnterm3Dcell = intermediate2dCell; + } + + // compute linear and angular time + double linear_distance = 0; + for (unsigned int i = 1; i < EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.size(); i++) { + double x0 = EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV[i - 1].x; + double y0 = EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV[i - 1].y; + double x1 = EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV[i].x; + double y1 = EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV[i].y; + double dx = x1 - x0; + double dy = y1 - y0; + linear_distance += sqrt(dx * dx + dy * dy); + } + double linear_time = linear_distance / EnvNAVXYTHETALATCfg.nominalvel_mpersecs; + double angular_distance; + angular_distance = fabs(computeMinUnsignedAngleDiff( + DiscTheta2ContNew(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta), + DiscTheta2ContNew(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].starttheta))); + + double angular_time = angular_distance / ((PI_CONST / 4.0) / + EnvNAVXYTHETALATCfg.timetoturn45degsinplace_secs); + // make the cost the max of the two times + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost = + (int)(ceil(NAVXYTHETALAT_COSTMULT_MTOMM * std::max(linear_time, angular_time))); + // use any additional cost multiplier + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost *= motionprimitiveV->at(mind).additionalactioncostmult; + + // now compute the intersecting cells for this motion (including ignoring the source footprint) + get_2d_motion_cells( + EnvNAVXYTHETALATCfg.FootprintPolygon, + motionprimitiveV->at(mind).intermptV, + &EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV, + EnvNAVXYTHETALATCfg.cellsize_m); + +#if DEBUG + SBPL_FPRINTF(fDeb, + "action tind=%2d aind=%2d: dX=%3d dY=%3d endtheta=%3d (%6.2f degs -> %6.2f degs) " + "cost=%4d (mprimID %3d: %3d %3d %3d) numofintermcells = %d numofintercells=%d\n", + tind, + aind, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV[0].theta * 180 / PI_CONST, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV[EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.size() - 1].theta * 180 / PI_CONST, EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost, + motionprimitiveV->at(mind).motprimID, motionprimitiveV->at(mind).endcell.x, + motionprimitiveV->at(mind).endcell.y, motionprimitiveV->at(mind).endcell.theta, + (int)EnvNAVXYTHETALATCfg.ActionsV[tind][aind].interm3DcellsV.size(), + (int)EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV.size()); +#endif + + // add to the list of backward actions + int targettheta = EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta; + if (targettheta < 0) { + targettheta = targettheta + EnvNAVXYTHETALATCfg.NumThetaDirs; + } + EnvNAVXYTHETALATCfg.PredActionsV[targettheta].push_back(&(EnvNAVXYTHETALATCfg.ActionsV[tind][aind])); + } + + if (maxnumofactions < numofactions) { + maxnumofactions = numofactions; + } + } + + // at this point we don't allow nonuniform number of actions + if (motionprimitiveV->size() != (size_t)(EnvNAVXYTHETALATCfg.NumThetaDirs * maxnumofactions)) { + std::stringstream ss; + ss << "ERROR: nonuniform number of actions is not supported" << + " (maxnumofactions=" << maxnumofactions << " while motprims=" << + motionprimitiveV->size() << " thetas=" << + EnvNAVXYTHETALATCfg.NumThetaDirs; + throw SBPL_Exception(ss.str()); + } + + // now compute replanning data + ComputeReplanningData(); + + SBPL_PRINTF("done pre-computing action data based on motion primitives\n"); +} + +void EnvironmentNAVXYTHETALATTICE::DeprecatedPrecomputeActions() +{ + SBPL_PRINTF("Use of DeprecatedPrecomputeActions() is deprecated and probably doesn't work!\n"); + + // construct list of actions + SBPL_PRINTF("Pre-computing action data using the motion primitives for a 3D kinematic planning...\n"); + EnvNAVXYTHETALATCfg.ActionsV = new EnvNAVXYTHETALATAction_t*[EnvNAVXYTHETALATCfg.NumThetaDirs]; + EnvNAVXYTHETALATCfg.PredActionsV = new std::vector [EnvNAVXYTHETALATCfg.NumThetaDirs]; + std::vector footprint; + // iterate over source angles + for (int tind = 0; tind < EnvNAVXYTHETALATCfg.NumThetaDirs; tind++) { + SBPL_PRINTF("processing angle %d\n", tind); + EnvNAVXYTHETALATCfg.ActionsV[tind] = new EnvNAVXYTHETALATAction_t[EnvNAVXYTHETALATCfg.actionwidth]; + + // compute sourcepose + sbpl_xy_theta_pt_t sourcepose; + sourcepose.x = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.y = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.theta = DiscTheta2ContNew(tind); + + // the construction assumes that the robot first turns and then goes + // along this new theta + int aind = 0; + for (; aind < 3; aind++) { + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].aind = aind; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].starttheta = tind; + // -1,0,1 + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta = (tind + aind - 1) % EnvNAVXYTHETALATCfg.NumThetaDirs; + double angle = DiscTheta2ContNew(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX = (int)(cos(angle) + 0.5 * (cos(angle) > 0 ? 1 : -1)); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY = (int)(sin(angle) + 0.5 * (sin(angle) > 0 ? 1 : -1)); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost = (int)(ceil(NAVXYTHETALAT_COSTMULT_MTOMM * + EnvNAVXYTHETALATCfg.cellsize_m / EnvNAVXYTHETALATCfg.nominalvel_mpersecs * + sqrt((double)(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX * + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY * + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY)))); + + // compute intersecting cells + sbpl_xy_theta_pt_t pose; + pose.x = DISCXY2CONT(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX, EnvNAVXYTHETALATCfg.cellsize_m); + pose.y = DISCXY2CONT(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY, EnvNAVXYTHETALATCfg.cellsize_m); + pose.theta = angle; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.clear(); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV.clear(); + get_2d_footprint_cells( + EnvNAVXYTHETALATCfg.FootprintPolygon, + &EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV, + pose, + EnvNAVXYTHETALATCfg.cellsize_m); + RemoveSourceFootprint(sourcepose, &EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV); + +#if DEBUG + SBPL_PRINTF("action tind=%d aind=%d: endtheta=%d (%f) dX=%d dY=%d cost=%d\n", + tind, aind, EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta, angle, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX, EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost); +#endif + + // add to the list of backward actions + int targettheta = EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta; + if (targettheta < 0) { + targettheta = targettheta + EnvNAVXYTHETALATCfg.NumThetaDirs; + } + EnvNAVXYTHETALATCfg.PredActionsV[targettheta].push_back(&(EnvNAVXYTHETALATCfg.ActionsV[tind][aind])); + } + + // decrease and increase angle without movement + aind = 3; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].aind = aind; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].starttheta = tind; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta = tind - 1; + if (EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta < 0) { + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta += EnvNAVXYTHETALATCfg.NumThetaDirs; + } + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX = 0; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY = 0; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost = + (int)(NAVXYTHETALAT_COSTMULT_MTOMM * EnvNAVXYTHETALATCfg.timetoturn45degsinplace_secs); + + // compute intersecting cells + sbpl_xy_theta_pt_t pose; + pose.x = DISCXY2CONT(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX, EnvNAVXYTHETALATCfg.cellsize_m); + pose.y = DISCXY2CONT(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY, EnvNAVXYTHETALATCfg.cellsize_m); + pose.theta = DiscTheta2ContNew(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.clear(); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV.clear(); + get_2d_footprint_cells( + EnvNAVXYTHETALATCfg.FootprintPolygon, + &EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV, + pose, + EnvNAVXYTHETALATCfg.cellsize_m); + RemoveSourceFootprint(sourcepose, &EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV); + +#if DEBUG + SBPL_PRINTF("action tind=%d aind=%d: endtheta=%d (%f) dX=%d dY=%d cost=%d\n", + tind, aind, EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta, + DiscTheta2ContNew(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta), + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX, EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost); +#endif + + // add to the list of backward actions + int targettheta = EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta; + if (targettheta < 0) { + targettheta = targettheta + EnvNAVXYTHETALATCfg.NumThetaDirs; + } + EnvNAVXYTHETALATCfg.PredActionsV[targettheta].push_back(&(EnvNAVXYTHETALATCfg.ActionsV[tind][aind])); + + aind = 4; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].aind = aind; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].starttheta = tind; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta = (tind + 1) % EnvNAVXYTHETALATCfg.NumThetaDirs; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX = 0; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY = 0; + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost = + (int)(NAVXYTHETALAT_COSTMULT_MTOMM * EnvNAVXYTHETALATCfg.timetoturn45degsinplace_secs); + + // compute intersecting cells + pose.x = DISCXY2CONT(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX, EnvNAVXYTHETALATCfg.cellsize_m); + pose.y = DISCXY2CONT(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY, EnvNAVXYTHETALATCfg.cellsize_m); + pose.theta = DiscTheta2ContNew(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV.clear(); + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV.clear(); + get_2d_footprint_cells( + EnvNAVXYTHETALATCfg.FootprintPolygon, + &EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV, + pose, + EnvNAVXYTHETALATCfg.cellsize_m); + RemoveSourceFootprint(sourcepose, &EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intersectingcellsV); + +#if DEBUG + SBPL_PRINTF("action tind=%d aind=%d: endtheta=%d (%f) dX=%d dY=%d cost=%d\n", + tind, aind, EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta, DiscTheta2ContNew(EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta), + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dX, EnvNAVXYTHETALATCfg.ActionsV[tind][aind].dY, + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].cost); +#endif + + // add to the list of backward actions + targettheta = EnvNAVXYTHETALATCfg.ActionsV[tind][aind].endtheta; + if (targettheta < 0) targettheta = targettheta + EnvNAVXYTHETALATCfg.NumThetaDirs; + EnvNAVXYTHETALATCfg.PredActionsV[targettheta].push_back(&(EnvNAVXYTHETALATCfg.ActionsV[tind][aind])); + } + + // now compute replanning data + ComputeReplanningData(); + + SBPL_PRINTF("done pre-computing action data\n"); +} + +void EnvironmentNAVXYTHETALATTICE::InitializeEnvConfig(std::vector* motionprimitiveV) +{ + // additional to configuration file initialization of EnvNAVXYTHETALATCfg if + // necessary + + // dXY dirs + EnvNAVXYTHETALATCfg.dXY[0][0] = -1; + EnvNAVXYTHETALATCfg.dXY[0][1] = -1; + EnvNAVXYTHETALATCfg.dXY[1][0] = -1; + EnvNAVXYTHETALATCfg.dXY[1][1] = 0; + EnvNAVXYTHETALATCfg.dXY[2][0] = -1; + EnvNAVXYTHETALATCfg.dXY[2][1] = 1; + EnvNAVXYTHETALATCfg.dXY[3][0] = 0; + EnvNAVXYTHETALATCfg.dXY[3][1] = -1; + EnvNAVXYTHETALATCfg.dXY[4][0] = 0; + EnvNAVXYTHETALATCfg.dXY[4][1] = 1; + EnvNAVXYTHETALATCfg.dXY[5][0] = 1; + EnvNAVXYTHETALATCfg.dXY[5][1] = -1; + EnvNAVXYTHETALATCfg.dXY[6][0] = 1; + EnvNAVXYTHETALATCfg.dXY[6][1] = 0; + EnvNAVXYTHETALATCfg.dXY[7][0] = 1; + EnvNAVXYTHETALATCfg.dXY[7][1] = 1; + + sbpl_xy_theta_pt_t temppose; + temppose.x = 0.0; + temppose.y = 0.0; + temppose.theta = 0.0; + std::vector footprint; + get_2d_footprint_cells( + EnvNAVXYTHETALATCfg.FootprintPolygon, + &footprint, + temppose, + EnvNAVXYTHETALATCfg.cellsize_m); + SBPL_PRINTF("number of cells in footprint of the robot = %d\n", (unsigned int)footprint.size()); + + for (std::vector::iterator it = footprint.begin(); it != footprint.end(); ++it) { + SBPL_PRINTF("Footprint cell at (%d, %d)\n", it->x, it->y); + } + +#if DEBUG + SBPL_FPRINTF(fDeb, "footprint cells (size=%d):\n", (int)footprint.size()); + for(int i = 0; i < (int) footprint.size(); i++) + { + SBPL_FPRINTF(fDeb, "%d %d (cont: %.3f %.3f)\n", footprint.at(i).x, footprint.at(i).y, + DISCXY2CONT(footprint.at(i).x, EnvNAVXYTHETALATCfg.cellsize_m), + DISCXY2CONT(footprint.at(i).y, EnvNAVXYTHETALATCfg.cellsize_m)); + } +#endif + + if (motionprimitiveV == NULL) { + DeprecatedPrecomputeActions(); + } + else { + PrecomputeActionswithCompleteMotionPrimitive(motionprimitiveV); + } +} + +bool EnvironmentNAVXYTHETALATTICE::IsValidCell(int X, int Y) +{ + return (X >= 0 && X < EnvNAVXYTHETALATCfg.EnvWidth_c && + Y >= 0 && Y < EnvNAVXYTHETALATCfg.EnvHeight_c && + EnvNAVXYTHETALATCfg.Grid2D[X][Y] < EnvNAVXYTHETALATCfg.obsthresh); +} + +bool EnvironmentNAVXYTHETALATTICE::IsWithinMapCell(int X, int Y) +{ + return (X >= 0 && X < EnvNAVXYTHETALATCfg.EnvWidth_c && + Y >= 0 && Y < EnvNAVXYTHETALATCfg.EnvHeight_c); +} + +bool EnvironmentNAVXYTHETALATTICE::IsValidConfiguration(int X, int Y, int Theta) +{ + std::vector footprint; + sbpl_xy_theta_pt_t pose; + + // compute continuous pose + pose.x = DISCXY2CONT(X, EnvNAVXYTHETALATCfg.cellsize_m); + pose.y = DISCXY2CONT(Y, EnvNAVXYTHETALATCfg.cellsize_m); + pose.theta = DiscTheta2ContNew(Theta); + + // compute footprint cells + get_2d_footprint_cells( + EnvNAVXYTHETALATCfg.FootprintPolygon, + &footprint, + pose, + EnvNAVXYTHETALATCfg.cellsize_m); + + // iterate over all footprint cells + for (int find = 0; find < (int)footprint.size(); find++) { + int x = footprint.at(find).x; + int y = footprint.at(find).y; + + if (x < 0 || x >= EnvNAVXYTHETALATCfg.EnvWidth_c || + y < 0 || y >= EnvNAVXYTHETALATCfg.EnvHeight_c || + EnvNAVXYTHETALATCfg.Grid2D[x][y] >= EnvNAVXYTHETALATCfg.obsthresh) + { + return false; + } + } + + return true; +} + +int EnvironmentNAVXYTHETALATTICE::GetActionCost( + int SourceX, int SourceY, int SourceTheta, + EnvNAVXYTHETALATAction_t* action) +{ + sbpl_2Dcell_t cell; + sbpl_xy_theta_cell_t interm3Dcell; + int i; + + // TODO - go over bounding box (minpt and maxpt) to test validity and skip + // testing boundaries below, also order intersect cells so that the four + // farthest pts go first + + if (!IsValidCell(SourceX, SourceY)) { + return INFINITECOST; + } + if (!IsValidCell(SourceX + action->dX, SourceY + action->dY)) { + return INFINITECOST; + } + + if (EnvNAVXYTHETALATCfg.Grid2D[SourceX + action->dX][SourceY + action->dY] >= + EnvNAVXYTHETALATCfg.cost_inscribed_thresh) + { + return INFINITECOST; + } + + // need to iterate over discretized center cells and compute cost based on them + unsigned char maxcellcost = 0; + for (i = 0; i < (int)action->interm3DcellsV.size(); i++) { + interm3Dcell = action->interm3DcellsV.at(i); + interm3Dcell.x = interm3Dcell.x + SourceX; + interm3Dcell.y = interm3Dcell.y + SourceY; + + if (interm3Dcell.x < 0 || interm3Dcell.x >= EnvNAVXYTHETALATCfg.EnvWidth_c || + interm3Dcell.y < 0 || interm3Dcell.y >= EnvNAVXYTHETALATCfg.EnvHeight_c) + { + return INFINITECOST; + } + + maxcellcost = __max(maxcellcost, EnvNAVXYTHETALATCfg.Grid2D[interm3Dcell.x][interm3Dcell.y]); + + // check that the robot is NOT in the cell at which there is no valid orientation + if (maxcellcost >= EnvNAVXYTHETALATCfg.cost_inscribed_thresh) { + return INFINITECOST; + } + } + + // check collisions that for the particular footprint orientation along the action + if (EnvNAVXYTHETALATCfg.FootprintPolygon.size() > 1 && + (int)maxcellcost >= EnvNAVXYTHETALATCfg.cost_possibly_circumscribed_thresh) + { + checks++; + + for (i = 0; i < (int)action->intersectingcellsV.size(); i++) { + // get the cell in the map + cell = action->intersectingcellsV.at(i); + cell.x = cell.x + SourceX; + cell.y = cell.y + SourceY; + + // check validity + if (!IsValidCell(cell.x, cell.y)) { + return INFINITECOST; + } + +// cost computation changed: cost = max(cost of centers of the robot along +// action) intersecting cells are only used for collision checking +// if (EnvNAVXYTHETALATCfg.Grid2D[cell.x][cell.y] > currentmaxcost) { +// currentmaxcost = EnvNAVXYTHETALATCfg.Grid2D[cell.x][cell.y]; +// } + } + } + + // to ensure consistency of h2D: + maxcellcost = __max(maxcellcost, EnvNAVXYTHETALATCfg.Grid2D[SourceX][SourceY]); + int currentmaxcost = (int)__max( + maxcellcost, + EnvNAVXYTHETALATCfg.Grid2D[SourceX + action->dX][SourceY + action->dY]); + + // use cell cost as multiplicative factor + return action->cost * (currentmaxcost + 1); +} + +double EnvironmentNAVXYTHETALATTICE::EuclideanDistance_m(int X1, int Y1, int X2, int Y2) +{ + int sqdist = ((X1 - X2) * (X1 - X2) + (Y1 - Y2) * (Y1 - Y2)); + return EnvNAVXYTHETALATCfg.cellsize_m * sqrt((double)sqdist); +} + +// calculates a set of cells that correspond to the specified footprint adds +// points to it (does not clear it beforehand) +void EnvironmentNAVXYTHETALATTICE::CalculateFootprintForPose( + sbpl_xy_theta_pt_t pose, std::vector* footprint, + const std::vector& FootprintPolygon) +{ + int pind; + + // handle special case where footprint is just a point + if (FootprintPolygon.size() <= 1) { + sbpl_2Dcell_t cell; + cell.x = CONTXY2DISC(pose.x, EnvNAVXYTHETALATCfg.cellsize_m); + cell.y = CONTXY2DISC(pose.y, EnvNAVXYTHETALATCfg.cellsize_m); + + for (pind = 0; pind < (int)footprint->size(); pind++) { + if (cell.x == footprint->at(pind).x && cell.y == footprint->at(pind).y) break; + } + if (pind == (int)footprint->size()) { + footprint->push_back(cell); + } + return; + } + + std::vector bounding_polygon; + unsigned int find; + double max_x = -INFINITECOST, min_x = INFINITECOST, max_y = -INFINITECOST, min_y = INFINITECOST; + sbpl_2Dpt_t pt(0, 0); + for (find = 0; find < FootprintPolygon.size(); find++) { + // rotate and translate the corner of the robot + pt = FootprintPolygon[find]; + + // rotate and translate the point + sbpl_2Dpt_t corner; + corner.x = cos(pose.theta) * pt.x - sin(pose.theta) * pt.y + pose.x; + corner.y = sin(pose.theta) * pt.x + cos(pose.theta) * pt.y + pose.y; + bounding_polygon.push_back(corner); + if (corner.x < min_x || find == 0) { + min_x = corner.x; + } + if (corner.x > max_x || find == 0) { + max_x = corner.x; + } + if (corner.y < min_y || find == 0) { + min_y = corner.y; + } + if (corner.y > max_y || find == 0) { + max_y = corner.y; + } + } + + // initialize previous values to something that will fail the if condition + // during the first iteration in the for loop + int prev_discrete_x = CONTXY2DISC(pt.x, EnvNAVXYTHETALATCfg.cellsize_m) + 1; + int prev_discrete_y = CONTXY2DISC(pt.y, EnvNAVXYTHETALATCfg.cellsize_m) + 1; + int prev_inside = 0; + int discrete_x; + int discrete_y; + + for (double x = min_x; x <= max_x; x += EnvNAVXYTHETALATCfg.cellsize_m / 3) { + for (double y = min_y; y <= max_y; y += EnvNAVXYTHETALATCfg.cellsize_m / 3) { + pt.x = x; + pt.y = y; + discrete_x = CONTXY2DISC(pt.x, EnvNAVXYTHETALATCfg.cellsize_m); + discrete_y = CONTXY2DISC(pt.y, EnvNAVXYTHETALATCfg.cellsize_m); + + // see if we just tested this point + if (discrete_x != prev_discrete_x || discrete_y != prev_discrete_y || prev_inside == 0) { + + if (IsInsideFootprint(pt, &bounding_polygon)) { + // convert to a grid point + + sbpl_2Dcell_t cell; + cell.x = discrete_x; + cell.y = discrete_y; + + // insert point if not there already + for (pind = 0; pind < (int)footprint->size(); pind++) { + if (cell.x == footprint->at(pind).x && cell.y == footprint->at(pind).y) break; + } + if (pind == (int)footprint->size()) { + footprint->push_back(cell); + } + + prev_inside = 1; + + } + else { + prev_inside = 0; + } + + } + else { + + } + + prev_discrete_x = discrete_x; + prev_discrete_y = discrete_y; + } // over x_min...x_max + } +} + +// calculates a set of cells that correspond to the footprint of the base adds +// points to it (does not clear it beforehand) +void EnvironmentNAVXYTHETALATTICE::CalculateFootprintForPose( + sbpl_xy_theta_pt_t pose, + std::vector* footprint) +{ + CalculateFootprintForPose(pose, footprint, EnvNAVXYTHETALATCfg.FootprintPolygon); +} + +// removes a set of cells that correspond to the specified footprint at the +// sourcepose adds points to it (does not clear it beforehand) +void EnvironmentNAVXYTHETALATTICE::RemoveSourceFootprint( + sbpl_xy_theta_pt_t sourcepose, + std::vector* footprint, + const std::vector& FootprintPolygon) +{ + std::vector sourcefootprint; + + // compute source footprint + get_2d_footprint_cells(FootprintPolygon, &sourcefootprint, sourcepose, EnvNAVXYTHETALATCfg.cellsize_m); + + // now remove the source cells from the footprint + for (int sind = 0; sind < (int)sourcefootprint.size(); sind++) { + for (int find = 0; find < (int)footprint->size(); find++) { + if (sourcefootprint.at(sind).x == footprint->at(find).x && sourcefootprint.at(sind).y + == footprint->at(find).y) { + footprint->erase(footprint->begin() + find); + break; + } + } // over footprint + } // over source +} + +// removes a set of cells that correspond to the footprint of the base at the +// sourcepose adds points to it (does not clear it beforehand) +void EnvironmentNAVXYTHETALATTICE::RemoveSourceFootprint( + sbpl_xy_theta_pt_t sourcepose, + std::vector* footprint) +{ + RemoveSourceFootprint(sourcepose, footprint, EnvNAVXYTHETALATCfg.FootprintPolygon); +} + +void EnvironmentNAVXYTHETALATTICE::EnsureHeuristicsUpdated(bool bGoalHeuristics) +{ + if (bNeedtoRecomputeStartHeuristics && !bGoalHeuristics) { + grid2Dsearchfromstart->search( + EnvNAVXYTHETALATCfg.Grid2D, + EnvNAVXYTHETALATCfg.cost_inscribed_thresh, + EnvNAVXYTHETALATCfg.StartX_c, EnvNAVXYTHETALATCfg.StartY_c, + EnvNAVXYTHETALATCfg.EndX_c, EnvNAVXYTHETALATCfg.EndY_c, + SBPL_2DGRIDSEARCH_TERM_CONDITION_TWOTIMESOPTPATH); + bNeedtoRecomputeStartHeuristics = false; + SBPL_PRINTF("2dsolcost_infullunits=%d\n", (int)(grid2Dsearchfromstart->getlowerboundoncostfromstart_inmm(EnvNAVXYTHETALATCfg.EndX_c, EnvNAVXYTHETALATCfg.EndY_c) / EnvNAVXYTHETALATCfg.nominalvel_mpersecs)); + } + + if (bNeedtoRecomputeGoalHeuristics && bGoalHeuristics) { + grid2Dsearchfromgoal->search( + EnvNAVXYTHETALATCfg.Grid2D, + EnvNAVXYTHETALATCfg.cost_inscribed_thresh, + EnvNAVXYTHETALATCfg.EndX_c, EnvNAVXYTHETALATCfg.EndY_c, + EnvNAVXYTHETALATCfg.StartX_c, EnvNAVXYTHETALATCfg.StartY_c, + SBPL_2DGRIDSEARCH_TERM_CONDITION_TWOTIMESOPTPATH); + bNeedtoRecomputeGoalHeuristics = false; + SBPL_PRINTF("2dsolcost_infullunits=%d\n", (int)(grid2Dsearchfromgoal->getlowerboundoncostfromstart_inmm(EnvNAVXYTHETALATCfg.StartX_c, EnvNAVXYTHETALATCfg.StartY_c) / EnvNAVXYTHETALATCfg.nominalvel_mpersecs)); + } +} + +void EnvironmentNAVXYTHETALATTICE::ComputeHeuristicValues() +{ + // whatever necessary pre-computation of heuristic values is done here + SBPL_PRINTF("Precomputing heuristics...\n"); + + // allocated 2D grid searches + grid2Dsearchfromstart = new SBPL2DGridSearch( + EnvNAVXYTHETALATCfg.EnvWidth_c, EnvNAVXYTHETALATCfg.EnvHeight_c, + (float)EnvNAVXYTHETALATCfg.cellsize_m, blocksize, bucketsize); + grid2Dsearchfromgoal = new SBPL2DGridSearch( + EnvNAVXYTHETALATCfg.EnvWidth_c, EnvNAVXYTHETALATCfg.EnvHeight_c, + (float)EnvNAVXYTHETALATCfg.cellsize_m, blocksize, bucketsize); + + // set OPEN type to sliding buckets + grid2Dsearchfromstart->setOPENdatastructure(SBPL_2DGRIDSEARCH_OPENTYPE_SLIDINGBUCKETS); + grid2Dsearchfromgoal->setOPENdatastructure(SBPL_2DGRIDSEARCH_OPENTYPE_SLIDINGBUCKETS); + + SBPL_PRINTF("done\n"); +} + +bool EnvironmentNAVXYTHETALATTICE::CheckQuant(FILE* fOut) +{ + for (double theta = -10; theta < 10; + theta += 2.0 * PI_CONST / EnvNAVXYTHETALATCfg.NumThetaDirs * 0.01) + { + int nTheta, nnewTheta; + double newTheta; + nTheta = ContTheta2DiscNew(theta); + newTheta = DiscTheta2ContNew(nTheta); + nnewTheta = ContTheta2DiscNew(newTheta); + + SBPL_FPRINTF(fOut, "theta=%f(%f)->%d->%f->%d\n", theta, theta * 180 / PI_CONST, nTheta, newTheta, nnewTheta); + + if (nTheta != nnewTheta) { + SBPL_ERROR("ERROR: invalid quantization\n"); + return false; + } + } + + return true; +} + +bool EnvironmentNAVXYTHETALATTICE::InitializeEnv( + const char* sEnvFile, + const std::vector& perimeterptsV, + const char* sMotPrimFile) +{ + EnvNAVXYTHETALATCfg.FootprintPolygon = perimeterptsV; + + SBPL_INFO("InitializeEnv start: sEnvFile=%s sMotPrimFile=%s\n", sEnvFile, sMotPrimFile); + fflush(stdout); + + FILE* fCfg = fopen(sEnvFile, "r"); + if (fCfg == NULL) { + std::stringstream ss; + ss << "ERROR: unable to open " << sEnvFile; + throw SBPL_Exception(ss.str()); + } + + ReadConfiguration(fCfg); + fclose(fCfg); + + if (sMotPrimFile != NULL) { + FILE* fMotPrim = fopen(sMotPrimFile, "r"); + if (fMotPrim == NULL) { + std::stringstream ss; + ss << "ERROR: unable to open " << sMotPrimFile; + throw SBPL_Exception(ss.str()); + } + if (ReadMotionPrimitives(fMotPrim) == false) { + throw SBPL_Exception("ERROR: failed to read in motion primitive file"); + } + + EnvNAVXYTHETALATCfg.StartTheta = ContTheta2DiscNew(EnvNAVXYTHETALATCfg.StartTheta_rad); + if (EnvNAVXYTHETALATCfg.StartTheta < 0 || + EnvNAVXYTHETALATCfg.StartTheta >= EnvNAVXYTHETALATCfg.NumThetaDirs) + { + throw new SBPL_Exception("ERROR: illegal start coordinates for theta"); + } + EnvNAVXYTHETALATCfg.EndTheta = ContTheta2DiscNew(EnvNAVXYTHETALATCfg.EndTheta_rad); + if (EnvNAVXYTHETALATCfg.EndTheta < 0 || + EnvNAVXYTHETALATCfg.EndTheta >= EnvNAVXYTHETALATCfg.NumThetaDirs) + { + throw new SBPL_Exception("ERROR: illegal goal coordinates for theta"); + } + + InitGeneral(&EnvNAVXYTHETALATCfg.mprimV); + fclose(fMotPrim); + } + else { + InitGeneral( NULL); + } + + SBPL_PRINTF("size of env: %d by %d\n", EnvNAVXYTHETALATCfg.EnvWidth_c, EnvNAVXYTHETALATCfg.EnvHeight_c); + + return true; +} + +bool EnvironmentNAVXYTHETALATTICE::InitializeEnv(const char* sEnvFile) +{ + FILE* fCfg = fopen(sEnvFile, "r"); + if (fCfg == NULL) { + SBPL_ERROR("ERROR: unable to open %s\n", sEnvFile); + throw SBPL_Exception(); + } + ReadConfiguration(fCfg); + fclose(fCfg); + + InitGeneral( NULL); + + return true; +} + +bool EnvironmentNAVXYTHETALATTICE::InitializeEnv( + int width, + int height, + const std::vector& perimeterptsV, + double cellsize_m, + double nominalvel_mpersecs, + double timetoturn45degsinplace_secs, + unsigned char obsthresh, + const char* sMotPrimFile, + EnvNAVXYTHETALAT_InitParms params) +{ + EnvNAVXYTHETALATCfg.NumThetaDirs = params.numThetas; + + return InitializeEnv( + width, height, + params.mapdata, + params.startx, params.starty, params.starttheta, + params.goalx, params.goaly, params.goaltheta, + params.goaltol_x, params.goaltol_y, params.goaltol_theta, + perimeterptsV, + cellsize_m, + nominalvel_mpersecs, timetoturn45degsinplace_secs, + obsthresh, + sMotPrimFile); +} + +bool EnvironmentNAVXYTHETALATTICE::InitializeEnv( + int width, + int height, + const unsigned char* mapdata, + double startx, double starty, double starttheta, + double goalx, double goaly, double goaltheta, + double goaltol_x, double goaltol_y, double goaltol_theta, + const std::vector & perimeterptsV, + double cellsize_m, + double nominalvel_mpersecs, + double timetoturn45degsinplace_secs, + unsigned char obsthresh, + const char* sMotPrimFile) +{ + SBPL_PRINTF("env: initialize with width=%d height=%d start=%.3f %.3f %.3f " + "goalx=%.3f %.3f %.3f cellsize=%.3f nomvel=%.3f timetoturn=%.3f, obsthresh=%d\n", + width, height, startx, starty, starttheta, goalx, goaly, goaltheta, cellsize_m, nominalvel_mpersecs, + timetoturn45degsinplace_secs, obsthresh); + + SBPL_PRINTF("NOTE: goaltol parameters currently unused\n"); + + SBPL_PRINTF("perimeter has size=%d\n", (unsigned int)perimeterptsV.size()); + + for (int i = 0; i < (int)perimeterptsV.size(); i++) { + SBPL_PRINTF("perimeter(%d) = %.4f %.4f\n", i, perimeterptsV.at(i).x, perimeterptsV.at(i).y); + } + + EnvNAVXYTHETALATCfg.obsthresh = obsthresh; + EnvNAVXYTHETALATCfg.cellsize_m = cellsize_m; + EnvNAVXYTHETALATCfg.StartTheta_rad = starttheta; + EnvNAVXYTHETALATCfg.EndTheta_rad = goaltheta; + + // TODO - need to set the tolerance as well + + if (sMotPrimFile != NULL) { + FILE* fMotPrim = fopen(sMotPrimFile, "r"); + if (fMotPrim == NULL) { + std::stringstream ss; + ss << "ERROR: unable to open " << sMotPrimFile; + throw SBPL_Exception(ss.str()); + } + + if (ReadMotionPrimitives(fMotPrim) == false) { + throw SBPL_Exception("ERROR: failed to read in motion primitive file"); + } + fclose(fMotPrim); + } + + EnvNAVXYTHETALATCfg.StartTheta = ContTheta2DiscNew(EnvNAVXYTHETALATCfg.StartTheta_rad); + if (EnvNAVXYTHETALATCfg.StartTheta < 0 || + EnvNAVXYTHETALATCfg.StartTheta >= EnvNAVXYTHETALATCfg.NumThetaDirs) + { + throw new SBPL_Exception("ERROR: illegal start coordinates for theta"); + } + EnvNAVXYTHETALATCfg.EndTheta = ContTheta2DiscNew(EnvNAVXYTHETALATCfg.EndTheta_rad); + if (EnvNAVXYTHETALATCfg.EndTheta < 0 || + EnvNAVXYTHETALATCfg.EndTheta >= EnvNAVXYTHETALATCfg.NumThetaDirs) + { + throw new SBPL_Exception("ERROR: illegal goal coordiantes for theta"); + } + + SetConfiguration( + width, height, mapdata, + CONTXY2DISC(startx, cellsize_m), CONTXY2DISC(starty, cellsize_m), EnvNAVXYTHETALATCfg.StartTheta, + CONTXY2DISC(goalx, cellsize_m), CONTXY2DISC(goaly, cellsize_m), EnvNAVXYTHETALATCfg.EndTheta, + cellsize_m, + nominalvel_mpersecs, timetoturn45degsinplace_secs, + perimeterptsV); + + if (EnvNAVXYTHETALATCfg.mprimV.size() != 0) { + InitGeneral(&EnvNAVXYTHETALATCfg.mprimV); + } + else { + InitGeneral( NULL); + } + + return true; +} + +bool EnvironmentNAVXYTHETALATTICE::InitGeneral( + std::vector* motionprimitiveV) +{ + // Initialize other parameters of the environment + InitializeEnvConfig(motionprimitiveV); + + // initialize Environment + InitializeEnvironment(); + + // pre-compute heuristics + ComputeHeuristicValues(); + + return true; +} + +bool EnvironmentNAVXYTHETALATTICE::InitializeMDPCfg(MDPConfig* MDPCfg) +{ + // initialize MDPCfg with the start and goal ids + MDPCfg->goalstateid = EnvNAVXYTHETALAT.goalstateid; + MDPCfg->startstateid = EnvNAVXYTHETALAT.startstateid; + + return true; +} + +void EnvironmentNAVXYTHETALATTICE::PrintHeuristicValues() +{ + const char* heur = "heur.txt"; + FILE* fHeur = SBPL_FOPEN(heur, "w"); + if (fHeur == NULL) { + throw SBPL_Exception("ERROR: could not open debug file to write heuristic"); + } + SBPL2DGridSearch* grid2Dsearch = NULL; + + for (int i = 0; i < 2; i++) { + if (i == 0 && grid2Dsearchfromstart != NULL) { + grid2Dsearch = grid2Dsearchfromstart; + SBPL_FPRINTF(fHeur, "start heuristics:\n"); + } + else if (i == 1 && grid2Dsearchfromgoal != NULL) { + grid2Dsearch = grid2Dsearchfromgoal; + SBPL_FPRINTF(fHeur, "goal heuristics:\n"); + } + else { + continue; + } + + for (int y = 0; y < EnvNAVXYTHETALATCfg.EnvHeight_c; y++) { + for (int x = 0; x < EnvNAVXYTHETALATCfg.EnvWidth_c; x++) { + if (grid2Dsearch->getlowerboundoncostfromstart_inmm(x, y) < INFINITECOST) { + SBPL_FPRINTF(fHeur, "%5d ", grid2Dsearch->getlowerboundoncostfromstart_inmm(x, y)); + } + else { + SBPL_FPRINTF(fHeur, "XXXXX "); + } + } + SBPL_FPRINTF(fHeur, "\n"); + } + } + SBPL_FCLOSE(fHeur); +} + +void EnvironmentNAVXYTHETALATTICE::SetAllPreds(CMDPSTATE* state) +{ + // implement this if the planner needs access to predecessors + throw SBPL_Exception("ERROR in EnvNAVXYTHETALAT... function: SetAllPreds is undefined"); +} + +void EnvironmentNAVXYTHETALATTICE::GetSuccs( + int SourceStateID, + std::vector* SuccIDV, + std::vector* CostV) +{ + GetSuccs(SourceStateID, SuccIDV, CostV, NULL); +} +void EnvironmentNAVXYTHETALATTICE::GetLazySuccs( + int SourceStateID, + std::vector* SuccIDV, + std::vector* CostV, + std::vector* isTrueCost) +{ + GetLazySuccs(SourceStateID, SuccIDV, CostV, isTrueCost, NULL); +} + +void EnvironmentNAVXYTHETALATTICE::GetSuccsWithUniqueIds( + int SourceStateID, + std::vector* SuccIDV, + std::vector* CostV) +{ + GetSuccsWithUniqueIds(SourceStateID, SuccIDV, CostV, NULL); +} + +void EnvironmentNAVXYTHETALATTICE::GetLazySuccsWithUniqueIds( + int SourceStateID, + std::vector* SuccIDV, + std::vector* CostV, + std::vector* isTrueCost) +{ + GetLazySuccsWithUniqueIds(SourceStateID, SuccIDV, CostV, isTrueCost, NULL); +} + +const EnvNAVXYTHETALATConfig_t* EnvironmentNAVXYTHETALATTICE::GetEnvNavConfig() +{ + return &EnvNAVXYTHETALATCfg; +} + +bool EnvironmentNAVXYTHETALATTICE::UpdateCost( + int x, + int y, + unsigned char newcost) +{ + EnvNAVXYTHETALATCfg.Grid2D[x][y] = newcost; + + bNeedtoRecomputeStartHeuristics = true; + bNeedtoRecomputeGoalHeuristics = true; + + return true; +} + +bool EnvironmentNAVXYTHETALATTICE::SetMap(const unsigned char* mapdata) +{ + int xind = -1, yind = -1; + + for (xind = 0; xind < EnvNAVXYTHETALATCfg.EnvWidth_c; xind++) { + for (yind = 0; yind < EnvNAVXYTHETALATCfg.EnvHeight_c; yind++) { + EnvNAVXYTHETALATCfg.Grid2D[xind][yind] = mapdata[xind + yind * EnvNAVXYTHETALATCfg.EnvWidth_c]; + } + } + + bNeedtoRecomputeStartHeuristics = true; + bNeedtoRecomputeGoalHeuristics = true; + + return true; +} + +void EnvironmentNAVXYTHETALATTICE::PrintEnv_Config(FILE* fOut) +{ + // implement this if the planner needs to print out EnvNAVXYTHETALAT. configuration + throw SBPL_Exception("ERROR in EnvNAVXYTHETALAT... function: PrintEnv_Config is undefined"); +} + +void EnvironmentNAVXYTHETALATTICE::Set2DBlockSize(int BlockSize) +{ + blocksize = BlockSize; +} + +void EnvironmentNAVXYTHETALATTICE::Set2DBucketSize(int BucketSize) +{ + bucketsize = BucketSize; +} + +void EnvironmentNAVXYTHETALATTICE::PrintTimeStat(FILE* fOut) +{ +#if TIME_DEBUG + SBPL_FPRINTF(fOut, "time3_addallout = %f secs, time_gethash = %f secs, time_createhash = %f secs, " + "time_getsuccs = %f\n", + time3_addallout/(double)CLOCKS_PER_SEC, time_gethash/(double)CLOCKS_PER_SEC, + time_createhash/(double)CLOCKS_PER_SEC, time_getsuccs/(double)CLOCKS_PER_SEC); +#endif +} + +bool EnvironmentNAVXYTHETALATTICE::IsObstacle(int x, int y) +{ +#if DEBUG + SBPL_FPRINTF(fDeb, "Status of cell %d %d is queried. Its cost=%d\n", x,y,EnvNAVXYTHETALATCfg.Grid2D[x][y]); +#endif + + return EnvNAVXYTHETALATCfg.Grid2D[x][y] >= EnvNAVXYTHETALATCfg.obsthresh; +} + +void EnvironmentNAVXYTHETALATTICE::GetEnvParms( + int *size_x, int *size_y, int* num_thetas, + double* startx, double* starty, double* starttheta, + double* goalx, double* goaly, double* goaltheta, + double* cellsize_m, + double* nominalvel_mpersecs, + double* timetoturn45degsinplace_secs, + unsigned char* obsthresh, + std::vector* mprimitiveV) +{ + *num_thetas = EnvNAVXYTHETALATCfg.NumThetaDirs; + GetEnvParms( + size_x, size_y, + startx, starty, starttheta, + goalx, goaly, goaltheta, + cellsize_m, + nominalvel_mpersecs, timetoturn45degsinplace_secs, + obsthresh, + mprimitiveV); +} + +void EnvironmentNAVXYTHETALATTICE::GetEnvParms( + int* size_x, int* size_y, + double* startx, double* starty, double* starttheta, + double* goalx, double* goaly, double* goaltheta, + double* cellsize_m, + double* nominalvel_mpersecs, double* timetoturn45degsinplace_secs, + unsigned char* obsthresh, + std::vector* mprimitiveV) +{ + *size_x = EnvNAVXYTHETALATCfg.EnvWidth_c; + *size_y = EnvNAVXYTHETALATCfg.EnvHeight_c; + + *startx = DISCXY2CONT(EnvNAVXYTHETALATCfg.StartX_c, EnvNAVXYTHETALATCfg.cellsize_m); + *starty = DISCXY2CONT(EnvNAVXYTHETALATCfg.StartY_c, EnvNAVXYTHETALATCfg.cellsize_m); + *starttheta = DiscTheta2ContNew(EnvNAVXYTHETALATCfg.StartTheta); + *goalx = DISCXY2CONT(EnvNAVXYTHETALATCfg.EndX_c, EnvNAVXYTHETALATCfg.cellsize_m); + *goaly = DISCXY2CONT(EnvNAVXYTHETALATCfg.EndY_c, EnvNAVXYTHETALATCfg.cellsize_m); + *goaltheta = DiscTheta2ContNew(EnvNAVXYTHETALATCfg.EndTheta); + + *cellsize_m = EnvNAVXYTHETALATCfg.cellsize_m; + *nominalvel_mpersecs = EnvNAVXYTHETALATCfg.nominalvel_mpersecs; + *timetoturn45degsinplace_secs = EnvNAVXYTHETALATCfg.timetoturn45degsinplace_secs; + + *obsthresh = EnvNAVXYTHETALATCfg.obsthresh; + + *mprimitiveV = EnvNAVXYTHETALATCfg.mprimV; +} + +bool EnvironmentNAVXYTHETALATTICE::PoseContToDisc( + double px, double py, double pth, int &ix, int &iy, int &ith) const +{ + ix = CONTXY2DISC(px, EnvNAVXYTHETALATCfg.cellsize_m); + iy = CONTXY2DISC(py, EnvNAVXYTHETALATCfg.cellsize_m); + ith = ContTheta2DiscNew(pth); + return (pth >= -2 * PI_CONST) && (pth <= 2 * PI_CONST) && + (ix >= 0) && (ix < EnvNAVXYTHETALATCfg.EnvWidth_c) && + (iy >= 0) && (iy < EnvNAVXYTHETALATCfg.EnvHeight_c); +} + +bool EnvironmentNAVXYTHETALATTICE::PoseDiscToCont( + int ix, int iy, int ith, double &px, double &py, double &pth) const +{ + px = DISCXY2CONT(ix, EnvNAVXYTHETALATCfg.cellsize_m); + py = DISCXY2CONT(iy, EnvNAVXYTHETALATCfg.cellsize_m); + pth = normalizeAngle(DiscTheta2ContNew(ith)); + return (ith >= 0) && (ith < EnvNAVXYTHETALATCfg.NumThetaDirs) && + (ix >= 0) && (ix < EnvNAVXYTHETALATCfg.EnvWidth_c) && + (iy >= 0) && (iy < EnvNAVXYTHETALATCfg.EnvHeight_c); +} + +unsigned char EnvironmentNAVXYTHETALATTICE::GetMapCost(int x, int y) +{ + return EnvNAVXYTHETALATCfg.Grid2D[x][y]; +} + +bool EnvironmentNAVXYTHETALATTICE::SetEnvParameter( + const char* parameter, + int value) +{ + if (EnvNAVXYTHETALAT.bInitialized) { + SBPL_ERROR("ERROR: all parameters must be set before initialization of the environment\n"); + return false; + } + + SBPL_PRINTF("setting parameter %s to %d\n", parameter, value); + + if (strcmp(parameter, "cost_inscribed_thresh") == 0) { + if (value < 0 || value > 255) { + SBPL_ERROR("ERROR: invalid value %d for parameter %s\n", value, parameter); + return false; + } + EnvNAVXYTHETALATCfg.cost_inscribed_thresh = (unsigned char)value; + } + else if (strcmp(parameter, "cost_possibly_circumscribed_thresh") == 0) { + if (value < 0 || value > 255) { + SBPL_ERROR("ERROR: invalid value %d for parameter %s\n", value, parameter); + return false; + } + EnvNAVXYTHETALATCfg.cost_possibly_circumscribed_thresh = value; + } + else if (strcmp(parameter, "cost_obsthresh") == 0) { + if (value < 0 || value > 255) { + SBPL_ERROR("ERROR: invalid value %d for parameter %s\n", value, parameter); + return false; + } + EnvNAVXYTHETALATCfg.obsthresh = (unsigned char)value; + } + else { + SBPL_ERROR("ERROR: invalid parameter %s\n", parameter); + return false; + } + + return true; +} + +int EnvironmentNAVXYTHETALATTICE::GetEnvParameter(const char* parameter) +{ + if (strcmp(parameter, "cost_inscribed_thresh") == 0) { + return (int)EnvNAVXYTHETALATCfg.cost_inscribed_thresh; + } + else if (strcmp(parameter, "cost_possibly_circumscribed_thresh") == 0) { + return (int)EnvNAVXYTHETALATCfg.cost_possibly_circumscribed_thresh; + } + else if (strcmp(parameter, "cost_obsthresh") == 0) { + return (int)EnvNAVXYTHETALATCfg.obsthresh; + } + else { + std::stringstream ss; + ss << "ERROR: invalid parameter " << parameter; + throw SBPL_Exception(ss.str()); + } +} + +EnvironmentNAVXYTHETALAT::~EnvironmentNAVXYTHETALAT() +{ + SBPL_PRINTF("destroying XYTHETALAT\n"); + + // delete the states themselves first + for (int i = 0; i < (int)StateID2CoordTable.size(); i++) { + delete StateID2CoordTable.at(i); + StateID2CoordTable.at(i) = NULL; + } + StateID2CoordTable.clear(); + + // delete hashtable + if (Coord2StateIDHashTable != NULL) { + delete[] Coord2StateIDHashTable; + Coord2StateIDHashTable = NULL; + } + if (Coord2StateIDHashTable_lookup != NULL) { + delete[] Coord2StateIDHashTable_lookup; + Coord2StateIDHashTable_lookup = NULL; + } +} + +void EnvironmentNAVXYTHETALAT::GetCoordFromState( + int stateID, int& x, int& y, int& theta) const +{ + EnvNAVXYTHETALATHashEntry_t* HashEntry = StateID2CoordTable[stateID]; + x = HashEntry->X; + y = HashEntry->Y; + theta = HashEntry->Theta; +} + +int EnvironmentNAVXYTHETALAT::GetStateFromCoord(int x, int y, int theta) +{ + EnvNAVXYTHETALATHashEntry_t* OutHashEntry; + if ((OutHashEntry = (this->*GetHashEntry)(x, y, theta)) == NULL) { + // have to create a new entry + OutHashEntry = (this->*CreateNewHashEntry)(x, y, theta); + } + return OutHashEntry->stateID; +} + +void EnvironmentNAVXYTHETALAT::GetActionsFromStateIDPath( + std::vector* stateIDPath, + std::vector* action_list) +{ + std::vector actionV; + std::vector CostV; + std::vector SuccIDV; + int targetx_c, targety_c, targettheta_c; + int sourcex_c, sourcey_c, sourcetheta_c; + + SBPL_PRINTF("checks=%ld\n", checks); + + action_list->clear(); + + for (int pind = 0; pind < (int)(stateIDPath->size()) - 1; pind++) { + int sourceID = stateIDPath->at(pind); + int targetID = stateIDPath->at(pind + 1); + + // get successors and pick the target via the cheapest action + SuccIDV.clear(); + CostV.clear(); + actionV.clear(); + GetSuccs(sourceID, &SuccIDV, &CostV, &actionV); + + int bestcost = INFINITECOST; + int bestsind = -1; + + for (int sind = 0; sind < (int)SuccIDV.size(); sind++) { + if (SuccIDV[sind] == targetID && CostV[sind] <= bestcost) { + bestcost = CostV[sind]; + bestsind = sind; + } + } + if (bestsind == -1) { + SBPL_ERROR("ERROR: successor not found for transition"); + GetCoordFromState(sourceID, sourcex_c, sourcey_c, sourcetheta_c); + GetCoordFromState(targetID, targetx_c, targety_c, targettheta_c); + SBPL_PRINTF("%d %d %d -> %d %d %d\n", sourcex_c, sourcey_c, sourcetheta_c, targetx_c, targety_c, targettheta_c); + throw SBPL_Exception("ERROR: successor not found for transition"); + } + +#if DEBUG + SBPL_FPRINTF(fDeb, "Start: %.3f %.3f %.3f Target: %.3f %.3f %.3f Prim ID, Start Theta: %d %d\n", + sourcex_c, sourcey_c, sourcetheta_c, + targetx_c, targety_c, targettheta_c, + actionV[bestsind]->aind, actionV[bestsind]->starttheta); +#endif + + action_list->push_back(*(actionV[bestsind])); + } +} + +void EnvironmentNAVXYTHETALAT::ConvertStateIDPathintoXYThetaPath( + std::vector* stateIDPath, + std::vector* xythetaPath) +{ + std::vector actionV; + std::vector CostV; + std::vector SuccIDV; + int targetx_c, targety_c, targettheta_c; + int sourcex_c, sourcey_c, sourcetheta_c; + + SBPL_PRINTF("checks=%ld\n", checks); + + xythetaPath->clear(); + +#if DEBUG + SBPL_FPRINTF(fDeb, "converting stateid path into coordinates:\n"); +#endif + + for (int pind = 0; pind < (int)(stateIDPath->size()) - 1; pind++) { + int sourceID = stateIDPath->at(pind); + int targetID = stateIDPath->at(pind + 1); + +#if DEBUG + GetCoordFromState(sourceID, sourcex_c, sourcey_c, sourcetheta_c); +#endif + + // get successors and pick the target via the cheapest action + SuccIDV.clear(); + CostV.clear(); + actionV.clear(); + GetSuccs(sourceID, &SuccIDV, &CostV, &actionV); + + int bestcost = INFINITECOST; + int bestsind = -1; + +#if DEBUG + GetCoordFromState(sourceID, sourcex_c, sourcey_c, sourcetheta_c); + GetCoordFromState(targetID, targetx_c, targety_c, targettheta_c); + SBPL_FPRINTF(fDeb, "looking for %d %d %d -> %d %d %d (numofsuccs=%d)\n", sourcex_c, sourcey_c, sourcetheta_c, targetx_c, targety_c, targettheta_c, (int)SuccIDV.size()); +#endif + + for (int sind = 0; sind < (int)SuccIDV.size(); sind++) { +#if DEBUG + int x_c, y_c, theta_c; + GetCoordFromState(SuccIDV[sind], x_c, y_c, theta_c); + SBPL_FPRINTF(fDeb, "succ: %d %d %d\n", x_c, y_c, theta_c); +#endif + if (SuccIDV[sind] == targetID && CostV[sind] <= bestcost) { + bestcost = CostV[sind]; + bestsind = sind; + } + } + if (bestsind == -1) { + SBPL_ERROR("ERROR: successor not found for transition"); + GetCoordFromState(sourceID, sourcex_c, sourcey_c, sourcetheta_c); + GetCoordFromState(targetID, targetx_c, targety_c, targettheta_c); + SBPL_PRINTF("%d %d %d -> %d %d %d\n", sourcex_c, sourcey_c, sourcetheta_c, targetx_c, targety_c, targettheta_c); + throw SBPL_Exception("ERROR: successor not found for transition"); + } + + // now push in the actual path + GetCoordFromState(sourceID, sourcex_c, sourcey_c, sourcetheta_c); + double sourcex, sourcey; + sourcex = DISCXY2CONT(sourcex_c, EnvNAVXYTHETALATCfg.cellsize_m); + sourcey = DISCXY2CONT(sourcey_c, EnvNAVXYTHETALATCfg.cellsize_m); + // TODO - when there are no motion primitives we should still print source state + for (int ipind = 0; ipind < ((int)actionV[bestsind]->intermptV.size()) - 1; ipind++) { + // translate appropriately + sbpl_xy_theta_pt_t intermpt = actionV[bestsind]->intermptV[ipind]; + intermpt.x += sourcex; + intermpt.y += sourcey; + +#if DEBUG + int nx = CONTXY2DISC(intermpt.x, EnvNAVXYTHETALATCfg.cellsize_m); + int ny = CONTXY2DISC(intermpt.y, EnvNAVXYTHETALATCfg.cellsize_m); + int ntheta; + ntheta = ContTheta2DiscNew(intermpt.theta); + + SBPL_FPRINTF(fDeb, "%.3f %.3f %.3f (%d %d %d cost=%d) ", intermpt.x, intermpt.y, intermpt.theta, nx, ny, ntheta, EnvNAVXYTHETALATCfg.Grid2D[nx][ny]); + + if (ipind == 0) { + SBPL_FPRINTF(fDeb, "first (heur=%d)\n", GetStartHeuristic(sourceID)); + } + else { + SBPL_FPRINTF(fDeb, "\n"); + } +#endif + // store + xythetaPath->push_back(intermpt); + } + } +} + +// returns the stateid if success, and -1 otherwise +int EnvironmentNAVXYTHETALAT::SetGoal(double x_m, double y_m, double theta_rad) +{ + int x = CONTXY2DISC(x_m, EnvNAVXYTHETALATCfg.cellsize_m); + int y = CONTXY2DISC(y_m, EnvNAVXYTHETALATCfg.cellsize_m); + int theta = ContTheta2DiscNew(theta_rad); + + SBPL_PRINTF("env: setting goal to %.3f %.3f %.3f (%d %d %d)\n", x_m, y_m, theta_rad, x, y, theta); + + if (!IsWithinMapCell(x, y)) { + SBPL_ERROR("ERROR: trying to set a goal cell %d %d that is outside of map\n", x, y); + return -1; + } + + if (!IsValidConfiguration(x, y, theta)) { + SBPL_PRINTF("WARNING: goal configuration is invalid\n"); + } + + EnvNAVXYTHETALATHashEntry_t* OutHashEntry; + if ((OutHashEntry = (this->*GetHashEntry)(x, y, theta)) == NULL) { + // have to create a new entry + OutHashEntry = (this->*CreateNewHashEntry)(x, y, theta); + } + + // need to recompute start heuristics? + if (EnvNAVXYTHETALAT.goalstateid != OutHashEntry->stateID) { + // because termination condition may not plan all the way to the new goal + bNeedtoRecomputeStartHeuristics = true; + + // because goal heuristics change + bNeedtoRecomputeGoalHeuristics = true; + } + + EnvNAVXYTHETALAT.goalstateid = OutHashEntry->stateID; + + EnvNAVXYTHETALATCfg.EndX_c = x; + EnvNAVXYTHETALATCfg.EndY_c = y; + EnvNAVXYTHETALATCfg.EndTheta = theta; + + return EnvNAVXYTHETALAT.goalstateid; +} + +// returns the stateid if success, and -1 otherwise +int EnvironmentNAVXYTHETALAT::SetStart(double x_m, double y_m, double theta_rad) +{ + int x = CONTXY2DISC(x_m, EnvNAVXYTHETALATCfg.cellsize_m); + int y = CONTXY2DISC(y_m, EnvNAVXYTHETALATCfg.cellsize_m); + int theta = ContTheta2DiscNew(theta_rad); + + if (!IsWithinMapCell(x, y)) { + SBPL_ERROR("ERROR: trying to set a start cell %d %d that is outside of map\n", x, y); + return -1; + } + + SBPL_PRINTF("env: setting start to %.3f %.3f %.3f (%d %d %d)\n", x_m, y_m, theta_rad, x, y, theta); + + if (!IsValidConfiguration(x, y, theta)) { + SBPL_PRINTF("WARNING: start configuration %d %d %d is invalid\n", x, y, theta); + } + + EnvNAVXYTHETALATHashEntry_t* OutHashEntry; + if ((OutHashEntry = (this->*GetHashEntry)(x, y, theta)) == NULL) { + // have to create a new entry + OutHashEntry = (this->*CreateNewHashEntry)(x, y, theta); + } + + // need to recompute start heuristics? + if (EnvNAVXYTHETALAT.startstateid != OutHashEntry->stateID) { + bNeedtoRecomputeStartHeuristics = true; + // because termination condition can be not all states TODO - make it dependent on term. condition + bNeedtoRecomputeGoalHeuristics = true; + } + + // set start + EnvNAVXYTHETALAT.startstateid = OutHashEntry->stateID; + EnvNAVXYTHETALATCfg.StartX_c = x; + EnvNAVXYTHETALATCfg.StartY_c = y; + EnvNAVXYTHETALATCfg.StartTheta = theta; + + return EnvNAVXYTHETALAT.startstateid; +} + +void EnvironmentNAVXYTHETALAT::PrintState( + int stateID, + bool bVerbose, + FILE* fOut) +{ +#if DEBUG + if (stateID >= (int)StateID2CoordTable.size()) { + SBPL_ERROR("ERROR in EnvNAVXYTHETALAT... function: stateID illegal (2)\n"); + throw SBPL_Exception(); + } +#endif + + if (fOut == NULL) { + fOut = stdout; + } + + EnvNAVXYTHETALATHashEntry_t* HashEntry = StateID2CoordTable[stateID]; + + if (stateID == EnvNAVXYTHETALAT.goalstateid && bVerbose) { + SBPL_FPRINTF(fOut, "the state is a goal state\n"); + } + + if (bVerbose) { + SBPL_FPRINTF(fOut, "X=%d Y=%d Theta=%d\n", HashEntry->X, HashEntry->Y, HashEntry->Theta); + } + else + { + SBPL_FPRINTF(fOut, "%.3f %.3f %.3f\n", DISCXY2CONT(HashEntry->X, EnvNAVXYTHETALATCfg.cellsize_m), DISCXY2CONT(HashEntry->Y, EnvNAVXYTHETALATCfg.cellsize_m), DiscTheta2ContNew(HashEntry->Theta)); + } +} + +EnvNAVXYTHETALATHashEntry_t* EnvironmentNAVXYTHETALAT::GetHashEntry_lookup( + int X, int Y, int Theta) +{ + if (X < 0 || X >= EnvNAVXYTHETALATCfg.EnvWidth_c || + Y < 0 || Y >= EnvNAVXYTHETALATCfg.EnvHeight_c || + Theta < 0 || Theta >= EnvNAVXYTHETALATCfg.NumThetaDirs) + { + return NULL; + } + int index = XYTHETA2INDEX(X,Y,Theta); + return Coord2StateIDHashTable_lookup[index]; +} + +EnvNAVXYTHETALATHashEntry_t* +EnvironmentNAVXYTHETALAT::GetHashEntry_hash(int X, int Y, int Theta) +{ +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + int binid = GETHASHBIN(X, Y, Theta); + +#if DEBUG + if ((int)Coord2StateIDHashTable[binid].size() > 5) { + SBPL_FPRINTF(fDeb, "WARNING: Hash table has a bin %d (X=%d Y=%d) of size %d\n", binid, X, Y, (int)Coord2StateIDHashTable[binid].size()); + + PrintHashTableHist(fDeb); + } +#endif + + // iterate over the states in the bin and select the perfect match + std::vector* binV = &Coord2StateIDHashTable[binid]; + for (int ind = 0; ind < (int)binV->size(); ind++) { + EnvNAVXYTHETALATHashEntry_t* hashentry = binV->at(ind); + if (hashentry->X == X && hashentry->Y == Y && hashentry->Theta == Theta) { +#if TIME_DEBUG + time_gethash += clock()-currenttime; +#endif + return hashentry; + } + } + +#if TIME_DEBUG + time_gethash += clock()-currenttime; +#endif + + return NULL; +} + +EnvNAVXYTHETALATHashEntry_t* +EnvironmentNAVXYTHETALAT::CreateNewHashEntry_lookup(int X, int Y, int Theta) +{ + int i; + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + EnvNAVXYTHETALATHashEntry_t* HashEntry = new EnvNAVXYTHETALATHashEntry_t; + + HashEntry->X = X; + HashEntry->Y = Y; + HashEntry->Theta = Theta; + HashEntry->iteration = 0; + + HashEntry->stateID = StateID2CoordTable.size(); + + // insert into the tables + StateID2CoordTable.push_back(HashEntry); + + int index = XYTHETA2INDEX(X,Y,Theta); + +#if DEBUG + if (Coord2StateIDHashTable_lookup[index] != NULL) { + throw SBPL_Exception("ERROR: creating hash entry for non-NULL hashentry"); + } +#endif + + Coord2StateIDHashTable_lookup[index] = HashEntry; + + // insert into and initialize the mappings + int* entry = new int[NUMOFINDICES_STATEID2IND]; + StateID2IndexMapping.push_back(entry); + for (i = 0; i < NUMOFINDICES_STATEID2IND; i++) { + StateID2IndexMapping[HashEntry->stateID][i] = -1; + } + + if (HashEntry->stateID != (int)StateID2IndexMapping.size() - 1) { + throw SBPL_Exception("ERROR in Env... function: last state has incorrect stateID"); + } + +#if TIME_DEBUG + time_createhash += clock()-currenttime; +#endif + + return HashEntry; +} + +EnvNAVXYTHETALATHashEntry_t* +EnvironmentNAVXYTHETALAT::CreateNewHashEntry_hash(int X, int Y, int Theta) +{ + int i; + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + EnvNAVXYTHETALATHashEntry_t* HashEntry = new EnvNAVXYTHETALATHashEntry_t; + + HashEntry->X = X; + HashEntry->Y = Y; + HashEntry->Theta = Theta; + HashEntry->iteration = 0; + + HashEntry->stateID = StateID2CoordTable.size(); + + // insert into the tables + StateID2CoordTable.push_back(HashEntry); + + // get the hash table bin + i = GETHASHBIN(HashEntry->X, HashEntry->Y, HashEntry->Theta); + + // insert the entry into the bin + Coord2StateIDHashTable[i].push_back(HashEntry); + + // insert into and initialize the mappings + int* entry = new int[NUMOFINDICES_STATEID2IND]; + StateID2IndexMapping.push_back(entry); + for (i = 0; i < NUMOFINDICES_STATEID2IND; i++) { + StateID2IndexMapping[HashEntry->stateID][i] = -1; + } + + if (HashEntry->stateID != (int)StateID2IndexMapping.size() - 1) { + throw SBPL_Exception("ERROR in Env... function: last state has incorrect stateID"); + } + +#if TIME_DEBUG + time_createhash += clock() - currenttime; +#endif + + return HashEntry; +} + +void EnvironmentNAVXYTHETALAT::GetSuccs( + int SourceStateID, + std::vector* SuccIDV, + std::vector* CostV, + std::vector* actionV) +{ + int aind; + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + // clear the successor array + SuccIDV->clear(); + CostV->clear(); + SuccIDV->reserve(EnvNAVXYTHETALATCfg.actionwidth); + CostV->reserve(EnvNAVXYTHETALATCfg.actionwidth); + if (actionV != NULL) { + actionV->clear(); + actionV->reserve(EnvNAVXYTHETALATCfg.actionwidth); + } + + // goal state should be absorbing + if (SourceStateID == EnvNAVXYTHETALAT.goalstateid) return; + + // get X, Y for the state + EnvNAVXYTHETALATHashEntry_t* HashEntry = StateID2CoordTable[SourceStateID]; + + // iterate through actions + for (aind = 0; aind < EnvNAVXYTHETALATCfg.actionwidth; aind++) { + EnvNAVXYTHETALATAction_t* nav3daction = &EnvNAVXYTHETALATCfg.ActionsV[(unsigned int)HashEntry->Theta][aind]; + int newX = HashEntry->X + nav3daction->dX; + int newY = HashEntry->Y + nav3daction->dY; + int newTheta = normalizeDiscAngle(nav3daction->endtheta); + + // skip the invalid cells + if (!IsValidCell(newX, newY)) { + continue; + } + + // get cost + int cost = GetActionCost(HashEntry->X, HashEntry->Y, HashEntry->Theta, nav3daction); + if (cost >= INFINITECOST) { + continue; + } + + EnvNAVXYTHETALATHashEntry_t* OutHashEntry; + if ((OutHashEntry = (this->*GetHashEntry)(newX, newY, newTheta)) == NULL) { + // have to create a new entry + OutHashEntry = (this->*CreateNewHashEntry)(newX, newY, newTheta); + } + + SuccIDV->push_back(OutHashEntry->stateID); + CostV->push_back(cost); + if (actionV != NULL) { + actionV->push_back(nav3daction); + } + } + +#if TIME_DEBUG + time_getsuccs += clock()-currenttime; +#endif +} + +void EnvironmentNAVXYTHETALAT::GetPreds( + int TargetStateID, + std::vector* PredIDV, + std::vector* CostV) +{ + //TODO- to support tolerance, need: + // a) generate preds for goal state based on all possible goal state variable settings, + // b) change goal check condition in gethashentry c) change + // getpredsofchangedcells and getsuccsofchangedcells functions + + int aind; + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + // get X, Y for the state + EnvNAVXYTHETALATHashEntry_t* HashEntry = StateID2CoordTable[TargetStateID]; + + // clear the successor array + PredIDV->clear(); + CostV->clear(); + PredIDV->reserve(EnvNAVXYTHETALATCfg.PredActionsV[(unsigned int)HashEntry->Theta].size()); + CostV->reserve(EnvNAVXYTHETALATCfg.PredActionsV[(unsigned int)HashEntry->Theta].size()); + + // iterate through actions + std::vector* actionsV = &EnvNAVXYTHETALATCfg.PredActionsV[(unsigned int)HashEntry->Theta]; + for (aind = 0; aind < (int)EnvNAVXYTHETALATCfg.PredActionsV[(unsigned int)HashEntry->Theta].size(); aind++) { + + EnvNAVXYTHETALATAction_t* nav3daction = actionsV->at(aind); + + int predX = HashEntry->X - nav3daction->dX; + int predY = HashEntry->Y - nav3daction->dY; + int predTheta = nav3daction->starttheta; + + // skip the invalid cells + if (!IsValidCell(predX, predY)) { + continue; + } + + // get cost + int cost = GetActionCost(predX, predY, predTheta, nav3daction); + if (cost >= INFINITECOST) { + continue; + } + + EnvNAVXYTHETALATHashEntry_t* OutHashEntry; + if ((OutHashEntry = (this->*GetHashEntry)(predX, predY, predTheta)) == NULL) { + // have to create a new entry + OutHashEntry = (this->*CreateNewHashEntry)(predX, predY, predTheta); + } + + PredIDV->push_back(OutHashEntry->stateID); + CostV->push_back(cost); + } + +#if TIME_DEBUG + time_getsuccs += clock()-currenttime; +#endif +} + +void EnvironmentNAVXYTHETALAT::SetAllActionsandAllOutcomes(CMDPSTATE* state) +{ + int cost; + +#if DEBUG + if (state->StateID >= (int)StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in Env... function: stateID illegal"); + } + + if ((int)state->Actions.size() != 0) { + throw SBPL_Exception("ERROR in Env_setAllActionsandAllOutcomes: actions already exist for the state"); + } +#endif + + // goal state should be absorbing + if (state->StateID == EnvNAVXYTHETALAT.goalstateid) { + return; + } + + // get X, Y for the state + EnvNAVXYTHETALATHashEntry_t* HashEntry = StateID2CoordTable[state->StateID]; + + // iterate through actions + for (int aind = 0; aind < EnvNAVXYTHETALATCfg.actionwidth; aind++) { + EnvNAVXYTHETALATAction_t* nav3daction = &EnvNAVXYTHETALATCfg.ActionsV[(unsigned int)HashEntry->Theta][aind]; + int newX = HashEntry->X + nav3daction->dX; + int newY = HashEntry->Y + nav3daction->dY; + int newTheta = normalizeDiscAngle(nav3daction->endtheta); + + // skip the invalid cells + if (!IsValidCell(newX, newY)) { + continue; + } + + // get cost + cost = GetActionCost(HashEntry->X, HashEntry->Y, HashEntry->Theta, nav3daction); + if (cost >= INFINITECOST) { + continue; + } + + // add the action + CMDPACTION* action = state->AddAction(aind); + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + EnvNAVXYTHETALATHashEntry_t* OutHashEntry; + if ((OutHashEntry = (this->*GetHashEntry)(newX, newY, newTheta)) == NULL) { + // have to create a new entry + OutHashEntry = (this->*CreateNewHashEntry)(newX, newY, newTheta); + } + action->AddOutcome(OutHashEntry->stateID, cost, 1.0); + +#if TIME_DEBUG + time3_addallout += clock()-currenttime; +#endif + } +} + +void EnvironmentNAVXYTHETALAT::GetPredsofChangedEdges( + std::vector const* changedcellsV, + std::vector* preds_of_changededgesIDV) +{ + nav2dcell_t cell; + sbpl_xy_theta_cell_t affectedcell; + EnvNAVXYTHETALATHashEntry_t* affectedHashEntry; + + // increment iteration for processing savings + iteration++; + + for (int i = 0; i < (int)changedcellsV->size(); i++) { + cell = changedcellsV->at(i); + + // now iterate over all states that could potentially be affected + for (int sind = 0; sind < (int)affectedpredstatesV.size(); sind++) { + affectedcell = affectedpredstatesV.at(sind); + + // translate to correct for the offset + affectedcell.x = affectedcell.x + cell.x; + affectedcell.y = affectedcell.y + cell.y; + + // insert only if it was actually generated + affectedHashEntry = (this->*GetHashEntry)(affectedcell.x, affectedcell.y, affectedcell.theta); + if (affectedHashEntry != NULL && affectedHashEntry->iteration < iteration) { + preds_of_changededgesIDV->push_back(affectedHashEntry->stateID); + affectedHashEntry->iteration = iteration; // mark as already inserted + } + } + } +} + +void EnvironmentNAVXYTHETALAT::GetSuccsofChangedEdges( + std::vector const* changedcellsV, + std::vector* succs_of_changededgesIDV) +{ + nav2dcell_t cell; + sbpl_xy_theta_cell_t affectedcell; + EnvNAVXYTHETALATHashEntry_t* affectedHashEntry; + + throw SBPL_Exception("ERROR: getsuccs is not supported currently"); + + // increment iteration for processing savings + iteration++; + + // TODO - check + for (int i = 0; i < (int)changedcellsV->size(); i++) { + cell = changedcellsV->at(i); + + // now iterate over all states that could potentially be affected + for (int sind = 0; sind < (int)affectedsuccstatesV.size(); sind++) { + affectedcell = affectedsuccstatesV.at(sind); + + // translate to correct for the offset + affectedcell.x = affectedcell.x + cell.x; + affectedcell.y = affectedcell.y + cell.y; + + // insert only if it was actually generated + affectedHashEntry = (this->*GetHashEntry)(affectedcell.x, affectedcell.y, affectedcell.theta); + if (affectedHashEntry != NULL && affectedHashEntry->iteration < iteration) { + succs_of_changededgesIDV->push_back(affectedHashEntry->stateID); + // mark as already inserted + affectedHashEntry->iteration = iteration; + } + } + } +} + +void EnvironmentNAVXYTHETALAT::InitializeEnvironment() +{ + EnvNAVXYTHETALATHashEntry_t* HashEntry; + + int maxsize = EnvNAVXYTHETALATCfg.EnvWidth_c * EnvNAVXYTHETALATCfg.EnvHeight_c * EnvNAVXYTHETALATCfg.NumThetaDirs; + + if (maxsize <= SBPL_XYTHETALAT_MAXSTATESFORLOOKUP) { + SBPL_PRINTF("environment stores states in lookup table\n"); + + Coord2StateIDHashTable_lookup = new EnvNAVXYTHETALATHashEntry_t*[maxsize]; + for (int i = 0; i < maxsize; i++) { + Coord2StateIDHashTable_lookup[i] = NULL; + } + GetHashEntry = &EnvironmentNAVXYTHETALAT::GetHashEntry_lookup; + CreateNewHashEntry = &EnvironmentNAVXYTHETALAT::CreateNewHashEntry_lookup; + + // not using hash table + HashTableSize = 0; + Coord2StateIDHashTable = NULL; + } + else { + SBPL_PRINTF("environment stores states in hashtable\n"); + + // initialize the map from Coord to StateID + HashTableSize = 4 * 1024 * 1024; // should be power of two + Coord2StateIDHashTable = new std::vector[HashTableSize]; + GetHashEntry = &EnvironmentNAVXYTHETALAT::GetHashEntry_hash; + CreateNewHashEntry = &EnvironmentNAVXYTHETALAT::CreateNewHashEntry_hash; + + // not using hash + Coord2StateIDHashTable_lookup = NULL; + } + + // initialize the map from StateID to Coord + StateID2CoordTable.clear(); + + // create start state + if (NULL == (HashEntry = (this->*GetHashEntry)( + EnvNAVXYTHETALATCfg.StartX_c, + EnvNAVXYTHETALATCfg.StartY_c, + EnvNAVXYTHETALATCfg.StartTheta))) + { + // have to create a new entry + HashEntry = (this->*CreateNewHashEntry)( + EnvNAVXYTHETALATCfg.StartX_c, + EnvNAVXYTHETALATCfg.StartY_c, + EnvNAVXYTHETALATCfg.StartTheta); + } + EnvNAVXYTHETALAT.startstateid = HashEntry->stateID; + + // create goal state + if ((HashEntry = (this->*GetHashEntry)( + EnvNAVXYTHETALATCfg.EndX_c, + EnvNAVXYTHETALATCfg.EndY_c, + EnvNAVXYTHETALATCfg.EndTheta)) == NULL) + { + // have to create a new entry + HashEntry = (this->*CreateNewHashEntry)( + EnvNAVXYTHETALATCfg.EndX_c, + EnvNAVXYTHETALATCfg.EndY_c, + EnvNAVXYTHETALATCfg.EndTheta); + } + EnvNAVXYTHETALAT.goalstateid = HashEntry->stateID; + + // initialized + EnvNAVXYTHETALAT.bInitialized = true; +} + +// examples of hash functions: map state coordinates onto a hash value +// #define GETHASHBIN(X, Y) (Y*WIDTH_Y+X) +// here we have state coord: +unsigned int EnvironmentNAVXYTHETALAT::GETHASHBIN( + unsigned int X1, + unsigned int X2, + unsigned int Theta) +{ + return inthash(inthash(X1) + (inthash(X2) << 1) + (inthash(Theta) << 2)) & (HashTableSize - 1); +} + +void EnvironmentNAVXYTHETALAT::PrintHashTableHist(FILE* fOut) +{ + int s0 = 0, s1 = 0, s50 = 0, s100 = 0, s200 = 0, s300 = 0, slarge = 0; + + for (int j = 0; j < HashTableSize; j++) { + if ((int)Coord2StateIDHashTable[j].size() == 0) + s0++; + else if ((int)Coord2StateIDHashTable[j].size() < 5) + s1++; + else if ((int)Coord2StateIDHashTable[j].size() < 25) + s50++; + else if ((int)Coord2StateIDHashTable[j].size() < 50) + s100++; + else if ((int)Coord2StateIDHashTable[j].size() < 100) + s200++; + else if ((int)Coord2StateIDHashTable[j].size() < 400) + s300++; + else + slarge++; + } + SBPL_FPRINTF(fOut, "hash table histogram: 0:%d, <5:%d, <25:%d, <50:%d, <100:%d, <400:%d, >400:%d\n", s0, s1, s50, + s100, s200, s300, slarge); +} + +int EnvironmentNAVXYTHETALAT::GetFromToHeuristic(int FromStateID, int ToStateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (FromStateID >= (int)StateID2CoordTable.size() || + ToStateID >= (int)StateID2CoordTable.size()) + { + SBPL_ERROR("ERROR in EnvNAVXYTHETALAT... function: stateID illegal\n"); + throw SBPL_Exception(); + } +#endif + + // get X, Y for the state + EnvNAVXYTHETALATHashEntry_t* FromHashEntry = StateID2CoordTable[FromStateID]; + EnvNAVXYTHETALATHashEntry_t* ToHashEntry = StateID2CoordTable[ToStateID]; + + // TODO - check if one of the gridsearches already computed and then use it. + + return (int)(NAVXYTHETALAT_COSTMULT_MTOMM * + EuclideanDistance_m(FromHashEntry->X, FromHashEntry->Y, ToHashEntry->X, ToHashEntry->Y) / + EnvNAVXYTHETALATCfg.nominalvel_mpersecs); + +} + +int EnvironmentNAVXYTHETALAT::GetGoalHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (stateID >= (int)StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvNAVXYTHETALAT... function: stateID illegal"); + } +#endif + + EnvNAVXYTHETALATHashEntry_t* HashEntry = StateID2CoordTable[stateID]; + // computes distances from start state that is grid2D, so it is EndX_c EndY_c + int h2D = grid2Dsearchfromgoal->getlowerboundoncostfromstart_inmm(HashEntry->X, HashEntry->Y); + int hEuclid = (int)(NAVXYTHETALAT_COSTMULT_MTOMM * + EuclideanDistance_m(HashEntry->X, HashEntry->Y, EnvNAVXYTHETALATCfg.EndX_c, EnvNAVXYTHETALATCfg.EndY_c)); + + // define this function if it is used in the planner (heuristic backward search would use it) + return (int)(((double)__max(h2D, hEuclid)) / EnvNAVXYTHETALATCfg.nominalvel_mpersecs); +} + +int EnvironmentNAVXYTHETALAT::GetStartHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (stateID >= (int)StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvNAVXYTHETALAT... function: stateID illegal"); + } +#endif + + EnvNAVXYTHETALATHashEntry_t* HashEntry = StateID2CoordTable[stateID]; + int h2D = grid2Dsearchfromstart->getlowerboundoncostfromstart_inmm(HashEntry->X, HashEntry->Y); + int hEuclid = (int)(NAVXYTHETALAT_COSTMULT_MTOMM * + EuclideanDistance_m(EnvNAVXYTHETALATCfg.StartX_c, EnvNAVXYTHETALATCfg.StartY_c, HashEntry->X, HashEntry->Y)); + + // define this function if it is used in the planner (heuristic backward search would use it) + return (int)(((double)__max(h2D, hEuclid)) / EnvNAVXYTHETALATCfg.nominalvel_mpersecs); +} + +int EnvironmentNAVXYTHETALAT::SizeofCreatedEnv() +{ + return (int)StateID2CoordTable.size(); +} + +const EnvNAVXYTHETALATHashEntry_t* +EnvironmentNAVXYTHETALAT::GetStateEntry(int state_id) const +{ + if (state_id >= 0 && state_id < (int)StateID2CoordTable.size()) { + return StateID2CoordTable[state_id]; + } + else { + return NULL; + } +} + +//------------------------------------------------------------------------------ + + +void EnvironmentNAVXYTHETALAT::GetLazySuccs( + int SourceStateID, + std::vector* SuccIDV, + std::vector* CostV, + std::vector* isTrueCost, + std::vector* actionV) +{ + int aind; + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + // clear the successor array + SuccIDV->clear(); + CostV->clear(); + SuccIDV->reserve(EnvNAVXYTHETALATCfg.actionwidth); + CostV->reserve(EnvNAVXYTHETALATCfg.actionwidth); + isTrueCost->reserve(EnvNAVXYTHETALATCfg.actionwidth); + if (actionV != NULL) { + actionV->clear(); + actionV->reserve(EnvNAVXYTHETALATCfg.actionwidth); + } + + // goal state should be absorbing + if (SourceStateID == EnvNAVXYTHETALAT.goalstateid) { + return; + } + + // get X, Y for the state + EnvNAVXYTHETALATHashEntry_t* HashEntry = StateID2CoordTable[SourceStateID]; + + // iterate through actions + for (aind = 0; aind < EnvNAVXYTHETALATCfg.actionwidth; aind++) { + EnvNAVXYTHETALATAction_t* nav3daction = &EnvNAVXYTHETALATCfg.ActionsV[(unsigned int)HashEntry->Theta][aind]; + int newX = HashEntry->X + nav3daction->dX; + int newY = HashEntry->Y + nav3daction->dY; + int newTheta = normalizeDiscAngle(nav3daction->endtheta); + + // skip the invalid cells + if (!IsValidCell(newX, newY)) { + continue; + } + + // if we are supposed to return the action, then don't do lazy + if (!actionV) { + EnvNAVXYTHETALATHashEntry_t* OutHashEntry; + if ((OutHashEntry = (this->*GetHashEntry)(newX, newY, newTheta)) == NULL) { + OutHashEntry = (this->*CreateNewHashEntry)(newX, newY, newTheta); + } + SuccIDV->push_back(OutHashEntry->stateID); + CostV->push_back(nav3daction->cost); + isTrueCost->push_back(false); + continue; + } + + // get cost + int cost = GetActionCost(HashEntry->X, HashEntry->Y, HashEntry->Theta, nav3daction); + if (cost >= INFINITECOST) { + continue; + } + + EnvNAVXYTHETALATHashEntry_t* OutHashEntry; + if ((OutHashEntry = (this->*GetHashEntry)(newX, newY, newTheta)) == NULL) { + // have to create a new entry + OutHashEntry = (this->*CreateNewHashEntry)(newX, newY, newTheta); + } + + SuccIDV->push_back(OutHashEntry->stateID); + CostV->push_back(cost); + isTrueCost->push_back(true); + if (actionV != NULL) { + actionV->push_back(nav3daction); + } + } + +#if TIME_DEBUG + time_getsuccs += clock()-currenttime; +#endif +} + +int EnvironmentNAVXYTHETALAT::GetTrueCost(int parentID, int childID) +{ + EnvNAVXYTHETALATHashEntry_t* fromHash = StateID2CoordTable[parentID]; + EnvNAVXYTHETALATHashEntry_t* toHash = StateID2CoordTable[childID]; + + for (int i = 0; i < EnvNAVXYTHETALATCfg.actionwidth; i++) { + EnvNAVXYTHETALATAction_t* nav3daction = &EnvNAVXYTHETALATCfg.ActionsV[(unsigned int)fromHash->Theta][i]; + int newX = fromHash->X + nav3daction->dX; + int newY = fromHash->Y + nav3daction->dY; + int newTheta = normalizeDiscAngle(nav3daction->endtheta); + + // skip the invalid cells + if (!IsValidCell(newX, newY)) { + continue; + } + + EnvNAVXYTHETALATHashEntry_t* hash; + if ((hash = (this->*GetHashEntry)(newX, newY, newTheta)) == NULL) { + continue; + } + if (hash->stateID != toHash->stateID) { + continue; + } + + // get cost + int cost = GetActionCost(fromHash->X, fromHash->Y, fromHash->Theta, nav3daction); + + if (cost >= INFINITECOST) { + return -1; + } + return cost; + } + throw SBPL_Exception("This should never happen! we didn't find the state we need to get the true cost for!"); + return -1; +} + +void EnvironmentNAVXYTHETALAT::GetSuccsWithUniqueIds( + int SourceStateID, + std::vector* SuccIDV, + std::vector* CostV, + std::vector* actionV) +{ + GetSuccs(SourceStateID, SuccIDV, CostV, actionV); +} + +void EnvironmentNAVXYTHETALAT::GetLazySuccsWithUniqueIds( + int SourceStateID, + std::vector* SuccIDV, + std::vector* CostV, + std::vector* isTrueCost, + std::vector* actionV) +{ + GetLazySuccs(SourceStateID, SuccIDV, CostV, isTrueCost, actionV); +} + +bool EnvironmentNAVXYTHETALAT::isGoal(int id) +{ + return EnvNAVXYTHETALAT.goalstateid == id; +} + +void EnvironmentNAVXYTHETALAT::GetLazyPreds( + int TargetStateID, + std::vector* PredIDV, + std::vector* CostV, + std::vector* isTrueCost) +{ + int aind; + +#if TIME_DEBUG + clock_t currenttime = clock(); +#endif + + // get X, Y for the state + EnvNAVXYTHETALATHashEntry_t* HashEntry = StateID2CoordTable[TargetStateID]; + + // clear the successor array + PredIDV->clear(); + CostV->clear(); + PredIDV->reserve(EnvNAVXYTHETALATCfg.PredActionsV[(unsigned int)HashEntry->Theta].size()); + CostV->reserve(EnvNAVXYTHETALATCfg.PredActionsV[(unsigned int)HashEntry->Theta].size()); + + // iterate through actions + std::vector* actionsV = &EnvNAVXYTHETALATCfg.PredActionsV[(unsigned int)HashEntry->Theta]; + for (aind = 0; aind < (int)EnvNAVXYTHETALATCfg.PredActionsV[(unsigned int)HashEntry->Theta].size(); aind++) + { + EnvNAVXYTHETALATAction_t* nav3daction = actionsV->at(aind); + + int predX = HashEntry->X - nav3daction->dX; + int predY = HashEntry->Y - nav3daction->dY; + int predTheta = nav3daction->starttheta; + + //skip the invalid cells + if (!IsValidCell(predX, predY)) { + continue; + } + + EnvNAVXYTHETALATHashEntry_t* OutHashEntry; + if ((OutHashEntry = (this->*GetHashEntry)(predX, predY, predTheta)) == NULL) { + OutHashEntry = (this->*CreateNewHashEntry)(predX, predY, predTheta); + } + + PredIDV->push_back(OutHashEntry->stateID); + CostV->push_back(nav3daction->cost); + isTrueCost->push_back(false); + } + +#if TIME_DEBUG + time_getsuccs += clock()-currenttime; +#endif +} + +void EnvironmentNAVXYTHETALAT::GetPredsWithUniqueIds( + int TargetStateID, + std::vector* PredIDV, + std::vector* CostV) +{ + GetPreds(TargetStateID, PredIDV, CostV); +} + +void EnvironmentNAVXYTHETALAT::GetLazyPredsWithUniqueIds( + int TargetStateID, + std::vector* PredIDV, + std::vector* CostV, + std::vector* isTrueCost) +{ + GetLazyPreds(TargetStateID, PredIDV, CostV, isTrueCost); +} diff --git a/navigations/sbpl/src/discrete_space_information/environment_navxythetamlevlat.cpp b/navigations/sbpl/src/discrete_space_information/environment_navxythetamlevlat.cpp new file mode 100755 index 0000000..8074125 --- /dev/null +++ b/navigations/sbpl/src/discrete_space_information/environment_navxythetamlevlat.cpp @@ -0,0 +1,482 @@ +/* + * 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. + */ + +#include +#include +#include +#include + +using namespace std; + +#if TIME_DEBUG +static clock_t time3_addallout = 0; +static clock_t time_gethash = 0; +static clock_t time_createhash = 0; +static clock_t time_getsuccs = 0; +#endif + +static long int checks = 0; + +//-----------------constructors/destructors------------------------------- + +EnvironmentNAVXYTHETAMLEVLAT::EnvironmentNAVXYTHETAMLEVLAT() +{ + numofadditionalzlevs = 0; //by default there is only base level, no additional levels + AddLevelFootprintPolygonV = NULL; + AdditionalInfoinActionsV = NULL; + AddLevelGrid2D = NULL; + AddLevel_cost_possibly_circumscribed_thresh = NULL; + AddLevel_cost_inscribed_thresh = NULL; +} + +EnvironmentNAVXYTHETAMLEVLAT::~EnvironmentNAVXYTHETAMLEVLAT() +{ + if (AddLevelFootprintPolygonV != NULL) { + delete[] AddLevelFootprintPolygonV; + AddLevelFootprintPolygonV = NULL; + } + + if (AdditionalInfoinActionsV != NULL) { + for (int tind = 0; tind < EnvNAVXYTHETALATCfg.NumThetaDirs; tind++) { + for (int aind = 0; aind < EnvNAVXYTHETALATCfg.actionwidth; aind++) { + delete[] AdditionalInfoinActionsV[tind][aind].intersectingcellsV; + } + delete[] AdditionalInfoinActionsV[tind]; + } + delete[] AdditionalInfoinActionsV; + AdditionalInfoinActionsV = NULL; + } + + if (AddLevelGrid2D != NULL) { + for (int levelind = 0; levelind < numofadditionalzlevs; levelind++) { + for (int xind = 0; xind < EnvNAVXYTHETALATCfg.EnvWidth_c; xind++) { + delete[] AddLevelGrid2D[levelind][xind]; + } + delete[] AddLevelGrid2D[levelind]; + } + delete[] AddLevelGrid2D; + AddLevelGrid2D = NULL; + } + + if (AddLevel_cost_possibly_circumscribed_thresh != NULL) { + delete[] AddLevel_cost_possibly_circumscribed_thresh; + AddLevel_cost_possibly_circumscribed_thresh = NULL; + } + + if (AddLevel_cost_inscribed_thresh != NULL) { + delete[] AddLevel_cost_inscribed_thresh; + AddLevel_cost_inscribed_thresh = NULL; + } + + //reset the number of additional levels + numofadditionalzlevs = 0; +} + +//--------------------------------------------------------------------- + +//-------------------problem specific and local functions--------------------- + +//returns true if cell is traversable and within map limits - it checks against all levels including the base one +bool EnvironmentNAVXYTHETAMLEVLAT::IsValidCell(int X, int Y) +{ + int levelind; + + if (!EnvironmentNAVXYTHETALAT::IsValidCell(X, Y)) return false; + + //iterate through the additional levels + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + if (AddLevelGrid2D[levelind][X][Y] >= EnvNAVXYTHETALATCfg.obsthresh) return false; + } + //otherwise the cell is valid at all levels + return true; +} + +// returns true if cell is traversable and within map limits for a particular level +bool EnvironmentNAVXYTHETAMLEVLAT::IsValidCell(int X, int Y, int levind) +{ + return (X >= 0 && X < EnvNAVXYTHETALATCfg.EnvWidth_c && Y >= 0 && Y < EnvNAVXYTHETALATCfg.EnvHeight_c && levind < + numofadditionalzlevs && AddLevelGrid2D[levind][X][Y] < EnvNAVXYTHETALATCfg.obsthresh); +} + +//returns true if cell is untraversable at all levels +bool EnvironmentNAVXYTHETAMLEVLAT::IsObstacle(int X, int Y) +{ + int levelind; + + if (EnvironmentNAVXYTHETALAT::IsObstacle(X, Y)) return true; + + //iterate through the additional levels + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + if (AddLevelGrid2D[levelind][X][Y] >= EnvNAVXYTHETALATCfg.obsthresh) return true; + } + //otherwise the cell is obstacle-free at all cells + return false; +} + +//returns true if cell is untraversable in level # levelnum. If levelnum = -1, then it checks all levels +bool EnvironmentNAVXYTHETAMLEVLAT::IsObstacle(int X, int Y, int levind) +{ +#if DEBUG + if(levind >= numofadditionalzlevs) + { + SBPL_ERROR("ERROR: IsObstacle invoked at level %d\n", levind); + SBPL_FPRINTF(fDeb, "ERROR: IsObstacle invoked at level %d\n", levind); + return false; + } +#endif + + return (AddLevelGrid2D[levind][X][Y] >= EnvNAVXYTHETALATCfg.obsthresh); +} + +// returns the maximum over all levels of the cost corresponding to the cell +unsigned char EnvironmentNAVXYTHETAMLEVLAT::GetMapCost(int X, int Y) +{ + unsigned char mapcost = EnvNAVXYTHETALATCfg.Grid2D[X][Y]; + + for (int levind = 0; levind < numofadditionalzlevs; levind++) { + mapcost = __max(mapcost, AddLevelGrid2D[levind][X][Y]); + } + + return mapcost; +} + +// returns the cost corresponding to the cell at level levind +unsigned char EnvironmentNAVXYTHETAMLEVLAT::GetMapCost(int X, int Y, int levind) +{ +#if DEBUG + if(levind >= numofadditionalzlevs) + { + SBPL_ERROR("ERROR: GetMapCost invoked at level %d\n", levind); + SBPL_FPRINTF(fDeb, "ERROR: GetMapCost invoked at level %d\n", levind); + return false; + } +#endif + + return AddLevelGrid2D[levind][X][Y]; +} + +//returns false if robot intersects obstacles or lies outside of the map. +bool EnvironmentNAVXYTHETAMLEVLAT::IsValidConfiguration(int X, int Y, int Theta) +{ + //check the base footprint first + if (!EnvironmentNAVXYTHETALAT::IsValidConfiguration(X, Y, Theta)) return false; + + //check the remaining levels now + vector footprint; + sbpl_xy_theta_pt_t pose; + + //compute continuous pose + pose.x = DISCXY2CONT(X, EnvNAVXYTHETALATCfg.cellsize_m); + pose.y = DISCXY2CONT(Y, EnvNAVXYTHETALATCfg.cellsize_m); + pose.theta = DiscTheta2Cont(Theta, EnvNAVXYTHETALATCfg.NumThetaDirs); + + //iterate over additional levels + for (int levind = 0; levind < numofadditionalzlevs; levind++) { + + //compute footprint cells + footprint.clear(); + get_2d_footprint_cells(AddLevelFootprintPolygonV[levind], &footprint, pose, EnvNAVXYTHETALATCfg.cellsize_m); + + //iterate over all footprint cells + for (int find = 0; find < (int)footprint.size(); find++) { + int x = footprint.at(find).x; + int y = footprint.at(find).y; + + if (x < 0 || x >= EnvNAVXYTHETALATCfg.EnvWidth_c || y < 0 || y >= EnvNAVXYTHETALATCfg.EnvHeight_c + || AddLevelGrid2D[levind][x][y] >= EnvNAVXYTHETALATCfg.obsthresh) { + return false; + } + } + } + + return true; +} + +int EnvironmentNAVXYTHETAMLEVLAT::GetActionCost(int SourceX, int SourceY, int SourceTheta, + EnvNAVXYTHETALATAction_t* action) +{ + int basecost = EnvironmentNAVXYTHETALAT::GetActionCost(SourceX, SourceY, SourceTheta, action); + + if (basecost >= INFINITECOST) return INFINITECOST; + + int addcost = GetActionCostacrossAddLevels(SourceX, SourceY, SourceTheta, action); + + return __max(basecost, addcost); +} + +int EnvironmentNAVXYTHETAMLEVLAT::GetActionCostacrossAddLevels(int SourceX, int SourceY, int SourceTheta, + EnvNAVXYTHETALATAction_t* action) +{ + sbpl_2Dcell_t cell; + sbpl_xy_theta_cell_t interm3Dcell; + int i, levelind = -1; + + if (!IsValidCell(SourceX, SourceY)) return INFINITECOST; + if (!IsValidCell(SourceX + action->dX, SourceY + action->dY)) return INFINITECOST; + + //case of no levels + if (numofadditionalzlevs == 0) return 0; + + //iterate through the additional levels + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + if (AddLevelGrid2D[levelind][SourceX + action->dX][SourceY + action->dY] + >= AddLevel_cost_inscribed_thresh[levelind]) return INFINITECOST; + } + + //need to iterate over discretized center cells and compute cost based on them + unsigned char maxcellcost = 0; + unsigned char* maxcellcostateachlevel = new unsigned char[numofadditionalzlevs]; + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + maxcellcostateachlevel[levelind] = 0; + } + + for (i = 0; i < (int)action->interm3DcellsV.size() && maxcellcost < EnvNAVXYTHETALATCfg.obsthresh; i++) { + interm3Dcell = action->interm3DcellsV.at(i); + interm3Dcell.x = interm3Dcell.x + SourceX; + interm3Dcell.y = interm3Dcell.y + SourceY; + + if (interm3Dcell.x < 0 || interm3Dcell.x >= EnvNAVXYTHETALATCfg.EnvWidth_c || interm3Dcell.y < 0 || + interm3Dcell.y >= EnvNAVXYTHETALATCfg.EnvHeight_c) + { + maxcellcost = EnvNAVXYTHETALATCfg.obsthresh; + break; + } + + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + maxcellcost = __max(maxcellcost, AddLevelGrid2D[levelind][interm3Dcell.x][interm3Dcell.y]); + maxcellcostateachlevel[levelind] = __max(maxcellcostateachlevel[levelind], + AddLevelGrid2D[levelind][interm3Dcell.x][interm3Dcell.y]); + //check that the robot is NOT in the cell at which there is no valid orientation + if (maxcellcostateachlevel[levelind] >= AddLevel_cost_inscribed_thresh[levelind]) { + maxcellcost = EnvNAVXYTHETALATCfg.obsthresh; + maxcellcostateachlevel[levelind] = EnvNAVXYTHETALATCfg.obsthresh; + break; + } + } + } + + //check collisions that for the particular footprint orientation along the action + for (levelind = 0; levelind < numofadditionalzlevs && (int)maxcellcost < EnvNAVXYTHETALATCfg.obsthresh; + levelind++) + { + if (AddLevelFootprintPolygonV[levelind].size() > 1 && (int)maxcellcostateachlevel[levelind] >= + AddLevel_cost_possibly_circumscribed_thresh[levelind]) + { + checks++; + + //get intersecting cells for this level + vector* intersectingcellsV = + &AdditionalInfoinActionsV[(unsigned int)action->starttheta][action->aind].intersectingcellsV[levelind]; + for (i = 0; i < (int)intersectingcellsV->size(); i++) { + //get the cell in the map + cell = intersectingcellsV->at(i); + cell.x = cell.x + SourceX; + cell.y = cell.y + SourceY; + + //check validity + if (!IsValidCell(cell.x, cell.y, levelind)) { + maxcellcost = EnvNAVXYTHETALATCfg.obsthresh; + break; + } + + //if(AddLevelGrid2D[levelind][cell.x][cell.y] > maxcellcost) + ////cost computation changed: cost = max(cost of centers of + //the robot along action) + // maxcellcost = AddLevelGrid2D[levelind][cell.x][cell.y]; + // //intersecting cells are only used for collision checking + } + } + } + + //no need to max it with grid2D to ensure consistency of h2D since it is done for the base class + + //clean up + delete[] maxcellcostateachlevel; + + if (maxcellcost >= EnvNAVXYTHETALATCfg.obsthresh) + return INFINITECOST; + else + return action->cost * (((int)maxcellcost) + 1); //use cell cost as multiplicative factor +} + +//--------------------------------------------------------------------- + +//------------debugging functions--------------------------------------------- + +//----------------------------------------------------------------------------- + +//-----------interface with outside functions----------------------------------- + +/* + initialization of additional levels. 0 is the original one. All additional ones will start with index 1 + */ +bool EnvironmentNAVXYTHETAMLEVLAT::InitializeAdditionalLevels(int numofadditionalzlevs_in, + const vector* perimeterptsV, + unsigned char* cost_inscribed_thresh_in, + unsigned char* cost_possibly_circumscribed_thresh_in) +{ + int levelind = -1, xind = -1, yind = -1; + sbpl_xy_theta_pt_t temppose; + temppose.x = 0.0; + temppose.y = 0.0; + temppose.theta = 0.0; + vector footprint; + + numofadditionalzlevs = numofadditionalzlevs_in; + SBPL_PRINTF("Planning with additional z levels. Number of additional z levels = %d\n", numofadditionalzlevs); + + //allocate memory and set FootprintPolygons for additional levels + AddLevelFootprintPolygonV = new vector [numofadditionalzlevs]; + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + AddLevelFootprintPolygonV[levelind] = perimeterptsV[levelind]; + } + + //print out the size of a footprint for each additional level + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + footprint.clear(); + get_2d_footprint_cells(AddLevelFootprintPolygonV[levelind], &footprint, temppose, + EnvNAVXYTHETALATCfg.cellsize_m); + SBPL_PRINTF("number of cells in footprint for additional level %d = %d\n", levelind, + (unsigned int)footprint.size()); + } + + //compute additional levels action info + SBPL_PRINTF("pre-computing action data for additional levels:\n"); + AdditionalInfoinActionsV = new EnvNAVXYTHETAMLEVLATAddInfoAction_t*[EnvNAVXYTHETALATCfg.NumThetaDirs]; + for (int tind = 0; tind < EnvNAVXYTHETALATCfg.NumThetaDirs; tind++) { + SBPL_PRINTF("pre-computing for angle %d out of %d angles\n", tind, EnvNAVXYTHETALATCfg.NumThetaDirs); + + //compute sourcepose + sbpl_xy_theta_pt_t sourcepose; + sourcepose.x = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.y = DISCXY2CONT(0, EnvNAVXYTHETALATCfg.cellsize_m); + sourcepose.theta = DiscTheta2Cont(tind, EnvNAVXYTHETALATCfg.NumThetaDirs); + + AdditionalInfoinActionsV[tind] = new EnvNAVXYTHETAMLEVLATAddInfoAction_t[EnvNAVXYTHETALATCfg.actionwidth]; + + //iterate over actions for each angle + for (int aind = 0; aind < EnvNAVXYTHETALATCfg.actionwidth; aind++) { + EnvNAVXYTHETALATAction_t* nav3daction = &EnvNAVXYTHETALATCfg.ActionsV[tind][aind]; + + //initialize delta variables + AdditionalInfoinActionsV[tind][aind].dX = nav3daction->dX; + AdditionalInfoinActionsV[tind][aind].dY = nav3daction->dY; + AdditionalInfoinActionsV[tind][aind].starttheta = tind; + AdditionalInfoinActionsV[tind][aind].endtheta = nav3daction->endtheta; + + //finally, create the footprint for the action for each level + AdditionalInfoinActionsV[tind][aind].intersectingcellsV = new vector [numofadditionalzlevs]; + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + get_2d_motion_cells(AddLevelFootprintPolygonV[levelind], + EnvNAVXYTHETALATCfg.ActionsV[tind][aind].intermptV, + &AdditionalInfoinActionsV[tind][aind].intersectingcellsV[levelind], + EnvNAVXYTHETALATCfg.cellsize_m); + } + } + } + + //create maps for additional levels and initialize to zeros (freespace) + AddLevelGrid2D = new unsigned char**[numofadditionalzlevs]; + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + AddLevelGrid2D[levelind] = new unsigned char*[EnvNAVXYTHETALATCfg.EnvWidth_c]; + for (xind = 0; xind < EnvNAVXYTHETALATCfg.EnvWidth_c; xind++) { + AddLevelGrid2D[levelind][xind] = new unsigned char[EnvNAVXYTHETALATCfg.EnvHeight_c]; + for (yind = 0; yind < EnvNAVXYTHETALATCfg.EnvHeight_c; yind++) { + AddLevelGrid2D[levelind][xind][yind] = 0; + } + } + } + + //create inscribed and circumscribed cost thresholds + AddLevel_cost_possibly_circumscribed_thresh = new unsigned char[numofadditionalzlevs]; + AddLevel_cost_inscribed_thresh = new unsigned char[numofadditionalzlevs]; + for (levelind = 0; levelind < numofadditionalzlevs; levelind++) { + AddLevel_cost_possibly_circumscribed_thresh[levelind] = cost_possibly_circumscribed_thresh_in[levelind]; + AddLevel_cost_inscribed_thresh[levelind] = cost_inscribed_thresh_in[levelind]; + } + + return true; +} + +//set 2D map for the additional level levind +bool EnvironmentNAVXYTHETAMLEVLAT::Set2DMapforAddLev(const unsigned char* mapdata, int levind) +{ + int xind = -1, yind = -1; + + if (AddLevelGrid2D == NULL) { + SBPL_ERROR("ERROR: failed to set2Dmap because the map was not allocated previously\n"); + return false; + } + + for (xind = 0; xind < EnvNAVXYTHETALATCfg.EnvWidth_c; xind++) { + for (yind = 0; yind < EnvNAVXYTHETALATCfg.EnvHeight_c; yind++) { + AddLevelGrid2D[levind][xind][yind] = mapdata[xind + yind * EnvNAVXYTHETALATCfg.EnvWidth_c]; + } + } + + return true; +} + +//set 2D map for the additional level levind +//the version of Set2DMapforAddLev that takes newmap as 2D array instead of one linear array +bool EnvironmentNAVXYTHETAMLEVLAT::Set2DMapforAddLev(const unsigned char** NewGrid2D, int levind) +{ + int xind = -1, yind = -1; + + if (AddLevelGrid2D == NULL) { + SBPL_ERROR("ERROR: failed to set2Dmap because the map was not allocated previously\n"); + return false; + } + + for (xind = 0; xind < EnvNAVXYTHETALATCfg.EnvWidth_c; xind++) { + for (yind = 0; yind < EnvNAVXYTHETALATCfg.EnvHeight_c; yind++) { + AddLevelGrid2D[levind][xind][yind] = NewGrid2D[xind][yind]; + } + } + + return true; +} + +/* + update the traversability of a cell in addtional level zlev (this is not to update basic level) + */ +bool EnvironmentNAVXYTHETAMLEVLAT::UpdateCostinAddLev(int x, int y, unsigned char newcost, int zlev) +{ +#if DEBUG + //SBPL_FPRINTF(fDeb, "Cost updated for cell %d %d at level %d from old cost=%d to new cost=%d\n", x, y, zlev, AddLevelGrid2D[zlev][x][y], newcost); +#endif + + AddLevelGrid2D[zlev][x][y] = newcost; + + //no need to update heuristics because at this point it is computed solely based on the basic level + + return true; +} + +//------------------------------------------------------------------------------ diff --git a/navigations/sbpl/src/discrete_space_information/environment_robarm.cpp b/navigations/sbpl/src/discrete_space_information/environment_robarm.cpp new file mode 100755 index 0000000..54ae989 --- /dev/null +++ b/navigations/sbpl/src/discrete_space_information/environment_robarm.cpp @@ -0,0 +1,1546 @@ +/* + * 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. + */ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +using namespace std; + +#define COSTMULT 1000 + +//static clock_t time3_addallout = 0; +//static clock_t time_gethash = 0; +//static clock_t time_createhash = 0; + +#define XYTO2DIND(x,y) ((x) + (y)*EnvROBARMCfg.EnvWidth_c) + +#define DIRECTIONS 8 +int dx[DIRECTIONS] = {1, 1, 1, 0, 0, -1, -1, -1}; +int dy[DIRECTIONS] = {1, 0, -1, 1, -1, -1, 0, 1}; + +//-------------------state access functions--------------------- + +static unsigned int inthash(unsigned int key) +{ + key += (key << 12); + key ^= (key >> 22); + key += (key << 4); + key ^= (key >> 9); + key += (key << 10); + key ^= (key >> 2); + key += (key << 7); + key ^= (key >> 12); + return key; +} + +//examples of hash functions: map state coordinates onto a hash value +//#define GETHASHBIN(X, Y) (Y*WIDTH_Y+X) +//here we have state coord: +unsigned int EnvironmentROBARM::GETHASHBIN(short unsigned int* coord, int numofcoord) +{ + int val = 0; + + for (int i = 0; i < numofcoord; i++) { + val += inthash(coord[i]) << i; + } + + return inthash(val) & (EnvROBARM.HashTableSize - 1); +} + +void EnvironmentROBARM::PrintHashTableHist() +{ + int s0 = 0, s1 = 0, s50 = 0, s100 = 0, s200 = 0, s300 = 0, slarge = 0; + + for (int j = 0; j < EnvROBARM.HashTableSize; j++) { + if ((int)EnvROBARM.Coord2StateIDHashTable[j].size() == 0) + s0++; + else if ((int)EnvROBARM.Coord2StateIDHashTable[j].size() < 50) + s1++; + else if ((int)EnvROBARM.Coord2StateIDHashTable[j].size() < 100) + s50++; + else if ((int)EnvROBARM.Coord2StateIDHashTable[j].size() < 200) + s100++; + else if ((int)EnvROBARM.Coord2StateIDHashTable[j].size() < 300) + s200++; + else if ((int)EnvROBARM.Coord2StateIDHashTable[j].size() < 400) + s300++; + else + slarge++; + } + SBPL_PRINTF("hash table histogram: 0:%d, <50:%d, <100:%d, <200:%d, <300:%d, <400:%d >400:%d\n", s0, s1, s50, s100, + s200, s300, slarge); +} + +EnvROBARMHashEntry_t* EnvironmentROBARM::GetHashEntry(short unsigned int* coord, int numofcoord, bool bIsGoal) +{ + //clock_t currenttime = clock(); + + //if it is goal + if (bIsGoal) { + return EnvROBARM.goalHashEntry; + } + + int binid = GETHASHBIN(coord, numofcoord); + +#if DEBUG + if ((int)EnvROBARM.Coord2StateIDHashTable[binid].size() > 500) + { + SBPL_PRINTF("WARNING: Hash table has a bin %d (coord0=%d) of size %d\n", + binid, coord[0], (int)EnvROBARM.Coord2StateIDHashTable[binid].size()); + + PrintHashTableHist(); + } +#endif + + //iterate over the states in the bin and select the perfect match + for (int ind = 0; ind < (int)EnvROBARM.Coord2StateIDHashTable[binid].size(); ind++) { + int j = 0; + for (j = 0; j < numofcoord; j++) { + if (EnvROBARM.Coord2StateIDHashTable[binid][ind]->coord[j] != coord[j]) { + break; + } + } + if (j == numofcoord) { + //time_gethash += clock()-currenttime; + return EnvROBARM.Coord2StateIDHashTable[binid][ind]; + } + } + + //time_gethash += clock()-currenttime; + + return NULL; +} + +EnvROBARMHashEntry_t* EnvironmentROBARM::CreateNewHashEntry(short unsigned int* coord, int numofcoord, + short unsigned int endeffx, short unsigned int endeffy) +{ + int i; + + //clock_t currenttime = clock(); + + EnvROBARMHashEntry_t* HashEntry = new EnvROBARMHashEntry_t; + + memcpy(HashEntry->coord, coord, numofcoord * sizeof(short unsigned int)); + HashEntry->endeffx = endeffx; + HashEntry->endeffy = endeffy; + + HashEntry->stateID = EnvROBARM.StateID2CoordTable.size(); + + //insert into the tables + EnvROBARM.StateID2CoordTable.push_back(HashEntry); + + //get the hash table bin + i = GETHASHBIN(HashEntry->coord, numofcoord); + + //insert the entry into the bin + EnvROBARM.Coord2StateIDHashTable[i].push_back(HashEntry); + + //insert into and initialize the mappings + int* entry = new int[NUMOFINDICES_STATEID2IND]; + StateID2IndexMapping.push_back(entry); + for (i = 0; i < NUMOFINDICES_STATEID2IND; i++) { + StateID2IndexMapping[HashEntry->stateID][i] = -1; + } + + if (HashEntry->stateID != (int)StateID2IndexMapping.size() - 1) { + throw SBPL_Exception("ERROR in Env... function: last state has incorrect stateID"); + } + + //time_createhash += clock()-currenttime; + + return HashEntry; +} + +//----------------------------------------------------------------------------- + +//---------------heuristic values computation------------------------- + +int EnvironmentROBARM::distanceincoord(unsigned short* statecoord1, unsigned short* statecoord2) +{ + int totaldiff = 0; + + for (int i = 0; i < NUMOFLINKS; i++) { + int diff = abs(statecoord1[i] - statecoord2[i]); + //totaldiff += __min(diff, RobArmStateSpace.anglevals[i] - diff); + totaldiff = __max(totaldiff, __min(diff, EnvROBARMCfg.anglevals[i] - diff)); + } + + return totaldiff; +} + +void EnvironmentROBARM::ReInitializeState2D(State2D* state) +{ + state->g = INFINITECOST; + state->iterationclosed = 0; +} + +void EnvironmentROBARM::InitializeState2D(State2D* state, short unsigned int x, short unsigned int y) +{ + state->g = INFINITECOST; + state->iterationclosed = 0; + state->x = x; + state->y = y; +} + +/* +void EnvironmentROBARM::Search2DwithHeap(State** statespace, int searchstartx, int searchstarty) +{ + CKey key; + CHeap* heap; + State* ExpState; + int newx, newy,x,y; + + //create a heap + heap = new CHeap; + + //initialize to infinity all + for (x = 0; x < EnvROBARMCfg.EnvWidth_c; x++) + { + for (y = 0; y < EnvROBARMCfg.EnvHeight_c; y++) + { + HeurGrid[x][y] = INFINITECOST; + ReInitializeState2D(&statespace[x][y]); + } + } + + //initialization + statespace[searchstartx][searchstarty].g = 0; + key.key[0] = 0; + heap->insertheap(&statespace[searchstartx][searchstarty], key); + + //expand all of the states + while(!heap->emptyheap()) + { + //get the state to expand + ExpState = heap->deleteminheap(); + + //set the corresponding heuristics + HeurGrid[ExpState->statecoord[0]][ExpState->statecoord[1]] = ExpState->g; + + //iterate through neighbors + for(int d = 0; d < DIRECTIONS; d++) + { + newx = ExpState->statecoord[0] + dx[d]; + newy = ExpState->statecoord[1] + dy[d]; + + //make sure it is inside the map + if(0 > newx || newx >= EnvROBARMCfg.EnvWidth_c || + 0 > newy || newy >= EnvROBARMCfg.EnvHeight_c) + continue; + + if(statespace[newx][newy].g > ExpState->g + 1 && + EnvROBARMCfg.Grid2D[newx][newy] == 0) + { + statespace[newx][newy].g = ExpState->g + 1; + key.key[0] = statespace[newx][newy].g; + if(statespace[newx][newy].heapindex == 0) + heap->insertheap(&statespace[newx][newy], key); + else + heap->updateheap(&statespace[newx][newy], key); + } + } + } + + //delete the heap + delete heap; +} +*/ + +void EnvironmentROBARM::Search2DwithQueue(State2D** statespace, int* HeurGrid, int searchstartx, int searchstarty) +{ + State2D* ExpState; + int newx, newy, x, y; + + //create a queue + queue Queue; + + //initialize to infinity all + for (x = 0; x < EnvROBARMCfg.EnvWidth_c; x++) { + for (y = 0; y < EnvROBARMCfg.EnvHeight_c; y++) { + HeurGrid[XYTO2DIND(x,y)] = INFINITECOST; + ReInitializeState2D(&statespace[x][y]); + } + } + + //initialization + statespace[searchstartx][searchstarty].g = 0; + Queue.push(&statespace[searchstartx][searchstarty]); + + //expand all of the states + while ((int)Queue.size() > 0) { + //get the state to expand + ExpState = Queue.front(); + Queue.pop(); + + //it may be that the state is already closed + if (ExpState->iterationclosed == 1) continue; + + //close it + ExpState->iterationclosed = 1; + + //set the corresponding heuristics + HeurGrid[XYTO2DIND(ExpState->x, ExpState->y)] = ExpState->g; + + //iterate through neighbors + for (int d = 0; d < DIRECTIONS; d++) { + newx = ExpState->x + dx[d]; + newy = ExpState->y + dy[d]; + + //make sure it is inside the map and has no obstacle + if (0 > newx || newx >= EnvROBARMCfg.EnvWidth_c || 0 > newy || newy >= EnvROBARMCfg.EnvHeight_c + || EnvROBARMCfg.Grid2D[newx][newy] == 1) continue; + + //check + if (statespace[newx][newy].g != INFINITECOST && statespace[newx][newy].g > ExpState->g + 1) { + throw SBPL_Exception("ERROR: incorrect heuristic computation"); + } + + if (statespace[newx][newy].iterationclosed == 0 && statespace[newx][newy].g == INFINITECOST) { + //insert into the stack + Queue.push(&statespace[newx][newy]); + + //set the g-value + statespace[newx][newy].g = ExpState->g + 1; + } + } + } +} + +void EnvironmentROBARM::Create2DStateSpace(State2D*** statespace2D) +{ + int x, y; + + //allocate a statespace for 2D search + *statespace2D = new State2D*[EnvROBARMCfg.EnvWidth_c]; + for (x = 0; x < EnvROBARMCfg.EnvWidth_c; x++) { + (*statespace2D)[x] = new State2D[EnvROBARMCfg.EnvHeight_c]; + for (y = 0; y < EnvROBARMCfg.EnvWidth_c; y++) { + InitializeState2D(&(*statespace2D)[x][y], x, y); + } + } +} + +void EnvironmentROBARM::Delete2DStateSpace(State2D*** statespace2D) +{ + int x; + + //delete the 2D statespace + for (x = 0; x < EnvROBARMCfg.EnvWidth_c; x++) { + delete[] (*statespace2D)[x]; + } + delete *statespace2D; +} + +void EnvironmentROBARM::ComputeHeuristicValues() +{ + int i; + + SBPL_PRINTF("Running 2D BFS to compute heuristics\n"); + + //allocate memory + int hsize = XYTO2DIND(EnvROBARMCfg.EnvWidth_c-1, EnvROBARMCfg.EnvHeight_c-1) + 1; + EnvROBARM.Heur = new int*[hsize]; + for (i = 0; i < hsize; i++) { + EnvROBARM.Heur[i] = new int[hsize]; + } + + //now compute the heuristics for each goal location + + State2D** statespace2D; + Create2DStateSpace(&statespace2D); + + for (int x = 0; x < EnvROBARMCfg.EnvWidth_c; x++) { + for (int y = 0; y < EnvROBARMCfg.EnvHeight_c; y++) { + int hind = XYTO2DIND(x,y); + + //perform the search for pathcosts to x,y and store values in Heur[hind] + Search2DwithQueue(statespace2D, &EnvROBARM.Heur[hind][0], x, y); + } + //SBPL_PRINTF("h for %d computed\n", x); + } + Delete2DStateSpace(&statespace2D); + + SBPL_PRINTF("done\n"); +} + +//---------------------------------------------------------------------- + +//--------------printing routines--------------------------------------- + +/* +void EnvironmentROBARM::PrintHeurGrid() +{ + int x,y; + + for (x = 0; x < EnvROBARMCfg.EnvWidth_c; x++) + { + for (y = 0; y < EnvROBARMCfg.EnvHeight_c; y++) + { + SBPL_PRINTF("HeurGrid[%d][%d]=%u\n", x,y,HeurGrid[x][y]); + } + SBPL_PRINTF("\n"); + } +} +*/ + +void EnvironmentROBARM::printangles(FILE* fOut, short unsigned int* coord, bool bGoal, bool bVerbose, bool bLocal) +{ + double angles[NUMOFLINKS]; + int i; + short unsigned int x, y; + + ComputeContAngles(coord, angles); + if (bVerbose) SBPL_FPRINTF(fOut, "angles: "); + for (i = 0; i < NUMOFLINKS; i++) { + if (!bLocal) + SBPL_FPRINTF(fOut, "%f ", angles[i]); + else { + if (i > 0) + SBPL_FPRINTF(fOut, "%f ", angles[i] - angles[i - 1]); + else + SBPL_FPRINTF(fOut, "%f ", angles[i]); + } + } + ComputeEndEffectorPos(angles, &x, &y); + if (bGoal) { + x = EnvROBARMCfg.EndEffGoalX_c; + y = EnvROBARMCfg.EndEffGoalY_c; + } + if (bVerbose) + SBPL_FPRINTF(fOut, "endeff: %d %d", x, y); + else + SBPL_FPRINTF(fOut, "%d %d", x, y); + + SBPL_FPRINTF(fOut, "\n"); +} + +/* +void EnvironmentROBARM::PrintPathRec(State* currentstate, State* searchstartstate, int* cost) +{ + if(currentstate == searchstartstate) + { + return; + } + + if(currentstate->g > currentstate->v) + { + SBPL_ERROR("ERROR: an underconsistent state is encountered on the path\n"); + +#if PLANNER_TYPE == ARA_PLANNER_TYPE + PrintState(currentstate, stdout); +#endif + throw SBPL_Exception(); + } + + //cost of the transition to the previous state + *cost = *cost + currentstate->costtobestnextstate; + if(*cost > 100000 || currentstate->g < currentstate->bestnextstate->v + + currentstate->costtobestnextstate || + !IsValidCoord(currentstate->bestnextstate->statecoord)) + { +#if PLANNER_TYPE == ARA_PLANNER_TYPE + SBPL_PRINTF("currentstate\n"); + PrintState(currentstate, stdout); + SBPL_PRINTF("nextstate\n"); + PrintState(currentstate->bestnextstate, stdout); +#endif + SBPL_PRINTF("next statecoord IsValid=%d\n", + IsValidCoord(currentstate->bestnextstate->statecoord)); + SBPL_ERROR("ERROR: cost of the path too high=%d or incorrect transition\n", *cost); + throw SBPL_Exception(); + } + //transition itself + currentstate = currentstate->bestnextstate; + + //proceed recursively +#if FORWARD_SEARCH + PrintPathRec(currentstate, searchstartstate, cost); + printangles(fSol, currentstate); +#else + printangles(fSol, currentstate); + PrintPathRec(currentstate, searchstartstate, cost); +#endif +} + +//prints found path and some statistics +int EnvironmentROBARM::PrintPathStat(double erreps, int* pathcost) +{ + State *goalstate, *startstate; + short unsigned int coord[NUMOFLINKS]; + int cost = 0; + int inconssize; + + goalstate = RobArmStateSpace.goalstate; + + ComputeCoord(RobArmStateSpace.currentangle, coord); + startstate = GetState(coord); + +#if FORWARD_SEARCH + if(goalstate == NULL || goalstate->bestnextstate == NULL) + { + SBPL_PRINTF("No path is found\n"); + *pathcost = INFINITECOST; + return 0; + } + PrintPathRec(goalstate, startstate, &cost); + printangles(fSol, goalstate); +#else + if(startstate == NULL || startstate->bestnextstate == NULL) + { + SBPL_PRINTF("No path is found\n"); + *pathcost = INFINITECOST; + return 0; + } + int goalh = Heuristic(goalstate, startstate); + if(startstate->g+startstate->h < goalh) + { + SBPL_ERROR("ERROR: invalid heuristic. goalh(updated)=%d startg=%d\n", + goalh, startstate->g); +#if PLANNER_TYPE == ARA_PLANNER_TYPE + PrintState(startstate, stdout); +#endif + throw SBPL_Exception(); + } + else + SBPL_PRINTF("goalh=%d startg=%d\n", goalstate->h, startstate->g); + printangles(fSol, startstate); + PrintPathRec(startstate, goalstate, &cost); +#endif + + SBPL_FPRINTF(fSol, "path cost=%d at eps=%f\n", cost, erreps); + SBPL_PRINTF("path cost=%d\n", cost); + +#if PLANNER_TYPE == ANYASTAR_PLANNER_TYPE + inconssize = 0; +#else + inconssize = RobArmStateSpace.inconslist->currentsize; +#endif + + SBPL_PRINTF("open size=%d, incons size=%d\n", + RobArmStateSpace.heap->currentsize, inconssize); + SBPL_FPRINTF(fSol, "open size=%d, incons size=%d\n", + RobArmStateSpace.heap->currentsize, inconssize); + + SBPL_FPRINTF(fSol1, "**************\n"); + SBPL_FFLUSH(fStat); + + *pathcost = cost; + + return 1; +} + +void EnvironmentROBARM::PrintInfo() +{ + int i; + unsigned int statespace_size = 1; + double fsize = 1.0; + + SBPL_FPRINTF(fSol, "statespace dim=%d size= <", NUMOFLINKS); + SBPL_FPRINTF(fSol1, "%d\n", NUMOFLINKS); + for(i = 0; i < NUMOFLINKS; i++) + { + statespace_size *= RobArmStateSpace.anglevals[i]; + SBPL_FPRINTF(fSol, "%d ", RobArmStateSpace.anglevals[i]); + SBPL_FPRINTF(fSol1, "%f ", EnvROBARMCfg.LinkLength_m[i]); + fsize = fsize*RobArmStateSpace.anglevals[i]; + } + SBPL_FPRINTF(fSol, "> => %g\n", fsize); + SBPL_FPRINTF(fSol1, "\n"); + + SBPL_PRINTF("dimensionality: %d statespace: %u (over 10^%d)\n", NUMOFLINKS, statespace_size, + (int)(log10(fsize))); +} + +void PrintCoord(short unsigned int coord[NUMOFLINKS], FILE* fOut) +{ + for(int i = 0; i < NUMOFLINKS; i++) + SBPL_FPRINTF(fOut, "%d ", coord[i]); + SBPL_FPRINTF(fOut, "\n"); +} +*/ + +//---------------------------------------------------------------------- + +//--------------------Additional domain specific functions-------------------------------------------------- + +void EnvironmentROBARM::ReadConfiguration(FILE* fCfg) +{ + char sTemp[1024]; + int dTemp; + int x, y, i; + + //environmentsize(meters) + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.EnvWidth_m = atof(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.EnvHeight_m = atof(sTemp); + + //discretization(cells) + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.EnvWidth_c = atoi(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.EnvHeight_c = atoi(sTemp); + + //basex(cells): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.BaseX_c = atoi(sTemp); + + //linklengths(meters): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + for (i = 0; i < NUMOFLINKS; i++) { + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.LinkLength_m[i] = atof(sTemp); + } + + //linkstartangles(degrees): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + for (i = 0; i < NUMOFLINKS; i++) { + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.LinkStartAngles_d[i] = atoi(sTemp); + } + + //endeffectorgoal(cells) or linkgoalangles(degrees): + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + if (strcmp(sTemp, "endeffectorgoal(cells):") == 0) { + //only endeffector is specified + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.EndEffGoalX_c = atoi(sTemp); + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.EndEffGoalY_c = atoi(sTemp); + + //set goalangle to invalid number + EnvROBARMCfg.LinkGoalAngles_d[0] = INVALID_NUMBER; + } + else if (strcmp(sTemp, "linkgoalangles(degrees):") == 0) { + double goalangles[NUMOFLINKS]; + + //linkgoalangles(degrees): 90.0 180.0 90.0 + for (i = 0; i < NUMOFLINKS; i++) { + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + EnvROBARMCfg.LinkGoalAngles_d[i] = atoi(sTemp); + } + //compute endeffectorgoal(cells): + for (i = 0; i < NUMOFLINKS; i++) { + goalangles[i] = PI_CONST * (EnvROBARMCfg.LinkGoalAngles_d[i] / 180.0); + } + ComputeEndEffectorPos(goalangles, &EnvROBARMCfg.EndEffGoalX_c, &EnvROBARMCfg.EndEffGoalY_c); + } + else { + std::stringstream ss("ERROR: invalid string encountered="); + ss << sTemp; + throw SBPL_Exception(ss.str()); + } + + //allocate the 2D environment + EnvROBARMCfg.Grid2D = new char*[EnvROBARMCfg.EnvWidth_c]; + for (x = 0; x < EnvROBARMCfg.EnvWidth_c; x++) { + EnvROBARMCfg.Grid2D[x] = new char[EnvROBARMCfg.EnvHeight_c]; + } + + //environment: + if (fscanf(fCfg, "%s", sTemp) != 1) { + throw SBPL_Exception("ERROR: ran out of env file early"); + } + for (y = 0; y < EnvROBARMCfg.EnvHeight_c; y++) + for (x = 0; x < EnvROBARMCfg.EnvWidth_c; x++) { + if (fscanf(fCfg, "%d", &dTemp) != 1) { + throw SBPL_Exception("ERROR: incorrect format of config file"); + } + EnvROBARMCfg.Grid2D[x][y] = dTemp; + } + + //set additional parameters + EnvROBARMCfg.GridCellWidth = EnvROBARMCfg.EnvWidth_m / EnvROBARMCfg.EnvWidth_c; + if (EnvROBARMCfg.GridCellWidth != EnvROBARMCfg.EnvHeight_m / EnvROBARMCfg.EnvHeight_c) { + throw SBPL_Exception("ERROR: The cell should be square"); + } +} + +void EnvironmentROBARM::DiscretizeAngles() +{ + int i; + double HalfGridCell = EnvROBARMCfg.GridCellWidth / 2.0; + + for (i = 0; i < NUMOFLINKS; i++) { + EnvROBARMCfg.angledelta[i] = 2 * asin(HalfGridCell / EnvROBARMCfg.LinkLength_m[i]); + EnvROBARMCfg.anglevals[i] = (int)(2.0 * PI_CONST / EnvROBARMCfg.angledelta[i] + 0.99999999); + } +} + +//angles are counterclokwise from 0 to 360 in radians, 0 is the center of bin 0, ... +void EnvironmentROBARM::ComputeContAngles(short unsigned int coord[NUMOFLINKS], double angle[NUMOFLINKS]) +{ + int i; + + for (i = 0; i < NUMOFLINKS; i++) { + angle[i] = coord[i] * EnvROBARMCfg.angledelta[i]; + } +} + +void EnvironmentROBARM::ComputeCoord(double angle[NUMOFLINKS], short unsigned int coord[NUMOFLINKS]) +{ + int i; + + for (i = 0; i < NUMOFLINKS; i++) { + coord[i] = (int)((angle[i] + EnvROBARMCfg.angledelta[i] * 0.5) / EnvROBARMCfg.angledelta[i]); + if (coord[i] == EnvROBARMCfg.anglevals[i]) coord[i] = 0; + } +} + +unsigned int EnvironmentROBARM::GetHeurBasedonCoord(short unsigned int coord[NUMOFLINKS]) +{ + short unsigned int endeffx, endeffy; + double angles[NUMOFLINKS]; + unsigned int h; + + ComputeContAngles(coord, angles); + ComputeEndEffectorPos(angles, &endeffx, &endeffy); + +#if INFORMED + h = HeurGrid[endeffx][endeffy]; +#else + h = 0; +#endif + + return h; +} + +void EnvironmentROBARM::Cell2ContXY(int x, int y, double *pX, double *pY) +{ + *pX = x * EnvROBARMCfg.GridCellWidth + EnvROBARMCfg.GridCellWidth * 0.5; + *pY = y * EnvROBARMCfg.GridCellWidth + EnvROBARMCfg.GridCellWidth * 0.5; +} + +void EnvironmentROBARM::ContXY2Cell(double x, double y, short unsigned int* pX, short unsigned int *pY) +{ + //take the nearest cell + *pX = (int)(x / EnvROBARMCfg.GridCellWidth); + if (x < 0) *pX = 0; + if (*pX >= EnvROBARMCfg.EnvWidth_c) *pX = EnvROBARMCfg.EnvWidth_c - 1; + + *pY = (int)(y / EnvROBARMCfg.GridCellWidth); + if (y < 0) *pY = 0; + if (*pY >= EnvROBARMCfg.EnvHeight_c) *pY = EnvROBARMCfg.EnvHeight_c - 1; +} + +//returns 1 if end effector within space, 0 otherwise +int EnvironmentROBARM::ComputeEndEffectorPos(double angles[NUMOFLINKS], short unsigned int* pX, short unsigned int* pY) +{ + double x, y; + int i; + int retval = 1; + + //start with the base + Cell2ContXY(EnvROBARMCfg.BaseX_c, EnvROBARMCfg.EnvHeight_c - 1, &x, &y); + + //translate the point along each link + for (i = 0; i < NUMOFLINKS; i++) { + x = x + EnvROBARMCfg.LinkLength_m[i] * cos(angles[i]); + y = y - EnvROBARMCfg.LinkLength_m[i] * sin(angles[i]); + } + + if (x < 0 || x >= EnvROBARMCfg.EnvWidth_m || y < 0 || y >= EnvROBARMCfg.EnvHeight_m) retval = 0; + + ContXY2Cell(x, y, pX, pY); + + //return 1; + return retval; +} + +//if pTestedCells is NULL, then the tested points are not saved and it is more +//efficient as it returns as soon as it sees first invalid point +int EnvironmentROBARM::IsValidLineSegment(double x0, double y0, double x1, double y1, char **Grid2D, + vector* pTestedCells) + +{ + bresenham_param_t params; + int nX, nY; + short unsigned int nX0, nY0, nX1, nY1; + int retvalue = 1; + CELLV tempcell; + + //make sure the line segment is inside the environment + if (x0 < 0 || x0 >= EnvROBARMCfg.EnvWidth_m || x1 < 0 || x1 >= EnvROBARMCfg.EnvWidth_m || y0 < 0 || + y0 >= EnvROBARMCfg.EnvHeight_m || y1 < 0 || y1 >= EnvROBARMCfg.EnvHeight_m) + { + return 0; + } + + ContXY2Cell(x0, y0, &nX0, &nY0); + ContXY2Cell(x1, y1, &nX1, &nY1); + + //iterate through the points on the segment + get_bresenham_parameters(nX0, nY0, nX1, nY1, ¶ms); + do { + get_current_point(¶ms, &nX, &nY); + if (Grid2D[nX][nY] == 1) { + if (pTestedCells == NULL) + return 0; + else + retvalue = 0; + } + + //insert the tested point + if (pTestedCells) { + tempcell.bIsObstacle = (Grid2D[nX][nY] == 1); + tempcell.x = nX; + tempcell.y = nY; + pTestedCells->push_back(tempcell); + } + } + while (get_next_point(¶ms)); + + return retvalue; +} + +int EnvironmentROBARM::IsValidCoord(short unsigned int coord[NUMOFLINKS], char** Grid2D /*=NULL*/, + vector* pTestedCells /*=NULL*/) +{ + double angles[NUMOFLINKS]; + int retvalue = 1; + + if (Grid2D == NULL) Grid2D = EnvROBARMCfg.Grid2D; + +#if ENDEFF_CHECK_ONLY + int endeffx, endeffy; + + //just check whether end effector is in valid position + ComputeContAngles(coord, angles); + if(ComputeEndEffectorPos(angles, &endeffx, &endeffy) == false) + return 0; + + //check that it is inside the grid + if(endeffx < 0 || endeffx >= EnvROBARMCfg.EnvWidth_c || + endeffy < 0 || endeffy >= EnvROBARMCfg.EnvHeight_c) + { + return 0; + } + + if(pTestedCells) + { + CELLV tempcell; + tempcell.IsObstacle = Grid2D[endeffx][endeffy]; + tempcell.x = endeffx; + tempcell.y = endeffy; + + pTestedCells->push_back(tempcell); + } + + //check end effector + if(Grid2D[endeffx][endeffy] == 1) + return 0; +#else + double x0, y0, x1, y1; + int i; + + //full check of all the links + ComputeContAngles(coord, angles); + + //iterate through all the links + Cell2ContXY(EnvROBARMCfg.BaseX_c, EnvROBARMCfg.EnvHeight_c - 1, &x1, &y1); + for (i = 0; i < NUMOFLINKS; i++) { + //compute the corresponding line segment + x0 = x1; + y0 = y1; + x1 = x0 + EnvROBARMCfg.LinkLength_m[i] * cos(angles[i]); + y1 = y0 - EnvROBARMCfg.LinkLength_m[i] * sin(angles[i]); + + //check the validity of the corresponding line segment + if (!IsValidLineSegment(x0, y0, x1, y1, Grid2D, pTestedCells)) { + if (pTestedCells == NULL) + return 0; + else + retvalue = 0; + } + } + +#endif + + return retvalue; +} + +int EnvironmentROBARM::cost(short unsigned int state1coord[], short unsigned int state2coord[]) +{ + + if (!IsValidCoord(state1coord) || !IsValidCoord(state2coord)) return INFINITECOST; + +#if UNIFORM_COST + return 1; +#else + int i; + //the cost becomes higher as we are closer to the base + for (i = 0; i < NUMOFLINKS; i++) { + if (state1coord[i] != state2coord[i]) return (NUMOFLINKS - i); + //return (NUMOFLINKS-i)*(NUMOFLINKS-i); + } + +// SBPL_ERROR("ERROR: cost on the same states is called:\n"); +// printangles(stdout, state1coord); +// printangles(stdout, state2coord); + + throw SBPL_Exception("ERROR: cost on the same states is called"); + +#endif +} + +void EnvironmentROBARM::InitializeEnvConfig() +{ + //find the discretization for each angle and store the discretization + DiscretizeAngles(); +} + +bool EnvironmentROBARM::InitializeEnvironment() +{ + short unsigned int coord[NUMOFLINKS]; + double startangles[NUMOFLINKS]; + double angles[NUMOFLINKS]; + int i; + short unsigned int endeffx, endeffy; + + //initialize the map from Coord to StateID + EnvROBARM.HashTableSize = 32 * 1024; //should be power of two + EnvROBARM.Coord2StateIDHashTable = new vector [EnvROBARM.HashTableSize]; + + //initialize the map from StateID to Coord + EnvROBARM.StateID2CoordTable.clear(); + + //initialize the angles of the start states + for (i = 0; i < NUMOFLINKS; i++) { + startangles[i] = PI_CONST * (EnvROBARMCfg.LinkStartAngles_d[i] / 180.0); + } + + ComputeCoord(startangles, coord); + ComputeContAngles(coord, angles); + ComputeEndEffectorPos(angles, &endeffx, &endeffy); + + //create the start state + EnvROBARM.startHashEntry = CreateNewHashEntry(coord, NUMOFLINKS, endeffx, endeffy); + + //create the goal state + //initialize the coord of goal state + for (i = 0; i < NUMOFLINKS; i++) { + coord[i] = 0; + } + EnvROBARM.goalHashEntry = CreateNewHashEntry(coord, NUMOFLINKS, EnvROBARMCfg.EndEffGoalX_c, + EnvROBARMCfg.EndEffGoalY_c); + + //check the validity of both goal and start configurations + //testing for EnvROBARMCfg.EndEffGoalX_c < 0 and EnvROBARMCfg.EndEffGoalY_c < 0 is useless since they are unsigned + if (!IsValidCoord(EnvROBARM.startHashEntry->coord) || EnvROBARMCfg.EndEffGoalX_c >= EnvROBARMCfg.EnvWidth_c + || EnvROBARMCfg.EndEffGoalY_c >= EnvROBARMCfg.EnvHeight_c) { + SBPL_PRINTF("Either start or goal configuration is invalid\n"); + return false; + } + + //for now heuristics are not set + EnvROBARM.Heur = NULL; + + return true; +} + +//---------------------------------------------------------------------- + +//-----------interface with outside functions----------------------------------- + +bool EnvironmentROBARM::InitializeEnv(const char* sEnvFile) +{ + FILE* fCfg = fopen(sEnvFile, "r"); + if (fCfg == NULL) { + std::stringstream ss("ERROR: unable to open "); + ss << sEnvFile; + throw SBPL_Exception(ss.str()); + } + ReadConfiguration(fCfg); + fclose(fCfg); + + //Initialize other parameters of the environment + InitializeEnvConfig(); + + //initialize Environment + if (InitializeEnvironment() == false) return false; + + //pre-compute heuristics + ComputeHeuristicValues(); + + return true; +} + +bool EnvironmentROBARM::InitializeMDPCfg(MDPConfig *MDPCfg) +{ + //initialize MDPCfg with the start and goal ids + MDPCfg->goalstateid = EnvROBARM.goalHashEntry->stateID; + MDPCfg->startstateid = EnvROBARM.startHashEntry->stateID; + + return true; +} + +int EnvironmentROBARM::GetFromToHeuristic(int FromStateID, int ToStateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if(FromStateID >= (int)EnvROBARM.StateID2CoordTable.size() + || ToStateID >= (int)EnvROBARM.StateID2CoordTable.size()) + { + throw SBPL_Exception("ERROR in EnvROBARM... function: stateID illegal"); + } +#endif + + //get X, Y for the state + EnvROBARMHashEntry_t* FromHashEntry = EnvROBARM.StateID2CoordTable[FromStateID]; + EnvROBARMHashEntry_t* ToHashEntry = EnvROBARM.StateID2CoordTable[ToStateID]; + + int h = + EnvROBARM.Heur[XYTO2DIND(ToHashEntry->endeffx, ToHashEntry->endeffy)][XYTO2DIND(FromHashEntry->endeffx, FromHashEntry->endeffy)]; + + /* + if(ToStateID != EnvROBARM.goalHashEntry->stateID) + { + //also consider the distanceincoord + + //get the heuristic based on angles + unsigned int hangles = distanceincoord(FromHashEntry->coord, ToHashEntry->coord); + + //the heuristic is the max of the two + h = __max(h, hangles); + } + */ + + return h; +} + +int EnvironmentROBARM::GetGoalHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (stateID >= (int)EnvROBARM.StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvROBARM... function: stateID illegal"); + } +#endif + + //define this function if it used in the planner (heuristic forward search would use it) + return GetFromToHeuristic(stateID, EnvROBARM.goalHashEntry->stateID); +} + +int EnvironmentROBARM::GetStartHeuristic(int stateID) +{ +#if USE_HEUR==0 + return 0; +#endif + +#if DEBUG + if (stateID >= (int)EnvROBARM.StateID2CoordTable.size()) { + throw SBPL_Exception("ERROR in EnvROBARM... function: stateID illegal"); + } +#endif + + //define this function if it used in the planner (heuristic backward search would use it) + + throw SBPL_Exception("ERROR in EnvROBARM.. function: GetStartHeuristic undefined"); + + return 0; +} + +void EnvironmentROBARM::SetAllPreds(CMDPSTATE* state) +{ + //implement this if the planner needs access to predecessors + + throw SBPL_Exception("ERROR in EnvROBARM... function: SetAllPreds is undefined"); +} + +int EnvironmentROBARM::SizeofCreatedEnv() +{ + return EnvROBARM.StateID2CoordTable.size(); +} + +void EnvironmentROBARM::PrintState(int stateID, bool bVerbose, FILE* fOut /*=NULL*/) +{ + +#if DEBUG + if(stateID >= (int)EnvROBARM.StateID2CoordTable.size()) + { + throw SBPL_Exception("ERROR in EnvROBARM... function: stateID illegal (2)"); + } +#endif + + if (fOut == NULL) fOut = stdout; + + EnvROBARMHashEntry_t* HashEntry = EnvROBARM.StateID2CoordTable[stateID]; + + bool bGoal = false; + if (stateID == EnvROBARM.goalHashEntry->stateID) bGoal = true; + + if (stateID == EnvROBARM.goalHashEntry->stateID && bVerbose) { + SBPL_FPRINTF(fOut, "the state is a goal state\n"); + bGoal = true; + } + + printangles(fOut, HashEntry->coord, bGoal, bVerbose, false); +} + +//get the goal as a successor of source state at given cost +//if costtogoal = -1 then the succ is chosen +void EnvironmentROBARM::PrintSuccGoal(int SourceStateID, int costtogoal, bool bVerbose, bool bLocal /*=false*/, + FILE* fOut /*=NULL*/) +{ + short unsigned int succcoord[NUMOFLINKS]; + double angles[NUMOFLINKS]; + short unsigned int endeffx, endeffy; + int i, inc; + + if (fOut == NULL) fOut = stdout; + + EnvROBARMHashEntry_t* HashEntry = EnvROBARM.StateID2CoordTable[SourceStateID]; + + //default coords of successor + for (i = 0; i < NUMOFLINKS; i++) + succcoord[i] = HashEntry->coord[i]; + + //iterate through successors of s + for (i = 0; i < NUMOFLINKS; i++) { + //increase and decrease in ith angle + for (inc = -1; inc < 2; inc = inc + 2) { + if (inc == -1) { + if (HashEntry->coord[i] == 0) + succcoord[i] = EnvROBARMCfg.anglevals[i] - 1; + else + succcoord[i] = HashEntry->coord[i] + inc; + } + else { + succcoord[i] = (HashEntry->coord[i] + inc) % EnvROBARMCfg.anglevals[i]; + } + + //skip invalid successors + if (!IsValidCoord(succcoord)) continue; + + ComputeContAngles(succcoord, angles); + ComputeEndEffectorPos(angles, &endeffx, &endeffy); + if (endeffx == EnvROBARMCfg.EndEffGoalX_c && endeffy == EnvROBARMCfg.EndEffGoalY_c) { + if (cost(HashEntry->coord, succcoord) == costtogoal || costtogoal == -1) { + if (bVerbose) SBPL_FPRINTF(fOut, "the state is a goal state\n"); + printangles(fOut, succcoord, true, bVerbose, bLocal); + return; + } + } + } + + //restore it back + succcoord[i] = HashEntry->coord[i]; + } +} + +void EnvironmentROBARM::PrintEnv_Config(FILE* fOut) +{ + //implement this if the planner needs to print out EnvROBARM. configuration + + throw SBPL_Exception("ERROR in EnvROBARM... function: PrintEnv_Config is undefined"); +} + +void EnvironmentROBARM::PrintHeader(FILE* fOut) +{ + SBPL_FPRINTF(fOut, "%d\n", NUMOFLINKS); + for (int i = 0; i < NUMOFLINKS; i++) + SBPL_FPRINTF(fOut, "%.3f ", EnvROBARMCfg.LinkLength_m[i]); + SBPL_FPRINTF(fOut, "\n"); +} + +void EnvironmentROBARM::SetAllActionsandAllOutcomes(CMDPSTATE* state) +{ + throw SBPL_Exception("ERROR in EnvROBARM..function: SetAllActionsandAllOutcomes is undefined"); +} + +void EnvironmentROBARM::GetSuccs(int SourceStateID, vector* SuccIDV, vector* CostV) +{ + int i, inc; + short unsigned int succcoord[NUMOFLINKS]; + double angles[NUMOFLINKS]; + + //clear the successor array + SuccIDV->clear(); + CostV->clear(); + + //goal state should be absorbing + if (SourceStateID == EnvROBARM.goalHashEntry->stateID) return; + + //get X, Y for the state + EnvROBARMHashEntry_t* HashEntry = EnvROBARM.StateID2CoordTable[SourceStateID]; + + //default coords of successor + for (i = 0; i < NUMOFLINKS; i++) + succcoord[i] = HashEntry->coord[i]; + + //iterate through successors of s + for (i = 0; i < NUMOFLINKS; i++) { + //increase and decrease in ith angle + for (inc = -1; inc < 2; inc = inc + 2) { + if (inc == -1) { + if (HashEntry->coord[i] == 0) + succcoord[i] = EnvROBARMCfg.anglevals[i] - 1; + else + succcoord[i] = HashEntry->coord[i] + inc; + } + else { + succcoord[i] = (HashEntry->coord[i] + inc) % EnvROBARMCfg.anglevals[i]; + } + + //skip invalid successors + if (!IsValidCoord(succcoord)) continue; + + //get the successor + EnvROBARMHashEntry_t* OutHashEntry; + bool bSuccisGoal = false; + short unsigned int endeffx = 0, endeffy = 0; + bool bEndEffComputed = false; + if (abs(HashEntry->endeffx - EnvROBARMCfg.EndEffGoalX_c) < 3 || abs(HashEntry->endeffy + - EnvROBARMCfg.EndEffGoalY_c) < 3) { + //do a strict checks on the endeff coordinates of the successor + ComputeContAngles(succcoord, angles); + ComputeEndEffectorPos(angles, &endeffx, &endeffy); + if (endeffx == EnvROBARMCfg.EndEffGoalX_c && endeffy == EnvROBARMCfg.EndEffGoalY_c) { + bSuccisGoal = true; + //SBPL_PRINTF("goal succ is generated\n"); + } + bEndEffComputed = true; + } + + if ((OutHashEntry = GetHashEntry(succcoord, NUMOFLINKS, bSuccisGoal)) == NULL) { + if (bEndEffComputed == false) { + ComputeContAngles(succcoord, angles); + ComputeEndEffectorPos(angles, &endeffx, &endeffy); + } + + //have to create a new entry + OutHashEntry = CreateNewHashEntry(succcoord, NUMOFLINKS, endeffx, endeffy); + } + SuccIDV->push_back(OutHashEntry->stateID); + CostV->push_back(cost(HashEntry->coord, succcoord)); + } + + //restore it back + succcoord[i] = HashEntry->coord[i]; + } +} + +void EnvironmentROBARM::GetPreds(int TargetStateID, vector* PredIDV, vector* CostV) +{ + throw SBPL_Exception("ERROR in EnvROBARM... function: GetPreds is undefined"); +} + +//generate succs at some domain-dependent distance - see environment.h for more info +void EnvironmentROBARM::GetRandomSuccsatDistance(int SourceStateID, std::vector* SuccIDV, std::vector* CLowV) +{ + short unsigned int coord[NUMOFLINKS]; + short unsigned int endeffx, endeffy; + double angles[NUMOFLINKS]; + + //clear the successor array + SuccIDV->clear(); + CLowV->clear(); + + //the number of successors + int numofsuccs = ROBARM_NUMOFRANDSUCCSATDIST; + + //goal state should be absorbing + if (SourceStateID == EnvROBARM.goalHashEntry->stateID) return; + + //get X, Y for the state + EnvROBARMHashEntry_t* HashEntry = EnvROBARM.StateID2CoordTable[SourceStateID]; + + //iterate through random actions + for (int succind = 0; succind < numofsuccs; succind++) { + //pick the coordinate that will have dist = longactiondist + int maxcoordind = (int)(NUMOFLINKS * (((double)rand()) / RAND_MAX)); + + //now iterate over the coordinates + for (int cind = 0; cind < NUMOFLINKS; cind++) { + + if (cind == maxcoordind) { + //we know the magnitude and just need to set sign + if ((((double)rand()) / RAND_MAX) > 0.5) { + //positive sign + coord[cind] = (HashEntry->coord[cind] + ROBARM_LONGACTIONDIST_CELLS) % EnvROBARMCfg.anglevals[cind]; + } + else { + //negative sign + if (HashEntry->coord[cind] < ROBARM_LONGACTIONDIST_CELLS) + coord[cind] = HashEntry->coord[cind] + EnvROBARMCfg.anglevals[cind] - + ROBARM_LONGACTIONDIST_CELLS; + else + coord[cind] = HashEntry->coord[cind] - ROBARM_LONGACTIONDIST_CELLS; + //if(coord[cind] < 0) + //{ + // SBPL_ERROR("ERROR: ROBARM_LONGACTIONDIST_CELLS is too large for dim %d\n", cind); + // throw SBPL_Exception(); + //} + } + } + else { + //any value within ROBARM_LONGACTIONDIST_CELLS from the center + int offset = (int)(ROBARM_LONGACTIONDIST_CELLS * (((double)rand()) / RAND_MAX)); + if ((((double)rand()) / RAND_MAX) > 0.5) offset = -offset; + + //we know the magnitude and just need to set sign + if (offset >= 0) { + //positive sign + coord[cind] = (HashEntry->coord[cind] + offset) % EnvROBARMCfg.anglevals[cind]; + } + else { + //negative sign + coord[cind] = (HashEntry->coord[cind] + offset); + if (HashEntry->coord[cind] < -offset) coord[cind] = HashEntry->coord[cind] + + EnvROBARMCfg.anglevals[cind] + offset; + //if(coord[cind] < 0) + //{ + // SBPL_ERROR("ERROR: ROBARM_LONGACTIONDIST_CELLS is too large for dim %d\n", cind); + // throw SBPL_Exception(); + //} + } + }//else random offset + }//over coordinates + + //skip the invalid sample + if (!IsValidCoord(coord)) continue; + + //clock_t currenttime = clock(); + + //compute end effector + ComputeContAngles(coord, angles); + ComputeEndEffectorPos(angles, &endeffx, &endeffy); + + //skip the ones whose end-effector is outside + if (abs(HashEntry->endeffx - endeffx) > ROBARM_LONGACTIONDIST_CELLS || abs(HashEntry->endeffy - endeffy) + > ROBARM_LONGACTIONDIST_CELLS) continue; + + bool bIsGoal = false; + if (endeffx == EnvROBARMCfg.EndEffGoalX_c && endeffy == EnvROBARMCfg.EndEffGoalY_c) { + bIsGoal = true; + //SBPL_PRINTF("goal succ is generated\n"); + } + + EnvROBARMHashEntry_t* OutHashEntry = NULL; + if ((OutHashEntry = GetHashEntry(coord, NUMOFLINKS, bIsGoal)) == NULL) { + //have to create a new entry + OutHashEntry = CreateNewHashEntry(coord, NUMOFLINKS, endeffx, endeffy); + } + + //compute clow + int clow; + clow = EnvironmentROBARM::GetFromToHeuristic(HashEntry->stateID, OutHashEntry->stateID); + + SuccIDV->push_back(OutHashEntry->stateID); + CLowV->push_back(clow); + + //time3_addallout += clock()-currenttime; + } + + //see if the goal belongs to the inside area and if yes then add it to SUCCS as well + if (abs(EnvROBARMCfg.EndEffGoalX_c - HashEntry->endeffx) <= ROBARM_LONGACTIONDIST_CELLS && + abs(EnvROBARMCfg.EndEffGoalY_c - HashEntry->endeffy) <= ROBARM_LONGACTIONDIST_CELLS) + { + EnvROBARMHashEntry_t* OutHashEntry = EnvROBARM.goalHashEntry; + + int clow = EnvironmentROBARM::GetFromToHeuristic(HashEntry->stateID, OutHashEntry->stateID); + + SuccIDV->push_back(OutHashEntry->stateID); + CLowV->push_back(clow); + } +} + +int EnvironmentROBARM::GetEdgeCost(int FromStateID, int ToStateID) +{ +#if DEBUG + if(FromStateID >= (int)EnvROBARM.StateID2CoordTable.size() || + ToStateID >= (int)EnvROBARM.StateID2CoordTable.size()) + { + throw SBPL_Exception("ERROR in EnvROBARM... function: stateID illegal"); + } +#endif + + //get X, Y for the state + EnvROBARMHashEntry_t* FromHashEntry = EnvROBARM.StateID2CoordTable[FromStateID]; + EnvROBARMHashEntry_t* ToHashEntry = EnvROBARM.StateID2CoordTable[ToStateID]; + + return cost(FromHashEntry->coord, ToHashEntry->coord); +} + +int EnvironmentROBARM::GetRandomState() +{ + short unsigned int coord[NUMOFLINKS]; + double angles[NUMOFLINKS]; + short unsigned int endeffx, endeffy; + EnvROBARMHashEntry_t* HashEntry = NULL; + + SBPL_PRINTF("picking a random state...\n"); + while (1) { + //iterate over links + for (int i = 0; i < NUMOFLINKS; i++) { + //give it a shot + coord[i] = (short unsigned int)(EnvROBARMCfg.anglevals[i] * (((double)rand()) / (((double)RAND_MAX) + 1))); + } + + /* + //iterate over links + double endx[NUMOFLINKS]; + double endy[NUMOFLINKS]; + double x0, y0, x1, y1; + + for(int i = 0; i < NUMOFLINKS; i++) + { + int j = 0; + + //set the start of the link + if(i == 0) + Cell2ContXY(EnvROBARMCfg.BaseX_c, EnvROBARMCfg.EnvHeight_c-1,&x0,&y0); + else + { + x0 = endx[i-1]; + y0 = endy[i-1]; + } + + //try to set the angle + int numoftrials = 100; + for(j = 0; j < numoftrials; j++) + { + //give it a shot + coord[i] = EnvROBARMCfg.anglevals[i]*(((double)rand())/(RAND_MAX+1)); + + //check the new link + ComputeContAngles(coord, angles); + x1 = x0 + EnvROBARMCfg.LinkLength_m[i]*cos(angles[i]); + y1 = y0 - EnvROBARMCfg.LinkLength_m[i]*sin(angles[i]); + + //check the validity of the corresponding line segment + if(IsValidLineSegment(x0,y0,x1,y1, EnvROBARMCfg.Grid2D, NULL)) + { + break; + } + } + + //see if we found it + if(j == numoftrials) + { + //failed, reset + SBPL_PRINTF("have to reset\n"); + break; + } + else + { + endx[i] = x1; + endy[i] = y1; + } + } + */ + + //if not valid then try something else + if (!IsValidCoord(coord)) { + //SBPL_ERROR("ERROR: we could not have gotten an invalid sample\n"); + continue; + } + else + //done - found + break; + } + SBPL_PRINTF("done\n"); + + //compute end effector + ComputeContAngles(coord, angles); + ComputeEndEffectorPos(angles, &endeffx, &endeffy); + bool bIsGoal = false; + if (endeffx == EnvROBARMCfg.EndEffGoalX_c && endeffy == EnvROBARMCfg.EndEffGoalY_c) { + bIsGoal = true; + //SBPL_PRINTF("goal succ is generated\n"); + } + + if ((HashEntry = GetHashEntry(coord, NUMOFLINKS, bIsGoal)) == NULL) { + //have to create a new entry + HashEntry = CreateNewHashEntry(coord, NUMOFLINKS, endeffx, endeffy); + } + + return HashEntry->stateID; +} + +bool EnvironmentROBARM::AreEquivalent(int State1ID, int State2ID) +{ + EnvROBARMHashEntry_t* HashEntry1 = EnvROBARM.StateID2CoordTable[State1ID]; + EnvROBARMHashEntry_t* HashEntry2 = EnvROBARM.StateID2CoordTable[State2ID]; + + return (HashEntry1->endeffx == HashEntry2->endeffx && HashEntry1->endeffy == HashEntry2->endeffy); +} + +//------------------------------------------------------------------------------ diff --git a/navigations/sbpl/src/heuristics/embedded_heuristic.cpp b/navigations/sbpl/src/heuristics/embedded_heuristic.cpp new file mode 100755 index 0000000..c1d05a0 --- /dev/null +++ b/navigations/sbpl/src/heuristics/embedded_heuristic.cpp @@ -0,0 +1,50 @@ +/* + * Copyright (c) 2015, 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. + */ + +#include + +EmbeddedHeuristic::EmbeddedHeuristic(DiscreteSpaceInformation* environment) : + Heuristic(environment) +{ +} + +int EmbeddedHeuristic::GetGoalHeuristic(int state_id) +{ + return m_environment->GetGoalHeuristic(state_id); +} + +int EmbeddedHeuristic::GetStartHeuristic(int state_id) +{ + return m_environment->GetStartHeuristic(state_id); +} + +int EmbeddedHeuristic::GetFromToHeuristic(int from_id, int to_id) +{ + return m_environment->GetFromToHeuristic(from_id, to_id); +} diff --git a/navigations/sbpl/src/include/sbpl/config.h b/navigations/sbpl/src/include/sbpl/config.h new file mode 100755 index 0000000..53f3564 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/config.h @@ -0,0 +1,134 @@ +/* + * 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. + */ + + #include + #ifdef ROS + #include + #endif + +#ifndef __CONFIG_H_ +#define __CONFIG_H_ + +/** + * \brief if set, then heuristic is used if available + */ +#define USE_HEUR 1 + +/** + * \brief memory debugging (available for vc++) + */ +#ifdef WIN32 +#define MEM_CHECK 0 +#endif + +/** + * \brief regular debugging + */ +#define DEBUG 0 + +/** + * \brief timing debugging + */ +#define TIME_DEBUG 0 + +/** + * \brief small epsilon for various floating error checking + */ +#define ERR_EPS 0.0000001 + +#define SBPL_LEVEL_NONE 0 +#define SBPL_LEVEL_DEBUG 1 +#define SBPL_LEVEL_INFO 2 +#define SBPL_LEVEL_WARN 3 +#define SBPL_LEVEL_ERROR 4 +#define SBPL_LEVEL_FATAL 5 + +typedef int (*SBPL_PRINT_TEXT_FP)(int level, const char*); +typedef int (*SBPL_FFLUSH_TEXT_FP)(FILE*); + +void SET_SBPL_PRINT_TEXT_FP(SBPL_PRINT_TEXT_FP fptr); +void SET_SBPL_FFLUSH_TEXT_FP(SBPL_FFLUSH_TEXT_FP fptr); + +int SBPL_PRINTALL(int level, const char* format, ...); +int SBPL_FPRINTALL(FILE* file, const char* format, ...); +int SBPL_FFLUSHALL(FILE* file); + +// Standard Output Logger Macros +#ifdef ROS +#define SBPL_DEBUG ROS_DEBUG +#define SBPL_DEBUG_NAMED(a,...) ROS_DEBUG_NAMED("SBPL_" #a,__VA_ARGS__) +#define SBPL_INFO ROS_INFO +#define SBPL_WARN ROS_WARN +#define SBPL_ERROR ROS_ERROR +#define SBPL_FATAL ROS_FATAL +#else + #if DEBUG +#define SBPL_DEBUG(...) SBPL_PRINTALL(SBPL_LEVEL_DEBUG, __VA_ARGS__) +#define SBPL_DEBUG_NAMED(file, ...) SBPL_FPRINTALL(file, __VA_ARGS__) +#define SBPL_INFO(...) SBPL_PRINTALL(SBPL_LEVEL_INFO, __VA_ARGS__) +#define SBPL_WARN(...) SBPL_PRINTALL(SBPL_LEVEL_WARN, __VA_ARGS__) +#define SBPL_ERROR(...) SBPL_PRINTALL(SBPL_LEVEL_ERROR, __VA_ARGS__) +#define SBPL_FATAL(...) SBPL_PRINTALL(SBPL_LEVEL_FATAL, __VA_ARGS__) + #else +#define SBPL_DEBUG(...) +#define SBPL_DEBUG_NAMED(file, ...) +#define SBPL_INFO(...) +#define SBPL_WARN(...) +#define SBPL_ERROR(...) +#define SBPL_FATAL(...) + #endif +#endif + +// File Output Logger Macros +#ifdef ROS +#define SBPL_DEBUG_NAMED(a,...) ROS_DEBUG_NAMED("SBPL_" #a,__VA_ARGS__) + +#define SBPL_FOPEN(...) (FILE*)1 +#define SBPL_FCLOSE(...) +#define SBPL_PRINTF ROS_DEBUG +#define SBPL_FPRINTF(a,...) ROS_DEBUG_NAMED("SBPL_" #a,__VA_ARGS__) +#define SBPL_FFLUSH(...) +#else + #if DEBUG +#define SBPL_FOPEN fopen +#define SBPL_FCLOSE fclose +#define SBPL_PRINTF(...) SBPL_PRINTALL(SBPL_LEVEL_NONE, __VA_ARGS__) +#define SBPL_FPRINTF(file, ...) SBPL_FPRINTALL(file, __VA_ARGS__) +#define SBPL_FFLUSH(file) SBPL_FFLUSHALL(file) + #else +#define SBPL_FOPEN(file, ...) (FILE*)1 +#define SBPL_FCLOSE(...) +#define SBPL_PRINTF(...) +#define SBPL_FPRINTF(file, ...) +#define SBPL_FFLUSH(file) + #endif +#endif + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/discrete_space_information/environment.h b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment.h new file mode 100755 index 0000000..018e284 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment.h @@ -0,0 +1,297 @@ +/* + * 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. + */ + +#ifndef __ENVIRONMENT_H_ +#define __ENVIRONMENT_H_ + +#include +#include +#include +#include + +class CMDPSTATE; +struct MDPConfig; + +/** + * \brief base class for environments defining planning graphs + * + * It is independent of the graph search used + * The main means of communication between environment and graph search is + * through stateID. Each state is uniquely defined by stateID and graph + * search is ONLY aware of stateIDs. It doesn't know anything about + * the actual state variables. Environment, on the * other hand, maintains a + * mapping from stateID to actual state variables (coordinates) using + * StateID2IndexMapping array + */ +class DiscreteSpaceInformation +{ +public: + /** + * \brief mapping from hashentry stateID (used in environment to contain + * the coordinates of a state, say x,y or x,y,theta) + * to an array of state indices used in searches. + * + * If a single search is done, then it is a single entry. So + * StateID2IndexMapping[100][0] = 5 means that hashentry with stateID 100 + * is mapped onto search index = 5 in search 0 The value of -1 means that + * no search state has been created yet for this hashentry + */ + std::vector StateID2IndexMapping; + + /** + * \brief debugging file + */ + FILE* fDeb; + + /** + * \brief initialization environment from file (see .cfg files for examples) + */ + virtual bool InitializeEnv(const char* sEnvFile) = 0; + + /** + * \brief initialization of MDP data structure + */ + virtual bool InitializeMDPCfg(MDPConfig *MDPCfg) = 0; + + /** + * \brief heuristic estimate from state FromStateID to state ToStateID + */ + virtual int GetFromToHeuristic(int FromStateID, int ToStateID) = 0; + + /** + * \brief heuristic estimate from state with stateID to goal state + */ + virtual int GetGoalHeuristic(int stateID) = 0; + + /** + * \brief heuristic estimate from start state to state with stateID + */ + virtual int GetStartHeuristic(int stateID) = 0; + + /** \brief depending on the search used, it may call GetSuccs function + * (for forward search) or GetPreds function (for backward search) + * or both (for incremental search). At least one of this functions should + * be implemented (otherwise, there will be no search to run) Some searches + * may also use SetAllActionsandAllOutcomes or SetAllPreds functions if they + * keep the pointers to successors (predecessors) but most searches do not + * require this, so it is not necessary to support this + */ + virtual void GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV) = 0; + + /** + * \brief This version is used with lazy planners. The environment must tell which successors have + * been evaluated fully (and therefore their true cost is being returned) or if it has not been. + * If a successor's cost is not true, then the cost must not overestimate the true cost. + */ + virtual void GetLazySuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost){ + throw SBPL_Exception("ERROR: GetLazySuccs is not implemented for this environment"); + }; + + /** + * \brief This version of GetSuccs is needed for E-Graphs. It always returns a unique ID for + * every successor. Generally, this function operates the same as the usual GetSuccs + * and only has different behavior when dealing with an underspecified goal condition + * so that several different states will have to map to the same id number (most planners + * in sbpl use a single goal id number to identify the goal). This function is used + * in conjunction with isGoal. + */ + virtual void GetSuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV){ + throw SBPL_Exception("ERROR: GetSuccsWithUniqueIds is not implemented for this environment"); + }; + + /** + * \brief The lazy version of GetSuccsUniqueIds. + */ + virtual void GetLazySuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost){ + throw SBPL_Exception("ERROR: GetLazySuccsWithUniqueIds (lazy) is not implemented for this environment"); + }; + + /** + * \brief Used with lazy planners. This evaluates a edge fully that had previously been provided by GetSuccs + * without a "true cost". If the edge is found to be invalid, it should return -1 + */ + virtual int GetTrueCost(int parentID, int childID){ + throw SBPL_Exception("ERROR: GetTrueCost (used for lazy planning) is not implemented for this environment"); + return -1; + }; + + /** + * \brief This function is generally used with E-Graphs (in conjunction with GetSuccsWithUniqueIds). + */ + virtual bool isGoal(int id){ + throw SBPL_Exception("ERROR: isGoal is not implemented for this environment"); + return false; + }; + + /** + * \brief see comments for GetSuccs functon + */ + virtual void GetPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV) = 0; + + /** + * \brief see comments for GetSuccs functon + */ + virtual void GetLazyPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV, std::vector* isTrueCost){ + throw SBPL_Exception("ERROR: GetLazyPreds is not implemented for this environment"); + }; + + /** + * \brief see comments for GetSuccs functon + */ + virtual void GetPredsWithUniqueIds(int TargetStateID, std::vector* PredIDV, std::vector* CostV){ + SBPL_ERROR("ERROR: GetPredsWithUniqueIds is not implemented for this environment!\n"); + throw SBPL_Exception("ERROR: GetPredsWithUniqueIds is not implemented for this environment"); + }; + + /** + * \brief see comments for GetSuccs functon + */ + virtual void GetLazyPredsWithUniqueIds(int TargetStateID, std::vector* PredIDV, std::vector* CostV, std::vector* isTrueCost){ + SBPL_ERROR("ERROR: GetLazyPredsWithUniqueIds is not implemented for this environment!\n"); + throw SBPL_Exception("ERROR: GetLazyPredsWithUniqueIds is not implemented for this environment"); + }; + + /** + * \brief see comments for GetSuccs functon + */ + virtual void SetAllActionsandAllOutcomes(CMDPSTATE* state) = 0; + + /** + * \brief see comments for GetSuccs functon + */ + virtual void SetAllPreds(CMDPSTATE* state) = 0; + + /** + * \brief returns the number of states (hashentries) created + */ + virtual int SizeofCreatedEnv() = 0; + + /** + * \brief prints the state variables for a state with stateID + */ + virtual void PrintState(int stateID, bool bVerbose, FILE* fOut = NULL) = 0; + + /** + * \brief prints environment config file + */ + virtual void PrintEnv_Config(FILE* fOut) = 0; + + /** + * \brief sets a parameter to a value. The set of supported parameters depends on the particular environment + */ + virtual bool SetEnvParameter(const char* parameter, int value) + { + SBPL_ERROR("ERROR: Environment has no parameters that can be set via SetEnvParameter function\n"); + return false; + } + + /** NOTE - for debugging door planner - ben 8.31.09 */ + virtual std::vector GetExpandedStates() + { + SBPL_ERROR("Error: Not yet defined for any environment other than door environment.\n"); + std::vector list; + return list; + } + + /** \brief returns true if two states meet the same condition, brief this + * is used in some planners to figure out if two states are the same in + * some lower-dimensional manifold for example, in robotarm planning, two + * states could be equivalent if their end effectors are at the same + * position unless overwritten in a child class, this function is not + * implemented + */ + virtual bool AreEquivalent(int StateID1, int StateID2) + { + throw SBPL_Exception("ERROR: environment does not support calls to AreEquivalent function"); + } + + /** \brief the following two functions generate succs/preds at some + * domain-dependent distance. The number of generated succs/preds is up + * to the environment. NOTE: they MUST generate goal state as a succ/pred if + * it is within the distance from the state CLowV is the corresponding + * vector of lower bounds on the costs from the state to the successor + * states (or vice versa for preds function) unless overwritten in a child + * class, this function is not implemented + */ + virtual void GetRandomSuccsatDistance(int SourceStateID, std::vector* SuccIDV, std::vector* CLowV) + { + throw SBPL_Exception("ERROR: environment does not support calls to GetRandomSuccsatDistance function"); + } + + /** + * \brief see comments for GetRandomSuccsatDistance + */ + virtual void GetRandomPredsatDistance(int TargetStateID, std::vector* PredIDV, std::vector* CLowV) + { + throw SBPL_Exception("ERROR: environment does not support calls to GetRandomPredsatDistance function"); + } + + /** + * \brief checks the heuristics for consistency (some environments do not support this debugging call) + */ + virtual void EnsureHeuristicsUpdated(bool bGoalHeuristics) + { + // by default the heuristics are up-to-date, but in some cases, the + // heuristics are computed only when really needed. For example, + // xytheta environment uses 2D gridsearch as heuristics, and then + // re-computes them only when this function is called. This minimizes + // the number of times heuristics are re-computed which is an expensive + // operation if bGoalHeuristics == true, then it updates goal + // heuristics (for forward search), otherwise it updates start + // heuristics (for backward search) + } + + /** + * \brief destructor + */ + virtual ~DiscreteSpaceInformation() + { + SBPL_PRINTF("destroying discretespaceinformation\n"); + for (unsigned int i = 0; i < StateID2IndexMapping.size(); ++i) { + if (StateID2IndexMapping[i] != NULL) delete[] StateID2IndexMapping[i]; + } + SBPL_FCLOSE(fDeb); + } + + /** + * \brief constructor + */ + DiscreteSpaceInformation() + { +#if !defined(ROS) && DEBUG + const char* envdebug = "envdebug.txt"; +#endif + if ((fDeb = SBPL_FOPEN(envdebug, "w")) == NULL) { + throw SBPL_Exception("ERROR: failed to open debug file for environment"); + } + } +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_XXX.h b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_XXX.h new file mode 100755 index 0000000..f84690a --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_XXX.h @@ -0,0 +1,178 @@ +/* + * 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. + */ + +#ifndef __ENVIRONMENT_XXX_H_ +#define __ENVIRONMENT_XXX_H_ + +#include +#include +#include + +#define XXX_MAXACTIONSWIDTH 9 + +class CMDPACTION; +class CMDPSTATE; +class MDPConfig; + +typedef struct ENV_XXX_CONFIG +{ + //parameters that are read from the configuration file + unsigned int StartX1; + unsigned int StartX2; + unsigned int StartX3; + unsigned int StartX4; + unsigned int GoalX1; + unsigned int GoalX2; + unsigned int GoalX3; + unsigned int GoalX4; + + //derived and initialized elsewhere parameters +} EnvXXXConfig_t; + +typedef struct ENVXXXHASHENTRY +{ + int stateID; + unsigned int X1; + unsigned int X2; + unsigned int X3; + unsigned int X4; +} EnvXXXHashEntry_t; + +typedef struct +{ + int startstateid; + int goalstateid; + + //hash table of size x_size*y_size. Maps from coords to stateId + int HashTableSize; + std::vector* Coord2StateIDHashTable; + + //vector that maps from stateID to coords + std::vector StateID2CoordTable; + + //any additional variables +} EnvironmentXXX_t; + +/** \brief this is just an example of environment and can be used (copy and + * paste) for creating a more complex environment + */ +class EnvironmentXXX : public DiscreteSpaceInformation +{ +public: + /** + * \brief see comments on the same function in the parent class + */ + virtual bool InitializeEnv(const char* sEnvFile); + + /** + * \brief see comments on the same function in the parent class + */ + virtual bool InitializeMDPCfg(MDPConfig *MDPCfg); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetFromToHeuristic(int FromStateID, int ToStateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetGoalHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetStartHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void SetAllActionsandAllOutcomes(CMDPSTATE* state); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void SetAllPreds(CMDPSTATE* state); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void GetPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int SizeofCreatedEnv(); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintState(int stateID, bool bVerbose, FILE* fOut = NULL); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintEnv_Config(FILE* fOut); + + ~EnvironmentXXX() { } + +protected: + //member variables + EnvXXXConfig_t EnvXXXCfg; + EnvironmentXXX_t EnvXXX; + + virtual void ReadConfiguration(FILE* fCfg); + + virtual void InitializeEnvConfig(); + + virtual unsigned int GETHASHBIN(unsigned int X1, unsigned int X2, unsigned int X3, unsigned int X4); + + virtual void PrintHashTableHist(); + + virtual EnvXXXHashEntry_t* GetHashEntry(unsigned int X1, unsigned int X2, unsigned int X3, unsigned int X4); + + virtual EnvXXXHashEntry_t* CreateNewHashEntry(unsigned int X1, unsigned int X2, unsigned int X3, unsigned int X4); + + virtual void CreateStartandGoalStates(); + + virtual void InitializeEnvironment(); + + virtual void AddAllOutcomes(unsigned int SourceX1, unsigned int SourceX2, unsigned int SourceX3, + unsigned int SourceX4, CMDPACTION* action, int cost); + + virtual void ComputeHeuristicValues(); +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_nav2D.h b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_nav2D.h new file mode 100755 index 0000000..c13ee3b --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_nav2D.h @@ -0,0 +1,391 @@ +/* + * 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. + */ + +#ifndef __ENVIRONMENT_NAV2D_H_ +#define __ENVIRONMENT_NAV2D_H_ + +#include +#include +#include +#include + +#define ENVNAV2D_COSTMULT 1000 +#define ENVNAV2D_DEFAULTOBSTHRESH 1 //253-for willow garage //see explanation of the value below +#define ENVNAV2D_MAXDIRS 16 //TODO-debugmax - crashes for 8 in debug mode + +class CMDPSTATE; +class MDPConfig; + +//configuration parameters +typedef struct ENV_NAV2D_CONFIG +{ + ENV_NAV2D_CONFIG() + { + Grid2D = NULL; + } + + int EnvWidth_c; + int EnvHeight_c; + int StartX_c; + int StartY_c; + int EndX_c; + int EndY_c; + unsigned char** Grid2D; + //the value at which and above which cells are obstacles in the maps sent from outside + //the default is defined above + unsigned char obsthresh; + + int dx_[ENVNAV2D_MAXDIRS]; + int dy_[ENVNAV2D_MAXDIRS]; + //the intermediate cells through which the actions go + int dxintersects_[ENVNAV2D_MAXDIRS][2]; + int dyintersects_[ENVNAV2D_MAXDIRS][2]; + //distances of transitions + int dxy_distance_mm_[ENVNAV2D_MAXDIRS]; + + int numofdirs; //for now either 8 or 16 (default is 8) +} EnvNAV2DConfig_t; + +typedef struct ENVHASHENTRY +{ + int stateID; + int X; + int Y; +} EnvNAV2DHashEntry_t; + +//variables that dynamically change (e.g., array of states, ...) +typedef struct ENVNAV2D +{ + ENVNAV2D() + { + Coord2StateIDHashTable = NULL; + } + + int startstateid; + int goalstateid; + + bool bInitialized; + + //hash table of size x_size*y_size. Maps from coords to stateId + int HashTableSize; + std::vector* Coord2StateIDHashTable; + + //vector that maps from stateID to coords + std::vector StateID2CoordTable; + + //any additional variables +} EnvironmentNAV2D_t; + +/** + * \brief 2D (x,y) grid planning problem. For general structure see comments + * on parent class DiscreteSpaceInformation + */ +class EnvironmentNAV2D : public DiscreteSpaceInformation +{ +public: + /** + * \brief see comments on the same function in the parent class + */ + virtual bool InitializeEnv(const char* sEnvFile); + + /** + *\brief see comments on the same function in the parent class + */ + virtual bool InitializeMDPCfg(MDPConfig *MDPCfg); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetFromToHeuristic(int FromStateID, int ToStateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetGoalHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetStartHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void SetAllActionsandAllOutcomes(CMDPSTATE* state); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void SetAllPreds(CMDPSTATE* state); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV); + + + virtual void GetLazySuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost){ + GetSuccs(SourceStateID, SuccIDV, CostV); + isTrueCost->resize(SuccIDV->size(),true); + }; + virtual void GetSuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV){ + GetSuccs(SourceStateID, SuccIDV, CostV); + }; + virtual void GetLazySuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost){ + GetLazySuccs(SourceStateID, SuccIDV, CostV, isTrueCost); + }; + + virtual int GetTrueCost(int parentID, int childID){return -1;};//FIXME: this shouldn't ever be called because we always return true cost... + + virtual bool isGoal(int id){ + return EnvNAV2D.goalstateid == id; + }; + + virtual void GetLazyPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV, std::vector* isTrueCost){ + GetPreds(TargetStateID, PredIDV, CostV); + isTrueCost->resize(PredIDV->size(),true); + }; + virtual void GetPredsWithUniqueIds(int TargetStateID, std::vector* PredIDV, std::vector* CostV){ + GetPreds(TargetStateID, PredIDV, CostV); + }; + virtual void GetLazyPredsWithUniqueIds(int TargetStateID, std::vector* PredIDV, std::vector* CostV, std::vector* isTrueCost){ + GetLazyPreds(TargetStateID, PredIDV, CostV, isTrueCost); + }; + + /** + * \brief see comments on the same function in the parent class + */ + virtual void GetPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int SizeofCreatedEnv(); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintState(int stateID, bool bVerbose, FILE* fOut = NULL); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintEnv_Config(FILE* fOut); + + /** + * \brief initialize environment. Gridworld is defined as matrix A of + * size width by height. + * So, internally, it is accessed as A[x][y] with x ranging from 0 to + * width-1 and and y from 0 to height-1. Each element in A[x][y] is unsigned + * char. A[x][y] = 0 corresponds to fully traversable and cost is just + * Euclidean distance. The cost of transition between two neighboring cells + * is EuclideanDistance*(max(A[sourcex][sourcey],A[targetx][targety])+1). If + * A[x][y] >= obsthresh, then in the above equation it is assumed to be + * infinite. mapdata is a pointer to the values of A. If it is null, then A + * is initialized to all zeros. Mapping is: A[x][y] = mapdata[x+y*width] + * start/goal are given by startx, starty, goalx,goaly. If they are not + * known yet, just set them to 0. Later setgoal/setstart can be executed + * finally obsthresh defined obstacle threshold, as mentioned above + */ + virtual bool InitializeEnv(int width, int height, + + /** if mapdata is NULL the grid is initialized to all freespace */ + const unsigned char* mapdata, int startx, int starty, int goalx, int goaly, unsigned char obsthresh); + + /** + * \brief a short version of environment initialization. Here start and goal coordinates will be set to 0s + * + * if mapdata is NULL the grid is initialized to all freespace + */ + virtual bool InitializeEnv(int width, int height, const unsigned char* mapdata, unsigned char obsthresh); + + /** + * \brief set start location + */ + virtual int SetStart(int x, int y); + + /** + * \brief set goal location + */ + virtual int SetGoal(int x, int y); + + /** + * \brief currently, this is not used + */ + virtual void SetGoalTolerance(double tol_x, double tol_y, double tol_theta); /**< not used yet */ + + /** + * \brief update the traversability of a cell + */ + virtual bool UpdateCost(int x, int y, unsigned char newcost); + + /** \brief this function fill in Predecessor/Successor states of edges + * whose costs changed + * It takes in an array of cells whose traversability changed, and returns + * (in vector preds_of_changededgesIDV) the IDs of all states that have + * outgoing edges that go through the changed cells + */ + virtual void GetPredsofChangedEdges(std::vector const * changedcellsV, + std::vector *preds_of_changededgesIDV); + + /** + * \brief same as GetPredsofChangedEdges, but returns successor states. + * Both functions need to be present for incremental search + */ + virtual void GetSuccsofChangedEdges(std::vector const * changedcellsV, + std::vector *succs_of_changededgesIDV); + + /** + * \brief returns true if two states meet the same condition - see + * environment.h for more info + */ + virtual bool AreEquivalent(int StateID1, int StateID2); + + /** + * \brief generates succs at some domain-dependent distance - see + * environment.h for more info used by certain searches such as R* + */ + virtual void GetRandomSuccsatDistance(int SourceStateID, std::vector* SuccIDV, std::vector* CLowV); + + /** + * \brief generates preds at some domain-dependent distance - see + * environment.h for more info + * used by certain searches such as R* + */ + virtual void GetRandomPredsatDistance(int TargetStateID, std::vector* PredIDV, std::vector* CLowV); + + /** + * \brief generates nNumofNeighs random neighbors of cell at + * distance nDist_c (measured in cells) + * it will also generate goal if within this distance as an additional + * neighbor + */ + virtual void GetRandomNeighs(int stateID, std::vector* NeighIDV, std::vector* CLowV, int nNumofNeighs, + int nDist_c, bool bSuccs); + + /** + * \brief a direct way to set the configuration of environment - see + * InitializeEnv function for details about the parameters + * it is not a full way to initialize environment. To fully initialize, one + * needs to executed InitGeneral in addition. + * + * if mapdata is NULL the grid is initialized to all freespace + */ + virtual void SetConfiguration(int width, int height, const unsigned char* mapdata, + int startx, int starty, + int goalx, int goaly); + + /** + * \brief performs initialization of environments. It is usually called + * in from InitializeEnv. But if SetConfiguration is used, then one + * should call InitGeneral by himself + */ + virtual bool InitGeneral(); + + /** + * \brief returns the actual associated with state of stateID + */ + virtual void GetCoordFromState(int stateID, int& x, int& y) const; + + /** + * \brief returns a stateID associated with coordinates + */ + virtual int GetStateFromCoord(int x, int y); + + /** + * \brief returns true if is obstacle (used by the value of this + * cell and obsthresh) + */ + virtual bool IsObstacle(int x, int y); + + /** + * \brief returns the cost associated with cell, i.e., A[x][y] + */ + virtual unsigned char GetMapCost(int x, int y); + + /** + * \brief returns the parameters associated with the current environment. + * This is useful for setting up a copy of an environment (i.e., second + * planning problem) + */ + virtual void GetEnvParms(int *size_x, int *size_y, int* startx, int* starty, int* goalx, int* goaly, + unsigned char* obsthresh); + + /** + * \brief way to set up various parameters. For a list of parameters, see + * the body of the function - it is pretty straightforward + */ + virtual bool SetEnvParameter(const char* parameter, int value); + + /** + * \brief access to internal configuration data structure + */ + virtual const EnvNAV2DConfig_t* GetEnvNavConfig(); + + EnvironmentNAV2D(); + ~EnvironmentNAV2D(); + + /** + * \brief print some time statistics + */ + virtual void PrintTimeStat(FILE* fOut); + + /** + * \brief checks X,Y against map boundaries + */ + virtual bool IsWithinMapCell(int X, int Y); + +protected: + //member data + EnvNAV2DConfig_t EnvNAV2DCfg; + EnvironmentNAV2D_t EnvNAV2D; + + virtual void ReadConfiguration(FILE* fCfg); + + virtual void InitializeEnvConfig(); + + virtual unsigned int GETHASHBIN(unsigned int X, unsigned int Y); + + virtual void PrintHashTableHist(); + + virtual EnvNAV2DHashEntry_t* GetHashEntry(int X, int Y); + + virtual EnvNAV2DHashEntry_t* CreateNewHashEntry(int X, int Y); + + virtual void InitializeEnvironment(); + + virtual void ComputeHeuristicValues(); + + virtual bool IsValidCell(int X, int Y); + + virtual void Computedxy(); +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_nav2Duu.h b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_nav2Duu.h new file mode 100755 index 0000000..986040b --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_nav2Duu.h @@ -0,0 +1,252 @@ +/* + * Copyright (c) 2009, 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. + */ + +#ifndef __ENVIRONMENT_NAV2DUU_H_ +#define __ENVIRONMENT_NAV2DUU_H_ + +#include +#include +#include +#include +#include +#include +#include + +#define ENVNAV2DUU_COSTMULT 1000 +#define NAV2DUU_MAXACTIONSWIDTH 9 +#define ENVNAV2DUU_MAXDIRS 8 + +class CMDPACTION; +class CMDPSTATE; +class MDPConfig; + +typedef struct ENV_NAV2DUU_CONFIG +{ + //parameters that are read from the configuration file + int EnvWidth_c; + int EnvHeight_c; + int StartX_c; + int StartY_c; + int EndX_c; + int EndY_c; + //cost matrix + unsigned char** Grid2D; + //the value at which and above which cells are obstacles in the maps sent from outside + //the default is defined above + unsigned char obsthresh; + //uncertainty matrix (0 defines P(obstacle) = 0, and 1.0 defines P(obstacle) = 1) + float** UncertaintyGrid2D; + //matrix of hidden variable IDs + int** HiddenVariableXY2ID; + + //derived and initialized elsewhere parameters + + //possible transitions + int dx_[ENVNAV2DUU_MAXDIRS]; + int dy_[ENVNAV2DUU_MAXDIRS]; + //distances of transitions + int dxy_distance_mm_[ENVNAV2DUU_MAXDIRS]; + //the intermediate cells through which the actions go + int dxintersects_[ENVNAV2D_MAXDIRS][2]; + int dyintersects_[ENVNAV2D_MAXDIRS][2]; + int numofdirs; //for now can only be 8 + + //size of environment, number of hidden variables + int sizeofS; + int sizeofH; +} EnvNAV2DUUConfig_t; + +#define NAVNAV2DUU_MAXWIDTHHEIGH 1024 +#define ENVNAV2DUU_STATEIDTOY(stateID) (stateID%NAVNAV2DUU_MAXWIDTHHEIGH) +#define ENVNAV2DUU_STATEIDTOX(stateID) (stateID/NAVNAV2DUU_MAXWIDTHHEIGH) +#define ENVNAV2DUU_XYTOSTATEID(X, Y) (X*NAVNAV2DUU_MAXWIDTHHEIGH + Y) + +typedef struct +{ + int startstateid; + int goalstateid; + + //any additional variables + bool bInitialized; +} EnvironmentNAV2DUU_t; + +/** + * \brief this class is NOT fully yet implemented, please do not use it! + */ +class EnvironmentNAV2DUU : public DiscreteSpaceInformation +{ +public: + /** + * \brief see comments on the same function in the parent class + */ + virtual bool InitializeEnv(const char* sEnvFile); + + /** + * \brief initialize environment. Gridworld is defined as matrix A of + * size width by height. + * So, internally, it is accessed as A[x][y] with x ranging from 0 to + * width-1 and and y from 0 to height-1. Each element in A[x][y] is unsigned + * char. A[x][y] = 0 corresponds to fully traversable and cost is just + * Euclidean distance. The cost of transition between two neighboring cells + * is EuclideanDistance*(max(A[sourcex][sourcey],A[targetx][targety])+1). If + * A[x][y] >= obsthresh, then in the above equation it is assumed to be + * infinite. mapdata is a pointer to the values of A. If it is null, then A + * is initialized to all zeros. Mapping is: A[x][y] = mapdata[x+y*width] + * start/goal are given by startx, starty, goalx,goaly. If they are not + * known yet, just set them to 0. Later setgoal/setstart can be executed + * finally obsthresh defined obstacle threshold, as mentioned above + * uncertaintymapdata is set up in the same way as mapdata in terms of the + * order in terms of the values, uncertaintymapdata specifies probabilities + * of being obstructed + */ + virtual bool InitializeEnv(int width, int height, const unsigned char* mapdata, const float* uncertaintymapdata, + unsigned char obsthresh); + + /** + * \brief set start location + */ + virtual int SetStart(int x, int y); + + /** + * \brief set goal location + */ + virtual int SetGoal(int x, int y); + + /** + * \brief update the traversability of a cell + */ + virtual bool UpdateCost(int x, int y, unsigned char newcost); + + /** + * \brief see comments on the same function in the parent class + */ + virtual bool InitializeMDPCfg(MDPConfig *MDPCfg); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetFromToHeuristic(int FromStateID, int ToStateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetGoalHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetStartHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintState(int stateID, bool bVerbose, FILE* fOut = NULL); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintEnv_Config(FILE* fOut); + + EnvironmentNAV2DUU(); + + ~EnvironmentNAV2DUU() + { + } + + /** + * \brief not fully implemented yet + */ + virtual void GetPreds(int stateID, const std::vector* updatedhvaluesV, + std::vector* IncomingDetActionV, std::vector* IncomingStochActionV, + std::vector* StochActionNonpreferredOutcomeV); + + /** + * \brief not fully implemented yet + */ + virtual void SetAllActionsandAllOutcomes(CMDPSTATE* state) + { + throw SBPL_Exception("ERROR: SetAllActionsandAllOutcomes not supported in NAV2D_UNDER_UNCERTAINTY"); + } + + /** + * \brief not fully implemented yet + */ + virtual void SetAllPreds(CMDPSTATE* state) + { + throw SBPL_Exception("ERROR: SetAllPreds not supported in NAV2D_UNDER_UNCERTAINTY"); + } + + /** + * \brief not fully implemented yet + */ + virtual void GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV) + { + throw SBPL_Exception("ERROR: GetSuccs not supported in NAV2D_UNDER_UNCERTAINTY"); + } + + /** + * \brief not fully implemented yet + */ + virtual void GetPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV) + { + throw SBPL_Exception("ERROR: GetPreds not supported in NAV2D_UNDER_UNCERTAINTY"); + } + + /** + * \brief not fully implemented yet + */ + virtual int SizeofCreatedEnv(); + + /** + * \brief not fully implemented yet + */ + virtual int SizeofH(); + +protected: + //member variables + EnvNAV2DUUConfig_t EnvNAV2DUUCfg; + EnvironmentNAV2DUU_t EnvNAV2DUU; + + //mapdata and uncertaintymapdata is assumed to be organized into a linear array with y being major: map[x+y*width] + virtual void SetConfiguration(int width, int height, const unsigned char* mapdata, const float* uncertaintymapdata); + + virtual void ReadConfiguration(FILE* fCfg); + virtual void InitializeEnvConfig(); + virtual void InitializeEnvironment(); + virtual void ComputeHeuristicValues(); + virtual bool InitGeneral(); + + virtual bool IsValidRobotPosition(int X, int Y); + virtual bool IsWithinMapCell(int X, int Y); + + virtual void Computedxy(); +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_navxythetalat.h b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_navxythetalat.h new file mode 100755 index 0000000..0899108 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_navxythetalat.h @@ -0,0 +1,688 @@ +/* + * 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. + */ + +#ifndef __ENVIRONMENT_NAVXYTHETALAT_H_ +#define __ENVIRONMENT_NAVXYTHETALAT_H_ + +#include +#include +#include + +#include +#include + +// Define to test against in client code. Signals that Set2DBlockSize and +// Set2DBucketSize are available in EnvironmentNAVXYTHETALATTICE +#define SBPL_CUSTOM_2D_OPTIONS 1 + +//eight-connected grid +#define NAVXYTHETALAT_DXYWIDTH 8 +#define ENVNAVXYTHETALAT_DEFAULTOBSTHRESH 254 //see explanation of the value below +//maximum number of states for storing them into lookup (as opposed to hash) +#define SBPL_XYTHETALAT_MAXSTATESFORLOOKUP 100000000 +//definition of theta orientations +//0 - is aligned with X-axis in the positive direction (1,0 in polar coordinates) +//theta increases as we go counterclockwise +//number of theta values - should be power of 2 +#define NAVXYTHETALAT_THETADIRS 16 +//number of actions per x,y,theta state +//decrease, increase, same angle while moving plus decrease, increase angle while standing. +#define NAVXYTHETALAT_DEFAULT_ACTIONWIDTH 5 +#define NAVXYTHETALAT_COSTMULT_MTOMM 1000 + +class CMDPSTATE; +class MDPConfig; +class SBPL2DGridSearch; + +struct EnvNAVXYTHETALATAction_t +{ + unsigned char aind; //index of the action (unique for given starttheta) + char starttheta; + char dX; + char dY; + char endtheta; + unsigned int cost; + std::vector intersectingcellsV; + //start at 0,0,starttheta and end at endcell in continuous domain with half-bin less to account for 0,0 start + std::vector intermptV; + //start at 0,0,starttheta and end at endcell in discrete domain + std::vector interm3DcellsV; + + int motprimID; + double turning_radius; + +}; + +struct EnvNAVXYTHETALATHashEntry_t +{ + int stateID; + int X; + int Y; + char Theta; + int iteration; +}; + +struct SBPL_xytheta_mprimitive +{ + int motprimID; + unsigned char starttheta_c; + int additionalactioncostmult; + sbpl_xy_theta_cell_t endcell; + double turning_radius; + //intermptV start at 0,0,starttheta and end at endcell in continuous + //domain with half-bin less to account for 0,0 start + std::vector intermptV; +}; + +//variables that dynamically change (e.g., array of states, ...) +struct EnvironmentNAVXYTHETALAT_t +{ + int startstateid; + int goalstateid; + + bool bInitialized; + + //any additional variables +}; + +//configuration parameters +struct EnvNAVXYTHETALATConfig_t +{ + int EnvWidth_c; + int EnvHeight_c; + int NumThetaDirs; + int StartX_c; + int StartY_c; + int StartTheta; + int EndX_c; + int EndY_c; + int EndTheta; + unsigned char** Grid2D; + + std::vector ThetaDirs; + double StartTheta_rad; + double EndTheta_rad; + double min_turning_radius_m; + + // the value at which and above which cells are obstacles in the maps sent from outside + // the default is defined above + unsigned char obsthresh; + + // the value at which and above which until obsthresh (not including it) + // cells have the nearest obstacle at distance smaller than or equal to + // the inner circle of the robot. In other words, the robot is definitely + // colliding with the obstacle, independently of its orientation + // if no such cost is known, then it should be set to obsthresh (if center + // of the robot collides with obstacle, then the whole robot collides with + // it independently of its rotation) + unsigned char cost_inscribed_thresh; + + // the value at which and above which until cost_inscribed_thresh (not including it) cells + // **may** have a nearest osbtacle within the distance that is in between + // the robot inner circle and the robot outer circle + // any cost below this value means that the robot will NOT collide with any + // obstacle, independently of its orientation + // if no such cost is known, then it should be set to 0 or -1 (then no cell + // cost will be lower than it, and therefore the robot's footprint will + // always be checked) + int cost_possibly_circumscribed_thresh; // it has to be integer, because -1 means that it is not provided. + + double nominalvel_mpersecs; + + //double nominalangvel_radpersecs; + + double timetoturn45degsinplace_secs; + + double cellsize_m; + + int dXY[NAVXYTHETALAT_DXYWIDTH][2]; + + //array of actions, ActionsV[i][j] - jth action for sourcetheta = i + EnvNAVXYTHETALATAction_t** ActionsV; + //PredActionsV[i] - vector of pointers to the actions that result in a state with theta = i + std::vector* PredActionsV; + + int actionwidth; //number of motion primitives + std::vector mprimV; + + std::vector FootprintPolygon; +}; + +class EnvNAVXYTHETALAT_InitParms +{ +public: + unsigned int numThetas; + const unsigned char* mapdata; + double startx; + double starty; + double starttheta; + double goalx; + double goaly; + double goaltheta; + double goaltol_x; + double goaltol_y; + double goaltol_theta; +}; + +/** \brief 3D (x,y,theta) planning using lattice-based graph problem. For + * general structure see comments on parent class DiscreteSpaceInformation + * For info on lattice-based planning used here, you can check out the paper: + * Maxim Likhachev and Dave Ferguson, " Planning Long Dynamically-Feasible + * Maneuvers for Autonomous Vehicles", IJRR'09 + */ +class EnvironmentNAVXYTHETALATTICE : public DiscreteSpaceInformation +{ +public: + EnvironmentNAVXYTHETALATTICE(); + + /** + * \brief initialization of environment from file. See .cfg files for + * examples it also takes the perimeter of the robot with respect to some + * reference point centered at x=0,y=0 and orientation = 0 (along x axis). + * The perimeter is defined in meters as a sequence of vertices of a + * polygon defining the perimeter. If vector is of zero size, then robot + * is assumed to be point robot (you may want to inflate all obstacles by + * its actual radius) Motion primitives file defines the motion primitives + * available to the robot + */ + virtual bool InitializeEnv(const char* sEnvFile, const std::vector& perimeterptsV, + const char* sMotPrimFile); + + // ?? virtual bool InitializeEnv(const ENVNAVXYTHETAVELOLAT_InitParms & params); + + /** + * \brief see comments on the same function in the parent class + */ + virtual bool InitializeEnv(const char* sEnvFile); + + /** + * \brief way to set up various parameters. For a list of parameters, see + * the body of the function - it is pretty straightforward + */ + virtual bool SetEnvParameter(const char* parameter, int value); + + /** + * \brief returns the value of specific parameter - see function body for the list of parameters + */ + virtual int GetEnvParameter(const char* parameter); + + /** + * \brief see comments on the same function in the parent class + */ + virtual bool InitializeMDPCfg(MDPConfig *MDPCfg); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetFromToHeuristic(int FromStateID, int ToStateID) = 0; + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetGoalHeuristic(int stateID) = 0; + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetStartHeuristic(int stateID) = 0; + + /** + * \brief see comments on the same function in the parent class + */ + virtual void SetAllActionsandAllOutcomes(CMDPSTATE* state) = 0; + + /** + * \brief see comments on the same function in the parent class + */ + virtual void SetAllPreds(CMDPSTATE* state); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV); + virtual void GetLazySuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost); + virtual void GetSuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV); + virtual void GetLazySuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void GetPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV) = 0; + + /** + * \brief see comments on the same function in the parent class + */ + virtual void EnsureHeuristicsUpdated(bool bGoalHeuristics); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintEnv_Config(FILE* fOut); + + /** + * \brief set the block size for the 2D heuristic. A block size of 1 is the default and will result in + * a single cell in the 2D heuristic search corresponding to 1 cell from the source map. + * A block size of 2 will result in a single cell in the 2D heuristic search corresponding to + * a 2x2 set of blocks from the source map with a cost of the max of the 2x2 source cells. + */ + virtual void Set2DBlockSize(int BlockSize); + + /** + * @brief Set2DBucketSize Set the initial size of the CSlidingBuckets used for the fringe priority list + * @param BucketSize + */ + virtual void Set2DBucketSize(int BucketSize); + + virtual double DiscTheta2ContNew(int theta) const; + + virtual int ContTheta2DiscNew(double theta) const; + + virtual double DiscTheta2ContFromSet(int theta) const; + + virtual int ContTheta2DiscFromSet(double theta) const; + + virtual int normalizeDiscAngle(int theta) const; + + /** + * \brief initialize environment. Gridworld is defined as matrix A of size width by height. + * So, internally, it is accessed as A[x][y] with x ranging from 0 to width-1 and and y from 0 to height-1 + * Each element in A[x][y] is unsigned char. A[x][y] = 0 corresponds to + * fully traversable and cost is just Euclidean distance + * The cost of transition between two neighboring cells is + * EuclideanDistance*(max(A[sourcex][sourcey],A[targetx][targety])+1) + * f A[x][y] >= obsthresh, then in the above equation it is assumed to be infinite. + * The cost also incorporates the length of a motion primitive and its cost_multiplier (see getcost function) + * mapdata is a pointer to the values of A. If it is null, then A is + * initialized to all zeros. Mapping is: A[x][y] = mapdata[x+y*width] + * start/goal are given by startx, starty, starttheta, goalx,goaly, goaltheta in meters/radians. + * If they are not known yet, just set them to 0. Later setgoal/setstart can be executed + * finally obsthresh defined obstacle threshold, as mentioned above + * goaltolerances are currently ignored + * for explanation of perimeter, see comments for InitializeEnv function that reads all from file + * cellsize is discretization in meters + * nominalvel_mpersecs is assumed velocity of vehicle while moving forward in m/sec + * timetoturn45degsinplace_secs is rotational velocity in secs/45 degrees turn + */ + virtual bool InitializeEnv(int width, int height, + /** if mapdata is NULL the grid is initialized to all freespace */ + const unsigned char* mapdata, + double startx, double starty, double starttheta, + double goalx, double goaly, double goaltheta, + double goaltol_x, double goaltol_y, double goaltol_theta, + const std::vector& perimeterptsV, double cellsize_m, + double nominalvel_mpersecs, double timetoturn45degsinplace_secs, + unsigned char obsthresh, const char* sMotPrimFile); + + /** + * \brief Same as the above InitializeEnv except that only the parameters + * that area really needed are required. The additional (optional) + * parameters may be given in the params object (including the ability to + * specify the number of thetas) + */ + virtual bool InitializeEnv(int width, int height, const std::vector & perimeterptsV, double cellsize_m, + double nominalvel_mpersecs, double timetoturn45degsinplace_secs, + unsigned char obsthresh, const char* sMotPrimFile, EnvNAVXYTHETALAT_InitParms params); + + /** + * \brief update the traversability of a cell + */ + virtual bool UpdateCost(int x, int y, unsigned char newcost); + + /** + * \brief re-setting the whole 2D map + * transform from linear array mapdata to the 2D matrix used internally: Grid2D[x][y] = mapdata[x+y*width] + */ + virtual bool SetMap(const unsigned char* mapdata); + + /** + * \brief this function fill in Predecessor/Successor states of edges whose costs changed + * It takes in an array of cells whose traversability changed, and + * returns (in vector preds_of_changededgesIDV) the IDs of all + * states that have outgoing edges that go through the changed + * cells + */ + virtual void GetPredsofChangedEdges(std::vector const * changedcellsV, + std::vector *preds_of_changededgesIDV) = 0; + /** + * \brief same as GetPredsofChangedEdges, but returns successor states. + * Both functions need to be present for incremental search + */ + virtual void GetSuccsofChangedEdges(std::vector const * changedcellsV, + std::vector *succs_of_changededgesIDV) = 0; + + /** + * returns true if cell is untraversable + */ + virtual bool IsObstacle(int x, int y); + + /** + * \brief returns false if robot intersects obstacles or lies outside of + * the map. Note this is pretty expensive operation since it computes the + * footprint of the robot based on its x,y,theta + */ + virtual bool IsValidConfiguration(int X, int Y, int Theta); + + /** + * \brief returns environment parameters. Useful for creating a copy environment + */ + virtual void GetEnvParms(int *size_x, int *size_y, double* startx, double* starty, double* starttheta, + double* goalx, double* goaly, double* goaltheta, double* cellsize_m, + double* nominalvel_mpersecs, double* timetoturn45degsinplace_secs, + unsigned char* obsthresh, std::vector* motionprimitiveV); + + /** + * \brief returns environment parameters. Useful for creating a copy environment + */ + virtual void GetEnvParms(int *size_x, int *size_y, int* num_thetas, double* startx, double* starty, + double* starttheta, double* goalx, double* goaly, double* goaltheta, double* cellsize_m, + double* nominalvel_mpersecs, double* timetoturn45degsinplace_secs, + unsigned char* obsthresh, std::vector* motionprimitiveV); + + /** + * \brief get internal configuration data structure + */ + virtual const EnvNAVXYTHETALATConfig_t* GetEnvNavConfig(); + + virtual ~EnvironmentNAVXYTHETALATTICE(); + + /** + * \brief prints time statistics + */ + virtual void PrintTimeStat(FILE* fOut); + + /** + * \brief returns the cost corresponding to the cell + */ + virtual unsigned char GetMapCost(int x, int y); + + /** + * \brief returns true if cell is within map + */ + virtual bool IsWithinMapCell(int X, int Y); + + /** + * \brief Transform a pose into discretized form. The angle 'pth' is + * considered to be valid if it lies between -2pi and 2pi (some + * people will prefer 0<=pth<2pi, others -pi affectedsuccstatesV; //arrays of states whose outgoing actions cross cell 0,0 + std::vector affectedpredstatesV; //arrays of states whose incoming actions cross cell 0,0 + int iteration; + int blocksize; // 2D block size + int bucketsize; // 2D bucket size + + bool bUseNonUniformAngles; + + //2D search for heuristic computations + bool bNeedtoRecomputeStartHeuristics; //set whenever grid2Dsearchfromstart needs to be re-executed + bool bNeedtoRecomputeGoalHeuristics; //set whenever grid2Dsearchfromgoal needs to be re-executed + SBPL2DGridSearch* grid2Dsearchfromstart; //computes h-values that estimate distances from start x,y to all cells + SBPL2DGridSearch* grid2Dsearchfromgoal; //computes h-values that estimate distances to goal x,y from all cells + + virtual void ReadConfiguration(FILE* fCfg); + + virtual void InitializeEnvConfig(std::vector* motionprimitiveV); + + virtual bool CheckQuant(FILE* fOut); + + virtual void SetConfiguration(int width, int height, + /** if mapdata is NULL the grid is initialized to all freespace */ + const unsigned char* mapdata, + int startx, int starty, int starttheta, + int goalx, int goaly, int goaltheta, + double cellsize_m, double nominalvel_mpersecs, double timetoturn45degsinplace_secs, + const std::vector & robot_perimeterV); + + virtual bool InitGeneral(std::vector* motionprimitiveV); + virtual void PrecomputeActionswithBaseMotionPrimitive(std::vector* motionprimitiveV); + virtual void PrecomputeActionswithCompleteMotionPrimitive(std::vector* motionprimitiveV); + virtual void DeprecatedPrecomputeActions(); + + virtual void InitializeEnvironment() = 0; + + virtual void ComputeHeuristicValues(); + + virtual bool IsValidCell(int X, int Y); + + virtual void CalculateFootprintForPose(sbpl_xy_theta_pt_t pose, std::vector* footprint); + virtual void CalculateFootprintForPose(sbpl_xy_theta_pt_t pose, std::vector* footprint, + const std::vector& FootprintPolygon); + virtual void RemoveSourceFootprint(sbpl_xy_theta_pt_t sourcepose, std::vector* footprint); + virtual void RemoveSourceFootprint(sbpl_xy_theta_pt_t sourcepose, std::vector* footprint, + const std::vector& FootprintPolygon); + + virtual void GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, + std::vector* actionindV = NULL) = 0; + virtual void GetLazySuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost, std::vector* actionindV = NULL) = 0; + virtual void GetSuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* actionindV = NULL) = 0; + virtual void GetLazySuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost, std::vector* actionindV = NULL) = 0; + virtual int GetTrueCost(int parentID, int childID) = 0; + virtual bool isGoal(int id) = 0; + + virtual double EuclideanDistance_m(int X1, int Y1, int X2, int Y2); + + virtual void ComputeReplanningData(); + virtual void ComputeReplanningDataforAction(EnvNAVXYTHETALATAction_t* action); + + virtual bool ReadMotionPrimitives(FILE* fMotPrims); + virtual bool ReadinMotionPrimitive(SBPL_xytheta_mprimitive* pMotPrim, FILE* fIn); + virtual bool ReadinCell(sbpl_xy_theta_cell_t* cell, FILE* fIn); + virtual bool ReadinPose(sbpl_xy_theta_pt_t* pose, FILE* fIn); + + virtual void PrintHeuristicValues(); +}; + +class EnvironmentNAVXYTHETALAT : public EnvironmentNAVXYTHETALATTICE +{ +public: + EnvironmentNAVXYTHETALAT() + { + HashTableSize = 0; + Coord2StateIDHashTable = NULL; + Coord2StateIDHashTable_lookup = NULL; + } + + ~EnvironmentNAVXYTHETALAT(); + + /** + * \brief sets start in meters/radians + */ + virtual int SetStart(double x, double y, double theta); + + /** + * \brief sets goal in meters/radians + */ + virtual int SetGoal(double x, double y, double theta); + + /** + * \brief sets goal tolerance. (Note goal tolerance is ignored currently) + */ + virtual void SetGoalTolerance(double tol_x, double tol_y, double tol_theta) { /**< not used yet */ } + + /** + * \brief returns state coordinates of state with ID=stateID + */ + virtual void GetCoordFromState(int stateID, int& x, int& y, int& theta) const; + + /** + * \brief returns stateID for a state with coords x,y,theta + */ + virtual int GetStateFromCoord(int x, int y, int theta); + + /** + * \brief returns the actions / motion primitives of the passed path. + */ + virtual void GetActionsFromStateIDPath(std::vector* stateIDPath, + std::vector* action_list); + + /** \brief converts a path given by stateIDs into a sequence of + * coordinates. Note that since motion primitives are short actions + * represented as a sequence of points, + * the path returned by this function contains much more points than the + * number of points in the input path. The returned coordinates are in + * meters,meters,radians + */ + virtual void ConvertStateIDPathintoXYThetaPath(std::vector* stateIDPath, + std::vector* xythetaPath); + + /** + * \brief prints state info (coordinates) into file + */ + virtual void PrintState(int stateID, bool bVerbose, FILE* fOut = NULL); + + /** + * \brief returns all predecessors states and corresponding costs of actions + */ + virtual void GetPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV); + virtual void GetLazyPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV, std::vector* isTrueCost); + virtual void GetPredsWithUniqueIds(int TargetStateID, std::vector* PredIDV, std::vector* CostV); + virtual void GetLazyPredsWithUniqueIds(int TargetStateID, std::vector* PredIDV, std::vector* CostV, std::vector* isTrueCost); + + /** + * \brief returns all successors states, costs of corresponding actions + * and pointers to corresponding actions, each of which is a motion + * primitive + * if actionindV is NULL, then pointers to actions are not returned + */ + virtual void GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, + std::vector* actionindV = NULL); + + virtual void GetLazySuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost, std::vector* actionindV = NULL); + virtual void GetSuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* actionindV = NULL); + virtual void GetLazySuccsWithUniqueIds(int SourceStateID, std::vector* SuccIDV, std::vector* CostV, std::vector* isTrueCost, std::vector* actionindV = NULL); + virtual int GetTrueCost(int parentID, int childID); + virtual bool isGoal(int id); + + + /** \brief this function fill in Predecessor/Successor states of edges + * whose costs changed + * It takes in an array of cells whose traversability changed, and returns + * (in vector preds_of_changededgesIDV) the IDs of all states that have + * outgoing edges that go through the changed cells + */ + virtual void GetPredsofChangedEdges(std::vector const * changedcellsV, + std::vector *preds_of_changededgesIDV); + + /** + * \brief same as GetPredsofChangedEdges, but returns successor states. + * Both functions need to be present for incremental search + */ + virtual void GetSuccsofChangedEdges(std::vector const * changedcellsV, + std::vector *succs_of_changededgesIDV); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void SetAllActionsandAllOutcomes(CMDPSTATE* state); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetFromToHeuristic(int FromStateID, int ToStateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetGoalHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetStartHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int SizeofCreatedEnv(); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintVars() { } + + const EnvNAVXYTHETALATHashEntry_t* GetStateEntry(int state_id) const; + +protected: + //hash table of size x_size*y_size. Maps from coords to stateId + int HashTableSize; + std::vector* Coord2StateIDHashTable; + //vector that maps from stateID to coords + std::vector StateID2CoordTable; + + EnvNAVXYTHETALATHashEntry_t** Coord2StateIDHashTable_lookup; + + virtual unsigned int GETHASHBIN(unsigned int X, unsigned int Y, unsigned int Theta); + + virtual EnvNAVXYTHETALATHashEntry_t* GetHashEntry_hash(int X, int Y, int Theta); + virtual EnvNAVXYTHETALATHashEntry_t* CreateNewHashEntry_hash(int X, int Y, int Theta); + virtual EnvNAVXYTHETALATHashEntry_t* GetHashEntry_lookup(int X, int Y, int Theta); + virtual EnvNAVXYTHETALATHashEntry_t* CreateNewHashEntry_lookup(int X, int Y, int Theta); + + //pointers to functions + EnvNAVXYTHETALATHashEntry_t* (EnvironmentNAVXYTHETALAT::*GetHashEntry)(int X, int Y, int Theta); + EnvNAVXYTHETALATHashEntry_t* (EnvironmentNAVXYTHETALAT::*CreateNewHashEntry)(int X, int Y, int Theta); + + virtual void InitializeEnvironment(); + + virtual void PrintHashTableHist(FILE* fOut); +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_navxythetamlevlat.h b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_navxythetamlevlat.h new file mode 100755 index 0000000..a06c08a --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_navxythetamlevlat.h @@ -0,0 +1,195 @@ +/* + * 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. + */ + +#ifndef __ENVIRONMENT_NAVXYTHETAMLEVLAT_H_ +#define __ENVIRONMENT_NAVXYTHETAMLEVLAT_H_ + +#include +#include +#include +#include + +// these structures contain footprints for the additional levels +// each of these structures corresponds to one of the EnvNAVXYTHETALATAction_t structures +typedef struct +{ + char starttheta; // should be equal to the corresponding EnvNAVXYTHETALATAction_t structure + char dX; // should be equal to the corresponding EnvNAVXYTHETALATAction_t structure + char dY; // should be equal to the corresponding EnvNAVXYTHETALATAction_t structure + char endtheta; // should be equal to the corresponding EnvNAVXYTHETALATAction_t structure + std::vector* intersectingcellsV; // one footprint per additional level +} EnvNAVXYTHETAMLEVLATAddInfoAction_t; + +/** + * \brief This is x,y,theta lattice planning but with multiple levels in z. + * In other words, it is for doing collision checking in 3D (x,y,z). The z + * level is split into numofzlevs levels. If numofzlevs = 1, then it + * defaults to the original x,y,theta lattice planning defined in + * EnvironmentNAVXYTHETALAT. Otherwise, it uses numofzlevs footprints of the + * robot and corresponding costmaps. It assumes that they correspond to each + * other and are projections of the robot and corresponding z regions of the + * 3D map. + */ +class EnvironmentNAVXYTHETAMLEVLAT : public EnvironmentNAVXYTHETALAT +{ +public: + /** + * \brief initialization of additional levels. 0 is the original one. All additional ones will start with index 1 + * For each level, it also takes cost thresholds for cells lying + * within inner radius of the robot (inscribed) and outside of the + * inner circle but within outer radius (possibly_circumscribed). + * See environment_navxythetalat.h for the explanation of these + * parameters. + */ + bool InitializeAdditionalLevels(int numofadditionalzlevs, const std::vector* perimeterptsV, + unsigned char* cost_inscribed_thresh, + unsigned char* cost_possibly_circumscribed_thresh); + + /** + * \brief setting 2D map for the additional level at levind index + * (indices are zero-based and are only used to index the additional levels) + * you can not use this function to set 2D map for the base level + * transform from linear array mapdata to the 2D matrix used internally: Grid2D[x][y] = mapdata[x+y*width] + */ + bool Set2DMapforAddLev(const unsigned char* mapdata, int levind); + + /** + * \brief set 2D map for the additional level levind + * The version of Set2DMapforAddLev that takes newmap as 2D array instead of one linear array + */ + bool Set2DMapforAddLev(const unsigned char** NewGrid2D, int levind); + + /** + * \brief update the traversability of a cell in level zlev + */ + bool UpdateCostinAddLev(int x, int y, unsigned char newcost, int zlev); + + /** + * \brief incremental planning not supported + */ + virtual void GetPredsofChangedEdges(std::vector const * changedcellsV, + std::vector *preds_of_changededgesIDV) + { + throw SBPL_Exception("ERROR: GetPredsofChangedEdges function not supported"); + } + + /** + * \brief incremental planning not supported + */ + virtual void GetSuccsofChangedEdges(std::vector const * changedcellsV, + std::vector *succs_of_changededgesIDV) + { + throw SBPL_Exception("ERROR: GetSuccsofChangedEdges function not supported"); + } + + /** + * returns true if cell is traversable and within map limits - it checks against all levels including the base one + */ + bool IsValidCell(int X, int Y); + + /** + * returns true if cell is traversable and within map limits for a particular level + */ + bool IsValidCell(int X, int Y, int levind); + + /** + * returns true if cell is untraversable at any level + */ + bool IsObstacle(int x, int y); + + /** + * returns true if cell is untraversable at level levelnum. + */ + bool IsObstacle(int x, int y, int levind); + + /** + * \brief returns false if robot intersects obstacles or lies outside of the map. + * Note this is pretty expensive operation since it computes the footprint + * of the robot based on its x,y,theta + */ + bool IsValidConfiguration(int X, int Y, int Theta); + + /** + * \brief returns the maximum over all levels of the cost corresponding to the cell + */ + unsigned char GetMapCost(int X, int Y); + + /** + * \brief returns the cost corresponding to the cell at level levind + */ + unsigned char GetMapCost(int X, int Y, int levind); + + EnvironmentNAVXYTHETAMLEVLAT(); + ~EnvironmentNAVXYTHETAMLEVLAT(); + +protected: + /** + * \brief number of additional levels. If it is 0, then there is only one level - base level + */ + int numofadditionalzlevs; + + /** + * \brief footprints for the additional levels + */ + std::vector* AddLevelFootprintPolygonV; + + /** + * \brief array of additional info in actions, + * AdditionalInfoinActionsV[i][j] - jth action for sourcetheta = i + * basically, each Additional info structure will contain numofadditionalzlevs additional intersecting + * cells vector intersectingcellsV + */ + EnvNAVXYTHETAMLEVLATAddInfoAction_t** AdditionalInfoinActionsV; + + /** + * \brief 2D maps for additional levels. + * AddLevelGrid2D[lind][x][y] refers to cell on the additional level lind + */ + unsigned char*** AddLevelGrid2D; + + /** + * \brief inscribed cost thresholds for additional levels + * see environment_navxythetalat.h file for the explanation of this threshold + */ + unsigned char* AddLevel_cost_inscribed_thresh; + /** + * \brief possibly_circumscribed cost thresholds for additional levels + * see environment_navxythetalat.h file for the explanation of this threshold + */ + unsigned char* AddLevel_cost_possibly_circumscribed_thresh; + + virtual int GetActionCost(int SourceX, int SourceY, int SourceTheta, EnvNAVXYTHETALATAction_t* action); + + virtual int GetActionCostacrossAddLevels(int SourceX, int SourceY, int SourceTheta, + EnvNAVXYTHETALATAction_t* action); + +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_precomputed_adjacency_list.h b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_precomputed_adjacency_list.h new file mode 100755 index 0000000..4c40859 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_precomputed_adjacency_list.h @@ -0,0 +1,404 @@ +/* + * 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. + */ + +#ifndef __PRECOMPUTED_ADJACENCY_LIST_H_ +#define __PRECOMPUTED_ADJACENCY_LIST_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +struct Adjacency +{ + int neighbor; + int cost; +}; +typedef std::list Adjacencies; +typedef Adjacencies::iterator AdjListIterator; + +/** + * \brief SBPL Environment represented as an adjacency list graph. + * + * \tparam Coords Coords must be a type that 1) has operator<< and + * heuristicDistanceTo (const Coords&) const defined on it 2) can be used as a + * key of an STL map + * + * Nodes of the graph are labelled with Coords. Edges have integer costs + * attached to them. ARA* planning is done on this graph, and the function + * heuristicDistanceTo is used as the admissible heuristic. + */ +template +class AdjacencyListSBPLEnv : public DiscreteSpaceInformation +{ +public: + AdjacencyListSBPLEnv(); + void writeToStream(std::ostream& str = std::cout); + + /** + * \brief Add point to roadmap. Does not check for duplicates. + */ + void addPoint(const Coords& c); + + /** + * \brief Does the roadmap contain this point? + */ + bool hasPoint(const Coords& c); + + /** + * \brief Remove the last N points added using addPoint (and all their incident edges) in O(N) time + */ + void removeLastPoints(unsigned int n = 1); + + /** + * \post An undirected edge exists between c1 and c2 with the given cost + * cost, if not provided, defaults to the heuristic cost between c1 and c2 + */ + void setCost(const Coords& c1, const Coords& c2, int cost); + void setCost(const Coords& c1, const Coords& c2); + + void setStartState(const Coords& c); + void setGoalState(const Coords& c); + + /** + * \brief Use ARA* to find an optimal path between the currently set start and goal states + * \return Vector of states on the path + * \post solution_cost will hold the cost of the returned solution + */ + std::vector findOptimalPath(int* solution_cost); + + // Inherited DiscreteSpaceInformation ops + bool InitializeEnv(const char* sEnvFile); + bool InitializeMDPCfg(MDPConfig *MDPCfg); + int GetFromToHeuristic(int FromStateID, int ToStateID); + int GetGoalHeuristic(int stateID); + int GetStartHeuristic(int stateID); + void SetAllActionsandAllOutcomes(CMDPSTATE* state); + void SetAllPreds(CMDPSTATE* state); + void GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV); + void GetPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV); + int SizeofCreatedEnv(); + void PrintState(int stateID, bool bVerbose, FILE* fOut = NULL); + void PrintEnv_Config(FILE* fOut); + +private: + void resetStateId2IndexMapping(void); + + // Members + std::vector points_; + std::map pointIds_; + std::vector adjacency_vector_; + int startStateId_; + int goalStateId_; +}; + +template +AdjacencyListSBPLEnv::AdjacencyListSBPLEnv() : + startStateId_(-1), goalStateId_(-1) +{ +} + +template +void AdjacencyListSBPLEnv::writeToStream(std::ostream& str) +{ + int numStates = points_.size(); + str << "Adjacency list SBPL Env " << endl; + for (unsigned int i = 0; i < points_.size(); i++) { + str << i << ". " << points_[i] << ". Neighbors: "; + for (AdjListIterator iter = adjacency_vector_[i].begin(); iter != adjacency_vector_[i].end(); iter++) { + if (iter->neighbor < numStates) { + str << "[" << points_[iter->neighbor] << " " << iter->cost << "] "; + } + else { + str << "[To-Be-Deleted Edge] "; + } + } + str << endl; + } +} + +template +void AdjacencyListSBPLEnv::addPoint(const Coords& c) +{ + pointIds_[c] = points_.size(); + Adjacencies a; + points_.push_back(c); + adjacency_vector_.push_back(a); + + int* entry = new int[NUMOFINDICES_STATEID2IND]; + for (unsigned int i = 0; i < NUMOFINDICES_STATEID2IND; i++) { + entry[i] = -1; + } + StateID2IndexMapping.push_back(entry); +} + +template +bool AdjacencyListSBPLEnv::hasPoint(const Coords& c) +{ + return !(pointIds_.find(c) == pointIds_.end()); +} + +template +void AdjacencyListSBPLEnv::removeLastPoints(unsigned int n) +{ + assert(n <= points_.size()); + for (unsigned int i = 0; i < n; i++) { + int num_points = points_.size(); + Adjacencies& a = adjacency_vector_.back(); + + // Iterate over neighbors of this currently-being-deleted point + for (Adjacencies::iterator adj_iter = a.begin(); adj_iter != a.end(); adj_iter++) { + assert(adj_iter->neighbor < num_points); + Adjacencies& neighbor_adjacency_list = adjacency_vector_[adj_iter->neighbor]; + + // Iterate over neighbors of the neighbor + for (Adjacencies::iterator neighbor_adj_iter = neighbor_adjacency_list.begin(); neighbor_adj_iter + != neighbor_adjacency_list.end(); neighbor_adj_iter++) { + + // When we find the entry for the current point, remove it and exit inner loop + if (neighbor_adj_iter->neighbor == num_points - 1) { + neighbor_adjacency_list.erase(neighbor_adj_iter); + break; + } + } + } + adjacency_vector_.pop_back(); + pointIds_.erase(points_.back()); + points_.pop_back(); + } +} + +template +void AdjacencyListSBPLEnv::setCost(const Coords& c1, const Coords& c2) +{ + setCost(c1, c2, c1.heuristicDistanceTo(c2)); +} + +template +void AdjacencyListSBPLEnv::setCost(const Coords& c1, const Coords& c2, int cost) +{ + // Figure out indices of the given points + typename std::map::iterator i1 = pointIds_.find(c1); + typename std::map::iterator i2 = pointIds_.find(c2); + int index1 = i1->second; + int index2 = i2->second; + + // Loop over which direction edge to add + for (unsigned int j = 0; j < 2; j++) { + int ind1, ind2; + if (j == 0) { + ind1 = index1; + ind2 = index2; + } + else { + ind1 = index2; + ind2 = index1; + } + + // Now set cost of edge from ind1 to ind2 + Adjacencies& adj = adjacency_vector_[ind1]; + + AdjListIterator i, last = adj.end(); + for (i = adj.begin(); (i != last) && (i->neighbor != ind2); i++) + ; + + // If edge does not exist add it, else just set the cost of the existing edge + if (i == last) { + Adjacency a; + a.neighbor = ind2; + a.cost = cost; + adj.insert(i, a); + } + else { + i->cost = cost; + } + } +} + +template +void AdjacencyListSBPLEnv::setStartState(const Coords& c) +{ + typename std::map::iterator i = pointIds_.find(c); + assert(i != pointIds_.end()); + startStateId_ = i->second; +} + +template +void AdjacencyListSBPLEnv::setGoalState(const Coords& c) +{ + typename std::map::iterator i = pointIds_.find(c); + assert(i != pointIds_.end()); + goalStateId_ = i->second; +} + +template +bool AdjacencyListSBPLEnv::InitializeMDPCfg(MDPConfig *MDPCfg) +{ + MDPCfg->goalstateid = goalStateId_; + MDPCfg->startstateid = startStateId_; + return true; +} + +template +int AdjacencyListSBPLEnv::GetFromToHeuristic(int FromStateID, int ToStateID) +{ + return points_[FromStateID].heuristicDistanceTo(points_[ToStateID]); +} + +template +int AdjacencyListSBPLEnv::GetGoalHeuristic(int stateID) +{ + return GetFromToHeuristic(stateID, goalStateId_); +} + +template +int AdjacencyListSBPLEnv::GetStartHeuristic(int stateID) +{ + return GetFromToHeuristic(startStateId_, stateID); +} + +template +void AdjacencyListSBPLEnv::PrintState(int stateID, bool bVerbose, FILE* fOut) +{ + // Note we're ignoring the fOut argument + std::cout << points_[stateID] << endl; +} + +template +void AdjacencyListSBPLEnv::PrintEnv_Config(FILE* fOut) +{ + // Note we're ignoring the fOut argument + std::cout << "Adjacency list env" << endl; +} + +template +int AdjacencyListSBPLEnv::SizeofCreatedEnv() +{ + return points_.size(); +} + +template +bool AdjacencyListSBPLEnv::InitializeEnv(const char* sEnvFile) +{ + // Nothing to do in initialization + return true; +} + +template +void AdjacencyListSBPLEnv::SetAllActionsandAllOutcomes(CMDPSTATE* state) +{ + // goal state is absorbing + if (state->StateID == goalStateId_) { + return; + } + + Adjacencies& v = adjacency_vector_[state->StateID]; + int actionIndex = 0; + + for (AdjListIterator i = v.begin(); i != v.end(); i++) { + CMDPACTION* action = state->AddAction(actionIndex); + action->AddOutcome(i->neighbor, i->cost, 1.0); + } +} + +template +void AdjacencyListSBPLEnv::SetAllPreds(CMDPSTATE* state) +{ + throw SBPL_Exception("Error: SetAllPreds not implemented for adjacency list"); +} + +template +void AdjacencyListSBPLEnv::GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV) +{ + SuccIDV->clear(); + CostV->clear(); + + if (SourceStateID == goalStateId_) { + return; + } + + Adjacencies& v = adjacency_vector_[SourceStateID]; + for (AdjListIterator i = v.begin(); i != v.end(); i++) { + SuccIDV->push_back(i->neighbor); + CostV->push_back(i->cost); + } +} + +template +void AdjacencyListSBPLEnv::GetPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV) +{ + throw SBPL_Exception("Error: GetPreds not currently implemented for adjacency list"); +} + +template +std::vector AdjacencyListSBPLEnv::findOptimalPath(int* solution_cost) +{ + // Initialize ARA planner + ARAPlanner p(this, true); + p.set_start(startStateId_); + p.set_goal(goalStateId_); + p.set_initialsolution_eps(1.0); + std::vector solution; + p.replan(1.0, &solution, solution_cost); + + std::vector solutionPoints; + for (unsigned int i = 0; i < solution.size(); i++) { + solutionPoints.push_back(points_[solution[i]]); + } + + resetStateId2IndexMapping(); + + return solutionPoints; +} + +// There's some side effect where you have to reset this every time you call the ARA planner +template +void AdjacencyListSBPLEnv::resetStateId2IndexMapping(void) +{ + for (unsigned int i = 0; i < StateID2IndexMapping.size(); i++) { + for (unsigned int j = 0; j < NUMOFINDICES_STATEID2IND; j++) { + StateID2IndexMapping[i][j] = -1; + } + } +} + +#endif + +// Local variables: +// mode:c++ +// End: diff --git a/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_robarm.h b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_robarm.h new file mode 100755 index 0000000..ba442c1 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/discrete_space_information/environment_robarm.h @@ -0,0 +1,232 @@ +/* + * 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. + */ + +#ifndef __ENVIRONMENT_ROBARM_H_ +#define __ENVIRONMENT_ROBARM_H_ + +#include +#include + +#define NUMOFLINKS 6 +//for R* max. distance in coord to a sample point. It should be exactly this, +//for one of the coordinates and this or smaller for the rest +#define ROBARM_LONGACTIONDIST_CELLS 30 +//# of random successors at distance defined above, used by R* search +#define ROBARM_NUMOFRANDSUCCSATDIST 10 +//if cleared then the intersection of the whole arm against obstacles +//and bounds is checked +#define ENDEFF_CHECK_ONLY 0 +#define UNIFORM_COST 1 //all the actions have the same costs when set +#define INVALID_NUMBER 999 + +class CMDPSTATE; +class MDPConfig; + +typedef struct +{ + short unsigned int x; + short unsigned int y; + bool bIsObstacle; +} CELLV; + +//state structure +typedef struct STATE2D_t +{ + unsigned int g; + short unsigned int iterationclosed; + short unsigned int x; + short unsigned int y; +} State2D; + +typedef struct ENV_ROBARM_CONFIG +{ + double EnvWidth_m; + double EnvHeight_m; + int EnvWidth_c; + int EnvHeight_c; + int BaseX_c; + short unsigned int EndEffGoalX_c; + short unsigned int EndEffGoalY_c; + double LinkLength_m[NUMOFLINKS]; + double LinkStartAngles_d[NUMOFLINKS]; + double LinkGoalAngles_d[NUMOFLINKS]; + char** Grid2D; + double GridCellWidth; + + double angledelta[NUMOFLINKS]; + int anglevals[NUMOFLINKS]; +} EnvROBARMConfig_t; + +typedef struct ENVROBARMHASHENTRY +{ + int stateID; + //state coordinates + short unsigned int coord[NUMOFLINKS]; + short unsigned int endeffx; + short unsigned int endeffy; +} EnvROBARMHashEntry_t; + +typedef struct +{ + EnvROBARMHashEntry_t* goalHashEntry; + EnvROBARMHashEntry_t* startHashEntry; + + //Maps from coords to stateId + int HashTableSize; + std::vector* Coord2StateIDHashTable; + + //vector that maps from stateID to coords + std::vector StateID2CoordTable; + + //any additional variables + int** Heur; //h[fromx][fromy][tox][toy] = Heur[to][from], where to= tox+toy*width_c, from = fromx+fromy*width_c +} EnvironmentROBARM_t; + +/** + * \brief planar kinematic robot arm of variable number of degrees of freedom + */ +class EnvironmentROBARM : public DiscreteSpaceInformation +{ +public: + /** + * \brief initialize environment from a file (see .cfg files in robotarm directory for example) + */ + virtual bool InitializeEnv(const char* sEnvFile); + + /** + * \brief initialize MDP config with IDs of start/goal + */ + virtual bool InitializeMDPCfg(MDPConfig *MDPCfg); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetFromToHeuristic(int FromStateID, int ToStateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetGoalHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int GetStartHeuristic(int stateID); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void SetAllActionsandAllOutcomes(CMDPSTATE* state); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void SetAllPreds(CMDPSTATE* state); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void GetSuccs(int SourceStateID, std::vector* SuccIDV, std::vector* CostV); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void GetPreds(int TargetStateID, std::vector* PredIDV, std::vector* CostV); + + /** + * \brief see comments on the same function in the parent class + */ + virtual int SizeofCreatedEnv(); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintState(int stateID, bool bVerbose, FILE* fOut = NULL); + + /** + * \brief see comments on the same function in the parent class + */ + virtual void PrintEnv_Config(FILE* fOut); + + ~EnvironmentROBARM() { } + +protected: + //member data + EnvROBARMConfig_t EnvROBARMCfg; + EnvironmentROBARM_t EnvROBARM; + + virtual void ComputeContAngles(short unsigned int coord[NUMOFLINKS], double angle[NUMOFLINKS]); + virtual void ComputeCoord(double angle[NUMOFLINKS], short unsigned int coord[NUMOFLINKS]); + virtual int ComputeEndEffectorPos(double angles[NUMOFLINKS], short unsigned int* pX, short unsigned int* pY); + virtual int IsValidCoord(short unsigned int coord[NUMOFLINKS], char** Grid2D = NULL, + std::vector* pTestedCells = NULL); + virtual int distanceincoord(unsigned short* statecoord1, unsigned short* statecoord2); + virtual void ReInitializeState2D(State2D* state); + virtual void InitializeState2D(State2D* state, short unsigned int x, short unsigned int y); + virtual void Search2DwithQueue(State2D** statespace, int* HeurGrid, int searchstartx, int searchstarty); + virtual void Create2DStateSpace(State2D*** statespace2D); + virtual void Delete2DStateSpace(State2D*** statespace2D); + virtual void printangles(FILE* fOut, short unsigned int* coord, bool bGoal, bool bVerbose, bool bLocal); + virtual void DiscretizeAngles(); + virtual void Cell2ContXY(int x, int y, double *pX, double *pY); + virtual void ContXY2Cell(double x, double y, short unsigned int* pX, short unsigned int *pY); + virtual int IsValidLineSegment(double x0, double y0, double x1, double y1, char **Grid2D, + std::vector* pTestedCells); + virtual void GetRandomSuccsatDistance(int SourceStateID, std::vector* SuccIDV, std::vector* CLowV); + virtual unsigned int GetHeurBasedonCoord(short unsigned int coord[NUMOFLINKS]); + virtual void PrintHeader(FILE* fOut); + virtual int cost(short unsigned int state1coord[], short unsigned int state2coord[]); + + virtual void ReadConfiguration(FILE* fCfg); + + virtual void InitializeEnvConfig(); + + virtual unsigned int GETHASHBIN(short unsigned int* coord, int numofcoord); + + virtual void PrintHashTableHist(); + + virtual EnvROBARMHashEntry_t* GetHashEntry(short unsigned int* coord, int numofcoord, bool bIsGoal); + + virtual EnvROBARMHashEntry_t* CreateNewHashEntry(short unsigned int* coord, int numofcoord, + short unsigned int endeffx, short unsigned int endeffy); + + virtual bool InitializeEnvironment(); + + virtual void ComputeHeuristicValues(); + + virtual int GetEdgeCost(int FromStateID, int ToStateID); + virtual int GetRandomState(); + virtual bool AreEquivalent(int State1ID, int State2ID); + + virtual void PrintSuccGoal(int SourceStateID, int costtogoal, bool bVerbose, bool bLocal /*=false*/, + FILE* fOut /*=NULL*/); +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/headers.h b/navigations/sbpl/src/include/sbpl/headers.h new file mode 100755 index 0000000..fc1f82a --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/headers.h @@ -0,0 +1,76 @@ +/* + * 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. + */ + +#ifndef __HEADERS_H_ +#define __HEADERS_H_ + +#include +#include + +#if MEM_CHECK == 1 +#define _CRTDBG_MAP_ALLOC +#define CRTDBG_MAP_ALLOC +#endif + +#include //have to go after the defines above +#if MEM_CHECK == 1 +#include +#endif + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/heuristics/embedded_heuristic.h b/navigations/sbpl/src/include/sbpl/heuristics/embedded_heuristic.h new file mode 100755 index 0000000..8b2e873 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/heuristics/embedded_heuristic.h @@ -0,0 +1,46 @@ +/* + * Copyright (c) 2015, 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. + */ + +#ifndef sbpl_EmbeddedHeuristic_h +#define sbpl_EmbeddedHeuristic_h + +#include + +class EmbeddedHeuristic : public Heuristic +{ +public: + + EmbeddedHeuristic(DiscreteSpaceInformation* environment); + + int GetGoalHeuristic(int state_id); + int GetStartHeuristic(int state_id); + int GetFromToHeuristic(int from_id, int to_id); +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/heuristics/heuristic.h b/navigations/sbpl/src/include/sbpl/heuristics/heuristic.h new file mode 100755 index 0000000..1585c85 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/heuristics/heuristic.h @@ -0,0 +1,54 @@ +/* + * Copyright (c) 2015, 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. + */ + +#ifndef sbpl_Heuristic_h +#define sbpl_Heuristic_h + +#include + +class Heuristic +{ +public: + + Heuristic(DiscreteSpaceInformation* environment) : + m_environment(environment) + { } + + virtual ~Heuristic() { } + + virtual int GetGoalHeuristic(int state_id) = 0; + virtual int GetStartHeuristic(int state_id) = 0; + virtual int GetFromToHeuristic(int from_id, int to_id) = 0; + +protected: + + DiscreteSpaceInformation* m_environment; +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/planners/ANAplanner.h b/navigations/sbpl/src/include/sbpl/planners/ANAplanner.h new file mode 100755 index 0000000..1d5db78 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/planners/ANAplanner.h @@ -0,0 +1,272 @@ +/* + * This code was used for generating experimental data for the purpose of understanding the performance of + * the Anytime Nonparametric A* (ANA*) algorithm. + * The authors of this algorithm are Jur van den Berg, Rajat Shah, Arthur Huang and Ken Goldberg. + * The code is available at http://goldberg.berkeley.edu/ana/ + * + */ + +#ifndef __anaPLANNER_H_ +#define __anaPLANNER_H_ + +#include +#include +#include +#include + +//---configuration---- +//control of EPS +//initial suboptimality bound (cost solution <= cost(eps*cost optimal solution) +#define ana_DEFAULT_INITIAL_EPS 100000.0 +//as planning time exist, ana* decreases epsilon bound +#define ana_DECREASE_EPS 0.2 +//final epsilon bound +#define ana_FINAL_EPS 1.0 +//--------------------- +#define ana_INCONS_LIST_ID 0 + +class CHeap; +class DiscreteSpaceInformation; +class StateChangeQuery; + +//------------------------------------------------------------- + +/** + * \brief state structure used in ana* search tree + */ +typedef class anaSEARCHSTATEDATA : public AbstractSearchState +{ +public: + /** + * \brief the MDP state itself + */ + CMDPSTATE* MDPstate; + /** + * \brief ana* relevant data + */ + unsigned int v; + /** + * \brief ana* relevant data + */ + unsigned int g; + /** + * \brief ana* relevant data + */ + short unsigned int iterationclosed; + /** + * \brief ana* relevant data + */ + short unsigned int callnumberaccessed; + /** + * \brief ana* relevant data + */ + short unsigned int numofexpands; + /** + * \brief best predecessor and the action from it, used only in forward searches + */ + CMDPSTATE *bestpredstate; + /** + * \brief the next state if executing best action + */ + CMDPSTATE *bestnextstate; + unsigned int costtobestnextstate; + int h; + +public: + anaSEARCHSTATEDATA() { } + ~anaSEARCHSTATEDATA() { } +} anaState; + +/** + * \brief the statespace of ana* + */ +typedef struct anaSEARCHSTATESPACE +{ + unsigned int G; + + double eps; + double eps_satisfied; + CHeap* heap; + + short unsigned int searchiteration; + short unsigned int callnumber; + CMDPSTATE* searchgoalstate; + CMDPSTATE* searchstartstate; + + CMDP searchMDP; + + bool bReevaluatefvals; + bool bReinitializeSearchStateSpace; + bool bNewSearchIteration; +} anaSearchStateSpace_t; + +/** + * \brief ana* planner + */ +class anaPlanner : public SBPLPlanner +{ +public: + /** + * \brief replan a path within the allocated time, return the solution in the vector + */ + int replan(double allocated_time_secs, std::vector* solution_stateIDs_V); + + /** + * \brief replan a path within the allocated time, return the solution in + * the vector, also returns solution cost + */ + int replan(double allocated_time_sec, std::vector* solution_stateIDs_V, int* solcost); + + /** + * \brief set the goal state + */ + int set_goal(int goal_stateID); + + /** + * \brief set the start state + */ + int set_start(int start_stateID); + + /** + * \brief inform the search about the new edge costs + */ + void costs_changed(StateChangeQuery const & stateChange); + + /** + * \brief inform the search about the new edge costs - + * \note since ana* is non-incremental, it is sufficient (and more + * efficient) to just inform ana* of the fact that some costs changed + */ + void costs_changed(); + + /** + * \brief set a flag to get rid of the previous search efforts, release + * the memory and re-initialize the search, when the next replan is called + */ + int force_planning_from_scratch(); + + /** + * \brief you can either search forwards or backwards + */ + int set_search_mode(bool bSearchUntilFirstSolution); + + /** + * \brief returns the suboptimality bound on the currently found solution + */ + virtual double get_solution_eps() const { return pSearchStateSpace_->eps_satisfied; } + + /** + * \brief returns the number of states expanded so far + */ + virtual int get_n_expands() const { return searchexpands; } + + /** + * \brief returns the value of the initial epsilon (suboptimality bound) used + */ + virtual void set_initialsolution_eps(double initialsolution_eps) { finitial_eps = initialsolution_eps; } + + /** + * \brief prints out the search path into a file + */ + void print_searchpath(FILE* fOut); + + /** + * \brief constructor + */ + anaPlanner(DiscreteSpaceInformation* environment, bool bforwardsearch); + + /** + * \brief destructor + */ + ~anaPlanner(); + +private: + //member variables + double finitial_eps; + MDPConfig* MDPCfg_; + + bool bforwardsearch; //if true, then search proceeds forward, otherwise backward + + bool bsearchuntilfirstsolution; //if true, then search until first solution only (see planner.h for search modes) + + anaSearchStateSpace_t* pSearchStateSpace_; + + unsigned int searchexpands; + int MaxMemoryCounter; + clock_t TimeStarted; + FILE *fDeb; + + void Initialize_searchinfo(CMDPSTATE* state, anaSearchStateSpace_t* pSearchStateSpace); + + CMDPSTATE* CreateState(int stateID, anaSearchStateSpace_t* pSearchStateSpace); + + CMDPSTATE* GetState(int stateID, anaSearchStateSpace_t* pSearchStateSpace); + + int ComputeHeuristic(CMDPSTATE* MDPstate, anaSearchStateSpace_t* pSearchStateSpace); + + //initialization of a state + void InitializeSearchStateInfo(anaState* state, anaSearchStateSpace_t* pSearchStateSpace); + + //re-initialization of a state + void ReInitializeSearchStateInfo(anaState* state, anaSearchStateSpace_t* pSearchStateSpace); + + void DeleteSearchStateData(anaState* state); + + // NEW FUNCTION + double get_e_value(anaSearchStateSpace_t* pSearchStateSpace, int stateID); + + //used for backward search + void UpdatePreds(anaState* state, anaSearchStateSpace_t* pSearchStateSpace); + + //used for forward search + void UpdateSuccs(anaState* state, anaSearchStateSpace_t* pSearchStateSpace); + + int GetGVal(int StateID, anaSearchStateSpace_t* pSearchStateSpace); + + //returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time + int ImprovePath(anaSearchStateSpace_t* pSearchStateSpace, double MaxNumofSecs); + + void BuildNewOPENList(anaSearchStateSpace_t* pSearchStateSpace); + + void Reevaluatefvals(anaSearchStateSpace_t* pSearchStateSpace); + + //creates (allocates memory) search state space + //does not initialize search statespace + int CreateSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace); + + //deallocates memory used by SearchStateSpace + void DeleteSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace); + + //debugging + void PrintSearchState(anaState* state, FILE* fOut); + + //reset properly search state space + //needs to be done before deleting states + int ResetSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace); + + //initialization before each search + void ReInitializeSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace); + + //very first initialization + int InitializeSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace); + + int SetSearchGoalState(int SearchGoalStateID, anaSearchStateSpace_t* pSearchStateSpace); + + int SetSearchStartState(int SearchStartStateID, anaSearchStateSpace_t* pSearchStateSpace); + + //reconstruct path functions are only relevant for forward search + int ReconstructPath(anaSearchStateSpace_t* pSearchStateSpace); + + void PrintSearchPath(anaSearchStateSpace_t* pSearchStateSpace, FILE* fOut); + + int getHeurValue(anaSearchStateSpace_t* pSearchStateSpace, int StateID); + + //get path + std::vector GetSearchPath(anaSearchStateSpace_t* pSearchStateSpace, int& solcost); + + bool Search(anaSearchStateSpace_t* pSearchStateSpace, std::vector& pathIds, int & PathCost, bool bFirstSolution, + bool bOptimalSolution, double MaxNumofSecs); +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/planners/adplanner.h b/navigations/sbpl/src/include/sbpl/planners/adplanner.h new file mode 100755 index 0000000..b6fb34f --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/planners/adplanner.h @@ -0,0 +1,371 @@ +/* + * 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. + */ + +#ifndef __ADPLANNER_H_ +#define __ADPLANNER_H_ + +#include +#include +#include +#include +#include + +//---configuration---- +//control of EPS +//initial suboptimality bound (cost solution <= cost(eps*cost optimal solution) +#define AD_DEFAULT_INITIAL_EPS 10.0 +//as planning time exist, AD* decreases epsilon bound +#define AD_DECREASE_EPS 0.2 +//final epsilon bound +#define AD_FINAL_EPS 1.0 +//--------------------- +#define AD_INCONS_LIST_ID 0 + +class CHeap; +class CList; +class DiscreteSpaceInformation; +class MDPConfig; +class StateChangeQuery; + +//------------------------------------------------------------- + +/** + * \brief generic state structure in the search tree generated by AD* + */ +typedef class ADSEARCHSTATEDATA : public AbstractSearchState +{ +public: + /** + * \brief the MDP state itself (pointer to the graph represented as MDPstates) + */ + CMDPSTATE* MDPstate; + /** + * \brief AD* relevant data + */ + unsigned int v; + /** + * \brief AD* relevant data + */ + unsigned int g; + /** + * \brief AD* relevant data + */ + short unsigned int iterationclosed; + /** + * \brief AD* relevant data + */ + short unsigned int callnumberaccessed; + +#if DEBUG + /** + * \brief AD* relevant data + */ + short unsigned int numofexpands; +#endif + + /** \brief best predecessor and the action from it, used only in forward searches + */ + CMDPSTATE *bestpredstate; + + /** \brief the next state if executing best action + */ + CMDPSTATE *bestnextstate; + unsigned int costtobestnextstate; + int h; + +public: + ADSEARCHSTATEDATA() { } + ~ADSEARCHSTATEDATA() { } +} ADState; + +/** + * \brief statespace of AD* + */ +typedef struct ADSEARCHSTATESPACE +{ + double eps; + double eps_satisfied; + CHeap* heap; + CList* inconslist; + short unsigned int searchiteration; + short unsigned int callnumber; + CMDPSTATE* searchgoalstate; + CMDPSTATE* searchstartstate; + + CMDP searchMDP; + + bool bReevaluatefvals; + bool bReinitializeSearchStateSpace; + bool bRebuildOpenList; +} ADSearchStateSpace_t; + +/** + * \brief Anytime D* search planner: all states are uniquely defined by stateIDs + */ +class ADPlanner : public SBPLPlanner +{ +public: + /** + * \brief replan a path within the allocated time, return the solution in the vector + */ + virtual int replan(double allocated_time_secs, std::vector* solution_stateIDs_V); + + /** + * \brief replan a path within the allocated time, return the solution in + * the vector, also returns solution cost + */ + virtual int replan(double allocated_time_secs, std::vector* solution_stateIDs_V, int* solcost); + + /** + * \brief works same as replan function with time and solution states, but + * it let's you fill out all the parameters for the search + */ + virtual int replan(std::vector* solution_stateIDs_V, ReplanParams params); + + /** + * \brief works same as replan function with time, solution states, and + * cost, but it let's you fill out all the parameters for the search + */ + virtual int replan(std::vector* solution_stateIDs_V, ReplanParams params, int* solcost); + + /** + * \brief set the goal state + */ + virtual int set_goal(int goal_stateID); + + /** + * \brief set the start state + */ + virtual int set_start(int start_stateID); + + /** + * \brief set a flag to get rid of the previous search efforts, and + * re-initialize the search, when the next replan is called + */ + virtual int force_planning_from_scratch(); + + /** + * \brief Gets rid of the previous search efforts, release the memory and + * re-initialize the search. + */ + virtual int force_planning_from_scratch_and_free_memory(); + + /** + * \brief you can either search forwards or backwards + */ + virtual int set_search_mode(bool bSearchUntilFirstSolution); + + /** + * \brief inform the search about the new edge costs + */ + virtual void costs_changed(StateChangeQuery const & stateChange); + + /** + * \brief direct form of informing the search about the new edge costs + * + * \param succsIDV array of successors of changed edges + * \note this is used when the search is run forwards + */ + virtual void update_succs_of_changededges(std::vector* succsIDV); + + /** + * \brief direct form of informing the search about the new edge costs + * + * \param predsIDV array of predecessors of changed edges + * \note this is used when the search is run backwards + */ + virtual void update_preds_of_changededges(std::vector* predsIDV); + + /** + * \brief returns the suboptimality bound on the currently found solution + */ + virtual double get_solution_eps() const { return pSearchStateSpace_->eps_satisfied; } + + /** + * \brief returns the number of states expanded so far + */ + virtual int get_n_expands() const { return searchexpands; } + + /** + * \brief returns the initial epsilon + */ + virtual double get_initial_eps() { return finitial_eps; } + + /** + * \brief returns the time taken to find the first solution + */ + virtual double get_initial_eps_planning_time() { return finitial_eps_planning_time; } + + /** + * \brief returns the time taken to get the final solution + */ + virtual double get_final_eps_planning_time() { return final_eps_planning_time; } + + /** + * \brief returns the number of expands to find the first solution + */ + virtual int get_n_expands_init_solution() { return num_of_expands_initial_solution; } + + /** + * \brief returns the final epsilon achieved during the search + */ + virtual double get_final_epsilon() { return final_eps; } + + /** + * \brief returns the value of the initial epsilon (suboptimality bound) used + */ + virtual void set_initialsolution_eps(double initialsolution_eps) { finitial_eps = initialsolution_eps; } + + /** + * \brief fills out a vector of stats from the search + */ + virtual void get_search_stats(std::vector* s); + + /** + * \brief constructor + */ + ADPlanner(DiscreteSpaceInformation* environment, bool bForwardSearch); + + /** + * \brief destructor + */ + ~ADPlanner(); + +protected: + //member variables + double finitial_eps, finitial_eps_planning_time, final_eps_planning_time, final_eps, dec_eps, final_epsilon; + double repair_time; + bool use_repair_time; + int num_of_expands_initial_solution; + MDPConfig* MDPCfg_; + + std::vector stats; + + bool bforwardsearch; + bool bsearchuntilfirstsolution; //if true, then search until first solution (see planner.h for search modes) + + ADSearchStateSpace_t* pSearchStateSpace_; + + unsigned int searchexpands; + int MaxMemoryCounter; + clock_t TimeStarted; + FILE *fDeb; + + //member functions + virtual void Initialize_searchinfo(CMDPSTATE* state, ADSearchStateSpace_t* pSearchStateSpace); + + virtual CMDPSTATE* CreateState(int stateID, ADSearchStateSpace_t* pSearchStateSpace); + + virtual CMDPSTATE* GetState(int stateID, ADSearchStateSpace_t* pSearchStateSpace); + + virtual int ComputeHeuristic(CMDPSTATE* MDPstate, ADSearchStateSpace_t* pSearchStateSpace); + + //initialization of a state + virtual void InitializeSearchStateInfo(ADState* state, ADSearchStateSpace_t* pSearchStateSpace); + + //re-initialization of a state + virtual void ReInitializeSearchStateInfo(ADState* state, ADSearchStateSpace_t* pSearchStateSpace); + + virtual void DeleteSearchStateData(ADState* state); + + //used for backward search + virtual void UpdatePredsofOverconsState(ADState* state, ADSearchStateSpace_t* pSearchStateSpace); + virtual void UpdatePredsofUnderconsState(ADState* state, ADSearchStateSpace_t* pSearchStateSpace); + + //used for forward search + virtual void UpdateSuccsofOverconsState(ADState* state, ADSearchStateSpace_t* pSearchStateSpace); + virtual void UpdateSuccsofUnderconsState(ADState* state, ADSearchStateSpace_t* pSearchStateSpace); + + virtual void UpdateSetMembership(ADState* state); + virtual void Recomputegval(ADState* state); + + virtual int GetGVal(int StateID, ADSearchStateSpace_t* pSearchStateSpace); + + //returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time + virtual int ComputePath(ADSearchStateSpace_t* pSearchStateSpace, double MaxNumofSecs); + + virtual void BuildNewOPENList(ADSearchStateSpace_t* pSearchStateSpace); + + virtual void Reevaluatefvals(ADSearchStateSpace_t* pSearchStateSpace); + virtual void Reevaluatehvals(ADSearchStateSpace_t* pSearchStateSpace); + + //creates (allocates memory) search state space + //does not initialize search statespace + virtual int CreateSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace); + + //deallocates memory used by SearchStateSpace + virtual void DeleteSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace); + + //reset properly search state space + //needs to be done before deleting states + virtual int ResetSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace); + + //initialization before each search + virtual void ReInitializeSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace); + + //very first initialization + virtual int InitializeSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace); + + virtual int SetSearchGoalState(int SearchGoalStateID, ADSearchStateSpace_t* pSearchStateSpace); + + virtual int SetSearchStartState(int SearchStartStateID, ADSearchStateSpace_t* pSearchStateSpace); + + //reconstruct path functions are only relevant for forward search + virtual int ReconstructPath(ADSearchStateSpace_t* pSearchStateSpace); + + virtual void PrintSearchState(ADState* searchstateinfo, FILE* fOut); + virtual void PrintSearchPath(ADSearchStateSpace_t* pSearchStateSpace, FILE* fOut); + + virtual int getHeurValue(ADSearchStateSpace_t* pSearchStateSpace, int StateID); + + //get path + virtual std::vector GetSearchPath(ADSearchStateSpace_t* pSearchStateSpace, int& solcost); + + virtual bool Search(ADSearchStateSpace_t* pSearchStateSpace, std::vector& pathIds, int & PathCost, + bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs); + + virtual CKey ComputeKey(ADState* state); + + virtual void Update_SearchSuccs_of_ChangedEdges(std::vector const * statesIDV); +}; + +/** + * \brief See comments in sbpl/src/planners/planner.h about the what and why of + * this class. + */ +class StateChangeQuery +{ +public: + virtual ~StateChangeQuery() { } + virtual std::vector const * getPredecessors() const = 0; + virtual std::vector const * getSuccessors() const = 0; +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/planners/araplanner.h b/navigations/sbpl/src/include/sbpl/planners/araplanner.h new file mode 100755 index 0000000..461f74a --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/planners/araplanner.h @@ -0,0 +1,368 @@ +/* + * 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. + */ + +#ifndef __ARAPLANNER_H_ +#define __ARAPLANNER_H_ + +#include +#include +#include +#include +#include + +//---configuration---- +//control of EPS +//initial suboptimality bound (cost solution <= cost(eps*cost optimal solution) +#define ARA_DEFAULT_INITIAL_EPS 5.0 +//as planning time exist, ARA* decreases epsilon bound +#define ARA_DECREASE_EPS 0.2 +//final epsilon bound +#define ARA_FINAL_EPS 1.0 +//--------------------- +#define ARA_INCONS_LIST_ID 0 + +class CHeap; +class CList; +class DiscreteSpaceInformation; +class MDPConfig; +class StateChangeQuery; + +//------------------------------------------------------------- + +/** + * \brief state structure used in ARA* search tree + */ +typedef class ARASEARCHSTATEDATA : public AbstractSearchState +{ +public: + /** + * \brief the MDP state itself + */ + CMDPSTATE* MDPstate; + /** + * \brief ARA* relevant data + */ + unsigned int v; + /** + * \brief ARA* relevant data + */ + unsigned int g; + /** + * \brief ARA* relevant data + */ + short unsigned int iterationclosed; + /** + * \brief ARA* relevant data + */ + short unsigned int callnumberaccessed; + +#if DEBUG + /** + * \brief ARA* relevant data + */ + short unsigned int numofexpands; +#endif + + /** + * \brief best predecessor and the action from it, used only in forward searches + */ + CMDPSTATE *bestpredstate; + /** + * \brief the next state if executing best action + */ + CMDPSTATE *bestnextstate; + unsigned int costtobestnextstate; + int h; + +public: + ARASEARCHSTATEDATA() { } + ~ARASEARCHSTATEDATA() { } +} ARAState; + +/** + * \brief the statespace of ARA* + */ +typedef struct ARASEARCHSTATESPACE +{ + double eps; + double eps_satisfied; + CHeap* heap; + CList* inconslist; + short unsigned int searchiteration; + short unsigned int callnumber; + CMDPSTATE* searchgoalstate; + CMDPSTATE* searchstartstate; + + CMDP searchMDP; + + bool bReevaluatefvals; + bool bReinitializeSearchStateSpace; + bool bNewSearchIteration; +} ARASearchStateSpace_t; + +/** + * \brief ARA* planner + */ +class ARAPlanner : public SBPLPlanner +{ +public: + /** + * \brief replan a path within the allocated time, return the solution in the vector + */ + virtual int replan(double allocated_time_secs, std::vector* solution_stateIDs_V); + + /** + * \brief replan a path within the allocated time, return the solution in the vector, also returns solution cost + */ + virtual int replan(double allocated_time_sec, std::vector* solution_stateIDs_V, int* solcost); + + /** + * \brief works same as replan function with time and solution states, but + * it let's you fill out all the parameters for the search + */ + virtual int replan(std::vector* solution_stateIDs_V, ReplanParams params); + + /** + * \brief works same as replan function with time, solution states, and + * cost, but it let's you fill out all the parameters for the search + */ + virtual int replan(std::vector* solution_stateIDs_V, ReplanParams params, int* solcost); + + /** + * \brief set the goal state + */ + virtual int set_goal(int goal_stateID); + + /** + * \brief set the start state + */ + virtual int set_start(int start_stateID); + + /** + * \brief inform the search about the new edge costs + */ + virtual void costs_changed(StateChangeQuery const & stateChange); + + /** + * \brief inform the search about the new edge costs - + * \note since ARA* is non-incremental, it is sufficient (and more + * efficient) to just inform ARA* of the fact that some costs changed + */ + virtual void costs_changed(); + + /** + * \brief set a flag to get rid of the previous search efforts, and + * re-initialize the search, when the next replan is called + */ + virtual int force_planning_from_scratch(); + + /** + * \brief Gets rid of the previous search efforts, release the memory and re-initialize the search. + */ + virtual int force_planning_from_scratch_and_free_memory(); + + /** + * \brief you can either search forwards or backwards + */ + virtual int set_search_mode(bool bSearchUntilFirstSolution); + + /** + * \brief returns the suboptimality bound on the currently found solution + */ + virtual double get_solution_eps() const { return pSearchStateSpace_->eps_satisfied; } + + /** + * \brief returns the number of states expanded so far + */ + virtual int get_n_expands() const { return searchexpands; } + + /** + * \brief sets the value of the initial epsilon (suboptimality bound) used + */ + virtual void set_initialsolution_eps(double initialsolution_eps) { finitial_eps = initialsolution_eps; } + + /** + * \brief sets the value to decrease from eps at each iteration + */ + virtual void set_eps_step(double eps) { dec_eps = eps; } + + /** + * \brief prints out the search path into a file + */ + virtual void print_searchpath(FILE* fOut); + + /** + * \brief Compute the suboptimality bound for the most recent solution. + * + * The suboptimality bound of the solution may be provably less than the + * value of epsilon satisfied during the most recent planning iteration. + * This suboptimality bound is computed as the ratio between the current + * g-value for the goal and the minimum un-weighted f-value of a locally + * inconsistent state. + * + * \return The suboptimality bound of the most recently computed solution + */ + double compute_suboptimality(); + + /** + * \brief constructor + */ + ARAPlanner(DiscreteSpaceInformation* environment, bool bforwardsearch); + + /** + * \brief destructor + */ + ~ARAPlanner(); + + /** + * \brief returns the initial epsilon + */ + virtual double get_initial_eps() { return finitial_eps; } + + /** + * \brief returns the time taken to find the first solution + */ + virtual double get_initial_eps_planning_time() { return finitial_eps_planning_time; } + + /** + * \brief returns the time taken to get the final solution + */ + virtual double get_final_eps_planning_time() { return final_eps_planning_time; } + + /** + * \brief Return the number of expands to find the first solution or -1 if no solution has been found. + */ + virtual int get_n_expands_init_solution() { return num_of_expands_initial_solution; } + + /** + * \brief returns the final epsilon achieved during the search + */ + virtual double get_final_epsilon() { return final_eps; } + + /** + * \brief fills out a vector of stats from the search + */ + virtual void get_search_stats(std::vector* s); + +protected: + //member variables + double finitial_eps, finitial_eps_planning_time, final_eps_planning_time, final_eps, dec_eps, final_epsilon; + double repair_time; + bool use_repair_time; + + std::vector stats; + + int num_of_expands_initial_solution; + + MDPConfig* MDPCfg_; + + bool bforwardsearch; //if true, then search proceeds forward, otherwise backward + + bool bsearchuntilfirstsolution; //if true, then search until first solution only (see planner.h for search modes) + + ARASearchStateSpace_t* pSearchStateSpace_; + + unsigned int searchexpands; + int MaxMemoryCounter; + clock_t TimeStarted; + FILE *fDeb; + + //member functions + virtual void Initialize_searchinfo(CMDPSTATE* state, ARASearchStateSpace_t* pSearchStateSpace); + + virtual CMDPSTATE* CreateState(int stateID, ARASearchStateSpace_t* pSearchStateSpace); + + virtual CMDPSTATE* GetState(int stateID, ARASearchStateSpace_t* pSearchStateSpace); + + virtual int ComputeHeuristic(CMDPSTATE* MDPstate, ARASearchStateSpace_t* pSearchStateSpace); + + //initialization of a state + virtual void InitializeSearchStateInfo(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace); + + //re-initialization of a state + virtual void ReInitializeSearchStateInfo(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace); + + virtual void DeleteSearchStateData(ARAState* state); + + //used for backward search + virtual void UpdatePreds(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace); + + //used for forward search + virtual void UpdateSuccs(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace); + + virtual int GetGVal(int StateID, ARASearchStateSpace_t* pSearchStateSpace); + + //returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time + virtual int ImprovePath(ARASearchStateSpace_t* pSearchStateSpace, double MaxNumofSecs); + + virtual void BuildNewOPENList(ARASearchStateSpace_t* pSearchStateSpace); + + virtual void Reevaluatefvals(ARASearchStateSpace_t* pSearchStateSpace); + virtual void Reevaluatehvals(ARASearchStateSpace_t* pSearchStateSpace); + + //creates (allocates memory) search state space + //does not initialize search statespace + virtual int CreateSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace); + + //deallocates memory used by SearchStateSpace + virtual void DeleteSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace); + + //debugging + virtual void PrintSearchState(ARAState* state, FILE* fOut); + + //reset properly search state space + //needs to be done before deleting states + virtual int ResetSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace); + + //initialization before each search + virtual void ReInitializeSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace); + + //very first initialization + virtual int InitializeSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace); + + virtual int SetSearchGoalState(int SearchGoalStateID, ARASearchStateSpace_t* pSearchStateSpace); + + virtual int SetSearchStartState(int SearchStartStateID, ARASearchStateSpace_t* pSearchStateSpace); + + //reconstruct path functions are only relevant for forward search + virtual int ReconstructPath(ARASearchStateSpace_t* pSearchStateSpace); + + virtual void PrintSearchPath(ARASearchStateSpace_t* pSearchStateSpace, FILE* fOut); + + virtual int getHeurValue(ARASearchStateSpace_t* pSearchStateSpace, int StateID); + + //get path + virtual std::vector GetSearchPath(ARASearchStateSpace_t* pSearchStateSpace, int& solcost); + + virtual bool Search(ARASearchStateSpace_t* pSearchStateSpace, std::vector& pathIds, int & PathCost, + bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs); +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/planners/lazyARA.h b/navigations/sbpl/src/include/sbpl/planners/lazyARA.h new file mode 100755 index 0000000..3569393 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/planners/lazyARA.h @@ -0,0 +1,191 @@ +/* + * Copyright (c) 2013, Mike Phillips and 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. + */ + +#ifndef _LAZY_ARA_PLANNER_H_ +#define _LAZY_ARA_PLANNER_H_ + +#include "../../sbpl/headers.h" +#include + +class LazyListElement; + +class LazyARAState: public AbstractSearchState +{ +public: + + int id; + unsigned int v; + unsigned int g; + int h; + short unsigned int iteration_closed; + short unsigned int replan_number; + LazyARAState* best_parent; + LazyARAState* expanded_best_parent; + bool in_incons; + std::priority_queue lazyList; + bool isTrueCost; +}; + +class LazyListElement +{ +public: + + LazyListElement(LazyARAState* p, int ec, bool itc) + { + parent = p; + edgeCost = ec; + isTrueCost = itc; + } + + bool operator< (const LazyListElement& other) const + { + return (parent->v + edgeCost > other.parent->v + other.edgeCost); + } + LazyARAState* parent; + int edgeCost; + bool isTrueCost; +}; + +class LazyARAPlanner : public SBPLPlanner +{ +public: + + virtual int replan(double allocated_time_secs, std::vector* solution_stateIDs_V); + virtual int replan(double allocated_time_sec, std::vector* solution_stateIDs_V, int* solcost); + virtual int replan(int start, int goal, std::vector* solution_stateIDs_V, ReplanParams params, int* solcost); + virtual int replan(std::vector* solution_stateIDs_V, ReplanParams params); + virtual int replan(std::vector* solution_stateIDs_V, ReplanParams params, int* solcost); + + virtual int set_goal(int goal_stateID); + virtual int set_start(int start_stateID); + + virtual void costs_changed(StateChangeQuery const & stateChange) { return; } + virtual void costs_changed() { return; } + + virtual int force_planning_from_scratch() { return 1; } + virtual int force_planning_from_scratch_and_free_memory() + { + freeMemory(); + return 1; + } + + virtual int set_search_mode(bool bSearchUntilFirstSolution) + { + params.return_first_solution = bSearchUntilFirstSolution; + return 1; + } + + virtual void set_initialsolution_eps(double initialsolution_eps) + { + params.initial_eps = initialsolution_eps; + } + + LazyARAPlanner(DiscreteSpaceInformation* environment, bool bforwardsearch); + ~LazyARAPlanner(); + + virtual void get_search_stats(std::vector* s); + + double get_initial_eps() { + if (stats.empty()) return -1; return stats.front().eps; + } + + double get_solution_eps() const { + if (stats.empty()) return -1; return stats.back().eps; + } + + double get_final_epsilon() { + if (stats.empty()) return -1; return stats.back().eps; + } + + double get_initial_eps_planning_time() { + if (stats.empty()) return -1; return stats.front().time; + } + + double get_final_eps_planning_time() { + if (stats.empty()) return -1; return totalPlanTime; + } + + int get_n_expands_init_solution() { + if (stats.empty()) return -1; return stats.front().expands; + } + + int get_n_expands() const { + if (stats.empty()) return -1; return totalExpands; + } + +protected: + + // data structures (open and incons lists) + CHeap heap; + std::vector incons; + std::vector states; + + // params + ReplanParams params; + bool bforwardsearch; // if true, then search proceeds forward, otherwise backward + LazyARAState* goal_state; + LazyARAState* start_state; + int goal_state_id; + int start_state_id; + + // search member variables + double eps; + double eps_satisfied; + int search_expands; + clock_t TimeStarted; + short unsigned int search_iteration; + short unsigned int replan_number; + bool use_repair_time; + + // stats + std::vector stats; + unsigned int totalExpands; + double totalTime; + double totalPlanTime; + double reconstructTime; + + virtual LazyARAState* GetState(int id); + virtual void ExpandState(LazyARAState* parent); + virtual void EvaluateState(LazyARAState* parent); + void getNextLazyElement(LazyARAState* state); + void insertLazyList(LazyARAState* state, LazyARAState* parent, int edgeCost, bool isTrueCost); + void putStateInHeap(LazyARAState* state); + void freeMemory(); + + virtual int ImprovePath(); + + virtual std::vector GetSearchPath(int& solcost); + + virtual bool outOfTime(); + virtual void initializeSearch(); + virtual void prepareNextSearchIteration(); + virtual bool Search(std::vector& pathIds, int & PathCost); +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/planners/mhaplanner.h b/navigations/sbpl/src/include/sbpl/planners/mhaplanner.h new file mode 100755 index 0000000..a61c552 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/planners/mhaplanner.h @@ -0,0 +1,214 @@ +/* + * Copyright (c) 2015, 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. + */ + +#ifndef sbpl_MHAPlanner_h +#define sbpl_MHAPlanner_h + +#include +#include +#include + +struct MHASearchState +{ + int call_number; + int state_id; + int g; + MHASearchState* bp; + + bool closed_in_anc; + bool closed_in_add; + + struct HeapData + { + AbstractSearchState open_state; + int h; + }; + + HeapData od[1]; // overallocated for additional n heuristics +}; + +class MHAPlanner : public SBPLPlanner +{ +public: + + MHAPlanner( + DiscreteSpaceInformation* environment, + Heuristic* hanchor, + Heuristic** heurs, + int hcount); + + virtual ~MHAPlanner(); + + virtual int set_start(int start_stateID); + virtual int set_goal(int goal_stateID); + + /// \sa SBPLPlanner::replan(double, std::vector*) + virtual int replan( + double allocated_time_sec, + std::vector* solution_stateIDs_V); + + /// \sa SBPLPlanner::replan(double, std::vector*, int*) + virtual int replan( + double allocated_time_sec, + std::vector* solution_stateIDs_V, + int* solcost); + + /// \sa SBPLPlanner::replan(std::vector, ReplanParams) + virtual int replan( + std::vector* solution_stateIDs_V, + ReplanParams params); + + /// \sa SBPLPlanner::replan(std::vector*, ReplanParams, int*) + virtual int replan( + std::vector* solution_stateIDs_V, + ReplanParams params, + int* solcost); + + /// \sa SBPLPlanner::force_planning_from_scratch() + /// \return 1 on success; 0 otherwise + virtual int force_planning_from_scratch(); + + /// \sa SBPLPlanner::force_planning_from_scratch_and_free_memory() + /// \return 1 on success; 0 otherwise + virtual int force_planning_from_scratch_and_free_memory(); + + virtual void costs_changed(StateChangeQuery const & stateChange); + + /// \sa ARAPlanner::costs_changed() + virtual void costs_changed(); + + /// \name Search Parameter Accessors + ///@{ + + /// \sa SBPLPlanner::set_search_mode(bool) + virtual int set_search_mode(bool bSearchUntilFirstSolution); + /// \sa SBPLPlanner::set_initialsolution_eps(double) + virtual void set_initialsolution_eps(double eps); + + /// \sa SBPLPlanner::get_initial_eps() + virtual double get_initial_eps(); + + ///@} + + /// \name Search Statistics + ///@{ + + /// \sa SBPLPlanner::get_solution_eps() const + virtual double get_solution_eps() const; + /// \sa SBPLPlanner::get_final_epsilon() + virtual double get_final_epsilon(); + + /// \sa SBPLPlanner::get_final_eps_planning_time + virtual double get_final_eps_planning_time(); + /// \sa SBPLPlanner::get_initial_eps_planning_time + virtual double get_initial_eps_planning_time(); + + /// \sa SBPLPlanner::get_n_expands() const + virtual int get_n_expands() const; + ///\sa SBPLPlanner::get_n_expands_init_solution() + virtual int get_n_expands_init_solution(); + /// \sa SBPLPlanner::get_search_states(std::vector*) + virtual void get_search_stats(std::vector* s); + + ///@} + + /// \name Homogeneous accessor methods for search mode and timing parameters + // @{ + + void set_initial_eps(double eps) { return set_initialsolution_eps(eps); } + void set_initial_mha_eps(double eps_mha); + void set_final_eps(double eps); + void set_dec_eps(double eps); + void set_max_expansions(int expansion_count); + void set_max_time(double max_time); + + // double get_initial_eps(); + double get_initial_mha_eps() const; + double get_final_eps() const; + double get_dec_eps() const; + int get_max_expansions() const; + double get_max_time() const; + + ///@} + +private: + + // Related objects + Heuristic* m_hanchor; + Heuristic** m_heurs; + int m_hcount; ///< number of additional heuristics used + + ReplanParams m_params; + double m_initial_eps_mha; + int m_max_expansions; + + double m_eps; ///< current w_1 + double m_eps_mha; ///< current w_2 + + /// suboptimality bound satisfied by the last search + double m_eps_satisfied; + + int m_num_expansions; ///< current number of expansion + double m_elapsed; ///< current amount of seconds + + int m_call_number; + + MHASearchState* m_start_state; + MHASearchState* m_goal_state; + + std::vector m_search_states; + + CHeap* m_open; ///< sequence of (m_hcount + 1) open lists + + bool check_params(const ReplanParams& params); + + bool time_limit_reached() const; + + int num_heuristics() const { return m_hcount + 1; } + MHASearchState* get_state(int state_id); + void init_state(MHASearchState* state, size_t mha_state_idx, int state_id); + void reinit_state(MHASearchState* state); + void reinit_search(); + void clear_open_lists(); + void clear(); + int compute_key(MHASearchState* state, int hidx); + void expand(MHASearchState* state, int hidx); + MHASearchState* state_from_open_state(AbstractSearchState* open_state); + int compute_heuristic(int state_id, int hidx); + int get_minf(CHeap& pq) const; + void insert_or_update(MHASearchState* state, int hidx, int f); + + void extract_path(std::vector* solution_path, int* solcost); + + bool closed_in_anc_search(MHASearchState* state) const; + bool closed_in_add_search(MHASearchState* state) const; + bool closed_in_any_search(MHASearchState* state) const; +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/planners/planner.h b/navigations/sbpl/src/include/sbpl/planners/planner.h new file mode 100755 index 0000000..96ac1a8 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/planners/planner.h @@ -0,0 +1,351 @@ +/* + * 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. + */ + +#ifndef __PLANNER_H_ +#define __PLANNER_H_ + +#include +#include +#include + +#define GETSTATEIND(stateid, mapid) StateID2IndexMapping[mapid][stateid] + +//indices for the StateID2Index mapping +enum STATEID2IND +{ + STATEID2IND_SLOT0 = 0, STATEID2IND_SLOT1,//add more slots if necessary + NUMOFINDICES_STATEID2IND +}; + +//use the slots above for the mutually exclusive algorithms +#define VIMDP_STATEID2IND STATEID2IND_SLOT0 +#define ARAMDP_STATEID2IND STATEID2IND_SLOT0 +#define ADMDP_STATEID2IND STATEID2IND_SLOT0 +#define RSTARMDP_STATEID2IND STATEID2IND_SLOT0 +#define RSTARMDP_LSEARCH_STATEID2IND STATEID2IND_SLOT1 +#define anaMDP_STATEID2IND STATEID2IND_SLOT0 +#define MHAMDP_STATEID2IND STATEID2IND_SLOT0 + +//for example +//#define YYYPLANNER_STATEID2IND STATEID2IND_SLOT0 +//#define YYYPLANNER_STATEID2IND STATEID2IND_SLOT1 + +class DiscreteSpaceInformation; +/** + * Utility for unified notification of cost changes + * across all SBPLPlanner subtypes. Ideally we would have a simple + * unified interface, such as std::vector, but the + * current separation of planner and environment representation code + * would be violated if we just included that here. + + * At the moment, ADPlanner is the only one who really uses the + * detailed information provided by ChangedCellsGetter, so we define + * that class in sbpl/src/planners/ADStar/adplanner.h (to be moved up + * the hierarchy when we generalize). + */ +class StateChangeQuery; + +/** + * \brief a parameter class for planners + */ +class ReplanParams +{ +public: + /** + * \brief constructor which sets some default values for the parameters + * \param time The maximum planning time + */ + ReplanParams(double time) + { + max_time = time; + initial_eps = 5.0; + final_eps = 1.0; + dec_eps = 0.2; + return_first_solution = false; + repair_time = -1; + } + + /** + * \brief the initial epsilon. (for anytime planners) the default value is 5.0 + */ + double initial_eps; + + /** + * \brief the final epsilon. (for anytime planners) the default value is 1.0 (optimal solution) + */ + double final_eps; + + /** + * \brief the amount epsilon decreases by between searches. (for anytime planners) By default this is 0.2 + */ + double dec_eps; + + /** + * \brief should the planner return after the finding first solution? + * (this will cause the planner to ignore all time limits) By default this + * is false. + */ + bool return_first_solution; + + /** + * \brief The planner will use all of this time planning unless it reaches + * a solution for final_eps before the time is up + */ + double max_time; + + /** + * \brief If this time out is not positive, it is ignored (this is the + * default). If the planner finds a first solution (in under maxTime of + * course) the time out for the planner becomes the minimum of maxTime and + * repairTime (clearly repairTime is useless if it is larger than + * maxTime). This second timer is useful because you often want a + * solution in a short amount of time (repairTime) where you are willing + * to let the planner improve the solution, but you are willing to wait a + * longer amount of time (maxTime) to get the first solution. + */ + double repair_time; +}; + +class PlannerStats +{ +public: + double eps; + int cost; + double time; + int expands; +}; + +typedef enum +{ + //different state types if you have more than one type inside a single planner + ABSTRACT_STATE = 0, ABSTRACT_STATEACTIONPAIR, ABSTRACT_GENERALSTATE +} AbstractSearchStateType_t; + +/** + * \brief base class for a search state + */ +class AbstractSearchState +{ +public: + /** + * \brief each state can be a member of at most two lists + * indices of lists are given in planner.h (e.g., STATEID2IND_SLOT0) + */ + struct listelement* listelem[2]; + /** + * \brief index of the state in the heap, typically used for membership in OPEN + */ + int heapindex; + /** + * \brief type of state. usually it will be general state + */ + AbstractSearchStateType_t StateType; + +public: + AbstractSearchState() + { + StateType = ABSTRACT_GENERALSTATE; + listelem[0] = listelem[1] = NULL; + } + ~AbstractSearchState() { } +}; + +/** + * \brief pure virtual base class for a generic planner + */ +class SBPLPlanner +{ +public: + /** + * \brief returns 1 if solution is found, 0 otherwise will replan + * incrementally if possible (e.g., as supported by the planner and not + * forced to replan from scratch) takes in the time available for planner + * and returns a sequence of stateIDs that corresponds to the solution + */ + virtual int replan(double allocated_time_sec, std::vector* solution_stateIDs_V) = 0; + + /** + * \brief works same as replan function with two parameters, but also returns the cost of the solution + */ + virtual int replan(double allocated_time_sec, std::vector* solution_stateIDs_V, int* solcost) = 0; + + /** + * \brief works same as replan function with time and solution states, but + * it let's you fill out all the parameters for the search + */ + virtual int replan(std::vector* solution_stateIDs_V, ReplanParams params) + { + SBPL_ERROR("replan using ReplanParams is unimplemented for this planner\n"); + return 0; + } + + /** + * \brief works same as replan function with time, solution states, and + * cost, but it let's you fill out all the parameters for the search + */ + virtual int replan(std::vector* solution_stateIDs_V, ReplanParams params, int* solcost) + { + SBPL_ERROR("replan using ReplanParams is unimplemented for this planner\n"); + return 0; + } + + /** + * \brief sets the goal of search (planner will automatically decide whether it needs to replan from scratch) + */ + virtual int set_goal(int goal_stateID) = 0; + + /** + * \brief sets the start of search (planner will automatically decide whether it needs to replan from scratch) + */ + virtual int set_start(int start_stateID) = 0; + + /** + * \brief forgets previous planning efforts and starts planning from scratch next time replan is called + */ + virtual int force_planning_from_scratch() = 0; + + /** + * \brief forgets previous planning efforts and starts planning from scratch next time replan is called + */ + virtual int force_planning_from_scratch_and_free_memory() + { + SBPL_ERROR("planning from scratch and free memory is unimplemented for this planner\n"); + return 0; + } + + /** + * \brief sets the mode for searching + * + * if bSearchUntilFirstSolution is false, then planner searches for at most + * allocatime_time_sec, independently of whether it finds a solution or not + * (default mode) if bSearchUntilFirstSolution is true, then planner + * searches until it finds the first solution. It may be faster than + * allocated_time or it may be longer In other words, in the latter case, + * the planner does not spend time on improving the solution even if time + * permits, but may also take longer than allocated_time before returning + * So, normally bSearchUntilFirstSolution should be set to false. + */ + virtual int set_search_mode(bool bSearchUntilFirstSolution) = 0; + + /** + * \brief Notifies the planner that costs have changed. May need to be + * specialized for different subclasses in terms of what to + * do here + */ + virtual void costs_changed(StateChangeQuery const & stateChange) = 0; + + /** + * \return The "epsilon" value of the solution last computed by + * replan(), if such an epsilon is used by the planner. The base class + * implementation returns -1 to express that it has no such thing. + */ + virtual double get_solution_eps() const + { + SBPL_ERROR("get_solution_eps is unimplemented for this planner\n"); + return -1; + } + + /** + * \return The number of states expanded during the last replan() + * operation, or -1 if this information is not available. + */ + virtual int get_n_expands() const + { + SBPL_ERROR("get_n_expands is unimplemented for this planner\n"); + return -1; + } + + /** + * \brief returns the initial epsilon + */ + virtual double get_initial_eps() + { + SBPL_ERROR("get_initial_eps is unimplemented for this planner\n"); + return -1; + } + + /** + * \brief returns the time taken to find the first solution + */ + virtual double get_initial_eps_planning_time() + { + SBPL_ERROR("get_initial_eps_planning_time is unimplemented for this planner\n"); + return -1; + } + + /** + * \brief returns the time taken to get the final solution + */ + virtual double get_final_eps_planning_time() + { + SBPL_ERROR("get_final_eps_planning_time is unimplemented for this planner\n"); + return -1; + } + + /** + * \brief returns the number of expands to find the first solution + */ + virtual int get_n_expands_init_solution() + { + SBPL_ERROR("get_n_expands_init_solution is unimplemented for this planner\n"); + return -1; + } + + /** + * \brief returns the final epsilon achieved during the search + */ + virtual double get_final_epsilon() + { + SBPL_ERROR("get_final_epsilon is unimplemented for this planner\n"); + return -1; + } + + /** + * \brief fills out a vector of stats from the search + */ + virtual void get_search_stats(std::vector* s) + { + SBPL_ERROR("get_search_stats is unimplemented for this planner\n"); + } + + /** + * \brief setting initial solution eps + * This parameter is ignored in planners that don't have a notion of eps + * In ARA* / AD*: (cost(initialsolution) <= eps*cost(optimalsolution)) + */ + virtual void set_initialsolution_eps(double initialsolution_eps) { } + + virtual ~SBPLPlanner() { } + +protected: + DiscreteSpaceInformation *environment_; +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/planners/ppcpplanner.h b/navigations/sbpl/src/include/sbpl/planners/ppcpplanner.h new file mode 100755 index 0000000..aa77932 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/planners/ppcpplanner.h @@ -0,0 +1,195 @@ +/* + * Copyright (c) 2009, 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. + */ + +#ifndef __PPCPPLANNER_H_ +#define __PPCPPLANNER_H_ + +#include +#include +#include +#include +#include + +class DiscreteSpaceInformation; +class StateChangeQuery; + +/** + * \brief a state for PPCP + */ +typedef class PPCPPLANNERSTATEDATA : public AbstractSearchState +{ +public: + /** + * \brief the MDP state itself + */ + CMDPSTATE* MDPstate; + /** + * \brief planner relevant data + */ + int v; + /** + * \brief planner relevant data + */ + unsigned int iteration; + + /** + * \brief best action + */ + CMDPACTION *bestnextaction; + +private: + //probability of reaching this state (intermediate variable used by the algorithm) + float Pc; + +public: + PPCPPLANNERSTATEDATA() { } + ~PPCPPLANNERSTATEDATA() { } +} PPCPState; + +/** + * \brief PPCP statespace + */ +typedef struct PPCPSTATESPACE +{ + /** + * \brief MDP + */ + CMDP MDP; + /** + * \brief pointer to start state + */ + CMDPSTATE* StartState; + /** + * \brief pointer to goal state + */ + CMDPSTATE* GoalState; + + int iteration; + int searchiteration; + + //TODO - vector CurrentPolicy; //current policy + double currentpolicyconfidence; + + /** + * \brief set when it is necessary to reset the planner + */ + bool bReinitializeSearchStateSpace; +} PPCPStateSpace_t; + +/** + * \brief PPCP planner + * in explanations, S signifies a fully observable part of the state space H + * signifies hidden variables + */ +class PPCPPlanner : public SBPLPlanner +{ +public: + /** + * \brief planning (replanning) function. Takes in time available for + * planning + * + * returns policy, expected cost of the solution policy, and probability of + * successfully reaching the goal (it is < 1, whenever PPCP ran out of time + * before full convergence + */ + int replan(double allocated_time_secs, std::vector* SolutionPolicy, + float* ExpectedCost, float* ProbofReachGoal); + + /** + * \brief constructors + */ + PPCPPlanner(DiscreteSpaceInformation* environment, int sizeofS, int sizeofH); + + /** + * \brief destructor + */ + ~PPCPPlanner(); + + /** + * \brief setting goal state in S + */ + int set_goal(int goal_stateID); + + /** + * \brief setting start state in S + */ + int set_start(int start_stateID); + + /** + * \brief not supported version of replan + */ + int replan(double allocated_time_sec, std::vector* solution_stateIDs_V) + { + throw SBPL_Exception("ERROR: this version of replan not supported in PPCP planner"); + } + + /** + * \brief not supported version of replan + */ + int replan(double allocated_time_sec, std::vector* solution_stateIDs_V, int* solcost) + { + throw SBPL_Exception("ERROR: this version of replan not supported in PPCP planner"); + } + + /** + * \brief forgets previous planning efforts and starts planning from scratch next time replan is called + */ + int force_planning_from_scratch(); + + /** + * \brief sets how to search - not supported in PPCP + */ + int set_search_mode(bool bSearchUntilFirstSolution) + { + throw SBPL_Exception("ERROR: set_search_mode not supported in PPCP planner"); + } + + /** + * \brief Notifies the planner that costs have changed. May need to be + * specialized for different subclasses in terms of what to + * do here + */ + void costs_changed(StateChangeQuery const & stateChange); + + /** + * \brief notifies the planner that costs have changed + */ + void costs_changed(); + +private: + //member variables + PPCPStateSpace_t* pStateSpace; + FILE* fDeb; + + //deallocates memory used by SearchStateSpace + void DeleteStateSpace(PPCPStateSpace_t* pStateSpace); + int CreateSearchStateSpace(PPCPStateSpace_t* pStateSpace); +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/planners/rstarplanner.h b/navigations/sbpl/src/include/sbpl/planners/rstarplanner.h new file mode 100755 index 0000000..01bb333 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/planners/rstarplanner.h @@ -0,0 +1,479 @@ +/* + * 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. + */ + +#ifndef __RSTARPLANNER_H_ +#define __RSTARPLANNER_H_ + +#include +#include +#include +#include +#include +#include + +//---configuration---- +//control of EPS +#define RSTAR_DEFAULT_INITIAL_EPS 3.0 +#define RSTAR_DECREASE_EPS 0.2 +#define RSTAR_FINAL_EPS 1.0 + +//the number of states to expand for local search in RSTAR before it declares a hard case and postpones its processing +#define RSTAR_EXPTHRESH 1000 +//--------------------- +#define RSTAR_INCONS_LIST_ID 0 + +class CList; +class StateChangeQuery; + +//------------------------------------------------------------- + +/** + * \brief high level states in R* search + * \note in other words, state structure for high level states in Gamma graph + */ +typedef class RSTARSEARCHSTATEDATA : public AbstractSearchState +{ +public: + /** + * \brief the MDP state itself + */ + CMDPSTATE* MDPstate; + /** + * \brief RSTAR* relevant data + */ + unsigned int g; + /** + * \brief RSTAR* relevant data + */ + short unsigned int iterationclosed; + /** + * \brief RSTAR* relevant data + */ + short unsigned int callnumberaccessed; + + /** + * \brief best predecessor and the action from it + * + * \note note that in R* bestpredaction refers to best predecessor in the + * high-level graph constructed by R* this graph is ALWAYS rooted at + * searchstart and directed towards searchgoal independently of the actual + * direction of search (from start to goal or from goal to start) thus + * sourcestate for the action is always at the state closer to the start of + * the search tree + */ + CMDPACTION *bestpredaction; + + /** + * \brief set of predecessor actions together with some info + */ + std::vector predactionV; + + /** + * \brief RSTAR* relevant data - heuristics + */ + int h; + +public: + RSTARSEARCHSTATEDATA() { } + ~RSTARSEARCHSTATEDATA() { } +} RSTARState; + +/** + * \brief action in Gamma graph. Each action in Gamma graph corresponds to a path + */ +typedef struct RSTARACTIONDATA_T +{ + /** + * \brief lower bound on the cost of the path + */ + int clow; + /** + * \brief number of expansions done so far to compute the path that represents this action + */ + int exp; + /** + * \brief path that the action represents + * + * \note the path is always stored as a valid path w.r.t. the original graph + * (not search tree) so if the search is forward, then the path is from + * source to target and otherwise, the path is from target toward source + */ + std::vector pathIDs; +} RSTARACTIONDATA; + +/** + * \brief low-level (local) search state in R* + */ +typedef class RSTARLSEARCHSTATEDATA : public AbstractSearchState +{ +public: + /** + * \brief the MDP state itself + */ + CMDPSTATE* MDPstate; + /** + * \brief planner relevant data - g-value + */ + int g; + + /** + * \brief planner relevant data + */ + unsigned int iteration; + /** + * \brief planner relevant data + */ + unsigned int iterationclosed; + + /** + * \brief best predecessors according to the search tree (so, in backward search these are actual successors) + */ + CMDPSTATE* bestpredstate; + /** + * \brief the cost of the best action from the best preds to this state + */ + int bestpredstateactioncost; + +public: + RSTARLSEARCHSTATEDATA() { } + ~RSTARLSEARCHSTATEDATA() { } +} RSTARLSearchState; + +/** + * \brief local search statespace in R* + */ +class RSTARLSEARCHSTATESPACE +{ +public: + /** + * \brief graph constructed by local search + */ + CMDP MDP; + /** + * \brief start state + */ + CMDPSTATE* StartState; + /** + * \brief goal state + */ + CMDPSTATE* GoalState; + /** + * \brief search-related variable + */ + int iteration; + + /** + * \brief open list + */ + CHeap* OPEN; + /** + * \brief incons list - used for suboptimal search + */ + CList* INCONS; + +public: + RSTARLSEARCHSTATESPACE() + { + OPEN = NULL; + INCONS = NULL; + StartState = NULL; + GoalState = NULL; + } + + ~RSTARLSEARCHSTATESPACE() + { + if (OPEN != NULL) delete OPEN; + } +}; + +typedef class RSTARLSEARCHSTATESPACE RSTARLSearchStateSpace_t; + +/** + * \brief statespace + */ +typedef struct RSTARSEARCHSTATESPACE +{ + /** + * \brief required epsilon + */ + double eps; + /** + * \brief epsilon that is satisfied + */ + double eps_satisfied; + /** + * \brief open list + */ + CHeap* OPEN; + + /** + * \brief searchiteration gets incremented with every R* search (and reset upon every increment of callnumber) + */ + short unsigned int searchiteration; + /** + * \brief callnumber gets incremented with every call to R* (so, it can + * be multiple number of times within planning times since R* is executed + * multiple times) + */ + short unsigned int callnumber; + /** + * \brief search goal state (not necessarily the actual start state, it depends on search direction) + */ + CMDPSTATE* searchgoalstate; + /** + * \brief search start state + */ + CMDPSTATE* searchstartstate; + + /** + * \brief graph constructed by high-level search + */ + CMDP searchMDP; + + /** + * \brief need to reevaluate fvals + */ + bool bReevaluatefvals; + /** + * \brief need to reinitialize search space + */ + bool bReinitializeSearchStateSpace; + /** + * \brief set when it is a new search iteration + */ + bool bNewSearchIteration; +} RSTARSearchStateSpace_t; + +/** + * \brief RSTAR* planner + */ +class RSTARPlanner : public SBPLPlanner +{ +public: + /** + * \brief replan a path within the allocated time, return the solution in the vector + */ + int replan(double allocated_time_secs, std::vector* solution_stateIDs_V); + + /** + * \brief replan a path within the allocated time, return the solution in the vector, also returns solution cost + */ + int replan(double allocated_time_sec, std::vector* solution_stateIDs_V, int* solcost); + + /** + * \brief set the goal state + */ + int set_goal(int goal_stateID); + + /** + * \brief set the start state + */ + int set_start(int start_stateID); + + /** + * \brief inform the search about the new edge costs + */ + void costs_changed(StateChangeQuery const & stateChange); + + /** + * \brief inform the search about the new edge costs - + * + * \note since R* is non-incremental, it is sufficient (and more efficient) + * to just inform R* of the fact that some costs changed + */ + void costs_changed(); + + /** + * \brief set a flag to get rid of the previous search efforts, release + * the memory and re-initialize the search, when the next replan is called + */ + int force_planning_from_scratch(); + + /** + * \brief you can either search forwards or backwards + */ + int set_search_mode(bool bSearchUntilFirstSolution); + + /** + * \brief obtain probabilistic eps suboptimality bound + */ + virtual double get_solution_probabilisticeps() const { return pSearchStateSpace->eps_satisfied; } + + /** + * \brief get number of high level expands + */ + virtual int get_highlevel_expands() const { return highlevel_searchexpands; } + + /** + * \brief get number of low level expands + */ + virtual int get_lowlevel_expands() const { return lowlevel_searchexpands; } + + /** + * \brief set initial solution epsilon that R* will try to satisfy (probabilistically) + */ + virtual void set_initialsolution_eps(double initialsolution_eps) { finitial_eps = initialsolution_eps; } + + /** + * \brief sets the value to decrease from eps at each iteration + */ + virtual void set_eps_step(double eps) { dec_eps = eps; } + + /** + * \brief sets the number of states to expand for local search in RSTAR before + * it declares a hard case and postpones its processing. + */ + virtual void set_local_expand_thres(unsigned thres) { local_expand_thres = thres; } + + /** + * \brief returns the initial epsilon used by the search + */ + double get_initial_eps() { return finitial_eps; } + + /** + * \brief returns the final epsilon achieved during the search + */ + double get_final_epsilon() + { + if (pSearchStateSpace != NULL) + return pSearchStateSpace->eps_satisfied; + else + return INFINITECOST; + } + + /** + * \brief print out search path + */ + void print_searchpath(FILE* fOut); + + /** + * \brief constructor + */ + RSTARPlanner(DiscreteSpaceInformation* environment, bool bforwardsearch); + + /** + * \brief destructor + */ + ~RSTARPlanner(); + +private: + //member variables + double finitial_eps; + double dec_eps; + double final_epsilon; + double local_expand_thres; + + bool bforwardsearch; //if true, then search proceeds forward, otherwise backward + + bool bsearchuntilfirstsolution; //if true, then search until first solution only (see planner.h for search modes) + + RSTARSearchStateSpace_t* pSearchStateSpace; + RSTARLSearchStateSpace_t* pLSearchStateSpace; + + unsigned int highlevel_searchexpands; + unsigned int lowlevel_searchexpands; + int MaxMemoryCounter; + clock_t TimeStarted; + FILE *fDeb; + + //member functions + void Initialize_searchinfo(CMDPSTATE* state); + CMDPSTATE* CreateState(int stateID); + CMDPSTATE* GetState(int stateID); + + int ComputeHeuristic(CMDPSTATE* MDPstate); + + //initialization of a state + void InitializeSearchStateInfo(RSTARState* state); + + //re-initialization of a state + void ReInitializeSearchStateInfo(RSTARState* state); + + void DeleteSearchStateData(RSTARState* state); + void DeleteSearchActionData(RSTARACTIONDATA* actiondata); + + int GetGVal(int StateID); + + //returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time + int ImprovePath(double MaxNumofSecs); + + //note this does NOT re-compute heuristics, only re-orders OPEN list based on current eps and h-vals + void Reevaluatefvals(); + + //creates (allocates memory) search state space + //does not initialize search statespace + int CreateSearchStateSpace(); + + //deallocates memory used by SearchStateSpace + void DeleteSearchStateSpace(); + + //debugging + void PrintSearchState(RSTARState* state, FILE* fOut); + + //reset properly search state space + //needs to be done before deleting states + int ResetSearchStateSpace(); + + //initialization before each search + void ReInitializeSearchStateSpace(); + + //very first initialization + int InitializeSearchStateSpace(); + + //setting start/goal + int SetSearchGoalState(int SearchGoalStateID); + int SetSearchStartState(int SearchStartStateID); + + int getHeurValue(int StateID); + + //get path + std::vector GetSearchPath(int& solcost); + void PrintSearchPath(FILE* fOut); + + //the actual search + bool Search(std::vector& pathIds, int & PathCost, bool bFirstSolution, bool bOptimalSolution, + double MaxNumofSecs); + //local search + bool ComputeLocalPath(int StartStateID, int GoalStateID, int maxc, int maxe, int *pCost, int *pCostLow, int *pExp, + std::vector* pPathIDs, int* pNewGoalStateID, double maxnumofsecs); + + //global search functions + void SetBestPredecessor(RSTARState* rstarState, RSTARState* rstarPredState, CMDPACTION* action); + CKey ComputeKey(RSTARState* rstarState); + + //local search functions + void Initialize_rstarlsearchdata(CMDPSTATE* state); + CMDPSTATE* CreateLSearchState(int stateID); + CMDPSTATE* GetLSearchState(int stateID); + bool DestroyLocalSearchMemory(); + CKey LocalSearchComputeKey(RSTARLSearchState* rstarlsearchState); +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/planners/viplanner.h b/navigations/sbpl/src/include/sbpl/planners/viplanner.h new file mode 100755 index 0000000..a45672f --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/planners/viplanner.h @@ -0,0 +1,131 @@ +/* + * 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. + */ + +#ifndef __VIPLANNER_H_ +#define __VIPLANNER_H_ + +#include +#include +#include +#include + +#define MDP_ERRDELTA 0.01 + +class DiscreteSpaceInformation; +class MDPConfig; + +struct VIPLANNER_T +{ + CMDP MDP; + CMDPSTATE* StartState; + CMDPSTATE* GoalState; + int iteration; +}; + +/** + * \brief Value Iteration state + */ +typedef class VIPLANNERSTATEDATA : public AbstractSearchState +{ +public: + /** + * \brief the MDP state itself + */ + CMDPSTATE* MDPstate; + /** + * \brief planner relevant data + */ + float v; + float Pc; + unsigned int iteration; + + /** + * \brief best action + */ + CMDPACTION *bestnextaction; + +public: + VIPLANNERSTATEDATA() { } + ~VIPLANNERSTATEDATA() { } +} VIState; + +/** + * \brief value iteration planner + */ +class VIPlanner : public SBPLPlanner +{ +public: + /** + * \brief replan a path within the allocated time, return the policy in the solution vector + */ + virtual int replan(double allocated_time_secs, std::vector* solution_stateIDs_V); + + /** + * \brief constructors + */ + VIPlanner(DiscreteSpaceInformation* environment, MDPConfig* MDP_cfg) + { + environment_ = environment; + MDPCfg_ = MDP_cfg; + } + + /** + * \brief destructor + */ + ~VIPlanner(); + +protected: + //member variables + MDPConfig* MDPCfg_; + VIPLANNER_T viPlanner; + + virtual void Initialize_vidata(CMDPSTATE* state); + + virtual CMDPSTATE* CreateState(int stateID); + + virtual CMDPSTATE* GetState(int stateID); + + virtual void PrintVIData(); + + virtual void PrintStatHeader(FILE* fOut); + + virtual void PrintStat(FILE* fOut, clock_t starttime); + + virtual void PrintPolicy(FILE* fPolicy); + + virtual void backup(CMDPSTATE* state); + + virtual void perform_iteration_backward(); + + virtual void perform_iteration_forward(); + + virtual void InitializePlanner(); +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/sbpl_exception.h b/navigations/sbpl/src/include/sbpl/sbpl_exception.h new file mode 100755 index 0000000..cc35981 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/sbpl_exception.h @@ -0,0 +1,61 @@ +/* + * 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. + */ + +#ifndef SBPL_EXCEPTION_H +#define SBPL_EXCEPTION_H + +#include +#include + +#include + +class SBPL_Exception : public std::runtime_error +{ +public: + + explicit SBPL_Exception( + const std::string& what_arg = "SBPL has encountered a fatal error!") + : + std::runtime_error(what_arg) + { + SBPL_ERROR("%s\n", what_arg.c_str()); + } + + explicit SBPL_Exception(const char* what_arg) : + std::runtime_error(what_arg) + { + SBPL_ERROR("%s\n", what_arg); + } + + virtual ~SBPL_Exception() throw() { } + +private: +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/utils/2Dgridsearch.h b/navigations/sbpl/src/include/sbpl/utils/2Dgridsearch.h new file mode 100755 index 0000000..89d5867 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/2Dgridsearch.h @@ -0,0 +1,233 @@ +/* + * 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. + */ + +#ifndef __2DGRIDSEARCH_H_ +#define __2DGRIDSEARCH_H_ + +#include +#include +#include +#include + +#define SBPL_2DGRIDSEARCH_NUMOF2DDIRS 16 + +#define SBPL_2DSEARCH_OPEN_LIST_ID 0 + +// Forward declaration needed to allow instance of CIntHeap* +class CIntHeap; +class CSlidingBucket; + +enum SBPL_2DGRIDSEARCH_TERM_CONDITION +{ + SBPL_2DGRIDSEARCH_TERM_CONDITION_OPTPATHFOUND, + SBPL_2DGRIDSEARCH_TERM_CONDITION_20PERCENTOVEROPTPATH, + SBPL_2DGRIDSEARCH_TERM_CONDITION_TWOTIMESOPTPATH, + SBPL_2DGRIDSEARCH_TERM_CONDITION_THREETIMESOPTPATH, + SBPL_2DGRIDSEARCH_TERM_CONDITION_ALLCELLS +}; + +enum SBPL_2DGRIDSEARCH_OPENTYPE +{ + SBPL_2DGRIDSEARCH_OPENTYPE_HEAP, SBPL_2DGRIDSEARCH_OPENTYPE_SLIDINGBUCKETS +}; + +//#define SBPL_2DGRIDSEARCH_HEUR2D(x,y) ((int)(1000*cellSize_m_*sqrt((double)((x-goalX_)*(x-goalX_)+(y-goalY_)*(y-goalY_))))) +#define SBPL_2DGRIDSEARCH_HEUR2D(x,y) ((int)(1000*cellSize_m_*__max(abs(x-goalX_),abs(y-goalY_)))) + +/** + * \brief search state corresponding to each 2D cell + */ +class SBPL_2DGridSearchState : public AbstractSearchState +{ +public: + /** + * \brief coordinates + */ + int x, y; + + /** + * \brief search relevant data + */ + int g; + /** + * \brief iteration at which the state was accessed (generated) last + */ + int iterationaccessed; + +public: + SBPL_2DGridSearchState() { iterationaccessed = 0; } + ~SBPL_2DGridSearchState() { } +}; + +/** + * \brief 2D search itself + */ +class SBPL2DGridSearch +{ +public: + /** + * @brief SBPL2DGridSearch Create a search space for 2D grids + * @param width_x grid width + * @param height_y grid height + * @param cellsize_m resolution + * @param downsample edge length of block in main grid that corresponds to a single cell in this grid + * @param initial_dynamic_bucket_size Initial dynamic bucket size, set to 0 for fixed size + */ + SBPL2DGridSearch(int width_x, int height_y, float cellsize_m, int downsample=1, int initial_dynamic_bucket_size=32); + ~SBPL2DGridSearch() + { + destroy(); + } + + /** + * \brief the priority data structure used - it affects efficiency (can be + * either heap or sliding buckets, see definition of + * SBPL_2DGRIDSEARCH_OPENTYPE) + */ + bool setOPENdatastructure(SBPL_2DGRIDSEARCH_OPENTYPE OPENtype); + + /** + * \brief destroys the search and clears all memory + */ + void destroy(); + + /** \brief performs search itself. All costs are given as cost(cell1, + * cell2) = Euclidean distance*1000*(max(cell1,cell2)+1) for adjacent + * cells. + * \note It is infinite if max(cell1,cell2) >= obsthresh For cells that are + * not adjacent (which may happen if 16 connected grid is ON), then max is + * taken over all the cells center line goes through Search is done from + * start to goal. termination_condition specifies when to stop the search. + * In particular, one may specify to run it until OPEN is empty. In this + * case, the values of all states will be computed. + */ + bool search(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, int goaly_c, + SBPL_2DGRIDSEARCH_TERM_CONDITION termination_condition); + + /** + * \brief print all the values + */ + void printvalues(); + + /** + * \brief returns the computed distance from the start to . If not computed, then returns lower bound on it. + */ + inline int getlowerboundoncostfromstart_inmm(int x, int y) + { + x /= downsample_; // local x + y /= downsample_; // local y + if (term_condition_usedlast == SBPL_2DGRIDSEARCH_TERM_CONDITION_OPTPATHFOUND) { + //heuristic search + int h = SBPL_2DGRIDSEARCH_HEUR2D(x,y); + //the logic is that if s wasn't expanded, then g(s) + h(s) >= + //maxcomputed_fval => g(s) >= maxcomputed_fval - h(s) + return ((searchStates2D_[x][y].iterationaccessed == iteration_ && + searchStates2D_[x][y].g + h <= largestcomputedoptf_) ? searchStates2D_[x][y].g : + largestcomputedoptf_ < INFINITECOST ? largestcomputedoptf_ - h : + INFINITECOST); + } + else { + //Dijkstra's search + //the logic is that if s wasn't expanded, then g(s) >= maxcomputed_fval => g(s) >= maxcomputed_fval - h(s) + return ((searchStates2D_[x][y].iterationaccessed == iteration_ && + searchStates2D_[x][y].g <= largestcomputedoptf_) ? searchStates2D_[x][y].g : + largestcomputedoptf_); + } + } + + /** + * \brief returns largest optimal g-value computed by search - a lower + * bound on the state values of unexpanded states + */ + int getlargestcomputedoptimalf_inmm() { return largestcomputedoptf_; } + +private: + inline bool withinMap(int x, int y) + { + return (x >= 0 && y >= 0 && x < width_ && y < height_); + } + + void computedxy(); + inline void initializeSearchState2D(SBPL_2DGridSearchState* state2D); + bool createSearchStates2D(void); + + /// Pointer to getCost function appropriate for resample size + unsigned char (*getCost)(unsigned char**, int, int, int); + + bool search_withheap(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, + int goaly_c, SBPL_2DGRIDSEARCH_TERM_CONDITION termination_condition); + bool search_exp(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, + int goaly_c); + bool search_withbuckets(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, + int goaly_c); + bool search_withslidingbuckets(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, int starty_c, + int goalx_c, int goaly_c, SBPL_2DGRIDSEARCH_TERM_CONDITION termination_condition); + + //2D search data + int initial_dynamic_bucket_size_; + CSlidingBucket* OPEN2DBLIST_; + CIntHeap* OPEN2D_; + SBPL_2DGridSearchState** searchStates2D_; + int dx_[SBPL_2DGRIDSEARCH_NUMOF2DDIRS]; + int dy_[SBPL_2DGRIDSEARCH_NUMOF2DDIRS]; + //the intermediate cells through which the actions go + //(for all the ones with the first index <=7, there are none(they go to direct neighbors) -> initialized to -1) + int dx0intersects_[SBPL_2DGRIDSEARCH_NUMOF2DDIRS]; + int dx1intersects_[SBPL_2DGRIDSEARCH_NUMOF2DDIRS]; + int dy0intersects_[SBPL_2DGRIDSEARCH_NUMOF2DDIRS]; + int dy1intersects_[SBPL_2DGRIDSEARCH_NUMOF2DDIRS]; + //distances of transitions + int dxy_distance_mm_[SBPL_2DGRIDSEARCH_NUMOF2DDIRS]; + + //OPEN data structure type + SBPL_2DGRIDSEARCH_OPENTYPE OPENtype_; + + //start and goal configurations + int startX_, startY_; + int goalX_, goalY_; + + //map parameters + int width_, height_; + float cellSize_m_; + + //search iteration + int iteration_; + + // the size of the block edge in the main gid that corresponds to 1 cell in the 2D grid + int downsample_; + + //largest optimal g-value computed by search + int largestcomputedoptf_; + + //termination criterion used in the search + SBPL_2DGRIDSEARCH_TERM_CONDITION term_condition_usedlast; +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/utils/heap.h b/navigations/sbpl/src/include/sbpl/utils/heap.h new file mode 100755 index 0000000..294f67b --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/heap.h @@ -0,0 +1,139 @@ +/* + * 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. + */ + +#ifndef __HEAP_H_ +#define __HEAP_H_ + +#include +#include + +//the maximum size of the heap +#define HEAPSIZE 20000000 +#define HEAPSIZE_INIT 5000 + +struct HEAPELEMENT +{ + AbstractSearchState *heapstate; + CKey key; +}; + +typedef struct HEAPELEMENT heapelement; + +class CHeap +{ + //data +public: + int percolates; //for counting purposes + heapelement* heap; + int currentsize; + int allocated; + + //constructors +public: + CHeap(); + ~CHeap(); + + //functions +public: + bool emptyheap(); + bool fullheap(); + bool inheap(AbstractSearchState *AbstractSearchState); + CKey getkeyheap(AbstractSearchState *AbstractSearchState); + void makeemptyheap(); + void insertheap(AbstractSearchState *AbstractSearchState, CKey key); + void deleteheap(AbstractSearchState *AbstractSearchState); + void updateheap(AbstractSearchState *AbstractSearchState, CKey NewKey); + AbstractSearchState *getminheap(); + AbstractSearchState *getminheap(CKey& ReturnKey); + CKey getminkeyheap(); + AbstractSearchState *deleteminheap(); + void makeheap(); + void insert_unsafe(AbstractSearchState* state, CKey key); + void updateheap_unsafe(AbstractSearchState* AbstractSearchState, CKey NewKey); + void deleteheap_unsafe(AbstractSearchState* AbstractSearchState); + +private: + void percolatedown(int hole, heapelement tmp); + void percolateup(int hole, heapelement tmp); + void percolateupordown(int hole, heapelement tmp); + + void growheap(); + void sizecheck(); +}; + +struct HEAPINTELEMENT +{ + AbstractSearchState *heapstate; + int key; +}; + +typedef struct HEAPINTELEMENT heapintelement; + +class CIntHeap +{ + //data +public: + int percolates; //for counting purposes + heapintelement* heap; + int currentsize; + int allocated; + + //constructors +public: + CIntHeap(); + CIntHeap(int initial_size); + ~CIntHeap(); + + //functions +public: + bool emptyheap(); + bool fullheap(); + bool inheap(AbstractSearchState *AbstractSearchState); + int getkeyheap(AbstractSearchState *AbstractSearchState); + void makeemptyheap(); + void insertheap(AbstractSearchState *AbstractSearchState, int key); + void deleteheap(AbstractSearchState *AbstractSearchState); + void updateheap(AbstractSearchState *AbstractSearchState, int NewKey); + AbstractSearchState *getminheap(); + AbstractSearchState *getminheap(int& ReturnKey); + int getminkeyheap(); + AbstractSearchState *deleteminheap(); + void makeheap(); + +private: + void percolatedown(int hole, heapintelement tmp); + void percolateup(int hole, heapintelement tmp); + void percolateupordown(int hole, heapintelement tmp); + + void growheap(); + void sizecheck(); +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/utils/key.h b/navigations/sbpl/src/include/sbpl/utils/key.h new file mode 100755 index 0000000..066246c --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/key.h @@ -0,0 +1,184 @@ +/* + * 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. + */ + +#ifndef __KEY_H_ +#define __KEY_H_ + +#define KEY_SIZE 2 + +#define INFINITECOST 1000000000 + +class CKey +{ + //data +public: + long int key[KEY_SIZE]; + + //constructors +public: + CKey() + { +#if KEY_SIZE == 1 + key[0] = 0; +#elif KEY_SIZE == 2 + key[0] = 0; + key[1] = 0; +#else + for(int i = 0; i < KEY_SIZE; i++) + { + key[i] = 0; + } +#endif + } + + ~CKey() { } + + //functions +public: + void SetKeytoInfinity() + { + for (int i = 0; i < KEY_SIZE; i++) { + key[i] = INFINITECOST; + } + } + + void SetKeytoZero() + { + for (int i = 0; i < KEY_SIZE; i++) { + key[i] = 0; + } + } + + void operator =(CKey RHSKey) + { + //iterate through the keys + //the 0ht is the most important key +#if KEY_SIZE == 1 + key[0] = RHSKey.key[0]; +#elif KEY_SIZE == 2 + key[0] = RHSKey.key[0]; + key[1] = RHSKey.key[1]; +#else + for(int i = 0; i < KEY_SIZE; i++) + key[i] = RHSKey.key[i]; +#endif + } + + CKey operator -(const CKey& RHSKey) const + { + CKey RetKey; + + //iterate through the keys + //the 0ht is the most important key + for (int i = 0; i < KEY_SIZE; i++) + RetKey.key[i] = key[i] - RHSKey.key[i]; + + return RetKey; + } + + bool operator >(CKey& RHSKey) + { + //iterate through the keys + //the 0ht is the most important key +#if KEY_SIZE == 1 + return (key[0] > RHSKey.key[0]); +#elif KEY_SIZE == 2 + return (key[0] > RHSKey.key[0] || (key[0] == RHSKey.key[0] && key[1] > RHSKey.key[1])); +#else + for(int i = 0; i < KEY_SIZE; i++) + { + //compare the current key + if(key[i] > RHSKey.key[i]) + return true; + else if(key[i] < RHSKey.key[i]) + return false; + } + //all are equal + return false; +#endif + } + + bool operator ==(CKey& RHSKey) + { + //iterate through the keys + //the 0ht is the most important key +#if KEY_SIZE == 1 + return (key[0] == RHSKey.key[0]); +#elif KEY_SIZE == 2 + return (key[0] == RHSKey.key[0] && key[1] == RHSKey.key[1]); +#else + + for(int i = 0; i < KEY_SIZE; i++) + { + //compare the current key + if(key[i] != RHSKey.key[i]) + return false; + } + + //all are equal + return true; +#endif + } + + bool operator !=(CKey& RHSKey) + { + return !(*this == RHSKey); + } + + bool operator <(CKey& RHSKey) + { + //iterate through the keys + //the 0ht is the most important key +#if KEY_SIZE == 1 + return (key[0] < RHSKey.key[0]); +#elif KEY_SIZE == 2 + return (key[0] < RHSKey.key[0] || (key[0] == RHSKey.key[0] && key[1] < RHSKey.key[1])); +#else + for(int i = 0; i < KEY_SIZE; i++) + { + //compare the current key + if(key[i] < RHSKey.key[i]) + return true; + else if(key[i] > RHSKey.key[i]) + return false; + } + //all are equal + return false; +#endif + } + + bool operator >=(CKey& RHSKey) { return !(*this < RHSKey); } + + bool operator <=(CKey& RHSKey) { return !(*this > RHSKey); } + + long int operator [](int i) { return key[i]; } +}; + +#endif + diff --git a/navigations/sbpl/src/include/sbpl/utils/list.h b/navigations/sbpl/src/include/sbpl/utils/list.h new file mode 100755 index 0000000..efb73d1 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/list.h @@ -0,0 +1,682 @@ +/* + * 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. + */ + +#ifndef __LIST_H_ +#define __LIST_H_ + +#include +#include + +#include +#include + +//the maximum size of the heap +#define LISTSIZE 5000000 + +struct listelement +{ + AbstractSearchState *liststate; + struct listelement *prev; + struct listelement *next; +}; + +typedef struct listelement listelement; + +class CList +{ + //data +public: + listelement* firstelement; + listelement* lastelement; + int currentsize; + + //constructors +public: + CList() + { + firstelement = NULL; + lastelement = NULL; + currentsize = 0; + } + + ~CList() + { + } + + //functions +public: + bool empty() { return (currentsize == 0); } + + bool full() { return (currentsize >= LISTSIZE); } + + bool in(AbstractSearchState *AbstractSearchState1, int listindex) + { + return (AbstractSearchState1->listelem[listindex] != NULL); + } + + void makeemptylist(int listindex) + { + while (firstelement != NULL) + remove(firstelement->liststate, listindex); + } + + void insert(AbstractSearchState *AbstractSearchState1, int listindex) + { + if (currentsize >= LISTSIZE) { + throw SBPL_Exception("ERROR: list is full"); + } + if (AbstractSearchState1->listelem[listindex] != NULL) { + throw SBPL_Exception("ERROR: insert: element is already in the list"); + } + listelement *insertelem = (listelement*)malloc(sizeof(listelement)); + insertelem->liststate = AbstractSearchState1; + insertelem->prev = NULL; + insertelem->next = firstelement; + if (firstelement != NULL) firstelement->prev = insertelem; + firstelement = insertelem; + if (lastelement == NULL) //if this is the first element to be inserted into the list + lastelement = insertelem; + AbstractSearchState1->listelem[listindex] = insertelem; + currentsize++; + } + + void insertinfront(AbstractSearchState *AbstractSearchState1, int listindex) + { + insert(AbstractSearchState1, listindex); + } + + void remove(AbstractSearchState *AbstractSearchState1, int listindex) + { + if (currentsize == 0 || AbstractSearchState1->listelem[listindex] == NULL) { + throw SBPL_Exception("ERROR: delete: list does not contain the element"); + } + if (AbstractSearchState1->listelem[listindex]->prev != NULL && AbstractSearchState1->listelem[listindex]->next + != NULL) { + //in the middle of the list + AbstractSearchState1->listelem[listindex]->prev->next = AbstractSearchState1->listelem[listindex]->next; + AbstractSearchState1->listelem[listindex]->next->prev = AbstractSearchState1->listelem[listindex]->prev; + } + else if (AbstractSearchState1->listelem[listindex]->prev != NULL) { + //at the end of the list + AbstractSearchState1->listelem[listindex]->prev->next = NULL; + lastelement = AbstractSearchState1->listelem[listindex]->prev; + } + else if (AbstractSearchState1->listelem[listindex]->next != NULL) { + //at the beginning of the list + AbstractSearchState1->listelem[listindex]->next->prev = NULL; + firstelement = AbstractSearchState1->listelem[listindex]->next; + } + else { + //the only element in the list + firstelement = NULL; + lastelement = NULL; + } + //delete + free(AbstractSearchState1->listelem[listindex]); + AbstractSearchState1->listelem[listindex] = NULL; + currentsize--; + } + + AbstractSearchState *getfirst() + { + if (firstelement == NULL) + return NULL; + else + return firstelement->liststate; + } + + AbstractSearchState *getlast() + { + if (lastelement == NULL) + return NULL; + else + return lastelement->liststate; + } + + AbstractSearchState *getnext(AbstractSearchState* AbstractSearchState1, int listindex) + { + if (AbstractSearchState1->listelem[listindex]->next == NULL) + return NULL; + else + return AbstractSearchState1->listelem[listindex]->next->liststate; + } +}; + +class CBucket +{ + //data +public: + //buckets are from first_priority to numofbuckets-3. Bucket numofbucket-2 + //contains elements with higher finite priorities (unordered). Last bucket + //contains infinite priority elements + std::vector* bucketV; + //contains the priorities of elements in the numofbuckets-2 bucket (mixed priorities) + std::vector assortedpriorityV; + int firstpriority; + int numofbuckets; + int currentminelement_bucketind; + int currentminelement_priority; + int currentminelement_bucketVind; //index within the bucket + + int maxassortedpriorityVsize; + + //constructors +public: + CBucket(int first_priority, int max_bucketed_priority) + { + bucketV = NULL; + firstpriority = 0; + numofbuckets = 0; + currentminelement_bucketind = INFINITECOST; + currentminelement_priority = INFINITECOST; + currentminelement_bucketVind = INFINITECOST; + maxassortedpriorityVsize = 0; + + reset(first_priority, max_bucketed_priority); + } + + ~CBucket() + { + if (bucketV != NULL) { + makeemptybucketV(); + + delete[] bucketV; + bucketV = NULL; + firstpriority = 0; + numofbuckets = 0; + + } + } + + //functions +public: + bool empty() + { + return (currentminelement_bucketind == INFINITECOST); + } + + bool reset(int first_priority, int max_bucketed_priority) + { + //delete the old ones + if (numofbuckets != 0) { + makeemptybucketV(); + + delete[] bucketV; + bucketV = NULL; + firstpriority = 0; + numofbuckets = 0; + } + + //compute the number of buckets + numofbuckets = max_bucketed_priority - first_priority + 1; //this is how many priorities are one per buckets + numofbuckets += 2; //one bucket for (max_bucketed_priority; infinity) and one bucket for infinity + + //allocate memory + bucketV = new std::vector [numofbuckets]; + + //currently all empty + currentminelement_bucketind = INFINITECOST; + currentminelement_priority = INFINITECOST; + currentminelement_bucketVind = INFINITECOST; + + //reset statistics + maxassortedpriorityVsize = 0; + + return true; + } + + void makeemptybucketV() + { + for (int i = 0; i < numofbuckets; i++) { + for (int eind = 0; eind < (int)bucketV[i].size(); eind++) { + bucketV[i].at(eind)->heapindex = -1; + } + } + assortedpriorityV.clear(); //clear the assorted priorities array + + //currently all empty + currentminelement_bucketind = INFINITECOST; + currentminelement_priority = INFINITECOST; + currentminelement_bucketVind = INFINITECOST; + + } + + AbstractSearchState *getminelement() + { + if (currentminelement_bucketind == INFINITECOST) + return NULL; +#if DEBUG + else if(currentminelement_bucketind >= numofbuckets) + { + throw SBPL_Exception("ERROR: currentminelement_bucketind is invalid"); + } + else if((int)bucketV[currentminelement_bucketind].size() <= currentminelement_bucketVind) + { + throw SBPL_Exception("ERROR: failed to get minelement"); + } +#endif + else { + return bucketV[currentminelement_bucketind].at(currentminelement_bucketVind); + } + + } + + AbstractSearchState *popminelement() + { + if (currentminelement_bucketind == INFINITECOST) + return NULL; +#if DEBUG + else if(currentminelement_bucketind >= numofbuckets) + { + throw SBPL_Exception("ERROR: currentminelement_bucketind is invalid"); + } + else if((int)bucketV[currentminelement_bucketind].size() <= currentminelement_bucketVind) + { + throw SBPL_Exception("ERROR: failed to get minelement"); + } +#endif + else { + AbstractSearchState* AbstractSearchState1 = + bucketV[currentminelement_bucketind].at(currentminelement_bucketVind); + removestategivenbucketindex(AbstractSearchState1, currentminelement_bucketind); + return AbstractSearchState1; + } + + } + + int getminpriority() + { + return currentminelement_priority; + } + + void remove(AbstractSearchState *AbstractSearchState1, int priorityattimeofinsertion) + { + //compute bucketindex + int bucketindex = priorityattimeofinsertion - firstpriority; + if (priorityattimeofinsertion == INFINITECOST) + bucketindex = numofbuckets - 1; + else if (bucketindex > numofbuckets - 2) bucketindex = numofbuckets - 2; + + removestategivenbucketindex(AbstractSearchState1, bucketindex); + } + + void insert(AbstractSearchState *AbstractSearchState1, int priority) + { + //compute bucket index + int bucketindex = priority - firstpriority; + if (priority == INFINITECOST) { + bucketindex = numofbuckets - 1; + } + else if (bucketindex >= numofbuckets - 2) { + bucketindex = numofbuckets - 2; //overflow bucket + } + + //insert the element itself + bucketV[bucketindex].push_back(AbstractSearchState1); + AbstractSearchState1->heapindex = (int)bucketV[bucketindex].size() - 1; + + if (bucketindex == numofbuckets - 2) { + assortedpriorityV.push_back(priority); + + if (maxassortedpriorityVsize < (int)assortedpriorityV.size()) maxassortedpriorityVsize + = (int)assortedpriorityV.size(); + } + + //re-compute minelement if necessary + if (priority < currentminelement_priority || currentminelement_priority == INFINITECOST) { + recomputeminelementupfrombucket(bucketindex); + } + } + +private: + void removestategivenbucketindex(AbstractSearchState *AbstractSearchState1, int bucketindex) + { + int removeelemind = AbstractSearchState1->heapindex; + int lastelemind = (int)bucketV[bucketindex].size() - 1; + + //put into its place the last element in the bucket + if (bucketindex == numofbuckets - 2) assortedpriorityV.at(removeelemind) = assortedpriorityV.at(lastelemind); + bucketV[bucketindex].at(lastelemind)->heapindex = removeelemind; + bucketV[bucketindex].at(removeelemind) = bucketV[bucketindex].at(lastelemind); + + //clear the element itself + AbstractSearchState1->heapindex = -1; + + //remove the last element + bucketV[bucketindex].pop_back(); + + //re-compute minelement if necessary + if (bucketindex == currentminelement_bucketind && ((int)bucketV[bucketindex].size() == 0 || + currentminelement_bucketind == numofbuckets - 2)) + { + recomputeminelementupfrombucket(bucketindex); + } + } + + void recomputeminelementupfrombucket(int startbucketindex) + { + //first find non-empty bucket + int bind = -1; + for (bind = startbucketindex; bind < numofbuckets; bind++) { + if ((int)bucketV[bind].size() != 0) break; + } + + if (bind < numofbuckets - 2) { + //normal bucket + currentminelement_bucketind = bind; + currentminelement_priority = firstpriority + bind; + currentminelement_bucketVind = 0; + } + else if (bind == (numofbuckets - 2)) { + //assorted priorities + currentminelement_bucketind = bind; + currentminelement_priority = INFINITECOST; + currentminelement_bucketVind = INFINITECOST; + for (int eind = 0; eind < (int)bucketV[bind].size(); eind++) { + if (currentminelement_priority > assortedpriorityV.at(eind)) { + currentminelement_priority = assortedpriorityV.at(eind); + currentminelement_bucketVind = eind; + } + } + if (currentminelement_priority == INFINITECOST) { + throw SBPL_Exception("ERROR: in recomputemin in buckets"); + } + } + else if (bind == (numofbuckets - 1)) { + //bucket with infinite priorities + currentminelement_bucketind = bind; + currentminelement_priority = INFINITECOST; + currentminelement_bucketVind = 0; + } + else { + currentminelement_bucketind = INFINITECOST; + currentminelement_priority = INFINITECOST; + currentminelement_bucketVind = INFINITECOST; + } + + } +}; + +class CSlidingBucket +{ + //data +public: + //fixed size buckets. Each bucket is of size bucketsize, and there are numofbuckets buckets. + //all unoccupied buckets are supposed to be set to NULL + AbstractSearchState*** bucketV; + int* lastelementindexV; //index of the last element for each bucket + int numofbuckets; + int bucketsize; + int currentminelement_bindex; //index of the bucket of the current min element + int currentminelement_index; //index of the current minelement in the bucket + int currentmaxelement_priority; //the maxelement priority in the list + int currentminelement_priority; //the priority of the current minelement + int currentfirstbucket_bindex; //index of the bucket that corresponds to the first bucket in the list (lowest priority) + int currentfirstbucket_priority; //priority of the first bucket in the list + int* dynamicsize; //the size of bucket + int initialdynamicsize; //initial size of dynamic sized buckets or 0 for fixed size buckets + + //constructors +public: + // an initial_dynamic_size of 0 will use fixed size buckets + CSlidingBucket(int num_of_buckets, int bucket_size, int initial_dynamic_size=0) + { + numofbuckets = num_of_buckets; + bucketsize = bucket_size; + initialdynamicsize = std::max(0, initial_dynamic_size); + + //allocate memory + bucketV = new AbstractSearchState**[numofbuckets]; + lastelementindexV = new int[numofbuckets]; + if(initialdynamicsize) + { + dynamicsize = new int[numofbuckets]; + for (int i = 0; i < numofbuckets; i++) { + dynamicsize[i] = 0; + } + } + for (int i = 0; i < numofbuckets; i++) { + lastelementindexV[i] = -1; + bucketV[i] = NULL; + } + + currentminelement_bindex = currentfirstbucket_bindex = 0; + currentminelement_index = -1; + currentmaxelement_priority = currentminelement_priority = currentfirstbucket_priority = 0; + } + + ~CSlidingBucket() + { + for (int i = 0; i < numofbuckets; i++) { + if (bucketV[i] != NULL) { + if(initialdynamicsize) + free(bucketV[i]); + else + delete[] bucketV[i]; + bucketV[i] = NULL; + } + } + if(initialdynamicsize) + delete [] dynamicsize; + + delete[] bucketV; + bucketV = NULL; + delete[] lastelementindexV; + } + + //functions +public: + inline bool empty() + { + return (currentminelement_index == -1 && currentmaxelement_priority == currentminelement_priority); + } + + inline int getminkey() + { + return currentminelement_priority; + } + + void reset() + { + currentminelement_bindex = currentfirstbucket_bindex = 0; + currentminelement_index = -1; + currentmaxelement_priority = currentminelement_priority = currentfirstbucket_priority = 0; + for (int i = 0; i < numofbuckets; i++) { + lastelementindexV[i] = -1; + if (bucketV[i] == NULL) continue; + if(initialdynamicsize) + { + for (int eind = 0; eind < dynamicsize[i]; eind++) + bucketV[i][eind] = NULL; + } + else + { + for (int eind = 0; eind < bucketsize; eind++) + bucketV[i][eind] = NULL; + } + } + + } + + AbstractSearchState *popminelement() + { + if (currentminelement_index == -1 && currentmaxelement_priority == currentminelement_priority) + return NULL; + else { + AbstractSearchState* currentelement = NULL; + if (currentminelement_index == -1 || bucketV[currentminelement_bindex] == NULL + || bucketV[currentminelement_bindex][currentminelement_index] == NULL) + currentelement = recomputeandreturnmin(); + else + currentelement = bucketV[currentminelement_bindex][currentminelement_index]; + + //delete the element + bucketV[currentminelement_bindex][currentminelement_index] = NULL; + + //reset the first bucket to the element that was just delete + currentfirstbucket_bindex = currentminelement_bindex; + currentfirstbucket_priority = currentminelement_priority; + + //recomputemin + recomputeandreturnmin(); + + return currentelement; + } + } + + AbstractSearchState *getminelement() + { + if (currentminelement_index == -1 && currentmaxelement_priority == currentminelement_priority) + return NULL; + else { + AbstractSearchState* currentelement = NULL; + if (currentminelement_index == -1 || bucketV[currentminelement_bindex] == NULL + || bucketV[currentminelement_bindex][currentminelement_index] == NULL) + currentelement = recomputeandreturnmin(); + else + currentelement = bucketV[currentminelement_bindex][currentminelement_index]; + + return currentelement; + } + } + + void insert(AbstractSearchState *AbstractSearchState1, int priority) + { + //compute the index of the bucket where to put it in + int bucket_increment = (priority - currentfirstbucket_priority); + int bucket_index = (currentfirstbucket_bindex + bucket_increment) % numofbuckets; + + if (bucket_increment >= numofbuckets || bucket_increment < 0) { + std::stringstream ss; + ss << "ERROR: invalid priority=" << priority << + " (currentfirstbucket_priority=" << + currentfirstbucket_priority << + ") used with sliding buckets"; + throw SBPL_Exception(ss.str()); + } + + //insert the element + lastelementindexV[bucket_index]++; + + if (lastelementindexV[bucket_index] == bucketsize) { + std::stringstream ss; + ss << "ERROR: bucket " << bucket_index << " is full (size=" << bucketsize << ")"; + throw SBPL_Exception(ss.str()); + } + + if (bucketV[bucket_index] == NULL) createbucket(bucket_index); + + if(initialdynamicsize) + { + // resize the bucket if needed + if(lastelementindexV[bucket_index] >= dynamicsize[bucket_index]) + { + const int new_size = std::min(dynamicsize[bucket_index]*2, bucketsize); + + if(new_size != dynamicsize[bucket_index]) + { + bucketV[bucket_index] = (AbstractSearchState**) realloc(bucketV[bucket_index], sizeof(AbstractSearchState*) * new_size); + + for(int i=dynamicsize[bucket_index]; i currentmaxelement_priority) currentmaxelement_priority = priority; + if (priority < currentminelement_priority) { + currentminelement_priority = priority; + currentminelement_bindex = bucket_index; + } + + //special case for the only entry + if (currentminelement_bindex == bucket_index && currentminelement_index == -1) { + currentminelement_index = 0; + } + } + +private: + AbstractSearchState *recomputeandreturnmin() + { + if (currentminelement_index == -1 && currentmaxelement_priority == currentminelement_priority) return NULL; + while (currentminelement_index == -1 || bucketV[currentminelement_bindex] == NULL || + bucketV[currentminelement_bindex][currentminelement_index] == NULL) + { + //try incrementing element index + if (currentminelement_index < lastelementindexV[currentminelement_bindex]) + currentminelement_index++; + else { + //there are no more elements left in this bucket + lastelementindexV[currentminelement_bindex] = -1; + + //if it was the last bucket, then that is it + if (currentminelement_priority == currentmaxelement_priority) { + currentminelement_index = -1; + currentmaxelement_priority = currentminelement_priority; + return NULL; + } + + //try incrementing bucket index + currentminelement_bindex = (currentminelement_bindex + 1) % numofbuckets; + currentminelement_index = 0; + currentminelement_priority++; + } + } + return bucketV[currentminelement_bindex][currentminelement_index]; + } + + void createbucket(int bucketindex) + { + if (bucketV[bucketindex] != NULL) { + throw SBPL_Exception("ERROR: trying to create a non-null bucket"); + } + + if(initialdynamicsize) + { + dynamicsize[bucketindex] = initialdynamicsize; + bucketV[bucketindex] = (AbstractSearchState**) malloc(sizeof(AbstractSearchState*) * dynamicsize[bucketindex] ); + for (int eind = 0; eind < dynamicsize[bucketindex]; eind++) + bucketV[bucketindex][eind] = NULL; + } + else + { + bucketV[bucketindex] = new AbstractSearchState*[bucketsize]; + for (int eind = 0; eind < bucketsize; eind++) + bucketV[bucketindex][eind] = NULL; + } + } +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/utils/mdp.h b/navigations/sbpl/src/include/sbpl/utils/mdp.h new file mode 100755 index 0000000..98812aa --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/mdp.h @@ -0,0 +1,142 @@ +/* + * 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. + */ + +#ifndef __MDP_H_ +#define __MDP_H_ + +#include +#include +#include +#include + +#define EPS_ERROR 0.000001 + +//the maximum size of the heap +#define MAXSTATESPACESIZE 20000000 + +class CMDPSTATE; +class CMDPACTION +{ +public: + //data + int ActionID; + int SourceStateID; + std::vector SuccsID; + std::vector Costs; + std::vector SuccsProb; + void* PlannerSpecificData; + + //constructors + CMDPACTION(int ID, int sourcestateid) + { + ActionID = ID; + SourceStateID = sourcestateid; + PlannerSpecificData = NULL; + } + + ~CMDPACTION() + { + if (PlannerSpecificData != NULL) { + const char* msg = "ERROR: state deletion: planner specific data is not deleted"; + SBPL_FPRINTF(stderr, "%s\n", msg); + throw SBPL_Exception(msg); + } + } + + //functions + bool Delete(); + bool IsValid(); + void AddOutcome(int OutcomeStateID, int OutcomeCost, float OutcomeProb); + int GetIndofMostLikelyOutcome(); + int GetIndofOutcome(int OutcomeID); + bool DeleteAllOutcomes(); + + //operators + void operator =(const CMDPACTION& rhsaction); +}; + +class CMDPSTATE +{ +public: + //data + int StateID; + std::vector Actions; + std::vector PredsID; + void* PlannerSpecificData; + + //constructors + CMDPSTATE(int ID) + { + StateID = ID; + PlannerSpecificData = NULL; + } + + ~CMDPSTATE() + { + if (PlannerSpecificData != NULL) { + const char* msg = "ERROR: state deletion: planner specific data is not deleted"; + SBPL_FPRINTF(stderr, "%s\n", msg); + throw SBPL_Exception(msg); + } + } + + //functions + bool Delete(); + CMDPACTION* AddAction(int ID); + bool ContainsPred(int stateID); + bool AddPred(int stateID); + bool RemovePred(int stateID); + bool RemoveAllActions(); + CMDPACTION* GetAction(int actionID); + + //operators + void operator =(const CMDPSTATE& rhsstate); +}; + +class CMDP +{ +public: + //data + std::vector StateArray; + + //constructors + CMDP() { } + ~CMDP() { } + + //functions + bool empty(); + bool full(); + //creates numofstates states. Their ids are their orderings for Original, Thresholded & Search MDPs + bool Create(int numofstates); + bool Delete(); + void Print(FILE* fOut); + CMDPSTATE* AddState(int StateID); +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/utils/mdpconfig.h b/navigations/sbpl/src/include/sbpl/utils/mdpconfig.h new file mode 100755 index 0000000..3c103ba --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/mdpconfig.h @@ -0,0 +1,39 @@ +/* + * 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. + */ + +#ifndef __MDPCONFIG_H_ +#define __MDPCONFIG_H_ + +struct MDPConfig +{ + int startstateid; + int goalstateid; +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/utils/sbpl_bfs_2d.h b/navigations/sbpl/src/include/sbpl/utils/sbpl_bfs_2d.h new file mode 100755 index 0000000..fc1d638 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/sbpl_bfs_2d.h @@ -0,0 +1,221 @@ +/* + * 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. + */ + +#ifndef SBPL_BFS_2D +#define SBPL_BFS_2D + +#include +#include + +class sbpl_bfs_2d +{ +private: + class bfs_cell_2d + { + public: + bfs_cell_2d() + { + x = 0; + y = 0; + } + + bfs_cell_2d(int tempX, int tempY) + { + x = tempX; + y = tempY; + } + + int x; + int y; + }; + +public: + sbpl_bfs_2d(unsigned int sx, unsigned int sy, int obs_thresh, int fifo_size = -1) : + NUM_ACTIONS(8) + { + size_x_ = sx; + size_y_ = sy; + thresh_ = obs_thresh; + + //initialize the fifo + if (fifo_size < 0) fifo_size = 2 * sx + 2 * sy; + q_ = new sbpl_fifo (fifo_size); + + //initialize the distance grid + dist_ = new int*[size_x_]; + for (int x = 0; x < size_x_; x++) + dist_[x] = new int[size_y_]; + + //initialize the actions + dx = new int[NUM_ACTIONS]; + dy = new int[NUM_ACTIONS]; + int idx = 0; + for (int x = -1; x <= 1; x++) { + for (int y = -1; y <= 1; y++) { + if (!x && !y) continue; + dx[idx] = x; + dy[idx] = y; + idx++; + } + } + + } + + ~sbpl_bfs_2d() + { + //delete the fifo + delete q_; + + //delete the distance grid + for (int x = 0; x < size_x_; x++) + delete[] dist_[x]; + delete[] dist_; + + //delete the actions + delete[] dx; + delete[] dy; + } + + bool compute_distance_from_point(int** grid, int x, int y) + { + if (x < 0 || x >= size_x_ || y < 0 || y >= size_y_) { + printf("ERROR[compute_distance_from_point]: point is out of bounds!\n"); + return false; + } + q_->clear(); + clear_distances(); + + bfs_cell_2d c(x, y); + q_->insert(c); + dist_[x][y] = 0; + + compute_distances(grid); + return true; + } + + bool compute_distance_from_points(int** grid, std::vector x, std::vector y) + { + if (x.size() != y.size()) { + printf("ERROR[compute_distance_from_points]: size of x and y coordinates must agree!\n"); + return false; + } + q_->clear(); + clear_distances(); + + for (unsigned int i = 0; i < x.size(); i++) { + if (x[i] < 0 || x[i] >= size_x_ || y[i] < 0 || y[i] >= size_y_) { + printf("ERROR[compute_distance_from_points]: point is out of bounds!\n"); + return false; + } + bfs_cell_2d c(x[i], y[i]); + q_->insert(c); + dist_[x[i]][y[i]] = 0; + } + + compute_distances(grid); + return true; + } + + void compute_distance_from_obs(int** grid) + { + q_->clear(); + clear_distances(); + + for (int x = 0; x < size_x_; x++) { + for (int y = 0; y < size_y_; y++) { + if (grid[x][y] >= thresh_) { + bfs_cell_2d c(x, y); + q_->insert(c); + dist_[x][y] = 0; + } + } + } + + compute_distances(grid); + } + + void clear_distances() + { + for (int x = 0; x < size_x_; x++) + for (int y = 0; y < size_y_; y++) + dist_[x][y] = -1; + } + + void compute_distances(int** grid) + { + bfs_cell_2d c; + while (!q_->empty()) { + q_->remove(&c); + int cost = dist_[c.x][c.y] + 1; + if (c.x == 0 || c.x == size_x_ - 1 || c.y == 0 || c.y == size_y_ - 1) { + //we are on a boundary so we have to bounds check each successor + for (int i = 0; i < NUM_ACTIONS; i++) { + int x = c.x + dx[i]; + int y = c.y + dy[i]; + if (x < 0 || x >= size_x_ || y < 0 || y >= size_y_) continue; + if (dist_[x][y] < 0 && grid[x][y] < thresh_) { + dist_[x][y] = cost; + bfs_cell_2d temp(x, y); + q_->insert(temp); + } + } + } + else { + //we are not near a boundary so no bounds check is required + for (int i = 0; i < NUM_ACTIONS; i++) { + int x = c.x + dx[i]; + int y = c.y + dy[i]; + if (dist_[x][y] < 0 && grid[x][y] < thresh_) { + dist_[x][y] = cost; + bfs_cell_2d temp(x, y); + q_->insert(temp); + } + } + } + } + } + + int get_distance(unsigned int x, unsigned int y) + { + return dist_[x][y]; + } + +private: + int** dist_; + sbpl_fifo* q_; + int size_x_; + int size_y_; + int thresh_; + + const int NUM_ACTIONS; + int* dx; + int* dy; +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/utils/sbpl_bfs_3d.h b/navigations/sbpl/src/include/sbpl/utils/sbpl_bfs_3d.h new file mode 100755 index 0000000..fcf26e0 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/sbpl_bfs_3d.h @@ -0,0 +1,242 @@ +/* + * 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. + */ + +#ifndef SBPL_BFS_3D +#define SBPL_BFS_3D + +#include +#include + +class sbpl_bfs_3d +{ +private: + class bfs_cell_3d + { + public: + bfs_cell_3d() + { + x = 0; + y = 0; + z = 0; + } + bfs_cell_3d(int tempX, int tempY, int tempZ) + { + x = tempX; + y = tempY; + z = tempZ; + } + ; + int x; + int y; + int z; + }; + +public: + sbpl_bfs_3d(unsigned int sx, unsigned int sy, unsigned int sz, int obs_thresh, int fifo_size = -1) : + NUM_ACTIONS(26) + { + size_x_ = sx; + size_y_ = sy; + size_z_ = sz; + thresh_ = obs_thresh; + + //initialize the fifo + if (fifo_size < 0) fifo_size = 2 * sx * sy + 2 * sx * sz + 2 * sy * sz; + q_ = new sbpl_fifo (fifo_size); + + //initialize the distance grid + dist_ = new int**[size_x_]; + for (int x = 0; x < size_x_; x++) { + dist_[x] = new int*[size_y_]; + for (int y = 0; y < size_y_; y++) + dist_[x][y] = new int[size_z_]; + } + + //initialize the actions + dx = new int[NUM_ACTIONS]; + dy = new int[NUM_ACTIONS]; + dz = new int[NUM_ACTIONS]; + int idx = 0; + for (int x = -1; x <= 1; x++) { + for (int y = -1; y <= 1; y++) { + for (int z = -1; z <= 1; z++) { + if (!x && !y && !z) continue; + dx[idx] = x; + dy[idx] = y; + dz[idx] = z; + idx++; + } + } + } + + } + + ~sbpl_bfs_3d() + { + //delete the fifo + delete q_; + + //delete the distance grid + for (int x = 0; x < size_x_; x++) { + for (int y = 0; y < size_y_; y++) + delete[] dist_[x][y]; + delete[] dist_[x]; + } + delete[] dist_; + + //delete the actions + delete[] dx; + delete[] dy; + delete[] dz; + } + + bool compute_distance_from_point(int*** grid, int x, int y, int z) + { + if (x < 0 || x >= size_x_ || y < 0 || y >= size_y_ || z < 0 || z >= size_z_) { + printf("ERROR[compute_distance_from_point]: point is out of bounds!\n"); + return false; + } + q_->clear(); + clear_distances(); + + bfs_cell_3d c(x, y, z); + q_->insert(c); + dist_[x][y][z] = 0; + + compute_distances(grid); + return true; + } + + bool compute_distance_from_points(int*** grid, std::vector x, std::vector y, std::vector z) + { + if (x.size() != y.size() || x.size() != z.size()) { + printf("ERROR[compute_distance_from_points]: size of x, y, and z coordinates must agree!\n"); + return false; + } + q_->clear(); + clear_distances(); + + for (unsigned int i = 0; i < x.size(); i++) { + if (x[i] < 0 || x[i] >= size_x_ || y[i] < 0 || y[i] >= size_y_ || z[i] < 0 || z[i] >= size_z_) { + printf("ERROR[compute_distance_from_points]: point is out of bounds!\n"); + return false; + } + bfs_cell_3d c(x[i], y[i], z[i]); + q_->insert(c); + dist_[x[i]][y[i]][z[i]] = 0; + } + + compute_distances(grid); + return true; + } + + void compute_distance_from_obs(int*** grid) + { + q_->clear(); + clear_distances(); + + for (int x = 0; x < size_x_; x++) { + for (int y = 0; y < size_y_; y++) { + for (int z = 0; z < size_z_; z++) { + if (grid[x][y][z] >= thresh_) { + bfs_cell_3d c(x, y, z); + q_->insert(c); + dist_[x][y][z] = 0; + } + } + } + } + + compute_distances(grid); + } + + void clear_distances() + { + for (int x = 0; x < size_x_; x++) + for (int y = 0; y < size_y_; y++) + for (int z = 0; z < size_z_; z++) + dist_[x][y][z] = -1; + } + + void compute_distances(int*** grid) + { + bfs_cell_3d c; + while (!q_->empty()) { + q_->remove(&c); + int cost = dist_[c.x][c.y][c.z] + 1; + if (c.x == 0 || c.x == size_x_ - 1 || c.y == 0 || c.y == size_y_ - 1 || c.z == 0 || c.z == size_z_ - 1) { + //we are on a boundary so we have to bounds check each successor + for (int i = 0; i < NUM_ACTIONS; i++) { + int x = c.x + dx[i]; + int y = c.y + dy[i]; + int z = c.z + dz[i]; + if (x < 0 || x >= size_x_ || y < 0 || y >= size_y_ || z < 0 || z >= size_z_) continue; + if (dist_[x][y][z] < 0 && grid[x][y][z] < thresh_) { + dist_[x][y][z] = cost; + bfs_cell_3d temp(x, y, z); + q_->insert(temp); + } + } + } + else { + //we are not near a boundary so no bounds check is required + for (int i = 0; i < NUM_ACTIONS; i++) { + int x = c.x + dx[i]; + int y = c.y + dy[i]; + int z = c.z + dz[i]; + if (dist_[x][y][z] < 0 && grid[x][y][z] < thresh_) { + dist_[x][y][z] = cost; + bfs_cell_3d temp(x, y, z); + q_->insert(temp); + } + } + } + } + } + + int get_distance(unsigned int x, unsigned int y, unsigned int z) + { + return dist_[x][y][z]; + } + +private: + int*** dist_; + sbpl_fifo* q_; + int size_x_; + int size_y_; + int size_z_; + int thresh_; + + const int NUM_ACTIONS; + int* dx; + int* dy; + int* dz; +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/utils/sbpl_fifo.h b/navigations/sbpl/src/include/sbpl/utils/sbpl_fifo.h new file mode 100755 index 0000000..dae8644 --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/sbpl_fifo.h @@ -0,0 +1,95 @@ +/* + * 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. + */ + +#ifndef SBPL_FIFO +#define SBPL_FIFO + +#include + +template +class sbpl_fifo +{ +public: + sbpl_fifo(unsigned int size) + { + q_ = new T[size]; + head_ = 0; + tail_ = 0; + size_ = size; + } + + ~sbpl_fifo() + { + delete[] q_; + } + + bool insert(T val) + { + int t_val = tail_; + if (t_val == head_ + 1 || (t_val == 0 && head_ + 1 == size_)) { + printf("ERROR: Trying to insert when FIFO is full!\n"); + return false; + } + q_[head_] = val; + head_++; + if (head_ == size_) head_ = 0; + return true; + } + + bool remove(T* val) + { + if (head_ == tail_) { + printf("ERROR: Trying to remove when FIFO is empty!\n"); + return false; + } + *val = q_[tail_]; + tail_++; + if (tail_ == size_) tail_ = 0; + return true; + } + + bool empty() + { + return head_ == tail_; + } + + void clear() + { + head_ = 0; + tail_ = 0; + } + +private: + int head_; + int tail_; + int size_; + T* q_; +}; + +#endif diff --git a/navigations/sbpl/src/include/sbpl/utils/utils.h b/navigations/sbpl/src/include/sbpl/utils/utils.h new file mode 100755 index 0000000..462ed6b --- /dev/null +++ b/navigations/sbpl/src/include/sbpl/utils/utils.h @@ -0,0 +1,303 @@ +/* + * 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. + */ + +#ifndef __UTILS_H_ +#define __UTILS_H_ + +#include +#include +#include + +#ifndef WIN32 +#define __max(x,y) (x>y?x:y) +#define __min(x,y) (x>y?y:x) +#endif + +#define nav2dcell_t sbpl_2Dcell_t +#define EnvNAVXYTHETALAT2Dpt_t sbpl_2Dcell_t +#define EnvNAVXYTHETALAT3Dpt_t sbpl_xy_theta_pt_t +#define EnvNAVXYTHETALAT3Dcell_t sbpl_xy_theta_cell_t + +#define NORMALIZEDISCTHETA(THETA, THETADIRS) (((THETA >= 0) ?\ + ((THETA) % (THETADIRS)) :\ + (((THETA) % (THETADIRS) + THETADIRS) % THETADIRS))) + +#define CONTXY2DISC(X, CELLSIZE) (((X)>=0)?((int)((X)/(CELLSIZE))):((int)((X)/(CELLSIZE))-1)) +#define DISCXY2CONT(X, CELLSIZE) ((X)*(CELLSIZE) + (CELLSIZE)/2.0) + +#define PI_CONST 3.141592653589793238462643383279502884 + +#define UNKNOWN_COST 1000000 + +class CMDP; +class PlannerStats; + +typedef struct +{ + int X1, Y1; + int X2, Y2; + int Increment; + int UsingYIndex; + int DeltaX, DeltaY; + int DTerm; + int IncrE, IncrNE; + int XIndex, YIndex; + int Flipped; +} bresenham_param_t; + +class sbpl_2Dcell_t +{ +public: + sbpl_2Dcell_t() + { + x = 0; + y = 0; + } + + sbpl_2Dcell_t(int x_, int y_) + { + x = x_; + y = y_; + } + + bool operator==(const sbpl_2Dcell_t cell) const + { + return x == cell.x && y == cell.y; + } + + bool operator<(const sbpl_2Dcell_t cell) const + { + return x < cell.x || (x == cell.x && y < cell.y); + } + + int x; + int y; +}; + +class sbpl_2Dpt_t +{ +public: + sbpl_2Dpt_t() + { + x = 0; + y = 0; + } + + sbpl_2Dpt_t(double x_, double y_) + { + x = x_; + y = y_; + } + + bool operator==(const sbpl_2Dpt_t p) const + { + return x == p.x && y == p.y; + } + + bool operator<(const sbpl_2Dpt_t p) const + { + return x < p.x || (x == p.x && y < p.y); + } + + double x; + double y; +}; + +class sbpl_xy_theta_cell_t +{ +public: + sbpl_xy_theta_cell_t() + { + x = 0; + y = 0; + theta = 0; + } + + sbpl_xy_theta_cell_t(int x_, int y_, int theta_) + { + x = x_; + y = y_; + theta = theta_; + } + + bool operator==(const sbpl_xy_theta_cell_t cell) const + { + return x == cell.x && y == cell.y && theta == cell.theta; + } + + bool operator<(const sbpl_xy_theta_cell_t cell) const + { + return x < cell.x || (x == cell.x && (y < cell.y || (y == cell.y && theta < cell.theta))); + } + + int x; + int y; + int theta; +}; + +class sbpl_xy_theta_pt_t +{ +public: + sbpl_xy_theta_pt_t() + { + x = 0; + y = 0; + theta = 0; + } + + sbpl_xy_theta_pt_t(double x_, double y_, double theta_) + { + x = x_; + y = y_; + theta = theta_; + } + + bool operator==(const sbpl_xy_theta_pt_t p) const + { + return x == p.x && y == p.y && theta == p.theta; + } + + bool operator<(const sbpl_xy_theta_pt_t p) const + { + return x < p.x || (x == p.x && (y < p.y || (y == p.y && theta < p.theta))); + } + + double x; + double y; + double theta; +}; + +typedef struct BINARYHIDDENVARIABLE +{ + int h_ID; //ID of the variable + unsigned char Prob; + +} sbpl_BinaryHiddenVar_t; + +typedef struct BELIEFSTATEWITHBINARYHVALS +{ + int s_ID; //ID of S part of state-space + //vector of updated h-values, the rest are the same as at the start state + std::vector updatedhvaluesV; +} sbpl_BeliefStatewithBinaryh_t; + +typedef struct POLICYBELIEFSTATEWITHBINARYHVALS +{ + sbpl_BeliefStatewithBinaryh_t BeliefState; //current belief state + + int nextpolicyactionID; //ID of the next policy action if exists (otherwise -1) + //indices of the outcome states of the policy action. If outcome state is not in the policy, then it is -1 + std::vector outcomestateIndexV; +} sbpl_PolicyStatewithBinaryh_t; + +//function prototypes +#if MEM_CHECK == 1 +void DisableMemCheck(); +void EnableMemCheck(); +#endif +void CheckMDP(CMDP* mdp); +void PrintMatrix(int** matrix, int rows, int cols, FILE* fOut); +void EvaluatePolicy(CMDP* PolicyMDP, int StartStateID, int GoalStateID, double* PolValue, bool* bFullPolicy, + double* Pcgoal, int* nMerges, bool* bCycles); +int ComputeNumofStochasticActions(CMDP* pMDP); + +/** + * \brief one of the three functions that correspond to bresenham algorithm of + * path following this function computes bresenham parameters given the + * start and end points on the line segment + */ +void get_bresenham_parameters(int p1x, int p1y, int p2x, int p2y, bresenham_param_t* params); + +/** + * \brief one of the three functions that correspond to bresenham algorithm of + * path following returns current cell on the line segment + */ +void get_current_point(bresenham_param_t* params, int* x, int* y); + +/** + * \brief one of the three functions that correspond to bresenham algorithm of + * path following moves to the next point + */ +int get_next_point(bresenham_param_t* params); + +/** + * \brief converts discretized version of angle into continuous (radians) + * + * \note maps 0->0, 1->delta, 2->2*delta, ... + */ +double DiscTheta2Cont(int nTheta, int NUMOFANGLEVALS); + +/** + * \brief converts continuous (radians) version of angle into discrete + * + * \note maps 0->0, [delta/2, 3/2*delta)->1, [3/2*delta, 5/2*delta)->2,... + */ +int ContTheta2Disc(double fTheta, int NUMOFANGLEVALS); + +/** + * \note counterclockwise is positive + * \param angle input angle should be in radians + * \return output is an angle in the range of from 0 to 2*PI + */ +double normalizeAngle(double angle); + +/** + * \brief computes minimum unsigned difference between two angles in radians + */ +double computeMinUnsignedAngleDiff(double angle1, double angle2); + +/** + * \brief returns true if 2D point is within the specified polygon given by + * ordered sequence of 2D points (last point is automatically connected to the + * first) + */ +bool IsInsideFootprint(sbpl_2Dpt_t pt, std::vector* bounding_polygon); + +/** + * \brief computes 8-connected distances - performs distance transform in two linear passes + */ +void computeDistancestoNonfreeAreas(unsigned char** Grid2D, int width_x, int height_y, unsigned char obsthresh, + float** disttoObs_incells, float** disttoNonfree_incells); + +void get_2d_motion_cells(std::vector polygon, std::vector poses, + std::vector* cells, double res); + +void get_2d_footprint_cells(std::vector polygon, std::vector* cells, + sbpl_xy_theta_pt_t pose, double res); +void get_2d_footprint_cells(std::vector polygon, std::set* cells, sbpl_xy_theta_pt_t pose, + double res); + +void writePlannerStats(std::vector s, FILE* fout); + +#if 0 +void CheckSearchMDP(CMDP* mdp, int ExcludeSuccStateID = -1); +void CheckSearchPredSucc(CMDPSTATE* state, int ExcludeSuccStateID = -1); +#endif + +#endif diff --git a/navigations/sbpl/src/planners/ANAplanner.cpp b/navigations/sbpl/src/planners/ANAplanner.cpp new file mode 100755 index 0000000..cfde376 --- /dev/null +++ b/navigations/sbpl/src/planners/ANAplanner.cpp @@ -0,0 +1,1121 @@ +/* + * This code was used for generating experimental data for the purpose of understanding the performance of + * the Anytime Nonparametric A* (ANA*) algorithm. + * The authors of this algorithm are Jur van den Berg, Rajat Shah, Arthur Huang and Ken Goldberg. + * The code is available at http://goldberg.berkeley.edu/ana/ + * + */ + +#include +#include + +#include +#include +#include +#include + +using namespace std; + +//----------------------------------------------------------------------------------------------------- + +anaPlanner::anaPlanner(DiscreteSpaceInformation* environment, bool bSearchForward) +{ + bforwardsearch = bSearchForward; + + environment_ = environment; + + bsearchuntilfirstsolution = false; + finitial_eps = ana_DEFAULT_INITIAL_EPS; + searchexpands = 0; + MaxMemoryCounter = 0; + + fDeb = fopen("debug.txt", "w"); + + pSearchStateSpace_ = new anaSearchStateSpace_t; + + //create the ana planner + if (CreateSearchStateSpace(pSearchStateSpace_) != 1) { + printf("ERROR: failed to create statespace\n"); + return; + } + + //set the start and goal states + if (InitializeSearchStateSpace(pSearchStateSpace_) != 1) { + printf("ERROR: failed to create statespace\n"); + return; + } +} + +anaPlanner::~anaPlanner() +{ + if (pSearchStateSpace_ != NULL) { + //delete the statespace + DeleteSearchStateSpace( pSearchStateSpace_); + delete pSearchStateSpace_; + } + fclose( fDeb); +} + +void anaPlanner::Initialize_searchinfo(CMDPSTATE* state, anaSearchStateSpace_t* pSearchStateSpace) +{ + anaState* searchstateinfo = (anaState*)state->PlannerSpecificData; + + searchstateinfo->MDPstate = state; + InitializeSearchStateInfo(searchstateinfo, pSearchStateSpace); +} + +CMDPSTATE* anaPlanner::CreateState(int stateID, anaSearchStateSpace_t* pSearchStateSpace) +{ + CMDPSTATE* state = NULL; + +#if DEBUG + if(environment_->StateID2IndexMapping[stateID][anaMDP_STATEID2IND] != -1) + { + printf("ERROR in CreateState: state already created\n"); + exit(1); + } +#endif + + //adds to the tail a state + state = pSearchStateSpace->searchMDP.AddState(stateID); + + //remember the index of the state + environment_->StateID2IndexMapping[stateID][anaMDP_STATEID2IND] = + pSearchStateSpace->searchMDP.StateArray.size() - 1; + +#if DEBUG + if (state != + pSearchStateSpace->searchMDP.StateArray[environment_->StateID2IndexMapping[stateID][anaMDP_STATEID2IND]]) + { + printf("ERROR in CreateState: invalid state index\n"); + exit(1); + } +#endif + + //create search specific info + state->PlannerSpecificData = (anaState*)malloc(sizeof(anaState)); + Initialize_searchinfo(state, pSearchStateSpace); + MaxMemoryCounter += sizeof(anaState); + + return state; +} + +CMDPSTATE* anaPlanner::GetState(int stateID, anaSearchStateSpace_t* pSearchStateSpace) +{ + if (stateID >= (int)environment_->StateID2IndexMapping.size()) { + std::stringstream ss; ss << "ERROR in GetState: stateID " << stateID << " is invalid"; + throw SBPL_Exception(ss.str()); + } + + if (environment_->StateID2IndexMapping[stateID][anaMDP_STATEID2IND] == -1) + return CreateState(stateID, pSearchStateSpace); + else + return pSearchStateSpace->searchMDP.StateArray[environment_->StateID2IndexMapping[stateID][anaMDP_STATEID2IND]]; +} + +//----------------------------------------------------------------------------------------------------- + +int anaPlanner::ComputeHeuristic(CMDPSTATE* MDPstate, anaSearchStateSpace_t* pSearchStateSpace) +{ + //compute heuristic for search + + if (bforwardsearch) { + +#if MEM_CHECK == 1 + //int WasEn = DisableMemCheck(); +#endif + + //forward search: heur = distance from state to searchgoal which is Goal anaState + int retv = environment_->GetGoalHeuristic(MDPstate->StateID); + +#if MEM_CHECK == 1 + //if (WasEn) + // EnableMemCheck(); +#endif + + return retv; + + } + else { + //backward search: heur = distance from searchgoal to state + return environment_->GetStartHeuristic(MDPstate->StateID); + } +} + +//initialization of a state +void anaPlanner::InitializeSearchStateInfo(anaState* state, anaSearchStateSpace_t* pSearchStateSpace) +{ + state->g = INFINITECOST; + state->v = INFINITECOST; + state->iterationclosed = 0; + state->callnumberaccessed = pSearchStateSpace->callnumber; + state->bestnextstate = NULL; + state->costtobestnextstate = INFINITECOST; + state->heapindex = 0; + state->listelem[ana_INCONS_LIST_ID] = 0; + state->numofexpands = 0; + + state->bestpredstate = NULL; + + //compute heuristics +#if USE_HEUR + if(pSearchStateSpace->searchgoalstate != NULL) + state->h = ComputeHeuristic(state->MDPstate, pSearchStateSpace); + else + state->h = 0; +#else + state->h = 0; +#endif +} + +//re-initialization of a state +void anaPlanner::ReInitializeSearchStateInfo(anaState* state, anaSearchStateSpace_t* pSearchStateSpace) +{ + state->g = INFINITECOST; + state->v = INFINITECOST; + state->iterationclosed = 0; + state->callnumberaccessed = pSearchStateSpace->callnumber; + state->bestnextstate = NULL; + state->costtobestnextstate = INFINITECOST; + state->heapindex = 0; + state->listelem[ana_INCONS_LIST_ID] = 0; + state->numofexpands = 0; + + state->bestpredstate = NULL; + + //compute heuristics +#if USE_HEUR + + if (pSearchStateSpace->searchgoalstate != NULL) { + state->h = ComputeHeuristic(state->MDPstate, pSearchStateSpace); + } + else + state->h = 0; + +#else + + state->h = 0; + +#endif + +} + +void anaPlanner::DeleteSearchStateData(anaState* state) +{ + //no memory was allocated + MaxMemoryCounter = 0; + return; +} + +double anaPlanner::get_e_value(anaSearchStateSpace_t* pSearchStateSpace, int stateID) +{ + + CMDPSTATE* MDPstate = GetState(stateID, pSearchStateSpace); + anaState* searchstateinfo = (anaState*)MDPstate->PlannerSpecificData; + + //if(!(searchstateinfo->g > pSearchStateSpace->G)) { + if (searchstateinfo->h == 0) { + if (searchstateinfo->g >= pSearchStateSpace->G) { + return 0.0; + } + else { + return (double)INFINITECOST; + } + } + else { + return ((double)pSearchStateSpace->G - 1.0 * searchstateinfo->g) / (double)searchstateinfo->h; + + //return 0.5*(((double) pSearchStateSpace->G - 1.0*searchstateinfo->g) / (double) searchstateinfo->h); + + //return 1000 + (((double) pSearchStateSpace->G - 1.0*searchstateinfo->g) / (double) searchstateinfo->h); + } +} + +//used for backward search +void anaPlanner::UpdatePreds(anaState* state, anaSearchStateSpace_t* pSearchStateSpace) +{ + vector PredIDV; + vector CostV; + CKey key; + anaState *p; + + environment_->GetPreds(state->MDPstate->StateID, &PredIDV, &CostV); + + //iterate through predecessors of s + for (int pind = 0; pind < (int)PredIDV.size(); pind++) { + CMDPSTATE* PredMDPState = GetState(PredIDV[pind], pSearchStateSpace); + p = (anaState*)(PredMDPState->PlannerSpecificData); + if (p->callnumberaccessed != pSearchStateSpace->callnumber) ReInitializeSearchStateInfo(p, pSearchStateSpace); + + //see if we can improve the value of p + + if ((p->g > state->g + CostV[pind]) && (state->g + CostV[pind] + p->h < pSearchStateSpace->G)) { + p->g = state->g + CostV[pind]; + p->bestnextstate = state->MDPstate; + p->costtobestnextstate = CostV[pind]; + + key.key[0] = (long)-get_e_value(pSearchStateSpace, p->MDPstate->StateID); + if (pSearchStateSpace->heap->inheap(p)) { + pSearchStateSpace->heap->updateheap(p, key); + } + else { + pSearchStateSpace->heap->insertheap(p, key); + } + } + } +} + +//used for forward search +void anaPlanner::UpdateSuccs(anaState* state, anaSearchStateSpace_t* pSearchStateSpace) +{ + vector SuccIDV; + vector CostV; + CKey key; + anaState *n; + + environment_->GetSuccs(state->MDPstate->StateID, &SuccIDV, &CostV); + + //iterate through predecessors of s + for (int sind = 0; sind < (int)SuccIDV.size(); sind++) { + CMDPSTATE* SuccMDPState = GetState(SuccIDV[sind], pSearchStateSpace); + int cost = CostV[sind]; + + n = (anaState*)(SuccMDPState->PlannerSpecificData); + if (n->callnumberaccessed != pSearchStateSpace->callnumber) ReInitializeSearchStateInfo(n, pSearchStateSpace); + + //see if we can improve the value of n + //taking into account the cost of action + if ((n->g > state->g + cost) && ((state->g + cost + n->h) < pSearchStateSpace->G)) { + n->g = state->g + cost; + n->bestpredstate = state->MDPstate; + + key.key[0] = (long)-get_e_value(pSearchStateSpace, n->MDPstate->StateID); + /*if(key.key[0] >= -1) { + printf("inserting on Open with key =%d\n", key.key[0]); + }*/ + if (pSearchStateSpace->heap->inheap(n)) { + pSearchStateSpace->heap->updateheap(n, key); + } + else { + pSearchStateSpace->heap->insertheap(n, key); + } + } + } +} + +//TODO-debugmax - add obsthresh and other thresholds to other environments in 3dkin +int anaPlanner::GetGVal(int StateID, anaSearchStateSpace_t* pSearchStateSpace) +{ + CMDPSTATE* cmdp_state = GetState(StateID, pSearchStateSpace); + anaState* state = (anaState*)cmdp_state->PlannerSpecificData; + return state->g; +} + +//returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time +int anaPlanner::ImprovePath(anaSearchStateSpace_t* pSearchStateSpace, double MaxNumofSecs) +{ + int expands; + anaState *state, *searchgoalstate; + CKey key, minkey; + //CKey goalkey; + + expands = 0; + + if (pSearchStateSpace->searchgoalstate == NULL) { + throw SBPL_Exception("ERROR searching: no goal state is set"); + } + + //goal state + searchgoalstate = (anaState*)(pSearchStateSpace->searchgoalstate->PlannerSpecificData); + if (searchgoalstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo( searchgoalstate, pSearchStateSpace); + } + + //set goal key + //goalkey.key[0] = -get_e_value(pSearchStateSpace, searchgoalstate->MDPstate->StateID); + //goalkey.key[1] = searchgoalstate->h; + + //expand states until done + minkey.key[0] = -(pSearchStateSpace->heap->getminkeyheap().key[0]); + CKey oldkey = minkey; + while (!pSearchStateSpace->heap->emptyheap() && + (clock() - TimeStarted) < MaxNumofSecs * (double)CLOCKS_PER_SEC) + //&& goalkey > minkey && minkey.key[0] <= INFINITECOST + { + /*if(minkey.key[0] < 10) { + printf("Key: %.2f\t", minkey.key[0]); + }*/ + //printf("%.2f\t", minkey.key[0]); + + //get the state + state = (anaState*)pSearchStateSpace->heap->deleteminheap(); + + if (state->MDPstate->StateID == searchgoalstate->MDPstate->StateID) { + pSearchStateSpace->G = state->g; + //minkey.key[0] = + //printf("search exited with a solution for eps=%.3f\n", pSearchStateSpace->eps); + //printf("eps=%f time_elapsed=%.3f\n", pSearchStateSpace->eps, double(clock()-TimeStarted)/CLOCKS_PER_SEC); + + searchexpands += expands; + return 1;// so that it does not declare it as run out of time + } + + //double e_val = floor(minkey.key[0]*100.0) / 100.0; + double e_val = minkey.key[0]; + //double save = pSearchStateSpace->eps; + if (e_val < pSearchStateSpace->eps) { // && e_val>=ana_FINAL_EPS + pSearchStateSpace->eps = minkey.key[0]; + //if(save - e_val > 0.01) + //printf("eps=%f time_elapsed=%.6f\n", pSearchStateSpace->eps, double(clock()-TimeStarted)/CLOCKS_PER_SEC); + } + +#if DEBUG + //fprintf(fDeb, "expanding state(%d): h=%d g=%u key=%u v=%u iterc=%d callnuma=%d expands=%d (g(goal)=%u)\n", + // state->MDPstate->StateID, state->h, state->g, state->g+(int)(pSearchStateSpace->eps*state->h), state->v, + // state->iterationclosed, state->callnumberaccessed, state->numofexpands, searchgoalstate->g); + //fprintf(fDeb, "expanding: "); + //PrintSearchState(state, fDeb); + if (state->listelem[ana_INCONS_LIST_ID] != NULL) { + fprintf(fDeb, "ERROR: expanding a state from inconslist\n"); + printf("ERROR: expanding a state from inconslist\n"); + exit(1); + } + //fflush(fDeb); +#endif + +#if DEBUG + if (minkey.key[0] < oldkey.key[0] && fabs(this->finitial_eps - 1.0) < ERR_EPS) { + //printf("WARN in search: the sequence of keys decreases\n"); + //exit(1); + } + oldkey = minkey; +#endif + + if (state->v == state->g) { + printf("ERROR: consistent state is being expanded\n"); +#if DEBUG + fprintf(fDeb, "ERROR: consistent state is being expanded\n"); + exit(1); +#endif + } + + //recompute state value + state->v = state->g; + state->iterationclosed = pSearchStateSpace->searchiteration; + + //new expand + expands++; + state->numofexpands++; + + if (bforwardsearch == false) + UpdatePreds(state, pSearchStateSpace); + else + UpdateSuccs(state, pSearchStateSpace); + + //recompute minkey + minkey.key[0] = -(pSearchStateSpace->heap->getminkeyheap().key[0]); + + //recompute goalkey if necessary + + pSearchStateSpace->G = searchgoalstate->g; + + if (expands % 100000 == 0 && expands > 0) { + //printf("expands so far=%u\n", expands); + } + + /*if(state->MDPstate->StateID == searchgoalstate->MDPstate->StateID) { + goalkey.key[0] = minkey.key[0]; + break; + }*/ + } + + int retv = 1; + if (searchgoalstate->g == INFINITECOST && pSearchStateSpace->heap->emptyheap()) { + printf("solution does not exist: search exited because heap is empty\n"); + retv = 0; + } + else if (!pSearchStateSpace->heap->emptyheap() && 0 < minkey.key[0]) { + printf("search exited because it ran out of time\n"); + //printf("Goalkey=%f and minkey=%f", goalkey.key[0], minkey.key[0]); + retv = 2; + } + else if (searchgoalstate->g == INFINITECOST && !pSearchStateSpace->heap->emptyheap()) { + printf("solution does not exist: search exited because all " + "candidates for expansion have infinite heuristics\n"); + retv = 0; + } + else { + //printf("eps=%.3f time=%.3f\n", pSearchStateSpace->eps, double(clock() - TimeStarted)/CLOCKS_PER_SEC); + retv = 3; + } + + //fprintf(fDeb, "expanded=%d\n", expands); + + searchexpands += expands; + + return retv; +} + +void anaPlanner::Reevaluatefvals(anaSearchStateSpace_t* pSearchStateSpace) +{ + CKey key; + int i; + CHeap* pheap = pSearchStateSpace->heap; + + //recompute priorities for states in OPEN and reorder it + for (i = 1; i <= pheap->currentsize; ++i) { + //anaState* state = (anaState*)pheap->heap[i].heapstate; + + // CHANGED - cast removed + + pheap->heap[i].key.key[0] = (long)-get_e_value(pSearchStateSpace, + ((anaState*)pheap->heap[i].heapstate)->MDPstate->StateID); + + //pheap->heap[i].key.key[1] = state->h; + } + pheap->makeheap(); + + pSearchStateSpace->bReevaluatefvals = false; +} + +//creates (allocates memory) search state space +//does not initialize search statespace +int anaPlanner::CreateSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace) +{ + //create a heap + pSearchStateSpace->heap = new CHeap; + //pSearchStateSpace->inconslist = new CHeap; + MaxMemoryCounter += sizeof(CHeap); + MaxMemoryCounter += sizeof(CList); + + pSearchStateSpace->searchgoalstate = NULL; + pSearchStateSpace->searchstartstate = NULL; + + searchexpands = 0; + + pSearchStateSpace->bReinitializeSearchStateSpace = false; + + return 1; +} + +//deallocates memory used by SearchStateSpace +void anaPlanner::DeleteSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace) +{ + if (pSearchStateSpace->heap != NULL) { + pSearchStateSpace->heap->makeemptyheap(); + delete pSearchStateSpace->heap; + pSearchStateSpace->heap = NULL; + } + + /* + if(pSearchStateSpace->inconslist != NULL) + { + pSearchStateSpace->inconslist->makeemptyheap(); + delete pSearchStateSpace->inconslist; + pSearchStateSpace->inconslist = NULL; + } + */ + + //delete the states themselves + int iend = (int)pSearchStateSpace->searchMDP.StateArray.size(); + for (int i = 0; i < iend; i++) { + CMDPSTATE* state = pSearchStateSpace->searchMDP.StateArray[i]; + if (state != NULL && state->PlannerSpecificData != NULL) { + DeleteSearchStateData((anaState*)state->PlannerSpecificData); + free((anaState*)state->PlannerSpecificData); + state->PlannerSpecificData = NULL; + } + } + pSearchStateSpace->searchMDP.Delete(); +} + +//reset properly search state space +//needs to be done before deleting states +int anaPlanner::ResetSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace) +{ + pSearchStateSpace->heap->makeemptyheap(); + // pSearchStateSpace->inconslist->makeemptyheap(); + + return 1; +} + +//initialization before each search +void anaPlanner::ReInitializeSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace) +{ + CKey key; + + //increase callnumber + pSearchStateSpace->callnumber++; + + //reset iteration + pSearchStateSpace->searchiteration = 0; + pSearchStateSpace->bNewSearchIteration = true; + pSearchStateSpace->G = INFINITECOST; + +#if DEBUG + fprintf(fDeb, "reinitializing search state-space (new call number=%d search iter=%d)\n", + pSearchStateSpace->callnumber,pSearchStateSpace->searchiteration ); +#endif + + pSearchStateSpace->heap->makeemptyheap(); + //pSearchStateSpace->inconslist->makeemptyheap(); + //reset + pSearchStateSpace->eps = this->finitial_eps; + pSearchStateSpace->eps_satisfied = INFINITECOST; + + //initialize start state + anaState* startstateinfo = (anaState*)(pSearchStateSpace->searchstartstate->PlannerSpecificData); + if (startstateinfo->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo( startstateinfo, pSearchStateSpace); + } + + startstateinfo->g = 0; + + //insert start state into the heap + + // CHANGED - long int cast removed + key.key[0] = (long)-get_e_value(pSearchStateSpace, startstateinfo->MDPstate->StateID); + + //key.key[1] = startstateinfo->h; + pSearchStateSpace->heap->insertheap(startstateinfo, key); + + pSearchStateSpace->bReinitializeSearchStateSpace = false; + pSearchStateSpace->bReevaluatefvals = false; +} + +//very first initialization +int anaPlanner::InitializeSearchStateSpace(anaSearchStateSpace_t* pSearchStateSpace) +{ + if (pSearchStateSpace->heap->currentsize != 0) { + throw SBPL_Exception("ERROR in InitializeSearchStateSpace: heap or list is not empty"); + } + + pSearchStateSpace->eps = this->finitial_eps; + pSearchStateSpace->eps_satisfied = INFINITECOST; + pSearchStateSpace->searchiteration = 0; + pSearchStateSpace->bNewSearchIteration = true; + pSearchStateSpace->callnumber = 0; + pSearchStateSpace->bReevaluatefvals = false; + + pSearchStateSpace->G = INFINITECOST; + + //create and set the search start state + pSearchStateSpace->searchgoalstate = NULL; + //pSearchStateSpace->searchstartstate = GetState(SearchStartStateID, pSearchStateSpace); + pSearchStateSpace->searchstartstate = NULL; + + pSearchStateSpace->bReinitializeSearchStateSpace = true; + + return 1; +} + +int anaPlanner::SetSearchGoalState(int SearchGoalStateID, anaSearchStateSpace_t* pSearchStateSpace) +{ + if (pSearchStateSpace->searchgoalstate == NULL || + pSearchStateSpace->searchgoalstate->StateID != SearchGoalStateID) + { + pSearchStateSpace->searchgoalstate = GetState(SearchGoalStateID, pSearchStateSpace); + + //should be new search iteration + pSearchStateSpace->eps_satisfied = INFINITECOST; + pSearchStateSpace->bNewSearchIteration = true; + pSearchStateSpace_->eps = this->finitial_eps; + + //recompute heuristic for the heap if heuristics is used +#if USE_HEUR + for(int i = 0; i < (int)pSearchStateSpace->searchMDP.StateArray.size(); i++) + { + CMDPSTATE* MDPstate = pSearchStateSpace->searchMDP.StateArray[i]; + anaState* state = (anaState*)MDPstate->PlannerSpecificData; + state->h = ComputeHeuristic(MDPstate, pSearchStateSpace); + } + + pSearchStateSpace->bReevaluatefvals = true; +#endif + } + + return 1; +} + +int anaPlanner::SetSearchStartState(int SearchStartStateID, anaSearchStateSpace_t* pSearchStateSpace) +{ + CMDPSTATE* MDPstate = GetState(SearchStartStateID, pSearchStateSpace); + + if (MDPstate != pSearchStateSpace->searchstartstate) { + pSearchStateSpace->searchstartstate = MDPstate; + pSearchStateSpace->bReinitializeSearchStateSpace = true; + } + + return 1; +} + +int anaPlanner::ReconstructPath(anaSearchStateSpace_t* pSearchStateSpace) +{ + if (bforwardsearch) //nothing to do, if search is backward + { + CMDPSTATE* MDPstate = pSearchStateSpace->searchgoalstate; + CMDPSTATE* PredMDPstate; + anaState *predstateinfo, *stateinfo; + +#if DEBUG + fprintf(fDeb, "reconstructing a path:\n"); +#endif + + while (MDPstate != pSearchStateSpace->searchstartstate) { + stateinfo = (anaState*)MDPstate->PlannerSpecificData; + +#if DEBUG + PrintSearchState(stateinfo, fDeb); +#endif + if (stateinfo->g == INFINITECOST) { + //printf("ERROR in ReconstructPath: g of the state on the path is INFINITE\n"); + //exit(1); + return -1; + } + + if (stateinfo->bestpredstate == NULL) { + throw SBPL_Exception("ERROR in ReconstructPath: bestpred is NULL"); + } + + //get the parent state + PredMDPstate = stateinfo->bestpredstate; + predstateinfo = (anaState*)PredMDPstate->PlannerSpecificData; + + //set its best next info + predstateinfo->bestnextstate = MDPstate; + + //check the decrease of g-values along the path + if (predstateinfo->v >= stateinfo->g) { + const char* msg = "ERROR in ReconstructPath: g-values are non-decreasing"; + SBPL_ERROR("%s\n", msg); + PrintSearchState(predstateinfo, fDeb); + throw SBPL_Exception(msg); + } + + //transition back + MDPstate = PredMDPstate; + } + } + + return 1; +} + +void anaPlanner::PrintSearchPath(anaSearchStateSpace_t* pSearchStateSpace, FILE* fOut) +{ + anaState* searchstateinfo; + CMDPSTATE* state; + int goalID; + int PathCost; + + if (bforwardsearch) { + state = pSearchStateSpace->searchstartstate; + goalID = pSearchStateSpace->searchgoalstate->StateID; + } + else { + state = pSearchStateSpace->searchgoalstate; + goalID = pSearchStateSpace->searchstartstate->StateID; + } + if (fOut == NULL) fOut = stdout; + + PathCost = ((anaState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g; + + fprintf(fOut, "Printing a path from state %d to the goal state %d\n", state->StateID, + pSearchStateSpace->searchgoalstate->StateID); + fprintf(fOut, "Path cost = %d:\n", PathCost); + + environment_->PrintState(state->StateID, false, fOut); + + int costFromStart = 0; + while (state->StateID != goalID) { + fprintf(fOut, "state %d ", state->StateID); + + if (state->PlannerSpecificData == NULL) { + fprintf(fOut, "path does not exist since search data does not exist\n"); + break; + } + + searchstateinfo = (anaState*)state->PlannerSpecificData; + + if (searchstateinfo->bestnextstate == NULL) { + fprintf(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + if (searchstateinfo->g == INFINITECOST) { + fprintf(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + + int costToGoal = PathCost - costFromStart; + int transcost = searchstateinfo->g - ((anaState*)(searchstateinfo->bestnextstate->PlannerSpecificData))->v; + if (bforwardsearch) transcost = -transcost; + + costFromStart += transcost; + + fprintf(fOut, "g=%d-->state %d, h = %d ctg = %d ", searchstateinfo->g, + searchstateinfo->bestnextstate->StateID, searchstateinfo->h, costToGoal); + + state = searchstateinfo->bestnextstate; + + environment_->PrintState(state->StateID, false, fOut); + } +} + +void anaPlanner::PrintSearchState(anaState* state, FILE* fOut) +{ + fprintf(fOut, "state %d: h=%d g=%u v=%u iterc=%d callnuma=%d expands=%d heapind=%d inconslist=%d\n", + state->MDPstate->StateID, state->h, state->g, state->v, state->iterationclosed, state->callnumberaccessed, + state->numofexpands, state->heapindex, state->listelem[ana_INCONS_LIST_ID] ? 1 : 0); + environment_->PrintState(state->MDPstate->StateID, true, fOut); +} + +int anaPlanner::getHeurValue(anaSearchStateSpace_t* pSearchStateSpace, int StateID) +{ + CMDPSTATE* MDPstate = GetState(StateID, pSearchStateSpace); + anaState* searchstateinfo = (anaState*)MDPstate->PlannerSpecificData; + return searchstateinfo->h; +} + +vector anaPlanner::GetSearchPath(anaSearchStateSpace_t* pSearchStateSpace, int& solcost) +{ + vector SuccIDV; + vector CostV; + vector wholePathIds; + anaState* searchstateinfo; + CMDPSTATE* state = NULL; + CMDPSTATE* goalstate = NULL; + CMDPSTATE* startstate = NULL; + + if (bforwardsearch) { + startstate = pSearchStateSpace->searchstartstate; + goalstate = pSearchStateSpace->searchgoalstate; + + //reconstruct the path by setting bestnextstate pointers appropriately + ReconstructPath(pSearchStateSpace); + } + else { + startstate = pSearchStateSpace->searchgoalstate; + goalstate = pSearchStateSpace->searchstartstate; + } + + state = startstate; + + wholePathIds.push_back(state->StateID); + solcost = 0; + + FILE* fOut = stdout; + while (state->StateID != goalstate->StateID) { + if (state->PlannerSpecificData == NULL) { + fprintf(fOut, "path does not exist since search data does not exist\n"); + break; + } + + searchstateinfo = (anaState*)state->PlannerSpecificData; + + if (searchstateinfo->bestnextstate == NULL) { + fprintf(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + if (searchstateinfo->g == INFINITECOST) { + fprintf(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + + environment_->GetSuccs(state->StateID, &SuccIDV, &CostV); + int actioncost = INFINITECOST; + for (int i = 0; i < (int)SuccIDV.size(); i++) { + + if (SuccIDV.at(i) == searchstateinfo->bestnextstate->StateID) actioncost = CostV.at(i); + + } + if (actioncost == INFINITECOST) printf("WARNING: actioncost = %d\n", actioncost); + + solcost += actioncost; + + //fprintf(fDeb, "actioncost=%d between states %d and %d\n", + // actioncost, state->StateID, searchstateinfo->bestnextstate->StateID); + //environment_->PrintState(state->StateID, false, fDeb); + //environment_->PrintState(searchstateinfo->bestnextstate->StateID, false, fDeb); + +#if DEBUG + anaState* nextstateinfo = (anaState*)(searchstateinfo->bestnextstate->PlannerSpecificData); + if(actioncost != abs((int)(searchstateinfo->g - nextstateinfo->g)) && pSearchStateSpace->eps_satisfied <= 1.001) + { + fprintf(fDeb, "ERROR: actioncost=%d is not matching the difference in g-values of %d\n", + actioncost, abs((int)(searchstateinfo->g - nextstateinfo->g))); + printf("ERROR: actioncost=%d is not matching the difference in g-values of %d\n", + actioncost,abs((int)(searchstateinfo->g - nextstateinfo->g))); + PrintSearchState(searchstateinfo, fDeb); + PrintSearchState(nextstateinfo, fDeb); + } +#endif + + state = searchstateinfo->bestnextstate; + + wholePathIds.push_back(state->StateID); + } + + return wholePathIds; +} + +bool anaPlanner::Search(anaSearchStateSpace_t* pSearchStateSpace, vector& pathIds, int & PathCost, + bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs) +{ + TimeStarted = clock(); + searchexpands = 0; + +#if DEBUG + fprintf(fDeb, "new search call (call number=%d)\n", pSearchStateSpace->callnumber); +#endif + + if (pSearchStateSpace->bReinitializeSearchStateSpace == true) { + //re-initialize state space + ReInitializeSearchStateSpace(pSearchStateSpace); + } + + if (bOptimalSolution) { + pSearchStateSpace->eps = 1; + MaxNumofSecs = INFINITECOST; + } + else if (bFirstSolution) { + MaxNumofSecs = INFINITECOST; + } + + //ensure heuristics are up-to-date + environment_->EnsureHeuristicsUpdated((bforwardsearch == true)); + + //the main loop of ana* + int prevexpands = 0; + clock_t loop_time; + + // CHANGE MADE TO WHILE LOOP to account for open.empty() == FALSE + while (!pSearchStateSpace->heap->emptyheap() && pSearchStateSpace->eps_satisfied > ana_FINAL_EPS && + (clock() - TimeStarted) < MaxNumofSecs * (double)CLOCKS_PER_SEC) + { + loop_time = clock(); + //decrease eps for all subsequent iterations + /*if(fabs(pSearchStateSpace->eps_satisfied - pSearchStateSpace->eps) < ERR_EPS && !bFirstSolution) + { + pSearchStateSpace->eps = pSearchStateSpace->eps - ana_DECREASE_EPS; + if(pSearchStateSpace->eps < ana_FINAL_EPS) + pSearchStateSpace->eps = ana_FINAL_EPS; + + //the priorities need to be updated + pSearchStateSpace->bReevaluatefvals = true; + + //it will be a new search + pSearchStateSpace->bNewSearchIteration = true; + + //build a new open list by merging it with incons one + BuildNewOPENList(pSearchStateSpace); + + }*/ + + pSearchStateSpace->searchiteration++; + pSearchStateSpace->bNewSearchIteration = false; + + //re-compute f-values if necessary and reorder the heap + //if(pSearchStateSpace->bReevaluatefvals) + // Reevaluatefvals(pSearchStateSpace); + + //improve or compute path + int retVal = ImprovePath(pSearchStateSpace, MaxNumofSecs); + anaState* state; + CKey key; + CHeap* open = pSearchStateSpace->heap; + //printf("states expanded: %d\t states considered: %d\t time elapsed: %f\n",searchexpands - prevexpands, pSearchStateSpace->heap->currentsize, double(clock() - TimeStarted)/CLOCKS_PER_SEC); + + double epsprime = 1.0; + for (int j = 1; j <= open->currentsize;) { + state = (anaState*)open->heap[j].heapstate; + double temp_eps = (double)((pSearchStateSpace->G * 1.0) / (double)(state->g + state->h)); + if (temp_eps > epsprime) { + epsprime = temp_eps; + } + double e_val = get_e_value(pSearchStateSpace, state->MDPstate->StateID); + if (e_val <= 1.0) { + + open->deleteheap_unsafe(state); + + } + else { + key.key[0] = (long)-e_val; + + open->updateheap_unsafe(state, key); + ++j; + } + pSearchStateSpace->eps_satisfied = epsprime; + } + open->makeheap(); + + //print the solution cost and eps bound + if (retVal == 1) { + //printf("suboptimality=%f expands=%d g(searchgoal)=%d loop_time=%.3f time_elapsed=%.3f memoryCounter=%d\n", pSearchStateSpace->eps_satisfied, searchexpands - prevexpands, ((anaState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g,double(clock()-loop_time)/CLOCKS_PER_SEC, double(clock() - TimeStarted)/CLOCKS_PER_SEC, MaxMemoryCounter); + + printf("suboptimality=%f g(searchgoal)=%d time_elapsed=%.3f memoryCounter=%d\n", + pSearchStateSpace->eps_satisfied, + ((anaState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g, double(clock() + - TimeStarted) / CLOCKS_PER_SEC, MaxMemoryCounter); + + //printf("states expanded: %d\t states considered: %d\t time elapsed: %f\n",searchexpands - prevexpands, pSearchStateSpace->heap->currentsize, double(clock() - TimeStarted)/CLOCKS_PER_SEC); + } + +#if DEBUG + fprintf(fDeb, "eps=%f expands=%d g(searchgoal)=%d time=%.3f\n", pSearchStateSpace->eps_satisfied, searchexpands - prevexpands, + ((anaState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g,double(clock()-loop_time)/CLOCKS_PER_SEC); + PrintSearchState((anaState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData, fDeb); +#endif + prevexpands = searchexpands; + + //if just the first solution then we are done + if (bFirstSolution) break; + + //no solution exists + if (((anaState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g == INFINITECOST) break; + } + +#if DEBUG + fflush(fDeb); +#endif + + printf("Suboptimality = %.4f\n", pSearchStateSpace->eps_satisfied); + + PathCost = ((anaState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g; + MaxMemoryCounter += environment_->StateID2IndexMapping.size() * sizeof(int); + + printf("MaxMemoryCounter = %d\n", MaxMemoryCounter); + + int solcost = INFINITECOST; + bool ret = false; + if (PathCost == INFINITECOST) { + printf("could not find a solution\n"); + ret = false; + } + else { + printf("solution is found\n"); + pathIds = GetSearchPath(pSearchStateSpace, solcost); + ret = true; + } + + printf("total expands this call = %d, planning time = %.3f secs, solution cost=%d\n", searchexpands, (clock() + - TimeStarted) / ((double)CLOCKS_PER_SEC), solcost); + + //fprintf(fStat, "%d %d\n", searchexpands, solcost); + + return ret; +} + +//-----------------------------Interface function----------------------------------------------------- + +//returns 1 if found a solution, and 0 otherwise +int anaPlanner::replan(double allocated_time_secs, vector* solution_stateIDs_V) +{ + int solcost; + + return replan(allocated_time_secs, solution_stateIDs_V, &solcost); +} + +//returns 1 if found a solution, and 0 otherwise +int anaPlanner::replan(double allocated_time_secs, vector* solution_stateIDs_V, int* psolcost) +{ + vector pathIds; + bool bFound = false; + int PathCost; + //bool bFirstSolution = true; + bool bFirstSolution = this->bsearchuntilfirstsolution; + bool bOptimalSolution = false; + *psolcost = 0; + + printf("planner: replan called (bFirstSol=%d, bOptSol=%d)\n", bFirstSolution, bOptimalSolution); + + //plan + bFound = Search(pSearchStateSpace_, pathIds, PathCost, bFirstSolution, bOptimalSolution, allocated_time_secs); + if (!bFound) + { + printf("failed to find a solution\n"); + } + + //copy the solution + *solution_stateIDs_V = pathIds; + *psolcost = PathCost; + + return (int)bFound; + +} + +int anaPlanner::set_goal(int goal_stateID) +{ + printf("planner: setting goal to %d\n", goal_stateID); + environment_->PrintState(goal_stateID, true, stdout); + + if (bforwardsearch) { + if (SetSearchGoalState(goal_stateID, pSearchStateSpace_) != 1) { + printf("ERROR: failed to set search goal state\n"); + return 0; + } + } + else { + if (SetSearchStartState(goal_stateID, pSearchStateSpace_) != 1) { + printf("ERROR: failed to set search start state\n"); + return 0; + } + } + + return 1; +} + +int anaPlanner::set_start(int start_stateID) +{ + printf("planner: setting start to %d\n", start_stateID); + environment_->PrintState(start_stateID, true, stdout); + + if (bforwardsearch) { + + if (SetSearchStartState(start_stateID, pSearchStateSpace_) != 1) { + printf("ERROR: failed to set search start state\n"); + return 0; + } + } + else { + if (SetSearchGoalState(start_stateID, pSearchStateSpace_) != 1) { + printf("ERROR: failed to set search goal state\n"); + return 0; + } + } + + return 1; +} + +void anaPlanner::costs_changed(StateChangeQuery const & stateChange) +{ + pSearchStateSpace_->bReinitializeSearchStateSpace = true; +} + +void anaPlanner::costs_changed() +{ + pSearchStateSpace_->bReinitializeSearchStateSpace = true; +} + +int anaPlanner::force_planning_from_scratch() +{ + printf("planner: forceplanfromscratch set\n"); + + pSearchStateSpace_->bReinitializeSearchStateSpace = true; + + return 1; +} + +int anaPlanner::set_search_mode(bool bSearchUntilFirstSolution) +{ + printf("planner: search mode set to %d\n", bSearchUntilFirstSolution); + + bsearchuntilfirstsolution = bSearchUntilFirstSolution; + + return 1; +} + +void anaPlanner::print_searchpath(FILE* fOut) +{ + PrintSearchPath(pSearchStateSpace_, fOut); +} + +//--------------------------------------------------------------------------------------------------------- diff --git a/navigations/sbpl/src/planners/adplanner.cpp b/navigations/sbpl/src/planners/adplanner.cpp new file mode 100755 index 0000000..e32f0b4 --- /dev/null +++ b/navigations/sbpl/src/planners/adplanner.cpp @@ -0,0 +1,1470 @@ +/* + * 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. + */ + +#include +#include + +#include +#include +#include +#include +#include + +using namespace std; + +//----------------------------------------------------------------------------------------------------- + +ADPlanner::ADPlanner(DiscreteSpaceInformation* environment, bool bForwardSearch) +{ + environment_ = environment; + + bforwardsearch = bForwardSearch; + + bsearchuntilfirstsolution = false; + finitial_eps = AD_DEFAULT_INITIAL_EPS; + final_epsilon = AD_FINAL_EPS; + dec_eps = AD_DECREASE_EPS; + use_repair_time = false; + repair_time = INFINITECOST; + searchexpands = 0; + MaxMemoryCounter = 0; + +#ifndef ROS + const char* debug = "debug.txt"; +#endif + fDeb = SBPL_FOPEN(debug, "w"); + if (fDeb == NULL) { + throw SBPL_Exception("ERROR: could not open planner debug file"); + } + SBPL_PRINTF("debug on\n"); + + pSearchStateSpace_ = new ADSearchStateSpace_t; + + //create the AD planner + if (CreateSearchStateSpace(pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to create statespace\n"); + return; + } + + //set the start and goal states + if (InitializeSearchStateSpace(pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to create statespace\n"); + return; + } + + finitial_eps_planning_time = -1.0; + final_eps_planning_time = -1.0; + num_of_expands_initial_solution = 0; + final_eps = -1.0; +} + +ADPlanner::~ADPlanner() +{ + //delete the statespace + DeleteSearchStateSpace( pSearchStateSpace_); + delete pSearchStateSpace_; + + SBPL_FCLOSE( fDeb); +} + +void ADPlanner::Initialize_searchinfo(CMDPSTATE* state, ADSearchStateSpace_t* pSearchStateSpace) +{ + ADState* searchstateinfo = (ADState*)state->PlannerSpecificData; + + searchstateinfo->MDPstate = state; + InitializeSearchStateInfo(searchstateinfo, pSearchStateSpace); +} + +CMDPSTATE* ADPlanner::CreateState(int stateID, ADSearchStateSpace_t* pSearchStateSpace) +{ + CMDPSTATE* state = NULL; + +#if DEBUG + if (environment_->StateID2IndexMapping[stateID][ADMDP_STATEID2IND] != -1) { + throw SBPL_Exception("ERROR in CreateState: state already created"); + } +#endif + + //adds to the tail a state + state = pSearchStateSpace->searchMDP.AddState(stateID); + + //remember the index of the state + environment_->StateID2IndexMapping[stateID][ADMDP_STATEID2IND] = pSearchStateSpace->searchMDP.StateArray.size() - 1; + +#if DEBUG + if (state != + pSearchStateSpace->searchMDP.StateArray[environment_->StateID2IndexMapping[stateID][ADMDP_STATEID2IND]]) + { + throw SBPL_Exception("ERROR in CreateState: invalid state index"); + } +#endif + + //create search specific info + state->PlannerSpecificData = (ADState*)malloc(sizeof(ADState)); + Initialize_searchinfo(state, pSearchStateSpace); + MaxMemoryCounter += sizeof(ADState); + + return state; +} + +CMDPSTATE* ADPlanner::GetState(int stateID, ADSearchStateSpace_t* pSearchStateSpace) +{ + if (stateID >= (int)environment_->StateID2IndexMapping.size()) { + throw SBPL_Exception("ERROR in GetState: stateID is invalid"); + } + + if (environment_->StateID2IndexMapping[stateID][ADMDP_STATEID2IND] == -1) + return CreateState(stateID, pSearchStateSpace); + else + return pSearchStateSpace->searchMDP.StateArray[environment_->StateID2IndexMapping[stateID][ADMDP_STATEID2IND]]; +} + +//----------------------------------------------------------------------------------------------------- + +CKey ADPlanner::ComputeKey(ADState* state) +{ + CKey key; + + if (state->v >= state->g) { + key.key[0] = state->g + (int)(pSearchStateSpace_->eps * state->h); + key.key[1] = 1; + } + else { + key.key[0] = state->v + state->h; + key.key[1] = 0; + } + + return key; +} + +int ADPlanner::ComputeHeuristic(CMDPSTATE* MDPstate, ADSearchStateSpace_t* pSearchStateSpace) +{ + //compute heuristic for search + if (bforwardsearch) { +#if MEM_CHECK == 1 + //int WasEn = DisableMemCheck(); +#endif + + //forward search: heur = distance from state to searchgoal which is Goal ADState + int retv = environment_->GetGoalHeuristic(MDPstate->StateID); + +#if MEM_CHECK == 1 + //if (WasEn) + // EnableMemCheck(); +#endif + + return retv; + } + else { + //backward search: heur = distance from searchgoal to state + return environment_->GetStartHeuristic(MDPstate->StateID); + } +} + +//initialization of a state +void ADPlanner::InitializeSearchStateInfo(ADState* state, ADSearchStateSpace_t* pSearchStateSpace) +{ + state->g = INFINITECOST; + state->v = INFINITECOST; + state->iterationclosed = 0; + state->callnumberaccessed = pSearchStateSpace->callnumber; + state->bestnextstate = NULL; + state->costtobestnextstate = INFINITECOST; + state->heapindex = 0; + state->listelem[AD_INCONS_LIST_ID] = NULL; +#if DEBUG + state->numofexpands = 0; +#endif + state->bestpredstate = NULL; + + //compute heuristics +#if USE_HEUR + if(pSearchStateSpace->searchgoalstate != NULL) + state->h = ComputeHeuristic(state->MDPstate, pSearchStateSpace); + else + state->h = 0; +#else + state->h = 0; +#endif +} + +//re-initialization of a state +void ADPlanner::ReInitializeSearchStateInfo(ADState* state, ADSearchStateSpace_t* pSearchStateSpace) +{ + state->g = INFINITECOST; + state->v = INFINITECOST; + state->iterationclosed = 0; + state->callnumberaccessed = pSearchStateSpace->callnumber; + state->bestnextstate = NULL; + state->costtobestnextstate = INFINITECOST; + state->heapindex = 0; + state->listelem[AD_INCONS_LIST_ID] = NULL; +#if DEBUG + state->numofexpands = 0; +#endif + state->bestpredstate = NULL; + + //compute heuristics +#if USE_HEUR + if(pSearchStateSpace->searchgoalstate != NULL) + { + state->h = ComputeHeuristic(state->MDPstate, pSearchStateSpace); + } + else + state->h = 0; +#else + state->h = 0; +#endif +} + +void ADPlanner::DeleteSearchStateData(ADState* state) +{ + //no memory was allocated + MaxMemoryCounter = 0; + return; +} + +void ADPlanner::UpdateSetMembership(ADState* state) +{ + CKey key; + + if (state->v != state->g) { + if (state->iterationclosed != pSearchStateSpace_->searchiteration) { + key = ComputeKey(state); + if (state->heapindex == 0) { + //need to remove it because it can happen when updating edge costs and state is in incons + if (state->listelem[AD_INCONS_LIST_ID] != NULL) { + pSearchStateSpace_->inconslist->remove(state, AD_INCONS_LIST_ID); + } + + pSearchStateSpace_->heap->insertheap(state, key); + + } + else + pSearchStateSpace_->heap->updateheap(state, key); + } + else if (state->listelem[AD_INCONS_LIST_ID] == NULL) { + pSearchStateSpace_->inconslist->insert(state, AD_INCONS_LIST_ID); + } + } + else { + if (state->heapindex != 0) + pSearchStateSpace_->heap->deleteheap(state); + else if (state->listelem[AD_INCONS_LIST_ID] != NULL) { + pSearchStateSpace_->inconslist->remove(state, AD_INCONS_LIST_ID); + } + } +} + +void ADPlanner::Recomputegval(ADState* state) +{ + vector searchpredsIDV; //these are predecessors if search is done forward and successors otherwise + vector costV; + CKey key; + ADState *searchpredstate; + + if (bforwardsearch) + environment_->GetPreds(state->MDPstate->StateID, &searchpredsIDV, &costV); + else + environment_->GetSuccs(state->MDPstate->StateID, &searchpredsIDV, &costV); + + //iterate through predecessors of s and pick the best + state->g = INFINITECOST; + for (int pind = 0; pind < (int)searchpredsIDV.size(); pind++) { + //skip the states that do not exist - they can not be used to improve g-value anyway + if (environment_->StateID2IndexMapping[searchpredsIDV[pind]][ADMDP_STATEID2IND] == -1) continue; + + CMDPSTATE* predMDPState = GetState(searchpredsIDV[pind], pSearchStateSpace_); + int cost = costV[pind]; + searchpredstate = (ADState*)(predMDPState->PlannerSpecificData); + + //see if it can be used to improve + if (searchpredstate->callnumberaccessed == pSearchStateSpace_->callnumber && state->g > searchpredstate->v + + cost) { + if (bforwardsearch) { + state->g = searchpredstate->v + cost; + state->bestpredstate = predMDPState; + } + else { + state->g = searchpredstate->v + cost; + state->bestnextstate = predMDPState; + state->costtobestnextstate = cost; + } + } + } //over preds +} + +//used for backward search +void ADPlanner::UpdatePredsofOverconsState(ADState* state, ADSearchStateSpace_t* pSearchStateSpace) +{ + vector PredIDV; + vector CostV; + CKey key; + ADState *predstate; + + environment_->GetPreds(state->MDPstate->StateID, &PredIDV, &CostV); + + //iterate through predecessors of s + for (int pind = 0; pind < (int)PredIDV.size(); pind++) { + CMDPSTATE* PredMDPState = GetState(PredIDV[pind], pSearchStateSpace); + predstate = (ADState*)(PredMDPState->PlannerSpecificData); + if (predstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(predstate, pSearchStateSpace); + } + + //see if we can improve the value of predstate + if (predstate->g > state->v + CostV[pind]) { +#if DEBUG + if (predstate->MDPstate->StateID == 679256) { + SBPL_FPRINTF(fDeb, "updating pred %d of overcons exp\n", predstate->MDPstate->StateID); + PrintSearchState(predstate, fDeb); + SBPL_FPRINTF(fDeb, "\n"); + } +#endif + + predstate->g = state->v + CostV[pind]; + predstate->bestnextstate = state->MDPstate; + predstate->costtobestnextstate = CostV[pind]; + + //update set membership + UpdateSetMembership(predstate); + +#if DEBUG + if (predstate->MDPstate->StateID == 679256) { + SBPL_FPRINTF(fDeb, "updated pred %d of overcons exp\n", predstate->MDPstate->StateID); + PrintSearchState(predstate, fDeb); + SBPL_FPRINTF(fDeb, "\n"); + } +#endif + } + } //for predecessors +} + +//used for forward search +void ADPlanner::UpdateSuccsofOverconsState(ADState* state, ADSearchStateSpace_t* pSearchStateSpace) +{ + vector SuccIDV; + vector CostV; + CKey key; + ADState *succstate; + + environment_->GetSuccs(state->MDPstate->StateID, &SuccIDV, &CostV); + + //iterate through predecessors of s + for (int sind = 0; sind < (int)SuccIDV.size(); sind++) { + CMDPSTATE* SuccMDPState = GetState(SuccIDV[sind], pSearchStateSpace); + int cost = CostV[sind]; + + succstate = (ADState*)(SuccMDPState->PlannerSpecificData); + if (succstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(succstate, pSearchStateSpace); + } + + //see if we can improve the value of succstate + //taking into account the cost of action + if (succstate->g > state->v + cost) { + succstate->g = state->v + cost; + succstate->bestpredstate = state->MDPstate; + + //update set membership + UpdateSetMembership(succstate); + } //check for cost improvement + } //for actions +} + +//used for backward search +void ADPlanner::UpdatePredsofUnderconsState(ADState* state, ADSearchStateSpace_t* pSearchStateSpace) +{ + vector PredIDV; + vector CostV; + CKey key; + ADState *predstate; + + environment_->GetPreds(state->MDPstate->StateID, &PredIDV, &CostV); + + //iterate through predecessors of s + for (int pind = 0; pind < (int)PredIDV.size(); pind++) { + + CMDPSTATE* PredMDPState = GetState(PredIDV[pind], pSearchStateSpace); + predstate = (ADState*)(PredMDPState->PlannerSpecificData); + if (predstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(predstate, pSearchStateSpace); + } + + if (predstate->bestnextstate == state->MDPstate) { + Recomputegval(predstate); + UpdateSetMembership(predstate); + +#if DEBUG + if(predstate->MDPstate->StateID == 679256) + { + SBPL_FPRINTF(fDeb, "updated pred %d of undercons exp\n", predstate->MDPstate->StateID); + PrintSearchState(predstate, fDeb); + SBPL_FPRINTF(fDeb, "\n"); + } +#endif + } + } //for predecessors +} + +//used for forward search +void ADPlanner::UpdateSuccsofUnderconsState(ADState* state, ADSearchStateSpace_t* pSearchStateSpace) +{ + vector SuccIDV; + vector CostV; + CKey key; + ADState *succstate; + + environment_->GetSuccs(state->MDPstate->StateID, &SuccIDV, &CostV); + + //iterate through predecessors of s + for (int sind = 0; sind < (int)SuccIDV.size(); sind++) { + CMDPSTATE* SuccMDPState = GetState(SuccIDV[sind], pSearchStateSpace); + succstate = (ADState*)(SuccMDPState->PlannerSpecificData); + + if (succstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(succstate, pSearchStateSpace); + } + + if (succstate->bestpredstate == state->MDPstate) { + Recomputegval(succstate); + UpdateSetMembership(succstate); + } + } //for actions +} + +int ADPlanner::GetGVal(int StateID, ADSearchStateSpace_t* pSearchStateSpace) +{ + CMDPSTATE* cmdp_state = GetState(StateID, pSearchStateSpace); + ADState* state = (ADState*)cmdp_state->PlannerSpecificData; + return state->g; +} + +//returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time +int ADPlanner::ComputePath(ADSearchStateSpace_t* pSearchStateSpace, double MaxNumofSecs) +{ + int expands; + ADState *state, *searchgoalstate; + CKey key, minkey; + CKey goalkey; + + expands = 0; + + if (pSearchStateSpace->searchgoalstate == NULL) { + throw SBPL_Exception("ERROR searching: no goal state is set"); + } + + //goal state + searchgoalstate = (ADState*)(pSearchStateSpace->searchgoalstate->PlannerSpecificData); + if (searchgoalstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo( searchgoalstate, pSearchStateSpace); + } + + //set goal key + goalkey = ComputeKey(searchgoalstate); + + //expand states until done + minkey = pSearchStateSpace->heap->getminkeyheap(); + CKey oldkey = minkey; + while (!pSearchStateSpace->heap->emptyheap() && minkey.key[0] < INFINITECOST && + (goalkey > minkey || searchgoalstate->g > searchgoalstate->v) && + (clock() - TimeStarted) < MaxNumofSecs * (double)CLOCKS_PER_SEC && + (pSearchStateSpace->eps_satisfied == INFINITECOST || + (clock() - TimeStarted) < repair_time * (double)CLOCKS_PER_SEC)) + { + //get the state + state = (ADState*)pSearchStateSpace->heap->deleteminheap(); + +#if DEBUG + CKey debkey = ComputeKey(state); + //SBPL_FPRINTF(fDeb, "expanding state(%d): g=%u v=%u h=%d key=[%d %d] iterc=%d callnuma=%d expands=%d (g(goal)=%u)\n", + // state->MDPstate->StateID, state->g, state->v, state->h, (int)debkey[0], (int)debkey[1], + // state->iterationclosed, state->callnumberaccessed, state->numofexpands, searchgoalstate->g); + if (state->MDPstate->StateID == 679256) { + SBPL_FPRINTF(fDeb, "expanding state %d with key=[%d %d]:\n", + state->MDPstate->StateID, (int)debkey[0], (int)debkey[1]); + PrintSearchState(state, fDeb); + environment_->PrintState(state->MDPstate->StateID, true, fDeb); + } + //SBPL_FFLUSH(fDeb); + if (state->listelem[AD_INCONS_LIST_ID] != NULL) { + throw SBPL_Exception("ERROR: expanding state from INCONS list"); + } +#endif + +#if DEBUG + if (minkey.key[0] < oldkey.key[0] && fabs(this->finitial_eps - 1.0) < ERR_EPS) { + SBPL_PRINTF("WARN in search: the sequence of keys decreases in an optimal search\n"); + //throw SBPL_Exception("WARN in search: the sequence of keys decreases in an optimal search"); + } + oldkey = minkey; +#endif + + if (state->v == state->g) { + throw SBPL_Exception("ERROR: consistent state is being expanded"); + } + + //new expand + expands++; +#if DEBUG + state->numofexpands++; +#endif + + if (state->v > state->g) { + //overconsistent expansion + + //recompute state value + state->v = state->g; + state->iterationclosed = pSearchStateSpace->searchiteration; + + if (!bforwardsearch) { + UpdatePredsofOverconsState(state, pSearchStateSpace); + } + else { + UpdateSuccsofOverconsState(state, pSearchStateSpace); + } + } + else { + //underconsistent expansion + + //force the state to be overconsistent + state->v = INFINITECOST; + + //update state membership + UpdateSetMembership(state); + + if (!bforwardsearch) { + UpdatePredsofUnderconsState(state, pSearchStateSpace); + } + else + UpdateSuccsofUnderconsState(state, pSearchStateSpace); + + } + + //recompute minkey + minkey = pSearchStateSpace->heap->getminkeyheap(); + + //recompute goalkey if necessary + goalkey = ComputeKey(searchgoalstate); + + if (expands % 100000 == 0 && expands > 0) { + SBPL_PRINTF("expands so far=%u\n", expands); + } + } + + int retv = 1; + if (searchgoalstate->g == INFINITECOST && pSearchStateSpace->heap->emptyheap()) { + SBPL_PRINTF("solution does not exist: search exited because heap is empty\n"); + +#if DEBUG + SBPL_FPRINTF(fDeb, "solution does not exist: search exited because heap is empty\n"); +#endif + + retv = 0; + } + else if (!pSearchStateSpace->heap->emptyheap() && (goalkey > minkey || searchgoalstate->g > searchgoalstate->v)) { + SBPL_PRINTF("search exited because it ran out of time\n"); +#if DEBUG + SBPL_FPRINTF(fDeb, "search exited because it ran out of time\n"); +#endif + retv = 2; + } + else if (searchgoalstate->g == INFINITECOST && !pSearchStateSpace->heap->emptyheap()) { + SBPL_PRINTF("solution does not exist: search exited because all candidates for expansion have infinite " + "heuristics\n"); +#if DEBUG + SBPL_FPRINTF(fDeb, "solution does not exist: search exited because all candidates for expansion have infinite " + "heuristics\n"); +#endif + retv = 0; + } + else { + SBPL_PRINTF("search exited with a solution for eps=%.3f\n", pSearchStateSpace->eps); +#if DEBUG + SBPL_FPRINTF(fDeb, "search exited with a solution for eps=%.3f\n", pSearchStateSpace->eps); +#endif + retv = 1; + } + + //SBPL_FPRINTF(fDeb, "expanded=%d\n", expands); + + searchexpands += expands; + + return retv; +} + +void ADPlanner::BuildNewOPENList(ADSearchStateSpace_t* pSearchStateSpace) +{ + ADState *state; + CKey key; + CHeap* pheap = pSearchStateSpace->heap; + CList* pinconslist = pSearchStateSpace->inconslist; + + //move incons into open + while (pinconslist->firstelement != NULL) { + state = (ADState*)pinconslist->firstelement->liststate; + + //compute f-value + key = ComputeKey(state); + + //insert into OPEN + if (state->heapindex == 0) + pheap->insertheap(state, key); + else + pheap->updateheap(state, key); //should never happen, but sometimes it does - somewhere there is a bug TODO + //remove from INCONS + pinconslist->remove(state, AD_INCONS_LIST_ID); + } + + pSearchStateSpace->bRebuildOpenList = false; +} + +void ADPlanner::Reevaluatefvals(ADSearchStateSpace_t* pSearchStateSpace) +{ + CKey key; + int i; + CHeap* pheap = pSearchStateSpace->heap; + +#if DEBUG + SBPL_FPRINTF(fDeb, "re-computing heap priorities\n"); +#endif + + //recompute priorities for states in OPEN and reorder it + for (i = 1; i <= pheap->currentsize; ++i) { + ADState* state = (ADState*)pheap->heap[i].heapstate; + pheap->heap[i].key = ComputeKey(state); + } + pheap->makeheap(); + + pSearchStateSpace->bReevaluatefvals = false; +} + +void ADPlanner::Reevaluatehvals(ADSearchStateSpace_t* pSearchStateSpace) +{ + for(int i = 0; i < (int)pSearchStateSpace->searchMDP.StateArray.size(); i++) + { + CMDPSTATE* MDPstate = pSearchStateSpace->searchMDP.StateArray[i]; + ADState* state = (ADState*)MDPstate->PlannerSpecificData; + state->h = ComputeHeuristic(MDPstate, pSearchStateSpace); + } +} + +//creates (allocates memory) search state space +//does not initialize search statespace +int ADPlanner::CreateSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace) +{ + //create a heap + pSearchStateSpace->heap = new CHeap; + pSearchStateSpace->inconslist = new CList; + MaxMemoryCounter += sizeof(CHeap); + MaxMemoryCounter += sizeof(CList); + + pSearchStateSpace->searchgoalstate = NULL; + pSearchStateSpace->searchstartstate = NULL; + + searchexpands = 0; + + pSearchStateSpace->bReinitializeSearchStateSpace = false; + + return 1; +} + +//deallocates memory used by SearchStateSpace +void ADPlanner::DeleteSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace) +{ + if (pSearchStateSpace->heap != NULL) { + pSearchStateSpace->heap->makeemptyheap(); + delete pSearchStateSpace->heap; + pSearchStateSpace->heap = NULL; + } + + if (pSearchStateSpace->inconslist != NULL) { + pSearchStateSpace->inconslist->makeemptylist(AD_INCONS_LIST_ID); + delete pSearchStateSpace->inconslist; + pSearchStateSpace->inconslist = NULL; + } + + //delete the states themselves + int iend = (int)pSearchStateSpace->searchMDP.StateArray.size(); + for (int i = 0; i < iend; i++) { + CMDPSTATE* state = pSearchStateSpace->searchMDP.StateArray[i]; + DeleteSearchStateData((ADState*)state->PlannerSpecificData); + free(state->PlannerSpecificData); // allocated with malloc() on line 199 of revision 19485 + state->PlannerSpecificData = NULL; + } + pSearchStateSpace->searchMDP.Delete(); +} + +//reset properly search state space +//needs to be done before deleting states +int ADPlanner::ResetSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace) +{ + pSearchStateSpace->heap->makeemptyheap(); + pSearchStateSpace->inconslist->makeemptylist(AD_INCONS_LIST_ID); + + return 1; +} + +//initialization before each search +void ADPlanner::ReInitializeSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace) +{ + CKey key; + + //increase callnumber + pSearchStateSpace->callnumber++; + + //reset iteration + pSearchStateSpace->searchiteration = 0; + +#if DEBUG + SBPL_FPRINTF(fDeb, "reinitializing search state-space (new call number=%d search iter=%d)\n", + pSearchStateSpace->callnumber,pSearchStateSpace->searchiteration ); +#endif + + pSearchStateSpace->heap->makeemptyheap(); + pSearchStateSpace->inconslist->makeemptylist(AD_INCONS_LIST_ID); + + //reset + pSearchStateSpace->eps = this->finitial_eps; + pSearchStateSpace->eps_satisfied = INFINITECOST; + + //initialize start state + ADState* startstateinfo = (ADState*)(pSearchStateSpace->searchstartstate->PlannerSpecificData); + if (startstateinfo->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo( startstateinfo, pSearchStateSpace); + } + + startstateinfo->g = 0; + + //insert start state into the heap + key = ComputeKey(startstateinfo); + pSearchStateSpace->heap->insertheap(startstateinfo, key); + + pSearchStateSpace->bReinitializeSearchStateSpace = false; + pSearchStateSpace->bReevaluatefvals = false; + pSearchStateSpace->bRebuildOpenList = false; +} + +//very first initialization +int ADPlanner::InitializeSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace) +{ + if (pSearchStateSpace->heap->currentsize != 0 || pSearchStateSpace->inconslist->currentsize != 0) { + throw SBPL_Exception("ERROR in InitializeSearchStateSpace: heap or list is not empty"); + } + + pSearchStateSpace->eps = this->finitial_eps; + pSearchStateSpace->eps_satisfied = INFINITECOST; + pSearchStateSpace->searchiteration = 0; + pSearchStateSpace->callnumber = 0; + pSearchStateSpace->bReevaluatefvals = false; + pSearchStateSpace->bRebuildOpenList = false; + + //create and set the search start state + pSearchStateSpace->searchgoalstate = NULL; + //pSearchStateSpace->searchstartstate = GetState(SearchStartStateID, pSearchStateSpace); + pSearchStateSpace->searchstartstate = NULL; + + pSearchStateSpace->bReinitializeSearchStateSpace = true; + + return 1; +} + +int ADPlanner::SetSearchGoalState(int SearchGoalStateID, ADSearchStateSpace_t* pSearchStateSpace) +{ + if (pSearchStateSpace->searchgoalstate == NULL || + pSearchStateSpace->searchgoalstate->StateID != SearchGoalStateID) + { + pSearchStateSpace->searchgoalstate = GetState(SearchGoalStateID, pSearchStateSpace); + + //current solution may be invalid + pSearchStateSpace->eps_satisfied = INFINITECOST; + pSearchStateSpace_->eps = this->finitial_eps; + + //it will be a new search iteration + pSearchStateSpace_->searchiteration++; + pSearchStateSpace_->bRebuildOpenList = true; + + +#if USE_HEUR + //recompute heuristic for the heap if heuristics are used + pSearchStateSpace->bReevaluatefvals = true; +#endif + } + + return 1; +} + +int ADPlanner::SetSearchStartState(int SearchStartStateID, ADSearchStateSpace_t* pSearchStateSpace) +{ + CMDPSTATE* MDPstate = GetState(SearchStartStateID, pSearchStateSpace); + + if (MDPstate != pSearchStateSpace->searchstartstate) { + pSearchStateSpace->searchstartstate = MDPstate; + pSearchStateSpace->bReinitializeSearchStateSpace = true; + } + + return 1; +} + +int ADPlanner::ReconstructPath(ADSearchStateSpace_t* pSearchStateSpace) +{ + //nothing to do, if search is backward + if (bforwardsearch) { + CMDPSTATE* MDPstate = pSearchStateSpace->searchgoalstate; + CMDPSTATE* PredMDPstate; + ADState *predstateinfo, *stateinfo; + + int steps = 0; + const int max_steps = 100000; + while (MDPstate != pSearchStateSpace->searchstartstate && steps < max_steps) { + steps++; + + stateinfo = (ADState*)MDPstate->PlannerSpecificData; + + if (stateinfo->g == INFINITECOST) { + //throw SBPL_Exception("ERROR in ReconstructPath: g of the state on the path is INFINITE"); + return -1; + } + + if (stateinfo->bestpredstate == NULL) { + throw SBPL_Exception("ERROR in ReconstructPath: bestpred is NULL"); + } + + //get the parent state + PredMDPstate = stateinfo->bestpredstate; + predstateinfo = (ADState*)PredMDPstate->PlannerSpecificData; + + //set its best next info + predstateinfo->bestnextstate = MDPstate; + + //check the decrease of g-values along the path + if (predstateinfo->v >= stateinfo->g) { + throw SBPL_Exception("ERROR in ReconstructPath: g-values are non-decreasing"); + } + + //transition back + MDPstate = PredMDPstate; + } + + if (MDPstate != pSearchStateSpace->searchstartstate) { + SBPL_ERROR("ERROR: Failed to reconstruct path (compute bestnextstate pointers): steps processed=%d\n", + steps); + return 0; + } + } + + return 1; +} + +void ADPlanner::PrintSearchState(ADState* searchstateinfo, FILE* fOut) +{ + CKey key = ComputeKey(searchstateinfo); +#if DEBUG + SBPL_FPRINTF(fOut, "g=%d v=%d h = %d heapindex=%d inconslist=%d key=[%d %d] iterc=%d callnuma=%d expands=%d (current callnum=%d iter=%d)", + searchstateinfo->g, searchstateinfo->v, searchstateinfo->h, searchstateinfo->heapindex, (searchstateinfo->listelem[AD_INCONS_LIST_ID] != NULL), + (int)key[0], (int)key[1], searchstateinfo->iterationclosed, searchstateinfo->callnumberaccessed, searchstateinfo->numofexpands, + this->pSearchStateSpace_->callnumber, this->pSearchStateSpace_->searchiteration); +#else + SBPL_FPRINTF(fOut, "g=%d v=%d h = %d heapindex=%d inconslist=%d key=[%d %d] iterc=%d callnuma=%d " + "(current callnum=%d iter=%d)", + searchstateinfo->g, searchstateinfo->v, searchstateinfo->h, searchstateinfo->heapindex, + (searchstateinfo->listelem[AD_INCONS_LIST_ID] != NULL), (int)key[0], (int)key[1], + searchstateinfo->iterationclosed, searchstateinfo->callnumberaccessed, + this->pSearchStateSpace_->callnumber, this->pSearchStateSpace_->searchiteration); +#endif +} + +void ADPlanner::PrintSearchPath(ADSearchStateSpace_t* pSearchStateSpace, FILE* fOut) +{ + ADState* searchstateinfo; + CMDPSTATE* state = pSearchStateSpace->searchgoalstate; + CMDPSTATE* nextstate = NULL; + + if (fOut == NULL) fOut = stdout; + + int PathCost = ((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g; + + SBPL_FPRINTF(fOut, "Printing a path from state %d to the search start state %d\n", state->StateID, + pSearchStateSpace->searchstartstate->StateID); + SBPL_FPRINTF(fOut, "Path cost = %d:\n", PathCost); + + environment_->PrintState(state->StateID, true, fOut); + + int costFromStart = 0; + int steps = 0; + const int max_steps = 100000; + while (state->StateID != pSearchStateSpace->searchstartstate->StateID && steps < max_steps) { + steps++; + + SBPL_FPRINTF(fOut, "state %d ", state->StateID); + + if (state->PlannerSpecificData == NULL) { + SBPL_FPRINTF(fOut, "path does not exist since search data does not exist\n"); + break; + } + + searchstateinfo = (ADState*)state->PlannerSpecificData; + + if (bforwardsearch) + nextstate = searchstateinfo->bestpredstate; + else + nextstate = searchstateinfo->bestnextstate; + + if (nextstate == NULL) { + SBPL_FPRINTF(fOut, "path does not exist since nextstate == NULL\n"); + break; + } + if (searchstateinfo->g == INFINITECOST) { + SBPL_FPRINTF(fOut, "path does not exist since state->g == NULL\n"); + break; + } + + int costToGoal = PathCost - costFromStart; + if (!bforwardsearch) { + //otherwise this cost is not even set + costFromStart += searchstateinfo->costtobestnextstate; + } + +#if DEBUG + if (searchstateinfo->g > searchstateinfo->v) { + std::stringstream ss; ss << "ERROR: underconsistent state " << state->StateID << " is encountered"; + SBPL_FPRINTF(fOut, "%s\n", ss.str().c_str()); + throw SBPL_Exception(ss.str()); + } + + if (!bforwardsearch) { //otherwise this cost is not even set + if(nextstate->PlannerSpecificData != NULL && searchstateinfo->g < searchstateinfo->costtobestnextstate + ((ADState*)(nextstate->PlannerSpecificData))->g) + { + const char* msg = "ERROR: g(source) < c(source,target) + g(target)"; + SBPL_FPRINTF(fOut, "%s\n", msg); + throw SBPL_Exception(msg); + } + } +#endif + + //PrintSearchState(searchstateinfo, fOut); + SBPL_FPRINTF(fOut, "-->state %d ctg = %d ", nextstate->StateID, costToGoal); + + state = nextstate; + + environment_->PrintState(state->StateID, true, fOut); + } + + if (state->StateID != pSearchStateSpace->searchstartstate->StateID) { + SBPL_ERROR("ERROR: Failed to printsearchpath, max_steps reached\n"); + return; + } +} + +int ADPlanner::getHeurValue(ADSearchStateSpace_t* pSearchStateSpace, int StateID) +{ + CMDPSTATE* MDPstate = GetState(StateID, pSearchStateSpace); + ADState* searchstateinfo = (ADState*)MDPstate->PlannerSpecificData; + return searchstateinfo->h; +} + +vector ADPlanner::GetSearchPath(ADSearchStateSpace_t* pSearchStateSpace, int& solcost) +{ + vector SuccIDV; + vector CostV; + vector wholePathIds; + ADState* searchstateinfo; + CMDPSTATE* state = NULL; + CMDPSTATE* goalstate = NULL; + CMDPSTATE* startstate = NULL; + + if (bforwardsearch) { + startstate = pSearchStateSpace->searchstartstate; + goalstate = pSearchStateSpace->searchgoalstate; + + //reconstruct the path by setting bestnextstate pointers appropriately + if (ReconstructPath(pSearchStateSpace) != 1) { + solcost = INFINITECOST; + return wholePathIds; + } + } + else { + startstate = pSearchStateSpace->searchgoalstate; + goalstate = pSearchStateSpace->searchstartstate; + } + +#if DEBUG + //PrintSearchPath(pSearchStateSpace, fDeb); +#endif + + state = startstate; + + wholePathIds.push_back(state->StateID); + solcost = 0; + + FILE* fOut = stdout; + if (fOut == NULL) { + throw SBPL_Exception("ERROR: could not open file"); + } + int steps = 0; + const int max_steps = 100000; + while (state->StateID != goalstate->StateID && steps < max_steps) { + steps++; + + if (state->PlannerSpecificData == NULL) { + SBPL_FPRINTF(fOut, "path does not exist since search data does not exist\n"); + break; + } + + searchstateinfo = (ADState*)state->PlannerSpecificData; + + if (searchstateinfo->bestnextstate == NULL) { + SBPL_FPRINTF(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + if (searchstateinfo->g == INFINITECOST) { + SBPL_FPRINTF(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + + environment_->GetSuccs(state->StateID, &SuccIDV, &CostV); + int actioncost = INFINITECOST; + for (int i = 0; i < (int)SuccIDV.size(); i++) { + if (SuccIDV.at(i) == searchstateinfo->bestnextstate->StateID && CostV.at(i) < actioncost) actioncost + = CostV.at(i); + + } + solcost += actioncost; + + if (searchstateinfo->v < searchstateinfo->g) { + const char* msg = "ERROR: underconsistent state on the path"; + SBPL_ERROR("%s\n", msg); + PrintSearchState(searchstateinfo, stdout); + //SBPL_FPRINTF(fDeb, "ERROR: underconsistent state on the path\n"); + //PrintSearchState(searchstateinfo, fDeb); + throw SBPL_Exception(msg); + } + + //SBPL_FPRINTF(fDeb, "actioncost=%d between states %d and %d\n", + // actioncost, state->StateID, searchstateinfo->bestnextstate->StateID); + //environment_->PrintState(state->StateID, false, fDeb); + //environment_->PrintState(searchstateinfo->bestnextstate->StateID, false, fDeb); + + state = searchstateinfo->bestnextstate; + + wholePathIds.push_back(state->StateID); + } + + if (state->StateID != goalstate->StateID) { + SBPL_ERROR("ERROR: Failed to getsearchpath, steps processed=%d\n", steps); + wholePathIds.clear(); + solcost = INFINITECOST; + return wholePathIds; + } + + //PrintSearchPath(pSearchStateSpace, stdout); + + return wholePathIds; +} + +bool ADPlanner::Search(ADSearchStateSpace_t* pSearchStateSpace, vector& pathIds, int & PathCost, + bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs) +{ + CKey key; + TimeStarted = clock(); + searchexpands = 0; + double old_repair_time = repair_time; + if (!use_repair_time) repair_time = MaxNumofSecs; + +#if DEBUG + SBPL_FPRINTF(fDeb, "new search call (call number=%d)\n", pSearchStateSpace->callnumber); +#endif + + if (pSearchStateSpace->bReevaluatefvals) { + // costs have changed or a new goal has been set + environment_->EnsureHeuristicsUpdated(bforwardsearch); + Reevaluatehvals(pSearchStateSpace); + } + + + if (pSearchStateSpace->bReinitializeSearchStateSpace == true) { + //re-initialize state space + ReInitializeSearchStateSpace(pSearchStateSpace); + } + + if (bOptimalSolution) { + pSearchStateSpace->eps = 1; + MaxNumofSecs = INFINITECOST; + repair_time = INFINITECOST; + } + else if (bFirstSolution) { + MaxNumofSecs = INFINITECOST; + repair_time = INFINITECOST; + } + + //the main loop of AD* + stats.clear(); + int prevexpands = 0; + clock_t loop_time; + while (pSearchStateSpace->eps_satisfied > final_epsilon && + (clock() - TimeStarted) < MaxNumofSecs * (double)CLOCKS_PER_SEC && + (pSearchStateSpace->eps_satisfied == INFINITECOST || + (clock() - TimeStarted) < repair_time * (double)CLOCKS_PER_SEC)) + { + loop_time = clock(); + //it will be a new search iteration + if (pSearchStateSpace->searchiteration == 0) pSearchStateSpace->searchiteration++; + + //decrease eps for all subsequent iterations + if (fabs(pSearchStateSpace->eps_satisfied - pSearchStateSpace->eps) < ERR_EPS && !bFirstSolution) { + pSearchStateSpace->eps = pSearchStateSpace->eps - dec_eps; + if (pSearchStateSpace->eps < final_epsilon) pSearchStateSpace->eps = final_epsilon; + + pSearchStateSpace->bReevaluatefvals = true; + pSearchStateSpace->bRebuildOpenList = true; + + pSearchStateSpace->searchiteration++; + } + + //build a new open list by merging it with incons one + if (pSearchStateSpace->bRebuildOpenList) BuildNewOPENList(pSearchStateSpace); + + //re-compute f-values if necessary and reorder the heap + if (pSearchStateSpace->bReevaluatefvals) Reevaluatefvals(pSearchStateSpace); + + //improve or compute path + if (ComputePath(pSearchStateSpace, MaxNumofSecs) == 1) { + pSearchStateSpace->eps_satisfied = pSearchStateSpace->eps; + } + + //print the solution cost and eps bound + SBPL_PRINTF("eps=%f expands=%d g(sstart)=%d\n", pSearchStateSpace->eps_satisfied, searchexpands - prevexpands, + ((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g); + + if (pSearchStateSpace->eps_satisfied == finitial_eps && pSearchStateSpace->eps == finitial_eps) { + finitial_eps_planning_time = double(clock() - loop_time) / CLOCKS_PER_SEC; + num_of_expands_initial_solution = searchexpands - prevexpands; + } + + if (stats.empty() || pSearchStateSpace->eps_satisfied != stats.back().eps) { + PlannerStats tempStat; + tempStat.eps = pSearchStateSpace->eps_satisfied; + tempStat.expands = searchexpands - prevexpands; + tempStat.time = double(clock() - loop_time) / CLOCKS_PER_SEC; + tempStat.cost = ((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g; + stats.push_back(tempStat); + } + +#if DEBUG + SBPL_FPRINTF(fDeb, "eps=%f eps_sat=%f expands=%d g(sstart)=%d\n", pSearchStateSpace->eps, + pSearchStateSpace->eps_satisfied, searchexpands - prevexpands, + ((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g); +#endif + prevexpands = searchexpands; + + //if just the first solution then we are done + if (bFirstSolution) break; + + //no solution exists + if (((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g == INFINITECOST) break; + + } + repair_time = old_repair_time; + +#if DEBUG + SBPL_FFLUSH(fDeb); +#endif + + PathCost = ((ADState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g; + MaxMemoryCounter += environment_->StateID2IndexMapping.size() * sizeof(int); + + SBPL_PRINTF("MaxMemoryCounter = %d\n", MaxMemoryCounter); + + int solcost = INFINITECOST; + bool ret = false; + if (PathCost == INFINITECOST || pSearchStateSpace_->eps_satisfied == INFINITECOST) { + SBPL_PRINTF("could not find a solution\n"); + ret = false; + } + else { + SBPL_PRINTF("solution is found\n"); + + pathIds = GetSearchPath(pSearchStateSpace, solcost); + ret = true; + } + + SBPL_PRINTF("total expands this call = %d, planning time = %.3f secs, solution cost=%d\n", searchexpands, (clock() + - TimeStarted) / ((double)CLOCKS_PER_SEC), solcost); + final_eps_planning_time = (clock() - TimeStarted) / ((double)CLOCKS_PER_SEC); + final_eps = pSearchStateSpace->eps_satisfied; + + //SBPL_FPRINTF(fStat, "%d %d\n", searchexpands, solcost); + + return ret; + +} + +void ADPlanner::Update_SearchSuccs_of_ChangedEdges(vector const * statesIDV) +{ + SBPL_PRINTF("updating %d affected states\n", (unsigned int)statesIDV->size()); + + if (statesIDV->size() > environment_->StateID2IndexMapping.size() / 10) { + SBPL_PRINTF("skipping affected states and instead restarting planner from scratch\n"); + pSearchStateSpace_->bReinitializeSearchStateSpace = true; + } + + //it will be a new search iteration + pSearchStateSpace_->searchiteration++; + + //will need to rebuild open list + pSearchStateSpace_->bRebuildOpenList = true; + + //recompute heuristic for the heap + pSearchStateSpace_->bReevaluatefvals = true; + + int numofstatesaffected = 0; + for (int pind = 0; pind < (int)statesIDV->size(); pind++) { + int stateID = statesIDV->at(pind); + + //first check that the state exists (to avoid creation of additional states) + if (environment_->StateID2IndexMapping[stateID][ADMDP_STATEID2IND] == -1) continue; + + //now get the state + CMDPSTATE* state = GetState(stateID, pSearchStateSpace_); + ADState* searchstateinfo = (ADState*)state->PlannerSpecificData; + + //now check that the state is not start state and was created after last search reset + if (stateID != pSearchStateSpace_->searchstartstate->StateID && + searchstateinfo->callnumberaccessed == pSearchStateSpace_->callnumber) + { +#if DEBUG + SBPL_FPRINTF(fDeb, "updating affected state %d:\n", stateID); + PrintSearchState(searchstateinfo, fDeb); + SBPL_FPRINTF(fDeb, "\n"); +#endif + + //now we really do need to update it + Recomputegval(searchstateinfo); + UpdateSetMembership(searchstateinfo); + numofstatesaffected++; + +#if DEBUG + SBPL_FPRINTF(fDeb, "the state %d after update\n", stateID); + PrintSearchState(searchstateinfo, fDeb); + SBPL_FPRINTF(fDeb, "\n"); +#endif + } + } + + //TODO - check. I believe that there are cases when number of states + //generated is drastically smaller than the number of states really + //affected, which is a bug! + SBPL_PRINTF("%d states really affected (%d states generated total so far)\n", numofstatesaffected, + (int)environment_->StateID2IndexMapping.size()); + + //reset eps for which we know a path was computed + if (numofstatesaffected > 0) { + //make sure eps is reset appropriately + pSearchStateSpace_->eps = this->finitial_eps; + + //reset the satisfied eps + pSearchStateSpace_->eps_satisfied = INFINITECOST; + } +} + +//-----------------------------Interface function----------------------------------------------------- + +int ADPlanner::replan(vector* solution_stateIDs_V, ReplanParams params) +{ + int solcost; + return replan(solution_stateIDs_V, params, &solcost); +} + +int ADPlanner::replan(vector* solution_stateIDs_V, ReplanParams params, int* solcost) +{ + finitial_eps = params.initial_eps; + final_epsilon = params.final_eps; + dec_eps = params.dec_eps; + bsearchuntilfirstsolution = params.return_first_solution; + use_repair_time = params.repair_time > 0; + repair_time = params.repair_time; + return replan(params.max_time, solution_stateIDs_V, solcost); +} + +//returns 1 if found a solution, and 0 otherwise +int ADPlanner::replan(double allocated_time_secs, vector* solution_stateIDs_V) +{ + int solcost; + + return replan(allocated_time_secs, solution_stateIDs_V, &solcost); +} + +//returns 1 if found a solution, and 0 otherwise +int ADPlanner::replan(double allocated_time_secs, vector* solution_stateIDs_V, int* psolcost) +{ + vector pathIds; + int PathCost = 0; + bool bFound = false; + *psolcost = 0; + bool bOptimalSolution = false; + + SBPL_PRINTF("planner: replan called (bFirstSol=%d, bOptSol=%d)\n", bsearchuntilfirstsolution, bOptimalSolution); + + //plan for the first solution only + bFound = Search(pSearchStateSpace_, pathIds, PathCost, bsearchuntilfirstsolution, bOptimalSolution, allocated_time_secs); + if (!bFound) { + SBPL_PRINTF("failed to find a solution\n"); + } + + //copy the solution + *solution_stateIDs_V = pathIds; + *psolcost = PathCost; + + return (int)bFound; +} + +int ADPlanner::set_goal(int goal_stateID) +{ + SBPL_PRINTF("planner: setting goal to %d\n", goal_stateID); + environment_->PrintState(goal_stateID, true, stdout); + + if (bforwardsearch) { + if (SetSearchGoalState(goal_stateID, pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to set search goal state\n"); + return 0; + } + } + else { + if (SetSearchStartState(goal_stateID, pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to set search start state\n"); + return 0; + } + } + + return 1; +} + +int ADPlanner::set_start(int start_stateID) +{ + SBPL_PRINTF("planner: setting start to %d\n", start_stateID); + environment_->PrintState(start_stateID, true, stdout); + + if (bforwardsearch) { + if (SetSearchStartState(start_stateID, pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to set search start state\n"); + return 0; + } + } + else { + if (SetSearchGoalState(start_stateID, pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to set search goal state\n"); + return 0; + } + } + + return 1; +} + +void ADPlanner::update_succs_of_changededges(vector* succstatesIDV) +{ + SBPL_PRINTF("UpdateSuccs called on %d succs\n", (unsigned int)succstatesIDV->size()); + + Update_SearchSuccs_of_ChangedEdges(succstatesIDV); +} + +void ADPlanner::update_preds_of_changededges(vector* predstatesIDV) +{ + SBPL_PRINTF("UpdatePreds called on %d preds\n", (unsigned int)predstatesIDV->size()); + + Update_SearchSuccs_of_ChangedEdges(predstatesIDV); +} + +int ADPlanner::force_planning_from_scratch() +{ + SBPL_PRINTF("planner: forceplanfromscratch set\n"); + + pSearchStateSpace_->bReinitializeSearchStateSpace = true; + + return 1; +} + +int ADPlanner::force_planning_from_scratch_and_free_memory() +{ + SBPL_PRINTF("planner: forceplanfromscratch set\n"); + int start_id = -1; + int goal_id = -1; + if (pSearchStateSpace_->searchstartstate) start_id = pSearchStateSpace_->searchstartstate->StateID; + if (pSearchStateSpace_->searchgoalstate) goal_id = pSearchStateSpace_->searchgoalstate->StateID; + + if (!bforwardsearch) { + int temp = start_id; + start_id = goal_id; + goal_id = temp; + } + + DeleteSearchStateSpace( pSearchStateSpace_); + CreateSearchStateSpace(pSearchStateSpace_); + InitializeSearchStateSpace(pSearchStateSpace_); + for (unsigned int i = 0; i < environment_->StateID2IndexMapping.size(); i++) + for (int j = 0; j < NUMOFINDICES_STATEID2IND; j++) + environment_->StateID2IndexMapping[i][j] = -1; + + if (start_id >= 0) set_start(start_id); + if (goal_id >= 0) set_goal(goal_id); + return 1; +} + +int ADPlanner::set_search_mode(bool bSearchUntilFirstSolution) +{ + SBPL_PRINTF("planner: search mode set to %d\n", bSearchUntilFirstSolution); + + bsearchuntilfirstsolution = bSearchUntilFirstSolution; + + return 1; +} + +void ADPlanner::costs_changed(StateChangeQuery const & stateChange) +{ + //recompute f values + pSearchStateSpace_->bReevaluatefvals = true; + + //no processing if no search efforts anyway + if (pSearchStateSpace_->bReinitializeSearchStateSpace == true || pSearchStateSpace_->searchiteration == 0) return; + + if (bforwardsearch) + Update_SearchSuccs_of_ChangedEdges(stateChange.getSuccessors()); + else + Update_SearchSuccs_of_ChangedEdges(stateChange.getPredecessors()); +} + +//--------------------------------------------------------------------------------------------------------- + +void ADPlanner::get_search_stats(vector* s) +{ + s->clear(); + s->reserve(stats.size()); + for (unsigned int i = 0; i < stats.size(); i++) { + s->push_back(stats[i]); + } +} diff --git a/navigations/sbpl/src/planners/araplanner.cpp b/navigations/sbpl/src/planners/araplanner.cpp new file mode 100755 index 0000000..c63fd31 --- /dev/null +++ b/navigations/sbpl/src/planners/araplanner.cpp @@ -0,0 +1,1286 @@ +/* + * 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. + */ + +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +using namespace std; + +ARAPlanner::ARAPlanner(DiscreteSpaceInformation* environment, bool bSearchForward) +{ + bforwardsearch = bSearchForward; + + environment_ = environment; + + bsearchuntilfirstsolution = false; + finitial_eps = ARA_DEFAULT_INITIAL_EPS; + final_epsilon = ARA_FINAL_EPS; + dec_eps = ARA_DECREASE_EPS; + use_repair_time = false; + repair_time = INFINITECOST; + searchexpands = 0; + MaxMemoryCounter = 0; + +#ifndef ROS + const char* debug = "debug.txt"; +#endif + fDeb = SBPL_FOPEN(debug, "w"); + if (fDeb == NULL) { + throw SBPL_Exception("ERROR: could not open planner debug file"); + } + + pSearchStateSpace_ = new ARASearchStateSpace_t; + + //create the ARA planner + if (CreateSearchStateSpace(pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to create statespace\n"); + return; + } + + //set the start and goal states + if (InitializeSearchStateSpace(pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to create statespace\n"); + return; + } + finitial_eps_planning_time = -1.0; + final_eps_planning_time = -1.0; + num_of_expands_initial_solution = 0; + final_eps = -1.0; +} + +ARAPlanner::~ARAPlanner() +{ + if (pSearchStateSpace_ != NULL) { + //delete the statespace + DeleteSearchStateSpace( pSearchStateSpace_); + delete pSearchStateSpace_; + } + SBPL_FCLOSE( fDeb); +} + +void ARAPlanner::Initialize_searchinfo(CMDPSTATE* state, ARASearchStateSpace_t* pSearchStateSpace) +{ + ARAState* searchstateinfo = (ARAState*)state->PlannerSpecificData; + + searchstateinfo->MDPstate = state; + InitializeSearchStateInfo(searchstateinfo, pSearchStateSpace); +} + +CMDPSTATE* ARAPlanner::CreateState(int stateID, ARASearchStateSpace_t* pSearchStateSpace) +{ + CMDPSTATE* state = NULL; + +#if DEBUG + if (environment_->StateID2IndexMapping[stateID][ARAMDP_STATEID2IND] != -1) { + throw SBPL_Exception("ERROR in CreateState: state already created"); + } +#endif + + //adds to the tail a state + state = pSearchStateSpace->searchMDP.AddState(stateID); + + //remember the index of the state + environment_->StateID2IndexMapping[stateID][ARAMDP_STATEID2IND] = + pSearchStateSpace->searchMDP.StateArray.size() - 1; + +#if DEBUG + if(state != + pSearchStateSpace->searchMDP.StateArray[environment_->StateID2IndexMapping[stateID][ARAMDP_STATEID2IND]]) + { + throw SBPL_Exception("ERROR in CreateState: invalid state index"); + } +#endif + + //create search specific info + state->PlannerSpecificData = (ARAState*)malloc(sizeof(ARAState)); + Initialize_searchinfo(state, pSearchStateSpace); + MaxMemoryCounter += sizeof(ARAState); + + return state; +} + +CMDPSTATE* ARAPlanner::GetState(int stateID, ARASearchStateSpace_t* pSearchStateSpace) +{ + if (stateID >= (int)environment_->StateID2IndexMapping.size()) { + std::stringstream ss("ERROR int GetState: stateID "); + ss << stateID << " is invalid"; + throw SBPL_Exception(ss.str()); + } + + if (environment_->StateID2IndexMapping[stateID][ARAMDP_STATEID2IND] == -1) + return CreateState(stateID, pSearchStateSpace); + else + return pSearchStateSpace->searchMDP.StateArray[environment_->StateID2IndexMapping[stateID][ARAMDP_STATEID2IND]]; +} + +//----------------------------------------------------------------------------------------------------- + +int ARAPlanner::ComputeHeuristic(CMDPSTATE* MDPstate, ARASearchStateSpace_t* pSearchStateSpace) +{ + //compute heuristic for search + + if (bforwardsearch) { + +#if MEM_CHECK == 1 + //int WasEn = DisableMemCheck(); +#endif + + //forward search: heur = distance from state to searchgoal which is Goal ARAState + int retv = environment_->GetGoalHeuristic(MDPstate->StateID); + +#if MEM_CHECK == 1 + //if (WasEn) + // EnableMemCheck(); +#endif + + return retv; + + } + else { + //backward search: heur = distance from searchgoal to state + return environment_->GetStartHeuristic(MDPstate->StateID); + } +} + +// initialization of a state +void ARAPlanner::InitializeSearchStateInfo(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace) +{ + state->g = INFINITECOST; + state->v = INFINITECOST; + state->iterationclosed = 0; + state->callnumberaccessed = pSearchStateSpace->callnumber; + state->bestnextstate = NULL; + state->costtobestnextstate = INFINITECOST; + state->heapindex = 0; + state->listelem[ARA_INCONS_LIST_ID] = 0; +#if DEBUG + state->numofexpands = 0; +#endif + + state->bestpredstate = NULL; + + //compute heuristics +#if USE_HEUR + if(pSearchStateSpace->searchgoalstate != NULL) + state->h = ComputeHeuristic(state->MDPstate, pSearchStateSpace); + else + state->h = 0; +#else + state->h = 0; +#endif +} + +//re-initialization of a state +void ARAPlanner::ReInitializeSearchStateInfo(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace) +{ + state->g = INFINITECOST; + state->v = INFINITECOST; + state->iterationclosed = 0; + state->callnumberaccessed = pSearchStateSpace->callnumber; + state->bestnextstate = NULL; + state->costtobestnextstate = INFINITECOST; + state->heapindex = 0; + state->listelem[ARA_INCONS_LIST_ID] = 0; +#if DEBUG + state->numofexpands = 0; +#endif + + state->bestpredstate = NULL; + + //compute heuristics +#if USE_HEUR + + if(pSearchStateSpace->searchgoalstate != NULL) + { + state->h = ComputeHeuristic(state->MDPstate, pSearchStateSpace); + } + else + state->h = 0; + +#else + + state->h = 0; + +#endif +} + +void ARAPlanner::DeleteSearchStateData(ARAState* state) +{ + //no memory was allocated + MaxMemoryCounter = 0; + return; +} + +//used for backward search +void ARAPlanner::UpdatePreds(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace) +{ + vector PredIDV; + vector CostV; + CKey key; + ARAState *predstate; + + environment_->GetPreds(state->MDPstate->StateID, &PredIDV, &CostV); + + //iterate through predecessors of s + for (int pind = 0; pind < (int)PredIDV.size(); pind++) { + CMDPSTATE* PredMDPState = GetState(PredIDV[pind], pSearchStateSpace); + predstate = (ARAState*)(PredMDPState->PlannerSpecificData); + if (predstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(predstate, pSearchStateSpace); + } + + //see if we can improve the value of predstate + if (predstate->g > state->v + CostV[pind]) { + predstate->g = state->v + CostV[pind]; + predstate->bestnextstate = state->MDPstate; + predstate->costtobestnextstate = CostV[pind]; + + //re-insert into heap if not closed yet + if (predstate->iterationclosed != pSearchStateSpace->searchiteration) { + key.key[0] = predstate->g + (int)(pSearchStateSpace->eps * predstate->h); + //key.key[1] = predstate->h; + if (predstate->heapindex != 0) + pSearchStateSpace->heap->updateheap(predstate, key); + else + pSearchStateSpace->heap->insertheap(predstate, key); + } + //take care of incons list + else if (predstate->listelem[ARA_INCONS_LIST_ID] == NULL) { + pSearchStateSpace->inconslist->insert(predstate, ARA_INCONS_LIST_ID); + } + } + } //for predecessors +} + +//used for forward search +void ARAPlanner::UpdateSuccs(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace) +{ + vector SuccIDV; + vector CostV; + CKey key; + ARAState *succstate; + + environment_->GetSuccs(state->MDPstate->StateID, &SuccIDV, &CostV); + + //iterate through predecessors of s + for (int sind = 0; sind < (int)SuccIDV.size(); sind++) { + CMDPSTATE* SuccMDPState = GetState(SuccIDV[sind], pSearchStateSpace); + int cost = CostV[sind]; + + succstate = (ARAState*)(SuccMDPState->PlannerSpecificData); + if (succstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(succstate, pSearchStateSpace); + } + + //see if we can improve the value of succstate + //taking into account the cost of action + if (succstate->g > state->v + cost) { + succstate->g = state->v + cost; + succstate->bestpredstate = state->MDPstate; + + //re-insert into heap if not closed yet + if (succstate->iterationclosed != pSearchStateSpace->searchiteration) { + + key.key[0] = succstate->g + (int)(pSearchStateSpace->eps * succstate->h); + + //key.key[1] = succstate->h; + + if (succstate->heapindex != 0) + pSearchStateSpace->heap->updateheap(succstate, key); + else + pSearchStateSpace->heap->insertheap(succstate, key); + } + //take care of incons list + else if (succstate->listelem[ARA_INCONS_LIST_ID] == NULL) { + pSearchStateSpace->inconslist->insert(succstate, ARA_INCONS_LIST_ID); + } + } //check for cost improvement + } //for actions +} + +//TODO-debugmax - add obsthresh and other thresholds to other environments in 3dkin +int ARAPlanner::GetGVal(int StateID, ARASearchStateSpace_t* pSearchStateSpace) +{ + CMDPSTATE* cmdp_state = GetState(StateID, pSearchStateSpace); + ARAState* state = (ARAState*)cmdp_state->PlannerSpecificData; + return state->g; +} + +//returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time +int ARAPlanner::ImprovePath(ARASearchStateSpace_t* pSearchStateSpace, double MaxNumofSecs) +{ + int expands; + ARAState *state, *searchgoalstate; + CKey key, minkey; + CKey goalkey; + + expands = 0; + + if (pSearchStateSpace->searchgoalstate == NULL) { + throw SBPL_Exception("ERROR searching: no goal state is set"); + } + + //goal state + searchgoalstate = (ARAState*)(pSearchStateSpace->searchgoalstate->PlannerSpecificData); + if (searchgoalstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(searchgoalstate, pSearchStateSpace); + } + + //set goal key + goalkey.key[0] = searchgoalstate->g; + //goalkey.key[1] = searchgoalstate->h; + + //expand states until done + minkey = pSearchStateSpace->heap->getminkeyheap(); + CKey oldkey = minkey; + while (!pSearchStateSpace->heap->emptyheap() && minkey.key[0] < INFINITECOST && goalkey > minkey && + (clock() - TimeStarted) < MaxNumofSecs * (double)CLOCKS_PER_SEC && + (pSearchStateSpace->eps_satisfied == INFINITECOST || + (clock() - TimeStarted) < repair_time * (double)CLOCKS_PER_SEC)) + { + //get the state + state = (ARAState*)pSearchStateSpace->heap->deleteminheap(); + +#if DEBUG + SBPL_FPRINTF(fDeb, "expanding state(%d): h=%d g=%u key=%u v=%u iterc=%d callnuma=%d expands=%d (g(goal)=%u)\n", + state->MDPstate->StateID, state->h, state->g, state->g+(int)(pSearchStateSpace->eps*state->h), + state->v, state->iterationclosed, state->callnumberaccessed, state->numofexpands, + searchgoalstate->g); + SBPL_FPRINTF(fDeb, "expanding: "); + PrintSearchState(state, fDeb); + if (state->listelem[ARA_INCONS_LIST_ID] != NULL) { + SBPL_FPRINTF(fDeb, "ERROR: expanding a state from inconslist\n"); + throw SBPL_Exception("ERROR: expanding a state from inconslist"); + } + //SBPL_FFLUSH(fDeb); +#endif + +#if DEBUG + if (minkey.key[0] < oldkey.key[0] && fabs(this->finitial_eps - 1.0) < ERR_EPS) { + //throw SBPL_Exception("WARN in search: the sequence of keys decreases"); + } + oldkey = minkey; +#endif + + if (state->v == state->g) { + SBPL_ERROR("ERROR: consistent state is being expanded\n"); +#if DEBUG + SBPL_FPRINTF(fDeb, "ERROR: consistent state is being expanded\n"); + throw SBPL_Exception("ERROR: consistent state is being expanded"); +#endif + } + + //recompute state value + state->v = state->g; + state->iterationclosed = pSearchStateSpace->searchiteration; + + //new expand + expands++; +#if DEBUG + state->numofexpands++; +#endif + + if (bforwardsearch == false) + UpdatePreds(state, pSearchStateSpace); + else + UpdateSuccs(state, pSearchStateSpace); + + //recompute minkey + minkey = pSearchStateSpace->heap->getminkeyheap(); + + //recompute goalkey if necessary + if (goalkey.key[0] != (int)searchgoalstate->g) { + //SBPL_PRINTF("re-computing goal key\n"); + //recompute the goal key (heuristics should be zero) + goalkey.key[0] = searchgoalstate->g; + //goalkey.key[1] = searchgoalstate->h; + } + + if (expands % 100000 == 0 && expands > 0) { + SBPL_PRINTF("expands so far=%u\n", expands); + } + } + + int retv = 1; + if (searchgoalstate->g == INFINITECOST && pSearchStateSpace->heap->emptyheap()) { + SBPL_PRINTF("solution does not exist: search exited because heap is empty\n"); + retv = 0; + } + else if (!pSearchStateSpace->heap->emptyheap() && goalkey > minkey) { + SBPL_PRINTF("search exited because it ran out of time\n"); + retv = 2; + } + else if (searchgoalstate->g == INFINITECOST && !pSearchStateSpace->heap->emptyheap()) { + SBPL_PRINTF("solution does not exist: search exited because all candidates for expansion have " + "infinite heuristics\n"); + retv = 0; + } + else { + SBPL_PRINTF("search exited with a solution for eps=%.3f\n", pSearchStateSpace->eps); + retv = 1; + } + + //SBPL_FPRINTF(fDeb, "expanded=%d\n", expands); + + searchexpands += expands; + + return retv; +} + +void ARAPlanner::BuildNewOPENList(ARASearchStateSpace_t* pSearchStateSpace) +{ + ARAState *state; + CKey key; + CHeap* pheap = pSearchStateSpace->heap; + CList* pinconslist = pSearchStateSpace->inconslist; + + //move incons into open + while (pinconslist->firstelement != NULL) { + state = (ARAState*)pinconslist->firstelement->liststate; + + //compute f-value + key.key[0] = state->g + (int)(pSearchStateSpace->eps * state->h); + //key.key[1] = state->h; + + //insert into OPEN + pheap->insertheap(state, key); + //remove from INCONS + pinconslist->remove(state, ARA_INCONS_LIST_ID); + } +} + +void ARAPlanner::Reevaluatefvals(ARASearchStateSpace_t* pSearchStateSpace) +{ + CKey key; + int i; + CHeap* pheap = pSearchStateSpace->heap; + + //recompute priorities for states in OPEN and reorder it + for (i = 1; i <= pheap->currentsize; ++i) { + ARAState* state = (ARAState*)pheap->heap[i].heapstate; + pheap->heap[i].key.key[0] = state->g + (int)(pSearchStateSpace->eps * state->h); + //pheap->heap[i].key.key[1] = state->h; + } + pheap->makeheap(); + + pSearchStateSpace->bReevaluatefvals = false; +} + +void ARAPlanner::Reevaluatehvals(ARASearchStateSpace_t* pSearchStateSpace) +{ + for(int i = 0; i < (int)pSearchStateSpace->searchMDP.StateArray.size(); i++) + { + CMDPSTATE* MDPstate = pSearchStateSpace->searchMDP.StateArray[i]; + ARAState* state = (ARAState*)MDPstate->PlannerSpecificData; + state->h = ComputeHeuristic(MDPstate, pSearchStateSpace); + } +} + +//creates (allocates memory) search state space +//does not initialize search statespace +int ARAPlanner::CreateSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace) +{ + //create a heap + pSearchStateSpace->heap = new CHeap; + pSearchStateSpace->inconslist = new CList; + MaxMemoryCounter += sizeof(CHeap); + MaxMemoryCounter += sizeof(CList); + + pSearchStateSpace->searchgoalstate = NULL; + pSearchStateSpace->searchstartstate = NULL; + + searchexpands = 0; + num_of_expands_initial_solution = -1; + + pSearchStateSpace->bReinitializeSearchStateSpace = false; + + return 1; +} + +//deallocates memory used by SearchStateSpace +void ARAPlanner::DeleteSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace) +{ + if (pSearchStateSpace->heap != NULL) { + pSearchStateSpace->heap->makeemptyheap(); + delete pSearchStateSpace->heap; + pSearchStateSpace->heap = NULL; + } + + if (pSearchStateSpace->inconslist != NULL) { + pSearchStateSpace->inconslist->makeemptylist(ARA_INCONS_LIST_ID); + delete pSearchStateSpace->inconslist; + pSearchStateSpace->inconslist = NULL; + } + + //delete the states themselves + int iend = (int)pSearchStateSpace->searchMDP.StateArray.size(); + for (int i = 0; i < iend; i++) { + CMDPSTATE* state = pSearchStateSpace->searchMDP.StateArray[i]; + if (state != NULL && state->PlannerSpecificData != NULL) { + DeleteSearchStateData((ARAState*)state->PlannerSpecificData); + free((ARAState*)state->PlannerSpecificData); + state->PlannerSpecificData = NULL; + } + } + pSearchStateSpace->searchMDP.Delete(); +} + +//reset properly search state space +//needs to be done before deleting states +int ARAPlanner::ResetSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace) +{ + pSearchStateSpace->heap->makeemptyheap(); + pSearchStateSpace->inconslist->makeemptylist(ARA_INCONS_LIST_ID); + + return 1; +} + +//initialization before each search +void ARAPlanner::ReInitializeSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace) +{ + CKey key; + + //increase callnumber + pSearchStateSpace->callnumber++; + + //reset iteration + pSearchStateSpace->searchiteration = 0; + pSearchStateSpace->bNewSearchIteration = true; + +#if DEBUG + SBPL_FPRINTF(fDeb, "reinitializing search state-space (new call number=%d search iter=%d)\n", + pSearchStateSpace->callnumber,pSearchStateSpace->searchiteration ); +#endif + + pSearchStateSpace->heap->makeemptyheap(); + pSearchStateSpace->inconslist->makeemptylist(ARA_INCONS_LIST_ID); + + //reset + pSearchStateSpace->eps = this->finitial_eps; + pSearchStateSpace->eps_satisfied = INFINITECOST; + + //initialize start state + ARAState* startstateinfo = (ARAState*)(pSearchStateSpace->searchstartstate->PlannerSpecificData); + if (startstateinfo->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(startstateinfo, pSearchStateSpace); + } + startstateinfo->g = 0; + + //initialize goal state + ARAState* searchgoalstate = (ARAState*)(pSearchStateSpace->searchgoalstate->PlannerSpecificData); + if (searchgoalstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(searchgoalstate, pSearchStateSpace); + } + + //insert start state into the heap + key.key[0] = (long int)(pSearchStateSpace->eps * startstateinfo->h); + //key.key[1] = startstateinfo->h; + pSearchStateSpace->heap->insertheap(startstateinfo, key); + + pSearchStateSpace->bReinitializeSearchStateSpace = false; + pSearchStateSpace->bReevaluatefvals = false; +} + +//very first initialization +int ARAPlanner::InitializeSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace) +{ + if (pSearchStateSpace->heap->currentsize != 0 || pSearchStateSpace->inconslist->currentsize != 0) { + throw SBPL_Exception("ERROR in InitializeSearchStateSpace: heap or list is not empty"); + } + + pSearchStateSpace->eps = this->finitial_eps; + pSearchStateSpace->eps_satisfied = INFINITECOST; + pSearchStateSpace->searchiteration = 0; + pSearchStateSpace->bNewSearchIteration = true; + pSearchStateSpace->callnumber = 0; + pSearchStateSpace->bReevaluatefvals = false; + + //create and set the search start state + pSearchStateSpace->searchgoalstate = NULL; + //pSearchStateSpace->searchstartstate = GetState(SearchStartStateID, pSearchStateSpace); + pSearchStateSpace->searchstartstate = NULL; + + pSearchStateSpace->bReinitializeSearchStateSpace = true; + + return 1; +} + +int ARAPlanner::SetSearchGoalState(int SearchGoalStateID, ARASearchStateSpace_t* pSearchStateSpace) +{ + if (pSearchStateSpace->searchgoalstate == NULL || + pSearchStateSpace->searchgoalstate->StateID != SearchGoalStateID) + { + pSearchStateSpace->searchgoalstate = GetState(SearchGoalStateID, pSearchStateSpace); + + //should be new search iteration + pSearchStateSpace->eps_satisfied = INFINITECOST; + pSearchStateSpace->bNewSearchIteration = true; + pSearchStateSpace_->eps = this->finitial_eps; + +#if USE_HEUR + //recompute heuristic for the heap if heuristics is used + pSearchStateSpace->bReevaluatefvals = true; +#endif + } + + return 1; +} + +int ARAPlanner::SetSearchStartState(int SearchStartStateID, ARASearchStateSpace_t* pSearchStateSpace) +{ + CMDPSTATE* MDPstate = GetState(SearchStartStateID, pSearchStateSpace); + + if (MDPstate != pSearchStateSpace->searchstartstate) { + pSearchStateSpace->searchstartstate = MDPstate; + pSearchStateSpace->bReinitializeSearchStateSpace = true; + } + + return 1; +} + +int ARAPlanner::ReconstructPath(ARASearchStateSpace_t* pSearchStateSpace) +{ + if (bforwardsearch) //nothing to do, if search is backward + { + CMDPSTATE* MDPstate = pSearchStateSpace->searchgoalstate; + CMDPSTATE* PredMDPstate; + ARAState *predstateinfo, *stateinfo; + +#if DEBUG + SBPL_FPRINTF(fDeb, "reconstructing a path:\n"); +#endif + + while (MDPstate != pSearchStateSpace->searchstartstate) { + stateinfo = (ARAState*)MDPstate->PlannerSpecificData; + +#if DEBUG + PrintSearchState(stateinfo, fDeb); +#endif + if (stateinfo->g == INFINITECOST) { + //throw SBPL_Exception("ERROR in ReconstructPath: g of the state on the path is INFINITE"); + return -1; + } + + if (stateinfo->bestpredstate == NULL) { + SBPL_ERROR("ERROR in ReconstructPath: bestpred is NULL\n"); + throw SBPL_Exception("ERROR in ReconstructPath: bestpred is NULL"); + } + + //get the parent state + PredMDPstate = stateinfo->bestpredstate; + predstateinfo = (ARAState*)PredMDPstate->PlannerSpecificData; + + //set its best next info + predstateinfo->bestnextstate = MDPstate; + + //check the decrease of g-values along the path + if (predstateinfo->v >= stateinfo->g) { + SBPL_ERROR("ERROR in ReconstructPath: g-values are non-decreasing\n"); + PrintSearchState(predstateinfo, fDeb); + throw SBPL_Exception("ERROR in ReconstructPath: g-values are non-decreasing"); + } + + //transition back + MDPstate = PredMDPstate; + } + } + + return 1; +} + +void ARAPlanner::PrintSearchPath(ARASearchStateSpace_t* pSearchStateSpace, FILE* fOut) +{ + ARAState* searchstateinfo; + CMDPSTATE* state; + int goalID; + int PathCost; + + if (bforwardsearch) { + state = pSearchStateSpace->searchstartstate; + goalID = pSearchStateSpace->searchgoalstate->StateID; + } + else { + state = pSearchStateSpace->searchgoalstate; + goalID = pSearchStateSpace->searchstartstate->StateID; + } + if (fOut == NULL) fOut = stdout; + + PathCost = ((ARAState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g; + + SBPL_FPRINTF(fOut, "Printing a path from state %d to the goal state %d\n", state->StateID, + pSearchStateSpace->searchgoalstate->StateID); + SBPL_FPRINTF(fOut, "Path cost = %d:\n", PathCost); + + environment_->PrintState(state->StateID, false, fOut); + + int costFromStart = 0; + while (state->StateID != goalID) { + SBPL_FPRINTF(fOut, "state %d ", state->StateID); + + if (state->PlannerSpecificData == NULL) { + SBPL_FPRINTF(fOut, "path does not exist since search data does not exist\n"); + break; + } + + searchstateinfo = (ARAState*)state->PlannerSpecificData; + + if (searchstateinfo->bestnextstate == NULL) { + SBPL_FPRINTF(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + if (searchstateinfo->g == INFINITECOST) { + SBPL_FPRINTF(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + + int costToGoal = PathCost - costFromStart; + int transcost = searchstateinfo->g - ((ARAState*)(searchstateinfo->bestnextstate->PlannerSpecificData))->v; + if (bforwardsearch) transcost = -transcost; + + costFromStart += transcost; + + SBPL_FPRINTF(fOut, "g=%d-->state %d, h = %d ctg = %d ", searchstateinfo->g, + searchstateinfo->bestnextstate->StateID, searchstateinfo->h, costToGoal); + + state = searchstateinfo->bestnextstate; + + environment_->PrintState(state->StateID, false, fOut); + } +} + +void ARAPlanner::PrintSearchState(ARAState* state, FILE* fOut) +{ +#if DEBUG + SBPL_FPRINTF(fOut, "state %d: h=%d g=%u v=%u iterc=%d callnuma=%d expands=%d heapind=%d inconslist=%d\n", + state->MDPstate->StateID, state->h, state->g, state->v, + state->iterationclosed, state->callnumberaccessed, state->numofexpands, state->heapindex, + state->listelem[ARA_INCONS_LIST_ID] ? 1 : 0); +#else + SBPL_FPRINTF(fOut, "state %d: h=%d g=%u v=%u iterc=%d callnuma=%d heapind=%d inconslist=%d\n", + state->MDPstate->StateID, state->h, state->g, state->v, state->iterationclosed, + state->callnumberaccessed, state->heapindex, state->listelem[ARA_INCONS_LIST_ID] ? 1 : 0); +#endif + environment_->PrintState(state->MDPstate->StateID, true, fOut); +} + +int ARAPlanner::getHeurValue(ARASearchStateSpace_t* pSearchStateSpace, int StateID) +{ + CMDPSTATE* MDPstate = GetState(StateID, pSearchStateSpace); + ARAState* searchstateinfo = (ARAState*)MDPstate->PlannerSpecificData; + return searchstateinfo->h; +} + +vector ARAPlanner::GetSearchPath(ARASearchStateSpace_t* pSearchStateSpace, int& solcost) +{ + vector SuccIDV; + vector CostV; + vector wholePathIds; + ARAState* searchstateinfo; + CMDPSTATE* state = NULL; + CMDPSTATE* goalstate = NULL; + CMDPSTATE* startstate = NULL; + + if (bforwardsearch) { + startstate = pSearchStateSpace->searchstartstate; + goalstate = pSearchStateSpace->searchgoalstate; + + //reconstruct the path by setting bestnextstate pointers appropriately + ReconstructPath(pSearchStateSpace); + } + else { + startstate = pSearchStateSpace->searchgoalstate; + goalstate = pSearchStateSpace->searchstartstate; + } + + state = startstate; + + wholePathIds.push_back(state->StateID); + solcost = 0; + + FILE* fOut = stdout; + if (fOut == NULL) { + throw SBPL_Exception("ERROR: could not open file"); + } + while (state->StateID != goalstate->StateID) { + if (state->PlannerSpecificData == NULL) { + SBPL_FPRINTF(fOut, "path does not exist since search data does not exist\n"); + break; + } + + searchstateinfo = (ARAState*)state->PlannerSpecificData; + + if (searchstateinfo->bestnextstate == NULL) { + SBPL_FPRINTF(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + if (searchstateinfo->g == INFINITECOST) { + SBPL_FPRINTF(fOut, "path does not exist since bestnextstate == NULL\n"); + break; + } + + environment_->GetSuccs(state->StateID, &SuccIDV, &CostV); + int actioncost = INFINITECOST; + for (int i = 0; i < (int)SuccIDV.size(); i++) { + if (SuccIDV.at(i) == searchstateinfo->bestnextstate->StateID && CostV.at(i) < actioncost) { + actioncost = CostV.at(i); + } + } + if (actioncost == INFINITECOST) SBPL_PRINTF("WARNING: actioncost = %d\n", actioncost); + + solcost += actioncost; + + //SBPL_FPRINTF(fDeb, "actioncost=%d between states %d and %d\n", + // actioncost, state->StateID, searchstateinfo->bestnextstate->StateID); + //environment_->PrintState(state->StateID, false, fDeb); + //environment_->PrintState(searchstateinfo->bestnextstate->StateID, false, fDeb); + +#if DEBUG + ARAState* nextstateinfo = (ARAState*)(searchstateinfo->bestnextstate->PlannerSpecificData); + if (actioncost != abs((int)(searchstateinfo->g - nextstateinfo->g)) && + pSearchStateSpace->eps_satisfied <= 1.001) + { + SBPL_FPRINTF(fDeb, "ERROR: actioncost=%d is not matching the difference in g-values of %d\n", + actioncost, abs((int)(searchstateinfo->g - nextstateinfo->g))); + SBPL_ERROR("ERROR: actioncost=%d is not matching the difference in g-values of %d\n", + actioncost,abs((int)(searchstateinfo->g - nextstateinfo->g))); + PrintSearchState(searchstateinfo, fDeb); + PrintSearchState(nextstateinfo, fDeb); + } +#endif + + state = searchstateinfo->bestnextstate; + + wholePathIds.push_back(state->StateID); + } + + return wholePathIds; +} + +bool ARAPlanner::Search(ARASearchStateSpace_t* pSearchStateSpace, vector& pathIds, int & PathCost, + bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs) +{ + CKey key; + TimeStarted = clock(); + searchexpands = 0; + num_of_expands_initial_solution = -1; + double old_repair_time = repair_time; + if (!use_repair_time) + repair_time = MaxNumofSecs; + +#if DEBUG + SBPL_FPRINTF(fDeb, "new search call (call number=%d)\n", pSearchStateSpace->callnumber); +#endif + + if (pSearchStateSpace->bReevaluatefvals) { + // costs have changed or a new goal has been set + environment_->EnsureHeuristicsUpdated(bforwardsearch); + Reevaluatehvals(pSearchStateSpace); + } + + if (pSearchStateSpace->bReinitializeSearchStateSpace) { + //re-initialize state space + ReInitializeSearchStateSpace(pSearchStateSpace); + } + + if (bOptimalSolution) { + pSearchStateSpace->eps = 1; + MaxNumofSecs = INFINITECOST; + repair_time = INFINITECOST; + } + else if (bFirstSolution) { + MaxNumofSecs = INFINITECOST; + repair_time = INFINITECOST; + } + + //the main loop of ARA* + stats.clear(); + int prevexpands = 0; + clock_t loop_time; + while (pSearchStateSpace->eps_satisfied > final_epsilon && + (clock() - TimeStarted) < MaxNumofSecs * (double)CLOCKS_PER_SEC && + (pSearchStateSpace->eps_satisfied == INFINITECOST || + (clock() - TimeStarted) < repair_time * (double)CLOCKS_PER_SEC)) + { + loop_time = clock(); + //decrease eps for all subsequent iterations + if (fabs(pSearchStateSpace->eps_satisfied - pSearchStateSpace->eps) < ERR_EPS && !bFirstSolution) { + pSearchStateSpace->eps = pSearchStateSpace->eps - dec_eps; + if (pSearchStateSpace->eps < final_epsilon) + pSearchStateSpace->eps = final_epsilon; + + //the priorities need to be updated + pSearchStateSpace->bReevaluatefvals = true; + + //it will be a new search + pSearchStateSpace->bNewSearchIteration = true; + } + + if (pSearchStateSpace->bNewSearchIteration) { + pSearchStateSpace->searchiteration++; + pSearchStateSpace->bNewSearchIteration = false; + BuildNewOPENList(pSearchStateSpace); + } + + //re-compute f-values if necessary and reorder the heap + if (pSearchStateSpace->bReevaluatefvals) + Reevaluatefvals(pSearchStateSpace); + + //improve or compute path + if (ImprovePath(pSearchStateSpace, MaxNumofSecs) == 1) { + pSearchStateSpace->eps_satisfied = pSearchStateSpace->eps; + } + + //print the solution cost and eps bound + SBPL_PRINTF("eps=%f expands=%d g(searchgoal)=%d time=%.3f\n", pSearchStateSpace->eps_satisfied, + searchexpands - prevexpands, + ((ARAState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g, + double(clock() - loop_time) / CLOCKS_PER_SEC); + + if (pSearchStateSpace->eps_satisfied == finitial_eps && pSearchStateSpace->eps == finitial_eps) { + finitial_eps_planning_time = double(clock() - loop_time) / CLOCKS_PER_SEC; + num_of_expands_initial_solution = searchexpands - prevexpands; + } + + if (stats.empty() || pSearchStateSpace->eps_satisfied != stats.back().eps) { + PlannerStats tempStat; + tempStat.eps = pSearchStateSpace->eps_satisfied; + tempStat.expands = searchexpands - prevexpands; + tempStat.time = double(clock() - loop_time) / CLOCKS_PER_SEC; + tempStat.cost = ((ARAState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g; + stats.push_back(tempStat); + } + +#if DEBUG + SBPL_FPRINTF(fDeb, "eps=%f expands=%d g(searchgoal)=%d time=%.3f\n", pSearchStateSpace->eps_satisfied, + searchexpands - prevexpands, + ((ARAState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g, + double(clock()-loop_time)/CLOCKS_PER_SEC); + PrintSearchState((ARAState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData, fDeb); +#endif + prevexpands = searchexpands; + + //if just the first solution then we are done + if (bFirstSolution) + break; + + //no solution exists + if (((ARAState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g == INFINITECOST) + break; + } + repair_time = old_repair_time; + +#if DEBUG + SBPL_FFLUSH(fDeb); +#endif + + PathCost = ((ARAState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g; + MaxMemoryCounter += environment_->StateID2IndexMapping.size() * sizeof(int); + + SBPL_PRINTF("MaxMemoryCounter = %d\n", MaxMemoryCounter); + + int solcost = INFINITECOST; + bool ret = false; + if (PathCost == INFINITECOST) { + SBPL_PRINTF("could not find a solution\n"); + ret = false; + } + else { + SBPL_PRINTF("solution is found\n"); + pathIds = GetSearchPath(pSearchStateSpace, solcost); + ret = true; + } + + SBPL_PRINTF("total expands this call = %d, planning time = %.3f secs, solution cost=%d\n", + searchexpands, (clock() - TimeStarted) / ((double)CLOCKS_PER_SEC), solcost); + final_eps_planning_time = (clock() - TimeStarted) / ((double)CLOCKS_PER_SEC); + final_eps = pSearchStateSpace->eps_satisfied; + //SBPL_FPRINTF(fStat, "%d %d\n", searchexpands, solcost); + + return ret; +} + +//-----------------------------Interface function----------------------------------------------------- + +int ARAPlanner::replan(vector* solution_stateIDs_V, ReplanParams params) +{ + int solcost; + return replan(solution_stateIDs_V, params, &solcost); +} + +int ARAPlanner::replan(vector* solution_stateIDs_V, ReplanParams params, int* solcost) +{ + finitial_eps = params.initial_eps; + final_epsilon = params.final_eps; + dec_eps = params.dec_eps; + bsearchuntilfirstsolution = params.return_first_solution; + use_repair_time = params.repair_time > 0; + repair_time = params.repair_time; + return replan(params.max_time, solution_stateIDs_V, solcost); +} + +//returns 1 if found a solution, and 0 otherwise +int ARAPlanner::replan(double allocated_time_secs, vector* solution_stateIDs_V) +{ + int solcost; + + return replan(allocated_time_secs, solution_stateIDs_V, &solcost); +} + +//returns 1 if found a solution, and 0 otherwise +int ARAPlanner::replan(double allocated_time_secs, vector* solution_stateIDs_V, int* psolcost) +{ + vector pathIds; + bool bFound = false; + int PathCost; + bool bFirstSolution = this->bsearchuntilfirstsolution; + bool bOptimalSolution = false; + *psolcost = 0; + + SBPL_PRINTF("planner: replan called (bFirstSol=%d, bOptSol=%d)\n", bFirstSolution, bOptimalSolution); + + //plan + bFound = Search(pSearchStateSpace_, pathIds, PathCost, bFirstSolution, bOptimalSolution, allocated_time_secs); + if (!bFound) + { + SBPL_PRINTF("failed to find a solution\n"); + } + + //copy the solution + *solution_stateIDs_V = pathIds; + *psolcost = PathCost; + + return (int)bFound; +} + +int ARAPlanner::set_goal(int goal_stateID) +{ + SBPL_PRINTF("planner: setting goal to %d\n", goal_stateID); + environment_->PrintState(goal_stateID, true, stdout); + + if (bforwardsearch) { + if (SetSearchGoalState(goal_stateID, pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to set search goal state\n"); + return 0; + } + } + else { + if (SetSearchStartState(goal_stateID, pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to set search start state\n"); + return 0; + } + } + + return 1; +} + +int ARAPlanner::set_start(int start_stateID) +{ + SBPL_PRINTF("planner: setting start to %d\n", start_stateID); + environment_->PrintState(start_stateID, true, stdout); + + if (bforwardsearch) { + if (SetSearchStartState(start_stateID, pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to set search start state\n"); + return 0; + } + } + else { + if (SetSearchGoalState(start_stateID, pSearchStateSpace_) != 1) { + SBPL_ERROR("ERROR: failed to set search goal state\n"); + return 0; + } + } + + return 1; +} + +void ARAPlanner::costs_changed(StateChangeQuery const & stateChange) +{ + pSearchStateSpace_->bReevaluatefvals = true; + pSearchStateSpace_->bReinitializeSearchStateSpace = true; +} + +void ARAPlanner::costs_changed() +{ + pSearchStateSpace_->bReevaluatefvals = true; + pSearchStateSpace_->bReinitializeSearchStateSpace = true; +} + +int ARAPlanner::force_planning_from_scratch() +{ + SBPL_PRINTF("planner: forceplanfromscratch set\n"); + + pSearchStateSpace_->bReinitializeSearchStateSpace = true; + + return 1; +} + +int ARAPlanner::force_planning_from_scratch_and_free_memory() +{ + SBPL_PRINTF("planner: forceplanfromscratch set\n"); + int start_id = -1; + int goal_id = -1; + if (pSearchStateSpace_->searchstartstate) + start_id = pSearchStateSpace_->searchstartstate->StateID; + if (pSearchStateSpace_->searchgoalstate) + goal_id = pSearchStateSpace_->searchgoalstate->StateID; + + if (!bforwardsearch) { + int temp = start_id; + start_id = goal_id; + goal_id = temp; + } + + DeleteSearchStateSpace(pSearchStateSpace_); + CreateSearchStateSpace(pSearchStateSpace_); + InitializeSearchStateSpace(pSearchStateSpace_); + for (unsigned int i = 0; i < environment_->StateID2IndexMapping.size(); i++) + for (int j = 0; j < NUMOFINDICES_STATEID2IND; j++) + environment_->StateID2IndexMapping[i][j] = -1; + + if (start_id >= 0) + set_start(start_id); + if (goal_id >= 0) + set_goal(goal_id); + return 1; +} + +int ARAPlanner::set_search_mode(bool bSearchUntilFirstSolution) +{ + SBPL_PRINTF("planner: search mode set to %d\n", bSearchUntilFirstSolution); + + bsearchuntilfirstsolution = bSearchUntilFirstSolution; + + return 1; +} + +void ARAPlanner::print_searchpath(FILE* fOut) +{ + PrintSearchPath(pSearchStateSpace_, fOut); +} + +double ARAPlanner::compute_suboptimality() +{ + if (!pSearchStateSpace_) { + SBPL_ERROR("Search state space is NULL in compute_suboptimality()"); + return -1.0; + } + + // find the min cost from all paths that go through states in the incons + // list + int inconsListMin = std::numeric_limits::max(); + if (pSearchStateSpace_->inconslist) { + AbstractSearchState* currElem = + pSearchStateSpace_->inconslist->getfirst(); + while (currElem) { + // get the stateID of this state + ARAState* state = (ARAState*)currElem; + assert(state); + + // int stateID = state->MDPstate->StateID; + + // update the min to the f-value of this state if necessary + int h = state->h; + int g = state->g; + if (g + h < inconsListMin) { + inconsListMin = g + h; + } + + currElem = pSearchStateSpace_->inconslist->getnext( + currElem, ARAMDP_STATEID2IND); + } + } + + // find the min cost from all paths that go through states still in the open + // list + int openListMin = std::numeric_limits::max(); + if (pSearchStateSpace_->heap) { + for (int i = 1; i < pSearchStateSpace_->heap->currentsize; i++) { + AbstractSearchState* abstractState = + pSearchStateSpace_->heap->heap[i].heapstate; + if (!abstractState) { + SBPL_ERROR("heap element with keys %d and %d has NULL AbstractSearchState\n", (int)pSearchStateSpace_->heap->heap[i].key[0], (int)pSearchStateSpace_->heap->heap[i].key[1]); + continue; // return -1.0 ? + } + + ARAState* araState = (ARAState*)abstractState; + + int h = araState->h; + int g = araState->g; + if (g + h < openListMin) { + openListMin = g + h; + } + } + } + + SBPL_DEBUG("Done looking through INCONS and OPEN lists for state with minimum f-value\n"); + + int overallMin = openListMin < inconsListMin ? openListMin : inconsListMin; + SBPL_DEBUG("f_min = min(f_open_min = %d, f_incons_min = %d) = %d\n", openListMin, inconsListMin, overallMin); + + if (overallMin == std::numeric_limits::max()) { + SBPL_ERROR("Couldn't find a min f-value. Empty incons list or open list.\n"); + return -1.0; + } + + if (!pSearchStateSpace_->searchgoalstate) { + return -1.0; + } + + int goalGValue = GetGVal( + pSearchStateSpace_->searchgoalstate->StateID, pSearchStateSpace_); + double lowerBound = std::numeric_limits::max(); + if (overallMin != 0) { + lowerBound = double(goalGValue) / double(overallMin); + } + + SBPL_DEBUG("Lower Bound = %d / %d = %0.3f", goalGValue, overallMin, lowerBound); + SBPL_DEBUG("Eps Satisfied = %0.3f", pSearchStateSpace_->eps_satisfied); + + return std::max(1.0, std::min(pSearchStateSpace_->eps_satisfied, lowerBound)); +} + +void ARAPlanner::get_search_stats(vector* s) +{ + s->clear(); + s->reserve(stats.size()); + for (unsigned int i = 0; i < stats.size(); i++) { + s->push_back(stats[i]); + } +} diff --git a/navigations/sbpl/src/planners/lazyARA.cpp b/navigations/sbpl/src/planners/lazyARA.cpp new file mode 100755 index 0000000..c66a52e --- /dev/null +++ b/navigations/sbpl/src/planners/lazyARA.cpp @@ -0,0 +1,671 @@ +/* + * Copyright (c) 2013, Mike Phillips and 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. + */ +#include + +#include + +using namespace std; + +LazyARAPlanner::LazyARAPlanner( + DiscreteSpaceInformation* environment, + bool bSearchForward) +: + params(0.0) +{ + bforwardsearch = bSearchForward; + environment_ = environment; + replan_number = 0; + + goal_state_id = -1; + start_state_id = -1; +} + +LazyARAPlanner::~LazyARAPlanner() +{ + freeMemory(); +} + +void LazyARAPlanner::freeMemory() +{ + heap.makeemptyheap(); + incons.clear(); + stats.clear(); + for (unsigned int i = 0; i < states.size(); i++) { + if (states[i]) { + delete states[i]; + } + } + states.clear(); +} + +LazyARAState* LazyARAPlanner::GetState(int id) +{ + // if this stateID is out of bounds of our state vector then grow the list + if (id >= int(states.size())) { + for (int i = states.size(); i <= id; i++) { + states.push_back(NULL); + } + } + // if we have never seen this state then create one + if (states[id] == NULL) { + states[id] = new LazyARAState(); + states[id]->id = id; + states[id]->replan_number = -1; + } + // initialize the state if it hasn't been for this call to replan + LazyARAState* s = states[id]; + if (s->replan_number != replan_number) { + s->g = INFINITECOST; + s->v = INFINITECOST; + s->iteration_closed = -1; + s->replan_number = replan_number; + s->best_parent = NULL; + s->expanded_best_parent = NULL; + s->heapindex = 0; + s->in_incons = false; + s->isTrueCost = true; + // clear the lazy list + while (!s->lazyList.empty()) { + s->lazyList.pop(); + } + + //compute heuristics + if (bforwardsearch) { + s->h = environment_->GetGoalHeuristic(s->id); + } + else { + s->h = environment_->GetStartHeuristic(s->id); + } + } + return s; +} + +void LazyARAPlanner::ExpandState(LazyARAState* parent) +{ + SBPL_DEBUG("expand %d", parent->id); + vector children; + vector costs; + vector isTrueCost; + + if (bforwardsearch) { + environment_->GetLazySuccs(parent->id, &children, &costs, &isTrueCost); + } + else + environment_->GetLazyPreds(parent->id, &children, &costs, &isTrueCost); + + // iterate through children of the parent + for (int i = 0; i < (int)children.size(); i++) { + LazyARAState* child = GetState(children[i]); + insertLazyList(child, parent, costs[i], isTrueCost[i]); + } +} + +// assumptions: +// state is at the front of the open list +// it's minimum f-value is an underestimate (the edge cost from the parent is a guess and needs to be evaluated properly) +// it hasn't been expanded yet this iteration +void LazyARAPlanner::EvaluateState(LazyARAState* state) +{ + SBPL_DEBUG("evaluate %d (from %d)", state->id, state->best_parent->id); + LazyARAState* parent = state->best_parent; + + getNextLazyElement(state); + int trueCost; + if (bforwardsearch) { + trueCost = environment_->GetTrueCost(parent->id, state->id); + } + else { + trueCost = environment_->GetTrueCost(state->id, parent->id); + } + // if the evaluated true cost is valid (positive), insert it into the lazy list + if (trueCost > 0) { + SBPL_DEBUG(" edge is valid with cost %d added to parent->v=%d", trueCost, parent->v); + insertLazyList(state, parent, trueCost, true); + } + else{ + SBPL_DEBUG(" edge not valid"); + } +} + +// this should only be used with EvaluateState since it is assuming state hasn't +// been expanded yet (only evaluated) +void LazyARAPlanner::getNextLazyElement(LazyARAState* state) +{ + if (state->lazyList.empty()) { + state->g = INFINITECOST; + state->best_parent = NULL; + state->isTrueCost = true; + return; + } + LazyListElement elem = state->lazyList.top(); + state->lazyList.pop(); + state->g = elem.parent->v + elem.edgeCost; + state->best_parent = elem.parent; + state->isTrueCost = elem.isTrueCost; + // the new value is cheapest and if the value is also true then we want to + // throw out all the other options + if (state->isTrueCost) { + while (!state->lazyList.empty()) { + state->lazyList.pop(); + } + } + putStateInHeap(state); +} + +void LazyARAPlanner::insertLazyList( + LazyARAState* state, + LazyARAState* parent, + int edgeCost, + bool isTrueCost) +{ + SBPL_DEBUG("insertLazyList state->id=%d parent->id=%d state->g=%d parent->v=%d edgeCost=%d isTrueCost=%d\n", state->id, parent->id, state->g, parent->v, edgeCost, isTrueCost); + if (state->v <= parent->v + edgeCost) { + return; + } + else if (state->g <= parent->v + edgeCost){ + //if the best g-value we have is true and better, then the value we had dominates this one and we don't need it + if (state->isTrueCost) { + return; + } + //insert this guy into the lazy list + LazyListElement elem(parent, edgeCost, isTrueCost); + state->lazyList.push(elem); + } + else { + // the new guy is the cheapest so far + // should we save what was the previous best? + if (!isTrueCost && // the better guy's cost is not for sure + // state->g < INFINITECOST && // we actually have a previous best (we actually don't need this line because of the next one) + state->g < state->v) // we're not saving something we already expanded (and is stored in v and expanded_best_parent) + { + //we save it by putting it in the lazy list + LazyListElement elem(state->best_parent, state->g - state->best_parent->v, state->isTrueCost); + state->lazyList.push(elem); + } + + // the new guy is the cheapest + state->g = parent->v + edgeCost; + state->best_parent = parent; + state->isTrueCost = isTrueCost; + + // the new value is cheapest and if the value is also true then we want + // to throw out all the other options + if (isTrueCost) { + while (!state->lazyList.empty()) { + state->lazyList.pop(); + } + } + + // this function puts the state into the heap (or updates the position) + // if we haven't expanded. if we have expanded, it will put the state in + // the incons list (if we haven't already) + putStateInHeap(state); + } +} + +void LazyARAPlanner::putStateInHeap(LazyARAState* state) +{ + // we only allow one expansion per search iteration + // so insert into heap if not closed yet + if (state->iteration_closed != search_iteration) { + SBPL_DEBUG("put state %d in open with state->g=%d and state->isTrueCost=%d\n", state->id, state->g, state->isTrueCost); + CKey key; + key.key[0] = state->g + int(eps * state->h); + // if the state is already in the heap, just update its priority + if (state->heapindex != 0) { + heap.updateheap(state, key); + } + else { // otherwise add it to the heap + heap.insertheap(state, key); + } + } + // if the state has already been expanded once for this iteration then add + // it to the incons list so we can keep track of states that we know we have + // better costs for + else if (!state->in_incons) { + SBPL_DEBUG("put state %d in incons with state->g=%d and state->isTrueCost=%d\n", state->id, state->g, state->isTrueCost); + incons.push_back(state); + state->in_incons = true; + } +} + +// returns 1 if the solution is found, 0 if the solution does not exist and 2 if +// it ran out of time +int LazyARAPlanner::ImprovePath() +{ + // expand states until done + int expands = 0; + CKey min_key = heap.getminkeyheap(); + while (!heap.emptyheap() && + min_key.key[0] < INFINITECOST && + (goal_state->g > min_key.key[0] || !goal_state->isTrueCost) && + (goal_state->v > min_key.key[0]) && + !outOfTime()) + { + // get the state + LazyARAState* state = (LazyARAState*)heap.deleteminheap(); + + if (state->v == state->g) { + std::stringstream ss("ERROR: consistent state is being esxpanded "); + ss << "id=" << state->id; + ss << "v=" << state->v; + ss << "g=" << state->g; + ss << "isTrueCost=" << state->isTrueCost; + ss << "lazyListSize=" << state->lazyList.size(); + throw SBPL_Exception(ss.str()); + } + + if (state->isTrueCost) { + // mark the state as expanded + state->v = state->g; + state->expanded_best_parent = state->best_parent; + state->iteration_closed = search_iteration; + // expand the state + expands++; + ExpandState(state); + if (expands % 100000 == 0) { + SBPL_DEBUG("expands so far=%u", expands); + } + } + else { + // otherwise the state needs to be evaluated for its true cost + EvaluateState(state); + } + + // get the min key for the next iteration + min_key = heap.getminkeyheap(); + } + + search_expands += expands; + + if (goal_state->v < goal_state->g) { + goal_state->g = goal_state->v; + goal_state->best_parent = goal_state->expanded_best_parent; + } + + if (goal_state->g == INFINITECOST && (heap.emptyheap() || min_key.key[0] >= INFINITECOST)) { + return 0; // solution does not exists + } + if (!heap.emptyheap() && goal_state->g > min_key.key[0]) { + return 2; // search exited because it ran out of time + } + SBPL_DEBUG("search exited with a solution for eps=%.3f", eps); + if (goal_state->g < goal_state->v) { + goal_state->expanded_best_parent = goal_state->best_parent; + goal_state->v = goal_state->g; + } + return 1; +} + +vector LazyARAPlanner::GetSearchPath(int& solcost) +{ + vector SuccIDV; + vector CostV; + vector isTrueCost; + vector wholePathIds; + + LazyARAState* state = goal_state; + LazyARAState* final_state = start_state; + + // if the goal was not expanded but was generated (we don't have a bound on + // the solution) pretend that it was expanded for path reconstruction and + // revert the state afterward + bool goal_expanded = true; + if (goal_state->expanded_best_parent == NULL) { + goal_expanded = false; + goal_state->expanded_best_parent = goal_state->best_parent; + goal_state->v = goal_state->g; + } + + wholePathIds.push_back(state->id); + solcost = 0; + + while (state->id != final_state->id) { + if (state->expanded_best_parent == NULL) { + SBPL_DEBUG("a state along the path has no parent!"); + break; + } + if (state->v == INFINITECOST) { + SBPL_DEBUG("a state along the path has an infinite g-value!"); + SBPL_DEBUG("inf state = %d", state->id); + break; + } + + if (bforwardsearch) { + environment_->GetLazySuccs(state->expanded_best_parent->id, &SuccIDV, &CostV, &isTrueCost); + } + else { + environment_->GetLazyPreds(state->expanded_best_parent->id, &SuccIDV, &CostV, &isTrueCost); + } + int actioncost = INFINITECOST; + for (unsigned int i = 0; i < SuccIDV.size(); i++) { + if (SuccIDV[i] == state->id && CostV[i] < actioncost) { + actioncost = CostV[i]; + } + } + if (actioncost == INFINITECOST) { + SBPL_WARN("WARNING: actioncost = %d", actioncost); + } + solcost += actioncost; + + state = state->expanded_best_parent; + wholePathIds.push_back(state->id); + } + + // if we pretended that the goal was expanded for path reconstruction then + // revert the state now + if (!goal_expanded) { + goal_state->expanded_best_parent = NULL; + goal_state->v = INFINITECOST; + } + + // if we searched forward then the path reconstruction worked backward from + // the goal, so we have to reverse the path + if (bforwardsearch) { + // in place reverse + for (unsigned int i = 0; i < wholePathIds.size() / 2; i++) { + int other_idx = wholePathIds.size() - i - 1; + int temp = wholePathIds[i]; + wholePathIds[i] = wholePathIds[other_idx]; + wholePathIds[other_idx] = temp; + } + } + + return wholePathIds; +} + +bool LazyARAPlanner::outOfTime() +{ + // if we are supposed to run until the first solution, then we are never out + // of time + if (params.return_first_solution) { + return false; + } + double time_used = double(clock() - TimeStarted) / CLOCKS_PER_SEC; + if (time_used >= params.max_time) { + SBPL_DEBUG("out of max time"); + } + if (use_repair_time && eps_satisfied != INFINITECOST && time_used >= params.repair_time) { + SBPL_DEBUG("used all repair time..."); + } + // we are out of time if: + // we used up the max time limit OR + // we found some solution and used up the minimum time limit + return time_used >= params.max_time || + (use_repair_time && eps_satisfied != INFINITECOST && time_used >= params.repair_time); +} + +void LazyARAPlanner::initializeSearch() +{ + // it's a new search, so increment replan_number and reset the + // search_iteration + replan_number++; + search_iteration = 0; + search_expands = 0; + totalPlanTime = 0; + totalExpands = 0; + reconstructTime = 0; + totalTime = 0; + + // clear open list, incons list, and stats list + heap.makeemptyheap(); + incons.clear(); + stats.clear(); + + // initialize epsilon variable + eps = params.initial_eps; + eps_satisfied = INFINITECOST; + + // call get state to initialize the start and goal states + if (bforwardsearch) { + goal_state = GetState(goal_state_id); + start_state = GetState(start_state_id); + } + else { + start_state = GetState(goal_state_id); + goal_state = GetState(start_state_id); + } + + // put start state in the heap + start_state->g = 0; + CKey key; + key.key[0] = eps * start_state->h; + heap.insertheap(start_state, key); + + // ensure heuristics are up-to-date + environment_->EnsureHeuristicsUpdated((bforwardsearch == true)); +} + +bool LazyARAPlanner::Search(vector& pathIds, int& PathCost) +{ + CKey key; + TimeStarted = clock(); + + initializeSearch(); + + // the main loop of ARA* + while (eps_satisfied > params.final_eps && !outOfTime()) { + + // run weighted A* + clock_t before_time = clock(); + int before_expands = search_expands; + // ImprovePath returns: + // 1 if the solution is found + // 0 if the solution does not exist + // 2 if it ran out of time + int ret = ImprovePath(); + if (ret == 1) { + // solution found for this iteration + eps_satisfied = eps; + } + int delta_expands = search_expands - before_expands; + double delta_time = double(clock() - before_time) / CLOCKS_PER_SEC; + + // print the bound, expands, and time for that iteration + SBPL_DEBUG("bound=%f expands=%d cost=%d time=%.3f", eps_satisfied, delta_expands, goal_state->g, delta_time); + + // update stats + totalPlanTime += delta_time; + totalExpands += delta_expands; + PlannerStats tempStat; + tempStat.eps = eps_satisfied; + tempStat.expands = delta_expands; + tempStat.time = delta_time; + tempStat.cost = goal_state->g; + stats.push_back(tempStat); + + // no solution exists + if (ret == 0) { + SBPL_DEBUG("Solution does not exist"); + return false; + } + + // if we're just supposed to find the first solution or if we ran out of + // time, we're done + if (params.return_first_solution || ret == 2) { + break; + } + + prepareNextSearchIteration(); + } + + if (goal_state->g == INFINITECOST) { + SBPL_DEBUG("could not find a solution (ran out of time)"); + return false; + } + if (eps_satisfied == INFINITECOST) { + SBPL_DEBUG("WARNING: a solution was found but we don't have quality bound for it!"); + } + + SBPL_DEBUG("solution found"); + clock_t before_reconstruct = clock(); + pathIds = GetSearchPath(PathCost); + reconstructTime = double(clock() - before_reconstruct) / CLOCKS_PER_SEC; + totalTime = totalPlanTime + reconstructTime; + + return true; +} + +void LazyARAPlanner::prepareNextSearchIteration() +{ + //decrease epsilon + eps -= params.dec_eps; + if (eps < params.final_eps) { + eps = params.final_eps; + } + + // dump the inconsistent states into the open list + CKey key; + while (!incons.empty()) { + LazyARAState* s = incons.back(); + incons.pop_back(); + s->in_incons = false; + key.key[0] = s->g + int(eps * s->h); + heap.insertheap(s,key); + } + + // recompute priorities for states in OPEN and reorder it + for (int i = 1; i <= heap.currentsize; ++i){ + LazyARAState* state = (LazyARAState*)heap.heap[i].heapstate; + heap.heap[i].key.key[0] = state->g + int(eps * state->h); + } + heap.makeheap(); + + search_iteration++; +} + +//-----------------------------Interface function------------------------------- + +int LazyARAPlanner::replan( + double allocated_time_secs, + std::vector* solution_stateIDs_V) +{ + int solcost = 0; + return replan(allocated_time_secs, solution_stateIDs_V, &solcost); +} + +int LazyARAPlanner::replan( + double allocated_time_sec, + std::vector* solution_stateIDs_V, + int* solcost) +{ + params.max_time = allocated_time_sec; + return replan(solution_stateIDs_V, params, solcost); +} + +int LazyARAPlanner::replan( + vector* solution_stateIDs_V, + ReplanParams p) +{ + int solcost = 0; + return replan(solution_stateIDs_V, p, &solcost); +} + +int LazyARAPlanner::replan( + int start, + int goal, + vector* solution_stateIDs_V, + ReplanParams p, + int* solcost) +{ + set_start(start); + set_goal(goal); + return replan(solution_stateIDs_V, p, solcost); +} + +int LazyARAPlanner::replan( + vector* solution_stateIDs_V, + ReplanParams p, + int* solcost) +{ + SBPL_DEBUG("planner: replan called"); + params = p; + use_repair_time = params.repair_time >= 0; + + if (goal_state_id < 0) { + SBPL_ERROR("ERROR searching: no goal state set"); + return 0; + } + if (start_state_id < 0) { + SBPL_ERROR("ERROR searching: no start state set"); + return 0; + } + + // plan + vector pathIds; + int PathCost = 0; + bool solnFound = Search(pathIds, PathCost); + SBPL_DEBUG("total expands=%d planning time=%.3f reconstruct path time=%.3f total time=%.3f solution cost=%d", totalExpands, totalPlanTime, reconstructTime, totalTime, goal_state->g); + + // copy the solution + *solution_stateIDs_V = pathIds; + *solcost = PathCost; + + start_state_id = -1; + goal_state_id = -1; + + return (int)solnFound; +} + +int LazyARAPlanner::set_goal(int id) +{ + SBPL_DEBUG("planner: setting goal to %d", id); + if (bforwardsearch) { + goal_state_id = id; + } + else { + start_state_id = id; + } + return 1; +} + +int LazyARAPlanner::set_start(int id) +{ + SBPL_DEBUG("planner: setting start to %d", id); + if (bforwardsearch) { + start_state_id = id; + } + else { + goal_state_id = id; + } + return 1; +} + + +//------------------------------------------------------------------------------ + +void LazyARAPlanner::get_search_stats(vector* s) +{ + s->clear(); + s->reserve(stats.size()); + for (unsigned int i = 0; i < stats.size(); i++) { + s->push_back(stats[i]); + } +} + diff --git a/navigations/sbpl/src/planners/mhaplanner.cpp b/navigations/sbpl/src/planners/mhaplanner.cpp new file mode 100755 index 0000000..5ae86b9 --- /dev/null +++ b/navigations/sbpl/src/planners/mhaplanner.cpp @@ -0,0 +1,654 @@ +/* + * Copyright (c) 2015, 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. + */ + +#include + +#include +#include +#include +#include + +#include + +static double GetTime() +{ + return (double)clock() / (double)CLOCKS_PER_SEC; +} + +MHAPlanner::MHAPlanner( + DiscreteSpaceInformation* environment, + Heuristic* hanchor, + Heuristic** heurs, + int hcount) +: + SBPLPlanner(), +// environment_(environment), + m_hanchor(hanchor), + m_heurs(heurs), + m_hcount(hcount), + m_params(0.0), + m_initial_eps_mha(1.0), + m_max_expansions(0), + m_eps(1.0), + m_eps_mha(1.0), + m_eps_satisfied((double)INFINITECOST), + m_num_expansions(0), + m_elapsed(0.0), + m_call_number(0), // uninitialized + m_start_state(NULL), + m_goal_state(NULL), + m_search_states(), + m_open(NULL) +{ + environment_ = environment; + + m_open = new CHeap[hcount + 1]; + + // Overwrite default members for ReplanParams to represent a single optimal + // search + m_params.initial_eps = 1.0; + m_params.final_eps = 1.0; + m_params.dec_eps = 0.2; // NOTE: same initial epsilon delta as ARA* + m_params.return_first_solution = false; + m_params.max_time = 0.0; + m_params.repair_time = 0.0; + + /// Four Modes: + /// Search Until Solution Bounded + /// Search Until Solution Unbounded + /// Improve Solution Bounded + /// Improve Solution Unbounded +} + +MHAPlanner::~MHAPlanner() +{ + clear(); + + delete[] m_open; +} + +int MHAPlanner::set_start(int start_stateID) +{ + m_start_state = get_state(start_stateID); + if (!m_start_state) { + return 0; + } + else { + return 1; + } +} + +int MHAPlanner::set_goal(int goal_stateID) +{ + m_goal_state = get_state(goal_stateID); + if (!m_goal_state) { + return 0; + } + else { + return 1; + } +} + +int MHAPlanner::replan( + double allocated_time_sec, + std::vector* solution_stateIDs_V) +{ + int solcost; + return replan(allocated_time_sec, solution_stateIDs_V, &solcost); +} + +int MHAPlanner::replan( + double allocated_time_sec, + std::vector* solution_stateIDs_V, + int* solcost) +{ + ReplanParams params = m_params; + params.max_time = allocated_time_sec; + return replan(solution_stateIDs_V, params, solcost); +} + +int MHAPlanner::replan( + std::vector* solution_stateIDs_V, + ReplanParams params) +{ + int solcost; + return replan(solution_stateIDs_V, params, &solcost); +} + +int MHAPlanner::replan( + std::vector* solution_stateIDs_V, + ReplanParams params, + int* solcost) +{ + if (!check_params(params)) { // errors printed within + return 0; + } + + m_params = params; + + SBPL_INFO("Generic Search parameters:"); + SBPL_INFO(" Initial Epsilon: %0.3f", m_params.initial_eps); + SBPL_INFO(" Final Epsilon: %0.3f", m_params.final_eps); + SBPL_INFO(" Delta Epsilon: %0.3f", m_params.dec_eps); + SBPL_INFO(" Return First Solution: %s", m_params.return_first_solution ? "true" : "false"); + SBPL_INFO(" Max Time: %0.3f", m_params.max_time); + SBPL_INFO(" Repair Time: %0.3f", m_params.repair_time); + SBPL_INFO("MHA Search parameters:"); + SBPL_INFO(" MHA Epsilon: %0.3f", m_initial_eps_mha); + SBPL_INFO(" Max Expansions: %d", m_max_expansions); + + environment_->EnsureHeuristicsUpdated(true); // TODO: support backwards search + + // TODO: pick up from where last search left off and detect lazy + // reinitializations + reinit_search(); + + m_eps = m_params.initial_eps; + m_eps_mha = m_initial_eps_mha; + m_eps_satisfied = (double)INFINITECOST; + + // reset time limits + m_num_expansions = 0; + m_elapsed = 0.0; + + double start_time, end_time; + + start_time = GetTime(); + + ++m_call_number; + reinit_state(m_goal_state); + reinit_state(m_start_state); + m_start_state->g = 0; + + // insert start state into all heaps with key(start, i) as priority + for (int hidx = 0; hidx < num_heuristics(); ++hidx) { + CKey key; + key.key[0] = compute_key(m_start_state, hidx); + m_open[hidx].insertheap(&m_start_state->od[hidx].open_state, key); + SBPL_DEBUG("Inserted start state %d into search %d with f = %d", m_start_state->state_id, hidx, key.key[0]); + } + + end_time = GetTime(); + m_elapsed += (end_time - start_time); + + while (!m_open[0].emptyheap() && !time_limit_reached()) { + start_time = GetTime(); + + // special case for mha* without additional heuristics + if (num_heuristics() == 1) { + if (m_goal_state->g <= get_minf(m_open[0])) { + m_eps_satisfied = m_eps * m_eps_mha; + extract_path(solution_stateIDs_V, solcost); + return 1; + } + else { + MHASearchState* s = state_from_open_state(m_open[0].getminheap()); + expand(s, 0); + } + } + + for (int hidx = 1; hidx < num_heuristics(); ++hidx) { + if (m_open[0].emptyheap()) { + break; + } + + if (!m_open[hidx].emptyheap() && get_minf(m_open[hidx]) <= + m_eps_mha * get_minf(m_open[0])) + { + if (m_goal_state->g <= get_minf(m_open[hidx])) { + m_eps_satisfied = m_eps * m_eps_mha; + extract_path(solution_stateIDs_V, solcost); + return 1; + } + else { + MHASearchState* s = + state_from_open_state(m_open[hidx].getminheap()); + expand(s, hidx); + } + } + else { + if (m_goal_state->g <= get_minf(m_open[0])) { + m_eps_satisfied = m_eps * m_eps_mha; + extract_path(solution_stateIDs_V, solcost); + return 1; + } + else { + MHASearchState* s = + state_from_open_state(m_open[0].getminheap()); + expand(s, 0); + } + } + } + end_time = GetTime(); + m_elapsed += (end_time - start_time); + } + + if (m_open[0].emptyheap()) { + SBPL_DEBUG("Anchor search exhausted"); + } + if (time_limit_reached()) { + SBPL_DEBUG("Time limit reached"); + } + + return 0; +} + +int MHAPlanner::force_planning_from_scratch() +{ + return 0; +} + +int MHAPlanner::force_planning_from_scratch_and_free_memory() +{ + return 0; +} + +void MHAPlanner::costs_changed(StateChangeQuery const & stateChange) +{ +} + +void MHAPlanner::costs_changed() +{ +} + +int MHAPlanner::set_search_mode(bool bSearchUntilFirstSolution) +{ + return m_params.return_first_solution = bSearchUntilFirstSolution; +} + +void MHAPlanner::set_initialsolution_eps(double eps) +{ + m_params.initial_eps = eps; +} + +double MHAPlanner::get_initial_eps() +{ + return m_params.initial_eps; +} + +double MHAPlanner::get_solution_eps() const +{ + return m_eps_satisfied; +} + +double MHAPlanner::get_final_epsilon() +{ + return m_eps_satisfied; +} + +double MHAPlanner::get_final_eps_planning_time() +{ + return m_elapsed; +} + +double MHAPlanner::get_initial_eps_planning_time() +{ + return m_elapsed; +} + +int MHAPlanner::get_n_expands() const +{ + return m_num_expansions; +} + +int MHAPlanner::get_n_expands_init_solution() +{ + return m_num_expansions; +} + +void MHAPlanner::get_search_stats(std::vector* s) +{ +} + +void MHAPlanner::set_initial_mha_eps(double eps) +{ + m_initial_eps_mha = eps; +} + +void MHAPlanner::set_final_eps(double eps) +{ + m_params.final_eps = eps; +} + +void MHAPlanner::set_dec_eps(double eps) +{ + m_params.dec_eps = eps; +} + +void MHAPlanner::set_max_expansions(int expansion_count) +{ + m_max_expansions = expansion_count; +} + +void MHAPlanner::set_max_time(double max_time) +{ + m_params.max_time = max_time; +} + +double MHAPlanner::get_initial_mha_eps() const +{ + return m_initial_eps_mha; +} + +double MHAPlanner::get_final_eps() const +{ + return m_params.final_eps; +} + +double MHAPlanner::get_dec_eps() const +{ + return m_params.dec_eps; +} + +int MHAPlanner::get_max_expansions() const +{ + return m_max_expansions; +} + +double MHAPlanner::get_max_time() const +{ + return m_params.max_time; +} + +bool MHAPlanner::check_params(const ReplanParams& params) +{ + if (params.initial_eps < 1.0) { + SBPL_ERROR("Initial Epsilon must be greater than or equal to 1"); + return false; + } + + if (params.final_eps > params.initial_eps) { + SBPL_ERROR("Final Epsilon must be less than or equal to initial epsilon"); + return false; + } + + if (params.dec_eps <= 0.0) { + SBPL_ERROR("Delta epsilon must be strictly positive"); + return false; + } + + if (m_initial_eps_mha < 1.0) { + SBPL_ERROR("MHA Epsilon must be greater than or equal to 1"); + return false; + } + + if (params.return_first_solution && + params.max_time <= 0.0 && + m_max_expansions <= 0) + { + SBPL_ERROR("Max Time or Max Expansions must be positive"); + return false; + } + + return true; +} + +bool MHAPlanner::time_limit_reached() const +{ + if (m_params.return_first_solution) { + return false; + } + else if (m_params.max_time > 0.0 && m_elapsed >= m_params.max_time) { + return true; + } + else if (m_max_expansions > 0 && m_num_expansions >= m_max_expansions) { + return true; + } + else { + return false; + } +} + +MHASearchState* MHAPlanner::get_state(int state_id) +{ + assert(state_id >= 0 && state_id < environment_->StateID2IndexMapping.size()); + int* idxs = environment_->StateID2IndexMapping[state_id]; + if (idxs[MHAMDP_STATEID2IND] == -1) { + // overallocate search state for appropriate heuristic information + const size_t state_size = + sizeof(MHASearchState) + + sizeof(MHASearchState::HeapData) * (m_hcount); + MHASearchState* s = (MHASearchState*)malloc(state_size); + + const size_t mha_state_idx = m_search_states.size(); + init_state(s, mha_state_idx, state_id); + + // map graph state to search state + idxs[MHAMDP_STATEID2IND] = mha_state_idx; + m_search_states.push_back(s); + + return s; + } + else { + int ssidx = idxs[MHAMDP_STATEID2IND]; + return m_search_states[ssidx]; + } +} + +void MHAPlanner::clear() +{ + clear_open_lists(); + + // free states + for (size_t i = 0; i < m_search_states.size(); ++i) { + // unmap graph to search state + const int state_id = m_search_states[i]->state_id; + int* idxs = environment_->StateID2IndexMapping[state_id]; + idxs[MHAMDP_STATEID2IND] = -1; + + // free search state + free(m_search_states[i]); + } + + // empty state table + m_search_states.clear(); + + m_start_state = NULL; + m_goal_state = NULL; +} + +void MHAPlanner::init_state( + MHASearchState* state, + size_t mha_state_idx, + int state_id) +{ + state->call_number = 0; // not initialized for any iteration + state->state_id = state_id; + state->closed_in_anc = false; + state->closed_in_add = false; + for (int i = 0; i < num_heuristics(); ++i) { + state->od[i].open_state.heapindex = 0; + state->od[i].h = compute_heuristic(state->state_id, i); + // hijack list element pointers to map back to mha search state + assert(sizeof(state->od[i].open_state.listelem) >= sizeof(struct listelement*)); + reinterpret_cast(state->od[i].open_state.listelem[0]) = mha_state_idx; + } +} + +void MHAPlanner::reinit_state(MHASearchState* state) +{ + if (state->call_number != m_call_number) { + state->call_number = m_call_number; + state->g = INFINITECOST; + state->bp = NULL; + + state->closed_in_anc = false; + state->closed_in_add = false; + + for (int i = 0; i < num_heuristics(); ++i) { + state->od[i].open_state.heapindex = 0; + state->od[i].h = compute_heuristic(state->state_id, i); + } + } +} + +void MHAPlanner::reinit_search() +{ + clear_open_lists(); +} + +void MHAPlanner::clear_open_lists() +{ + for (int i = 0; i < num_heuristics(); ++i) { + m_open[i].makeemptyheap(); + } +} + +int MHAPlanner::compute_key(MHASearchState* state, int hidx) +{ + return state->g + m_eps * state->od[hidx].h; +} + +void MHAPlanner::expand(MHASearchState* state, int hidx) +{ + SBPL_DEBUG("Expanding state %d in search %d", state->state_id, hidx); + + assert(!closed_in_add_search(state) || !closed_in_anc_search(state)); + + if (hidx == 0) { + state->closed_in_anc = true; + } + else { + state->closed_in_add = true; + } + ++m_num_expansions; + + // remove s from all open lists + for (int temp_hidx = 0; temp_hidx < num_heuristics(); ++temp_hidx) { + if (m_open[temp_hidx].inheap(&state->od[temp_hidx].open_state)) { + m_open[temp_hidx].deleteheap(&state->od[temp_hidx].open_state); + } + } + + std::vector succ_ids; + std::vector costs; + environment_->GetSuccs(state->state_id, &succ_ids, &costs); + assert(succ_ids.size() == costs.size()); + + for (size_t sidx = 0; sidx < succ_ids.size(); ++sidx) { + const int cost = costs[sidx]; + MHASearchState* succ_state = get_state(succ_ids[sidx]); + reinit_state(succ_state); + + SBPL_DEBUG(" Successor %d", succ_state->state_id); + + int new_g = state->g + costs[sidx]; + if (new_g < succ_state->g) { + succ_state->g = new_g; + succ_state->bp = state; + if (!closed_in_anc_search(succ_state)) { + const int fanchor = compute_key(succ_state, 0); + insert_or_update(succ_state, 0, fanchor); + SBPL_DEBUG(" Update in search %d with f = %d", 0, fanchor); + + if (!closed_in_add_search(succ_state)) { + for (int temp_hidx = 1; temp_hidx < num_heuristics(); ++temp_hidx) { + int fn = compute_key(succ_state, temp_hidx); + if (fn <= m_eps_mha * fanchor) { + insert_or_update(succ_state, temp_hidx, fn); + SBPL_DEBUG(" Update in search %d with f = %d", temp_hidx, fn); + } + else { + SBPL_DEBUG(" Skipping update of in search %d (%0.3f > %0.3f)", temp_hidx, (double)fn, m_eps_mha * fanchor); + } + } + } + } + } + } + + assert(closed_in_any_search(state)); +} + +MHASearchState* MHAPlanner::state_from_open_state( + AbstractSearchState* open_state) +{ + const size_t ssidx = reinterpret_cast(open_state->listelem[0]); + return m_search_states[ssidx]; +} + +int MHAPlanner::compute_heuristic(int state_id, int hidx) +{ + if (hidx == 0) { + return m_hanchor->GetGoalHeuristic(state_id); + } + else { + return m_heurs[hidx - 1]->GetGoalHeuristic(state_id); + } +} + +int MHAPlanner::get_minf(CHeap& pq) const +{ + return pq.getminkeyheap().key[0]; +} + +void MHAPlanner::insert_or_update(MHASearchState* state, int hidx, int f) +{ + CKey new_key; + new_key.key[0] = f; + + if (state->od[hidx].open_state.heapindex != 0) { + m_open[hidx].updateheap(&state->od[hidx].open_state, new_key); + } + else { + m_open[hidx].insertheap(&state->od[hidx].open_state, new_key); + } +} + +void MHAPlanner::extract_path(std::vector* solution_path, int* solcost) +{ + SBPL_DEBUG("Extracting path"); + solution_path->clear(); + *solcost = 0; + for (MHASearchState* state = m_goal_state; state; state = state->bp) + { + solution_path->push_back(state->state_id); + if (state->bp) { + *solcost += (state->g - state->bp->g); + } + } + + // TODO: special cases for backward search + std::reverse(solution_path->begin(), solution_path->end()); +} + +bool MHAPlanner::closed_in_anc_search(MHASearchState* state) const +{ + return state->closed_in_anc; +} + +bool MHAPlanner::closed_in_add_search(MHASearchState* state) const +{ + return state->closed_in_add; +} + +bool MHAPlanner::closed_in_any_search(MHASearchState* state) const +{ + return state->closed_in_anc || state->closed_in_add; +} diff --git a/navigations/sbpl/src/planners/ppcpplanner.cpp b/navigations/sbpl/src/planners/ppcpplanner.cpp new file mode 100755 index 0000000..fe20dc5 --- /dev/null +++ b/navigations/sbpl/src/planners/ppcpplanner.cpp @@ -0,0 +1,135 @@ +/* + * Copyright (c) 2009, 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. + */ + +#include +#include + +using namespace std; + +//----------------------------------------------------------------------------------------------------- + +PPCPPlanner::PPCPPlanner(DiscreteSpaceInformation* environment, int sizeofS, int sizeofH) +{ + environment_ = environment; + +#ifndef ROS + const char* debug = "debug.txt"; +#endif + fDeb = SBPL_FOPEN(debug, "w"); + if (fDeb == NULL) { + throw SBPL_Exception("ERROR: could not open planner debug file"); + } + + pStateSpace = new PPCPStateSpace_t; + + //TODO - create and initialize the state-space +} + +PPCPPlanner::~PPCPPlanner() +{ + if (pStateSpace != NULL) { + //delete the statespace + DeleteStateSpace( pStateSpace); + delete pStateSpace; + pStateSpace = NULL; + } + SBPL_FCLOSE( fDeb); +} + +//deallocates memory used by StateSpace +void PPCPPlanner::DeleteStateSpace(PPCPStateSpace_t* pStateSpace) +{ + //TODO - fill in +} + +//creates (allocates memory) search state space +//does not initialize search statespace +int PPCPPlanner::CreateSearchStateSpace(PPCPStateSpace_t* pStateSpace) +{ + //create a heap + pStateSpace->bReinitializeSearchStateSpace = true; + pStateSpace->currentpolicyconfidence = 0; + pStateSpace->GoalState = NULL; + pStateSpace->StartState = NULL; + pStateSpace->iteration = 0; + pStateSpace->searchiteration = 0; + + return 1; +} + +//-------------------------------------------------------------------------------------------------- + +//------------------------------------------------------------------------------------------------- + +//setting start state in S +int PPCPPlanner::set_goal(int goal_stateID) +{ + //TODO + return 1; +} + +//setting goal state in S +int PPCPPlanner::set_start(int start_stateID) +{ + //TODO + return 1; +} + +void PPCPPlanner::costs_changed(StateChangeQuery const & stateChange) +{ + SBPL_PRINTF("planner: costs_changed, state-space reset\n"); + + pStateSpace->bReinitializeSearchStateSpace = true; +} + +void PPCPPlanner::costs_changed() +{ + SBPL_PRINTF("planner: costs_changed, state-space reset\n"); + + pStateSpace->bReinitializeSearchStateSpace = true; +} + +int PPCPPlanner::force_planning_from_scratch() +{ + SBPL_PRINTF("planner: forceplanfromscratch set, state-space reset\n"); + + pStateSpace->bReinitializeSearchStateSpace = true; + + return 1; +} + +int PPCPPlanner::replan(double allocated_time_secs, vector* SolutionPolicy, + float* ExpectedCost, float* ProbofReachGoal) +{ + //TODO + return 0; +} + +//------------------------------------------------------------------------------------------------- + diff --git a/navigations/sbpl/src/planners/rstarplanner.cpp b/navigations/sbpl/src/planners/rstarplanner.cpp new file mode 100755 index 0000000..d5b4bfb --- /dev/null +++ b/navigations/sbpl/src/planners/rstarplanner.cpp @@ -0,0 +1,1463 @@ +/* + * 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. + */ + +#include +#include + +#include +#include +#include + +using namespace std; + +//TODO - define RSTAR_DEBUG_PRINTLOWLEVELEXP and RSTAR_DEBUG_PRINTHIGHLEVELEXP. Make them dependent on DEBUG +//use them to print expands into two separate file. + +//----------------------------------------------------------------------------------------------------- + +RSTARPlanner::RSTARPlanner(DiscreteSpaceInformation* environment, bool bSearchForward) +{ + bforwardsearch = bSearchForward; + + environment_ = environment; + + bsearchuntilfirstsolution = false; + finitial_eps = RSTAR_DEFAULT_INITIAL_EPS; + dec_eps = RSTAR_DECREASE_EPS; + final_epsilon = RSTAR_FINAL_EPS; + local_expand_thres = RSTAR_EXPTHRESH; + highlevel_searchexpands = 0; + lowlevel_searchexpands = 0; + MaxMemoryCounter = 0; + +#ifndef ROS + const char* debug = "debug.txt"; +#endif + fDeb = SBPL_FOPEN(debug, "w"); + if (fDeb == NULL) { + throw SBPL_Exception("ERROR: could not open planner debug file"); + } + SBPL_PRINTF("debug on\n"); + + //create global searchstatespace + pSearchStateSpace = new RSTARSearchStateSpace_t; + MaxMemoryCounter += sizeof(RSTARSearchStateSpace_t); + + //create local searchstatespace + pLSearchStateSpace = new RSTARLSearchStateSpace_t; + MaxMemoryCounter += sizeof(RSTARLSearchStateSpace_t); + + //create the RSTAR planner + if (CreateSearchStateSpace() != 1) { + SBPL_ERROR("ERROR: failed to create statespace\n"); + return; + } + + //set the start and goal states + if (InitializeSearchStateSpace() != 1) { + SBPL_ERROR("ERROR: failed to create statespace\n"); + return; + } +} + +RSTARPlanner::~RSTARPlanner() +{ + if (pSearchStateSpace != NULL) { + //delete the statespace + DeleteSearchStateSpace(); + delete pSearchStateSpace; + } + SBPL_FCLOSE( fDeb); +} + +void RSTARPlanner::Initialize_searchinfo(CMDPSTATE* state) +{ + RSTARState* searchstateinfo = (RSTARState*)state->PlannerSpecificData; + + searchstateinfo->MDPstate = state; + InitializeSearchStateInfo(searchstateinfo); +} + +CMDPSTATE* RSTARPlanner::CreateState(int stateID) +{ + CMDPSTATE* state = NULL; + +#if DEBUG + if(environment_->StateID2IndexMapping[stateID][RSTARMDP_STATEID2IND] != -1) + { + throw SBPL_Exception("ERROR in CreateState: state already created"); + } +#endif + + //adds to the tail a state + state = pSearchStateSpace->searchMDP.AddState(stateID); + + //remember the index of the state + environment_->StateID2IndexMapping[stateID][RSTARMDP_STATEID2IND] = + pSearchStateSpace->searchMDP.StateArray.size() - 1; + +#if DEBUG + if(state != + pSearchStateSpace->searchMDP.StateArray[environment_->StateID2IndexMapping[stateID][RSTARMDP_STATEID2IND]]) + { + throw SBPL_Exception("ERROR in CreateState: invalid state index"); + } +#endif + + //create search specific info + state->PlannerSpecificData = new RSTARState; + MaxMemoryCounter += sizeof(RSTARState); + Initialize_searchinfo(state); + + return state; +} + +CMDPSTATE* RSTARPlanner::GetState(int stateID) +{ + if (stateID >= (int)environment_->StateID2IndexMapping.size()) { + SBPL_ERROR("ERROR int GetState: stateID %d is invalid\n", stateID); + std::stringstream ss("ERROR int GetState: stateID "); + ss << stateID << " is invalid"; + throw SBPL_Exception(ss.str()); + } + + if (environment_->StateID2IndexMapping[stateID][RSTARMDP_STATEID2IND] == -1) + return CreateState(stateID); + else + return pSearchStateSpace->searchMDP.StateArray[environment_->StateID2IndexMapping[stateID][RSTARMDP_STATEID2IND]]; +} + +//----------------------------------------------------------------------------------------------------- + +//----------------------------------------functions related to local searches------------------------------------------- + +void RSTARPlanner::Initialize_rstarlsearchdata(CMDPSTATE* state) +{ + RSTARLSearchState* rstarlsearch_data = (RSTARLSearchState*)state->PlannerSpecificData; + + rstarlsearch_data->bestpredstate = NULL; + rstarlsearch_data->bestpredstateactioncost = 0; + rstarlsearch_data->iteration = 0; + rstarlsearch_data->iterationclosed = 0; + rstarlsearch_data->g = INFINITECOST; + rstarlsearch_data->heapindex = 0; + rstarlsearch_data->listelem[0] = NULL; + rstarlsearch_data->listelem[1] = NULL; + + //pointer to itself + rstarlsearch_data->MDPstate = state; +} + +CMDPSTATE* RSTARPlanner::CreateLSearchState(int stateID) +{ + CMDPSTATE* state = NULL; + +#if DEBUG + if (environment_->StateID2IndexMapping[stateID][RSTARMDP_LSEARCH_STATEID2IND] != -1) { + throw SBPL_Exception("ERROR in CreateState: state already created"); + } +#endif + + //adds to the tail a state + state = pLSearchStateSpace->MDP.AddState(stateID); + + //remember the index of the state + environment_->StateID2IndexMapping[stateID][RSTARMDP_LSEARCH_STATEID2IND] + = pLSearchStateSpace->MDP.StateArray.size() - 1; + +#if DEBUG + if(state != + pLSearchStateSpace->MDP.StateArray[environment_->StateID2IndexMapping[stateID][RSTARMDP_LSEARCH_STATEID2IND]]) + { + throw SBPL_Exception("ERROR in CreateState: invalid state index"); + } +#endif + + //create and initialize rstarlsearch_data + state->PlannerSpecificData = new RSTARLSearchState; + Initialize_rstarlsearchdata(state); + + return state; +} + +CMDPSTATE* RSTARPlanner::GetLSearchState(int stateID) +{ + if (stateID >= (int)environment_->StateID2IndexMapping.size()) { + throw SBPL_Exception("ERROR int GetLSearchState: stateID is invalid"); + } + + if (environment_->StateID2IndexMapping[stateID][RSTARMDP_LSEARCH_STATEID2IND] == -1) + return CreateLSearchState(stateID); + else + return pLSearchStateSpace->MDP.StateArray[environment_->StateID2IndexMapping[stateID][RSTARMDP_LSEARCH_STATEID2IND]]; +} + +CKey RSTARPlanner::LocalSearchComputeKey(RSTARLSearchState* rstarlsearchState) +{ + CKey retkey; + + int h; + if (bforwardsearch) + h = environment_->GetFromToHeuristic(rstarlsearchState->MDPstate->StateID, + pLSearchStateSpace->GoalState->StateID); + else + h = environment_->GetFromToHeuristic(pLSearchStateSpace->GoalState->StateID, + rstarlsearchState->MDPstate->StateID); + + retkey.key[0] = rstarlsearchState->g + (int)(pSearchStateSpace->eps * h); + + return retkey; +} + +bool RSTARPlanner::ComputeLocalPath(int StartStateID, int GoalStateID, int maxc, int maxe, int *pCost, int *pCostLow, + int *pExp, vector* pPathIDs, int* pNewGoalStateID, double maxnumofsecs) +{ + vector SuccIDV; + vector CostV; + + if (pLSearchStateSpace->OPEN == NULL) pLSearchStateSpace->OPEN = new CHeap; + if (pLSearchStateSpace->INCONS == NULL) pLSearchStateSpace->INCONS = new CList; + + int local_expands = 0; + *pNewGoalStateID = GoalStateID; + + //increase iteration + pLSearchStateSpace->iteration++; + + //set the start and goal states + pLSearchStateSpace->StartState = GetLSearchState(StartStateID); + pLSearchStateSpace->GoalState = GetLSearchState(GoalStateID); + + RSTARLSearchState* rstarlsearchstate = (RSTARLSearchState*)pLSearchStateSpace->StartState->PlannerSpecificData; + RSTARLSearchState* rstarlsearchgoalstate = (RSTARLSearchState*)pLSearchStateSpace->GoalState->PlannerSpecificData; + + //OPEN=0 (it shouldn't be necessary since the memory is cleared before each search) + pLSearchStateSpace->OPEN->makeemptyheap(); + pLSearchStateSpace->INCONS->makeemptylist(RSTAR_INCONS_LIST_ID); + + //CLOSED = 0 because iteration is increased + + //g(start) = 0 + rstarlsearchstate->g = 0; + + //insert start into open + pLSearchStateSpace->OPEN->insertheap(rstarlsearchstate, LocalSearchComputeKey(rstarlsearchstate)); + + //TODO - prove that min_{OPEN and INCONS} (g + eps*h) <= eps*c*. (proof: take min_{OPEN and INCONS} (g+h) <= c* and + //multiply both sides by eps and then bring eps into min and drop one by + //g. I still need to implement INCONS and minimum tracker for it - then + //change the minkey to min over two sets + while (rstarlsearchgoalstate->g > pLSearchStateSpace->OPEN->getminkeyheap().key[0] && local_expands < maxe && + pLSearchStateSpace->OPEN->getminkeyheap().key[0] <= maxc) + { + //pop the min element + rstarlsearchstate = (RSTARLSearchState*)pLSearchStateSpace->OPEN->deleteminheap(); + + //close the state + rstarlsearchstate->iterationclosed = pLSearchStateSpace->iteration; + + //expansion + local_expands++; + //environment_->PrintState(rstarlsearchstate->MDPstate->StateID, false, fLowLevelExp); + + //generate SUCCS state + SuccIDV.clear(); + CostV.clear(); + //this setting makes it to get all successors - since this is a deterministic search + if (bforwardsearch == false) + environment_->GetPreds(rstarlsearchstate->MDPstate->StateID, &SuccIDV, &CostV); + else + environment_->GetSuccs(rstarlsearchstate->MDPstate->StateID, &SuccIDV, &CostV); + + //iterate over states in SUCCS set + for (int i = 0; i < (int)SuccIDV.size(); i++) { + RSTARLSearchState* rstarlsearchSuccState = + (RSTARLSearchState*)GetLSearchState(SuccIDV.at(i))->PlannerSpecificData; + + //skip if the state is already closed - TODO fix this with INCONS + //list - it seems to make five times less expansions! + //if(rstarlsearchSuccState->iterationclosed == pLSearchStateSpace->iteration) + //continue; + + //see if we can improve g-value of successor + if (rstarlsearchstate->g + CostV[i] < rstarlsearchSuccState->g) { + rstarlsearchSuccState->bestpredstate = rstarlsearchstate->MDPstate; + rstarlsearchSuccState->bestpredstateactioncost = CostV[i]; + rstarlsearchSuccState->g = rstarlsearchstate->g + CostV[i]; + if (rstarlsearchSuccState->heapindex == 0) + pLSearchStateSpace->OPEN->insertheap(rstarlsearchSuccState, + LocalSearchComputeKey(rstarlsearchSuccState)); + else + pLSearchStateSpace->OPEN->updateheap(rstarlsearchSuccState, + LocalSearchComputeKey(rstarlsearchSuccState)); + + int goalStateID = pSearchStateSpace->searchgoalstate->StateID; + if (!environment_->AreEquivalent(rstarlsearchSuccState->MDPstate->StateID, goalStateID) && + environment_->AreEquivalent(rstarlsearchSuccState->MDPstate->StateID, + rstarlsearchgoalstate->MDPstate->StateID) && + rstarlsearchSuccState->g < rstarlsearchgoalstate->g) + { + //swap the goal + rstarlsearchgoalstate = rstarlsearchSuccState; + GoalStateID = rstarlsearchgoalstate->MDPstate->StateID; + } + } + } + + if (local_expands % 10000 == 0) { + if ((clock() - TimeStarted) >= maxnumofsecs * (double)CLOCKS_PER_SEC) { + SBPL_PRINTF("breaking local search because global planning time expires\n"); + break; + } + } + }//while + + lowlevel_searchexpands += local_expands; + SBPL_FPRINTF(fDeb, "local search: expands=%d\n", local_expands); + + //set the return path and other path related variables + vector tempPathID; + pPathIDs->clear(); + if (rstarlsearchgoalstate->g < INFINITECOST) { + int pathcost = 0; + + //path exists + rstarlsearchstate = rstarlsearchgoalstate; + while (rstarlsearchstate->bestpredstate != NULL && rstarlsearchstate->MDPstate + != pLSearchStateSpace->StartState) { + tempPathID.push_back(rstarlsearchstate->MDPstate->StateID); + pathcost += rstarlsearchstate->bestpredstateactioncost; + rstarlsearchstate = (RSTARLSearchState*)rstarlsearchstate->bestpredstate->PlannerSpecificData; + } + //store into pPathIDs so that the path is always forward path w.r.t. the original graph + //this requires us to reverse order in case of forward search + for (int i = 0; i < (int)tempPathID.size(); i++) { + if (bforwardsearch == false) + pPathIDs->push_back(tempPathID.at(i)); + else + pPathIDs->push_back(tempPathID.at(tempPathID.size() - i - 1)); + } + *pCost = pathcost; + *pCostLow = rstarlsearchgoalstate->g; + SBPL_FPRINTF(fDeb, "pathcost=%d while g=%d\n", pathcost, rstarlsearchgoalstate->g); + } + else { + *pCost = INFINITECOST; + *pCostLow = pLSearchStateSpace->OPEN->getminkeyheap().key[0]; + if (*pCostLow != pLSearchStateSpace->OPEN->getminkeyheap().key[0]) { + SBPL_FPRINTF(fDeb, "after localsearch clow=%d while keymin=%d\n", (int)(*pCostLow), + (int)pLSearchStateSpace->OPEN->getminkeyheap().key[0]); + } + } + + //set all other return variables + *pExp = local_expands; + *pNewGoalStateID = GoalStateID; + + return true; +} + +bool RSTARPlanner::DestroyLocalSearchMemory() +{ + pLSearchStateSpace->OPEN->currentsize = 0; + pLSearchStateSpace->StartState = pLSearchStateSpace->GoalState = NULL; + + //remove the states in the MDP itself + for (int i = 0; i < (int)pLSearchStateSpace->MDP.StateArray.size(); i++) { + CMDPSTATE* state = pLSearchStateSpace->MDP.StateArray.at(i); + RSTARLSearchState* rstarlsearchstatedata = (RSTARLSearchState*)state->PlannerSpecificData; + delete rstarlsearchstatedata; + state->PlannerSpecificData = NULL; + environment_->StateID2IndexMapping[state->StateID][RSTARMDP_LSEARCH_STATEID2IND] = -1; + } + //now we can delete the states themselves + if (pLSearchStateSpace->MDP.Delete() == false) { + throw SBPL_Exception("ERROR: failed to delete local search MDP"); + } + + //TODO - ask Env to delete the new memory allocated during the local + //search (usings the fact that stateID's for local search continuously and + //no states were allocated for global search before local search exits. + + return true; +} + +//---------------------------------------------------------------------------------------------------------------------- + +int RSTARPlanner::ComputeHeuristic(CMDPSTATE* MDPstate) +{ + //compute heuristic for search + + //the heuristics will be re-computed anyway when searchgoalstate is updated + if (pSearchStateSpace->searchgoalstate == NULL) return 0; + + if (bforwardsearch) { +#if MEM_CHECK == 1 + //int WasEn = DisableMemCheck(); +#endif + + //forward search: heur = distance from state to searchgoal which is Goal RSTARState + int retv = environment_->GetFromToHeuristic(MDPstate->StateID, pSearchStateSpace->searchgoalstate->StateID); + +#if MEM_CHECK == 1 + //if (WasEn) + // EnableMemCheck(); +#endif + + return retv; + } + else { + //backward search: heur = distance from searchgoal to state + return environment_->GetFromToHeuristic(pSearchStateSpace->searchgoalstate->StateID, MDPstate->StateID); + } +} + +//initialization of a state +void RSTARPlanner::InitializeSearchStateInfo(RSTARState* state) +{ + state->g = INFINITECOST; + state->iterationclosed = 0; + state->callnumberaccessed = pSearchStateSpace->callnumber; + state->heapindex = 0; + state->bestpredaction = NULL; + + //compute heuristics +#if USE_HEUR + if(pSearchStateSpace->searchgoalstate != NULL) + state->h = ComputeHeuristic(state->MDPstate); + else + state->h = 0; +#else + state->h = 0; +#endif + + state->predactionV.clear(); +} + +//re-initialization of a state +void RSTARPlanner::ReInitializeSearchStateInfo(RSTARState* state) +{ + state->g = INFINITECOST; + state->iterationclosed = 0; + state->callnumberaccessed = pSearchStateSpace->callnumber; + state->heapindex = 0; + + state->bestpredaction = NULL; + + //compute heuristics +#if USE_HEUR + + if(pSearchStateSpace->searchgoalstate != NULL) + { + state->h = ComputeHeuristic(state->MDPstate); + } + else + state->h = 0; + +#else + + state->h = 0; + +#endif + + state->predactionV.clear(); + for (int i = 0; i < (int)state->MDPstate->Actions.size(); i++) { + if (state->MDPstate->Actions.at(i)->PlannerSpecificData != NULL) { + DeleteSearchActionData((RSTARACTIONDATA*)state->MDPstate->Actions.at(i)->PlannerSpecificData); + delete (RSTARACTIONDATA*)(state->MDPstate->Actions.at(i)->PlannerSpecificData); + state->MDPstate->Actions.at(i)->PlannerSpecificData = NULL; + } + } + state->MDPstate->RemoveAllActions(); +} + +void RSTARPlanner::DeleteSearchStateData(RSTARState* state) +{ + //delete PlannerSpecificData for each action + state->predactionV.clear(); + for (int i = 0; i < (int)state->MDPstate->Actions.size(); i++) { + if (state->MDPstate->Actions.at(i)->PlannerSpecificData != NULL) { + DeleteSearchActionData((RSTARACTIONDATA*)state->MDPstate->Actions.at(i)->PlannerSpecificData); + delete (RSTARACTIONDATA*)state->MDPstate->Actions.at(i)->PlannerSpecificData; + state->MDPstate->Actions.at(i)->PlannerSpecificData = NULL; + } + } + state->MDPstate->RemoveAllActions(); + + return; +} + +void RSTARPlanner::DeleteSearchActionData(RSTARACTIONDATA* actiondata) +{ + //no memory was allocated for actiondata + + return; +} + +int RSTARPlanner::GetGVal(int StateID) +{ + CMDPSTATE* cmdp_state = GetState(StateID); + RSTARState* state = (RSTARState*)cmdp_state->PlannerSpecificData; + return state->g; +} + +void RSTARPlanner::SetBestPredecessor(RSTARState* rstarState, RSTARState* rstarPredState, CMDPACTION* action) +{ + rstarState->bestpredaction = action; + rstarState->g = rstarPredState->g + ((RSTARACTIONDATA*)(action->PlannerSpecificData))->clow; + if (rstarState->heapindex == 0) + pSearchStateSpace->OPEN->insertheap(rstarState, ComputeKey(rstarState)); + else + pSearchStateSpace->OPEN->updateheap(rstarState, ComputeKey(rstarState)); +} + +CKey RSTARPlanner::ComputeKey(RSTARState* rstarState) +{ + CKey retkey; + + int h, starttostateh; + if (bforwardsearch) { + h = environment_->GetFromToHeuristic(rstarState->MDPstate->StateID, + pSearchStateSpace->searchgoalstate->StateID); + starttostateh = environment_->GetFromToHeuristic(pSearchStateSpace->searchstartstate->StateID, + rstarState->MDPstate->StateID); + } + else { + h = environment_->GetFromToHeuristic(pSearchStateSpace->searchgoalstate->StateID, + rstarState->MDPstate->StateID); + starttostateh = environment_->GetFromToHeuristic(rstarState->MDPstate->StateID, + pSearchStateSpace->searchstartstate->StateID); + } + + //compute 2nd element of the key + retkey.key[1] = rstarState->g + (int)(pSearchStateSpace->eps * h); + + //compute the 1st element + if (rstarState->g > pSearchStateSpace->eps * starttostateh || + (rstarState->bestpredaction != NULL && + ((RSTARACTIONDATA*)rstarState->bestpredaction->PlannerSpecificData)->pathIDs.size() == 0 && + ((RSTARACTIONDATA*)rstarState->bestpredaction->PlannerSpecificData)->exp >= local_expand_thres)) + { + retkey.key[0] = 1; + } + else { + retkey.key[0] = 0; + } + + return retkey; +} + +//returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time +int RSTARPlanner::ImprovePath(double MaxNumofSecs) +{ + int expands; + RSTARState *rstarstate, *searchgoalstate, *searchstartstate; + CKey key, minkey; + CKey goalkey; + + vector SuccIDV; + vector CLowV; + int highlevelexpands = 0; + + expands = 0; + + if (pSearchStateSpace->searchgoalstate == NULL) { + throw SBPL_Exception("ERROR searching: no goal state is set"); + } + + //goal state + searchgoalstate = (RSTARState*)(pSearchStateSpace->searchgoalstate->PlannerSpecificData); + if (searchgoalstate->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo( searchgoalstate); + } + + //get the start state + searchstartstate = (RSTARState*)(pSearchStateSpace->searchstartstate->PlannerSpecificData); + + //set goal key + if (searchgoalstate != searchstartstate) { + goalkey.key[0] = 1; + goalkey.key[1] = INFINITECOST; + } + else { + goalkey = ComputeKey(searchstartstate); + } + + //expand states until done + minkey = pSearchStateSpace->OPEN->getminkeyheap(); + while (!pSearchStateSpace->OPEN->emptyheap() && (clock() - TimeStarted) < MaxNumofSecs * (double)CLOCKS_PER_SEC) { + //recompute minkey + minkey = pSearchStateSpace->OPEN->getminkeyheap(); + + //recompute goalkey if necessary + goalkey = ComputeKey(searchgoalstate); + + if (goalkey < minkey) break; //termination condition + + //pop the min element + rstarstate = (RSTARState*)pSearchStateSpace->OPEN->deleteminheap(); + + SBPL_FPRINTF(fDeb, "ComputePath: selected state %d g=%d (AVOID=%d)\n", rstarstate->MDPstate->StateID, + rstarstate->g, (int)minkey.key[0]); + environment_->PrintState(rstarstate->MDPstate->StateID, true, fDeb); + + if (rstarstate->MDPstate != pSearchStateSpace->searchstartstate && + ((RSTARACTIONDATA*)rstarstate->bestpredaction->PlannerSpecificData)->pathIDs.size() == 0) + { + SBPL_FPRINTF(fDeb, "re-compute path\n"); + + int maxe = INFINITECOST; + int maxc = INFINITECOST; + + //predecessor + RSTARState* rstarpredstate = + (RSTARState*)GetState(rstarstate->bestpredaction->SourceStateID)->PlannerSpecificData; + CMDPACTION* computedaction = rstarstate->bestpredaction; + RSTARACTIONDATA* computedactiondata = (RSTARACTIONDATA*)computedaction->PlannerSpecificData; + + if (computedactiondata->exp < local_expand_thres) { + maxe = local_expand_thres; + } + else { + SBPL_PRINTF("Trying to compute hard-to-find path\n"); + SBPL_FPRINTF(fDeb, "Trying to compute hard-to-find path\n"); + /* TODO + CKey nextkey = rstarPlanner.OPEN->getminkeyheap(); + + if(bforwardsearch) + h = environment_->GetFromToHeuristic(rstarstate->MDPstate->StateID, + pSearchStateSpace->GoalState->StateID); + else + h = environment_->GetFromToHeuristic(pSearchStateSpace->GoalState->StateID, + rstarstate->MDPstate->StateID); + + maxc = nextkey[1] - + (rstarpredstate->g + rstarPlanner.epsilon*h) + RSTAR_COSTDELTA; + */ + } + + SBPL_FPRINTF(fDeb, "recomputing path from bp %d to state %d with maxc=%d maxe=%d\n", + rstarpredstate->MDPstate->StateID, rstarstate->MDPstate->StateID, maxc, maxe); + SBPL_FPRINTF(fDeb, "bp state:\n"); + environment_->PrintState(rstarpredstate->MDPstate->StateID, true, fDeb); + + //re-compute the path + int NewGoalStateID = rstarstate->MDPstate->StateID; + ComputeLocalPath(rstarpredstate->MDPstate->StateID, rstarstate->MDPstate->StateID, maxc, maxe, + &computedaction->Costs[0], &computedactiondata->clow, &computedactiondata->exp, + &computedactiondata->pathIDs, &NewGoalStateID, MaxNumofSecs); + + SBPL_FPRINTF(fDeb, "return values: pathcost=%d clow=%d exp=%d\n", computedaction->Costs[0], + computedactiondata->clow, computedactiondata->exp); + bool bSwitch = false; + if (NewGoalStateID != rstarstate->MDPstate->StateID) { + bSwitch = true; + SBPL_FPRINTF(fDeb, "targetstate was switched from %d to %d\n", rstarstate->MDPstate->StateID, + NewGoalStateID); + SBPL_FPRINTF(stdout, "targetstate was switched from %d to %d\n", rstarstate->MDPstate->StateID, + NewGoalStateID); + environment_->PrintState(NewGoalStateID, true, fDeb); + + RSTARState* rstarNewTargetState = (RSTARState*)GetState(NewGoalStateID)->PlannerSpecificData; + + //re-initialize the state if necessary + if (rstarNewTargetState->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(rstarNewTargetState); + } + + SBPL_FPRINTF(fDeb, "predstate.g=%d actual actioncost=%d clow=%d newtartetstate.g=%d\n", + rstarpredstate->g, computedaction->Costs[0], + ((RSTARACTIONDATA*)computedaction->PlannerSpecificData)->clow, rstarNewTargetState->g); + + //add the successor to our graph + CMDPACTION* action = rstarpredstate->MDPstate->AddAction(rstarpredstate->MDPstate->Actions.size()); + action->AddOutcome(rstarNewTargetState->MDPstate->StateID, computedaction->Costs[0], 1.0); + action->PlannerSpecificData = new RSTARACTIONDATA; + MaxMemoryCounter += sizeof(RSTARACTIONDATA); + ((RSTARACTIONDATA*)action->PlannerSpecificData)->clow = computedactiondata->clow; + ((RSTARACTIONDATA*)action->PlannerSpecificData)->exp = computedactiondata->exp; + ((RSTARACTIONDATA*)action->PlannerSpecificData)->pathIDs = computedactiondata->pathIDs; + + //add the corresponding predaction + rstarNewTargetState->predactionV.push_back(action); + + //the action was not found to the old state + computedaction->Costs[0] = INFINITECOST; + if (bforwardsearch) + computedactiondata->clow = environment_->GetFromToHeuristic(rstarpredstate->MDPstate->StateID, + rstarstate->MDPstate->StateID); + else + computedactiondata->clow = environment_->GetFromToHeuristic(rstarstate->MDPstate->StateID, + rstarpredstate->MDPstate->StateID); + + computedactiondata->pathIDs.clear(); + + rstarstate = rstarNewTargetState; + computedaction = action; + computedactiondata = (RSTARACTIONDATA*)action->PlannerSpecificData; + } + + //clean up local search memory + DestroyLocalSearchMemory(); + + RSTARState* stateu = NULL; + CMDPACTION* utosaction = NULL; + int hfromstarttostate; + if (bforwardsearch) + hfromstarttostate = environment_->GetFromToHeuristic(searchstartstate->MDPstate->StateID, + rstarstate->MDPstate->StateID); + else + hfromstarttostate = environment_->GetFromToHeuristic(rstarstate->MDPstate->StateID, + searchstartstate->MDPstate->StateID); + if (computedactiondata->pathIDs.size() == 0 || + rstarpredstate->g + computedactiondata->clow > pSearchStateSpace->eps * hfromstarttostate) + { + SBPL_FPRINTF(fDeb, "selecting best pred\n"); + //SBPL_FPRINTF(stdout, "selecting best pred\n"); + + //select other best predecessor + unsigned int minQ = INFINITECOST; + for (int i = 0; i < (int)rstarstate->predactionV.size(); i++) { + CMDPACTION* predaction = rstarstate->predactionV.at(i); + rstarpredstate = (RSTARState*)GetState(predaction->SourceStateID)->PlannerSpecificData; + if (minQ >= rstarpredstate->g + ((RSTARACTIONDATA*)predaction->PlannerSpecificData)->clow) { + minQ = rstarpredstate->g + ((RSTARACTIONDATA*)predaction->PlannerSpecificData)->clow; + stateu = rstarpredstate; + utosaction = predaction; + } + } + if (stateu) SBPL_FPRINTF(fDeb, "best pred stateid: %d\n", stateu->MDPstate->StateID); + + //set the predecessor + if (minQ < INFINITECOST) SetBestPredecessor(rstarstate, stateu, utosaction); + } + else if (rstarpredstate->g + computedactiondata->clow < rstarstate->g || bSwitch == false) { + SBPL_FPRINTF(fDeb, "keeping the same computedaction\n"); + //SBPL_FPRINTF(stdout, "keeping the same best pred\n"); + + stateu = rstarpredstate; + utosaction = computedaction; + + //set the predecessor + SetBestPredecessor(rstarstate, stateu, utosaction); + } + else { + SBPL_FPRINTF(fDeb, "keeping the same bestpredaction even though switch of targetstates happened\n"); + } + } + else { + SBPL_FPRINTF(fDeb, "high-level normal expansion of state %d\n", rstarstate->MDPstate->StateID); + environment_->PrintState(rstarstate->MDPstate->StateID, true, fDeb); + highlevelexpands++; + + //close the state + rstarstate->iterationclosed = pSearchStateSpace->searchiteration; + + //expansion + expands++; + + //generate SUCCS state + SuccIDV.clear(); + CLowV.clear(); + if (bforwardsearch) + environment_->GetRandomSuccsatDistance(rstarstate->MDPstate->StateID, &SuccIDV, &CLowV); + else + environment_->GetRandomPredsatDistance(rstarstate->MDPstate->StateID, &SuccIDV, &CLowV); + + SBPL_FPRINTF(fDeb, "%d succs were generated at random\n", (unsigned int)SuccIDV.size()); + + //iterate over states in SUCCS set + int notclosed = 0; + for (int i = 0; i < (int)SuccIDV.size(); i++) { + RSTARState* rstarSuccState = (RSTARState*)GetState(SuccIDV.at(i))->PlannerSpecificData; + + SBPL_FPRINTF(fDeb, "succ %d:\n", i); + environment_->PrintState(rstarSuccState->MDPstate->StateID, true, fDeb); + + //re-initialize the state if necessary + if (rstarSuccState->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(rstarSuccState); + } + + //skip if the state is already closed + if (rstarSuccState->iterationclosed == pSearchStateSpace->searchiteration) { + SBPL_FPRINTF(fDeb, "this succ was already closed -- skipping it\n"); + continue; + } + notclosed++; + + //if(rstarSuccState->MDPstate->StateID == 3838){ + // SBPL_FPRINTF(fDeb, "generating state %d with g=%d bp=%d:\n", + // rstarSuccState->MDPstate->StateID, rstarSuccState->g, + // (rstarSuccState->bestpredaction==NULL?-1:rstarSuccState->bestpredaction->SourceStateID)); + // Env_PrintState(rstarSuccState->MDPstate->StateID, true, false, fDeb); + //} + + //add the successor to our graph + CMDPACTION* action = rstarstate->MDPstate->AddAction(i); + action->AddOutcome(rstarSuccState->MDPstate->StateID, INFINITECOST, 1.0); + action->PlannerSpecificData = new RSTARACTIONDATA; + MaxMemoryCounter += sizeof(RSTARACTIONDATA); + ((RSTARACTIONDATA*)action->PlannerSpecificData)->clow = CLowV[i]; + ((RSTARACTIONDATA*)action->PlannerSpecificData)->exp = 0; + ((RSTARACTIONDATA*)action->PlannerSpecificData)->pathIDs.clear(); + + //add the corresponding predaction + rstarSuccState->predactionV.push_back(action); + + //see if we can improve g-value of successor + if (rstarSuccState->bestpredaction == NULL || rstarstate->g + CLowV[i] < rstarSuccState->g) + /* + (rstarstate->bestpredaction != NULL && + ((RSTARACTIONDATA*)rstarstate->bestpredaction->PlannerSpecificData)->pathIDs.size() == 0 && + ((RSTARACTIONDATA*)rstarstate->bestpredaction->PlannerSpecificData)->exp >= local_expand_thres) */ + { + SetBestPredecessor(rstarSuccState, rstarstate, action); + SBPL_FPRINTF(fDeb, "bestpred was set for the succ (clow=%d)\n", CLowV[i]); + } + else { + SBPL_FPRINTF(fDeb, "bestpred was NOT modified - old one is better\n"); + } + + } + //SBPL_PRINTF("%d successors were not closed\n", notclosed); + }//else + + //recompute minkey + minkey = pSearchStateSpace->OPEN->getminkeyheap(); + + //recompute goalkey if necessary + goalkey = ComputeKey(searchgoalstate); + + if (goalkey.key[0] == 1) { + SBPL_FPRINTF(fDeb, "goal state is AVOID\n"); + } + else + SBPL_FPRINTF(fDeb, "goal state is NON-AVOID\n"); + + if (expands % 10 == 0 && expands > 0) { + SBPL_PRINTF("high-level expands so far=%u\n", expands); + } + } + SBPL_PRINTF("main loop done\n"); + SBPL_FPRINTF(fDeb, "main loop done\n"); + + int retv = 1; + if (searchgoalstate->g == INFINITECOST && pSearchStateSpace->OPEN->emptyheap()) { + SBPL_PRINTF("solution does not exist: search exited because heap is empty\n"); + retv = 0; + } + else if (!pSearchStateSpace->OPEN->emptyheap() && goalkey > minkey) { + SBPL_PRINTF("search exited because it ran out of time\n"); + retv = 2; + } + else if (searchgoalstate->g == INFINITECOST && !pSearchStateSpace->OPEN->emptyheap()) { + SBPL_PRINTF( "solution does not exist: search exited because all candidates for expansion have " + "infinite heuristics\n"); + retv = 0; + } + else { + SBPL_PRINTF("search exited with a solution for eps=%.3f\n", pSearchStateSpace->eps); + retv = 1; + } + + SBPL_FPRINTF(fDeb, "high-level expanded=%d\n", expands); + + highlevel_searchexpands += expands; + + return retv; +} + +//note this does NOT re-compute heuristics, only re-orders OPEN list based on current eps and h-vals +void RSTARPlanner::Reevaluatefvals() +{ + CKey key; + int i; + CHeap* pheap = pSearchStateSpace->OPEN; + + //re-compute priorities for states in OPEN and reorder it + for (i = 1; i <= pheap->currentsize; ++i) { + RSTARState* state = (RSTARState*)pheap->heap[i].heapstate; + pheap->heap[i].key = ComputeKey(state); + } + pheap->makeheap(); + + pSearchStateSpace->bReevaluatefvals = false; +} + +//creates (allocates memory) search state space +//does not initialize search statespace +int RSTARPlanner::CreateSearchStateSpace() +{ + + //create a heap + pSearchStateSpace->OPEN = new CHeap; + MaxMemoryCounter += sizeof(CHeap); + //pSearchStateSpace->inconslist = new CList; + //MaxMemoryCounter += sizeof(CList); + + pSearchStateSpace->searchgoalstate = NULL; + pSearchStateSpace->searchstartstate = NULL; + + pSearchStateSpace->bReinitializeSearchStateSpace = false; + + return 1; +} + +//deallocates memory used by SearchStateSpace +void RSTARPlanner::DeleteSearchStateSpace() +{ + if (pSearchStateSpace->OPEN != NULL) { + pSearchStateSpace->OPEN->makeemptyheap(); + delete pSearchStateSpace->OPEN; + pSearchStateSpace->OPEN = NULL; + } + + //if(pSearchStateSpace->inconslist != NULL) + //{ + // pSearchStateSpace->inconslist->makeemptylist(RSTAR_INCONS_LIST_ID); + // delete pSearchStateSpace->inconslist; + // pSearchStateSpace->inconslist = NULL; + //} + + //delete the states themselves + int iend = (int)pSearchStateSpace->searchMDP.StateArray.size(); + for (int i = 0; i < iend; i++) { + CMDPSTATE* state = pSearchStateSpace->searchMDP.StateArray[i]; + if (state != NULL && state->PlannerSpecificData != NULL) { + DeleteSearchStateData((RSTARState*)state->PlannerSpecificData); + delete (RSTARState*)state->PlannerSpecificData; + state->PlannerSpecificData = NULL; + } + if (state != NULL) { + for (int aind = 0; aind < (int)state->Actions.size(); aind++) { + if (state->Actions[aind]->PlannerSpecificData != NULL) { + DeleteSearchActionData((RSTARACTIONDATA*)state->Actions[aind]->PlannerSpecificData); + delete (RSTARACTIONDATA*)state->Actions[aind]->PlannerSpecificData; + state->Actions[aind]->PlannerSpecificData = NULL; + } + }//over actions + } + } + + pSearchStateSpace->searchMDP.Delete(); +} + +//reset properly search state space +//needs to be done before deleting states +int RSTARPlanner::ResetSearchStateSpace() +{ + pSearchStateSpace->OPEN->makeemptyheap(); + //pSearchStateSpace->inconslist->makeemptylist(RSTAR_INCONS_LIST_ID); + + return 1; +} + +//initialization before each search +void RSTARPlanner::ReInitializeSearchStateSpace() +{ + //increase callnumber + pSearchStateSpace->callnumber++; + + //reset iteration + pSearchStateSpace->searchiteration = 0; + pSearchStateSpace->bNewSearchIteration = true; + +#if DEBUG + SBPL_FPRINTF(fDeb, "reinitializing search state-space (new call number=%d search iter=%d)\n", + pSearchStateSpace->callnumber,pSearchStateSpace->searchiteration); +#endif + + pSearchStateSpace->OPEN->makeemptyheap(); + //pSearchStateSpace->inconslist->makeemptylist(RSTAR_INCONS_LIST_ID); + + //initialize start state + RSTARState* startstateinfo = (RSTARState*)(pSearchStateSpace->searchstartstate->PlannerSpecificData); + if (startstateinfo->callnumberaccessed != pSearchStateSpace->callnumber) { + ReInitializeSearchStateInfo(startstateinfo); + } + + startstateinfo->g = 0; + + //insert start state into the heap + pSearchStateSpace->OPEN->insertheap(startstateinfo, ComputeKey(startstateinfo)); + + pSearchStateSpace->bReinitializeSearchStateSpace = false; + pSearchStateSpace->bReevaluatefvals = false; +} + +//very first initialization +int RSTARPlanner::InitializeSearchStateSpace() +{ + if (pSearchStateSpace->OPEN->currentsize != 0) + // || pSearchStateSpace->inconslist->currentsize != 0) + { + throw SBPL_Exception("ERROR in InitializeSearchStateSpace: OPEN or INCONS is not empty"); + } + + pSearchStateSpace->eps = this->finitial_eps; + pSearchStateSpace->eps_satisfied = INFINITECOST; + pSearchStateSpace->searchiteration = 0; + pSearchStateSpace->bNewSearchIteration = true; + pSearchStateSpace->callnumber = 0; + pSearchStateSpace->bReevaluatefvals = false; + + //create and set the search start state + pSearchStateSpace->searchgoalstate = NULL; + //pSearchStateSpace->searchstartstate = GetState(SearchStartStateID); + pSearchStateSpace->searchstartstate = NULL; + + pSearchStateSpace->bReinitializeSearchStateSpace = true; + + return 1; +} + +int RSTARPlanner::SetSearchGoalState(int SearchGoalStateID) +{ + if (pSearchStateSpace->searchgoalstate == NULL || + pSearchStateSpace->searchgoalstate->StateID != SearchGoalStateID) + { + pSearchStateSpace->searchgoalstate = GetState(SearchGoalStateID); + + //should be new search iteration + pSearchStateSpace->eps_satisfied = INFINITECOST; + pSearchStateSpace->bNewSearchIteration = true; + pSearchStateSpace->eps = this->finitial_eps; + + //recompute heuristic for the heap if heuristics are used +#if USE_HEUR + for(int i = 0; i < (int)pSearchStateSpace->searchMDP.StateArray.size(); i++) + { + CMDPSTATE* MDPstate = pSearchStateSpace->searchMDP.StateArray[i]; + RSTARState* state = (RSTARState*)MDPstate->PlannerSpecificData; + state->h = ComputeHeuristic(MDPstate); + } + + pSearchStateSpace->bReevaluatefvals = true; +#endif + } + + return 1; +} + +int RSTARPlanner::SetSearchStartState(int SearchStartStateID) +{ + CMDPSTATE* MDPstate = GetState(SearchStartStateID); + + if (MDPstate != pSearchStateSpace->searchstartstate) { + pSearchStateSpace->searchstartstate = MDPstate; + pSearchStateSpace->bReinitializeSearchStateSpace = true; + pSearchStateSpace->eps_satisfied = INFINITECOST; + } + + return 1; +} + +void RSTARPlanner::PrintSearchState(RSTARState* state, FILE* fOut) +{ + SBPL_FPRINTF(fOut, "state %d: h=%d g=%u iterc=%d callnuma=%d heapind=%d \n", state->MDPstate->StateID, state->h, + state->g, state->iterationclosed, state->callnumberaccessed, state->heapindex); + environment_->PrintState(state->MDPstate->StateID, true, fOut); +} + +int RSTARPlanner::getHeurValue(int StateID) +{ + CMDPSTATE* MDPstate = GetState(StateID); + RSTARState* searchstateinfo = (RSTARState*)MDPstate->PlannerSpecificData; + return searchstateinfo->h; +} + +vector RSTARPlanner::GetSearchPath(int& solcost) +{ + vector wholePathIds; + RSTARState* rstargoalstate = (RSTARState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData; + + //set the return path and other path related variables + vector tempPathID; + + //initially no path + solcost = INFINITECOST; + wholePathIds.clear(); + + //special case when we are already at the goal + if (rstargoalstate->MDPstate == pSearchStateSpace->searchstartstate) { + solcost = 0; + return wholePathIds; + } + + if (rstargoalstate->g >= INFINITECOST || rstargoalstate->bestpredaction == NULL || + ((RSTARACTIONDATA*)rstargoalstate->bestpredaction->PlannerSpecificData)->pathIDs.size() == 0) + { + return wholePathIds; //no path to goal state was found + } + + //path exists + int pathcost = 0; + RSTARState* rstarstate = rstargoalstate; + while (rstarstate->bestpredaction != NULL && rstarstate->MDPstate != pSearchStateSpace->searchstartstate) { + //get action data + RSTARACTIONDATA* bestpredactiondata = (RSTARACTIONDATA*)rstarstate->bestpredaction->PlannerSpecificData; + + //get predecessor in the search tree + RSTARState* predstate = (RSTARState*)GetState(rstarstate->bestpredaction->SourceStateID)->PlannerSpecificData; + + //check validity + if (predstate->g + bestpredactiondata->clow != rstarstate->g) { + SBPL_ERROR("ERROR: clow(=%d) + predstate.g(=%d) = %d != succstate.g = %d (callnum=%d, iter=%d)\n", + bestpredactiondata->clow, predstate->g, bestpredactiondata->clow + predstate->g, rstarstate->g, + pSearchStateSpace->callnumber, pSearchStateSpace->searchiteration); + SBPL_PRINTF("predstate: "); + environment_->PrintState(predstate->MDPstate->StateID, true, stdout); + SBPL_PRINTF("succstate: "); + environment_->PrintState(rstarstate->MDPstate->StateID, true, stdout); + SBPL_PRINTF("PredState: stateID=%d g=%d calln=%d iterc=%d h=%d\n", predstate->MDPstate->StateID, + predstate->g, predstate->callnumberaccessed, predstate->iterationclosed, predstate->h); + SBPL_PRINTF("Succstate: stateID=%d g=%d calln=%d iterc=%d h=%d\n", rstarstate->MDPstate->StateID, + rstarstate->g, rstarstate->callnumberaccessed, rstarstate->iterationclosed, rstarstate->h); + fflush(fDeb); + + throw SBPL_Exception(); + } + + //store the action and its cost + tempPathID.push_back(rstarstate->bestpredaction); + pathcost += rstarstate->bestpredaction->Costs[0]; + + //go to the predecessor + rstarstate = predstate; + + //another check + if (pathcost + rstarstate->g > rstargoalstate->g) { + std::stringstream ss("ERROR: pathcost+rstarstate.g = "); + ss << pathcost + rstarstate->g << " > goalstate.g = " << rstargoalstate->g; + throw SBPL_Exception(ss.str()); + } + } + + //now recover the actual path + RSTARACTIONDATA* actiondata; + for (int aind = 0; aind < (int)tempPathID.size(); aind++) { + if (bforwardsearch) + //getting path in reverse + actiondata = (RSTARACTIONDATA*)tempPathID.at(tempPathID.size() - aind - 1)->PlannerSpecificData; + else + actiondata = (RSTARACTIONDATA*)tempPathID.at(aind)->PlannerSpecificData; //getting path in reverse + + //get the states that correspond to the high-level action + for (int j = 0; j < (int)actiondata->pathIDs.size(); j++) { + //note: path corresponding to the action is already in right direction + wholePathIds.push_back(actiondata->pathIDs.at(j)); + } + } + //add the goal state + if (bforwardsearch) + wholePathIds.push_back(rstargoalstate->MDPstate->StateID); + else + wholePathIds.push_back(pSearchStateSpace->searchstartstate->StateID); + + SBPL_FPRINTF(fDeb, "high-level pathcost=%d and high-level g(searchgoal)=%d\n", pathcost, rstargoalstate->g); + + //get the solcost + solcost = pathcost; + return wholePathIds; +} + +void RSTARPlanner::PrintSearchPath(FILE* fOut) +{ + vector pathIds; + int solcost; + + pathIds = GetSearchPath(solcost); + + SBPL_FPRINTF(fOut, "high-level solution cost = %d, solution length=%d\n", solcost, (unsigned int)pathIds.size()); + for (int sind = 0; sind < (int)pathIds.size(); sind++) { + environment_->PrintState(pathIds.at(sind), false, fOut); + } +} + +bool RSTARPlanner::Search(vector& pathIds, int & PathCost, bool bFirstSolution, bool bOptimalSolution, + double MaxNumofSecs) +{ + CKey key; + TimeStarted = clock(); + highlevel_searchexpands = 0; + lowlevel_searchexpands = 0; + + //reset the return values + PathCost = INFINITECOST; + pathIds.clear(); + + //bFirstSolution = false; //TODO-remove this but then fix crashing because later + //searches within cycle re-initialize g-vals and test path found fails if last search ran out of time + //so we need to save solutions between iterations + //also, we need to call change callnumber before each search + +#if DEBUG + SBPL_FPRINTF(fDeb, "new search call (call number=%d)\n", pSearchStateSpace->callnumber); +#endif + + //set epsilons + pSearchStateSpace->eps = this->finitial_eps; + pSearchStateSpace->eps_satisfied = INFINITECOST; + + if (pSearchStateSpace->bReinitializeSearchStateSpace == true) { + //re-initialize state space + ReInitializeSearchStateSpace(); + } + + if (bOptimalSolution) { + pSearchStateSpace->eps = 1; + MaxNumofSecs = INFINITECOST; + } + else if (bFirstSolution) { + MaxNumofSecs = INFINITECOST; + } + + //get the size of environment that is already allocated + int oldenvsize = environment_->StateID2IndexMapping.size() * sizeof(int); + + //the main loop of R* + int prevexpands = 0; + clock_t loop_time; + //TODO - change FINAL_EPS and DECREASE_EPS onto a parameter + while (pSearchStateSpace->eps_satisfied > final_epsilon && + (clock() - TimeStarted) < MaxNumofSecs * (double)CLOCKS_PER_SEC) + { + loop_time = clock(); + + //decrease eps for all subsequent iterations + if (fabs(pSearchStateSpace->eps_satisfied - pSearchStateSpace->eps) < ERR_EPS && !bFirstSolution) { + pSearchStateSpace->eps = pSearchStateSpace->eps - dec_eps; + if (pSearchStateSpace->eps < final_epsilon) pSearchStateSpace->eps = final_epsilon; + + //the priorities need to be updated + pSearchStateSpace->bReevaluatefvals = true; + + //it will be a new search. Since R* is non-incremental, it will have to be a new call + pSearchStateSpace->bNewSearchIteration = true; + pSearchStateSpace->bReinitializeSearchStateSpace = true; + } + + //if(pSearchStateSpace->bReinitializeSearchStateSpace == true){ + //re-initialize state space + ReInitializeSearchStateSpace(); //TODO - we have to do it currently since g-vals from old searches are invalid + //} + + if (pSearchStateSpace->bNewSearchIteration) { + pSearchStateSpace->searchiteration++; + pSearchStateSpace->bNewSearchIteration = false; + } + + //re-compute f-values if necessary and reorder the heap + if (pSearchStateSpace->bReevaluatefvals) Reevaluatefvals(); + + //improve or compute path + if (ImprovePath(MaxNumofSecs) == 1) { + pSearchStateSpace->eps_satisfied = pSearchStateSpace->eps; //note: eps is satisfied probabilistically + } + + //print the solution cost and eps bound + SBPL_PRINTF("eps=%f highlevel expands=%d g(searchgoal)=%d time=%.3f\n", pSearchStateSpace->eps_satisfied, + highlevel_searchexpands - prevexpands, + ((RSTARState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g, + double(clock() - loop_time) / CLOCKS_PER_SEC); + +#if DEBUG + SBPL_FPRINTF(fDeb, "eps=%f highlevel expands=%d g(searchgoal)=%d time=%.3f\n", + pSearchStateSpace->eps_satisfied, highlevel_searchexpands - prevexpands, + ((RSTARState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g, + double(clock()-loop_time)/CLOCKS_PER_SEC); + PrintSearchState((RSTARState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData, fDeb); +#endif + prevexpands = highlevel_searchexpands; + + //keep track of the best solution so far + vector CurrentPathIds; + int CurrentPathCost = ((RSTARState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g; + if (CurrentPathCost == INFINITECOST || + ((RSTARACTIONDATA*)((RSTARState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->bestpredaction->PlannerSpecificData)->pathIDs.size() == 0) + { + //the path to the goal is not found, it is just goal has been + //generated but the last edge to it wasn't computed yet + CurrentPathCost = INFINITECOST; + } + else { + //get the found path + CurrentPathIds = GetSearchPath(CurrentPathCost); + } + //keep track of the best solution + if (CurrentPathCost < PathCost) { + PathCost = CurrentPathCost; + pathIds = CurrentPathIds; + } + + //if just the first solution then we are done + if (bFirstSolution) break; + + //no solution exists + if (((RSTARState*)pSearchStateSpace->searchgoalstate->PlannerSpecificData)->g == INFINITECOST) break; + } + +#if DEBUG + SBPL_FFLUSH(fDeb); +#endif + + MaxMemoryCounter += (oldenvsize - environment_->StateID2IndexMapping.size() * sizeof(int)); + SBPL_PRINTF("MaxMemoryCounter = %d\n", MaxMemoryCounter); + + bool ret = false; + if (PathCost == INFINITECOST) { + SBPL_PRINTF("could not find a solution\n"); + ret = false; + } + else { + SBPL_PRINTF("solution is found\n"); + ret = true; + } + + SBPL_PRINTF("total highlevel expands this call = %d, planning time = %.3f secs, solution cost=%d\n", + highlevel_searchexpands, (clock() - TimeStarted) / ((double)CLOCKS_PER_SEC), PathCost); + + //SBPL_FPRINTF(fStat, "%d %d\n", highlevel_searchexpands, MinPathCost); + + return ret; +} + +//-----------------------------Interface function----------------------------------------------------- +//returns 1 if found a solution, and 0 otherwise +int RSTARPlanner::replan(double allocated_time_secs, vector* solution_stateIDs_V) +{ + int solcost; + + return replan(allocated_time_secs, solution_stateIDs_V, &solcost); +} + +//returns 1 if found a solution, and 0 otherwise +int RSTARPlanner::replan(double allocated_time_secs, vector* solution_stateIDs_V, int* psolcost) +{ + vector pathIds; + bool bFound = false; + int PathCost; + bool bFirstSolution = this->bsearchuntilfirstsolution; + bool bOptimalSolution = false; + *psolcost = 0; + + SBPL_PRINTF("planner: replan called (bFirstSol=%d, bOptSol=%d)\n", bFirstSolution, bOptimalSolution); + + //plan + bFound = Search(pathIds, PathCost, bFirstSolution, bOptimalSolution, allocated_time_secs); + if (!bFound) { + SBPL_PRINTF("failed to find a solution\n"); + } + + //copy the solution + *solution_stateIDs_V = pathIds; + *psolcost = PathCost; + + return (int)bFound; +} + +int RSTARPlanner::set_goal(int goal_stateID) +{ + SBPL_PRINTF("planner: setting goal to %d\n", goal_stateID); + environment_->PrintState(goal_stateID, true, stdout); + + if (bforwardsearch) { + if (SetSearchGoalState(goal_stateID) != 1) { + SBPL_ERROR("ERROR: failed to set search goal state\n"); + return 0; + } + } + else { + if (SetSearchStartState(goal_stateID) != 1) { + SBPL_ERROR("ERROR: failed to set search start state\n"); + return 0; + } + } + + return 1; +} + +int RSTARPlanner::set_start(int start_stateID) +{ + SBPL_PRINTF("planner: setting start to %d\n", start_stateID); + environment_->PrintState(start_stateID, true, stdout); + + if (bforwardsearch) { + if (SetSearchStartState(start_stateID) != 1) { + SBPL_ERROR("ERROR: failed to set search start state\n"); + return 0; + } + } + else { + if (SetSearchGoalState(start_stateID) != 1) { + SBPL_ERROR("ERROR: failed to set search goal state\n"); + return 0; + } + } + + return 1; +} + +void RSTARPlanner::costs_changed(StateChangeQuery const & stateChange) +{ + //since R* is non-incremental + pSearchStateSpace->bReinitializeSearchStateSpace = true; +} + +void RSTARPlanner::costs_changed() +{ + //since R* is non-incremental + pSearchStateSpace->bReinitializeSearchStateSpace = true; +} + +int RSTARPlanner::force_planning_from_scratch() +{ + SBPL_PRINTF("planner: forceplanfromscratch set\n"); + + pSearchStateSpace->bReinitializeSearchStateSpace = true; + + return 1; +} + +int RSTARPlanner::set_search_mode(bool bSearchUntilFirstSolution) +{ + SBPL_PRINTF("planner: search mode set to %d\n", bSearchUntilFirstSolution); + + bsearchuntilfirstsolution = bSearchUntilFirstSolution; + + return 1; +} + +void RSTARPlanner::print_searchpath(FILE* fOut) +{ + PrintSearchPath(fOut); +} + +//--------------------------------------------------------------------------------------------------------- diff --git a/navigations/sbpl/src/planners/viplanner.cpp b/navigations/sbpl/src/planners/viplanner.cpp new file mode 100755 index 0000000..a55bc12 --- /dev/null +++ b/navigations/sbpl/src/planners/viplanner.cpp @@ -0,0 +1,410 @@ +/* + * 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. + */ + +#include +#include +#include +#include +#include +#include + +using namespace std; + +static unsigned int g_backups; +static clock_t g_runtime = 0; +static double g_belldelta = INFINITECOST; + +VIPlanner::~VIPlanner() +{ + //delete the statespace +} + +void VIPlanner::Initialize_vidata(CMDPSTATE* state) +{ + VIState* vi_data = (VIState*)state->PlannerSpecificData; + + vi_data->bestnextaction = NULL; + vi_data->iteration = 0; + vi_data->v = (float)environment_->GetGoalHeuristic(state->StateID); +} + +CMDPSTATE* VIPlanner::CreateState(int stateID) +{ + CMDPSTATE* state = NULL; + +#if DEBUG + if (environment_->StateID2IndexMapping[stateID][VIMDP_STATEID2IND] != -1) { + throw SBPL_Exception("ERROR in CreateState: state already created"); + } +#endif + + //adds to the tail a state + state = viPlanner.MDP.AddState(stateID); + + //remember the index of the state + environment_->StateID2IndexMapping[stateID][VIMDP_STATEID2IND] = viPlanner.MDP.StateArray.size() - 1; + +#if DEBUG + if (state != viPlanner.MDP.StateArray[environment_->StateID2IndexMapping[stateID][VIMDP_STATEID2IND]]) { + throw SBPL_Exception("ERROR in CreateState: invalid state index"); + } +#endif + + //create and initialize vi_data + state->PlannerSpecificData = new VIState; + Initialize_vidata(state); + + return state; +} + +CMDPSTATE* VIPlanner::GetState(int stateID) +{ + if (stateID >= (int)environment_->StateID2IndexMapping.size()) { + throw SBPL_Exception("ERROR in GetState: stateID is invalid"); + } + + if (environment_->StateID2IndexMapping[stateID][VIMDP_STATEID2IND] == -1) + return CreateState(stateID); + else + return viPlanner.MDP.StateArray[environment_->StateID2IndexMapping[stateID][VIMDP_STATEID2IND]]; +} + +void VIPlanner::PrintVIData() +{ + SBPL_PRINTF("iteration %d: v(start) = %f\n", viPlanner.iteration, + ((VIState*)(viPlanner.StartState->PlannerSpecificData))->v); +} + +void VIPlanner::PrintStatHeader(FILE* fOut) +{ + SBPL_FPRINTF(fOut, "iteration backups v(start)\n"); +} + +void VIPlanner::PrintStat(FILE* fOut, clock_t starttime) +{ + SBPL_FPRINTF(fOut, "%d %d %f %f %d\n", viPlanner.iteration, g_backups, + ((double)(clock() - starttime)) / CLOCKS_PER_SEC, + ((VIState*)(viPlanner.StartState->PlannerSpecificData))->v, + (unsigned int)viPlanner.MDP.StateArray.size()); +} + +void VIPlanner::PrintPolicy(FILE* fPolicy) +{ + bool bPrintStatOnly = true; + vector WorkList; + CMDP PolicyforEvaluation; + + viPlanner.iteration++; + WorkList.push_back(viPlanner.StartState); + ((VIState*)viPlanner.StartState->PlannerSpecificData)->iteration = viPlanner.iteration; + double PolVal = 0.0; + double Conf = 0; + bool bCycles = false; + SBPL_PRINTF("Printing policy...\n"); + while ((int)WorkList.size() > 0) { + //pop the last state + CMDPSTATE* state = WorkList.at(WorkList.size() - 1); + WorkList.pop_back(); + VIState* statedata = (VIState*)state->PlannerSpecificData; + + CMDPSTATE* polstate = PolicyforEvaluation.AddState(state->StateID); + + //print state ID + if (!bPrintStatOnly) { + SBPL_FPRINTF(fPolicy, "%d\n", state->StateID); + environment_->PrintState(state->StateID, false, fPolicy); + + int h = environment_->GetGoalHeuristic(state->StateID); + SBPL_FPRINTF(fPolicy, "h=%d\n", h); + if (h > statedata->v) { + SBPL_FPRINTF(fPolicy, "WARNING h overestimates exp.cost\n"); + } + } + + if (state->StateID == viPlanner.GoalState->StateID) { + //goal state + if (!bPrintStatOnly) SBPL_FPRINTF(fPolicy, "0\n"); + Conf += ((VIState*)state->PlannerSpecificData)->Pc; + } + else if (statedata->bestnextaction == NULL) { + //unexplored + if (!bPrintStatOnly) { + //no outcome explored - stay in the same place + SBPL_FPRINTF(fPolicy, "%d %d %d\n", 1, 0, state->StateID); + } + } + else { + //get best action + CMDPACTION* action = statedata->bestnextaction; + + //add action to evaluation MDP + CMDPACTION* polaction = polstate->AddAction(action->ActionID); + + if (!bPrintStatOnly) SBPL_FPRINTF(fPolicy, "%d ", (unsigned int)action->SuccsID.size()); + + //print successors and insert them into the list + for (int i = 0; i < (int)action->SuccsID.size(); i++) { + if (!bPrintStatOnly) SBPL_FPRINTF(fPolicy, "%d %d ", action->Costs[i], action->SuccsID[i]); + polaction->AddOutcome(action->SuccsID[i], action->Costs[i], action->SuccsProb[i]); + + CMDPSTATE* succstate = GetState(action->SuccsID[i]); + if ((int)((VIState*)succstate->PlannerSpecificData)->iteration != viPlanner.iteration) { + ((VIState*)succstate->PlannerSpecificData)->iteration = viPlanner.iteration; + WorkList.push_back(succstate); + + ((VIState*)succstate->PlannerSpecificData)->Pc = action->SuccsProb[i] * + ((VIState*)state->PlannerSpecificData)->Pc; + PolVal += ((VIState*)succstate->PlannerSpecificData)->Pc * action->Costs[i]; + } + } + if (!bPrintStatOnly) SBPL_FPRINTF(fPolicy, "\n"); + } + }//while worklist not empty + SBPL_PRINTF("done\n"); + + //now evaluate the policy + double PolicyValue = -1; + bool bFullPolicy = false; + double Pcgoal = -1; + int nMerges = 0; + EvaluatePolicy(&PolicyforEvaluation, viPlanner.StartState->StateID, viPlanner.GoalState->StateID, &PolicyValue, + &bFullPolicy, &Pcgoal, &nMerges, &bCycles); + + SBPL_PRINTF("Policy value = %f FullPolicy=%d Merges=%d Cycles=%d\n", PolicyValue, bFullPolicy, nMerges, bCycles); + + if (!bFullPolicy) SBPL_PRINTF("WARN: POLICY IS ONLY PARTIAL\n"); + if (fabs(PolicyValue - ((VIState*)(viPlanner.StartState->PlannerSpecificData))->v) > MDP_ERRDELTA) { + SBPL_PRINTF("WARN: POLICY VALUE IS NOT CORRECT\n"); + } + + if (!bPrintStatOnly) + SBPL_FPRINTF(fPolicy, + "backups=%d runtime=%f vstart=%f policyvalue=%f fullpolicy=%d Pc(goal)=%f nMerges=%d bCyc=%d\n", + g_backups, (double)g_runtime / CLOCKS_PER_SEC, + ((VIState*)(viPlanner.StartState->PlannerSpecificData))->v, PolicyValue, bFullPolicy, Pcgoal, + nMerges, bCycles); + else + SBPL_FPRINTF(fPolicy, "%d %f %f %f %d %f %d %d\n", g_backups, (double)g_runtime / CLOCKS_PER_SEC, + ((VIState*)(viPlanner.StartState->PlannerSpecificData))->v, PolicyValue, bFullPolicy, Pcgoal, + nMerges, bCycles); +} + +void VIPlanner::backup(CMDPSTATE* state) +{ + int aind, oind; + CMDPSTATE* succstate; + + g_backups++; + + if (state == viPlanner.GoalState) { + ((VIState*)(state->PlannerSpecificData))->bestnextaction = NULL; + ((VIState*)(state->PlannerSpecificData))->v = 0; + return; + } + + //iterate through actions + double minactionQ = INFINITECOST; + CMDPACTION* minaction = NULL; + for (aind = 0; aind < (int)state->Actions.size(); aind++) { + double actionQ = 0; + CMDPACTION* action = state->Actions[aind]; + for (oind = 0; oind < (int)action->SuccsID.size(); oind++) { + succstate = GetState(action->SuccsID[oind]); + actionQ += action->SuccsProb[oind] * (action->Costs[oind] + + ((VIState*)(succstate->PlannerSpecificData))->v); + } + + if (minaction == NULL || actionQ < minactionQ) { + minactionQ = actionQ; + minaction = action; + } + } + + if (((VIState*)state->PlannerSpecificData)->bestnextaction == NULL) + g_belldelta = INFINITECOST; + else if (g_belldelta < fabs(((VIState*)state->PlannerSpecificData)->v - minactionQ)) + g_belldelta = fabs(((VIState*)state->PlannerSpecificData)->v - minactionQ); + + //set state values + ((VIState*)state->PlannerSpecificData)->bestnextaction = minaction; + ((VIState*)state->PlannerSpecificData)->v = (float)minactionQ; +} + +void VIPlanner::perform_iteration_backward() +{ + CMDPSTATE* state; + vector Worklist; + int aind, oind; + + //initialize the worklist + Worklist.push_back(viPlanner.GoalState->StateID); + + //backup all the states + while ((int)Worklist.size() > 0) { + //get the next state to process + state = GetState(Worklist[Worklist.size() - 1]); + Worklist.pop_back(); + + //add all actions to the state + if ((int)state->Actions.size() == 0) environment_->SetAllActionsandAllOutcomes(state); + + //backup the state + backup(state); + + //insert all the not yet processed successors into the worklist + for (aind = 0; aind < (int)state->Actions.size(); aind++) { + CMDPACTION* action = state->Actions[aind]; + for (oind = 0; oind < (int)action->SuccsID.size(); oind++) { + CMDPSTATE* succstate = GetState(action->SuccsID[oind]); + + //skip if already was in the queue + if ((int)((VIState*)succstate->PlannerSpecificData)->iteration != viPlanner.iteration) { + Worklist.push_back(succstate->StateID); + + //mark it + ((VIState*)succstate->PlannerSpecificData)->iteration = viPlanner.iteration; + } + } + } + + //it is not necessary to process the predecessors of the start state + if (state == viPlanner.StartState) continue; + + //add all predecessor ids to the state + if ((int)state->PredsID.size() == 0) environment_->SetAllPreds(state); + //insert all the not yet processed predecessors into the worklist + for (int pind = 0; pind < (int)state->PredsID.size(); pind++) { + CMDPSTATE* PredState = GetState(state->PredsID[pind]); + + //skip if already was in the queue + if ((int)((VIState*)PredState->PlannerSpecificData)->iteration != viPlanner.iteration) { + Worklist.push_back(PredState->StateID); + + //mark it + ((VIState*)PredState->PlannerSpecificData)->iteration = viPlanner.iteration; + } + } + } //until empty worklist +} + +void VIPlanner::perform_iteration_forward() +{ + CMDPSTATE* state = NULL; + vector Worklist; + int aind, oind; + + //initialize the worklist + Worklist.push_back(viPlanner.StartState); + + //backup all the states + while ((int)Worklist.size() > 0) { + //get the next state to process from the front + state = Worklist[Worklist.size() - 1]; + //Env_PrintState(state->StateID); + Worklist.pop_back(); + + //add all actions to the state + if ((int)state->Actions.size() == 0) environment_->SetAllActionsandAllOutcomes(state); + + //backup the state + backup(state); + + //insert all the not yet processed successors into the worklist + for (aind = 0; aind < (int)state->Actions.size(); aind++) { + //CMDPACTION* action = state->Actions[aind]; + CMDPACTION* action = ((VIState*)state->PlannerSpecificData)->bestnextaction; + for (oind = 0; action != NULL && oind < (int)action->SuccsID.size(); oind++) { + CMDPSTATE* succstate = GetState(action->SuccsID[oind]); + + //skip if already was in the queue + if ((int)((VIState*)succstate->PlannerSpecificData)->iteration != viPlanner.iteration) { + Worklist.push_back(succstate); + + //mark it + ((VIState*)succstate->PlannerSpecificData)->iteration = viPlanner.iteration; + } + } + } + } //until empty worklist +} + +void VIPlanner::InitializePlanner() +{ + viPlanner.iteration = 0; + + //create and set up goal and start states + viPlanner.StartState = GetState(MDPCfg_->startstateid); + viPlanner.GoalState = GetState(MDPCfg_->goalstateid); +} + +//the planning entry point +//returns 1 if path is found, 0 otherwise +int VIPlanner::replan(double allocatedtime, vector* solution_stateIDs_V) +{ +#ifndef ROS + const char* policy = "policy.txt"; + const char* stat = "stat.txt"; +#endif + FILE* fPolicy = SBPL_FOPEN(policy, "w"); + FILE* fStat = SBPL_FOPEN(stat, "w"); + + //initialization + InitializePlanner(); + + //start the timer + clock_t starttime = clock(); + + //--------------iterate------------------------------- + while (((clock() - starttime) / (double)CLOCKS_PER_SEC) < allocatedtime && g_belldelta > MDP_ERRDELTA) { + viPlanner.iteration++; + + g_belldelta = 0; + perform_iteration_forward(); + + if (viPlanner.iteration % 100 == 0) { + PrintStat(stdout, starttime); + PrintStat(fStat, starttime); + } + } + //------------------------------------------------------------------ + + g_runtime = clock() - starttime; + + PrintStat(stdout, starttime); + PrintStat(fStat, starttime); + SBPL_FFLUSH(fStat); + + PrintPolicy(fPolicy); + + SBPL_FCLOSE(fPolicy); + SBPL_FCLOSE(fStat); + + return 1; +} + diff --git a/navigations/sbpl/src/test/env1.cfg b/navigations/sbpl/src/test/env1.cfg new file mode 100755 index 0000000..1fa7219 --- /dev/null +++ b/navigations/sbpl/src/test/env1.cfg @@ -0,0 +1,19 @@ +discretization(cells): 15 15 +start(cells): 0 0 +end(cells): 14 14 +environment: +0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 +0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 +0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 +0 0 0 0 0 0 1 1 1 1 1 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 +1 1 1 1 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 diff --git a/navigations/sbpl/src/test/env1.cfg.out.valid b/navigations/sbpl/src/test/env1.cfg.out.valid new file mode 100755 index 0000000..154dfae --- /dev/null +++ b/navigations/sbpl/src/test/env1.cfg.out.valid @@ -0,0 +1,23 @@ +X=0 Y=0 +X=1 Y=1 +X=2 Y=2 +X=3 Y=3 +X=4 Y=4 +X=5 Y=5 +X=6 Y=5 +X=7 Y=5 +X=8 Y=5 +X=9 Y=5 +X=10 Y=5 +X=11 Y=5 +X=12 Y=5 +X=12 Y=6 +X=12 Y=7 +X=12 Y=8 +X=12 Y=9 +X=13 Y=10 +X=13 Y=11 +X=13 Y=12 +X=14 Y=13 +the state is a goal state +X=14 Y=14 diff --git a/navigations/sbpl/src/test/main.cpp b/navigations/sbpl/src/test/main.cpp new file mode 100755 index 0000000..4900f63 --- /dev/null +++ b/navigations/sbpl/src/test/main.cpp @@ -0,0 +1,1610 @@ +/* + * 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. + */ +#include +#include +#include +#include +#include + +using namespace std; + +#include + +enum PlannerType +{ + INVALID_PLANNER_TYPE = -1, + PLANNER_TYPE_ADSTAR, + PLANNER_TYPE_ARASTAR, + PLANNER_TYPE_PPCP, + PLANNER_TYPE_RSTAR, + PLANNER_TYPE_VI, + PLANNER_TYPE_ANASTAR, + + NUM_PLANNER_TYPES +}; + +std::string PlannerTypeToStr(PlannerType plannerType) +{ + switch (plannerType) { + case PLANNER_TYPE_ADSTAR: + return std::string("adstar"); + case PLANNER_TYPE_ARASTAR: + return std::string("arastar"); + case PLANNER_TYPE_PPCP: + return std::string("ppcp"); + case PLANNER_TYPE_RSTAR: + return std::string("rstar"); + case PLANNER_TYPE_VI: + return std::string("vi"); + case PLANNER_TYPE_ANASTAR: + return std::string("anastar"); + default: + return std::string("invalid"); + } +} + +PlannerType StrToPlannerType(const char* str) +{ + if (!strcmp(str, "adstar")) { + return PLANNER_TYPE_ADSTAR; + } + else if (!strcmp(str, "arastar")) { + return PLANNER_TYPE_ARASTAR; + } + else if (!strcmp(str, "ppcp")) { + return PLANNER_TYPE_PPCP; + } + else if (!strcmp(str, "rstar")) { + return PLANNER_TYPE_RSTAR; + } + else if (!strcmp(str, "vi")) { + return PLANNER_TYPE_VI; + } + else if (!strcmp(str, "anastar")) { + return PLANNER_TYPE_ANASTAR; + } + else { + return INVALID_PLANNER_TYPE; + } +} + +enum EnvironmentType +{ + INVALID_ENV_TYPE = -1, ENV_TYPE_2D, ENV_TYPE_2DUU, ENV_TYPE_XYTHETA, ENV_TYPE_XYTHETAMLEV, ENV_TYPE_ROBARM, + + NUM_ENV_TYPES +}; + +std::string EnvironmentTypeToStr(EnvironmentType environmentType) +{ + switch (environmentType) { + case ENV_TYPE_2D: + return std::string("2d"); + case ENV_TYPE_2DUU: + return std::string("2duu"); + case ENV_TYPE_XYTHETA: + return std::string("xytheta"); + case ENV_TYPE_XYTHETAMLEV: + return std::string("xythetamlev"); + case ENV_TYPE_ROBARM: + return std::string("robarm"); + default: + return std::string("invalid"); + } +} + +EnvironmentType StrToEnvironmentType(const char* str) +{ + if (!strcmp(str, "2d")) { + return ENV_TYPE_2D; + } + else if (!strcmp(str, "2duu")) { + return ENV_TYPE_2DUU; + } + else if (!strcmp(str, "xytheta")) { + return ENV_TYPE_XYTHETA; + } + else if (!strcmp(str, "xythetamlev")) { + return ENV_TYPE_XYTHETAMLEV; + } + else if (!strcmp(str, "robarm")) { + return ENV_TYPE_ROBARM; + } + else { + return INVALID_ENV_TYPE; + } +} + +enum MainResultType +{ + INVALID_MAIN_RESULT = -1, + + MAIN_RESULT_SUCCESS = 0, + MAIN_RESULT_FAILURE = 1, + MAIN_RESULT_INSUFFICIENT_ARGS = 2, + MAIN_RESULT_INCORRECT_OPTIONS = 3, + MAIN_RESULT_UNSUPPORTED_ENV = 4, + + NUM_MAIN_RESULTS +}; + +/******************************************************************************* + * PrintUsage - Prints the proper usage of the sbpl test executable. + * + * @param argv The command-line arguments; used to determine the name of the + * test executable. + *******************************************************************************/ +void PrintUsage(char *argv[]) +{ + printf("USAGE: %s [-s] [--env=] [--planner=] [--search-dir=] [mot prims]\n", + argv[0]); + printf("See '%s -h' for help.\n", argv[0]); +} + +/******************************************************************************* + * PrintHelp - Prints a help prompt to the command line when the -h option is + * used. + * + * @param argv The command line arguments; used to determine the name of the + * test executable + *******************************************************************************/ +void PrintHelp(char** argv) +{ + printf("\n"); + printf("Search-Based Planning Library\n"); + printf("\n"); + printf(" %s -h\n", argv[0]); + printf(" %s [-s] [--env=] [--planner=] [--search-dir=] [mot prim]\n", + argv[0]); + printf("\n"); + printf("[-s] (optional) Find a solution for an example navigation\n"); + printf(" scenario where the robot only identifies obstacles as\n"); + printf(" it approaches them.\n"); + printf("[--env=] (optional) Select an environment type to choose what\n"); + printf(" example to run. The default is \"xytheta\".\n"); + printf(" One of 2d, xytheta, xythetamlev, robarm.\n"); + printf("[--planner=] (optional) Select a planner to use for the example.\n"); + printf(" The default is \"arastar\".\n"); + printf(" One of arastar, adstar, rstar, anastar.\n"); + printf("[--search-dir=] (optional) Select the type of search to run. The default\n"); + printf(" is \"backwards\".\n"); + printf(" One of backward, forward.\n"); + printf(" Config file representing the environment configuration.\n"); + printf(" See sbpl/env_examples/ for examples.\n"); + printf("[mot prim] (optional) Motion primitives file for x,y,theta lattice\n"); + printf(" planning. See sbpl/matlab/mprim/ for examples.\n"); + printf(" NOTE: resolution of motion primtives should match that\n"); + printf(" of the config file.\n"); + printf(" NOTE: optional use of these for x,y,theta planning is\n"); + printf(" deprecated.\n"); + printf("\n"); +} + +/******************************************************************************* + * CheckIsNavigating + * @brief Returns whether the -s option is being used. + * + * @param numOptions The number of options passed through the command line + * @param argv The command-line arguments + * @return whether the -s option was passed in on the cmd line + *******************************************************************************/ +bool CheckIsNavigating(int numOptions, char** argv) +{ + for (int i = 1; i < numOptions + 1; i++) { + if (strcmp(argv[i], "-s") == 0) { + return true; + } + } + return false; +} + +/******************************************************************************* + * CheckSearchDirection - + * @brief Returns the search direction being used + * + * @param numOptions The number of options passed through the command line + * @param argv The command-line arguments + * @return A string representing the search direction; "backward" by default + ******************************************************************************/ +std::string CheckSearchDirection(int numOptions, char** argv) +{ + int optionLength = strlen("--search-dir="); + for (int i = 1; i < numOptions + 1; i++) { + if (strncmp("--search-dir=", argv[i], optionLength) == 0) { + std::string s(&argv[i][optionLength]); + return s; + } + } + return std::string("backward"); +} + +/******************************************************************************* + * CheckEnvironmentType + * @brief Returns the environment being used + * + * @param numOptions The number of options passed through the command line + * @param argv The command-line arguments + * @return A string denoting the environment type; "xytheta" by default + *******************************************************************************/ +std::string CheckEnvironmentType(int numOptions, char** argv) +{ + int optionLength = strlen("--env="); + for (int i = 1; i < numOptions + 1; i++) { + if (strncmp("--env=", argv[i], optionLength) == 0) { + std::string s(&argv[i][optionLength]); + return s; + } + } + return std::string("xytheta"); +} + +/******************************************************************************* + * CheckPlannerType - Checks for a planner specifier passed in through the + * command line. This determines what planner to run in + * the example. If none is found, ARA* is assumed. + * + * @param numOptions The number of options passed through the command line + * @param argv The command-line arguments + * @return A string denoting the planner type; "arastar" by default + ******************************************************************************/ +std::string CheckPlannerType(int numOptions, char** argv) +{ + int optionLength = strlen("--planner="); + for (int i = 1; i < numOptions + 1; i++) { + if (strncmp("--planner=", argv[i], optionLength) == 0) { + std::string s(&argv[i][optionLength]); + return s; + } + } + return std::string("arastar"); +} + +/******************************************************************************* + * plan2d + * @brief An example of planning in two-dimensional space without motion primitives. + * + * @param plannerType The type of planner to be used in this example + * @param envCfgFilename The environment config file. See + * sbpl/env_examples/nav2d/ for examples + * @return 1 if the planner successfully found a solution; 0 otherwise + *******************************************************************************/ +int plan2d(PlannerType plannerType, char* envCfgFilename, bool forwardSearch) +{ + int bRet = 0; + double allocated_time_secs = 100.0; // in seconds + double initialEpsilon = 3.0; + MDPConfig MDPCfg; + bool bsearchuntilfirstsolution = false; + bool bforwardsearch = forwardSearch; + + // Initialize Environment (should be called before initializing anything else) + EnvironmentNAV2D environment_nav2D; + if (!environment_nav2D.InitializeEnv(envCfgFilename)) { + throw SBPL_Exception("ERROR: InitializeEnv failed"); + } + + // Initialize MDP Info + if (!environment_nav2D.InitializeMDPCfg(&MDPCfg)) { + throw SBPL_Exception("ERROR: InitializeMDPCfg failed"); + } + + // plan a path + vector solution_stateIDs_V; + + SBPLPlanner* planner = NULL; + switch (plannerType) { + case PLANNER_TYPE_ARASTAR: + printf("Initializing ARAPlanner...\n"); + planner = new ARAPlanner(&environment_nav2D, bforwardsearch); + break; + case PLANNER_TYPE_ADSTAR: + printf("Initializing ADPlanner...\n"); + planner = new ADPlanner(&environment_nav2D, bforwardsearch); + break; + case PLANNER_TYPE_RSTAR: + printf("Initializing RSTARPlanner...\n"); + planner = new RSTARPlanner(&environment_nav2D, bforwardsearch); + break; + case PLANNER_TYPE_ANASTAR: + printf("Initializing anaPlanner...\n"); + planner = new anaPlanner(&environment_nav2D, bforwardsearch); + break; + default: + printf("Invalid planner type\n"); + break; + } + + // set search mode + planner->set_search_mode(bsearchuntilfirstsolution); + + if (planner->set_start(MDPCfg.startstateid) == 0) { + throw SBPL_Exception("ERROR: failed to set start state"); + } + + if (planner->set_goal(MDPCfg.goalstateid) == 0) { + throw SBPL_Exception("ERROR: failed to set goal state"); + } + + planner->set_initialsolution_eps(initialEpsilon); + + printf("start planning...\n"); + bRet = planner->replan(allocated_time_secs, &solution_stateIDs_V); + printf("done planning\n"); + std::cout << "size of solution=" << solution_stateIDs_V.size() << std::endl; + + environment_nav2D.PrintTimeStat(stdout); + + const char* sol = "sol.txt"; + FILE* fSol = fopen(sol, "w"); + if (fSol == NULL) { + throw SBPL_Exception("ERROR: could not open solution file"); + } + for (unsigned int i = 0; i < solution_stateIDs_V.size(); i++) { + environment_nav2D.PrintState(solution_stateIDs_V[i], false, fSol); + } + fclose(fSol); + + environment_nav2D.PrintTimeStat(stdout); + + //print a path + if (bRet) { + //print the solution + printf("Solution is found\n"); + } + else { + printf("Solution does not exist\n"); + } + + fflush(NULL); + + delete planner; + + return bRet; +} + +/******************************************************************************* + * plan2duu + * @brief An examle of planning in two-dimensional space and under uncertainty. + * + * @param plannerType The type of planner to be used in this example + * @param envCfgFilename The environment config file. See + * sbpl/env_examples/nav2duu/ for examples + * @return 1 if the planner successfully found a solution; 0 otherwise + *******************************************************************************/ +int plan2duu(PlannerType plannerType, char* envCfgFilename) +{ + int bRet = 0; + double allocated_time_secs = 10.0; //in seconds + MDPConfig MDPCfg; + + //Initialize Environment (should be called before initializing anything else) + EnvironmentNAV2DUU environment_nav2Duu; + if (!environment_nav2Duu.InitializeEnv(envCfgFilename)) { + throw SBPL_Exception("ERROR: InitializeEnv failed"); + } + + //Initialize MDP Info + if (!environment_nav2Duu.InitializeMDPCfg(&MDPCfg)) { + throw SBPL_Exception("ERROR: InitializeMDPCfg failed"); + } + + //create the planner + PPCPPlanner planner(&environment_nav2Duu, environment_nav2Duu.SizeofCreatedEnv(), environment_nav2Duu.SizeofH()); + + //set start and goal + if (planner.set_start(MDPCfg.startstateid) == 0) { + throw SBPL_Exception("ERROR: failed to set start state"); + } + if (planner.set_goal(MDPCfg.goalstateid) == 0) { + throw SBPL_Exception("ERROR: failed to set goal state"); + } + + printf("start planning...\n"); + float ExpectedCost, ProbofReachGoal; + vector SolutionPolicy; + bRet = planner.replan(allocated_time_secs, &SolutionPolicy, &ExpectedCost, &ProbofReachGoal); + printf("done planning\n"); + + if (bRet) { + //print the solution + printf("Solution is found: exp. cost=%f probofreachgoal=%f\n", ExpectedCost, ProbofReachGoal); + } + else { + printf("Solution does not exist\n"); + } + + fflush(NULL); + + return bRet; +} + +/******************************************************************************* + * planxythetalat + * @brief An example of planning in three-dimensional space (x,y,theta) + * + * @param plannerType The type of planner to be used in this example + * @param envCfgFilename The environment config file. See + * sbpl/env_examples/nav3d/ for examples + * @param motPrimFilename The motion primitives file. See + * sbpl/matlab/mprim/ for examples + * @return 1 if the planner successfully found a solution; 0 otherwise + *******************************************************************************/ +int planxythetalat(PlannerType plannerType, char* envCfgFilename, char* motPrimFilename, bool forwardSearch) +{ + int bRet = 0; + double allocated_time_secs = 10.0; // in seconds + double initialEpsilon = 3.0; + MDPConfig MDPCfg; + bool bsearchuntilfirstsolution = false; + bool bforwardsearch = forwardSearch; + + // set the perimeter of the robot (it is given with 0,0,0 robot ref. point for which planning is done) + vector perimeterptsV; + sbpl_2Dpt_t pt_m; + double halfwidth = 0.01; //0.3; + double halflength = 0.01; //0.45; + pt_m.x = -halflength; + pt_m.y = -halfwidth; + perimeterptsV.push_back(pt_m); + pt_m.x = halflength; + pt_m.y = -halfwidth; + perimeterptsV.push_back(pt_m); + pt_m.x = halflength; + pt_m.y = halfwidth; + perimeterptsV.push_back(pt_m); + pt_m.x = -halflength; + pt_m.y = halfwidth; + perimeterptsV.push_back(pt_m); + + // clear the footprint + perimeterptsV.clear(); + + // Initialize Environment (should be called before initializing anything else) + EnvironmentNAVXYTHETALAT environment_navxythetalat; + + if (!environment_navxythetalat.InitializeEnv(envCfgFilename, perimeterptsV, motPrimFilename)) { + throw SBPL_Exception("ERROR: InitializeEnv failed"); + } + + // Initialize MDP Info + if (!environment_navxythetalat.InitializeMDPCfg(&MDPCfg)) { + throw SBPL_Exception("ERROR: InitializeMDPCfg failed"); + } + + // plan a path + vector solution_stateIDs_V; + + SBPLPlanner* planner = NULL; + switch (plannerType) { + case PLANNER_TYPE_ARASTAR: + printf("Initializing ARAPlanner...\n"); + planner = new ARAPlanner(&environment_navxythetalat, bforwardsearch); + break; + case PLANNER_TYPE_ADSTAR: + printf("Initializing ADPlanner...\n"); + planner = new ADPlanner(&environment_navxythetalat, bforwardsearch); + break; + case PLANNER_TYPE_RSTAR: + printf("Invalid configuration: xytheta environment does not support rstar planner...\n"); + return 0; + case PLANNER_TYPE_ANASTAR: + printf("Initializing anaPlanner...\n"); + planner = new anaPlanner(&environment_navxythetalat, bforwardsearch); + break; + default: + printf("Invalid planner type\n"); + break; + } + + // set planner properties + if (planner->set_start(MDPCfg.startstateid) == 0) { + printf("ERROR: failed to set start state\n"); + throw SBPL_Exception("ERROR: failed to set start state"); + } + if (planner->set_goal(MDPCfg.goalstateid) == 0) { + printf("ERROR: failed to set goal state\n"); + throw SBPL_Exception("ERROR: failed to set goal state"); + } + planner->set_initialsolution_eps(initialEpsilon); + planner->set_search_mode(bsearchuntilfirstsolution); + + // plan + printf("start planning...\n"); + bRet = planner->replan(allocated_time_secs, &solution_stateIDs_V); + printf("done planning\n"); + printf("size of solution=%d\n", (unsigned int)solution_stateIDs_V.size()); + + environment_navxythetalat.PrintTimeStat(stdout); + + // write solution to sol.txt + const char* sol = "sol.txt"; + FILE* fSol = fopen(sol, "w"); + if (fSol == NULL) { + throw SBPL_Exception("ERROR: could not open solution file"); + } + + // write the discrete solution to file + for (size_t i = 0; i < solution_stateIDs_V.size(); i++) { + int x; + int y; + int theta; + environment_navxythetalat.GetCoordFromState(solution_stateIDs_V[i], x, y, theta); + fprintf(fSol, "%d %d %d\t\t%.3f %.3f %.3f\n", x, y, theta, DISCXY2CONT(x, 0.1), DISCXY2CONT(y, 0.1), DiscTheta2Cont(theta, 16)); + } + + // write the continuous solution to file + vector xythetaPath; + environment_navxythetalat.ConvertStateIDPathintoXYThetaPath(&solution_stateIDs_V, &xythetaPath); + printf("solution size=%d\n", (unsigned int)xythetaPath.size()); + for (unsigned int i = 0; i < xythetaPath.size(); i++) { + fprintf(fSol, "%.3f %.3f %.3f\n", xythetaPath.at(i).x, xythetaPath.at(i).y, xythetaPath.at(i).theta); + } + fclose(fSol); + + environment_navxythetalat.PrintTimeStat(stdout); + + // print a path + if (bRet) { + // print the solution + printf("Solution is found\n"); + } + else { + printf("Solution does not exist\n"); + } + + fflush(NULL); + + delete planner; + + return bRet; +} + +/******************************************************************************* + * planxythetamlevlat + * @brief An example of planning with a multiple-level (x,y,theta) lattice + * + * @desc An example of planning with a multiple-level x,y,theta lattice (for + * example, a base and upper body). There are no additional degrees of + * freedom but each level may have a different footprint and should be + * checked against a corresponding costmap at its height. Useful for doing + * navigation of a tall ground robot operating in a cluttered 3d map. + * @param plannerType The type of planner to be used in this example + * @param envCfgFilename The environment config file. See + * sbpl/env_examples/nav3d/ for examples + * @param motPrimFilename The motion primitives file. See + * sbpl/matlab/mprim/ for examples + * @return 1 if the planner successfully found a solution; 0 otherwise + *******************************************************************************/ +int planxythetamlevlat(PlannerType plannerType, char* envCfgFilename, char* motPrimFilename, bool forwardSearch) +{ + int bRet = 0; + + double allocated_time_secs = 10.0; //in seconds + double initialEpsilon = 3.0; + MDPConfig MDPCfg; + bool bsearchuntilfirstsolution = false; + bool bforwardsearch = forwardSearch; + + //set the perimeter of the robot (it is given with 0,0,0 robot ref. point for which planning is done) + //this is for the default level - base level + vector perimeterptsV; + sbpl_2Dpt_t pt_m; + double halfwidth = 0.02; //0.3; + double halflength = 0.02; //0.45; + pt_m.x = -halflength; + pt_m.y = -halfwidth; + perimeterptsV.push_back(pt_m); + pt_m.x = halflength; + pt_m.y = -halfwidth; + perimeterptsV.push_back(pt_m); + pt_m.x = halflength; + pt_m.y = halfwidth; + perimeterptsV.push_back(pt_m); + pt_m.x = -halflength; + pt_m.y = halfwidth; + perimeterptsV.push_back(pt_m); + + //Initialize Environment (should be called before initializing anything else) + EnvironmentNAVXYTHETAMLEVLAT environment_navxythetalat; + + if (!environment_navxythetalat.InitializeEnv(envCfgFilename, perimeterptsV, motPrimFilename)) { + throw SBPL_Exception("ERROR: InitializeEnv failed"); + } + + //this is for the second level - upper body level + vector perimeterptsVV[2]; + perimeterptsVV[0].clear(); + halfwidth = 0.02; + halflength = 0.02; + pt_m.x = -halflength; + pt_m.y = -halfwidth; + perimeterptsVV[0].push_back(pt_m); + pt_m.x = halflength; + pt_m.y = -halfwidth; + perimeterptsVV[0].push_back(pt_m); + pt_m.x = halflength; + pt_m.y = halfwidth; + perimeterptsVV[0].push_back(pt_m); + pt_m.x = -halflength; + pt_m.y = halfwidth; + perimeterptsVV[0].push_back(pt_m); + + // perimeterptsV.clear(); + // perimeterptsVV[0].clear(); + + //enable the second level + int numofaddlevels = 1; + printf("Number of additional levels = %d\n", numofaddlevels); + unsigned char cost_inscribed_thresh_addlevels[2]; //size should be at least numofaddlevels + unsigned char cost_possibly_circumscribed_thresh_addlevels[2]; //size should be at least numofaddlevels + //no costs are indicative of whether a cell is within inner circle + cost_inscribed_thresh_addlevels[0] = 255; + //no costs are indicative of whether a cell is within outer circle + cost_possibly_circumscribed_thresh_addlevels[0] = 0; + //no costs are indicative of whether a cell is within inner circle + cost_inscribed_thresh_addlevels[1] = 255; + //no costs are indicative of whether a cell is within outer circle + cost_possibly_circumscribed_thresh_addlevels[1] = 0; + if (!environment_navxythetalat.InitializeAdditionalLevels(numofaddlevels, perimeterptsVV, + cost_inscribed_thresh_addlevels, + cost_possibly_circumscribed_thresh_addlevels)) + { + std::stringstream ss("ERROR: InitializeAdditionalLevels failed with numofaddlevels="); + ss << numofaddlevels; + throw SBPL_Exception(ss.str()); + } + + //set the map for the second level (index parameter for the additional levels and is zero based) + //for this example, we pass in the same map as the map for the base. In general, it can be a totally different map + //as it corresponds to a different level + //NOTE: this map has to have costs set correctly with respect to inner and outer radii of the robot + //if the second level of the robot has these radii different than at the base level, then costs + //should reflect this + //(see explanation for cost_possibly_circumscribed_thresh and + //cost_inscribed_thresh parameters in environment_navxythetalat.h file) + int addlevind = 0; + if (!environment_navxythetalat.Set2DMapforAddLev( + (const unsigned char**)(environment_navxythetalat.GetEnvNavConfig()->Grid2D), addlevind)) + { + std::stringstream ss("ERROR: Setting Map for the Additional Level failed with level "); + ss << addlevind; + throw SBPL_Exception(ss.str()); + } + + // Initialize MDP Info + if (!environment_navxythetalat.InitializeMDPCfg(&MDPCfg)) { + throw SBPL_Exception("ERROR: InitializeMDPCfg failed"); + } + + // plan a path + vector solution_stateIDs_V; + + SBPLPlanner* planner = NULL; + switch (plannerType) { + case PLANNER_TYPE_ARASTAR: + printf("Initializing ARAPlanner...\n"); + planner = new ARAPlanner(&environment_navxythetalat, bforwardsearch); + break; + case PLANNER_TYPE_ADSTAR: + printf("Initializing ADPlanner...\n"); + planner = new ADPlanner(&environment_navxythetalat, bforwardsearch); + break; + case PLANNER_TYPE_RSTAR: + printf("Invalid configuration: xytheta environment does not support rstar planner...\n"); + return 0; + case PLANNER_TYPE_ANASTAR: + printf("Initializing anaPlanner...\n"); + planner = new anaPlanner(&environment_navxythetalat, bforwardsearch); + break; + default: + printf("Invalid planner type\n"); + break; + } + + if (planner->set_start(MDPCfg.startstateid) == 0) { + printf("ERROR: failed to set start state\n"); + throw SBPL_Exception("ERROR: failed to set start state"); + } + + if (planner->set_goal(MDPCfg.goalstateid) == 0) { + printf("ERROR: failed to set goal state\n"); + throw SBPL_Exception("ERROR: failed to set goal state"); + } + planner->set_initialsolution_eps(initialEpsilon); + + //set search mode + planner->set_search_mode(bsearchuntilfirstsolution); + + printf("start planning...\n"); + bRet = planner->replan(allocated_time_secs, &solution_stateIDs_V); + printf("done planning\n"); + std::cout << "size of solution=" << solution_stateIDs_V.size() << std::endl; + + environment_navxythetalat.PrintTimeStat(stdout); + + const char* sol = "sol.txt"; + FILE* fSol = fopen(sol, "w"); + if (fSol == NULL) { + printf("ERROR: could not open solution file\n"); + throw SBPL_Exception("ERROR: could not open solution file"); + } + vector xythetaPath; + environment_navxythetalat.ConvertStateIDPathintoXYThetaPath(&solution_stateIDs_V, &xythetaPath); + printf("solution size=%d\n", (unsigned int)xythetaPath.size()); + for (unsigned int i = 0; i < xythetaPath.size(); i++) { + fprintf(fSol, "%.3f %.3f %.3f\n", xythetaPath.at(i).x, xythetaPath.at(i).y, xythetaPath.at(i).theta); + } + fclose(fSol); + + environment_navxythetalat.PrintTimeStat(stdout); + + //print a path + if (bRet) { + //print the solution + printf("Solution is found\n"); + } + else { + printf("Solution does not exist\n"); + } + + fflush(NULL); + + delete planner; + + return bRet; +} + +/******************************************************************************* + * planandnavigate2d + * @brief An example simulation of how a robot would use two-dimensional + * environment planning. + * + * @param planner The planner to be used in this example + * @param envCfgFilename The environment config file. See + * sbpl/env_examples/nav2d/ for examples + *******************************************************************************/ +int planandnavigate2d(PlannerType plannerType, char* envCfgFilename) +{ + double allocated_time_secs_foreachplan = 0.2; //in seconds + MDPConfig MDPCfg; + EnvironmentNAV2D environment_nav2D; + EnvironmentNAV2D trueenvironment_nav2D; + int size_x = -1, size_y = -1; + int startx = 0, starty = 0; + int goalx = -1, goaly = -1; + const char* sol = "sol.txt"; + FILE* fSol = fopen(sol, "w"); + if (fSol == NULL) { + throw SBPL_Exception("ERROR: could not open solution file"); + } + //int dx[8] = {-1, -1, -1, 0, 0, 1, 1, 1}; + //int dy[8] = {-1, 0, 1, -1, 1, -1, 0, 1}; + bool bPrint = false; + int x, y; + vector preds_of_changededgesIDV; + vector changedcellsV; + nav2dcell_t nav2dcell; + unsigned char obsthresh = 0; + srand(0); + int plantime_over1secs = 0, plantime_over0p5secs = 0, plantime_over0p1secs = 0, plantime_over0p05secs = 0, + plantime_below0p05secs = 0; + + //set parameters - should be done before initialization + if (!trueenvironment_nav2D.SetEnvParameter("is16connected", 1)) { + throw SBPL_Exception("ERROR: failed to set parameters"); + } + if (!environment_nav2D.SetEnvParameter("is16connected", 1)) { + throw SBPL_Exception("ERROR: failed to set parameters"); + } + + //initialize true map and robot map + if (!trueenvironment_nav2D.InitializeEnv(envCfgFilename)) { + throw SBPL_Exception("ERROR: InitializeEnv failed"); + } + trueenvironment_nav2D.GetEnvParms(&size_x, &size_y, &startx, &starty, &goalx, &goaly, &obsthresh); + unsigned char* map = (unsigned char*)calloc(size_x * size_y, sizeof(unsigned char)); + + //print the map + if (bPrint) printf("true map:\n"); + for (y = 0; bPrint && y < size_y; y++) { + for (x = 0; x < size_x; x++) { + printf("%d ", (int)trueenvironment_nav2D.IsObstacle(x, y)); + } + printf("\n"); + } + if (bPrint) printf("System Pause (return=%d)\n", system("pause")); + + //Initialize Environment (should be called before initializing anything else) + if (!environment_nav2D.InitializeEnv(size_x, size_y, map, startx, starty, goalx, goaly, obsthresh)) { + throw SBPL_Exception("ERROR: InitializeEnv failed"); + } + + //Initialize MDP Info + if (!environment_nav2D.InitializeMDPCfg(&MDPCfg)) { + throw SBPL_Exception("ERROR: InitializeMDPCfg failed"); + } + + //create a planner + vector solution_stateIDs_V; + bool bforwardsearch = false; + + SBPLPlanner* planner = NULL; + switch (plannerType) { + case PLANNER_TYPE_ARASTAR: + printf("Initializing ARAPlanner...\n"); + planner = new ARAPlanner(&environment_nav2D, bforwardsearch); + break; + case PLANNER_TYPE_ADSTAR: + printf("Initializing ADPlanner...\n"); + planner = new ADPlanner(&environment_nav2D, bforwardsearch); + break; + case PLANNER_TYPE_RSTAR: + printf("Initializing RSTARPlanner...\n"); + planner = new RSTARPlanner(&environment_nav2D, bforwardsearch); + break; + case PLANNER_TYPE_ANASTAR: + printf("Initializing anaPlanner...\n"); + planner = new anaPlanner(&environment_nav2D, bforwardsearch); + break; + default: + printf("Invalid planner type\n"); + break; + } + + planner->set_initialsolution_eps(2.0); + + //set the start and goal configurations + if (planner->set_start(MDPCfg.startstateid) == 0) { + printf("ERROR: failed to set start state\n"); + throw SBPL_Exception("ERROR: failed to set start state"); + } + if (planner->set_goal(MDPCfg.goalstateid) == 0) { + printf("ERROR: failed to set goal state\n"); + throw SBPL_Exception("ERROR: failed to set goal state"); + } + + //set search mode + planner->set_search_mode(false); + + //now comes the main loop + int goalthresh = 0; + while (abs(startx - goalx) > goalthresh || abs(starty - goaly) > goalthresh) { + + //simulate sensor data update + bool bChanges = false; + preds_of_changededgesIDV.clear(); + changedcellsV.clear(); + + int dX = 0; + int dY = 0; + for (dX = -2; dX <= 2; dX++) { + for (dY = -2; dY <= 2; dY++) { + int x = startx + dX; + int y = starty + dY; + if (x < 0 || x >= size_x || y < 0 || y >= size_y) { + continue; + } + int index = x + y * size_x; + unsigned char truecost = trueenvironment_nav2D.GetMapCost(x, y); + if (map[index] != truecost) { + map[index] = truecost; + environment_nav2D.UpdateCost(x, y, map[index]); + printf("setting cost[%d][%d] to %d\n", x, y, map[index]); + bChanges = true; + // store the changed cells + nav2dcell.x = x; + nav2dcell.y = y; + changedcellsV.push_back(nav2dcell); + } + } + } + + double TimeStarted = clock(); + + if (bChanges) { + if (dynamic_cast (planner) != NULL) { + ((ARAPlanner*)planner)->costs_changed(); //use by ARA* planner (non-incremental) + } + else if (dynamic_cast (planner) != NULL) { + //get the affected states + environment_nav2D.GetPredsofChangedEdges(&changedcellsV, &preds_of_changededgesIDV); + //let know the incremental planner about them + ((ADPlanner*)planner)->update_preds_of_changededges(&preds_of_changededgesIDV); + } + } + //planner.force_planning_from_scratch(); + + fprintf(fSol, "%d %d ", startx, starty); + + //plan a path + bool bPlanExists = false; + while (bPlanExists == false) { + printf("new planning...\n"); + bPlanExists = (planner->replan(allocated_time_secs_foreachplan, &solution_stateIDs_V) == 1); + printf("done with the solution of size=%d\n", (unsigned int)solution_stateIDs_V.size()); + environment_nav2D.PrintTimeStat(stdout); + if (bPlanExists == false) { + throw SBPL_Exception(); + } + + //for(unsigned int i = 0; i < solution_stateIDs_V.size(); i++) { + //environment_nav2D.PrintState(solution_stateIDs_V[i], true, fSol); + //} + //fprintf(fSol, "*********\n"); + } + + double plantime_secs = (clock() - TimeStarted) / ((double)CLOCKS_PER_SEC); + fprintf(fSol, "%.5f %.5f\n", plantime_secs, planner->get_solution_eps()); + fflush(fSol); + if (plantime_secs > 1.0) + plantime_over1secs++; + else if (plantime_secs > 0.5) + plantime_over0p5secs++; + else if (plantime_secs > 0.1) + plantime_over0p1secs++; + else if (plantime_secs > 0.05) + plantime_over0p05secs++; + else + plantime_below0p05secs++; + + //print the map + int startindex = startx + starty * size_x; + int goalindex = goalx + goaly * size_x; + for (y = 0; bPrint && y < size_y; y++) { + for (x = 0; x < size_x; x++) { + int index = x + y * size_x; + + //check to see if it is on the path + bool bOnthePath = false; + for (int j = 1; j < (int)solution_stateIDs_V.size(); j++) { + int newx, newy; + environment_nav2D.GetCoordFromState(solution_stateIDs_V[j], newx, newy); + if (x == newx && y == newy) bOnthePath = true; + } + + if (index != startindex && index != goalindex && !bOnthePath) + printf("%3d ", map[index]); + else if (index == startindex) + printf(" R "); + else if (index == goalindex) + printf(" G "); + else if (bOnthePath) + printf(" * "); + else + printf(" ? "); + } + printf("\n"); + } + if (bPrint) printf("System Pause (return=%d)\n", system("pause")); + + //move along the path + if (bPlanExists && (int)solution_stateIDs_V.size() > 1) { + //get coord of the successor + int newx, newy; + environment_nav2D.GetCoordFromState(solution_stateIDs_V[1], newx, newy); + + if (trueenvironment_nav2D.GetMapCost(newx, newy) >= obsthresh) { + throw SBPL_Exception("ERROR: robot is commanded to move into an obstacle"); + } + + //move + printf("moving from %d %d to %d %d\n", startx, starty, newx, newy); + startx = newx; + starty = newy; + + //update the environment + environment_nav2D.SetStart(startx, starty); + + //update the planner + if (planner->set_start(solution_stateIDs_V[1]) == 0) { + throw SBPL_Exception("ERROR: failed to update robot pose in the planner"); + } + } + + } + + //print stats + printf("stats: plantimes over 1 secs=%d; over 0.5 secs=%d; over 0.1 secs=%d; " + "over 0.05 secs=%d; below 0.05 secs=%d\n", + plantime_over1secs, plantime_over0p5secs, plantime_over0p1secs, plantime_over0p05secs, + plantime_below0p05secs); + fprintf(fSol, "stats: plantimes over 1 secs=%d; over 0.5; secs=%d; over 0.1 secs=%d; " + "over 0.05 secs=%d; below 0.05 secs=%d\n", + plantime_over1secs, plantime_over0p5secs, plantime_over0p1secs, plantime_over0p05secs, + plantime_below0p05secs); + + if (bPrint) printf("System Pause (return=%d)\n", system("pause")); + + fflush(NULL); + fclose(fSol); + + delete planner; + + return 1; +} + +/******************************************************************************* + * planandnavigatexythetalat + * @brief An example simulation of how a robot would use (x,y,theta) lattice + * planning. + * + * @param envCfgFilename The environment config file. See + * sbpl/env_examples/nav3d/ for examples + *******************************************************************************/ +int planandnavigatexythetalat(PlannerType plannerType, char* envCfgFilename, char* motPrimFilename, bool forwardSearch) +{ + double allocated_time_secs_foreachplan = 10.0; // in seconds + double initialEpsilon = 3.0; + bool bsearchuntilfirstsolution = false; + bool bforwardsearch = forwardSearch; + + double goaltol_x = 0.001, goaltol_y = 0.001, goaltol_theta = 0.001; + + bool bPrint = false; + bool bPrintMap = true; + + EnvironmentNAVXYTHETALAT environment_navxythetalat; + EnvironmentNAVXYTHETALAT trueenvironment_navxythetalat; + + // set the perimeter of the robot + // it is given with 0, 0, 0 robot ref. point for which planning is done. + vector perimeterptsV; + sbpl_2Dpt_t pt_m; + double halfwidth = 0.01; + double halflength = 0.01; + pt_m.x = -halflength; + pt_m.y = -halfwidth; + perimeterptsV.push_back(pt_m); + pt_m.x = halflength; + pt_m.y = -halfwidth; + perimeterptsV.push_back(pt_m); + pt_m.x = halflength; + pt_m.y = halfwidth; + perimeterptsV.push_back(pt_m); + pt_m.x = -halflength; + pt_m.y = halfwidth; + perimeterptsV.push_back(pt_m); + + // perimeterptsV.clear(); + + // initialize true map from the environment file without perimeter or motion primitives + if (!trueenvironment_navxythetalat.InitializeEnv(envCfgFilename)) { + throw SBPL_Exception("ERROR: InitializeEnv failed"); + } + + // environment parameters + int size_x = -1, size_y = -1, num_thetas = -1; + double startx = -1, starty = -1, starttheta = -1; + double goalx = -1, goaly = -1, goaltheta = -1; + double cellsize_m = 0.0, nominalvel_mpersecs = 0.0, timetoturn45degsinplace_secs = 0.0; + unsigned char obsthresh = 0; + vector motionprimitiveV; + + // additional environment parameters + unsigned char costinscribed_thresh = 0; + unsigned char costcircum_thresh = 0; + + // get environment parameters from the true environment + trueenvironment_navxythetalat.GetEnvParms(&size_x, &size_y, &num_thetas, &startx, &starty, &starttheta, &goalx, + &goaly, &goaltheta, &cellsize_m, &nominalvel_mpersecs, + &timetoturn45degsinplace_secs, &obsthresh, &motionprimitiveV); + costinscribed_thresh = trueenvironment_navxythetalat.GetEnvParameter("cost_inscribed_thresh"); + costcircum_thresh = trueenvironment_navxythetalat.GetEnvParameter("cost_possibly_circumscribed_thresh"); + + // print the map + if (bPrintMap) { + printf("true map:\n"); + for (int y = 0; y < size_y; y++) { + for (int x = 0; x < size_x; x++) { + printf("%3d ", trueenvironment_navxythetalat.GetMapCost(x, y)); + } + printf("\n"); + } + printf("System Pause (return=%d)\n", system("pause")); + } + + // create an empty map + unsigned char* map = new unsigned char[size_x * size_y]; + for (int i = 0; i < size_x * size_y; i++) { + map[i] = 0; + } + + // check the start and goal obtained from the true environment + printf("start: %f %f %f, goal: %f %f %f\n", startx, starty, starttheta, goalx, goaly, goaltheta); + + // set robot environment parameters (should be done before initialize function is called) + if (!environment_navxythetalat.SetEnvParameter("cost_inscribed_thresh", costinscribed_thresh)) { + throw SBPL_Exception("ERROR: failed to set parameters"); + } + if (!environment_navxythetalat.SetEnvParameter("cost_possibly_circumscribed_thresh", costcircum_thresh)) { + throw SBPL_Exception("ERROR: failed to set parameters"); + } + + // initialize environment (should be called before initializing anything else) + EnvNAVXYTHETALAT_InitParms params; + params.startx = startx; + params.starty = starty; + params.starttheta = starttheta; + params.goalx = goalx; + params.goaly = goaly; + params.goaltheta = goaltheta; + params.goaltol_x = goaltol_x; + params.goaltol_y = goaltol_y; + params.goaltol_theta = goaltol_theta; + params.mapdata = map; + params.numThetas = num_thetas; + + bool envInitialized = environment_navxythetalat.InitializeEnv(size_x, size_y, perimeterptsV, cellsize_m, + nominalvel_mpersecs, timetoturn45degsinplace_secs, + obsthresh, motPrimFilename, params); + + if (!envInitialized) { + throw SBPL_Exception("ERROR: InitializeEnv failed"); + } + + // set start and goal states + environment_navxythetalat.SetStart(startx, starty, starttheta); + environment_navxythetalat.SetGoal(goalx, goaly, goaltheta); + + MDPConfig MDPCfg; + + // initialize MDP info + if (!environment_navxythetalat.InitializeMDPCfg(&MDPCfg)) { + throw SBPL_Exception("ERROR: InitializeMDPCfg failed"); + } + + // create a planner + vector solution_stateIDs_V; + + SBPLPlanner* planner = NULL; + switch (plannerType) { + case PLANNER_TYPE_ARASTAR: + printf("Initializing ARAPlanner...\n"); + planner = new ARAPlanner(&environment_navxythetalat, bforwardsearch); + break; + case PLANNER_TYPE_ADSTAR: + printf("Initializing ADPlanner...\n"); + planner = new ADPlanner(&environment_navxythetalat, bforwardsearch); + break; + case PLANNER_TYPE_RSTAR: + printf("Invalid configuration: xytheta environment does not support rstar planner...\n"); + return 0; + case PLANNER_TYPE_ANASTAR: + printf("Initializing anaPlanner...\n"); + planner = new anaPlanner(&environment_navxythetalat, bforwardsearch); + break; + default: + printf("Invalid planner type\n"); + break; + } + + // set the start and goal states for the planner and other search variables + if (planner->set_start(MDPCfg.startstateid) == 0) { + throw SBPL_Exception("ERROR: failed to set start state"); + } + if (planner->set_goal(MDPCfg.goalstateid) == 0) { + throw SBPL_Exception("ERROR: failed to set goal state"); + } + planner->set_initialsolution_eps(initialEpsilon); + planner->set_search_mode(bsearchuntilfirstsolution); + + // compute sensing as a square surrounding the robot with length twice that of the + // longest motion primitive + vector sensecells; + double maxMotPrimLengthSquared = 0.0; + double maxMotPrimLength = 0.0; + const EnvNAVXYTHETALATConfig_t* cfg = environment_navxythetalat.GetEnvNavConfig(); + for (int i = 0; i < (int)cfg->mprimV.size(); i++) { + const SBPL_xytheta_mprimitive& mprim = cfg->mprimV.at(i); + int dx = mprim.endcell.x; + int dy = mprim.endcell.y; + if (dx * dx + dy * dy > maxMotPrimLengthSquared) { + std::cout << "Found a longer motion primitive with dx = " << dx << " and dy = " << dy + << " from starttheta = " << (int)mprim.starttheta_c << std::endl; + maxMotPrimLengthSquared = dx * dx + dy * dy; + } + } + maxMotPrimLength = sqrt((double)maxMotPrimLengthSquared); + std::cout << "Maximum motion primitive length: " << maxMotPrimLength << std::endl; + + int sensingRange = (int)ceil(maxMotPrimLength); + for (int x = -sensingRange; x <= sensingRange; x++) { + for (int y = -sensingRange; y <= sensingRange; y++) { + sensecells.push_back(sbpl_2Dcell_t(x, y)); + } + } + + // create a file to hold the solution vector + const char* sol = "sol.txt"; + FILE* fSol = fopen(sol, "w"); + if (fSol == NULL) { + throw SBPL_Exception("ERROR: could not open solution file"); + } + + // print the goal pose + int goalx_c = CONTXY2DISC(goalx, cellsize_m); + int goaly_c = CONTXY2DISC(goaly, cellsize_m); + int goaltheta_c = ContTheta2Disc(goaltheta, num_thetas); + printf("goal_c: %d %d %d\n", goalx_c, goaly_c, goaltheta_c); + + vector preds_of_changededgesIDV; + vector changedcellsV; + nav2dcell_t nav2dcell; + vector xythetaPath; + + // now comes the main loop + while (fabs(startx - goalx) > goaltol_x || fabs(starty - goaly) > goaltol_y || fabs(starttheta - goaltheta) + > goaltol_theta) { + //simulate sensor data update + bool bChanges = false; + preds_of_changededgesIDV.clear(); + changedcellsV.clear(); + + // simulate sensing the cells + for (int i = 0; i < (int)sensecells.size(); i++) { + int x = CONTXY2DISC(startx, cellsize_m) + sensecells.at(i).x; + int y = CONTXY2DISC(starty, cellsize_m) + sensecells.at(i).y; + + // ignore if outside the map + if (x < 0 || x >= size_x || y < 0 || y >= size_y) { + continue; + } + + int index = x + y * size_x; + unsigned char truecost = trueenvironment_navxythetalat.GetMapCost(x, y); + // update the cell if we haven't seen it before + if (map[index] != truecost) { + map[index] = truecost; + environment_navxythetalat.UpdateCost(x, y, map[index]); + printf("setting cost[%d][%d] to %d\n", x, y, map[index]); + bChanges = true; + // store the changed cells + nav2dcell.x = x; + nav2dcell.y = y; + changedcellsV.push_back(nav2dcell); + } + } + + double TimeStarted = clock(); + + // if necessary notify the planner of changes to costmap + if (bChanges) { + if (dynamic_cast (planner) != NULL) { + ((ARAPlanner*)planner)->costs_changed(); //use by ARA* planner (non-incremental) + } + else if (dynamic_cast (planner) != NULL) { + // get the affected states + environment_navxythetalat.GetPredsofChangedEdges(&changedcellsV, &preds_of_changededgesIDV); + // let know the incremental planner about them + //use by AD* planner (incremental) + ((ADPlanner*)planner)->update_preds_of_changededges(&preds_of_changededgesIDV); + printf("%d states were affected\n", (int)preds_of_changededgesIDV.size()); + } + } + + int startx_c = CONTXY2DISC(startx, cellsize_m); + int starty_c = CONTXY2DISC(starty, cellsize_m); + int starttheta_c = ContTheta2Disc(starttheta, num_thetas); + + // plan a path + bool bPlanExists = false; + + printf("new planning...\n"); + bPlanExists = (planner->replan(allocated_time_secs_foreachplan, &solution_stateIDs_V) == 1); + printf("done with the solution of size=%d and sol. eps=%f\n", (unsigned int)solution_stateIDs_V.size(), + planner->get_solution_eps()); + environment_navxythetalat.PrintTimeStat(stdout); + + // write the solution to sol.txt + fprintf(fSol, "plan time=%.5f eps=%.2f\n", (clock() - TimeStarted) / ((double)CLOCKS_PER_SEC), + planner->get_solution_eps()); + fflush(fSol); + + xythetaPath.clear(); + environment_navxythetalat.ConvertStateIDPathintoXYThetaPath(&solution_stateIDs_V, &xythetaPath); + printf("actual path (with intermediate poses) size=%d\n", (unsigned int)xythetaPath.size()); + for (unsigned int i = 0; i < xythetaPath.size(); i++) { + fprintf(fSol, "%.3f %.3f %.3f\n", xythetaPath.at(i).x, xythetaPath.at(i).y, xythetaPath.at(i).theta); + } + fprintf(fSol, "*********\n"); + + for (int j = 1; j < (int)solution_stateIDs_V.size(); j++) { + int newx, newy, newtheta = 0; + environment_navxythetalat.GetCoordFromState(solution_stateIDs_V[j], newx, newy, newtheta); + fprintf(fSol, "%d %d %d\n", newx, newy, newtheta); + } + fflush(fSol); + + // print the map (robot's view of the world and current plan) + int startindex = startx_c + starty_c * size_x; + int goalindex = goalx_c + goaly_c * size_x; + for (int y = 0; bPrintMap && y < size_y; y++) { + for (int x = 0; x < size_x; x++) { + int index = x + y * size_x; + int cost = map[index]; + cost = environment_navxythetalat.GetMapCost(x, y); + + // check to see if it is on the path + bool bOnthePath = false; + for (int j = 1; j < (int)solution_stateIDs_V.size(); j++) { + int newx, newy, newtheta = 0; + environment_navxythetalat.GetCoordFromState(solution_stateIDs_V[j], newx, newy, newtheta); + if (x == newx && y == newy) bOnthePath = true; + } + + if (index != startindex && index != goalindex && !bOnthePath) { + printf("%3d ", cost); + } + else if (index == startindex) { + printf(" X "); + } + else if (index == goalindex) { + printf(" G "); + } + else if (bOnthePath) { + printf(" * "); + } + else { + printf("? "); + } + } + printf("\n"); + } + + // move along the path + if (bPlanExists && (int)xythetaPath.size() > 1) { + //get coord of the successor + int newx, newy, newtheta; + + // move until we move into the end of motion primitive + environment_navxythetalat.GetCoordFromState(solution_stateIDs_V[1], newx, newy, newtheta); + + printf("moving from %d %d %d to %d %d %d\n", startx_c, starty_c, starttheta_c, newx, newy, newtheta); + + // this check is weak since true configuration does not know the actual perimeter of the robot + if (!trueenvironment_navxythetalat.IsValidConfiguration(newx, newy, newtheta)) { + throw SBPL_Exception("ERROR: robot is commanded to move into an invalid configuration according to true environment"); + } + + // move + startx = DISCXY2CONT(newx, cellsize_m); + starty = DISCXY2CONT(newy, cellsize_m); + starttheta = DiscTheta2Cont(newtheta, num_thetas); + + // update the environment + int newstartstateID = environment_navxythetalat.SetStart(startx, starty, starttheta); + + // update the planner + if (planner->set_start(newstartstateID) == 0) { + throw SBPL_Exception("ERROR: failed to update robot pose in the planner"); + } + } + else { + printf("No move is made\n"); + } + + if (bPrint) { + printf("System Pause (return=%d)\n", system("pause")); + } + } + + printf("goal reached!\n"); + + fflush(NULL); + fclose(fSol); + + delete[] map; + delete planner; + + return 1; +} + +/******************************************************************************* + * planrobarm - An example of planning a robot arm with six degrees-of-freedom. + * + * @param envCfgFilename The environment config file. See + * sbpl/env_examples/robarm for examples + * @return 1 if the planner successfully found a solution; 0 otherwise + *******************************************************************************/ +int planrobarm(PlannerType plannerType, char* envCfgFilename, bool forwardSearch) +{ + int bRet = 0; + double allocated_time_secs = 5.0; //in seconds + MDPConfig MDPCfg; + bool bforwardsearch = forwardSearch; + + //Initialize Environment (should be called before initializing anything else) + EnvironmentROBARM environment_robarm; + if (!environment_robarm.InitializeEnv(envCfgFilename)) { + throw SBPL_Exception("ERROR: InitializeEnv failed"); + } + + //Initialize MDP Info + if (!environment_robarm.InitializeMDPCfg(&MDPCfg)) { + throw SBPL_Exception("ERROR: InitializeMDPCfg failed"); + } + + //srand(1); + + //plan a path + vector solution_stateIDs_V; + + SBPLPlanner* planner = NULL; + switch (plannerType) { + case PLANNER_TYPE_ARASTAR: + printf("Initializing ARAPlanner...\n"); + planner = new ARAPlanner(&environment_robarm, bforwardsearch); + break; + case PLANNER_TYPE_ADSTAR: + printf("Initializing ADPlanner...\n"); + planner = new ADPlanner(&environment_robarm, bforwardsearch); + break; + case PLANNER_TYPE_RSTAR: + printf("Initializing RSTARPlanner...\n"); + planner = new RSTARPlanner(&environment_robarm, bforwardsearch); + break; + case PLANNER_TYPE_ANASTAR: + printf("Initializing anaPlanner...\n"); + planner = new anaPlanner(&environment_robarm, bforwardsearch); + break; + default: + printf("Invalid planner type\n"); + break; + } + + if (planner->set_start(MDPCfg.startstateid) == 0) { + throw SBPL_Exception("ERROR: failed to set start state"); + } + + if (planner->set_goal(MDPCfg.goalstateid) == 0) { + throw SBPL_Exception("ERROR: failed to set goal state"); + } + + printf("start planning...\n"); + bRet = planner->replan(allocated_time_secs, &solution_stateIDs_V); + printf("done planning\n"); + std::cout << "size of solution=" << solution_stateIDs_V.size() << std::endl; + + const char* sol = "sol.txt"; + FILE* fSol = fopen(sol, "w"); + if (fSol == NULL) { + throw SBPL_Exception("ERROR: could not open solution file"); + } + for (unsigned int i = 0; i < solution_stateIDs_V.size(); i++) { + environment_robarm.PrintState(solution_stateIDs_V[i], true, fSol); + } + fclose(fSol); + + //print a path + if (bRet) { + //print the solution + printf("Solution is found\n"); + } + else + printf("Solution does not exist\n"); + + fflush(NULL); + + delete planner; + + return bRet; +} + +/******************************************************************************* + * main - Parse command line arguments and launch one of the sbpl examples above. + * Launch sbpl with just the -h option for usage help. + * + * @param argc The number of command-line arguments + * @param argv The command-line arguments + *******************************************************************************/ +int main(int argc, char *argv[]) +{ + // Print help + if (argc == 2 && strcmp(argv[1], "-h") == 0) { + PrintHelp(argv); + return MAIN_RESULT_SUCCESS; + } + else if (argc < 2) { + PrintUsage(argv); + return MAIN_RESULT_INSUFFICIENT_ARGS; + } + + // Find the number of options passed in; cfg and motprim files come after all options + // options include any string starting with "-" + int numOptions = 0; + for (int i = 1; i < argc; i++) { + if (strncmp("-", argv[i], 1) == 0) { + numOptions++; + } + else { + break; + } + } + + // Check command line arguments to find environment type and whether or not to + // use one of the navigating examples. + bool navigating = CheckIsNavigating(numOptions, argv); + std::string environmentType = CheckEnvironmentType(numOptions, argv); + std::string plannerType = CheckPlannerType(numOptions, argv); + std::string searchDir = CheckSearchDirection(numOptions, argv); + + std::cout << "Environment: " << environmentType << "; Planner: " << plannerType << "; Search direction: " + << searchDir << std::endl; + + int envArgIdx = numOptions + 1; + EnvironmentType environment = StrToEnvironmentType(environmentType.c_str()); + PlannerType planner = StrToPlannerType(plannerType.c_str()); + bool forwardSearch = !strcmp(searchDir.c_str(), "forward"); + + bool usingMotionPrimitives = (argc == numOptions + 3); + char* motPrimFilename = usingMotionPrimitives ? argv[envArgIdx + 1] : NULL; + + // make sure we've been given valid a valid environment + if (environment == INVALID_ENV_TYPE || planner == INVALID_PLANNER_TYPE) { + PrintUsage(argv); + return MAIN_RESULT_INCORRECT_OPTIONS; + } + + // Launch the correct example given the planner and an environment file. + int plannerRes = 0; + switch (environment) { + case ENV_TYPE_2D: + if (navigating) { + plannerRes = planandnavigate2d(planner, argv[envArgIdx]); + } + else { + plannerRes = plan2d(planner, argv[envArgIdx], forwardSearch); + } + break; + case ENV_TYPE_2DUU: + printf("Warning: planning in two dimensions under uncertainty is not fully implemented!\n"); + plannerRes = plan2duu(planner, argv[envArgIdx]); + break; + case ENV_TYPE_XYTHETA: + if (navigating) { + plannerRes = planandnavigatexythetalat(planner, argv[envArgIdx], motPrimFilename, forwardSearch); + } + else { + plannerRes = planxythetalat(planner, argv[envArgIdx], motPrimFilename, forwardSearch); + } + break; + case ENV_TYPE_XYTHETAMLEV: + plannerRes = planxythetamlevlat(planner, argv[envArgIdx], motPrimFilename, forwardSearch); + break; + case ENV_TYPE_ROBARM: + plannerRes = planrobarm(planner, argv[envArgIdx], forwardSearch); + break; + default: + printf("Unsupported Environment Type...\n"); + PrintUsage(argv); + return MAIN_RESULT_UNSUPPORTED_ENV; + } + + return plannerRes == 1 ? MAIN_RESULT_SUCCESS : MAIN_RESULT_FAILURE; +} diff --git a/navigations/sbpl/src/test/module-tests.cpp b/navigations/sbpl/src/test/module-tests.cpp new file mode 100755 index 0000000..3cfe1ff --- /dev/null +++ b/navigations/sbpl/src/test/module-tests.cpp @@ -0,0 +1,106 @@ +/* + * 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. + */ + +#include +#include +#include +#include + +using namespace std; + +#include "../headers.h" + +static const std::string PATH_PREFIX("src/test/"); + +void diffTest(const std::string& outputStr) +{ + std::string validOutputStr(outputStr + ".valid"); + std::ifstream validFile(validOutputStr.c_str()); + // If there is no valid file then generate one. + if (!validFile.good()) { + std::ifstream newOutputFile(outputStr.c_str()); + std::stringbuf sbuf; + newOutputFile >> &sbuf; + std::ofstream newValidFile(validOutputStr.c_str()); + newValidFile << sbuf.str(); + } + else { // Verify output against the valid file. + std::stringbuf newStrBuf, validStrBuf; + std::ifstream fNew(outputStr.c_str()), fValid(validOutputStr.c_str()); + fNew >> &newStrBuf; + fValid >> &validStrBuf; + ASSERT_EQ(newStrBuf.str() == validStrBuf.str(), true); + } +} + +void runARAPlannerTest(const std::string& problem) +{ + try { + double allocated_time_secs = 0.5; // in seconds + MDPConfig MDPCfg; + EnvironmentNAV2D environment_nav2D; + std::string problemStr = PATH_PREFIX + problem; + ASSERT_EQ(environment_nav2D.InitializeEnv(problemStr.c_str()), true); + ASSERT_EQ(environment_nav2D.InitializeMDPCfg(&MDPCfg), true); + + // plan a path + vector solution_stateIDs_V; + ARAPlanner ara_planner(&environment_nav2D, false); + ASSERT_EQ(ara_planner.set_start(MDPCfg.startstateid), true); + ASSERT_EQ(ara_planner.set_goal(MDPCfg.goalstateid), true); + ASSERT_EQ(ara_planner.replan(allocated_time_secs, &solution_stateIDs_V), true); + + // output the path + std::string outputStr = problemStr + ".out"; + FILE* fSol = SBPL_FOPEN(outputStr.c_str(), "w"); + for (unsigned int i = 0; i < solution_stateIDs_V.size(); i++) { + environment_nav2D.PrintState(solution_stateIDs_V[i], true, fSol); + } + + SBPL_FCLOSE(fSol); + + // Now apply the file diff test + diffTest(outputStr); + } + catch (...) { + FAIL() << "Uncaught exception : " << "This is OK on OS X"; + } +} + +TEST(araplanner, env1) +{ + runARAPlannerTest("env1.cfg"); +} + +int main(int argc, char *argv[]) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} + diff --git a/navigations/sbpl/src/test/test_adjacency_list.cpp b/navigations/sbpl/src/test/test_adjacency_list.cpp new file mode 100755 index 0000000..ef041ad --- /dev/null +++ b/navigations/sbpl/src/test/test_adjacency_list.cpp @@ -0,0 +1,113 @@ +/* + * 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. + */ + +#include +#include +using namespace std; + +#include + +// 2d Points +struct Point2D +{ + Point2D(int newX, int newY) : + x(newX), y(newY) + { + } + + int heuristicDistanceTo(const Point2D& p) + { + int dx = p.x - x; + int dy = p.y - y; + int dist = ((int)sqrt(dx * dx + dy * dy)); + return dist; + } + + int x; + int y; +}; + +ostream& operator<<(ostream& stream, Point2D p) +{ + stream << "(" << p.x << ", " << p.y << ")"; + return stream; +} + +int operator<(const Point2D& p1, const Point2D& p2) +{ + return (p1.x < p2.x) || ((p1.x == p2.x) && (p1.y < p2.y)); +} + +void testPlanner(AdjacencyListSBPLEnv& e) +{ + int sol_cost; + e.writeToStream(); + vector solution = e.findOptimalPath(&sol_cost); + cout << "Returned plan is "; + for (unsigned int i = 0; i < solution.size(); i++) { + cout << solution[i] << " "; + } + cout << endl; +} + +int main(int, char**) +{ + AdjacencyListSBPLEnv e; + Point2D p1(0, 0); + Point2D p2(2, 1); + Point2D p3(1, 4); + Point2D p4(5, 5); + + e.addPoint(p1); + e.addPoint(p4); + e.addPoint(p3); + e.addPoint(p2); + + e.setCost(p1, p2, 4); + e.setCost(p1, p3, 6); + e.setCost(p3, p4, 5); + e.setCost(p2, p4, 15); + + e.setStartState(p1); + e.setGoalState(p4); + + // Initialize the MDPConfig (what does this do exactly?) + //MDPConfig c; + //e.InitializeMDPCfg(&c); + + // Tests + testPlanner(e); + e.setCost(p2, p4, 1); + testPlanner(e); + e.removeLastPoints(); + testPlanner(e); + e.writeToStream(); + return 0; +} + diff --git a/navigations/sbpl/src/utils/2Dgridsearch.cpp b/navigations/sbpl/src/utils/2Dgridsearch.cpp new file mode 100755 index 0000000..2fc0dda --- /dev/null +++ b/navigations/sbpl/src/utils/2Dgridsearch.cpp @@ -0,0 +1,882 @@ +/* + * 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. + */ + +#include +#include +#include + +#include +#include +#include + +using namespace std; + +// Creating custom getCost functions that will combine multiple cells in the main grid +// into a single cell in the 2D grid. +// Using templates for common cases so the compiler can generate faster code +template +unsigned char getCostT(unsigned char **Grid2D, int x, int y, int /*resample*/) +{ + if(N == 1) // the compiler will optimize out this if statement + { + return Grid2D[x][y]; + } + else + { + x *= N; + y *= N; + unsigned char maximum = Grid2D[x][y]; + for(int dy=0; dy; break; + case 2: getCost = &getCostT<2>; break; + case 3: getCost = &getCostT<3>; break; + case 4: getCost = &getCostT<4>; break; + case 5: getCost = &getCostT<5>; break; + default: + getCost = &getCostN; + } + + startX_ = -1; + startY_ = -1; + goalX_ = -1; + goalY_ = -1; + + largestcomputedoptf_ = 0; + + //compute dx, dy, dxintersects and dyintersects arrays + computedxy(); + + term_condition_usedlast = SBPL_2DGRIDSEARCH_TERM_CONDITION_ALLCELLS; + + //allocate memory + OPEN2D_ = new CIntHeap(width_ * height_); + if (!createSearchStates2D()) { + throw SBPL_Exception("ERROR: failed to create searchstatespace2D"); + } + + //by default, OPEN is implemented as heap + OPEN2DBLIST_ = NULL; + OPENtype_ = SBPL_2DGRIDSEARCH_OPENTYPE_HEAP; + + initial_dynamic_bucket_size_ = initial_dynamic_bucket_size; +} + +bool SBPL2DGridSearch::setOPENdatastructure(SBPL_2DGRIDSEARCH_OPENTYPE OPENtype) +{ + OPENtype_ = OPENtype; + + switch (OPENtype_) { + case SBPL_2DGRIDSEARCH_OPENTYPE_HEAP: + //this is the default, nothing else needs to be done + break; + case SBPL_2DGRIDSEARCH_OPENTYPE_SLIDINGBUCKETS: + SBPL_PRINTF("setting OPEN2D data structure to sliding buckets\n"); + if (OPEN2DBLIST_ == NULL) { + //create sliding buckets + //compute max distance for edge + int maxdistance = 0; + for (int dind = 0; dind < SBPL_2DGRIDSEARCH_NUMOF2DDIRS; dind++) { + maxdistance = __max(maxdistance, dxy_distance_mm_[dind]); + } + int bucketsize = __max(1000, this->width_ + this->height_); + int numofbuckets = 255 * maxdistance; + SBPL_PRINTF("creating sliding bucket-based OPEN2D %d buckets, each bucket of size %d ...", numofbuckets, + bucketsize); + OPEN2DBLIST_ = new CSlidingBucket(numofbuckets, bucketsize, initial_dynamic_bucket_size_); + SBPL_PRINTF("done\n"); + } + //delete other data structures + if (OPEN2D_ != NULL) { + OPEN2D_->makeemptyheap(); + delete OPEN2D_; + OPEN2D_ = NULL; + } + + break; + default: + std::stringstream ss("ERROR: unknown data structure type = "); + ss << OPENtype_ << " for OPEN2D"; + throw SBPL_Exception(ss.str()); + }; + + return true; +} + +bool SBPL2DGridSearch::createSearchStates2D(void) +{ + int x, y; + + if (searchStates2D_ != NULL) { + SBPL_ERROR("ERROR: We already have a non-NULL search states array\n"); + return false; + } + + searchStates2D_ = new SBPL_2DGridSearchState*[width_]; + for (x = 0; x < width_; x++) { + searchStates2D_[x] = new SBPL_2DGridSearchState[height_]; + for (y = 0; y < height_; y++) { + searchStates2D_[x][y].iterationaccessed = iteration_; + searchStates2D_[x][y].x = x; + searchStates2D_[x][y].y = y; + initializeSearchState2D(&searchStates2D_[x][y]); + } + } + return true; +} + +inline void SBPL2DGridSearch::initializeSearchState2D(SBPL_2DGridSearchState* state2D) +{ + state2D->g = INFINITECOST; + state2D->heapindex = 0; + state2D->iterationaccessed = iteration_; +} + +void SBPL2DGridSearch::destroy() +{ + // destroy the OPEN list: + if (OPEN2D_ != NULL) { + OPEN2D_->makeemptyheap(); + delete OPEN2D_; + OPEN2D_ = NULL; + } + + // destroy the 2D states: + if (searchStates2D_ != NULL) { + for (int x = 0; x < width_; x++) { + delete[] searchStates2D_[x]; + } + delete[] searchStates2D_; + searchStates2D_ = NULL; + } + + if (OPEN2DBLIST_ != NULL) { + delete OPEN2DBLIST_; + OPEN2DBLIST_ = NULL; + } +} + +void SBPL2DGridSearch::computedxy() +{ + //initialize some constants for 2D search + dx_[0] = 1; + dy_[0] = 1; + dx0intersects_[0] = -1; + dy0intersects_[0] = -1; + dx_[1] = 1; + dy_[1] = 0; + dx0intersects_[1] = -1; + dy0intersects_[1] = -1; + dx_[2] = 1; + dy_[2] = -1; + dx0intersects_[2] = -1; + dy0intersects_[2] = -1; + dx_[3] = 0; + dy_[3] = 1; + dx0intersects_[3] = -1; + dy0intersects_[3] = -1; + dx_[4] = 0; + dy_[4] = -1; + dx0intersects_[4] = -1; + dy0intersects_[4] = -1; + dx_[5] = -1; + dy_[5] = 1; + dx0intersects_[5] = -1; + dy0intersects_[5] = -1; + dx_[6] = -1; + dy_[6] = 0; + dx0intersects_[6] = -1; + dy0intersects_[6] = -1; + dx_[7] = -1; + dy_[7] = -1; + dx0intersects_[7] = -1; + dy0intersects_[7] = -1; + + //Note: these actions have to be starting at 8 and through 15, since they + //get multiplied correspondingly in Dijkstra's search based on index +#if SBPL_2DGRIDSEARCH_NUMOF2DDIRS == 16 + dx_[8] = 2; dy_[8] = 1; + dx0intersects_[8] = 1; dy0intersects_[8] = 0; dx1intersects_[8] = 1; dy1intersects_[8] = 1; + dx_[9] = 1; dy_[9] = 2; + dx0intersects_[9] = 0; dy0intersects_[9] = 1; dx1intersects_[9] = 1; dy1intersects_[9] = 1; + dx_[10] = -1; dy_[10] = 2; + dx0intersects_[10] = 0; dy0intersects_[10] = 1; dx1intersects_[10] = -1; dy1intersects_[10] = 1; + dx_[11] = -2; dy_[11] = 1; + dx0intersects_[11] = -1; dy0intersects_[11] = 0; dx1intersects_[11] = -1; dy1intersects_[11] = 1; + dx_[12] = -2; dy_[12] = -1; + dx0intersects_[12] = -1; dy0intersects_[12] = 0; dx1intersects_[12] = -1; dy1intersects_[12] = -1; + dx_[13] = -1; dy_[13] = -2; + dx0intersects_[13] = 0; dy0intersects_[13] = -1; dx1intersects_[13] = -1; dy1intersects_[13] = -1; + dx_[14] = 1; dy_[14] = -2; + dx0intersects_[14] = 0; dy0intersects_[14] = -1; dx1intersects_[14] = 1; dy1intersects_[14] = -1; + dx_[15] = 2; dy_[15] = -1; + dx0intersects_[15] = 1; dy0intersects_[15] = 0; dx1intersects_[15] = 1; dy1intersects_[15] = -1; +#endif + + //compute distances + for (int dind = 0; dind < SBPL_2DGRIDSEARCH_NUMOF2DDIRS; dind++) { + + if (dx_[dind] != 0 && dy_[dind] != 0) { + if (dind <= 7) + //the cost of a diagonal move in millimeters + dxy_distance_mm_[dind] = (int)(cellSize_m_ * 1414); + else + //the cost of a move to 1,2 or 2,1 or so on in millimeters + dxy_distance_mm_[dind] = (int)(cellSize_m_ * 2236); + } + else + dxy_distance_mm_[dind] = (int)(cellSize_m_ * 1000); //the cost of a horizontal move in millimeters + } +} + +//-------------------------------------------------------------------------------------------------------------------- + +//-----------------------------------------debugging functions---------------------------------------------------------- + +void SBPL2DGridSearch::printvalues() +{ + +} + +//-------------------------------------------------------------------------------------------------------------------- + +//-----------------------------------------main functions-------------------------------------------------------------- + +bool SBPL2DGridSearch::search(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, + int goaly_c, SBPL_2DGRIDSEARCH_TERM_CONDITION termination_condition) +{ + startx_c /= downsample_; + starty_c /= downsample_; + goalx_c /= downsample_; + goaly_c /= downsample_; + + switch (OPENtype_) { + case SBPL_2DGRIDSEARCH_OPENTYPE_HEAP: + return SBPL2DGridSearch::search_withheap(Grid2D, obsthresh, startx_c, starty_c, goalx_c, goaly_c, + termination_condition); + break; + case SBPL_2DGRIDSEARCH_OPENTYPE_SLIDINGBUCKETS: + return SBPL2DGridSearch::search_withslidingbuckets(Grid2D, obsthresh, startx_c, starty_c, goalx_c, goaly_c, + termination_condition); + break; + default: + std::stringstream ss("ERROR: unknown data structure type = "); + ss << OPENtype_ << " for OPEN2D"; + throw SBPL_Exception(ss.str()); + }; + return false; +} + +bool SBPL2DGridSearch::search_withheap(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, int starty_c, + int goalx_c, int goaly_c, SBPL_2DGRIDSEARCH_TERM_CONDITION termination_condition) +{ + SBPL_2DGridSearchState *searchExpState = NULL; + SBPL_2DGridSearchState *searchPredState = NULL; + int numofExpands = 0; + int key; + + //get the current time + clock_t starttime = clock(); + + //closed = 0 + iteration_++; + + //init start and goal coordinates + startX_ = startx_c; + startY_ = starty_c; + goalX_ = goalx_c; + goalY_ = goaly_c; + + //clear the heap + OPEN2D_->makeemptyheap(); + + //set the term. condition + term_condition_usedlast = termination_condition; + + //check the validity of start/goal + if (!withinMap(startx_c, starty_c) || !withinMap(goalx_c, goaly_c)) { + SBPL_ERROR("ERROR: grid2Dsearch is called on invalid start (%d %d) or goal(%d %d)\n", startx_c, starty_c, + goalx_c, goaly_c); + return false; + } + + // initialize the start and goal states + searchExpState = &searchStates2D_[startX_][startY_]; + initializeSearchState2D(searchExpState); + initializeSearchState2D(&searchStates2D_[goalx_c][goaly_c]); + SBPL_2DGridSearchState* search2DGoalState = &searchStates2D_[goalx_c][goaly_c]; + + //seed the search + searchExpState->g = 0; + key = searchExpState->g; + if (termination_condition == SBPL_2DGRIDSEARCH_TERM_CONDITION_OPTPATHFOUND) + //use h-values only if we are NOT computing all state values + key = key + SBPL_2DGRIDSEARCH_HEUR2D(startX_, startY_); + + OPEN2D_->insertheap(searchExpState, key); + + //set the termination condition + float term_factor = 0.0; + switch (termination_condition) { + case SBPL_2DGRIDSEARCH_TERM_CONDITION_OPTPATHFOUND: + term_factor = 1; + break; + case SBPL_2DGRIDSEARCH_TERM_CONDITION_20PERCENTOVEROPTPATH: + term_factor = (float)(1.0 / 1.2); + break; + case SBPL_2DGRIDSEARCH_TERM_CONDITION_TWOTIMESOPTPATH: + term_factor = 0.5; + break; + case SBPL_2DGRIDSEARCH_TERM_CONDITION_THREETIMESOPTPATH: + term_factor = (float)(1.0 / 3.0); + break; + case SBPL_2DGRIDSEARCH_TERM_CONDITION_ALLCELLS: + term_factor = 0.0; + break; + default: + SBPL_ERROR("ERROR: incorrect termination factor for grid2Dsearch\n"); + term_factor = 0.0; + }; + + char *pbClosed = (char*)calloc(1, width_ * height_); + + //the main repetition of expansions + while (!OPEN2D_->emptyheap() && + __min(INFINITECOST, search2DGoalState->g) > term_factor * OPEN2D_->getminkeyheap()) + { + //get the next state for expansion + searchExpState = (SBPL_2DGridSearchState*)OPEN2D_->deleteminheap(); + numofExpands++; + + int exp_x = searchExpState->x; + int exp_y = searchExpState->y; + + //close the state + pbClosed[exp_x + width_ * exp_y] = 1; + + //iterate over successors + int expcost = getCost(Grid2D, exp_x, exp_y, downsample_); + for (int dir = 0; dir < SBPL_2DGRIDSEARCH_NUMOF2DDIRS; dir++) { + int newx = exp_x + dx_[dir]; + int newy = exp_y + dy_[dir]; + + //make sure it is inside the map and has no obstacle + if (!withinMap(newx, newy)) continue; + + if (pbClosed[newx + width_ * newy] == 1) continue; + + //compute the cost + int mapcost = __max(getCost(Grid2D, newx, newy, downsample_), expcost); + +#if SBPL_2DGRIDSEARCH_NUMOF2DDIRS > 8 + if(dir > 7) { + //check two more cells through which the action goes + mapcost = __max(mapcost, getCost(Grid2D, exp_x + dx0intersects_[dir], exp_y + dy0intersects_[dir], downsample_)); + mapcost = __max(mapcost, getCost(Grid2D, exp_x + dx1intersects_[dir], exp_y + dy1intersects_[dir], downsample_)); + } +#endif + + if (mapcost >= obsthresh) //obstacle encountered + continue; + int cost = (mapcost + 1) * dxy_distance_mm_[dir]; + + //get the predecessor + searchPredState = &searchStates2D_[newx][newy]; + + //update predecessor if necessary + if (searchPredState->iterationaccessed != iteration_ || searchPredState->g > cost + searchExpState->g) { + searchPredState->iterationaccessed = iteration_; + searchPredState->g = __min(INFINITECOST, cost + searchExpState->g); + key = searchPredState->g; + if (termination_condition == SBPL_2DGRIDSEARCH_TERM_CONDITION_OPTPATHFOUND) + //use h-values only if we are NOT computing all state values + key = key + SBPL_2DGRIDSEARCH_HEUR2D(searchPredState->x, searchPredState->y); + + if (searchPredState->heapindex == 0) + OPEN2D_->insertheap(searchPredState, key); + else + OPEN2D_->updateheap(searchPredState, key); + } + } //over successors + }//while + + //set lower bounds for the remaining states + if (!OPEN2D_->emptyheap()) + largestcomputedoptf_ = OPEN2D_->getminkeyheap(); + else + largestcomputedoptf_ = INFINITECOST; + + free(pbClosed); + + SBPL_PRINTF( "# of expands during 2dgridsearch=%d time=%d msecs 2Dsolcost_inmm=%d " + "largestoptfval=%d (start=%d %d goal=%d %d)\n", + numofExpands, (int)(((clock() - starttime) / (double)CLOCKS_PER_SEC) * 1000), + searchStates2D_[goalx_c][goaly_c].g, largestcomputedoptf_, startx_c, starty_c, goalx_c, goaly_c); + + return true; +} + +//experimental version +//have only one copy of a state in the list, but the order of expansions is +//BFS with possible re-expansions. Thus the order can be maintained by FIFO +//queue implemented by list (requires though the implementation of the lastelement in the list) +bool SBPL2DGridSearch::search_exp(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, int starty_c, + int goalx_c, int goaly_c) +{ + SBPL_2DGridSearchState *searchExpState = NULL; + SBPL_2DGridSearchState *searchPredState = NULL; + int numofExpands = 0; + CList OPEN2DLIST; + + //get the current time + clock_t starttime = clock(); + + //closed = 0 + iteration_++; + + //init start and goal coordinates + startX_ = startx_c; + startY_ = starty_c; + goalX_ = goalx_c; + goalY_ = goaly_c; + + //check the validity of start/goal + if (!withinMap(startx_c, starty_c) || !withinMap(goalx_c, goaly_c)) { + SBPL_ERROR("ERROR: grid2Dsearch is called on invalid start (%d %d) or goal(%d %d)\n", startx_c, starty_c, + goalx_c, goaly_c); + return false; + } + + // initialize the start and goal states + searchExpState = &searchStates2D_[startX_][startY_]; + initializeSearchState2D(searchExpState); + //no initialization for the goal state - it will reset iteration_ variable + + //seed the search + searchExpState->g = 0; + searchExpState->listelem[SBPL_2DSEARCH_OPEN_LIST_ID] = NULL; + OPEN2DLIST.insertinfront(searchExpState, SBPL_2DSEARCH_OPEN_LIST_ID); + + //the main repetition of expansions + while (!OPEN2DLIST.empty()) { + //get the next state for expansion + searchExpState = (SBPL_2DGridSearchState*)OPEN2DLIST.getlast(); + OPEN2DLIST.remove(searchExpState, SBPL_2DSEARCH_OPEN_LIST_ID); + numofExpands++; + + int exp_x = searchExpState->x; + int exp_y = searchExpState->y; + + //iterate over successors + for (int dir = 0; dir < SBPL_2DGRIDSEARCH_NUMOF2DDIRS; dir++) { + int newx = exp_x + dx_[dir]; + int newy = exp_y + dy_[dir]; + + //make sure it is inside the map and has no obstacle + if (!withinMap(newx, newy)) continue; + + //compute the cost + int mapcost = __max( getCost(Grid2D, newx, newy, downsample_), getCost(Grid2D, exp_x, exp_y, downsample_)); + +#if SBPL_2DGRIDSEARCH_NUMOF2DDIRS > 8 + if(dir > 7) { + //check two more cells through which the action goes + mapcost = __max(mapcost, getCost(Grid2D, exp_x + dx0intersects_[dir], exp_y + dy0intersects_[dir], downsample_)); + mapcost = __max(mapcost, getCost(Grid2D, exp_x + dx1intersects_[dir], exp_y + dy1intersects_[dir], downsample_)); + } +#endif + + if (mapcost >= obsthresh) //obstacle encountered + continue; + int cost = (mapcost + 1) * dxy_distance_mm_[dir]; + + //get the predecessor + searchPredState = &searchStates2D_[newx][newy]; + + //clear the list + if (searchPredState->iterationaccessed != iteration_) searchPredState->listelem[SBPL_2DSEARCH_OPEN_LIST_ID] + = NULL; + + //update predecessor if necessary + if (searchPredState->iterationaccessed != iteration_ || searchPredState->g > cost + searchExpState->g) { + searchPredState->iterationaccessed = iteration_; + searchPredState->g = __min(INFINITECOST, cost + searchExpState->g); + + if (searchPredState->g >= INFINITECOST) { + throw SBPL_Exception("ERROR: infinite g"); + } + + //put it into the list if not there already + if (searchPredState->listelem[SBPL_2DSEARCH_OPEN_LIST_ID] == NULL) + OPEN2DLIST.insertinfront(searchPredState, SBPL_2DSEARCH_OPEN_LIST_ID); + //otherwise, the state remains where it is but it now has a new g-value + } + } //over successors + }//while + + //set lower bounds for the remaining states - none left since we exhausted the whole list + largestcomputedoptf_ = INFINITECOST; + + SBPL_PRINTF( "# of expands during 2dgridsearch=%d time=%d msecs 2Dsolcost_inmm=%d " + "largestoptfval=%d (start=%d %d goal=%d %d)\n", + numofExpands, (int)(((clock() - starttime) / (double)CLOCKS_PER_SEC) * 1000), + searchStates2D_[goalx_c][goaly_c].g, largestcomputedoptf_, startx_c, starty_c, goalx_c, goaly_c); + + return false; +} + +//experimental version +//OPEN list is implemented as a bucket list +bool SBPL2DGridSearch::search_withbuckets(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, int starty_c, + int goalx_c, int goaly_c) +{ + SBPL_2DGridSearchState *searchExpState = NULL; + SBPL_2DGridSearchState *searchPredState = NULL; + int numofExpands = 0; + + //get the current time + clock_t starttime = clock(); + + //int max_bucketed_priority = obsthresh*10*__max(this->width_, this->height_); + int max_bucketed_priority = (int)(0.1 * obsthresh * dxy_distance_mm_[0] * __max(this->width_, this->height_)); + SBPL_PRINTF("bucket-based OPEN2D has up to %d bucketed priorities, the rest will be unsorted\n", + max_bucketed_priority); + CBucket OPEN2DBLIST(0, max_bucketed_priority); + + SBPL_PRINTF("OPEN2D allocation time=%d msecs\n", (int)(((clock() - starttime) / (double)CLOCKS_PER_SEC) * 1000)); + + //closed = 0 + iteration_++; + + //init start and goal coordinates + startX_ = startx_c; + startY_ = starty_c; + goalX_ = goalx_c; + goalY_ = goaly_c; + + //check the validity of start/goal + if (!withinMap(startx_c, starty_c) || !withinMap(goalx_c, goaly_c)) { + SBPL_ERROR("ERROR: grid2Dsearch is called on invalid start (%d %d) or goal(%d %d)\n", startx_c, starty_c, + goalx_c, goaly_c); + return false; + } + + // initialize the start and goal states + searchExpState = &searchStates2D_[startX_][startY_]; + initializeSearchState2D(searchExpState); + //no initialization for the goal state - it will reset iteration_ variable + + //seed the search + searchExpState->g = 0; + searchExpState->heapindex = -1; + OPEN2DBLIST.insert(searchExpState, searchExpState->g); + + //the main repetition of expansions + while (!OPEN2DBLIST.empty()) { + //get the next state for expansion + searchExpState = (SBPL_2DGridSearchState*)OPEN2DBLIST.popminelement(); + numofExpands++; + + int exp_x = searchExpState->x; + int exp_y = searchExpState->y; + + //iterate over successors + for (int dir = 0; dir < SBPL_2DGRIDSEARCH_NUMOF2DDIRS; dir++) { + int newx = exp_x + dx_[dir]; + int newy = exp_y + dy_[dir]; + + //make sure it is inside the map and has no obstacle + if (!withinMap(newx, newy)) continue; + + //compute the cost + int mapcost = __max( getCost(Grid2D, newx, newy, downsample_), getCost(Grid2D, exp_x, exp_y, downsample_)); + +#if SBPL_2DGRIDSEARCH_NUMOF2DDIRS > 8 + if(dir > 7) { + //check two more cells through which the action goes + mapcost = __max(mapcost, getCost(Grid2D, exp_x + dx0intersects_[dir], exp_y + dy0intersects_[dir], downsample_)); + mapcost = __max(mapcost, getCost(Grid2D, exp_x + dx1intersects_[dir], exp_y + dy1intersects_[dir], downsample_)); + } +#endif + + if (mapcost >= obsthresh) //obstacle encountered + continue; + int cost = (mapcost + 1) * dxy_distance_mm_[dir]; + + //get the predecessor + searchPredState = &searchStates2D_[newx][newy]; + + //clear the element from OPEN + if (searchPredState->iterationaccessed != iteration_) searchPredState->heapindex = -1; + + //update predecessor if necessary + if (searchPredState->iterationaccessed != iteration_ || searchPredState->g > cost + searchExpState->g) { + int oldstatepriority = searchPredState->g; + searchPredState->iterationaccessed = iteration_; + searchPredState->g = __min(INFINITECOST, cost + searchExpState->g); + + if (searchPredState->g >= INFINITECOST) { + throw SBPL_Exception("ERROR: infinite g"); + } + + //put it into the list if not there already + if (searchPredState->heapindex != -1) OPEN2DBLIST.remove(searchPredState, oldstatepriority); + OPEN2DBLIST.insert(searchPredState, searchPredState->g); + } + } //over successors + }//while + + //set lower bounds for the remaining states + if (!OPEN2DBLIST.empty()) + largestcomputedoptf_ = OPEN2DBLIST.getminpriority(); + else + largestcomputedoptf_ = INFINITECOST; + + SBPL_PRINTF( "# of expands during 2dgridsearch=%d time=%d msecs 2Dsolcost_inmm=%d " + "largestoptfval=%d bucketassortedarraymaxsize=%d (start=%d %d goal=%d %d)\n", + numofExpands, (int)(((clock() - starttime) / (double)CLOCKS_PER_SEC) * 1000), + searchStates2D_[goalx_c][goaly_c].g, largestcomputedoptf_, OPEN2DBLIST.maxassortedpriorityVsize, + startx_c, starty_c, goalx_c, goaly_c); + + return false; +} + +//experimental version +//OPEN list is implemented as a sliding bucket list +bool SBPL2DGridSearch::search_withslidingbuckets(unsigned char** Grid2D, unsigned char obsthresh, int startx_c, + int starty_c, int goalx_c, int goaly_c, + SBPL_2DGRIDSEARCH_TERM_CONDITION termination_condition) +{ + SBPL_2DGridSearchState *searchExpState = NULL; + SBPL_2DGridSearchState *searchPredState = NULL; + int numofExpands = 0; + +#if DEBUG +#ifndef ROS + const char* f2dgriddebug = "2dgriddebug.txt"; +#endif + FILE* f2Dsearch = SBPL_FOPEN(f2dgriddebug, "w"); +#endif + + //closed = 0 + iteration_++; + + //init start and goal coordinates + startX_ = startx_c; + startY_ = starty_c; + goalX_ = goalx_c; + goalY_ = goaly_c; + + //check the validity of start/goal + if (!withinMap(startx_c, starty_c) || !withinMap(goalx_c, goaly_c)) { + SBPL_ERROR("ERROR: grid2Dsearch is called on invalid start (%d %d) or goal(%d %d)\n", startx_c, starty_c, + goalx_c, goaly_c); +#if DEBUG + SBPL_FCLOSE(f2Dsearch); +#endif + return false; + } + + //reset OPEN + OPEN2DBLIST_->reset(); + + //set the term. condition + term_condition_usedlast = termination_condition; + + // initialize the start and goal states + searchExpState = &searchStates2D_[startX_][startY_]; + initializeSearchState2D(searchExpState); + initializeSearchState2D(&searchStates2D_[goalx_c][goaly_c]); + SBPL_2DGridSearchState* search2DGoalState = &searchStates2D_[goalx_c][goaly_c]; + + //seed the search + searchExpState->g = 0; + OPEN2DBLIST_->insert(searchExpState, searchExpState->g); + + //set the termination condition + float term_factor = 0.0; + switch (termination_condition) { + case SBPL_2DGRIDSEARCH_TERM_CONDITION_OPTPATHFOUND: + term_factor = 1; + break; + case SBPL_2DGRIDSEARCH_TERM_CONDITION_20PERCENTOVEROPTPATH: + term_factor = (float)(1.0 / 1.2); + break; + case SBPL_2DGRIDSEARCH_TERM_CONDITION_TWOTIMESOPTPATH: + term_factor = 0.5; + break; + case SBPL_2DGRIDSEARCH_TERM_CONDITION_THREETIMESOPTPATH: + term_factor = (float)(1.0 / 3.0); + break; + case SBPL_2DGRIDSEARCH_TERM_CONDITION_ALLCELLS: + term_factor = 0.0; + break; + default: + SBPL_ERROR("ERROR: incorrect termination factor for grid2Dsearch\n"); + term_factor = 0.0; + }; + + //get the current time + clock_t starttime = clock(); + + char *pbClosed = (char*)calloc(1, width_ * height_); + + //the main repetition of expansions + SBPL_PRINTF("2D search with sliding buckets and term_factor=%.3f\n", term_factor); + int prevg = 0; + while (!OPEN2DBLIST_->empty() && search2DGoalState->g > term_factor * OPEN2DBLIST_->getminkey()) { +#if DEBUG + SBPL_FPRINTF(f2Dsearch, "currentminelement_priority before pop=%d\n", OPEN2DBLIST_->getminkey()); +#endif + + //get the next state for expansion + searchExpState = (SBPL_2DGridSearchState*)OPEN2DBLIST_->popminelement(); + + if (searchExpState->g > OPEN2DBLIST_->getminkey()) { + SBPL_ERROR("ERROR: g=%d for state %d %d but minpriority=%d (prevg=%d)\n", searchExpState->g, + searchExpState->x, searchExpState->y, OPEN2DBLIST_->getminkey(), prevg); + } + prevg = searchExpState->g; + + int exp_x = searchExpState->x; + int exp_y = searchExpState->y; + + //close the state if it wasn't yet + if (pbClosed[exp_x + width_ * exp_y] == 1) continue; + pbClosed[exp_x + width_ * exp_y] = 1; + +#if DEBUG + SBPL_FPRINTF(f2Dsearch, "expanding state <%d %d> with g=%d " + "(currentminelement_priority=%d, currentfirstbucket_bindex=%d, currentfirstbucket_priority=%d)\n", + searchExpState->x, searchExpState->y, searchExpState->g, OPEN2DBLIST_->getminkey(), + OPEN2DBLIST_->currentfirstbucket_bindex, OPEN2DBLIST_->currentfirstbucket_priority); +#endif + + //expand + numofExpands++; + + //iterate over successors + int expcost = getCost(Grid2D, exp_x, exp_y, downsample_); + for (int dir = 0; dir < SBPL_2DGRIDSEARCH_NUMOF2DDIRS; dir++) { + int newx = exp_x + dx_[dir]; + int newy = exp_y + dy_[dir]; + + //make sure it is inside the map and has no obstacle + if (!withinMap(newx, newy)) continue; + + if (pbClosed[newx + width_ * newy] == 1) continue; + + //compute the cost + int mapcost = __max( getCost(Grid2D, newx, newy, downsample_), expcost); + +#if SBPL_2DGRIDSEARCH_NUMOF2DDIRS > 8 + if(dir > 7) { + //check two more cells through which the action goes + mapcost = __max(mapcost, getCost(Grid2D, exp_x + dx0intersects_[dir], exp_y + dy0intersects_[dir], downsample_)); + mapcost = __max(mapcost, getCost(Grid2D, exp_x + dx1intersects_[dir], exp_y + dy1intersects_[dir], downsample_)); + } +#endif + + if (mapcost >= obsthresh) //obstacle encountered + continue; + int cost = (mapcost + 1) * dxy_distance_mm_[dir]; + + //get the predecessor + searchPredState = &searchStates2D_[newx][newy]; + + //update predecessor if necessary + if (searchPredState->iterationaccessed != iteration_ || searchPredState->g > cost + searchExpState->g) { + searchPredState->iterationaccessed = iteration_; + searchPredState->g = __min(INFINITECOST, cost + searchExpState->g); + +#if DEBUG + SBPL_FPRINTF(f2Dsearch, "inserting state <%d %d> with g=%d\n", searchPredState->x, searchPredState->y, searchPredState->g); +#endif + + //put it into the list + OPEN2DBLIST_->insert(searchPredState, searchPredState->g); + } + } //over successors + }//while + + //set lower bounds for the remaining states + if (!OPEN2DBLIST_->empty()) + largestcomputedoptf_ = ((SBPL_2DGridSearchState*)OPEN2DBLIST_->getminelement())->g; + else + largestcomputedoptf_ = INFINITECOST; + + //delete[] pbClosed; + free(pbClosed); + + SBPL_PRINTF( "# of expands during 2dgridsearch=%d time=%d msecs 2Dsolcost_inmm=%d " + "largestoptfval=%d (start=%d %d goal=%d %d)\n", + numofExpands, (int)(((clock() - starttime) / (double)CLOCKS_PER_SEC) * 1000), + searchStates2D_[goalx_c][goaly_c].g, largestcomputedoptf_, startx_c, starty_c, goalx_c, goaly_c); + +#if DEBUG + SBPL_FCLOSE(f2Dsearch); +#endif + return true; +} + +//---------------------------------------------------------------------------------------------------------------------- + diff --git a/navigations/sbpl/src/utils/config.cpp b/navigations/sbpl/src/utils/config.cpp new file mode 100755 index 0000000..aa136e0 --- /dev/null +++ b/navigations/sbpl/src/utils/config.cpp @@ -0,0 +1,136 @@ +/* + * 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. + */ + +#include +#include +#include +#include + +#define SBPL_PRINTF_BUFFER_SIZE 1024 + +static int SBPL_DEFAULT_DEBUG_OUTPUT_LOGGER(int, const char*); +static int SBPL_DEFAULT_DEBUG_OUTPUT_FLUSH(FILE*); + +// set appropriate default logger +#if DEBUG && !defined(ROS) +static SBPL_PRINT_TEXT_FP sbpl_print_fp = SBPL_DEFAULT_DEBUG_OUTPUT_LOGGER; +static SBPL_FFLUSH_TEXT_FP sbpl_fflush_fp = SBPL_DEFAULT_DEBUG_OUTPUT_FLUSH; +#else +static SBPL_PRINT_TEXT_FP sbpl_print_fp = NULL; +static SBPL_FFLUSH_TEXT_FP sbpl_fflush_fp = NULL; +#endif + +void SET_SBPL_PRINT_TEXT_FP(SBPL_PRINT_TEXT_FP fptr) { sbpl_print_fp = fptr; } +void SET_SBPL_FFLUSH_TEXT_FP(SBPL_FFLUSH_TEXT_FP fptr) { sbpl_fflush_fp = fptr; } + +int SBPL_PRINTALL(int level, const char* format, ...) +{ + int retVal = 0; + if (sbpl_print_fp) { + // parse arguments and pass resultant string to configured logger + va_list args; + va_start(args, format); + char buffer[SBPL_PRINTF_BUFFER_SIZE] = {0}; + retVal = vsnprintf(buffer,SBPL_PRINTF_BUFFER_SIZE - 1, format, args); + if (retVal < 0) { + printf("SBPL_PRINTALL::ERROR, could not complete call to vsnprintf()"); + } + else { + if (retVal == SBPL_PRINTF_BUFFER_SIZE) { + printf("SBPL_PRINTALL::ERROR, SBPL_PRINTF_BUFFER_SIZE: %d not large enough", SBPL_PRINTF_BUFFER_SIZE); + } + if(buffer[retVal-1] == '\n') { // Remove newline + buffer[retVal-1] = '\0'; + } + sbpl_print_fp(level, &buffer[0]); + } + va_end(args); + } + return retVal; +} + +int SBPL_FPRINTALL(FILE* file, const char* format, ...) +{ + int retVal = 0; + va_list args; + va_start(args, format); + if ((file == stdout) && (sbpl_print_fp != NULL)) { + char buffer[SBPL_PRINTF_BUFFER_SIZE] = {0}; + retVal = vsnprintf(buffer,SBPL_PRINTF_BUFFER_SIZE-1,format, args); + if (retVal < 0) { + printf("SBPL_PRINTALL::ERROR, could not complete call to vsnprintf()"); + } + else { + if (retVal == SBPL_PRINTF_BUFFER_SIZE) { + printf("SBPL_PRINTALL::ERROR, SBPL_PRINTF_BUFFER_SIZE: %d not large enough", SBPL_PRINTF_BUFFER_SIZE); + } + if(buffer[retVal-1] == '\n') { // Remove newline + buffer[retVal-1] = '\0'; + } + sbpl_print_fp(SBPL_LEVEL_NONE, &buffer[0]); + } + } + else { + retVal = vfprintf(file, format, args); + } + va_end (args); + return retVal; +} + +int SBPL_FFLUSHALL(FILE* file) +{ + int retVal = 0; + if (sbpl_fflush_fp) { + retVal = sbpl_fflush_fp(file); + } + return retVal; +} + +int SBPL_DEFAULT_DEBUG_OUTPUT_LOGGER(int level, const char* msg) +{ + switch (level) + { + case SBPL_LEVEL_NONE: + case SBPL_LEVEL_DEBUG: + case SBPL_LEVEL_INFO: + case SBPL_LEVEL_WARN: + return printf("%s\n", msg); + case SBPL_LEVEL_ERROR: + case SBPL_LEVEL_FATAL: + return fprintf(stderr, "%s\n", msg); + default: + return -1; + } +} + +int SBPL_DEFAULT_DEBUG_OUTPUT_FLUSH(FILE* f) +{ + return fflush(f); +} + diff --git a/navigations/sbpl/src/utils/heap.cpp b/navigations/sbpl/src/utils/heap.cpp new file mode 100755 index 0000000..d064434 --- /dev/null +++ b/navigations/sbpl/src/utils/heap.cpp @@ -0,0 +1,514 @@ +/* + * 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. + */ + +#include +#include + +using namespace std; + +void heaperror(const char* ErrorString) +{ + //need to send a message from here somehow + throw SBPL_Exception(ErrorString); +} + +//returns an infinite key +CKey InfiniteKey() +{ + CKey key; + key.SetKeytoInfinity(); + return key; +} + +//---------------------------------normal (multi-priority) CHeap class-------------------------------------------------- + +//constructors and destructors +CHeap::CHeap() +{ + percolates = 0; + currentsize = 0; + allocated = HEAPSIZE_INIT; + + heap = new heapelement[allocated]; + +} + +CHeap::~CHeap() +{ + int i; + for (i = 1; i <= currentsize; ++i) + heap[i].heapstate->heapindex = 0; + + delete[] heap; +} + +void CHeap::percolatedown(int hole, heapelement tmp) +{ + int child; + + if (currentsize != 0) { + for (; 2 * hole <= currentsize; hole = child) { + child = 2 * hole; + + if (child != currentsize && heap[child + 1].key < heap[child].key) ++child; + if (heap[child].key < tmp.key) { + percolates += 1; + heap[hole] = heap[child]; + heap[hole].heapstate->heapindex = hole; + } + else + break; + } + heap[hole] = tmp; + heap[hole].heapstate->heapindex = hole; + } +} + +void CHeap::percolateup(int hole, heapelement tmp) +{ + if (currentsize != 0) { + for (; hole > 1 && tmp.key < heap[hole / 2].key; hole /= 2) { + percolates += 1; + heap[hole] = heap[hole / 2]; + heap[hole].heapstate->heapindex = hole; + } + heap[hole] = tmp; + heap[hole].heapstate->heapindex = hole; + } +} + +void CHeap::percolateupordown(int hole, heapelement tmp) +{ + if (currentsize != 0) { + if (hole > 1 && heap[hole / 2].key > tmp.key) + percolateup(hole, tmp); + else + percolatedown(hole, tmp); + } +} + +bool CHeap::emptyheap() +{ + return currentsize == 0; +} + +bool CHeap::fullheap() +{ + return currentsize == HEAPSIZE - 1; +} + +bool CHeap::inheap(AbstractSearchState *AbstractSearchState) +{ + return (AbstractSearchState->heapindex != 0); +} + +CKey CHeap::getkeyheap(AbstractSearchState *AbstractSearchState) +{ + if (AbstractSearchState->heapindex == 0) heaperror("GetKey: AbstractSearchState is not in heap"); + + return heap[AbstractSearchState->heapindex].key; +} + +void CHeap::makeemptyheap() +{ + int i; + + for (i = 1; i <= currentsize; ++i) + heap[i].heapstate->heapindex = 0; + currentsize = 0; +} + +void CHeap::makeheap() +{ + int i; + + for (i = currentsize / 2; i > 0; i--) { + percolatedown(i, heap[i]); + } +} + +void CHeap::growheap() +{ + heapelement* newheap; + int i; + + SBPL_PRINTF("growing heap size from %d ", allocated); + + allocated = 2 * allocated; + if (allocated > HEAPSIZE) allocated = HEAPSIZE; + + SBPL_PRINTF("to %d\n", allocated); + + newheap = new heapelement[allocated]; + + for (i = 0; i <= currentsize; ++i) + newheap[i] = heap[i]; + + delete[] heap; + + heap = newheap; +} + +void CHeap::sizecheck() +{ + if (fullheap()) + heaperror("insertheap: heap is full"); + else if (currentsize == allocated - 1) { + growheap(); + } +} + +void CHeap::insertheap(AbstractSearchState *AbstractSearchState, CKey key) +{ + heapelement tmp; + char strTemp[100]; + + sizecheck(); + + if (AbstractSearchState->heapindex != 0) { + sprintf(strTemp, "insertheap: AbstractSearchState is already in heap"); + heaperror(strTemp); + } + tmp.heapstate = AbstractSearchState; + tmp.key = key; + percolateup(++currentsize, tmp); +} + +void CHeap::deleteheap(AbstractSearchState *AbstractSearchState) +{ + if (AbstractSearchState->heapindex == 0) heaperror("deleteheap: AbstractSearchState is not in heap"); + percolateupordown(AbstractSearchState->heapindex, heap[currentsize--]); + AbstractSearchState->heapindex = 0; +} + +void CHeap::updateheap(AbstractSearchState *AbstractSearchState, CKey NewKey) +{ + if (AbstractSearchState->heapindex == 0) heaperror("Updateheap: AbstractSearchState is not in heap"); + if (heap[AbstractSearchState->heapindex].key != NewKey) { + heap[AbstractSearchState->heapindex].key = NewKey; + percolateupordown(AbstractSearchState->heapindex, heap[AbstractSearchState->heapindex]); + } +} + +void CHeap::insert_unsafe(AbstractSearchState* AbstractSearchState, CKey key) +{ + heapelement tmp; + char strTemp[100]; + + sizecheck(); + + if (AbstractSearchState->heapindex != 0) { + sprintf(strTemp, "insertheap: AbstractSearchState is already in heap"); + heaperror(strTemp); + } + tmp.heapstate = AbstractSearchState; + tmp.key = key; + + ++currentsize; + heap[currentsize] = tmp; + heap[currentsize].heapstate->heapindex = currentsize; +} + +void CHeap::deleteheap_unsafe(AbstractSearchState* AbstractSearchState) +{ + if (AbstractSearchState->heapindex == 0) { + heaperror("deleteheap: AbstractSearchState is not in heap"); + } + + heap[AbstractSearchState->heapindex] = heap[currentsize]; + --currentsize; + + heap[AbstractSearchState->heapindex].heapstate->heapindex = AbstractSearchState->heapindex; + AbstractSearchState->heapindex = 0; +} + +void CHeap::updateheap_unsafe(AbstractSearchState* AbstractSearchState, CKey NewKey) +{ + if (AbstractSearchState->heapindex == 0) { + heaperror("updateheap: AbstractSearchState is not in heap"); + } + if (heap[AbstractSearchState->heapindex].key != NewKey) { + heap[AbstractSearchState->heapindex].key = NewKey; + } +} + +AbstractSearchState* CHeap::getminheap() +{ + if (currentsize == 0) heaperror("GetMinheap: heap is empty"); + return heap[1].heapstate; +} + +AbstractSearchState* CHeap::getminheap(CKey& ReturnKey) +{ + if (currentsize == 0) { + heaperror("GetMinheap: heap is empty"); + ReturnKey = InfiniteKey(); + } + ReturnKey = heap[1].key; + return heap[1].heapstate; +} + +CKey CHeap::getminkeyheap() +{ + CKey ReturnKey; + if (currentsize == 0) return InfiniteKey(); + ReturnKey = heap[1].key; + return ReturnKey; +} + +AbstractSearchState* CHeap::deleteminheap() +{ + AbstractSearchState *AbstractSearchState; + + if (currentsize == 0) heaperror("DeleteMin: heap is empty"); + + AbstractSearchState = heap[1].heapstate; + AbstractSearchState->heapindex = 0; + percolatedown(1, heap[currentsize--]); + return AbstractSearchState; +} + +//---------------------------------end of normal (multi-priority) CHeap class------------------------------------------- + +//---------------------------------single-priority CIntHeap class--------------------------------------------------- + +//constructors and destructors +CIntHeap::CIntHeap() +{ + percolates = 0; + currentsize = 0; + allocated = HEAPSIZE_INIT; + + heap = new heapintelement[allocated]; +} + +CIntHeap::CIntHeap(int initial_size) +{ + percolates = 0; + currentsize = 0; + allocated = initial_size; + + heap = new heapintelement[allocated]; +} + +CIntHeap::~CIntHeap() +{ + int i; + for (i = 1; i <= currentsize; ++i) + heap[i].heapstate->heapindex = 0; + + delete[] heap; +} + +void CIntHeap::percolatedown(int hole, heapintelement tmp) +{ + int child; + + if (currentsize != 0) { + for (; 2 * hole <= currentsize; hole = child) { + child = 2 * hole; + + if (child != currentsize && heap[child + 1].key < heap[child].key) ++child; + if (heap[child].key < tmp.key) { + percolates += 1; + heap[hole] = heap[child]; + heap[hole].heapstate->heapindex = hole; + } + else + break; + } + heap[hole] = tmp; + heap[hole].heapstate->heapindex = hole; + } +} + +void CIntHeap::percolateup(int hole, heapintelement tmp) +{ + if (currentsize != 0) { + for (; hole > 1 && tmp.key < heap[hole / 2].key; hole /= 2) { + percolates += 1; + heap[hole] = heap[hole / 2]; + heap[hole].heapstate->heapindex = hole; + } + heap[hole] = tmp; + heap[hole].heapstate->heapindex = hole; + } +} + +void CIntHeap::percolateupordown(int hole, heapintelement tmp) +{ + if (currentsize != 0) { + if (hole > 1 && heap[hole / 2].key > tmp.key) + percolateup(hole, tmp); + else + percolatedown(hole, tmp); + } +} + +bool CIntHeap::emptyheap() +{ + return currentsize == 0; +} + +bool CIntHeap::fullheap() +{ + return currentsize == HEAPSIZE - 1; +} + +bool CIntHeap::inheap(AbstractSearchState *AbstractSearchState) +{ + return (AbstractSearchState->heapindex != 0); +} + +int CIntHeap::getkeyheap(AbstractSearchState *AbstractSearchState) +{ + if (AbstractSearchState->heapindex == 0) heaperror("GetKey: AbstractSearchState is not in heap"); + + return heap[AbstractSearchState->heapindex].key; +} + +void CIntHeap::makeemptyheap() +{ + int i; + + for (i = 1; i <= currentsize; ++i) + heap[i].heapstate->heapindex = 0; + currentsize = 0; +} + +void CIntHeap::makeheap() +{ + int i; + + for (i = currentsize / 2; i > 0; i--) { + percolatedown(i, heap[i]); + } +} + +void CIntHeap::growheap() +{ + heapintelement* newheap; + int i; + + SBPL_PRINTF("growing heap size from %d ", allocated); + + allocated = 2 * allocated; + if (allocated > HEAPSIZE) allocated = HEAPSIZE; + + SBPL_PRINTF("to %d\n", allocated); + + newheap = new heapintelement[allocated]; + + for (i = 0; i <= currentsize; ++i) + newheap[i] = heap[i]; + + delete[] heap; + + heap = newheap; +} + +void CIntHeap::sizecheck() +{ + if (fullheap()) + heaperror("insertheap: heap is full"); + else if (currentsize == allocated - 1) { + growheap(); + } +} + +void CIntHeap::insertheap(AbstractSearchState *AbstractSearchState, int key) +{ + heapintelement tmp; + char strTemp[100]; + + sizecheck(); + + if (AbstractSearchState->heapindex != 0) { + sprintf(strTemp, "insertheap: AbstractSearchState is already in heap"); + heaperror(strTemp); + } + tmp.heapstate = AbstractSearchState; + tmp.key = key; + percolateup(++currentsize, tmp); +} + +void CIntHeap::deleteheap(AbstractSearchState *AbstractSearchState) +{ + if (AbstractSearchState->heapindex == 0) heaperror("deleteheap: AbstractSearchState is not in heap"); + percolateupordown(AbstractSearchState->heapindex, heap[currentsize--]); + AbstractSearchState->heapindex = 0; +} + +void CIntHeap::updateheap(AbstractSearchState *AbstractSearchState, int NewKey) +{ + if (AbstractSearchState->heapindex == 0) heaperror("Updateheap: AbstractSearchState is not in heap"); + if (heap[AbstractSearchState->heapindex].key != NewKey) { + heap[AbstractSearchState->heapindex].key = NewKey; + percolateupordown(AbstractSearchState->heapindex, heap[AbstractSearchState->heapindex]); + } +} + +AbstractSearchState* CIntHeap::getminheap() +{ + if (currentsize == 0) heaperror("GetMinheap: heap is empty"); + return heap[1].heapstate; +} + +AbstractSearchState* CIntHeap::getminheap(int& ReturnKey) +{ + if (currentsize == 0) { + heaperror("GetMinheap: heap is empty"); + } + ReturnKey = heap[1].key; + return heap[1].heapstate; +} + +int CIntHeap::getminkeyheap() +{ + int ReturnKey; + if (currentsize == 0) return INFINITECOST; + ReturnKey = heap[1].key; + return ReturnKey; +} + +AbstractSearchState* CIntHeap::deleteminheap() +{ + AbstractSearchState *AbstractSearchState; + + if (currentsize == 0) heaperror("DeleteMin: heap is empty"); + + AbstractSearchState = heap[1].heapstate; + AbstractSearchState->heapindex = 0; + percolatedown(1, heap[currentsize--]); + return AbstractSearchState; +} + +//---------------------------------end of single-priority CIntHeap class------------------------------------------------ + + diff --git a/navigations/sbpl/src/utils/mdp.cpp b/navigations/sbpl/src/utils/mdp.cpp new file mode 100755 index 0000000..c6a2296 --- /dev/null +++ b/navigations/sbpl/src/utils/mdp.cpp @@ -0,0 +1,324 @@ +/* + * 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. + */ + +//MDP.cpp - contains all the functions for MDP classes +#include +#include +#include + +using namespace std; + +//-------------------------MDPACTION class functions---------- + +bool CMDPACTION::Delete() +{ + SuccsID.clear(); + Costs.clear(); + SuccsProb.clear(); + return true; +} + +bool CMDPACTION::DeleteAllOutcomes() +{ + SuccsID.clear(); + Costs.clear(); + SuccsProb.clear(); + return true; +} + +bool CMDPACTION::IsValid() +{ + float Prob = 0; + for (int i = 0; i < (int)SuccsProb.size(); i++) { + Prob += SuccsProb[i]; + } + + return (fabs(Prob - 1.0) < EPS_ERROR); +} + +void CMDPACTION::AddOutcome(int OutcomeStateID, int OutcomeCost, float OutcomeProb) +{ +#if MEM_CHECK + DisableMemCheck(); +#endif + + SuccsID.push_back(OutcomeStateID); + Costs.push_back(OutcomeCost); + SuccsProb.push_back(OutcomeProb); + +#if MEM_CHECK + EnableMemCheck(); +#endif + +} + +void CMDPACTION::operator =(const CMDPACTION& rhsaction) +{ + this->ActionID = rhsaction.ActionID; +} + +int CMDPACTION::GetIndofMostLikelyOutcome() +{ + double HighestProb = 0; + int mlind = -1; + + for (int oind = 0; oind < (int)this->SuccsID.size(); oind++) { + if (this->SuccsProb[oind] >= HighestProb) { + mlind = oind; + HighestProb = this->SuccsProb[oind]; + } + } + + return mlind; +} + +int CMDPACTION::GetIndofOutcome(int OutcomeID) +{ + for (int oind = 0; oind < (int)this->SuccsID.size(); oind++) { + if (this->SuccsID[oind] == OutcomeID) { + return oind; + } + } + + return -1; +} + +//---------------------------------------------------------------------- + +//----------------------------MDPSTATE class functions--------------- + +bool CMDPSTATE::Delete() +{ + CMDPACTION* action; + + if (this->PlannerSpecificData != NULL) { + throw SBPL_Exception("ERROR deleting state: planner specific data is not deleted"); + } + + //delete predecessors array + PredsID.clear(); + + //delete actions array + while ((int)Actions.size() > 0) { + action = Actions[Actions.size() - 1]; + Actions.pop_back(); + + action->Delete(); + delete action; + } + + return true; +} + +CMDPACTION* CMDPSTATE::AddAction(int ID) +{ + CMDPACTION* action = new CMDPACTION(ID, this->StateID); + +#if MEM_CHECK + DisableMemCheck(); +#endif + + Actions.push_back(action); + +#if MEM_CHECK + EnableMemCheck(); +#endif + + return action; +} + +bool CMDPSTATE::AddPred(int stateID) +{ + //add the predecessor + if (!ContainsPred(stateID)) { +#if MEM_CHECK + DisableMemCheck(); +#endif + + PredsID.push_back(stateID); +#if MEM_CHECK + EnableMemCheck(); +#endif + } + + return true; +} + +bool CMDPSTATE::RemovePred(int stateID) +{ + for (int i = 0; i < (int)this->PredsID.size(); i++) { + if (this->PredsID.at(i) == stateID) { + this->PredsID.at(i) = this->PredsID.at(this->PredsID.size() - 1); + this->PredsID.pop_back(); + return true; + } + } + + //can happen when a state is twice a successor + //throw SBPL_Exception("ERROR in RemovePRed: no Pred is found"); + + return false; +} + +//requires the deletion of Preds elsewhere +bool CMDPSTATE::RemoveAllActions() +{ + CMDPACTION* action; + + //delete actions array + while ((int)Actions.size() > 0) { + action = Actions[Actions.size() - 1]; + Actions.pop_back(); + + action->Delete(); + delete action; + } + + return true; +} + +bool CMDPSTATE::ContainsPred(int stateID) +{ + for (int i = 0; i < (int)PredsID.size(); i++) { + if (PredsID[i] == stateID) return true; + } + return false; +} + +void CMDPSTATE::operator =(const CMDPSTATE& rhsstate) +{ + this->StateID = rhsstate.StateID; +} + +CMDPACTION* CMDPSTATE::GetAction(int actionID) +{ + for (int i = 0; i < (int)Actions.size(); i++) { + if (Actions[i]->ActionID == actionID) return Actions[i]; + } + + return NULL; +} + +//------------------------------------------------------------------------- + +//-------------MDP class functions-------------------------------- + +bool CMDP::empty() +{ + return ((int)StateArray.size() == 0); +} + +bool CMDP::full() +{ + return ((int)StateArray.size() >= MAXSTATESPACESIZE); +} + +//creates numofstates states. Their ids must be initialized elsewhere +bool CMDP::Create(int numofstates) +{ + CMDPSTATE* state; + + if (numofstates > MAXSTATESPACESIZE) { + throw SBPL_Exception("ERROR in Create: maximum MDP size is reached"); + } + + for (int i = 0; i < numofstates; i++) { + state = new CMDPSTATE(-1); + +#if MEM_CHECK + DisableMemCheck(); +#endif + StateArray.push_back(state); +#if MEM_CHECK + EnableMemCheck(); +#endif + + } + + return true; +} + +//Adds a new state The id must be initialized elsewhere +CMDPSTATE* CMDP::AddState(int StateID) +{ + CMDPSTATE* state; + + if ((int)StateArray.size() + 1 > MAXSTATESPACESIZE) { + throw SBPL_Exception("ERROR: maximum of states is reached in MDP"); + } + + state = new CMDPSTATE(StateID); + +#if MEM_CHECK + DisableMemCheck(); +#endif + StateArray.push_back(state); +#if MEM_CHECK + EnableMemCheck(); +#endif + + return state; +} + +bool CMDP::Delete() +{ + CMDPSTATE* state; + + while ((int)StateArray.size() > 0) { + state = StateArray[StateArray.size() - 1]; + StateArray.pop_back(); + + state->Delete(); + delete state; + } + + return true; +} + +void CMDP::Print(FILE* fOut) +{ + SBPL_FPRINTF(fOut, "MDP statespace size=%d\n", (unsigned int)StateArray.size()); + for (int i = 0; i < (int)StateArray.size(); i++) { + SBPL_FPRINTF(fOut, "%d: ", StateArray[i]->StateID); + for (int j = 0; j < (int)StateArray[i]->Actions.size(); j++) { + CMDPACTION* action = StateArray[i]->Actions[j]; + SBPL_FPRINTF(fOut, "[%d", action->ActionID); + for (int outind = 0; outind < (int)action->SuccsID.size(); outind++) { + SBPL_FPRINTF(fOut, " %d %d %f", action->SuccsID[outind], action->Costs[outind], + action->SuccsProb[outind]); + } + SBPL_FPRINTF(fOut, "] "); + } + SBPL_FPRINTF(fOut, "\n"); + } +} + +//-------------------------------------------------------- + +//----------------other functions------------------------- diff --git a/navigations/sbpl/src/utils/utils.cpp b/navigations/sbpl/src/utils/utils.cpp new file mode 100755 index 0000000..cfd4317 --- /dev/null +++ b/navigations/sbpl/src/utils/utils.cpp @@ -0,0 +1,929 @@ +/* + * 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. + */ + +#include +#include +#include + +#include +#include +#include +#include +#include + +using namespace std; + +#if MEM_CHECK == 1 +void DisableMemCheck() +{ + // Get the current state of the flag + // and store it in a temporary variable + int tmpFlag = _CrtSetDbgFlag( _CRTDBG_REPORT_FLAG ); + + // Turn On (OR) - All freed memory is re-initialized with xDD + tmpFlag |= _CRTDBG_DELAY_FREE_MEM_DF; + + // Turn Off (AND) - memory checking is disabled for future allocations + tmpFlag &= ~_CRTDBG_ALLOC_MEM_DF; + + // Set the new state for the flag + _CrtSetDbgFlag( tmpFlag ); +} + +void EnableMemCheck() +{ + // Get the current state of the flag + // and store it in a temporary variable + int tmpFlag = _CrtSetDbgFlag( _CRTDBG_REPORT_FLAG ); + + // Turn On (OR) - All freed memory is re-initialized with xDD + tmpFlag |= _CRTDBG_DELAY_FREE_MEM_DF; + + // Turn On (OR) - memory checking is enabled for future allocations + tmpFlag |= _CRTDBG_ALLOC_MEM_DF; + + // Set the new state for the flag + _CrtSetDbgFlag( tmpFlag ); +} +#endif + +void checkmdpstate(CMDPSTATE* state) +{ +#if DEBUG == 0 + throw SBPL_Exception("ERROR: checkMDPstate is too expensive for not in DEBUG mode"); +#endif + + for (int aind = 0; aind < (int)state->Actions.size(); aind++) { + for (int aind1 = 0; aind1 < (int)state->Actions.size(); aind1++) { + if (state->Actions[aind1]->ActionID == state->Actions[aind]->ActionID && aind1 != aind) { + throw SBPL_Exception("ERROR in CheckMDP: multiple actions with the same ID exist"); + } + } + for (int sind = 0; sind < (int)state->Actions[aind]->SuccsID.size(); sind++) { + for (int sind1 = 0; sind1 < (int)state->Actions[aind]->SuccsID.size(); sind1++) { + if (state->Actions[aind]->SuccsID[sind] == state->Actions[aind]->SuccsID[sind1] && sind != sind1) { + throw SBPL_Exception("ERROR in CheckMDP: multiple outcomes with the same ID exist"); + } + } + } + } +} + +void CheckMDP(CMDP* mdp) +{ + for (int i = 0; i < (int)mdp->StateArray.size(); i++) { + checkmdpstate(mdp->StateArray[i]); + } +} + +void PrintMatrix(int** matrix, int rows, int cols, FILE* fOut) +{ + for (int r = 0; r < rows; r++) { + for (int c = 0; c < cols; c++) { + SBPL_FPRINTF(fOut, "%d ", matrix[r][c]); + } + SBPL_FPRINTF(fOut, "\n"); + } +} + +//return true if there exists a path from sourcestate to targetstate and false otherwise +bool PathExists(CMDP* pMarkovChain, CMDPSTATE* sourcestate, CMDPSTATE* targetstate) +{ + CMDPSTATE* state; + vector WorkList; + int i; + bool *bProcessed = new bool[pMarkovChain->StateArray.size()]; + bool bFound = false; + + for (i = 0; i < (int)pMarkovChain->StateArray.size(); i++) + { + bProcessed[i] = false; + } + + + //insert the source state + WorkList.push_back(sourcestate); + while ((int)WorkList.size() > 0) { + //get the state and its info + state = WorkList[WorkList.size() - 1]; + WorkList.pop_back(); + + //Markov Chain should just contain a single policy + if ((int)state->Actions.size() > 1) { + throw SBPL_Exception("ERROR in PathExists: Markov Chain is a general MDP"); + } + + if (state == targetstate) { + //path found + bFound = true; + break; + } + + //otherwise just insert policy successors into the worklist unless it is a goal state + for (int sind = 0; (int)state->Actions.size() != 0 && sind < (int)state->Actions[0]->SuccsID.size(); sind++) { + //get a successor + for (i = 0; i < (int)pMarkovChain->StateArray.size(); i++) { + if (pMarkovChain->StateArray[i]->StateID == state->Actions[0]->SuccsID[sind]) break; + } + if (i == (int)pMarkovChain->StateArray.size()) { + throw SBPL_Exception("ERROR in PathExists: successor is not found"); + } + CMDPSTATE* SuccState = pMarkovChain->StateArray[i]; + + //insert at the end of list if not there or processed already + if (!bProcessed[i]) { + bProcessed[i] = true; + WorkList.push_back(SuccState); + } + } //for successors + }//while WorkList is non empty + + delete[] bProcessed; + + return bFound; +} + +int ComputeNumofStochasticActions(CMDP* pMDP) +{ + int i; + int nNumofStochActions = 0; + SBPL_PRINTF("ComputeNumofStochasticActions...\n"); + + for (i = 0; i < (int)pMDP->StateArray.size(); i++) { + for (int aind = 0; aind < (int)pMDP->StateArray[i]->Actions.size(); aind++) { + if ((int)pMDP->StateArray[i]->Actions[aind]->SuccsID.size() > 1) nNumofStochActions++; + } + } + SBPL_PRINTF("done\n"); + + return nNumofStochActions; +} + +void EvaluatePolicy(CMDP* PolicyMDP, int StartStateID, int GoalStateID, double* PolValue, bool *bFullPolicy, + double* Pcgoal, int *nMerges, bool* bCycles) +{ + int i, j, startind = -1; + double delta = INFINITECOST; + double mindelta = 0.1; + + *Pcgoal = 0; + *nMerges = 0; + + SBPL_PRINTF("Evaluating policy...\n"); + + //create and initialize values + double* vals = new double[PolicyMDP->StateArray.size()]; + double* Pcvals = new double[PolicyMDP->StateArray.size()]; + for (i = 0; i < (int)PolicyMDP->StateArray.size(); i++) { + vals[i] = 0; + Pcvals[i] = 0; + + //remember the start index + if (PolicyMDP->StateArray[i]->StateID == StartStateID) { + startind = i; + Pcvals[i] = 1; + } + } + + //initially assume full policy + *bFullPolicy = true; + bool bFirstIter = true; + while (delta > mindelta) { + delta = 0; + for (i = 0; i < (int)PolicyMDP->StateArray.size(); i++) { + //get the state + CMDPSTATE* state = PolicyMDP->StateArray[i]; + + //do the backup for values + if (state->StateID == GoalStateID) { + vals[i] = 0; + } + else if ((int)state->Actions.size() == 0) { + *bFullPolicy = false; + vals[i] = UNKNOWN_COST; + *PolValue = vals[startind]; + return; + } + else { + //normal backup + CMDPACTION* action = state->Actions[0]; + + //do backup + double Q = 0; + for (int oind = 0; oind < (int)action->SuccsID.size(); oind++) { + //get the state + for (j = 0; j < (int)PolicyMDP->StateArray.size(); j++) { + if (PolicyMDP->StateArray[j]->StateID == action->SuccsID[oind]) break; + } + if (j == (int)PolicyMDP->StateArray.size()) { + std::stringstream ss("ERROR in EvaluatePolicy: incorrect successor "); + ss << action->SuccsID[oind]; + throw SBPL_Exception(ss.str()); + } + Q += action->SuccsProb[oind] * (vals[j] + action->Costs[oind]); + } + + if (vals[i] > Q) { + throw SBPL_Exception("ERROR in EvaluatePolicy: val is decreasing"); + } + + //update delta + if (delta < Q - vals[i]) delta = Q - vals[i]; + + //set the value + vals[i] = Q; + } + + //iterate through all the predecessors and compute Pc + double Pc = 0; + //go over all predecessor states + int nMerge = 0; + for (j = 0; j < (int)PolicyMDP->StateArray.size(); j++) { + for (int oind = 0; (int)PolicyMDP->StateArray[j]->Actions.size() > 0 && + oind < (int)PolicyMDP->StateArray[j]->Actions[0]->SuccsID.size(); oind++) + { + if (PolicyMDP->StateArray[j]->Actions[0]->SuccsID[oind] == state->StateID) { + //process the predecessor + double PredPc = Pcvals[j]; + double OutProb = PolicyMDP->StateArray[j]->Actions[0]->SuccsProb[oind]; + + //accumulate into Pc + Pc = Pc + OutProb * PredPc; + nMerge++; + + //check for cycles + if (bFirstIter && !(*bCycles)) { + if (PathExists(PolicyMDP, state, PolicyMDP->StateArray[j])) *bCycles = true; + } + } + } + } + if (bFirstIter && state->StateID != GoalStateID && nMerge > 0) *nMerges += (nMerge - 1); + + //assign Pc + if (state->StateID != StartStateID) Pcvals[i] = Pc; + + if (state->StateID == GoalStateID) *Pcgoal = Pcvals[i]; + } //over states + bFirstIter = false; + } //until delta small + + *PolValue = vals[startind]; + + SBPL_PRINTF("done\n"); +} + +void get_bresenham_parameters(int p1x, int p1y, int p2x, int p2y, bresenham_param_t *params) +{ + params->UsingYIndex = 0; + + if (fabs((double)(p2y - p1y) / (double)(p2x - p1x)) > 1) (params->UsingYIndex)++; + + if (params->UsingYIndex) { + params->Y1 = p1x; + params->X1 = p1y; + params->Y2 = p2x; + params->X2 = p2y; + } + else { + params->X1 = p1x; + params->Y1 = p1y; + params->X2 = p2x; + params->Y2 = p2y; + } + + if ((p2x - p1x) * (p2y - p1y) < 0) { + params->Flipped = 1; + params->Y1 = -params->Y1; + params->Y2 = -params->Y2; + } + else + params->Flipped = 0; + + if (params->X2 > params->X1) + params->Increment = 1; + else + params->Increment = -1; + + params->DeltaX = params->X2 - params->X1; + params->DeltaY = params->Y2 - params->Y1; + + params->IncrE = 2 * params->DeltaY * params->Increment; + params->IncrNE = 2 * (params->DeltaY - params->DeltaX) * params->Increment; + params->DTerm = (2 * params->DeltaY - params->DeltaX) * params->Increment; + + params->XIndex = params->X1; + params->YIndex = params->Y1; +} + +void get_current_point(bresenham_param_t *params, int *x, int *y) +{ + if (params->UsingYIndex) { + *y = params->XIndex; + *x = params->YIndex; + if (params->Flipped) *x = -*x; + } + else { + *x = params->XIndex; + *y = params->YIndex; + if (params->Flipped) *y = -*y; + } +} + +int get_next_point(bresenham_param_t *params) +{ + if (params->XIndex == params->X2) { + return 0; + } + params->XIndex += params->Increment; + if (params->DTerm < 0 || (params->Increment < 0 && params->DTerm <= 0)) + params->DTerm += params->IncrE; + else { + params->DTerm += params->IncrNE; + params->YIndex += params->Increment; + } + return 1; +} + +//converts discretized version of angle into continuous (radians) +//maps 0->0, 1->delta, 2->2*delta, ... +double DiscTheta2Cont(int nTheta, int NUMOFANGLEVALS) +{ + double thetaBinSize = 2.0 * PI_CONST / NUMOFANGLEVALS; + return nTheta * thetaBinSize; +} + +//converts continuous (radians) version of angle into discrete +//maps 0->0, [delta/2, 3/2*delta)->1, [3/2*delta, 5/2*delta)->2,... +int ContTheta2Disc(double fTheta, int NUMOFANGLEVALS) +{ + double thetaBinSize = 2.0 * PI_CONST / NUMOFANGLEVALS; + return (int)(normalizeAngle(fTheta + thetaBinSize / 2.0) / (2.0 * PI_CONST) * (NUMOFANGLEVALS)); +} + +//input angle should be in radians +//counterclockwise is positive +//output is an angle in the range of from 0 to 2*PI +double normalizeAngle(double angle) +{ + double retangle = angle; + + //get to the range from -2PI, 2PI + if (fabs(retangle) > 2 * PI_CONST) retangle = retangle - ((int)(retangle / (2 * PI_CONST))) * 2 * PI_CONST; + + //get to the range 0, 2PI + if (retangle < 0) retangle += 2 * PI_CONST; + + if (retangle < 0 || retangle > 2 * PI_CONST) { + SBPL_ERROR("ERROR: after normalization of angle=%f we get angle=%f\n", angle, retangle); + } + + return retangle; +} + +/* + * point - the point to test + * + * Function derived from http://ozviz.wasp.uwa.edu.au/~pbourke/geometry/insidepoly/ + */ +bool IsInsideFootprint(sbpl_2Dpt_t pt, vector* bounding_polygon) +{ + int counter = 0; + int i; + double xinters; + sbpl_2Dpt_t p1; + sbpl_2Dpt_t p2; + int N = bounding_polygon->size(); + + p1 = bounding_polygon->at(0); + for (i = 1; i <= N; i++) { + p2 = bounding_polygon->at(i % N); + if (pt.y > __min(p1.y, p2.y)) { + if (pt.y <= __max(p1.y, p2.y)) { + if (pt.x <= __max(p1.x, p2.x)) { + if (p1.y != p2.y) { + xinters = (pt.y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y) + p1.x; + if (p1.x == p2.x || pt.x <= xinters) counter++; + } + } + } + } + p1 = p2; + } + + if (counter % 2 == 0) + return false; + else + return true; +#if DEBUG + //SBPL_PRINTF("Returning from inside footprint: %d\n", c); +#endif + // return c; +} + +double computeMinUnsignedAngleDiff(double angle1, double angle2) +{ + //get the angles into 0-2*PI range + angle1 = normalizeAngle(angle1); + angle2 = normalizeAngle(angle2); + + double anglediff = fabs(angle1 - angle2); + + //see if we can take a shorter route + if (anglediff > PI_CONST) { + anglediff = fabs(anglediff - 2 * PI_CONST); + } + + return anglediff; +} + +//computes 8-connected distances to obstacles and non-free areas in two linear +//passes and returns them in disttoObs_incells +//and disttoNonfree_incells arrays. The distances are in terms of the number of cells but are floats. These distances +//can then be converted into the actual distances using the actual discretization values +//areas outside of the map are considered to be obstacles +void computeDistancestoNonfreeAreas(unsigned char** Grid2D, int width_x, int height_y, unsigned char obsthresh, + float** disttoObs_incells, float** disttoNonfree_incells) +{ + int x, y, nbrx, nbry; + float mindisttoObs, mindisttoNonfree; + float maxDist = (float)(__min(width_x, height_y)); + float disttoObs, disttoNonfree; + int dir; + const int NUMOF2DQUASIDIRS = 4; + + // for quasi-Euclidean distance transform + // going left-to-right, top-to-bottom + int dxdownlefttoright_[NUMOF2DQUASIDIRS]; + int dydownlefttoright_[NUMOF2DQUASIDIRS]; + int dxdownrighttoleft_[NUMOF2DQUASIDIRS]; + int dydownrighttoleft_[NUMOF2DQUASIDIRS]; + + // going right-to-left, bottom-to-top + int dxuprighttoleft_[NUMOF2DQUASIDIRS]; + int dyuprighttoleft_[NUMOF2DQUASIDIRS]; + int dxuplefttoright_[NUMOF2DQUASIDIRS]; + int dyuplefttoright_[NUMOF2DQUASIDIRS]; + + // distances to the above nbrs + float distdownlefttoright_[NUMOF2DQUASIDIRS]; + float distdownrighttoleft_[NUMOF2DQUASIDIRS]; + float distuprighttoleft_[NUMOF2DQUASIDIRS]; + float distuplefttoright_[NUMOF2DQUASIDIRS]; + + // and for distance transform: + // increasing x (outer) + // increasing y (inner) + // [2] + // [1][s] + // [0][3] + dxdownlefttoright_[0] = -1; + dydownlefttoright_[0] = -1; + dxdownlefttoright_[1] = -1; + dydownlefttoright_[1] = 0; + dxdownlefttoright_[2] = -1; + dydownlefttoright_[2] = 1; + dxdownlefttoright_[3] = 0; + dydownlefttoright_[3] = -1; + + // increasing x (outer) + // decreasing y (inner) + // [2][3] + // [1][s] + // [0] + dxdownrighttoleft_[0] = -1; + dydownrighttoleft_[0] = -1; + dxdownrighttoleft_[1] = -1; + dydownrighttoleft_[1] = 0; + dxdownrighttoleft_[2] = -1; + dydownrighttoleft_[2] = 1; + dxdownrighttoleft_[3] = 0; + dydownrighttoleft_[3] = 1; + + // decreasing x (outer) + // decreasing y (inner) + // [3][2] + // [s][1] + // [0] + dxuprighttoleft_[0] = 1; + dyuprighttoleft_[0] = -1; + dxuprighttoleft_[1] = 1; + dyuprighttoleft_[1] = 0; + dxuprighttoleft_[2] = 1; + dyuprighttoleft_[2] = 1; + dxuprighttoleft_[3] = 0; + dyuprighttoleft_[3] = 1; + + // decreasing x (outer) + // increasing y (inner) + // [2] + // [s][1] + // [3][0] + dxuplefttoright_[0] = 1; + dyuplefttoright_[0] = -1; + dxuplefttoright_[1] = 1; + dyuplefttoright_[1] = 0; + dxuplefttoright_[2] = 1; + dyuplefttoright_[2] = 1; + dxuplefttoright_[3] = 0; + dyuplefttoright_[3] = -1; + + // insert the corresponding distances + distdownlefttoright_[0] = (float)1.414; + distdownlefttoright_[1] = (float)1.0; + distdownlefttoright_[2] = (float)1.414; + distdownlefttoright_[3] = (float)1.0; + + distdownrighttoleft_[0] = (float)1.414; + distdownrighttoleft_[1] = (float)1.0; + distdownrighttoleft_[2] = (float)1.414; + distdownrighttoleft_[3] = (float)1.0; + + distuprighttoleft_[0] = (float)1.414; + distuprighttoleft_[1] = (float)1.0; + distuprighttoleft_[2] = (float)1.414; + distuprighttoleft_[3] = (float)1.0; + + distuplefttoright_[0] = (float)1.414; + distuplefttoright_[1] = (float)1.0; + distuplefttoright_[2] = (float)1.414; + distuplefttoright_[3] = (float)1.0; + + // step through the map from top to bottom, + // alternating left-to-right then right-to-left + // This order maintains the invariant that the min distance for each + // cell to all previously-visited obstacles is accurate + for (x = 0; x < width_x; x++) { + // move from left to right + if (x % 2 == 0) { + + for (y = 0; y < height_y; y++) { + + mindisttoObs = maxDist; // initialize to max distance + mindisttoNonfree = maxDist; + + // if cell is an obstacle, set disttoObs to 0 and continue + if (Grid2D[x][y] >= obsthresh) { + disttoObs_incells[x][y] = 0; + disttoNonfree_incells[x][y] = 0; + continue; + } + + if (Grid2D[x][y] > 0) { + mindisttoNonfree = 0; + } + + //iterate over predecessors + for (dir = 0; dir < NUMOF2DQUASIDIRS; dir++) { + nbrx = x + dxdownlefttoright_[dir]; + nbry = y + dydownlefttoright_[dir]; + + //make sure it is inside the map and has no obstacle + // compute min cost to an obstacle for each cell, using + // *just* the cells already computed this pass for checking distance + if (nbrx < 0 || nbrx >= width_x || nbry < 0 || nbry >= height_y) { + disttoObs = distdownlefttoright_[dir]; + disttoNonfree = disttoObs; + } + else { + disttoObs = distdownlefttoright_[dir] + disttoObs_incells[nbrx][nbry]; + disttoNonfree = distdownlefttoright_[dir] + disttoNonfree_incells[nbrx][nbry]; + } + + if (disttoObs < mindisttoObs) mindisttoObs = disttoObs; + if (disttoNonfree < mindisttoNonfree) mindisttoNonfree = disttoNonfree; + }//over preds + + disttoObs_incells[x][y] = mindisttoObs; + disttoNonfree_incells[x][y] = mindisttoNonfree; + } + + } + else { + + // move from right to left + for (y = height_y - 1; y >= 0; y--) { + + mindisttoObs = maxDist; // initialize to max distance + mindisttoNonfree = maxDist; + + // if cell is an obstacle, set disttoObs to 0 and continue + if (Grid2D[x][y] >= obsthresh) { + disttoObs_incells[x][y] = 0; + disttoNonfree_incells[x][y] = 0; + continue; + } + + if (Grid2D[x][y] > 0) { + mindisttoNonfree = 0; + } + + //iterate over predecessors + for (dir = 0; dir < NUMOF2DQUASIDIRS; dir++) { + nbrx = x + dxdownrighttoleft_[dir]; + nbry = y + dydownrighttoleft_[dir]; + + //make sure it is inside the map and has no obstacle + // compute min cost to an obstacle for each cell, using + // *just* the cells already computed this pass for checking distance + if (nbrx < 0 || nbrx >= width_x || nbry < 0 || nbry >= height_y) { + disttoObs = distdownrighttoleft_[dir]; + disttoNonfree = disttoObs; + } + else { + disttoObs = distdownrighttoleft_[dir] + disttoObs_incells[nbrx][nbry]; + disttoNonfree = distdownrighttoleft_[dir] + disttoNonfree_incells[nbrx][nbry]; + } + + if (disttoObs < mindisttoObs) mindisttoObs = disttoObs; + if (disttoNonfree < mindisttoNonfree) mindisttoNonfree = disttoNonfree; + } + + disttoObs_incells[x][y] = mindisttoObs; + disttoNonfree_incells[x][y] = mindisttoNonfree; + } + //SBPL_PRINTF("x=%d\n", x); + } + } + + // step through the map from bottom to top + for (x = width_x - 1; x >= 0; x--) { + // move from right to left + if (x % 2 == 0) { + for (y = height_y - 1; y >= 0; y--) { + // initialize to current distance + mindisttoObs = disttoObs_incells[x][y]; + mindisttoNonfree = disttoNonfree_incells[x][y]; + + //iterate over predecessors + for (dir = 0; dir < NUMOF2DQUASIDIRS; dir++) { + nbrx = x + dxuprighttoleft_[dir]; + nbry = y + dyuprighttoleft_[dir]; + + //make sure it is inside the map and has no obstacle + // compute min cost to an obstacle for each cell, using + // *just* the cells already computed this pass for checking distance + if (nbrx < 0 || nbrx >= width_x || nbry < 0 || nbry >= height_y) { + disttoObs = distuprighttoleft_[dir]; + disttoNonfree = disttoObs; + } + else { + disttoObs = distuprighttoleft_[dir] + disttoObs_incells[nbrx][nbry]; + disttoNonfree = distuprighttoleft_[dir] + disttoNonfree_incells[nbrx][nbry]; + } + + if (disttoObs < mindisttoObs) mindisttoObs = disttoObs; + if (disttoNonfree < mindisttoNonfree) mindisttoNonfree = disttoNonfree; + }//over preds + + disttoObs_incells[x][y] = mindisttoObs; + disttoNonfree_incells[x][y] = mindisttoNonfree; + }//for y + } + else { + // move from left to right + for (y = 0; y < height_y; y++) { + // initialize to current distance + mindisttoObs = disttoObs_incells[x][y]; + mindisttoNonfree = disttoNonfree_incells[x][y]; + + //iterate over predecessors + for (dir = 0; dir < NUMOF2DQUASIDIRS; dir++) { + nbrx = x + dxuplefttoright_[dir]; + nbry = y + dyuplefttoright_[dir]; + + //make sure it is inside the map and has no obstacle + // compute min cost to an obstacle for each cell, using + // *just* the cells already computed this pass for checking distance + if (nbrx < 0 || nbrx >= width_x || nbry < 0 || nbry >= height_y) { + disttoObs = distuplefttoright_[dir]; + disttoNonfree = disttoObs; + } + else { + disttoObs = distuplefttoright_[dir] + disttoObs_incells[nbrx][nbry]; + disttoNonfree = distuplefttoright_[dir] + disttoNonfree_incells[nbrx][nbry]; + } + + if (disttoObs < mindisttoObs) mindisttoObs = disttoObs; + if (disttoNonfree < mindisttoNonfree) mindisttoNonfree = disttoNonfree; + } + + disttoObs_incells[x][y] = mindisttoObs; + disttoNonfree_incells[x][y] = mindisttoNonfree; + }//over y + }//direction + }//over x +} + +void get_2d_motion_cells(vector polygon, vector poses, vector* cells, + double res) +{ + // can't find any motion cells if there are no poses + if (poses.empty()) { + return; + } + + //get first footprint set + set first_cell_set; + get_2d_footprint_cells(polygon, &first_cell_set, poses[0], res); + + //duplicate first footprint set into motion set + set cell_set = first_cell_set; + + //call get footprint on the rest of the points + for (unsigned int i = 1; i < poses.size(); i++) { + get_2d_footprint_cells(polygon, &cell_set, poses[i], res); + } + + //convert the motion set to a vector but don't include the cells in the first footprint set + cells->reserve(cell_set.size() - first_cell_set.size()); + for (set::iterator it = cell_set.begin(); it != cell_set.end(); it++) { + if (first_cell_set.find(*it) == first_cell_set.end()) { + cells->push_back(*it); + } + } +} + +//This function is inefficient and should be avoided if possible (you should +//use overloaded functions that uses a set for the cells)! +void get_2d_footprint_cells(vector polygon, vector* cells, sbpl_xy_theta_pt_t pose, + double res) +{ + set cell_set; + for (unsigned int i = 0; i < cells->size(); i++) + cell_set.insert(cells->at(i)); + get_2d_footprint_cells(polygon, &cell_set, pose, res); + cells->clear(); + cells->reserve(cell_set.size()); + //for(set::iterator it; it==cell_set.begin(); it++) + // cells->push_back(*it); + for (set::iterator it = cell_set.begin(); it != cell_set.end(); it++) { + cells->push_back(*it); + } +} + +void get_2d_footprint_cells(vector polygon, set* cells, sbpl_xy_theta_pt_t pose, double res) +{ + //special case for point robot + if (polygon.size() <= 1) { + sbpl_2Dcell_t cell; + cell.x = CONTXY2DISC(pose.x, res); + cell.y = CONTXY2DISC(pose.y, res); + + cells->insert(cell); + return; + } + + //run bressenham line algorithm around the polygon (add them to the cells set) + //while doing that find the min and max (x,y) and the average x and y + double cth = cos(pose.theta); + double sth = sin(pose.theta); + + vector > disc_polygon; + disc_polygon.reserve(polygon.size() + 1); + int minx = INFINITECOST; + int maxx = -INFINITECOST; + int miny = INFINITECOST; + int maxy = -INFINITECOST; + + //find the bounding box of the polygon + for (unsigned int i = 0; i < polygon.size(); i++) { + pair p; + // p.first = CONTXY2DISC(cth*polygon[i].x - sth*polygon[i].y + pose.x, res); + double cx = (cth * polygon[i].x - sth * polygon[i].y + pose.x); + double cy = (sth * polygon[i].x + cth * polygon[i].y + pose.y); + p.first = (int)(cx > 0 ? cx / res + 0.5 : cx / res - 0.5); //(int)(cx / res + 0.5 * sign(c); + // p.second = CONTXY2DISC(sth*polygon[i].x + cth*polygon[i].y + pose.y, res); + p.second = (int)(cy > 0 ? cy / res + 0.5 : cy / res - 0.5);//(int)(cy / res + 0.5); + disc_polygon.push_back(p); + if (p.first < minx) minx = p.first; + if (p.first > maxx) maxx = p.first; + if (p.second < miny) miny = p.second; + if (p.second > maxy) maxy = p.second; + } + disc_polygon.push_back(disc_polygon.front()); + + //make a grid big enough for the footprint + int sizex = (maxx - minx + 1) + 2; + int sizey = (maxy - miny + 1) + 2; + int** grid = new int*[sizex]; + for (int i = 0; i < sizex; i++) { + grid[i] = new int[sizey]; + for (int j = 0; j < sizey; j++) + grid[i][j] = 0; + } + + //plot line points on the grid + for (unsigned int i = 1; i < disc_polygon.size(); i++) { + int x0 = disc_polygon[i - 1].first - minx + 1; + int y0 = disc_polygon[i - 1].second - miny + 1; + int x1 = disc_polygon[i].first - minx + 1; + int y1 = disc_polygon[i].second - miny + 1; + + //bressenham (add the line cells to the set and to a vector) + bool steep = abs(y1 - y0) > abs(x1 - x0); + if (steep) { + int temp = x0; + x0 = y0; + y0 = temp; + temp = x1; + x1 = y1; + y1 = temp; + } + if (x0 > x1) { + int temp = x0; + x0 = x1; + x1 = temp; + temp = y0; + y0 = y1; + y1 = temp; + } + int deltax = x1 - x0; + int deltay = abs(y1 - y0); + int error = deltax / 2; + int ystep = (y0 < y1 ? 1 : -1); + int y = y0; + for (int x = x0; x <= x1; x++) { + if (steep) { + grid[y][x] = 1; + cells->insert(sbpl_2Dcell_t(y - 1 + minx, x - 1 + miny)); + } + else { + grid[x][y] = 1; + cells->insert(sbpl_2Dcell_t(x - 1 + minx, y - 1 + miny)); + } + int last_error = error; + error -= deltay; + if (error < 0 && x != x1) { + //make sure we can't have a diagonal line (the 8-connected bfs will leak through) + + int tempy = y; + int tempx = x; + if (last_error < -error) + tempy += ystep; + else + tempx += 1; + if (steep) { + grid[tempy][tempx] = 1; + cells->insert(sbpl_2Dcell_t(tempy - 1 + minx, tempx - 1 + miny)); + } + else { + grid[tempx][tempy] = 1; + cells->insert(sbpl_2Dcell_t(tempx - 1 + minx, tempy - 1 + miny)); + } + + y += ystep; + error += deltax; + } + } + } + + //run a 2d bfs from the average (x,y) + sbpl_bfs_2d bfs(sizex, sizey, 1); + bfs.compute_distance_from_point(grid, 0, 0); + + for (int i = 0; i < sizex; i++) + delete[] grid[i]; + delete[] grid; + + //add all cells expanded to the cells set + for (int i = 1; i < sizex - 1; i++) { + for (int j = 1; j < sizey - 1; j++) { + if (bfs.get_distance(i, j) < 0) cells->insert(sbpl_2Dcell_t(i - 1 + minx, j - 1 + miny)); + } + } +} + +void writePlannerStats(vector s, FILE* fout) +{ + fprintf(fout, "%%eps time expands cost\n"); + for (unsigned int i = 0; i < s.size(); i++) { + fprintf(fout, "%f %f %d %d\n", s[i].eps, s[i].time, s[i].expands, s[i].cost); + } +} diff --git a/navigations/sbpl/test/sbpl_main_tests.py b/navigations/sbpl/test/sbpl_main_tests.py new file mode 100755 index 0000000..98981e1 --- /dev/null +++ b/navigations/sbpl/test/sbpl_main_tests.py @@ -0,0 +1,359 @@ +#!/usr/bin/env python + +from sys import argv +from subprocess import call +from os import getcwd, chdir, pardir, devnull +from os.path import join, exists, abspath + +# This script should only be run from sbpl/test/ +sbpl_root = abspath(pardir) + +def generate_makefile(dir=''): + """ + Generates a Makefile for SBPL if one doesn't exist + + Looks in a directory relative to the current directory for a Makefile. A new one is generated + using CMake if one isn't already there. CMakeLists.txt must exist in that directory for this to + work. + + @return Whether or not a Makefile was generated + """ + # try to generate Makefile if one doesn't exist + cwd = join(getcwd(), dir) + print 'Looking for Makefile in', cwd + if not exists(join(cwd, 'Makefile')): + if not exists(join(cwd, 'CMakeLists.txt')): + return False + else: + print 'No Makefile found for SBPL, running cmake' + call(['cmake', '.']) + return exists(join(cwd, 'Makefile')) +#end generate_makefile + +def run_sbpl_test(env_type, planner_type, test_env, mprim, is_forward_search, navigating=False): + """ + @brief run the sbpl test executable + """ + sbpl_exe = join(sbpl_root, 'bin/test_sbpl') + + devnull_fd = open(devnull) # for surpressing output + + test_env_path = join(sbpl_root, test_env) + mprim_path = join(sbpl_root, mprim) + print + print 'Running', planner_type, 'planner on', env_type, 'environment' + print 'Navigating =', navigating + print 'Test environment =', test_env + print 'Motion primitives =', mprim + + forward_search_arg = '' + if is_forward_search: + forward_search_arg = 'forward' + else: + forward_search_arg = 'backward' + + args = [sbpl_exe, '--env=' + env_type, '--planner=' + planner_type, '--search-dir=' + forward_search_arg, test_env_path, mprim_path] + if mprim == '': args.pop() + if navigating: args.insert(1, '-s') + for arg in args: print arg, + print + + import time + start_time = time.time() + + sbpl_res = call(args, stdout=devnull_fd, stderr=devnull_fd) + + end_time = time.time() + print 'Planning took', end_time - start_time, 'seconds.' + + green_color = '\033[92;1m' + red_color = '\033[91;1m' + end_color = '\033[0m' + if sbpl_res == 0: + print green_color + 'Planning succeeded.' + end_color + else: + print red_color + 'Planner failed with exit code' + end_color, sbpl_res + print + + devnull_fd.close() + + return sbpl_res +#end run_sbpl_test + +if __name__ == '__main__': + print "SBPL is located at", sbpl_root + + chdir(sbpl_root) + + makefile_exists = generate_makefile() + + make_result = 0 + # build SBPL + if makefile_exists: + if 'rebuild' in argv: call(['make', 'clean']) + make_result = call(['make']) + else: + print 'No Makefile or CMakeLists.txt found. Attempting to run tests without building' + + if make_result != 0: + print 'Errors building SBPL. Checking for older version of SBPL...' + + + sbpl_exists = exists(join(sbpl_root, 'bin/test_sbpl')) and \ + exists(join(sbpl_root, 'lib/libsbpl.so')) + + if not sbpl_exists: + print 'Could not build SBPL and SBPL is not already pre-built. Aborting tests' + exit() + else: + print 'SBPL library and test executable built. Proceeding with tests.' + + num_2d_test_successes = 0 + + ### PLANNING FOR 2D ENVIRONMENTS ### + + # all planners on 2d environment (12 tests) env1 + if run_sbpl_test('2d', 'arastar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + if run_sbpl_test('2d', 'adstar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + if run_sbpl_test('2d', 'anastar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + if run_sbpl_test('2d', 'rstar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + + # all planners navigating on 2d env1 + if run_sbpl_test('2d', 'arastar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', True, True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + if run_sbpl_test('2d', 'adstar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', True, True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + if run_sbpl_test('2d', 'anastar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', True, True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + if run_sbpl_test('2d', 'rstar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', True, True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + + # all planners on 2d env2 + if run_sbpl_test('2d', 'arastar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + if run_sbpl_test('2d', 'adstar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + if run_sbpl_test('2d', 'anastar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + if run_sbpl_test('2d', 'rstar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_2d_test_successes = num_2d_test_successes + 1 + + # all planners navigating on 2d env2 (no thanks, I want my tests to finish) + #run_sbpl_test('2d', 'arastar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', True) + #run_sbpl_test('2d', 'adstar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', True) + #run_sbpl_test('2d', 'anastar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', True) + #run_sbpl_test('2d', 'rstar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', True) + + ### PLANNING FOR (X,Y,THETA) ENVIRONMENTS (9 tests) ### + + num_xytheta_test_successes = 0 + + # all planners on xytheta env1 + if run_sbpl_test('xytheta', 'arastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_xytheta_test_successes = num_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'adstar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_xytheta_test_successes = num_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'anastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_xytheta_test_successes = num_xytheta_test_successes + 1 + + # all planners navigating on xytheta env1 + if run_sbpl_test('xytheta', 'arastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', True, True) == 0: + num_xytheta_test_successes = num_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'adstar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', True, True) == 0: + num_xytheta_test_successes = num_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'anastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', True, True) == 0: + num_xytheta_test_successes = num_xytheta_test_successes + 1 + + # all planners on xytheta env2 + if run_sbpl_test('xytheta', 'arastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', True) == 0: + num_xytheta_test_successes = num_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'adstar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', True) == 0: + num_xytheta_test_successes = num_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'anastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', True) == 0: + num_xytheta_test_successes = num_xytheta_test_successes + 1 + + # all planners navigating on xytheta env2 (no thanks, i want my tests to finish) + #run_sbpl_test('xytheta', 'arastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', True) + #run_sbpl_test('xytheta', 'adstar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', True) + #run_sbpl_test('xytheta', 'anstar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', True) + + ### PLANNING FOR (X,Y,THETA,LEV) ENVIRONMENTS (6 tests) ### + + num_xythetamlev_test_successes = 0 + + # all planners on xythetamlev env1 + if run_sbpl_test('xythetamlev', 'arastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_xythetamlev_test_successes = num_xythetamlev_test_successes + 1 + if run_sbpl_test('xythetamlev', 'adstar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_xythetamlev_test_successes = num_xythetamlev_test_successes + 1 + if run_sbpl_test('xythetamlev', 'anastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', True) == 0: + num_xythetamlev_test_successes = num_xythetamlev_test_successes + 1 + + # all planners on xythetamlev env2 + if run_sbpl_test('xythetamlev', 'arastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', True) == 0: + num_xythetamlev_test_successes = num_xythetamlev_test_successes + 1 + if run_sbpl_test('xythetamlev', 'adstar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', True) == 0: + num_xythetamlev_test_successes = num_xythetamlev_test_successes + 1 + if run_sbpl_test('xythetamlev', 'anastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', True) == 0: + num_xythetamlev_test_successes = num_xythetamlev_test_successes + 1 + + ### PLANNING FOR ROBARM ENVIRONMENTS (12 tests) ### + + num_robarm_test_successes = 0 + + # all planners on robarm env1 + if run_sbpl_test('robarm', 'arastar', 'env_examples/robarm/env1_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + if run_sbpl_test('robarm', 'adstar', 'env_examples/robarm/env1_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + if run_sbpl_test('robarm', 'anastar', 'env_examples/robarm/env1_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + if run_sbpl_test('robarm', 'rstar', 'env_examples/robarm/env1_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + + # all planners on robarm env2 + if run_sbpl_test('robarm', 'arastar', 'env_examples/robarm/env2_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + if run_sbpl_test('robarm', 'adstar', 'env_examples/robarm/env2_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + if run_sbpl_test('robarm', 'anastar', 'env_examples/robarm/env2_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + if run_sbpl_test('robarm', 'rstar', 'env_examples/robarm/env2_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + + # all planners on robarm env3 + if run_sbpl_test('robarm', 'arastar', 'env_examples/robarm/env3_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + if run_sbpl_test('robarm', 'adstar', 'env_examples/robarm/env3_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + if run_sbpl_test('robarm', 'anastar', 'env_examples/robarm/env3_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + if run_sbpl_test('robarm', 'rstar', 'env_examples/robarm/env3_6d.cfg', '', True) == 0: + num_robarm_test_successes = num_robarm_test_successes + 1 + + + ###### RUN ALL TESTS WITH BACKWARD SEARCH NOW ###### + + ### PLANNING FOR 2D ENVIRONMENTS ### + + num_b_2d_test_successes = 0 + + # all planners on 2d environment (12 tests) env1 + if run_sbpl_test('2d', 'arastar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + if run_sbpl_test('2d', 'adstar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + if run_sbpl_test('2d', 'anastar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + if run_sbpl_test('2d', 'rstar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + + # all planners navigating on 2d env1 + if run_sbpl_test('2d', 'arastar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', False, True) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + if run_sbpl_test('2d', 'adstar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', False, True) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + if run_sbpl_test('2d', 'anastar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', False, True) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + if run_sbpl_test('2d', 'rstar', 'env_examples/nav2d/env1.cfg', 'matlab/mprim/pr2.mprim', False, True) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + + # all planners on 2d env2 + if run_sbpl_test('2d', 'arastar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + if run_sbpl_test('2d', 'adstar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + if run_sbpl_test('2d', 'anastar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + if run_sbpl_test('2d', 'rstar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_2d_test_successes = num_b_2d_test_successes + 1 + + # all planners navigating on 2d env2 (no thanks, I want my tests to finish) + #run_sbpl_test('2d', 'arastar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', False) + #run_sbpl_test('2d', 'adstar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', False) + #run_sbpl_test('2d', 'anastar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', False) + #run_sbpl_test('2d', 'rstar', 'env_examples/nav2d/env2.cfg', 'matlab/mprim/pr2.mprim', False) + + ### PLANNING FOR (X,Y,THETA) ENVIRONMENTS (9 tests) ### + + num_b_xytheta_test_successes = 0 + + # all planners on xytheta env1 + if run_sbpl_test('xytheta', 'arastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_xytheta_test_successes = num_b_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'adstar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_xytheta_test_successes = num_b_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'anastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_xytheta_test_successes = num_b_xytheta_test_successes + 1 + + # all planners navigating on xytheta env1 + if run_sbpl_test('xytheta', 'arastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', False, False) == 0: + num_b_xytheta_test_successes = num_b_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'adstar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', False, False) == 0: + num_b_xytheta_test_successes = num_b_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'anastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', False, False) == 0: + num_b_xytheta_test_successes = num_b_xytheta_test_successes + 1 + + # all planners on xytheta env2 + if run_sbpl_test('xytheta', 'arastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', False) == 0: + num_b_xytheta_test_successes = num_b_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'adstar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', False) == 0: + num_b_xytheta_test_successes = num_b_xytheta_test_successes + 1 + if run_sbpl_test('xytheta', 'anastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', False) == 0: + num_b_xytheta_test_successes = num_b_xytheta_test_successes + 1 + + # all planners navigating on xytheta env2 (no thanks, i want my tests to finish) + #run_sbpl_test('xytheta', 'arastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', False) + #run_sbpl_test('xytheta', 'adstar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', False) + #run_sbpl_test('xytheta', 'anstar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', False) + + ### PLANNING FOR (X,Y,THETA,LEV) ENVIRONMENTS (6 tests) ### + + num_b_xythetamlev_test_successes = 0 + + # all planners on xythetamlev env1 + if run_sbpl_test('xythetamlev', 'arastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_xythetamlev_test_successes = num_b_xythetamlev_test_successes + 1 + if run_sbpl_test('xythetamlev', 'adstar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_xythetamlev_test_successes = num_b_xythetamlev_test_successes + 1 + if run_sbpl_test('xythetamlev', 'anastar', 'env_examples/nav3d/env1.cfg', 'matlab/mprim/pr2.mprim', False) == 0: + num_b_xythetamlev_test_successes = num_b_xythetamlev_test_successes + 1 + + # all planners on xythetamlev env2 + if run_sbpl_test('xythetamlev', 'arastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', False) == 0: + num_b_xythetamlev_test_successes = num_b_xythetamlev_test_successes + 1 + if run_sbpl_test('xythetamlev', 'adstar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', False) == 0: + num_b_xythetamlev_test_successes = num_b_xythetamlev_test_successes + 1 + if run_sbpl_test('xythetamlev', 'anastar', 'env_examples/nav3d/env2.cfg', 'matlab/mprim/pr2_10cm.mprim', False) == 0: + num_b_xythetamlev_test_successes = num_b_xythetamlev_test_successes + 1 + + print '\033[96;1m', 'Forward search results', '\033[0m' + print '\033[96;1m', '----------------------', '\033[0m' + print '\033[96;1m', num_2d_test_successes, 'out of', 12, '2d tests succeeded', '\033[0m' + print '\033[96;1m', num_xytheta_test_successes, 'out of', 9, 'xytheta tests succeeded.', '\033[0m' + print '\033[96;1m', num_xythetamlev_test_successes, 'out of', 6, 'xythetamlev tests succeeded.', '\033[0m' + print '\033[96;1m', num_robarm_test_successes, 'out of', 12, 'robarm tests succeeded.', '\033[0m' + + num_tests = 39 + print '\033[96;1m', num_2d_test_successes + num_xytheta_test_successes + num_xythetamlev_test_successes + \ + num_robarm_test_successes, 'out of', num_tests, 'tests succeeded.', '\033[0m' + + print + print '\033[96;1m', 'Backward search results', '\033[0m' + print '\033[96;1m', '-----------------------', '\033[0m' + print '\033[96;1m', num_b_2d_test_successes, 'out of', 12, '2d tests succeeded', '\033[0m' + print '\033[96;1m', num_b_xytheta_test_successes, 'out of', 9, 'xytheta tests succeeded.', '\033[0m' + print '\033[96;1m', num_b_xythetamlev_test_successes, 'out of', 6, 'xythetamlev tests succeeded.', '\033[0m' + + num_b_tests = 27 + print '\033[96;1m', num_b_2d_test_successes + num_b_xytheta_test_successes + num_b_xythetamlev_test_successes, \ + 'out of', num_b_tests, 'tests succeeded.', '\033[0m' +#end main + +# NOTES +# xytheta and xythetamlev environments do not support R* planning +# envrobarm does not support backward search diff --git a/navigations/sbpl_lattice_planner/CMakeLists.txt b/navigations/sbpl_lattice_planner/CMakeLists.txt new file mode 100755 index 0000000..47f70b4 --- /dev/null +++ b/navigations/sbpl_lattice_planner/CMakeLists.txt @@ -0,0 +1,82 @@ +cmake_minimum_required(VERSION 3.5.1) +cmake_policy(SET CMP0048 NEW) +project(sbpl_lattice_planner) + +############################################################################## +# Find dependencies +############################################################################## + +set(THIS_PACKAGE_ROS_DEPS roscpp costmap_2d nav_core pluginlib tf tf2 + geometry_msgs nav_msgs) +find_package(catkin REQUIRED COMPONENTS + ${THIS_PACKAGE_ROS_DEPS} message_generation) + +# Find SBPL +# find_package(SBPL REQUIRED) +find_package(PkgConfig REQUIRED) +pkg_check_modules(SBPL REQUIRED sbpl) +# include_directories(${SBPL_INCLUDE_DIRS}) +link_directories(${SBPL_LIBRARY_DIRS}) + +# include_directories(include ${catkin_INCLUDE_DIRS} ${SBPL_INCLUDE_DIRS}) + +############################################################################## +# Generate messages +############################################################################## + +add_message_files(FILES + SBPLLatticePlannerStats.msg + OccupancyGrid.msg) +generate_messages(DEPENDENCIES geometry_msgs nav_msgs) + +############################################################################## +# Define package +############################################################################## + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS} message_runtime + # DEPENDS SBPL +) + +############################################################################## +# Build +############################################################################## +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${SBPL_INCLUDE_DIRS} +) +add_library(${PROJECT_NAME} src/sbpl_lattice_planner.cpp) +target_link_libraries(${PROJECT_NAME} ${SBPL_LIBRARIES}) +add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_compile_options(${PROJECT_NAME} PUBLIC "-Wno-terminate") # suppress warning from included SBPL header + +############################################################################## +# Install +############################################################################## + +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +install(FILES bgp_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY + launch + matlab + rviz + worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/navigations/sbpl_lattice_planner/bgp_plugin.xml b/navigations/sbpl_lattice_planner/bgp_plugin.xml new file mode 100755 index 0000000..3aee5e8 --- /dev/null +++ b/navigations/sbpl_lattice_planner/bgp_plugin.xml @@ -0,0 +1,8 @@ + + + + An implementation of search-based planning using anytime A* and a lattice graph. + + + + diff --git a/navigations/sbpl_lattice_planner/include/sbpl_lattice_planner/sbpl_lattice_planner.h b/navigations/sbpl_lattice_planner/include/sbpl_lattice_planner/sbpl_lattice_planner.h new file mode 100755 index 0000000..0f8260f --- /dev/null +++ b/navigations/sbpl_lattice_planner/include/sbpl_lattice_planner/sbpl_lattice_planner.h @@ -0,0 +1,118 @@ +#ifndef SBPL_LATTICE_PLANNER_H +#define SBPL_LATTICE_PLANNER_H + +#include +#include + +using namespace std; + +// ROS +#include +#include +#include + +// Costmap used for the map representation +#include + +// sbpl headers +#include + +// global representation +#include + +namespace sbpl_lattice_planner{ + +class SBPLLatticePlanner : public nav_core::BaseGlobalPlanner{ +public: + + /** + * @brief Default constructor for the NavFnROS object + */ + SBPLLatticePlanner(); + + + /** + * @brief Constructor for the SBPLLatticePlanner object + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use + */ + SBPLLatticePlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros); + + + /** + * @brief Initialization function for the SBPLLatticePlanner object + * @param name The name of this planner + * @param costmap_ros A pointer to the ROS wrapper of the costmap to use + */ + virtual void initialize(std::string name, + costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @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 geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal, + std::vector& plan); + + virtual ~SBPLLatticePlanner(){}; + +private: + unsigned char costMapCostToSBPLCost(unsigned char newcost); + void publishStats(int solution_cost, int solution_size, + const geometry_msgs::PoseStamped& start, + const geometry_msgs::PoseStamped& goal); + + unsigned char computeCircumscribedCost(); + + static void transformFootprintToEdges(const 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, + 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_; + + std::string name_; + costmap_2d::Costmap2DROS* costmap_ros_; /**< manages the cost map for us */ + std::vector footprint_; + unsigned int current_env_width_; + unsigned int current_env_height_; + + ros::Publisher plan_pub_; + ros::Publisher stats_publisher_; + ros::Publisher sbpl_plan_footprint_pub_; +}; +}; + +#endif + diff --git a/navigations/sbpl_lattice_planner/launch/move_base/base_local_planner_params_close.yaml b/navigations/sbpl_lattice_planner/launch/move_base/base_local_planner_params_close.yaml new file mode 100755 index 0000000..8f7f62d --- /dev/null +++ b/navigations/sbpl_lattice_planner/launch/move_base/base_local_planner_params_close.yaml @@ -0,0 +1,28 @@ +TrajectoryPlannerROS: + #Independent settings for the local costmap + transform_tolerance: 0.3 + sim_time: 1.7 + sim_granularity: 0.025 + dwa: true + vx_samples: 3 + vtheta_samples: 20 + max_vel_x: 2.0 + min_vel_x: 0.1 + max_rotational_vel: 1.0 + min_in_place_vel_theta: 0.4 + xy_goal_tolerance: 0.1 + yaw_goal_tolerance: 0.1 + goal_distance_bias: 0.2 + path_distance_bias: .9 + occdist_scale: 0.01 + heading_lookahead: 0.325 + oscillation_reset_dist: 0.05 + holonomic_robot: true + acc_lim_theta: 3.2 + acc_lim_x: 2.5 + acc_lim_y: 2.5 + heading_scoring: false + heading_scoring_timestep: 0.8 + holonomic_robot: true + simple_attractor: false + meter_scoring: true diff --git a/navigations/sbpl_lattice_planner/launch/move_base/costmap_common_params.yaml b/navigations/sbpl_lattice_planner/launch/move_base/costmap_common_params.yaml new file mode 100755 index 0000000..ea87c54 --- /dev/null +++ b/navigations/sbpl_lattice_planner/launch/move_base/costmap_common_params.yaml @@ -0,0 +1,21 @@ +#START VOXEL STUFF +map_type: voxel +origin_z: 0.0 +z_resolution: 0.2 +z_voxels: 10 +unknown_threshold: 9 +mark_threshold: 0 +#END VOXEL STUFF +transform_tolerance: 0.3 +obstacle_range: 2.5 +max_obstacle_height: 2.0 +raytrace_range: 3.0 +footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]] +#robot_radius: 0.46 +footprint_padding: 0.01 +inflation_radius: 0.55 +cost_scaling_factor: 10.0 +lethal_cost_threshold: 100 +observation_sources: base_scan +base_scan: {data_type: LaserScan, expected_update_rate: 0.4, + observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08} diff --git a/navigations/sbpl_lattice_planner/launch/move_base/global_costmap_params.yaml b/navigations/sbpl_lattice_planner/launch/move_base/global_costmap_params.yaml new file mode 100755 index 0000000..def99ec --- /dev/null +++ b/navigations/sbpl_lattice_planner/launch/move_base/global_costmap_params.yaml @@ -0,0 +1,12 @@ +#Independent settings for the planner's costmap +global_costmap: + global_frame: map + robot_base_frame: base_link + update_frequency: 5.0 + publish_frequency: 0.0 + static_map: true + rolling_window: false + static_layer: + track_unknown_space: true + obstacle_layer: + track_unknown_space: true diff --git a/navigations/sbpl_lattice_planner/launch/move_base/local_costmap_params_close.yaml b/navigations/sbpl_lattice_planner/launch/move_base/local_costmap_params_close.yaml new file mode 100755 index 0000000..8abecb1 --- /dev/null +++ b/navigations/sbpl_lattice_planner/launch/move_base/local_costmap_params_close.yaml @@ -0,0 +1,13 @@ +local_costmap: + publish_voxel_map: true + global_frame: map + robot_base_frame: base_link + update_frequency: 5.0 + publish_frequency: 2.0 + static_map: false + rolling_window: true + width: 2.0 + height: 2.0 + resolution: 0.025 + origin_x: 0.0 + origin_y: 0.0 diff --git a/navigations/sbpl_lattice_planner/launch/move_base/move_base.xml b/navigations/sbpl_lattice_planner/launch/move_base/move_base.xml new file mode 100755 index 0000000..0dc9752 --- /dev/null +++ b/navigations/sbpl_lattice_planner/launch/move_base/move_base.xml @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/navigations/sbpl_lattice_planner/launch/move_base/nav_view_sbpl.xml b/navigations/sbpl_lattice_planner/launch/move_base/nav_view_sbpl.xml new file mode 100755 index 0000000..c9c4952 --- /dev/null +++ b/navigations/sbpl_lattice_planner/launch/move_base/nav_view_sbpl.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/navigations/sbpl_lattice_planner/launch/move_base/sbpl_global_params.yaml b/navigations/sbpl_lattice_planner/launch/move_base/sbpl_global_params.yaml new file mode 100755 index 0000000..b9e348f --- /dev/null +++ b/navigations/sbpl_lattice_planner/launch/move_base/sbpl_global_params.yaml @@ -0,0 +1,18 @@ +# SBPLLatticePlanner: +# environment_type: XYThetaLattice +# planner_type: ARAPlanner +# allocated_time: 5.0 +# initial_epsilon: 3.0 +# forward_search: false +# allow_unknown: true + +base_global_planner: SBPLLatticePlanner +SBPLLatticePlanner: + environment_type: XYThetaLattice + planner_type: ARAPlanner + allocated_time: 10.0 + initial_epsilon: 15.0 + forward_search: false + nominalvel_mpersecs: 0.8 + timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s + allow_unknown: true \ No newline at end of file diff --git a/navigations/sbpl_lattice_planner/launch/move_base_sbpl_fake_localization_2.5cm.launch b/navigations/sbpl_lattice_planner/launch/move_base_sbpl_fake_localization_2.5cm.launch new file mode 100755 index 0000000..a95f539 --- /dev/null +++ b/navigations/sbpl_lattice_planner/launch/move_base_sbpl_fake_localization_2.5cm.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/navigations/sbpl_lattice_planner/matlab/mprim/genmprim_unicycle_highcost_5cm.m b/navigations/sbpl_lattice_planner/matlab/mprim/genmprim_unicycle_highcost_5cm.m new file mode 100755 index 0000000..2810593 --- /dev/null +++ b/navigations/sbpl_lattice_planner/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/navigations/sbpl_lattice_planner/matlab/mprim/genmprim_unicycle_highcost_5cm.py b/navigations/sbpl_lattice_planner/matlab/mprim/genmprim_unicycle_highcost_5cm.py new file mode 100755 index 0000000..c8801c0 --- /dev/null +++ b/navigations/sbpl_lattice_planner/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__ == 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header + +#MetaData for the map +nav_msgs/MapMetaData info + +# The map data, in row-major order, starting with (0,0). Occupancy +int16[] data diff --git a/navigations/sbpl_lattice_planner/msg/SBPLLatticePlannerStats.msg b/navigations/sbpl_lattice_planner/msg/SBPLLatticePlannerStats.msg new file mode 100755 index 0000000..3eb99a9 --- /dev/null +++ b/navigations/sbpl_lattice_planner/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/navigations/sbpl_lattice_planner/package.xml b/navigations/sbpl_lattice_planner/package.xml new file mode 100755 index 0000000..f1f4d0f --- /dev/null +++ b/navigations/sbpl_lattice_planner/package.xml @@ -0,0 +1,50 @@ + + + sbpl_lattice_planner + 0.4.1 + + The sbpl_lattice_planner is a global planner plugin for move_base and wraps + the SBPL search-based planning library. + + Martin Günther + Michael Phillips + BSD + http://wiki.ros.org/sbpl_lattice_planner + https://github.com/ros-planning/navigation_experimental.git + https://github.com/ros-planning/navigation_experimental/issues + + catkin + + costmap_2d + costmap_2d + + geometry_msgs + geometry_msgs + + nav_core + nav_core + + nav_msgs + nav_msgs + + pluginlib + pluginlib + + roscpp + + sbpl + sbpl + + tf + tf + + tf2 + tf2 + + message_generation + message_runtime + + + + + diff --git a/navigations/sbpl_lattice_planner/src/sbpl_lattice_planner.cpp b/navigations/sbpl_lattice_planner/src/sbpl_lattice_planner.cpp new file mode 100755 index 0000000..351604c --- /dev/null +++ b/navigations/sbpl_lattice_planner/src/sbpl_lattice_planner.cpp @@ -0,0 +1,602 @@ +/********************************************************************* + * + * 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 +#include + +using namespace std; +using namespace ros; + +PLUGINLIB_EXPORT_CLASS(sbpl_lattice_planner::SBPLLatticePlanner, nav_core::BaseGlobalPlanner) + +namespace 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_ros_(NULL) + { + } + + SBPLLatticePlanner::SBPLLatticePlanner(std::string name, costmap_2d::Costmap2DROS *costmap_ros) + : initialized_(false), costmap_ros_(NULL) + { + initialize(name, costmap_ros); + } + + void SBPLLatticePlanner::initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros) + { + if (!initialized_) + { + ros::NodeHandle private_nh("~/" + name); + + ROS_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); + + 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)(costmap_2d::INSCRIBED_INFLATED_OBSTACLE / inscribed_inflated_obstacle_ + 1); + ROS_INFO("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)); + + name_ = name; + costmap_ros_ = costmap_ros; + + footprint_ = costmap_ros_->getRobotFootprint(); + + if ("XYThetaLattice" == environment_type_) + { + ROS_DEBUG("Using a 3D costmap for theta lattice\n"); + env_ = new EnvironmentNAVXYTHETALAT(); + } + else + { + ROS_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. + ROS_WARN("The costmap value at the robot's circumscribed radius (%f m) is 0.", costmap_ros_->getLayeredCostmap()->getCircumscribedRadius()); + ROS_WARN("SBPL performance will suffer."); + ROS_WARN("Please decrease the costmap's cost_scaling_factor."); + } + if (!env_->SetEnvParameter("cost_inscribed_thresh", costMapCostToSBPLCost(costmap_2d::INSCRIBED_INFLATED_OBSTACLE))) + { + ROS_ERROR("Failed to set cost_inscribed_thresh parameter"); + exit(1); + } + if (!env_->SetEnvParameter("cost_possibly_circumscribed_thresh", circumscribed_cost_)) + { + ROS_ERROR("Failed to set cost_possibly_circumscribed_thresh parameter"); + exit(1); + } + int obst_cost_thresh = costMapCostToSBPLCost(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); + } + + bool ret; + try + { + ret = env_->InitializeEnv(costmap_ros_->getCostmap()->getSizeInCellsX(), // width + costmap_ros_->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_ros_->getCostmap()->getResolution(), nominalvel_mpersecs, + timetoturn45degsinplace_secs, obst_cost_thresh, + primitive_filename_.c_str()); + current_env_width_ = costmap_ros_->getCostmap()->getSizeInCellsX(); + current_env_height_ = costmap_ros_->getCostmap()->getSizeInCellsY(); + } + catch (SBPL_Exception *e) + { + ROS_ERROR("SBPL encountered a fatal exception: %s", e->what()); + ret = false; + } + if (!ret) + { + ROS_ERROR("SBPL initialization failed!"); + exit(1); + } + for (ssize_t ix(0); ix < costmap_ros_->getCostmap()->getSizeInCellsX(); ++ix) + for (ssize_t iy(0); iy < costmap_ros_->getCostmap()->getSizeInCellsY(); ++iy) + env_->UpdateCost(ix, iy, costMapCostToSBPLCost(costmap_ros_->getCostmap()->getCost(ix, iy))); + + if ("ARAPlanner" == planner_type_) + { + ROS_INFO("Planning with ARA*"); + planner_ = new ARAPlanner(env_, forward_search_); + } + else if ("ADPlanner" == planner_type_) + { + ROS_INFO("Planning with AD*"); + planner_ = new ADPlanner(env_, forward_search_); + } + else + { + ROS_ERROR("ARAPlanner and ADPlanner are currently the only supported planners!\n"); + exit(1); + } + + ROS_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; + } + } + + // Taken from Sachin's sbpl_cart_planner + // This rescales the costmap according to a rosparam which sets the obstacle cost + unsigned char SBPLLatticePlanner::costMapCostToSBPLCost(unsigned char newcost) + { + if (newcost == costmap_2d::LETHAL_OBSTACLE || (!allow_unknown_ && newcost == costmap_2d::NO_INFORMATION)) + return lethal_obstacle_; + else if (newcost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE) + return inscribed_inflated_obstacle_; + else if (newcost == 0) + return 0; + else if(newcost == costmap_2d::NO_INFORMATION) + return costmap_2d::FREE_SPACE/sbpl_cost_multiplier_; + else + { + unsigned char sbpl_cost = newcost / sbpl_cost_multiplier_; + if (sbpl_cost == 0) + sbpl_cost = 1; + return sbpl_cost; + } + } + + void SBPLLatticePlanner::publishStats(int solution_cost, int solution_size, + const geometry_msgs::PoseStamped &start, + const geometry_msgs::PoseStamped &goal) + { + // Fill up statistics and publish + sbpl_lattice_planner::SBPLLatticePlannerStats stats; + stats.initial_epsilon = initial_epsilon_; + stats.plan_to_first_solution = false; + stats.final_number_of_expands = planner_->get_n_expands(); + stats.allocated_time = allocated_time_; + + stats.time_to_first_solution = planner_->get_initial_eps_planning_time(); + stats.actual_time = planner_->get_final_eps_planning_time(); + stats.number_of_expands_initial_solution = planner_->get_n_expands_init_solution(); + stats.final_epsilon = planner_->get_final_epsilon(); + + stats.solution_cost = solution_cost; + stats.path_size = solution_size; + stats.start = start; + stats.goal = goal; + stats_publisher_.publish(stats); + } + + unsigned char SBPLLatticePlanner::computeCircumscribedCost() + { + unsigned char result = 0; + + if (!costmap_ros_) + { + ROS_ERROR("Costmap is not initialized"); + return 0; + } + + // check if the costmap has an inflation layer + for (std::vector>::const_iterator layer = costmap_ros_->getLayeredCostmap()->getPlugins()->begin(); + layer != costmap_ros_->getLayeredCostmap()->getPlugins()->end(); + ++layer) + { + boost::shared_ptr inflation_layer = boost::dynamic_pointer_cast(*layer); + if (!inflation_layer) + continue; + + result = costMapCostToSBPLCost(inflation_layer->computeCost(costmap_ros_->getLayeredCostmap()->getCircumscribedRadius() / costmap_ros_->getCostmap()->getResolution())); + } + return result; + } + + bool SBPLLatticePlanner::makePlan(const geometry_msgs::PoseStamped &start, + const geometry_msgs::PoseStamped &goal, + std::vector &plan) + { + if (!initialized_) + { + ROS_ERROR("Global planner is not initialized"); + return false; + } + + bool do_init = false; + if (current_env_width_ != costmap_ros_->getCostmap()->getSizeInCellsX() || + current_env_height_ != costmap_ros_->getCostmap()->getSizeInCellsY()) + { + ROS_INFO("Costmap dimensions have changed from (%d x %d) to (%d x %d), reinitializing sbpl_lattice_planner.", + current_env_width_, current_env_height_, + costmap_ros_->getCostmap()->getSizeInCellsX(), costmap_ros_->getCostmap()->getSizeInCellsY()); + do_init = true; + } + else if (footprint_ != costmap_ros_->getRobotFootprint()) + { + ROS_INFO("Robot footprint has changed, reinitializing sbpl_lattice_planner."); + do_init = true; + } + else if (circumscribed_cost_ != computeCircumscribedCost()) + { + ROS_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_ros_); + } + + plan.clear(); + + ROS_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); + + try + { + int ret = env_->SetStart(start.pose.position.x - costmap_ros_->getCostmap()->getOriginX(), start.pose.position.y - costmap_ros_->getCostmap()->getOriginY(), theta_start); + if (ret < 0 || planner_->set_start(ret) == 0) + { + ROS_ERROR("ERROR: failed to set start state\n"); + return false; + } + } + catch (SBPL_Exception *e) + { + ROS_ERROR("SBPL encountered a fatal exception while setting the start state"); + return false; + } + + try + { + int ret = env_->SetGoal(goal.pose.position.x - costmap_ros_->getCostmap()->getOriginX(), goal.pose.position.y - costmap_ros_->getCostmap()->getOriginY(), theta_goal); + if (ret < 0 || planner_->set_goal(ret) == 0) + { + ROS_ERROR("ERROR: failed to set goal state\n"); + return false; + } + } + catch (SBPL_Exception *e) + { + ROS_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_ros_->getCostmap()->getSizeInCellsX(); ix++) + { + for (unsigned int iy = 0; iy < costmap_ros_->getCostmap()->getSizeInCellsY(); iy++) + { + + unsigned char oldCost = env_->GetMapCost(ix, iy); + unsigned char newCost = costMapCostToSBPLCost(costmap_ros_->getCostmap()->getCost(ix, iy)); + + if (oldCost == newCost) + continue; + + allCount++; + + // first case - off cell goes on + + if ((oldCost != costMapCostToSBPLCost(costmap_2d::LETHAL_OBSTACLE) && oldCost != costMapCostToSBPLCost(costmap_2d::INSCRIBED_INFLATED_OBSTACLE)) && + (newCost == costMapCostToSBPLCost(costmap_2d::LETHAL_OBSTACLE) || newCost == costMapCostToSBPLCost(costmap_2d::INSCRIBED_INFLATED_OBSTACLE))) + { + offOnCount++; + } + + if ((oldCost == costMapCostToSBPLCost(costmap_2d::LETHAL_OBSTACLE) || oldCost == costMapCostToSBPLCost(costmap_2d::INSCRIBED_INFLATED_OBSTACLE)) && + (newCost != costMapCostToSBPLCost(costmap_2d::LETHAL_OBSTACLE) && newCost != costMapCostToSBPLCost(costmap_2d::INSCRIBED_INFLATED_OBSTACLE))) + { + onOffCount++; + } + env_->UpdateCost(ix, iy, costMapCostToSBPLCost(costmap_ros_->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) + { + ROS_ERROR("SBPL failed to update the costmap"); + return false; + } + + // setting planner parameters + ROS_DEBUG("allocated:%f, init eps:%f\n", allocated_time_, initial_epsilon_); + planner_->set_initialsolution_eps(initial_epsilon_); + planner_->set_search_mode(false); + + ROS_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) + ROS_DEBUG("Solution is found\n"); + else + { + ROS_INFO("Solution not found\n"); + publishStats(solution_cost, 0, start, goal); + return false; + } + } + catch (SBPL_Exception *e) + { + ROS_ERROR("SBPL encountered a fatal exception while planning"); + return false; + } + + ROS_DEBUG("size of solution=%d", (int)solution_stateIDs.size()); + + vector sbpl_path; + try + { + env_->ConvertStateIDPathintoXYThetaPath(&solution_stateIDs, &sbpl_path); + } + catch (SBPL_Exception *e) + { + ROS_ERROR("SBPL encountered a fatal exception while reconstructing the path"); + return false; + } + // 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_ros_->getCostmap()->getOriginX(), + start.pose.position.y - costmap_ros_->getCostmap()->getOriginY(), + theta_start); + sbpl_path.push_back(s); + } + + ROS_DEBUG("Plan has %d points.\n", (int)sbpl_path.size()); + if (sbpl_path.back().x != goal.pose.position.x - costmap_ros_->getCostmap()->getOriginX() || + sbpl_path.back().y != goal.pose.position.y - costmap_ros_->getCostmap()->getOriginY() || + sbpl_path.back().theta != theta_goal) + + { + EnvNAVXYTHETALAT3Dpt_t goal_stemp(goal.pose.position.x - costmap_ros_->getCostmap()->getOriginX(), + goal.pose.position.y - costmap_ros_->getCostmap()->getOriginY(), + theta_goal); + sbpl_path.push_back(goal_stemp); + } + + ros::Time plan_time = ros::Time::now(); + + if (publish_footprint_path_) + { + visualization_msgs::Marker sbpl_plan_footprint; + getFootprintList(sbpl_path, costmap_ros_->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_ros_->getGlobalFrameID(); + gui_path.header.stamp = plan_time; + for (unsigned int i = 0; i < sbpl_path.size(); i++) + { + geometry_msgs::PoseStamped pose; + pose.header.stamp = plan_time; + pose.header.frame_id = costmap_ros_->getGlobalFrameID(); + + pose.pose.position.x = sbpl_path[i].x + costmap_ros_->getCostmap()->getOriginX(); + pose.pose.position.y = sbpl_path[i].y + costmap_ros_->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(); + + 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, visualization_msgs::Marker &ma) + { + ma.header.frame_id = path_frame_id; + ma.header.stamp = ros::Time(); + ma.ns = "sbpl_robot_footprint"; + ma.id = 0; + ma.type = visualization_msgs::Marker::LINE_LIST; + ma.action = 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; + geometry_msgs::Pose robot_pose; + robot_pose.position.x = sbpl_path[i].x + costmap_ros_->getCostmap()->getOriginX(); + ; + robot_pose.position.y = sbpl_path[i].y + costmap_ros_->getCostmap()->getOriginY(); + ; + robot_pose.position.z = 0.0; + tf::Quaternion quat; + quat.setRPY(0.0, 0.0, sbpl_path[i].theta); + tf::quaternionTFToMsg(quat, robot_pose.orientation); + transformFootprintToEdges(robot_pose, footprint_, transformed_rfp); + + for (auto &point : transformed_rfp) + ma.points.push_back(point); + } + } + + void SBPLLatticePlanner::transformFootprintToEdges(const geometry_msgs::Pose &robot_pose, + const std::vector &footprint, + std::vector &out_footprint) + { + out_footprint.resize(2 * footprint.size()); + double yaw = tf::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; + } + } + } +}; diff --git a/navigations/sbpl_lattice_planner/test.drawio b/navigations/sbpl_lattice_planner/test.drawio new file mode 100755 index 0000000..e69de29 diff --git a/navigations/sbpl_recovery/CHANGELOG.rst b/navigations/sbpl_recovery/CHANGELOG.rst new file mode 100755 index 0000000..7e72e78 --- /dev/null +++ b/navigations/sbpl_recovery/CHANGELOG.rst @@ -0,0 +1,40 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package sbpl_recovery +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.4.1 (2022-08-24) +------------------ + +0.4.0 (2022-03-07) +------------------ + +0.3.4 (2020-06-19) +------------------ +* Initial release into noetic * Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +0.3.3 (2019-10-15) +------------------ +* Add READMEs +* Contributors: Martin Günther + +0.3.2 (2019-01-16) +------------------ +* Fix some includes +* Contributors: Martin Günther + +0.3.1 (2018-09-05) +------------------ +* sbpl_recovery: Ignore SBPL compile warning +* Contributors: Martin Günther + +0.3.0 (2018-09-04) +------------------ +* Convert to TF2 + new navigation API (for melodic) +* Use non deprecated pluginlib macro + headers +* Contributors: Martin Günther + +0.2.0 (2018-09-03) +------------------ +* Initial release into indigo, kinetic, lunar and melodic +* Contributors: Martin Günther, David V. Lu!!, Dave Hershberger, Jon Binney, Vincent Rabaud, Eitan Marder-Eppstein diff --git a/navigations/sbpl_recovery/CMakeLists.txt b/navigations/sbpl_recovery/CMakeLists.txt new file mode 100755 index 0000000..18846f2 --- /dev/null +++ b/navigations/sbpl_recovery/CMakeLists.txt @@ -0,0 +1,50 @@ +cmake_minimum_required(VERSION 3.5.1) +cmake_policy(SET CMP0048 NEW) +project(sbpl_recovery) + +############################################################################## +# Find dependencies +############################################################################## + +set(THIS_PACKAGE_ROS_DEPS roscpp nav_core sbpl_lattice_planner pose_follower + costmap_2d pluginlib base_local_planner tf2_ros) +find_package(catkin REQUIRED COMPONENTS ${THIS_PACKAGE_ROS_DEPS}) + +include_directories(include ${catkin_INCLUDE_DIRS}) + +############################################################################## +# Define package +############################################################################## + +catkin_package( + INCLUDE_DIRS include + LIBRARIES sbpl_recovery + CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS} +) + +############################################################################## +# Build +############################################################################## + +add_library(sbpl_recovery src/sbpl_recovery.cpp) +target_link_libraries(sbpl_recovery ${catkin_LIBRARIES}) +target_compile_options(sbpl_recovery PUBLIC "-Wno-terminate") # suppress warning from included SBPL header + +############################################################################## +# Install +############################################################################## + +install(TARGETS sbpl_recovery + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(FILES recovery_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/navigations/sbpl_recovery/README.md b/navigations/sbpl_recovery/README.md new file mode 100755 index 0000000..0b67012 --- /dev/null +++ b/navigations/sbpl_recovery/README.md @@ -0,0 +1,5 @@ +sbpl_recovery +============= + +A recovery behavior that uses the SBPL lattice planner and the pose follower to +try to plan in full 3D to get the robot out of really tricky situations. diff --git a/navigations/sbpl_recovery/include/sbpl_recovery/sbpl_recovery.h b/navigations/sbpl_recovery/include/sbpl_recovery/sbpl_recovery.h new file mode 100755 index 0000000..9c0a810 --- /dev/null +++ b/navigations/sbpl_recovery/include/sbpl_recovery/sbpl_recovery.h @@ -0,0 +1,88 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#ifndef SBPL_RECOVERY_SBPL_RECOVERY_H_ +#define SBPL_RECOVERY_SBPL_RECOVERY_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sbpl_recovery +{ + class SBPLRecovery : public nav_core::RecoveryBehavior + { + public: + SBPLRecovery(); + + // Initialize the parameters of the behavior + void initialize (std::string n, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap); + + // Run the behavior + void runBehavior(); + + private: + void planCB(const nav_msgs::Path::ConstPtr& plan); + double sqDistance(const geometry_msgs::PoseStamped& p1, + const geometry_msgs::PoseStamped& p2); + std::vector makePlan(); + + costmap_2d::Costmap2DROS* global_costmap_; + costmap_2d::Costmap2DROS* local_costmap_; + tf2_ros::Buffer* tf_; + sbpl_lattice_planner::SBPLLatticePlanner global_planner_; + pose_follower::PoseFollower local_planner_; + bool initialized_; + ros::Subscriber plan_sub_; + ros::Publisher vel_pub_; + boost::mutex plan_mutex_; + nav_msgs::Path plan_; + double control_frequency_, sq_planning_distance_, controller_patience_; + int planning_attempts_, attempts_per_run_; + bool use_local_frame_; + }; + +}; +#endif diff --git a/navigations/sbpl_recovery/package.xml b/navigations/sbpl_recovery/package.xml new file mode 100755 index 0000000..3d2bcb1 --- /dev/null +++ b/navigations/sbpl_recovery/package.xml @@ -0,0 +1,31 @@ + + + sbpl_recovery + 0.4.1 + + A recovery behavior that uses the sbpl lattice planner and the pose + follower to try to plan in full 3D to get the robot out of really tricky + situations. + + Martin Günther + Eitan Marder-Eppstein + BSD + http://wiki.ros.org/sbpl_recovery + https://github.com/ros-planning/navigation_experimental.git + https://github.com/ros-planning/navigation_experimental/issues + + catkin + + base_local_planner + costmap_2d + nav_core + pluginlib + pose_follower + roscpp + sbpl_lattice_planner + tf2_ros + + + + + diff --git a/navigations/sbpl_recovery/recovery_plugin.xml b/navigations/sbpl_recovery/recovery_plugin.xml new file mode 100755 index 0000000..d6901a2 --- /dev/null +++ b/navigations/sbpl_recovery/recovery_plugin.xml @@ -0,0 +1,7 @@ + + + + A recovery behavior that uses the sbpl lattice planner and the pose follower to try to plan in full 3D to get the robot out of really tricky situations. + + + diff --git a/navigations/sbpl_recovery/src/sbpl_recovery.cpp b/navigations/sbpl_recovery/src/sbpl_recovery.cpp new file mode 100755 index 0000000..8b33dac --- /dev/null +++ b/navigations/sbpl_recovery/src/sbpl_recovery.cpp @@ -0,0 +1,241 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2009, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein + *********************************************************************/ + +#include +#include + +PLUGINLIB_EXPORT_CLASS(sbpl_recovery::SBPLRecovery, nav_core::RecoveryBehavior) + +namespace sbpl_recovery +{ + SBPLRecovery::SBPLRecovery(): + global_costmap_(NULL), + local_costmap_(NULL), + tf_(NULL), + initialized_(false) + { + } + + void SBPLRecovery::initialize (std::string n, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap) + { + ros::NodeHandle nh = ros::NodeHandle(); + ros::NodeHandle p_nh = ros::NodeHandle("~/" + n); + + std::string plan_topic; + p_nh.param("9", plan_topic, std::string("NavfnROS/plan")); + p_nh.param("control_frequency", control_frequency_, 10.0); + p_nh.param("controller_patience", controller_patience_, 5.0); + p_nh.param("planning_attempts", planning_attempts_, 3); + p_nh.param("attempts_per_run", attempts_per_run_, 3); + p_nh.param("use_local_frame", use_local_frame_, true); + + double planning_distance; + p_nh.param("planning_distance", planning_distance, 2.0); + sq_planning_distance_ = planning_distance * planning_distance; + + //we need to initialize our costmaps + global_costmap_ = global_costmap; + local_costmap_ = local_costmap; + tf_ = tf; + + //we need to initialize our local and global planners + if(use_local_frame_) + global_planner_.initialize(n , local_costmap_); + else + global_planner_.initialize(n , global_costmap_); + + local_planner_.initialize(n , tf, local_costmap_); + + //we'll need to subscribe to get the latest plan information + vel_pub_ = nh.advertise("cmd_vel", 1); + + ros::NodeHandle node_nh("~/"); + plan_sub_ = node_nh.subscribe(plan_topic, 1, boost::bind(&SBPLRecovery::planCB, this, _1)); + initialized_ = true; + } + + void SBPLRecovery::planCB(const nav_msgs::Path::ConstPtr& plan) + { + //just copy the plan data over + + geometry_msgs::PoseStamped global_pose; + local_costmap_->getRobotPose(global_pose); + + costmap_2d::Costmap2D costmap; + costmap = *(local_costmap_->getCostmap()); + + if(use_local_frame_) + { + std::vector transformed_plan; + if(base_local_planner::transformGlobalPlan(*tf_, plan->poses, global_pose, costmap, local_costmap_->getGlobalFrameID(), transformed_plan)) + { + boost::mutex::scoped_lock l(plan_mutex_); + if(!transformed_plan.empty()) + plan_.header = transformed_plan[0].header; + plan_.poses = transformed_plan; + } + else + ROS_WARN("Could not transform to frame of the local recovery"); + } + else + { + boost::mutex::scoped_lock l(plan_mutex_); + plan_ = *plan; + } + } + + double SBPLRecovery::sqDistance(const geometry_msgs::PoseStamped& p1, + const geometry_msgs::PoseStamped& p2) + { + return (p1.pose.position.x - p2.pose.position.x) * (p1.pose.position.x - p2.pose.position.x) + + (p1.pose.position.y - p2.pose.position.y) * (p1.pose.position.y - p2.pose.position.y); + } + + std::vector SBPLRecovery::makePlan() + { + boost::mutex::scoped_lock l(plan_mutex_); + std::vector sbpl_plan; + + geometry_msgs::PoseStamped start; + if(use_local_frame_) + { + if(!local_costmap_->getRobotPose(start)) + { + ROS_ERROR("SBPL recovery behavior could not get the current pose of the robot. Doing nothing."); + return sbpl_plan; + } + } + else + { + if(!global_costmap_->getRobotPose(start)) + { + ROS_ERROR("SBPL recovery behavior could not get the current pose of the robot. Doing nothing."); + return sbpl_plan; + } + } + + //first, we want to walk far enough along the path that we get to a point + //that is within the recovery distance from the robot. Otherwise, we might + //move backwards along the plan + unsigned int index = 0; + for(index=0; index < plan_.poses.size(); ++index) + { + if(sqDistance(start, plan_.poses[index]) < sq_planning_distance_) + break; + } + + //next, we want to find a goal point that is far enough away from the robot on the + //original plan and attempt to plan to it + int unsuccessful_attempts = 0; + for(unsigned int i = index; i < plan_.poses.size(); ++i) + { + ROS_DEBUG("SQ Distance: %.2f, spd: %.2f, start (%.2f, %.2f), goal (%.2f, %.2f)", + sqDistance(start, plan_.poses[i]), + sq_planning_distance_, + start.pose.position.x, start.pose.position.y, + plan_.poses[i].pose.position.x, + plan_.poses[i].pose.position.y); + if(sqDistance(start, plan_.poses[i]) >= sq_planning_distance_ || i == (plan_.poses.size() - 1)) + { + ROS_INFO("Calling sbpl planner with start (%.2f, %.2f), goal (%.2f, %.2f)", + start.pose.position.x, start.pose.position.y, + plan_.poses[i].pose.position.x, + plan_.poses[i].pose.position.y); + if(global_planner_.makePlan(start, plan_.poses[i], sbpl_plan) && !sbpl_plan.empty()) + { + ROS_INFO("Got a valid plan"); + return sbpl_plan; + } + sbpl_plan.clear(); + + //make sure that we don't spend forever planning + unsuccessful_attempts++; + if(unsuccessful_attempts >= attempts_per_run_) + return sbpl_plan; + } + } + + return sbpl_plan; + } + + void SBPLRecovery::runBehavior() + { + if(!initialized_) + { + ROS_ERROR("Please initialize this recovery behavior before attempting to run it."); + return; + } + + ROS_INFO("Starting the sbpl recovery behavior"); + + for(int i=0; i <= planning_attempts_; ++i) + { + std::vector sbpl_plan = makePlan(); + + if(sbpl_plan.empty()) + { + ROS_ERROR("Unable to find a valid pose to plan to on the global plan."); + return; + } + + //ok... now we've got a plan so we need to try to follow it + local_planner_.setPlan(sbpl_plan); + ros::Rate r(control_frequency_); + ros::Time last_valid_control = ros::Time::now(); + while(ros::ok() && + last_valid_control + ros::Duration(controller_patience_) >= ros::Time::now() && + !local_planner_.isGoalReached()) + { + geometry_msgs::Twist cmd_vel; + bool valid_control = local_planner_.computeVelocityCommands(cmd_vel); + + if(valid_control) + last_valid_control = ros::Time::now(); + + vel_pub_.publish(cmd_vel); + r.sleep(); + } + + if(local_planner_.isGoalReached()) + ROS_INFO("The sbpl recovery behavior made it to its desired goal"); + else + ROS_WARN("The sbpl recovery behavior failed to make it to its desired goal"); + } + } +}; diff --git a/navigations/teb_local_planner/CHANGELOG.rst b/navigations/teb_local_planner/CHANGELOG.rst new file mode 100755 index 0000000..11b4f73 --- /dev/null +++ b/navigations/teb_local_planner/CHANGELOG.rst @@ -0,0 +1,407 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package teb_local_planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.9.1 (2020-05-29) +------------------ +* Fixed RobotFootprintModel visualization bug (thanks to Anson Wang) +* Reserve the size of the relevant obstacles vector to avoid excessive memory allocations (thanks to João Monteiro) +* CMake: Removed system include to avoid compiling issues on some platforms +* Contributors: Anson Wang, Christoph Rösmann, João Carlos Espiúca Monteiro + +0.9.0 (2020-05-26) +------------------ +* Added pill resp. stadium-shaped obstacle +* Changed minimum CMake version to 3.1 +* Improved efficiency of 3d h-signature computation +* Changed default value for parameter penalty_epsilon to 0.05 +* Improved efficiency of findClosedTrajectoryPose() +* Removed obsolete method isHorizonReductionAppropriate() +* Contributors: Christoph Rösmann, XinyuKhan + +0.8.4 (2019-12-02) +------------------ +* Fixed TEB autoResize if last TimeDiff is small +* Add a rotational threshold for identifying a warm start goal +* Contributors: Rainer Kümmerle + +0.8.3 (2019-10-25) +------------------ +* Limiting the control look-ahead pose to the first that execeeds the expected look-ahead time (thanks to Marco Bassa) +* test_optim_node fix circular obstacles (thanks to dtaranta) +* Fix shadow variable warning (thanks to Victor Lopez) +* Use SYSTEM when including external dependencies headers (thanks to Victor Lopez) +* Robustify initTrajectoryToGoal if a plan is given (thanks to Rainer Kuemmerle) +* Adding the option to shift ahead the target pose used to extract the velocity command (thanks to Marco Bassa) +* Fixed segfault in optimal_planner.cpp when clearing graph with unallocated optimizer. + Fixes `#158 `_. +* On footprintCost, fail only if footprint is in collision, not outside the map or on unknown space (thanks to corot) +* Native MoveBaseFlex support added: Implements both nav_core::BaseLocalPlanner and mbf_costmap_core::CostmapController abstract interfaces (thanks to corot) +* added warning if parameter optimal_time is <= 0 +* Nonlinear obstacle cost from EdgeInflatedObstacle also added to EdgeObstacle. + See `#140 `_. +* Fixed proper initialization of parameter obstacle_cost_exponent in case it is not loaded from the parameter server +* Contributors: Christoph Rösmann, Marco Bassa, Rainer Kuemmerle, Victor Lopez, corot, dtaranta + +0.8.2 (2019-07-02) +------------------ +* Allow scripts to be executable and usable by rosrun after catkin_make install and through the catkin release process (thanks to Devon Ash) +* Add nonlinear part to obstacle cost to improve narrow gap behavior. + Parameter `obstacle_cost_exponent` defines the exponent of the nonlinear cost term. + The default linear behavior is achieved by setting this parameter to 1 (default). + A value of 4 performed well in some tests and experiments (thanks to Howard Cochran). +* Parameter `global_plan_prune_distance` added via ros parameter server. +* Fixed SIGSEGV in optimizeAllTEBs() if main thread is interrupted by boost (thanks to Howard Cochran) +* Fixed SIGSEGV crash in deleteTebDetours() (thanks to Howard Cochran) +* On footprint visualization, avoid overshadowing by obstacles (thanks to corot) +* Do not ignore robot model on the association stage. + Important mostly for polygon footprint model (thanks to corot). +* Adjustable color for footprint visualization +* Showing (detected) infeasible robot poses in a separate marker namespace and color +* Added edge for minimizing Euclidean path length (parameter: `weight_shortest_path`) +* Ackermann steering conversion (python script): fixed direction inversion in backwards mode when `cmd_angle_instead_rotvel` is true (thanks to Tobi Loew) +* Fixed wrong skipping condition in AddEdgesKinematicsCarlike() (thanks to ShiquLIU) +* Never discarding the previous best teb in renewAndAnalyzeOldTebs (thanks to Marco Bassa) +* Allowing for the fallback to a different trajectory when the costmap check fails. This prevents the switch to unfeasible trajectories (thanks to Marco Bassa). +* Skipping the generation of the homotopy exploration graph in case the maximum number of allowed classes is reached (thanks to Marco Bassa) +* Changed isTrajectoryFeasible function to allow for a more accurate linear and angular discretization (thanks to Marco Bassa) +* Function TebOptimalPlanner::computeError() considers now the actual optimizer weights. + As a result, the default value of `selection_obst_cost_scale` is reduced (thanks to Howard Cochran). +* update to use non deprecated pluginlib macro (thanks to Mikael Arguedas) +* Avoiding h signature interpolation between coincident poses (thanks to Marco Bassa) +* New strategy for the deletion of detours: Detours are now determined w.r.t. the least-cost alternative and not w.r.t. just the goal heading. + Deletion of additional alternatives applies if either an initial backward motion is detected, if the transition time is much bigger than the duration of the best teb + and if a teb cannot be optimized (thanks to Marco Bassa). + Optionally allowing the usage of the initial plan orientation when initializing new tebs. +* Contributors: Christoph Rösmann, Mikael Arguedas, Devon Ash, Howard Cochran, Marco Bassa, ShiquLIU, Tobi Loew, corot + +0.8.1 (2018-08-14) +------------------ +* bugfix in calculateHSignature. Fixes `#90 `_. +* fixed centroid computation in a special case of polygon-obstacles +* Contributors: Christoph Rösmann + +0.8.0 (2018-08-06) +------------------ +* First melodic release +* Updated to new g2o API +* Migration to tf2 +* Contributors: Christoph Rösmann + +0.7.3 (2018-07-05) +------------------ +* Parameter `switching_blocking_period` added to homotopy class planner parameter group. + Values greater than zero enforce the homotopy class planner to only switch to new equivalence classes as soon + as the given period is expired (this might reduce oscillations in some scenarios). The value is set to zero seconds + by default in order to not change the behavior of existing configurations. +* Fixed unconsistent naming of parameter `global_plan_viapoint_sep`. + The parameter retrieved at startup was `global_plan_via_point_sep` and via dynamic_reconfigure it was `global_plan_viapoint_sep`. + `global_plan_via_point_sep` has now been replaced by `global_plan_viapoint_sep` since this is more consistent with the variable name + in the code as well as `weight_viapoint` and the ros wiki description. + In order to not break things, the old parameter name can still be used. However, a deprecated warning is printed. +* transformGlobalPlan searches now for the closest point within the complete subset of the global plan in the local costmap: + In every sampling interval, the global plan is processed in order to find the closest pose to the robot (as reference start) + and the current end pose (either local at costmap boundary or max_global_plan_lookahead_dist). + Previously, the search algorithm stopped as soon as the distance to the robot increased once. + This caused troubles with more complex global plans, hence the new strategy checks the complete subset + of the global plan in the local costmap for the closest distance to the robot. +* via-points that are very close to the current robot pose or behind the robot are now skipped (in non-ordered mode) +* Edge creation: minor performance improvement for dynamic obstacle edges +* dynamic_reconfigure: parameter visualize_with_time_as_z_axis_scale moved to group trajectory +* Contributors: Christoph Rösmann + +0.7.2 (2018-06-08) +------------------ +* Adds the possibility to provide via-points via a topic. + Currently, the user needs to decide whether to receive via-points from topic or to obtain them from the global reference plan + (e.g., activate the latter by setting global_plan_viapoint_sep>0 as before). + A small test script publish_viapoints.py is provided to demonstrate the feature within test_optim_node. +* Contributors: Christoph Rösmann + +0.7.1 (2018-06-05) +------------------ +* Fixed a crucial bug (from 0.6.6): A cost function for prefering a clockwise resp. anti-clockwise turn was enabled by default. + This cost function was only intended to be active only for recovering from an oscillating robot. + This cost led to a penalty for one of the turning directions and hence the maximum turning rate for the penalized direction could not be reached. + Furthermore, which is more crucial: since the penalty applied only to a small (initial) subset of the trajectory, the overall control performance was poor + (huge gap between planned motion and closed-loop trajectories led to frequent corrections of the robot pose and hence many motion reversals). +* Adds support for circular obstacle types. This includes support for the radius field in costmap_converter::ObstacleMsg +* rqt reconfigure: parameters are now grouped in tabs (robot, trajectory, viapoints, ...) +* Update to use non deprecated pluginlib macro +* Python scripts updated to new obstacle message definition. +* Fixed issue when start and end are at the same location (PR #43) +* Normalize marker quaternions in *test_optim_node* +* Contributors: Christoph Rösmann, Alexander Reimann, Mikael Arguedas, wollip + +0.7.0 (2017-09-23) +------------------ +* This update introduces support for dynamic obstacles (thanks to Franz Albers, who implemented and tested the code). + Dynamic obstacle support requires parameter *include\_dynamic\_obstacles* to be activated. + Note, this feature is still experimental and subject to testing. + Motion prediction is performed using a constant velocity model. + Dynamic obstacles might be incorporated as follows: + * via a custom message provided on topic ~/obstacles (warning: we changed the message type from teb_local_planner/ObstacleMsg to costmap_converter/ObstacleArrayMsg). + * via the CostmapToDynamicObstacles plugin as part of the costmap\_converter package (still experimental). + A tutorial is going to be provided soon. +* FeedbackMsg includes a ObstacleMsg instead of a polygon +* ObstacleMsg removed from package since it is now part of the costmap\_converter package. +* Homotopy class planer code update: graph search methods and equivalence classes (h-signatures) are now + implemented as subclasses of more general interfaces. +* TEB trajectory initialization now uses a max\_vel\_x argument instead of the desired time difference in order to give the optimizer a better warm start. + Old methods are marked as deprecated. This change does not affect users settings. +* Inplace rotations removed from trajectory initialization to improve convergence speed of the optimizer +* teb\_local\_planner::ObstacleMsg removed in favor of costmap\_converter::ObstacleArrayMsg. This also requires custom obstacle publishers to update to the new format +* the "new" trajectory resizing method is only activated, if "include_dynamic_obstacles" is set to true. + We introduced the non-fast mode with the support of dynamic obstacles + (which leads to better results in terms of x-y-t homotopy planning). + However, we have not yet tested this mode intensively, so we keep + the previous mode as default until we finish our tests. +* added parameter and code to update costmap footprint if it is dynamic (#49) +* Contributors: Franz Albers, Christoph Rösmann, procopiostein + +0.6.6 (2016-12-23) +------------------ +* Strategy for recovering from oscillating local plans added (see new parameters) +* Horizon reduction for resolving infeasible trajectories is not activated anymore if the global goal is already selected + (to avoid oscillations due to changing final orientations) +* Global plan orientations are now taken for TEB initialization if lobal_plan_overwrite_orientation==true +* Parameter max_samples added +* Further fixes (thanks to Matthias Füller and Daniel Neumann for providing patches) + +0.6.5 (2016-11-15) +------------------ +* The trajectory is now initialized backwards for goals close to and behind the robot. + Parameter 'allow_init_with_backwards_motion' added. +* Updated the TEB selection in the HomotopyClassPlanner. + * A new parameter is introduced to prefer the equivalence class of the initial plan + * Fixed some bugs related to the deletion of candidates and for keeping the equivalence class of the initial plan. +* Weight adaptation added for obstacles edges. + Added parameter 'weight_adapt_factor'. + Obstacle weights are repeatedly scaled by this factor in each outer TEB iteration. + Increasing weights iteratively instead of setting a huge value a-priori leads to better numerical conditions. +* Added a warning if the optim footprint + min_obstacle_dist is smaller than the costmap footprint. + Validation is performed by only comparing the inscribed radii of the footprints. +* Revision/extension of the reduced-horizon backup mode which is triggered in case infeasible trajectories are detected. +* Changed HSignature to a generic equivalence class +* Minor changes + +0.6.4 (2016-10-23) +------------------ +* New default obstacle association strategy: + During optimization graph creation, for each pose of the trajectory a + relevance detection is performed before considering the obstacle + during optimization. New parameters are introduced. The + old strategy is kept as 'legacy' strategy (see parameters). +* Computation of velocities, acceleration and turning radii extended: + Added an option to compute the actual arc length + instead of using the Euclidean distance approximation (see parameter `exact_arc_length`. +* Added intermediate edge layer for unary, binary and multi edges in order to reduce code redundancy. +* Script for visualizing velocity profile updated to accept the feedback topic name via rosparam server +* Removed TebConfig dependency in TebVisualization +* PolygonObstacle can now be constructed using a vertices container +* HomotopyClassPlanner public interface extended +* Changed H-Signature computation to work 'again' with few obstacles such like 1 or 2 +* Removed inline flags in visualization.cpp +* Removed inline flags in timed_elastic_band.cpp. + Fixes `#15 `_. +* Increased bounds of many variables in dynamic_reconfigure. + Resolves `#14 `_. + The particular variables are maximum velocities, maximum accelerations, + minimum turning radius,... + Note: optimization weights and dt_ref as well as dt_hyst are not + tuned for velocities and accelerations beyond + the default values (e.g. >1 m/s). Just increasing the maximum velocity + bounds without adjusting the other parameters leads to an insufficient behavior. +* Default parameter value update: 'costmap_obstacles_behind_robot_dist' +* Additional minor fixes. + +0.6.3 (2016-08-17) +------------------ +* Changed the f0 function for calculating the H-Signature. + The new one seems to be more robust for a much larger number of obstacles + after some testing. +* HomotopyClassPlanner: vertex collision check removed since collisions will be determined in the edge collision check again +* Fixed distance calculation polygon-to-polygon-obstacle +* cmake config exports now *include directories* of external packages for dependent projects +* Enlarged upper bounds on goal position and orientation tolerances in *dynamic_reconfigure*. Fixes #13. + + +0.6.2 (2016-06-15) +------------------ +* Fixed bug causing the goal to disappear in case the robot arrives with non-zero orientation error. +* Inflation mode for obstacles added. +* The homotopy class of the global plan is now always forced to be initialized as trajectory. +* The initial velocity of the robot is now taken into account correctly for + all candidate trajectories. +* Removed a check in which the last remaining candidate trajectory was rejected if it was close to an obstacle. + This fix addresses issue `#7 `_ + +0.6.1 (2016-05-23) +------------------ +* Debian ARM64 library path added to SuiteSparse cmake find-script (resolves ARM compilation issue) + + +0.6.0 (2016-05-22) +------------------ +* Extended support to holonomic robots +* Wrong parameter namespace for *costmap_converter* plugins fixed +* Added the option to scale the length of the hcp sampling area +* Compiler warnings fixed. +* Workaround for compilation issues that are caused by a bug in boost 1.58 + concerning the graph library (missing move constructor/assignment operator + in boost source). +* Using *tf_listener* from *move_base* now. +* Via-point support improved. + Added the possibility to take the actual order of via-points into account. + Additionally, via-points beyond start and goal are now included. +* Obsolete include of the angles package header removed +* Update to package.xml version 2 +* Some other minor fixes. + + +0.4.0 (2016-04-19) +------------------ +* The teb_local_planner supports a path-following mode (w.r.t. the global plan) and via-points now. + This allows the user to adapt the tradeoff between time-optimality and path-following. + Check out the new tutorial: "Following the Global Plan (Via-Points)". +* All external configuration and launch files are removed, since they are part + of the new teb_local_planner_tutorials package. + + +0.3.1 (2016-04-14) +------------------ +* Fixed wrong coordinate transformation in 'line' and 'polygon' footprint models. +* Trajectory selection strategy in case of multiple topologies updated: + * The obstacle costs for selection can now be scaling separately. + * The cost regarding time optimality can now be replaced by the actual transition time. + * Added a hysteresis to cost comparison between a new and the previously selected trajectory. + * In the default parameter setting the strategy is similar to release 0.3.0. +* Warning message removed that occured if an odom message with only zeros was received. + + +0.3.0 (2016-04-08) +------------------ +* Different/custom robot footprints are now supported and subject to optimization (refer to the new tutorial!). +* The new robot footprint is also visualized using the common marker topic. +* The strategy of taking occupied costmap cells behind the robot into account has been improved. + These changes significantly improve navigation close to walls. +* Parameter 'max_global_plan_lookahead_dist' added. + Previously, the complete subset of the global plan contained in the local costmap + was taken into account for choosing the current intermediate goal point. With this parameter, the maximum + length of the reference global plan can be limited. The actual global plan subset + is now computed using the logical conjunction of both local costmap size and 'max_global_plan_lookahead_dist'. +* Bug fixes: + * Fixed a compilation issue on ARM architectures + * If custom obstacles are used, the container with old obstacles is now cleared properly. +* Parameter cleanup: + * "weight_X_obstacle" parameters combined to single parameter "weight_obstacle". + * "X_obstacle_poses_affected" parameters combined to single parameter "obstacle_poses_affected". + * Deprecated parameter 'costmap_emergency_stop_dist' removed. +* Code cleanup + + +0.2.3 (2016-02-01) +------------------ +* Marker lifetime changed +* In case the local planner detects an infeasible trajectory it does now try to + reduce the horizon to 50 percent of the length. The trajectory is only reduced + if some predefined cases are detected. + This mechanism constitutes a backup behavior. +* Improved carlike robot support. + Instead of commanding the robot using translational and rotational velocities, + the robot might also be commanded using the transl. velocity and steering angle. + Appropriate parameters are added to the config. +* Changed default parameter for 'h_signature_threshold' from 0.01 to 0.1 to better match the actual precision. +* Some python scripts for data conversion added +* Minor other changes + +0.2.2 (2016-01-11) +------------------ +* Carlike robots (ackermann steering) are supported from now on (at least experimentally) + by specifying a minimum bound on the turning radius. + Currently, the output of the planner in carlike mode is still (v,omega). + Since I don't have any real carlike robot, I would be really happy if someone could provide me with + some feedback to further improve/extend the support. +* Obstacle cost function modified to avoid undesired jerks in the trajectory. +* Added a feedback message that contains current trajectory information (poses, velocities and temporal information). + This is useful for analyzing and debugging the velocity profile e.g. at runtime. + The message will be published only if it's activated (rosparam). + A small python script is added to plot the velocity profile (while *test_optim_node* runs). +* Cost functions are now taking the direction/sign of the translational velocity into account: + Specifying a maximum backwards velocity other than forward velocity works now. + Additionally, the change in acceleration is now computed correctly if the robot switches directions. +* The global plan is now pruned such that already passed posses are cut off + (relevant for global planners with *planning_rate=0*). +* Fixed issue#1: If a global planner with *planning_rate=0* was used, + a TF timing/extrapolation issue appeared after some time. +* The planner resets now properly if the velocity command cannot be computed due to invalid optimization results. + + +0.2.1 (2015-12-30) +------------------ +* This is an important bugfix release. +* Fixed a major issue concerning the stability and performance of the optimization process. Each time the global planner was updating the global plan, the local planner was resetted completely even if + the updated global plan did not differ from the previous one. This led to stupid reinitializations and a slighly jerky behavior if the update rate of the global planner was high (each 0.5-2s). + From now on the local planner is able to utilize the global plan as a warm start and determine automatically whether to reinitialize or not. +* Support for polygon obstacles extended and improved (e.g. the homotopy class planner does now compute actual distances to the polygon rather than utilizing the distance to the centroid). + +0.2.0 (2015-12-23) +------------------ +* The teb_local_planner supports costmap_converter plugins (pluginlib) from now on. Those plugins convert occupied costmap2d cells into polygon shapes. + The costmap_converter is disabled by default, since the extension still needs to be tested (parameter choices, computation time advantages, etc.). + A tutorial will explain how to activate the converter using the ros-param server. + +0.1.11 (2015-12-12) +------------------- +* This is a bugfix release (it fixes a lot of issues which occured frequently when the robot was close to the goal) + +0.1.10 (2015-08-13) +------------------- +* The optimizer copies the global plan as initialization now instead of using a simple straight line approximation. +* Some bugfixes and improvements + +0.1.9 (2015-06-24) +------------------ +* Fixed a segmentation fault issue. This minor update is crucial for stability. + +0.1.8 (2015-06-08) +------------------ +* Custom obstacles can be included via publishing dedicated messages +* Goal-reached-condition also checks orientation error (desired yaw) now +* Numerical improvements of the h-signature calculation +* Minor bugfixes + +0.1.7 (2015-05-22) +------------------ +* Finally fixed saucy compilation issue by retaining compatiblity to newer distros + (my "new" 13.10 VM helps me to stop spamming new releases for testing). + +0.1.6 (2015-05-22) +------------------ +* Fixed compilation errors on ubuntu saucy caused by different FindEigen.cmake scripts. + I am not able to test releasing on saucy, forcing me to release again and again. Sorry. + +0.1.5 (2015-05-21) +------------------ +* Added possibility to dynamically change parameters of test_optim_node using dynamic reconfigure. +* Fixed a wrong default-min-max tuple in the dynamic reconfigure config. +* Useful config and launch files are now added to cmake install. +* Added install target for the test_optim_node executable. + +0.1.4 (2015-05-20) +------------------ +* Fixed compilation errors on ROS Jade + +0.1.3 (2015-05-20) +------------------ +* Fixed compilation errors on ubuntu saucy + +0.1.2 (2015-05-19) +------------------ +* Removed unused include that could break compilation. + +0.1.1 (2015-05-19) +------------------ +* All files added to the indigo-devel branch +* Initial commit +* Contributors: Christoph Rösmann diff --git a/navigations/teb_local_planner/CMakeLists.txt b/navigations/teb_local_planner/CMakeLists.txt new file mode 100755 index 0000000..165527d --- /dev/null +++ b/navigations/teb_local_planner/CMakeLists.txt @@ -0,0 +1,284 @@ +cmake_minimum_required(VERSION 3.1) +project(teb_local_planner) + +# Set to Release in order to speed up the program significantly +set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel + +## Find catkin macros and libraries +find_package(catkin REQUIRED COMPONENTS + base_local_planner + costmap_2d + costmap_converter + cmake_modules + dynamic_reconfigure + geometry_msgs + interactive_markers + message_generation + nav_core + nav_msgs + mbf_costmap_core + mbf_msgs + roscpp + std_msgs + pluginlib + tf2 + tf2_eigen + tf2_geometry_msgs + tf2_ros + visualization_msgs +) +message(STATUS "System: ${CMAKE_SYSTEM}") +## System dependencies are found with CMake's conventions +SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake_modules) +message(STATUS "${CMAKE_MODULE_PATH}") +find_package(Boost REQUIRED COMPONENTS system thread graph) +find_package(SUITESPARSE REQUIRED) +find_package(G2O REQUIRED) + +# Eigen3 FindScript Backward compatibility (ubuntu saucy) +# Since FindEigen.cmake is deprecated starting from jade. +if (EXISTS "FindEigen3.cmake") + find_package(Eigen3 REQUIRED) + set(Eigen_INCLUDE_DIRS ${Eigen3_INCLUDE_DIRS}) +elseif (EXISTS "FindEigen.cmake") + find_package(Eigen REQUIRED) +elseif (EXISTS "FindEigen.cmake") + message(WARNING "No findEigen cmake script found. You must provde one of them, + e.g. by adding it to ${PROJECT_SOURCE_DIR}/cmake_modules.") +endif (EXISTS "FindEigen3.cmake") + +set(EXTERNAL_INCLUDE_DIRS ${Eigen_INCLUDE_DIRS} ${SUITESPARSE_INCLUDE_DIRS} ${G2O_INCLUDE_DIR}) +set(EXTERNAL_LIBS ${SUITESPARSE_LIBRARIES} ${G2O_LIBRARIES}) + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + + +## C++11 support +## Unfortunately, the 3d-party dependency libg2o requires c++11 starting from ROS Jade. +## Even if the ROS Jade specifications do not want c++11-only packages, +## we cannot compile without c++11 enabled. Another option would be to downgrade +## libg2o third-party package. +## By now, if you do not want c++11, please refer to the ros indigo version. +IF(NOT MSVC) + include(CheckCXXCompilerFlag) + CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) + CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) +if(COMPILER_SUPPORTS_CXX11) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +elseif(COMPILER_SUPPORTS_CXX0X) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +else() + message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support which is required + by linked third party packages starting from ROS Jade. Ignore this message for ROS Indigo.") +endif() +endif() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files( + FILES + TrajectoryPointMsg.msg + TrajectoryMsg.msg + FeedbackMsg.msg +) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs std_msgs costmap_converter +) + +#add dynamic reconfigure api +#find_package(catkin REQUIRED dynamic_reconfigure) +generate_dynamic_reconfigure_options( + cfg/TebLocalPlannerReconfigure.cfg +) + + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include ${EXTERNAL_INCLUDE_DIRS} + LIBRARIES teb_local_planner ${EXTERNAL_LIBS} + CATKIN_DEPENDS + base_local_planner + costmap_2d + costmap_converter + dynamic_reconfigure + geometry_msgs + interactive_markers + message_runtime + nav_core + nav_msgs + pluginlib + roscpp + mbf_costmap_core + std_msgs + tf2 + tf2_ros + visualization_msgs + DEPENDS SUITESPARSE G2O +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories(include) +include_directories( + ${EXTERNAL_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) + +## Build the teb_local_planner library + +add_library(teb_local_planner + src/timed_elastic_band.cpp + src/optimal_planner.cpp + src/obstacles.cpp + src/visualization.cpp + src/recovery_behaviors.cpp + src/teb_config.cpp + src/homotopy_class_planner.cpp + src/teb_local_planner_ros.cpp + src/graph_search.cpp +) + +# Dynamic reconfigure: make sure configure headers are built before any node using them +add_dependencies(teb_local_planner ${PROJECT_NAME}_gencfg) +# Generate messages before compiling the lib +add_dependencies(teb_local_planner ${PROJECT_NAME}_generate_messages_cpp) + +target_link_libraries(teb_local_planner + ${EXTERNAL_LIBS} + ${catkin_LIBRARIES} +) + + + +## Build additional executables + +add_executable(test_optim_node src/test_optim_node.cpp) + +target_link_libraries(test_optim_node + teb_local_planner + ${EXTERNAL_LIBS} + ${catkin_LIBRARIES} +) + + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +install(PROGRAMS + scripts/cmd_vel_to_ackermann_drive.py + scripts/export_to_mat.py + scripts/export_to_svg.py + scripts/publish_dynamic_obstacle.py + scripts/publish_test_obstacles.py + scripts/publish_viapoints.py + scripts/visualize_velocity_profile.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark executables and/or libraries for installation +install(TARGETS teb_local_planner + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) +install(TARGETS test_optim_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + #FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +## Mark other files for installation (e.g. launch and bag files, etc.) +install(FILES + teb_local_planner_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY + launch cfg scripts + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN ".svn" EXCLUDE +) + +############# +## Testing ## +############# + +if (CATKIN_ENABLE_TESTING) + catkin_add_gtest(test_teb_basics test/teb_basics.cpp) + if(TARGET test_teb_basics) + target_link_libraries(test_teb_basics teb_local_planner) + endif() +endif() + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_teb_local_planner.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/navigations/teb_local_planner/LICENSE b/navigations/teb_local_planner/LICENSE new file mode 100755 index 0000000..d4658cc --- /dev/null +++ b/navigations/teb_local_planner/LICENSE @@ -0,0 +1,28 @@ +Copyright (c) 2016, TU Dortmund - Lehrstuhl RST +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 teb_local_planner 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 HOLDER 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. + diff --git a/navigations/teb_local_planner/README.md b/navigations/teb_local_planner/README.md new file mode 100755 index 0000000..0f01951 --- /dev/null +++ b/navigations/teb_local_planner/README.md @@ -0,0 +1,56 @@ +teb_local_planner ROS Package +============================= + +The teb_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. +The underlying method called Timed Elastic Band locally optimizes the robot's trajectory with respect to trajectory execution time, +separation from obstacles and compliance with kinodynamic constraints at runtime. + +Refer to http://wiki.ros.org/teb_local_planner for more information and tutorials. + +Build status of the *melodic-devel* branch: +- ROS Buildfarm (Melodic): [![Melodic Status](http://build.ros.org/buildStatus/icon?job=Mdev__teb_local_planner__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdev__teb_local_planner__ubuntu_bionic_amd64/) + + +## Citing the Software + +*Since a lot of time and effort has gone into the development, please cite at least one of the following publications if you are using the planner for your own research:* + +- C. Rösmann, F. Hoffmann and T. Bertram: Integrated online trajectory planning and optimization in distinctive topologies, Robotics and Autonomous Systems, Vol. 88, 2017, pp. 142–153. +- C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Trajectory modification considering dynamic constraints of autonomous robots. Proc. 7th German Conference on Robotics, Germany, Munich, May 2012, pp 74–79. +- C. Rösmann, W. Feiten, T. Wösch, F. Hoffmann and T. Bertram: Efficient trajectory optimization using a sparse model. Proc. IEEE European Conference on Mobile Robots, Spain, Barcelona, Sept. 2013, pp. 138–143. +- C. Rösmann, F. Hoffmann and T. Bertram: Planning of Multiple Robot Trajectories in Distinctive Topologies, Proc. IEEE European Conference on Mobile Robots, UK, Lincoln, Sept. 2015. +- C. Rösmann, F. Hoffmann and T. Bertram: Kinodynamic Trajectory Optimization and Control for Car-Like Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, Sept. 2017. + +Buy Me A Coffee + +## Videos + +The left of the following videos presents features of the package and shows examples from simulation and real robot situations. +Some spoken explanations are included in the audio track of the video. +The right one demonstrates features introduced in version 0.2 (supporting car-like robots and costmap conversion). Please watch the left one first. + + + + +## License + +The *teb_local_planner* package is licensed under the BSD license. +It depends on other ROS packages, which are listed in the package.xml. They are also BSD licensed. + +Some third-party dependencies are included that are licensed under different terms: + - *Eigen*, MPL2 license, http://eigen.tuxfamily.org + - *libg2o* / *g2o* itself is licensed under BSD, but the enabled *csparse_extension* is licensed under LGPL3+, + https://github.com/RainerKuemmerle/g2o. [*CSparse*](http://www.cise.ufl.edu/research/sparse/CSparse/) is included as part of the *SuiteSparse* collection, http://www.suitesparse.com. + - *Boost*, Boost Software License, http://www.boost.org + +All packages included are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the licenses for more details. + +## Requirements + +Install dependencies (listed in the *package.xml* and *CMakeLists.txt* file) using *rosdep*: + + rosdep install teb_local_planner + + diff --git a/navigations/teb_local_planner/cfg/TebLocalPlannerReconfigure.cfg b/navigations/teb_local_planner/cfg/TebLocalPlannerReconfigure.cfg new file mode 100755 index 0000000..2b04810 --- /dev/null +++ b/navigations/teb_local_planner/cfg/TebLocalPlannerReconfigure.cfg @@ -0,0 +1,447 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * +#from local_planner_limits import add_generic_localplanner_params + +gen = ParameterGenerator() + +# This unusual line allows to reuse existing parameter definitions +# that concern all localplanners +#add_generic_localplanner_params(gen) + +# For integers and doubles: +# Name Type Reconfiguration level +# Description +# Default Min Max + + +grp_trajectory = gen.add_group("Trajectory", type="tab") + +# Trajectory +grp_trajectory.add("teb_autosize", bool_t, 0, + "Enable the automatic resizing of the trajectory during optimization (based on the temporal resolution of the trajectory, recommended)", + True) + +grp_trajectory.add("dt_ref", double_t, 0, + "Temporal resolution of the planned trajectory (usually it is set to the magnitude of the 1/control_rate)", + 0.3, 0.01, 1) + +grp_trajectory.add("dt_hysteresis", double_t, 0, + "Hysteresis that is utilized for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref", + 0.1, 0.002, 0.5) + +grp_trajectory.add("global_plan_overwrite_orientation", bool_t, 0, + "Some global planners are not considering the orientation at local subgoals between start and global goal, therefore determine it automatically", + True) + +grp_trajectory.add("allow_init_with_backwards_motion", bool_t, 0, + "If true, the underlying trajectories might be initialized with backwards motions in case the goal is behind the start within the local costmap (this is only recommended if the robot is equipped with rear sensors)", + False) + +grp_trajectory.add("max_global_plan_lookahead_dist", double_t, 0, + "Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if 0 or negative: disabled; the length is also bounded by the local costmap size]", + 3.0, 0, 50.0) + +grp_trajectory.add("force_reinit_new_goal_dist", double_t, 0, + "Force the planner to reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting)", + 1.0, 0.0, 10.0) + +grp_trajectory.add("force_reinit_new_goal_angular", double_t, 0, + "Force the planner to reinitialize the trajectory if a previous goal is updated with a rotational difference of more than the specified value in radians (skip hot-starting)", + 0.78, 0.0, 4.0) + +grp_trajectory.add("feasibility_check_no_poses", int_t, 0, + "Specify up to which pose (under the feasibility_check_lookahead_distance) on the predicted plan the feasibility should be checked each sampling interval; if -1, all poses up to feasibility_check_lookahead_distance are checked.", + 5, -1, 50) + +grp_trajectory.add("feasibility_check_lookahead_distance", double_t, 0, + "Specify up to which distance (and with an index below feasibility_check_no_poses) from the robot the feasibility should be checked each sampling interval; if -1, all poses up to feasibility_check_no_poses are checked.", + -1, -1, 20) + +grp_trajectory.add("exact_arc_length", bool_t, 0, + "If true, the planner uses the exact arc length in velocity, acceleration and turning rate computations [-> increased cpu time], otherwise the euclidean approximation is used.", + False) + +grp_trajectory.add("publish_feedback", bool_t, 0, + "Publish planner feedback containing the full trajectory and a list of active obstacles (should be enabled only for evaluation or debugging purposes)", + False) + +grp_trajectory.add("control_look_ahead_poses", int_t, 0, + "Index of the pose used to extract the velocity command", + 1, 1, 100) + +grp_trajectory.add("prevent_look_ahead_poses_near_goal", int_t, 0, + "Prevents control_look_ahead_poses to look within this many poses of the goal in order to prevent overshoot & oscillation when xy_goal_tolerance is very small", + 0, 0, 20) + +grp_trajectory.add("visualize_with_time_as_z_axis_scale", double_t, 0, + "If this value is bigger than 0, the trajectory and obstacles are visualized in 3d using the time as the z-axis scaled by this value. Most useful for dynamic obstacles.", + 0, 0, 1) + +# ViaPoints +grp_viapoints = gen.add_group("ViaPoints", type="tab") + +grp_viapoints.add("global_plan_viapoint_sep", double_t, 0, + "Min. separation between each two consecutive via-points extracted from the global plan [if negative: disabled]", + -0.1, -0.1, 5.0) + +grp_viapoints.add("via_points_ordered", bool_t, 0, + "If true, the planner adheres to the order of via-points in the storage container", + False) + +# Robot +grp_robot = gen.add_group("Robot", type="tab") + +grp_robot.add("max_vel_x", double_t, 0, + "Maximum velocity in the x direction of the robot. May be overruled by the max_vel_trans parameter", + 0.4, 0.01, 100) + +grp_robot.add("max_vel_x_backwards", double_t, 0, + "Maximum translational velocity of the robot for driving backwards", + 0.2, 0.01, 100) + +grp_robot.add("max_vel_theta", double_t, 0, + "Maximum angular velocity of the robot", + 0.3, 0.01, 100) + +grp_robot.add("acc_lim_x", double_t, 0, + "Maximum translational acceleration of the robot", + 0.5, 0.01, 100) + +grp_robot.add("acc_lim_theta", double_t, 0, + "Maximum angular acceleration of the robot", + 0.5, 0.01, 100) + +grp_robot.add("is_footprint_dynamic", bool_t, 0, + "If true, updated the footprint before checking trajectory feasibility", + False) + +grp_robot.add("use_proportional_saturation", bool_t, 0, + "If true, reduce all twists components (linear x and y, and angular z) proportionally if any exceed its corresponding bounds, instead of saturating each one individually", + False) +grp_robot.add("transform_tolerance", double_t, 0, + "Tolerance when querying the TF Tree for a transformation (seconds)", + 0.5, 0.001, 20) + +# Robot/Carlike + +grp_robot_carlike = grp_robot.add_group("Carlike", type="hide") + +grp_robot_carlike.add("min_turning_radius", double_t, 0, + "Minimum turning radius of a carlike robot (diff-drive robot: zero)", + 0.0, 0.0, 50.0) + +grp_robot_carlike.add("wheelbase", double_t, 0, + "The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots!", + 1.0, -10.0, 10.0) + +grp_robot_carlike.add("cmd_angle_instead_rotvel", bool_t, 0, + "Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance')", + False) + +# Robot/Omni + +grp_robot_omni = grp_robot.add_group("Omnidirectional", type="hide") + +grp_robot_omni.add("max_vel_y", double_t, 0, + "Maximum strafing velocity of the robot (should be zero for non-holonomic robots!). May be overruled by the max_vel_trans parameter", + 0.0, 0.0, 100) + +grp_robot_omni.add("max_vel_trans", double_t, 0, + "Maximum linear velocity of the robot. Will limit max_vel_x and max_vel_y when their linear combination exceeds its value. When set to default 0.0, it will be set equal to max_vel_x.", + 0.0, 0.0, 100) + +grp_robot_omni.add("acc_lim_y", double_t, 0, + "Maximum strafing acceleration of the robot", + 0.5, 0.01, 100) + +# GoalTolerance +grp_goal = gen.add_group("GoalTolerance", type="tab") + +grp_goal.add("xy_goal_tolerance", double_t, 0, + "Allowed final euclidean distance to the goal position", + 0.2, 0.001, 10) + +grp_goal.add("yaw_goal_tolerance", double_t, 0, + "Allowed final orientation error to the goal orientation", + 0.1, 0.001, 3.2) + +grp_goal.add("free_goal_vel", bool_t, 0, + "Allow the robot's velocity to be nonzero for planning purposes (the robot can arrive at the goal with max speed)", + False) + +grp_goal.add("trans_stopped_vel", double_t, 0, + "Below what maximum velocity we consider the robot to be stopped in translation", + 0.1, 0.0) + +grp_goal.add("theta_stopped_vel", double_t, 0, + "Below what maximum rotation velocity we consider the robot to be stopped in rotation", + 0.1, 0.0) + +# Obstacles +grp_obstacles = gen.add_group("Obstacles", type="tab") + +grp_obstacles.add("min_obstacle_dist", double_t, 0, + "Minimum desired separation from obstacles", + 0.5, 0, 10) + +grp_obstacles.add("inflation_dist", double_t, 0, + "Buffer zone around obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect)", + 0.6, 0, 15) + +grp_obstacles.add("dynamic_obstacle_inflation_dist", double_t, 0, + "Buffer zone around predicted locations of dynamic obstacles with non-zero penalty costs (should be larger than min_obstacle_dist in order to take effect)", + 0.6, 0, 15) + +grp_obstacles.add("include_dynamic_obstacles", bool_t, 0, + "Specify whether the movement of dynamic obstacles should be predicted by a constant velocity model (this also changes the homotopy class search). If false, all obstacles are considered to be static.", + False) + +grp_obstacles.add("include_costmap_obstacles", bool_t, 0, + "Specify whether the obstacles in the costmap should be taken into account directly (this is necessary if no seperate clustering and detection is implemented)", + True) + +grp_obstacles.add("legacy_obstacle_association", bool_t, 0, + "If true, the old association strategy is used (for each obstacle, find the nearest TEB pose), otherwise the new one (for each teb pose, find only 'relevant' obstacles).", + False) + +grp_obstacles.add("obstacle_association_force_inclusion_factor", double_t, 0, + "The non-legacy obstacle association technique tries to connect only relevant obstacles with the discretized trajectory during optimization, all obstacles within a specifed distance are forced to be included (as a multiple of min_obstacle_dist), e.g. choose 2.0 in order to consider obstacles within a radius of 2.0*min_obstacle_dist.", + 1.5, 0.0, 100.0) + +grp_obstacles.add("obstacle_association_cutoff_factor", double_t, 0, + "See obstacle_association_force_inclusion_factor, but beyond a multiple of [value]*min_obstacle_dist all obstacles are ignored during optimization. obstacle_association_force_inclusion_factor is processed first.", + 5.0, 1.0, 100.0) + +grp_obstacles.add("costmap_obstacles_behind_robot_dist", double_t, 0, + "Limit the occupied local costmap obstacles taken into account for planning behind the robot (specify distance in meters)", + 1.5, 0.0, 20.0) + +grp_obstacles.add("obstacle_poses_affected", int_t, 0, + "The obstacle position is attached to the closest pose on the trajectory to reduce computational effort, but take a number of neighbors into account as well", + 30, 0, 200) + +# Obstacle - Velocity ratio parameters +grp_obstacles_velocity_limit = grp_obstacles.add_group("Reduce velocity near obstacles") + +grp_obstacles_velocity_limit.add("obstacle_proximity_ratio_max_vel", double_t, 0, + "Ratio of the maximum velocities used as an upper bound when reducing the speed due to the proximity to static obstacles", + 1, 0, 1) + +grp_obstacles_velocity_limit.add("obstacle_proximity_lower_bound", double_t, 0, + "Distance to a static obstacle for which the velocity should be lower", + 0, 0, 10) + +grp_obstacles_velocity_limit.add("obstacle_proximity_upper_bound", double_t, 0, + "Distance to a static obstacle for which the velocity should be higher", + 0.5, 0, 10) + +# Optimization +grp_optimization = gen.add_group("Optimization", type="tab") + +grp_optimization.add("no_inner_iterations", int_t, 0, + "Number of solver iterations called in each outerloop iteration", + 5, 1, 100) + +grp_optimization.add("no_outer_iterations", int_t, 0, + "Each outerloop iteration automatically resizes the trajectory and invokes the internal optimizer with no_inner_iterations", + 4, 1, 100) + +grp_optimization.add("optimization_activate", bool_t, 0, + "Activate the optimization", + True) + +grp_optimization.add("optimization_verbose", bool_t, 0, + "Print verbose information", + False) + +grp_optimization.add("penalty_epsilon", double_t, 0, + "Add a small safty margin to penalty functions for hard-constraint approximations", + 0.05, 0, 1.0) + +grp_optimization.add("weight_max_vel_x", double_t, 0, + "Optimization weight for satisfying the maximum allowed translational velocity", + 2, 0, 1000) + +grp_optimization.add("weight_max_vel_y", double_t, 0, + "Optimization weight for satisfying the maximum allowed strafing velocity (in use only for holonomic robots)", + 2, 0, 1000) + +grp_optimization.add("weight_max_vel_theta", double_t, 0, + "Optimization weight for satisfying the maximum allowed angular velocity", + 1, 0, 1000) + +grp_optimization.add("weight_acc_lim_x", double_t, 0, + "Optimization weight for satisfying the maximum allowed translational acceleration", + 1, 0, 1000) + +grp_optimization.add("weight_acc_lim_y", double_t, 0, + "Optimization weight for satisfying the maximum allowed strafing acceleration (in use only for holonomic robots)", + 1, 0, 1000) + +grp_optimization.add("weight_acc_lim_theta", double_t, 0, + "Optimization weight for satisfying the maximum allowed angular acceleration", + 1, 0, 1000) + +grp_optimization.add("weight_kinematics_nh", double_t, 0, + "Optimization weight for satisfying the non-holonomic kinematics", + 1000 , 0, 10000) + +grp_optimization.add("weight_kinematics_forward_drive", double_t, 0, + "Optimization weight for forcing the robot to choose only forward directions (positive transl. velocities, only diffdrive robot)", + 1, 0, 10000) + +grp_optimization.add("weight_kinematics_turning_radius", double_t, 0, + "Optimization weight for enforcing a minimum turning radius (carlike robots)", + 1, 0, 1000) + +grp_optimization.add("weight_optimaltime", double_t, 0, + "Optimization weight for contracting the trajectory w.r.t. transition time", + 1, 0, 1000) + +grp_optimization.add("weight_shortest_path", double_t, 0, + "Optimization weight for contracting the trajectory w.r.t. path length", + 0, 0, 100) + +grp_optimization.add("weight_obstacle", double_t, 0, + "Optimization weight for satisfying a minimum seperation from obstacles", + 50, 0, 1000) + +grp_optimization.add("weight_inflation", double_t, 0, + "Optimization weight for the inflation penalty (should be small)", + 0.1, 0, 10) + +grp_optimization.add("weight_dynamic_obstacle", double_t, 0, + "Optimization weight for satisfying a minimum seperation from dynamic obstacles", + 50, 0, 1000) + +grp_optimization.add("weight_dynamic_obstacle_inflation", double_t, 0, + "Optimization weight for the inflation penalty of dynamic obstacles (should be small)", + 0.1, 0, 10) + +grp_optimization.add("weight_velocity_obstacle_ratio", double_t, 0, + "Optimization weight for satisfying a maximum allowed velocity with respect to the distance to a static obstacle", + 0, 0, 1000) + +grp_optimization.add("weight_viapoint", double_t, 0, + "Optimization weight for minimizing the distance to via-points", + 1, 0, 1000) + +grp_optimization.add("weight_adapt_factor", double_t, 0, + "Some special weights (currently 'weight_obstacle') are repeatedly scaled by this factor in each outer TEB iteration (weight_new: weight_old * factor); Increasing weights iteratively instead of setting a huge value a-priori leads to better numerical conditions of the underlying optimization problem.", + 2, 1, 100) + +grp_optimization.add("obstacle_cost_exponent", double_t, 0, + "Exponent for nonlinear obstacle cost (cost = linear_cost * obstacle_cost_exponent). Set to 1 to disable nonlinear cost (default)", + 1, 0.01, 100) + + +# Homotopy Class Planner +grp_hcp = gen.add_group("HCPlanning", type="tab") + +grp_hcp.add("enable_multithreading", bool_t, 0, + "Activate multiple threading for planning multiple trajectories in parallel", + True) + +grp_hcp.add("max_number_classes", int_t, 0, + "Specify the maximum number of allowed alternative homotopy classes (limits computational effort)", + 5, 1, 100) + +grp_hcp.add("max_number_plans_in_current_class", int_t, 0, + "Max number of trajectories to try that are in the same homotopy class as the current best trajectory (setting this to 2 or more helps avoid local minima). Must be <= max_number_classes", + 1, 1, 10) + +grp_hcp.add("selection_cost_hysteresis", double_t, 0, + "Specify how much trajectory cost must a new candidate have w.r.t. a previously selected trajectory in order to be selected (selection if new_cost < old_cost*factor)", + 1.0, 0, 2) + + +grp_hcp.add("selection_prefer_initial_plan", double_t, 0, + "Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan.)", + 0.95, 0, 1) + +grp_hcp.add("selection_obst_cost_scale", double_t, 0, + "Extra scaling of obstacle cost terms just for selecting the 'best' candidate (new_obst_cost: obst_cost*factor)", + 2.0, 0, 1000) + +grp_hcp.add("selection_viapoint_cost_scale", double_t, 0, + "Extra scaling of via-point cost terms just for selecting the 'best' candidate. (new_viapt_cost: viapt_cost*factor)", + 1.0, 0, 100) + +grp_hcp.add("selection_alternative_time_cost", bool_t, 0, + "If true, time cost is replaced by the total transition time.", + False) + +grp_hcp.add("selection_dropping_probability", double_t, 0, + "At each planning cycle, TEBs other than the current 'best' one will be randomly dropped with this probability. Prevents becoming 'fixated' on sub-optimal alternative homotopies.", + 0.0, 0.0, 1.0) + +grp_hcp.add("switching_blocking_period", double_t, 0, + "Specify a time duration in seconds that needs to be expired before a switch to new equivalence class is allowed", + 0.0, 0.0, 60) + +grp_hcp.add("roadmap_graph_no_samples", int_t, 0, + "Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off", + 15, 1, 100) + +grp_hcp.add("roadmap_graph_area_width", double_t, 0, + "Specify the width of the area in which sampled will be generated between start and goal [m] (the height equals the start-goal distance)", + 5, 0.1, 20) + +grp_hcp.add("roadmap_graph_area_length_scale", double_t, 0, + "The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal!)", + 1.0, 0.5, 2) + +grp_hcp.add("h_signature_prescaler", double_t, 0, + "Scale number of obstacle value in order to allow huge number of obstacles. Do not choose it extremly low, otherwise obstacles cannot be distinguished from each other (0.2 + Value: true + - Alpha: 0.100000001 + Cell Size: 0.100000001 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Fine Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /test_optim_node/local_plan + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.300000012 + Axes Length: 0.300000012 + Axes Radius: 0.00999999978 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.0700000003 + Head Radius: 0.0299999993 + Name: PoseArray + Shaft Length: 0.230000004 + Shaft Radius: 0.00999999978 + Shape: Arrow (Flat) + Topic: /test_optim_node/teb_poses + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /test_optim_node/teb_markers + Name: Marker + Namespaces: + PointObstacles: true + Queue Size: 100 + Value: true + - Class: rviz/InteractiveMarkers + Enable Transparency: true + Enabled: true + Name: InteractiveMarkers + Show Axes: false + Show Descriptions: true + Show Visual Aids: false + Update Topic: /marker_obstacles/update + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom + 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: 7.77247 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.56979632 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.71043873 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054a0000003efc0100000002fb0000000800540069006d006501000000000000054a0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003da000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1354 + X: 137 + Y: 50 diff --git a/navigations/teb_local_planner/cmake_modules/FindG2O.cmake b/navigations/teb_local_planner/cmake_modules/FindG2O.cmake new file mode 100755 index 0000000..b2670d3 --- /dev/null +++ b/navigations/teb_local_planner/cmake_modules/FindG2O.cmake @@ -0,0 +1,97 @@ +# Locate the g2o libraries +# A general framework for graph optimization. +# +# This module defines +# G2O_FOUND, if false, do not try to link against g2o +# G2O_LIBRARIES, path to the libg2o +# G2O_INCLUDE_DIR, where to find the g2o header files +# +# Niko Suenderhauf +# Adapted by Felix Endres + +IF(UNIX) + + #IF(G2O_INCLUDE_DIR AND G2O_LIBRARIES) + # in cache already + # SET(G2O_FIND_QUIETLY TRUE) + #ENDIF(G2O_INCLUDE_DIR AND G2O_LIBRARIES) + + MESSAGE(STATUS "Searching for g2o ...") + FIND_PATH(G2O_INCLUDE_DIR + NAMES core math_groups types + PATHS /usr/local /usr + PATH_SUFFIXES include/g2o include) + + IF (G2O_INCLUDE_DIR) + MESSAGE(STATUS "Found g2o headers in: ${G2O_INCLUDE_DIR}") + ENDIF (G2O_INCLUDE_DIR) + + FIND_LIBRARY(G2O_CORE_LIB + NAMES g2o_core g2o_core_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_STUFF_LIB + NAMES g2o_stuff g2o_stuff_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_TYPES_SLAM2D_LIB + NAMES g2o_types_slam2d g2o_types_slam2d_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_TYPES_SLAM3D_LIB + NAMES g2o_types_slam3d g2o_types_slam3d_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_SOLVER_CHOLMOD_LIB + NAMES g2o_solver_cholmod g2o_solver_cholmod_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_SOLVER_PCG_LIB + NAMES g2o_solver_pcg g2o_solver_pcg_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_SOLVER_CSPARSE_LIB + NAMES g2o_solver_csparse g2o_solver_csparse_rd + PATHS /usr/local /usr + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_INCREMENTAL_LIB + NAMES g2o_incremental g2o_incremental_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + FIND_LIBRARY(G2O_CSPARSE_EXTENSION_LIB + NAMES g2o_csparse_extension g2o_csparse_extension_rd + PATHS /usr/local /usr ${CMAKE_PREFIX_PATH} + PATH_SUFFIXES lib) + + SET(G2O_LIBRARIES ${G2O_CSPARSE_EXTENSION_LIB} + ${G2O_CORE_LIB} + ${G2O_STUFF_LIB} + ${G2O_TYPES_SLAM2D_LIB} + ${G2O_TYPES_SLAM3D_LIB} + ${G2O_SOLVER_CHOLMOD_LIB} + ${G2O_SOLVER_PCG_LIB} + ${G2O_SOLVER_CSPARSE_LIB} + ${G2O_INCREMENTAL_LIB} + ) + + IF(G2O_LIBRARIES AND G2O_INCLUDE_DIR) + SET(G2O_FOUND "YES") + IF(NOT G2O_FIND_QUIETLY) + MESSAGE(STATUS "Found libg2o: ${G2O_LIBRARIES}") + ENDIF(NOT G2O_FIND_QUIETLY) + ELSE(G2O_LIBRARIES AND G2O_INCLUDE_DIR) + IF(NOT G2O_LIBRARIES) + IF(G2O_FIND_REQUIRED) + message(FATAL_ERROR "Could not find libg2o!") + ENDIF(G2O_FIND_REQUIRED) + ENDIF(NOT G2O_LIBRARIES) + + IF(NOT G2O_INCLUDE_DIR) + IF(G2O_FIND_REQUIRED) + message(FATAL_ERROR "Could not find g2o include directory!") + ENDIF(G2O_FIND_REQUIRED) + ENDIF(NOT G2O_INCLUDE_DIR) + ENDIF(G2O_LIBRARIES AND G2O_INCLUDE_DIR) + +ENDIF(UNIX) + diff --git a/navigations/teb_local_planner/cmake_modules/FindSUITESPARSE.cmake b/navigations/teb_local_planner/cmake_modules/FindSUITESPARSE.cmake new file mode 100755 index 0000000..101b79b --- /dev/null +++ b/navigations/teb_local_planner/cmake_modules/FindSUITESPARSE.cmake @@ -0,0 +1,133 @@ +# - Try to find SUITESPARSE +# Once done this will define +# +# SUITESPARSE_FOUND - system has SUITESPARSE +# SUITESPARSE_INCLUDE_DIRS - the SUITESPARSE include directory +# SUITESPARSE_LIBRARIES - Link these to use SUITESPARSE +# SUITESPARSE_SPQR_LIBRARY - name of spqr library (necessary due to error in debian package) +# SUITESPARSE_SPQR_LIBRARY_DIR - name of spqr library (necessary due to error in debian package) +# SUITESPARSE_LIBRARY_DIR - Library main directory containing suitesparse libs +# SUITESPARSE_LIBRARY_DIRS - all Library directories containing suitesparse libs +# SUITESPARSE_SPQR_VALID - automatic identification whether or not spqr package is installed correctly + +IF (SUITESPARSE_INCLUDE_DIRS) + # Already in cache, be silent + SET(SUITESPARSE_FIND_QUIETLY TRUE) +ENDIF (SUITESPARSE_INCLUDE_DIRS) + +if( WIN32 ) + # Find cholmod part of the suitesparse library collection + + FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h + PATHS "C:\\libs\\win32\\SuiteSparse\\Include" ) + + # Add cholmod include directory to collection include directories + IF ( CHOLMOD_INCLUDE_DIR ) + list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} ) + ENDIF( CHOLMOD_INCLUDE_DIR ) + + + # find path suitesparse library + FIND_PATH( SUITESPARSE_LIBRARY_DIRS + amd.lib + PATHS "C:\\libs\\win32\\SuiteSparse\\libs" ) + + # if we found the library, add it to the defined libraries + IF ( SUITESPARSE_LIBRARY_DIRS ) + list ( APPEND SUITESPARSE_LIBRARIES optimized;amd;optimized;camd;optimized;ccolamd;optimized;cholmod;optimized;colamd;optimized;metis;optimized;spqr;optimized;umfpack;debug;amdd;debug;camdd;debug;ccolamdd;debug;cholmodd;debug;spqrd;debug;umfpackd;debug;colamdd;debug;metisd;optimized;blas;optimized;libf2c;optimized;lapack;debug;blasd;debug;libf2cd;debug;lapackd ) + ENDIF( SUITESPARSE_LIBRARY_DIRS ) + +else( WIN32 ) + IF(APPLE) + FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h + PATHS /opt/local/include/ufsparse + /usr/local/include ) + + FIND_PATH( SUITESPARSE_LIBRARY_DIR + NAMES libcholmod.a + PATHS /opt/local/lib + /usr/local/lib ) + ELSE(APPLE) + FIND_PATH( CHOLMOD_INCLUDE_DIR cholmod.h + PATHS /usr/local/include + /usr/include + /usr/include/suitesparse/ + ${CMAKE_SOURCE_DIR}/MacOS/Libs/cholmod + PATH_SUFFIXES cholmod/ CHOLMOD/ ) + + FIND_PATH( SUITESPARSE_LIBRARY_DIR + NAMES libcholmod.so libcholmod.a + PATHS /usr/lib + /usr/lib64 + /usr/lib/x86_64-linux-gnu + /usr/lib/i386-linux-gnu + /usr/local/lib + /usr/lib/arm-linux-gnueabihf/ + /usr/lib/aarch64-linux-gnu/ + /usr/lib/arm-linux-gnueabi/ + /usr/lib/arm-linux-gnu) + ENDIF(APPLE) + + # Add cholmod include directory to collection include directories + IF ( CHOLMOD_INCLUDE_DIR ) + list ( APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR} ) + ENDIF( CHOLMOD_INCLUDE_DIR ) + + # if we found the library, add it to the defined libraries + IF ( SUITESPARSE_LIBRARY_DIR ) + + list ( APPEND SUITESPARSE_LIBRARIES amd) + list ( APPEND SUITESPARSE_LIBRARIES btf) + list ( APPEND SUITESPARSE_LIBRARIES camd) + list ( APPEND SUITESPARSE_LIBRARIES ccolamd) + list ( APPEND SUITESPARSE_LIBRARIES cholmod) + list ( APPEND SUITESPARSE_LIBRARIES colamd) + # list ( APPEND SUITESPARSE_LIBRARIES csparse) + list ( APPEND SUITESPARSE_LIBRARIES cxsparse) + list ( APPEND SUITESPARSE_LIBRARIES klu) + # list ( APPEND SUITESPARSE_LIBRARIES spqr) + list ( APPEND SUITESPARSE_LIBRARIES umfpack) + + IF (APPLE) + list ( APPEND SUITESPARSE_LIBRARIES suitesparseconfig) + ENDIF (APPLE) + + # Metis and spqr are optional + FIND_LIBRARY( SUITESPARSE_METIS_LIBRARY + NAMES metis + PATHS ${SUITESPARSE_LIBRARY_DIR} ) + IF (SUITESPARSE_METIS_LIBRARY) + list ( APPEND SUITESPARSE_LIBRARIES metis) + ENDIF(SUITESPARSE_METIS_LIBRARY) + + if(EXISTS "${CHOLMOD_INCLUDE_DIR}/SuiteSparseQR.hpp") + SET(SUITESPARSE_SPQR_VALID TRUE CACHE BOOL "SuiteSparseSPQR valid") + else() + SET(SUITESPARSE_SPQR_VALID false CACHE BOOL "SuiteSparseSPQR valid") + endif() + + if(SUITESPARSE_SPQR_VALID) + FIND_LIBRARY( SUITESPARSE_SPQR_LIBRARY + NAMES spqr + PATHS ${SUITESPARSE_LIBRARY_DIR} ) + IF (SUITESPARSE_SPQR_LIBRARY) + list ( APPEND SUITESPARSE_LIBRARIES spqr) + ENDIF (SUITESPARSE_SPQR_LIBRARY) + endif() + + ENDIF( SUITESPARSE_LIBRARY_DIR ) + +endif( WIN32 ) + + +IF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES) + IF(WIN32) + list (APPEND SUITESPARSE_INCLUDE_DIRS ${CHOLMOD_INCLUDE_DIR}/../../UFconfig ) + ENDIF(WIN32) + SET(SUITESPARSE_FOUND TRUE) + MESSAGE(STATUS "Found SuiteSparse") +ELSE (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES) + SET( SUITESPARSE_FOUND FALSE ) + MESSAGE(FATAL_ERROR "Unable to find SuiteSparse") +ENDIF (SUITESPARSE_INCLUDE_DIRS AND SUITESPARSE_LIBRARIES) + diff --git a/navigations/teb_local_planner/include/teb_local_planner/distance_calculations.h b/navigations/teb_local_planner/include/teb_local_planner/distance_calculations.h new file mode 100755 index 0000000..364dc5b --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/distance_calculations.h @@ -0,0 +1,464 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef DISTANCE_CALCULATIONS_H +#define DISTANCE_CALCULATIONS_H + +#include +#include + + +namespace teb_local_planner +{ + +//! Abbrev. for a container storing 2d points +typedef std::vector< Eigen::Vector2d, Eigen::aligned_allocator > Point2dContainer; + + +/** + * @brief Helper function to obtain the closest point on a line segment w.r.t. a reference point + * @param point 2D point + * @param line_start 2D point representing the start of the line segment + * @param line_end 2D point representing the end of the line segment + * @return Closest point on the line segment + */ +inline Eigen::Vector2d closest_point_on_line_segment_2d(const Eigen::Ref& point, const Eigen::Ref& line_start, const Eigen::Ref& line_end) +{ + Eigen::Vector2d diff = line_end - line_start; + double sq_norm = diff.squaredNorm(); + + if (sq_norm == 0) + return line_start; + + double u = ((point.x() - line_start.x()) * diff.x() + (point.y() - line_start.y())*diff.y()) / sq_norm; + + if (u <= 0) return line_start; + else if (u >= 1) return line_end; + + return line_start + u*diff; +} + +/** + * @brief Helper function to calculate the distance between a line segment and a point + * @param point 2D point + * @param line_start 2D point representing the start of the line segment + * @param line_end 2D point representing the end of the line segment + * @return minimum distance to a given line segment + */ +inline double distance_point_to_segment_2d(const Eigen::Ref& point, const Eigen::Ref& line_start, const Eigen::Ref& line_end) +{ + return (point - closest_point_on_line_segment_2d(point, line_start, line_end)).norm(); +} + +/** + * @brief Helper function to check whether two line segments intersects + * @param line1_start 2D point representing the start of the first line segment + * @param line1_end 2D point representing the end of the first line segment + * @param line2_start 2D point representing the start of the second line segment + * @param line2_end 2D point representing the end of the second line segment + * @param[out] intersection [optional] Write intersection point to destination (the value is only written, if both lines intersect, e.g. if the function returns \c true) + * @return \c true if both line segments intersect + */ +inline bool check_line_segments_intersection_2d(const Eigen::Ref& line1_start, const Eigen::Ref& line1_end, + const Eigen::Ref& line2_start, const Eigen::Ref& line2_end, Eigen::Vector2d* intersection = NULL) +{ + // http://stackoverflow.com/questions/563198/how-do-you-detect-where-two-line-segments-intersect + double s_numer, t_numer, denom, t; + Eigen::Vector2d line1 = line1_end - line1_start; + Eigen::Vector2d line2 = line2_end - line2_start; + + denom = line1.x() * line2.y() - line2.x() * line1.y(); + if (denom == 0) return false; // Collinear + bool denomPositive = denom > 0; + + Eigen::Vector2d aux = line1_start - line2_start; + + s_numer = line1.x() * aux.y() - line1.y() * aux.x(); + if ((s_numer < 0) == denomPositive) return false; // No collision + + t_numer = line2.x() * aux.y() - line2.y() * aux.x(); + if ((t_numer < 0) == denomPositive) return false; // No collision + + if (((s_numer > denom) == denomPositive) || ((t_numer > denom) == denomPositive)) return false; // No collision + + // Otherwise collision detected + t = t_numer / denom; + if (intersection) + { + *intersection = line1_start + t * line1; + } + + return true; +} + + +/** + * @brief Helper function to calculate the smallest distance between two line segments + * @param line1_start 2D point representing the start of the first line segment + * @param line1_end 2D point representing the end of the first line segment + * @param line2_start 2D point representing the start of the second line segment + * @param line2_end 2D point representing the end of the second line segment + * @return smallest distance between both segments +*/ +inline double distance_segment_to_segment_2d(const Eigen::Ref& line1_start, const Eigen::Ref& line1_end, + const Eigen::Ref& line2_start, const Eigen::Ref& line2_end) +{ + // TODO more efficient implementation + + // check if segments intersect + if (check_line_segments_intersection_2d(line1_start, line1_end, line2_start, line2_end)) + return 0; + + // check all 4 combinations + std::array distances; + + distances[0] = distance_point_to_segment_2d(line1_start, line2_start, line2_end); + distances[1] = distance_point_to_segment_2d(line1_end, line2_start, line2_end); + distances[2] = distance_point_to_segment_2d(line2_start, line1_start, line1_end); + distances[3] = distance_point_to_segment_2d(line2_end, line1_start, line1_end); + + return *std::min_element(distances.begin(), distances.end()); +} + + +/** + * @brief Helper function to calculate the smallest distance between a point and a closed polygon + * @param point 2D point + * @param vertices Vertices describing the closed polygon (the first vertex is not repeated at the end) + * @return smallest distance between point and polygon +*/ +inline double distance_point_to_polygon_2d(const Eigen::Vector2d& point, const Point2dContainer& vertices) +{ + double dist = HUGE_VAL; + + // the polygon is a point + if (vertices.size() == 1) + { + return (point - vertices.front()).norm(); + } + + // check each polygon edge + for (int i=0; i<(int)vertices.size()-1; ++i) + { + double new_dist = distance_point_to_segment_2d(point, vertices.at(i), vertices.at(i+1)); +// double new_dist = calc_distance_point_to_segment( position, vertices.at(i), vertices.at(i+1)); + if (new_dist < dist) + dist = new_dist; + } + + if (vertices.size()>2) // if not a line close polygon + { + double new_dist = distance_point_to_segment_2d(point, vertices.back(), vertices.front()); // check last edge + if (new_dist < dist) + return new_dist; + } + + return dist; +} + +/** + * @brief Helper function to calculate the smallest distance between a line segment and a closed polygon + * @param line_start 2D point representing the start of the line segment + * @param line_end 2D point representing the end of the line segment + * @param vertices Vertices describing the closed polygon (the first vertex is not repeated at the end) + * @return smallest distance between point and polygon +*/ +inline double distance_segment_to_polygon_2d(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, const Point2dContainer& vertices) +{ + double dist = HUGE_VAL; + + // the polygon is a point + if (vertices.size() == 1) + { + return distance_point_to_segment_2d(vertices.front(), line_start, line_end); + } + + // check each polygon edge + for (int i=0; i<(int)vertices.size()-1; ++i) + { + double new_dist = distance_segment_to_segment_2d(line_start, line_end, vertices.at(i), vertices.at(i+1)); +// double new_dist = calc_distance_point_to_segment( position, vertices.at(i), vertices.at(i+1)); + if (new_dist < dist) + dist = new_dist; + } + + if (vertices.size()>2) // if not a line close polygon + { + double new_dist = distance_segment_to_segment_2d(line_start, line_end, vertices.back(), vertices.front()); // check last edge + if (new_dist < dist) + return new_dist; + } + + return dist; +} + +/** + * @brief Helper function to calculate the smallest distance between two closed polygons + * @param vertices1 Vertices describing the first closed polygon (the first vertex is not repeated at the end) + * @param vertices2 Vertices describing the second closed polygon (the first vertex is not repeated at the end) + * @return smallest distance between point and polygon +*/ +inline double distance_polygon_to_polygon_2d(const Point2dContainer& vertices1, const Point2dContainer& vertices2) +{ + double dist = HUGE_VAL; + + // the polygon1 is a point + if (vertices1.size() == 1) + { + return distance_point_to_polygon_2d(vertices1.front(), vertices2); + } + + // check each edge of polygon1 + for (int i=0; i<(int)vertices1.size()-1; ++i) + { + double new_dist = distance_segment_to_polygon_2d(vertices1[i], vertices1[i+1], vertices2); + if (new_dist < dist) + dist = new_dist; + } + + if (vertices1.size()>2) // if not a line close polygon1 + { + double new_dist = distance_segment_to_polygon_2d(vertices1.back(), vertices1.front(), vertices2); // check last edge + if (new_dist < dist) + return new_dist; + } + + return dist; +} + + + + +// Further distance calculations: + + +// The Distance Calculations are mainly copied from http://geomalgorithms.com/a07-_distance.html +// Copyright 2001 softSurfer, 2012 Dan Sunday +// This code may be freely used and modified for any purpose +// providing that this copyright notice is included with it. +// SoftSurfer makes no warranty for this code, and cannot be held +// liable for any real or imagined damage resulting from its use. +// Users of this code must verify correctness for their application. + +inline double calc_distance_line_to_line_3d(const Eigen::Ref& x1, Eigen::Ref& u, + const Eigen::Ref& x2, Eigen::Ref& v) +{ + Eigen::Vector3d w = x2 - x1; + double a = u.squaredNorm(); // dot(u,u) always >= 0 + double b = u.dot(v); + double c = v.squaredNorm(); // dot(v,v) always >= 0 + double d = u.dot(w); + double e = v.dot(w); + double D = a*c - b*b; // always >= 0 + double sc, tc; + + // compute the line parameters of the two closest points + if (D < SMALL_NUM) { // the lines are almost parallel + sc = 0.0; + tc = (b>c ? d/b : e/c); // use the largest denominator + } + else { + sc = (b*e - c*d) / D; + tc = (a*e - b*d) / D; + } + + // get the difference of the two closest points + Eigen::Vector3d dP = w + (sc * u) - (tc * v); // = L1(sc) - L2(tc) + + return dP.norm(); // return the closest distance +} + + + + + +inline double calc_distance_segment_to_segment3D(const Eigen::Ref& line1_start, Eigen::Ref& line1_end, + const Eigen::Ref& line2_start, Eigen::Ref& line2_end) +{ + Eigen::Vector3d u = line1_end - line1_start; + Eigen::Vector3d v = line2_end - line2_start; + Eigen::Vector3d w = line2_start - line1_start; + double a = u.squaredNorm(); // dot(u,u) always >= 0 + double b = u.dot(v); + double c = v.squaredNorm(); // dot(v,v) always >= 0 + double d = u.dot(w); + double e = v.dot(w); + double D = a*c - b*b; // always >= 0 + double sc, sN, sD = D; // sc = sN / sD, default sD = D >= 0 + double tc, tN, tD = D; // tc = tN / tD, default tD = D >= 0 + + // compute the line parameters of the two closest points + if (D < SMALL_NUM) + { // the lines are almost parallel + sN = 0.0; // force using point P0 on segment S1 + sD = 1.0; // to prevent possible division by 0.0 later + tN = e; + tD = c; + } + else + { // get the closest points on the infinite lines + sN = (b*e - c*d); + tN = (a*e - b*d); + if (sN < 0.0) + { // sc < 0 => the s=0 edge is visible + sN = 0.0; + tN = e; + tD = c; + } + else if (sN > sD) + { // sc > 1 => the s=1 edge is visible + sN = sD; + tN = e + b; + tD = c; + } + } + + if (tN < 0.0) + { // tc < 0 => the t=0 edge is visible + tN = 0.0; + // recompute sc for this edge + if (-d < 0.0) + sN = 0.0; + else if (-d > a) + sN = sD; + else + { + sN = -d; + sD = a; + } + } + else if (tN > tD) + { // tc > 1 => the t=1 edge is visible + tN = tD; + // recompute sc for this edge + if ((-d + b) < 0.0) + sN = 0; + else if ((-d + b) > a) + sN = sD; + else + { + sN = (-d + b); + sD = a; + } + } + // finally do the division to get sc and tc + sc = (abs(sN) < SMALL_NUM ? 0.0 : sN / sD); + tc = (abs(tN) < SMALL_NUM ? 0.0 : tN / tD); + + // get the difference of the two closest points + Eigen::Vector3d dP = w + (sc * u) - (tc * v); // = S1(sc) - S2(tc) + + return dP.norm(); // return the closest distance +} + + + + +template +double calc_closest_point_to_approach_time(const VectorType& x1, const VectorType& vel1, const VectorType& x2, const VectorType& vel2) +{ + VectorType dv = vel1 - vel2; + + double dv2 = dv.squaredNorm(); // dot(v,v) + if (dv2 < SMALL_NUM) // the tracks are almost parallel + return 0.0; // any time is ok. Use time 0. + + VectorType w0 = x1 - x2; + double cpatime = -w0.dot(dv) / dv2; + + return cpatime; // time of CPA +} + +template +double calc_closest_point_to_approach_distance(const VectorType& x1, const VectorType& vel1, const VectorType& x2, const VectorType& vel2, double bound_cpa_time = 0) +{ + double ctime = calc_closest_point_to_approach_time(x1, vel1, x2, vel2); + if (bound_cpa_time!=0 && ctime > bound_cpa_time) ctime = bound_cpa_time; + VectorType P1 = x1 + (ctime * vel1); + VectorType P2 = x2 + (ctime * vel2); + + return (P2-P1).norm(); // distance at CPA +} + + + +// dist_Point_to_Line(): get the distance of a point to a line +// Input: a Point P and a Line L (in any dimension) +// Return: the shortest distance from P to L +template +double calc_distance_point_to_line( const VectorType& point, const VectorType& line_base, const VectorType& line_dir) +{ + VectorType w = point - line_base; + + double c1 = w.dot(line_dir); + double c2 = line_dir.dot(line_dir); + double b = c1 / c2; + + VectorType Pb = line_base + b * line_dir; + return (point-Pb).norm(); +} +//=================================================================== + + +// dist_Point_to_Segment(): get the distance of a point to a segment +// Input: a Point P and a Segment S (in any dimension) +// Return: the shortest distance from P to S +template +double calc_distance_point_to_segment( const VectorType& point, const VectorType& line_start, const VectorType& line_end) +{ + VectorType v = line_end - line_start; + VectorType w = point - line_start; + + double c1 = w.dot(v); + if ( c1 <= 0 ) + return w.norm(); + + double c2 = v.dot(v); + if ( c2 <= c1 ) + return (point-line_end).norm(); + + double b = c1 / c2; + VectorType Pb = line_start + b * v; + return (point-Pb).norm(); +} + + + +} // namespace teb_local_planner + +#endif /* DISTANCE_CALCULATIONS_H */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/equivalence_relations.h b/navigations/teb_local_planner/include/teb_local_planner/equivalence_relations.h new file mode 100755 index 0000000..b39bb71 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/equivalence_relations.h @@ -0,0 +1,103 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef EQUIVALENCE_RELATIONS_H_ +#define EQUIVALENCE_RELATIONS_H_ + +#include + +namespace teb_local_planner +{ + +/** + * @class EquivalenceClass + * @brief Abstract class that defines an interface for computing and comparing equivalence classes + * + * Equivalence relations are utilized in order to test if two trajectories are belonging to the same + * equivalence class w.r.t. the current obstacle configurations. A common equivalence relation is + * the concept of homotopy classes. All trajectories belonging to the same homotopy class + * can CONTINUOUSLY be deformed into each other without intersecting any obstacle. Hence they likely + * share the same local minimum after invoking (local) trajectory optimization. A weaker equivalence relation + * is defined by the concept of homology classes (e.g. refer to HSignature). + * + * Each EquivalenceClass object (or subclass) stores a candidate value which might be compared to another EquivalenceClass object. + * + * @remarks Currently, the computeEquivalenceClass method is not available in the generic interface EquivalenceClass. + * Call the "compute"-methods directly on the subclass. + */ +class EquivalenceClass +{ +public: + + /** + * @brief Default constructor + */ + EquivalenceClass() {} + + /** + * @brief virtual destructor + */ + virtual ~EquivalenceClass() {} + + /** + * @brief Check if two candidate classes are equivalent + * @param other The other equivalence class to test with + */ + virtual bool isEqual(const EquivalenceClass& other) const = 0; + + /** + * @brief Check if the equivalence value is detected correctly + * @return Returns false, if the equivalence class detection failed, e.g. if nan- or inf values occur. + */ + virtual bool isValid() const = 0; + + /** + * @brief Check if the trajectory is non-looping around an obstacle + * @return Returns false, if the trajectory loops around an obstacle + */ + virtual bool isReasonable() const = 0; + +}; + +using EquivalenceClassPtr = boost::shared_ptr; + + +} // namespace teb_local_planner + + +#endif /* EQUIVALENCE_RELATIONS_H_ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h new file mode 100755 index 0000000..0920c7b --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h @@ -0,0 +1,278 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef _BASE_TEB_EDGES_H_ +#define _BASE_TEB_EDGES_H_ + +#include + +#include +#include +#include + +namespace teb_local_planner +{ + + +/** + * @class BaseTebUnaryEdge + * @brief Base edge connecting a single vertex in the TEB optimization problem + * + * This edge defines a base edge type for the TEB optimization problem. + * It is derived from the corresponding g2o base classes augmented with additional information for the dedicated TEB problem (e.g. config). + * The destructor erases the edge in all attached vertices in order to allow keeping the vertices valid in subsequent g2o optimization calls. + * Memory of edges should be freed by calling the clearEdge method of the g2o optimizer class. + * @see BaseTebMultiEdge, BaseTebBinaryEdge, g2o::BaseBinaryEdge, g2o::BaseUnaryEdge, g2o::BaseMultiEdge + */ +template +class BaseTebUnaryEdge : public g2o::BaseUnaryEdge +{ +public: + + using typename g2o::BaseUnaryEdge::ErrorVector; + using g2o::BaseUnaryEdge::computeError; + + /** + * @brief Compute and return error / cost value. + * + * This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost. + * @return 2D Cost / error vector [nh cost, backward drive dir cost]^T + */ + ErrorVector& getError() + { + computeError(); + return _error; + } + + /** + * @brief Read values from input stream + */ + virtual bool read(std::istream& is) + { + // TODO generic read + return true; + } + + /** + * @brief Write values to an output stream + */ + virtual bool write(std::ostream& os) const + { + // TODO generic write + return os.good(); + } + + /** + * @brief Assign the TebConfig class for parameters. + * @param cfg TebConfig class + */ + void setTebConfig(const TebConfig& cfg) + { + cfg_ = &cfg; + } + +protected: + + using g2o::BaseUnaryEdge::_error; + using g2o::BaseUnaryEdge::_vertices; + + const TebConfig* cfg_; //!< Store TebConfig class for parameters + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +/** + * @class BaseTebBinaryEdge + * @brief Base edge connecting two vertices in the TEB optimization problem + * + * This edge defines a base edge type for the TEB optimization problem. + * It is derived from the corresponding g2o base classes augmented with additional information for the dedicated TEB problem (e.g. config). + * The destructor erases the edge in all attached vertices in order to allow keeping the vertices valid in subsequent g2o optimization calls. + * Memory of edges should be freed by calling the clearEdge method of the g2o optimizer class. + * @see BaseTebMultiEdge, BaseTebUnaryEdge, g2o::BaseBinaryEdge, g2o::BaseUnaryEdge, g2o::BaseMultiEdge + */ +template +class BaseTebBinaryEdge : public g2o::BaseBinaryEdge +{ +public: + + using typename g2o::BaseBinaryEdge::ErrorVector; + using g2o::BaseBinaryEdge::computeError; + + /** + * @brief Compute and return error / cost value. + * + * This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost. + * @return 2D Cost / error vector [nh cost, backward drive dir cost]^T + */ + ErrorVector& getError() + { + computeError(); + return _error; + } + + /** + * @brief Read values from input stream + */ + virtual bool read(std::istream& is) + { + // TODO generic read + return true; + } + + /** + * @brief Write values to an output stream + */ + virtual bool write(std::ostream& os) const + { + // TODO generic write + return os.good(); + } + + /** + * @brief Assign the TebConfig class for parameters. + * @param cfg TebConfig class + */ + void setTebConfig(const TebConfig& cfg) + { + cfg_ = &cfg; + } + +protected: + + using g2o::BaseBinaryEdge::_error; + using g2o::BaseBinaryEdge::_vertices; + + const TebConfig* cfg_; //!< Store TebConfig class for parameters + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +/** + * @class BaseTebMultiEdge + * @brief Base edge connecting multiple vertices in the TEB optimization problem + * + * This edge defines a base edge type for the TEB optimization problem. + * It is derived from the corresponding g2o base classes augmented with additional information for the dedicated TEB problem (e.g. config). + * The destructor erases the edge in all attached vertices in order to allow keeping the vertices valid in subsequent g2o optimization calls. + * Memory of edges should be freed by calling the clearEdge method of the g2o optimizer class. + * @see BaseTebBinaryEdge, BaseTebUnaryEdge, g2o::BaseBinaryEdge, g2o::BaseUnaryEdge, g2o::BaseMultiEdge + */ +template +class BaseTebMultiEdge : public g2o::BaseMultiEdge +{ +public: + + using typename g2o::BaseMultiEdge::ErrorVector; + using g2o::BaseMultiEdge::computeError; + + // Overwrites resize() from the parent class + virtual void resize(size_t size) + { + g2o::BaseMultiEdge::resize(size); + + for(std::size_t i=0; i<_vertices.size(); ++i) + _vertices[i] = NULL; + } + + /** + * @brief Compute and return error / cost value. + * + * This method is called by TebOptimalPlanner::computeCurrentCost to obtain the current cost. + * @return 2D Cost / error vector [nh cost, backward drive dir cost]^T + */ + ErrorVector& getError() + { + computeError(); + return _error; + } + + /** + * @brief Read values from input stream + */ + virtual bool read(std::istream& is) + { + // TODO generic read + return true; + } + + /** + * @brief Write values to an output stream + */ + virtual bool write(std::ostream& os) const + { + // TODO generic write + return os.good(); + } + + /** + * @brief Assign the TebConfig class for parameters. + * @param cfg TebConfig class + */ + void setTebConfig(const TebConfig& cfg) + { + cfg_ = &cfg; + } + +protected: + + using g2o::BaseMultiEdge::_error; + using g2o::BaseMultiEdge::_vertices; + + const TebConfig* cfg_; //!< Store TebConfig class for parameters + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + + + +} // end namespace + +#endif diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_acceleration.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_acceleration.h new file mode 100755 index 0000000..8eccf6d --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_acceleration.h @@ -0,0 +1,734 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef EDGE_ACCELERATION_H_ +#define EDGE_ACCELERATION_H_ + +#include +#include +#include +#include +#include + +#include + + + +namespace teb_local_planner +{ + +/** + * @class EdgeAcceleration + * @brief Edge defining the cost function for limiting the translational and rotational acceleration. + * + * The edge depends on five vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \mathbf{s}_{ip2}, \Delta T_i, \Delta T_{ip1} \f$ and minimizes: + * \f$ \min \textrm{penaltyInterval}( [a, omegadot } ]^T ) \cdot weight \f$. \n + * \e a is calculated using the difference quotient (twice) and the position parts of all three poses \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation() \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval() \n + * The dimension of the error / cost vector is 2: the first component represents the translational acceleration and + * the second one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAccelerationStart + * @see EdgeAccelerationGoal + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationStart() and EdgeAccelerationGoal() for defining boundary values! + */ +class EdgeAcceleration : public BaseTebMultiEdge<2, double> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAcceleration() + { + this->resize(5); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeAcceleration()"); + const VertexPose* pose1 = static_cast(_vertices[0]); + const VertexPose* pose2 = static_cast(_vertices[1]); + const VertexPose* pose3 = static_cast(_vertices[2]); + const VertexTimeDiff* dt1 = static_cast(_vertices[3]); + const VertexTimeDiff* dt2 = static_cast(_vertices[4]); + + // VELOCITY & ACCELERATION + const Eigen::Vector2d diff1 = pose2->position() - pose1->position(); + const Eigen::Vector2d diff2 = pose3->position() - pose2->position(); + + double dist1 = diff1.norm(); + double dist2 = diff2.norm(); + const double angle_diff1 = g2o::normalize_theta(pose2->theta() - pose1->theta()); + const double angle_diff2 = g2o::normalize_theta(pose3->theta() - pose2->theta()); + + if (cfg_->trajectory.exact_arc_length) // use exact arc length instead of Euclidean approximation + { + if (angle_diff1 != 0) + { + const double radius = dist1/(2*sin(angle_diff1/2)); + dist1 = fabs( angle_diff1 * radius ); // actual arg length! + } + if (angle_diff2 != 0) + { + const double radius = dist2/(2*sin(angle_diff2/2)); + dist2 = fabs( angle_diff2 * radius ); // actual arg length! + } + } + + double vel1 = dist1 / dt1->dt(); + double vel2 = dist2 / dt2->dt(); + + + // consider directions +// vel1 *= g2o::sign(diff1[0]*cos(pose1->theta()) + diff1[1]*sin(pose1->theta())); +// vel2 *= g2o::sign(diff2[0]*cos(pose2->theta()) + diff2[1]*sin(pose2->theta())); + vel1 *= fast_sigmoid( 100*(diff1.x()*cos(pose1->theta()) + diff1.y()*sin(pose1->theta())) ); + vel2 *= fast_sigmoid( 100*(diff2.x()*cos(pose2->theta()) + diff2.y()*sin(pose2->theta())) ); + + const double acc_lin = (vel2 - vel1)*2 / ( dt1->dt() + dt2->dt() ); + + + _error[0] = penaltyBoundToInterval(acc_lin,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + const double omega1 = angle_diff1 / dt1->dt(); + const double omega2 = angle_diff2 / dt2->dt(); + const double acc_rot = (omega2 - omega1)*2 / ( dt1->dt() + dt2->dt() ); + + _error[1] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAcceleration::computeError() translational: _error[0]=%f\n",_error[0]); + ROS_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAcceleration::computeError() rotational: _error[1]=%f\n",_error[1]); + } + + + +#ifdef USE_ANALYTIC_JACOBI +#if 0 + /* + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeAcceleration()"); + const VertexPointXY* conf1 = static_cast(_vertices[0]); + const VertexPointXY* conf2 = static_cast(_vertices[1]); + const VertexPointXY* conf3 = static_cast(_vertices[2]); + const VertexTimeDiff* deltaT1 = static_cast(_vertices[3]); + const VertexTimeDiff* deltaT2 = static_cast(_vertices[4]); + const VertexOrientation* angle1 = static_cast(_vertices[5]); + const VertexOrientation* angle2 = static_cast(_vertices[6]); + const VertexOrientation* angle3 = static_cast(_vertices[7]); + + Eigen::Vector2d deltaS1 = conf2->estimate() - conf1->estimate(); + Eigen::Vector2d deltaS2 = conf3->estimate() - conf2->estimate(); + double dist1 = deltaS1.norm(); + double dist2 = deltaS2.norm(); + + double sum_time = deltaT1->estimate() + deltaT2->estimate(); + double sum_time_inv = 1 / sum_time; + double dt1_inv = 1/deltaT1->estimate(); + double dt2_inv = 1/deltaT2->estimate(); + double aux0 = 2/sum_time_inv; + double aux1 = dist1 * deltaT1->estimate(); + double aux2 = dist2 * deltaT2->estimate(); + + double vel1 = dist1 * dt1_inv; + double vel2 = dist2 * dt2_inv; + double omega1 = g2o::normalize_theta( angle2->estimate() - angle1->estimate() ) * dt1_inv; + double omega2 = g2o::normalize_theta( angle3->estimate() - angle2->estimate() ) * dt2_inv; + double acc = (vel2 - vel1) * aux0; + double omegadot = (omega2 - omega1) * aux0; + double aux3 = -acc/2; + double aux4 = -omegadot/2; + + double dev_border_acc = penaltyBoundToIntervalDerivative(acc, tebConfig.robot_acceleration_max_trans,optimizationConfig.optimization_boundaries_epsilon,optimizationConfig.optimization_boundaries_scale,optimizationConfig.optimization_boundaries_order); + double dev_border_omegadot = penaltyBoundToIntervalDerivative(omegadot, tebConfig.robot_acceleration_max_rot,optimizationConfig.optimization_boundaries_epsilon,optimizationConfig.optimization_boundaries_scale,optimizationConfig.optimization_boundaries_order); + + _jacobianOplus[0].resize(2,2); // conf1 + _jacobianOplus[1].resize(2,2); // conf2 + _jacobianOplus[2].resize(2,2); // conf3 + _jacobianOplus[3].resize(2,1); // deltaT1 + _jacobianOplus[4].resize(2,1); // deltaT2 + _jacobianOplus[5].resize(2,1); // angle1 + _jacobianOplus[6].resize(2,1); // angle2 + _jacobianOplus[7].resize(2,1); // angle3 + + if (aux1==0) aux1=1e-20; + if (aux2==0) aux2=1e-20; + + if (dev_border_acc!=0) + { + // TODO: double aux = aux0 * dev_border_acc; + // double aux123 = aux / aux1; + _jacobianOplus[0](0,0) = aux0 * deltaS1[0] / aux1 * dev_border_acc; // acc x1 + _jacobianOplus[0](0,1) = aux0 * deltaS1[1] / aux1 * dev_border_acc; // acc y1 + _jacobianOplus[1](0,0) = -aux0 * ( deltaS1[0] / aux1 + deltaS2[0] / aux2 ) * dev_border_acc; // acc x2 + _jacobianOplus[1](0,1) = -aux0 * ( deltaS1[1] / aux1 + deltaS2[1] / aux2 ) * dev_border_acc; // acc y2 + _jacobianOplus[2](0,0) = aux0 * deltaS2[0] / aux2 * dev_border_acc; // acc x3 + _jacobianOplus[2](0,1) = aux0 * deltaS2[1] / aux2 * dev_border_acc; // acc y3 + _jacobianOplus[2](0,0) = 0; + _jacobianOplus[2](0,1) = 0; + _jacobianOplus[3](0,0) = aux0 * (aux3 + vel1 * dt1_inv) * dev_border_acc; // acc deltaT1 + _jacobianOplus[4](0,0) = aux0 * (aux3 - vel2 * dt2_inv) * dev_border_acc; // acc deltaT2 + } + else + { + _jacobianOplus[0](0,0) = 0; // acc x1 + _jacobianOplus[0](0,1) = 0; // acc y1 + _jacobianOplus[1](0,0) = 0; // acc x2 + _jacobianOplus[1](0,1) = 0; // acc y2 + _jacobianOplus[2](0,0) = 0; // acc x3 + _jacobianOplus[2](0,1) = 0; // acc y3 + _jacobianOplus[3](0,0) = 0; // acc deltaT1 + _jacobianOplus[4](0,0) = 0; // acc deltaT2 + } + + if (dev_border_omegadot!=0) + { + _jacobianOplus[3](1,0) = aux0 * ( aux4 + omega1 * dt1_inv ) * dev_border_omegadot; // omegadot deltaT1 + _jacobianOplus[4](1,0) = aux0 * ( aux4 - omega2 * dt2_inv ) * dev_border_omegadot; // omegadot deltaT2 + _jacobianOplus[5](1,0) = aux0 * dt1_inv * dev_border_omegadot; // omegadot angle1 + _jacobianOplus[6](1,0) = -aux0 * ( dt1_inv + dt2_inv ) * dev_border_omegadot; // omegadot angle2 + _jacobianOplus[7](1,0) = aux0 * dt2_inv * dev_border_omegadot; // omegadot angle3 + } + else + { + _jacobianOplus[3](1,0) = 0; // omegadot deltaT1 + _jacobianOplus[4](1,0) = 0; // omegadot deltaT2 + _jacobianOplus[5](1,0) = 0; // omegadot angle1 + _jacobianOplus[6](1,0) = 0; // omegadot angle2 + _jacobianOplus[7](1,0) = 0; // omegadot angle3 + } + + _jacobianOplus[0](1,0) = 0; // omegadot x1 + _jacobianOplus[0](1,1) = 0; // omegadot y1 + _jacobianOplus[1](1,0) = 0; // omegadot x2 + _jacobianOplus[1](1,1) = 0; // omegadot y2 + _jacobianOplus[2](1,0) = 0; // omegadot x3 + _jacobianOplus[2](1,1) = 0; // omegadot y3 + _jacobianOplus[5](0,0) = 0; // acc angle1 + _jacobianOplus[6](0,0) = 0; // acc angle2 + _jacobianOplus[7](0,0) = 0; // acc angle3 + } +#endif +#endif + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +/** + * @class EdgeAccelerationStart + * @brief Edge defining the cost function for limiting the translational and rotational acceleration at the beginning of the trajectory. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$, an initial velocity defined by setInitialVelocity() + * and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [a, omegadot ]^T ) \cdot weight \f$. \n + * \e a is calculated using the difference quotient (twice) and the position parts of the poses. \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation(). \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval(). \n + * The dimension of the error / cost vector is 2: the first component represents the translational acceleration and + * the second one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAcceleration + * @see EdgeAccelerationGoal + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationGoal() for defining boundary values at the end of the trajectory! + */ +class EdgeAccelerationStart : public BaseTebMultiEdge<2, const geometry_msgs::Twist*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationStart() + { + _measurement = NULL; + this->resize(3); + } + + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setStartVelocity() on EdgeAccelerationStart()"); + const VertexPose* pose1 = static_cast(_vertices[0]); + const VertexPose* pose2 = static_cast(_vertices[1]); + const VertexTimeDiff* dt = static_cast(_vertices[2]); + + // VELOCITY & ACCELERATION + const Eigen::Vector2d diff = pose2->position() - pose1->position(); + double dist = diff.norm(); + const double angle_diff = g2o::normalize_theta(pose2->theta() - pose1->theta()); + if (cfg_->trajectory.exact_arc_length && angle_diff != 0) + { + const double radius = dist/(2*sin(angle_diff/2)); + dist = fabs( angle_diff * radius ); // actual arg length! + } + + const double vel1 = _measurement->linear.x; + double vel2 = dist / dt->dt(); + + // consider directions + //vel2 *= g2o::sign(diff[0]*cos(pose1->theta()) + diff[1]*sin(pose1->theta())); + vel2 *= fast_sigmoid( 100*(diff.x()*cos(pose1->theta()) + diff.y()*sin(pose1->theta())) ); + + const double acc_lin = (vel2 - vel1) / dt->dt(); + + _error[0] = penaltyBoundToInterval(acc_lin,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + const double omega1 = _measurement->angular.z; + const double omega2 = angle_diff / dt->dt(); + const double acc_rot = (omega2 - omega1) / dt->dt(); + + _error[1] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAccelerationStart::computeError() translational: _error[0]=%f\n",_error[0]); + ROS_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAccelerationStart::computeError() rotational: _error[1]=%f\n",_error[1]); + } + + /** + * @brief Set the initial velocity that is taken into account for calculating the acceleration + * @param vel_start twist message containing the translational and rotational velocity + */ + void setInitialVelocity(const geometry_msgs::Twist& vel_start) + { + _measurement = &vel_start; + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +/** + * @class EdgeAccelerationGoal + * @brief Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$, an initial velocity defined by setGoalVelocity() + * and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [a, omegadot ]^T ) \cdot weight \f$. \n + * \e a is calculated using the difference quotient (twice) and the position parts of the poses \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation() \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval() \n + * The dimension of the error / cost vector is 2: the first component represents the translational acceleration and + * the second one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAcceleration + * @see EdgeAccelerationStart + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationStart() for defining boundary (initial) values at the end of the trajectory + */ +class EdgeAccelerationGoal : public BaseTebMultiEdge<2, const geometry_msgs::Twist*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationGoal() + { + _measurement = NULL; + this->resize(3); + } + + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setGoalVelocity() on EdgeAccelerationGoal()"); + const VertexPose* pose_pre_goal = static_cast(_vertices[0]); + const VertexPose* pose_goal = static_cast(_vertices[1]); + const VertexTimeDiff* dt = static_cast(_vertices[2]); + + // VELOCITY & ACCELERATION + + const Eigen::Vector2d diff = pose_goal->position() - pose_pre_goal->position(); + double dist = diff.norm(); + const double angle_diff = g2o::normalize_theta(pose_goal->theta() - pose_pre_goal->theta()); + if (cfg_->trajectory.exact_arc_length && angle_diff != 0) + { + double radius = dist/(2*sin(angle_diff/2)); + dist = fabs( angle_diff * radius ); // actual arg length! + } + + double vel1 = dist / dt->dt(); + const double vel2 = _measurement->linear.x; + + // consider directions + //vel1 *= g2o::sign(diff[0]*cos(pose_pre_goal->theta()) + diff[1]*sin(pose_pre_goal->theta())); + vel1 *= fast_sigmoid( 100*(diff.x()*cos(pose_pre_goal->theta()) + diff.y()*sin(pose_pre_goal->theta())) ); + + const double acc_lin = (vel2 - vel1) / dt->dt(); + + _error[0] = penaltyBoundToInterval(acc_lin,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + const double omega1 = angle_diff / dt->dt(); + const double omega2 = _measurement->angular.z; + const double acc_rot = (omega2 - omega1) / dt->dt(); + + _error[1] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAccelerationGoal::computeError() translational: _error[0]=%f\n",_error[0]); + ROS_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAccelerationGoal::computeError() rotational: _error[1]=%f\n",_error[1]); + } + + /** + * @brief Set the goal / final velocity that is taken into account for calculating the acceleration + * @param vel_goal twist message containing the translational and rotational velocity + */ + void setGoalVelocity(const geometry_msgs::Twist& vel_goal) + { + _measurement = &vel_goal; + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +/** + * @class EdgeAccelerationHolonomic + * @brief Edge defining the cost function for limiting the translational and rotational acceleration. + * + * The edge depends on five vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \mathbf{s}_{ip2}, \Delta T_i, \Delta T_{ip1} \f$ and minimizes: + * \f$ \min \textrm{penaltyInterval}( [ax, ay, omegadot } ]^T ) \cdot weight \f$. \n + * \e ax is calculated using the difference quotient (twice) and the x position parts of all three poses \n + * \e ay is calculated using the difference quotient (twice) and the y position parts of all three poses \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation() \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval() \n + * The dimension of the error / cost vector is 3: the first component represents the translational acceleration (x-dir), + * the second one the strafing acceleration and the third one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAccelerationHolonomicStart + * @see EdgeAccelerationHolonomicGoal + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationHolonomicStart() and EdgeAccelerationHolonomicGoal() for defining boundary values! + */ +class EdgeAccelerationHolonomic : public BaseTebMultiEdge<3, double> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationHolonomic() + { + this->resize(5); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeAcceleration()"); + const VertexPose* pose1 = static_cast(_vertices[0]); + const VertexPose* pose2 = static_cast(_vertices[1]); + const VertexPose* pose3 = static_cast(_vertices[2]); + const VertexTimeDiff* dt1 = static_cast(_vertices[3]); + const VertexTimeDiff* dt2 = static_cast(_vertices[4]); + + // VELOCITY & ACCELERATION + Eigen::Vector2d diff1 = pose2->position() - pose1->position(); + Eigen::Vector2d diff2 = pose3->position() - pose2->position(); + + double cos_theta1 = std::cos(pose1->theta()); + double sin_theta1 = std::sin(pose1->theta()); + double cos_theta2 = std::cos(pose2->theta()); + double sin_theta2 = std::sin(pose2->theta()); + + // transform pose2 into robot frame pose1 (inverse 2d rotation matrix) + double p1_dx = cos_theta1*diff1.x() + sin_theta1*diff1.y(); + double p1_dy = -sin_theta1*diff1.x() + cos_theta1*diff1.y(); + // transform pose3 into robot frame pose2 (inverse 2d rotation matrix) + double p2_dx = cos_theta2*diff2.x() + sin_theta2*diff2.y(); + double p2_dy = -sin_theta2*diff2.x() + cos_theta2*diff2.y(); + + double vel1_x = p1_dx / dt1->dt(); + double vel1_y = p1_dy / dt1->dt(); + double vel2_x = p2_dx / dt2->dt(); + double vel2_y = p2_dy / dt2->dt(); + + double dt12 = dt1->dt() + dt2->dt(); + + double acc_x = (vel2_x - vel1_x)*2 / dt12; + double acc_y = (vel2_y - vel1_y)*2 / dt12; + + _error[0] = penaltyBoundToInterval(acc_x,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(acc_y,cfg_->robot.acc_lim_y,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + double omega1 = g2o::normalize_theta(pose2->theta() - pose1->theta()) / dt1->dt(); + double omega2 = g2o::normalize_theta(pose3->theta() - pose2->theta()) / dt2->dt(); + double acc_rot = (omega2 - omega1)*2 / dt12; + + _error[2] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAcceleration::computeError() translational: _error[0]=%f\n",_error[0]); + ROS_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAcceleration::computeError() strafing: _error[1]=%f\n",_error[1]); + ROS_ASSERT_MSG(std::isfinite(_error[2]), "EdgeAcceleration::computeError() rotational: _error[2]=%f\n",_error[2]); + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +/** + * @class EdgeAccelerationHolonomicStart + * @brief Edge defining the cost function for limiting the translational and rotational acceleration at the beginning of the trajectory. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$, an initial velocity defined by setInitialVelocity() + * and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [ax, ay, omegadot ]^T ) \cdot weight \f$. \n + * \e ax is calculated using the difference quotient (twice) and the x-position parts of the poses. \n + * \e ay is calculated using the difference quotient (twice) and the y-position parts of the poses. \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation(). \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval(). \n + * The dimension of the error / cost vector is 3: the first component represents the translational acceleration, + * the second one the strafing acceleration and the third one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAccelerationHolonomic + * @see EdgeAccelerationHolonomicGoal + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationHolonomicGoal() for defining boundary values at the end of the trajectory! + */ +class EdgeAccelerationHolonomicStart : public BaseTebMultiEdge<3, const geometry_msgs::Twist*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationHolonomicStart() + { + this->resize(3); + _measurement = NULL; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setStartVelocity() on EdgeAccelerationStart()"); + const VertexPose* pose1 = static_cast(_vertices[0]); + const VertexPose* pose2 = static_cast(_vertices[1]); + const VertexTimeDiff* dt = static_cast(_vertices[2]); + + // VELOCITY & ACCELERATION + Eigen::Vector2d diff = pose2->position() - pose1->position(); + + double cos_theta1 = std::cos(pose1->theta()); + double sin_theta1 = std::sin(pose1->theta()); + + // transform pose2 into robot frame pose1 (inverse 2d rotation matrix) + double p1_dx = cos_theta1*diff.x() + sin_theta1*diff.y(); + double p1_dy = -sin_theta1*diff.x() + cos_theta1*diff.y(); + + double vel1_x = _measurement->linear.x; + double vel1_y = _measurement->linear.y; + double vel2_x = p1_dx / dt->dt(); + double vel2_y = p1_dy / dt->dt(); + + double acc_lin_x = (vel2_x - vel1_x) / dt->dt(); + double acc_lin_y = (vel2_y - vel1_y) / dt->dt(); + + _error[0] = penaltyBoundToInterval(acc_lin_x,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(acc_lin_y,cfg_->robot.acc_lim_y,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + double omega1 = _measurement->angular.z; + double omega2 = g2o::normalize_theta(pose2->theta() - pose1->theta()) / dt->dt(); + double acc_rot = (omega2 - omega1) / dt->dt(); + + _error[2] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAccelerationStart::computeError() translational: _error[0]=%f\n",_error[0]); + ROS_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAccelerationStart::computeError() strafing: _error[1]=%f\n",_error[1]); + ROS_ASSERT_MSG(std::isfinite(_error[2]), "EdgeAccelerationStart::computeError() rotational: _error[2]=%f\n",_error[2]); + } + + /** + * @brief Set the initial velocity that is taken into account for calculating the acceleration + * @param vel_start twist message containing the translational and rotational velocity + */ + void setInitialVelocity(const geometry_msgs::Twist& vel_start) + { + _measurement = &vel_start; + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + +/** + * @class EdgeAccelerationHolonomicGoal + * @brief Edge defining the cost function for limiting the translational and rotational acceleration at the end of the trajectory. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$, an initial velocity defined by setGoalVelocity() + * and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [ax, ay, omegadot ]^T ) \cdot weight \f$. \n + * \e ax is calculated using the difference quotient (twice) and the x-position parts of the poses \n + * \e ay is calculated using the difference quotient (twice) and the y-position parts of the poses \n + * \e omegadot is calculated using the difference quotient of the yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation() \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval() \n + * The dimension of the error / cost vector is 3: the first component represents the translational acceleration, + * the second one is the strafing velocity and the third one the rotational acceleration. + * @see TebOptimalPlanner::AddEdgesAcceleration + * @see EdgeAccelerationHolonomic + * @see EdgeAccelerationHolonomicStart + * @remarks Do not forget to call setTebConfig() + * @remarks Refer to EdgeAccelerationHolonomicStart() for defining boundary (initial) values at the end of the trajectory + */ +class EdgeAccelerationHolonomicGoal : public BaseTebMultiEdge<3, const geometry_msgs::Twist*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeAccelerationHolonomicGoal() + { + _measurement = NULL; + this->resize(3); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig() and setGoalVelocity() on EdgeAccelerationGoal()"); + const VertexPose* pose_pre_goal = static_cast(_vertices[0]); + const VertexPose* pose_goal = static_cast(_vertices[1]); + const VertexTimeDiff* dt = static_cast(_vertices[2]); + + // VELOCITY & ACCELERATION + + Eigen::Vector2d diff = pose_goal->position() - pose_pre_goal->position(); + + double cos_theta1 = std::cos(pose_pre_goal->theta()); + double sin_theta1 = std::sin(pose_pre_goal->theta()); + + // transform pose2 into robot frame pose1 (inverse 2d rotation matrix) + double p1_dx = cos_theta1*diff.x() + sin_theta1*diff.y(); + double p1_dy = -sin_theta1*diff.x() + cos_theta1*diff.y(); + + double vel1_x = p1_dx / dt->dt(); + double vel1_y = p1_dy / dt->dt(); + double vel2_x = _measurement->linear.x; + double vel2_y = _measurement->linear.y; + + double acc_lin_x = (vel2_x - vel1_x) / dt->dt(); + double acc_lin_y = (vel2_y - vel1_y) / dt->dt(); + + _error[0] = penaltyBoundToInterval(acc_lin_x,cfg_->robot.acc_lim_x,cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(acc_lin_y,cfg_->robot.acc_lim_y,cfg_->optim.penalty_epsilon); + + // ANGULAR ACCELERATION + double omega1 = g2o::normalize_theta(pose_goal->theta() - pose_pre_goal->theta()) / dt->dt(); + double omega2 = _measurement->angular.z; + double acc_rot = (omega2 - omega1) / dt->dt(); + + _error[2] = penaltyBoundToInterval(acc_rot,cfg_->robot.acc_lim_theta,cfg_->optim.penalty_epsilon); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeAccelerationGoal::computeError() translational: _error[0]=%f\n",_error[0]); + ROS_ASSERT_MSG(std::isfinite(_error[1]), "EdgeAccelerationGoal::computeError() strafing: _error[1]=%f\n",_error[1]); + ROS_ASSERT_MSG(std::isfinite(_error[2]), "EdgeAccelerationGoal::computeError() rotational: _error[2]=%f\n",_error[2]); + } + + + /** + * @brief Set the goal / final velocity that is taken into account for calculating the acceleration + * @param vel_goal twist message containing the translational and rotational velocity + */ + void setGoalVelocity(const geometry_msgs::Twist& vel_goal) + { + _measurement = &vel_goal; + } + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +}; // end namespace + +#endif /* EDGE_ACCELERATION_H_ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_dynamic_obstacle.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_dynamic_obstacle.h new file mode 100755 index 0000000..c5197d1 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_dynamic_obstacle.h @@ -0,0 +1,153 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann, Franz Albers + *********************************************************************/ + +#ifndef EDGE_DYNAMICOBSTACLE_H +#define EDGE_DYNAMICOBSTACLE_H + +#include +#include +#include +#include +#include +#include +#include + +namespace teb_local_planner +{ + +/** + * @class EdgeDynamicObstacle + * @brief Edge defining the cost function for keeping a distance from dynamic (moving) obstacles. + * + * The edge depends on two vertices \f$ \mathbf{s}_i, \Delta T_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyBelow}( dist2obstacle) \cdot weight \f$. \n + * \e dist2obstacle denotes the minimum distance to the obstacle trajectory (spatial and temporal). \n + * \e weight can be set using setInformation(). \n + * \e penaltyBelow denotes the penalty function, see penaltyBoundFromBelow(). \n + * @see TebOptimalPlanner::AddEdgesDynamicObstacles + * @remarks Do not forget to call setTebConfig(), setVertexIdx() and + * @warning Experimental + */ +class EdgeDynamicObstacle : public BaseTebUnaryEdge<2, const Obstacle*, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeDynamicObstacle() : t_(0) + { + } + + /** + * @brief Construct edge and specify the time for its associated pose (neccessary for computeError). + * @param t_ Estimated time until current pose is reached + */ + EdgeDynamicObstacle(double t) : t_(t) + { + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_ && _measurement && robot_model_, "You must call setTebConfig(), setObstacle() and setRobotModel() on EdgeDynamicObstacle()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + double dist = robot_model_->estimateSpatioTemporalDistance(bandpt->pose(), _measurement, t_); + + _error[0] = penaltyBoundFromBelow(dist, cfg_->obstacles.min_obstacle_dist, cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundFromBelow(dist, cfg_->obstacles.dynamic_obstacle_inflation_dist, 0.0); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeDynamicObstacle::computeError() _error[0]=%f\n",_error[0]); + } + + + /** + * @brief Set Obstacle for the underlying cost function + * @param obstacle Const pointer to an Obstacle or derived Obstacle + */ + void setObstacle(const Obstacle* obstacle) + { + _measurement = obstacle; + } + + /** + * @brief Set pointer to the robot model + * @param robot_model Robot model required for distance calculation + */ + void setRobotModel(const BaseRobotFootprintModel* robot_model) + { + robot_model_ = robot_model; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param robot_model Robot model required for distance calculation + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setParameters(const TebConfig& cfg, const BaseRobotFootprintModel* robot_model, const Obstacle* obstacle) + { + cfg_ = &cfg; + robot_model_ = robot_model; + _measurement = obstacle; + } + +protected: + + const BaseRobotFootprintModel* robot_model_; //!< Store pointer to robot_model + double t_; //!< Estimated time until current pose is reached + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + + +} // end namespace + +#endif diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_kinematics.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_kinematics.h new file mode 100755 index 0000000..694e602 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_kinematics.h @@ -0,0 +1,230 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef _EDGE_KINEMATICS_H +#define _EDGE_KINEMATICS_H + +#include +#include +#include +#include + +#include + +namespace teb_local_planner +{ + +/** + * @class EdgeKinematicsDiffDrive + * @brief Edge defining the cost function for satisfying the non-holonomic kinematics of a differential drive mobile robot. + * + * The edge depends on two vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1} \f$ and minimizes a geometric interpretation + * of the non-holonomic constraint: + * - C. Rösmann et al.: Trajectory modification considering dynamic constraints of autonomous robots, ROBOTIK, 2012. + * + * The \e weight can be set using setInformation(): Matrix element 1,1: (Choose a very high value: ~1000). \n + * A second equation is implemented to penalize backward motions (second element of the error /cost vector). \n + * The \e weight can be set using setInformation(): Matrix element 2,2: (A value ~1 allows backward driving, but penalizes it slighly). \n + * The dimension of the error / cost vector is 2: the first component represents the nonholonomic constraint cost, + * the second one backward-drive cost. + * @see TebOptimalPlanner::AddEdgesKinematics, EdgeKinematicsCarlike + * @remarks Do not forget to call setTebConfig() + */ +class EdgeKinematicsDiffDrive : public BaseTebBinaryEdge<2, double, VertexPose, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeKinematicsDiffDrive() + { + this->setMeasurement(0.); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeKinematicsDiffDrive()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + + // non holonomic constraint + _error[0] = fabs( ( cos(conf1->theta())+cos(conf2->theta()) ) * deltaS[1] - ( sin(conf1->theta())+sin(conf2->theta()) ) * deltaS[0] ); + + // positive-drive-direction constraint + Eigen::Vector2d angle_vec ( cos(conf1->theta()), sin(conf1->theta()) ); + _error[1] = penaltyBoundFromBelow(deltaS.dot(angle_vec), 0,0); + // epsilon=0, otherwise it pushes the first bandpoints away from start + + ROS_ASSERT_MSG(std::isfinite(_error[0]) && std::isfinite(_error[1]), "EdgeKinematicsDiffDrive::computeError() _error[0]=%f _error[1]=%f\n",_error[0],_error[1]); + } + +#ifdef USE_ANALYTIC_JACOBI +#if 1 + /** + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeKinematicsDiffDrive()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + + double cos1 = cos(conf1->theta()); + double cos2 = cos(conf2->theta()); + double sin1 = sin(conf1->theta()); + double sin2 = sin(conf2->theta()); + double aux1 = sin1 + sin2; + double aux2 = cos1 + cos2; + + double dd_error_1 = deltaS[0]*cos1; + double dd_error_2 = deltaS[1]*sin1; + double dd_dev = penaltyBoundFromBelowDerivative(dd_error_1+dd_error_2, 0,0); + + double dev_nh_abs = g2o::sign( ( cos(conf1->theta())+cos(conf2->theta()) ) * deltaS[1] - + ( sin(conf1->theta())+sin(conf2->theta()) ) * deltaS[0] ); + + // conf1 + _jacobianOplusXi(0,0) = aux1 * dev_nh_abs; // nh x1 + _jacobianOplusXi(0,1) = -aux2 * dev_nh_abs; // nh y1 + _jacobianOplusXi(1,0) = -cos1 * dd_dev; // drive-dir x1 + _jacobianOplusXi(1,1) = -sin1 * dd_dev; // drive-dir y1 + _jacobianOplusXi(0,2) = (-dd_error_2 - dd_error_1) * dev_nh_abs; // nh angle + _jacobianOplusXi(1,2) = ( -sin1*deltaS[0] + cos1*deltaS[1] ) * dd_dev; // drive-dir angle1 + + // conf2 + _jacobianOplusXj(0,0) = -aux1 * dev_nh_abs; // nh x2 + _jacobianOplusXj(0,1) = aux2 * dev_nh_abs; // nh y2 + _jacobianOplusXj(1,0) = cos1 * dd_dev; // drive-dir x2 + _jacobianOplusXj(1,1) = sin1 * dd_dev; // drive-dir y2 + _jacobianOplusXj(0,2) = (-sin2*deltaS[1] - cos2*deltaS[0]) * dev_nh_abs; // nh angle + _jacobianOplusXj(1,2) = 0; // drive-dir angle1 + } +#endif +#endif + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +/** + * @class EdgeKinematicsCarlike + * @brief Edge defining the cost function for satisfying the non-holonomic kinematics of a carlike mobile robot. + * + * The edge depends on two vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1} \f$ and minimizes a geometric interpretation + * of the non-holonomic constraint: + * - C. Rösmann et al.: Trajectory modification considering dynamic constraints of autonomous robots, ROBOTIK, 2012. + * + * The definition is identically to the one of the differential drive robot. + * Additionally, this edge incorporates a minimum turning radius that is required by carlike robots. + * The turning radius is defined by \f$ r=v/omega \f$. + * + * The \e weight can be set using setInformation(): Matrix element 1,1: (Choose a very high value: ~1000). \n + * The second equation enforces a minimum turning radius. + * The \e weight can be set using setInformation(): Matrix element 2,2. \n + * The dimension of the error / cost vector is 3: the first component represents the nonholonomic constraint cost, + * the second one backward-drive cost and the third one the minimum turning radius + * @see TebOptimalPlanner::AddEdgesKinematics, EdgeKinematicsDiffDrive + * @remarks Bounding the turning radius from below is not affected by the penalty_epsilon parameter, + * the user might add an extra margin to the min_turning_radius param. + * @remarks Do not forget to call setTebConfig() + */ +class EdgeKinematicsCarlike : public BaseTebBinaryEdge<2, double, VertexPose, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeKinematicsCarlike() + { + this->setMeasurement(0.); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeKinematicsCarlike()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + + // non holonomic constraint + _error[0] = fabs( ( cos(conf1->theta())+cos(conf2->theta()) ) * deltaS[1] - ( sin(conf1->theta())+sin(conf2->theta()) ) * deltaS[0] ); + + // limit minimum turning radius + double angle_diff = g2o::normalize_theta( conf2->theta() - conf1->theta() ); + if (angle_diff == 0) + _error[1] = 0; // straight line motion + else if (cfg_->trajectory.exact_arc_length) // use exact computation of the radius + _error[1] = penaltyBoundFromBelow(fabs(deltaS.norm()/(2*sin(angle_diff/2))), cfg_->robot.min_turning_radius, 0.0); + else + _error[1] = penaltyBoundFromBelow(deltaS.norm() / fabs(angle_diff), cfg_->robot.min_turning_radius, 0.0); + // This edge is not affected by the epsilon parameter, the user might add an exra margin to the min_turning_radius parameter. + + ROS_ASSERT_MSG(std::isfinite(_error[0]) && std::isfinite(_error[1]), "EdgeKinematicsCarlike::computeError() _error[0]=%f _error[1]=%f\n",_error[0],_error[1]); + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + + +} // end namespace + +#endif diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_obstacle.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_obstacle.h new file mode 100755 index 0000000..976c494 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_obstacle.h @@ -0,0 +1,295 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ +#ifndef EDGE_OBSTACLE_H_ +#define EDGE_OBSTACLE_H_ + +#include +#include +#include +#include +#include +#include + + + +namespace teb_local_planner +{ + +/** + * @class EdgeObstacle + * @brief Edge defining the cost function for keeping a minimum distance from obstacles. + * + * The edge depends on a single vertex \f$ \mathbf{s}_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyBelow}( dist2point ) \cdot weight \f$. \n + * \e dist2point denotes the minimum distance to the point obstacle. \n + * \e weight can be set using setInformation(). \n + * \e penaltyBelow denotes the penalty function, see penaltyBoundFromBelow() \n + * @see TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeInflatedObstacle + * @remarks Do not forget to call setTebConfig() and setObstacle() + */ +class EdgeObstacle : public BaseTebUnaryEdge<1, const Obstacle*, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeObstacle() + { + _measurement = NULL; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_ && _measurement && robot_model_, "You must call setTebConfig(), setObstacle() and setRobotModel() on EdgeObstacle()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + double dist = robot_model_->calculateDistance(bandpt->pose(), _measurement); + + // Original obstacle cost. + _error[0] = penaltyBoundFromBelow(dist, cfg_->obstacles.min_obstacle_dist, cfg_->optim.penalty_epsilon); + + if (cfg_->optim.obstacle_cost_exponent != 1.0 && cfg_->obstacles.min_obstacle_dist > 0.0) + { + // Optional non-linear cost. Note the max cost (before weighting) is + // the same as the straight line version and that all other costs are + // below the straight line (for positive exponent), so it may be + // necessary to increase weight_obstacle and/or the inflation_weight + // when using larger exponents. + _error[0] = cfg_->obstacles.min_obstacle_dist * std::pow(_error[0] / cfg_->obstacles.min_obstacle_dist, cfg_->optim.obstacle_cost_exponent); + } + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeObstacle::computeError() _error[0]=%f\n",_error[0]); + } + +#ifdef USE_ANALYTIC_JACOBI +#if 0 + + /** + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgePointObstacle()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + Eigen::Vector2d deltaS = *_measurement - bandpt->position(); + double angdiff = atan2(deltaS[1],deltaS[0])-bandpt->theta(); + + double dist_squared = deltaS.squaredNorm(); + double dist = sqrt(dist_squared); + + double aux0 = sin(angdiff); + double dev_left_border = penaltyBoundFromBelowDerivative(dist*fabs(aux0),cfg_->obstacles.min_obstacle_dist,cfg_->optim.penalty_epsilon); + + if (dev_left_border==0) + { + _jacobianOplusXi( 0 , 0 ) = 0; + _jacobianOplusXi( 0 , 1 ) = 0; + _jacobianOplusXi( 0 , 2 ) = 0; + return; + } + + double aux1 = -fabs(aux0) / dist; + double dev_norm_x = deltaS[0]*aux1; + double dev_norm_y = deltaS[1]*aux1; + + double aux2 = cos(angdiff) * g2o::sign(aux0); + double aux3 = aux2 / dist_squared; + double dev_proj_x = aux3 * deltaS[1] * dist; + double dev_proj_y = -aux3 * deltaS[0] * dist; + double dev_proj_angle = -aux2; + + _jacobianOplusXi( 0 , 0 ) = dev_left_border * ( dev_norm_x + dev_proj_x ); + _jacobianOplusXi( 0 , 1 ) = dev_left_border * ( dev_norm_y + dev_proj_y ); + _jacobianOplusXi( 0 , 2 ) = dev_left_border * dev_proj_angle; + } +#endif +#endif + + /** + * @brief Set pointer to associated obstacle for the underlying cost function + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setObstacle(const Obstacle* obstacle) + { + _measurement = obstacle; + } + + /** + * @brief Set pointer to the robot model + * @param robot_model Robot model required for distance calculation + */ + void setRobotModel(const BaseRobotFootprintModel* robot_model) + { + robot_model_ = robot_model; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param robot_model Robot model required for distance calculation + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setParameters(const TebConfig& cfg, const BaseRobotFootprintModel* robot_model, const Obstacle* obstacle) + { + cfg_ = &cfg; + robot_model_ = robot_model; + _measurement = obstacle; + } + +protected: + + const BaseRobotFootprintModel* robot_model_; //!< Store pointer to robot_model + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + +/** + * @class EdgeInflatedObstacle + * @brief Edge defining the cost function for keeping a minimum distance from inflated obstacles. + * + * The edge depends on a single vertex \f$ \mathbf{s}_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyBelow}( dist2point, min_obstacle_dist ) \cdot weight_inflation \f$. \n + * Additional, a second penalty is provided with \n + * \f$ \min \textrm{penaltyBelow}( dist2point, inflation_dist ) \cdot weight_inflation \f$. + * It is assumed that inflation_dist > min_obstacle_dist and weight_inflation << weight_inflation. + * \e dist2point denotes the minimum distance to the point obstacle. \n + * \e penaltyBelow denotes the penalty function, see penaltyBoundFromBelow() \n + * @see TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeObstacle + * @remarks Do not forget to call setTebConfig() and setObstacle() + */ +class EdgeInflatedObstacle : public BaseTebUnaryEdge<2, const Obstacle*, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeInflatedObstacle() + { + _measurement = NULL; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_ && _measurement && robot_model_, "You must call setTebConfig(), setObstacle() and setRobotModel() on EdgeInflatedObstacle()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + double dist = robot_model_->calculateDistance(bandpt->pose(), _measurement); + + // Original "straight line" obstacle cost. The max possible value + // before weighting is min_obstacle_dist + _error[0] = penaltyBoundFromBelow(dist, cfg_->obstacles.min_obstacle_dist, cfg_->optim.penalty_epsilon); + + if (cfg_->optim.obstacle_cost_exponent != 1.0 && cfg_->obstacles.min_obstacle_dist > 0.0) + { + // Optional non-linear cost. Note the max cost (before weighting) is + // the same as the straight line version and that all other costs are + // below the straight line (for positive exponent), so it may be + // necessary to increase weight_obstacle and/or the inflation_weight + // when using larger exponents. + _error[0] = cfg_->obstacles.min_obstacle_dist * std::pow(_error[0] / cfg_->obstacles.min_obstacle_dist, cfg_->optim.obstacle_cost_exponent); + } + + // Additional linear inflation cost + _error[1] = penaltyBoundFromBelow(dist, cfg_->obstacles.inflation_dist, 0.0); + + + ROS_ASSERT_MSG(std::isfinite(_error[0]) && std::isfinite(_error[1]), "EdgeInflatedObstacle::computeError() _error[0]=%f, _error[1]=%f\n",_error[0], _error[1]); + } + + /** + * @brief Set pointer to associated obstacle for the underlying cost function + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setObstacle(const Obstacle* obstacle) + { + _measurement = obstacle; + } + + /** + * @brief Set pointer to the robot model + * @param robot_model Robot model required for distance calculation + */ + void setRobotModel(const BaseRobotFootprintModel* robot_model) + { + robot_model_ = robot_model; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param robot_model Robot model required for distance calculation + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setParameters(const TebConfig& cfg, const BaseRobotFootprintModel* robot_model, const Obstacle* obstacle) + { + cfg_ = &cfg; + robot_model_ = robot_model; + _measurement = obstacle; + } + +protected: + + const BaseRobotFootprintModel* robot_model_; //!< Store pointer to robot_model + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +} // end namespace + +#endif diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_prefer_rotdir.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_prefer_rotdir.h new file mode 100755 index 0000000..f744ef4 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_prefer_rotdir.h @@ -0,0 +1,115 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ +#ifndef EDGE_PREFER_ROTDIR_H_ +#define EDGE_PREFER_ROTDIR_H_ + +#include +#include +#include +#include "g2o/core/base_unary_edge.h" + + +namespace teb_local_planner +{ + +/** + * @class EdgePreferRotDir + * @brief Edge defining the cost function for penalzing a specified turning direction, in particular left resp. right turns + * + * The edge depends on two consecutive vertices \f$ \mathbf{s}_i, \mathbf{s}_{i+1} \f$ and penalizes a given rotation direction + * based on the \e weight and \e dir (\f$ dir \in \{-1,1\} \f$) + * \e dir should be +1 to prefer left rotations and -1 to prefer right rotations \n + * \e weight can be set using setInformation(). \n + * @see TebOptimalPlanner::AddEdgePreferRotDir + */ +class EdgePreferRotDir : public BaseTebBinaryEdge<1, double, VertexPose, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgePreferRotDir() + { + _measurement = 1; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + + _error[0] = penaltyBoundFromBelow( _measurement*g2o::normalize_theta(conf2->theta()-conf1->theta()) , 0, 0); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgePreferRotDir::computeError() _error[0]=%f\n",_error[0]); + } + + /** + * @brief Specify the prefered direction of rotation + * @param dir +1 to prefer the left side, -1 to prefer the right side + */ + void setRotDir(double dir) + { + _measurement = dir; + } + + /** Prefer rotations to the right */ + void preferRight() {_measurement = -1;} + + /** Prefer rotations to the right */ + void preferLeft() {_measurement = 1;} + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + +} // end namespace + +#endif diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_shortest_path.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_shortest_path.h new file mode 100755 index 0000000..7a52c2f --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_shortest_path.h @@ -0,0 +1,89 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef EDGE_SHORTEST_PATH_H_ +#define EDGE_SHORTEST_PATH_H_ + +#include + +#include + +#include +#include + +#include + +namespace teb_local_planner { + +/** + * @class EdgeShortestPath + * @brief Edge defining the cost function for minimizing the Euclidean distance between two consectuive poses. + * + * @see TebOptimalPlanner::AddEdgesShortestPath + */ +class EdgeShortestPath : public BaseTebBinaryEdge<1, double, VertexPose, VertexPose> { +public: + /** + * @brief Construct edge. + */ + EdgeShortestPath() { this->setMeasurement(0.); } + + /** + * @brief Actual cost function + */ + void computeError() { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeShortestPath()"); + const VertexPose *pose1 = static_cast(_vertices[0]); + const VertexPose *pose2 = static_cast(_vertices[1]); + _error[0] = (pose2->position() - pose1->position()).norm(); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeShortestPath::computeError() _error[0]=%f\n", _error[0]); + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} // end namespace + +#endif /* EDGE_SHORTEST_PATH_H_ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_time_optimal.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_time_optimal.h new file mode 100755 index 0000000..43e1637 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_time_optimal.h @@ -0,0 +1,116 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef EDGE_TIMEOPTIMAL_H_ +#define EDGE_TIMEOPTIMAL_H_ + +#include + +#include + +#include +#include +#include +#include + +#include + +namespace teb_local_planner +{ + + +/** + * @class EdgeTimeOptimal + * @brief Edge defining the cost function for minimizing transition time of the trajectory. + * + * The edge depends on a single vertex \f$ \Delta T_i \f$ and minimizes: \n + * \f$ \min \Delta T_i^2 \cdot scale \cdot weight \f$. \n + * \e scale is determined using the penaltyEquality() function, since we experiences good convergence speeds with it. \n + * \e weight can be set using setInformation() (something around 1.0 seems to be fine). \n + * @see TebOptimalPlanner::AddEdgesTimeOptimal + * @remarks Do not forget to call setTebConfig() + */ +class EdgeTimeOptimal : public BaseTebUnaryEdge<1, double, VertexTimeDiff> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeTimeOptimal() + { + this->setMeasurement(0.); + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeTimeOptimal()"); + const VertexTimeDiff* timediff = static_cast(_vertices[0]); + + _error[0] = timediff->dt(); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeTimeOptimal::computeError() _error[0]=%f\n",_error[0]); + } + +#ifdef USE_ANALYTIC_JACOBI + /** + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeTimeOptimal()"); + _jacobianOplusXi( 0 , 0 ) = 1; + } +#endif + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +}; // end namespace + +#endif /* EDGE_TIMEOPTIMAL_H_ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h new file mode 100755 index 0000000..d9f65ee --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h @@ -0,0 +1,283 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef EDGE_VELOCITY_H +#define EDGE_VELOCITY_H + +#include +#include +#include +#include +#include + + +#include + +namespace teb_local_planner +{ + + +/** + * @class EdgeVelocity + * @brief Edge defining the cost function for limiting the translational and rotational velocity. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [v,omega]^T ) \cdot weight \f$. \n + * \e v is calculated using the difference quotient and the position parts of both poses. \n + * \e omega is calculated using the difference quotient of both yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation(). \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval(). \n + * The dimension of the error / cost vector is 2: the first component represents the translational velocity and + * the second one the rotational velocity. + * @see TebOptimalPlanner::AddEdgesVelocity + * @remarks Do not forget to call setTebConfig() + */ +class EdgeVelocity : public BaseTebMultiEdge<2, double> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeVelocity() + { + this->resize(3); // Since we derive from a g2o::BaseMultiEdge, set the desired number of vertices + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeVelocity()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + const VertexTimeDiff* deltaT = static_cast(_vertices[2]); + + const Eigen::Vector2d deltaS = conf2->estimate().position() - conf1->estimate().position(); + + double dist = deltaS.norm(); + const double angle_diff = g2o::normalize_theta(conf2->theta() - conf1->theta()); + if (cfg_->trajectory.exact_arc_length && angle_diff != 0) + { + double radius = dist/(2*sin(angle_diff/2)); + dist = fabs( angle_diff * radius ); // actual arg length! + } + double vel = dist / deltaT->estimate(); + +// vel *= g2o::sign(deltaS[0]*cos(conf1->theta()) + deltaS[1]*sin(conf1->theta())); // consider direction + vel *= fast_sigmoid( 100 * (deltaS.x()*cos(conf1->theta()) + deltaS.y()*sin(conf1->theta())) ); // consider direction + + const double omega = angle_diff / deltaT->estimate(); + + _error[0] = penaltyBoundToInterval(vel, -cfg_->robot.max_vel_x_backwards, cfg_->robot.max_vel_x,cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(omega, cfg_->robot.max_vel_theta,cfg_->optim.penalty_epsilon); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeVelocity::computeError() _error[0]=%f _error[1]=%f\n",_error[0],_error[1]); + } + +#ifdef USE_ANALYTIC_JACOBI +#if 0 //TODO the hardcoded jacobian does not include the changing direction (just the absolute value) + // Change accordingly... + + /** + * @brief Jacobi matrix of the cost function specified in computeError(). + */ + void linearizeOplus() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeVelocity()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + const VertexTimeDiff* deltaT = static_cast(_vertices[2]); + + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + double dist = deltaS.norm(); + double aux1 = dist*deltaT->estimate(); + double aux2 = 1/deltaT->estimate(); + + double vel = dist * aux2; + double omega = g2o::normalize_theta(conf2->theta() - conf1->theta()) * aux2; + + double dev_border_vel = penaltyBoundToIntervalDerivative(vel, -cfg_->robot.max_vel_x_backwards, cfg_->robot.max_vel_x,cfg_->optim.penalty_epsilon); + double dev_border_omega = penaltyBoundToIntervalDerivative(omega, cfg_->robot.max_vel_theta,cfg_->optim.penalty_epsilon); + + _jacobianOplus[0].resize(2,3); // conf1 + _jacobianOplus[1].resize(2,3); // conf2 + _jacobianOplus[2].resize(2,1); // deltaT + +// if (aux1==0) aux1=1e-6; +// if (aux2==0) aux2=1e-6; + + if (dev_border_vel!=0) + { + double aux3 = dev_border_vel / aux1; + _jacobianOplus[0](0,0) = -deltaS[0] * aux3; // vel x1 + _jacobianOplus[0](0,1) = -deltaS[1] * aux3; // vel y1 + _jacobianOplus[1](0,0) = deltaS[0] * aux3; // vel x2 + _jacobianOplus[1](0,1) = deltaS[1] * aux3; // vel y2 + _jacobianOplus[2](0,0) = -vel * aux2 * dev_border_vel; // vel deltaT + } + else + { + _jacobianOplus[0](0,0) = 0; // vel x1 + _jacobianOplus[0](0,1) = 0; // vel y1 + _jacobianOplus[1](0,0) = 0; // vel x2 + _jacobianOplus[1](0,1) = 0; // vel y2 + _jacobianOplus[2](0,0) = 0; // vel deltaT + } + + if (dev_border_omega!=0) + { + double aux4 = aux2 * dev_border_omega; + _jacobianOplus[2](1,0) = -omega * aux4; // omega deltaT + _jacobianOplus[0](1,2) = -aux4; // omega angle1 + _jacobianOplus[1](1,2) = aux4; // omega angle2 + } + else + { + _jacobianOplus[2](1,0) = 0; // omega deltaT + _jacobianOplus[0](1,2) = 0; // omega angle1 + _jacobianOplus[1](1,2) = 0; // omega angle2 + } + + _jacobianOplus[0](1,0) = 0; // omega x1 + _jacobianOplus[0](1,1) = 0; // omega y1 + _jacobianOplus[1](1,0) = 0; // omega x2 + _jacobianOplus[1](1,1) = 0; // omega y2 + _jacobianOplus[0](0,2) = 0; // vel angle1 + _jacobianOplus[1](0,2) = 0; // vel angle2 + } +#endif +#endif + + +public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + + + + +/** + * @class EdgeVelocityHolonomic + * @brief Edge defining the cost function for limiting the translational and rotational velocity according to x,y and theta. + * + * The edge depends on three vertices \f$ \mathbf{s}_i, \mathbf{s}_{ip1}, \Delta T_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyInterval}( [vx,vy,omega]^T ) \cdot weight \f$. \n + * \e vx denotes the translational velocity w.r.t. x-axis (computed using finite differneces). \n + * \e vy denotes the translational velocity w.r.t. y-axis (computed using finite differneces). \n + * \e omega is calculated using the difference quotient of both yaw angles followed by a normalization to [-pi, pi]. \n + * \e weight can be set using setInformation(). \n + * \e penaltyInterval denotes the penalty function, see penaltyBoundToInterval(). \n + * The dimension of the error / cost vector is 3: the first component represents the translational velocity w.r.t. x-axis, + * the second one w.r.t. the y-axis and the third one the rotational velocity. + * @see TebOptimalPlanner::AddEdgesVelocity + * @remarks Do not forget to call setTebConfig() + */ +class EdgeVelocityHolonomic : public BaseTebMultiEdge<3, double> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeVelocityHolonomic() + { + this->resize(3); // Since we derive from a g2o::BaseMultiEdge, set the desired number of vertices + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_, "You must call setTebConfig on EdgeVelocityHolonomic()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + const VertexTimeDiff* deltaT = static_cast(_vertices[2]); + Eigen::Vector2d deltaS = conf2->position() - conf1->position(); + + double cos_theta1 = std::cos(conf1->theta()); + double sin_theta1 = std::sin(conf1->theta()); + + // transform conf2 into current robot frame conf1 (inverse 2d rotation matrix) + double r_dx = cos_theta1*deltaS.x() + sin_theta1*deltaS.y(); + double r_dy = -sin_theta1*deltaS.x() + cos_theta1*deltaS.y(); + + double vx = r_dx / deltaT->estimate(); + double vy = r_dy / deltaT->estimate(); + double omega = g2o::normalize_theta(conf2->theta() - conf1->theta()) / deltaT->estimate(); + + + double max_vel_trans_remaining_y; + double max_vel_trans_remaining_x; + max_vel_trans_remaining_y = std::sqrt(std::max(0.0, cfg_->robot.max_vel_trans * cfg_->robot.max_vel_trans - vx * vx)); + max_vel_trans_remaining_x = std::sqrt(std::max(0.0, cfg_->robot.max_vel_trans * cfg_->robot.max_vel_trans - vy * vy)); + + double max_vel_y = std::min(max_vel_trans_remaining_y, cfg_->robot.max_vel_y); + double max_vel_x = std::min(max_vel_trans_remaining_x, cfg_->robot.max_vel_x); + double max_vel_x_backwards = std::min(max_vel_trans_remaining_x, cfg_->robot.max_vel_x_backwards); + + _error[0] = penaltyBoundToInterval(vx, -max_vel_x_backwards, max_vel_x, cfg_->optim.penalty_epsilon); + _error[1] = penaltyBoundToInterval(vy, max_vel_y, 0.0); // we do not apply the penalty epsilon here, since the velocity could be close to zero + _error[2] = penaltyBoundToInterval(omega, cfg_->robot.max_vel_theta,cfg_->optim.penalty_epsilon); + + ROS_ASSERT_MSG(std::isfinite(_error[0]) && std::isfinite(_error[1]) && std::isfinite(_error[2]), + "EdgeVelocityHolonomic::computeError() _error[0]=%f _error[1]=%f _error[2]=%f\n",_error[0],_error[1],_error[2]); + } + + +public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +} // end namespace + +#endif diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity_obstacle_ratio.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity_obstacle_ratio.h new file mode 100755 index 0000000..ecac1aa --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity_obstacle_ratio.h @@ -0,0 +1,166 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + *********************************************************************/ + +#pragma once + +#include +#include +#include +#include + +namespace teb_local_planner +{ + + +/** + * @class EdgeVelocityObstacleRatio + * @brief Edge defining the cost function for keeping a minimum distance from obstacles. + * + * The edge depends on a single vertex \f$ \mathbf{s}_i \f$ and minimizes: \n + * \f$ \min \textrm{penaltyBelow}( dist2point ) \cdot weight \f$. \n + * \e dist2point denotes the minimum distance to the point obstacle. \n + * \e weight can be set using setInformation(). \n + * \e penaltyBelow denotes the penalty function, see penaltyBoundFromBelow() \n + * @see TebOptimalPlanner::AddEdgesObstacles, TebOptimalPlanner::EdgeInflatedObstacle + * @remarks Do not forget to call setTebConfig() and setObstacle() + */ +class EdgeVelocityObstacleRatio : public BaseTebMultiEdge<2, const Obstacle*> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeVelocityObstacleRatio() : + robot_model_(nullptr) + { + // The three vertices are two poses and one time difference + this->resize(3); // Since we derive from a g2o::BaseMultiEdge, set the desired number of vertices + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_ && _measurement && robot_model_, "You must call setTebConfig(), setObstacle() and setRobotModel() on EdgeVelocityObstacleRatio()"); + const VertexPose* conf1 = static_cast(_vertices[0]); + const VertexPose* conf2 = static_cast(_vertices[1]); + const VertexTimeDiff* deltaT = static_cast(_vertices[2]); + + const Eigen::Vector2d deltaS = conf2->estimate().position() - conf1->estimate().position(); + + double dist = deltaS.norm(); + const double angle_diff = g2o::normalize_theta(conf2->theta() - conf1->theta()); + if (cfg_->trajectory.exact_arc_length && angle_diff != 0) + { + double radius = dist/(2*sin(angle_diff/2)); + dist = fabs( angle_diff * radius ); // actual arg length! + } + double vel = dist / deltaT->estimate(); + + vel *= fast_sigmoid( 100 * (deltaS.x()*cos(conf1->theta()) + deltaS.y()*sin(conf1->theta())) ); // consider direction + + const double omega = angle_diff / deltaT->estimate(); + + double dist_to_obstacle = robot_model_->calculateDistance(conf1->pose(), _measurement); + + double ratio; + if (dist_to_obstacle < cfg_->obstacles.obstacle_proximity_lower_bound) + ratio = 0; + else if (dist_to_obstacle > cfg_->obstacles.obstacle_proximity_upper_bound) + ratio = 1; + else + ratio = (dist_to_obstacle - cfg_->obstacles.obstacle_proximity_lower_bound) / + (cfg_->obstacles.obstacle_proximity_upper_bound - cfg_->obstacles.obstacle_proximity_lower_bound); + ratio *= cfg_->obstacles.obstacle_proximity_ratio_max_vel; + + const double max_vel_fwd = ratio * cfg_->robot.max_vel_x; + const double max_omega = ratio * cfg_->robot.max_vel_theta; + _error[0] = penaltyBoundToInterval(vel, max_vel_fwd, 0); + _error[1] = penaltyBoundToInterval(omega, max_omega, 0); + + ROS_ASSERT_MSG(std::isfinite(_error[0]) || std::isfinite(_error[1]), "EdgeVelocityObstacleRatio::computeError() _error[0]=%f , _error[1]=%f\n",_error[0],_error[1]); + } + + /** + * @brief Set pointer to associated obstacle for the underlying cost function + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setObstacle(const Obstacle* obstacle) + { + _measurement = obstacle; + } + + /** + * @brief Set pointer to the robot model + * @param robot_model Robot model required for distance calculation + */ + void setRobotModel(const BaseRobotFootprintModel* robot_model) + { + robot_model_ = robot_model; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param robot_model Robot model required for distance calculation + * @param obstacle 2D position vector containing the position of the obstacle + */ + void setParameters(const TebConfig& cfg, const BaseRobotFootprintModel* robot_model, const Obstacle* obstacle) + { + cfg_ = &cfg; + robot_model_ = robot_model; + _measurement = obstacle; + } + +protected: + + const BaseRobotFootprintModel* robot_model_; //!< Store pointer to robot_model + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + +} // end namespace diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_via_point.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_via_point.h new file mode 100755 index 0000000..9ddefcb --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/edge_via_point.h @@ -0,0 +1,120 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ +#ifndef EDGE_VIA_POINT_H_ +#define EDGE_VIA_POINT_H_ + +#include +#include + +#include "g2o/core/base_unary_edge.h" + + +namespace teb_local_planner +{ + +/** + * @class EdgeViaPoint + * @brief Edge defining the cost function for pushing a configuration towards a via point + * + * The edge depends on a single vertex \f$ \mathbf{s}_i \f$ and minimizes: \n + * \f$ \min dist2point \cdot weight \f$. \n + * \e dist2point denotes the distance to the via point. \n + * \e weight can be set using setInformation(). \n + * @see TebOptimalPlanner::AddEdgesViaPoints + * @remarks Do not forget to call setTebConfig() and setViaPoint() + */ +class EdgeViaPoint : public BaseTebUnaryEdge<1, const Eigen::Vector2d*, VertexPose> +{ +public: + + /** + * @brief Construct edge. + */ + EdgeViaPoint() + { + _measurement = NULL; + } + + /** + * @brief Actual cost function + */ + void computeError() + { + ROS_ASSERT_MSG(cfg_ && _measurement, "You must call setTebConfig(), setViaPoint() on EdgeViaPoint()"); + const VertexPose* bandpt = static_cast(_vertices[0]); + + _error[0] = (bandpt->position() - *_measurement).norm(); + + ROS_ASSERT_MSG(std::isfinite(_error[0]), "EdgeViaPoint::computeError() _error[0]=%f\n",_error[0]); + } + + /** + * @brief Set pointer to associated via point for the underlying cost function + * @param via_point 2D position vector containing the position of the via point + */ + void setViaPoint(const Eigen::Vector2d* via_point) + { + _measurement = via_point; + } + + /** + * @brief Set all parameters at once + * @param cfg TebConfig class + * @param via_point 2D position vector containing the position of the via point + */ + void setParameters(const TebConfig& cfg, const Eigen::Vector2d* via_point) + { + cfg_ = &cfg; + _measurement = via_point; + } + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + +} // end namespace + +#endif diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/penalties.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/penalties.h new file mode 100755 index 0000000..6870558 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/penalties.h @@ -0,0 +1,193 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef PENALTIES_H +#define PENALTIES_H + +#include +#include +#include + +namespace teb_local_planner +{ + +/** + * @brief Linear penalty function for bounding \c var to the interval \f$ -a < var < a \f$ + * @param var The scalar that should be bounded + * @param a lower and upper absolute bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundToIntervalDerivative + * @return Penalty / cost value that is nonzero if the constraint is not satisfied + */ +inline double penaltyBoundToInterval(const double& var,const double& a,const double& epsilon) +{ + if (var < -a+epsilon) + { + return (-var - (a - epsilon)); + } + if (var <= a-epsilon) + { + return 0.; + } + else + { + return (var - (a - epsilon)); + } +} + +/** + * @brief Linear penalty function for bounding \c var to the interval \f$ a < var < b \f$ + * @param var The scalar that should be bounded + * @param a lower bound + * @param b upper bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundToIntervalDerivative + * @return Penalty / cost value that is nonzero if the constraint is not satisfied + */ +inline double penaltyBoundToInterval(const double& var,const double& a, const double& b, const double& epsilon) +{ + if (var < a+epsilon) + { + return (-var + (a + epsilon)); + } + if (var <= b-epsilon) + { + return 0.; + } + else + { + return (var - (b - epsilon)); + } +} + + +/** + * @brief Linear penalty function for bounding \c var from below: \f$ a < var \f$ + * @param var The scalar that should be bounded + * @param a lower bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundFromBelowDerivative + * @return Penalty / cost value that is nonzero if the constraint is not satisfied + */ +inline double penaltyBoundFromBelow(const double& var, const double& a,const double& epsilon) +{ + if (var >= a+epsilon) + { + return 0.; + } + else + { + return (-var + (a+epsilon)); + } +} + +/** + * @brief Derivative of the linear penalty function for bounding \c var to the interval \f$ -a < var < a \f$ + * @param var The scalar that should be bounded + * @param a lower and upper absolute bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundToInterval + * @return Derivative of the penalty function w.r.t. \c var + */ +inline double penaltyBoundToIntervalDerivative(const double& var,const double& a, const double& epsilon) +{ + if (var < -a+epsilon) + { + return -1; + } + if (var <= a-epsilon) + { + return 0.; + } + else + { + return 1; + } +} + +/** + * @brief Derivative of the linear penalty function for bounding \c var to the interval \f$ a < var < b \f$ + * @param var The scalar that should be bounded + * @param a lower bound + * @param b upper bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundToInterval + * @return Derivative of the penalty function w.r.t. \c var + */ +inline double penaltyBoundToIntervalDerivative(const double& var,const double& a, const double& b, const double& epsilon) +{ + if (var < a+epsilon) + { + return -1; + } + if (var <= b-epsilon) + { + return 0.; + } + else + { + return 1; + } +} + + +/** + * @brief Derivative of the linear penalty function for bounding \c var from below: \f$ a < var \f$ + * @param var The scalar that should be bounded + * @param a lower bound + * @param epsilon safty margin (move bound to the interior of the interval) + * @see penaltyBoundFromBelow + * @return Derivative of the penalty function w.r.t. \c var + */ +inline double penaltyBoundFromBelowDerivative(const double& var, const double& a,const double& epsilon) +{ + if (var >= a+epsilon) + { + return 0.; + } + else + { + return -1; + } +} + + +} // namespace teb_local_planner + + +#endif // PENALTIES_H diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/vertex_pose.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/vertex_pose.h new file mode 100755 index 0000000..eeab99a --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/vertex_pose.h @@ -0,0 +1,229 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef VERTEX_POSE_H_ +#define VERTEX_POSE_H_ + +#include +#include +#include +#include + +#include + +namespace teb_local_planner +{ + +/** + * @class VertexPose + * @brief This class stores and wraps a SE2 pose (position and orientation) into a vertex that can be optimized via g2o + * @see PoseSE2 + * @see VertexTimeDiff + */ +class VertexPose : public g2o::BaseVertex<3, PoseSE2 > +{ +public: + + /** + * @brief Default constructor + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexPose(bool fixed = false) + { + setToOriginImpl(); + setFixed(fixed); + } + + /** + * @brief Construct pose using a given PoseSE2 + * @param pose PoseSE2 defining the pose [x, y, angle_rad] + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexPose(const PoseSE2& pose, bool fixed = false) + { + _estimate = pose; + setFixed(fixed); + } + + /** + * @brief Construct pose using a given 2D position vector and orientation + * @param position Eigen::Vector2d containing x and y coordinates + * @param theta yaw-angle + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexPose(const Eigen::Ref& position, double theta, bool fixed = false) + { + _estimate.position() = position; + _estimate.theta() = theta; + setFixed(fixed); + } + + /** + * @brief Construct pose using single components x, y, and the yaw angle + * @param x x-coordinate + * @param y y-coordinate + * @param theta yaw angle in rad + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexPose(double x, double y, double theta, bool fixed = false) + { + _estimate.x() = x; + _estimate.y() = y; + _estimate.theta() = theta; + setFixed(fixed); + } + + /** + * @brief Access the pose + * @see estimate + * @return reference to the PoseSE2 estimate + */ + inline PoseSE2& pose() {return _estimate;} + + /** + * @brief Access the pose (read-only) + * @see estimate + * @return const reference to the PoseSE2 estimate + */ + inline const PoseSE2& pose() const {return _estimate;} + + + /** + * @brief Access the 2D position part + * @see estimate + * @return reference to the 2D position part + */ + inline Eigen::Vector2d& position() {return _estimate.position();} + + /** + * @brief Access the 2D position part (read-only) + * @see estimate + * @return const reference to the 2D position part + */ + inline const Eigen::Vector2d& position() const {return _estimate.position();} + + /** + * @brief Access the x-coordinate the pose + * @return reference to the x-coordinate + */ + inline double& x() {return _estimate.x();} + + /** + * @brief Access the x-coordinate the pose (read-only) + * @return const reference to the x-coordinate + */ + inline const double& x() const {return _estimate.x();} + + /** + * @brief Access the y-coordinate the pose + * @return reference to the y-coordinate + */ + inline double& y() {return _estimate.y();} + + /** + * @brief Access the y-coordinate the pose (read-only) + * @return const reference to the y-coordinate + */ + inline const double& y() const {return _estimate.y();} + + /** + * @brief Access the orientation part (yaw angle) of the pose + * @return reference to the yaw angle + */ + inline double& theta() {return _estimate.theta();} + + /** + * @brief Access the orientation part (yaw angle) of the pose (read-only) + * @return const reference to the yaw angle + */ + inline const double& theta() const {return _estimate.theta();} + + /** + * @brief Set the underlying estimate (2D vector) to zero. + */ + virtual void setToOriginImpl() override + { + _estimate.setZero(); + } + + /** + * @brief Define the update increment \f$ \mathbf{x}_{k+1} = \mathbf{x}_k + \Delta \mathbf{x} \f$. + * A simple addition for the position. + * The angle is first added to the previous estimated angle and afterwards normalized to the interval \f$ [-\pi \pi] \f$ + * @param update increment that should be added to the previous esimate + */ + virtual void oplusImpl(const double* update) override + { + _estimate.plus(update); + } + + /** + * @brief Read an estimate from an input stream. + * First the x-coordinate followed by y and the yaw angle. + * @param is input stream + * @return always \c true + */ + virtual bool read(std::istream& is) override + { + is >> _estimate.x() >> _estimate.y() >> _estimate.theta(); + return true; + } + + /** + * @brief Write the estimate to an output stream + * First the x-coordinate followed by y and the yaw angle. + * @param os output stream + * @return \c true if the export was successful, otherwise \c false + */ + virtual bool write(std::ostream& os) const override + { + os << _estimate.x() << " " << _estimate.y() << " " << _estimate.theta(); + return os.good(); + } + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} + +#endif // VERTEX_POSE_H_ diff --git a/navigations/teb_local_planner/include/teb_local_planner/g2o_types/vertex_timediff.h b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/vertex_timediff.h new file mode 100755 index 0000000..4eead6c --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/g2o_types/vertex_timediff.h @@ -0,0 +1,145 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Notes: + * The following class is derived from a class defined by the + * g2o-framework. g2o is licensed under the terms of the BSD License. + * Refer to the base class source for detailed licensing information. + * + * Author: Christoph Rösmann + *********************************************************************/ + +#ifndef VERTEX_TIMEDIFF_H +#define VERTEX_TIMEDIFF_H + + +#include "g2o/config.h" +#include "g2o/core/base_vertex.h" +#include "g2o/core/hyper_graph_action.h" + +#include + +namespace teb_local_planner +{ + +/** + * @class VertexTimeDiff + * @brief This class stores and wraps a time difference \f$ \Delta T \f$ into a vertex that can be optimized via g2o + */ +class VertexTimeDiff : public g2o::BaseVertex<1, double> +{ +public: + + /** + * @brief Default constructor + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexTimeDiff(bool fixed = false) + { + setToOriginImpl(); + setFixed(fixed); + } + + /** + * @brief Construct the TimeDiff vertex with a value + * @param dt time difference value of the vertex + * @param fixed if \c true, this vertex is considered fixed during optimization [default: \c false] + */ + VertexTimeDiff(double dt, bool fixed = false) + { + _estimate = dt; + setFixed(fixed); + } + + /** + * @brief Access the timediff value of the vertex + * @see estimate + * @return reference to dt + */ + inline double& dt() {return _estimate;} + + /** + * @brief Access the timediff value of the vertex (read-only) + * @see estimate + * @return const reference to dt + */ + inline const double& dt() const {return _estimate;} + + /** + * @brief Set the underlying TimeDiff estimate \f$ \Delta T \f$ to default. + */ + virtual void setToOriginImpl() override + { + _estimate = 0.1; + } + + /** + * @brief Define the update increment \f$ \Delta T_{k+1} = \Delta T_k + update \f$. + * A simple addition implements what we want. + * @param update increment that should be added to the previous esimate + */ + virtual void oplusImpl(const double* update) override + { + _estimate += *update; + } + + /** + * @brief Read an estimate of \f$ \Delta T \f$ from an input stream + * @param is input stream + * @return always \c true + */ + virtual bool read(std::istream& is) override + { + is >> _estimate; + return true; + } + + /** + * @brief Write the estimate \f$ \Delta T \f$ to an output stream + * @param os output stream + * @return \c true if the export was successful, otherwise \c false + */ + virtual bool write(std::ostream& os) const override + { + os << estimate(); + return os.good(); + } + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} + +#endif diff --git a/navigations/teb_local_planner/include/teb_local_planner/graph_search.h b/navigations/teb_local_planner/include/teb_local_planner/graph_search.h new file mode 100755 index 0000000..b9dd4af --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/graph_search.h @@ -0,0 +1,215 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Authors: Christoph Rösmann, Franz Albers + *********************************************************************/ + +#ifndef GRAPH_SEARCH_INTERFACE_H +#define GRAPH_SEARCH_INTERFACE_H + +#ifdef BOOST_NO_CXX11_DEFAULTED_FUNCTIONS + #include +#else + // Workaround for a bug in boost graph library (concerning directed graphs), boost version 1.48: + // boost::add_vertex requires a move constructor/assignment operator in one of the underlying boost objects if C++11 is activated, + // but they are missing. The compiler fails due to an implicit deletion. We just deactivate C++11 default functions for now. + #define BOOST_NO_CXX11_DEFAULTED_FUNCTIONS + #include + #undef BOOST_NO_CXX11_DEFAULTED_FUNCTIONS +#endif + +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include + +namespace teb_local_planner +{ + +class HomotopyClassPlanner; // Forward declaration + +//! Vertex in the graph that is used to find homotopy classes (only stores 2D positions) +struct HcGraphVertex +{ +public: + Eigen::Vector2d pos; // position of vertices in the map + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +//! Abbrev. for the homotopy class search-graph type @see HcGraphVertex +typedef boost::adjacency_list < boost::listS, boost::vecS, boost::directedS, HcGraphVertex, boost::no_property > HcGraph; +//! Abbrev. for vertex type descriptors in the homotopy class search-graph +typedef boost::graph_traits::vertex_descriptor HcGraphVertexType; +//! Abbrev. for edge type descriptors in the homotopy class search-graph +typedef boost::graph_traits::edge_descriptor HcGraphEdgeType; +//! Abbrev. for the vertices iterator of the homotopy class search-graph +typedef boost::graph_traits::vertex_iterator HcGraphVertexIterator; +//! Abbrev. for the edges iterator of the homotopy class search-graph +typedef boost::graph_traits::edge_iterator HcGraphEdgeIterator; +//! Abbrev. for the adjacency iterator that iterates vertices that are adjecent to the specified one +typedef boost::graph_traits::adjacency_iterator HcGraphAdjecencyIterator; + +//!< Inline function used for calculateHSignature() in combination with HCP graph vertex descriptors +inline std::complex getCplxFromHcGraph(HcGraphVertexType vert_descriptor, const HcGraph& graph) +{ + return std::complex(graph[vert_descriptor].pos.x(), graph[vert_descriptor].pos.y()); +} + +//!< Inline function used for initializing the TEB in combination with HCP graph vertex descriptors +inline const Eigen::Vector2d& getVector2dFromHcGraph(HcGraphVertexType vert_descriptor, const HcGraph& graph) +{ + return graph[vert_descriptor].pos; +} + +/** + * @brief Base class for graph based path planning / homotopy class sampling + */ +class GraphSearchInterface +{ +public: + + virtual void createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist* start_velocity, bool free_goal_vel = false) = 0; + + /** + * @brief Clear any existing graph of the homotopy class search + */ + void clearGraph() {graph_.clear();} + + // HcGraph graph() const {return graph_;} + // Workaround. graph_ is public for now, beacuse otherwise the compilation fails with the same boost bug mentioned above. + HcGraph graph_; //!< Store the graph that is utilized to find alternative homotopy classes. + +protected: + /** + * @brief Protected constructor that should be called by subclasses + */ + GraphSearchInterface(const TebConfig& cfg, HomotopyClassPlanner* hcp) : cfg_(&cfg), hcp_(hcp){} + + /** + * @brief Depth First Search implementation to find all paths between the start and the specified goal vertex. + * + * Complete paths are stored to the internal path container. + * @sa http://www.technical-recipes.com/2011/a-recursive-algorithm-to-find-all-paths-between-two-given-nodes/ + * @param g Graph on which the depth first should be performed + * @param visited A container that stores visited vertices (pass an empty container, it will be filled inside during recursion). + * @param goal Desired goal vertex + * @param start_orientation Orientation of the first trajectory pose, required to initialize the trajectory/TEB + * @param goal_orientation Orientation of the goal trajectory pose, required to initialize the trajectory/TEB + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + */ + void DepthFirst(HcGraph& g, std::vector& visited, const HcGraphVertexType& goal, double start_orientation, double goal_orientation, const geometry_msgs::Twist* start_velocity, bool free_goal_vel = false); + + +protected: + const TebConfig* cfg_; //!< Config class that stores and manages all related parameters + HomotopyClassPlanner* const hcp_; //!< Raw pointer to the HomotopyClassPlanner. The HomotopyClassPlanner itself is guaranteed to outlive the graph search class it is holding. + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + + +class lrKeyPointGraph : public GraphSearchInterface +{ +public: + lrKeyPointGraph(const TebConfig& cfg, HomotopyClassPlanner* hcp) : GraphSearchInterface(cfg, hcp){} + + virtual ~lrKeyPointGraph(){} + + /** + * @brief Create a graph containing points in the global frame that can be used to explore new possible paths between start and goal. + * + * This version of the graph creation places a keypoint on the left and right side of each obstacle w.r.t to the goal heading. \n + * All feasible paths between start and goal point are extracted using a Depth First Search afterwards. \n + * This version works very well for small point obstacles. For more complex obstacles call the createProbRoadmapGraph() + * method that samples keypoints in a predefined area and hopefully finds all relevant alternative paths. + * + * @see createProbRoadmapGraph + * @param start Start pose from wich to start on (e.g. the current robot pose). + * @param goal Goal pose to find paths to (e.g. the robot's goal). + * @param dist_to_obst Allowed distance to obstacles: if not satisfying, the path will be rejected (note, this is not the distance used for optimization). + * @param obstacle_heading_threshold Value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account [0,1] + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + */ + virtual void createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist* start_velocity, bool free_goal_vel = false); +}; + + + + +class ProbRoadmapGraph : public GraphSearchInterface +{ +public: + ProbRoadmapGraph(const TebConfig& cfg, HomotopyClassPlanner* hcp) : GraphSearchInterface(cfg, hcp){} + + virtual ~ProbRoadmapGraph(){} + + + /** + * @brief Create a graph and sample points in the global frame that can be used to explore new possible paths between start and goal. + * + * This version of the graph samples keypoints in a predefined area (config) in the current frame between start and goal. \n + * Afterwards all feasible paths between start and goal point are extracted using a Depth First Search. \n + * Use the sampling method for complex, non-point or huge obstacles. \n + * You may call createGraph() instead. + * + * @see createGraph + * @param start Start pose from wich to start on (e.g. the current robot pose). + * @param goal Goal pose to find paths to (e.g. the robot's goal). + * @param dist_to_obst Allowed distance to obstacles: if not satisfying, the path will be rejected (note, this is not the distance used for optimization). + * @param no_samples number of random samples + * @param obstacle_heading_threshold Value of the normalized scalar product between obstacle heading and goal heading in order to take them (obstacles) into account [0,1] + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + */ + virtual void createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist* start_velocity, bool free_goal_vel = false); + +private: + boost::random::mt19937 rnd_generator_; //!< Random number generator used by createProbRoadmapGraph to sample graph keypoints. +}; +} // end namespace + +#endif // GRAPH_SEARCH_INTERFACE_H diff --git a/navigations/teb_local_planner/include/teb_local_planner/h_signature.h b/navigations/teb_local_planner/include/teb_local_planner/h_signature.h new file mode 100755 index 0000000..8837950 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/h_signature.h @@ -0,0 +1,428 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Authors: Christoph Rösmann, Franz Albers + *********************************************************************/ + +#ifndef H_SIGNATURE_H_ +#define H_SIGNATURE_H_ + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + + +namespace teb_local_planner +{ + +/** + * @brief The H-signature defines an equivalence relation based on homology in terms of complex calculus. + * + * The H-Signature depends on the obstacle configuration and can be utilized + * to check whether two trajectores belong to the same homology class. + * Refer to: \n + * - S. Bhattacharya et al.: Search-based Path Planning with Homotopy Class Constraints, AAAI, 2010 + */ +class HSignature : public EquivalenceClass +{ + +public: + + /** + * @brief Constructor accepting a TebConfig + * @param cfg TebConfig storing some user configuration options + */ + HSignature(const TebConfig& cfg) : cfg_(&cfg) {} + + + /** + * @brief Calculate the H-Signature of a path + * + * The implemented function accepts generic path descriptions that are restricted to the following structure: \n + * The path is composed of points T and is represented by a std::vector< T > or similar type (std::list, std::deque, ...). \n + * Provide a unary function with the following signature std::complex< long double > (const T& point_type) + * that returns a complex value for the position (Re(*)=x, Im(*)=y). + * + * T could also be a pointer type, if the passed function also accepts a const T* point_Type. + * + * @param path_start Iterator to the first element in the path + * @param path_end Iterator to the last element in the path + * @param obstacles obstacle container + * @param fun_cplx_point function accepting the dereference iterator type and that returns the position as complex number. + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun function of the form std::complex< long double > (const T& point_type) + */ + template + void calculateHSignature(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer* obstacles) + { + if (obstacles->empty()) + { + hsignature_ = std::complex(0,0); + return; + } + + + ROS_ASSERT_MSG(cfg_->hcp.h_signature_prescaler>0.1 && cfg_->hcp.h_signature_prescaler<=1, "Only a prescaler on the interval (0.1,1] ist allowed."); + + // guess values for f0 + // paper proposes a+b=N-1 && |a-b|<=1, 1...N obstacles + int m = std::max( (int)obstacles->size()-1, 5 ); // for only a few obstacles we need a min threshold in order to get significantly high H-Signatures + + int a = (int) std::ceil(double(m)/2.0); + int b = m-a; + + std::advance(path_end, -1); // reduce path_end by 1 (since we check line segments between those path points + + typedef std::complex cplx; + // guess map size (only a really really coarse guess is required + // use distance from start to goal as distance to each direction + // TODO: one could move the map determination outside this function, since it remains constant for the whole planning interval + cplx start = fun_cplx_point(*path_start); + cplx end = fun_cplx_point(*path_end); // path_end points to the last point now after calling std::advance before + cplx delta = end-start; + cplx normal(-delta.imag(), delta.real()); + cplx map_bottom_left; + cplx map_top_right; + if (std::abs(delta) < 3.0) + { // set minimum bound on distance (we do not want to have numerical instabilities) and 3.0 performs fine... + map_bottom_left = start + cplx(0, -3); + map_top_right = start + cplx(3, 3); + } + else + { + map_bottom_left = start - normal; + map_top_right = start + delta + normal; + } + + hsignature_ = 0; // reset local signature + + std::vector imag_proposals(5); + + // iterate path + while(path_start != path_end) + { + cplx z1 = fun_cplx_point(*path_start); + cplx z2 = fun_cplx_point(*std::next(path_start)); + + for (std::size_t l=0; lsize(); ++l) // iterate all obstacles + { + cplx obst_l = obstacles->at(l)->getCentroidCplx(); + //cplx f0 = (long double) prescaler * std::pow(obst_l-map_bottom_left,a) * std::pow(obst_l-map_top_right,b); + cplx f0 = (long double) cfg_->hcp.h_signature_prescaler * (long double)a*(obst_l-map_bottom_left) * (long double)b*(obst_l-map_top_right); + + // denum contains product with all obstacles exepct j==l + cplx Al = f0; + for (std::size_t j=0; jsize(); ++j) + { + if (j==l) + continue; + cplx obst_j = obstacles->at(j)->getCentroidCplx(); + cplx diff = obst_l - obst_j; + //if (diff.real()!=0 || diff.imag()!=0) + if (std::abs(diff)<0.05) // skip really close obstacles + continue; + else + Al /= diff; + } + // compute log value + double diff2 = std::abs(z2-obst_l); + double diff1 = std::abs(z1-obst_l); + if (diff2 == 0 || diff1 == 0) + continue; + double log_real = std::log(diff2)-std::log(diff1); + // complex ln has more than one solution -> choose minimum abs angle -> paper + double arg_diff = std::arg(z2-obst_l)-std::arg(z1-obst_l); + imag_proposals.at(0) = arg_diff; + imag_proposals.at(1) = arg_diff+2*M_PI; + imag_proposals.at(2) = arg_diff-2*M_PI; + imag_proposals.at(3) = arg_diff+4*M_PI; + imag_proposals.at(4) = arg_diff-4*M_PI; + double log_imag = *std::min_element(imag_proposals.begin(),imag_proposals.end(),smaller_than_abs); + cplx log_value(log_real,log_imag); + //cplx log_value = std::log(z2-obst_l)-std::log(z1-obst_l); // the principal solution doesn't seem to work + hsignature_ += Al*log_value; + } + ++path_start; + } + } + + + /** + * @brief Check if two candidate classes are equivalent + * @param other The other equivalence class to test with + */ + virtual bool isEqual(const EquivalenceClass& other) const + { + const HSignature* hother = dynamic_cast(&other); // TODO: better architecture without dynamic_cast + if (hother) + { + double diff_real = std::abs(hother->hsignature_.real() - hsignature_.real()); + double diff_imag = std::abs(hother->hsignature_.imag() - hsignature_.imag()); + if (diff_real<=cfg_->hcp.h_signature_threshold && diff_imag<=cfg_->hcp.h_signature_threshold) + return true; // Found! Homotopy class already exists, therefore nothing added + } + else + ROS_ERROR("Cannot compare HSignature equivalence classes with types other than HSignature."); + + return false; + } + + /** + * @brief Check if the equivalence value is detected correctly + * @return Returns false, if the equivalence class detection failed, e.g. if nan- or inf values occur. + */ + virtual bool isValid() const + { + return std::isfinite(hsignature_.real()) && std::isfinite(hsignature_.imag()); + } + + /** + * @brief Check if the trajectory is non-looping around an obstacle. + * @return Returns always true, as this cannot be detected by this kind of H-Signature. + */ + virtual bool isReasonable() const + { + return true; + } + + /** + * @brief Get the current value of the h-signature (read-only) + * @return h-signature in complex-number format + */ + const std::complex& value() const {return hsignature_;} + + +private: + + const TebConfig* cfg_; + std::complex hsignature_; +}; + + + + + +/** + * @brief The H-signature in three dimensions (here: x-y-t) defines an equivalence relation based on homology using theorems from electro magnetism. + * + * The H-Signature depends on the obstacle configuration and can be utilized + * to check whether two trajectores belong to the same homology class. + * Refer to: \n + * - S. Bhattacharya et al.: Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D, 2011 + */ +class HSignature3d : public EquivalenceClass +{ +public: + /** + * @brief Constructor accepting a TebConfig + * @param cfg TebConfig storing some user configuration options + */ + HSignature3d(const TebConfig& cfg) : cfg_(&cfg) {} + + + /** + * @brief Calculate the H-Signature of a path + * + * The implemented function accepts generic path descriptions that are restricted to the following structure: \n + * The path is composed of points T and is represented by a std::vector< T > or similar type (std::list, std::deque, ...). \n + * Provide a unary function with the following signature std::complex< long double > (const T& point_type) + * that returns a complex value for the position (Re(*)=x, Im(*)=y). + * + * T could also be a pointer type, if the passed function also accepts a const T* point_Type. + * + * @param path_start Iterator to the first element in the path + * @param path_end Iterator to the last element in the path + * @param obstacles obstacle container + * @param fun_cplx_point function accepting the dereference iterator type and that returns the position as complex number. + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun function of the form std::complex< long double > (const T& point_type) + */ + template + void calculateHSignature(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer* obstacles, + boost::optional timediff_start, boost::optional timediff_end) + { + hsignature3d_.resize(obstacles->size()); + + std::advance(path_end, -1); // reduce path_end by 1 (since we check line segments between those path points) + + constexpr int num_int_steps_per_segment = 10; + + for (std::size_t l = 0; l < obstacles->size(); ++l) // iterate all obstacles + { + double H = 0; + double transition_time = 0; + double next_transition_time = 0; + BidirIter path_iter; + TimeDiffSequence::iterator timediff_iter; + + Eigen::Vector3d s1 (obstacles->at(l)->getCentroid()(0), obstacles->at(l)->getCentroid()(1), 0); + double t = 120; // some large value for defining the end point of the obstacle/"conductor" model + Eigen::Vector3d s2; + obstacles->at(l)->predictCentroidConstantVelocity(t, s2.head(2)); + s2[2] = t; + Eigen::Vector3d ds = s2 - s1; + double ds_sq_norm = ds.squaredNorm(); // by definition not zero as t > 0 (3rd component) + + // iterate path + for (path_iter = path_start, timediff_iter = timediff_start.get(); path_iter != path_end; ++path_iter, ++timediff_iter) + { + std::complex z1 = fun_cplx_point(*path_iter); + std::complex z2 = fun_cplx_point(*std::next(path_iter)); + + transition_time = next_transition_time; + if (timediff_start == boost::none || timediff_end == boost::none) // if no time information is provided yet, approximate transition time + next_transition_time += std::abs(z2 - z1) / cfg_->robot.max_vel_x; // Approximate the time, if no time is known + else // otherwise use the time information from the teb trajectory + { + if (std::distance(path_iter, path_end) != std::distance(timediff_iter, timediff_end.get())) + ROS_ERROR("Size of poses and timediff vectors does not match. This is a bug."); + next_transition_time += (*timediff_iter)->dt(); + } + + Eigen::Vector3d direction_vec; + direction_vec[0] = z2.real() - z1.real(); + direction_vec[1] = z2.imag() - z1.imag(); + direction_vec[2] = next_transition_time - transition_time; + + if(direction_vec.norm() < 1e-15) // Coincident poses + continue; + + Eigen::Vector3d r(z1.real(), z1.imag(), transition_time); + Eigen::Vector3d dl = 1.0/static_cast(num_int_steps_per_segment) * direction_vec; // Integrate with multiple steps between each pose + Eigen::Vector3d p1, p2, d, phi; + for (int i = 0; i < num_int_steps_per_segment; ++i, r += dl) + { + p1 = s1 - r; + p2 = s2 - r; + d = (ds.cross(p1.cross(p2))) / ds_sq_norm; + phi = 1.0 / d.squaredNorm() * ((d.cross(p2) / p2.norm()) - (d.cross(p1) / p1.norm())); + H += phi.dot(dl); + } + } + + // normalize to 1 + hsignature3d_.at(l) = H/(4.0*M_PI); + } + } + + /** + * @brief Check if two candidate classes are equivalent + * + * If the absolute value of the H-Signature is equal or greater than 1, a loop (in x-y) around the obstacle is indicated. + * Positive H-Signature: Obstacle lies on the left hand side of the planned trajectory + * Negative H-Signature: Obstacle lies on the right hand side of the planned trajectory + * H-Signature equals zero: Obstacle lies in infinity, has no influence on trajectory + * + * @param other The other equivalence class to test with + */ + virtual bool isEqual(const EquivalenceClass& other) const + { + const HSignature3d* hother = dynamic_cast(&other); // TODO: better architecture without dynamic_cast + if (hother) + { + if (hsignature3d_.size() == hother->hsignature3d_.size()) + { + for(size_t i = 0; i < hsignature3d_.size(); ++i) + { + // If the H-Signature for one obstacle is below this threshold, that obstacle is far away from the planned trajectory, + // and therefore ignored in the homotopy class planning + if (std::abs(hother->hsignature3d_.at(i)) < cfg_->hcp.h_signature_threshold || std::abs(hsignature3d_.at(i)) < cfg_->hcp.h_signature_threshold) + continue; + + if (boost::math::sign(hother->hsignature3d_.at(i)) != boost::math::sign(hsignature3d_.at(i))) + return false; // Signatures are not equal, new homotopy class + } + return true; // Found! Homotopy class already exists, therefore nothing added + } + } + else + ROS_ERROR("Cannot compare HSignature3d equivalence classes with types other than HSignature3d."); + + return false; + } + + /** + * @brief Check if the equivalence value is detected correctly + * @return Returns false, if the equivalence class detection failed, e.g. if nan- or inf values occur. + */ + virtual bool isValid() const + { + for(const double& value : hsignature3d_) + { + if (!std::isfinite(value)) + return false; + } + return true; + } + + /** + * @brief Check if the trajectory is non-looping around any obstacle. Values greater than 1 indicate a looping trajectory. + * @return Returns false, if the trajectory loops around an obstacle + */ + virtual bool isReasonable() const + { + for(const double& value : hsignature3d_) + { + if (value > 1.0) + return false; + } + return true; + } + + /** + * @brief Get the current h-signature (read-only) + * @return h-signature in complex-number format + */ + const std::vector& values() const {return hsignature3d_;} + +private: + const TebConfig* cfg_; + std::vector hsignature3d_; +}; + + +} // namespace teb_local_planner + + +#endif /* H_SIGNATURE_H_ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h b/navigations/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h new file mode 100755 index 0000000..7b3a3bd --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h @@ -0,0 +1,593 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef HOMOTOPY_CLASS_PLANNER_H_ +#define HOMOTOPY_CLASS_PLANNER_H_ + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + + +namespace teb_local_planner +{ + +//!< Inline function used for calculateHSignature() in combination with VertexPose pointers +inline std::complex getCplxFromVertexPosePtr(const VertexPose* pose) +{ + return std::complex(pose->x(), pose->y()); +}; + + +//!< Inline function used for calculateHSignature() in combination with geometry_msgs::PoseStamped +inline std::complex getCplxFromMsgPoseStamped(const geometry_msgs::PoseStamped& pose) +{ + return std::complex(pose.pose.position.x, pose.pose.position.y); +}; + +/** + * @class HomotopyClassPlanner + * @brief Local planner that explores alternative homotopy classes, create a plan for each alternative + * and finally return the robot controls for the current best path (repeated in each sampling interval) + * + * Equivalence classes (e.g. homotopy) are explored using the help of a search-graph. \n + * A couple of possible candidates are sampled / generated and filtered afterwards such that only a single candidate + * per homotopy class remain. Filtering is applied using the H-Signature, a homotopy (resp. homology) invariant: \n + * - S. Bhattacharya et al.: Search-based Path Planning with Homotopy Class Constraints, AAAI, 2010 + * - C. Rösmann et al.: Planning of Multiple Robot Trajectories in Distinctive Topologies, ECMR, 2015. + * + * Followed by the homotopy class search, each candidate is used as an initialization for the underlying trajectory + * optimization (in this case utilizing the TebOptimalPlanner class with the TimedElasticBand). \n + * Depending on the config parameters, the optimization is performed in parallel. \n + * After the optimization is completed, the best optimized candidate is selected w.r.t. to trajectory cost, since the + * cost already contains important features like clearance from obstacles and transition time. \n + * + * Everyhting is performed by calling one of the overloaded plan() methods. \n + * Afterwards the velocity command to control the robot is obtained from the "best" candidate + * via getVelocityCommand(). \n + * + * All steps are repeated in the subsequent sampling interval with the exception, that already planned (optimized) trajectories + * are preferred against new path initilizations in order to improve the hot-starting capability. + */ +class HomotopyClassPlanner : public PlannerInterface +{ +public: + + using EquivalenceClassContainer = std::vector< std::pair >; + + /** + * @brief Default constructor + */ + HomotopyClassPlanner(); + + /** + * @brief Construct and initialize the HomotopyClassPlanner + * @param cfg Const reference to the TebConfig class for internal parameters + * @param obstacles Container storing all relevant obstacles (see Obstacle) + * @param robot_model Shared pointer to the robot shape model used for optimization (optional) + * @param visualization Shared pointer to the TebVisualization class (optional) + * @param via_points Container storing via-points (optional) + */ + HomotopyClassPlanner(const TebConfig& cfg, ObstContainer* obstacles = NULL, RobotFootprintModelPtr robot_model = boost::make_shared(), + TebVisualizationPtr visualization = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL); + + /** + * @brief Destruct the HomotopyClassPlanner. + */ + virtual ~HomotopyClassPlanner(); + + /** + * @brief Initialize the HomotopyClassPlanner + * @param cfg Const reference to the TebConfig class for internal parameters + * @param obstacles Container storing all relevant obstacles (see Obstacle) + * @param robot_model Shared pointer to the robot shape model used for optimization (optional) + * @param visualization Shared pointer to the TebVisualization class (optional) + * @param via_points Container storing via-points (optional) + */ + void initialize(const TebConfig& cfg, ObstContainer* obstacles = NULL, RobotFootprintModelPtr robot_model = boost::make_shared(), + TebVisualizationPtr visualization = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL); + + + void updateRobotModel(RobotFootprintModelPtr robot_model ); + + /** @name Plan a trajectory */ + //@{ + + /** + * @brief Plan a trajectory based on an initial reference plan. + * + * Provide this method to create and optimize a trajectory that is initialized + * according to an initial reference plan (given as a container of poses). + * @warning The current implementation extracts only the start and goal pose and calls the overloaded plan() + * @param initial_plan vector of geometry_msgs::PoseStamped (must be valid until clearPlanner() is called!) + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x, linear.y (holonomic) and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const std::vector& initial_plan, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Plan a trajectory between a given start and goal pose (tf::Pose version). + * + * Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose. + * @param start tf::Pose containing the start pose of the trajectory + * @param goal tf::Pose containing the goal pose of the trajectory + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x, linear.y (holonomic) and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Plan a trajectory between a given start and goal pose. + * + * Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose. + * @param start PoseSE2 containing the start pose of the trajectory + * @param goal PoseSE2 containing the goal pose of the trajectory + * @param start_vel Initial velocity at the start pose (twist message containing the translational and angular velocity). + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Get the velocity command from a previously optimized plan to control the robot at the current sampling interval. + * @warning Call plan() first and check if the generated plan is feasible. + * @param[out] vx translational velocity [m/s] + * @param[out] vy strafing velocity which can be nonzero for holonomic robots [m/s] + * @param[out] omega rotational velocity [rad/s] + * @param[in] look_ahead_poses index of the final pose used to compute the velocity command. + * @return \c true if command is valid, \c false otherwise + */ + virtual bool getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const; + + /** + * @brief Access current best trajectory candidate (that relates to the "best" homotopy class). + * + * If no trajectory is available, the pointer will be empty. + * If only a single trajectory is available, return it. + * Otherwise return the best one, but call selectBestTeb() before to perform the actual selection (part of the plan() methods). + * @return Shared pointer to the best TebOptimalPlanner that contains the selected trajectory (TimedElasticBand). + */ + TebOptimalPlannerPtr bestTeb() const {return tebs_.empty() ? TebOptimalPlannerPtr() : tebs_.size()==1 ? tebs_.front() : best_teb_;} + + /** + * @brief Check whether the planned trajectory is feasible or not. + * + * This method currently checks only that the trajectory, or a part of the trajectory is collision free. + * Obstacles are here represented as costmap instead of the internal ObstacleContainer. + * @param costmap_model Pointer to the costmap model + * @param footprint_spec The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @param look_ahead_idx Number of poses along the trajectory that should be verified, if -1, the complete trajectory will be checked. + * @return \c true, if the robot footprint along the first part of the trajectory intersects with + * any obstacle in the costmap, \c false otherwise. + */ + virtual bool isTrajectoryFeasible(base_local_planner::CostmapModel* costmap_model, const std::vector& footprint_spec, + double inscribed_radius = 0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1, double feasibility_check_lookahead_distance=-1.0); + + /** + * @brief In case of empty best teb, scores again the available plans to find the best one. + * The best_teb_ variable is updated consequently. + * @return Shared pointer to the best TebOptimalPlanner that contains the selected trajectory (TimedElasticBand). + * An empty pointer is returned if no plan is available. + */ + TebOptimalPlannerPtr findBestTeb(); + + /** + * @brief Removes the specified teb and the corresponding homotopy class from the list of available ones. + * @param pointer to the teb Band to be removed + * @return Iterator to the next valid teb if available, else to the end of the tebs container. + */ + TebOptPlannerContainer::iterator removeTeb(TebOptimalPlannerPtr& teb); + + //@} + + /** @name Visualization */ + //@{ + + /** + * @brief Register a TebVisualization class to enable visiualization routines (e.g. publish the local plan and pose sequence) + * @param visualization shared pointer to a TebVisualization instance + * @see visualizeTeb + */ + void setVisualization(TebVisualizationPtr visualization); + + /** + * @brief Publish the local plan, pose sequence and additional information via ros topics (e.g. subscribe with rviz). + * + * Make sure to register a TebVisualization instance before using setVisualization() or an overlaoded constructor. + * @see setVisualization + */ + virtual void visualize(); + + //@} + + /** @name Important steps that are called during planning */ + //@{ + + + /** + * @brief Explore paths in new equivalence classes (e.g. homotopy classes) and initialize TEBs from them. + * + * This "all-in-one" method creates a graph with position keypoints from which + * feasible paths (with clearance from obstacles) are extracted. \n + * All obtained paths are filted to only keep a single path for each equivalence class. \n + * Each time a new equivalence class is explored (by means of \b no previous trajectory/TEB remain in that equivalence class), + * a new trajectory/TEB will be initialized. \n + * + * Everything is prepared now for the optimization step: see optimizeAllTEBs(). + * @param start Current start pose (e.g. pose of the robot) + * @param goal Goal pose (e.g. robot's goal) + * @param dist_to_obst Allowed distance to obstacles: if not satisfying, the path will be rejected (note, this is not the distance used for optimization). + * @param @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + */ + void exploreEquivalenceClassesAndInitTebs(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, const geometry_msgs::Twist* start_vel, bool free_goal_vel = false); + + /** + * @brief Add a new Teb to the internal trajectory container, if this teb constitutes a new equivalence class. Initialize it using a generic 2D reference path + * + * Refer to TimedElasticBand::initTEBtoGoal() for more details about the template parameters. + * @param path_start start iterator of a generic 2d path + * @param path_end end iterator of a generic 2d path + * @param fun_position unary function that returns the Eigen::Vector2d object + * @param start_orientation Orientation of the first pose of the trajectory (optional, otherwise use goal heading) + * @param goal_orientation Orientation of the last pose of the trajectory (optional, otherwise use goal heading) + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun unyary function that transforms the dereferenced iterator into an Eigen::Vector2d + * @return Shared pointer to the newly created teb optimal planner + */ + template + TebOptimalPlannerPtr addAndInitNewTeb(BidirIter path_start, BidirIter path_end, Fun fun_position, double start_orientation, double goal_orientation, const geometry_msgs::Twist* start_velocity, bool free_goal_vel = false); + + /** + * @brief Add a new Teb to the internal trajectory container, if this teb constitutes a new equivalence class. Initialize it with a simple straight line between a given start and goal + * @param start start pose + * @param goal goal pose + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + * @return Shared pointer to the newly created teb optimal planner + */ + TebOptimalPlannerPtr addAndInitNewTeb(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::Twist* start_velocity, bool free_goal_vel = false); + + /** + * @brief Add a new Teb to the internal trajectory container , if this teb constitutes a new equivalence class. Initialize it using a PoseStamped container + * @param initial_plan container of poses (start and goal orientation should be valid!) + * @param start_velocity start velocity (optional) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false) + * @return Shared pointer to the newly created teb optimal planner + */ + TebOptimalPlannerPtr addAndInitNewTeb(const std::vector& initial_plan, const geometry_msgs::Twist* start_velocity, bool free_goal_vel = false); + + /** + * @brief Update TEBs with new pose, goal and current velocity. + * @param start New start pose (optional) + * @param goal New goal pose (optional) + * @param start_velocity start velocity (optional) + */ + void updateAllTEBs(const PoseSE2* start, const PoseSE2* goal, const geometry_msgs::Twist* start_velocity); + + + /** + * @brief Optimize all available trajectories by invoking the optimizer on each one. + * + * Depending on the configuration parameters, the optimization is performed either single or multi threaded. + * @param iter_innerloop Number of inner iterations (see TebOptimalPlanner::optimizeTEB()) + * @param iter_outerloop Number of outer iterations (see TebOptimalPlanner::optimizeTEB()) + */ + void optimizeAllTEBs(int iter_innerloop, int iter_outerloop); + + /** + * @brief Returns a shared pointer to the TEB related to the initial plan + * @return A non-empty shared ptr is returned if a match was found; Otherwise the shared ptr is empty. + */ + TebOptimalPlannerPtr getInitialPlanTEB(); + + /** + * @brief In case of multiple, internally stored, alternative trajectories, select the best one according to their cost values. + * + * The trajectory cost includes features such as transition time and clearance from obstacles. \n + * The best trajectory can be accessed later by bestTeb() within the current sampling interval in order to avoid unessary recalculations. + * @return Shared pointer to the best TebOptimalPlanner that contains the selected trajectory (TimedElasticBand). + */ + TebOptimalPlannerPtr selectBestTeb(); + + //@} + + /** + * @brief Reset the planner. + * + * Clear all previously found H-signatures, paths, tebs and the hcgraph. + */ + virtual void clearPlanner() {clearGraph(); equivalence_classes_.clear(); tebs_.clear(); initial_plan_ = NULL;} + + + /** + * @brief Prefer a desired initial turning direction (by penalizing the opposing one) + * + * A desired (initial) turning direction might be specified in case the planned trajectory oscillates between two + * solutions (in the same equivalence class!) with similar cost. Check the parameters in order to adjust the weight of the penalty. + * Initial means that the penalty is applied only to the first few poses of the trajectory. + * @param dir This parameter might be RotType::left (prefer left), RotType::right (prefer right) or RotType::none (prefer none) + */ + virtual void setPreferredTurningDir(RotType dir); + + /** + * @brief Calculate the equivalence class of a path + * + * Currently, only the H-signature (refer to HSignature) is implemented. + * + * @param path_start Iterator to the first element in the path + * @param path_end Iterator to the last element in the path + * @param obstacles obstacle container + * @param fun_cplx_point function accepting the dereference iterator type and that returns the position as complex number. + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun function of the form std::complex< long double > (const T& point_type) + * @return pointer to the equivalence class base type + */ + template + EquivalenceClassPtr calculateEquivalenceClass(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer* obstacles = NULL, + boost::optional timediff_start = boost::none, boost::optional timediff_end = boost::none); + + /** + * @brief Read-only access to the internal trajectory container. + * @return read-only reference to the teb container. + */ + const TebOptPlannerContainer& getTrajectoryContainer() const {return tebs_;} + + bool hasDiverged() const override; + + /** + * Compute and return the cost of the current optimization graph (supports multiple trajectories) + * @param[out] cost current cost value for each trajectory + * [for a planner with just a single trajectory: size=1, vector will not be cleared] + * @param obst_cost_scale Specify extra scaling for obstacle costs + * @param viapoint_cost_scale Specify extra scaling for via points. + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time + */ + virtual void computeCurrentCost(std::vector& cost, double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false); + + /** + * @brief Check if two h-signatures are similar (w.r.t. a certain threshold) + * @param h1 first h-signature + * @param h2 second h-signature + * @return \c true if both h-signatures are similar, false otherwise. + */ + inline static bool isHSignatureSimilar(const std::complex& h1, const std::complex& h2, double threshold) + { + double diff_real = std::abs(h2.real() - h1.real()); + double diff_imag = std::abs(h2.imag() - h1.imag()); + if (diff_real<=threshold && diff_imag<=threshold) + return true; // Found! Homotopy class already exists, therefore nothing added + return false; + } + /** + * @brief Checks if the orientation of the computed trajectories differs from that of the best plan of more than the + * specified threshold and eventually deletes them. + * Also deletes detours with a duration much bigger than the duration of the best_teb (duration / best duration > max_ratio_detours_duration_best_duration). + * @param orient_threshold: Threshold paramter for allowed orientation changes in radians + * @param len_orientation_vector: length of the vector used to compute the start orientation + */ + void deletePlansDetouringBackwards(const double orient_threshold, const double len_orientation_vector); + /** + * @brief Given a plan, computes its start orientation using a vector of length >= len_orientation_vector + * starting from the initial pose. + * @param plan: Teb to be analyzed + * @param len_orientation_vector: min length of the vector used to compute the start orientation + * @param orientation: computed start orientation + * @return: Could the vector for the orientation check be computed? (False if the plan has no pose with a distance + * > len_orientation_vector from the start poseq) + */ + bool computeStartOrientation(const TebOptimalPlannerPtr plan, const double len_orientation_vector, double& orientation); + + + /** + * @brief Access config (read-only) + * @return const pointer to the config instance + */ + const TebConfig* config() const {return cfg_;} + + /** + * @brief Access current obstacle container (read-only) + * @return const pointer to the obstacle container instance + */ + const ObstContainer* obstacles() const {return obstacles_;} + + /** + * @brief Returns true if the planner is initialized + */ + bool isInitialized() const {return initialized_;} + + /** + * @brief Clear any existing graph of the homotopy class search + */ + void clearGraph() {if(graph_search_) graph_search_->clearGraph();} + + /** + * @brief find the index of the currently best TEB in the container + * @remarks bestTeb() should be preferred whenever possible + * @return index of the best TEB obtained with bestTEB(), if no TEB is avaiable, it returns -1. + */ + int bestTebIdx() const; + + + /** + * @brief Internal helper function that adds a new equivalence class to the list of known classes only if it is unique. + * @param eq_class equivalence class that should be tested + * @param lock if \c true, exclude the H-signature from deletion. + * @return \c true if the h-signature was added and no duplicate was found, \c false otherwise + */ + bool addEquivalenceClassIfNew(const EquivalenceClassPtr& eq_class, bool lock=false); + + /** + * @brief Return the current set of equivalence erelations (read-only) + * @return reference to the internal set of currently tracked equivalence relations + */ + const EquivalenceClassContainer& getEquivalenceClassRef() const {return equivalence_classes_;} + + bool isInBestTebClass(const EquivalenceClassPtr& eq_class) const; + + int numTebsInClass(const EquivalenceClassPtr& eq_class) const; + + int numTebsInBestTebClass() const; + + /** + * @brief Randomly drop non-optimal TEBs to so we can explore other alternatives + * + * The HCP has a tendency to become "fixated" once its tebs_ list becomes + * fully populated, repeatedly refining and evaluating paths from the same + * few homotopy classes until the robot moves far enough for a teb to become + * invalid. As a result, it can fail to discover a more optimal path. This + * function alleviates this problem by randomly dropping TEBs other than the + * current "best" one with a probability controlled by + * selection_dropping_probability parameter. + */ + void randomlyDropTebs(); + +protected: + + /** @name Explore new paths and keep only a single one for each homotopy class */ + //@{ + + /** + * @brief Check if a h-signature exists already. + * @param eq_class equivalence class that should be tested + * @return \c true if the h-signature is found, \c false otherwise + */ + bool hasEquivalenceClass(const EquivalenceClassPtr& eq_class) const; + + + /** + * @brief Renew all found h-signatures for the new planning step based on existing TEBs. Optionally detours can be discarded. + * + * Calling this method in each new planning interval is really important. + * First all old h-signatures are deleted, since they could be invalid for this planning step (obstacle position may changed). + * Afterwards the h-signatures are calculated for each existing TEB/trajectory and is inserted to the list of known h-signatures. + * Doing this is important to prefer already optimized trajectories in contrast to initialize newly explored coarse paths. + * @param delete_detours if this param is \c true, all existing TEBs are cleared from detour-candidates calling deletePlansGoingBackwards(). + */ + void renewAndAnalyzeOldTebs(bool delete_detours); + + /** + * @brief Associate trajectories with via-points + * + * If \c all_trajectories is true, all trajectory candidates are connected with the set of via_points, + * otherwise only the trajectory sharing the homotopy class of the initial/global plan (and all via-points from alternative trajectories are removed) + * @remarks Requires that the plan method is called with an initial plan provided and that via-points are enabled (config) + * @param all_trajectories see method description + */ + void updateReferenceTrajectoryViaPoints(bool all_trajectories); + + //@} + + + // external objects (store weak pointers) + const TebConfig* cfg_; //!< Config class that stores and manages all related parameters + ObstContainer* obstacles_; //!< Store obstacles that are relevant for planning + const ViaPointContainer* via_points_; //!< Store the current list of via-points + + // internal objects (memory management owned) + TebVisualizationPtr visualization_; //!< Instance of the visualization class (local/global plan, obstacles, ...) + TebOptimalPlannerPtr best_teb_; //!< Store the current best teb. + EquivalenceClassPtr best_teb_eq_class_; //!< Store the equivalence class of the current best teb + RobotFootprintModelPtr robot_model_; //!< Robot model shared instance + + const std::vector* initial_plan_; //!< Store the initial plan if available for a better trajectory initialization + EquivalenceClassPtr initial_plan_eq_class_; //!< Store the equivalence class of the initial plan + TebOptimalPlannerPtr initial_plan_teb_; //!< Store pointer to the TEB related to the initial plan (use method getInitialPlanTEB() since it checks if initial_plan_teb_ is still included in tebs_.) + + TebOptPlannerContainer tebs_; //!< Container that stores multiple local teb planners (for alternative equivalence classes) and their corresponding costs + + EquivalenceClassContainer equivalence_classes_; //!< Store all known quivalence classes (e.g. h-signatures) to allow checking for duplicates after finding and adding new ones. + // The second parameter denotes whether to exclude the class from detour deletion or not (true: force keeping). + + boost::shared_ptr graph_search_; + + ros::Time last_eq_class_switching_time_; //!< Store the time at which the equivalence class changed recently + + std::default_random_engine random_; + bool initialized_; //!< Keeps track about the correct initialization of this class + + TebOptimalPlannerPtr last_best_teb_; //!< Points to the plan used in the previous control cycle + + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + +}; + +//! Abbrev. for a shared pointer of a HomotopyClassPlanner instance. +typedef boost::shared_ptr HomotopyClassPlannerPtr; + + +} // namespace teb_local_planner + +// include template implementations / definitions +#include + +#endif /* HOMOTOPY_CLASS_PLANNER_H_ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/homotopy_class_planner.hpp b/navigations/teb_local_planner/include/teb_local_planner/homotopy_class_planner.hpp new file mode 100755 index 0000000..446dbc1 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/homotopy_class_planner.hpp @@ -0,0 +1,95 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include +#include + +namespace teb_local_planner +{ + + +template +EquivalenceClassPtr HomotopyClassPlanner::calculateEquivalenceClass(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer* obstacles, + boost::optional timediff_start, boost::optional timediff_end) +{ + if(cfg_->obstacles.include_dynamic_obstacles) + { + HSignature3d* H = new HSignature3d(*cfg_); + H->calculateHSignature(path_start, path_end, fun_cplx_point, obstacles, timediff_start, timediff_end); + return EquivalenceClassPtr(H); + } + else + { + HSignature* H = new HSignature(*cfg_); + H->calculateHSignature(path_start, path_end, fun_cplx_point, obstacles); + return EquivalenceClassPtr(H); + } +} + + +template +TebOptimalPlannerPtr HomotopyClassPlanner::addAndInitNewTeb(BidirIter path_start, BidirIter path_end, Fun fun_position, double start_orientation, double goal_orientation, const geometry_msgs::Twist* start_velocity, bool free_goal_vel) +{ + TebOptimalPlannerPtr candidate = TebOptimalPlannerPtr( new TebOptimalPlanner(*cfg_, obstacles_, robot_model_)); + + candidate->teb().initTrajectoryToGoal(path_start, path_end, fun_position, cfg_->robot.max_vel_x, cfg_->robot.max_vel_theta, + cfg_->robot.acc_lim_x, cfg_->robot.acc_lim_theta, start_orientation, goal_orientation, cfg_->trajectory.min_samples, + cfg_->trajectory.allow_init_with_backwards_motion); + + if (start_velocity) + candidate->setVelocityStart(*start_velocity); + + EquivalenceClassPtr H = calculateEquivalenceClass(candidate->teb().poses().begin(), candidate->teb().poses().end(), getCplxFromVertexPosePtr, obstacles_, + candidate->teb().timediffs().begin(), candidate->teb().timediffs().end()); + + + if (free_goal_vel) + candidate->setVelocityGoalFree(); + + if(addEquivalenceClassIfNew(H)) + { + tebs_.push_back(candidate); + return tebs_.back(); + } + + // If the candidate constitutes no new equivalence class, return a null pointer + return TebOptimalPlannerPtr(); +} + +} // namespace teb_local_planner + diff --git a/navigations/teb_local_planner/include/teb_local_planner/misc.h b/navigations/teb_local_planner/include/teb_local_planner/misc.h new file mode 100755 index 0000000..09f055a --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/misc.h @@ -0,0 +1,152 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef MISC_H +#define MISC_H + +#include +#include +#include + + +namespace teb_local_planner +{ + +#define SMALL_NUM 0.00000001 + +//! Symbols for left/none/right rotations +enum class RotType { left, none, right }; + +/** + * @brief Check whether two variables (double) are close to each other + * @param a the first value to compare + * @param b the second value to compare + * @param epsilon precision threshold + * @return \c true if |a-b| < epsilon, false otherwise + */ +inline bool is_close(double a, double b, double epsilon = 1e-4) +{ + return std::fabs(a - b) < epsilon; +} + +/** + * @brief Return the average angle of an arbitrary number of given angles [rad] + * @param angles vector containing all angles + * @return average / mean angle, that is normalized to [-pi, pi] + */ +inline double average_angles(const std::vector& angles) +{ + double x=0, y=0; + for (std::vector::const_iterator it = angles.begin(); it!=angles.end(); ++it) + { + x += cos(*it); + y += sin(*it); + } + if(x == 0 && y == 0) + return 0; + else + return std::atan2(y, x); +} + +/** @brief Small helper function: check if |a|<|b| */ +inline bool smaller_than_abs(double i, double j) {return std::fabs(i) +inline double distance_points2d(const P1& point1, const P2& point2) +{ + return std::sqrt( std::pow(point2.x-point1.x,2) + std::pow(point2.y-point1.y,2) ); +} + + +/** + * @brief Calculate the 2d cross product (returns length of the resulting vector along the z-axis in 3d) + * @param v1 object containing public methods x() and y() + * @param v2 object containing fields x() and y() + * @return magnitude that would result in the 3D case (along the z-axis) +*/ +template +inline double cross2d(const V1& v1, const V2& v2) +{ + return v1.x()*v2.y() - v2.x()*v1.y(); +} + +/** + * @brief Helper function that returns the const reference to a value defined by either its raw pointer type or const reference. + * + * Return a constant reference for boths input variants (pointer or reference). + * @remarks Makes only sense in combination with the overload getConstReference(const T& val). + * @param ptr pointer of type T + * @tparam T arbitrary type + * @return If \c T is a pointer, return const *T (leading to const T&), otherwise const T& with out pointer-to-ref conversion + */ +template +inline const T& get_const_reference(const T* ptr) {return *ptr;} + +/** + * @brief Helper function that returns the const reference to a value defined by either its raw pointer type or const reference. + * + * Return a constant reference for boths input variants (pointer or reference). + * @remarks Makes only sense in combination with the overload getConstReference(const T* val). + * @param val + * @param dummy SFINAE helper variable + * @tparam T arbitrary type + * @return If \c T is a pointer, return const *T (leading to const T&), otherwise const T& with out pointer-to-ref conversion + */ +template +inline const T& get_const_reference(const T& val, typename boost::disable_if >::type* dummy = 0) {return val;} + +} // namespace teb_local_planner + +#endif /* MISC_H */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/obstacles.h b/navigations/teb_local_planner/include/teb_local_planner/obstacles.h new file mode 100755 index 0000000..4a4e990 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/obstacles.h @@ -0,0 +1,1116 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + + +#ifndef OBSTACLES_H +#define OBSTACLES_H + +#include +#include +#include + +#include + +#include +#include + +#include +#include +#include + +#include +#include + + +namespace teb_local_planner +{ + +/** + * @class Obstacle + * @brief Abstract class that defines the interface for modelling obstacles + */ +class Obstacle +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + */ + Obstacle() : dynamic_(false), centroid_velocity_(Eigen::Vector2d::Zero()) + { + } + + /** + * @brief Virtual destructor. + */ + virtual ~Obstacle() + { + } + + + /** @name Centroid coordinates (abstract, obstacle type depending) */ + //@{ + + /** + * @brief Get centroid coordinates of the obstacle + * @return Eigen::Vector2d containing the centroid + */ + virtual const Eigen::Vector2d& getCentroid() const = 0; + + /** + * @brief Get centroid coordinates of the obstacle as complex number + * @return std::complex containing the centroid coordinate + */ + virtual std::complex getCentroidCplx() const = 0; + + //@} + + + /** @name Collision checking and distance calculations (abstract, obstacle type depending) */ + //@{ + + /** + * @brief Check if a given point collides with the obstacle + * @param position 2D reference position that should be checked + * @param min_dist Minimum distance allowed to the obstacle to be collision free + * @return \c true if position is inside the region of the obstacle or if the minimum distance is lower than min_dist + */ + virtual bool checkCollision(const Eigen::Vector2d& position, double min_dist) const = 0; + + /** + * @brief Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance \c min_dist) + * @param line_start 2D point for the end of the reference line + * @param line_end 2D point for the end of the reference line + * @param min_dist Minimum distance allowed to the obstacle to be collision/intersection free + * @return \c true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist + */ + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const = 0; + + /** + * @brief Get the minimum euclidean distance to the obstacle (point as reference) + * @param position 2d reference position + * @return The nearest possible distance to the obstacle + */ + virtual double getMinimumDistance(const Eigen::Vector2d& position) const = 0; + + /** + * @brief Get the minimum euclidean distance to the obstacle (line as reference) + * @param line_start 2d position of the begin of the reference line + * @param line_end 2d position of the end of the reference line + * @return The nearest possible distance to the obstacle + */ + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const = 0; + + /** + * @brief Get the minimum euclidean distance to the obstacle (polygon as reference) + * @param polygon Vertices (2D points) describing a closed polygon + * @return The nearest possible distance to the obstacle + */ + virtual double getMinimumDistance(const Point2dContainer& polygon) const = 0; + + /** + * @brief Get the closest point on the boundary of the obstacle w.r.t. a specified reference position + * @param position reference 2d position + * @return closest point on the obstacle boundary + */ + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const = 0; + + //@} + + + + /** @name Velocity related methods for non-static, moving obstacles */ + //@{ + + /** + * @brief Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (point as reference) + * @param position 2d reference position + * @param t time, for which the minimum distance to the obstacle is estimated + * @return The nearest possible distance to the obstacle at time t + */ + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const = 0; + + /** + * @brief Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (line as reference) + * @param line_start 2d position of the begin of the reference line + * @param line_end 2d position of the end of the reference line + * @param t time, for which the minimum distance to the obstacle is estimated + * @return The nearest possible distance to the obstacle at time t + */ + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const = 0; + + /** + * @brief Get the estimated minimum spatiotemporal distance to the moving obstacle using a constant velocity model (polygon as reference) + * @param polygon Vertices (2D points) describing a closed polygon + * @param t time, for which the minimum distance to the obstacle is estimated + * @return The nearest possible distance to the obstacle at time t + */ + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const = 0; + + /** + * @brief Predict position of the centroid assuming a constant velocity model + * @param[in] t time in seconds for the prediction (t>=0) + * @param[out] position predicted 2d position of the centroid + */ + virtual void predictCentroidConstantVelocity(double t, Eigen::Ref position) const + { + position = getCentroid() + t * getCentroidVelocity(); + } + + /** + * @brief Check if the obstacle is a moving with a (non-zero) velocity + * @return \c true if the obstacle is not marked as static, \c false otherwise + */ + bool isDynamic() const {return dynamic_;} + + /** + * @brief Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid + * @remarks Setting the velocity using this function marks the obstacle as dynamic (@see isDynamic) + * @param vel 2D vector containing the velocities of the centroid in x and y directions + */ + void setCentroidVelocity(const Eigen::Ref& vel) {centroid_velocity_ = vel; dynamic_=true;} + + /** + * @brief Set the 2d velocity (vx, vy) of the obstacle w.r.t to the centroid + * @remarks Setting the velocity using this function marks the obstacle as dynamic (@see isDynamic) + * @param velocity geometry_msgs::TwistWithCovariance containing the velocity of the obstacle + * @param orientation geometry_msgs::QuaternionStamped containing the orientation of the obstacle + */ + void setCentroidVelocity(const geometry_msgs::TwistWithCovariance& velocity, + const geometry_msgs::Quaternion& orientation) + { + // Set velocity, if obstacle is moving + Eigen::Vector2d vel; + vel.coeffRef(0) = velocity.twist.linear.x; + vel.coeffRef(1) = velocity.twist.linear.y; + + // If norm of velocity is less than 0.001, consider obstacle as not dynamic + // TODO: Get rid of constant + if (vel.norm() < 0.001) + return; + + // currently velocity published by stage is already given in the map frame +// double yaw = tf::getYaw(orientation.quaternion); +// ROS_INFO("Yaw: %f", yaw); +// Eigen::Rotation2Dd rot(yaw); +// vel = rot * vel; + setCentroidVelocity(vel); + } + + void setCentroidVelocity(const geometry_msgs::TwistWithCovariance& velocity, + const geometry_msgs::QuaternionStamped& orientation) + { + setCentroidVelocity(velocity, orientation.quaternion); + } + + /** + * @brief Get the obstacle velocity (vx, vy) (w.r.t. to the centroid) + * @returns 2D vector containing the velocities of the centroid in x and y directions + */ + const Eigen::Vector2d& getCentroidVelocity() const {return centroid_velocity_;} + + //@} + + + + /** @name Helper Functions */ + //@{ + + /** + * @brief Convert the obstacle to a polygon message + * + * Convert the obstacle to a corresponding polygon msg. + * Point obstacles have one vertex, lines have two vertices + * and polygons might are implictly closed such that the start vertex must not be repeated. + * @param[out] polygon the polygon message + */ + virtual void toPolygonMsg(geometry_msgs::Polygon& polygon) = 0; + + virtual void toTwistWithCovarianceMsg(geometry_msgs::TwistWithCovariance& twistWithCovariance) + { + if (dynamic_) + { + twistWithCovariance.twist.linear.x = centroid_velocity_(0); + twistWithCovariance.twist.linear.y = centroid_velocity_(1); + } + else + { + twistWithCovariance.twist.linear.x = 0; + twistWithCovariance.twist.linear.y = 0; + } + + // TODO:Covariance + } + + //@} + +protected: + + bool dynamic_; //!< Store flag if obstacle is dynamic (resp. a moving obstacle) + Eigen::Vector2d centroid_velocity_; //!< Store the corresponding velocity (vx, vy) of the centroid (zero, if _dynamic is \c true) + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +//! Abbrev. for shared obstacle pointers +typedef boost::shared_ptr ObstaclePtr; +//! Abbrev. for shared obstacle const pointers +typedef boost::shared_ptr ObstacleConstPtr; +//! Abbrev. for containers storing multiple obstacles +typedef std::vector ObstContainer; + + + +/** + * @class PointObstacle + * @brief Implements a 2D point obstacle + */ +class PointObstacle : public Obstacle +{ +public: + + /** + * @brief Default constructor of the point obstacle class + */ + PointObstacle() : Obstacle(), pos_(Eigen::Vector2d::Zero()) + {} + + /** + * @brief Construct PointObstacle using a 2d position vector + * @param position 2d position that defines the current obstacle position + */ + PointObstacle(const Eigen::Ref< const Eigen::Vector2d>& position) : Obstacle(), pos_(position) + {} + + /** + * @brief Construct PointObstacle using x- and y-coordinates + * @param x x-coordinate + * @param y y-coordinate + */ + PointObstacle(double x, double y) : Obstacle(), pos_(Eigen::Vector2d(x,y)) + {} + + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + return getMinimumDistance(point) < min_dist; + } + + + // implements checkLineIntersection() of the base class + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const + { + // Distance Line - Circle + // refer to http://www.spieleprogrammierer.de/wiki/2D-Kollisionserkennung#Kollision_Kreis-Strecke + Eigen::Vector2d a = line_end-line_start; // not normalized! a=y-x + Eigen::Vector2d b = pos_-line_start; // b=m-x + + // Now find nearest point to circle v=x+a*t with t=a*b/(a*a) and bound to 0<=t<=1 + double t = a.dot(b)/a.dot(a); + if (t<0) t=0; // bound t (since a is not normalized, t can be scaled between 0 and 1 to parametrize the line + else if (t>1) t=1; + Eigen::Vector2d nearest_point = line_start + a*t; + + // check collision + return checkCollision(nearest_point, min_dist); + } + + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return (position-pos_).norm(); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_point_to_segment_2d(pos_, line_start, line_end); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_point_to_polygon_2d(pos_, polygon); + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const + { + return pos_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + return (pos_ + t*centroid_velocity_ - position).norm(); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + return distance_point_to_segment_2d(pos_ + t*centroid_velocity_, line_start, line_end); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + return distance_point_to_polygon_2d(pos_ + t*centroid_velocity_, polygon); + } + + // implements predictCentroidConstantVelocity() of the base class + virtual void predictCentroidConstantVelocity(double t, Eigen::Ref position) const + { + position = pos_ + t*centroid_velocity_; + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + return pos_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + return std::complex(pos_[0],pos_[1]); + } + + // Accessor methods + const Eigen::Vector2d& position() const {return pos_;} //!< Return the current position of the obstacle (read-only) + Eigen::Vector2d& position() {return pos_;} //!< Return the current position of the obstacle + double& x() {return pos_.coeffRef(0);} //!< Return the current x-coordinate of the obstacle + const double& x() const {return pos_.coeffRef(0);} //!< Return the current y-coordinate of the obstacle (read-only) + double& y() {return pos_.coeffRef(1);} //!< Return the current x-coordinate of the obstacle + const double& y() const {return pos_.coeffRef(1);} //!< Return the current y-coordinate of the obstacle (read-only) + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::Polygon& polygon) + { + polygon.points.resize(1); + polygon.points.front().x = pos_.x(); + polygon.points.front().y = pos_.y(); + polygon.points.front().z = 0; + } + +protected: + + Eigen::Vector2d pos_; //!< Store the position of the PointObstacle + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +/** + * @class CircularObstacle + * @brief Implements a 2D circular obstacle (point obstacle plus radius) + */ +class CircularObstacle : public Obstacle +{ +public: + + /** + * @brief Default constructor of the circular obstacle class + */ + CircularObstacle() : Obstacle(), pos_(Eigen::Vector2d::Zero()) + {} + + /** + * @brief Construct CircularObstacle using a 2d center position vector and radius + * @param position 2d position that defines the current obstacle position + * @param radius radius of the obstacle + */ + CircularObstacle(const Eigen::Ref< const Eigen::Vector2d>& position, double radius) : Obstacle(), pos_(position), radius_(radius) + {} + + /** + * @brief Construct CircularObstacle using x- and y-center-coordinates and radius + * @param x x-coordinate + * @param y y-coordinate + * @param radius radius of the obstacle + */ + CircularObstacle(double x, double y, double radius) : Obstacle(), pos_(Eigen::Vector2d(x,y)), radius_(radius) + {} + + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + return getMinimumDistance(point) < min_dist; + } + + + // implements checkLineIntersection() of the base class + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const + { + // Distance Line - Circle + // refer to http://www.spieleprogrammierer.de/wiki/2D-Kollisionserkennung#Kollision_Kreis-Strecke + Eigen::Vector2d a = line_end-line_start; // not normalized! a=y-x + Eigen::Vector2d b = pos_-line_start; // b=m-x + + // Now find nearest point to circle v=x+a*t with t=a*b/(a*a) and bound to 0<=t<=1 + double t = a.dot(b)/a.dot(a); + if (t<0) t=0; // bound t (since a is not normalized, t can be scaled between 0 and 1 to parametrize the line + else if (t>1) t=1; + Eigen::Vector2d nearest_point = line_start + a*t; + + // check collision + return checkCollision(nearest_point, min_dist); + } + + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return (position-pos_).norm() - radius_; + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_point_to_segment_2d(pos_, line_start, line_end) - radius_; + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_point_to_polygon_2d(pos_, polygon) - radius_; + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const + { + return pos_ + radius_*(position-pos_).normalized(); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + return (pos_ + t*centroid_velocity_ - position).norm() - radius_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + return distance_point_to_segment_2d(pos_ + t*centroid_velocity_, line_start, line_end) - radius_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + return distance_point_to_polygon_2d(pos_ + t*centroid_velocity_, polygon) - radius_; + } + + // implements predictCentroidConstantVelocity() of the base class + virtual void predictCentroidConstantVelocity(double t, Eigen::Ref position) const + { + position = pos_ + t*centroid_velocity_; + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + return pos_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + return std::complex(pos_[0],pos_[1]); + } + + // Accessor methods + const Eigen::Vector2d& position() const {return pos_;} //!< Return the current position of the obstacle (read-only) + Eigen::Vector2d& position() {return pos_;} //!< Return the current position of the obstacle + double& x() {return pos_.coeffRef(0);} //!< Return the current x-coordinate of the obstacle + const double& x() const {return pos_.coeffRef(0);} //!< Return the current y-coordinate of the obstacle (read-only) + double& y() {return pos_.coeffRef(1);} //!< Return the current x-coordinate of the obstacle + const double& y() const {return pos_.coeffRef(1);} //!< Return the current y-coordinate of the obstacle (read-only) + double& radius() {return radius_;} //!< Return the current radius of the obstacle + const double& radius() const {return radius_;} //!< Return the current radius of the obstacle + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::Polygon& polygon) + { + // TODO(roesmann): the polygon message type cannot describe a "perfect" circle + // We could switch to ObstacleMsg if required somewhere... + polygon.points.resize(1); + polygon.points.front().x = pos_.x(); + polygon.points.front().y = pos_.y(); + polygon.points.front().z = 0; + } + +protected: + + Eigen::Vector2d pos_; //!< Store the center position of the CircularObstacle + double radius_ = 0.0; //!< Radius of the obstacle + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +/** +* @class LineObstacle +* @brief Implements a 2D line obstacle +*/ + +class LineObstacle : public Obstacle +{ +public: + //! Abbrev. for a container storing vertices (2d points defining the edge points of the polygon) + typedef std::vector > VertexContainer; + + /** + * @brief Default constructor of the point obstacle class + */ + LineObstacle() : Obstacle() + { + start_.setZero(); + end_.setZero(); + centroid_.setZero(); + } + + /** + * @brief Construct LineObstacle using 2d position vectors as start and end of the line + * @param line_start 2d position that defines the start of the line obstacle + * @param line_end 2d position that defines the end of the line obstacle + */ + LineObstacle(const Eigen::Ref< const Eigen::Vector2d>& line_start, const Eigen::Ref< const Eigen::Vector2d>& line_end) + : Obstacle(), start_(line_start), end_(line_end) + { + calcCentroid(); + } + + /** + * @brief Construct LineObstacle using start and end coordinates + * @param x1 x-coordinate of the start of the line + * @param y1 y-coordinate of the start of the line + * @param x2 x-coordinate of the end of the line + * @param y2 y-coordinate of the end of the line + */ + LineObstacle(double x1, double y1, double x2, double y2) : Obstacle() + { + start_.x() = x1; + start_.y() = y1; + end_.x() = x2; + end_.y() = y2; + calcCentroid(); + } + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + return getMinimumDistance(point) <= min_dist; + } + + // implements checkLineIntersection() of the base class + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const + { + return check_line_segments_intersection_2d(line_start, line_end, start_, end_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return distance_point_to_segment_2d(position, start_, end_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_segment_to_segment_2d(start_, end_, line_start, line_end); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_segment_to_polygon_2d(start_, end_, polygon); + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const + { + return closest_point_on_line_segment_2d(position, start_, end_); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_point_to_segment_2d(position, start_ + offset, end_ + offset); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_segment_to_segment_2d(start_ + offset, end_ + offset, line_start, line_end); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_segment_to_polygon_2d(start_ + offset, end_ + offset, polygon); + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + return centroid_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + return std::complex(centroid_.x(), centroid_.y()); + } + + // Access or modify line + const Eigen::Vector2d& start() const {return start_;} + void setStart(const Eigen::Ref& start) {start_ = start; calcCentroid();} + const Eigen::Vector2d& end() const {return end_;} + void setEnd(const Eigen::Ref& end) {end_ = end; calcCentroid();} + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::Polygon& polygon) + { + polygon.points.resize(2); + polygon.points.front().x = start_.x(); + polygon.points.front().y = start_.y(); + + polygon.points.back().x = end_.x(); + polygon.points.back().y = end_.y(); + polygon.points.back().z = polygon.points.front().z = 0; + } + +protected: + void calcCentroid() { centroid_ = 0.5*(start_ + end_); } + +private: + Eigen::Vector2d start_; + Eigen::Vector2d end_; + + Eigen::Vector2d centroid_; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +/** +* @class PillObstacle +* @brief Implements a 2D pill/stadium/capsular-shaped obstacle (line + distance/radius) +*/ + +class PillObstacle : public Obstacle +{ +public: + + /** + * @brief Default constructor of the point obstacle class + */ + PillObstacle() : Obstacle() + { + start_.setZero(); + end_.setZero(); + centroid_.setZero(); + } + + /** + * @brief Construct LineObstacle using 2d position vectors as start and end of the line + * @param line_start 2d position that defines the start of the line obstacle + * @param line_end 2d position that defines the end of the line obstacle + */ + PillObstacle(const Eigen::Ref< const Eigen::Vector2d>& line_start, const Eigen::Ref< const Eigen::Vector2d>& line_end, double radius) + : Obstacle(), start_(line_start), end_(line_end), radius_(radius) + { + calcCentroid(); + } + + /** + * @brief Construct LineObstacle using start and end coordinates + * @param x1 x-coordinate of the start of the line + * @param y1 y-coordinate of the start of the line + * @param x2 x-coordinate of the end of the line + * @param y2 y-coordinate of the end of the line + */ + PillObstacle(double x1, double y1, double x2, double y2, double radius) : Obstacle(), radius_(radius) + { + start_.x() = x1; + start_.y() = y1; + end_.x() = x2; + end_.y() = y2; + calcCentroid(); + } + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + return getMinimumDistance(point) <= min_dist; + } + + // implements checkLineIntersection() of the base class + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const + { + return check_line_segments_intersection_2d(line_start, line_end, start_, end_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return distance_point_to_segment_2d(position, start_, end_) - radius_; + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_segment_to_segment_2d(start_, end_, line_start, line_end) - radius_; + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_segment_to_polygon_2d(start_, end_, polygon) - radius_; + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const + { + Eigen::Vector2d closed_point_line = closest_point_on_line_segment_2d(position, start_, end_); + return closed_point_line + radius_*(position-closed_point_line).normalized(); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_point_to_segment_2d(position, start_ + offset, end_ + offset) - radius_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_segment_to_segment_2d(start_ + offset, end_ + offset, line_start, line_end) - radius_; + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + Eigen::Vector2d offset = t*centroid_velocity_; + return distance_segment_to_polygon_2d(start_ + offset, end_ + offset, polygon) - radius_; + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + return centroid_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + return std::complex(centroid_.x(), centroid_.y()); + } + + // Access or modify line + const Eigen::Vector2d& start() const {return start_;} + void setStart(const Eigen::Ref& start) {start_ = start; calcCentroid();} + const Eigen::Vector2d& end() const {return end_;} + void setEnd(const Eigen::Ref& end) {end_ = end; calcCentroid();} + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::Polygon& polygon) + { + // Currently, we only export the line + // TODO(roesmann): export whole pill + polygon.points.resize(2); + polygon.points.front().x = start_.x(); + polygon.points.front().y = start_.y(); + + polygon.points.back().x = end_.x(); + polygon.points.back().y = end_.y(); + polygon.points.back().z = polygon.points.front().z = 0; + } + +protected: + void calcCentroid() { centroid_ = 0.5*(start_ + end_); } + +private: + Eigen::Vector2d start_; + Eigen::Vector2d end_; + double radius_ = 0.0; + + Eigen::Vector2d centroid_; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +/** + * @class PolygonObstacle + * @brief Implements a polygon obstacle with an arbitrary number of vertices + * @details If the polygon has only 2 vertices, than it is considered as a line, + * otherwise the polygon will always be closed (a connection between the first and the last vertex + * is included automatically). + */ +class PolygonObstacle : public Obstacle +{ +public: + + /** + * @brief Default constructor of the polygon obstacle class + */ + PolygonObstacle() : Obstacle(), finalized_(false) + { + centroid_.setConstant(NAN); + } + + /** + * @brief Construct polygon obstacle with a list of vertices + */ + PolygonObstacle(const Point2dContainer& vertices) : Obstacle(), vertices_(vertices) + { + finalizePolygon(); + } + + + /* FIXME Not working at the moment due to the aligned allocator version of std::vector + * And it is C++11 code that is disabled atm to ensure compliance with ROS indigo/jade + template + PolygonObstacle(const Vector2dType&... vertices) : _vertices({vertices...}) + { + calcCentroid(); + _finalized = true; + } + */ + + + // implements checkCollision() of the base class + virtual bool checkCollision(const Eigen::Vector2d& point, double min_dist) const + { + // line case + if (noVertices()==2) + return getMinimumDistance(point) <= min_dist; + + // check if point is in the interior of the polygon + // point in polygon test - raycasting (http://www.ecse.rpi.edu/Homepages/wrf/Research/Short_Notes/pnpoly.html) + // using the following algorithm we may obtain false negatives on edge-cases, but that's ok for our purposes + int i, j; + bool c = false; + for (i = 0, j = noVertices()-1; i < noVertices(); j = i++) + { + if ( ((vertices_.at(i).y()>point.y()) != (vertices_.at(j).y()>point.y())) && + (point.x() < (vertices_.at(j).x()-vertices_.at(i).x()) * (point.y()-vertices_.at(i).y()) / (vertices_.at(j).y()-vertices_.at(i).y()) + vertices_.at(i).x()) ) + c = !c; + } + if (c>0) return true; + + // If this statement is reached, the point lies outside the polygon or maybe on its edges + // Let us check the minium distance as well + return min_dist == 0 ? false : getMinimumDistance(point) < min_dist; + } + + + /** + * @brief Check if a given line segment between two points intersects with the obstacle (and additionally keeps a safty distance \c min_dist) + * @param line_start 2D point for the end of the reference line + * @param line_end 2D point for the end of the reference line + * @param min_dist Minimum distance allowed to the obstacle to be collision/intersection free + * @remarks we ignore \c min_dist here + * @return \c true if given line intersects the region of the obstacle or if the minimum distance is lower than min_dist + */ + virtual bool checkLineIntersection(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double min_dist=0) const; + + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& position) const + { + return distance_point_to_polygon_2d(position, vertices_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) const + { + return distance_segment_to_polygon_2d(line_start, line_end, vertices_); + } + + // implements getMinimumDistance() of the base class + virtual double getMinimumDistance(const Point2dContainer& polygon) const + { + return distance_polygon_to_polygon_2d(polygon, vertices_); + } + + // implements getMinimumDistanceVec() of the base class + virtual Eigen::Vector2d getClosestPoint(const Eigen::Vector2d& position) const; + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& position, double t) const + { + Point2dContainer pred_vertices; + predictVertices(t, pred_vertices); + return distance_point_to_polygon_2d(position, pred_vertices); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, double t) const + { + Point2dContainer pred_vertices; + predictVertices(t, pred_vertices); + return distance_segment_to_polygon_2d(line_start, line_end, pred_vertices); + } + + // implements getMinimumSpatioTemporalDistance() of the base class + virtual double getMinimumSpatioTemporalDistance(const Point2dContainer& polygon, double t) const + { + Point2dContainer pred_vertices; + predictVertices(t, pred_vertices); + return distance_polygon_to_polygon_2d(polygon, pred_vertices); + } + + virtual void predictVertices(double t, Point2dContainer& pred_vertices) const + { + // Predict obstacle (polygon) at time t + pred_vertices.resize(vertices_.size()); + Eigen::Vector2d offset = t*centroid_velocity_; + for (std::size_t i = 0; i < vertices_.size(); i++) + { + pred_vertices[i] = vertices_[i] + offset; + } + } + + // implements getCentroid() of the base class + virtual const Eigen::Vector2d& getCentroid() const + { + assert(finalized_ && "Finalize the polygon after all vertices are added."); + return centroid_; + } + + // implements getCentroidCplx() of the base class + virtual std::complex getCentroidCplx() const + { + assert(finalized_ && "Finalize the polygon after all vertices are added."); + return std::complex(centroid_.coeffRef(0), centroid_.coeffRef(1)); + } + + // implements toPolygonMsg() of the base class + virtual void toPolygonMsg(geometry_msgs::Polygon& polygon); + + + /** @name Define the polygon */ + ///@{ + + // Access or modify polygon + const Point2dContainer& vertices() const {return vertices_;} //!< Access vertices container (read-only) + Point2dContainer& vertices() {return vertices_;} //!< Access vertices container + + /** + * @brief Add a vertex to the polygon (edge-point) + * @remarks You do not need to close the polygon (do not repeat the first vertex) + * @warning Do not forget to call finalizePolygon() after adding all vertices + * @param vertex 2D point defining a new polygon edge + */ + void pushBackVertex(const Eigen::Ref& vertex) + { + vertices_.push_back(vertex); + finalized_ = false; + } + + /** + * @brief Add a vertex to the polygon (edge-point) + * @remarks You do not need to close the polygon (do not repeat the first vertex) + * @warning Do not forget to call finalizePolygon() after adding all vertices + * @param x x-coordinate of the new vertex + * @param y y-coordinate of the new vertex + */ + void pushBackVertex(double x, double y) + { + vertices_.push_back(Eigen::Vector2d(x,y)); + finalized_ = false; + } + + /** + * @brief Call finalizePolygon after the polygon is created with the help of pushBackVertex() methods + */ + void finalizePolygon() + { + fixPolygonClosure(); + calcCentroid(); + finalized_ = true; + } + + /** + * @brief Clear all vertices (Afterwards the polygon is not valid anymore) + */ + void clearVertices() {vertices_.clear(); finalized_ = false;} + + /** + * @brief Get the number of vertices defining the polygon (the first vertex is counted once) + */ + int noVertices() const {return (int)vertices_.size();} + + + ///@} + +protected: + + void fixPolygonClosure(); //!< Check if the current polygon contains the first vertex twice (as start and end) and in that case erase the last redundant one. + + void calcCentroid(); //!< Compute the centroid of the polygon (called inside finalizePolygon()) + + + Point2dContainer vertices_; //!< Store vertices defining the polygon (@see pushBackVertex) + Eigen::Vector2d centroid_; //!< Store the centroid coordinates of the polygon (@see calcCentroid) + + bool finalized_; //!< Flat that keeps track if the polygon was finalized after adding all vertices + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +} // namespace teb_local_planner + +#endif /* OBSTACLES_H */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/optimal_planner.h b/navigations/teb_local_planner/include/teb_local_planner/optimal_planner.h new file mode 100755 index 0000000..3f87b83 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/optimal_planner.h @@ -0,0 +1,714 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef OPTIMAL_PLANNER_H_ +#define OPTIMAL_PLANNER_H_ + +#include + + +// teb stuff +#include +#include +#include +#include +#include +#include + +// g2o lib stuff +#include +#include +#include +#include +#include +#include +#include + +// messages +#include +#include +#include +#include + +#include +#include + +namespace teb_local_planner +{ + +//! Typedef for the block solver utilized for optimization +typedef g2o::BlockSolver< g2o::BlockSolverTraits<-1, -1> > TEBBlockSolver; + +//! Typedef for the linear solver utilized for optimization +typedef g2o::LinearSolverCSparse TEBLinearSolver; +//typedef g2o::LinearSolverCholmod TEBLinearSolver; + +//! Typedef for a container storing via-points +typedef std::vector< Eigen::Vector2d, Eigen::aligned_allocator > ViaPointContainer; + + +/** + * @class TebOptimalPlanner + * @brief This class optimizes an internal Timed Elastic Band trajectory using the g2o-framework. + * + * For an introduction and further details about the TEB optimization problem refer to: + * - C. Rösmann et al.: Trajectory modification considering dynamic constraints of autonomous robots, ROBOTIK, 2012. + * - C. Rösmann et al.: Efficient trajectory optimization using a sparse model, ECMR, 2013. + * - R. Kümmerle et al.: G2o: A general framework for graph optimization, ICRA, 2011. + * + * @todo: Call buildGraph() only if the teb structure has been modified to speed up hot-starting from previous solutions. + * @todo: We introduced the non-fast mode with the support of dynamic obstacles + * (which leads to better results in terms of x-y-t homotopy planning). + * However, we have not tested this mode intensively yet, so we keep + * the legacy fast mode as default until we finish our tests. + */ +class TebOptimalPlanner : public PlannerInterface +{ +public: + + /** + * @brief Default constructor + */ + TebOptimalPlanner(); + + /** + * @brief Construct and initialize the TEB optimal planner. + * @param cfg Const reference to the TebConfig class for internal parameters + * @param obstacles Container storing all relevant obstacles (see Obstacle) + * @param robot_model Shared pointer to the robot shape model used for optimization (optional) + * @param visual Shared pointer to the TebVisualization class (optional) + * @param via_points Container storing via-points (optional) + */ + TebOptimalPlanner(const TebConfig& cfg, ObstContainer* obstacles = NULL, RobotFootprintModelPtr robot_model = boost::make_shared(), + TebVisualizationPtr visual = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL); + + /** + * @brief Destruct the optimal planner. + */ + virtual ~TebOptimalPlanner(); + + /** + * @brief Initializes the optimal planner + * @param cfg Const reference to the TebConfig class for internal parameters + * @param obstacles Container storing all relevant obstacles (see Obstacle) + * @param robot_model Shared pointer to the robot shape model used for optimization (optional) + * @param visual Shared pointer to the TebVisualization class (optional) + * @param via_points Container storing via-points (optional) + */ + void initialize(const TebConfig& cfg, ObstContainer* obstacles = NULL, RobotFootprintModelPtr robot_model = boost::make_shared(), + TebVisualizationPtr visual = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL); + + /** + * @param robot_model Shared pointer to the robot shape model used for optimization (optional) + */ + void updateRobotModel(RobotFootprintModelPtr robot_model ); + + /** @name Plan a trajectory */ + //@{ + + /** + * @brief Plan a trajectory based on an initial reference plan. + * + * Call this method to create and optimize a trajectory that is initialized + * according to an initial reference plan (given as a container of poses). \n + * The method supports hot-starting from previous solutions, if avaiable: \n + * - If no trajectory exist yet, a new trajectory is initialized based on the initial plan, + * see TimedElasticBand::initTEBtoGoal + * - If a previous solution is avaiable, update the trajectory based on the initial plan, + * see bool TimedElasticBand::updateAndPruneTEB + * - Afterwards optimize the recently initialized or updated trajectory by calling optimizeTEB() and invoking g2o + * @param initial_plan vector of geometry_msgs::PoseStamped + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x, linear.y (holonomic) and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const std::vector& initial_plan, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Plan a trajectory between a given start and goal pose (tf::Pose version) + * + * Call this method to create and optimize a trajectory that is initialized between a given start and goal pose. \n + * The method supports hot-starting from previous solutions, if avaiable: \n + * - If no trajectory exist yet, a new trajectory is initialized between start and goal poses, + * see TimedElasticBand::initTEBtoGoal + * - If a previous solution is avaiable, update the trajectory @see bool TimedElasticBand::updateAndPruneTEB + * - Afterwards optimize the recently initialized or updated trajectory by calling optimizeTEB() and invoking g2o + * @param start tf::Pose containing the start pose of the trajectory + * @param goal tf::Pose containing the goal pose of the trajectory + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x, linear.y (holonomic) and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false); + + /** + * @brief Plan a trajectory between a given start and goal pose + * + * Call this method to create and optimize a trajectory that is initialized between a given start and goal pose. \n + * The method supports hot-starting from previous solutions, if avaiable: \n + * - If no trajectory exist yet, a new trajectory is initialized between start and goal poses + * @see TimedElasticBand::initTEBtoGoal + * - If a previous solution is avaiable, update the trajectory @see bool TimedElasticBand::updateAndPruneTEB + * - Afterwards optimize the recently initialized or updated trajectory by calling optimizeTEB() and invoking g2o + * @param start PoseSE2 containing the start pose of the trajectory + * @param goal PoseSE2 containing the goal pose of the trajectory + * @param start_vel Initial velocity at the start pose (twist message containing the translational and angular velocity). + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false); + + + /** + * @brief Get the velocity command from a previously optimized plan to control the robot at the current sampling interval. + * @warning Call plan() first and check if the generated plan is feasible. + * @param[out] vx translational velocity [m/s] + * @param[out] vy strafing velocity which can be nonzero for holonomic robots[m/s] + * @param[out] omega rotational velocity [rad/s] + * @param[in] look_ahead_poses index of the final pose used to compute the velocity command. + * @return \c true if command is valid, \c false otherwise + */ + virtual bool getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const; + + + /** + * @brief Optimize a previously initialized trajectory (actual TEB optimization loop). + * + * optimizeTEB implements the main optimization loop. \n + * It consist of two nested loops: + * - The outer loop resizes the trajectory according to the temporal resolution by invoking TimedElasticBand::autoResize(). + * Afterwards the internal method optimizeGraph() is called that constitutes the innerloop. + * - The inner loop calls the solver (g2o framework, resp. sparse Levenberg-Marquardt) and iterates a specified + * number of optimization calls (\c iterations_innerloop). + * + * The outer loop is repeated \c iterations_outerloop times. \n + * The ratio of inner and outer loop iterations significantly defines the contraction behavior + * and convergence rate of the trajectory optimization. Based on our experiences, 2-6 innerloop iterations are sufficient. \n + * The number of outer loop iterations should be determined by considering the maximum CPU time required to match the control rate. \n + * Optionally, the cost vector can be calculated by specifying \c compute_cost_afterwards, see computeCurrentCost(). + * @remarks This method is usually called from a plan() method + * @param iterations_innerloop Number of iterations for the actual solver loop + * @param iterations_outerloop Specifies how often the trajectory should be resized followed by the inner solver loop. + * @param compute_cost_afterwards if \c true Calculate the cost vector according to computeCurrentCost(), + * the vector can be accessed afterwards using getCurrentCost(). + * @param obst_cost_scale Specify extra scaling for obstacle costs (only used if \c compute_cost_afterwards is true) + * @param viapoint_cost_scale Specify extra scaling for via-point costs (only used if \c compute_cost_afterwards is true) + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time + * (only used if \c compute_cost_afterwards is true). + * @return \c true if the optimization terminates successfully, \c false otherwise + */ + bool optimizeTEB(int iterations_innerloop, int iterations_outerloop, bool compute_cost_afterwards = false, + double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false); + + //@} + + + /** @name Desired initial and final velocity */ + //@{ + + + /** + * @brief Set the initial velocity at the trajectory's start pose (e.g. the robot's velocity) [twist overload]. + * @remarks Calling this function is not neccessary if the initial velocity is passed via the plan() method + * @param vel_start Current start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used, + * for holonomic robots also linear.y) + */ + void setVelocityStart(const geometry_msgs::Twist& vel_start); + + /** + * @brief Set the desired final velocity at the trajectory's goal pose. + * @remarks Call this function only if a non-zero velocity is desired and if \c free_goal_vel is set to \c false in plan() + * @param vel_goal twist message containing the translational and angular final velocity + */ + void setVelocityGoal(const geometry_msgs::Twist& vel_goal); + + /** + * @brief Set the desired final velocity at the trajectory's goal pose to be the maximum velocity limit + * @remarks Calling this function is not neccessary if \c free_goal_vel is set to \c false in plan() + */ + void setVelocityGoalFree() {vel_goal_.first = false;} + + //@} + + + /** @name Take obstacles into account */ + //@{ + + + /** + * @brief Assign a new set of obstacles + * @param obst_vector pointer to an obstacle container (can also be a nullptr) + * @remarks This method overrids the obstacle container optinally assigned in the constructor. + */ + void setObstVector(ObstContainer* obst_vector) {obstacles_ = obst_vector;} + + /** + * @brief Access the internal obstacle container. + * @return Const reference to the obstacle container + */ + const ObstContainer& getObstVector() const {return *obstacles_;} + + //@} + + /** @name Take via-points into account */ + //@{ + + + /** + * @brief Assign a new set of via-points + * @param via_points pointer to a via_point container (can also be a nullptr) + * @details Any previously set container will be overwritten. + */ + void setViaPoints(const ViaPointContainer* via_points) {via_points_ = via_points;} + + /** + * @brief Access the internal via-point container. + * @return Const reference to the via-point container + */ + const ViaPointContainer& getViaPoints() const {return *via_points_;} + + //@} + + + /** @name Visualization */ + //@{ + + /** + * @brief Register a TebVisualization class to enable visiualization routines (e.g. publish the local plan and pose sequence) + * @param visualization shared pointer to a TebVisualization instance + * @see visualize + */ + void setVisualization(TebVisualizationPtr visualization); + + /** + * @brief Publish the local plan and pose sequence via ros topics (e.g. subscribe with rviz). + * + * Make sure to register a TebVisualization instance before using setVisualization() or an overlaoded constructor. + * @see setVisualization + */ + virtual void visualize(); + + //@} + + + /** @name Utility methods and more */ + //@{ + + /** + * @brief Reset the planner by clearing the internal graph and trajectory. + */ + virtual void clearPlanner() + { + clearGraph(); + teb_.clearTimedElasticBand(); + } + + /** + * @brief Prefer a desired initial turning direction (by penalizing the opposing one) + * + * A desired (initial) turning direction might be specified in case the planned trajectory oscillates between two + * solutions (in the same equivalence class!) with similar cost. Check the parameters in order to adjust the weight of the penalty. + * Initial means that the penalty is applied only to the first few poses of the trajectory. + * @param dir This parameter might be RotType::left (prefer left), RotType::right (prefer right) or RotType::none (prefer none) + */ + virtual void setPreferredTurningDir(RotType dir) {prefer_rotdir_=dir;} + + /** + * @brief Register the vertices and edges defined for the TEB to the g2o::Factory. + * + * This allows the user to export the internal graph to a text file for instance. + * Access the optimizer() for more details. + */ + static void registerG2OTypes(); + + /** + * @brief Access the internal TimedElasticBand trajectory. + * @warning In general, the underlying teb must not be modified directly. Use with care... + * @return reference to the teb + */ + TimedElasticBand& teb() {return teb_;}; + + /** + * @brief Access the internal TimedElasticBand trajectory (read-only). + * @return const reference to the teb + */ + const TimedElasticBand& teb() const {return teb_;}; + + /** + * @brief Access the internal g2o optimizer. + * @warning In general, the underlying optimizer must not be modified directly. Use with care... + * @return const shared pointer to the g2o sparse optimizer + */ + boost::shared_ptr optimizer() {return optimizer_;}; + + /** + * @brief Access the internal g2o optimizer (read-only). + * @return const shared pointer to the g2o sparse optimizer + */ + boost::shared_ptr optimizer() const {return optimizer_;}; + + /** + * @brief Check if last optimization was successful + * @return \c true if the last optimization returned without errors, + * otherwise \c false (also if no optimization has been called before). + */ + bool isOptimized() const {return optimized_;}; + + /** + * @brief Returns true if the planner has diverged. + */ + bool hasDiverged() const override; + + /** + * @brief Compute the cost vector of a given optimization problen (hyper-graph must exist). + * + * Use this method to obtain information about the current edge errors / costs (local cost functions). \n + * The vector of cost values is composed according to the different edge types (time_optimal, obstacles, ...). \n + * Refer to the method declaration for the detailed composition. \n + * The cost for the edges that minimize time differences (EdgeTimeOptimal) corresponds to the sum of all single + * squared time differneces: \f$ \sum_i \Delta T_i^2 \f$. Sometimes, the user may want to get a value that is proportional + * or identical to the actual trajectory transition time \f$ \sum_i \Delta T_i \f$. \n + * Set \c alternative_time_cost to true in order to get the cost calculated using the latter equation, but check the + * implemented definition, if the value is scaled to match the magnitude of other cost values. + * + * @todo Remove the scaling term for the alternative time cost. + * @todo Can we use the last error (chi2) calculated from g2o instead of calculating it by ourself? + * @see getCurrentCost + * @see optimizeTEB + * @param obst_cost_scale Specify extra scaling for obstacle costs. + * @param viapoint_cost_scale Specify extra scaling for via points. + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time. + * @return TebCostVec containing the cost values + */ + void computeCurrentCost(double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false); + + /** + * Compute and return the cost of the current optimization graph (supports multiple trajectories) + * @param[out] cost current cost value for each trajectory + * [for a planner with just a single trajectory: size=1, vector will not be cleared] + * @param obst_cost_scale Specify extra scaling for obstacle costs + * @param viapoint_cost_scale Specify extra scaling for via points. + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time + */ + virtual void computeCurrentCost(std::vector& cost, double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false) + { + computeCurrentCost(obst_cost_scale, viapoint_cost_scale, alternative_time_cost); + cost.push_back( getCurrentCost() ); + } + + /** + * @brief Access the cost vector. + * + * The accumulated cost value previously calculated using computeCurrentCost + * or by calling optimizeTEB with enabled cost flag. + * @return const reference to the TebCostVec. + */ + double getCurrentCost() const {return cost_;} + + + /** + * @brief Extract the velocity from consecutive poses and a time difference (including strafing velocity for holonomic robots) + * + * The velocity is extracted using finite differences. + * The direction of the translational velocity is also determined. + * @param pose1 pose at time k + * @param pose2 consecutive pose at time k+1 + * @param dt actual time difference between k and k+1 (must be >0 !!!) + * @param[out] vx translational velocity + * @param[out] vy strafing velocity which can be nonzero for holonomic robots + * @param[out] omega rotational velocity + */ + inline void extractVelocity(const PoseSE2& pose1, const PoseSE2& pose2, double dt, double& vx, double& vy, double& omega) const; + + /** + * @brief Compute the velocity profile of the trajectory + * + * This method computes the translational and rotational velocity for the complete + * planned trajectory. + * The first velocity is the one that is provided as initial velocity (fixed). + * Velocities at index k=2...end-1 are related to the transition from pose_{k-1} to pose_k. + * The last velocity is the final velocity (fixed). + * The number of Twist objects is therefore sizePoses()+1; + * In summary: + * v[0] = v_start, + * v[1,...end-1] = +-(pose_{k+1}-pose{k})/dt, + * v(end) = v_goal + * It can be used for evaluation and debugging purposes or + * for open-loop control. For computing the velocity required for controlling the robot + * to the next step refer to getVelocityCommand(). + * @param[out] velocity_profile velocity profile will be written to this vector (after clearing any existing content) with the size=no_poses+1 + */ + void getVelocityProfile(std::vector& velocity_profile) const; + + /** + * @brief Return the complete trajectory including poses, velocity profiles and temporal information + * + * It is useful for evaluation and debugging purposes or for open-loop control. + * Since the velocity obtained using difference quotients is the mean velocity between consecutive poses, + * the velocity at each pose at time stamp k is obtained by taking the average between both velocities. + * The velocity of the first pose is v_start (provided initial value) and the last one is v_goal (usually zero, if free_goal_vel is off). + * See getVelocityProfile() for the list of velocities between consecutive points. + * @todo The acceleration profile is not added at the moment. + * @param[out] trajectory the resulting trajectory + */ + void getFullTrajectory(std::vector& trajectory) const; + + /** + * @brief Check whether the planned trajectory is feasible or not. + * + * This method currently checks only that the trajectory, or a part of the trajectory is collision free. + * Obstacles are here represented as costmap instead of the internal ObstacleContainer. + * @param costmap_model Pointer to the costmap model + * @param footprint_spec The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @param look_ahead_idx Number of poses along the trajectory that should be verified, if -1, the complete trajectory will be checked. + * @return \c true, if the robot footprint along the first part of the trajectory intersects with + * any obstacle in the costmap, \c false otherwise. + */ + virtual bool isTrajectoryFeasible(base_local_planner::CostmapModel* costmap_model, const std::vector& footprint_spec, double inscribed_radius = 0.0, + double circumscribed_radius=0.0, int look_ahead_idx=-1, double feasibility_check_lookahead_distance=-1.0); + + //@} + +protected: + + /** @name Hyper-Graph creation and optimization */ + //@{ + + /** + * @brief Build the hyper-graph representing the TEB optimization problem. + * + * This method creates the optimization problem according to the hyper-graph formulation. \n + * For more details refer to the literature cited in the TebOptimalPlanner class description. + * @see optimizeGraph + * @see clearGraph + * @param weight_multiplier Specify a weight multipler for selected weights in optimizeGraph + * This might be used for weight adapation strategies. + * Currently, only obstacle collision weights are considered. + * @return \c true, if the graph was created successfully, \c false otherwise. + */ + bool buildGraph(double weight_multiplier=1.0); + + /** + * @brief Optimize the previously constructed hyper-graph to deform / optimize the TEB. + * + * This method invokes the g2o framework to solve the optimization problem considering dedicated sparsity patterns. \n + * The current implementation calls a non-constrained sparse Levenberg-Marquardt algorithm. Constraints are considered + * by utilizing penalty approximations. Refer to the literature cited in the TebOptimalPlanner class description. + * @see buildGraph + * @see clearGraph + * @param no_iterations Number of solver iterations + * @param clear_after Clear the graph after optimization. + * @return \c true, if optimization terminates successfully, \c false otherwise. + */ + bool optimizeGraph(int no_iterations, bool clear_after=true); + + /** + * @brief Clear an existing internal hyper-graph. + * @see buildGraph + * @see optimizeGraph + */ + void clearGraph(); + + /** + * @brief Add all relevant vertices to the hyper-graph as optimizable variables. + * + * Vertices (if unfixed) represent the variables that will be optimized. \n + * In case of the Timed-Elastic-Band poses and time differences form the vertices of the hyper-graph. \n + * The order of insertion of vertices (to the graph) is important for efficiency, + * since it affect the sparsity pattern of the underlying hessian computed for optimization. + * @see VertexPose + * @see VertexTimeDiff + * @see buildGraph + * @see optimizeGraph + */ + void AddTEBVertices(); + + /** + * @brief Add all edges (local cost functions) for limiting the translational and angular velocity. + * @see EdgeVelocity + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesVelocity(); + + /** + * @brief Add all edges (local cost functions) for limiting the translational and angular acceleration. + * @see EdgeAcceleration + * @see EdgeAccelerationStart + * @see EdgeAccelerationGoal + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesAcceleration(); + + /** + * @brief Add all edges (local cost functions) for minimizing the transition time (resp. minimize time differences) + * @see EdgeTimeOptimal + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesTimeOptimal(); + + /** + * @brief Add all edges (local cost functions) for minimizing the path length + * @see EdgeShortestPath + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesShortestPath(); + + /** + * @brief Add all edges (local cost functions) related to keeping a distance from static obstacles + * @warning do not combine with AddEdgesInflatedObstacles + * @see EdgeObstacle + * @see buildGraph + * @see optimizeGraph + * @param weight_multiplier Specify an additional weight multipler (in addition to the the config weight) + */ + void AddEdgesObstacles(double weight_multiplier=1.0); + + /** + * @brief Add all edges (local cost functions) related to keeping a distance from static obstacles (legacy association strategy) + * @see EdgeObstacle + * @see buildGraph + * @see optimizeGraph + * @param weight_multiplier Specify an additional weight multipler (in addition to the the config weight) + */ + void AddEdgesObstaclesLegacy(double weight_multiplier=1.0); + + /** + * @brief Add all edges (local cost functions) related to minimizing the distance to via-points + * @see EdgeViaPoint + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesViaPoints(); + + /** + * @brief Add all edges (local cost functions) related to keeping a distance from dynamic (moving) obstacles. + * @warning experimental + * @todo Should we also add neighbors to decrease jiggling/oscillations + * @see EdgeDynamicObstacle + * @see buildGraph + * @see optimizeGraph + * @param weight_multiplier Specify an additional weight multipler (in addition to the the config weight) + + */ + void AddEdgesDynamicObstacles(double weight_multiplier=1.0); + + /** + * @brief Add all edges (local cost functions) for satisfying kinematic constraints of a differential drive robot + * @warning do not combine with AddEdgesKinematicsCarlike() + * @see AddEdgesKinematicsCarlike + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesKinematicsDiffDrive(); + + /** + * @brief Add all edges (local cost functions) for satisfying kinematic constraints of a carlike robot + * @warning do not combine with AddEdgesKinematicsDiffDrive() + * @see AddEdgesKinematicsDiffDrive + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesKinematicsCarlike(); + + /** + * @brief Add all edges (local cost functions) for prefering a specifiy turning direction (by penalizing the other one) + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesPreferRotDir(); + + /** + * @brief Add all edges (local cost function) for reducing the velocity of a vertex due to its associated obstacles + * @see buildGraph + * @see optimizeGraph + */ + void AddEdgesVelocityObstacleRatio(); + + //@} + + + /** + * @brief Initialize and configure the g2o sparse optimizer. + * @return shared pointer to the g2o::SparseOptimizer instance + */ + boost::shared_ptr initOptimizer(); + + + // external objects (store weak pointers) + const TebConfig* cfg_; //!< Config class that stores and manages all related parameters + ObstContainer* obstacles_; //!< Store obstacles that are relevant for planning + const ViaPointContainer* via_points_; //!< Store via points for planning + std::vector obstacles_per_vertex_; //!< Store the obstacles associated with the n-1 initial vertices + + double cost_; //!< Store cost value of the current hyper-graph + RotType prefer_rotdir_; //!< Store whether to prefer a specific initial rotation in optimization (might be activated in case the robot oscillates) + + // internal objects (memory management owned) + TebVisualizationPtr visualization_; //!< Instance of the visualization class + TimedElasticBand teb_; //!< Actual trajectory object + RobotFootprintModelPtr robot_model_; //!< Robot model + boost::shared_ptr optimizer_; //!< g2o optimizer for trajectory optimization + std::pair vel_start_; //!< Store the initial velocity at the start pose + std::pair vel_goal_; //!< Store the final velocity at the goal pose + + bool initialized_; //!< Keeps track about the correct initialization of this class + bool optimized_; //!< This variable is \c true as long as the last optimization has been completed successful + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +//! Abbrev. for shared instances of the TebOptimalPlanner +typedef boost::shared_ptr TebOptimalPlannerPtr; +//! Abbrev. for shared const TebOptimalPlanner pointers +typedef boost::shared_ptr TebOptimalPlannerConstPtr; +//! Abbrev. for containers storing multiple teb optimal planners +typedef std::vector< TebOptimalPlannerPtr > TebOptPlannerContainer; + +} // namespace teb_local_planner + +#endif /* OPTIMAL_PLANNER_H_ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/planner_interface.h b/navigations/teb_local_planner/include/teb_local_planner/planner_interface.h new file mode 100755 index 0000000..e1a1366 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/planner_interface.h @@ -0,0 +1,208 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef PLANNER_INTERFACE_H_ +#define PLANNER_INTERFACE_H_ + +// boost +#include + +// ros +#include +#include + +// this package +#include +#include + +// messages +#include +#include +#include + + +namespace teb_local_planner +{ + + +/** + * @class PlannerInterface + * @brief This abstract class defines an interface for local planners + */ +class PlannerInterface +{ +public: + + /** + * @brief Default constructor + */ + PlannerInterface() + { + } + /** + * @brief Virtual destructor. + */ + virtual ~PlannerInterface() + { + } + + + /** @name Plan a trajectory */ + //@{ + + /** + * @brief Plan a trajectory based on an initial reference plan. + * + * Provide this method to create and optimize a trajectory that is initialized + * according to an initial reference plan (given as a container of poses). + * @param initial_plan vector of geometry_msgs::PoseStamped + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const std::vector& initial_plan, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false) = 0; + + /** + * @brief Plan a trajectory between a given start and goal pose (tf::Pose version). + * + * Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose. + * @param start tf::Pose containing the start pose of the trajectory + * @param goal tf::Pose containing the goal pose of the trajectory + * @param start_vel Current start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used) + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false) = 0; + + /** + * @brief Plan a trajectory between a given start and goal pose. + * + * Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose. + * @param start PoseSE2 containing the start pose of the trajectory + * @param goal PoseSE2 containing the goal pose of the trajectory + * @param start_vel Initial velocity at the start pose (twist msg containing the translational and angular velocity). + * @param free_goal_vel if \c true, a nonzero final velocity at the goal pose is allowed, + * otherwise the final velocity will be zero (default: false) + * @return \c true if planning was successful, \c false otherwise + */ + virtual bool plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::Twist* start_vel = NULL, bool free_goal_vel=false) = 0; + + /** + * @brief Get the velocity command from a previously optimized plan to control the robot at the current sampling interval. + * @warning Call plan() first and check if the generated plan is feasible. + * @param[out] vx translational velocity [m/s] + * @param[out] vy strafing velocity which can be nonzero for holonomic robots [m/s] + * @param[out] omega rotational velocity [rad/s] + * @param[in] look_ahead_poses index of the final pose used to compute the velocity command. + * @return \c true if command is valid, \c false otherwise + */ + virtual bool getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const = 0; + + //@} + + + /** + * @brief Reset the planner. + */ + virtual void clearPlanner() = 0; + + /** + * @brief Prefer a desired initial turning direction (by penalizing the opposing one) + * + * A desired (initial) turning direction might be specified in case the planned trajectory oscillates between two + * solutions (in the same equivalence class!) with similar cost. Check the parameters in order to adjust the weight of the penalty. + * Initial means that the penalty is applied only to the first few poses of the trajectory. + * @param dir This parameter might be RotType::left (prefer left), RotType::right (prefer right) or RotType::none (prefer none) + */ + virtual void setPreferredTurningDir(RotType dir) {ROS_WARN("setPreferredTurningDir() not implemented for this planner.");} + + /** + * @brief Visualize planner specific stuff. + * Overwrite this method to provide an interface to perform all planner related visualizations at once. + */ + virtual void visualize() + { + } + + virtual void updateRobotModel(RobotFootprintModelPtr robot_model) + { + } + + /** + * @brief Check whether the planned trajectory is feasible or not. + * + * This method currently checks only that the trajectory, or a part of the trajectory is collision free. + * Obstacles are here represented as costmap instead of the internal ObstacleContainer. + * @param costmap_model Pointer to the costmap model + * @param footprint_spec The specification of the footprint of the robot in world coordinates + * @param inscribed_radius The radius of the inscribed circle of the robot + * @param circumscribed_radius The radius of the circumscribed circle of the robot + * @param look_ahead_idx Number of poses along the trajectory that should be verified, if -1, the complete trajectory will be checked. + * @return \c true, if the robot footprint along the first part of the trajectory intersects with + * any obstacle in the costmap, \c false otherwise. + */ + virtual bool isTrajectoryFeasible(base_local_planner::CostmapModel* costmap_model, const std::vector& footprint_spec, + double inscribed_radius = 0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1, double feasibility_check_lookahead_distance=-1.0) = 0; + + /** + * Compute and return the cost of the current optimization graph (supports multiple trajectories) + * @param[out] cost current cost value for each trajectory + * [for a planner with just a single trajectory: size=1, vector will not be cleared] + * @param obst_cost_scale Specify extra scaling for obstacle costs + * @param alternative_time_cost Replace the cost for the time optimal objective by the actual (weighted) transition time + */ + virtual void computeCurrentCost(std::vector& cost, double obst_cost_scale=1.0, bool alternative_time_cost=false) + { + } + + /** + * @brief Returns true if the planner has diverged. + */ + virtual bool hasDiverged() const = 0; + +}; + +//! Abbrev. for shared instances of PlannerInterface or it's subclasses +typedef boost::shared_ptr PlannerInterfacePtr; + + +} // namespace teb_local_planner + +#endif /* PLANNER_INTERFACE_H__ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/pose_se2.h b/navigations/teb_local_planner/include/teb_local_planner/pose_se2.h new file mode 100755 index 0000000..8b4272f --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/pose_se2.h @@ -0,0 +1,406 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef POSE_SE2_H_ +#define POSE_SE2_H_ + +#include + +#include +#include +#include +#include + +namespace teb_local_planner +{ + +/** + * @class PoseSE2 + * @brief This class implements a pose in the domain SE2: \f$ \mathbb{R}^2 \times S^1 \f$ + * The pose consist of the position x and y and an orientation given as angle theta [-pi, pi]. + */ +class PoseSE2 +{ +public: + + /** @name Construct PoseSE2 instances */ + ///@{ + + /** + * @brief Default constructor + */ + PoseSE2() + { + setZero(); + } + + /** + * @brief Construct pose given a position vector and an angle theta + * @param position 2D position vector + * @param theta angle given in rad + */ + PoseSE2(const Eigen::Ref& position, double theta) + { + _position = position; + _theta = theta; + } + + /** + * @brief Construct pose using single components x, y, and the yaw angle + * @param x x-coordinate + * @param y y-coordinate + * @param theta yaw angle in rad + */ + PoseSE2(double x, double y, double theta) + { + _position.coeffRef(0) = x; + _position.coeffRef(1) = y; + _theta = theta; + } + + /** + * @brief Construct pose using a geometry_msgs::Pose + * @param pose geometry_msgs::Pose object + */ + PoseSE2(const geometry_msgs::Pose& pose) + { + _position.coeffRef(0) = pose.position.x; + _position.coeffRef(1) = pose.position.y; + _theta = tf::getYaw( pose.orientation ); + } + + /** + * @brief Construct pose using a tf::Pose + * @param pose tf::Pose object + */ + PoseSE2(const tf::Pose& pose) + { + _position.coeffRef(0) = pose.getOrigin().getX(); + _position.coeffRef(1) = pose.getOrigin().getY(); + _theta = tf::getYaw( pose.getRotation() ); + } + + /** + * @brief Copy constructor + * @param pose PoseSE2 instance + */ + PoseSE2(const PoseSE2& pose) + { + _position = pose._position; + _theta = pose._theta; + } + + ///@} + + + /** + * @brief Destructs the PoseSE2 + */ + ~PoseSE2() {} + + + /** @name Access and modify values */ + ///@{ + + /** + * @brief Access the 2D position part + * @see estimate + * @return reference to the 2D position part + */ + Eigen::Vector2d& position() {return _position;} + + /** + * @brief Access the 2D position part (read-only) + * @see estimate + * @return const reference to the 2D position part + */ + const Eigen::Vector2d& position() const {return _position;} + + /** + * @brief Access the x-coordinate the pose + * @return reference to the x-coordinate + */ + double& x() {return _position.coeffRef(0);} + + /** + * @brief Access the x-coordinate the pose (read-only) + * @return const reference to the x-coordinate + */ + const double& x() const {return _position.coeffRef(0);} + + /** + * @brief Access the y-coordinate the pose + * @return reference to the y-coordinate + */ + double& y() {return _position.coeffRef(1);} + + /** + * @brief Access the y-coordinate the pose (read-only) + * @return const reference to the y-coordinate + */ + const double& y() const {return _position.coeffRef(1);} + + /** + * @brief Access the orientation part (yaw angle) of the pose + * @return reference to the yaw angle + */ + double& theta() {return _theta;} + + /** + * @brief Access the orientation part (yaw angle) of the pose (read-only) + * @return const reference to the yaw angle + */ + const double& theta() const {return _theta;} + + /** + * @brief Set pose to [0,0,0] + */ + void setZero() + { + _position.setZero(); + _theta = 0; + } + + /** + * @brief Convert PoseSE2 to a geometry_msgs::Pose + * @param[out] pose Pose message + */ + void toPoseMsg(geometry_msgs::Pose& pose) const + { + pose.position.x = _position.x(); + pose.position.y = _position.y(); + pose.position.z = 0; + pose.orientation = tf::createQuaternionMsgFromYaw(_theta); + } + + /** + * @brief Return the unit vector of the current orientation + * @returns [cos(theta), sin(theta))]^T + */ + Eigen::Vector2d orientationUnitVec() const {return Eigen::Vector2d(std::cos(_theta), std::sin(_theta));} + + ///@} + + + /** @name Arithmetic operations for which operators are not always reasonable */ + ///@{ + + /** + * @brief Scale all SE2 components (x,y,theta) and normalize theta afterwards to [-pi, pi] + * @param factor scale factor + */ + void scale(double factor) + { + _position *= factor; + _theta = g2o::normalize_theta( _theta*factor ); + } + + /** + * @brief Increment the pose by adding a double[3] array + * The angle is normalized afterwards + * @param pose_as_array 3D double array [x, y, theta] + */ + void plus(const double* pose_as_array) + { + _position.coeffRef(0) += pose_as_array[0]; + _position.coeffRef(1) += pose_as_array[1]; + _theta = g2o::normalize_theta( _theta + pose_as_array[2] ); + } + + /** + * @brief Get the mean / average of two poses and store it in the caller class + * For the position part: 0.5*(x1+x2) + * For the angle: take the angle of the mean direction vector + * @param pose1 first pose to consider + * @param pose2 second pose to consider + */ + void averageInPlace(const PoseSE2& pose1, const PoseSE2& pose2) + { + _position = (pose1._position + pose2._position)/2; + _theta = g2o::average_angle(pose1._theta, pose2._theta); + } + + /** + * @brief Get the mean / average of two poses and return the result (static) + * For the position part: 0.5*(x1+x2) + * For the angle: take the angle of the mean direction vector + * @param pose1 first pose to consider + * @param pose2 second pose to consider + * @return mean / average of \c pose1 and \c pose2 + */ + static PoseSE2 average(const PoseSE2& pose1, const PoseSE2& pose2) + { + return PoseSE2( (pose1._position + pose2._position)/2 , g2o::average_angle(pose1._theta, pose2._theta) ); + } + + /** + * @brief Rotate pose globally + * + * Compute [pose_x, pose_y] = Rot(\c angle) * [pose_x, pose_y]. + * if \c adjust_theta, pose_theta is also rotated by \c angle + * @param angle the angle defining the 2d rotation + * @param adjust_theta if \c true, the orientation theta is also rotated + */ + void rotateGlobal(double angle, bool adjust_theta=true) + { + double new_x = std::cos(angle)*_position.x() - std::sin(angle)*_position.y(); + double new_y = std::sin(angle)*_position.x() + std::cos(angle)*_position.y(); + _position.x() = new_x; + _position.y() = new_y; + if (adjust_theta) + _theta = g2o::normalize_theta(_theta+angle); + } + + ///@} + + + /** @name Operator overloads / Allow some arithmetic operations */ + ///@{ + + /** + * @brief Asignment operator + * @param rhs PoseSE2 instance + * @todo exception safe version of the assignment operator + */ + PoseSE2& operator=( const PoseSE2& rhs ) + { + if (&rhs != this) + { + _position = rhs._position; + _theta = rhs._theta; + } + return *this; + } + + /** + * @brief Compound assignment operator (addition) + * @param rhs addend + */ + PoseSE2& operator+=(const PoseSE2& rhs) + { + _position += rhs._position; + _theta = g2o::normalize_theta(_theta + rhs._theta); + return *this; + } + + /** + * @brief Arithmetic operator overload for additions + * @param lhs First addend + * @param rhs Second addend + */ + friend PoseSE2 operator+(PoseSE2 lhs, const PoseSE2& rhs) + { + return lhs += rhs; + } + + /** + * @brief Compound assignment operator (subtraction) + * @param rhs value to subtract + */ + PoseSE2& operator-=(const PoseSE2& rhs) + { + _position -= rhs._position; + _theta = g2o::normalize_theta(_theta - rhs._theta); + return *this; + } + + /** + * @brief Arithmetic operator overload for subtractions + * @param lhs First term + * @param rhs Second term + */ + friend PoseSE2 operator-(PoseSE2 lhs, const PoseSE2& rhs) + { + return lhs -= rhs; + } + + /** + * @brief Multiply pose with scalar and return copy without normalizing theta + * This operator is useful for calculating velocities ... + * @param pose pose to scale + * @param scalar factor to multiply with + * @warning theta is not normalized after multiplying + */ + friend PoseSE2 operator*(PoseSE2 pose, double scalar) + { + pose._position *= scalar; + pose._theta *= scalar; + return pose; + } + + /** + * @brief Multiply pose with scalar and return copy without normalizing theta + * This operator is useful for calculating velocities ... + * @param scalar factor to multiply with + * @param pose pose to scale + * @warning theta is not normalized after multiplying + */ + friend PoseSE2 operator*(double scalar, PoseSE2 pose) + { + pose._position *= scalar; + pose._theta *= scalar; + return pose; + } + + /** + * @brief Output stream operator + * @param stream output stream + * @param pose to be used + */ + friend std::ostream& operator<< (std::ostream& stream, const PoseSE2& pose) + { + stream << "x: " << pose._position[0] << " y: " << pose._position[1] << " theta: " << pose._theta; + return stream; + } + + ///@} + + +private: + + Eigen::Vector2d _position; + double _theta; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +} // namespace teb_local_planner + +#endif // POSE_SE2_H_ diff --git a/navigations/teb_local_planner/include/teb_local_planner/recovery_behaviors.h b/navigations/teb_local_planner/include/teb_local_planner/recovery_behaviors.h new file mode 100755 index 0000000..c522db9 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/recovery_behaviors.h @@ -0,0 +1,134 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef RECOVERY_BEHAVIORS_H__ +#define RECOVERY_BEHAVIORS_H__ + + +#include +#include +#include + +namespace teb_local_planner +{ + + +/** + * @class FailureDetector + * @brief This class implements methods in order to detect if the robot got stucked or is oscillating + * + * The StuckDetector analyzes the last N commanded velocities in order to detect whether the robot + * might got stucked or oscillates between left/right/forward/backwards motions. + */ +class FailureDetector +{ +public: + + /** + * @brief Default constructor + */ + FailureDetector() {} + + /** + * @brief destructor. + */ + ~FailureDetector() {} + + /** + * @brief Set buffer length (measurement history) + * @param length number of measurements to be kept + */ + void setBufferLength(int length) {buffer_.set_capacity(length);} + + /** + * @brief Add a new twist measurement to the internal buffer and compute a new decision + * @param twist geometry_msgs::Twist velocity information + * @param v_max maximum forward translational velocity + * @param v_backwards_max maximum backward translational velocity + * @param omega_max maximum angular velocity + * @param v_eps Threshold for the average normalized linear velocity in (0,1) that must not be exceded (e.g. 0.1) + * @param omega_eps Threshold for the average normalized angular velocity in (0,1) that must not be exceded (e.g. 0.1) + */ + void update(const geometry_msgs::Twist& twist, double v_max, double v_backwards_max, double omega_max, double v_eps, double omega_eps); + + /** + * @brief Check if the robot got stucked + * + * This call does not compute the actual decision, + * since it is computed within each update() invocation. + * @return true if the robot got stucked, false otherwise. + */ + bool isOscillating() const; + + /** + * @brief Clear the current internal state + * + * This call also resets the internal buffer + */ + void clear(); + +protected: + + /** Variables to be monitored */ + struct VelMeasurement + { + double v = 0; + double omega = 0; + }; + + /** + * @brief Detect if the robot got stucked based on the current buffer content + * + * Afterwards the status might be checked using gotStucked(); + * @param v_eps Threshold for the average normalized linear velocity in (0,1) that must not be exceded (e.g. 0.1) + * @param omega_eps Threshold for the average normalized angular velocity in (0,1) that must not be exceded (e.g. 0.1) + * @return true if the robot got stucked, false otherwise + */ + bool detect(double v_eps, double omega_eps); + +private: + + boost::circular_buffer buffer_; //!< Circular buffer to store the last measurements @see setBufferLength + bool oscillating_ = false; //!< Current state: true if robot is oscillating + +}; + + +} // namespace teb_local_planner + +#endif /* RECOVERY_BEHAVIORS_H__ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/robot_footprint_model.h b/navigations/teb_local_planner/include/teb_local_planner/robot_footprint_model.h new file mode 100755 index 0000000..c280756 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/robot_footprint_model.h @@ -0,0 +1,778 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + + +#ifndef ROBOT_FOOTPRINT_MODEL_H +#define ROBOT_FOOTPRINT_MODEL_H + +#include +#include +#include + +namespace teb_local_planner +{ + +/** + * @class BaseRobotFootprintModel + * @brief Abstract class that defines the interface for robot footprint/contour models + * + * The robot model class is currently used in optimization only, since + * taking the navigation stack footprint into account might be + * inefficient. The footprint is only used for checking feasibility. + */ +class BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + */ + BaseRobotFootprintModel() + { + } + + /** + * @brief Virtual destructor. + */ + virtual ~BaseRobotFootprintModel() + { + } + + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const = 0; + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const = 0; + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::ColorRGBA& color) const {} + + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() = 0; + + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + + +//! Abbrev. for shared obstacle pointers +typedef boost::shared_ptr RobotFootprintModelPtr; +//! Abbrev. for shared obstacle const pointers +typedef boost::shared_ptr RobotFootprintModelConstPtr; + + + +/** + * @class PointRobotShape + * @brief Class that defines a point-robot + * + * Instead of using a CircularRobotFootprint this class might + * be utitilzed and the robot radius can be added to the mininum distance + * parameter. This avoids a subtraction of zero each time a distance is calculated. + */ +class PointRobotFootprint : public BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + */ + PointRobotFootprint() {} + + /** + * @brief Default constructor of the abstract obstacle class + * @param min_obstacle_dist Minimum obstacle distance + */ + PointRobotFootprint(const double min_obstacle_dist) : min_obstacle_dist_(min_obstacle_dist) {} + + /** + * @brief Virtual destructor. + */ + virtual ~PointRobotFootprint() {} + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + return obstacle->getMinimumDistance(current_pose.position()); + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + return obstacle->getMinimumSpatioTemporalDistance(current_pose.position(), t); + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() {return 0.0;} + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::ColorRGBA& color) const + { + // point footprint + markers.push_back(visualization_msgs::Marker()); + visualization_msgs::Marker& marker = markers.back(); + marker.type = visualization_msgs::Marker::POINTS; + current_pose.toPoseMsg(marker.pose); // all points are transformed into the robot frame! + marker.points.push_back(geometry_msgs::Point()); + marker.scale.x = 0.025; + marker.color = color; + + if (min_obstacle_dist_ <= 0) + { + return; + } + + // footprint with min_obstacle_dist + markers.push_back(visualization_msgs::Marker()); + visualization_msgs::Marker& marker2 = markers.back(); + marker2.type = visualization_msgs::Marker::LINE_STRIP; + marker2.scale.x = 0.025; + marker2.color = color; + current_pose.toPoseMsg(marker2.pose); // all points are transformed into the robot frame! + + const double n = 9; + const double r = min_obstacle_dist_; + for (double theta = 0; theta <= 2 * M_PI; theta += M_PI / n) + { + geometry_msgs::Point pt; + pt.x = r * cos(theta); + pt.y = r * sin(theta); + marker2.points.push_back(pt); + } + } + +private: + const double min_obstacle_dist_ = 0.0; +}; + + +/** + * @class CircularRobotFootprint + * @brief Class that defines the a robot of circular shape + */ +class CircularRobotFootprint : public BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + * @param radius radius of the robot + */ + CircularRobotFootprint(double radius) : radius_(radius) { } + + /** + * @brief Virtual destructor. + */ + virtual ~CircularRobotFootprint() { } + + /** + * @brief Set radius of the circular robot + * @param radius radius of the robot + */ + void setRadius(double radius) {radius_ = radius;} + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + return obstacle->getMinimumDistance(current_pose.position()) - radius_; + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + return obstacle->getMinimumSpatioTemporalDistance(current_pose.position(), t) - radius_; + } + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::ColorRGBA& color) const + { + markers.resize(1); + visualization_msgs::Marker& marker = markers.back(); + marker.type = visualization_msgs::Marker::CYLINDER; + current_pose.toPoseMsg(marker.pose); + marker.scale.x = marker.scale.y = 2*radius_; // scale = diameter + marker.scale.z = 0.05; + marker.color = color; + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() {return radius_;} + +private: + + double radius_; +}; + + +/** + * @class TwoCirclesRobotFootprint + * @brief Class that approximates the robot with two shifted circles + */ +class TwoCirclesRobotFootprint : public BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + * @param front_offset shift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters) + * @param front_radius radius of the front circle + * @param rear_offset shift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters) + * @param rear_radius radius of the front circle + */ + TwoCirclesRobotFootprint(double front_offset, double front_radius, double rear_offset, double rear_radius) + : front_offset_(front_offset), front_radius_(front_radius), rear_offset_(rear_offset), rear_radius_(rear_radius) { } + + /** + * @brief Virtual destructor. + */ + virtual ~TwoCirclesRobotFootprint() { } + + /** + * @brief Set parameters of the contour/footprint + * @param front_offset shift the center of the front circle along the robot orientation starting from the center at the rear axis (in meters) + * @param front_radius radius of the front circle + * @param rear_offset shift the center of the rear circle along the opposite robot orientation starting from the center at the rear axis (in meters) + * @param rear_radius radius of the front circle + */ + void setParameters(double front_offset, double front_radius, double rear_offset, double rear_radius) + {front_offset_=front_offset; front_radius_=front_radius; rear_offset_=rear_offset; rear_radius_=rear_radius;} + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + Eigen::Vector2d dir = current_pose.orientationUnitVec(); + double dist_front = obstacle->getMinimumDistance(current_pose.position() + front_offset_*dir) - front_radius_; + double dist_rear = obstacle->getMinimumDistance(current_pose.position() - rear_offset_*dir) - rear_radius_; + return std::min(dist_front, dist_rear); + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + Eigen::Vector2d dir = current_pose.orientationUnitVec(); + double dist_front = obstacle->getMinimumSpatioTemporalDistance(current_pose.position() + front_offset_*dir, t) - front_radius_; + double dist_rear = obstacle->getMinimumSpatioTemporalDistance(current_pose.position() - rear_offset_*dir, t) - rear_radius_; + return std::min(dist_front, dist_rear); + } + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::ColorRGBA& color) const + { + Eigen::Vector2d dir = current_pose.orientationUnitVec(); + if (front_radius_>0) + { + markers.push_back(visualization_msgs::Marker()); + visualization_msgs::Marker& marker1 = markers.back(); + marker1.type = visualization_msgs::Marker::CYLINDER; + current_pose.toPoseMsg(marker1.pose); + marker1.pose.position.x += front_offset_*dir.x(); + marker1.pose.position.y += front_offset_*dir.y(); + marker1.scale.x = marker1.scale.y = 2*front_radius_; // scale = diameter +// marker1.scale.z = 0.05; + marker1.color = color; + + } + if (rear_radius_>0) + { + markers.push_back(visualization_msgs::Marker()); + visualization_msgs::Marker& marker2 = markers.back(); + marker2.type = visualization_msgs::Marker::CYLINDER; + current_pose.toPoseMsg(marker2.pose); + marker2.pose.position.x -= rear_offset_*dir.x(); + marker2.pose.position.y -= rear_offset_*dir.y(); + marker2.scale.x = marker2.scale.y = 2*rear_radius_; // scale = diameter +// marker2.scale.z = 0.05; + marker2.color = color; + } + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() + { + double min_longitudinal = std::min(rear_offset_ + rear_radius_, front_offset_ + front_radius_); + double min_lateral = std::min(rear_radius_, front_radius_); + return std::min(min_longitudinal, min_lateral); + } + +private: + + double front_offset_; + double front_radius_; + double rear_offset_; + double rear_radius_; + +}; + + + +/** + * @class LineRobotFootprint + * @brief Class that approximates the robot with line segment (zero-width) + */ +class LineRobotFootprint : public BaseRobotFootprintModel +{ +public: + + /** + * @brief Default constructor of the abstract obstacle class + * @param line_start start coordinates (only x and y) of the line (w.r.t. robot center at (0,0)) + * @param line_end end coordinates (only x and y) of the line (w.r.t. robot center at (0,0)) + */ + LineRobotFootprint(const geometry_msgs::Point& line_start, const geometry_msgs::Point& line_end) + { + setLine(line_start, line_end); + } + + /** + * @brief Default constructor of the abstract obstacle class (Eigen Version) + * @param line_start start coordinates (only x and y) of the line (w.r.t. robot center at (0,0)) + * @param line_end end coordinates (only x and y) of the line (w.r.t. robot center at (0,0)) + */ + LineRobotFootprint(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end, const double min_obstacle_dist) : min_obstacle_dist_(min_obstacle_dist) + { + setLine(line_start, line_end); + } + + /** + * @brief Virtual destructor. + */ + virtual ~LineRobotFootprint() { } + + /** + * @brief Set vertices of the contour/footprint + * @param vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end) + */ + void setLine(const geometry_msgs::Point& line_start, const geometry_msgs::Point& line_end) + { + line_start_.x() = line_start.x; + line_start_.y() = line_start.y; + line_end_.x() = line_end.x; + line_end_.y() = line_end.y; + } + + /** + * @brief Set vertices of the contour/footprint (Eigen version) + * @param vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end) + */ + void setLine(const Eigen::Vector2d& line_start, const Eigen::Vector2d& line_end) + { + line_start_ = line_start; + line_end_ = line_end; + } + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + Eigen::Vector2d line_start_world; + Eigen::Vector2d line_end_world; + transformToWorld(current_pose, line_start_world, line_end_world); + return obstacle->getMinimumDistance(line_start_world, line_end_world); + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + Eigen::Vector2d line_start_world; + Eigen::Vector2d line_end_world; + transformToWorld(current_pose, line_start_world, line_end_world); + return obstacle->getMinimumSpatioTemporalDistance(line_start_world, line_end_world, t); + } + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::ColorRGBA& color) const + { + markers.push_back(visualization_msgs::Marker()); + visualization_msgs::Marker& marker = markers.back(); + marker.type = visualization_msgs::Marker::LINE_STRIP; + current_pose.toPoseMsg(marker.pose); // all points are transformed into the robot frame! + + // line + geometry_msgs::Point line_start_world; + line_start_world.x = line_start_.x(); + line_start_world.y = line_start_.y(); + line_start_world.z = 0; + marker.points.push_back(line_start_world); + + geometry_msgs::Point line_end_world; + line_end_world.x = line_end_.x(); + line_end_world.y = line_end_.y(); + line_end_world.z = 0; + marker.points.push_back(line_end_world); + + marker.scale.x = 0.025; + marker.color = color; + + if (min_obstacle_dist_ <= 0) + { + return; + } + + // footprint with min_obstacle_dist + markers.push_back(visualization_msgs::Marker()); + visualization_msgs::Marker& marker2 = markers.back(); + marker2.type = visualization_msgs::Marker::LINE_STRIP; + marker2.scale.x = 0.025; + marker2.color = color; + current_pose.toPoseMsg(marker2.pose); // all points are transformed into the robot frame! + + const double n = 9; + const double r = min_obstacle_dist_; + const double ori = atan2(line_end_.y() - line_start_.y(), line_end_.x() - line_start_.x()); + + // first half-circle + for (double theta = M_PI_2 + ori; theta <= 3 * M_PI_2 + ori; theta += M_PI / n) + { + geometry_msgs::Point pt; + pt.x = line_start_.x() + r * cos(theta); + pt.y = line_start_.y() + r * sin(theta); + marker2.points.push_back(pt); + } + + // second half-circle + for (double theta = -M_PI_2 + ori; theta <= M_PI_2 + ori; theta += M_PI / n) + { + geometry_msgs::Point pt; + pt.x = line_end_.x() + r * cos(theta); + pt.y = line_end_.y() + r * sin(theta); + marker2.points.push_back(pt); + } + + // duplicate 1st point to close shape + geometry_msgs::Point pt; + pt.x = line_start_.x() + r * cos(M_PI_2 + ori); + pt.y = line_start_.y() + r * sin(M_PI_2 + ori); + marker2.points.push_back(pt); + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() + { + return 0.0; // lateral distance = 0.0 + } + +private: + + /** + * @brief Transforms a line to the world frame manually + * @param current_pose Current robot pose + * @param[out] line_start line_start_ in the world frame + * @param[out] line_end line_end_ in the world frame + */ + void transformToWorld(const PoseSE2& current_pose, Eigen::Vector2d& line_start_world, Eigen::Vector2d& line_end_world) const + { + double cos_th = std::cos(current_pose.theta()); + double sin_th = std::sin(current_pose.theta()); + line_start_world.x() = current_pose.x() + cos_th * line_start_.x() - sin_th * line_start_.y(); + line_start_world.y() = current_pose.y() + sin_th * line_start_.x() + cos_th * line_start_.y(); + line_end_world.x() = current_pose.x() + cos_th * line_end_.x() - sin_th * line_end_.y(); + line_end_world.y() = current_pose.y() + sin_th * line_end_.x() + cos_th * line_end_.y(); + } + + Eigen::Vector2d line_start_; + Eigen::Vector2d line_end_; + const double min_obstacle_dist_ = 0.0; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +}; + + + +/** + * @class PolygonRobotFootprint + * @brief Class that approximates the robot with a closed polygon + */ +class PolygonRobotFootprint : public BaseRobotFootprintModel +{ +public: + + + + /** + * @brief Default constructor of the abstract obstacle class + * @param vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end) + */ + PolygonRobotFootprint(const Point2dContainer& vertices) : vertices_(vertices) { } + + /** + * @brief Virtual destructor. + */ + virtual ~PolygonRobotFootprint() { } + + /** + * @brief Set vertices of the contour/footprint + * @param vertices footprint vertices (only x and y) around the robot center (0,0) (do not repeat the first and last vertex at the end) + */ + void setVertices(const Point2dContainer& vertices) {vertices_ = vertices;} + + /** + * @brief Calculate the distance between the robot and an obstacle + * @param current_pose Current robot pose + * @param obstacle Pointer to the obstacle + * @return Euclidean distance to the robot + */ + virtual double calculateDistance(const PoseSE2& current_pose, const Obstacle* obstacle) const + { + Point2dContainer polygon_world(vertices_.size()); + transformToWorld(current_pose, polygon_world); + return obstacle->getMinimumDistance(polygon_world); + } + + /** + * @brief Estimate the distance between the robot and the predicted location of an obstacle at time t + * @param current_pose robot pose, from which the distance to the obstacle is estimated + * @param obstacle Pointer to the dynamic obstacle (constant velocity model is assumed) + * @param t time, for which the predicted distance to the obstacle is calculated + * @return Euclidean distance to the robot + */ + virtual double estimateSpatioTemporalDistance(const PoseSE2& current_pose, const Obstacle* obstacle, double t) const + { + Point2dContainer polygon_world(vertices_.size()); + transformToWorld(current_pose, polygon_world); + return obstacle->getMinimumSpatioTemporalDistance(polygon_world, t); + } + + /** + * @brief Visualize the robot using a markers + * + * Fill a marker message with all necessary information (type, pose, scale and color). + * The header, namespace, id and marker lifetime will be overwritten. + * @param current_pose Current robot pose + * @param[out] markers container of marker messages describing the robot shape + * @param color Color of the footprint + */ + virtual void visualizeRobot(const PoseSE2& current_pose, std::vector& markers, const std_msgs::ColorRGBA& color) const + { + if (vertices_.empty()) + return; + + markers.push_back(visualization_msgs::Marker()); + visualization_msgs::Marker& marker = markers.back(); + marker.type = visualization_msgs::Marker::LINE_STRIP; + current_pose.toPoseMsg(marker.pose); // all points are transformed into the robot frame! + + for (std::size_t i = 0; i < vertices_.size(); ++i) + { + geometry_msgs::Point point; + point.x = vertices_[i].x(); + point.y = vertices_[i].y(); + point.z = 0; + marker.points.push_back(point); + } + // add first point again in order to close the polygon + geometry_msgs::Point point; + point.x = vertices_.front().x(); + point.y = vertices_.front().y(); + point.z = 0; + marker.points.push_back(point); + + marker.scale.x = 0.025; + marker.color = color; + + } + + /** + * @brief Compute the inscribed radius of the footprint model + * @return inscribed radius + */ + virtual double getInscribedRadius() + { + double min_dist = std::numeric_limits::max(); + Eigen::Vector2d center(0.0, 0.0); + + if (vertices_.size() <= 2) + return 0.0; + + for (int i = 0; i < (int)vertices_.size() - 1; ++i) + { + // compute distance from the robot center point to the first vertex + double vertex_dist = vertices_[i].norm(); + double edge_dist = distance_point_to_segment_2d(center, vertices_[i], vertices_[i+1]); + min_dist = std::min(min_dist, std::min(vertex_dist, edge_dist)); + } + + // we also need to check the last vertex and the first vertex + double vertex_dist = vertices_.back().norm(); + double edge_dist = distance_point_to_segment_2d(center, vertices_.back(), vertices_.front()); + return std::min(min_dist, std::min(vertex_dist, edge_dist)); + } + +private: + + /** + * @brief Transforms a polygon to the world frame manually + * @param current_pose Current robot pose + * @param[out] polygon_world polygon in the world frame + */ + void transformToWorld(const PoseSE2& current_pose, Point2dContainer& polygon_world) const + { + double cos_th = std::cos(current_pose.theta()); + double sin_th = std::sin(current_pose.theta()); + for (std::size_t i=0; i +#include +#include +#include + +#include + + +// Definitions +#define USE_ANALYTIC_JACOBI // if available for a specific edge, use analytic jacobi + + +namespace teb_local_planner +{ + +/** + * @class TebConfig + * @brief Config class for the teb_local_planner and its components. + */ +class TebConfig +{ +public: + + std::string odom_topic; //!< Topic name of the odometry message, provided by the robot driver or simulator + std::string map_frame; //!< Global planning frame + + //! Trajectory related parameters + struct Trajectory + { + double teb_autosize; //!< Enable automatic resizing of the trajectory w.r.t to the temporal resolution (recommended) + double dt_ref; //!< Desired temporal resolution of the trajectory (should be in the magniture of the underlying control rate) + double dt_hysteresis; //!< Hysteresis for automatic resizing depending on the current temporal resolution (dt): usually 10% of dt_ref + int min_samples; //!< Minimum number of samples (should be always greater than 2) + int max_samples; //!< Maximum number of samples; Warning: if too small the discretization/resolution might not be sufficient for the given robot model or obstacle avoidance does not work anymore. + bool global_plan_overwrite_orientation; //!< Overwrite orientation of local subgoals provided by the global planner + bool allow_init_with_backwards_motion; //!< If true, the underlying trajectories might be initialized with backwards motions in case the goal is behind the start within the local costmap (this is only recommended if the robot is equipped with rear sensors) + double global_plan_viapoint_sep; //!< Min. separation between each two consecutive via-points extracted from the global plan (if negative: disabled) + bool via_points_ordered; //!< If true, the planner adheres to the order of via-points in the storage container + double max_global_plan_lookahead_dist; //!< Specify maximum length (cumulative Euclidean distances) of the subset of the global plan taken into account for optimization [if <=0: disabled; the length is also bounded by the local costmap size!] + double global_plan_prune_distance; //!< Distance between robot and via_points of global plan which is used for pruning + bool exact_arc_length; //!< If true, the planner uses the exact arc length in velocity, acceleration and turning rate computations [-> increased cpu time], otherwise the euclidean approximation is used. + double force_reinit_new_goal_dist; //!< Reinitialize the trajectory if a previous goal is updated with a seperation of more than the specified value in meters (skip hot-starting) + double force_reinit_new_goal_angular; //!< Reinitialize the trajectory if a previous goal is updated with an angular difference of more than the specified value in radians (skip hot-starting) + int feasibility_check_no_poses; //!< Specify up to which pose (under the feasibility_check_lookahead_distance) on the predicted plan the feasibility should be checked each sampling interval; if -1, all poses up to feasibility_check_lookahead_distance are checked. + double feasibility_check_lookahead_distance; //!< Specify up to which distance (and with an index below feasibility_check_no_poses) from the robot the feasibility should be checked each sampling interval; if -1, all poses up to feasibility_check_no_poses are checked. + bool publish_feedback; //!< Publish planner feedback containing the full trajectory and a list of active obstacles (should be enabled only for evaluation or debugging purposes) + double min_resolution_collision_check_angular; //! Min angular resolution used during the costmap collision check. If not respected, intermediate samples are added. [rad] + int control_look_ahead_poses; //! Index of the pose used to extract the velocity command + int prevent_look_ahead_poses_near_goal; //! Prevents control_look_ahead_poses to look within this many poses of the goal in order to prevent overshoot & oscillation when xy_goal_tolerance is very small + } trajectory; //!< Trajectory related parameters + + //! Robot related parameters + struct Robot + { + double max_vel_x; //!< Maximum translational velocity of the robot + double max_vel_x_backwards; //!< Maximum translational velocity of the robot for driving backwards + double max_vel_y; //!< Maximum strafing velocity of the robot (should be zero for non-holonomic robots!) + double max_vel_trans; //!< Maximum translational velocity of the robot for omni robots, which is different from max_vel_x + double max_vel_theta; //!< Maximum angular velocity of the robot + double acc_lim_x; //!< Maximum translational acceleration of the robot + double acc_lim_y; //!< Maximum strafing acceleration of the robot + double acc_lim_theta; //!< Maximum angular acceleration of the robot + double min_turning_radius; //!< Minimum turning radius of a carlike robot (diff-drive robot: zero); + double wheelbase; //!< The distance between the drive shaft and steering axle (only required for a carlike robot with 'cmd_angle_instead_rotvel' enabled); The value might be negative for back-wheeled robots! + bool cmd_angle_instead_rotvel; //!< Substitute the rotational velocity in the commanded velocity message by the corresponding steering angle (check 'axles_distance') + bool is_footprint_dynamic; // currently only activated if an oscillation is detected, see 'oscillation_recovery' + + double weight_adapt_factor; //!< Some special weights (currently 'weight_obstacle') are repeatedly scaled by this factor in each outer TEB iteration (weight_new = weight_old*factor); Increasing weights iteratively instead of setting a huge value a-priori leads to better numerical conditions of the underlying optimization problem. + double obstacle_cost_exponent; //!< Exponent for nonlinear obstacle cost (cost = linear_cost * obstacle_cost_exponent). Set to 1 to disable nonlinear cost (default) + } optim; //!< Optimization related parameters + + + struct HomotopyClasses + { + bool enable_homotopy_class_planning; //!< Activate homotopy class planning (Requires much more resources that simple planning, since multiple trajectories are optimized at once). + bool enable_multithreading; //!< Activate multiple threading for planning multiple trajectories in parallel. + bool simple_exploration; //!< If true, distinctive trajectories are explored using a simple left-right approach (pass each obstacle on the left or right side) for path generation, otherwise sample possible roadmaps randomly in a specified region between start and goal. + int max_number_classes; //!< Specify the maximum number of allowed alternative homotopy classes (limits computational effort) + int max_number_plans_in_current_class; //!< Specify the maximum number of trajectories to try that are in the same homotopy class as the current trajectory (helps avoid local minima) + double selection_cost_hysteresis; //!< Specify how much trajectory cost must a new candidate have w.r.t. a previously selected trajectory in order to be selected (selection if new_cost < old_cost*factor). + double selection_prefer_initial_plan; //!< Specify a cost reduction in the interval (0,1) for the trajectory in the equivalence class of the initial plan. + double selection_obst_cost_scale; //!< Extra scaling of obstacle cost terms just for selecting the 'best' candidate. + double selection_viapoint_cost_scale; //!< Extra scaling of via-point cost terms just for selecting the 'best' candidate. + bool selection_alternative_time_cost; //!< If true, time cost is replaced by the total transition time. + double selection_dropping_probability; //!< At each planning cycle, TEBs other than the current 'best' one will be randomly dropped with this probability. Prevents becoming 'fixated' on sub-optimal alternative homotopies. + double switching_blocking_period; //!< Specify a time duration in seconds that needs to be expired before a switch to new equivalence class is allowed + + int roadmap_graph_no_samples; //! < Specify the number of samples generated for creating the roadmap graph, if simple_exploration is turend off. + double roadmap_graph_area_width; //!< Random keypoints/waypoints are sampled in a rectangular region between start and goal. Specify the width of that region in meters. + double roadmap_graph_area_length_scale; //!< The length of the rectangular region is determined by the distance between start and goal. This parameter further scales the distance such that the geometric center remains equal! + double h_signature_prescaler; //!< Scale number of obstacle value in order to allow huge number of obstacles. Do not choose it extremly low, otherwise obstacles cannot be distinguished from each other (0.2 this + } hcp; + + //! Recovery/backup related parameters + struct Recovery + { + bool shrink_horizon_backup; //!< Allows the planner to shrink the horizon temporary (50%) in case of automatically detected issues. + double shrink_horizon_min_duration; //!< Specify minimum duration for the reduced horizon in case an infeasible trajectory is detected. + bool oscillation_recovery; //!< Try to detect and resolve oscillations between multiple solutions in the same equivalence class (robot frequently switches between left/right/forward/backwards) + double oscillation_v_eps; //!< Threshold for the average normalized linear velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected + double oscillation_omega_eps; //!< Threshold for the average normalized angular velocity: if oscillation_v_eps and oscillation_omega_eps are not exceeded both, a possible oscillation is detected + double oscillation_recovery_min_duration; //!< Minumum duration [sec] for which the recovery mode is activated after an oscillation is detected. + double oscillation_filter_duration; //!< Filter length/duration [sec] for the detection of oscillations + bool divergence_detection_enable; //!< True to enable divergence detection. + int divergence_detection_max_chi_squared; //!< Maximum acceptable Mahalanobis distance above which it is assumed that the optimization diverged. + } recovery; //!< Parameters related to recovery and backup strategies + + + /** + * @brief Construct the TebConfig using default values. + * @warning If the \b rosparam server or/and \b dynamic_reconfigure (rqt_reconfigure) node are used, + * the default variables will be overwritten: \n + * E.g. if \e base_local_planner is utilized as plugin for the navigation stack, the initialize() method will register a + * dynamic_reconfigure server. A subset (not all but most) of the parameters are considered for dynamic modifications. + * All parameters considered by the dynamic_reconfigure server (and their \b default values) are + * set in \e PROJECT_SRC/cfg/TebLocalPlannerReconfigure.cfg. \n + * In addition the rosparam server can be queried to get parameters e.g. defiend in a launch file. + * The plugin source (or a possible binary source) can call loadRosParamFromNodeHandle() to update the parameters. + * In \e summary, default parameters are loaded in the following order (the right one overrides the left ones): \n + * TebConfig Constructor defaults << dynamic_reconfigure defaults << rosparam server defaults + */ + TebConfig() + { + + odom_topic = "odom"; + map_frame = "odom"; + + // Trajectory + + trajectory.teb_autosize = true; + trajectory.dt_ref = 0.3; + trajectory.dt_hysteresis = 0.1; + trajectory.min_samples = 3; + trajectory.max_samples = 500; + trajectory.global_plan_overwrite_orientation = true; + trajectory.allow_init_with_backwards_motion = false; + trajectory.global_plan_viapoint_sep = -1; + trajectory.via_points_ordered = false; + trajectory.max_global_plan_lookahead_dist = 1; + trajectory.global_plan_prune_distance = 1; + trajectory.exact_arc_length = false; + trajectory.force_reinit_new_goal_dist = 1; + trajectory.force_reinit_new_goal_angular = 0.5 * M_PI; + trajectory.feasibility_check_no_poses = 5; + trajectory.feasibility_check_lookahead_distance = -1; + trajectory.publish_feedback = false; + trajectory.min_resolution_collision_check_angular = M_PI; + trajectory.control_look_ahead_poses = 1; + trajectory.prevent_look_ahead_poses_near_goal = 0; + + // Robot + + robot.max_vel_x = 0.4; + robot.max_vel_x_backwards = 0.2; + robot.max_vel_y = 0.0; + robot.max_vel_trans = 0.0; + robot.max_vel_theta = 0.3; + robot.acc_lim_x = 0.5; + robot.acc_lim_y = 0.5; + robot.acc_lim_theta = 0.5; + robot.min_turning_radius = 0; + robot.wheelbase = 1.0; + robot.cmd_angle_instead_rotvel = false; + robot.is_footprint_dynamic = false; + robot.use_proportional_saturation = false; + + // GoalTolerance + + goal_tolerance.xy_goal_tolerance = 0.2; + goal_tolerance.yaw_goal_tolerance = 0.2; + goal_tolerance.free_goal_vel = false; + goal_tolerance.trans_stopped_vel = 0.1; + goal_tolerance.theta_stopped_vel = 0.1; + goal_tolerance.complete_global_plan = true; + + // Obstacles + + obstacles.min_obstacle_dist = 0.5; + obstacles.inflation_dist = 0.6; + obstacles.dynamic_obstacle_inflation_dist = 0.6; + obstacles.include_dynamic_obstacles = true; + obstacles.include_costmap_obstacles = true; + obstacles.costmap_obstacles_behind_robot_dist = 1.5; + obstacles.obstacle_poses_affected = 25; + obstacles.legacy_obstacle_association = false; + obstacles.obstacle_association_force_inclusion_factor = 1.5; + obstacles.obstacle_association_cutoff_factor = 5; + obstacles.costmap_converter_plugin = ""; + obstacles.costmap_converter_spin_thread = true; + obstacles.costmap_converter_rate = 5; + obstacles.obstacle_proximity_ratio_max_vel = 1; + obstacles.obstacle_proximity_lower_bound = 0; + obstacles.obstacle_proximity_upper_bound = 0.5; + + // Optimization + + optim.no_inner_iterations = 5; + optim.no_outer_iterations = 4; + optim.optimization_activate = true; + optim.optimization_verbose = false; + optim.penalty_epsilon = 0.05; + optim.weight_max_vel_x = 2; //1 + optim.weight_max_vel_y = 2; + optim.weight_max_vel_theta = 1; + optim.weight_acc_lim_x = 1; + optim.weight_acc_lim_y = 1; + optim.weight_acc_lim_theta = 1; + optim.weight_kinematics_nh = 1000; + optim.weight_kinematics_forward_drive = 1; + optim.weight_kinematics_turning_radius = 1; + optim.weight_optimaltime = 1; + optim.weight_shortest_path = 0; + optim.weight_obstacle = 50; + optim.weight_inflation = 0.1; + optim.weight_dynamic_obstacle = 50; + optim.weight_dynamic_obstacle_inflation = 0.1; + optim.weight_velocity_obstacle_ratio = 0; + optim.weight_viapoint = 1; + optim.weight_prefer_rotdir = 50; + + optim.weight_adapt_factor = 2.0; + optim.obstacle_cost_exponent = 1.0; + + // Homotopy Class Planner + + hcp.enable_homotopy_class_planning = true; + hcp.enable_multithreading = true; + hcp.simple_exploration = false; + hcp.max_number_classes = 5; + hcp.selection_cost_hysteresis = 1.0; + hcp.selection_prefer_initial_plan = 0.95; + hcp.selection_obst_cost_scale = 100.0; + hcp.selection_viapoint_cost_scale = 1.0; + hcp.selection_alternative_time_cost = false; + hcp.selection_dropping_probability = 0.0; + + hcp.obstacle_keypoint_offset = 0.1; + hcp.obstacle_heading_threshold = 0.45; + hcp.roadmap_graph_no_samples = 15; + hcp.roadmap_graph_area_width = 6; // [m] + hcp.roadmap_graph_area_length_scale = 1.0; + hcp.h_signature_prescaler = 1; + hcp.h_signature_threshold = 0.1; + hcp.switching_blocking_period = 0.0; + + hcp.viapoints_all_candidates = true; + + hcp.visualize_hc_graph = false; + hcp.visualize_with_time_as_z_axis_scale = 0.0; + hcp.delete_detours_backwards = true; + hcp.detours_orientation_tolerance = M_PI / 2.0; + hcp.length_start_orientation_vector = 0.4; + hcp.max_ratio_detours_duration_best_duration = 3.0; + + // Recovery + + recovery.shrink_horizon_backup = true; + recovery.shrink_horizon_min_duration = 10; + recovery.oscillation_recovery = true; + recovery.oscillation_v_eps = 0.1; + recovery.oscillation_omega_eps = 0.1; + recovery.oscillation_recovery_min_duration = 10; + recovery.oscillation_filter_duration = 10; + + + } + + /** + * @brief Load parmeters from the ros param server. + * @param nh const reference to the local ros::NodeHandle + */ + void loadRosParamFromNodeHandle(const ros::NodeHandle& nh); + + /** + * @brief Reconfigure parameters from the dynamic_reconfigure config. + * Change parameters dynamically (e.g. with rosrun rqt_reconfigure rqt_reconfigure). + * A reconfigure server needs to be instantiated that calls this method in it's callback. + * In case of the plugin \e teb_local_planner default values are defined + * in \e PROJECT_SRC/cfg/TebLocalPlannerReconfigure.cfg. + * @param cfg Config class autogenerated by dynamic_reconfigure according to the cfg-file mentioned above. + */ + void reconfigure(TebLocalPlannerReconfigureConfig& cfg); + + /** + * @brief Check parameters and print warnings in case of discrepancies + * + * Call this method whenever parameters are changed using public interfaces to inform the user + * about some improper uses. + */ + void checkParameters() const; + + /** + * @brief Check if some deprecated parameters are found and print warnings + * @param nh const reference to the local ros::NodeHandle + */ + void checkDeprecated(const ros::NodeHandle& nh) const; + + /** + * @brief Return the internal config mutex + */ + boost::mutex& configMutex() {return config_mutex_;} + +private: + boost::mutex config_mutex_; //!< Mutex for config accesses and changes + +}; + + +} // namespace teb_local_planner + +#endif diff --git a/navigations/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h b/navigations/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h new file mode 100755 index 0000000..c4635eb --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h @@ -0,0 +1,457 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef TEB_LOCAL_PLANNER_ROS_H_ +#define TEB_LOCAL_PLANNER_ROS_H_ + +#include + +// base local planner base class and utilities +#include +#include +#include +#include +#include + + +// timed-elastic-band related classes +#include +#include +#include +#include + +// message types +#include +#include +#include +#include +#include +#include + +// transforms +#include +#include + +// costmap +#include +#include + + +// dynamic reconfigure +#include +#include + +// boost classes +#include +#include + + +namespace teb_local_planner +{ + +/** + * @class TebLocalPlannerROS + * @brief Implements both nav_core::BaseLocalPlanner and mbf_costmap_core::CostmapController abstract + * interfaces, so the teb_local_planner plugin can be used both in move_base and move_base_flex (MBF). + * @todo Escape behavior, more efficient obstacle handling + */ +class TebLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap_core::CostmapController +{ + +public: + /** + * @brief Default constructor of the teb plugin + */ + TebLocalPlannerROS(); + + /** + * @brief Destructor of the plugin + */ + ~TebLocalPlannerROS(); + + /** + * @brief Initializes the teb plugin + * @param name The name of the instance + * @param tf Pointer to a tf buffer + * @param costmap_ros Cost map representing occupied and free space + */ + void initialize(std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS* costmap_ros); + + /** + * @brief Set the plan that the teb local planner is following + * @param orig_global_plan The plan to pass to the local planner + * @return True if the plan was updated successfully, false otherwise + */ + bool setPlan(const std::vector& orig_global_plan); + + /** + * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base + * @return True if a valid trajectory was found, false otherwise + */ + bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel); + + /** + * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. + * @remark Extended version for MBF API + * @param pose the current pose of the robot. + * @param velocity the current velocity of the robot. + * @param cmd_vel Will be filled with the velocity command to be passed to the robot base. + * @param message Optional more detailed outcome as a string + * @return Result code as described on ExePath action result: + * SUCCESS = 0 + * 1..9 are reserved as plugin specific non-error results + * FAILURE = 100 Unspecified failure, only used for old, non-mfb_core based plugins + * CANCELED = 101 + * NO_VALID_CMD = 102 + * PAT_EXCEEDED = 103 + * COLLISION = 104 + * OSCILLATION = 105 + * ROBOT_STUCK = 106 + * MISSED_GOAL = 107 + * MISSED_PATH = 108 + * BLOCKED_PATH = 109 + * INVALID_PATH = 110 + * TF_ERROR = 111 + * NOT_INITIALIZED = 112 + * INVALID_PLUGIN = 113 + * INTERNAL_ERROR = 114 + * 121..149 are reserved as plugin specific errors + */ + uint32_t computeVelocityCommands(const geometry_msgs::PoseStamped& pose, const geometry_msgs::TwistStamped& velocity, + geometry_msgs::TwistStamped &cmd_vel, std::string &message); + + /** + * @brief Check if the goal pose has been achieved + * + * The actual check is performed in computeVelocityCommands(). + * Only the status flag is checked here. + * @return True if achieved, false otherwise + */ + bool isGoalReached(); + + /** + * @brief Dummy version to satisfy MBF API + */ + bool isGoalReached(double xy_tolerance, double yaw_tolerance) { return isGoalReached(); }; + + /** + * @brief Requests the planner to cancel, e.g. if it takes too much time + * @remark New on MBF API + * @return True if a cancel has been successfully requested, false if not implemented. + */ + bool cancel() { return false; }; + + + /** @name Public utility functions/methods */ + //@{ + + /** + * @brief Transform a tf::Pose type into a Eigen::Vector2d containing the translational and angular velocities. + * + * Translational velocities (x- and y-coordinates) are combined into a single translational velocity (first component). + * @param tf_vel tf::Pose message containing a 1D or 2D translational velocity (x,y) and an angular velocity (yaw-angle) + * @return Translational and angular velocity combined into an Eigen::Vector2d + */ + static Eigen::Vector2d tfPoseToEigenVector2dTransRot(const tf::Pose& tf_vel); + + /** + * @brief Get the current robot footprint/contour model + * @param nh const reference to the local ros::NodeHandle + * @param config const reference to the current configuration + * @return Robot footprint model used for optimization + */ + static RobotFootprintModelPtr getRobotFootprintFromParamServer(const ros::NodeHandle& nh, const TebConfig& config); + + /** + * @brief Set the footprint from the given XmlRpcValue. + * @remarks This method is copied from costmap_2d/footprint.h, since it is not declared public in all ros distros + * @remarks It is modified in order to return a container of Eigen::Vector2d instead of geometry_msgs::Point + * @param footprint_xmlrpc should be an array of arrays, where the top-level array should have 3 or more elements, and the + * sub-arrays should all have exactly 2 elements (x and y coordinates). + * @param full_param_name this is the full name of the rosparam from which the footprint_xmlrpc value came. + * It is used only for reporting errors. + * @return container of vertices describing the polygon + */ + static Point2dContainer makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc, const std::string& full_param_name); + + /** + * @brief Get a number from the given XmlRpcValue. + * @remarks This method is copied from costmap_2d/footprint.h, since it is not declared public in all ros distros + * @remarks It is modified in order to return a container of Eigen::Vector2d instead of geometry_msgs::Point + * @param value double value type + * @param full_param_name this is the full name of the rosparam from which the footprint_xmlrpc value came. + * It is used only for reporting errors. + * @returns double value + */ + static double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name); + + //@} + +protected: + + /** + * @brief Update internal obstacle vector based on occupied costmap cells + * @remarks All occupied cells will be added as point obstacles. + * @remarks All previous obstacles are cleared. + * @sa updateObstacleContainerWithCostmapConverter + * @todo Include temporal coherence among obstacle msgs (id vector) + * @todo Include properties for dynamic obstacles (e.g. using constant velocity model) + */ + void updateObstacleContainerWithCostmap(); + + /** + * @brief Update internal obstacle vector based on polygons provided by a costmap_converter plugin + * @remarks Requires a loaded costmap_converter plugin. + * @remarks All previous obstacles are cleared. + * @sa updateObstacleContainerWithCostmap + */ + void updateObstacleContainerWithCostmapConverter(); + + /** + * @brief Update internal obstacle vector based on custom messages received via subscriber + * @remarks All previous obstacles are NOT cleared. Call this method after other update methods. + * @sa updateObstacleContainerWithCostmap, updateObstacleContainerWithCostmapConverter + */ + void updateObstacleContainerWithCustomObstacles(); + + + /** + * @brief Update internal via-point container based on the current reference plan + * @remarks All previous via-points will be cleared. + * @param transformed_plan (local) portion of the global plan (which is already transformed to the planning frame) + * @param min_separation minimum separation between two consecutive via-points + */ + void updateViaPointsContainer(const std::vector& transformed_plan, double min_separation); + + + /** + * @brief Callback for the dynamic_reconfigure node. + * + * This callback allows to modify parameters dynamically at runtime without restarting the node + * @param config Reference to the dynamic reconfigure config + * @param level Dynamic reconfigure level + */ + void reconfigureCB(TebLocalPlannerReconfigureConfig& config, uint32_t level); + + + /** + * @brief Callback for custom obstacles that are not obtained from the costmap + * @param obst_msg pointer to the message containing a list of polygon shaped obstacles + */ + void customObstacleCB(const costmap_converter::ObstacleArrayMsg::ConstPtr& obst_msg); + + /** + * @brief Callback for custom via-points + * @param via_points_msg pointer to the message containing a list of via-points + */ + void customViaPointsCB(const nav_msgs::Path::ConstPtr& via_points_msg); + + /** + * @brief Prune global plan such that already passed poses are cut off + * + * The pose of the robot is transformed into the frame of the global plan by taking the most recent tf transform. + * If no valid transformation can be found, the method returns \c false. + * The global plan is pruned until the distance to the robot is at least \c dist_behind_robot. + * If no pose within the specified treshold \c dist_behind_robot can be found, + * nothing will be pruned and the method returns \c false. + * @remarks Do not choose \c dist_behind_robot too small (not smaller the cellsize of the map), otherwise nothing will be pruned. + * @param tf A reference to a tf buffer + * @param global_pose The global pose of the robot + * @param[in,out] global_plan The plan to be transformed + * @param dist_behind_robot Distance behind the robot that should be kept [meters] + * @return \c true if the plan is pruned, \c false in case of a transform exception or if no pose cannot be found inside the threshold + */ + bool pruneGlobalPlan(const tf2_ros::Buffer& tf, const geometry_msgs::PoseStamped& global_pose, + std::vector& global_plan, double dist_behind_robot=1); + + /** + * @brief Transforms the global plan of the robot from the planner frame to the local frame (modified). + * + * The method replaces transformGlobalPlan as defined in base_local_planner/goal_functions.h + * such that the index of the current goal pose is returned as well as + * the transformation between the global plan and the planning frame. + * @param tf A reference to a tf buffer + * @param global_plan The plan to be transformed + * @param global_pose The global pose of the robot + * @param costmap A reference to the costmap being used so the window size for transforming can be computed + * @param global_frame The frame to transform the plan to + * @param max_plan_length Specify maximum length (cumulative Euclidean distances) of the transformed plan [if <=0: disabled; the length is also bounded by the local costmap size!] + * @param[out] transformed_plan Populated with the transformed plan + * @param[out] current_goal_idx Index of the current (local) goal pose in the global plan + * @param[out] tf_plan_to_global Transformation between the global plan and the global planning frame + * @return \c true if the global plan is transformed, \c false otherwise + */ + bool transformGlobalPlan(const tf2_ros::Buffer& tf, const std::vector& global_plan, + const geometry_msgs::PoseStamped& global_pose, const costmap_2d::Costmap2D& costmap, + const std::string& global_frame, double max_plan_length, std::vector& transformed_plan, + int* current_goal_idx = NULL, geometry_msgs::TransformStamped* tf_plan_to_global = NULL) const; + + /** + * @brief Estimate the orientation of a pose from the global_plan that is treated as a local goal for the local planner. + * + * If the current (local) goal point is not the final one (global) + * substitute the goal orientation by the angle of the direction vector between + * the local goal and the subsequent pose of the global plan. + * This is often helpful, if the global planner does not consider orientations. \n + * A moving average filter is utilized to smooth the orientation. + * @param global_plan The global plan + * @param local_goal Current local goal + * @param current_goal_idx Index of the current (local) goal pose in the global plan + * @param[out] tf_plan_to_global Transformation between the global plan and the global planning frame + * @param moving_average_length number of future poses of the global plan to be taken into account + * @return orientation (yaw-angle) estimate + */ + double estimateLocalGoalOrientation(const std::vector& global_plan, const geometry_msgs::PoseStamped& local_goal, + int current_goal_idx, const geometry_msgs::TransformStamped& tf_plan_to_global, int moving_average_length=3) const; + + + /** + * @brief Saturate the translational and angular velocity to given limits. + * + * The limit of the translational velocity for backwards driving can be changed independently. + * Do not choose max_vel_x_backwards <= 0. If no backward driving is desired, change the optimization weight for + * penalizing backwards driving instead. + * @param[in,out] vx The translational velocity that should be saturated. + * @param[in,out] vy Strafing velocity which can be nonzero for holonomic robots + * @param[in,out] omega The angular velocity that should be saturated. + * @param max_vel_x Maximum translational velocity for forward driving + * @param max_vel_y Maximum strafing velocity (for holonomic robots) + * @param max_vel_trans Maximum translational velocity for holonomic robots + * @param max_vel_theta Maximum (absolute) angular velocity + * @param max_vel_x_backwards Maximum translational velocity for backwards driving + */ + void saturateVelocity(double& vx, double& vy, double& omega, double max_vel_x, double max_vel_y, + double max_vel_trans, double max_vel_theta, double max_vel_x_backwards) const; + + + /** + * @brief Convert translational and rotational velocities to a steering angle of a carlike robot + * + * The conversion is based on the following equations: + * - The turning radius is defined by \f$ R = v/omega \f$ + * - For a car like robot withe a distance L between both axles, the relation is: \f$ tan(\phi) = L/R \f$ + * - phi denotes the steering angle. + * @remarks You might provide distances instead of velocities, since the temporal information is not required. + * @param v translational velocity [m/s] + * @param omega rotational velocity [rad/s] + * @param wheelbase distance between both axles (drive shaft and steering axle), the value might be negative for back_wheeled robots + * @param min_turning_radius Specify a lower bound on the turning radius + * @return Resulting steering angle in [rad] inbetween [-pi/2, pi/2] + */ + double convertTransRotVelToSteeringAngle(double v, double omega, double wheelbase, double min_turning_radius = 0) const; + + /** + * @brief Validate current parameter values of the footprint for optimization, obstacle distance and the costmap footprint + * + * This method prints warnings if validation fails. + * @remarks Currently, we only validate the inscribed radius of the footprints + * @param opt_inscribed_radius Inscribed radius of the RobotFootprintModel for optimization + * @param costmap_inscribed_radius Inscribed radius of the footprint model used for the costmap + * @param min_obst_dist desired distance to obstacles + */ + void validateFootprints(double opt_inscribed_radius, double costmap_inscribed_radius, double min_obst_dist); + + + void configureBackupModes(std::vector& transformed_plan, int& goal_idx); + + + +private: + // Definition of member variables + + // external objects (store weak pointers) + costmap_2d::Costmap2DROS* costmap_ros_; //!< Pointer to the costmap ros wrapper, received from the navigation stack + costmap_2d::Costmap2D* costmap_; //!< Pointer to the 2d costmap (obtained from the costmap ros wrapper) + tf2_ros::Buffer* tf_; //!< pointer to tf buffer + + // internal objects (memory management owned) + PlannerInterfacePtr planner_; //!< Instance of the underlying optimal planner class + ObstContainer obstacles_; //!< Obstacle vector that should be considered during local trajectory optimization + ViaPointContainer via_points_; //!< Container of via-points that should be considered during local trajectory optimization + TebVisualizationPtr visualization_; //!< Instance of the visualization class (local/global plan, obstacles, ...) + boost::shared_ptr costmap_model_; + TebConfig cfg_; //!< Config class that stores and manages all related parameters + FailureDetector failure_detector_; //!< Detect if the robot got stucked + + std::vector global_plan_; //!< Store the current global plan + + base_local_planner::OdometryHelperRos odom_helper_; //!< Provides an interface to receive the current velocity from the robot + + pluginlib::ClassLoader costmap_converter_loader_; //!< Load costmap converter plugins at runtime + boost::shared_ptr costmap_converter_; //!< Store the current costmap_converter + + boost::shared_ptr< dynamic_reconfigure::Server > dynamic_recfg_; //!< Dynamic reconfigure server to allow config modifications at runtime + ros::Subscriber custom_obst_sub_; //!< Subscriber for custom obstacles received via a ObstacleMsg. + boost::mutex custom_obst_mutex_; //!< Mutex that locks the obstacle array (multi-threaded) + costmap_converter::ObstacleArrayMsg custom_obstacle_msg_; //!< Copy of the most recent obstacle message + + ros::Subscriber via_points_sub_; //!< Subscriber for custom via-points received via a Path msg. + bool custom_via_points_active_; //!< Keep track whether valid via-points have been received from via_points_sub_ + boost::mutex via_point_mutex_; //!< Mutex that locks the via_points container (multi-threaded) + + PoseSE2 robot_pose_; //!< Store current robot pose + PoseSE2 robot_goal_; //!< Store current robot goal + geometry_msgs::Twist robot_vel_; //!< Store current robot translational and angular velocity (vx, vy, omega) + bool goal_reached_; //!< store whether the goal is reached or not + ros::Time time_last_infeasible_plan_; //!< Store at which time stamp the last infeasible plan was detected + int no_infeasible_plans_; //!< Store how many times in a row the planner failed to find a feasible plan. + ros::Time time_last_oscillation_; //!< Store at which time stamp the last oscillation was detected + RotType last_preferred_rotdir_; //!< Store recent preferred turning direction + geometry_msgs::Twist last_cmd_; //!< Store the last control command generated in computeVelocityCommands() + + std::vector footprint_spec_; //!< Store the footprint of the robot + double robot_inscribed_radius_; //!< The radius of the inscribed circle of the robot (collision possible) + double robot_circumscribed_radius; //!< The radius of the circumscribed circle of the robot + + std::string global_frame_; //!< The frame in which the controller will run + std::string robot_base_frame_; //!< Used as the base frame id of the robot + std::string name_; //!< For use with the ros nodehandle + + // flags + bool initialized_; //!< Keeps track about the correct initialization of this class + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +}; // end namespace teb_local_planner + +#endif // TEB_LOCAL_PLANNER_ROS_H_ + + diff --git a/navigations/teb_local_planner/include/teb_local_planner/timed_elastic_band.h b/navigations/teb_local_planner/include/teb_local_planner/timed_elastic_band.h new file mode 100755 index 0000000..12c7d27 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/timed_elastic_band.h @@ -0,0 +1,659 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef TIMED_ELASTIC_BAND_H_ +#define TIMED_ELASTIC_BAND_H_ + +#include +#include + +#include +#include +#include + +#include +#include + +#include + +// G2O Types +#include +#include + + +namespace teb_local_planner +{ + +//! Container of poses that represent the spatial part of the trajectory +typedef std::vector PoseSequence; +//! Container of time differences that define the temporal of the trajectory +typedef std::vector TimeDiffSequence; + + +/** + * @class TimedElasticBand + * @brief Class that defines a trajectory modeled as an elastic band with augmented tempoarl information. + * + * All trajectory related methods (initialization, modifying, ...) are implemented inside this class. \n + * Let \f$ Q = \lbrace \mathbf{s}_i \rbrace_{i=0...n},\ n \in \mathbb{N} \f$ be a sequence of poses, \n + * in which \f$ \mathbf{s}_i = [x_i, y_i, \beta_i]^T \in \mathbb{R}^2 \times S^1 \f$ denotes a single pose of the robot. \n + * The Timed Elastic Band (TEB) augments this sequence of poses by incorporating time intervals between + * two consecutive poses, resuting in a sequence of \c n-1 time intervals \f$ \Delta T_i \f$: \n + * \f$ \tau = \lbrace \Delta T_i \rbrace_{i=0...n-1} \f$. \n + * Each time interval (time diff) denotes the time that the robot requires to transit from the current configuration to the next configuration. + * The tuple of both sequences defines the underlying trajectory. + * + * Poses and time differences are wrapped into a g2o::Vertex class in order to enable the efficient optimization in TebOptimalPlanner. \n + * TebOptimalPlanner utilizes this Timed_Elastic_band class for representing an optimizable trajectory. + * + * @todo Move decision if the start or goal state should be marked as fixed or unfixed for the optimization to the TebOptimalPlanner class. + */ +class TimedElasticBand +{ +public: + + /** + * @brief Construct the class + */ + TimedElasticBand(); + + /** + * @brief Destruct the class + */ + virtual ~TimedElasticBand(); + + + + /** @name Access pose and timediff sequences */ + //@{ + + /** + * @brief Access the complete pose sequence + * @return reference to the pose sequence + */ + PoseSequence& poses() {return pose_vec_;}; + + /** + * @brief Access the complete pose sequence (read-only) + * @return const reference to the pose sequence + */ + const PoseSequence& poses() const {return pose_vec_;}; + + /** + * @brief Access the complete timediff sequence + * @return reference to the dimediff sequence + */ + TimeDiffSequence& timediffs() {return timediff_vec_;}; + + /** + * @brief Access the complete timediff sequence + * @return reference to the dimediff sequence + */ + const TimeDiffSequence& timediffs() const {return timediff_vec_;}; + + /** + * @brief Access the time difference at pos \c index of the time sequence + * @param index element position inside the internal TimeDiffSequence + * @return reference to the time difference at pos \c index + */ + double& TimeDiff(int index) + { + ROS_ASSERT(indexdt(); + } + + /** + * @brief Access the time difference at pos \c index of the time sequence (read-only) + * @param index element position inside the internal TimeDiffSequence + * @return const reference to the time difference at pos \c index + */ + const double& TimeDiff(int index) const + { + ROS_ASSERT(indexdt(); + } + + /** + * @brief Access the pose at pos \c index of the pose sequence + * @param index element position inside the internal PoseSequence + * @return reference to the pose at pos \c index + */ + PoseSE2& Pose(int index) + { + ROS_ASSERT(indexpose(); + } + + /** + * @brief Access the pose at pos \c index of the pose sequence (read-only) + * @param index element position inside the internal PoseSequence + * @return const reference to the pose at pos \c index + */ + const PoseSE2& Pose(int index) const + { + ROS_ASSERT(indexpose(); + } + + /** + * @brief Access the last PoseSE2 in the pose sequence + */ + PoseSE2& BackPose() {return pose_vec_.back()->pose(); } + + /** + * @brief Access the last PoseSE2 in the pose sequence (read-only) + */ + const PoseSE2& BackPose() const {return pose_vec_.back()->pose();} + + /** + * @brief Access the last TimeDiff in the time diff sequence + */ + double& BackTimeDiff() {return timediff_vec_.back()->dt(); } + + /** + * @brief Access the last TimeDiff in the time diff sequence (read-only) + */ + const double& BackTimeDiff() const {return timediff_vec_.back()->dt(); } + + /** + * @brief Access the vertex of a pose at pos \c index for optimization purposes + * @param index element position inside the internal PoseSequence + * @return Weak raw pointer to the pose vertex at pos \c index + */ + VertexPose* PoseVertex(int index) + { + ROS_ASSERT(index& position, double theta, bool fixed=false); + + /** + * @brief Append a new pose vertex to the back of the pose sequence + * @param x x-coordinate of the position part + * @param y y-coordinate of the position part + * @param theta yaw angle representing the orientation part + * @param fixed Mark the pose to be fixed or unfixed during trajectory optimization (important for the TebOptimalPlanner) + */ + void addPose(double x, double y, double theta, bool fixed=false); + + /** + * @brief Append a new time difference vertex to the back of the time diff sequence + * @param dt time difference value to push back on the internal TimeDiffSequence + * @param fixed Mark the pose to be fixed or unfixed during trajectory optimization (important for the TebOptimalPlanner) + */ + void addTimeDiff(double dt, bool fixed=false); + + /** + * @brief Append a (pose, timediff) vertex pair to the end of the current trajectory (pose and timediff sequences) + * @param pose PoseSE2 to push back on the internal PoseSequence + * @param dt time difference value to push back on the internal TimeDiffSequence + * @warning Since the timediff is defined to connect two consecutive poses, this call is only + * allowed if there exist already n poses and n-1 timediffs in the sequences (n=1,2,...): + * therefore add a single pose using addPose() first! + */ + void addPoseAndTimeDiff(const PoseSE2& pose, double dt); + + /** + * @brief Append a (pose, timediff) vertex pair to the end of the current trajectory (pose and timediff sequences) + * @param position 2D vector representing the position part + * @param theta yaw angle representing the orientation part + * @param dt time difference value to push back on the internal TimeDiffSequence + * @warning see addPoseAndTimeDiff(const PoseSE2& pose, double dt) + */ + void addPoseAndTimeDiff(const Eigen::Ref& position, double theta, double dt); + + /** + * @brief Append a (pose, timediff) vertex pair to the end of the current trajectory (pose and timediff sequences) + * @param x x-coordinate of the position part + * @param y y-coordinate of the position part + * @param theta yaw angle representing the orientation part + * @param dt time difference value to push back on the internal TimeDiffSequence + * @warning see addPoseAndTimeDiff(const PoseSE2& pose, double dt) + */ + void addPoseAndTimeDiff(double x, double y, double theta, double dt); + + //@} + + + /** @name Insert new elements and remove elements of the pose and timediff sequences */ + //@{ + + /** + * @brief Insert a new pose vertex at pos. \c index to the pose sequence + * @param index element position inside the internal PoseSequence + * @param pose PoseSE2 element to insert into the internal PoseSequence + */ + void insertPose(int index, const PoseSE2& pose); + + /** + * @brief Insert a new pose vertex at pos. \c index to the pose sequence + * @param index element position inside the internal PoseSequence + * @param position 2D vector representing the position part + * @param theta yaw-angle representing the orientation part + */ + void insertPose(int index, const Eigen::Ref& position, double theta); + + /** + * @brief Insert a new pose vertex at pos. \c index to the pose sequence + * @param index element position inside the internal PoseSequence + * @param x x-coordinate of the position part + * @param y y-coordinate of the position part + * @param theta yaw-angle representing the orientation part + */ + void insertPose(int index, double x, double y, double theta); + + /** + * @brief Insert a new timediff vertex at pos. \c index to the timediff sequence + * @param index element position inside the internal TimeDiffSequence + * @param dt timediff value + */ + void insertTimeDiff(int index, double dt); + + /** + * @brief Delete pose at pos. \c index in the pose sequence + * @param index element position inside the internal PoseSequence + */ + void deletePose(int index); + + /** + * @brief Delete multiple (\c number) poses starting at pos. \c index in the pose sequence + * @param index first element position inside the internal PoseSequence + * @param number number of elements that should be deleted + */ + void deletePoses(int index, int number); + + /** + * @brief Delete pose at pos. \c index in the timediff sequence + * @param index element position inside the internal TimeDiffSequence + */ + void deleteTimeDiff(int index); + + /** + * @brief Delete multiple (\c number) time differences starting at pos. \c index in the timediff sequence + * @param index first element position inside the internal TimeDiffSequence + * @param number number of elements that should be deleted + */ + void deleteTimeDiffs(int index, int number); + + //@} + + + /** @name Init the trajectory */ + //@{ + + /** + * @brief Initialize a trajectory between a given start and goal pose. + * + * The implemented algorithm subsamples the straight line between + * start and goal using a given discretiziation width. \n + * The discretization width can be defined in the euclidean space + * using the \c diststep parameter. Each time difference between two consecutive + * poses is initialized to \c timestep. \n + * If the \c diststep is chosen to be zero, + * the resulting trajectory contains the start and goal pose only. + * @param start PoseSE2 defining the start of the trajectory + * @param goal PoseSE2 defining the goal of the trajectory (final pose) + * @param diststep euclidean distance between two consecutive poses (if 0, no intermediate samples are inserted despite min_samples) + * @param max_vel_x maximum translational velocity used for determining time differences + * @param min_samples Minimum number of samples that should be initialized at least + * @param guess_backwards_motion Allow the initialization of backwards oriented trajectories if the goal heading is pointing behind the robot + * @return true if everything was fine, false otherwise + */ + bool initTrajectoryToGoal(const PoseSE2& start, const PoseSE2& goal, double diststep=0, double max_vel_x=0.5, int min_samples = 3, bool guess_backwards_motion = false); + + + /** + * @brief Initialize a trajectory from a generic 2D reference path. + * + * The temporal information is determined using a given maximum velocity + * (2D vector containing the translational and angular velocity). \n + * A constant velocity profile is implemented. \n + * A possible maximum acceleration is considered if \c max_acceleration param is provided. + * + * Since the orientation is not included in the reference path, it can be provided seperately + * (e.g. from the robot pose and robot goal). \n + * Otherwise the goal heading will be used as start and goal orientation. \n + * The orientation along the trajectory will be determined using the connection vector + * between two consecutive positions of the reference path. + * + * The reference path is provided using a start and end iterator to a container class. + * You must provide a unary function that accepts the dereferenced iterator and returns + * a copy or (const) reference to an Eigen::Vector2d type containing the 2d position. + * + * @param path_start start iterator of a generic 2d path + * @param path_end end iterator of a generic 2d path + * @param fun_position unary function that returns the Eigen::Vector2d object + * @param max_vel_x maximum translational velocity used for determining time differences + * @param max_vel_theta maximum angular velocity used for determining time differences + * @param max_acc_x specify to satisfy a maxmimum transl. acceleration and decceleration (optional) + * @param max_acc_theta specify to satisfy a maxmimum angular acceleration and decceleration (optional) + * @param start_orientation Orientation of the first pose of the trajectory (optional, otherwise use goal heading) + * @param goal_orientation Orientation of the last pose of the trajectory (optional, otherwise use goal heading) + * @param min_samples Minimum number of samples that should be initialized at least + * @param guess_backwards_motion Allow the initialization of backwards oriented trajectories if the goal heading is pointing behind the robot + * @tparam BidirIter Bidirectional iterator type + * @tparam Fun unyary function that transforms the dereferenced iterator into an Eigen::Vector2d + * @return true if everything was fine, false otherwise + * @remarks Use \c boost::none to skip optional arguments. + */ + template + bool initTrajectoryToGoal(BidirIter path_start, BidirIter path_end, Fun fun_position, double max_vel_x, double max_vel_theta, + boost::optional max_acc_x, boost::optional max_acc_theta, + boost::optional start_orientation, boost::optional goal_orientation, int min_samples = 3, bool guess_backwards_motion = false); + + /** + * @brief Initialize a trajectory from a reference pose sequence (positions and orientations). + * + * This method initializes the timed elastic band using a pose container + * (e.g. as local plan from the ros navigation stack). \n + * The initial time difference between two consecutive poses can be uniformly set + * via the argument \c dt. + * @param plan vector of geometry_msgs::PoseStamped + * @param max_vel_x maximum translational velocity used for determining time differences + * @param max_vel_theta maximum rotational velocity used for determining time differences + * @param estimate_orient if \c true, calculate orientation using the straight line distance vector between consecutive poses + * (only copy start and goal orientation; recommended if no orientation data is available). + * @param min_samples Minimum number of samples that should be initialized at least + * @param guess_backwards_motion Allow the initialization of backwards oriented trajectories if the goal heading is pointing behind the robot (this parameter is used only if \c estimate_orient is enabled. + * @return true if everything was fine, false otherwise + */ + bool initTrajectoryToGoal(const std::vector& plan, double max_vel_x, double max_vel_theta, bool estimate_orient=false, int min_samples = 3, bool guess_backwards_motion = false); + + + ROS_DEPRECATED bool initTEBtoGoal(const PoseSE2& start, const PoseSE2& goal, double diststep=0, double timestep=1, int min_samples = 3, bool guess_backwards_motion = false) + { + ROS_WARN_ONCE("initTEBtoGoal is deprecated and has been replaced by initTrajectoryToGoal. The signature has changed: timestep has been replaced by max_vel_x. \ + this deprecated method sets max_vel_x = 1. Please update your code."); + return initTrajectoryToGoal(start, goal, diststep, timestep, min_samples, guess_backwards_motion); + } + + template + ROS_DEPRECATED bool initTEBtoGoal(BidirIter path_start, BidirIter path_end, Fun fun_position, double max_vel_x, double max_vel_theta, + boost::optional max_acc_x, boost::optional max_acc_theta, + boost::optional start_orientation, boost::optional goal_orientation, int min_samples = 3, bool guess_backwards_motion = false) + { + return initTrajectoryToGoal(path_start, path_end, fun_position, max_vel_x, max_vel_theta, + max_acc_x, max_acc_theta, start_orientation, goal_orientation, min_samples, guess_backwards_motion); + } + + ROS_DEPRECATED bool initTEBtoGoal(const std::vector& plan, double dt, bool estimate_orient=false, int min_samples = 3, bool guess_backwards_motion = false) + { + ROS_WARN_ONCE("initTEBtoGoal is deprecated and has been replaced by initTrajectoryToGoal. The signature has changed: dt has been replaced by max_vel_x. \ + this deprecated method sets max_vel = 1. Please update your code."); + return initTrajectoryToGoal(plan, 1.0, 1.0, estimate_orient, min_samples, guess_backwards_motion); + } + + + //@} + + /** @name Update and modify the trajectory */ + //@{ + + + /** + * @brief Hot-Start from an existing trajectory with updated start and goal poses. + * + * This method updates a previously optimized trajectory with a new start and/or a new goal pose. \n + * The current simple implementation cuts of pieces of the trajectory that are already passed due to the new start. \n + * Afterwards the start and goal pose are replaced by the new ones. The resulting discontinuity will not be smoothed. + * The optimizer has to smooth the trajectory in TebOptimalPlanner. \n + * + * @todo Smooth the trajectory here and test the performance improvement of the optimization. + * @todo Implement a updateAndPruneTEB based on a new reference path / pose sequence. + * + * @param new_start New start pose (optional) + * @param new_goal New goal pose (optional) + * @param min_samples Specify the minimum number of samples that should at least remain in the trajectory + */ + void updateAndPruneTEB(boost::optional new_start, boost::optional new_goal, int min_samples = 3); + + + /** + * @brief Resize the trajectory by removing or inserting a (pose,dt) pair depending on a reference temporal resolution. + * + * Resizing the trajectory is helpful e.g. for the following scenarios: + * + * - Obstacles requires the teb to be extended in order to + * satisfy the given discritization width (plan resolution) + * and to avoid undesirable behavior due to a large/small discretization step widths \f$ \Delta T_i \f$ + * After clearance of obstacles, the teb should (re-) contract to its (time-)optimal version. + * - If the distance to the goal state is getting smaller, + * dt is decreasing as well. This leads to a heavily + * fine-grained discretization in combination with many + * discrete poses. Thus, the computation time will + * be/remain high and in addition numerical instabilities + * can appear (e.g. due to the division by a small \f$ \Delta T_i \f$). + * + * The implemented strategy checks all timediffs \f$ \Delta T_i \f$ and + * + * - inserts a new sample if \f$ \Delta T_i > \Delta T_{ref} + \Delta T_{hyst} \f$ + * - removes a sample if \f$ \Delta T_i < \Delta T_{ref} - \Delta T_{hyst} \f$ + * + * Each call only one new sample (pose-dt-pair) is inserted or removed. + * @param dt_ref reference temporal resolution + * @param dt_hysteresis hysteresis to avoid oscillations + * @param min_samples minimum number of samples that should be remain in the trajectory after resizing + * @param max_samples maximum number of samples that should not be exceeded during resizing + * @param fast_mode if true, the trajectory is iterated once to insert or erase points; if false the trajectory + * is repeatedly iterated until no poses are added or removed anymore + */ + void autoResize(double dt_ref, double dt_hysteresis, int min_samples = 3, int max_samples=1000, bool fast_mode=false); + + /** + * @brief Set a pose vertex at pos \c index of the pose sequence to be fixed or unfixed during optimization. + * @param index index to the pose vertex + * @param status if \c true, the vertex will be fixed, otherwise unfixed + */ + void setPoseVertexFixed(int index, bool status); + + /** + * @brief Set a timediff vertex at pos \c index of the timediff sequence to be fixed or unfixed during optimization. + * @param index index to the timediff vertex + * @param status if \c true, the vertex will be fixed, otherwise unfixed + */ + void setTimeDiffVertexFixed(int index, bool status); + + /** + * @brief clear all poses and timediffs from the trajectory. + * The pose and timediff sequences will be empty and isInit() will return \c false + */ + void clearTimedElasticBand(); + + //@} + + + /** @name Utility and status methods */ + //@{ + + /** + * @brief Find the closest point on the trajectory w.r.t. to a provided reference point. + * + * This function can be useful to find the part of a trajectory that is close to an obstacle. + * + * @todo implement a more efficient version that first performs a coarse search. + * @todo implement a fast approximation that assumes only one local minima w.r.t to the distance: + * Allows simple comparisons starting from the middle of the trajectory. + * + * @param ref_point reference point (2D position vector) + * @param[out] distance [optional] the resulting minimum distance + * @param begin_idx start search at this pose index + * @return Index to the closest pose in the pose sequence + */ + int findClosestTrajectoryPose(const Eigen::Ref& ref_point, double* distance = NULL, int begin_idx=0) const; + + /** + * @brief Find the closest point on the trajectory w.r.t. to a provided reference line. + * + * This function can be useful to find the part of a trajectory that is close to an (line) obstacle. + * + * @todo implement a more efficient version that first performs a coarse search. + * @todo implement a fast approximation that assumes only one local minima w.r.t to the distance: + * Allows simple comparisons starting from the middle of the trajectory. + * + * @param ref_line_start start of the reference line (2D position vector) + * @param ref_line_end end of the reference line (2D position vector) + * @param[out] distance [optional] the resulting minimum distance + * @return Index to the closest pose in the pose sequence + */ + int findClosestTrajectoryPose(const Eigen::Ref& ref_line_start, const Eigen::Ref& ref_line_end, double* distance = NULL) const; + + /** + * @brief Find the closest point on the trajectory w.r.t. to a provided reference polygon. + * + * This function can be useful to find the part of a trajectory that is close to an (polygon) obstacle. + * + * @todo implement a more efficient version that first performs a coarse search. + * @todo implement a fast approximation that assumes only one local minima w.r.t to the distance: + * Allows simple comparisons starting from the middle of the trajectory. + * + * @param vertices vertex container containing Eigen::Vector2d points (the last and first point are connected) + * @param[out] distance [optional] the resulting minimum distance + * @return Index to the closest pose in the pose sequence + */ + int findClosestTrajectoryPose(const Point2dContainer& vertices, double* distance = NULL) const; + + /** + * @brief Find the closest point on the trajectory w.r.t to a provided obstacle type + * + * This function can be useful to find the part of a trajectory that is close to an obstacle. + * The method is calculates appropriate distance metrics for point, line and polygon obstacles. + * For all unknown obstacles the centroid is used. + * + * @param obstacle Subclass of the Obstacle base class + * @param[out] distance [optional] the resulting minimum distance + * @return Index to the closest pose in the pose sequence + */ + int findClosestTrajectoryPose(const Obstacle& obstacle, double* distance = NULL) const; + + + /** + * @brief Get the length of the internal pose sequence + */ + int sizePoses() const {return (int)pose_vec_.size();}; + + /** + * @brief Get the length of the internal timediff sequence + */ + int sizeTimeDiffs() const {return (int)timediff_vec_.size();}; + + /** + * @brief Check whether the trajectory is initialized (nonzero pose and timediff sequences) + */ + bool isInit() const {return !timediff_vec_.empty() && !pose_vec_.empty();} + + /** + * @brief Calculate the total transition time (sum over all time intervals of the timediff sequence) + */ + double getSumOfAllTimeDiffs() const; + + /** + * @brief Calculate the estimated transition time up to the pose denoted by index + * @param index Index of the pose up to which the transition times are summed up + * @return Estimated transition time up to pose index + */ + double getSumOfTimeDiffsUpToIdx(int index) const; + + /** + * @brief Calculate the length (accumulated euclidean distance) of the trajectory + */ + double getAccumulatedDistance() const; + + /** + * @brief Check if all trajectory points are contained in a specific region + * + * The specific region is a circle around the current robot position (Pose(0)) with given radius \c radius. + * This method investigates a different radius for points behind the robot if \c max_dist_behind_robot >= 0. + * @param radius radius of the region with the robot position (Pose(0)) as center + * @param max_dist_behind_robot A separate radius for trajectory points behind the robot, activated if 0 or positive + * @param skip_poses If >0: the specified number of poses are skipped for the test, e.g. Pose(0), Pose(0+skip_poses+1), Pose(2*skip_poses+2), ... are tested. + * @return \c true, if all tested trajectory points are inside the specified region, \c false otherwise. + */ + bool isTrajectoryInsideRegion(double radius, double max_dist_behind_robot=-1, int skip_poses=0); + + + + //@} + +protected: + PoseSequence pose_vec_; //!< Internal container storing the sequence of optimzable pose vertices + TimeDiffSequence timediff_vec_; //!< Internal container storing the sequence of optimzable timediff vertices + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} // namespace teb_local_planner + + +// include template implementations / definitions +#include + + +#endif /* TIMED_ELASTIC_BAND_H_ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/timed_elastic_band.hpp b/navigations/teb_local_planner/include/teb_local_planner/timed_elastic_band.hpp new file mode 100755 index 0000000..66c92b8 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/timed_elastic_band.hpp @@ -0,0 +1,189 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include + +namespace teb_local_planner +{ + + + +template +bool TimedElasticBand::initTrajectoryToGoal(BidirIter path_start, BidirIter path_end, Fun fun_position, double max_vel_x, double max_vel_theta, + boost::optional max_acc_x, boost::optional max_acc_theta, + boost::optional start_orientation, boost::optional goal_orientation, int min_samples, bool guess_backwards_motion) +{ + Eigen::Vector2d start_position = fun_position( *path_start ); + Eigen::Vector2d goal_position = fun_position( *boost::prior(path_end) ); + + bool backwards = false; + + double start_orient, goal_orient; + if (start_orientation) + { + start_orient = *start_orientation; + + // check if the goal is behind the start pose (w.r.t. start orientation) + if (guess_backwards_motion && (goal_position-start_position).dot(Eigen::Vector2d(std::cos(start_orient), std::sin(start_orient))) < 0) + backwards = true; + } + else + { + Eigen::Vector2d start2goal = goal_position - start_position; + start_orient = atan2(start2goal[1],start2goal[0]); + } + + double timestep = 1; // TODO: time + + if (goal_orientation) + { + goal_orient = *goal_orientation; + } + else + { + goal_orient = start_orient; + } + + if (!isInit()) + { + addPose(start_position, start_orient, true); // add starting point and mark it as fixed for optimization + + // we insert middle points now (increase start by 1 and decrease goal by 1) + std::advance(path_start,1); + std::advance(path_end,-1); + int idx=0; + for (; path_start != path_end; ++path_start) // insert middle-points + { + //Eigen::Vector2d point_to_goal = path.back()-*it; + //double dir_to_goal = atan2(point_to_goal[1],point_to_goal[0]); // direction to goal + // Alternative: Direction from last path + Eigen::Vector2d curr_point = fun_position(*path_start); + Eigen::Vector2d diff_last = curr_point - Pose(idx).position(); // we do not use boost::prior(*path_start) for those cases, + // where fun_position() does not return a reference or is expensive. + double diff_norm = diff_last.norm(); + + double timestep_vel = diff_norm/max_vel_x; // constant velocity + double timestep_acc; + + if (max_acc_x) + { + timestep_acc = sqrt(2*diff_norm/(*max_acc_x)); // constant acceleration + if (timestep_vel < timestep_acc && max_acc_x) timestep = timestep_acc; + else timestep = timestep_vel; + } + else timestep = timestep_vel; + + if (timestep<=0) timestep=0.2; // TODO: this is an assumption + + double yaw = atan2(diff_last[1],diff_last[0]); + if (backwards) + yaw = g2o::normalize_theta(yaw + M_PI); + addPoseAndTimeDiff(curr_point, yaw ,timestep); + + /* + // TODO: the following code does not seem to hot-start the optimizer. Instead it recudes convergence time. + + Eigen::Vector2d diff_next = fun_position(*boost::next(path_start))-curr_point; // TODO maybe store the boost::next for the following iteration + double ang_diff = std::abs( g2o::normalize_theta( atan2(diff_next[1],diff_next[0]) + -atan2(diff_last[1],diff_last[0]) ) ); + + timestep_vel = ang_diff/max_vel_theta; // constant velocity + if (max_acc_theta) + { + timestep_acc = sqrt(2*ang_diff/(*max_acc_theta)); // constant acceleration + if (timestep_vel < timestep_acc) timestep = timestep_acc; + else timestep = timestep_vel; + } + else timestep = timestep_vel; + + if (timestep<=0) timestep=0.2; // TODO: this is an assumption + + yaw = atan2(diff_last[1],diff_last[0]); // TODO redundant right now, not yet finished + if (backwards) + yaw = g2o::normalize_theta(yaw + M_PI); + addPoseAndTimeDiff(curr_point, yaw ,timestep); + + */ + + ++idx; + } + Eigen::Vector2d diff = goal_position-Pose(idx).position(); + double diff_norm = diff.norm(); + double timestep_vel = diff_norm/max_vel_x; // constant velocity + if (max_acc_x) + { + double timestep_acc = sqrt(2*diff_norm/(*max_acc_x)); // constant acceleration + if (timestep_vel < timestep_acc) timestep = timestep_acc; + else timestep = timestep_vel; + } + else timestep = timestep_vel; + + + PoseSE2 goal(goal_position, goal_orient); + + // if number of samples is not larger than min_samples, insert manually + if ( sizePoses() < min_samples-1 ) + { + ROS_DEBUG("initTEBtoGoal(): number of generated samples is less than specified by min_samples. Forcing the insertion of more samples..."); + while (sizePoses() < min_samples-1) // subtract goal point that will be added later + { + // Each inserted point bisects the remaining distance. Thus the timestep is also bisected. + timestep /= 2; + // simple strategy: interpolate between the current pose and the goal + addPoseAndTimeDiff( PoseSE2::average(BackPose(), goal), timestep ); // let the optimier correct the timestep (TODO: better initialization + } + } + + // now add goal + addPoseAndTimeDiff(goal, timestep); // add goal point + setPoseVertexFixed(sizePoses()-1,true); // GoalConf is a fixed constraint during optimization + } + else // size!=0 + { + ROS_WARN("Cannot init TEB between given configuration and goal, because TEB vectors are not empty or TEB is already initialized (call this function before adding states yourself)!"); + ROS_WARN("Number of TEB configurations: %d, Number of TEB timediffs: %d", sizePoses(), sizeTimeDiffs()); + return false; + } + return true; +} + + +} // namespace teb_local_planner + + + diff --git a/navigations/teb_local_planner/include/teb_local_planner/visualization.h b/navigations/teb_local_planner/include/teb_local_planner/visualization.h new file mode 100755 index 0000000..d01a6fb --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/visualization.h @@ -0,0 +1,287 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#ifndef VISUALIZATION_H_ +#define VISUALIZATION_H_ + + + +// teb stuff +#include +#include +#include + +// ros stuff +#include +#include + +// boost +#include +#include + +// std +#include + +// messages +#include +#include +#include +#include +#include +#include +#include +#include + +namespace teb_local_planner +{ + +class TebOptimalPlanner; //!< Forward Declaration + + +/** + * @class TebVisualization + * @brief Visualize stuff from the teb_local_planner + */ +class TebVisualization +{ +public: + + /** + * @brief Default constructor + * @remarks do not forget to call initialize() + */ + TebVisualization(); + + /** + * @brief Constructor that initializes the class and registers topics + * @param nh local ros::NodeHandle + * @param cfg const reference to the TebConfig class for parameters + */ + TebVisualization(ros::NodeHandle& nh, const TebConfig& cfg); + + /** + * @brief Initializes the class and registers topics. + * + * Call this function if only the default constructor has been called before. + * @param nh local ros::NodeHandle + * @param cfg const reference to the TebConfig class for parameters + */ + void initialize(ros::NodeHandle& nh, const TebConfig& cfg); + + + /** @name Publish to topics */ + //@{ + + /** + * @brief Publish a given global plan to the ros topic \e ../../global_plan + * @param global_plan Pose array describing the global plan + */ + void publishGlobalPlan(const std::vector& global_plan) const; + + /** + * @brief Publish a given local plan to the ros topic \e ../../local_plan + * @param local_plan Pose array describing the local plan + */ + void publishLocalPlan(const std::vector& local_plan) const; + + /** + * @brief Publish Timed_Elastic_Band related stuff (local plan, pose sequence). + * + * Given a Timed_Elastic_Band instance, publish the local plan to \e ../../local_plan + * and the pose sequence to \e ../../teb_poses. + * @param teb const reference to a Timed_Elastic_Band + */ + void publishLocalPlanAndPoses(const TimedElasticBand& teb) const; + + /** + * @brief Publish the visualization of the robot model + * + * @param current_pose Current pose of the robot + * @param robot_model Subclass of BaseRobotFootprintModel + * @param ns Namespace for the marker objects + * @param color Color of the footprint + */ + void publishRobotFootprintModel(const PoseSE2& current_pose, const BaseRobotFootprintModel& robot_model, const std::string& ns = "RobotFootprintModel", + const std_msgs::ColorRGBA& color = toColorMsg(0.5, 0.0, 0.8, 0.0)); + + void publishRobotFootprint(const PoseSE2& current_pose, const std::vector& footprint, + const std::string& ns, const std_msgs::ColorRGBA &color); + + /** + * @brief Publish the robot footprint model and the actual robot footprint at an infeasible pose + * + * @param infeasible_pose Infeasible pose to visualize + * @param robot_model Subclass of BaseRobotFootprintModel + * @param footprint Actual robot footprint + */ + void publishInfeasibleRobotPose(const PoseSE2& infeasible_pose, const BaseRobotFootprintModel& robot_model, + const std::vector& footprint); + + /** + * @brief Publish obstacle positions to the ros topic \e ../../teb_markers + * @todo Move filling of the marker message to polygon class in order to avoid checking types. + * @param obstacles Obstacle container + * @param scale Size of the non-circular obstacles + */ + void publishObstacles(const ObstContainer& obstacles, double scale = 0.1) const; + + /** + * @brief Publish via-points to the ros topic \e ../../teb_markers + * @param via_points via-point container + */ + void publishViaPoints(const std::vector< Eigen::Vector2d, Eigen::aligned_allocator >& via_points, const std::string& ns = "ViaPoints") const; + + /** + * @brief Publish a boost::adjacency_list (boost's graph datatype) via markers. + * @remarks Make sure that vertices of the graph contain a member \c pos as \c Eigen::Vector2d type + * to query metric position values. + * @param graph Const reference to the boost::adjacency_list (graph) + * @param ns_prefix Namespace prefix for the marker objects (the strings "Edges" and "Vertices" will be appended) + * @tparam GraphType boost::graph object in which vertices has the field/member \c pos. + */ + template + void publishGraph(const GraphType& graph, const std::string& ns_prefix = "Graph"); + + /** + * @brief Publish multiple 2D paths (each path given as a point sequence) from a container class. + * + * Provide a std::vector< std::vector< T > > in which T.x() and T.y() exist + * and std::vector could be individually substituded by std::list / std::deque /... + * + * A common point-type for object T could be Eigen::Vector2d. + * + * T could be also a raw pointer std::vector< std::vector< T* > >. + * + * @code + * typedef std::vector > PathType; // could be a list or deque as well ... + * std::vector path_container(2); // init 2 empty paths; the container could be a list or deque as well ... + * // Fill path_container.at(0) with Eigen::Vector2d elements, we skip that here + * // Fill path_container.at(1) with Eigen::Vector2d elements, we skip that here + * publishPathContainer( path_container.begin(), path_container.end() ); + * @endcode + * + * @remarks Actually the underlying path does not necessarily need to be a Eigen::Vector2d sequence. + * Eigen::Vector2d can be replaced with any datatype that implement public x() and y() methods.\n + * @param first Bidirectional iterator pointing to the begin of the path + * @param last Bidirectional iterator pointing to the end of the path + * @param ns Namespace for the marker objects (the strings "Edges" and "Vertices" will be appended) + * @tparam BidirIter Bidirectional iterator to a 2D path (sequence of Eigen::Vector2d elements) in a container + */ + template + void publishPathContainer(BidirIter first, BidirIter last, const std::string& ns = "PathContainer"); + + /** + * @brief Publish multiple Tebs from a container class (publish as marker message). + * + * @param teb_planner Container of boost::shared_ptr< TebOptPlannerPtr > + * @param ns Namespace for the marker objects + */ + void publishTebContainer(const std::vector< boost::shared_ptr >& teb_planner, const std::string& ns = "TebContainer"); + + /** + * @brief Publish a feedback message (multiple trajectory version) + * + * The feedback message contains the all planned trajectory candidates (e.g. if planning in distinctive topologies is turned on). + * Each trajectory is composed of the sequence of poses, the velocity profile and temporal information. + * The feedback message also contains a list of active obstacles. + * @param teb_planners container with multiple tebs (resp. their planner instances) + * @param selected_trajectory_idx Idx of the currently selected trajectory in \c teb_planners + * @param obstacles Container of obstacles + */ + void publishFeedbackMessage(const std::vector< boost::shared_ptr >& teb_planners, unsigned int selected_trajectory_idx, const ObstContainer& obstacles); + + /** + * @brief Publish a feedback message (single trajectory overload) + * + * The feedback message contains the planned trajectory + * that is composed of the sequence of poses, the velocity profile and temporal information. + * The feedback message also contains a list of active obstacles. + * @param teb_planner the planning instance + * @param obstacles Container of obstacles + */ + void publishFeedbackMessage(const TebOptimalPlanner& teb_planner, const ObstContainer& obstacles); + + //@} + + /** + * @brief Helper function to generate a color message from single values + * @param a Alpha value + * @param r Red value + * @param g Green value + * @param b Blue value + * @return Color message + */ + static std_msgs::ColorRGBA toColorMsg(double a, double r, double g, double b); + +protected: + + /** + * @brief Small helper function that checks if initialize() has been called and prints an error message if not. + * @return \c true if not initialized, \c false if everything is ok + */ + bool printErrorWhenNotInitialized() const; + + ros::Publisher global_plan_pub_; //!< Publisher for the global plan + ros::Publisher local_plan_pub_; //!< Publisher for the local plan + ros::Publisher teb_poses_pub_; //!< Publisher for the trajectory pose sequence + ros::Publisher teb_marker_pub_; //!< Publisher for visualization markers + ros::Publisher feedback_pub_; //!< Publisher for the feedback message for analysis and debug purposes + + const TebConfig* cfg_; //!< Config class that stores and manages all related parameters + + bool initialized_; //!< Keeps track about the correct initialization of this class + + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +//! Abbrev. for shared instances of the TebVisualization +typedef boost::shared_ptr TebVisualizationPtr; + +//! Abbrev. for shared instances of the TebVisualization (read-only) +typedef boost::shared_ptr TebVisualizationConstPtr; + + +} // namespace teb_local_planner + + +// Include template method implementations / definitions +#include + +#endif /* VISUALIZATION_H_ */ diff --git a/navigations/teb_local_planner/include/teb_local_planner/visualization.hpp b/navigations/teb_local_planner/include/teb_local_planner/visualization.hpp new file mode 100755 index 0000000..e619e52 --- /dev/null +++ b/navigations/teb_local_planner/include/teb_local_planner/visualization.hpp @@ -0,0 +1,225 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include +#include + + +namespace teb_local_planner +{ + + +template +void TebVisualization::publishGraph(const GraphType& graph, const std::string& ns_prefix) +{ + if ( printErrorWhenNotInitialized() ) + return; + + typedef typename boost::graph_traits::vertex_iterator GraphVertexIterator; + typedef typename boost::graph_traits::edge_iterator GraphEdgeIterator; + + // Visualize Edges + visualization_msgs::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = ros::Time::now(); + marker.ns = ns_prefix + "Edges"; + marker.id = 0; +// #define TRIANGLE +#ifdef TRIANGLE + marker.type = visualization_msgs::Marker::TRIANGLE_LIST; +#else + marker.type = visualization_msgs::Marker::LINE_LIST; +#endif + marker.action = visualization_msgs::Marker::ADD; + + GraphEdgeIterator it_edge, end_edges; + for (boost::tie(it_edge,end_edges) = boost::edges(graph); it_edge!=end_edges; ++it_edge) + { +#ifdef TRIANGLE + geometry_msgs::Point point_start1; + point_start1.x = graph[boost::source(*it_edge,graph)].pos[0]+0.05; + point_start1.y = graph[boost::source(*it_edge,graph)].pos[1]-0.05; + point_start1.z = 0; + marker.points.push_back(point_start1); + geometry_msgs::Point point_start2; + point_start2.x = graph[boost::source(*it_edge,graph)].pos[0]-0.05; + point_start2.y = graph[boost::source(*it_edge,graph)].pos[1]+0.05; + point_start2.z = 0; + marker.points.push_back(point_start2); + +#else + geometry_msgs::Point point_start; + point_start.x = graph[boost::source(*it_edge,graph)].pos[0]; + point_start.y = graph[boost::source(*it_edge,graph)].pos[1]; + point_start.z = 0; + marker.points.push_back(point_start); +#endif + geometry_msgs::Point point_end; + point_end.x = graph[boost::target(*it_edge,graph)].pos[0]; + point_end.y = graph[boost::target(*it_edge,graph)].pos[1]; + point_end.z = 0; + marker.points.push_back(point_end); + + // add color + std_msgs::ColorRGBA color; + color.a = 1.0; + color.r = 0; + color.g = 0; + color.b = 1; + marker.colors.push_back(color); + marker.colors.push_back(color); +#ifdef TRIANGLE + marker.colors.push_back(color); +#endif + } + +#ifdef TRIANGLE + marker.scale.x = 1; + marker.scale.y = 1; + marker.scale.z = 1; +#else + marker.scale.x = 0.01; +#endif + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + // Now publish edge markers + teb_marker_pub_.publish( marker ); + + // Visualize vertices + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = ros::Time::now(); + marker.ns = ns_prefix + "Vertices"; + marker.id = 0; + marker.type = visualization_msgs::Marker::POINTS; + marker.action = visualization_msgs::Marker::ADD; + + GraphVertexIterator it_vert, end_vert; + for (boost::tie(it_vert,end_vert) = boost::vertices(graph); it_vert!=end_vert; ++it_vert) + { + geometry_msgs::Point point; + point.x = graph[*it_vert].pos[0]; + point.y = graph[*it_vert].pos[1]; + point.z = 0; + marker.points.push_back(point); + // add color + + std_msgs::ColorRGBA color; + color.a = 1.0; + if (it_vert==end_vert-1) + { + color.r = 1; + color.g = 0; + color.b = 0; + } + else + { + color.r = 0; + color.g = 1; + color.b = 0; + } + marker.colors.push_back(color); + } + // set first color (start vertix) to blue + if (!marker.colors.empty()) + { + marker.colors.front().b = 1; + marker.colors.front().g = 0; + } + + marker.scale.x = 0.1; + marker.scale.y = 0.1; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + // Now publish vertex markers + teb_marker_pub_.publish( marker ); +} + +template +void TebVisualization::publishPathContainer(BidirIter first, BidirIter last, const std::string& ns) +{ + if ( printErrorWhenNotInitialized() ) + return; + + visualization_msgs::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = ros::Time::now(); + marker.ns = ns; + marker.id = 0; + marker.type = visualization_msgs::Marker::LINE_LIST; + marker.action = visualization_msgs::Marker::ADD; + + typedef typename std::iterator_traits::value_type PathType; // Get type of the path (point container) + + // Iterate through path container + while(first != last) + { + // iterate single path points + typename PathType::const_iterator it_point, end_point; + for (it_point = first->begin(), end_point = boost::prior(first->end()); it_point != end_point; ++it_point) + { + geometry_msgs::Point point_start; + point_start.x = get_const_reference(*it_point).x(); + point_start.y = get_const_reference(*it_point).y(); + point_start.z = 0; + marker.points.push_back(point_start); + + geometry_msgs::Point point_end; + point_end.x = get_const_reference(*boost::next(it_point)).x(); + point_end.y = get_const_reference(*boost::next(it_point)).y(); + point_end.z = 0; + marker.points.push_back(point_end); + } + ++first; + } + marker.scale.x = 0.01; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + teb_marker_pub_.publish( marker ); +} + + +} // namespace teb_local_planner \ No newline at end of file diff --git a/navigations/teb_local_planner/launch/test_optim_node.launch b/navigations/teb_local_planner/launch/test_optim_node.launch new file mode 100755 index 0000000..9749d95 --- /dev/null +++ b/navigations/teb_local_planner/launch/test_optim_node.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/navigations/teb_local_planner/msg/FeedbackMsg.msg b/navigations/teb_local_planner/msg/FeedbackMsg.msg new file mode 100755 index 0000000..8b4977c --- /dev/null +++ b/navigations/teb_local_planner/msg/FeedbackMsg.msg @@ -0,0 +1,15 @@ +# Message that contains intermediate results +# and diagnostics of the (predictive) planner. + +std_msgs/Header header + +# The planned trajectory (or if multiple plans exist, all of them) +teb_local_planner/TrajectoryMsg[] trajectories + +# Index of the trajectory in 'trajectories' that is selected currently +uint16 selected_trajectory_idx + +# List of active obstacles +costmap_converter/ObstacleArrayMsg obstacles_msg + + diff --git a/navigations/teb_local_planner/msg/TrajectoryMsg.msg b/navigations/teb_local_planner/msg/TrajectoryMsg.msg new file mode 100755 index 0000000..2e90313 --- /dev/null +++ b/navigations/teb_local_planner/msg/TrajectoryMsg.msg @@ -0,0 +1,6 @@ +# Message that contains a trajectory for mobile robot navigation + +std_msgs/Header header +teb_local_planner/TrajectoryPointMsg[] trajectory + + diff --git a/navigations/teb_local_planner/msg/TrajectoryPointMsg.msg b/navigations/teb_local_planner/msg/TrajectoryPointMsg.msg new file mode 100755 index 0000000..eb1ef8b --- /dev/null +++ b/navigations/teb_local_planner/msg/TrajectoryPointMsg.msg @@ -0,0 +1,21 @@ +# Message that contains single point on a trajectory suited for mobile navigation. +# The trajectory is described by a sequence of poses, velocities, +# accelerations and temporal information. + +# Why this message type? +# nav_msgs/Path describes only a path without temporal information. +# trajectory_msgs package contains only messages for joint trajectories. + +# The pose of the robot +geometry_msgs/Pose pose + +# Corresponding velocity +geometry_msgs/Twist velocity + +# Corresponding acceleration +geometry_msgs/Twist acceleration + +duration time_from_start + + + diff --git a/navigations/teb_local_planner/package.xml b/navigations/teb_local_planner/package.xml new file mode 100755 index 0000000..baa6d8a --- /dev/null +++ b/navigations/teb_local_planner/package.xml @@ -0,0 +1,57 @@ + + + teb_local_planner + + 0.9.1 + + + The teb_local_planner package implements a plugin + to the base_local_planner of the 2D navigation stack. + The underlying method called Timed Elastic Band locally optimizes + the robot's trajectory with respect to trajectory execution time, + separation from obstacles and compliance with kinodynamic constraints at runtime. + + + + Christoph Rösmann + + BSD + + http://wiki.ros.org/teb_local_planner + + Christoph Rösmann + + catkin + + cmake_modules + message_generation + tf2_eigen + tf2_geometry_msgs + + message_runtime + message_runtime + + base_local_planner + costmap_2d + costmap_converter + + dynamic_reconfigure + geometry_msgs + interactive_markers + libg2o + nav_core + nav_msgs + mbf_costmap_core + mbf_msgs + pluginlib + roscpp + std_msgs + tf2 + tf2_ros + visualization_msgs + + + + + + diff --git a/navigations/teb_local_planner/scripts/cmd_vel_to_ackermann_drive.py b/navigations/teb_local_planner/scripts/cmd_vel_to_ackermann_drive.py new file mode 100755 index 0000000..ed2ed2a --- /dev/null +++ b/navigations/teb_local_planner/scripts/cmd_vel_to_ackermann_drive.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python + +# Author: christoph.roesmann@tu-dortmund.de + +import rospy, math +from geometry_msgs.msg import Twist +from ackermann_msgs.msg import AckermannDriveStamped + + +def convert_trans_rot_vel_to_steering_angle(v, omega, wheelbase): + if omega == 0 or v == 0: + return 0 + + radius = v / omega + return math.atan(wheelbase / radius) + + +def cmd_callback(data): + global wheelbase + global ackermann_cmd_topic + global frame_id + global pub + global cmd_angle_instead_rotvel + + v = data.linear.x + # if cmd_angle_instead_rotvel is true, the rotational velocity is already converted in the C++ node + # in this case this script only needs to do the msg conversion from twist to Ackermann drive + if cmd_angle_instead_rotvel: + steering = data.angular.z + else: + steering = convert_trans_rot_vel_to_steering_angle(v, data.angular.z, wheelbase) + + msg = AckermannDriveStamped() + msg.header.stamp = rospy.Time.now() + msg.header.frame_id = frame_id + msg.drive.steering_angle = steering + msg.drive.speed = v + + pub.publish(msg) + + + + + +if __name__ == '__main__': + try: + + rospy.init_node('cmd_vel_to_ackermann_drive') + + twist_cmd_topic = rospy.get_param('~twist_cmd_topic', '/cmd_vel') + ackermann_cmd_topic = rospy.get_param('~ackermann_cmd_topic', '/ackermann_cmd') + wheelbase = rospy.get_param('~wheelbase', 1.0) + frame_id = rospy.get_param('~frame_id', 'odom') + cmd_angle_instead_rotvel = rospy.get_param('/move_base/TebLocalPlannerROS/cmd_angle_instead_rotvel', False) + + rospy.Subscriber(twist_cmd_topic, Twist, cmd_callback, queue_size=1) + pub = rospy.Publisher(ackermann_cmd_topic, AckermannDriveStamped, queue_size=1) + + rospy.loginfo("Node 'cmd_vel_to_ackermann_drive' started.\nListening to %s, publishing to %s. Frame id: %s, wheelbase: %f", "/cmd_vel", ackermann_cmd_topic, frame_id, wheelbase) + + rospy.spin() + + except rospy.ROSInterruptException: + pass + diff --git a/navigations/teb_local_planner/scripts/export_to_mat.py b/navigations/teb_local_planner/scripts/export_to_mat.py new file mode 100755 index 0000000..1cc3351 --- /dev/null +++ b/navigations/teb_local_planner/scripts/export_to_mat.py @@ -0,0 +1,112 @@ +#!/usr/bin/env python + +# This small script subscribes to the FeedbackMsg message of teb_local_planner +# and exports data to a mat file. +# publish_feedback must be turned on such that the planner publishes this information. +# Author: christoph.roesmann@tu-dortmund.de + +import rospy, math +from teb_local_planner.msg import FeedbackMsg, TrajectoryMsg, TrajectoryPointMsg +from geometry_msgs.msg import PolygonStamped, Point32, Quaternion +from tf.transformations import euler_from_quaternion +import numpy as np +import scipy.io as sio +import time + +def feedback_callback(data): + global got_data + + if not data.trajectories: # empty + trajectory = [] + return + + if got_data: + return + + got_data = True + + # copy trajectory + trajectories = [] + for traj in data.trajectories: + trajectory = [] +# # store as struct and cell array +# for point in traj.trajectory: +# (roll,pitch,yaw) = euler_from_quaternion([point.pose.orientation.x,point.pose.orientation.y,point.pose.orientation.z,point.pose.orientation.w]) +# pose = {'x': point.pose.position.x, 'y': point.pose.position.y, 'theta': yaw} +# velocity = {'v': point.velocity.linear.x, 'omega': point.velocity.angular.z} +# time_from_start = point.time_from_start.to_sec() +# trajectory.append({'pose': pose, 'velocity': velocity, 'time_from_start': time_from_start}) + + # store as all-in-one mat + arr = np.zeros([6, len(traj.trajectory)], dtype='double'); # x, y, theta, v, omega, t + for index, point in enumerate(traj.trajectory): + arr[0,index] = point.pose.position.x + arr[1,index] = point.pose.position.y + (roll,pitch,yaw) = euler_from_quaternion([point.pose.orientation.x,point.pose.orientation.y,point.pose.orientation.z,point.pose.orientation.w]) + arr[2,index] = yaw + arr[3,index] = point.velocity.linear.x + arr[4,index] = point.velocity.angular.z + arr[5,index] = point.time_from_start.to_sec() + +# trajectories.append({'raw': trajectory, 'mat': arr}) + trajectories.append({'data': arr, 'legend': ['x','y','theta','v','omega','t']}) + + # copy obstacles + obstacles = [] + for obst_id, obst in enumerate(data.obstacle_msg.obstacles): + #polygon = [] + #for point in obst.polygon.points: + # polygon.append({'x': point.x, 'y': point.y, 'z': point.z}) + obst_arr = np.zeros([4, len(obst.polygon.points)], dtype='double'); # x, y + for index, point in enumerate(obst.polygon.points): + obst_arr[0, index] = point.x + obst_arr[1, index] = point.y + obst_arr[2, index] = data.obstacle_msg.velocities[obst_id].twist.linear.x + obst_arr[3, index] = data.obstacle_msg.velocities[obst_id].twist.linear.y + + #obstacles.append(polygon) + obstacles.append({'data': obst_arr, 'legend': ['x','y', 'v_x', 'v_y']}) + + + # create main struct: + mat = {'selected_trajectory_idx': data.selected_trajectory_idx, 'trajectories': trajectories, 'obstacles': obstacles} + + timestr = time.strftime("%Y%m%d_%H%M%S") + filename = '/home/albers/MasterThesis/Matlab/Homotopie/test_optim_node/' + 'teb_data_' + timestr + '.mat' + + rospy.loginfo("Saving mat-file '%s'.", filename) + sio.savemat(filename, mat) + + + + + +def feedback_exporter(): + global got_data + + rospy.init_node("export_to_mat", anonymous=True) + + + topic_name = "/test_optim_node/teb_feedback" # define feedback topic here! + + rospy.Subscriber(topic_name, FeedbackMsg, feedback_callback, queue_size = 1) + + rospy.loginfo("Waiting for feedback message on topic %s.", topic_name) + + r = rospy.Rate(2) # define rate here + while not rospy.is_shutdown(): + + if got_data: + rospy.loginfo("Data export completed.") + return + + r.sleep() + +if __name__ == '__main__': + try: + global got_data + got_data = False + feedback_exporter() + except rospy.ROSInterruptException: + pass + diff --git a/navigations/teb_local_planner/scripts/export_to_svg.py b/navigations/teb_local_planner/scripts/export_to_svg.py new file mode 100755 index 0000000..8d5edf2 --- /dev/null +++ b/navigations/teb_local_planner/scripts/export_to_svg.py @@ -0,0 +1,244 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +""" +======================================================================================== +# This small script subscribes to the FeedbackMsg message of teb_local_planner +# and converts the current scene to a svg-image +# publish_feedback must be turned on such that the planner publishes this information. +# Author: christoph.roesmann@tu-dortmund.de + +It is recommendable to start this node after initialization of TEB is completed. + +Requirements: +svgwrite: A Python library to create SVG drawings. http://pypi.python.org/pypi/svgwrite +======================================================================================= +""" +import roslib; +import rospy +import svgwrite +import math +import sys +import time +import random +from svgwrite import cm, mm +from teb_local_planner.msg import FeedbackMsg, TrajectoryMsg, TrajectoryPointMsg +from geometry_msgs.msg import PolygonStamped, Point32, Quaternion + + +# ================= PARAMETERS ================== +# TODO: In case of a more general node, change parameter to ros-parameter +# Drawing parameters: +SCALE = 200 # Overall scaling: 100 pixel = 1 m +MIN_POSE_DISTANCE = 0.3 # Distance between two consecutive poses in SVG-image +SCALE_VELOCITY_VEC = 0.4 # Scaling of velocity vectors -> 1 cell = 1/SCALE_VELOCITY_VEC m/s +GRID_X_MIN = -2 # Define, how many cells your grid should contain in each direction. +GRID_X_MAX = 2 +GRID_Y_MIN = -2 +GRID_Y_MAX = 1 + +# TEB parameters: +OBSTACLE_DIST = 50 *SCALE/100 # cm + + +# ================= FUNCTIONS =================== + +def sign(number): + """ + Signum function: get sign of a number + + @param number: get sign of this number + @type number: numeric type (eg. integer) + @return: sign of number + @rtype: integer {1, -1, 0} + """ + return cmp(number,0) + +def arrowMarker(color='green', orientation='auto'): + """ + Create an arrow marker with svgwrite + + @return: arrow marker + @rtype: svg_write marker object + """ + arrow = svg.marker(insert=(1,5), size=(4,3), orient=orientation) + arrow.viewbox(width=10, height=10) + arrow.add(svg.polyline([(0,0),(10,5),(0,10),(1,5)], fill=color, opacity=1.0)) + svg.defs.add(arrow) + return arrow + +def quaternion2YawDegree(orientation): + """ + Get yaw angle [degree] from quaternion representation + + @param orientation: orientation in quaternions to read from + @type orientation: geometry_msgs/Quaternion + @return: yaw angle [degree] + @rtype: float + """ + yawRad = math.atan2(2*(orientation.x*orientation.y+orientation.z*orientation.w),1-2*(pow(orientation.y,2)+pow(orientation.z,2))) + return yawRad*180/math.pi + + +def feedback_callback(data): + """ + Callback for receiving TEB and obstacle information + + @param data: Received feedback message + @type data: visualization_msgs/Marker + + @globalparam tebList: Received TEB List + @globaltype tebList: teb_local_planner/FeedbackMsg + """ + # TODO: Remove global variables + global feedbackMsg + + if not feedbackMsg: + feedbackMsg = data + rospy.loginfo("TEB feedback message received...") + + +# ================ MAIN FUNCTION ================ + +if __name__ == '__main__': + rospy.init_node('export_to_svg', anonymous=True) + + topic_name = "/test_optim_node/teb_feedback" # define feedback topic here! + + rospy.Subscriber(topic_name, FeedbackMsg, feedback_callback, queue_size = 1) + + rospy.loginfo("Waiting for feedback message on topic %s.", topic_name) + + rate = rospy.Rate(10.0) + feedbackMsg = [] + + timestr = time.strftime("%Y%m%d_%H%M%S") + filename_string = "teb_svg_" + timestr + '.svg' + + rospy.loginfo("SVG will be written to '%s'.", filename_string) + + random.seed(0) + + svg=svgwrite.Drawing(filename=filename_string, debug=True) + + # Create viewbox -> this box defines the size of the visible drawing + svg.viewbox(GRID_X_MIN*SCALE-1*SCALE,GRID_Y_MIN*SCALE-1*SCALE,GRID_X_MAX*SCALE-GRID_X_MIN*SCALE+2*SCALE,GRID_Y_MAX*SCALE-GRID_Y_MIN*SCALE+2*SCALE) + + # Draw grid: + hLines = svg.add(svg.g(id='hLines', stroke='black')) + hLines.add(svg.line(start=(GRID_X_MIN*SCALE, 0), end=(GRID_X_MAX*SCALE, 0))) + for y in range(GRID_Y_MAX): + hLines.add(svg.line(start=(GRID_X_MIN*SCALE, SCALE+y*SCALE), end=(GRID_X_MAX*SCALE, SCALE+y*SCALE))) + for y in range(-GRID_Y_MIN): + hLines.add(svg.line(start=(GRID_X_MIN*SCALE, -SCALE-y*SCALE), end=(GRID_X_MAX*SCALE, -SCALE-y*SCALE))) + vLines = svg.add(svg.g(id='vline', stroke='black')) + vLines.add(svg.line(start=(0, GRID_Y_MIN*SCALE), end=(0, GRID_Y_MAX*SCALE))) + for x in range(GRID_X_MAX): + vLines.add(svg.line(start=(SCALE+x*SCALE, GRID_Y_MIN*SCALE), end=(SCALE+x*SCALE, GRID_Y_MAX*SCALE))) + for x in range(-GRID_X_MIN): + vLines.add(svg.line(start=(-SCALE-x*SCALE, GRID_Y_MIN*SCALE), end=(-SCALE-x*SCALE, GRID_Y_MAX*SCALE))) + + + # Draw legend: + legend = svg.g(id='legend', font_size=25) + stringGeometry = "Geometry: 1 Unit = 1.0m" + legendGeometry = svg.text(stringGeometry) + legend.add(legendGeometry) + legend.translate(tx=GRID_X_MIN*SCALE, ty=GRID_Y_MAX*SCALE + 30) # Move legend to buttom left corner + svg.add(legend) + + + #arrow = arrowMarker() # Init arrow marker + + rospy.loginfo("Initialization completed.\nWaiting for feedback message...") + + # -------------------- WAIT FOR CALLBACKS -------------------------- + while not rospy.is_shutdown(): + if feedbackMsg: + break # Leave loop after receiving all necessary TEB information (see callbacks) to finish drawing + rate.sleep() + # ------------------------------------------------------------------ + + if not feedbackMsg.trajectories: + rospy.loginfo("Received message does not contain trajectories. Shutting down...") + sys.exit() + + if len(feedbackMsg.trajectories[0].trajectory) < 2: + rospy.loginfo("Received message does not contain trajectories with at least two states (start and goal). Shutting down...") + sys.exit() + + # iterate trajectories + for index, traj in enumerate(feedbackMsg.trajectories): + + #color + traj_color = svgwrite.rgb(random.randint(0, 255), random.randint(0, 255), random.randint(0, 255), 'RGB') + + # Iterate through TEB positions -> Draw Paths + points = [] + for point in traj.trajectory: + points.append( (point.pose.position.x*SCALE,-point.pose.position.y*SCALE) ) # y is negative in image coordinates + # svgwrite rotates clockwise! + + + if index == feedbackMsg.selected_trajectory_idx: # highlight currently selected teb + line = svg.add( svg.polyline(points=points, fill='none', stroke=traj_color, stroke_width=10, stroke_linecap='round', \ + stroke_linejoin='round', opacity=1.0 ) ) + else: + line = svg.add( svg.polyline(points=points, fill='none', stroke=traj_color, stroke_width=10, stroke_linecap='butt', \ + stroke_linejoin='round', stroke_dasharray='10,3', opacity=1.0 ) ) + #marker_points = points[::7] + #markerline = svg.add( svg.polyline(points=marker_points, fill='none', stroke=traj_color, stroke_width=10, opacity=0.0 ) ) + #arrow = arrowMarker(traj_color) + #markerline.set_markers( (arrow, arrow, arrow) ) + #line.set_markers( (arrow, arrow, arrow) ) + #line['marker-start'] = arrow.get_funciri() + + + # Add Start and Goal Point + start_pose = feedbackMsg.trajectories[0].trajectory[0].pose + goal_pose = feedbackMsg.trajectories[0].trajectory[len(feedbackMsg.trajectories[0].trajectory)-1].pose + start_position = start_pose.position + goal_position = goal_pose.position + svg.add(svg.circle(center=(start_position.x*SCALE,-start_position.y*SCALE), r=10, stroke_width=1, stroke='blue', fill ='blue')) + svg.add(svg.text("Start", (start_position.x*SCALE-70, -start_position.y*SCALE+45), font_size=35)) # Add label + svg.add(svg.circle(center=(goal_position.x*SCALE,-goal_position.y*SCALE), r=10, stroke_width=1, stroke='red', fill ='red')) + svg.add(svg.text("Goal", (goal_position.x*SCALE-40, -goal_position.y*SCALE+45), font_size=35)) # Add label + + # draw start arrow + start_arrow = svg.polyline([(0,-1),(6,-1),(5,-5),(15,0),(5,5),(6,1),(0,1)], fill='blue', opacity=1.0) + start_arrow.translate(start_position.x*SCALE,-start_position.y*SCALE) + start_arrow.rotate( quaternion2YawDegree(start_pose.orientation) ) + start_arrow.scale(3) + svg.add(start_arrow) + + # draw goal arrow + goal_arrow = svg.polyline([(0,-1),(6,-1),(5,-5),(15,0),(5,5),(6,1),(0,1)], fill='red', opacity=1.0) + goal_arrow.translate(goal_position.x*SCALE,-goal_position.y*SCALE) + goal_arrow.rotate( quaternion2YawDegree(goal_pose.orientation) ) + goal_arrow.scale(3) + svg.add(goal_arrow) + + # Draw obstacles + for obstacle in feedbackMsg.obstacles: + if len(obstacle.polygon.points) == 1: # point obstacle + point = obstacle.polygon.points[0] + svg.add(svg.circle(center=(point.x*SCALE,-point.y*SCALE), r=OBSTACLE_DIST, stroke_width=1, stroke='grey', fill ='grey', opacity=0.3)) + svg.add(svg.circle(center=(point.x*SCALE,-point.y*SCALE), r=15, stroke_width=1, stroke='black', fill ='black')) + svg.add(svg.text("Obstacle", (point.x*SCALE-70, -point.y*SCALE+45), font_size=35)) # Add label + if len(obstacle.polygon.points) == 2: # line obstacle + line_start = obstacle.polygon.points[0] + line_end = obstacle.polygon.points[1] + svg.add(svg.line(start=(line_start.x*SCALE,-line_start.y*SCALE), end=(line_end.x*SCALE,-line_end.y*SCALE), stroke='black', fill='gray', stroke_width=1, opacity=1.0)) + svg.add(svg.text("Obstacle", (line_start.x*SCALE-70, -line_start.y*SCALE+45), font_size=35)) # Add label + if len(obstacle.polygon.points) > 2: # polygon obstacle + vertices = [] + for point in obstacle.polygon.points: + vertices.append((point.x*SCALE, -point.y*SCALE)) + svg.add(svg.polygon(points=vertices, stroke='black', fill='gray', stroke_width=1, opacity=1.0)) + svg.add(svg.text("Obstacle", (obstacle.polygon.points[0].x*SCALE-70, -obstacle.polygon.points.y*SCALE+45), font_size=35)) # Add label + + + + # Save svg to file (svg_output.svg) and exit node + svg.save() + + rospy.loginfo("Drawing completed.") diff --git a/navigations/teb_local_planner/scripts/publish_dynamic_obstacle.py b/navigations/teb_local_planner/scripts/publish_dynamic_obstacle.py new file mode 100755 index 0000000..0cc16d4 --- /dev/null +++ b/navigations/teb_local_planner/scripts/publish_dynamic_obstacle.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python + +# Author: franz.albers@tu-dortmund.de + +import rospy, math, tf +from costmap_converter.msg import ObstacleArrayMsg, ObstacleMsg +from geometry_msgs.msg import PolygonStamped, Point32, QuaternionStamped, Quaternion, TwistWithCovariance +from tf.transformations import quaternion_from_euler + + +def publish_obstacle_msg(): + pub = rospy.Publisher('/test_optim_node/obstacles', ObstacleArrayMsg, queue_size=1) + #pub = rospy.Publisher('/p3dx/move_base/TebLocalPlannerROS/obstacles', ObstacleArrayMsg, queue_size=1) + rospy.init_node("test_obstacle_msg") + + y_0 = -3.0 + vel_x = 0.0 + vel_y = 0.3 + range_y = 6.0 + + obstacle_msg = ObstacleArrayMsg() + obstacle_msg.header.stamp = rospy.Time.now() + obstacle_msg.header.frame_id = "map" # CHANGE HERE: odom/map + + # Add point obstacle + obstacle_msg.obstacles.append(ObstacleMsg()) + obstacle_msg.obstacles[0].id = 99 + obstacle_msg.obstacles[0].polygon.points = [Point32()] + obstacle_msg.obstacles[0].polygon.points[0].x = -1.5 + obstacle_msg.obstacles[0].polygon.points[0].y = 0 + obstacle_msg.obstacles[0].polygon.points[0].z = 0 + + yaw = math.atan2(vel_y, vel_x) + q = tf.transformations.quaternion_from_euler(0,0,yaw) + obstacle_msg.obstacles[0].orientation = Quaternion(*q) + + obstacle_msg.obstacles[0].velocities.twist.linear.x = vel_x + obstacle_msg.obstacles[0].velocities.twist.linear.y = vel_y + obstacle_msg.obstacles[0].velocities.twist.linear.z = 0 + obstacle_msg.obstacles[0].velocities.twist.angular.x = 0 + obstacle_msg.obstacles[0].velocities.twist.angular.y = 0 + obstacle_msg.obstacles[0].velocities.twist.angular.z = 0 + + r = rospy.Rate(10) # 10hz + t = 0.0 + while not rospy.is_shutdown(): + + # Vary y component of the point obstacle + if (vel_y >= 0): + obstacle_msg.obstacles[0].polygon.points[0].y = y_0 + (vel_y*t)%range_y + else: + obstacle_msg.obstacles[0].polygon.points[0].y = y_0 + (vel_y*t)%range_y - range_y + + t = t + 0.1 + + pub.publish(obstacle_msg) + + r.sleep() + + + +if __name__ == '__main__': + try: + publish_obstacle_msg() + except rospy.ROSInterruptException: + pass + diff --git a/navigations/teb_local_planner/scripts/publish_test_obstacles.py b/navigations/teb_local_planner/scripts/publish_test_obstacles.py new file mode 100755 index 0000000..800803d --- /dev/null +++ b/navigations/teb_local_planner/scripts/publish_test_obstacles.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python + +# Author: christoph.roesmann@tu-dortmund.de + +import rospy, math +from costmap_converter.msg import ObstacleArrayMsg, ObstacleMsg +from geometry_msgs.msg import PolygonStamped, Point32 + + +def publish_obstacle_msg(): + pub = rospy.Publisher('/test_optim_node/obstacles', ObstacleArrayMsg, queue_size=1) + #pub = rospy.Publisher('/p3dx/move_base/TebLocalPlannerROS/obstacles', ObstacleArrayMsg, queue_size=1) + rospy.init_node("test_obstacle_msg") + + + obstacle_msg = ObstacleArrayMsg() + obstacle_msg.header.stamp = rospy.Time.now() + obstacle_msg.header.frame_id = "odom" # CHANGE HERE: odom/map + + # Add point obstacle + obstacle_msg.obstacles.append(ObstacleMsg()) + obstacle_msg.obstacles[0].id = 0 + obstacle_msg.obstacles[0].polygon.points = [Point32()] + obstacle_msg.obstacles[0].polygon.points[0].x = 1.5 + obstacle_msg.obstacles[0].polygon.points[0].y = 0 + obstacle_msg.obstacles[0].polygon.points[0].z = 0 + + + # Add line obstacle + obstacle_msg.obstacles.append(ObstacleMsg()) + obstacle_msg.obstacles[1].id = 1 + line_start = Point32() + line_start.x = -2.5 + line_start.y = 0.5 + #line_start.y = -3 + line_end = Point32() + line_end.x = -2.5 + line_end.y = 2 + #line_end.y = -4 + obstacle_msg.obstacles[1].polygon.points = [line_start, line_end] + + # Add polygon obstacle + obstacle_msg.obstacles.append(ObstacleMsg()) + obstacle_msg.obstacles[1].id = 2 + v1 = Point32() + v1.x = -1 + v1.y = -1 + v2 = Point32() + v2.x = -0.5 + v2.y = -1.5 + v3 = Point32() + v3.x = 0 + v3.y = -1 + obstacle_msg.obstacles[2].polygon.points = [v1, v2, v3] + + + r = rospy.Rate(10) # 10hz + t = 0.0 + while not rospy.is_shutdown(): + + # Vary y component of the point obstacle + obstacle_msg.obstacles[0].polygon.points[0].y = 1*math.sin(t) + t = t + 0.1 + + pub.publish(obstacle_msg) + + r.sleep() + + + +if __name__ == '__main__': + try: + publish_obstacle_msg() + except rospy.ROSInterruptException: + pass + diff --git a/navigations/teb_local_planner/scripts/publish_viapoints.py b/navigations/teb_local_planner/scripts/publish_viapoints.py new file mode 100755 index 0000000..7bd0c7e --- /dev/null +++ b/navigations/teb_local_planner/scripts/publish_viapoints.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python + +# Author: christoph.roesmann@tu-dortmund.de + +import rospy, math +from geometry_msgs.msg import PoseStamped +from nav_msgs.msg import Path + + +def publish_via_points_msg(): + pub = rospy.Publisher('/test_optim_node/via_points', Path, queue_size=1) + rospy.init_node("test_via_points_msg") + + + via_points_msg = Path() + via_points_msg.header.stamp = rospy.Time.now() + via_points_msg.header.frame_id = "odom" # CHANGE HERE: odom/map + + # Add via-points + point1 = PoseStamped() + point1.pose.position.x = 0.0; + point1.pose.position.y = 1.5; + + point2 = PoseStamped() + point2.pose.position.x = 2.0; + point2.pose.position.y = -0.5; + + + via_points_msg.poses = [point1, point2] + + r = rospy.Rate(5) # 10hz + t = 0.0 + while not rospy.is_shutdown(): + + pub.publish(via_points_msg) + + r.sleep() + + + +if __name__ == '__main__': + try: + publish_via_points_msg() + except rospy.ROSInterruptException: + pass + diff --git a/navigations/teb_local_planner/scripts/visualize_velocity_profile.py b/navigations/teb_local_planner/scripts/visualize_velocity_profile.py new file mode 100755 index 0000000..b9b6d78 --- /dev/null +++ b/navigations/teb_local_planner/scripts/visualize_velocity_profile.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python + +# This small script subscribes to the FeedbackMsg message of teb_local_planner +# and plots the current velocity. +# publish_feedback must be turned on such that the planner publishes this information. +# Author: christoph.roesmann@tu-dortmund.de + +import rospy, math +from teb_local_planner.msg import FeedbackMsg, TrajectoryMsg, TrajectoryPointMsg +from geometry_msgs.msg import PolygonStamped, Point32 +import numpy as np +import matplotlib.pyplot as plotter + +def feedback_callback(data): + global trajectory + + if not data.trajectories: # empty + trajectory = [] + return + trajectory = data.trajectories[data.selected_trajectory_idx].trajectory + + +def plot_velocity_profile(fig, ax_v, ax_omega, t, v, omega): + ax_v.cla() + ax_v.grid() + ax_v.set_ylabel('Trans. velocity [m/s]') + ax_v.plot(t, v, '-bx') + ax_omega.cla() + ax_omega.grid() + ax_omega.set_ylabel('Rot. velocity [rad/s]') + ax_omega.set_xlabel('Time [s]') + ax_omega.plot(t, omega, '-bx') + fig.canvas.draw() + + + +def velocity_plotter(): + global trajectory + rospy.init_node("visualize_velocity_profile", anonymous=True) + + topic_name = "/test_optim_node/teb_feedback" + topic_name = rospy.get_param('~feedback_topic', topic_name) + rospy.Subscriber(topic_name, FeedbackMsg, feedback_callback, queue_size = 1) # define feedback topic here! + + rospy.loginfo("Visualizing velocity profile published on '%s'.",topic_name) + rospy.loginfo("Make sure to enable rosparam 'publish_feedback' in the teb_local_planner.") + + # two subplots sharing the same t axis + fig, (ax_v, ax_omega) = plotter.subplots(2, sharex=True) + plotter.ion() + plotter.show() + + + r = rospy.Rate(2) # define rate here + while not rospy.is_shutdown(): + + t = [] + v = [] + omega = [] + + for point in trajectory: + t.append(point.time_from_start.to_sec()) + v.append(point.velocity.linear.x) + omega.append(point.velocity.angular.z) + + plot_velocity_profile(fig, ax_v, ax_omega, np.asarray(t), np.asarray(v), np.asarray(omega)) + + r.sleep() + +if __name__ == '__main__': + try: + trajectory = [] + velocity_plotter() + except rospy.ROSInterruptException: + pass + diff --git a/navigations/teb_local_planner/src/graph_search.cpp b/navigations/teb_local_planner/src/graph_search.cpp new file mode 100755 index 0000000..1893589 --- /dev/null +++ b/navigations/teb_local_planner/src/graph_search.cpp @@ -0,0 +1,342 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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. + * + * Authors: Christoph Rösmann, Franz Albers + *********************************************************************/ + +#include +#include + +namespace teb_local_planner +{ + +void GraphSearchInterface::DepthFirst(HcGraph& g, std::vector& visited, const HcGraphVertexType& goal, double start_orientation, + double goal_orientation, const geometry_msgs::Twist* start_velocity, bool free_goal_vel) +{ + // see http://www.technical-recipes.com/2011/a-recursive-algorithm-to-find-all-paths-between-two-given-nodes/ for details on finding all simple paths + + if ((int)hcp_->getTrajectoryContainer().size() >= cfg_->hcp.max_number_classes) + return; // We do not need to search for further possible alternative homotopy classes. + + HcGraphVertexType back = visited.back(); + + /// Examine adjacent nodes + HcGraphAdjecencyIterator it, end; + for ( boost::tie(it,end) = boost::adjacent_vertices(back,g); it!=end; ++it) + { + if ( std::find(visited.begin(), visited.end(), *it)!=visited.end() ) + continue; // already visited + + if ( *it == goal ) // goal reached + { + visited.push_back(*it); + + // Add new TEB, if this path belongs to a new homotopy class + hcp_->addAndInitNewTeb(visited.begin(), visited.end(), boost::bind(getVector2dFromHcGraph, _1, boost::cref(graph_)), + start_orientation, goal_orientation, start_velocity, free_goal_vel); + + visited.pop_back(); + break; + } + } + + /// Recursion for all adjacent vertices + for ( boost::tie(it,end) = boost::adjacent_vertices(back,g); it!=end; ++it) + { + if ( std::find(visited.begin(), visited.end(), *it)!=visited.end() || *it == goal) + continue; // already visited || goal reached + + + visited.push_back(*it); + + // recursion step + DepthFirst(g, visited, goal, start_orientation, goal_orientation, start_velocity, free_goal_vel); + + visited.pop_back(); + } +} + + + +void lrKeyPointGraph::createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist* start_velocity, bool free_goal_vel) +{ + // Clear existing graph and paths + clearGraph(); + if((int)hcp_->getTrajectoryContainer().size() >= cfg_->hcp.max_number_classes) + return; + // Direction-vector between start and goal and normal-vector: + Eigen::Vector2d diff = goal.position()-start.position(); + + if (diff.norm()goal_tolerance.xy_goal_tolerance) + { + ROS_DEBUG("HomotopyClassPlanner::createProbRoadmapGraph(): xy-goal-tolerance already reached."); + if (hcp_->getTrajectoryContainer().empty()) + { + ROS_INFO("HomotopyClassPlanner::createProbRoadmapGraph(): Initializing a small straight line to just correct orientation errors."); + hcp_->addAndInitNewTeb(start, goal, start_velocity, free_goal_vel); + } + return; + } + + Eigen::Vector2d normal(-diff[1],diff[0]); // normal-vector + normal.normalize(); + normal = normal*dist_to_obst; // scale with obstacle_distance; + + // Insert Vertices + HcGraphVertexType start_vtx = boost::add_vertex(graph_); // start vertex + graph_[start_vtx].pos = start.position(); + diff.normalize(); + + // store nearest obstacle keypoints -> only used if limit_obstacle_heading is enabled + std::pair nearest_obstacle; // both vertices are stored + double min_dist = DBL_MAX; + + if (hcp_->obstacles()!=NULL) + { + for (ObstContainer::const_iterator it_obst = hcp_->obstacles()->begin(); it_obst != hcp_->obstacles()->end(); ++it_obst) + { + // check if obstacle is placed in front of start point + Eigen::Vector2d start2obst = (*it_obst)->getCentroid() - start.position(); + double dist = start2obst.norm(); + if (start2obst.dot(diff)/dist<0.1) + continue; + + // Add Keypoints + HcGraphVertexType u = boost::add_vertex(graph_); + graph_[u].pos = (*it_obst)->getCentroid() + normal; + HcGraphVertexType v = boost::add_vertex(graph_); + graph_[v].pos = (*it_obst)->getCentroid() - normal; + + // store nearest obstacle + if (obstacle_heading_threshold && distobstacles()!=NULL) + { + bool collision = false; + for (ObstContainer::const_iterator it_obst = hcp_->obstacles()->begin(); it_obst != hcp_->obstacles()->end(); ++it_obst) + { + if ( (*it_obst)->checkLineIntersection(graph_[*it_i].pos,graph_[*it_j].pos, 0.5*dist_to_obst) ) + { + collision = true; + break; + } + } + if (collision) + continue; + } + + // Create Edge + boost::add_edge(*it_i,*it_j,graph_); + } + } + + + // Find all paths between start and goal! + std::vector visited; + visited.push_back(start_vtx); + DepthFirst(graph_,visited,goal_vtx, start.theta(), goal.theta(), start_velocity, free_goal_vel); +} + + + +void ProbRoadmapGraph::createGraph(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, double obstacle_heading_threshold, const geometry_msgs::Twist* start_velocity, bool free_goal_vel) +{ + // Clear existing graph and paths + clearGraph(); + if((int)hcp_->getTrajectoryContainer().size() >= cfg_->hcp.max_number_classes) + return; + // Direction-vector between start and goal and normal-vector: + Eigen::Vector2d diff = goal.position()-start.position(); + double start_goal_dist = diff.norm(); + + if (start_goal_distgoal_tolerance.xy_goal_tolerance) + { + ROS_DEBUG("HomotopyClassPlanner::createProbRoadmapGraph(): xy-goal-tolerance already reached."); + if (hcp_->getTrajectoryContainer().empty()) + { + ROS_INFO("HomotopyClassPlanner::createProbRoadmapGraph(): Initializing a small straight line to just correct orientation errors."); + hcp_->addAndInitNewTeb(start, goal, start_velocity, free_goal_vel); + } + return; + } + Eigen::Vector2d normal(-diff.coeffRef(1),diff.coeffRef(0)); // normal-vector + normal.normalize(); + + // Now sample vertices between start, goal and a specified width between both sides + // Let's start with a square area between start and goal (maybe change it later to something like a circle or whatever) + + double area_width = cfg_->hcp.roadmap_graph_area_width; + + boost::random::uniform_real_distribution distribution_x(0, start_goal_dist * cfg_->hcp.roadmap_graph_area_length_scale); + boost::random::uniform_real_distribution distribution_y(0, area_width); + + double phi = atan2(diff.coeffRef(1),diff.coeffRef(0)); // rotate area by this angle + Eigen::Rotation2D rot_phi(phi); + + Eigen::Vector2d area_origin; + if (cfg_->hcp.roadmap_graph_area_length_scale != 1.0) + area_origin = start.position() + 0.5*(1.0-cfg_->hcp.roadmap_graph_area_length_scale)*start_goal_dist*diff.normalized() - 0.5*area_width*normal; // bottom left corner of the origin + else + area_origin = start.position() - 0.5*area_width*normal; // bottom left corner of the origin + + // Insert Vertices + HcGraphVertexType start_vtx = boost::add_vertex(graph_); // start vertex + graph_[start_vtx].pos = start.position(); + diff.normalize(); // normalize in place + + + // Start sampling + for (int i=0; i < cfg_->hcp.roadmap_graph_no_samples; ++i) + { + Eigen::Vector2d sample; +// bool coll_free; +// do // sample as long as a collision free sample is found +// { + // Sample coordinates + sample = area_origin + rot_phi*Eigen::Vector2d(distribution_x(rnd_generator_), distribution_y(rnd_generator_)); + + // Test for collision + // we do not care for collision checking here to improve efficiency, since we perform resampling repeatedly. + // occupied vertices are ignored in the edge insertion state since they always violate the edge-obstacle collision check. +// coll_free = true; +// for (ObstContainer::const_iterator it_obst = obstacles_->begin(); it_obst != obstacles_->end(); ++it_obst) +// { +// if ( (*it_obst)->checkCollision(sample, dist_to_obst)) // TODO really keep dist_to_obst here? +// { +// coll_free = false; +// break; +// } +// } +// +// } while (!coll_free && ros::ok()); + + // Add new vertex + HcGraphVertexType v = boost::add_vertex(graph_); + graph_[v].pos = sample; + } + + // Now add goal vertex + HcGraphVertexType goal_vtx = boost::add_vertex(graph_); // goal vertex + graph_[goal_vtx].pos = goal.position(); + + + // Insert Edges + HcGraphVertexIterator it_i, end_i, it_j, end_j; + for (boost::tie(it_i,end_i) = boost::vertices(graph_); it_i!=boost::prior(end_i); ++it_i) // ignore goal in this loop + { + for (boost::tie(it_j,end_j) = boost::vertices(graph_); it_j!=end_j; ++it_j) // check all forward connections + { + if (it_i==it_j) // same vertex found + continue; + + Eigen::Vector2d distij = graph_[*it_j].pos-graph_[*it_i].pos; + distij.normalize(); // normalize in place + + // Check if the direction is backwards: + if (distij.dot(diff)<=obstacle_heading_threshold) + continue; // diff is already normalized + + + // Collision Check + bool collision = false; + for (ObstContainer::const_iterator it_obst = hcp_->obstacles()->begin(); it_obst != hcp_->obstacles()->end(); ++it_obst) + { + if ( (*it_obst)->checkLineIntersection(graph_[*it_i].pos,graph_[*it_j].pos, dist_to_obst) ) + { + collision = true; + break; + } + } + if (collision) + continue; + + // Create Edge + boost::add_edge(*it_i,*it_j,graph_); + } + } + + /// Find all paths between start and goal! + std::vector visited; + visited.push_back(start_vtx); + DepthFirst(graph_,visited,goal_vtx, start.theta(), goal.theta(), start_velocity, free_goal_vel); +} + +} // end namespace diff --git a/navigations/teb_local_planner/src/homotopy_class_planner.cpp b/navigations/teb_local_planner/src/homotopy_class_planner.cpp new file mode 100755 index 0000000..05ceccd --- /dev/null +++ b/navigations/teb_local_planner/src/homotopy_class_planner.cpp @@ -0,0 +1,849 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include + +#include + +namespace teb_local_planner +{ + +HomotopyClassPlanner::HomotopyClassPlanner() : cfg_(NULL), obstacles_(NULL), via_points_(NULL), robot_model_(new PointRobotFootprint()), initial_plan_(NULL), initialized_(false) +{ +} + +HomotopyClassPlanner::HomotopyClassPlanner(const TebConfig& cfg, ObstContainer* obstacles, RobotFootprintModelPtr robot_model, + TebVisualizationPtr visual, const ViaPointContainer* via_points) : initial_plan_(NULL) +{ + initialize(cfg, obstacles, robot_model, visual, via_points); +} + +HomotopyClassPlanner::~HomotopyClassPlanner() +{ +} + +void HomotopyClassPlanner::initialize(const TebConfig& cfg, ObstContainer* obstacles, RobotFootprintModelPtr robot_model, + TebVisualizationPtr visual, const ViaPointContainer* via_points) +{ + cfg_ = &cfg; + obstacles_ = obstacles; + via_points_ = via_points; + robot_model_ = robot_model; + + if (cfg_->hcp.simple_exploration) + graph_search_ = boost::shared_ptr(new lrKeyPointGraph(*cfg_, this)); + else + graph_search_ = boost::shared_ptr(new ProbRoadmapGraph(*cfg_, this)); + + std::random_device rd; + random_.seed(rd()); + + initialized_ = true; + + setVisualization(visual); +} + +void HomotopyClassPlanner::updateRobotModel(RobotFootprintModelPtr robot_model ) +{ + robot_model_ = robot_model; +} + +void HomotopyClassPlanner::setVisualization(TebVisualizationPtr visualization) +{ + visualization_ = visualization; +} + + + +bool HomotopyClassPlanner::plan(const std::vector& initial_plan, const geometry_msgs::Twist* start_vel, bool free_goal_vel) +{ + ROS_ASSERT_MSG(initialized_, "Call initialize() first."); + + // store initial plan for further initializations (must be valid for the lifetime of this object or clearPlanner() is called!) + initial_plan_ = &initial_plan; + + PoseSE2 start(initial_plan.front().pose); + PoseSE2 goal(initial_plan.back().pose); + + return plan(start, goal, start_vel, free_goal_vel); +} + + +bool HomotopyClassPlanner::plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::Twist* start_vel, bool free_goal_vel) +{ + ROS_ASSERT_MSG(initialized_, "Call initialize() first."); + PoseSE2 start_pose(start); + PoseSE2 goal_pose(goal); + return plan(start_pose, goal_pose, start_vel, free_goal_vel); +} + +bool HomotopyClassPlanner::plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::Twist* start_vel, bool free_goal_vel) +{ + ROS_ASSERT_MSG(initialized_, "Call initialize() first."); + + // Update old TEBs with new start, goal and velocity + updateAllTEBs(&start, &goal, start_vel); + + // Init new TEBs based on newly explored homotopy classes + exploreEquivalenceClassesAndInitTebs(start, goal, cfg_->obstacles.min_obstacle_dist, start_vel, free_goal_vel); + // update via-points if activated + updateReferenceTrajectoryViaPoints(cfg_->hcp.viapoints_all_candidates); + // Optimize all trajectories in alternative homotopy classes + optimizeAllTEBs(cfg_->optim.no_inner_iterations, cfg_->optim.no_outer_iterations); + // Select which candidate (based on alternative homotopy classes) should be used + selectBestTeb(); + + initial_plan_ = nullptr; // clear pointer to any previous initial plan (any previous plan is useless regarding the h-signature); + return true; +} + +bool HomotopyClassPlanner::getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const +{ + TebOptimalPlannerConstPtr best_teb = bestTeb(); + if (!best_teb) + { + vx = 0; + vy = 0; + omega = 0; + return false; + } + + return best_teb->getVelocityCommand(vx, vy, omega, look_ahead_poses); +} + + + + +void HomotopyClassPlanner::visualize() +{ + if (visualization_) + { + // Visualize graph + if (cfg_->hcp.visualize_hc_graph && graph_search_) + visualization_->publishGraph(graph_search_->graph_); + + // Visualize active tebs as marker + visualization_->publishTebContainer(tebs_); + + // Visualize best teb and feedback message if desired + TebOptimalPlannerConstPtr best_teb = bestTeb(); + if (best_teb) + { + visualization_->publishLocalPlanAndPoses(best_teb->teb()); + + if (best_teb->teb().sizePoses() > 0) //TODO maybe store current pose (start) within plan method as class field. + visualization_->publishRobotFootprintModel(best_teb->teb().Pose(0), *robot_model_); + + // feedback message + if (cfg_->trajectory.publish_feedback) + { + int best_idx = bestTebIdx(); + if (best_idx>=0) + visualization_->publishFeedbackMessage(tebs_, (unsigned int) best_idx, *obstacles_); + } + } + } + else ROS_DEBUG("Ignoring HomotopyClassPlanner::visualize() call, since no visualization class was instantiated before."); +} + + + +bool HomotopyClassPlanner::hasEquivalenceClass(const EquivalenceClassPtr& eq_class) const +{ + // iterate existing h-signatures and check if there is an existing H-Signature similar the candidate + for (const std::pair& eqrel : equivalence_classes_) + { + if (eq_class->isEqual(*eqrel.first)) + return true; // Found! Homotopy class already exists, therefore nothing added + } + return false; +} + +bool HomotopyClassPlanner::addEquivalenceClassIfNew(const EquivalenceClassPtr& eq_class, bool lock) +{ + if (!eq_class) + return false; + + if (!eq_class->isValid()) + { + ROS_WARN("HomotopyClassPlanner: Ignoring invalid H-signature"); + return false; + } + + if (hasEquivalenceClass(eq_class)) + { + // Allow up to configured number of Tebs that are in the same homotopy + // class as the current (best) Teb to avoid being stuck in a local minimum + if (!isInBestTebClass(eq_class) || numTebsInBestTebClass() >= cfg_->hcp.max_number_plans_in_current_class) + return false; + } + + // Homotopy class not found -> Add to class-list, return that the h-signature is new + equivalence_classes_.push_back(std::make_pair(eq_class,lock)); + return true; +} + + +void HomotopyClassPlanner::renewAndAnalyzeOldTebs(bool delete_detours) +{ + // clear old h-signatures (since they could be changed due to new obstacle positions. + equivalence_classes_.clear(); + + // Adding the equivalence class of the latest best_teb_ first + TebOptPlannerContainer::iterator it_best_teb = best_teb_ ? std::find(tebs_.begin(), tebs_.end(), best_teb_) : tebs_.end(); + bool has_best_teb = it_best_teb != tebs_.end(); + if (has_best_teb) + { + std::iter_swap(tebs_.begin(), it_best_teb); // Putting the last best teb at the beginning of the container + best_teb_eq_class_ = calculateEquivalenceClass(best_teb_->teb().poses().begin(), + best_teb_->teb().poses().end(), getCplxFromVertexPosePtr , obstacles_, + best_teb_->teb().timediffs().begin(), best_teb_->teb().timediffs().end()); + addEquivalenceClassIfNew(best_teb_eq_class_); + } + // Collect h-signatures for all existing TEBs and store them together with the corresponding iterator / pointer: +// typedef std::list< std::pair > > TebCandidateType; +// TebCandidateType teb_candidates; + + // get new homotopy classes and delete multiple TEBs per homotopy class. Skips the best teb if available (added before). + TebOptPlannerContainer::iterator it_teb = has_best_teb ? std::next(tebs_.begin(), 1) : tebs_.begin(); + while(it_teb != tebs_.end()) + { + // calculate equivalence class for the current candidate + EquivalenceClassPtr equivalence_class = calculateEquivalenceClass(it_teb->get()->teb().poses().begin(), it_teb->get()->teb().poses().end(), getCplxFromVertexPosePtr , obstacles_, + it_teb->get()->teb().timediffs().begin(), it_teb->get()->teb().timediffs().end()); + +// teb_candidates.push_back(std::make_pair(it_teb,H)); + + // WORKAROUND until the commented code below works + // Here we do not compare cost values. Just first come first serve... + bool new_flag = addEquivalenceClassIfNew(equivalence_class); + if (!new_flag) + { + it_teb = tebs_.erase(it_teb); + continue; + } + + ++it_teb; + } + if(delete_detours) + deletePlansDetouringBackwards(cfg_->hcp.detours_orientation_tolerance, cfg_->hcp.length_start_orientation_vector); + + // Find multiple candidates and delete the one with higher cost + // TODO: this code needs to be adpated. Erasing tebs from the teb container_ could make iteratores stored in the candidate list invalid! +// TebCandidateType::reverse_iterator cand_i = teb_candidates.rbegin(); +// int test_idx = 0; +// while (cand_i != teb_candidates.rend()) +// { +// +// TebCandidateType::reverse_iterator cand_j = std::find_if(boost::next(cand_i),teb_candidates.rend(), boost::bind(compareH,_1,cand_i->second)); +// if (cand_j != teb_candidates.rend() && cand_j != cand_i) +// { +// TebOptimalPlannerPtr pt1 = *(cand_j->first); +// TebOptimalPlannerPtr pt2 = *(cand_i->first); +// assert(pt1); +// assert(pt2); +// if ( cand_j->first->get()->getCurrentCost().sum() > cand_i->first->get()->getCurrentCost().sum() ) +// { +// // found one that has higher cost, therefore erase cand_j +// tebs_.erase(cand_j->first); +// teb_candidates.erase(cand_j); +// } +// else // otherwise erase cand_i +// { +// tebs_.erase(cand_i->first); +// cand_i = teb_candidates.erase(cand_i); +// } +// } +// else +// { +// ROS_WARN_STREAM("increase cand_i"); +// ++cand_i; +// } +// } + + // now add the h-signatures to the internal lookup-table (but only if there is no existing duplicate) +// for (TebCandidateType::iterator cand=teb_candidates.begin(); cand!=teb_candidates.end(); ++cand) +// { +// bool new_flag = addNewHSignatureIfNew(cand->second, cfg_->hcp.h_signature_threshold); +// if (!new_flag) +// { +// // ROS_ERROR_STREAM("getAndFilterHomotopyClassesTEB() - This schould not be happen."); +// tebs_.erase(cand->first); +// } +// } + +} + +void HomotopyClassPlanner::updateReferenceTrajectoryViaPoints(bool all_trajectories) +{ + if ( (!all_trajectories && !initial_plan_) || !via_points_ || via_points_->empty() || cfg_->optim.weight_viapoint <= 0) + return; + + if(equivalence_classes_.size() < tebs_.size()) + { + ROS_ERROR("HomotopyClassPlanner::updateReferenceTrajectoryWithViaPoints(): Number of h-signatures does not match number of trajectories."); + return; + } + + if (all_trajectories) + { + // enable via-points for all tebs + for (std::size_t i=0; i < equivalence_classes_.size(); ++i) + { + tebs_[i]->setViaPoints(via_points_); + } + } + else + { + // enable via-points for teb in the same hommotopy class as the initial_plan and deactivate it for all other ones + for (std::size_t i=0; i < equivalence_classes_.size(); ++i) + { + if(initial_plan_eq_class_->isEqual(*equivalence_classes_[i].first)) + tebs_[i]->setViaPoints(via_points_); + else + tebs_[i]->setViaPoints(NULL); + } + } +} + + +void HomotopyClassPlanner::exploreEquivalenceClassesAndInitTebs(const PoseSE2& start, const PoseSE2& goal, double dist_to_obst, const geometry_msgs::Twist* start_vel, bool free_goal_vel) +{ + // first process old trajectories + renewAndAnalyzeOldTebs(cfg_->hcp.delete_detours_backwards); + randomlyDropTebs(); + + // inject initial plan if available and not yet captured + if (initial_plan_) + { + initial_plan_teb_ = addAndInitNewTeb(*initial_plan_, start_vel, free_goal_vel); + } + else + { + initial_plan_teb_.reset(); + initial_plan_teb_ = getInitialPlanTEB(); // this method searches for initial_plan_eq_class_ in the teb container (-> if !initial_plan_teb_) + } + + // now explore new homotopy classes and initialize tebs if new ones are found. The appropriate createGraph method is chosen via polymorphism. + graph_search_->createGraph(start,goal,dist_to_obst,cfg_->hcp.obstacle_heading_threshold, start_vel, free_goal_vel); +} + + +TebOptimalPlannerPtr HomotopyClassPlanner::addAndInitNewTeb(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::Twist* start_velocity, bool free_goal_vel) +{ + if(tebs_.size() >= cfg_->hcp.max_number_classes) + return TebOptimalPlannerPtr(); + TebOptimalPlannerPtr candidate = TebOptimalPlannerPtr( new TebOptimalPlanner(*cfg_, obstacles_, robot_model_, visualization_)); + + candidate->teb().initTrajectoryToGoal(start, goal, 0, cfg_->robot.max_vel_x, cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + + if (start_velocity) + candidate->setVelocityStart(*start_velocity); + + EquivalenceClassPtr H = calculateEquivalenceClass(candidate->teb().poses().begin(), candidate->teb().poses().end(), getCplxFromVertexPosePtr, obstacles_, + candidate->teb().timediffs().begin(), candidate->teb().timediffs().end()); + + if (free_goal_vel) + candidate->setVelocityGoalFree(); + + if(addEquivalenceClassIfNew(H)) + { + tebs_.push_back(candidate); + return tebs_.back(); + } + + // If the candidate constitutes no new equivalence class, return a null pointer + return TebOptimalPlannerPtr(); +} + + +bool HomotopyClassPlanner::isInBestTebClass(const EquivalenceClassPtr& eq_class) const +{ + bool answer = false; + if (best_teb_eq_class_) + answer = best_teb_eq_class_->isEqual(*eq_class); + return answer; +} + +int HomotopyClassPlanner::numTebsInClass(const EquivalenceClassPtr& eq_class) const +{ + int count = 0; + for (const std::pair& eqrel : equivalence_classes_) + { + if (eq_class->isEqual(*eqrel.first)) + ++count; + } + return count; +} + +int HomotopyClassPlanner::numTebsInBestTebClass() const +{ + int count = 0; + if (best_teb_eq_class_) + count = numTebsInClass(best_teb_eq_class_); + return count; +} + +TebOptimalPlannerPtr HomotopyClassPlanner::addAndInitNewTeb(const std::vector& initial_plan, const geometry_msgs::Twist* start_velocity, bool free_goal_vel) +{ + if(tebs_.size() >= cfg_->hcp.max_number_classes) + return TebOptimalPlannerPtr(); + TebOptimalPlannerPtr candidate = TebOptimalPlannerPtr( new TebOptimalPlanner(*cfg_, obstacles_, robot_model_, visualization_)); + + candidate->teb().initTrajectoryToGoal(initial_plan, cfg_->robot.max_vel_x, cfg_->robot.max_vel_theta, + cfg_->trajectory.global_plan_overwrite_orientation, cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + + if (start_velocity) + candidate->setVelocityStart(*start_velocity); + + if (free_goal_vel) + candidate->setVelocityGoalFree(); + + // store the h signature of the initial plan to enable searching a matching teb later. + initial_plan_eq_class_ = calculateEquivalenceClass(candidate->teb().poses().begin(), candidate->teb().poses().end(), getCplxFromVertexPosePtr, obstacles_, + candidate->teb().timediffs().begin(), candidate->teb().timediffs().end()); + + if(addEquivalenceClassIfNew(initial_plan_eq_class_, true)) // also prevent candidate from deletion + { + tebs_.push_back(candidate); + return tebs_.back(); + } + + // If the candidate constitutes no new equivalence class, return a null pointer + return TebOptimalPlannerPtr(); +} + +void HomotopyClassPlanner::updateAllTEBs(const PoseSE2* start, const PoseSE2* goal, const geometry_msgs::Twist* start_velocity) +{ + // If new goal is too far away, clear all existing trajectories to let them reinitialize later. + // Since all Tebs are sharing the same fixed goal pose, just take the first candidate: + if (!tebs_.empty() + && ((goal->position() - tebs_.front()->teb().BackPose().position()).norm() >= cfg_->trajectory.force_reinit_new_goal_dist + || fabs(g2o::normalize_theta(goal->theta() - tebs_.front()->teb().BackPose().theta())) >= cfg_->trajectory.force_reinit_new_goal_angular)) + { + ROS_DEBUG("New goal: distance to existing goal is higher than the specified threshold. Reinitalizing trajectories."); + tebs_.clear(); + equivalence_classes_.clear(); + } + + // hot-start from previous solutions + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + it_teb->get()->teb().updateAndPruneTEB(*start, *goal); + if (start_velocity) + it_teb->get()->setVelocityStart(*start_velocity); + } +} + + +void HomotopyClassPlanner::optimizeAllTEBs(int iter_innerloop, int iter_outerloop) +{ + // optimize TEBs in parallel since they are independend of each other + if (cfg_->hcp.enable_multithreading) + { + // Must prevent .join_all() from throwing exception if interruption was + // requested, as this can lead to multiple threads operating on the same + // TEB, which leads to SIGSEGV + boost::this_thread::disable_interruption di; + + boost::thread_group teb_threads; + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + teb_threads.create_thread( boost::bind(&TebOptimalPlanner::optimizeTEB, it_teb->get(), iter_innerloop, iter_outerloop, + true, cfg_->hcp.selection_obst_cost_scale, cfg_->hcp.selection_viapoint_cost_scale, + cfg_->hcp.selection_alternative_time_cost) ); + } + teb_threads.join_all(); + } + else + { + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + it_teb->get()->optimizeTEB(iter_innerloop,iter_outerloop, true, cfg_->hcp.selection_obst_cost_scale, + cfg_->hcp.selection_viapoint_cost_scale, cfg_->hcp.selection_alternative_time_cost); // compute cost as well inside optimizeTEB (last argument = true) + } + } +} + +TebOptimalPlannerPtr HomotopyClassPlanner::getInitialPlanTEB() +{ + // first check stored teb object + if (initial_plan_teb_) + { + // check if the teb is still part of the teb container + if ( std::find(tebs_.begin(), tebs_.end(), initial_plan_teb_ ) != tebs_.end() ) + return initial_plan_teb_; + else + { + initial_plan_teb_.reset(); // reset pointer for next call + ROS_DEBUG("initial teb not found, trying to find a match according to the cached equivalence class"); + } + } + + // reset the locked state for equivalence classes // TODO: this might be adapted if not only the plan containing the initial plan is locked! + for (int i=0; iisValid()) + { + if (equivalence_classes_.size() == tebs_.size()) + { + for (int i=0; iisEqual(*initial_plan_eq_class_)) + { + equivalence_classes_[i].second = true; + return tebs_[i]; + } + } + } + else + ROS_ERROR("HomotopyClassPlanner::getInitialPlanTEB(): number of equivalence classes (%lu) and number of trajectories (%lu) does not match.", equivalence_classes_.size(), tebs_.size()); + } + else + ROS_DEBUG("HomotopyClassPlanner::getInitialPlanTEB(): initial TEB not found in the set of available trajectories."); + + return TebOptimalPlannerPtr(); +} + +void HomotopyClassPlanner::randomlyDropTebs() +{ + if (cfg_->hcp.selection_dropping_probability == 0.0) + { + return; + } + // interate both vectors in parallel + auto it_eqrel = equivalence_classes_.begin(); + auto it_teb = tebs_.begin(); + while (it_teb != tebs_.end() && it_eqrel != equivalence_classes_.end()) + { + if (it_teb->get() != best_teb_.get() // Always preserve the "best" teb + && (random_() <= cfg_->hcp.selection_dropping_probability * random_.max())) + { + it_teb = tebs_.erase(it_teb); + it_eqrel = equivalence_classes_.erase(it_eqrel); + } + else + { + ++it_teb; + ++it_eqrel; + } + } +} + +TebOptimalPlannerPtr HomotopyClassPlanner::selectBestTeb() +{ + double min_cost = std::numeric_limits::max(); // maximum cost + double min_cost_last_best = std::numeric_limits::max(); + double min_cost_initial_plan_teb = std::numeric_limits::max(); + TebOptimalPlannerPtr initial_plan_teb = getInitialPlanTEB(); + + // check if last best_teb is still a valid candidate + if (best_teb_ && std::find(tebs_.begin(), tebs_.end(), best_teb_) != tebs_.end()) + { + // get cost of this candidate + min_cost_last_best = best_teb_->getCurrentCost() * cfg_->hcp.selection_cost_hysteresis; // small hysteresis + last_best_teb_ = best_teb_; + } + else + { + last_best_teb_.reset(); + } + + if (initial_plan_teb) // the validity was already checked in getInitialPlanTEB() + { + // get cost of this candidate + min_cost_initial_plan_teb = initial_plan_teb->getCurrentCost() * cfg_->hcp.selection_prefer_initial_plan; // small hysteresis + } + + + best_teb_.reset(); // reset pointer + + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + // check if the related TEB leaves the local costmap region +// if (tebs_.size()>1 && !(*it_teb)->teb().isTrajectoryInsideRegion(20, -1, 1)) +// { +// ROS_INFO("HomotopyClassPlanner::selectBestTeb(): skipping trajectories that are not inside the local costmap"); +// continue; +// } + + double teb_cost; + + if (*it_teb == last_best_teb_) + teb_cost = min_cost_last_best; // skip already known cost value of the last best_teb + else if (*it_teb == initial_plan_teb) + teb_cost = min_cost_initial_plan_teb; + else + teb_cost = it_teb->get()->getCurrentCost(); + + if (teb_cost < min_cost) + { + // check if this candidate is currently not selected + best_teb_ = *it_teb; + min_cost = teb_cost; + } + } + + + // in case we haven't found any teb due to some previous checks, investigate list again +// if (!best_teb_ && !tebs_.empty()) +// { +// ROS_DEBUG("all " << tebs_.size() << " tebs rejected previously"); +// if (tebs_.size()==1) +// best_teb_ = tebs_.front(); +// else // if multiple TEBs are available: +// { +// // try to use the one that relates to the initial plan +// TebOptimalPlannerPtr initial_plan_teb = getInitialPlanTEB(); +// if (initial_plan_teb) +// best_teb_ = initial_plan_teb; +// else +// { +// // now compute the cost for the rest (we haven't computed it before) +// for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) +// { +// double teb_cost = it_teb->get()->getCurrentCost(); +// if (teb_cost < min_cost) +// { +// // check if this candidate is currently not selected +// best_teb_ = *it_teb; +// min_cost = teb_cost; +// } +// } +// } +// } +// } + + // check if we are allowed to change + if (last_best_teb_ && best_teb_ != last_best_teb_) + { + ros::Time now = ros::Time::now(); + if ((now-last_eq_class_switching_time_).toSec() > cfg_->hcp.switching_blocking_period) + { + last_eq_class_switching_time_ = now; + } + else + { + ROS_DEBUG("HomotopyClassPlanner::selectBestTeb(): Switching equivalence classes blocked (check parameter switching_blocking_period."); + // block switching, so revert best_teb_ + best_teb_ = last_best_teb_; + } + + } + + + return best_teb_; +} + +int HomotopyClassPlanner::bestTebIdx() const +{ + if (tebs_.size() == 1) + return 0; + + if (!best_teb_) + return -1; + + int idx = 0; + for (TebOptPlannerContainer::const_iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb, ++idx) + { + if (*it_teb == best_teb_) + return idx; + } + return -1; +} + +bool HomotopyClassPlanner::isTrajectoryFeasible(base_local_planner::CostmapModel* costmap_model, const std::vector& footprint_spec, + double inscribed_radius, double circumscribed_radius, int look_ahead_idx, double feasibility_check_lookahead_distance) +{ + bool feasible = false; + while(ros::ok() && !feasible && tebs_.size() > 0) + { + TebOptimalPlannerPtr best = findBestTeb(); + if (!best) + { + ROS_ERROR("Couldn't retrieve the best plan"); + return false; + } + feasible = best->isTrajectoryFeasible(costmap_model, footprint_spec, inscribed_radius, circumscribed_radius, look_ahead_idx, feasibility_check_lookahead_distance); + if(!feasible) + { + removeTeb(best); + if(last_best_teb_ && (last_best_teb_ == best)) // Same plan as before. + return feasible; // Not failing could result in oscillations between trajectories. + } + } + return feasible; +} + +TebOptimalPlannerPtr HomotopyClassPlanner::findBestTeb() +{ + if(tebs_.empty()) + return TebOptimalPlannerPtr(); + if (!best_teb_ || std::find(tebs_.begin(), tebs_.end(), best_teb_) == tebs_.end()) + best_teb_ = selectBestTeb(); + return best_teb_; +} + +TebOptPlannerContainer::iterator HomotopyClassPlanner::removeTeb(TebOptimalPlannerPtr& teb) +{ + TebOptPlannerContainer::iterator return_iterator = tebs_.end(); + if(equivalence_classes_.size() != tebs_.size()) + { + ROS_ERROR("removeTeb: size of eq classes != size of tebs"); + return return_iterator; + } + auto it_eq_classes = equivalence_classes_.begin(); + for(auto it = tebs_.begin(); it != tebs_.end(); ++it) + { + if(*it == teb) + { + return_iterator = tebs_.erase(it); + equivalence_classes_.erase(it_eq_classes); + break; + } + ++it_eq_classes; + } + return return_iterator; +} + +void HomotopyClassPlanner::setPreferredTurningDir(RotType dir) +{ + // set preferred turning dir for all TEBs + for (TebOptPlannerContainer::const_iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + (*it_teb)->setPreferredTurningDir(dir); + } +} + +bool HomotopyClassPlanner::hasDiverged() const +{ + // Early return if there is no best trajectory initialized + if (!best_teb_) + return false; + + return best_teb_->hasDiverged(); +} + +void HomotopyClassPlanner::computeCurrentCost(std::vector& cost, double obst_cost_scale, double viapoint_cost_scale, bool alternative_time_cost) +{ + for (TebOptPlannerContainer::iterator it_teb = tebs_.begin(); it_teb != tebs_.end(); ++it_teb) + { + it_teb->get()->computeCurrentCost(cost, obst_cost_scale, viapoint_cost_scale, alternative_time_cost); + } +} + +void HomotopyClassPlanner::deletePlansDetouringBackwards(const double orient_threshold, + const double len_orientation_vector) +{ + if (tebs_.size() < 2 || !best_teb_ || std::find(tebs_.begin(), tebs_.end(), best_teb_) == tebs_.end() || + best_teb_->teb().sizePoses() < 2) + { + return; // A moving direction wasn't chosen yet + } + double current_movement_orientation; + double best_plan_duration = std::max(best_teb_->teb().getSumOfAllTimeDiffs(), 1.0); + if(!computeStartOrientation(best_teb_, len_orientation_vector, current_movement_orientation)) + return; // The plan is shorter than len_orientation_vector + for(auto it_teb = tebs_.begin(); it_teb != tebs_.end();) + { + if(*it_teb == best_teb_) // The current plan should not be considered a detour + { + ++it_teb; + continue; + } + if((*it_teb)->teb().sizePoses() < 2) + { + ROS_DEBUG("Discarding a plan with less than 2 poses"); + it_teb = removeTeb(*it_teb); + continue; + } + double plan_orientation; + if(!computeStartOrientation(*it_teb, len_orientation_vector, plan_orientation)) + { + ROS_DEBUG("Failed to compute the start orientation for one of the tebs, likely close to the target"); + it_teb = removeTeb(*it_teb); + continue; + } + if(fabs(g2o::normalize_theta(plan_orientation - current_movement_orientation)) > orient_threshold) + { + it_teb = removeTeb(*it_teb); // Plan detouring backwards + continue; + } + if(!it_teb->get()->isOptimized()) + { + ROS_DEBUG("Removing a teb because it's not optimized"); + it_teb = removeTeb(*it_teb); // Deletes tebs that cannot be optimized (last optim call failed) + continue; + } + if(it_teb->get()->teb().getSumOfAllTimeDiffs() / best_plan_duration > cfg_->hcp.max_ratio_detours_duration_best_duration) + { + ROS_DEBUG("Removing a teb because it's duration is much longer than that of the best teb"); + it_teb = removeTeb(*it_teb); + continue; + } + ++it_teb; + } +} + +bool HomotopyClassPlanner::computeStartOrientation(const TebOptimalPlannerPtr plan, const double len_orientation_vector, + double& orientation) +{ + VertexPose start_pose = plan->teb().Pose(0); + bool second_pose_found = false; + Eigen::Vector2d start_vector; + for(auto& pose : plan->teb().poses()) + { + start_vector = start_pose.position() - pose->position(); + if(start_vector.norm() > len_orientation_vector) + { + second_pose_found = true; + break; + } + } + if(!second_pose_found) // The current plan is too short to make assumptions on the start orientation + return false; + orientation = std::atan2(start_vector[1], start_vector[0]); + return true; +} + + +} // end namespace diff --git a/navigations/teb_local_planner/src/obstacles.cpp b/navigations/teb_local_planner/src/obstacles.cpp new file mode 100755 index 0000000..b969078 --- /dev/null +++ b/navigations/teb_local_planner/src/obstacles.cpp @@ -0,0 +1,214 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include +#include +#include +// #include + +namespace teb_local_planner +{ + + +void PolygonObstacle::fixPolygonClosure() +{ + if (vertices_.size()<2) + return; + + if (vertices_.front().isApprox(vertices_.back())) + vertices_.pop_back(); +} + +void PolygonObstacle::calcCentroid() +{ + if (vertices_.empty()) + { + centroid_.setConstant(NAN); + ROS_WARN("PolygonObstacle::calcCentroid(): number of vertices is empty. the resulting centroid is a vector of NANs."); + return; + } + + // if polygon is a point + if (noVertices()==1) + { + centroid_ = vertices_.front(); + return; + } + + // if polygon is a line: + if (noVertices()==2) + { + centroid_ = 0.5*(vertices_.front() + vertices_.back()); + return; + } + + // otherwise: + + centroid_.setZero(); + + // calculate centroid (see wikipedia http://de.wikipedia.org/wiki/Geometrischer_Schwerpunkt#Polygon) + double A = 0; // A = 0.5 * sum_0_n-1 (x_i * y_{i+1} - x_{i+1} * y_i) + for (int i=0; i < noVertices()-1; ++i) + { + A += vertices_.at(i).coeffRef(0) * vertices_.at(i+1).coeffRef(1) - vertices_.at(i+1).coeffRef(0) * vertices_.at(i).coeffRef(1); + } + A += vertices_.at(noVertices()-1).coeffRef(0) * vertices_.at(0).coeffRef(1) - vertices_.at(0).coeffRef(0) * vertices_.at(noVertices()-1).coeffRef(1); + A *= 0.5; + + if (A!=0) + { + for (int i=0; i < noVertices()-1; ++i) + { + double aux = (vertices_.at(i).coeffRef(0) * vertices_.at(i+1).coeffRef(1) - vertices_.at(i+1).coeffRef(0) * vertices_.at(i).coeffRef(1)); + centroid_ += ( vertices_.at(i) + vertices_.at(i+1) )*aux; + } + double aux = (vertices_.at(noVertices()-1).coeffRef(0) * vertices_.at(0).coeffRef(1) - vertices_.at(0).coeffRef(0) * vertices_.at(noVertices()-1).coeffRef(1)); + centroid_ += ( vertices_.at(noVertices()-1) + vertices_.at(0) )*aux; + centroid_ /= (6*A); + } + else // A == 0 -> all points are placed on a 'perfect' line + { + // seach for the two outer points of the line with the maximum distance inbetween + int i_cand = 0; + int j_cand = 0; + double max_dist = 0; + for (int i=0; i< noVertices(); ++i) + { + for (int j=i+1; j< noVertices(); ++j) // start with j=i+1 + { + double dist = (vertices_[j] - vertices_[i]).norm(); + if (dist > max_dist) + { + max_dist = dist; + i_cand = i; + j_cand = j; + } + } + } + // calc centroid of that line + centroid_ = 0.5*(vertices_[i_cand] + vertices_[j_cand]); + } +} + + + +Eigen::Vector2d PolygonObstacle::getClosestPoint(const Eigen::Vector2d& position) const +{ + // the polygon is a point + if (noVertices() == 1) + { + return vertices_.front(); + } + + if (noVertices() > 1) + { + + Eigen::Vector2d new_pt = closest_point_on_line_segment_2d(position, vertices_.at(0), vertices_.at(1)); + + if (noVertices() > 2) // real polygon and not a line + { + double dist = (new_pt-position).norm(); + Eigen::Vector2d closest_pt = new_pt; + + // check each polygon edge + for (int i=1; i + +// g2o custom edges and vertices for the TEB planner +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + + +namespace teb_local_planner +{ + +// ============== Implementation =================== + +TebOptimalPlanner::TebOptimalPlanner() : cfg_(NULL), obstacles_(NULL), via_points_(NULL), cost_(HUGE_VAL), prefer_rotdir_(RotType::none), + robot_model_(new PointRobotFootprint()), initialized_(false), optimized_(false) +{ +} + +TebOptimalPlanner::TebOptimalPlanner(const TebConfig& cfg, ObstContainer* obstacles, RobotFootprintModelPtr robot_model, TebVisualizationPtr visual, const ViaPointContainer* via_points) +{ + initialize(cfg, obstacles, robot_model, visual, via_points); +} + +TebOptimalPlanner::~TebOptimalPlanner() +{ + clearGraph(); + // free dynamically allocated memory + //if (optimizer_) + // g2o::Factory::destroy(); + //g2o::OptimizationAlgorithmFactory::destroy(); + //g2o::HyperGraphActionLibrary::destroy(); +} + +void TebOptimalPlanner::updateRobotModel(RobotFootprintModelPtr robot_model) +{ + robot_model_ = robot_model; +} + +void TebOptimalPlanner::initialize(const TebConfig& cfg, ObstContainer* obstacles, RobotFootprintModelPtr robot_model, TebVisualizationPtr visual, const ViaPointContainer* via_points) +{ + // init optimizer (set solver and block ordering settings) + optimizer_ = initOptimizer(); + + cfg_ = &cfg; + obstacles_ = obstacles; + robot_model_ = robot_model; + via_points_ = via_points; + cost_ = HUGE_VAL; + prefer_rotdir_ = RotType::none; + setVisualization(visual); + + vel_start_.first = true; + vel_start_.second.linear.x = 0; + vel_start_.second.linear.y = 0; + vel_start_.second.angular.z = 0; + + vel_goal_.first = true; + vel_goal_.second.linear.x = 0; + vel_goal_.second.linear.y = 0; + vel_goal_.second.angular.z = 0; + initialized_ = true; +} + + +void TebOptimalPlanner::setVisualization(TebVisualizationPtr visualization) +{ + visualization_ = visualization; +} + +void TebOptimalPlanner::visualize() +{ + if (!visualization_) + return; + + visualization_->publishLocalPlanAndPoses(teb_); + + if (teb_.sizePoses() > 0) + visualization_->publishRobotFootprintModel(teb_.Pose(0), *robot_model_); + + if (cfg_->trajectory.publish_feedback) + visualization_->publishFeedbackMessage(*this, *obstacles_); + +} + + +/* + * registers custom vertices and edges in g2o framework + */ +void TebOptimalPlanner::registerG2OTypes() +{ + g2o::Factory* factory = g2o::Factory::instance(); + factory->registerType("VERTEX_POSE", new g2o::HyperGraphElementCreator); + factory->registerType("VERTEX_TIMEDIFF", new g2o::HyperGraphElementCreator); + + factory->registerType("EDGE_TIME_OPTIMAL", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_SHORTEST_PATH", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_VELOCITY", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_VELOCITY_HOLONOMIC", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_ACCELERATION", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_ACCELERATION_START", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_ACCELERATION_GOAL", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_ACCELERATION_HOLONOMIC", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_ACCELERATION_HOLONOMIC_START", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_ACCELERATION_HOLONOMIC_GOAL", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_KINEMATICS_DIFF_DRIVE", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_KINEMATICS_CARLIKE", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_OBSTACLE", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_INFLATED_OBSTACLE", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_DYNAMIC_OBSTACLE", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_VIA_POINT", new g2o::HyperGraphElementCreator); + factory->registerType("EDGE_PREFER_ROTDIR", new g2o::HyperGraphElementCreator); + return; +} + +/* + * initialize g2o optimizer. Set solver settings here. + * Return: pointer to new SparseOptimizer Object. + */ +boost::shared_ptr TebOptimalPlanner::initOptimizer() +{ + // Call register_g2o_types once, even for multiple TebOptimalPlanner instances (thread-safe) + static boost::once_flag flag = BOOST_ONCE_INIT; + boost::call_once(®isterG2OTypes, flag); + + // allocating the optimizer + boost::shared_ptr optimizer = boost::make_shared(); + std::unique_ptr linear_solver(new TEBLinearSolver()); // see typedef in optimization.h + linear_solver->setBlockOrdering(true); + std::unique_ptr block_solver(new TEBBlockSolver(std::move(linear_solver))); + g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::move(block_solver)); + + optimizer->setAlgorithm(solver); + + optimizer->initMultiThreading(); // required for >Eigen 3.1 + + return optimizer; +} + + +bool TebOptimalPlanner::optimizeTEB(int iterations_innerloop, int iterations_outerloop, bool compute_cost_afterwards, + double obst_cost_scale, double viapoint_cost_scale, bool alternative_time_cost) +{ + if (cfg_->optim.optimization_activate==false) + return false; + + bool success = false; + optimized_ = false; + + double weight_multiplier = 1.0; + + // TODO(roesmann): we introduced the non-fast mode with the support of dynamic obstacles + // (which leads to better results in terms of x-y-t homotopy planning). + // however, we have not tested this mode intensively yet, so we keep + // the legacy fast mode as default until we finish our tests. + bool fast_mode = !cfg_->obstacles.include_dynamic_obstacles; + + for(int i=0; itrajectory.teb_autosize) + { + //teb_.autoResize(cfg_->trajectory.dt_ref, cfg_->trajectory.dt_hysteresis, cfg_->trajectory.min_samples, cfg_->trajectory.max_samples); + teb_.autoResize(cfg_->trajectory.dt_ref, cfg_->trajectory.dt_hysteresis, cfg_->trajectory.min_samples, cfg_->trajectory.max_samples, fast_mode); + + } + + success = buildGraph(weight_multiplier); + if (!success) + { + clearGraph(); + return false; + } + success = optimizeGraph(iterations_innerloop, false); + if (!success) + { + clearGraph(); + return false; + } + optimized_ = true; + + if (compute_cost_afterwards && i==iterations_outerloop-1) // compute cost vec only in the last iteration + computeCurrentCost(obst_cost_scale, viapoint_cost_scale, alternative_time_cost); + + clearGraph(); + + weight_multiplier *= cfg_->optim.weight_adapt_factor; + } + + return true; +} + +void TebOptimalPlanner::setVelocityStart(const geometry_msgs::Twist& vel_start) +{ + vel_start_.first = true; + vel_start_.second.linear.x = vel_start.linear.x; + vel_start_.second.linear.y = vel_start.linear.y; + vel_start_.second.angular.z = vel_start.angular.z; +} + +void TebOptimalPlanner::setVelocityGoal(const geometry_msgs::Twist& vel_goal) +{ + vel_goal_.first = true; + vel_goal_.second = vel_goal; +} + +bool TebOptimalPlanner::plan(const std::vector& initial_plan, const geometry_msgs::Twist* start_vel, bool free_goal_vel) +{ + ROS_ASSERT_MSG(initialized_, "Call initialize() first."); + if (!teb_.isInit()) + { + teb_.initTrajectoryToGoal(initial_plan, cfg_->robot.max_vel_x, cfg_->robot.max_vel_theta, cfg_->trajectory.global_plan_overwrite_orientation, + cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + } + else // warm start + { + PoseSE2 start_(initial_plan.front().pose); + PoseSE2 goal_(initial_plan.back().pose); + if (teb_.sizePoses()>0 + && (goal_.position() - teb_.BackPose().position()).norm() < cfg_->trajectory.force_reinit_new_goal_dist + && fabs(g2o::normalize_theta(goal_.theta() - teb_.BackPose().theta())) < cfg_->trajectory.force_reinit_new_goal_angular) // actual warm start! + teb_.updateAndPruneTEB(start_, goal_, cfg_->trajectory.min_samples); // update TEB + else // goal too far away -> reinit + { + ROS_DEBUG("New goal: distance to existing goal is higher than the specified threshold. Reinitalizing trajectories."); + teb_.clearTimedElasticBand(); + teb_.initTrajectoryToGoal(initial_plan, cfg_->robot.max_vel_x, cfg_->robot.max_vel_theta, cfg_->trajectory.global_plan_overwrite_orientation, + cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + } + } + if (start_vel) + setVelocityStart(*start_vel); + if (free_goal_vel) + setVelocityGoalFree(); + else + vel_goal_.first = true; // we just reactivate and use the previously set velocity (should be zero if nothing was modified) + + // now optimize + return optimizeTEB(cfg_->optim.no_inner_iterations, cfg_->optim.no_outer_iterations); +} + + +bool TebOptimalPlanner::plan(const tf::Pose& start, const tf::Pose& goal, const geometry_msgs::Twist* start_vel, bool free_goal_vel) +{ + PoseSE2 start_(start); + PoseSE2 goal_(goal); + return plan(start_, goal_, start_vel); +} + +bool TebOptimalPlanner::plan(const PoseSE2& start, const PoseSE2& goal, const geometry_msgs::Twist* start_vel, bool free_goal_vel) +{ + ROS_ASSERT_MSG(initialized_, "Call initialize() first."); + if (!teb_.isInit()) + { + // init trajectory + teb_.initTrajectoryToGoal(start, goal, 0, cfg_->robot.max_vel_x, cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); // 0 intermediate samples, but dt=1 -> autoResize will add more samples before calling first optimization + } + else // warm start + { + if (teb_.sizePoses() > 0 + && (goal.position() - teb_.BackPose().position()).norm() < cfg_->trajectory.force_reinit_new_goal_dist + && fabs(g2o::normalize_theta(goal.theta() - teb_.BackPose().theta())) < cfg_->trajectory.force_reinit_new_goal_angular) // actual warm start! + teb_.updateAndPruneTEB(start, goal, cfg_->trajectory.min_samples); + else // goal too far away -> reinit + { + ROS_DEBUG("New goal: distance to existing goal is higher than the specified threshold. Reinitalizing trajectories."); + teb_.clearTimedElasticBand(); + teb_.initTrajectoryToGoal(start, goal, 0, cfg_->robot.max_vel_x, cfg_->trajectory.min_samples, cfg_->trajectory.allow_init_with_backwards_motion); + } + } + if (start_vel) + setVelocityStart(*start_vel); + if (free_goal_vel) + setVelocityGoalFree(); + else + vel_goal_.first = true; // we just reactivate and use the previously set velocity (should be zero if nothing was modified) + + // now optimize + return optimizeTEB(cfg_->optim.no_inner_iterations, cfg_->optim.no_outer_iterations); +} + + +bool TebOptimalPlanner::buildGraph(double weight_multiplier) +{ + if (!optimizer_->edges().empty() || !optimizer_->vertices().empty()) + { + ROS_WARN("Cannot build graph, because it is not empty. Call graphClear()!"); + return false; + } + + optimizer_->setComputeBatchStatistics(cfg_->recovery.divergence_detection_enable); + + // add TEB vertices + AddTEBVertices(); + + // add Edges (local cost functions) + if (cfg_->obstacles.legacy_obstacle_association) + AddEdgesObstaclesLegacy(weight_multiplier); + else + AddEdgesObstacles(weight_multiplier); + + if (cfg_->obstacles.include_dynamic_obstacles) + AddEdgesDynamicObstacles(); + + AddEdgesViaPoints(); + + AddEdgesVelocity(); + + AddEdgesAcceleration(); + + AddEdgesTimeOptimal(); + + AddEdgesShortestPath(); + + if (cfg_->robot.min_turning_radius == 0 || cfg_->optim.weight_kinematics_turning_radius == 0) + AddEdgesKinematicsDiffDrive(); // we have a differential drive robot + else + AddEdgesKinematicsCarlike(); // we have a carlike robot since the turning radius is bounded from below. + + AddEdgesPreferRotDir(); + + if (cfg_->optim.weight_velocity_obstacle_ratio > 0) + AddEdgesVelocityObstacleRatio(); + + return true; +} + +bool TebOptimalPlanner::optimizeGraph(int no_iterations,bool clear_after) +{ + if (cfg_->robot.max_vel_x<0.01) + { + ROS_WARN("optimizeGraph(): Robot Max Velocity is smaller than 0.01m/s. Optimizing aborted..."); + if (clear_after) clearGraph(); + return false; + } + + if (!teb_.isInit() || teb_.sizePoses() < cfg_->trajectory.min_samples) + { + ROS_WARN("optimizeGraph(): TEB is empty or has too less elements. Skipping optimization."); + if (clear_after) clearGraph(); + return false; + } + + optimizer_->setVerbose(cfg_->optim.optimization_verbose); + optimizer_->initializeOptimization(); + + int iter = optimizer_->optimize(no_iterations); + + // Save Hessian for visualization + // g2o::OptimizationAlgorithmLevenberg* lm = dynamic_cast (optimizer_->solver()); + // lm->solver()->saveHessian("~/MasterThesis/Matlab/Hessian.txt"); + + if(!iter) + { + ROS_ERROR("optimizeGraph(): Optimization failed! iter=%i", iter); + return false; + } + + if (clear_after) clearGraph(); + + return true; +} + +void TebOptimalPlanner::clearGraph() +{ + // clear optimizer states + if (optimizer_) + { + // we will delete all edges but keep the vertices. + // before doing so, we will delete the link from the vertices to the edges. + auto& vertices = optimizer_->vertices(); + for(auto& v : vertices) + v.second->edges().clear(); + + optimizer_->vertices().clear(); // necessary, because optimizer->clear deletes pointer-targets (therefore it deletes TEB states!) + optimizer_->clear(); + } +} + + + +void TebOptimalPlanner::AddTEBVertices() +{ + // add vertices to graph + ROS_DEBUG_COND(cfg_->optim.optimization_verbose, "Adding TEB vertices ..."); + unsigned int id_counter = 0; // used for vertices ids + obstacles_per_vertex_.resize(teb_.sizePoses()); + auto iter_obstacle = obstacles_per_vertex_.begin(); + for (int i=0; isetId(id_counter++); + optimizer_->addVertex(teb_.PoseVertex(i)); + if (teb_.sizeTimeDiffs()!=0 && isetId(id_counter++); + optimizer_->addVertex(teb_.TimeDiffVertex(i)); + } + iter_obstacle->clear(); + (iter_obstacle++)->reserve(obstacles_->size()); + } +} + + +void TebOptimalPlanner::AddEdgesObstacles(double weight_multiplier) +{ + if (cfg_->optim.weight_obstacle==0 || weight_multiplier==0 || obstacles_==nullptr ) + return; // if weight equals zero skip adding edges! + + + bool inflated = cfg_->obstacles.inflation_dist > cfg_->obstacles.min_obstacle_dist; + + Eigen::Matrix information; + information.fill(cfg_->optim.weight_obstacle * weight_multiplier); + + Eigen::Matrix information_inflated; + information_inflated(0,0) = cfg_->optim.weight_obstacle * weight_multiplier; + information_inflated(1,1) = cfg_->optim.weight_inflation; + information_inflated(0,1) = information_inflated(1,0) = 0; + + auto iter_obstacle = obstacles_per_vertex_.begin(); + + auto create_edge = [inflated, &information, &information_inflated, this] (int index, const Obstacle* obstacle) { + if (inflated) + { + EdgeInflatedObstacle* dist_bandpt_obst = new EdgeInflatedObstacle; + dist_bandpt_obst->setVertex(0,teb_.PoseVertex(index)); + dist_bandpt_obst->setInformation(information_inflated); + dist_bandpt_obst->setParameters(*cfg_, robot_model_.get(), obstacle); + optimizer_->addEdge(dist_bandpt_obst); + } + else + { + EdgeObstacle* dist_bandpt_obst = new EdgeObstacle; + dist_bandpt_obst->setVertex(0,teb_.PoseVertex(index)); + dist_bandpt_obst->setInformation(information); + dist_bandpt_obst->setParameters(*cfg_, robot_model_.get(), obstacle); + optimizer_->addEdge(dist_bandpt_obst); + }; + }; + + // iterate all teb points, skipping the last and, if the EdgeVelocityObstacleRatio edges should not be created, the first one too + const int first_vertex = cfg_->optim.weight_velocity_obstacle_ratio == 0 ? 1 : 0; + for (int i = first_vertex; i < teb_.sizePoses() - 1; ++i) + { + double left_min_dist = std::numeric_limits::max(); + double right_min_dist = std::numeric_limits::max(); + ObstaclePtr left_obstacle; + ObstaclePtr right_obstacle; + + const Eigen::Vector2d pose_orient = teb_.Pose(i).orientationUnitVec(); + + // iterate obstacles + for (const ObstaclePtr& obst : *obstacles_) + { + // we handle dynamic obstacles differently below + if(cfg_->obstacles.include_dynamic_obstacles && obst->isDynamic()) + continue; + + // calculate distance to robot model + double dist = robot_model_->calculateDistance(teb_.Pose(i), obst.get()); + + // force considering obstacle if really close to the current pose + if (dist < cfg_->obstacles.min_obstacle_dist*cfg_->obstacles.obstacle_association_force_inclusion_factor) + { + iter_obstacle->push_back(obst); + continue; + } + // cut-off distance + if (dist > cfg_->obstacles.min_obstacle_dist*cfg_->obstacles.obstacle_association_cutoff_factor) + continue; + + // determine side (left or right) and assign obstacle if closer than the previous one + if (cross2d(pose_orient, obst->getCentroid()) > 0) // left + { + if (dist < left_min_dist) + { + left_min_dist = dist; + left_obstacle = obst; + } + } + else + { + if (dist < right_min_dist) + { + right_min_dist = dist; + right_obstacle = obst; + } + } + } + + if (left_obstacle) + iter_obstacle->push_back(left_obstacle); + if (right_obstacle) + iter_obstacle->push_back(right_obstacle); + + // continue here to ignore obstacles for the first pose, but use them later to create the EdgeVelocityObstacleRatio edges + if (i == 0) + { + ++iter_obstacle; + continue; + } + + // create obstacle edges + for (const ObstaclePtr obst : *iter_obstacle) + create_edge(i, obst.get()); + ++iter_obstacle; + } +} + + +void TebOptimalPlanner::AddEdgesObstaclesLegacy(double weight_multiplier) +{ + if (cfg_->optim.weight_obstacle==0 || weight_multiplier==0 || obstacles_==nullptr) + return; // if weight equals zero skip adding edges! + + Eigen::Matrix information; + information.fill(cfg_->optim.weight_obstacle * weight_multiplier); + + Eigen::Matrix information_inflated; + information_inflated(0,0) = cfg_->optim.weight_obstacle * weight_multiplier; + information_inflated(1,1) = cfg_->optim.weight_inflation; + information_inflated(0,1) = information_inflated(1,0) = 0; + + bool inflated = cfg_->obstacles.inflation_dist > cfg_->obstacles.min_obstacle_dist; + + for (ObstContainer::const_iterator obst = obstacles_->begin(); obst != obstacles_->end(); ++obst) + { + if (cfg_->obstacles.include_dynamic_obstacles && (*obst)->isDynamic()) // we handle dynamic obstacles differently below + continue; + + int index; + + if (cfg_->obstacles.obstacle_poses_affected >= teb_.sizePoses()) + index = teb_.sizePoses() / 2; + else + index = teb_.findClosestTrajectoryPose(*(obst->get())); + + + // check if obstacle is outside index-range between start and goal + if ( (index <= 1) || (index > teb_.sizePoses()-2) ) // start and goal are fixed and findNearestBandpoint finds first or last conf if intersection point is outside the range + continue; + + if (inflated) + { + EdgeInflatedObstacle* dist_bandpt_obst = new EdgeInflatedObstacle; + dist_bandpt_obst->setVertex(0,teb_.PoseVertex(index)); + dist_bandpt_obst->setInformation(information_inflated); + dist_bandpt_obst->setParameters(*cfg_, robot_model_.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst); + } + else + { + EdgeObstacle* dist_bandpt_obst = new EdgeObstacle; + dist_bandpt_obst->setVertex(0,teb_.PoseVertex(index)); + dist_bandpt_obst->setInformation(information); + dist_bandpt_obst->setParameters(*cfg_, robot_model_.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst); + } + + for (int neighbourIdx=0; neighbourIdx < floor(cfg_->obstacles.obstacle_poses_affected/2); neighbourIdx++) + { + if (index+neighbourIdx < teb_.sizePoses()) + { + if (inflated) + { + EdgeInflatedObstacle* dist_bandpt_obst_n_r = new EdgeInflatedObstacle; + dist_bandpt_obst_n_r->setVertex(0,teb_.PoseVertex(index+neighbourIdx)); + dist_bandpt_obst_n_r->setInformation(information_inflated); + dist_bandpt_obst_n_r->setParameters(*cfg_, robot_model_.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst_n_r); + } + else + { + EdgeObstacle* dist_bandpt_obst_n_r = new EdgeObstacle; + dist_bandpt_obst_n_r->setVertex(0,teb_.PoseVertex(index+neighbourIdx)); + dist_bandpt_obst_n_r->setInformation(information); + dist_bandpt_obst_n_r->setParameters(*cfg_, robot_model_.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst_n_r); + } + } + if ( index - neighbourIdx >= 0) // needs to be casted to int to allow negative values + { + if (inflated) + { + EdgeInflatedObstacle* dist_bandpt_obst_n_l = new EdgeInflatedObstacle; + dist_bandpt_obst_n_l->setVertex(0,teb_.PoseVertex(index-neighbourIdx)); + dist_bandpt_obst_n_l->setInformation(information_inflated); + dist_bandpt_obst_n_l->setParameters(*cfg_, robot_model_.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst_n_l); + } + else + { + EdgeObstacle* dist_bandpt_obst_n_l = new EdgeObstacle; + dist_bandpt_obst_n_l->setVertex(0,teb_.PoseVertex(index-neighbourIdx)); + dist_bandpt_obst_n_l->setInformation(information); + dist_bandpt_obst_n_l->setParameters(*cfg_, robot_model_.get(), obst->get()); + optimizer_->addEdge(dist_bandpt_obst_n_l); + } + } + } + + } +} + + +void TebOptimalPlanner::AddEdgesDynamicObstacles(double weight_multiplier) +{ + if (cfg_->optim.weight_obstacle==0 || weight_multiplier==0 || obstacles_==NULL ) + return; // if weight equals zero skip adding edges! + + Eigen::Matrix information; + information(0,0) = cfg_->optim.weight_dynamic_obstacle * weight_multiplier; + information(1,1) = cfg_->optim.weight_dynamic_obstacle_inflation; + information(0,1) = information(1,0) = 0; + + for (ObstContainer::const_iterator obst = obstacles_->begin(); obst != obstacles_->end(); ++obst) + { + if (!(*obst)->isDynamic()) + continue; + + // Skip first and last pose, as they are fixed + double time = teb_.TimeDiff(0); + for (int i=1; i < teb_.sizePoses() - 1; ++i) + { + EdgeDynamicObstacle* dynobst_edge = new EdgeDynamicObstacle(time); + dynobst_edge->setVertex(0,teb_.PoseVertex(i)); + dynobst_edge->setInformation(information); + dynobst_edge->setParameters(*cfg_, robot_model_.get(), obst->get()); + optimizer_->addEdge(dynobst_edge); + time += teb_.TimeDiff(i); // we do not need to check the time diff bounds, since we iterate to "< sizePoses()-1". + } + } +} + +void TebOptimalPlanner::AddEdgesViaPoints() +{ + if (cfg_->optim.weight_viapoint==0 || via_points_==NULL || via_points_->empty() ) + return; // if weight equals zero skip adding edges! + + int start_pose_idx = 0; + + int n = teb_.sizePoses(); + if (n<3) // we do not have any degrees of freedom for reaching via-points + return; + + for (ViaPointContainer::const_iterator vp_it = via_points_->begin(); vp_it != via_points_->end(); ++vp_it) + { + + int index = teb_.findClosestTrajectoryPose(*vp_it, NULL, start_pose_idx); + if (cfg_->trajectory.via_points_ordered) + start_pose_idx = index+2; // skip a point to have a DOF inbetween for further via-points + + // check if point conicides with goal or is located behind it + if ( index > n-2 ) + index = n-2; // set to a pose before the goal, since we can move it away! + // check if point coincides with start or is located before it + if ( index < 1) + { + if (cfg_->trajectory.via_points_ordered) + { + index = 1; // try to connect the via point with the second (and non-fixed) pose. It is likely that autoresize adds new poses inbetween later. + } + else + { + ROS_DEBUG("TebOptimalPlanner::AddEdgesViaPoints(): skipping a via-point that is close or behind the current robot pose."); + continue; // skip via points really close or behind the current robot pose + } + } + Eigen::Matrix information; + information.fill(cfg_->optim.weight_viapoint); + + EdgeViaPoint* edge_viapoint = new EdgeViaPoint; + edge_viapoint->setVertex(0,teb_.PoseVertex(index)); + edge_viapoint->setInformation(information); + edge_viapoint->setParameters(*cfg_, &(*vp_it)); + optimizer_->addEdge(edge_viapoint); + } +} + +void TebOptimalPlanner::AddEdgesVelocity() +{ + if (cfg_->robot.max_vel_y == 0) // non-holonomic robot + { + if ( cfg_->optim.weight_max_vel_x==0 && cfg_->optim.weight_max_vel_theta==0) + return; // if weight equals zero skip adding edges! + + int n = teb_.sizePoses(); + Eigen::Matrix information; + information(0,0) = cfg_->optim.weight_max_vel_x; + information(1,1) = cfg_->optim.weight_max_vel_theta; + information(0,1) = 0.0; + information(1,0) = 0.0; + + for (int i=0; i < n - 1; ++i) + { + EdgeVelocity* velocity_edge = new EdgeVelocity; + velocity_edge->setVertex(0,teb_.PoseVertex(i)); + velocity_edge->setVertex(1,teb_.PoseVertex(i+1)); + velocity_edge->setVertex(2,teb_.TimeDiffVertex(i)); + velocity_edge->setInformation(information); + velocity_edge->setTebConfig(*cfg_); + optimizer_->addEdge(velocity_edge); + } + } + else // holonomic-robot + { + if ( cfg_->optim.weight_max_vel_x==0 && cfg_->optim.weight_max_vel_y==0 && cfg_->optim.weight_max_vel_theta==0) + return; // if weight equals zero skip adding edges! + + int n = teb_.sizePoses(); + Eigen::Matrix information; + information.fill(0); + information(0,0) = cfg_->optim.weight_max_vel_x; + information(1,1) = cfg_->optim.weight_max_vel_y; + information(2,2) = cfg_->optim.weight_max_vel_theta; + + for (int i=0; i < n - 1; ++i) + { + EdgeVelocityHolonomic* velocity_edge = new EdgeVelocityHolonomic; + velocity_edge->setVertex(0,teb_.PoseVertex(i)); + velocity_edge->setVertex(1,teb_.PoseVertex(i+1)); + velocity_edge->setVertex(2,teb_.TimeDiffVertex(i)); + velocity_edge->setInformation(information); + velocity_edge->setTebConfig(*cfg_); + optimizer_->addEdge(velocity_edge); + } + + } +} + +void TebOptimalPlanner::AddEdgesAcceleration() +{ + if (cfg_->optim.weight_acc_lim_x==0 && cfg_->optim.weight_acc_lim_theta==0) + return; // if weight equals zero skip adding edges! + + int n = teb_.sizePoses(); + + if (cfg_->robot.max_vel_y == 0 || cfg_->robot.acc_lim_y == 0) // non-holonomic robot + { + Eigen::Matrix information; + information.fill(0); + information(0,0) = cfg_->optim.weight_acc_lim_x; + information(1,1) = cfg_->optim.weight_acc_lim_theta; + + // check if an initial velocity should be taken into accound + if (vel_start_.first) + { + EdgeAccelerationStart* acceleration_edge = new EdgeAccelerationStart; + acceleration_edge->setVertex(0,teb_.PoseVertex(0)); + acceleration_edge->setVertex(1,teb_.PoseVertex(1)); + acceleration_edge->setVertex(2,teb_.TimeDiffVertex(0)); + acceleration_edge->setInitialVelocity(vel_start_.second); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + + // now add the usual acceleration edge for each tuple of three teb poses + for (int i=0; i < n - 2; ++i) + { + EdgeAcceleration* acceleration_edge = new EdgeAcceleration; + acceleration_edge->setVertex(0,teb_.PoseVertex(i)); + acceleration_edge->setVertex(1,teb_.PoseVertex(i+1)); + acceleration_edge->setVertex(2,teb_.PoseVertex(i+2)); + acceleration_edge->setVertex(3,teb_.TimeDiffVertex(i)); + acceleration_edge->setVertex(4,teb_.TimeDiffVertex(i+1)); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + + // check if a goal velocity should be taken into accound + if (vel_goal_.first) + { + EdgeAccelerationGoal* acceleration_edge = new EdgeAccelerationGoal; + acceleration_edge->setVertex(0,teb_.PoseVertex(n-2)); + acceleration_edge->setVertex(1,teb_.PoseVertex(n-1)); + acceleration_edge->setVertex(2,teb_.TimeDiffVertex( teb_.sizeTimeDiffs()-1 )); + acceleration_edge->setGoalVelocity(vel_goal_.second); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + } + else // holonomic robot + { + Eigen::Matrix information; + information.fill(0); + information(0,0) = cfg_->optim.weight_acc_lim_x; + information(1,1) = cfg_->optim.weight_acc_lim_y; + information(2,2) = cfg_->optim.weight_acc_lim_theta; + + // check if an initial velocity should be taken into accound + if (vel_start_.first) + { + EdgeAccelerationHolonomicStart* acceleration_edge = new EdgeAccelerationHolonomicStart; + acceleration_edge->setVertex(0,teb_.PoseVertex(0)); + acceleration_edge->setVertex(1,teb_.PoseVertex(1)); + acceleration_edge->setVertex(2,teb_.TimeDiffVertex(0)); + acceleration_edge->setInitialVelocity(vel_start_.second); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + + // now add the usual acceleration edge for each tuple of three teb poses + for (int i=0; i < n - 2; ++i) + { + EdgeAccelerationHolonomic* acceleration_edge = new EdgeAccelerationHolonomic; + acceleration_edge->setVertex(0,teb_.PoseVertex(i)); + acceleration_edge->setVertex(1,teb_.PoseVertex(i+1)); + acceleration_edge->setVertex(2,teb_.PoseVertex(i+2)); + acceleration_edge->setVertex(3,teb_.TimeDiffVertex(i)); + acceleration_edge->setVertex(4,teb_.TimeDiffVertex(i+1)); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + + // check if a goal velocity should be taken into accound + if (vel_goal_.first) + { + EdgeAccelerationHolonomicGoal* acceleration_edge = new EdgeAccelerationHolonomicGoal; + acceleration_edge->setVertex(0,teb_.PoseVertex(n-2)); + acceleration_edge->setVertex(1,teb_.PoseVertex(n-1)); + acceleration_edge->setVertex(2,teb_.TimeDiffVertex( teb_.sizeTimeDiffs()-1 )); + acceleration_edge->setGoalVelocity(vel_goal_.second); + acceleration_edge->setInformation(information); + acceleration_edge->setTebConfig(*cfg_); + optimizer_->addEdge(acceleration_edge); + } + } +} + + + +void TebOptimalPlanner::AddEdgesTimeOptimal() +{ + if (cfg_->optim.weight_optimaltime==0) + return; // if weight equals zero skip adding edges! + + Eigen::Matrix information; + information.fill(cfg_->optim.weight_optimaltime); + + for (int i=0; i < teb_.sizeTimeDiffs(); ++i) + { + EdgeTimeOptimal* timeoptimal_edge = new EdgeTimeOptimal; + timeoptimal_edge->setVertex(0,teb_.TimeDiffVertex(i)); + timeoptimal_edge->setInformation(information); + timeoptimal_edge->setTebConfig(*cfg_); + optimizer_->addEdge(timeoptimal_edge); + } +} + +void TebOptimalPlanner::AddEdgesShortestPath() +{ + if (cfg_->optim.weight_shortest_path==0) + return; // if weight equals zero skip adding edges! + + Eigen::Matrix information; + information.fill(cfg_->optim.weight_shortest_path); + + for (int i=0; i < teb_.sizePoses()-1; ++i) + { + EdgeShortestPath* shortest_path_edge = new EdgeShortestPath; + shortest_path_edge->setVertex(0,teb_.PoseVertex(i)); + shortest_path_edge->setVertex(1,teb_.PoseVertex(i+1)); + shortest_path_edge->setInformation(information); + shortest_path_edge->setTebConfig(*cfg_); + optimizer_->addEdge(shortest_path_edge); + } +} + + + +void TebOptimalPlanner::AddEdgesKinematicsDiffDrive() +{ + if (cfg_->optim.weight_kinematics_nh==0 && cfg_->optim.weight_kinematics_forward_drive==0) + return; // if weight equals zero skip adding edges! + + // create edge for satisfiying kinematic constraints + Eigen::Matrix information_kinematics; + information_kinematics.fill(0.0); + information_kinematics(0, 0) = cfg_->optim.weight_kinematics_nh; + information_kinematics(1, 1) = cfg_->optim.weight_kinematics_forward_drive; + + for (int i=0; i < teb_.sizePoses()-1; i++) // ignore twiced start only + { + EdgeKinematicsDiffDrive* kinematics_edge = new EdgeKinematicsDiffDrive; + kinematics_edge->setVertex(0,teb_.PoseVertex(i)); + kinematics_edge->setVertex(1,teb_.PoseVertex(i+1)); + kinematics_edge->setInformation(information_kinematics); + kinematics_edge->setTebConfig(*cfg_); + optimizer_->addEdge(kinematics_edge); + } +} + +void TebOptimalPlanner::AddEdgesKinematicsCarlike() +{ + if (cfg_->optim.weight_kinematics_nh==0 && cfg_->optim.weight_kinematics_turning_radius==0) + return; // if weight equals zero skip adding edges! + + // create edge for satisfiying kinematic constraints + Eigen::Matrix information_kinematics; + information_kinematics.fill(0.0); + information_kinematics(0, 0) = cfg_->optim.weight_kinematics_nh; + information_kinematics(1, 1) = cfg_->optim.weight_kinematics_turning_radius; + + for (int i=0; i < teb_.sizePoses()-1; i++) // ignore twiced start only + { + EdgeKinematicsCarlike* kinematics_edge = new EdgeKinematicsCarlike; + kinematics_edge->setVertex(0,teb_.PoseVertex(i)); + kinematics_edge->setVertex(1,teb_.PoseVertex(i+1)); + kinematics_edge->setInformation(information_kinematics); + kinematics_edge->setTebConfig(*cfg_); + optimizer_->addEdge(kinematics_edge); + } +} + + +void TebOptimalPlanner::AddEdgesPreferRotDir() +{ + //TODO(roesmann): Note, these edges can result in odd predictions, in particular + // we can observe a substantional mismatch between open- and closed-loop planning + // leading to a poor control performance. + // At the moment, we keep these functionality for oscillation recovery: + // Activating the edge for a short time period might not be crucial and + // could move the robot to a new oscillation-free state. + // This needs to be analyzed in more detail! + if (prefer_rotdir_ == RotType::none || cfg_->optim.weight_prefer_rotdir==0) + return; // if weight equals zero skip adding edges! + + if (prefer_rotdir_ != RotType::right && prefer_rotdir_ != RotType::left) + { + ROS_WARN("TebOptimalPlanner::AddEdgesPreferRotDir(): unsupported RotType selected. Skipping edge creation."); + return; + } + + // create edge for satisfiying kinematic constraints + Eigen::Matrix information_rotdir; + information_rotdir.fill(cfg_->optim.weight_prefer_rotdir); + + for (int i=0; i < teb_.sizePoses()-1 && i < 3; ++i) // currently: apply to first 3 rotations + { + EdgePreferRotDir* rotdir_edge = new EdgePreferRotDir; + rotdir_edge->setVertex(0,teb_.PoseVertex(i)); + rotdir_edge->setVertex(1,teb_.PoseVertex(i+1)); + rotdir_edge->setInformation(information_rotdir); + + if (prefer_rotdir_ == RotType::left) + rotdir_edge->preferLeft(); + else if (prefer_rotdir_ == RotType::right) + rotdir_edge->preferRight(); + + optimizer_->addEdge(rotdir_edge); + } +} + +void TebOptimalPlanner::AddEdgesVelocityObstacleRatio() +{ + Eigen::Matrix information; + information(0,0) = cfg_->optim.weight_velocity_obstacle_ratio; + information(1,1) = cfg_->optim.weight_velocity_obstacle_ratio; + information(0,1) = information(1,0) = 0; + + auto iter_obstacle = obstacles_per_vertex_.begin(); + + for (int index = 0; index < teb_.sizePoses() - 1; ++index) + { + for (const ObstaclePtr obstacle : (*iter_obstacle++)) + { + EdgeVelocityObstacleRatio* edge = new EdgeVelocityObstacleRatio; + edge->setVertex(0,teb_.PoseVertex(index)); + edge->setVertex(1,teb_.PoseVertex(index + 1)); + edge->setVertex(2,teb_.TimeDiffVertex(index)); + edge->setInformation(information); + edge->setParameters(*cfg_, robot_model_.get(), obstacle.get()); + optimizer_->addEdge(edge); + } + } +} + +bool TebOptimalPlanner::hasDiverged() const +{ + // Early returns if divergence detection is not active + if (!cfg_->recovery.divergence_detection_enable) + return false; + + auto stats_vector = optimizer_->batchStatistics(); + + // No statistics yet + if (stats_vector.empty()) + return false; + + // Grab the statistics of the final iteration + const auto last_iter_stats = stats_vector.back(); + + return last_iter_stats.chi2 > cfg_->recovery.divergence_detection_max_chi_squared; +} + +void TebOptimalPlanner::computeCurrentCost(double obst_cost_scale, double viapoint_cost_scale, bool alternative_time_cost) +{ + // check if graph is empty/exist -> important if function is called between buildGraph and optimizeGraph/clearGraph + bool graph_exist_flag(false); + if (optimizer_->edges().empty() && optimizer_->vertices().empty()) + { + // here the graph is build again, for time efficiency make sure to call this function + // between buildGraph and Optimize (deleted), but it depends on the application + buildGraph(); + optimizer_->initializeOptimization(); + } + else + { + graph_exist_flag = true; + } + + optimizer_->computeInitialGuess(); + + cost_ = 0; + + if (alternative_time_cost) + { + cost_ += teb_.getSumOfAllTimeDiffs(); + // TEST we use SumOfAllTimeDiffs() here, because edge cost depends on number of samples, which is not always the same for similar TEBs, + // since we are using an AutoResize Function with hysteresis. + } + + // now we need pointers to all edges -> calculate error for each edge-type + // since we aren't storing edge pointers, we need to check every edge + for (std::vector::const_iterator it = optimizer_->activeEdges().begin(); it!= optimizer_->activeEdges().end(); it++) + { + double cur_cost = (*it)->chi2(); + + if (dynamic_cast(*it) != nullptr + || dynamic_cast(*it) != nullptr + || dynamic_cast(*it) != nullptr) + { + cur_cost *= obst_cost_scale; + } + else if (dynamic_cast(*it) != nullptr) + { + cur_cost *= viapoint_cost_scale; + } + else if (dynamic_cast(*it) != nullptr && alternative_time_cost) + { + continue; // skip these edges if alternative_time_cost is active + } + cost_ += cur_cost; + } + + // delete temporary created graph + if (!graph_exist_flag) + clearGraph(); +} + + +void TebOptimalPlanner::extractVelocity(const PoseSE2& pose1, const PoseSE2& pose2, double dt, double& vx, double& vy, double& omega) const +{ + if (dt == 0) + { + vx = 0; + vy = 0; + omega = 0; + return; + } + + Eigen::Vector2d deltaS = pose2.position() - pose1.position(); + + if (cfg_->robot.max_vel_y == 0) // nonholonomic robot + { + Eigen::Vector2d conf1dir( cos(pose1.theta()), sin(pose1.theta()) ); + // translational velocity + double dir = deltaS.dot(conf1dir); + vx = (double) g2o::sign(dir) * deltaS.norm()/dt; + vy = 0; + } + else // holonomic robot + { + // transform pose 2 into the current robot frame (pose1) + // for velocities only the rotation of the direction vector is necessary. + // (map->pose1-frame: inverse 2d rotation matrix) + double cos_theta1 = std::cos(pose1.theta()); + double sin_theta1 = std::sin(pose1.theta()); + double p1_dx = cos_theta1*deltaS.x() + sin_theta1*deltaS.y(); + double p1_dy = -sin_theta1*deltaS.x() + cos_theta1*deltaS.y(); + vx = p1_dx / dt; + vy = p1_dy / dt; + } + + // rotational velocity + double orientdiff = g2o::normalize_theta(pose2.theta() - pose1.theta()); + omega = orientdiff/dt; +} + +bool TebOptimalPlanner::getVelocityCommand(double& vx, double& vy, double& omega, int look_ahead_poses) const +{ + if (teb_.sizePoses()<2) + { + ROS_ERROR("TebOptimalPlanner::getVelocityCommand(): The trajectory contains less than 2 poses. Make sure to init and optimize/plan the trajectory fist."); + vx = 0; + vy = 0; + omega = 0; + return false; + } + look_ahead_poses = std::max(1, std::min(look_ahead_poses, teb_.sizePoses() - 1 - cfg_->trajectory.prevent_look_ahead_poses_near_goal)); + double dt = 0.0; + for(int counter = 0; counter < look_ahead_poses; ++counter) + { + dt += teb_.TimeDiff(counter); + if(dt >= cfg_->trajectory.dt_ref * look_ahead_poses) // TODO: change to look-ahead time? Refine trajectory? + { + look_ahead_poses = counter + 1; + break; + } + } + if (dt<=0) + { + ROS_ERROR("TebOptimalPlanner::getVelocityCommand() - timediff<=0 is invalid!"); + vx = 0; + vy = 0; + omega = 0; + return false; + } + + // Get velocity from the first two configurations + extractVelocity(teb_.Pose(0), teb_.Pose(look_ahead_poses), dt, vx, vy, omega); + return true; +} + +void TebOptimalPlanner::getVelocityProfile(std::vector& velocity_profile) const +{ + int n = teb_.sizePoses(); + velocity_profile.resize( n+1 ); + + // start velocity + velocity_profile.front().linear.z = 0; + velocity_profile.front().angular.x = velocity_profile.front().angular.y = 0; + velocity_profile.front().linear.x = vel_start_.second.linear.x; + velocity_profile.front().linear.y = vel_start_.second.linear.y; + velocity_profile.front().angular.z = vel_start_.second.angular.z; + + for (int i=1; i& trajectory) const +{ + int n = teb_.sizePoses(); + + trajectory.resize(n); + + if (n == 0) + return; + + double curr_time = 0; + + // start + TrajectoryPointMsg& start = trajectory.front(); + teb_.Pose(0).toPoseMsg(start.pose); + start.velocity.linear.z = 0; + start.velocity.angular.x = start.velocity.angular.y = 0; + start.velocity.linear.x = vel_start_.second.linear.x; + start.velocity.linear.y = vel_start_.second.linear.y; + start.velocity.angular.z = vel_start_.second.angular.z; + start.time_from_start.fromSec(curr_time); + + curr_time += teb_.TimeDiff(0); + + // intermediate points + for (int i=1; i < n-1; ++i) + { + TrajectoryPointMsg& point = trajectory[i]; + teb_.Pose(i).toPoseMsg(point.pose); + point.velocity.linear.z = 0; + point.velocity.angular.x = point.velocity.angular.y = 0; + double vel1_x, vel1_y, vel2_x, vel2_y, omega1, omega2; + extractVelocity(teb_.Pose(i-1), teb_.Pose(i), teb_.TimeDiff(i-1), vel1_x, vel1_y, omega1); + extractVelocity(teb_.Pose(i), teb_.Pose(i+1), teb_.TimeDiff(i), vel2_x, vel2_y, omega2); + point.velocity.linear.x = 0.5*(vel1_x+vel2_x); + point.velocity.linear.y = 0.5*(vel1_y+vel2_y); + point.velocity.angular.z = 0.5*(omega1+omega2); + point.time_from_start.fromSec(curr_time); + + curr_time += teb_.TimeDiff(i); + } + + // goal + TrajectoryPointMsg& goal = trajectory.back(); + teb_.BackPose().toPoseMsg(goal.pose); + goal.velocity.linear.z = 0; + goal.velocity.angular.x = goal.velocity.angular.y = 0; + goal.velocity.linear.x = vel_goal_.second.linear.x; + goal.velocity.linear.y = vel_goal_.second.linear.y; + goal.velocity.angular.z = vel_goal_.second.angular.z; + goal.time_from_start.fromSec(curr_time); +} + + +bool TebOptimalPlanner::isTrajectoryFeasible(base_local_planner::CostmapModel* costmap_model, const std::vector& footprint_spec, + double inscribed_radius, double circumscribed_radius, int look_ahead_idx, double feasibility_check_lookahead_distance) +{ + if (look_ahead_idx < 0 || look_ahead_idx >= teb().sizePoses()) + look_ahead_idx = teb().sizePoses() - 1; + + if (feasibility_check_lookahead_distance > 0){ + for (int i=1; i < teb().sizePoses(); ++i){ + double pose_distance=std::hypot(teb().Pose(i).x()-teb().Pose(0).x(), teb().Pose(i).y()-teb().Pose(0).y()); + if(pose_distance > feasibility_check_lookahead_distance){ + look_ahead_idx = i - 1; + break; + } + } + } + + for (int i=0; i <= look_ahead_idx; ++i) + { + if ( costmap_model->footprintCost(teb().Pose(i).x(), teb().Pose(i).y(), teb().Pose(i).theta(), footprint_spec, inscribed_radius, circumscribed_radius) == -1 ) + { + if (visualization_) + { + visualization_->publishInfeasibleRobotPose(teb().Pose(i), *robot_model_, footprint_spec); + } + return false; + } + // Checks if the distance between two poses is higher than the robot radius or the orientation diff is bigger than the specified threshold + // and interpolates in that case. + // (if obstacles are pushing two consecutive poses away, the center between two consecutive poses might coincide with the obstacle ;-)! + if (i cfg_->trajectory.min_resolution_collision_check_angular || delta_dist.norm() > inscribed_radius) + { + int n_additional_samples = std::max(std::ceil(fabs(delta_rot) / cfg_->trajectory.min_resolution_collision_check_angular), + std::ceil(delta_dist.norm() / inscribed_radius)) - 1; + PoseSE2 intermediate_pose = teb().Pose(i); + for(int step = 0; step < n_additional_samples; ++step) + { + intermediate_pose.position() = intermediate_pose.position() + delta_dist / (n_additional_samples + 1.0); + intermediate_pose.theta() = g2o::normalize_theta(intermediate_pose.theta() + + delta_rot / (n_additional_samples + 1.0)); + if ( costmap_model->footprintCost(intermediate_pose.x(), intermediate_pose.y(), intermediate_pose.theta(), + footprint_spec, inscribed_radius, circumscribed_radius) == -1 ) + { + if (visualization_) + { + visualization_->publishInfeasibleRobotPose(intermediate_pose, *robot_model_, footprint_spec); + } + return false; + } + } + } + } + } + return true; +} + +} // namespace teb_local_planner diff --git a/navigations/teb_local_planner/src/recovery_behaviors.cpp b/navigations/teb_local_planner/src/recovery_behaviors.cpp new file mode 100755 index 0000000..e16c11a --- /dev/null +++ b/navigations/teb_local_planner/src/recovery_behaviors.cpp @@ -0,0 +1,118 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include +#include +#include +#include +#include +#include + +namespace teb_local_planner +{ + +// ============== FailureDetector Implementation =================== + +void FailureDetector::update(const geometry_msgs::Twist& twist, double v_max, double v_backwards_max, double omega_max, double v_eps, double omega_eps) +{ + if (buffer_.capacity() == 0) + return; + + VelMeasurement measurement; + measurement.v = twist.linear.x; // just consider linear velocity in x-direction in the robot frame for now + measurement.omega = twist.angular.z; + + if (measurement.v > 0 && v_max>0) + measurement.v /= v_max; + else if (measurement.v < 0 && v_backwards_max > 0) + measurement.v /= v_backwards_max; + + if (omega_max > 0) + measurement.omega /= omega_max; + + buffer_.push_back(measurement); + + // immediately compute new state + detect(v_eps, omega_eps); +} + +void FailureDetector::clear() +{ + buffer_.clear(); + oscillating_ = false; +} + +bool FailureDetector::isOscillating() const +{ + return oscillating_; +} + +bool FailureDetector::detect(double v_eps, double omega_eps) +{ + oscillating_ = false; + + if (buffer_.size() < buffer_.capacity()/2) // we start detecting only as soon as we have the buffer filled at least half + return false; + + double n = (double)buffer_.size(); + + // compute mean for v and omega + double v_mean=0; + double omega_mean=0; + int omega_zero_crossings = 0; + for (int i=0; i < n; ++i) + { + v_mean += buffer_[i].v; + omega_mean += buffer_[i].omega; + if ( i>0 && g2o::sign(buffer_[i].omega) != g2o::sign(buffer_[i-1].omega) ) + ++omega_zero_crossings; + } + v_mean /= n; + omega_mean /= n; + + if (std::abs(v_mean) < v_eps && std::abs(omega_mean) < omega_eps && omega_zero_crossings>1 ) + { + oscillating_ = true; + } +// ROS_INFO_STREAM("v: " << std::abs(v_mean) << ", omega: " << std::abs(omega_mean) << ", zero crossings: " << omega_zero_crossings); + return oscillating_; +} + + + +} // namespace teb_local_planner diff --git a/navigations/teb_local_planner/src/teb_config.cpp b/navigations/teb_local_planner/src/teb_config.cpp new file mode 100755 index 0000000..a157d28 --- /dev/null +++ b/navigations/teb_local_planner/src/teb_config.cpp @@ -0,0 +1,397 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include + +namespace teb_local_planner +{ + +void TebConfig::loadRosParamFromNodeHandle(const ros::NodeHandle& nh) +{ + + nh.param("odom_topic", odom_topic, odom_topic); + nh.param("map_frame", map_frame, map_frame); + + // Trajectory + nh.param("teb_autosize", trajectory.teb_autosize, trajectory.teb_autosize); + nh.param("dt_ref", trajectory.dt_ref, trajectory.dt_ref); + nh.param("dt_hysteresis", trajectory.dt_hysteresis, trajectory.dt_hysteresis); + nh.param("min_samples", trajectory.min_samples, trajectory.min_samples); + nh.param("max_samples", trajectory.max_samples, trajectory.max_samples); + nh.param("global_plan_overwrite_orientation", trajectory.global_plan_overwrite_orientation, trajectory.global_plan_overwrite_orientation); + nh.param("allow_init_with_backwards_motion", trajectory.allow_init_with_backwards_motion, trajectory.allow_init_with_backwards_motion); + nh.getParam("global_plan_via_point_sep", trajectory.global_plan_viapoint_sep); // deprecated, see checkDeprecated() + if (!nh.param("global_plan_viapoint_sep", trajectory.global_plan_viapoint_sep, trajectory.global_plan_viapoint_sep)) + nh.setParam("global_plan_viapoint_sep", trajectory.global_plan_viapoint_sep); // write deprecated value to param server + nh.param("via_points_ordered", trajectory.via_points_ordered, trajectory.via_points_ordered); + nh.param("max_global_plan_lookahead_dist", trajectory.max_global_plan_lookahead_dist, trajectory.max_global_plan_lookahead_dist); + nh.param("global_plan_prune_distance", trajectory.global_plan_prune_distance, trajectory.global_plan_prune_distance); + nh.param("exact_arc_length", trajectory.exact_arc_length, trajectory.exact_arc_length); + nh.param("force_reinit_new_goal_dist", trajectory.force_reinit_new_goal_dist, trajectory.force_reinit_new_goal_dist); + nh.param("force_reinit_new_goal_angular", trajectory.force_reinit_new_goal_angular, trajectory.force_reinit_new_goal_angular); + nh.param("feasibility_check_no_poses", trajectory.feasibility_check_no_poses, trajectory.feasibility_check_no_poses); + nh.param("feasibility_check_lookahead_distance", trajectory.feasibility_check_lookahead_distance, trajectory.feasibility_check_lookahead_distance); + nh.param("publish_feedback", trajectory.publish_feedback, trajectory.publish_feedback); + nh.param("min_resolution_collision_check_angular", trajectory.min_resolution_collision_check_angular, trajectory.min_resolution_collision_check_angular); + nh.param("control_look_ahead_poses", trajectory.control_look_ahead_poses, trajectory.control_look_ahead_poses); + nh.param("prevent_look_ahead_poses_near_goal", trajectory.prevent_look_ahead_poses_near_goal, trajectory.prevent_look_ahead_poses_near_goal); + + // Robot + nh.param("max_vel_x", robot.max_vel_x, robot.max_vel_x); + nh.param("max_vel_x_backwards", robot.max_vel_x_backwards, robot.max_vel_x_backwards); + nh.param("max_vel_y", robot.max_vel_y, robot.max_vel_y); + nh.param("max_vel_trans", robot.max_vel_trans, robot.max_vel_trans); + nh.param("max_vel_theta", robot.max_vel_theta, robot.max_vel_theta); + nh.param("acc_lim_x", robot.acc_lim_x, robot.acc_lim_x); + nh.param("acc_lim_y", robot.acc_lim_y, robot.acc_lim_y); + nh.param("acc_lim_theta", robot.acc_lim_theta, robot.acc_lim_theta); + nh.param("min_turning_radius", robot.min_turning_radius, robot.min_turning_radius); + nh.param("wheelbase", robot.wheelbase, robot.wheelbase); + nh.param("cmd_angle_instead_rotvel", robot.cmd_angle_instead_rotvel, robot.cmd_angle_instead_rotvel); + nh.param("is_footprint_dynamic", robot.is_footprint_dynamic, robot.is_footprint_dynamic); + nh.param("use_proportional_saturation", robot.use_proportional_saturation, robot.use_proportional_saturation); + nh.param("transform_tolerance", robot.transform_tolerance, robot.transform_tolerance); + + // GoalTolerance + nh.param("xy_goal_tolerance", goal_tolerance.xy_goal_tolerance, goal_tolerance.xy_goal_tolerance); + nh.param("yaw_goal_tolerance", goal_tolerance.yaw_goal_tolerance, goal_tolerance.yaw_goal_tolerance); + nh.param("free_goal_vel", goal_tolerance.free_goal_vel, goal_tolerance.free_goal_vel); + nh.param("trans_stopped_vel", goal_tolerance.trans_stopped_vel, goal_tolerance.trans_stopped_vel); + nh.param("theta_stopped_vel", goal_tolerance.theta_stopped_vel, goal_tolerance.theta_stopped_vel); + nh.param("complete_global_plan", goal_tolerance.complete_global_plan, goal_tolerance.complete_global_plan); + + // Obstacles + nh.param("min_obstacle_dist", obstacles.min_obstacle_dist, obstacles.min_obstacle_dist); + nh.param("inflation_dist", obstacles.inflation_dist, obstacles.inflation_dist); + nh.param("dynamic_obstacle_inflation_dist", obstacles.dynamic_obstacle_inflation_dist, obstacles.dynamic_obstacle_inflation_dist); + nh.param("include_dynamic_obstacles", obstacles.include_dynamic_obstacles, obstacles.include_dynamic_obstacles); + nh.param("include_costmap_obstacles", obstacles.include_costmap_obstacles, obstacles.include_costmap_obstacles); + nh.param("costmap_obstacles_behind_robot_dist", obstacles.costmap_obstacles_behind_robot_dist, obstacles.costmap_obstacles_behind_robot_dist); + nh.param("obstacle_poses_affected", obstacles.obstacle_poses_affected, obstacles.obstacle_poses_affected); + nh.param("legacy_obstacle_association", obstacles.legacy_obstacle_association, obstacles.legacy_obstacle_association); + nh.param("obstacle_association_force_inclusion_factor", obstacles.obstacle_association_force_inclusion_factor, obstacles.obstacle_association_force_inclusion_factor); + nh.param("obstacle_association_cutoff_factor", obstacles.obstacle_association_cutoff_factor, obstacles.obstacle_association_cutoff_factor); + nh.param("costmap_converter_plugin", obstacles.costmap_converter_plugin, obstacles.costmap_converter_plugin); + nh.param("costmap_converter_spin_thread", obstacles.costmap_converter_spin_thread, obstacles.costmap_converter_spin_thread); + nh.param("obstacle_proximity_ratio_max_vel", obstacles.obstacle_proximity_ratio_max_vel, obstacles.obstacle_proximity_ratio_max_vel); + nh.param("obstacle_proximity_lower_bound", obstacles.obstacle_proximity_lower_bound, obstacles.obstacle_proximity_lower_bound); + nh.param("obstacle_proximity_upper_bound", obstacles.obstacle_proximity_upper_bound, obstacles.obstacle_proximity_upper_bound); + + // Optimization + nh.param("no_inner_iterations", optim.no_inner_iterations, optim.no_inner_iterations); + nh.param("no_outer_iterations", optim.no_outer_iterations, optim.no_outer_iterations); + nh.param("optimization_activate", optim.optimization_activate, optim.optimization_activate); + nh.param("optimization_verbose", optim.optimization_verbose, optim.optimization_verbose); + nh.param("penalty_epsilon", optim.penalty_epsilon, optim.penalty_epsilon); + nh.param("weight_max_vel_x", optim.weight_max_vel_x, optim.weight_max_vel_x); + nh.param("weight_max_vel_y", optim.weight_max_vel_y, optim.weight_max_vel_y); + nh.param("weight_max_vel_theta", optim.weight_max_vel_theta, optim.weight_max_vel_theta); + nh.param("weight_acc_lim_x", optim.weight_acc_lim_x, optim.weight_acc_lim_x); + nh.param("weight_acc_lim_y", optim.weight_acc_lim_y, optim.weight_acc_lim_y); + nh.param("weight_acc_lim_theta", optim.weight_acc_lim_theta, optim.weight_acc_lim_theta); + nh.param("weight_kinematics_nh", optim.weight_kinematics_nh, optim.weight_kinematics_nh); + nh.param("weight_kinematics_forward_drive", optim.weight_kinematics_forward_drive, optim.weight_kinematics_forward_drive); + nh.param("weight_kinematics_turning_radius", optim.weight_kinematics_turning_radius, optim.weight_kinematics_turning_radius); + nh.param("weight_optimaltime", optim.weight_optimaltime, optim.weight_optimaltime); + nh.param("weight_shortest_path", optim.weight_shortest_path, optim.weight_shortest_path); + nh.param("weight_obstacle", optim.weight_obstacle, optim.weight_obstacle); + nh.param("weight_inflation", optim.weight_inflation, optim.weight_inflation); + nh.param("weight_dynamic_obstacle", optim.weight_dynamic_obstacle, optim.weight_dynamic_obstacle); + nh.param("weight_dynamic_obstacle_inflation", optim.weight_dynamic_obstacle_inflation, optim.weight_dynamic_obstacle_inflation); + nh.param("weight_velocity_obstacle_ratio", optim.weight_velocity_obstacle_ratio, optim.weight_velocity_obstacle_ratio); + nh.param("weight_viapoint", optim.weight_viapoint, optim.weight_viapoint); + nh.param("weight_prefer_rotdir", optim.weight_prefer_rotdir, optim.weight_prefer_rotdir); + nh.param("weight_adapt_factor", optim.weight_adapt_factor, optim.weight_adapt_factor); + nh.param("obstacle_cost_exponent", optim.obstacle_cost_exponent, optim.obstacle_cost_exponent); + + // Homotopy Class Planner + nh.param("enable_homotopy_class_planning", hcp.enable_homotopy_class_planning, hcp.enable_homotopy_class_planning); + nh.param("enable_multithreading", hcp.enable_multithreading, hcp.enable_multithreading); + nh.param("simple_exploration", hcp.simple_exploration, hcp.simple_exploration); + nh.param("max_number_classes", hcp.max_number_classes, hcp.max_number_classes); + nh.param("max_number_plans_in_current_class", hcp.max_number_plans_in_current_class, hcp.max_number_plans_in_current_class); + nh.param("selection_obst_cost_scale", hcp.selection_obst_cost_scale, hcp.selection_obst_cost_scale); + nh.param("selection_prefer_initial_plan", hcp.selection_prefer_initial_plan, hcp.selection_prefer_initial_plan); + nh.param("selection_viapoint_cost_scale", hcp.selection_viapoint_cost_scale, hcp.selection_viapoint_cost_scale); + nh.param("selection_cost_hysteresis", hcp.selection_cost_hysteresis, hcp.selection_cost_hysteresis); + nh.param("selection_alternative_time_cost", hcp.selection_alternative_time_cost, hcp.selection_alternative_time_cost); + nh.param("selection_dropping_probability", hcp.selection_dropping_probability, hcp.selection_dropping_probability); + nh.param("switching_blocking_period", hcp.switching_blocking_period, hcp.switching_blocking_period); + nh.param("roadmap_graph_samples", hcp.roadmap_graph_no_samples, hcp.roadmap_graph_no_samples); + nh.param("roadmap_graph_area_width", hcp.roadmap_graph_area_width, hcp.roadmap_graph_area_width); + nh.param("roadmap_graph_area_length_scale", hcp.roadmap_graph_area_length_scale, hcp.roadmap_graph_area_length_scale); + nh.param("h_signature_prescaler", hcp.h_signature_prescaler, hcp.h_signature_prescaler); + nh.param("h_signature_threshold", hcp.h_signature_threshold, hcp.h_signature_threshold); + nh.param("obstacle_keypoint_offset", hcp.obstacle_keypoint_offset, hcp.obstacle_keypoint_offset); + nh.param("obstacle_heading_threshold", hcp.obstacle_heading_threshold, hcp.obstacle_heading_threshold); + nh.param("viapoints_all_candidates", hcp.viapoints_all_candidates, hcp.viapoints_all_candidates); + nh.param("visualize_hc_graph", hcp.visualize_hc_graph, hcp.visualize_hc_graph); + nh.param("visualize_with_time_as_z_axis_scale", hcp.visualize_with_time_as_z_axis_scale, hcp.visualize_with_time_as_z_axis_scale); + nh.param("delete_detours_backwards", hcp.delete_detours_backwards, hcp.delete_detours_backwards); + nh.param("detours_orientation_tolerance", hcp.detours_orientation_tolerance, hcp.detours_orientation_tolerance); + nh.param("length_start_orientation_vector", hcp.length_start_orientation_vector, hcp.length_start_orientation_vector); + nh.param("max_ratio_detours_duration_best_duration", hcp.max_ratio_detours_duration_best_duration, hcp.max_ratio_detours_duration_best_duration); + + // Recovery + nh.param("shrink_horizon_backup", recovery.shrink_horizon_backup, recovery.shrink_horizon_backup); + nh.param("shrink_horizon_min_duration", recovery.shrink_horizon_min_duration, recovery.shrink_horizon_min_duration); + nh.param("oscillation_recovery", recovery.oscillation_recovery, recovery.oscillation_recovery); + nh.param("oscillation_v_eps", recovery.oscillation_v_eps, recovery.oscillation_v_eps); + nh.param("oscillation_omega_eps", recovery.oscillation_omega_eps, recovery.oscillation_omega_eps); + nh.param("oscillation_recovery_min_duration", recovery.oscillation_recovery_min_duration, recovery.oscillation_recovery_min_duration); + nh.param("oscillation_filter_duration", recovery.oscillation_filter_duration, recovery.oscillation_filter_duration); + nh.param("divergence_detection", recovery.divergence_detection_enable, recovery.divergence_detection_enable); + nh.param("divergence_detection_max_chi_squared", recovery.divergence_detection_max_chi_squared, recovery.divergence_detection_max_chi_squared); + + checkParameters(); + checkDeprecated(nh); +} + +void TebConfig::reconfigure(TebLocalPlannerReconfigureConfig& cfg) +{ + boost::mutex::scoped_lock l(config_mutex_); + + // Trajectory + trajectory.teb_autosize = cfg.teb_autosize; + trajectory.dt_ref = cfg.dt_ref; + trajectory.dt_hysteresis = cfg.dt_hysteresis; + trajectory.global_plan_overwrite_orientation = cfg.global_plan_overwrite_orientation; + trajectory.allow_init_with_backwards_motion = cfg.allow_init_with_backwards_motion; + trajectory.global_plan_viapoint_sep = cfg.global_plan_viapoint_sep; + trajectory.via_points_ordered = cfg.via_points_ordered; + trajectory.max_global_plan_lookahead_dist = cfg.max_global_plan_lookahead_dist; + trajectory.exact_arc_length = cfg.exact_arc_length; + trajectory.force_reinit_new_goal_dist = cfg.force_reinit_new_goal_dist; + trajectory.force_reinit_new_goal_angular = cfg.force_reinit_new_goal_angular; + trajectory.feasibility_check_no_poses = cfg.feasibility_check_no_poses; + trajectory.feasibility_check_lookahead_distance = cfg.feasibility_check_lookahead_distance; + trajectory.publish_feedback = cfg.publish_feedback; + trajectory.control_look_ahead_poses = cfg.control_look_ahead_poses; + trajectory.prevent_look_ahead_poses_near_goal = cfg.prevent_look_ahead_poses_near_goal; + + // Robot + robot.max_vel_x = cfg.max_vel_x; + robot.max_vel_x_backwards = cfg.max_vel_x_backwards; + robot.max_vel_y = cfg.max_vel_y; + robot.max_vel_theta = cfg.max_vel_theta; + robot.acc_lim_x = cfg.acc_lim_x; + robot.acc_lim_y = cfg.acc_lim_y; + robot.acc_lim_theta = cfg.acc_lim_theta; + robot.min_turning_radius = cfg.min_turning_radius; + robot.wheelbase = cfg.wheelbase; + robot.cmd_angle_instead_rotvel = cfg.cmd_angle_instead_rotvel; + robot.use_proportional_saturation = cfg.use_proportional_saturation; + if (cfg.max_vel_trans == 0.0) + { + ROS_INFO_STREAM("max_vel_trans is not set, setting it equal to max_vel_x: " << robot.max_vel_x); + cfg.max_vel_trans = robot.max_vel_x; + } + robot.max_vel_trans = cfg.max_vel_trans; + + // GoalTolerance + goal_tolerance.xy_goal_tolerance = cfg.xy_goal_tolerance; + goal_tolerance.yaw_goal_tolerance = cfg.yaw_goal_tolerance; + goal_tolerance.free_goal_vel = cfg.free_goal_vel; + goal_tolerance.trans_stopped_vel = cfg.trans_stopped_vel; + goal_tolerance.theta_stopped_vel = cfg.theta_stopped_vel; + + // Obstacles + obstacles.min_obstacle_dist = cfg.min_obstacle_dist; + obstacles.inflation_dist = cfg.inflation_dist; + obstacles.dynamic_obstacle_inflation_dist = cfg.dynamic_obstacle_inflation_dist; + obstacles.include_dynamic_obstacles = cfg.include_dynamic_obstacles; + obstacles.include_costmap_obstacles = cfg.include_costmap_obstacles; + obstacles.legacy_obstacle_association = cfg.legacy_obstacle_association; + obstacles.obstacle_association_force_inclusion_factor = cfg.obstacle_association_force_inclusion_factor; + obstacles.obstacle_association_cutoff_factor = cfg.obstacle_association_cutoff_factor; + obstacles.costmap_obstacles_behind_robot_dist = cfg.costmap_obstacles_behind_robot_dist; + obstacles.obstacle_poses_affected = cfg.obstacle_poses_affected; + obstacles.obstacle_proximity_ratio_max_vel = cfg.obstacle_proximity_ratio_max_vel; + obstacles.obstacle_proximity_lower_bound = cfg.obstacle_proximity_lower_bound; + obstacles.obstacle_proximity_upper_bound = cfg.obstacle_proximity_upper_bound; + + // Optimization + optim.no_inner_iterations = cfg.no_inner_iterations; + optim.no_outer_iterations = cfg.no_outer_iterations; + optim.optimization_activate = cfg.optimization_activate; + optim.optimization_verbose = cfg.optimization_verbose; + optim.penalty_epsilon = cfg.penalty_epsilon; + optim.weight_max_vel_x = cfg.weight_max_vel_x; + optim.weight_max_vel_y = cfg.weight_max_vel_y; + optim.weight_max_vel_theta = cfg.weight_max_vel_theta; + optim.weight_acc_lim_x = cfg.weight_acc_lim_x; + optim.weight_acc_lim_y = cfg.weight_acc_lim_y; + optim.weight_acc_lim_theta = cfg.weight_acc_lim_theta; + optim.weight_kinematics_nh = cfg.weight_kinematics_nh; + optim.weight_kinematics_forward_drive = cfg.weight_kinematics_forward_drive; + optim.weight_kinematics_turning_radius = cfg.weight_kinematics_turning_radius; + optim.weight_optimaltime = cfg.weight_optimaltime; + optim.weight_shortest_path = cfg.weight_shortest_path; + optim.weight_obstacle = cfg.weight_obstacle; + optim.weight_inflation = cfg.weight_inflation; + optim.weight_dynamic_obstacle = cfg.weight_dynamic_obstacle; + optim.weight_dynamic_obstacle_inflation = cfg.weight_dynamic_obstacle_inflation; + optim.weight_velocity_obstacle_ratio = cfg.weight_velocity_obstacle_ratio; + optim.weight_viapoint = cfg.weight_viapoint; + optim.weight_adapt_factor = cfg.weight_adapt_factor; + optim.obstacle_cost_exponent = cfg.obstacle_cost_exponent; + + // Homotopy Class Planner + hcp.enable_multithreading = cfg.enable_multithreading; + hcp.max_number_classes = cfg.max_number_classes; + hcp.max_number_plans_in_current_class = cfg.max_number_plans_in_current_class; + hcp.selection_cost_hysteresis = cfg.selection_cost_hysteresis; + hcp.selection_prefer_initial_plan = cfg.selection_prefer_initial_plan; + hcp.selection_obst_cost_scale = cfg.selection_obst_cost_scale; + hcp.selection_viapoint_cost_scale = cfg.selection_viapoint_cost_scale; + hcp.selection_alternative_time_cost = cfg.selection_alternative_time_cost; + hcp.selection_dropping_probability = cfg.selection_dropping_probability; + hcp.switching_blocking_period = cfg.switching_blocking_period; + + hcp.obstacle_heading_threshold = cfg.obstacle_heading_threshold; + hcp.roadmap_graph_no_samples = cfg.roadmap_graph_no_samples; + hcp.roadmap_graph_area_width = cfg.roadmap_graph_area_width; + hcp.roadmap_graph_area_length_scale = cfg.roadmap_graph_area_length_scale; + hcp.h_signature_prescaler = cfg.h_signature_prescaler; + hcp.h_signature_threshold = cfg.h_signature_threshold; + hcp.viapoints_all_candidates = cfg.viapoints_all_candidates; + hcp.visualize_hc_graph = cfg.visualize_hc_graph; + hcp.visualize_with_time_as_z_axis_scale = cfg.visualize_with_time_as_z_axis_scale; + + // Recovery + recovery.shrink_horizon_backup = cfg.shrink_horizon_backup; + recovery.oscillation_recovery = cfg.oscillation_recovery; + recovery.divergence_detection_enable = cfg.divergence_detection_enable; + recovery.divergence_detection_max_chi_squared = cfg.divergence_detection_max_chi_squared; + + + checkParameters(); +} + + +void TebConfig::checkParameters() const +{ + // positive backward velocity? + if (robot.max_vel_x_backwards <= 0) + ROS_WARN("TebLocalPlannerROS() Param Warning: Do not choose max_vel_x_backwards to be <=0. Disable backwards driving by increasing the optimization weight for penalyzing backwards driving."); + + // bounds smaller than penalty epsilon + if (robot.max_vel_x <= optim.penalty_epsilon) + ROS_WARN("TebLocalPlannerROS() Param Warning: max_vel_x <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + if (robot.max_vel_x_backwards <= optim.penalty_epsilon) + ROS_WARN("TebLocalPlannerROS() Param Warning: max_vel_x_backwards <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + if (robot.max_vel_theta <= optim.penalty_epsilon) + ROS_WARN("TebLocalPlannerROS() Param Warning: max_vel_theta <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + if (robot.acc_lim_x <= optim.penalty_epsilon) + ROS_WARN("TebLocalPlannerROS() Param Warning: acc_lim_x <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + if (robot.acc_lim_theta <= optim.penalty_epsilon) + ROS_WARN("TebLocalPlannerROS() Param Warning: acc_lim_theta <= penalty_epsilon. The resulting bound is negative. Undefined behavior... Change at least one of them!"); + + // dt_ref and dt_hyst + if (trajectory.dt_ref <= trajectory.dt_hysteresis) + ROS_WARN("TebLocalPlannerROS() Param Warning: dt_ref <= dt_hysteresis. The hysteresis is not allowed to be greater or equal!. Undefined behavior... Change at least one of them!"); + + // min number of samples + if (trajectory.min_samples <3) + ROS_WARN("TebLocalPlannerROS() Param Warning: parameter min_samples is smaller than 3! Sorry, I haven't enough degrees of freedom to plan a trajectory for you. Please increase ..."); + + // costmap obstacle behind robot + if (obstacles.costmap_obstacles_behind_robot_dist < 0) + ROS_WARN("TebLocalPlannerROS() Param Warning: parameter 'costmap_obstacles_behind_robot_dist' should be positive or zero."); + + // hcp: obstacle heading threshold + if (hcp.obstacle_keypoint_offset>=1 || hcp.obstacle_keypoint_offset<=0) + ROS_WARN("TebLocalPlannerROS() Param Warning: parameter obstacle_heading_threshold must be in the interval ]0,1[. 0=0deg opening angle, 1=90deg opening angle."); + + // carlike + if (robot.cmd_angle_instead_rotvel && robot.wheelbase==0) + ROS_WARN("TebLocalPlannerROS() Param Warning: parameter cmd_angle_instead_rotvel is non-zero but wheelbase is set to zero: undesired behavior."); + + if (robot.cmd_angle_instead_rotvel && robot.min_turning_radius==0) + ROS_WARN("TebLocalPlannerROS() Param Warning: parameter cmd_angle_instead_rotvel is non-zero but min_turning_radius is set to zero: undesired behavior. You are mixing a carlike and a diffdrive robot"); + + // positive weight_adapt_factor + if (optim.weight_adapt_factor < 1.0) + ROS_WARN("TebLocalPlannerROS() Param Warning: parameter weight_adapt_factor shoud be >= 1.0"); + + if (recovery.oscillation_filter_duration < 0) + ROS_WARN("TebLocalPlannerROS() Param Warning: parameter oscillation_filter_duration must be >= 0"); + + // weights + if (optim.weight_optimaltime <= 0) + ROS_WARN("TebLocalPlannerROS() Param Warning: parameter weight_optimaltime shoud be > 0 (even if weight_shortest_path is in use)"); + + // holonomic check + if (robot.max_vel_y > 0) { + if (robot.max_vel_trans < std::min(robot.max_vel_x, robot.max_vel_trans)) { + ROS_WARN("TebLocalPlannerROS() Param Warning: max_vel_trans < min(max_vel_x, max_vel_y). Note that vel_trans = sqrt(Vx^2 + Vy^2), thus max_vel_trans will limit Vx and Vy in the optimization step."); + } + + if (robot.max_vel_trans > std::max(robot.max_vel_x, robot.max_vel_y)) { + ROS_WARN("TebLocalPlannerROS() Param Warning: max_vel_trans > max(max_vel_x, max_vel_y). Robot will rotate and move diagonally to achieve max resultant vel (possibly max vel on both axis), limited by the max_vel_trans."); + } + } + +} + +void TebConfig::checkDeprecated(const ros::NodeHandle& nh) const +{ + if (nh.hasParam("line_obstacle_poses_affected") || nh.hasParam("polygon_obstacle_poses_affected")) + ROS_WARN("TebLocalPlannerROS() Param Warning: 'line_obstacle_poses_affected' and 'polygon_obstacle_poses_affected' are deprecated. They share now the common parameter 'obstacle_poses_affected'."); + + if (nh.hasParam("weight_point_obstacle") || nh.hasParam("weight_line_obstacle") || nh.hasParam("weight_poly_obstacle")) + ROS_WARN("TebLocalPlannerROS() Param Warning: 'weight_point_obstacle', 'weight_line_obstacle' and 'weight_poly_obstacle' are deprecated. They are replaced by the single param 'weight_obstacle'."); + + if (nh.hasParam("costmap_obstacles_front_only")) + ROS_WARN("TebLocalPlannerROS() Param Warning: 'costmap_obstacles_front_only' is deprecated. It is replaced by 'costmap_obstacles_behind_robot_dist' to define the actual area taken into account."); + + if (nh.hasParam("costmap_emergency_stop_dist")) + ROS_WARN("TebLocalPlannerROS() Param Warning: 'costmap_emergency_stop_dist' is deprecated. You can safely remove it from your parameter config."); + + if (nh.hasParam("alternative_time_cost")) + ROS_WARN("TebLocalPlannerROS() Param Warning: 'alternative_time_cost' is deprecated. It has been replaced by 'selection_alternative_time_cost'."); + + if (nh.hasParam("global_plan_via_point_sep")) + ROS_WARN("TebLocalPlannerROS() Param Warning: 'global_plan_via_point_sep' is deprecated. It has been replaced by 'global_plan_viapoint_sep' due to consistency reasons."); +} + +} // namespace teb_local_planner diff --git a/navigations/teb_local_planner/src/teb_local_planner_ros.cpp b/navigations/teb_local_planner/src/teb_local_planner_ros.cpp new file mode 100755 index 0000000..7a58618 --- /dev/null +++ b/navigations/teb_local_planner/src/teb_local_planner_ros.cpp @@ -0,0 +1,1218 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include + +#include +#include + +#include + +// MBF return codes +#include + +// pluginlib macros +#include + +#include "g2o/core/sparse_optimizer.h" +#include "g2o/core/block_solver.h" +#include "g2o/core/factory.h" +#include "g2o/core/optimization_algorithm_gauss_newton.h" +#include "g2o/core/optimization_algorithm_levenberg.h" +#include "g2o/solvers/csparse/linear_solver_csparse.h" +#include "g2o/solvers/cholmod/linear_solver_cholmod.h" + + +// register this planner both as a BaseLocalPlanner and as a MBF's CostmapController plugin +PLUGINLIB_EXPORT_CLASS(teb_local_planner::TebLocalPlannerROS, nav_core::BaseLocalPlanner) +PLUGINLIB_EXPORT_CLASS(teb_local_planner::TebLocalPlannerROS, mbf_costmap_core::CostmapController) + +namespace teb_local_planner +{ + + +TebLocalPlannerROS::TebLocalPlannerROS() : costmap_ros_(NULL), tf_(NULL), costmap_model_(NULL), + costmap_converter_loader_("costmap_converter", "costmap_converter::BaseCostmapToPolygons"), + dynamic_recfg_(NULL), custom_via_points_active_(false), goal_reached_(false), no_infeasible_plans_(0), + last_preferred_rotdir_(RotType::none), initialized_(false) +{ +} + + +TebLocalPlannerROS::~TebLocalPlannerROS() +{ +} + +void TebLocalPlannerROS::reconfigureCB(TebLocalPlannerReconfigureConfig& config, uint32_t level) +{ + cfg_.reconfigure(config); + ros::NodeHandle nh("~/" + name_); + // create robot footprint/contour model for optimization + RobotFootprintModelPtr robot_model = getRobotFootprintFromParamServer(nh, cfg_); + planner_->updateRobotModel(robot_model); +} + +void TebLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) +{ + // check if the plugin is already initialized + if(!initialized_) + { + name_ = name; + // create Node Handle with name of plugin (as used in move_base for loading) + ros::NodeHandle nh("~/" + name); + + // get parameters of TebConfig via the nodehandle and override the default config + cfg_.loadRosParamFromNodeHandle(nh); + + // reserve some memory for obstacles + obstacles_.reserve(500); + + // create visualization instance + visualization_ = TebVisualizationPtr(new TebVisualization(nh, cfg_)); + + // create robot footprint/contour model for optimization + RobotFootprintModelPtr robot_model = getRobotFootprintFromParamServer(nh, cfg_); + + // create the planner instance + if (cfg_.hcp.enable_homotopy_class_planning) + { + planner_ = PlannerInterfacePtr(new HomotopyClassPlanner(cfg_, &obstacles_, robot_model, visualization_, &via_points_)); + ROS_INFO("Parallel planning in distinctive topologies enabled."); + } + else + { + planner_ = PlannerInterfacePtr(new TebOptimalPlanner(cfg_, &obstacles_, robot_model, visualization_, &via_points_)); + ROS_INFO("Parallel planning in distinctive topologies disabled."); + } + + // init other variables + tf_ = tf; + costmap_ros_ = costmap_ros; + costmap_ = costmap_ros_->getCostmap(); // locking should be done in MoveBase. + + costmap_model_ = boost::make_shared(*costmap_); + + global_frame_ = costmap_ros_->getGlobalFrameID(); + cfg_.map_frame = global_frame_; // TODO + robot_base_frame_ = costmap_ros_->getBaseFrameID(); + + //Initialize a costmap to polygon converter + if (!cfg_.obstacles.costmap_converter_plugin.empty()) + { + try + { + costmap_converter_ = costmap_converter_loader_.createInstance(cfg_.obstacles.costmap_converter_plugin); + std::string converter_name = costmap_converter_loader_.getName(cfg_.obstacles.costmap_converter_plugin); + // replace '::' by '/' to convert the c++ namespace to a NodeHandle namespace + boost::replace_all(converter_name, "::", "/"); + costmap_converter_->setOdomTopic(cfg_.odom_topic); + costmap_converter_->initialize(ros::NodeHandle(nh, "costmap_converter/" + converter_name)); + costmap_converter_->setCostmap2D(costmap_); + + costmap_converter_->startWorker(ros::Rate(cfg_.obstacles.costmap_converter_rate), costmap_, cfg_.obstacles.costmap_converter_spin_thread); + ROS_INFO_STREAM("Costmap conversion plugin " << cfg_.obstacles.costmap_converter_plugin << " loaded."); + } + catch(pluginlib::PluginlibException& ex) + { + ROS_WARN("The specified costmap converter plugin cannot be loaded. All occupied costmap cells are treaten as point obstacles. Error message: %s", ex.what()); + costmap_converter_.reset(); + } + } + else + ROS_INFO("No costmap conversion plugin specified. All occupied costmap cells are treaten as point obstacles."); + + + // Get footprint of the robot and minimum and maximum distance from the center of the robot to its footprint vertices. + footprint_spec_ = costmap_ros_->getRobotFootprint(); + costmap_2d::calculateMinAndMaxDistances(footprint_spec_, robot_inscribed_radius_, robot_circumscribed_radius); + + // init the odom helper to receive the robot's velocity from odom messages + odom_helper_.setOdomTopic(cfg_.odom_topic); + + // setup dynamic reconfigure + dynamic_recfg_ = boost::make_shared< dynamic_reconfigure::Server >(nh); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(&TebLocalPlannerROS::reconfigureCB, this, _1, _2); + dynamic_recfg_->setCallback(cb); + + // validate optimization footprint and costmap footprint + validateFootprints(robot_model->getInscribedRadius(), robot_inscribed_radius_, cfg_.obstacles.min_obstacle_dist); + + // setup callback for custom obstacles + custom_obst_sub_ = nh.subscribe("obstacles", 1, &TebLocalPlannerROS::customObstacleCB, this); + + // setup callback for custom via-points + via_points_sub_ = nh.subscribe("via_points", 1, &TebLocalPlannerROS::customViaPointsCB, this); + + // initialize failure detector + ros::NodeHandle nh_move_base("~"); + double controller_frequency = 5; + nh_move_base.param("controller_frequency", controller_frequency, controller_frequency); + failure_detector_.setBufferLength(std::round(cfg_.recovery.oscillation_filter_duration*controller_frequency)); + + // set initialized flag + initialized_ = true; + + ROS_DEBUG("teb_local_planner plugin initialized."); + } + else + { + ROS_WARN("teb_local_planner has already been initialized, doing nothing."); + } +} + + + +bool TebLocalPlannerROS::setPlan(const std::vector& orig_global_plan) +{ + // check if plugin is initialized + if(!initialized_) + { + ROS_ERROR("teb_local_planner has not been initialized, please call initialize() before using this planner"); + return false; + } + + // store the global plan + global_plan_.clear(); + global_plan_ = orig_global_plan; + + // we do not clear the local planner here, since setPlan is called frequently whenever the global planner updates the plan. + // the local planner checks whether it is required to reinitialize the trajectory or not within each velocity computation step. + + // reset goal_reached_ flag + goal_reached_ = false; + + return true; +} + + +bool TebLocalPlannerROS::computeVelocityCommands(geometry_msgs::Twist& cmd_vel) +{ + std::string dummy_message; + geometry_msgs::PoseStamped dummy_pose; + geometry_msgs::TwistStamped dummy_velocity, cmd_vel_stamped; + uint32_t outcome = computeVelocityCommands(dummy_pose, dummy_velocity, cmd_vel_stamped, dummy_message); + cmd_vel = cmd_vel_stamped.twist; + return outcome == mbf_msgs::ExePathResult::SUCCESS; +} + +uint32_t TebLocalPlannerROS::computeVelocityCommands(const geometry_msgs::PoseStamped& pose, + const geometry_msgs::TwistStamped& velocity, + geometry_msgs::TwistStamped &cmd_vel, + std::string &message) +{ + // check if plugin initialized + if(!initialized_) + { + ROS_ERROR("teb_local_planner has not been initialized, please call initialize() before using this planner"); + message = "teb_local_planner has not been initialized"; + return mbf_msgs::ExePathResult::NOT_INITIALIZED; + } + + static uint32_t seq = 0; + cmd_vel.header.seq = seq++; + cmd_vel.header.stamp = ros::Time::now(); + cmd_vel.header.frame_id = robot_base_frame_; + cmd_vel.twist.linear.x = cmd_vel.twist.linear.y = cmd_vel.twist.angular.z = 0; + goal_reached_ = false; + + // Get robot pose + geometry_msgs::PoseStamped robot_pose; + costmap_ros_->getRobotPose(robot_pose); + robot_pose_ = PoseSE2(robot_pose.pose); + + // Get robot velocity + geometry_msgs::PoseStamped robot_vel_tf; + odom_helper_.getRobotVel(robot_vel_tf); + robot_vel_.linear.x = robot_vel_tf.pose.position.x; + robot_vel_.linear.y = robot_vel_tf.pose.position.y; + robot_vel_.angular.z = tf2::getYaw(robot_vel_tf.pose.orientation); + + // prune global plan to cut off parts of the past (spatially before the robot) + pruneGlobalPlan(*tf_, robot_pose, global_plan_, cfg_.trajectory.global_plan_prune_distance); + + // Transform global plan to the frame of interest (w.r.t. the local costmap) + std::vector transformed_plan; + int goal_idx; + geometry_msgs::TransformStamped tf_plan_to_global; + if (!transformGlobalPlan(*tf_, global_plan_, robot_pose, *costmap_, global_frame_, cfg_.trajectory.max_global_plan_lookahead_dist, + transformed_plan, &goal_idx, &tf_plan_to_global)) + { + ROS_WARN("Could not transform the global plan to the frame of the controller"); + message = "Could not transform the global plan to the frame of the controller"; + return mbf_msgs::ExePathResult::INTERNAL_ERROR; + } + + // update via-points container + if (!custom_via_points_active_) + updateViaPointsContainer(transformed_plan, cfg_.trajectory.global_plan_viapoint_sep); + + nav_msgs::Odometry base_odom; + odom_helper_.getOdom(base_odom); + + // check if global goal is reached + geometry_msgs::PoseStamped global_goal; + tf2::doTransform(global_plan_.back(), global_goal, tf_plan_to_global); + double dx = global_goal.pose.position.x - robot_pose_.x(); + double dy = global_goal.pose.position.y - robot_pose_.y(); + double delta_orient = g2o::normalize_theta( tf2::getYaw(global_goal.pose.orientation) - robot_pose_.theta() ); + if(fabs(std::sqrt(dx*dx+dy*dy)) < cfg_.goal_tolerance.xy_goal_tolerance + && fabs(delta_orient) < cfg_.goal_tolerance.yaw_goal_tolerance + && (!cfg_.goal_tolerance.complete_global_plan || via_points_.size() == 0) + && (base_local_planner::stopped(base_odom, cfg_.goal_tolerance.theta_stopped_vel, cfg_.goal_tolerance.trans_stopped_vel) + || cfg_.goal_tolerance.free_goal_vel)) + { + goal_reached_ = true; + return mbf_msgs::ExePathResult::SUCCESS; + } + + // check if we should enter any backup mode and apply settings + configureBackupModes(transformed_plan, goal_idx); + + + // Return false if the transformed global plan is empty + if (transformed_plan.empty()) + { + ROS_WARN("Transformed plan is empty. Cannot determine a local plan."); + message = "Transformed plan is empty"; + return mbf_msgs::ExePathResult::INVALID_PATH; + } + + // Get current goal point (last point of the transformed plan) + robot_goal_.x() = transformed_plan.back().pose.position.x; + robot_goal_.y() = transformed_plan.back().pose.position.y; + // Overwrite goal orientation if needed + if (cfg_.trajectory.global_plan_overwrite_orientation) + { + robot_goal_.theta() = estimateLocalGoalOrientation(global_plan_, transformed_plan.back(), goal_idx, tf_plan_to_global); + // overwrite/update goal orientation of the transformed plan with the actual goal (enable using the plan as initialization) + tf2::Quaternion q; + q.setRPY(0, 0, robot_goal_.theta()); + tf2::convert(q, transformed_plan.back().pose.orientation); + } + else + { + robot_goal_.theta() = tf2::getYaw(transformed_plan.back().pose.orientation); + } + + // overwrite/update start of the transformed plan with the actual robot position (allows using the plan as initial trajectory) + if (transformed_plan.size()==1) // plan only contains the goal + { + transformed_plan.insert(transformed_plan.begin(), geometry_msgs::PoseStamped()); // insert start (not yet initialized) + } + transformed_plan.front() = robot_pose; // update start + + // clear currently existing obstacles + obstacles_.clear(); + + // Update obstacle container with costmap information or polygons provided by a costmap_converter plugin + if (costmap_converter_) + updateObstacleContainerWithCostmapConverter(); + else + updateObstacleContainerWithCostmap(); + + // also consider custom obstacles (must be called after other updates, since the container is not cleared) + updateObstacleContainerWithCustomObstacles(); + + + // Do not allow config changes during the following optimization step + boost::mutex::scoped_lock cfg_lock(cfg_.configMutex()); + + // Now perform the actual planning +// bool success = planner_->plan(robot_pose_, robot_goal_, robot_vel_, cfg_.goal_tolerance.free_goal_vel); // straight line init + bool success = planner_->plan(transformed_plan, &robot_vel_, cfg_.goal_tolerance.free_goal_vel); + if (!success) + { + planner_->clearPlanner(); // force reinitialization for next time + ROS_WARN("teb_local_planner was not able to obtain a local plan for the current setting."); + + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = ros::Time::now(); + last_cmd_ = cmd_vel.twist; + message = "teb_local_planner was not able to obtain a local plan"; + return mbf_msgs::ExePathResult::NO_VALID_CMD; + } + + // Check for divergence + if (planner_->hasDiverged()) + { + cmd_vel.twist.linear.x = cmd_vel.twist.linear.y = cmd_vel.twist.angular.z = 0; + + // Reset everything to start again with the initialization of new trajectories. + planner_->clearPlanner(); + ROS_WARN_THROTTLE(1.0, "TebLocalPlannerROS: the trajectory has diverged. Resetting planner..."); + + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = ros::Time::now(); + last_cmd_ = cmd_vel.twist; + return mbf_msgs::ExePathResult::NO_VALID_CMD; + } + + // Check feasibility (but within the first few states only) + if(cfg_.robot.is_footprint_dynamic) + { + // Update footprint of the robot and minimum and maximum distance from the center of the robot to its footprint vertices. + footprint_spec_ = costmap_ros_->getRobotFootprint(); + costmap_2d::calculateMinAndMaxDistances(footprint_spec_, robot_inscribed_radius_, robot_circumscribed_radius); + } + + bool feasible = planner_->isTrajectoryFeasible(costmap_model_.get(), footprint_spec_, robot_inscribed_radius_, robot_circumscribed_radius, cfg_.trajectory.feasibility_check_no_poses, cfg_.trajectory.feasibility_check_lookahead_distance); + if (!feasible) + { + cmd_vel.twist.linear.x = cmd_vel.twist.linear.y = cmd_vel.twist.angular.z = 0; + + // now we reset everything to start again with the initialization of new trajectories. + planner_->clearPlanner(); + ROS_WARN("TebLocalPlannerROS: trajectory is not feasible. Resetting planner..."); + + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = ros::Time::now(); + last_cmd_ = cmd_vel.twist; + message = "teb_local_planner trajectory is not feasible"; + return mbf_msgs::ExePathResult::NO_VALID_CMD; + } + + // Get the velocity command for this sampling interval + if (!planner_->getVelocityCommand(cmd_vel.twist.linear.x, cmd_vel.twist.linear.y, cmd_vel.twist.angular.z, cfg_.trajectory.control_look_ahead_poses)) + + { + planner_->clearPlanner(); + ROS_WARN("TebLocalPlannerROS: velocity command invalid. Resetting planner..."); + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = ros::Time::now(); + last_cmd_ = cmd_vel.twist; + message = "teb_local_planner velocity command invalid"; + return mbf_msgs::ExePathResult::NO_VALID_CMD; + } + + // Saturate velocity, if the optimization results violates the constraints (could be possible due to soft constraints). + saturateVelocity(cmd_vel.twist.linear.x, cmd_vel.twist.linear.y, cmd_vel.twist.angular.z, + cfg_.robot.max_vel_x, cfg_.robot.max_vel_y, cfg_.robot.max_vel_trans, cfg_.robot.max_vel_theta, + cfg_.robot.max_vel_x_backwards); + + // convert rot-vel to steering angle if desired (carlike robot). + // The min_turning_radius is allowed to be slighly smaller since it is a soft-constraint + // and opposed to the other constraints not affected by penalty_epsilon. The user might add a safety margin to the parameter itself. + if (cfg_.robot.cmd_angle_instead_rotvel) + { + cmd_vel.twist.angular.z = convertTransRotVelToSteeringAngle(cmd_vel.twist.linear.x, cmd_vel.twist.angular.z, + cfg_.robot.wheelbase, 0.95*cfg_.robot.min_turning_radius); + if (!std::isfinite(cmd_vel.twist.angular.z)) + { + cmd_vel.twist.linear.x = cmd_vel.twist.linear.y = cmd_vel.twist.angular.z = 0; + last_cmd_ = cmd_vel.twist; + planner_->clearPlanner(); + ROS_WARN("TebLocalPlannerROS: Resulting steering angle is not finite. Resetting planner..."); + ++no_infeasible_plans_; // increase number of infeasible solutions in a row + time_last_infeasible_plan_ = ros::Time::now(); + message = "teb_local_planner steering angle is not finite"; + return mbf_msgs::ExePathResult::NO_VALID_CMD; + } + } + + // a feasible solution should be found, reset counter + no_infeasible_plans_ = 0; + + // store last command (for recovery analysis etc.) + last_cmd_ = cmd_vel.twist; + + // Now visualize everything + planner_->visualize(); + visualization_->publishObstacles(obstacles_, costmap_->getResolution()); + visualization_->publishViaPoints(via_points_); + visualization_->publishGlobalPlan(global_plan_); + return mbf_msgs::ExePathResult::SUCCESS; +} + + +bool TebLocalPlannerROS::isGoalReached() +{ + if (goal_reached_) + { + ROS_INFO("GOAL Reached!"); + planner_->clearPlanner(); + return true; + } + return false; +} + + + +void TebLocalPlannerROS::updateObstacleContainerWithCostmap() +{ + // Add costmap obstacles if desired + if (cfg_.obstacles.include_costmap_obstacles) + { + Eigen::Vector2d robot_orient = robot_pose_.orientationUnitVec(); + + for (unsigned int i=0; igetSizeInCellsX()-1; ++i) + { + for (unsigned int j=0; jgetSizeInCellsY()-1; ++j) + { + if (costmap_->getCost(i,j) == costmap_2d::LETHAL_OBSTACLE) + { + Eigen::Vector2d obs; + costmap_->mapToWorld(i,j,obs.coeffRef(0), obs.coeffRef(1)); + + // check if obstacle is interesting (e.g. not far behind the robot) + Eigen::Vector2d obs_dir = obs-robot_pose_.position(); + if ( obs_dir.dot(robot_orient) < 0 && obs_dir.norm() > cfg_.obstacles.costmap_obstacles_behind_robot_dist ) + continue; + + obstacles_.push_back(ObstaclePtr(new PointObstacle(obs))); + } + } + } + } +} + +void TebLocalPlannerROS::updateObstacleContainerWithCostmapConverter() +{ + if (!costmap_converter_) + return; + + //Get obstacles from costmap converter + costmap_converter::ObstacleArrayConstPtr obstacles = costmap_converter_->getObstacles(); + if (!obstacles) + return; + + for (std::size_t i=0; iobstacles.size(); ++i) + { + const costmap_converter::ObstacleMsg* obstacle = &obstacles->obstacles.at(i); + const geometry_msgs::Polygon* polygon = &obstacle->polygon; + + if (polygon->points.size()==1 && obstacle->radius > 0) // Circle + { + obstacles_.push_back(ObstaclePtr(new CircularObstacle(polygon->points[0].x, polygon->points[0].y, obstacle->radius))); + } + else if (polygon->points.size()==1) // Point + { + obstacles_.push_back(ObstaclePtr(new PointObstacle(polygon->points[0].x, polygon->points[0].y))); + } + else if (polygon->points.size()==2) // Line + { + obstacles_.push_back(ObstaclePtr(new LineObstacle(polygon->points[0].x, polygon->points[0].y, + polygon->points[1].x, polygon->points[1].y ))); + } + else if (polygon->points.size()>2) // Real polygon + { + PolygonObstacle* polyobst = new PolygonObstacle; + for (std::size_t j=0; jpoints.size(); ++j) + { + polyobst->pushBackVertex(polygon->points[j].x, polygon->points[j].y); + } + polyobst->finalizePolygon(); + obstacles_.push_back(ObstaclePtr(polyobst)); + } + + // Set velocity, if obstacle is moving + if(!obstacles_.empty()) + obstacles_.back()->setCentroidVelocity(obstacles->obstacles[i].velocities, obstacles->obstacles[i].orientation); + } +} + + +void TebLocalPlannerROS::updateObstacleContainerWithCustomObstacles() +{ + // Add custom obstacles obtained via message + boost::mutex::scoped_lock l(custom_obst_mutex_); + + if (!custom_obstacle_msg_.obstacles.empty()) + { + // We only use the global header to specify the obstacle coordinate system instead of individual ones + Eigen::Affine3d obstacle_to_map_eig; + try + { + geometry_msgs::TransformStamped obstacle_to_map = tf_->lookupTransform(global_frame_, ros::Time(0), + custom_obstacle_msg_.header.frame_id, ros::Time(0), + custom_obstacle_msg_.header.frame_id, ros::Duration(cfg_.robot.transform_tolerance)); + obstacle_to_map_eig = tf2::transformToEigen(obstacle_to_map); + } + catch (tf::TransformException ex) + { + ROS_ERROR("%s",ex.what()); + obstacle_to_map_eig.setIdentity(); + } + + for (size_t i=0; i 0 ) // circle + { + Eigen::Vector3d pos( custom_obstacle_msg_.obstacles.at(i).polygon.points.front().x, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().y, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().z ); + obstacles_.push_back(ObstaclePtr(new CircularObstacle( (obstacle_to_map_eig * pos).head(2), custom_obstacle_msg_.obstacles.at(i).radius))); + } + else if (custom_obstacle_msg_.obstacles.at(i).polygon.points.size() == 1 ) // point + { + Eigen::Vector3d pos( custom_obstacle_msg_.obstacles.at(i).polygon.points.front().x, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().y, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().z ); + obstacles_.push_back(ObstaclePtr(new PointObstacle( (obstacle_to_map_eig * pos).head(2) ))); + } + else if (custom_obstacle_msg_.obstacles.at(i).polygon.points.size() == 2 ) // line + { + Eigen::Vector3d line_start( custom_obstacle_msg_.obstacles.at(i).polygon.points.front().x, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().y, + custom_obstacle_msg_.obstacles.at(i).polygon.points.front().z ); + Eigen::Vector3d line_end( custom_obstacle_msg_.obstacles.at(i).polygon.points.back().x, + custom_obstacle_msg_.obstacles.at(i).polygon.points.back().y, + custom_obstacle_msg_.obstacles.at(i).polygon.points.back().z ); + obstacles_.push_back(ObstaclePtr(new LineObstacle( (obstacle_to_map_eig * line_start).head(2), + (obstacle_to_map_eig * line_end).head(2) ))); + } + else if (custom_obstacle_msg_.obstacles.at(i).polygon.points.empty()) + { + ROS_WARN("Invalid custom obstacle received. List of polygon vertices is empty. Skipping..."); + continue; + } + else // polygon + { + PolygonObstacle* polyobst = new PolygonObstacle; + for (size_t j=0; jpushBackVertex( (obstacle_to_map_eig * pos).head(2) ); + } + polyobst->finalizePolygon(); + obstacles_.push_back(ObstaclePtr(polyobst)); + } + + // Set velocity, if obstacle is moving + if(!obstacles_.empty()) + obstacles_.back()->setCentroidVelocity(custom_obstacle_msg_.obstacles[i].velocities, custom_obstacle_msg_.obstacles[i].orientation); + } + } +} + +void TebLocalPlannerROS::updateViaPointsContainer(const std::vector& transformed_plan, double min_separation) +{ + via_points_.clear(); + + if (min_separation<=0) + return; + + std::size_t prev_idx = 0; + for (std::size_t i=1; i < transformed_plan.size(); ++i) // skip first one, since we do not need any point before the first min_separation [m] + { + // check separation to the previous via-point inserted + if (distance_points2d( transformed_plan[prev_idx].pose.position, transformed_plan[i].pose.position ) < min_separation) + continue; + + // add via-point + via_points_.push_back( Eigen::Vector2d( transformed_plan[i].pose.position.x, transformed_plan[i].pose.position.y ) ); + prev_idx = i; + } + +} + +Eigen::Vector2d TebLocalPlannerROS::tfPoseToEigenVector2dTransRot(const tf::Pose& tf_vel) +{ + Eigen::Vector2d vel; + vel.coeffRef(0) = std::sqrt( tf_vel.getOrigin().getX() * tf_vel.getOrigin().getX() + tf_vel.getOrigin().getY() * tf_vel.getOrigin().getY() ); + vel.coeffRef(1) = tf::getYaw(tf_vel.getRotation()); + return vel; +} + + +bool TebLocalPlannerROS::pruneGlobalPlan(const tf2_ros::Buffer& tf, const geometry_msgs::PoseStamped& global_pose, std::vector& global_plan, double dist_behind_robot) +{ + if (global_plan.empty()) + return true; + + try + { + // transform robot pose into the plan frame (we do not wait here, since pruning not crucial, if missed a few times) + geometry_msgs::TransformStamped global_to_plan_transform = tf.lookupTransform(global_plan.front().header.frame_id, global_pose.header.frame_id, ros::Time(0)); + geometry_msgs::PoseStamped robot; + tf2::doTransform(global_pose, robot, global_to_plan_transform); + + double dist_thresh_sq = dist_behind_robot*dist_behind_robot; + + // iterate plan until a pose close the robot is found + std::vector::iterator it = global_plan.begin(); + std::vector::iterator erase_end = it; + while (it != global_plan.end()) + { + double dx = robot.pose.position.x - it->pose.position.x; + double dy = robot.pose.position.y - it->pose.position.y; + double dist_sq = dx * dx + dy * dy; + if (dist_sq < dist_thresh_sq) + { + erase_end = it; + break; + } + ++it; + } + if (erase_end == global_plan.end()) + return false; + + if (erase_end != global_plan.begin()) + global_plan.erase(global_plan.begin(), erase_end); + } + catch (const tf::TransformException& ex) + { + ROS_DEBUG("Cannot prune path since no transform is available: %s\n", ex.what()); + return false; + } + return true; +} + + +bool TebLocalPlannerROS::transformGlobalPlan(const tf2_ros::Buffer& tf, const std::vector& global_plan, + const geometry_msgs::PoseStamped& global_pose, const costmap_2d::Costmap2D& costmap, const std::string& global_frame, double max_plan_length, + std::vector& transformed_plan, int* current_goal_idx, geometry_msgs::TransformStamped* tf_plan_to_global) const +{ + // this method is a slightly modified version of base_local_planner/goal_functions.h + + const geometry_msgs::PoseStamped& plan_pose = global_plan[0]; + + transformed_plan.clear(); + + try + { + if (global_plan.empty()) + { + ROS_ERROR("Received plan with zero length"); + *current_goal_idx = 0; + return false; + } + + // get plan_to_global_transform from plan frame to global_frame + geometry_msgs::TransformStamped plan_to_global_transform = tf.lookupTransform(global_frame, ros::Time(), plan_pose.header.frame_id, plan_pose.header.stamp, + plan_pose.header.frame_id, ros::Duration(cfg_.robot.transform_tolerance)); + + //let's get the pose of the robot in the frame of the plan + geometry_msgs::PoseStamped robot_pose; + tf.transform(global_pose, robot_pose, plan_pose.header.frame_id); + + //we'll discard points on the plan that are outside the local costmap + double dist_threshold = std::max(costmap.getSizeInCellsX() * costmap.getResolution() / 2.0, + costmap.getSizeInCellsY() * costmap.getResolution() / 2.0); + dist_threshold *= 0.85; // just consider 85% of the costmap size to better incorporate point obstacle that are + // located on the border of the local costmap + + + int i = 0; + double sq_dist_threshold = dist_threshold * dist_threshold; + double sq_dist = 1e10; + + //we need to loop to a point on the plan that is within a certain distance of the robot + bool robot_reached = false; + for(int j=0; j < (int)global_plan.size(); ++j) + { + double x_diff = robot_pose.pose.position.x - global_plan[j].pose.position.x; + double y_diff = robot_pose.pose.position.y - global_plan[j].pose.position.y; + double new_sq_dist = x_diff * x_diff + y_diff * y_diff; + + if (robot_reached && new_sq_dist > sq_dist) + break; + + if (new_sq_dist < sq_dist) // find closest distance + { + sq_dist = new_sq_dist; + i = j; + if (sq_dist < 0.05) // 2.5 cm to the robot; take the immediate local minima; if it's not the global + robot_reached = true; // minima, probably means that there's a loop in the path, and so we prefer this + } + } + + geometry_msgs::PoseStamped newer_pose; + + double plan_length = 0; // check cumulative Euclidean distance along the plan + + //now we'll transform until points are outside of our distance threshold + while(i < (int)global_plan.size() && sq_dist <= sq_dist_threshold && (max_plan_length<=0 || plan_length <= max_plan_length)) + { + const geometry_msgs::PoseStamped& pose = global_plan[i]; + tf2::doTransform(pose, newer_pose, plan_to_global_transform); + + transformed_plan.push_back(newer_pose); + + double x_diff = robot_pose.pose.position.x - global_plan[i].pose.position.x; + double y_diff = robot_pose.pose.position.y - global_plan[i].pose.position.y; + sq_dist = x_diff * x_diff + y_diff * y_diff; + + // caclulate distance to previous pose + if (i>0 && max_plan_length>0) + plan_length += distance_points2d(global_plan[i-1].pose.position, global_plan[i].pose.position); + + ++i; + } + + // if we are really close to the goal (>0) + // the resulting transformed plan can be empty. In that case we explicitly inject the global goal. + if (transformed_plan.empty()) + { + tf2::doTransform(global_plan.back(), newer_pose, plan_to_global_transform); + + transformed_plan.push_back(newer_pose); + + // Return the index of the current goal point (inside the distance threshold) + if (current_goal_idx) *current_goal_idx = int(global_plan.size())-1; + } + else + { + // Return the index of the current goal point (inside the distance threshold) + if (current_goal_idx) *current_goal_idx = i-1; // subtract 1, since i was increased once before leaving the loop + } + + // Return the transformation from the global plan to the global planning frame if desired + if (tf_plan_to_global) *tf_plan_to_global = plan_to_global_transform; + } + catch(tf::LookupException& ex) + { + ROS_ERROR("No Transform available Error: %s\n", ex.what()); + return false; + } + catch(tf::ConnectivityException& ex) + { + ROS_ERROR("Connectivity Error: %s\n", ex.what()); + return false; + } + catch(tf::ExtrapolationException& ex) + { + ROS_ERROR("Extrapolation Error: %s\n", ex.what()); + if (global_plan.size() > 0) + ROS_ERROR("Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str()); + + return false; + } + + return true; +} + + + + +double TebLocalPlannerROS::estimateLocalGoalOrientation(const std::vector& global_plan, const geometry_msgs::PoseStamped& local_goal, + int current_goal_idx, const geometry_msgs::TransformStamped& tf_plan_to_global, int moving_average_length) const +{ + int n = (int)global_plan.size(); + + // check if we are near the global goal already + if (current_goal_idx > n-moving_average_length-2) + { + if (current_goal_idx >= n-1) // we've exactly reached the goal + { + return tf2::getYaw(local_goal.pose.orientation); + } + else + { + tf2::Quaternion global_orientation; + tf2::convert(global_plan.back().pose.orientation, global_orientation); + tf2::Quaternion rotation; + tf2::convert(tf_plan_to_global.transform.rotation, rotation); + // TODO(roesmann): avoid conversion to tf2::Quaternion + return tf2::getYaw(rotation * global_orientation); + } + } + + // reduce number of poses taken into account if the desired number of poses is not available + moving_average_length = std::min(moving_average_length, n-current_goal_idx-1 ); // maybe redundant, since we have checked the vicinity of the goal before + + std::vector candidates; + geometry_msgs::PoseStamped tf_pose_k = local_goal; + geometry_msgs::PoseStamped tf_pose_kp1; + + int range_end = current_goal_idx + moving_average_length; + for (int i = current_goal_idx; i < range_end; ++i) + { + // Transform pose of the global plan to the planning frame + tf2::doTransform(global_plan.at(i+1), tf_pose_kp1, tf_plan_to_global); + + // calculate yaw angle + candidates.push_back( std::atan2(tf_pose_kp1.pose.position.y - tf_pose_k.pose.position.y, + tf_pose_kp1.pose.position.x - tf_pose_k.pose.position.x ) ); + + if (i max_vel_x) + ratio_x = max_vel_x / vx; + + // limit strafing velocity + if (vy > max_vel_y || vy < -max_vel_y) + ratio_y = std::abs(max_vel_y / vy); + + // Limit angular velocity + if (omega > max_vel_theta || omega < -max_vel_theta) + ratio_omega = std::abs(max_vel_theta / omega); + + // Limit backwards velocity + if (max_vel_x_backwards<=0) + { + ROS_WARN_ONCE("TebLocalPlannerROS(): Do not choose max_vel_x_backwards to be <=0. Disable backwards driving by increasing the optimization weight for penalyzing backwards driving."); + } + else if (vx < -max_vel_x_backwards) + ratio_x = - max_vel_x_backwards / vx; + + if (cfg_.robot.use_proportional_saturation) + { + double ratio = std::min(std::min(ratio_x, ratio_y), ratio_omega); + vx *= ratio; + vy *= ratio; + omega *= ratio; + } + else + { + vx *= ratio_x; + vy *= ratio_y; + omega *= ratio_omega; + } + + double vel_linear = std::hypot(vx, vy); + if (vel_linear > max_vel_trans) + { + double max_vel_trans_ratio = max_vel_trans / vel_linear; + vx *= max_vel_trans_ratio; + vy *= max_vel_trans_ratio; + } +} + + +double TebLocalPlannerROS::convertTransRotVelToSteeringAngle(double v, double omega, double wheelbase, double min_turning_radius) const +{ + if (omega==0 || v==0) + return 0; + + double radius = v/omega; + + if (fabs(radius) < min_turning_radius) + radius = double(g2o::sign(radius)) * min_turning_radius; + + return std::atan(wheelbase / radius); +} + + +void TebLocalPlannerROS::validateFootprints(double opt_inscribed_radius, double costmap_inscribed_radius, double min_obst_dist) +{ + ROS_WARN_COND(opt_inscribed_radius + min_obst_dist < costmap_inscribed_radius, + "The inscribed radius of the footprint specified for TEB optimization (%f) + min_obstacle_dist (%f) are smaller " + "than the inscribed radius of the robot's footprint in the costmap parameters (%f, including 'footprint_padding'). " + "Infeasible optimziation results might occur frequently!", opt_inscribed_radius, min_obst_dist, costmap_inscribed_radius); +} + + + +void TebLocalPlannerROS::configureBackupModes(std::vector& transformed_plan, int& goal_idx) +{ + ros::Time current_time = ros::Time::now(); + + // reduced horizon backup mode + if (cfg_.recovery.shrink_horizon_backup && + goal_idx < (int)transformed_plan.size()-1 && // we do not reduce if the goal is already selected (because the orientation might change -> can introduce oscillations) + (no_infeasible_plans_>0 || (current_time - time_last_infeasible_plan_).toSec() < cfg_.recovery.shrink_horizon_min_duration )) // keep short horizon for at least a few seconds + { + ROS_INFO_COND(no_infeasible_plans_==1, "Activating reduced horizon backup mode for at least %.2f sec (infeasible trajectory detected).", cfg_.recovery.shrink_horizon_min_duration); + + + // Shorten horizon if requested + // reduce to 50 percent: + int horizon_reduction = goal_idx/2; + + if (no_infeasible_plans_ > 9) + { + ROS_INFO_COND(no_infeasible_plans_==10, "Infeasible trajectory detected 10 times in a row: further reducing horizon..."); + horizon_reduction /= 2; + } + + // we have a small overhead here, since we already transformed 50% more of the trajectory. + // But that's ok for now, since we do not need to make transformGlobalPlan more complex + // and a reduced horizon should occur just rarely. + int new_goal_idx_transformed_plan = int(transformed_plan.size()) - horizon_reduction - 1; + goal_idx -= horizon_reduction; + if (new_goal_idx_transformed_plan>0 && goal_idx >= 0) + transformed_plan.erase(transformed_plan.begin()+new_goal_idx_transformed_plan, transformed_plan.end()); + else + goal_idx += horizon_reduction; // this should not happen, but safety first ;-) + } + + + // detect and resolve oscillations + if (cfg_.recovery.oscillation_recovery) + { + double max_vel_theta; + double max_vel_current = last_cmd_.linear.x >= 0 ? cfg_.robot.max_vel_x : cfg_.robot.max_vel_x_backwards; + if (cfg_.robot.min_turning_radius!=0 && max_vel_current>0) + max_vel_theta = std::max( max_vel_current/std::abs(cfg_.robot.min_turning_radius), cfg_.robot.max_vel_theta ); + else + max_vel_theta = cfg_.robot.max_vel_theta; + + failure_detector_.update(last_cmd_, cfg_.robot.max_vel_x, cfg_.robot.max_vel_x_backwards, max_vel_theta, + cfg_.recovery.oscillation_v_eps, cfg_.recovery.oscillation_omega_eps); + + bool oscillating = failure_detector_.isOscillating(); + bool recently_oscillated = (ros::Time::now()-time_last_oscillation_).toSec() < cfg_.recovery.oscillation_recovery_min_duration; // check if we have already detected an oscillation recently + + if (oscillating) + { + if (!recently_oscillated) + { + // save current turning direction + if (robot_vel_.angular.z > 0) + last_preferred_rotdir_ = RotType::left; + else + last_preferred_rotdir_ = RotType::right; + ROS_WARN("TebLocalPlannerROS: possible oscillation (of the robot or its local plan) detected. Activating recovery strategy (prefer current turning direction during optimization)."); + } + time_last_oscillation_ = ros::Time::now(); + planner_->setPreferredTurningDir(last_preferred_rotdir_); + } + else if (!recently_oscillated && last_preferred_rotdir_ != RotType::none) // clear recovery behavior + { + last_preferred_rotdir_ = RotType::none; + planner_->setPreferredTurningDir(last_preferred_rotdir_); + ROS_INFO("TebLocalPlannerROS: oscillation recovery disabled/expired."); + } + } + +} + +void TebLocalPlannerROS::customObstacleCB(const costmap_converter::ObstacleArrayMsg::ConstPtr& obst_msg) +{ + boost::mutex::scoped_lock l(custom_obst_mutex_); + custom_obstacle_msg_ = *obst_msg; +} + +void TebLocalPlannerROS::customViaPointsCB(const nav_msgs::Path::ConstPtr& via_points_msg) +{ + ROS_INFO_ONCE("Via-points received. This message is printed once."); + if (cfg_.trajectory.global_plan_viapoint_sep > 0) + { + ROS_WARN("Via-points are already obtained from the global plan (global_plan_viapoint_sep>0)." + "Ignoring custom via-points."); + custom_via_points_active_ = false; + return; + } + + boost::mutex::scoped_lock l(via_point_mutex_); + via_points_.clear(); + for (const geometry_msgs::PoseStamped& pose : via_points_msg->poses) + { + via_points_.emplace_back(pose.pose.position.x, pose.pose.position.y); + } + custom_via_points_active_ = !via_points_.empty(); +} + +RobotFootprintModelPtr TebLocalPlannerROS::getRobotFootprintFromParamServer(const ros::NodeHandle& nh, const TebConfig& config) +{ + std::string model_name; + if (!nh.getParam("footprint_model/type", model_name)) + { + ROS_INFO("No robot footprint model specified for trajectory optimization. Using point-shaped model."); + return boost::make_shared(); + } + + // point + if (model_name.compare("point") == 0) + { + ROS_INFO("Footprint model 'point' loaded for trajectory optimization."); + return boost::make_shared(config.obstacles.min_obstacle_dist); + } + + // circular + if (model_name.compare("circular") == 0) + { + // get radius + double radius; + if (!nh.getParam("footprint_model/radius", radius)) + { + ROS_ERROR_STREAM("Footprint model 'circular' cannot be loaded for trajectory optimization, since param '" << nh.getNamespace() + << "/footprint_model/radius' does not exist. Using point-model instead."); + return boost::make_shared(); + } + ROS_INFO_STREAM("Footprint model 'circular' (radius: " << radius <<"m) loaded for trajectory optimization."); + return boost::make_shared(radius); + } + + // line + if (model_name.compare("line") == 0) + { + // check parameters + if (!nh.hasParam("footprint_model/line_start") || !nh.hasParam("footprint_model/line_end")) + { + ROS_ERROR_STREAM("Footprint model 'line' cannot be loaded for trajectory optimization, since param '" << nh.getNamespace() + << "/footprint_model/line_start' and/or '.../line_end' do not exist. Using point-model instead."); + return boost::make_shared(); + } + // get line coordinates + std::vector line_start, line_end; + nh.getParam("footprint_model/line_start", line_start); + nh.getParam("footprint_model/line_end", line_end); + if (line_start.size() != 2 || line_end.size() != 2) + { + ROS_ERROR_STREAM("Footprint model 'line' cannot be loaded for trajectory optimization, since param '" << nh.getNamespace() + << "/footprint_model/line_start' and/or '.../line_end' do not contain x and y coordinates (2D). Using point-model instead."); + return boost::make_shared(); + } + + ROS_INFO_STREAM("Footprint model 'line' (line_start: [" << line_start[0] << "," << line_start[1] <<"]m, line_end: [" + << line_end[0] << "," << line_end[1] << "]m) loaded for trajectory optimization."); + return boost::make_shared(Eigen::Map(line_start.data()), Eigen::Map(line_end.data()), config.obstacles.min_obstacle_dist); + } + + // two circles + if (model_name.compare("two_circles") == 0) + { + // check parameters + if (!nh.hasParam("footprint_model/front_offset") || !nh.hasParam("footprint_model/front_radius") + || !nh.hasParam("footprint_model/rear_offset") || !nh.hasParam("footprint_model/rear_radius")) + { + ROS_ERROR_STREAM("Footprint model 'two_circles' cannot be loaded for trajectory optimization, since params '" << nh.getNamespace() + << "/footprint_model/front_offset', '.../front_radius', '.../rear_offset' and '.../rear_radius' do not exist. Using point-model instead."); + return boost::make_shared(); + } + double front_offset, front_radius, rear_offset, rear_radius; + nh.getParam("footprint_model/front_offset", front_offset); + nh.getParam("footprint_model/front_radius", front_radius); + nh.getParam("footprint_model/rear_offset", rear_offset); + nh.getParam("footprint_model/rear_radius", rear_radius); + ROS_INFO_STREAM("Footprint model 'two_circles' (front_offset: " << front_offset <<"m, front_radius: " << front_radius + << "m, rear_offset: " << rear_offset << "m, rear_radius: " << rear_radius << "m) loaded for trajectory optimization."); + return boost::make_shared(front_offset, front_radius, rear_offset, rear_radius); + } + + // polygon + if (model_name.compare("polygon") == 0) + { + + // check parameters + XmlRpc::XmlRpcValue footprint_xmlrpc; + if (!nh.getParam("footprint_model/vertices", footprint_xmlrpc) ) + { + ROS_ERROR_STREAM("Footprint model 'polygon' cannot be loaded for trajectory optimization, since param '" << nh.getNamespace() + << "/footprint_model/vertices' does not exist. Using point-model instead."); + return boost::make_shared(); + } + // get vertices + if (footprint_xmlrpc.getType() == XmlRpc::XmlRpcValue::TypeArray) + { + try + { + Point2dContainer polygon = makeFootprintFromXMLRPC(footprint_xmlrpc, "/footprint_model/vertices"); + ROS_INFO_STREAM("Footprint model 'polygon' loaded for trajectory optimization."); + return boost::make_shared(polygon); + } + catch(const std::exception& ex) + { + ROS_ERROR_STREAM("Footprint model 'polygon' cannot be loaded for trajectory optimization: " << ex.what() << ". Using point-model instead."); + return boost::make_shared(); + } + } + else + { + ROS_ERROR_STREAM("Footprint model 'polygon' cannot be loaded for trajectory optimization, since param '" << nh.getNamespace() + << "/footprint_model/vertices' does not define an array of coordinates. Using point-model instead."); + return boost::make_shared(); + } + + } + + // otherwise + ROS_WARN_STREAM("Unknown robot footprint model specified with parameter '" << nh.getNamespace() << "/footprint_model/type'. Using point model instead."); + return boost::make_shared(); +} + + + + +Point2dContainer TebLocalPlannerROS::makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc, const std::string& full_param_name) +{ + // Make sure we have an array of at least 3 elements. + if (footprint_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeArray || + footprint_xmlrpc.size() < 3) + { + ROS_FATAL("The footprint must be specified as list of lists on the parameter server, %s was specified as %s", + full_param_name.c_str(), std::string(footprint_xmlrpc).c_str()); + throw std::runtime_error("The footprint must be specified as list of lists on the parameter server with at least " + "3 points eg: [[x1, y1], [x2, y2], ..., [xn, yn]]"); + } + + Point2dContainer footprint; + Eigen::Vector2d pt; + + for (int i = 0; i < footprint_xmlrpc.size(); ++i) + { + // Make sure each element of the list is an array of size 2. (x and y coordinates) + XmlRpc::XmlRpcValue point = footprint_xmlrpc[ i ]; + if (point.getType() != XmlRpc::XmlRpcValue::TypeArray || + point.size() != 2) + { + ROS_FATAL("The footprint (parameter %s) must be specified as list of lists on the parameter server eg: " + "[[x1, y1], [x2, y2], ..., [xn, yn]], but this spec is not of that form.", + full_param_name.c_str()); + throw std::runtime_error("The footprint must be specified as list of lists on the parameter server eg: " + "[[x1, y1], [x2, y2], ..., [xn, yn]], but this spec is not of that form"); + } + + pt.x() = getNumberFromXMLRPC(point[ 0 ], full_param_name); + pt.y() = getNumberFromXMLRPC(point[ 1 ], full_param_name); + + footprint.push_back(pt); + } + return footprint; +} + +double TebLocalPlannerROS::getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name) +{ + // Make sure that the value we're looking at is either a double or an int. + if (value.getType() != XmlRpc::XmlRpcValue::TypeInt && + value.getType() != XmlRpc::XmlRpcValue::TypeDouble) + { + std::string& value_string = value; + ROS_FATAL("Values in the footprint specification (param %s) must be numbers. Found value %s.", + full_param_name.c_str(), value_string.c_str()); + throw std::runtime_error("Values in the footprint specification must be numbers"); + } + return value.getType() == XmlRpc::XmlRpcValue::TypeInt ? (int)(value) : (double)(value); +} + +} // end namespace teb_local_planner + + diff --git a/navigations/teb_local_planner/src/test_optim_node.cpp b/navigations/teb_local_planner/src/test_optim_node.cpp new file mode 100755 index 0000000..9b60a9e --- /dev/null +++ b/navigations/teb_local_planner/src/test_optim_node.cpp @@ -0,0 +1,325 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2017. + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include + +#include +#include + +#include +#include + + +using namespace teb_local_planner; // it is ok here to import everything for testing purposes + +// ============= Global Variables ================ +// Ok global variables are bad, but here we only have a simple testing node. +PlannerInterfacePtr planner; +TebVisualizationPtr visual; +std::vector obst_vector; +ViaPointContainer via_points; +TebConfig config; +boost::shared_ptr< dynamic_reconfigure::Server > dynamic_recfg; +ros::Subscriber custom_obst_sub; +ros::Subscriber via_points_sub; +ros::Subscriber clicked_points_sub; +std::vector obst_vel_subs; +unsigned int no_fixed_obstacles; + +// =========== Function declarations ============= +void CB_mainCycle(const ros::TimerEvent& e); +void CB_publishCycle(const ros::TimerEvent& e); +void CB_reconfigure(TebLocalPlannerReconfigureConfig& reconfig, uint32_t level); +void CB_customObstacle(const costmap_converter::ObstacleArrayMsg::ConstPtr& obst_msg); +void CreateInteractiveMarker(const double& init_x, const double& init_y, unsigned int id, std::string frame, interactive_markers::InteractiveMarkerServer* marker_server, interactive_markers::InteractiveMarkerServer::FeedbackCallback feedback_cb); +void CB_obstacle_marker(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback); +void CB_clicked_points(const geometry_msgs::PointStampedConstPtr& point_msg); +void CB_via_points(const nav_msgs::Path::ConstPtr& via_points_msg); +void CB_setObstacleVelocity(const geometry_msgs::TwistConstPtr& twist_msg, const unsigned int id); + + +// =============== Main function ================= +int main( int argc, char** argv ) +{ + ros::init(argc, argv, "test_optim_node"); + ros::NodeHandle n("~"); + + + // load ros parameters from node handle + config.loadRosParamFromNodeHandle(n); + + ros::Timer cycle_timer = n.createTimer(ros::Duration(0.025), CB_mainCycle); + ros::Timer publish_timer = n.createTimer(ros::Duration(0.1), CB_publishCycle); + + // setup dynamic reconfigure + dynamic_recfg = boost::make_shared< dynamic_reconfigure::Server >(n); + dynamic_reconfigure::Server::CallbackType cb = boost::bind(CB_reconfigure, _1, _2); + dynamic_recfg->setCallback(cb); + + // setup callback for custom obstacles + custom_obst_sub = n.subscribe("obstacles", 1, CB_customObstacle); + + // setup callback for clicked points (in rviz) that are considered as via-points + clicked_points_sub = n.subscribe("/clicked_point", 5, CB_clicked_points); + + // setup callback for via-points (callback overwrites previously set via-points) + via_points_sub = n.subscribe("via_points", 1, CB_via_points); + + // interactive marker server for simulated dynamic obstacles + interactive_markers::InteractiveMarkerServer marker_server("marker_obstacles"); + + obst_vector.push_back( boost::make_shared(-3,1) ); + obst_vector.push_back( boost::make_shared(6,2) ); + obst_vector.push_back( boost::make_shared(0,0.1) ); +// obst_vector.push_back( boost::make_shared(1,1.5,1,-1.5) ); //90 deg +// obst_vector.push_back( boost::make_shared(1,0,-1,0) ); //180 deg +// obst_vector.push_back( boost::make_shared(-1.5,-0.5) ); + + // Dynamic obstacles + Eigen::Vector2d vel (0.1, -0.3); + obst_vector.at(0)->setCentroidVelocity(vel); + vel = Eigen::Vector2d(-0.3, -0.2); + obst_vector.at(1)->setCentroidVelocity(vel); + + /* + PolygonObstacle* polyobst = new PolygonObstacle; + polyobst->pushBackVertex(1, -1); + polyobst->pushBackVertex(0, 1); + polyobst->pushBackVertex(1, 1); + polyobst->pushBackVertex(2, 1); + + polyobst->finalizePolygon(); + obst_vector.emplace_back(polyobst); + */ + + for (unsigned int i=0; i(topic, 1, boost::bind(&CB_setObstacleVelocity, _1, i))); + + //CreateInteractiveMarker(obst_vector.at(i)[0],obst_vector.at(i)[1],i,&marker_server, &CB_obstacle_marker); + // Add interactive markers for all point obstacles + boost::shared_ptr pobst = boost::dynamic_pointer_cast(obst_vector.at(i)); + if (pobst) + { + CreateInteractiveMarker(pobst->x(),pobst->y(),i, config.map_frame, &marker_server, &CB_obstacle_marker); + } + } + marker_server.applyChanges(); + + // Setup visualization + visual = TebVisualizationPtr(new TebVisualization(n, config)); + + // Setup robot shape model + RobotFootprintModelPtr robot_model = TebLocalPlannerROS::getRobotFootprintFromParamServer(n, config); + + // Setup planner (homotopy class planning or just the local teb planner) + if (config.hcp.enable_homotopy_class_planning) + planner = PlannerInterfacePtr(new HomotopyClassPlanner(config, &obst_vector, robot_model, visual, &via_points)); + else + planner = PlannerInterfacePtr(new TebOptimalPlanner(config, &obst_vector, robot_model, visual, &via_points)); + + + no_fixed_obstacles = obst_vector.size(); + ros::spin(); + + return 0; +} + +// Planning loop +void CB_mainCycle(const ros::TimerEvent& e) +{ + planner->plan(PoseSE2(-4,0,0), PoseSE2(4,0,0)); // hardcoded start and goal for testing purposes +} + +// Visualization loop +void CB_publishCycle(const ros::TimerEvent& e) +{ + planner->visualize(); + visual->publishObstacles(obst_vector); + visual->publishViaPoints(via_points); +} + +void CB_reconfigure(TebLocalPlannerReconfigureConfig& reconfig, uint32_t level) +{ + config.reconfigure(reconfig); +} + +void CreateInteractiveMarker(const double& init_x, const double& init_y, unsigned int id, std::string frame, interactive_markers::InteractiveMarkerServer* marker_server, interactive_markers::InteractiveMarkerServer::FeedbackCallback feedback_cb) +{ + // create an interactive marker for our server + visualization_msgs::InteractiveMarker i_marker; + i_marker.header.frame_id = frame; + i_marker.header.stamp = ros::Time::now(); + std::ostringstream oss; + //oss << "obstacle" << id; + oss << id; + i_marker.name = oss.str(); + i_marker.description = "Obstacle"; + i_marker.pose.position.x = init_x; + i_marker.pose.position.y = init_y; + i_marker.pose.orientation.w = 1.0f; // make quaternion normalized + + // create a grey box marker + visualization_msgs::Marker box_marker; + box_marker.type = visualization_msgs::Marker::CUBE; + box_marker.id = id; + box_marker.scale.x = 0.2; + box_marker.scale.y = 0.2; + box_marker.scale.z = 0.2; + box_marker.color.r = 0.5; + box_marker.color.g = 0.5; + box_marker.color.b = 0.5; + box_marker.color.a = 1.0; + box_marker.pose.orientation.w = 1.0f; // make quaternion normalized + + // create a non-interactive control which contains the box + visualization_msgs::InteractiveMarkerControl box_control; + box_control.always_visible = true; + box_control.markers.push_back( box_marker ); + + // add the control to the interactive marker + i_marker.controls.push_back( box_control ); + + // create a control which will move the box, rviz will insert 2 arrows + visualization_msgs::InteractiveMarkerControl move_control; + move_control.name = "move_x"; + move_control.orientation.w = 0.707107f; + move_control.orientation.x = 0; + move_control.orientation.y = 0.707107f; + move_control.orientation.z = 0; + move_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_PLANE; + + + // add the control to the interactive marker + i_marker.controls.push_back(move_control); + + // add the interactive marker to our collection + marker_server->insert(i_marker); + marker_server->setCallback(i_marker.name,feedback_cb); +} + +void CB_obstacle_marker(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback) +{ + std::stringstream ss(feedback->marker_name); + unsigned int index; + ss >> index; + + if (index>=no_fixed_obstacles) + return; + PointObstacle* pobst = static_cast(obst_vector.at(index).get()); + pobst->position() = Eigen::Vector2d(feedback->pose.position.x,feedback->pose.position.y); +} + +void CB_customObstacle(const costmap_converter::ObstacleArrayMsg::ConstPtr& obst_msg) +{ + // resize such that the vector contains only the fixed obstacles specified inside the main function + obst_vector.resize(no_fixed_obstacles); + + // Add custom obstacles obtained via message (assume that all obstacles coordiantes are specified in the default planning frame) + for (size_t i = 0; i < obst_msg->obstacles.size(); ++i) + { + if (obst_msg->obstacles.at(i).polygon.points.size() == 1 ) + { + if (obst_msg->obstacles.at(i).radius == 0) + { + obst_vector.push_back(ObstaclePtr(new PointObstacle( obst_msg->obstacles.at(i).polygon.points.front().x, + obst_msg->obstacles.at(i).polygon.points.front().y ))); + } + else + { + obst_vector.push_back(ObstaclePtr(new CircularObstacle( obst_msg->obstacles.at(i).polygon.points.front().x, + obst_msg->obstacles.at(i).polygon.points.front().y, + obst_msg->obstacles.at(i).radius ))); + } + } + else if (obst_msg->obstacles.at(i).polygon.points.empty()) + { + ROS_WARN("Invalid custom obstacle received. List of polygon vertices is empty. Skipping..."); + continue; + } + else + { + PolygonObstacle* polyobst = new PolygonObstacle; + for (size_t j=0; jobstacles.at(i).polygon.points.size(); ++j) + { + polyobst->pushBackVertex( obst_msg->obstacles.at(i).polygon.points[j].x, + obst_msg->obstacles.at(i).polygon.points[j].y ); + } + polyobst->finalizePolygon(); + obst_vector.push_back(ObstaclePtr(polyobst)); + } + + if(!obst_vector.empty()) + obst_vector.back()->setCentroidVelocity(obst_msg->obstacles.at(i).velocities, obst_msg->obstacles.at(i).orientation); + } +} + + +void CB_clicked_points(const geometry_msgs::PointStampedConstPtr& point_msg) +{ + // we assume for simplicity that the fixed frame is already the map/planning frame + // consider clicked points as via-points + via_points.push_back( Eigen::Vector2d(point_msg->point.x, point_msg->point.y) ); + ROS_INFO_STREAM("Via-point (" << point_msg->point.x << "," << point_msg->point.y << ") added."); + if (config.optim.weight_viapoint<=0) + ROS_WARN("Note, via-points are deactivated, since 'weight_via_point' <= 0"); +} + +void CB_via_points(const nav_msgs::Path::ConstPtr& via_points_msg) +{ + ROS_INFO_ONCE("Via-points received. This message is printed once."); + via_points.clear(); + for (const geometry_msgs::PoseStamped& pose : via_points_msg->poses) + { + via_points.emplace_back(pose.pose.position.x, pose.pose.position.y); + } +} + +void CB_setObstacleVelocity(const geometry_msgs::TwistConstPtr& twist_msg, const unsigned int id) +{ + if (id >= obst_vector.size()) + { + ROS_WARN("Cannot set velocity: unknown obstacle id."); + return; + } + + Eigen::Vector2d vel (twist_msg->linear.x, twist_msg->linear.y); + obst_vector.at(id)->setCentroidVelocity(vel); +} diff --git a/navigations/teb_local_planner/src/timed_elastic_band.cpp b/navigations/teb_local_planner/src/timed_elastic_band.cpp new file mode 100755 index 0000000..7a654c6 --- /dev/null +++ b/navigations/teb_local_planner/src/timed_elastic_band.cpp @@ -0,0 +1,634 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include + +#include + +namespace teb_local_planner +{ + +namespace +{ + /** + * estimate the time to move from start to end. + * Assumes constant velocity for the motion. + */ + double estimateDeltaT(const PoseSE2& start, const PoseSE2& end, + double max_vel_x, double max_vel_theta) + { + double dt_constant_motion = 0.1; + if (max_vel_x > 0) { + double trans_dist = (end.position() - start.position()).norm(); + dt_constant_motion = trans_dist / max_vel_x; + } + if (max_vel_theta > 0) { + double rot_dist = std::abs(g2o::normalize_theta(end.theta() - start.theta())); + dt_constant_motion = std::max(dt_constant_motion, rot_dist / max_vel_theta); + } + return dt_constant_motion; + } +} // namespace + + +TimedElasticBand::TimedElasticBand() +{ +} + +TimedElasticBand::~TimedElasticBand() +{ + ROS_DEBUG("Destructor Timed_Elastic_Band..."); + clearTimedElasticBand(); +} + + +void TimedElasticBand::addPose(const PoseSE2& pose, bool fixed) +{ + VertexPose* pose_vertex = new VertexPose(pose, fixed); + pose_vec_.push_back( pose_vertex ); + return; +} + +void TimedElasticBand::addPose(const Eigen::Ref& position, double theta, bool fixed) +{ + VertexPose* pose_vertex = new VertexPose(position, theta, fixed); + pose_vec_.push_back( pose_vertex ); + return; +} + + void TimedElasticBand::addPose(double x, double y, double theta, bool fixed) +{ + VertexPose* pose_vertex = new VertexPose(x, y, theta, fixed); + pose_vec_.push_back( pose_vertex ); + return; +} + +void TimedElasticBand::addTimeDiff(double dt, bool fixed) +{ + ROS_ASSERT_MSG(dt > 0., "Adding a timediff requires a positive dt"); + VertexTimeDiff* timediff_vertex = new VertexTimeDiff(dt, fixed); + timediff_vec_.push_back( timediff_vertex ); + return; +} + + +void TimedElasticBand::addPoseAndTimeDiff(double x, double y, double angle, double dt) +{ + if (sizePoses() != sizeTimeDiffs()) + { + addPose(x,y,angle,false); + addTimeDiff(dt,false); + } + else + ROS_ERROR("Method addPoseAndTimeDiff: Add one single Pose first. Timediff describes the time difference between last conf and given conf"); + return; +} + + + +void TimedElasticBand::addPoseAndTimeDiff(const PoseSE2& pose, double dt) +{ + if (sizePoses() != sizeTimeDiffs()) + { + addPose(pose,false); + addTimeDiff(dt,false); + } else + ROS_ERROR("Method addPoseAndTimeDiff: Add one single Pose first. Timediff describes the time difference between last conf and given conf"); + return; +} + +void TimedElasticBand::addPoseAndTimeDiff(const Eigen::Ref& position, double theta, double dt) +{ + if (sizePoses() != sizeTimeDiffs()) + { + addPose(position, theta,false); + addTimeDiff(dt,false); + } else + ROS_ERROR("Method addPoseAndTimeDiff: Add one single Pose first. Timediff describes the time difference between last conf and given conf"); + return; +} + + +void TimedElasticBand::deletePose(int index) +{ + ROS_ASSERT(index& position, double theta) +{ + VertexPose* pose_vertex = new VertexPose(position, theta); + pose_vec_.insert(pose_vec_.begin()+index, pose_vertex); +} + +void TimedElasticBand::insertPose(int index, double x, double y, double theta) +{ + VertexPose* pose_vertex = new VertexPose(x, y, theta); + pose_vec_.insert(pose_vec_.begin()+index, pose_vertex); +} + +void TimedElasticBand::insertTimeDiff(int index, double dt) +{ + VertexTimeDiff* timediff_vertex = new VertexTimeDiff(dt); + timediff_vec_.insert(timediff_vec_.begin()+index, timediff_vertex); +} + + +void TimedElasticBand::clearTimedElasticBand() +{ + for (PoseSequence::iterator pose_it = pose_vec_.begin(); pose_it != pose_vec_.end(); ++pose_it) + delete *pose_it; + pose_vec_.clear(); + + for (TimeDiffSequence::iterator dt_it = timediff_vec_.begin(); dt_it != timediff_vec_.end(); ++dt_it) + delete *dt_it; + timediff_vec_.clear(); +} + + +void TimedElasticBand::setPoseVertexFixed(int index, bool status) +{ + ROS_ASSERT(indexsetFixed(status); +} + +void TimedElasticBand::setTimeDiffVertexFixed(int index, bool status) +{ + ROS_ASSERT(indexsetFixed(status); +} + + +void TimedElasticBand::autoResize(double dt_ref, double dt_hysteresis, int min_samples, int max_samples, bool fast_mode) +{ + ROS_ASSERT(sizeTimeDiffs() == 0 || sizeTimeDiffs() + 1 == sizePoses()); + /// iterate through all TEB states and add/remove states! + bool modified = true; + + for (int rep = 0; rep < 100 && modified; ++rep) // actually it should be while(), but we want to make sure to not get stuck in some oscillation, hence max 100 repitions. + { + modified = false; + + for(int i=0; i < sizeTimeDiffs(); ++i) // TimeDiff connects Point(i) with Point(i+1) + { + if(TimeDiff(i) > dt_ref + dt_hysteresis && sizeTimeDiffs() 2*dt_ref) + { + double newtime = 0.5*TimeDiff(i); + + TimeDiff(i) = newtime; + insertPose(i+1, PoseSE2::average(Pose(i),Pose(i+1)) ); + insertTimeDiff(i+1,newtime); + + i--; // check the updated pose diff again + modified = true; + } + else + { + if (i < sizeTimeDiffs() - 1) + { + timediffs().at(i+1)->dt()+= timediffs().at(i)->dt() - dt_ref; + } + timediffs().at(i)->dt() = dt_ref; + } + } + else if(TimeDiff(i) < dt_ref - dt_hysteresis && sizeTimeDiffs()>min_samples) // only remove samples if size is larger than min_samples. + { + //ROS_DEBUG("teb_local_planner: autoResize() deleting bandpoint i=%u, #TimeDiffs=%lu",i,sizeTimeDiffs()); + + if(i < ((int)sizeTimeDiffs()-1)) + { + TimeDiff(i+1) = TimeDiff(i+1) + TimeDiff(i); + deleteTimeDiff(i); + deletePose(i+1); + i--; // check the updated pose diff again + } + else + { // last motion should be adjusted, shift time to the interval before + TimeDiff(i-1) += TimeDiff(i); + deleteTimeDiff(i); + deletePose(i); + } + + modified = true; + } + } + if (fast_mode) break; + } +} + + +double TimedElasticBand::getSumOfAllTimeDiffs() const +{ + double time = 0; + + for(TimeDiffSequence::const_iterator dt_it = timediff_vec_.begin(); dt_it != timediff_vec_.end(); ++dt_it) + { + time += (*dt_it)->dt(); + } + return time; +} + +double TimedElasticBand::getSumOfTimeDiffsUpToIdx(int index) const +{ + ROS_ASSERT(index<=timediff_vec_.size()); + + double time = 0; + + for(int i = 0; i < index; ++i) + { + time += timediff_vec_.at(i)->dt(); + } + + return time; +} + +double TimedElasticBand::getAccumulatedDistance() const +{ + double dist = 0; + + for(int i=1; i 0) timestep = diststep / max_vel_x; + + for (unsigned int i=1; i<=no_steps; i++) // start with 1! starting point had index 0 + { + if (i==no_steps && no_steps_d==(float) no_steps) + break; // if last conf (depending on stepsize) is equal to goal conf -> leave loop + addPoseAndTimeDiff(start.x()+i*dx,start.y()+i*dy,orient_init,timestep); + } + + } + + // if number of samples is not larger than min_samples, insert manually + if ( sizePoses() < min_samples-1 ) + { + ROS_DEBUG("initTEBtoGoal(): number of generated samples is less than specified by min_samples. Forcing the insertion of more samples..."); + while (sizePoses() < min_samples-1) // subtract goal point that will be added later + { + // simple strategy: interpolate between the current pose and the goal + PoseSE2 intermediate_pose = PoseSE2::average(BackPose(), goal); + if (max_vel_x > 0) timestep = (intermediate_pose.position()-BackPose().position()).norm()/max_vel_x; + addPoseAndTimeDiff( intermediate_pose, timestep ); // let the optimier correct the timestep (TODO: better initialization + } + } + + // add goal + if (max_vel_x > 0) timestep = (goal.position()-BackPose().position()).norm()/max_vel_x; + addPoseAndTimeDiff(goal,timestep); // add goal point + setPoseVertexFixed(sizePoses()-1,true); // GoalConf is a fixed constraint during optimization + } + else // size!=0 + { + ROS_WARN("Cannot init TEB between given configuration and goal, because TEB vectors are not empty or TEB is already initialized (call this function before adding states yourself)!"); + ROS_WARN("Number of TEB configurations: %d, Number of TEB timediffs: %d",(unsigned int) sizePoses(),(unsigned int) sizeTimeDiffs()); + return false; + } + return true; +} + + +bool TimedElasticBand::initTrajectoryToGoal(const std::vector& plan, double max_vel_x, double max_vel_theta, bool estimate_orient, int min_samples, bool guess_backwards_motion) +{ + + if (!isInit()) + { + PoseSE2 start(plan.front().pose); + PoseSE2 goal(plan.back().pose); + + addPose(start); // add starting point with given orientation + setPoseVertexFixed(0,true); // StartConf is a fixed constraint during optimization + + bool backwards = false; + if (guess_backwards_motion && (goal.position()-start.position()).dot(start.orientationUnitVec()) < 0) // check if the goal is behind the start pose (w.r.t. start orientation) + backwards = true; + // TODO: dt ~ max_vel_x_backwards for backwards motions + + for (int i=1; i<(int)plan.size()-1; ++i) + { + double yaw; + if (estimate_orient) + { + // get yaw from the orientation of the distance vector between pose_{i+1} and pose_{i} + double dx = plan[i+1].pose.position.x - plan[i].pose.position.x; + double dy = plan[i+1].pose.position.y - plan[i].pose.position.y; + yaw = std::atan2(dy,dx); + if (backwards) + yaw = g2o::normalize_theta(yaw+M_PI); + } + else + { + yaw = tf::getYaw(plan[i].pose.orientation); + } + PoseSE2 intermediate_pose(plan[i].pose.position.x, plan[i].pose.position.y, yaw); + double dt = estimateDeltaT(BackPose(), intermediate_pose, max_vel_x, max_vel_theta); + addPoseAndTimeDiff(intermediate_pose, dt); + } + + // if number of samples is not larger than min_samples, insert manually + if ( sizePoses() < min_samples-1 ) + { + ROS_DEBUG("initTEBtoGoal(): number of generated samples is less than specified by min_samples. Forcing the insertion of more samples..."); + while (sizePoses() < min_samples-1) // subtract goal point that will be added later + { + // simple strategy: interpolate between the current pose and the goal + PoseSE2 intermediate_pose = PoseSE2::average(BackPose(), goal); + double dt = estimateDeltaT(BackPose(), intermediate_pose, max_vel_x, max_vel_theta); + addPoseAndTimeDiff( intermediate_pose, dt ); // let the optimier correct the timestep (TODO: better initialization + } + } + + // Now add final state with given orientation + double dt = estimateDeltaT(BackPose(), goal, max_vel_x, max_vel_theta); + addPoseAndTimeDiff(goal, dt); + setPoseVertexFixed(sizePoses()-1,true); // GoalConf is a fixed constraint during optimization + } + else // size!=0 + { + ROS_WARN("Cannot init TEB between given configuration and goal, because TEB vectors are not empty or TEB is already initialized (call this function before adding states yourself)!"); + ROS_WARN("Number of TEB configurations: %d, Number of TEB timediffs: %d", sizePoses(), sizeTimeDiffs()); + return false; + } + + return true; +} + + +int TimedElasticBand::findClosestTrajectoryPose(const Eigen::Ref& ref_point, double* distance, int begin_idx) const +{ + int n = sizePoses(); + if (begin_idx < 0 || begin_idx >= n) + return -1; + + double min_dist_sq = std::numeric_limits::max(); + int min_idx = -1; + + for (int i = begin_idx; i < n; i++) + { + double dist_sq = (ref_point - Pose(i).position()).squaredNorm(); + if (dist_sq < min_dist_sq) + { + min_dist_sq = dist_sq; + min_idx = i; + } + } + + if (distance) + *distance = std::sqrt(min_dist_sq); + + return min_idx; +} + + +int TimedElasticBand::findClosestTrajectoryPose(const Eigen::Ref& ref_line_start, const Eigen::Ref& ref_line_end, double* distance) const +{ + double min_dist = std::numeric_limits::max(); + int min_idx = -1; + + for (int i = 0; i < sizePoses(); i++) + { + Eigen::Vector2d point = Pose(i).position(); + double dist = distance_point_to_segment_2d(point, ref_line_start, ref_line_end); + if (dist < min_dist) + { + min_dist = dist; + min_idx = i; + } + } + + if (distance) + *distance = min_dist; + return min_idx; +} + +int TimedElasticBand::findClosestTrajectoryPose(const Point2dContainer& vertices, double* distance) const +{ + if (vertices.empty()) + return 0; + else if (vertices.size() == 1) + return findClosestTrajectoryPose(vertices.front()); + else if (vertices.size() == 2) + return findClosestTrajectoryPose(vertices.front(), vertices.back()); + + double min_dist = std::numeric_limits::max(); + int min_idx = -1; + + for (int i = 0; i < sizePoses(); i++) + { + Eigen::Vector2d point = Pose(i).position(); + double dist_to_polygon = std::numeric_limits::max(); + for (int j = 0; j < (int) vertices.size()-1; ++j) + { + dist_to_polygon = std::min(dist_to_polygon, distance_point_to_segment_2d(point, vertices[j], vertices[j+1])); + } + dist_to_polygon = std::min(dist_to_polygon, distance_point_to_segment_2d(point, vertices.back(), vertices.front())); + if (dist_to_polygon < min_dist) + { + min_dist = dist_to_polygon; + min_idx = i; + } + } + + if (distance) + *distance = min_dist; + + return min_idx; +} + + +int TimedElasticBand::findClosestTrajectoryPose(const Obstacle& obstacle, double* distance) const +{ + const PointObstacle* pobst = dynamic_cast(&obstacle); + if (pobst) + return findClosestTrajectoryPose(pobst->position(), distance); + + const LineObstacle* lobst = dynamic_cast(&obstacle); + if (lobst) + return findClosestTrajectoryPose(lobst->start(), lobst->end(), distance); + + const PolygonObstacle* polyobst = dynamic_cast(&obstacle); + if (polyobst) + return findClosestTrajectoryPose(polyobst->vertices(), distance); + + return findClosestTrajectoryPose(obstacle.getCentroid(), distance); +} + + +void TimedElasticBand::updateAndPruneTEB(boost::optional new_start, boost::optional new_goal, int min_samples) +{ + // first and simple approach: change only start confs (and virtual start conf for inital velocity) + // TEST if optimizer can handle this "hard" placement + + if (new_start && sizePoses()>0) + { + // find nearest state (using l2-norm) in order to prune the trajectory + // (remove already passed states) + double dist_cache = (new_start->position()- Pose(0).position()).norm(); + double dist; + int lookahead = std::min( sizePoses()-min_samples, 10); // satisfy min_samples, otherwise max 10 samples + + int nearest_idx = 0; + for (int i = 1; i<=lookahead; ++i) + { + dist = (new_start->position()- Pose(i).position()).norm(); + if (dist0) + { + // nearest_idx is equal to the number of samples to be removed (since it counts from 0 ;-) ) + // WARNING delete starting at pose 1, and overwrite the original pose(0) with new_start, since Pose(0) is fixed during optimization! + deletePoses(1, nearest_idx); // delete first states such that the closest state is the new first one + deleteTimeDiffs(1, nearest_idx); // delete corresponding time differences + } + + // update start + Pose(0) = *new_start; + } + + if (new_goal && sizePoses()>0) + { + BackPose() = *new_goal; + } +}; + + +bool TimedElasticBand::isTrajectoryInsideRegion(double radius, double max_dist_behind_robot, int skip_poses) +{ + if (sizePoses()<=0) + return true; + + double radius_sq = radius*radius; + double max_dist_behind_robot_sq = max_dist_behind_robot*max_dist_behind_robot; + Eigen::Vector2d robot_orient = Pose(0).orientationUnitVec(); + + for (int i=1; i radius_sq) + { + ROS_INFO("outside robot"); + return false; + } + + // check behind the robot with a different distance, if specified (or >=0) + if (max_dist_behind_robot >= 0 && dist_vec.dot(robot_orient) < 0 && dist_sq > max_dist_behind_robot_sq) + { + ROS_INFO("outside robot behind"); + return false; + } + + } + return true; +} + + + + +} // namespace teb_local_planner diff --git a/navigations/teb_local_planner/src/visualization.cpp b/navigations/teb_local_planner/src/visualization.cpp new file mode 100755 index 0000000..63a7e97 --- /dev/null +++ b/navigations/teb_local_planner/src/visualization.cpp @@ -0,0 +1,540 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, + * TU Dortmund - Institute of Control Theory and Systems Engineering. + * 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 institute 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: Christoph Rösmann + *********************************************************************/ + +#include +#include +#include + +namespace teb_local_planner +{ + +TebVisualization::TebVisualization() : initialized_(false) +{ +} + +TebVisualization::TebVisualization(ros::NodeHandle& nh, const TebConfig& cfg) : initialized_(false) +{ + initialize(nh, cfg); +} + +void TebVisualization::initialize(ros::NodeHandle& nh, const TebConfig& cfg) +{ + if (initialized_) + ROS_WARN("TebVisualization already initialized. Reinitalizing..."); + + // set config + cfg_ = &cfg; + + // register topics + global_plan_pub_ = nh.advertise("global_plan", 1); + local_plan_pub_ = nh.advertise("local_plan",1); + teb_poses_pub_ = nh.advertise("teb_poses", 100); + teb_marker_pub_ = nh.advertise("teb_markers", 1000); + feedback_pub_ = nh.advertise("teb_feedback", 10); + + initialized_ = true; +} + + + +void TebVisualization::publishGlobalPlan(const std::vector& global_plan) const +{ + if ( printErrorWhenNotInitialized() ) return; + base_local_planner::publishPlan(global_plan, global_plan_pub_); +} + +void TebVisualization::publishLocalPlan(const std::vector& local_plan) const +{ + if ( printErrorWhenNotInitialized() ) + return; + base_local_planner::publishPlan(local_plan, local_plan_pub_); +} + +void TebVisualization::publishLocalPlanAndPoses(const TimedElasticBand& teb) const +{ + if ( printErrorWhenNotInitialized() ) + return; + + // create path msg + nav_msgs::Path teb_path; + teb_path.header.frame_id = cfg_->map_frame; + teb_path.header.stamp = ros::Time::now(); + + // create pose_array (along trajectory) + geometry_msgs::PoseArray teb_poses; + teb_poses.header.frame_id = teb_path.header.frame_id; + teb_poses.header.stamp = teb_path.header.stamp; + + // fill path msgs with teb configurations + for (int i=0; i < teb.sizePoses(); i++) + { + geometry_msgs::PoseStamped pose; + pose.header.frame_id = teb_path.header.frame_id; + pose.header.stamp = teb_path.header.stamp; + pose.pose.position.x = teb.Pose(i).x(); + pose.pose.position.y = teb.Pose(i).y(); + pose.pose.position.z = cfg_->hcp.visualize_with_time_as_z_axis_scale*teb.getSumOfTimeDiffsUpToIdx(i); + pose.pose.orientation = tf::createQuaternionMsgFromYaw(teb.Pose(i).theta()); + teb_path.poses.push_back(pose); + teb_poses.poses.push_back(pose.pose); + } + local_plan_pub_.publish(teb_path); + teb_poses_pub_.publish(teb_poses); +} + + + +void TebVisualization::publishRobotFootprintModel(const PoseSE2& current_pose, const BaseRobotFootprintModel& robot_model, + const std::string& ns, const std_msgs::ColorRGBA &color) +{ + if ( printErrorWhenNotInitialized() ) + return; + + std::vector markers; + robot_model.visualizeRobot(current_pose, markers, color); + if (markers.empty()) + return; + + int idx = 0; + for (std::vector::iterator marker_it = markers.begin(); marker_it != markers.end(); ++marker_it, ++idx) + { + marker_it->header.frame_id = cfg_->map_frame; + marker_it->header.stamp = ros::Time::now(); + marker_it->action = visualization_msgs::Marker::ADD; + marker_it->ns = ns; + marker_it->id = idx; + marker_it->lifetime = ros::Duration(2.0); + teb_marker_pub_.publish(*marker_it); + } + +} + +void TebVisualization::publishRobotFootprint(const PoseSE2& current_pose, const std::vector& footprint, + const std::string& ns, const std_msgs::ColorRGBA &color) +{ + if ( printErrorWhenNotInitialized() || footprint.empty() ) + return; + + visualization_msgs::Marker vertex_marker; + vertex_marker.header.frame_id = cfg_->map_frame; + vertex_marker.header.stamp = ros::Time::now(); + vertex_marker.ns = ns; + vertex_marker.type = visualization_msgs::Marker::LINE_STRIP; + vertex_marker.action = visualization_msgs::Marker::ADD; + vertex_marker.color = color; + vertex_marker.scale.x = 0.01; + vertex_marker.lifetime = ros::Duration(2.0); + vertex_marker.points = footprint; + vertex_marker.points.push_back(footprint.front()); // close the polygon + current_pose.toPoseMsg(vertex_marker.pose); + teb_marker_pub_.publish(vertex_marker); +} + +void TebVisualization::publishInfeasibleRobotPose(const PoseSE2& infeasible_pose, + const BaseRobotFootprintModel& robot_model, + const std::vector& footprint) +{ + publishRobotFootprintModel(infeasible_pose, robot_model, "InfeasibleRobotPose/model", toColorMsg(0.5, 0.8, 0.0, 0.0)); + publishRobotFootprint(infeasible_pose, footprint, "InfeasibleRobotPose/footprint", toColorMsg(0.5, 0.9, 0.7, 0.0)); +} + +void TebVisualization::publishObstacles(const ObstContainer& obstacles, double scale) const +{ + if ( obstacles.empty() || printErrorWhenNotInitialized() ) + return; + + // Visualize point obstacles + { + visualization_msgs::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = ros::Time::now(); + marker.ns = "PointObstacles"; + marker.id = 0; + marker.type = visualization_msgs::Marker::POINTS; + marker.action = visualization_msgs::Marker::ADD; + marker.lifetime = ros::Duration(2.0); + + for (ObstContainer::const_iterator obst = obstacles.begin(); obst != obstacles.end(); ++obst) + { + boost::shared_ptr pobst = boost::dynamic_pointer_cast(*obst); + if (!pobst) + continue; + + if (cfg_->hcp.visualize_with_time_as_z_axis_scale < 0.001) + { + geometry_msgs::Point point; + point.x = pobst->x(); + point.y = pobst->y(); + point.z = 0; + marker.points.push_back(point); + } + else // Spatiotemporally point obstacles become a line + { + marker.type = visualization_msgs::Marker::LINE_LIST; + geometry_msgs::Point start; + start.x = pobst->x(); + start.y = pobst->y(); + start.z = 0; + marker.points.push_back(start); + + geometry_msgs::Point end; + double t = 20; + Eigen::Vector2d pred; + pobst->predictCentroidConstantVelocity(t, pred); + end.x = pred[0]; + end.y = pred[1]; + end.z = cfg_->hcp.visualize_with_time_as_z_axis_scale*t; + marker.points.push_back(end); + } + } + + marker.scale.x = scale; + marker.scale.y = scale; + marker.color.a = 1.0; + marker.color.r = 1.0; + marker.color.g = 0.0; + marker.color.b = 0.0; + + teb_marker_pub_.publish( marker ); + } + + // Visualize circular obstacles + { + std::size_t idx = 0; + for (ObstContainer::const_iterator obst = obstacles.begin(); obst != obstacles.end(); ++obst) + { + boost::shared_ptr pobst = boost::dynamic_pointer_cast(*obst); + if (!pobst) + continue; + + visualization_msgs::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = ros::Time::now(); + marker.ns = "CircularObstacles"; + marker.id = idx++; + marker.type = visualization_msgs::Marker::SPHERE_LIST; + marker.action = visualization_msgs::Marker::ADD; + marker.lifetime = ros::Duration(2.0); + geometry_msgs::Point point; + point.x = pobst->x(); + point.y = pobst->y(); + point.z = 0; + marker.points.push_back(point); + + marker.scale.x = pobst->radius(); + marker.scale.y = pobst->radius(); + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + teb_marker_pub_.publish( marker ); + } + } + + // Visualize line obstacles + { + std::size_t idx = 0; + for (ObstContainer::const_iterator obst = obstacles.begin(); obst != obstacles.end(); ++obst) + { + boost::shared_ptr pobst = boost::dynamic_pointer_cast(*obst); + if (!pobst) + continue; + + visualization_msgs::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = ros::Time::now(); + marker.ns = "LineObstacles"; + marker.id = idx++; + marker.type = visualization_msgs::Marker::LINE_STRIP; + marker.action = visualization_msgs::Marker::ADD; + marker.lifetime = ros::Duration(2.0); + geometry_msgs::Point start; + start.x = pobst->start().x(); + start.y = pobst->start().y(); + start.z = 0; + marker.points.push_back(start); + geometry_msgs::Point end; + end.x = pobst->end().x(); + end.y = pobst->end().y(); + end.z = 0; + marker.points.push_back(end); + + marker.scale.x = scale; + marker.scale.y = scale; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.0; + + teb_marker_pub_.publish( marker ); + } + } + + + // Visualize polygon obstacles + { + std::size_t idx = 0; + for (ObstContainer::const_iterator obst = obstacles.begin(); obst != obstacles.end(); ++obst) + { + boost::shared_ptr pobst = boost::dynamic_pointer_cast(*obst); + if (!pobst) + continue; + + visualization_msgs::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = ros::Time::now(); + marker.ns = "PolyObstacles"; + marker.id = idx++; + marker.type = visualization_msgs::Marker::LINE_STRIP; + marker.action = visualization_msgs::Marker::ADD; + marker.lifetime = ros::Duration(2.0); + + for (Point2dContainer::const_iterator vertex = pobst->vertices().begin(); vertex != pobst->vertices().end(); ++vertex) + { + geometry_msgs::Point point; + point.x = vertex->x(); + point.y = vertex->y(); + point.z = 0; + marker.points.push_back(point); + } + + // Also add last point to close the polygon + // but only if polygon has more than 2 points (it is not a line) + if (pobst->vertices().size() > 2) + { + geometry_msgs::Point point; + point.x = pobst->vertices().front().x(); + point.y = pobst->vertices().front().y(); + point.z = 0; + marker.points.push_back(point); + } + marker.scale.x = scale; + marker.scale.y = scale; + marker.color.a = 1.0; + marker.color.r = 1.0; + marker.color.g = 0.0; + marker.color.b = 0.0; + + teb_marker_pub_.publish( marker ); + } + } +} + + +void TebVisualization::publishViaPoints(const std::vector< Eigen::Vector2d, Eigen::aligned_allocator >& via_points, const std::string& ns) const +{ + if ( via_points.empty() || printErrorWhenNotInitialized() ) + return; + + visualization_msgs::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = ros::Time::now(); + marker.ns = ns; + marker.id = 0; + marker.type = visualization_msgs::Marker::POINTS; + marker.action = visualization_msgs::Marker::ADD; + marker.lifetime = ros::Duration(2.0); + + for (std::size_t i=0; i < via_points.size(); ++i) + { + geometry_msgs::Point point; + point.x = via_points[i].x(); + point.y = via_points[i].y(); + point.z = 0; + marker.points.push_back(point); + } + + marker.scale.x = 0.1; + marker.scale.y = 0.1; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 0.0; + marker.color.b = 1.0; + + teb_marker_pub_.publish( marker ); +} + +void TebVisualization::publishTebContainer(const TebOptPlannerContainer& teb_planner, const std::string& ns) +{ +if ( printErrorWhenNotInitialized() ) + return; + + visualization_msgs::Marker marker; + marker.header.frame_id = cfg_->map_frame; + marker.header.stamp = ros::Time::now(); + marker.ns = ns; + marker.id = 0; + marker.type = visualization_msgs::Marker::LINE_LIST; + marker.action = visualization_msgs::Marker::ADD; + + // Iterate through teb pose sequence + for( TebOptPlannerContainer::const_iterator it_teb = teb_planner.begin(); it_teb != teb_planner.end(); ++it_teb ) + { + // iterate single poses + PoseSequence::const_iterator it_pose = it_teb->get()->teb().poses().begin(); + TimeDiffSequence::const_iterator it_timediff = it_teb->get()->teb().timediffs().begin(); + PoseSequence::const_iterator it_pose_end = it_teb->get()->teb().poses().end(); + std::advance(it_pose_end, -1); // since we are interested in line segments, reduce end iterator by one. + double time = 0; + + while (it_pose != it_pose_end) + { + geometry_msgs::Point point_start; + point_start.x = (*it_pose)->x(); + point_start.y = (*it_pose)->y(); + point_start.z = cfg_->hcp.visualize_with_time_as_z_axis_scale*time; + marker.points.push_back(point_start); + + time += (*it_timediff)->dt(); + + geometry_msgs::Point point_end; + point_end.x = (*boost::next(it_pose))->x(); + point_end.y = (*boost::next(it_pose))->y(); + point_end.z = cfg_->hcp.visualize_with_time_as_z_axis_scale*time; + marker.points.push_back(point_end); + ++it_pose; + ++it_timediff; + } + } + marker.scale.x = 0.01; + marker.color.a = 1.0; + marker.color.r = 0.5; + marker.color.g = 1.0; + marker.color.b = 0.0; + + teb_marker_pub_.publish( marker ); +} + +void TebVisualization::publishFeedbackMessage(const std::vector< boost::shared_ptr >& teb_planners, + unsigned int selected_trajectory_idx, const ObstContainer& obstacles) +{ + FeedbackMsg msg; + msg.header.stamp = ros::Time::now(); + msg.header.frame_id = cfg_->map_frame; + msg.selected_trajectory_idx = selected_trajectory_idx; + + + msg.trajectories.resize(teb_planners.size()); + + // Iterate through teb pose sequence + std::size_t idx_traj = 0; + for( TebOptPlannerContainer::const_iterator it_teb = teb_planners.begin(); it_teb != teb_planners.end(); ++it_teb, ++idx_traj ) + { + msg.trajectories[idx_traj].header = msg.header; + it_teb->get()->getFullTrajectory(msg.trajectories[idx_traj].trajectory); + } + + // add obstacles + msg.obstacles_msg.obstacles.resize(obstacles.size()); + for (std::size_t i=0; itoPolygonMsg(msg.obstacles_msg.obstacles[i].polygon); + + // copy id + msg.obstacles_msg.obstacles[i].id = i; // TODO: we do not have any id stored yet + + // orientation + //msg.obstacles_msg.obstacles[i].orientation =; // TODO + + // copy velocities + obstacles[i]->toTwistWithCovarianceMsg(msg.obstacles_msg.obstacles[i].velocities); + } + + feedback_pub_.publish(msg); +} + +void TebVisualization::publishFeedbackMessage(const TebOptimalPlanner& teb_planner, const ObstContainer& obstacles) +{ + FeedbackMsg msg; + msg.header.stamp = ros::Time::now(); + msg.header.frame_id = cfg_->map_frame; + msg.selected_trajectory_idx = 0; + + msg.trajectories.resize(1); + msg.trajectories.front().header = msg.header; + teb_planner.getFullTrajectory(msg.trajectories.front().trajectory); + + // add obstacles + msg.obstacles_msg.obstacles.resize(obstacles.size()); + for (std::size_t i=0; itoPolygonMsg(msg.obstacles_msg.obstacles[i].polygon); + + // copy id + msg.obstacles_msg.obstacles[i].id = i; // TODO: we do not have any id stored yet + + // orientation + //msg.obstacles_msg.obstacles[i].orientation =; // TODO + + // copy velocities + obstacles[i]->toTwistWithCovarianceMsg(msg.obstacles_msg.obstacles[i].velocities); + } + + feedback_pub_.publish(msg); +} + +std_msgs::ColorRGBA TebVisualization::toColorMsg(double a, double r, double g, double b) +{ + std_msgs::ColorRGBA color; + color.a = a; + color.r = r; + color.g = g; + color.b = b; + return color; +} + +bool TebVisualization::printErrorWhenNotInitialized() const +{ + if (!initialized_) + { + ROS_ERROR("TebVisualization class not initialized. You must call initialize or an appropriate constructor"); + return true; + } + return false; +} + +} // namespace teb_local_planner diff --git a/navigations/teb_local_planner/teb_local_planner_plugin.xml b/navigations/teb_local_planner/teb_local_planner_plugin.xml new file mode 100755 index 0000000..eb0f4ce --- /dev/null +++ b/navigations/teb_local_planner/teb_local_planner_plugin.xml @@ -0,0 +1,14 @@ + + + + The teb_local_planner package implements a plugin + to the base_local_planner of the 2D navigation stack. + + + + + Same plugin implemented MBF CostmapController's extended interface. + + + + diff --git a/navigations/teb_local_planner/test/teb_basics.cpp b/navigations/teb_local_planner/test/teb_basics.cpp new file mode 100755 index 0000000..9a75909 --- /dev/null +++ b/navigations/teb_local_planner/test/teb_basics.cpp @@ -0,0 +1,73 @@ +#include + +#include + +TEST(TEBBasic, autoResizeLargeValueAtEnd) +{ + double dt = 0.1; + double dt_hysteresis = dt/3.; + teb_local_planner::TimedElasticBand teb; + + teb.addPose(teb_local_planner::PoseSE2(0., 0., 0.)); + for (int i = 1; i < 10; ++i) { + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(i * 1., 0., 0.), dt); + } + // add a pose with a large timediff as the last one + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(10., 0., 0.), dt + 2*dt_hysteresis); + + // auto resize + test of the result + teb.autoResize(dt, dt_hysteresis, 3, 100, false); + for (int i = 0; i < teb.sizeTimeDiffs(); ++i) { + ASSERT_LE(teb.TimeDiff(i), dt + dt_hysteresis + 1e-3) << "dt is greater than allowed: " << i; + ASSERT_LE(dt - dt_hysteresis - 1e-3, teb.TimeDiff(i)) << "dt is less than allowed: " << i; + } +} + +TEST(TEBBasic, autoResizeSmallValueAtEnd) +{ + double dt = 0.1; + double dt_hysteresis = dt/3.; + teb_local_planner::TimedElasticBand teb; + + teb.addPose(teb_local_planner::PoseSE2(0., 0., 0.)); + for (int i = 1; i < 10; ++i) { + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(i * 1., 0., 0.), dt); + } + // add a pose with a small timediff as the last one + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(10., 0., 0.), dt - 2*dt_hysteresis); + + // auto resize + test of the result + teb.autoResize(dt, dt_hysteresis, 3, 100, false); + for (int i = 0; i < teb.sizeTimeDiffs(); ++i) { + ASSERT_LE(teb.TimeDiff(i), dt + dt_hysteresis + 1e-3) << "dt is greater than allowed: " << i; + ASSERT_LE(dt - dt_hysteresis - 1e-3, teb.TimeDiff(i)) << "dt is less than allowed: " << i; + } +} + +TEST(TEBBasic, autoResize) +{ + double dt = 0.1; + double dt_hysteresis = dt/3.; + teb_local_planner::TimedElasticBand teb; + + teb.addPose(teb_local_planner::PoseSE2(0., 0., 0.)); + for (int i = 1; i < 10; ++i) { + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(i * 1., 0., 0.), dt); + } + // modify the timediff in the middle and add a pose with a smaller timediff as the last one + teb.TimeDiff(5) = dt + 2*dt_hysteresis; + teb.addPoseAndTimeDiff(teb_local_planner::PoseSE2(10., 0., 0.), dt - 2*dt_hysteresis); + + // auto resize + teb.autoResize(dt, dt_hysteresis, 3, 100, false); + for (int i = 0; i < teb.sizeTimeDiffs(); ++i) { + ASSERT_LE(teb.TimeDiff(i), dt + dt_hysteresis + 1e-3) << "dt is greater than allowed: " << i; + ASSERT_LE(dt - dt_hysteresis - 1e-3, teb.TimeDiff(i)) << "dt is less than allowed: " << i; + } +} + +int main(int argc, char** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} \ No newline at end of file diff --git a/navigations/twist_recovery/CHANGELOG.rst b/navigations/twist_recovery/CHANGELOG.rst new file mode 100755 index 0000000..0644897 --- /dev/null +++ b/navigations/twist_recovery/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package twist_recovery +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.4.1 (2022-08-24) +------------------ + +0.4.0 (2022-03-07) +------------------ + +0.3.4 (2020-06-19) +------------------ +* Initial release into noetic * Set cmake_policy CMP0048 to fix warning +* Contributors: Martin Günther + +0.3.3 (2019-10-15) +------------------ +* Add READMEs +* Contributors: Martin Günther + +0.3.2 (2019-01-16) +------------------ + +0.3.1 (2018-09-05) +------------------ +* twist_recovery: Add missing dependency + Actually, this is a workaround for the following bug: https://github.com/ros/geometry2/issues/275 +* Contributors: Martin Günther + +0.3.0 (2018-09-04) +------------------ +* Convert to TF2 + new navigation API (for melodic) +* Use non deprecated pluginlib macro + headers +* Contributors: Martin Günther + +0.2.0 (2018-09-03) +------------------ +* Initial release into indigo, kinetic, lunar and melodic +* Contributors: Martin Günther, David V. Lu!!, Dave Hershberger, Jon Binney, Bhaskara Marti diff --git a/navigations/twist_recovery/CMakeLists.txt b/navigations/twist_recovery/CMakeLists.txt new file mode 100755 index 0000000..4b972c7 --- /dev/null +++ b/navigations/twist_recovery/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 3.5.1) +cmake_policy(SET CMP0048 NEW) +project(twist_recovery) + +# Find ROS dependencies +set(THIS_PACKAGE_ROS_DEPS nav_core costmap_2d geometry_msgs pluginlib base_local_planner tf2_geometry_msgs tf2_ros) +find_package(catkin REQUIRED COMPONENTS ${THIS_PACKAGE_ROS_DEPS}) + +include_directories(include ${catkin_INCLUDE_DIRS}) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES twist_recovery + CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS} +) + +add_library(twist_recovery src/twist_recovery.cpp) +target_link_libraries(twist_recovery ${catkin_LIBRARIES}) + +install(TARGETS twist_recovery + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +install(FILES twist_plugin.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/navigations/twist_recovery/README.md b/navigations/twist_recovery/README.md new file mode 100755 index 0000000..201e8d4 --- /dev/null +++ b/navigations/twist_recovery/README.md @@ -0,0 +1,4 @@ +twist_recovery +============== + +A recovery behavior that performs a particular used-defined twist. diff --git a/navigations/twist_recovery/config/backwards.yaml b/navigations/twist_recovery/config/backwards.yaml new file mode 100755 index 0000000..f7837d3 --- /dev/null +++ b/navigations/twist_recovery/config/backwards.yaml @@ -0,0 +1,5 @@ +# Configuration for version of this recovery where we back up slowly about half a meter +linear_x: -0.3 +linear_y: 0.0 +angular_z: 0.0 +duration: 1.5 \ No newline at end of file diff --git a/navigations/twist_recovery/config/diagonal_left.yaml b/navigations/twist_recovery/config/diagonal_left.yaml new file mode 100755 index 0000000..546b823 --- /dev/null +++ b/navigations/twist_recovery/config/diagonal_left.yaml @@ -0,0 +1,4 @@ +linear_x: 0.0 +linear_y: 0.2 +angular_z: 0.0 +duration: 1.0 \ No newline at end of file diff --git a/navigations/twist_recovery/config/diagonal_right.yaml b/navigations/twist_recovery/config/diagonal_right.yaml new file mode 100755 index 0000000..51be260 --- /dev/null +++ b/navigations/twist_recovery/config/diagonal_right.yaml @@ -0,0 +1,4 @@ +linear_x: 0.0 +linear_y: -0.2 +angular_z: 0.0 +duration: 1.0 \ No newline at end of file diff --git a/navigations/twist_recovery/include/twist_recovery/twist_recovery.h b/navigations/twist_recovery/include/twist_recovery/twist_recovery.h new file mode 100755 index 0000000..8897812 --- /dev/null +++ b/navigations/twist_recovery/include/twist_recovery/twist_recovery.h @@ -0,0 +1,107 @@ +/* + * 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, Inc. 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. + * + */ + +/** + * \file + * + * Recovery behavior based on executing a particular twist + * + * \author Bhaskara Marthi + */ + +#ifndef TWIST_RECOVERY_TWIST_RECOVERY_H +#define TWIST_RECOVERY_TWIST_RECOVERY_H + +#include +#include +#include +#include +#include +#include +#include + +namespace twist_recovery +{ + +/// Recovery behavior that takes a given twist and tries to execute it for up to +/// d seconds, or until reaching an obstacle. +class TwistRecovery : public nav_core::RecoveryBehavior +{ +public: + + /// Doesn't do anything: initialize is where the actual work happens + TwistRecovery(); + + ~TwistRecovery(); + + /// Initialize the parameters of the behavior + void initialize (std::string n, tf2_ros::Buffer* tf, + costmap_2d::Costmap2DROS* global_costmap, + costmap_2d::Costmap2DROS* local_costmap); + + /// Run the behavior + void runBehavior(); + +private: + + geometry_msgs::Pose2D getCurrentLocalPose () const; + geometry_msgs::Twist scaleGivenAccelerationLimits (const geometry_msgs::Twist& twist, const double time_remaining) const; + double nonincreasingCostInterval (const geometry_msgs::Pose2D& current, const geometry_msgs::Twist& twist) const; + double normalizedPoseCost (const geometry_msgs::Pose2D& pose) const; + geometry_msgs::Twist transformTwist (const geometry_msgs::Pose2D& pose) const; + + ros::NodeHandle nh_; + costmap_2d::Costmap2DROS* global_costmap_; + costmap_2d::Costmap2DROS* local_costmap_; + std::string name_; + tf2_ros::Buffer* tf_; + ros::Publisher pub_; + bool initialized_; + + // Memory owned by this object + // Mutable because footprintCost is not declared const + mutable base_local_planner::CostmapModel* world_model_; + + geometry_msgs::Twist base_frame_twist_; + + double duration_; + double linear_speed_limit_; + double angular_speed_limit_; + double linear_acceleration_limit_; + double angular_acceleration_limit_; + double controller_frequency_; + double simulation_inc_; + + +}; + +} // namespace twist_recovery + +#endif // include guard diff --git a/navigations/twist_recovery/package.xml b/navigations/twist_recovery/package.xml new file mode 100755 index 0000000..190f2a2 --- /dev/null +++ b/navigations/twist_recovery/package.xml @@ -0,0 +1,28 @@ + + + twist_recovery + 0.4.1 + + A recovery behavior that performs a particular used-defined twist. + + Martin Günther + Bhaskara Marthi + BSD + http://wiki.ros.org/twist_recovery + https://github.com/ros-planning/navigation_experimental.git + https://github.com/ros-planning/navigation_experimental/issues + + catkin + + base_local_planner + costmap_2d + geometry_msgs + nav_core + pluginlib + tf2_geometry_msgs + tf2_ros + + + + + diff --git a/navigations/twist_recovery/src/twist_recovery.cpp b/navigations/twist_recovery/src/twist_recovery.cpp new file mode 100755 index 0000000..c5ff9bc --- /dev/null +++ b/navigations/twist_recovery/src/twist_recovery.cpp @@ -0,0 +1,206 @@ +/* + * 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, Inc. 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. + * + */ + +/** + * \file + * + * \author Bhaskara Marthi + * + */ + +#include +#include +#include +#include + +// register as a RecoveryBehavior plugin +PLUGINLIB_EXPORT_CLASS(twist_recovery::TwistRecovery, nav_core::RecoveryBehavior) + +namespace gm=geometry_msgs; +namespace cmap=costmap_2d; +namespace blp=base_local_planner; +using std::vector; +using std::max; + +namespace twist_recovery +{ + +TwistRecovery::TwistRecovery () : + global_costmap_(NULL), local_costmap_(NULL), tf_(NULL), initialized_(false) +{} + +TwistRecovery::~TwistRecovery () +{ + delete world_model_; +} + +void TwistRecovery::initialize (std::string name, tf2_ros::Buffer* tf, + cmap::Costmap2DROS* global_cmap, cmap::Costmap2DROS* local_cmap) +{ + ROS_ASSERT(!initialized_); + name_ = name; + tf_ = tf; + local_costmap_ = local_cmap; + global_costmap_ = global_cmap; + world_model_ = new blp::CostmapModel(*local_costmap_->getCostmap()); + + pub_ = nh_.advertise("cmd_vel", 10); + ros::NodeHandle private_nh("~/" + name); + + { + bool found=true; + found = found && private_nh.getParam("linear_x", base_frame_twist_.linear.x); + found = found && private_nh.getParam("linear_y", base_frame_twist_.linear.y); + found = found && private_nh.getParam("angular_z", base_frame_twist_.angular.z); + if (!found) { + ROS_FATAL_STREAM ("Didn't find twist parameters in " << private_nh.getNamespace()); + ros::shutdown(); + } + } + + private_nh.param("duration", duration_, 1.0); + private_nh.param("linear_speed_limit", linear_speed_limit_, 0.3); + private_nh.param("angular_speed_limit", angular_speed_limit_, 1.0); + private_nh.param("linear_acceleration_limit", linear_acceleration_limit_, 4.0); + private_nh.param("angular_acceleration_limit", angular_acceleration_limit_, 3.2); + private_nh.param("controller_frequency", controller_frequency_, 20.0); + private_nh.param("simulation_inc", simulation_inc_, 1/controller_frequency_); + + ROS_INFO_STREAM_NAMED ("top", "Initialized twist recovery with twist " << + base_frame_twist_ << " and duration " << duration_); + + initialized_ = true; +} + +gm::Twist scaleTwist (const gm::Twist& twist, const double scale) +{ + gm::Twist t; + t.linear.x = twist.linear.x * scale; + t.linear.y = twist.linear.y * scale; + t.angular.z = twist.angular.z * scale; + return t; +} + +gm::Pose2D forwardSimulate (const gm::Pose2D& p, const gm::Twist& twist, const double t=1.0) +{ + gm::Pose2D p2; + p2.x = p.x + twist.linear.x*t; + p2.y = p.y + twist.linear.y*t; + p2.theta = p.theta + twist.angular.z*t; + return p2; +} + +/// Return the cost of a pose, modified so that -1 does not equal infinity; instead 1e9 does. +double TwistRecovery::normalizedPoseCost (const gm::Pose2D& pose) const +{ + const double c = world_model_->footprintCost(pose.x, pose.y, pose.theta, local_costmap_->getRobotFootprint(), 0.0, 0.0); + return c < 0 ? 1e9 : c; +} + + +/// Return the maximum d <= duration_ such that starting at the current pose, the cost is nonincreasing for +/// d seconds if we follow twist +/// It might also be good to have a threshold such that we're allowed to have lethal cost for at most +/// the first k of those d seconds, but this is not done +double TwistRecovery::nonincreasingCostInterval (const gm::Pose2D& current, const gm::Twist& twist) const +{ + double cost = normalizedPoseCost(current); + double t; // Will hold the first time that is invalid + for (t=simulation_inc_; t<=duration_; t+=simulation_inc_) { + const double next_cost = normalizedPoseCost(forwardSimulate(current, twist, t)); + if (next_cost > cost) { + ROS_DEBUG_STREAM_NAMED ("cost", "Cost at " << t << " and pose " << forwardSimulate(current, twist, t) + << " is " << next_cost << " which is greater than previous cost " << cost); + break; + } + cost = next_cost; + } + + return t-simulation_inc_; +} + +double linearSpeed (const gm::Twist& twist) +{ + return sqrt(twist.linear.x*twist.linear.x + twist.linear.y*twist.linear.y); +} + +double angularSpeed (const gm::Twist& twist) +{ + return fabs(twist.angular.z); +} + +// Scale twist so we can stop in the given time, and so it's within the max velocity +gm::Twist TwistRecovery::scaleGivenAccelerationLimits (const gm::Twist& twist, const double time_remaining) const +{ + const double linear_speed = linearSpeed(twist); + const double angular_speed = angularSpeed(twist); + const double linear_acc_scaling = linear_speed/(time_remaining*linear_acceleration_limit_); + const double angular_acc_scaling = angular_speed/(time_remaining*angular_acceleration_limit_); + const double acc_scaling = max(linear_acc_scaling, angular_acc_scaling); + const double linear_vel_scaling = linear_speed/linear_speed_limit_; + const double angular_vel_scaling = angular_speed/angular_speed_limit_; + const double vel_scaling = max(linear_vel_scaling, angular_vel_scaling); + return scaleTwist(twist, max(1.0, max(acc_scaling, vel_scaling))); +} + +// Get pose in local costmap frame +gm::Pose2D TwistRecovery::getCurrentLocalPose () const +{ + gm::PoseStamped p; + local_costmap_->getRobotPose(p); + gm::Pose2D pose; + pose.x = p.pose.position.x; + pose.y = p.pose.position.y; + pose.theta = tf2::getYaw(p.pose.orientation); + return pose; +} + +void TwistRecovery::runBehavior () +{ + ROS_ASSERT (initialized_); + + // Figure out how long we can safely run the behavior + const gm::Pose2D& current = getCurrentLocalPose(); + + const double d = nonincreasingCostInterval(current, base_frame_twist_); + ros::Rate r(controller_frequency_); + ROS_WARN_NAMED ("top", "Applying (%.2f, %.2f, %.2f) for %.2f seconds", base_frame_twist_.linear.x, + base_frame_twist_.linear.y, base_frame_twist_.angular.z, d); + + // We'll now apply this twist open-loop for d seconds (scaled so we can guarantee stopping at the end) + for (double t=0; t + + + A recovery behavior that performs a particular used-defined twist. + + + diff --git a/navigations/unique_identifier/README.rst b/navigations/unique_identifier/README.rst new file mode 100755 index 0000000..e287f6e --- /dev/null +++ b/navigations/unique_identifier/README.rst @@ -0,0 +1,13 @@ +unique_identifier +================= + +ROS messages and interfaces for Universally Unique Identifiers. + + * http://en.wikipedia.org/wiki/Uuid + * http://tools.ietf.org/html/rfc4122.html + +ROS documentation: + + * http://www.ros.org/wiki/unique_id + * http://www.ros.org/wiki/unique_identifier + * http://www.ros.org/wiki/uuid_msgs diff --git a/navigations/unique_identifier/unique_id/CHANGELOG.rst b/navigations/unique_identifier/unique_id/CHANGELOG.rst new file mode 100755 index 0000000..eb1d362 --- /dev/null +++ b/navigations/unique_identifier/unique_id/CHANGELOG.rst @@ -0,0 +1,52 @@ +Change history +============== + +1.0.6 (2017-04-04) +------------------ + + * Remove Python ``install_requires`` option. + * Fix minor catkin lint issues. + +1.0.5 (2015-04-17) +------------------ + + * Alter C++ unique_id functions to work in multiple cpp files (`#7`_). + +1.0.4 (2014-04-30) +------------------ + +1.0.3 (2013-07-24) +------------------ + + * Make unit tests conditional on ``CATKIN_ENABLE_TESTING``. + +1.0.2 (2013-07-18) +------------------- + +1.0.1 (2013-03-25) +------------------- + + * Fix catkin Python install problem (`#4`_). + +1.0.0 (2013-03-18) +------------------- + + * Hydro release. + * Convert to catkin (`#1`_). + +0.9.0 (2013-01-03) +------------------ + + * Initial release to Groovy. + * Add support for C++ interface using boost uuid package. + +0.8.0 (2012-07-19) +------------------ + + * Initial release to Fuerte. + * Supports Python interface based on standard uuid package, but no + C++ API yet. + +.. _`#1`: https://github.com/ros-geographic-info/unique_identifier/issues/1 +.. _`#4`: https://github.com/ros-geographic-info/unique_identifier/issues/4 +.. _`#7`: https://github.com/ros-geographic-info/unique_identifier/issues/7 diff --git a/navigations/unique_identifier/unique_id/CMakeLists.txt b/navigations/unique_identifier/unique_id/CMakeLists.txt new file mode 100755 index 0000000..4befe9f --- /dev/null +++ b/navigations/unique_identifier/unique_id/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 2.8.3) +project(unique_id) + +find_package(catkin REQUIRED COMPONENTS roscpp rospy uuid_msgs) +find_package(Boost REQUIRED) +include_directories(include ${catkin_INCLUDE_DIRS}) + +catkin_python_setup() +catkin_package(INCLUDE_DIRS include + CATKIN_DEPENDS uuid_msgs + DEPENDS Boost) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + +# unit tests +if (CATKIN_ENABLE_TESTING) + add_subdirectory(tests) +endif() diff --git a/navigations/unique_identifier/unique_id/conf.py b/navigations/unique_identifier/unique_id/conf.py new file mode 100755 index 0000000..292c5f6 --- /dev/null +++ b/navigations/unique_identifier/unique_id/conf.py @@ -0,0 +1,246 @@ +# -*- coding: utf-8 -*- +# +# unique_id documentation build configuration file, created by +# sphinx-quickstart on Wed Apr 25 16:01:20 2012. +# +# This file is execfile()d with the current directory set to its containing dir. +# +# Note that not all possible configuration values are present in this +# autogenerated file. +# +# All configuration values have a default; values that are commented out +# serve to show the default. + +import sys, os + +# If extensions (or modules to document with autodoc) are in another directory, +# add these directories to sys.path here. If the directory is relative to the +# documentation root, use os.path.abspath to make it absolute, like shown here. +#sys.path.insert(0, os.path.abspath('.')) + +# -- General configuration ----------------------------------------------------- + +# If your documentation needs a minimal Sphinx version, state it here. +#needs_sphinx = '1.0' + +# Add any Sphinx extension module names here, as strings. They can be extensions +# coming with Sphinx (named 'sphinx.ext.*') or your custom ones. +extensions = ['sphinx.ext.autodoc', 'sphinx.ext.intersphinx', 'sphinx.ext.todo', 'sphinx.ext.viewcode'] + +# Add any paths that contain templates here, relative to this directory. +templates_path = ['_templates'] + +# The suffix of source filenames. +source_suffix = '.rst' + +# The encoding of source files. +#source_encoding = 'utf-8-sig' + +# The master toctree document. +master_doc = 'index' + +# General information about the project. +project = u'unique_id' +copyright = u'2012, Jack O\'Quin' + +# The version info for the project you're documenting, acts as replacement for +# |version| and |release|, also used in various other places throughout the +# built documents. +# +# The short X.Y version. +version = '0.9' +# The full version, including alpha/beta/rc tags. +release = '0.9.0' + +# The language for content autogenerated by Sphinx. Refer to documentation +# for a list of supported languages. +#language = None + +# There are two options for replacing |today|: either, you set today to some +# non-false value, then it is used: +#today = '' +# Else, today_fmt is used as the format for a strftime call. +#today_fmt = '%B %d, %Y' + +# List of patterns, relative to source directory, that match files and +# directories to ignore when looking for source files. +exclude_patterns = ['_build'] + +# The reST default role (used for this markup: `text`) to use for all documents. +#default_role = None + +# If true, '()' will be appended to :func: etc. cross-reference text. +#add_function_parentheses = True + +# If true, the current module name will be prepended to all description +# unit titles (such as .. function::). +#add_module_names = True + +# If true, sectionauthor and moduleauthor directives will be shown in the +# output. They are ignored by default. +#show_authors = False + +# The name of the Pygments (syntax highlighting) style to use. +pygments_style = 'sphinx' + +# A list of ignored prefixes for module index sorting. +#modindex_common_prefix = [] + + +# -- Options for HTML output --------------------------------------------------- + +# The theme to use for HTML and HTML Help pages. See the documentation for +# a list of builtin themes. +html_theme = 'default' + +# Theme options are theme-specific and customize the look and feel of a theme +# further. For a list of options available for each theme, see the +# documentation. +#html_theme_options = {} + +# Add any paths that contain custom themes here, relative to this directory. +#html_theme_path = [] + +# The name for this set of Sphinx documents. If None, it defaults to +# " v documentation". +#html_title = None + +# A shorter title for the navigation bar. Default is the same as html_title. +#html_short_title = None + +# The name of an image file (relative to this directory) to place at the top +# of the sidebar. +#html_logo = None + +# The name of an image file (within the static path) to use as favicon of the +# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 +# pixels large. +#html_favicon = None + +# Add any paths that contain custom static files (such as style sheets) here, +# relative to this directory. They are copied after the builtin static files, +# so a file named "default.css" will overwrite the builtin "default.css". +html_static_path = [] + +# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, +# using the given strftime format. +#html_last_updated_fmt = '%b %d, %Y' + +# If true, SmartyPants will be used to convert quotes and dashes to +# typographically correct entities. +#html_use_smartypants = True + +# Custom sidebar templates, maps document names to template names. +#html_sidebars = {} + +# Additional templates that should be rendered to pages, maps page names to +# template names. +#html_additional_pages = {} + +# If false, no module index is generated. +#html_domain_indices = True + +# If false, no index is generated. +#html_use_index = True + +# If true, the index is split into individual pages for each letter. +#html_split_index = False + +# If true, links to the reST sources are added to the pages. +#html_show_sourcelink = True + +# If true, "Created using Sphinx" is shown in the HTML footer. Default is True. +#html_show_sphinx = True + +# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. +#html_show_copyright = True + +# If true, an OpenSearch description file will be output, and all pages will +# contain a tag referring to it. The value of this option must be the +# base URL from which the finished HTML is served. +#html_use_opensearch = '' + +# This is the file name suffix for HTML files (e.g. ".xhtml"). +#html_file_suffix = None + +# Output file base name for HTML help builder. +htmlhelp_basename = 'unique_iddoc' + + +# -- Options for LaTeX output -------------------------------------------------- + +latex_elements = { +# The paper size ('letterpaper' or 'a4paper'). +#'papersize': 'letterpaper', + +# The font size ('10pt', '11pt' or '12pt'). +#'pointsize': '10pt', + +# Additional stuff for the LaTeX preamble. +#'preamble': '', +} + +# Grouping the document tree into LaTeX files. List of tuples +# (source start file, target name, title, author, documentclass [howto/manual]). +latex_documents = [ + ('index', 'unique_id.tex', u'ROS support for universally unique identifiers.', + u'Jack O\'Quin', 'manual'), +] + +# The name of an image file (relative to this directory) to place at the top of +# the title page. +#latex_logo = None + +# For "manual" documents, if this is true, then toplevel headings are parts, +# not chapters. +#latex_use_parts = False + +# If true, show page references after internal links. +#latex_show_pagerefs = False + +# If true, show URL addresses after external links. +#latex_show_urls = False + +# Documents to append as an appendix to all manuals. +#latex_appendices = [] + +# If false, no module index is generated. +#latex_domain_indices = True + + +# -- Options for manual page output -------------------------------------------- + +# One entry per manual page. List of tuples +# (source start file, name, description, authors, manual section). +man_pages = [ + ('index', 'unique_id', u'ROS support for universally unique identifiers.', + [u'Jack O\'Quin'], 1) +] + +# If true, show URL addresses after external links. +#man_show_urls = False + + +# -- Options for Texinfo output ------------------------------------------------ + +# Grouping the document tree into Texinfo files. List of tuples +# (source start file, target name, title, author, +# dir menu entry, description, category) +texinfo_documents = [ + ('index', 'unique_id', u'unique_id Documentation', + u'Jack O\'Quin', 'unique_id', 'ROS support for universally unique identifiers.', + 'Miscellaneous'), +] + +# Documents to append as an appendix to all manuals. +#texinfo_appendices = [] + +# If false, no module index is generated. +#texinfo_domain_indices = True + +# How to display URL addresses: 'footnote', 'no', or 'inline'. +#texinfo_show_urls = 'footnote' + + +# Example configuration for intersphinx: refer to the Python standard library. +intersphinx_mapping = {'http://docs.python.org/': None} diff --git a/navigations/unique_identifier/unique_id/include/unique_id/impl/unique_id.h b/navigations/unique_identifier/unique_id/include/unique_id/impl/unique_id.h new file mode 100755 index 0000000..7e9dd94 --- /dev/null +++ b/navigations/unique_identifier/unique_id/include/unique_id/impl/unique_id.h @@ -0,0 +1,115 @@ +/* -*- mode: C++ -*- */ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (C) 2012 Jack O'Quin +* 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 author nor other 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. +*********************************************************************/ + +#ifndef _IMPL_UNIQUE_ID_H_ +#define _IMPL_UNIQUE_ID_H_ 1 + +/** @file + + @brief Private implementation details for C++ unique_id interface. + + @author Jack O'Quin + */ + +#include + +#include + +namespace unique_id +{ + + /** @brief C++ namespace for private implementation details. */ + namespace impl + { + /* Instantiate boost string UUID generator. */ + static boost::uuids::string_generator genString; + + /* Instantiate boost random UUID generator. */ + static boost::uuids::random_generator genRandom; + + /* RFC 4122 namespace for URL identifiers. */ + static const std::string url_namespace = + "6ba7b811-9dad-11d1-80b4-00c04fd430c8"; + + /* RFC 4122 UUID for URL identifiers. */ + static const boost::uuids::uuid url_namespace_uuid = + genString(url_namespace); + + /* Instantiate boost URL name UUID generator. */ + static boost::uuids::name_generator genURL(url_namespace_uuid); + + /* Generate RFC4122 Version 1 Time-Based UUID */ + static boost::uuids::uuid genTime(ros::Time uuid_time, uint64_t hw_addr) + { + // Get no. of 100 nanosecond intervals since 00:00:00 October 15, 1582 + // The RFC4122 standard only requires the least significant 60 bits for timestamp + + // No. of 100 ns intervals between 00:00:00 Oct 15, 1582 and 00:00:00 Jan 1, 1970 + uint64_t offset = 122192928000000000; + + uint64_t num_hundred_epoch = static_cast(uuid_time.sec) / (1e-9 * 100) + + static_cast(uuid_time.nsec) / 100; + // Note: Adding offset in the same line as the above statement may yield incorrect + // values on some systems + uint64_t num_hundred_rfc = num_hundred_epoch + offset; + + uint32_t time_low = static_cast(num_hundred_rfc); + uint16_t time_mid = static_cast(num_hundred_rfc >> 32); + uint16_t version = 0x1000; + uint16_t time_hi_and_version = static_cast(num_hundred_rfc >> (32 + 16)) | version; + + // Generate Clock Sequence ID based on random number + uint16_t clock_seq_and_reserved = (rand() % (1 << 14)) | 0x8000; + + boost::uuids::uuid uu = { + static_cast(time_low >> 24), static_cast(time_low >> 16), + static_cast(time_low >> 8), static_cast(time_low), + static_cast(time_mid >> 8), static_cast(time_mid), + static_cast(time_hi_and_version >> 8), + static_cast(time_hi_and_version), + static_cast(clock_seq_and_reserved >> 8), + static_cast(clock_seq_and_reserved), + static_cast(hw_addr >> 40), static_cast(hw_addr >> 32), + static_cast(hw_addr >> 24), static_cast(hw_addr >> 16), + static_cast(hw_addr >> 8), static_cast(hw_addr) + }; + return uu; + } + + } // end namespace impl + +} // end namespace unique_id + +#endif // _IMPL_UNIQUE_ID_H_ diff --git a/navigations/unique_identifier/unique_id/include/unique_id/unique_id.h b/navigations/unique_identifier/unique_id/include/unique_id/unique_id.h new file mode 100755 index 0000000..ceeefbb --- /dev/null +++ b/navigations/unique_identifier/unique_id/include/unique_id/unique_id.h @@ -0,0 +1,209 @@ +/* -*- mode: C++ -*- */ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (C) 2012 Jack O'Quin +* 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 author nor other 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. +*********************************************************************/ + +#ifndef _UNIQUE_ID_H_ +#define _UNIQUE_ID_H_ 1 + +/** @file + + @brief Helper functions for universally unique identifiers and messages. + + @author Jack O'Quin + */ + +#include + +#include +#include + +#include +#include + +#include // private implementation details + +/** @brief C++ namespace for unique_id helper functions. + * + * Various ROS components use universally unique identifiers. This + * header provides functions for working with a common + * uuid_msgs/UniqueID message, and the boost uuid class. + * + * - http://en.wikipedia.org/wiki/Uuid + * - http://tools.ietf.org/html/rfc4122.html + * - http://www.boost.org/doc/libs/1_42_0/libs/uuid/uuid.html + * + * Programmers are free to create UUID objects using any approved RFC + * 4122 method. The boost uuid interface supports them all. + * + * Functions in this namespace provide simple APIs, not requiring + * detailed knowledge of RFC 4122 or the boost uuid interface. ROS + * applications are likely to need either a random or a name-based + * UUID. + * + * - fromRandom() generates a random UUID. + * - fromURL() generates a name-based UUID from a URL string. + */ +namespace unique_id +{ + +/** @brief Create UUID object from UniqueID message. + * + * @param msg uuid_msgs/UniqueID message. + * @returns boost::uuids::uuid object. + */ +static inline boost::uuids::uuid fromMsg(uuid_msgs::UniqueID const &msg) +{ + boost::uuids::uuid uu{}; + std::copy(msg.uuid.begin(), msg.uuid.end(), uu.begin()); + return uu; +} + +/** @brief Generate a random UUID object. + * + * @returns type 4 boost::uuids::uuid object. + * + * Different calls to this function at any time or place will almost + * certainly generate different UUIDs. The method used is RFC 4122 + * variant 4. + */ +static inline boost::uuids::uuid fromRandom(void) +{ + return impl::genRandom(); +} + +/** @brief Generate UUID from canonical hex string. + * + * @param str string containing canonical hex representation + * @returns corresponding boost::uuids::uuid object. + * + * @note This is not a general service for generating a UUID from an + * arbitrary character string. The fromURL() function will do that + * for any Uniform Resource Identifier. + * + * The canonical hex string is a human-readable representation of a + * correctly-formatted sixteen-byte UUID. In addition to the dashes, + * it should contain exactly 32 hexadecimal digits. The @a str can + * be any accepted by the boost uuid string generator, but that is + * not well-defined. The format produced by toHexString() works + * reliably: "01234567-89ab-cdef-0123-456789abcdef". + * + * @warning Strings not accepted by boost may produce undefined + * results: perhaps throwing a @c std::runtime_error exception, or + * silently ignoring parts of the string. + */ +static inline boost::uuids::uuid fromHexString(std::string const &str) +{ + return impl::genString(str); +} + +/** @brief Generate UUID from Uniform Resource Identifier. + * + * @param url URL for identifier creation. + * @returns type 5 boost::uuids::uuid object. + * + * Matching @a url strings must yield the same UUID. Different @a url + * strings will almost certainly generate different UUIDs. The method + * used is RFC 4122 variant 5, computing the SHA-1 hash of the @a + * url. + * + * For any given @a url, this function returns the same UUID as the + * corresponding Python @c unique_id.fromURL() function. + * + * For example, Open Street Map identifiers are encoded like this, + * with decimal representations of the integer OSM node, way, or + * relation identifiers appended to the URL: + * + * - fromURL("http://openstreetmap.org/node/123456789") + * - fromURL("http://openstreetmap.org/way/6543210") + * - fromURL("http://openstreetmap.org/relation/999999") + */ +static inline boost::uuids::uuid fromURL(std::string const &url) +{ + return impl::genURL(url); +} + +/** @brief Generate a Time Based UUID object. Users are recommended to seed the random + * number generator using srand from the calling application to generate the clock_id + * + * @param timestamp The ros::Time timestamp for UUID generation + * @param hw_addr A 48-bit (6 octets) network address assigned to the 48 LSBs + * @returns type 1 boost::uuids::uuid object. + * + * Different calls to this function at any time or place will almost + * certainly generate different UUIDs. The method used is RFC 4122 + * version 1. + */ +static inline boost::uuids::uuid fromTime(ros::Time timestamp, uint64_t hw_addr) +{ + return impl::genTime(timestamp, hw_addr); +} + +/** @brief Create a UniqueID message from a UUID object. + * + * @param uu boost::uuids::uuid object. + * @returns uuid_msgs/UniqueID message. + */ +static inline uuid_msgs::UniqueID toMsg(boost::uuids::uuid const &uu) +{ + uuid_msgs::UniqueID msg; + std::copy(uu.begin(), uu.end(), msg.uuid.begin()); + return msg; +} + +/** @brief Get the canonical string representation for a boost UUID. + * + * @param uu boost::uuids::uuid object. + * @returns canonical UUID hex string: "01234567-89ab-cdef-0123-456789abcdef". + * + * A @c boost::uuids::uuid object yields the same representation via + * its @c << operator or @c to_string() function. + */ +static inline std::string toHexString(boost::uuids::uuid const &uu) +{ + return boost::uuids::to_string(uu); +} + +/** @brief Get the canonical string representation for a UniqueID message. + * + * @param msg uuid_msgs/UniqueID message. + * @returns canonical UUID hex string: "01234567-89ab-cdef-0123-456789abcdef". + */ +static inline std::string toHexString(uuid_msgs::UniqueID const &msg) +{ + return boost::uuids::to_string(fromMsg(msg)); +} + +} // end namespace unique_id + +#endif // _UNIQUE_ID_H_ diff --git a/navigations/unique_identifier/unique_id/index.rst b/navigations/unique_identifier/unique_id/index.rst new file mode 100755 index 0000000..987e57c --- /dev/null +++ b/navigations/unique_identifier/unique_id/index.rst @@ -0,0 +1,16 @@ +unique_id: ROS universally unique identifier support +==================================================== + +Contents: + +.. toctree:: + :maxdepth: 2 + + unique_id + CHANGELOG + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` diff --git a/navigations/unique_identifier/unique_id/mainpage.dox b/navigations/unique_identifier/unique_id/mainpage.dox new file mode 100755 index 0000000..9169c2d --- /dev/null +++ b/navigations/unique_identifier/unique_id/mainpage.dox @@ -0,0 +1,13 @@ +/** +\mainpage +\htmlinclude manifest.html + +This package provides Python and C++ interfaces for managing +universally unique identifiers. + +There are no ROS nodes or commands. + +Note: For Time-Based UUID generation using the C++ interface + seed the random number generator through srand() + +*/ diff --git a/navigations/unique_identifier/unique_id/package.xml b/navigations/unique_identifier/unique_id/package.xml new file mode 100755 index 0000000..5c6915d --- /dev/null +++ b/navigations/unique_identifier/unique_id/package.xml @@ -0,0 +1,29 @@ + + + + + unique_id + 1.0.6 + + ROS Python and C++ interfaces for universally unique identifiers. + + Jack O'Quin + Jack O'Quin + BSD + http://ros.org/wiki/unique_id + + catkin + python-setuptools + python3-setuptools + + roscpp + rospy + uuid_msgs + + rosunit + + + + + + diff --git a/navigations/unique_identifier/unique_id/rosdoc.yaml b/navigations/unique_identifier/unique_id/rosdoc.yaml new file mode 100755 index 0000000..3f6b24f --- /dev/null +++ b/navigations/unique_identifier/unique_id/rosdoc.yaml @@ -0,0 +1,8 @@ + - builder: doxygen + name: C++ API + output_dir: c++ + file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox' + - builder: sphinx + name: Python API + output_dir: python + diff --git a/navigations/unique_identifier/unique_id/setup.py b/navigations/unique_identifier/unique_id/setup.py new file mode 100755 index 0000000..79ac0db --- /dev/null +++ b/navigations/unique_identifier/unique_id/setup.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python + +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['unique_id'], + package_dir={'': 'src'}, + ) + +setup(**d) diff --git a/navigations/unique_identifier/unique_id/src/unique_id/__init__.py b/navigations/unique_identifier/unique_id/src/unique_id/__init__.py new file mode 100755 index 0000000..86eafb4 --- /dev/null +++ b/navigations/unique_identifier/unique_id/src/unique_id/__init__.py @@ -0,0 +1,146 @@ +# Software License Agreement (BSD License) +# +# Copyright (C) 2012, Jack O'Quin +# 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 author nor of other 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. + +""" +Python module for unique_id helper functions. + +Various ROS components use universally unique identifiers +(UUID_). This module provides functions for working with a common +`uuid_msgs/UniqueID`_ message, and the standard Python +:class:`uuid.UUID` class. + +Programmers are free to create UUID objects using any approved `RFC +4122`_ method. The standard Python :py:mod:`uuid` module supports them +all. + +Functions in this module provide simple APIs, not requiring detailed +knowledge of `RFC 4122`_ or the :py:mod:`uuid` interface. ROS +applications are likely to need either a random or a name-based UUID. + + * :func:`fromRandom` generates a random UUID. + * :func:`fromURL` generates a name-based UUID from a URL string. + +.. _`uuid_msgs/UniqueID`: http://ros.org/doc/api/uuid_msgs/html/msg/UniqueID.html +.. _`RFC 4122`: http://tools.ietf.org/html/rfc4122.html +.. _UUID: http://en.wikipedia.org/wiki/Uuid + +""" + +# enable some python3 compatibility options: +from __future__ import absolute_import, print_function, unicode_literals + +from uuid_msgs.msg import UniqueID + +import uuid + +def fromMsg(msg): + """Create UUID object from UniqueID message. + + :param msg: `uuid_msgs/UniqueID`_ message. + :returns: :class:`uuid.UUID` object. + """ + return uuid.UUID(bytes = msg.uuid) + +def fromRandom(): + """Generate a random UUID object. + + :returns: type 4 :class:`uuid.UUID` object. + + Different calls to this function at any time or place will almost + certainly generate different UUIDs. The method used is `RFC 4122`_ + variant 4. + """ + return uuid.uuid4() + +def fromURL(url): + """Generate UUID from Uniform Resource Locator. + + :param url: URL for identifier creation. + :returns: type 5 :class:`uuid.UUID` object. + + Matching *url* strings must yield the same UUID. Different *url* + strings will almost certainly generate different UUIDs. The method + used is `RFC 4122`_ variant 5, computing the SHA-1 hash of the + *url*. + + For any given *url*, this function returns the same UUID as the + corresponding C++ `unique_id::fromURL()` function. + + For example, Open Street Map identifiers are encoded like this, + with decimal representations of the integer OSM node, way, or + relation identifiers appended to the URL:: + + fromURL('http://openstreetmap.org/node/' + str(node_id)) + fromURL('http://openstreetmap.org/way/' + str(way_id)) + fromURL('http://openstreetmap.org/relation/' + str(rel_id)) + + """ + return uuid.uuid5(uuid.NAMESPACE_URL, url) + +def fromTime(timestamp, hw_addr): + """Generate a Time Based UUID object. + + :param timestamp: The rospy.Time timestamp for UUID generation + :param hw_addr: A 48-bit long representing the network address + :returns: type 1 :class:`uuid.UUID` object + + Different calls to this function at any time or place will almost + certainly generate different UUIDs. The method used is RFC 4122 + version 1. + """ + uu = uuid.uuid1(hw_addr) + offset = 122192928000000000 + nano_epoch = long(timestamp.secs / (100 * 1e-9) + timestamp.nsecs / 100) + # return nano_epoch + nano_rfc = nano_epoch + offset + data = (nano_rfc & 0x0000000FFFFFFFF, (nano_rfc >> 32) & 0x000FFFF, (nano_rfc >> 48) | 0x1000, + uu.fields[3], uu.fields[4], uu.fields[5]) + return uuid.UUID(fields=data) + +def toMsg(uuid_obj): + """Create a UniqueID message from a UUID object. + + :param uuid_obj: standard Python :class:`uuid.UUID` object. + :returns: `uuid_msgs/UniqueID`_ message. + """ + return UniqueID(uuid = uuid_obj.bytes) + +def toHexString(msg): + """Get the canonical hexadecimal string representation for a UniqueID message. + + :param msg: `uuid_msgs/UniqueID`_ message. + :returns: UUID hex string: '01234567-89ab-cdef-0123-456789abcdef'. + + A :class:`uuid.UUID` object yields the same representation via the + :py:func:`str` function. + """ + return str(fromMsg(msg)) diff --git a/navigations/unique_identifier/unique_id/tests/CMakeLists.txt b/navigations/unique_identifier/unique_id/tests/CMakeLists.txt new file mode 100755 index 0000000..057b870 --- /dev/null +++ b/navigations/unique_identifier/unique_id/tests/CMakeLists.txt @@ -0,0 +1,15 @@ +### Unit tests +# +# Only configured when CATKIN_ENABLE_TESTING is true. + +# C++ gtests +catkin_add_gtest(test_${PROJECT_NAME} + test_${PROJECT_NAME}.cpp + second_test_${PROJECT_NAME}.cpp) +add_dependencies(test_${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(test_${PROJECT_NAME} + ${Boost_LIBRARIES} + ${catkin_LIBRARIES}) + +# Python nose tests +catkin_add_nosetests(test_${PROJECT_NAME}.py) diff --git a/navigations/unique_identifier/unique_id/tests/second_test_unique_id.cpp b/navigations/unique_identifier/unique_id/tests/second_test_unique_id.cpp new file mode 100755 index 0000000..2f2a711 --- /dev/null +++ b/navigations/unique_identifier/unique_id/tests/second_test_unique_id.cpp @@ -0,0 +1,193 @@ +// +// A second C++ unit test for unique_id interface, which must be able +// to be included in more than one source file. +// + +#include + +#include + +using namespace unique_id; +typedef boost::uuids::uuid uuid; +typedef uuid_msgs::UniqueID UniqueID; + +/////////////////////////////////////////////////////////////// +// Test cases +/////////////////////////////////////////////////////////////// + +// Test random generator +TEST(BoostUUID2, fromRandom) +{ + static const int N = 1000; + uuid uu[N]; + for (int i = 0; i < N; ++i) + { + uu[i] = fromRandom(); + for (int j = i-1; j >= 0; --j) + { + EXPECT_NE(uu[i], uu[j]); + } + } +} + +TEST(BoostUUID2, emptyURL) +{ + std::string s; + uuid x = fromURL(s); + uuid y = fromURL(s); + EXPECT_EQ(x, y); + // MUST yield same result as Python fromURL() function: + EXPECT_EQ(toHexString(x), "1b4db7eb-4057-5ddf-91e0-36dec72071f5"); +} + +TEST(BoostUUID2, sameURL) +{ + std::string s("http://openstreetmap.org/node/1"); + uuid x = fromURL(s); + uuid y = fromURL(s); + EXPECT_EQ(x, y); + // MUST yield same result as Python fromURL() function: + EXPECT_EQ(toHexString(x), "ef362ac8-9659-5481-b954-88e9b741c8f9"); +} + +TEST(BoostUUID2, differentOsmNamespace) +{ + uuid x = fromURL("http://openstreetmap.org/node/1"); + uuid y = fromURL("http://openstreetmap.org/way/1"); + EXPECT_NE(x, y); + // MUST yield same result as Python fromURL() function: + EXPECT_EQ(toHexString(y), "b3180681-b125-5e41-bd04-3c8b046175b4"); +} + +TEST(BoostUUID2, actualOsmNode) +{ + uuid x = fromURL("http://openstreetmap.org/node/1"); + uuid y = fromURL("http://openstreetmap.org/node/152370223"); + EXPECT_NE(x, y); + // MUST yield same result as Python fromURL() function: + EXPECT_EQ(toHexString(y), "8e0b7d8a-c433-5c42-be2e-fbd97ddff9ac"); +} + +TEST(BoostUUID2, fromHexString) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string r = toHexString(fromHexString(s)); + EXPECT_EQ(s, r); +} + +TEST(BoostUUID2, fromStringNoDashes) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string s_hex("da7c242f2efe5175996149cc621b80b9"); + std::string r = toHexString(fromHexString(s_hex)); + EXPECT_EQ(s, r); +} + +TEST(BoostUUID2, fromBracesString) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string s_braces = "{" + s + "}"; + std::string r = toHexString(fromHexString(s_braces)); + EXPECT_EQ(s, r); +} + +TEST(BoostUUID2, fromUrnString) +{ + // This documents boost 1.46.1 behavior, but is an undefined + // fromHexString() input, not really a valid test case. + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string s_urn = "urn:uuid:" + s; + std::string r = toHexString(fromHexString(s_urn)); + EXPECT_NE(s, r); +} + +TEST(BoostUUID2, fromTooLongString) +{ + // This documents boost 1.46.1 behavior, but is an undefined + // fromHexString() input, not really a valid test case. + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string s_too_long = s + "-0001"; + std::string r = toHexString(fromHexString(s_too_long)); + EXPECT_EQ(s, r); +} + +TEST(BoostUUID2, fromTooShortString) +{ + // This documents boost 1.46.1 behavior, but is an undefined + // fromHexString() input, not really a valid test case. + std::string s("da7c242f-2efe-5175-9961-49cc621b80"); + try + { + uuid x = fromHexString(s); + FAIL(); // expected exception not thrown + EXPECT_NE(toHexString(x), s); + } + catch (std::runtime_error &e) + { + EXPECT_EQ(e.what(), std::string("invalid uuid string")); + } + catch (...) + { + FAIL(); // unexpected exception + } +} + +TEST(BoostUUID2, fromBogusString) +{ + // This documents boost 1.46.1 behavior, but is an undefined + // fromHexString() input, not really a valid test case. + std::string s("Invalid UUID string"); + try + { + uuid x = fromHexString(s); + FAIL(); // expected exception not thrown + EXPECT_NE(toHexString(x), s); + } + catch (std::runtime_error &e) + { + EXPECT_EQ(e.what(), std::string("invalid uuid string")); + } + catch (...) + { + FAIL(); // unexpected exception + } +} + +TEST(UniqueID2, nilMessage) +{ + UniqueID x; + UniqueID y = toMsg(uuid()); + EXPECT_EQ(x.uuid, y.uuid); +} + +TEST(UniqueID2, randomMessage) +{ + UniqueID x; + UniqueID y = toMsg(fromRandom()); + EXPECT_NE(x.uuid, y.uuid); +} + +TEST(UniqueID2, equivalentMessages) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + UniqueID x = toMsg(fromHexString(s)); + UniqueID y = toMsg(fromHexString(s)); + EXPECT_EQ(x.uuid, y.uuid); + EXPECT_EQ(s, toHexString(y)); +} + +TEST(UniqueID2, toAndFromMessage) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + uuid x = uuid(fromHexString(s)); + uuid y = fromMsg(toMsg(x)); + EXPECT_EQ(x, y); +} + +TEST(UniqueID2, messageToString) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + UniqueID x = toMsg(fromHexString(s)); + std::string y = toHexString(x); + EXPECT_EQ(s, y); +} diff --git a/navigations/unique_identifier/unique_id/tests/test_unique_id.cpp b/navigations/unique_identifier/unique_id/tests/test_unique_id.cpp new file mode 100755 index 0000000..f32c305 --- /dev/null +++ b/navigations/unique_identifier/unique_id/tests/test_unique_id.cpp @@ -0,0 +1,327 @@ +// +// C++ unit tests for unique_id interface. +// +#include + +#include +#include + +using namespace unique_id; +typedef boost::uuids::uuid uuid; +typedef uuid_msgs::UniqueID UniqueID; + +/////////////////////////////////////////////////////////////// +// Test cases +/////////////////////////////////////////////////////////////// + +// Test random generator +TEST(BoostUUID, fromRandom) +{ + static const int N = 1000; + uuid uu[N]; + for (int i = 0; i < N; ++i) + { + uu[i] = fromRandom(); + for (int j = i-1; j >= 0; --j) + { + EXPECT_NE(uu[i], uu[j]); + } + } +} + +// Test Timebased UUID +TEST(BoostUUID, fromTime) +{ + ros::Time t(1515778146, 239216089); + uint64_t hw_addr = 0xAABBCCDDEEFF; + + // Generate UUID from time and hardware address + uuid uu = fromTime(t, hw_addr); + + // Obtain time since epoch back from the generated uuid + std::vector data(uu.size()); + std::copy(uu.begin(), uu.end(), data.begin()); + + uint64_t timestamp = (static_cast(data[0]) << 24) + (static_cast(data[1]) << 16) + + (static_cast(data[2]) << 8) + static_cast(data[3]) + + (static_cast(data[4]) << 40) + (static_cast(data[5]) << 32) + + (static_cast(data[6] & 0x0F) << 56) + (static_cast(data[7]) << 48); + uint64_t offset = 122192928000000000; // time offset in 100 ns intervals between RFC4122 Timestamp and Epoch Time + uint64_t ns_intervals = timestamp - offset; + uint64_t uu_hw_addr = 0; + for (int8_t i=0; i < 6; i++) + { + uu_hw_addr += static_cast(data[uu.size() - 1 - i]) << 8*i; + } + + ros::Time uu_time; + uu_time.sec = static_cast(ns_intervals / 1e9 * 100); + uu_time.nsec = static_cast((ns_intervals - static_cast(uu_time.sec) / (100 * 1e-9)) * 100); + + EXPECT_EQ(t.sec, uu_time.sec); + // The UUID stores the timestamp in 100ns intervals, + // so we lose precision for the 1's and 10's value of the nanoseconds in the time given + EXPECT_EQ(t.nsec - uu_time.nsec, 89); + EXPECT_EQ(hw_addr, uu_hw_addr); +} + +TEST(BoostUUID, timeWithinSameInterval) +{ + ros::Time t1(1515778146, 239216020); + ros::Time t2(1515778146, 239216080); + uint64_t hw_addr = 0xAABBCCDDEEFF; + + // Generate UUIDs from times and hardware address + uuid uu1 = fromTime(t1, hw_addr); + uuid uu2 = fromTime(t2, hw_addr); + + // Obtain times since epoch back from uu1 + std::vector data(uu1.size()); + std::copy(uu1.begin(), uu1.end(), data.begin()); + + uint64_t timestamp = (static_cast(data[0]) << 24) + (static_cast(data[1]) << 16) + + (static_cast(data[2]) << 8) + static_cast(data[3]) + + (static_cast(data[4]) << 40) + (static_cast(data[5]) << 32) + + (static_cast(data[6] & 0x0F) << 56) + (static_cast(data[7]) << 48); + uint64_t offset = 122192928000000000; // time offset in 100 ns intervals between RFC4122 Timestamp and Epoch Time + uint64_t ns_intervals = timestamp - offset; + + ros::Time uu1_time; + uu1_time.sec = static_cast(ns_intervals / 1e9 * 100); + uu1_time.nsec = static_cast((ns_intervals - static_cast(uu1_time.sec) / (100 * 1e-9)) * 100); + + // Obtain times since epoch back from uu2 + std::copy(uu2.begin(), uu2.end(), data.begin()); + + timestamp = (static_cast(data[0]) << 24) + (static_cast(data[1]) << 16) + + (static_cast(data[2]) << 8) + static_cast(data[3]) + + (static_cast(data[4]) << 40) + (static_cast(data[5]) << 32) + + (static_cast(data[6] & 0x0F) << 56) + (static_cast(data[7]) << 48); + ns_intervals = timestamp - offset; + + ros::Time uu2_time; + uu2_time.sec = static_cast(ns_intervals / 1e9 * 100); + uu2_time.nsec = static_cast((ns_intervals - static_cast(uu2_time.sec) / (100 * 1e-9)) * 100); + + // Compare + // Since both timestamps were in the same 100ns interval, should get same timestamp + EXPECT_EQ(uu1_time.sec, uu2_time.sec); + EXPECT_EQ(uu1_time.nsec, uu2_time.nsec); + + // While timestamps are the same, the clock_id is a randomly generated 14-bit value + // So, we should still expect the uuids generated to be different + EXPECT_NE(uu1, uu2); +} + +TEST(BoostUUID, timeWithinDifferentInterval) +{ + ros::Time t1(1515778146, 239216020); + ros::Time t2(1515778146, 239216120); + uint64_t hw_addr = 0xAABBCCDDEEFF; + + // Generate UUIDs from times and hardware address + uuid uu1 = fromTime(t1, hw_addr); + uuid uu2 = fromTime(t2, hw_addr); + + // Obtain times since epoch back from uu1 + std::vector data(uu1.size()); + std::copy(uu1.begin(), uu1.end(), data.begin()); + + uint64_t timestamp = (static_cast(data[0]) << 24) + (static_cast(data[1]) << 16) + + (static_cast(data[2]) << 8) + static_cast(data[3]) + + (static_cast(data[4]) << 40) + (static_cast(data[5]) << 32) + + (static_cast(data[6] & 0x0F) << 56) + (static_cast(data[7]) << 48); + uint64_t offset = 122192928000000000; // time offset in 100 ns intervals between RFC4122 Timestamp and Epoch Time + uint64_t ns_intervals = timestamp - offset; + + ros::Time uu1_time; + uu1_time.sec = static_cast(ns_intervals / 1e9 * 100); + uu1_time.nsec = static_cast((ns_intervals - static_cast(uu1_time.sec) / (100 * 1e-9)) * 100); + + // Obtain times since epoch back from uu2 + std::copy(uu2.begin(), uu2.end(), data.begin()); + + timestamp = (static_cast(data[0]) << 24) + (static_cast(data[1]) << 16) + + (static_cast(data[2]) << 8) + static_cast(data[3]) + + (static_cast(data[4]) << 40) + (static_cast(data[5]) << 32) + + (static_cast(data[6] & 0x0F) << 56) + (static_cast(data[7]) << 48); + ns_intervals = timestamp - offset; + + ros::Time uu2_time; + uu2_time.sec = static_cast(ns_intervals / 1e9 * 100); + uu2_time.nsec = static_cast((ns_intervals - static_cast(uu2_time.sec) / (100 * 1e-9)) * 100); + + // Compare + // Since both timestamps were in different 100ns intervals, should get different timestamps (at the ns level) + EXPECT_EQ(uu1_time.sec, uu2_time.sec); + EXPECT_NE(uu1_time.nsec, uu2_time.nsec); +} + +TEST(BoostUUID, emptyURL) +{ + std::string s; + uuid x = fromURL(s); + uuid y = fromURL(s); + EXPECT_EQ(x, y); + // MUST yield same result as Python fromURL() function: + EXPECT_EQ(toHexString(x), "1b4db7eb-4057-5ddf-91e0-36dec72071f5"); +} + +TEST(BoostUUID, sameURL) +{ + std::string s("http://openstreetmap.org/node/1"); + uuid x = fromURL(s); + uuid y = fromURL(s); + EXPECT_EQ(x, y); + // MUST yield same result as Python fromURL() function: + EXPECT_EQ(toHexString(x), "ef362ac8-9659-5481-b954-88e9b741c8f9"); +} + +TEST(BoostUUID, differentOsmNamespace) +{ + uuid x = fromURL("http://openstreetmap.org/node/1"); + uuid y = fromURL("http://openstreetmap.org/way/1"); + EXPECT_NE(x, y); + // MUST yield same result as Python fromURL() function: + EXPECT_EQ(toHexString(y), "b3180681-b125-5e41-bd04-3c8b046175b4"); +} + +TEST(BoostUUID, actualOsmNode) +{ + uuid x = fromURL("http://openstreetmap.org/node/1"); + uuid y = fromURL("http://openstreetmap.org/node/152370223"); + EXPECT_NE(x, y); + // MUST yield same result as Python fromURL() function: + EXPECT_EQ(toHexString(y), "8e0b7d8a-c433-5c42-be2e-fbd97ddff9ac"); +} + +TEST(BoostUUID, fromHexString) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string r = toHexString(fromHexString(s)); + EXPECT_EQ(s, r); +} + +TEST(BoostUUID, fromStringNoDashes) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string s_hex("da7c242f2efe5175996149cc621b80b9"); + std::string r = toHexString(fromHexString(s_hex)); + EXPECT_EQ(s, r); +} + +TEST(BoostUUID, fromBracesString) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string s_braces = "{" + s + "}"; + std::string r = toHexString(fromHexString(s_braces)); + EXPECT_EQ(s, r); +} + +TEST(BoostUUID, fromUrnString) +{ + // This documents boost 1.46.1 behavior, but is an undefined + // fromHexString() input, not really a valid test case. + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string s_urn = "urn:uuid:" + s; + std::string r = toHexString(fromHexString(s_urn)); + EXPECT_NE(s, r); +} + +TEST(BoostUUID, fromTooLongString) +{ + // This documents boost 1.46.1 behavior, but is an undefined + // fromHexString() input, not really a valid test case. + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + std::string s_too_long = s + "-0001"; + std::string r = toHexString(fromHexString(s_too_long)); + EXPECT_EQ(s, r); +} + +TEST(BoostUUID, fromTooShortString) +{ + // This documents boost 1.46.1 behavior, but is an undefined + // fromHexString() input, not really a valid test case. + std::string s("da7c242f-2efe-5175-9961-49cc621b80"); + try + { + uuid x = fromHexString(s); + FAIL(); // expected exception not thrown + EXPECT_NE(toHexString(x), s); + } + catch (std::runtime_error &e) + { + EXPECT_EQ(e.what(), std::string("invalid uuid string")); + } + catch (...) + { + FAIL(); // unexpected exception + } +} + +TEST(BoostUUID, fromBogusString) +{ + // This documents boost 1.46.1 behavior, but is an undefined + // fromHexString() input, not really a valid test case. + std::string s("Invalid UUID string"); + try + { + uuid x = fromHexString(s); + FAIL(); // expected exception not thrown + EXPECT_NE(toHexString(x), s); + } + catch (std::runtime_error &e) + { + EXPECT_EQ(e.what(), std::string("invalid uuid string")); + } + catch (...) + { + FAIL(); // unexpected exception + } +} + +TEST(UniqueID, nilMessage) +{ + UniqueID x; + UniqueID y = toMsg(uuid()); + EXPECT_EQ(x.uuid, y.uuid); +} + +TEST(UniqueID, randomMessage) +{ + UniqueID x; + UniqueID y = toMsg(fromRandom()); + EXPECT_NE(x.uuid, y.uuid); +} + +TEST(UniqueID, equivalentMessages) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + UniqueID x = toMsg(fromHexString(s)); + UniqueID y = toMsg(fromHexString(s)); + EXPECT_EQ(x.uuid, y.uuid); + EXPECT_EQ(s, toHexString(y)); +} + +TEST(UniqueID, toAndFromMessage) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + uuid x = uuid(fromHexString(s)); + uuid y = fromMsg(toMsg(x)); + EXPECT_EQ(x, y); +} + +TEST(UniqueID, messageToString) +{ + std::string s("da7c242f-2efe-5175-9961-49cc621b80b9"); + UniqueID x = toMsg(fromHexString(s)); + std::string y = toHexString(x); + EXPECT_EQ(s, y); +} + +// Run all the tests that were declared with TEST() +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/navigations/unique_identifier/unique_id/tests/test_unique_id.py b/navigations/unique_identifier/unique_id/tests/test_unique_id.py new file mode 100755 index 0000000..94171cf --- /dev/null +++ b/navigations/unique_identifier/unique_id/tests/test_unique_id.py @@ -0,0 +1,202 @@ +#!/usr/bin/env python + +# enable some python3 compatibility options: +# (unicode_literals not compatible with python2 uuid module) +from __future__ import absolute_import, print_function + +import sys +import unittest + +import uuid # standard Python module + +import rospy +from uuid_msgs.msg import UniqueID +from unique_id import * + +class TestPythonUUID(unittest.TestCase): + """Unit tests for Python UUID generation. + """ + + # random UUID generation tests + def test_random_uuids(self): + N = 1000 + uu = [] + for i in xrange(N): + uu.append(fromRandom()) + self.assertEqual(type(uu[i]), uuid.UUID) + for j in xrange(i-1, -1, -1): + self.assertNotEqual(uu[i], uu[j]) + + # UUID generation from URL tests + def test_empty_url(self): + x = fromURL('') + self.assertEqual(type(x), uuid.UUID) + y = fromURL('') + self.assertEqual(type(y), uuid.UUID) + self.assertEqual(x, y) + # MUST yield same result as C++ fromURL() function: + self.assertEqual(str(x), "1b4db7eb-4057-5ddf-91e0-36dec72071f5") + + def test_same_url(self): + x = fromURL('http://openstreetmap.org/node/1') + self.assertEqual(type(x), uuid.UUID) + y = fromURL('http://openstreetmap.org/node/1') + self.assertEqual(type(y), uuid.UUID) + self.assertEqual(x, y) + # MUST yield same result as C++ fromURL() function: + self.assertEqual(str(x), 'ef362ac8-9659-5481-b954-88e9b741c8f9') + + def test_same_id_different_osm_namespace(self): + x = fromURL('http://openstreetmap.org/node/1') + y = fromURL('http://openstreetmap.org/way/1') + self.assertNotEqual(x, y) + # MUST yield same result as C++ fromURL() function: + self.assertEqual(str(y), 'b3180681-b125-5e41-bd04-3c8b046175b4') + + def test_actual_osm_node_id(self): + x = fromURL('http://openstreetmap.org/node/1') + y = fromURL('http://openstreetmap.org/node/152370223') + self.assertNotEqual(x, y) + # MUST yield same result as C++ fromURL() function: + self.assertEqual(str(y), '8e0b7d8a-c433-5c42-be2e-fbd97ddff9ac') + + def test_route_segment(self): + start = 'da7c242f-2efe-5175-9961-49cc621b80b9' + end = '812f1c08-a34b-5a21-92b9-18b2b0cf4950' + x = fromURL('http://ros.org/wiki/road_network/' + start + '/' + end) + y = fromURL('http://ros.org/wiki/road_network/' + end + '/' + start) + self.assertNotEqual(x, y) + # MUST yield same result as C++ fromURL() function: + self.assertEqual(str(x), 'acaa906e-8411-5b45-a446-ccdc2fc39f29') + + # UniqueID message generation tests + def test_msg_creation(self): + msg = toMsg(fromURL('http://openstreetmap.org/node/152370223')) + self.assertEqual(toHexString(msg), + '8e0b7d8a-c433-5c42-be2e-fbd97ddff9ac') + + def test_msg_same_id_different_namespace(self): + x = toMsg(fromURL('http://openstreetmap.org/node/1')) + y = toMsg(fromURL('http://openstreetmap.org/way/1')) + self.assertNotEqual(x, y) + self.assertEqual(toHexString(y), + 'b3180681-b125-5e41-bd04-3c8b046175b4') + + def test_msg_route_segment(self): + start = 'da7c242f-2efe-5175-9961-49cc621b80b9' + end = '812f1c08-a34b-5a21-92b9-18b2b0cf4950' + x = toMsg(fromURL('http://ros.org/wiki/road_network/' + + start + '/' + end)) + y = toMsg(fromURL('http://ros.org/wiki/road_network/' + + end + '/' + start)) + self.assertNotEqual(x, y) + self.assertEqual(toHexString(x), + 'acaa906e-8411-5b45-a446-ccdc2fc39f29') + + def test_nil_msg(self): + x = UniqueID() + y = toMsg(uuid.UUID(hex='00000000-0000-0000-0000-000000000000')) + self.assertEqual(x, y) + + def test_random_msg(self): + x = UniqueID() + y = toMsg(fromRandom()) + self.assertNotEqual(x, y) + + def test_equivalent_msgs(self): + s = 'da7c242f-2efe-5175-9961-49cc621b80b9' + x = toMsg(uuid.UUID(s)) + y = toMsg(uuid.UUID(s)) + self.assertEqual(x, y) + self.assertEqual(s, toHexString(y)) + + def test_to_and_from_msg(self): + x = uuid.UUID('da7c242f-2efe-5175-9961-49cc621b80b9') + y = (fromMsg(toMsg(x))) + self.assertEqual(x, y) + self.assertEqual(type(y), uuid.UUID) + + def test_msg_to_string(self): + s = 'da7c242f-2efe-5175-9961-49cc621b80b9' + x = toMsg(uuid.UUID(s)) + y = toHexString(x) + self.assertEqual(s, y) + self.assertEqual(type(y), str) + + # UUID Time-Based Generation + def test_time(self): + hw_addr = 0xAABBCCDDEEFF + t = rospy.Time(1515778146, 239216089) + uu = fromTime(t, hw_addr) # generate UUID + offset = 122192928000000000 # in 100ns intervals between RFC4122 timestamp and epoch time + ns_intervals_rfc = uu.fields[0] + (uu.fields[1] << 32) + ((uu.fields[2] & 0x0FFF) << 48) + ns_intervals_epoch = ns_intervals_rfc - offset + uu_time = rospy.Time() + uu_time.secs = long(ns_intervals_epoch / 1e9 * 100) + uu_time.nsecs = long(ns_intervals_epoch - uu_time.secs / (100 * 1e-9)) * 100 + + self.assertEqual(t.secs, uu_time.secs) + # Expect 89ns to be shaved off due to timestamp being stored in 100ns intervals + self.assertEqual(t.nsecs - uu_time.nsecs, 89) + # Should be able to retrieve the hardware id + self.assertEqual(hw_addr, uu.fields[5]) + + def test_time_same_interval(self): + hw_addr = 0xAABBCCDDEEFF + t1 = rospy.Time(1515778146, 239216020) + t2 = rospy.Time(1515778146, 239216080) + uu1 = fromTime(t1, hw_addr) # generate UUID for t1 + uu2 = fromTime(t2, hw_addr) # generate UUID for t2 + offset = 122192928000000000 # in 100ns intervals between RFC4122 timestamp and epoch time + + # Get time associated with uuid uu1 + ns_intervals_rfc = uu1.fields[0] + (uu1.fields[1] << 32) + ((uu1.fields[2] & 0x0FFF) << 48) + ns_intervals_epoch = ns_intervals_rfc - offset + uu1_time = rospy.Time() + uu1_time.secs = long(ns_intervals_epoch / 1e9 * 100) + uu1_time.nsecs = long(ns_intervals_epoch - uu1_time.secs / (100 * 1e-9)) * 100 + + # Get time associated with uuid uu2 + ns_intervals_rfc = uu2.fields[0] + (uu2.fields[1] << 32) + ((uu2.fields[2] & 0x0FFF) << 48) + ns_intervals_epoch = ns_intervals_rfc - offset + uu2_time = rospy.Time() + uu2_time.secs = long(ns_intervals_epoch / 1e9 * 100) + uu2_time.nsecs = long(ns_intervals_epoch - uu2_time.secs / (100 * 1e-9)) * 100 + + self.assertEqual(uu1_time.secs, uu2_time.secs) + # Timestamps should be same as they were generated for timestamps in the same 100ns interval + self.assertEqual(uu1_time.nsecs, uu2_time.nsecs) + # UUIDs should be different due to different (hopefully) randomly generated 14-bit clock ids + self.assertNotEqual(uu1, uu2) + + def test_time_different_interval(self): + hw_addr = 0xAABBCCDDEEFF + t1 = rospy.Time(1515778146, 239216020) + t2 = rospy.Time(1515778146, 239216120) + uu1 = fromTime(t1, hw_addr) # generate UUID for t1 + uu2 = fromTime(t2, hw_addr) # generate UUID for t2 + offset = 122192928000000000 # in 100ns intervals between RFC4122 timestamp and epoch time + + # Get time associated with uuid uu1 + ns_intervals_rfc = uu1.fields[0] + (uu1.fields[1] << 32) + ((uu1.fields[2] & 0x0FFF) << 48) + ns_intervals_epoch = ns_intervals_rfc - offset + uu1_time = rospy.Time() + uu1_time.secs = long(ns_intervals_epoch / 1e9 * 100) + uu1_time.nsecs = long(ns_intervals_epoch - uu1_time.secs / (100 * 1e-9)) * 100 + + # Get time associated with uuid uu2 + ns_intervals_rfc = uu2.fields[0] + (uu2.fields[1] << 32) + ((uu2.fields[2] & 0x0FFF) << 48) + ns_intervals_epoch = ns_intervals_rfc - offset + uu2_time = rospy.Time() + uu2_time.secs = long(ns_intervals_epoch / 1e9 * 100) + uu2_time.nsecs = long(ns_intervals_epoch - uu2_time.secs / (100 * 1e-9)) * 100 + + # Timestamps were generated for the same second + self.assertEqual(uu1_time.secs, uu2_time.secs) + # Timestamps should be different as they were generated for times in different 100ns intervals + self.assertNotEqual(uu1_time.nsecs, uu2_time.nsecs) + + +if __name__ == '__main__': + import rosunit + rosunit.unitrun('unique_id', 'test_uuid_py', TestPythonUUID) diff --git a/navigations/unique_identifier/unique_id/unique_id.rst b/navigations/unique_identifier/unique_id/unique_id.rst new file mode 100755 index 0000000..d78213c --- /dev/null +++ b/navigations/unique_identifier/unique_id/unique_id.rst @@ -0,0 +1,5 @@ +unique_id +--------- + +.. automodule:: unique_id + :members: diff --git a/navigations/unique_identifier/unique_identifier/CHANGELOG.rst b/navigations/unique_identifier/unique_identifier/CHANGELOG.rst new file mode 100755 index 0000000..876c094 --- /dev/null +++ b/navigations/unique_identifier/unique_identifier/CHANGELOG.rst @@ -0,0 +1,49 @@ +Change history +============== + +1.0.6 (2017-04-04) +------------------ + +1.0.5 (2015-04-17) +------------------ + +1.0.4 (2014-04-30) +------------------ + + * add architecture independent tag + +1.0.3 (2013-07-24) +------------------ + +1.0.2 (2013-07-18) +------------------- + + * Add missing metapackage dependency on catkin (`#5`_). + +1.0.1 (2013-03-25) +------------------- + + * Hydro release update. + +1.0.0 (2013-03-18) +------------------- + + * Hydro release. + * Convert to catkin (`#1`_). + * Make **unique_identifier** into a metapackage, depending on the + **uuid_msgs** and **unique_id** packages. It should only be used + for dependencies in dry stacks. Wet packages will depend directly + on **uuid_msgs** and **unique_id**. + +0.9.0 (2013-01-03) +------------------ + + * Initial release to Groovy. + +0.8.0 (2012-07-19) +------------------ + + * Initial release to Fuerte. + +.. _`#1`: https://github.com/ros-geographic-info/unique_identifier/issues/1 +.. _`#5`: https://github.com/ros-geographic-info/unique_identifier/issues/5 diff --git a/navigations/unique_identifier/unique_identifier/CMakeLists.txt b/navigations/unique_identifier/unique_identifier/CMakeLists.txt new file mode 100755 index 0000000..135f2c8 --- /dev/null +++ b/navigations/unique_identifier/unique_identifier/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(unique_identifier) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/navigations/unique_identifier/unique_identifier/package.xml b/navigations/unique_identifier/unique_identifier/package.xml new file mode 100755 index 0000000..962a70d --- /dev/null +++ b/navigations/unique_identifier/unique_identifier/package.xml @@ -0,0 +1,30 @@ + + + + + unique_identifier + 1.0.6 + + ROS messages and interfaces for universally unique identifiers. + + Not needed for wet packages, use only to resolve dry stack + dependencies. + + Jack O'Quin + Jack O'Quin + BSD + http://ros.org/wiki/unique_identifier + https://github.com/ros-geographic-info/unique_identifier + https://github.com/ros-geographic-info/unique_identifier/issues + + catkin + + unique_id + uuid_msgs + + + + + + + diff --git a/navigations/unique_identifier/uuid_msgs/CHANGELOG.rst b/navigations/unique_identifier/uuid_msgs/CHANGELOG.rst new file mode 100755 index 0000000..5763ace --- /dev/null +++ b/navigations/unique_identifier/uuid_msgs/CHANGELOG.rst @@ -0,0 +1,43 @@ +Change history +============== + +1.0.6 (2017-04-04) +------------------ + +1.0.5 (2015-04-17) +------------------ + +1.0.4 (2014-04-30) +------------------ + + * add architecture independent tag + +1.0.3 (2013-07-24) +------------------ + +1.0.2 (2013-07-18) +------------------- + +1.0.1 (2013-03-25) +------------------- + + * Hydro release update. + +1.0.0 (2013-03-18) +------------------- + + * Hydro release. + * Convert to catkin (`#1`_). + +0.9.0 (2013-01-03) +------------------ + + * Initial release to Groovy. + +0.8.0 (2012-07-19) +------------------ + + * Initial release to Fuerte. + * Provides uuid_msgs/UniqueID message. + +.. _`#1`: https://github.com/ros-geographic-info/unique_identifier/issues/1 diff --git a/navigations/unique_identifier/uuid_msgs/CMakeLists.txt b/navigations/unique_identifier/uuid_msgs/CMakeLists.txt new file mode 100755 index 0000000..6d3c5fe --- /dev/null +++ b/navigations/unique_identifier/uuid_msgs/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(uuid_msgs) + +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) +# We want boost/format.hpp, which isn't in its own component. +find_package(Boost REQUIRED) + +add_message_files(DIRECTORY msg FILES UniqueID.msg) +generate_messages(DEPENDENCIES std_msgs) + +catkin_package( + CATKIN_DEPENDS message_runtime std_msgs + DEPENDS Boost) diff --git a/navigations/unique_identifier/uuid_msgs/mainpage.dox b/navigations/unique_identifier/uuid_msgs/mainpage.dox new file mode 100755 index 0000000..3956384 --- /dev/null +++ b/navigations/unique_identifier/uuid_msgs/mainpage.dox @@ -0,0 +1,9 @@ +/** +\mainpage +\htmlinclude manifest.html + +This package contains ROS messages for universally unique identifiers (UUIDs). + +It does not provide any nodes, libraries or scripts. + +*/ diff --git a/navigations/unique_identifier/uuid_msgs/msg/UniqueID.msg b/navigations/unique_identifier/uuid_msgs/msg/UniqueID.msg new file mode 100755 index 0000000..c77b6a7 --- /dev/null +++ b/navigations/unique_identifier/uuid_msgs/msg/UniqueID.msg @@ -0,0 +1,6 @@ +# A universally unique identifier (UUID). +# +# http://en.wikipedia.org/wiki/Universally_unique_identifier +# http://tools.ietf.org/html/rfc4122.html + +uint8[16] uuid diff --git a/navigations/unique_identifier/uuid_msgs/package.xml b/navigations/unique_identifier/uuid_msgs/package.xml new file mode 100755 index 0000000..85138c0 --- /dev/null +++ b/navigations/unique_identifier/uuid_msgs/package.xml @@ -0,0 +1,27 @@ + + + + + uuid_msgs + 1.0.6 + + ROS messages for universally unique identifiers. + + Jack O'Quin + Jack O'Quin + BSD + http://ros.org/wiki/uuid_msgs + + catkin + + message_generation + + std_msgs + + message_runtime + + + + + + diff --git a/not_move_base.png b/not_move_base.png new file mode 100755 index 0000000..6d9abdf Binary files /dev/null and b/not_move_base.png differ diff --git a/simulators/aws-robomaker-small-warehouse-world_h/CMakeLists.txt b/simulators/aws-robomaker-small-warehouse-world_h/CMakeLists.txt new file mode 100755 index 0000000..10812b5 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aws_robomaker_small_warehouse_world) + +find_package(catkin REQUIRED COMPONENTS + gazebo_ros +) + +catkin_package() + +install(DIRECTORY launch models worlds maps rviz + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + diff --git a/simulators/aws-robomaker-small-warehouse-world_h/CODE_OF_CONDUCT.md b/simulators/aws-robomaker-small-warehouse-world_h/CODE_OF_CONDUCT.md new file mode 100755 index 0000000..5b627cf --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/CODE_OF_CONDUCT.md @@ -0,0 +1,4 @@ +## Code of Conduct +This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct). +For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact +opensource-codeofconduct@amazon.com with any additional questions or comments. diff --git a/simulators/aws-robomaker-small-warehouse-world_h/CONTRIBUTING.md b/simulators/aws-robomaker-small-warehouse-world_h/CONTRIBUTING.md new file mode 100755 index 0000000..914e074 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/CONTRIBUTING.md @@ -0,0 +1,61 @@ +# Contributing Guidelines + +Thank you for your interest in contributing to our project. Whether it's a bug report, new feature, correction, or additional +documentation, we greatly value feedback and contributions from our community. + +Please read through this document before submitting any issues or pull requests to ensure we have all the necessary +information to effectively respond to your bug report or contribution. + + +## Reporting Bugs/Feature Requests + +We welcome you to use the GitHub issue tracker to report bugs or suggest features. + +When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn't already +reported the issue. Please try to include as much information as you can. Details like these are incredibly useful: + +* A reproducible test case or series of steps +* The version of our code being used +* Any modifications you've made relevant to the bug +* Anything unusual about your environment or deployment + + +## Contributing via Pull Requests +Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that: + +1. You are working against the latest source on the *master* branch. +2. You check existing open, and recently merged, pull requests to make sure someone else hasn't addressed the problem already. +3. You open an issue to discuss any significant work - we would hate for your time to be wasted. + +To send us a pull request, please: + +1. Fork the repository. +2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change. +3. Ensure local tests pass. +4. Commit to your fork using clear commit messages. +5. Send us a pull request, answering any default questions in the pull request interface. +6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation. + +GitHub provides additional document on [forking a repository](https://help.github.com/articles/fork-a-repo/) and +[creating a pull request](https://help.github.com/articles/creating-a-pull-request/). + + +## Finding contributions to work on +Looking at the existing issues is a great way to find something to contribute on. As our projects, by default, use the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any 'help wanted' issues is a great place to start. + + +## Code of Conduct +This project has adopted the [Amazon Open Source Code of Conduct](https://aws.github.io/code-of-conduct). +For more information see the [Code of Conduct FAQ](https://aws.github.io/code-of-conduct-faq) or contact +opensource-codeofconduct@amazon.com with any additional questions or comments. + + +## Security issue notifications +If you discover a potential security issue in this project we ask that you notify AWS/Amazon Security via our [vulnerability reporting page](http://aws.amazon.com/security/vulnerability-reporting/). Please do **not** create a public github issue. + + +## Licensing + +See the [LICENSE](LICENSE) file for our project's licensing. We will ask you to confirm the licensing of your contribution. + +We may ask you to sign a [Contributor License Agreement (CLA)](http://en.wikipedia.org/wiki/Contributor_License_Agreement) for larger changes. diff --git a/simulators/aws-robomaker-small-warehouse-world_h/LICENSE b/simulators/aws-robomaker-small-warehouse-world_h/LICENSE new file mode 100755 index 0000000..1bb4f21 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/LICENSE @@ -0,0 +1,15 @@ +Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved. + +Permission is hereby granted, free of charge, to any person obtaining a copy of +this software and associated documentation files (the "Software"), to deal in +the Software without restriction, including without limitation the rights to +use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of +the Software, and to permit persons to whom the Software is furnished to do so. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS +FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR +COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER +IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN +CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + diff --git a/simulators/aws-robomaker-small-warehouse-world_h/README.md b/simulators/aws-robomaker-small-warehouse-world_h/README.md new file mode 100755 index 0000000..067252d --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/README.md @@ -0,0 +1,118 @@ +# AWS RoboMaker Small Warehouse World + +![Gazebo01](docs/images/small_warehouse_gazebo.png) + +## AWS Robomaker Small Warehouse World on Gzweb + +![Gzweb01](docs/images/gzweb_aws_warehouse.png) + +This Gazebo world is well suited for organizations who are building and testing robot applications for warehouse and logistics use cases. + +## 3D Models included in this Gazebo World + +| Model (/models) | Picture | +| :------------- |:-------------:| +| **aws_robomaker_warehouse_Bucket_01** | ![Model: Buckets](docs/images/models_buckets.png) +| **aws_robomaker_warehouse_ClutteringA_01, aws_robomaker_warehouse_ClutteringC_01, aws_robomaker_warehouse_ClutteringD_01** | ![Model: Box Clusters](docs/images/models_boxes.png) | +| **aws_robomaker_warehouse_DeskC_01** | ![Model: Desk](docs/images/models_desk.png) +| **aws_robomaker_warehouse_GroundB_01** | ![Model: Ground Paint](docs/images/models_warehouse_ground_paint.png) +| **aws_robomaker_warehouse_TrashCanC_01** | ![Model: Humans](docs/images/models_trashcan.png) +| **aws_robomaker_warehouse_Lamp_01** | ![Model: Ceiling Lamp](docs/images/models_ceiling_lamp.png) +| **aws_robomaker_warehouse_PalletJackB_01** | ![Model: Pallet Jack](docs/images/models_lift.png) +| **aws_robomaker_warehouse_ShelfD_01, aws_robomaker_warehouse_ShelfE_01, aws_robomaker_warehouse_ShelfF_01** | ![Model: Pallet Jack](docs/images/models_shelves.png) + +## Building and Launching the Gazebo World with your ROS Applications + +* Create or update a **.rosinstall** file in the root directory of your ROS workspace. Add the following line to **.rosintall**: + ``` + - git: {local-name: src/aws-robomaker-small-warehouse-world, uri: 'https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git', version: master} + ``` +* Change the directory to your ROS workspace and run `rosws update` + +* Add the following include to the ROS launch file you are using: + ```xml + + + + ... + + ``` + +* Build your application using `colcon` + ```bash + rosws update + rosdep install --from-paths . --ignore-src -r -y + colcon build + ``` + +## Example: Running this world directly in Gazebo without a ROS application + +To open this world in Gazebo, change the directory to your ROS workspace root folder and run: + +```bash +cd aws-robomaker-small-warehouse-world +export GAZEBO_MODEL_PATH=`pwd`/models +gazebo worlds/small_warehouse.world +``` + +## Example: Running this world on Gazebo headless and running the UI on Gzweb +*Tested in ROS Kinetic/Melodic, Gazebo 7/9 with node version 8.11.3/10.22.1* + +To open this world in Gzweb, There are two steps, + +1) In a terminal, change to your ROS workspace root folder and run gzserver with the small warehouse world: + +```bash +cd aws-robomaker-small-warehouse-world +export GAZEBO_MODEL_PATH=`pwd`/models +gzserver worlds/small_warehouse.world +``` + +2) In another terminal, setup and run GzWeb +- Install GzWeb by following the [official documentation](http://gazebosim.org/gzweb#install-collapse-1): + + **Important**: + * The recommended NodeJS versions are 4 up to version 8. + * Watch out for [conflicting installations of Node/NodeJS](https://askubuntu.com/questions/695155/node-nodejs-have-different-version) + * See [Troubleshooting section](http://gazebosim.org/gzweb#install-collapse-3) for other issues + +- Deploy GzWeb + - Approach 1: Copy all the Gazebo models from small-warehouse world to gzweb/http/client/assets/, and run the deploy script + + ```bash + cp -r ~/aws-robomaker-small-warehouse-world/models/. ~/gzweb/http/client/assets + cd ~/gzweb + export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine + npm run deploy + npm start + ``` + + - Approach 2: without copying the Gazebo models, export Gazebo model path and run the deploy script with `-m local` + + ```bash + cd aws-robomaker-small-warehouse-world + export GAZEBO_MODEL_PATH=`pwd`/models + cd ~/gzweb + export GAZEBO_MASTER_URI="http://localhost:11345" # change localhost to IP address of the gzserver machine + npm run deploy --- -m local + npm start + ``` + +## Example: Running this world directly using ROS without a simulated robot + +To launch this base Gazebo world without a robot, clone this repository and run the following commands. **Note: ROS and gazebo must already be installed on the host.** + +```bash +# build for ROS +rosdep install --from-paths . --ignore-src -r -y +colcon build + +# run in ROS +source install/setup.sh +roslaunch aws_robomaker_small_warehouse_world view_small_warehouse.launch +``` +**Visit the [AWS RoboMaker website](https://aws.amazon.com/robomaker/) to learn more about building intelligent robotic applications with Amazon Web Services.** + +## Notes +- Lighting might vary on different system(s) (e.g brighter on system without CPU and darker on system with GPU) +- Adjust lighting parameters in .world file as you need diff --git a/simulators/aws-robomaker-small-warehouse-world_h/docs/.DS_Store b/simulators/aws-robomaker-small-warehouse-world_h/docs/.DS_Store new file mode 100755 index 0000000..0d941ff Binary files /dev/null and b/simulators/aws-robomaker-small-warehouse-world_h/docs/.DS_Store differ diff --git a/simulators/aws-robomaker-small-warehouse-world_h/docs/images/.DS_Store b/simulators/aws-robomaker-small-warehouse-world_h/docs/images/.DS_Store new file mode 100755 index 0000000..5008ddf Binary files /dev/null and b/simulators/aws-robomaker-small-warehouse-world_h/docs/images/.DS_Store differ diff --git 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b/simulators/aws-robomaker-small-warehouse-world_h/launch/small_warehouse.launch new file mode 100755 index 0000000..796a280 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/launch/small_warehouse.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + diff --git a/simulators/aws-robomaker-small-warehouse-world_h/launch/view_small_warehouse.launch b/simulators/aws-robomaker-small-warehouse-world_h/launch/view_small_warehouse.launch new file mode 100755 index 0000000..180df4b --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/launch/view_small_warehouse.launch @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/simulators/aws-robomaker-small-warehouse-world_h/maps.zip b/simulators/aws-robomaker-small-warehouse-world_h/maps.zip new file mode 100755 index 0000000..833ca47 Binary files /dev/null and b/simulators/aws-robomaker-small-warehouse-world_h/maps.zip differ diff --git a/simulators/aws-robomaker-small-warehouse-world_h/maps/.DS_Store b/simulators/aws-robomaker-small-warehouse-world_h/maps/.DS_Store new file mode 100755 index 0000000..2f9ad61 Binary files /dev/null and b/simulators/aws-robomaker-small-warehouse-world_h/maps/.DS_Store differ diff --git a/simulators/aws-robomaker-small-warehouse-world_h/maps/002/map.pgm b/simulators/aws-robomaker-small-warehouse-world_h/maps/002/map.pgm new file mode 100755 index 0000000..37c3924 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/maps/002/map.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.020 m/pix +1536 1504 +255 + \ No newline at end of file diff --git a/simulators/aws-robomaker-small-warehouse-world_h/maps/002/map.yaml b/simulators/aws-robomaker-small-warehouse-world_h/maps/002/map.yaml new file mode 100755 index 0000000..ed90b18 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/maps/002/map.yaml @@ -0,0 +1,7 @@ +image: map.pgm +resolution: 0.020000 +origin: [-10.000000, -20.240000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/simulators/aws-robomaker-small-warehouse-world_h/maps/005/map.pgm b/simulators/aws-robomaker-small-warehouse-world_h/maps/005/map.pgm new file mode 100755 index 0000000..89e5384 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/maps/005/map.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.050 m/pix +640 384 +255 + \ No newline at end of file diff --git a/simulators/aws-robomaker-small-warehouse-world_h/maps/005/map.yaml b/simulators/aws-robomaker-small-warehouse-world_h/maps/005/map.yaml new file mode 100755 index 0000000..fbaf3c8 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/maps/005/map.yaml @@ -0,0 +1,8 @@ +image: map_rotated.png +resolution: 0.050000 +origin: [-7.000, -10.500000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + +# -3.071 3.583 diff --git 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433 1837 1119 434 1838 1120 433 1839 1119 435 1840 1121 431 1841 1122 433 1842 1119 431 1843 1122 428 1844 1123 433 1845 1119 430 1846 1125 434 1847 1120 430 1848 1125 433 1849 1119 428 1850 1124 430 1851 1127 432 1852 1118 434 1853 1120 432 1854 1118 430 1855 1127 429 1856 1126 429 1857 1131 431 1858 1129 432 1859 1128 435 1860 1130 432 1861 1128 431 1862 1129 438 1863 1134 436 1864 1132 437 1865 1133 436 1866 1132 439 1867 1135 437 1868 1133 441 1869 1137 440 1870 1136 443 1871 1139 440 1872 1136 441 1873 1137 442 1874 1138 441 1875 1137 443 1876 1139 439 1877 1140 441 1878 1137 439 1879 1140 436 1880 1141 442 1881 1138 441 1882 1137 436 1883 1142 442 1884 1138 436 1885 1142 438 1886 1143 438 1887 1145 437 1888 1144 442 1889 1138 440 1890 1136 442 1891 1138 437 1892 1144 437 1893 1149 439 1894 1147 440 1895 1146 443 1896 1148 440 1897 1146 439 1898 1147 446 1899 1152 444 1900 1150 445 1901 1151 444 1902 1150 447 1903 1153 445 1904 1151 449 1905 1155 448 1906 1154 451 1907 1157 448 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b/simulators/aws-robomaker-small-warehouse-world_h/models/aws_robomaker_warehouse_WallB_01/model.sdf @@ -0,0 +1,46 @@ + + + + + + 1000 + + 840083.33 + 0 + 0 + 475500.0 + 0 + 1302083.33 + + + + + + model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE + 1 1 1 + + + + + + 0.5 + 0.5 + 0 0 0 + 0 + 0 + + + + + + + + model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE + + + 2 + + +1 + + diff --git a/simulators/aws-robomaker-small-warehouse-world_h/package.xml b/simulators/aws-robomaker-small-warehouse-world_h/package.xml new file mode 100755 index 0000000..d0cd987 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/package.xml @@ -0,0 +1,18 @@ + + + aws_robomaker_small_warehouse_world + 1.0.0 + + AWS RoboMaker package for a warehouse world to use in manufacturing and logistics robot applications. + + Apache 2.0 + AWS RoboMaker + AWS RoboMaker + catkin + gazebo_ros + gazebo + gazebo_plugins + + + + \ No newline at end of file diff --git a/simulators/aws-robomaker-small-warehouse-world_h/rviz/basic_data.rviz b/simulators/aws-robomaker-small-warehouse-world_h/rviz/basic_data.rviz new file mode 100755 index 0000000..63a035d --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/rviz/basic_data.rviz @@ -0,0 +1,314 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Odometry1/Shape1 + Splitter Ratio: 0.5 + Tree Height: 747 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan + - Class: rviz/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5 + - Class: rviz/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Keep: 3 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 85; 0; 255 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 1 + Shaft Radius: 0.100000001 + Value: Arrow + Topic: /boxer_velocity_controller/odom + Unreliable: false + Value: false + - 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; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 6640 + Min Color: 0; 0; 0 + Min Intensity: 104 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.100000001 + Style: Flat Squares + Topic: /front/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/PoseWithCovariance + Color: 255; 25; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.100000001 + Head Radius: 0.0500000007 + Name: PoseWithCovariance + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /amcl_pose + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/TrajectoryPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + 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/PointCloud + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.100000001 + Style: Flat Squares + Topic: /obstacle_pc + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 85; 0; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.100000001 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + 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: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 19.5390034 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + 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: 928 + X: 992 + Y: 24 diff --git a/simulators/aws-robomaker-small-warehouse-world_h/worlds/no_roof_small_warehouse.world b/simulators/aws-robomaker-small-warehouse-world_h/worlds/no_roof_small_warehouse.world new file mode 100755 index 0000000..91fece4 --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/worlds/no_roof_small_warehouse.world @@ -0,0 +1,244 @@ + + + + + 0 0 -9.8 + + 0.001 + 1 + 1000 + + + + + + + + model://aws_robomaker_warehouse_ShelfF_01 + + -5.795143 -0.956635 0 0 0 0 + + + + + model://aws_robomaker_warehouse_WallB_01 + + 0.0 0.0 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfE_01 + + 4.73156 0.57943 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfE_01 + + 4.73156 -4.827049 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfE_01 + + 4.73156 -8.6651 0 0 0 0 + + + + + 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model://aws_robomaker_warehouse_ClutteringC_01 + + 3.324959 3.822449 -0.012064 0 0 1.563871 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 5.54171 3.816475 -0.015663 0 0 -1.583191 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 5.384239 6.137154 0 0 0 3.150000 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 3.236 6.137154 0 0 0 3.150000 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + -1.573677 2.301994 -0.015663 0 0 -3.133191 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + -1.2196 9.407 -0.015663 0 0 1.563871 + + + + + model://aws_robomaker_warehouse_ClutteringD_01 + + -1.634682 -7.811813 -0.319559 0 0 0 + + + + + model://aws_robomaker_warehouse_TrashCanC_01 + + -1.592441 7.715420 0 0 0 0 + + + + + + model://aws_robomaker_warehouse_PalletJackB_01 + + -0.276098 -9.481944 0.023266 0 0 0 + + + + + 0 0 9 0 0 0 + 0.5 0.5 0.5 1 + 0.2 0.2 0.2 1 + + 80 + 0.3 + 0.01 + 0.001 + + 1 + 0.1 0.1 -1 + + + + + -4.70385 10.895 16.2659 -0 0.921795 -1.12701 + orbit + perspective + + + + + diff --git a/simulators/aws-robomaker-small-warehouse-world_h/worlds/small_warehouse.world b/simulators/aws-robomaker-small-warehouse-world_h/worlds/small_warehouse.world new file mode 100755 index 0000000..cb845fd --- /dev/null +++ b/simulators/aws-robomaker-small-warehouse-world_h/worlds/small_warehouse.world @@ -0,0 +1,237 @@ + + + + + 0 0 -9.8 + + 0.001 + 1 + 1000 + + + + + + model://aws_robomaker_warehouse_RoofB_01 + + 0.0 0.0 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfF_01 + + -5.795143 -0.956635 0 0 0 0 + + + + + model://aws_robomaker_warehouse_WallB_01 + + 0.0 0.0 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfE_01 + + 4.73156 0.57943 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfE_01 + + 4.73156 -4.827049 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfE_01 + + 4.73156 -8.6651 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfD_01 + + 4.73156 -1.242668 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfD_01 + + 4.73156 -3.038551 0 0 0 0 + + + + + model://aws_robomaker_warehouse_ShelfD_01 + + 4.73156 -6.750542 0 0 0 0 + + + + + + + model://aws_robomaker_warehouse_GroundB_01 + + 0.0 0.0 -0.090092 0 0 0 + + + + + model://aws_robomaker_warehouse_Lamp_01 + + 0 0 -4 0 0 0 + + + + + + + model://aws_robomaker_warehouse_Bucket_01 + + 0.433449 9.631706 0 0 0 -1.563161 + + + + + model://aws_robomaker_warehouse_Bucket_01 + + -1.8321 -6.3752 0 0 0 -1.563161 + + + + + model://aws_robomaker_warehouse_Bucket_01 + + 0.433449 8.59 0 0 0 -1.563161 + + + + + model://aws_robomaker_warehouse_ClutteringA_01 + + 5.708138 8.616844 -0.017477 0 0 0 + + + + + model://aws_robomaker_warehouse_ClutteringA_01 + + 3.408638 8.616844 -0.017477 0 0 0 + + + + + model://aws_robomaker_warehouse_ClutteringA_01 + + -1.491287 5.222435 -0.017477 0 0 -1.583185 + + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 3.324959 3.822449 -0.012064 0 0 1.563871 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 5.54171 3.816475 -0.015663 0 0 -1.583191 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 5.384239 6.137154 0 0 0 3.150000 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + 3.236 6.137154 0 0 0 3.150000 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + -1.573677 2.301994 -0.015663 0 0 -3.133191 + + + + + model://aws_robomaker_warehouse_ClutteringC_01 + + -1.2196 9.407 -0.015663 0 0 1.563871 + + + + + model://aws_robomaker_warehouse_ClutteringD_01 + + -1.634682 -7.811813 -0.319559 0 0 0 + + + + + model://aws_robomaker_warehouse_TrashCanC_01 + + -1.592441 7.715420 0 0 0 0 + + + + + + model://aws_robomaker_warehouse_PalletJackB_01 + + -0.276098 -9.481944 0.023266 0 0 0 + + + + + 0 0 9 0 0 0 + 0.5 0.5 0.5 1 + 0.2 0.2 0.2 1 + + 80 + 0.3 + 0.01 + 0.001 + + 1 + 0.1 0.1 -1 + + + + + diff --git a/simulators/dynamic_logistics_warehouse_h/CMakeLists.txt b/simulators/dynamic_logistics_warehouse_h/CMakeLists.txt new file mode 100755 index 0000000..80172be --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(dynamic_logistics_warehouse) + +find_package(catkin REQUIRED COMPONENTS + gazebo_ros +) + +catkin_package() + +install(DIRECTORY launch models worlds maps rviz + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + diff --git a/simulators/dynamic_logistics_warehouse_h/LICENSE b/simulators/dynamic_logistics_warehouse_h/LICENSE new file mode 100755 index 0000000..d159169 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/LICENSE @@ -0,0 +1,339 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are 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See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along + with this program; if not, write to the Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. + +Also add information on how to contact you by electronic and paper mail. + +If the program is interactive, make it output a short notice like this +when it starts in an interactive mode: + + Gnomovision version 69, Copyright (C) year name of author + Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, the commands you use may +be called something other than `show w' and `show c'; they could even be +mouse-clicks or menu items--whatever suits your program. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the program, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the program + `Gnomovision' (which makes passes at compilers) written by James Hacker. + + , 1 April 1989 + Ty Coon, President of Vice + +This General Public License does not permit incorporating your program into +proprietary programs. If your program is a subroutine library, you may +consider it more useful to permit linking proprietary applications with the +library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. diff --git a/simulators/dynamic_logistics_warehouse_h/README.md b/simulators/dynamic_logistics_warehouse_h/README.md new file mode 100755 index 0000000..77dd76d --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/README.md @@ -0,0 +1,84 @@ + +# Dynamic_logistics_Warehouse + +Gazebo simulation of dynamics environment in warehouses. An extensive model of AWS-robomaker-small-warehouse. + +### Specifications: +* 9 Actors following different waypoints to perform trajectory path. +* 5 Light sources +* Shelves +* PalletJack +* Desks +* Trashcan +* Cluttering + + + + + +![test](https://user-images.githubusercontent.com/27731036/125352251-98e87180-e393-11eb-8feb-56853ab26f72.gif) + + + + + + + + + +## Building and Launching the Gazebo World with your ROS Applications + +* Create or update a **.rosinstall** file in the root directory of your ROS workspace. Add the following line to **.rosintall**: + + + +* Change the directory to your ROS workspace and run `rosws update` + +* Add the following include to the ROS launch file you are using: + + ```xml + + + + ... + + ``` + +* Build your application using `colcon` + + ```bash + rosws update + rosdep install --from-paths . --ignore-src -r -y + colcon build + ``` + +## Example: Running this world directly in Gazebo without a ROS application + +To open this world in Gazebo, change the directory to your ROS workspace root folder and run: + +```bash +cd dynamic-logistics-warehouse +export GAZEBO_MODEL_PATH=`pwd`/models +gazebo worlds/warehouse.world +``` + + + + + + +## Example: Running this world directly using ROS without a simulated robot + +To launch this base Gazebo world without a robot, clone this repository and run the following commands. **Note: ROS and gazebo must already be installed on the host.** + +```bash +# build for ROS +rosdep install --from-paths . --ignore-src -r -y +colcon build + +# run in ROS +source install/setup.sh +roslaunch dynamic_logistics_warehouse logistics_warehouse.launch +``` +### You can buy me a coffee via: +Buy Me A Coffee diff --git a/simulators/dynamic_logistics_warehouse_h/docs/images/gzweb_aws_warehouse.png b/simulators/dynamic_logistics_warehouse_h/docs/images/gzweb_aws_warehouse.png new file mode 100755 index 0000000..1145de3 Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/docs/images/gzweb_aws_warehouse.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/docs/images/models_boxes.png b/simulators/dynamic_logistics_warehouse_h/docs/images/models_boxes.png new file mode 100755 index 0000000..21cd47b Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/docs/images/models_boxes.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/docs/images/models_buckets.png b/simulators/dynamic_logistics_warehouse_h/docs/images/models_buckets.png new file mode 100755 index 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b/simulators/dynamic_logistics_warehouse_h/docs/images/models_warehouse_ground_paint.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/docs/images/small_warehouse_gazebo.png b/simulators/dynamic_logistics_warehouse_h/docs/images/small_warehouse_gazebo.png new file mode 100755 index 0000000..7778fd9 Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/docs/images/small_warehouse_gazebo.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/launch/logistics_warehouse.launch b/simulators/dynamic_logistics_warehouse_h/launch/logistics_warehouse.launch new file mode 100755 index 0000000..0aa2b7c --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/launch/logistics_warehouse.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + diff --git a/simulators/dynamic_logistics_warehouse_h/maps/002/map.pgm b/simulators/dynamic_logistics_warehouse_h/maps/002/map.pgm new file mode 100755 index 0000000..37c3924 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/002/map.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.020 m/pix +1536 1504 +255 + \ No newline at end of file diff --git a/simulators/dynamic_logistics_warehouse_h/maps/002/map.yaml b/simulators/dynamic_logistics_warehouse_h/maps/002/map.yaml new file mode 100755 index 0000000..ed90b18 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/002/map.yaml @@ -0,0 +1,7 @@ +image: map.pgm +resolution: 0.020000 +origin: [-10.000000, -20.240000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/simulators/dynamic_logistics_warehouse_h/maps/005/map.pgm b/simulators/dynamic_logistics_warehouse_h/maps/005/map.pgm new file mode 100755 index 0000000..89e5384 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/005/map.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.050 m/pix +640 384 +255 + \ No newline at end of file diff --git a/simulators/dynamic_logistics_warehouse_h/maps/005/map.yaml b/simulators/dynamic_logistics_warehouse_h/maps/005/map.yaml new file mode 100755 index 0000000..fbaf3c8 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/005/map.yaml @@ -0,0 +1,8 @@ +image: map_rotated.png +resolution: 0.050000 +origin: [-7.000, -10.500000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + +# -3.071 3.583 diff --git a/simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.pgm b/simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.pgm new file mode 100755 index 0000000..c06a923 Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.pgm differ diff --git a/simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.png b/simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.png new file mode 100755 index 0000000..e1fe0ea Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/maps/005/map_rotated.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/critical_zones.png b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/critical_zones.png new file mode 100755 index 0000000..fb5a153 Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/critical_zones.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/critical_zones.yaml b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/critical_zones.yaml new file mode 100755 index 0000000..80a2da7 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/critical_zones.yaml @@ -0,0 +1,7 @@ +image: critical_zones.png +resolution: 0.050000 +origin: [-51.224998, -51.224998, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/direction_zones.png b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/direction_zones.png new file mode 100755 index 0000000..4cead8a Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/direction_zones.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/direction_zones.yaml b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/direction_zones.yaml new file mode 100755 index 0000000..34d534a --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/direction_zones.yaml @@ -0,0 +1,7 @@ +image: direction_zones.png +resolution: 0.050000 +origin: [-51.224998, -51.224998, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.png b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.png new file mode 100755 index 0000000..e9cb54a Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.yaml b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.yaml new file mode 100755 index 0000000..4045333 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/map_empty.yaml @@ -0,0 +1,7 @@ +image: map_empty.png +resolution: 0.050000 +origin: [-51.224998, -51.224998, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/preferred_zones.yaml b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/preferred_zones.yaml new file mode 100755 index 0000000..7fc1e78 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/preferred_zones.yaml @@ -0,0 +1,7 @@ +image: preferrred_zones.png +resolution: 0.050000 +origin: [-51.224998, -51.224998, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/preferrred_zones.png b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/preferrred_zones.png new file mode 100755 index 0000000..49ae274 Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/preferrred_zones.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/unpreferred_zones.yaml b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/unpreferred_zones.yaml new file mode 100755 index 0000000..5974235 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/unpreferred_zones.yaml @@ -0,0 +1,7 @@ +image: unpreferrred_zones.png +resolution: 0.050000 +origin: [-51.224998, -51.224998, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/unpreferrred_zones.png b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/unpreferrred_zones.png new file mode 100755 index 0000000..88f8562 Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/unpreferrred_zones.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/virtual_walls.png b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/virtual_walls.png new file mode 100755 index 0000000..81346ab Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/virtual_walls.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/virtual_walls.yaml b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/virtual_walls.yaml new file mode 100755 index 0000000..9840d0d --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/virtual_walls.yaml @@ -0,0 +1,7 @@ +image: virtual_walls.png +resolution: 0.050000 +origin: [-51.224998, -51.224998, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.pgm b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.pgm new file mode 100755 index 0000000..01077c0 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.050 m/pix +2048 2048 +255 + \ No newline at end of file diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.png b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.png new file mode 100755 index 0000000..1e93bee Binary files /dev/null and b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.png differ diff --git a/simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.yaml b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.yaml new file mode 100755 index 0000000..a394ba3 --- /dev/null +++ b/simulators/dynamic_logistics_warehouse_h/maps/warehouse/warehouse.yaml @@ -0,0 +1,7 @@ +image: warehouse.png +resolution: 0.050000 +origin: [-51.224998, -51.224998, 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b/simulators/dynamic_logistics_warehouse_h/rviz/basic_data.rviz @@ -0,0 +1,314 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Odometry1/Shape1 + Splitter Ratio: 0.5 + Tree Height: 747 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan + - Class: rviz/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5 + - Class: rviz/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Keep: 3 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Color: 85; 0; 255 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 1 + Shaft Radius: 0.100000001 + Value: Arrow + Topic: /boxer_velocity_controller/odom + Unreliable: false + Value: false + - 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; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 6640 + Min Color: 0; 0; 0 + Min Intensity: 104 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.100000001 + Style: Flat Squares + Topic: /front/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/PoseWithCovariance + Color: 255; 25; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.100000001 + Head Radius: 0.0500000007 + Name: PoseWithCovariance + Shaft Length: 0.5 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /amcl_pose + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /move_base/TrajectoryPlannerROS/global_plan + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + 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/PointCloud + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.100000001 + Style: Flat Squares + Topic: /obstacle_pc + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 85; 0; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.100000001 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + 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: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 19.5390034 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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0 + 8.3 21 1 0 0 0 + + + + 5 + + + + 13.5 28.0 1 0 0 0 + + walk.dae + 1.0 + + + walk.dae + 1.0 + true + + + LHipJoint_LeftUpLeg_collision + LeftUpLeg_LeftLeg_collision + LeftLeg_LeftFoot_collision + LeftFoot_LeftToeBase_collision + RHipJoint_RightUpLeg_collision + RightUpLeg_RightLeg_collision + RightLeg_RightFoot_collision + RightFoot_RightToeBase_collision + Spine_Spine1_collision + Neck_Neck1_collision + Neck1_Head_collision + LeftShoulder_LeftArm_collision + LeftArm_LeftForeArm_collision + LeftForeArm_LeftHand_collision + LeftFingerBase_LeftHandIndex1_collision + RightShoulder_RightArm_collision + RightArm_RightForeArm_collision + RightForeArm_RightHand_collision + RightFingerBase_RightHandIndex1_collision + LowerBack_Spine_collision + 1.2 + 0.4 + True + 5.1 + 6.0 + 2.0 + 20.0 + 15 + 3.0 + 2.0 + 1.0 + + ground_plane + + + 10.5 28.0 1 0 0 0 + 16.5 29.5 1 0 0 0 + + + + + 10.5 25.0 1 0 0 0 + + walk.dae + 1.0 + + + walk.dae + 1.0 + true + + + LHipJoint_LeftUpLeg_collision + LeftUpLeg_LeftLeg_collision + LeftLeg_LeftFoot_collision + LeftFoot_LeftToeBase_collision + RHipJoint_RightUpLeg_collision + RightUpLeg_RightLeg_collision + RightLeg_RightFoot_collision + RightFoot_RightToeBase_collision + Spine_Spine1_collision + Neck_Neck1_collision + Neck1_Head_collision + LeftShoulder_LeftArm_collision + LeftArm_LeftForeArm_collision + LeftForeArm_LeftHand_collision + LeftFingerBase_LeftHandIndex1_collision + RightShoulder_RightArm_collision + RightArm_RightForeArm_collision + RightForeArm_RightHand_collision + RightFingerBase_RightHandIndex1_collision + LowerBack_Spine_collision + 1.2 + 0.4 + True + 5.1 + 6.0 + 2.0 + 20.0 + 15 + 3.0 + 2.0 + 1.0 + + ground_plane + + + 10.5 25.0 1 0 0 0 + 10.5 28.5 1 0 0 0 + + + + + diff --git a/simulators/sim_env/CMakeLists.txt b/simulators/sim_env/CMakeLists.txt new file mode 100755 index 0000000..c854a20 --- /dev/null +++ b/simulators/sim_env/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0.2) +project(sim_env) +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + message_generation + controller_manager + gazebo_ros + rviz +) + +catkin_package( + CATKIN_DEPENDS urdf xacro +) \ No newline at end of file diff --git a/simulators/sim_env/config/amcl_params.yaml b/simulators/sim_env/config/amcl_params.yaml new file mode 100755 index 0000000..65e20d4 --- /dev/null +++ b/simulators/sim_env/config/amcl_params.yaml @@ -0,0 +1,25 @@ +min_particles: 500 +max_particles: 3000 +kld_err: 0.02 +update_min_d: 0.20 +update_min_a: 0.20 +resample_interval: 1 +transform_tolerance: 0.5 +recovery_alpha_slow: 0.00 +recovery_alpha_fast: 0.00 +gui_publish_rate: 50.0 +laser_max_range: 3.5 +laser_max_beams: 180 +laser_z_hit: 0.5 +laser_z_short: 0.05 +laser_z_max: 0.05 +laser_z_rand: 0.5 +laser_sigma_hit: 0.2 +laser_lambda_short: 0.1 +laser_likelihood_max_dist: 2.0 +laser_model_type: "likelihood_field" +odom_model_type: "diff" +odom_alpha1: 0.1 +odom_alpha2: 0.1 +odom_alpha3: 0.1 +odom_alpha4: 0.1 \ No newline at end of file diff --git a/simulators/sim_env/config/costmap/global_costmap_params.yaml b/simulators/sim_env/config/costmap/global_costmap_params.yaml new file mode 100755 index 0000000..344317b --- /dev/null +++ b/simulators/sim_env/config/costmap/global_costmap_params.yaml @@ -0,0 +1,15 @@ +global_costmap: + global_frame: map + robot_base_frame: $(arg prefix)base_footprint + + update_frequency: 1.0 + publish_frequency: 1.0 + transform_tolerance: 0.5 + + static_map: true + # plugins: + # - {name: static_map, type: "costmap_2d::StaticLayer"} + # # - {name: voxel_layer, type: "costmap_2d::VoxelLayer"} + # - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} + # - {name: voronoi_layer, type: "costmap_2d::VoronoiLayer"} + # - {name: inflation_layer, type: "costmap_2d::InflationLayer"} \ No newline at end of file diff --git a/simulators/sim_env/config/costmap/local_costmap_params.yaml b/simulators/sim_env/config/costmap/local_costmap_params.yaml new file mode 100755 index 0000000..ff18013 --- /dev/null +++ b/simulators/sim_env/config/costmap/local_costmap_params.yaml @@ -0,0 +1,17 @@ +local_costmap: + global_frame: odom + robot_base_frame: $(arg prefix)base_footprint + + update_frequency: 10.0 + publish_frequency: 10.0 + transform_tolerance: 0.5 + + static_map: false + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + + # plugins: + # - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} + # - {name: inflation_layer, type: "costmap_2d::InflationLayer"} \ No newline at end of file diff --git a/simulators/sim_env/config/move_base_params.yaml b/simulators/sim_env/config/move_base_params.yaml new file mode 100755 index 0000000..be41f8c --- /dev/null +++ b/simulators/sim_env/config/move_base_params.yaml @@ -0,0 +1,12 @@ +shutdown_costmaps: false + +planner_frequency: 2.0 +planner_patience: 5.0 + +controller_frequency: 10.0 +controller_patience: 15.0 + +oscillation_timeout: 10.0 +oscillation_distance: 0.2 + +conservative_reset_dist: 3.0 diff --git a/simulators/sim_env/config/planner/dwa_planner_params.yaml b/simulators/sim_env/config/planner/dwa_planner_params.yaml new file mode 100755 index 0000000..6873061 --- /dev/null +++ b/simulators/sim_env/config/planner/dwa_planner_params.yaml @@ -0,0 +1,47 @@ +DWAPlanner: + +# Robot Configuration Parameters + max_vel_x: 0.46 + min_vel_x: 0.00 + + max_vel_y: 0.0 + min_vel_y: 0.0 + +# The velocity when robot is moving in a straight line + max_vel_trans: 0.26 + min_vel_trans: 0.13 + + max_vel_theta: 1.82 + min_vel_theta: 0.9 + + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + +# Goal Tolerance Parameters + xy_goal_tolerance: 0.05 + yaw_goal_tolerance: 0.17 + latch_xy_goal_tolerance: false + +# Forward Simulation Parameters + sim_time: 2.0 + vx_samples: 20 + vy_samples: 0 + vth_samples: 40 + controller_frequency: 10.0 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 + goal_distance_bias: 20.0 + occdist_scale: 0.02 + forward_point_distance: 0.325 + stop_time_buffer: 0.2 + scaling_speed: 0.25 + max_scaling_factor: 0.2 + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.05 + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true diff --git a/simulators/sim_env/config/planner/evolutionary_planner_params.yaml b/simulators/sim_env/config/planner/evolutionary_planner_params.yaml new file mode 100755 index 0000000..bc61caa --- /dev/null +++ b/simulators/sim_env/config/planner/evolutionary_planner_params.yaml @@ -0,0 +1,23 @@ +EvolutionaryPlanner: + # offset of transform from world(x,y) to grid map(x,y) + convert_offset: 0.0 + # error tolerance + default_tolerance: 0.0 + # whether outline the map or not + outline_map: true + # obstacle inflation factor + obstacle_factor: 0.5 + + ## Ant Colony Optimization(ACO) planner + # number of ants + n_ants: 50 + # pheromone weight coefficient + alpha: 1.0 + # heuristic factor weight coefficient + beta: 8.0 + # evaporation coefficient + rho: 0.1 + # pheromone gain + Q: 1.0 + # maximum iterations + max_iter: 30 \ No newline at end of file diff --git a/simulators/sim_env/config/planner/graph_planner_params.yaml b/simulators/sim_env/config/planner/graph_planner_params.yaml new file mode 100755 index 0000000..4ec5a8e --- /dev/null +++ b/simulators/sim_env/config/planner/graph_planner_params.yaml @@ -0,0 +1,11 @@ +GraphPlanner: + # offset of transform from world(x,y) to grid map(x,y) + convert_offset: 0.0 + # error tolerance + default_tolerance: 0.0 + # whether outline the map or not + outline_map: true + # obstacle inflation factor + obstacle_factor: 0.5 + # whether publish expand zone or not + expand_zone: true \ No newline at end of file diff --git a/simulators/sim_env/config/planner/pid_planner_params.yaml b/simulators/sim_env/config/planner/pid_planner_params.yaml new file mode 100755 index 0000000..79c4402 --- /dev/null +++ b/simulators/sim_env/config/planner/pid_planner_params.yaml @@ -0,0 +1,29 @@ +PIDPlanner: + # next point distance/turning angle + p_window: 0.2 + o_window: 1.0 + + # goal reached tolerance + p_precision: 0.2 + o_precision: 0.5 + + # linear velocity + max_v: 0.5 + min_v: 0.0 + max_v_inc: 0.5 + + # angular velocity + max_w: 1.57 + min_w: 0.0 + max_w_inc: 1.57 + + # pid controller params + k_v_p: 1.00 + k_v_i: 0.10 + k_v_d: 0.10 + + k_w_p: 1.00 + k_w_i: 0.10 + k_w_d: 0.10 + + k_theta: 0.3 diff --git a/simulators/sim_env/config/planner/sample_planner_params.yaml b/simulators/sim_env/config/planner/sample_planner_params.yaml new file mode 100755 index 0000000..a0a9538 --- /dev/null +++ b/simulators/sim_env/config/planner/sample_planner_params.yaml @@ -0,0 +1,17 @@ +SamplePlanner: + # random sample points + sample_points: 2000 #1000 for informed RRT*, 3000 for others + # max distance between sample points + sample_max_d: 10.0 + # optimization radius + optimization_r: 20.0 + # offset of transform from world(x,y) to grid map(x,y) + convert_offset: 0.0 + # error tolerance + default_tolerance: 0.0 + # whether outline the map or not + outline_map: true + # obstacle inflation factor + obstacle_factor: 0.5 + # whether publish expand zone or not + expand_zone: true \ No newline at end of file diff --git a/simulators/sim_env/config/turtlebot3_burger/costmap_common_params_turtlebot3_burger.yaml b/simulators/sim_env/config/turtlebot3_burger/costmap_common_params_turtlebot3_burger.yaml new file mode 100755 index 0000000..bffd785 --- /dev/null +++ b/simulators/sim_env/config/turtlebot3_burger/costmap_common_params_turtlebot3_burger.yaml @@ -0,0 +1,12 @@ +obstacle_range: 3.0 +raytrace_range: 3.5 + +footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]] +#robot_radius: 0.105 + +inflation_radius: 3.0 +cost_scaling_factor: 3.0 + +map_type: costmap +observation_sources: scan +scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true} \ No newline at end of file diff --git a/simulators/sim_env/config/turtlebot3_waffle/costmap_common_params_turtlebot3_waffle.yaml b/simulators/sim_env/config/turtlebot3_waffle/costmap_common_params_turtlebot3_waffle.yaml new file mode 100755 index 0000000..13d5d14 --- /dev/null +++ b/simulators/sim_env/config/turtlebot3_waffle/costmap_common_params_turtlebot3_waffle.yaml @@ -0,0 +1,12 @@ +obstacle_range: 3.0 +raytrace_range: 3.5 + +footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]] +#robot_radius: 0.17 + +inflation_radius: 1.0 +cost_scaling_factor: 3.0 + +map_type: costmap +observation_sources: scan +scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true, inf_is_valid: true} diff --git a/simulators/sim_env/config/turtlebot3_waffle_pi/costmap_common_params_turtlebot3_waffle_pi.yaml b/simulators/sim_env/config/turtlebot3_waffle_pi/costmap_common_params_turtlebot3_waffle_pi.yaml new file mode 100755 index 0000000..3d5a6d7 --- /dev/null +++ b/simulators/sim_env/config/turtlebot3_waffle_pi/costmap_common_params_turtlebot3_waffle_pi.yaml @@ -0,0 +1,12 @@ +obstacle_range: 3.0 +raytrace_range: 3.5 + +footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]] +#robot_radius: 0.17 + +inflation_radius: 1.0 +cost_scaling_factor: 3.0 + +map_type: costmap +observation_sources: scan +scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true} diff --git a/simulators/sim_env/launch/app/environment_single.launch.xml b/simulators/sim_env/launch/app/environment_single.launch.xml new file mode 100755 index 0000000..e1e6928 --- /dev/null +++ b/simulators/sim_env/launch/app/environment_single.launch.xml @@ -0,0 +1,87 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulators/sim_env/launch/config.launch b/simulators/sim_env/launch/config.launch new file mode 100755 index 0000000..09806a3 --- /dev/null +++ b/simulators/sim_env/launch/config.launch @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulators/sim_env/launch/include/location_methods/amcl.launch.xml b/simulators/sim_env/launch/include/location_methods/amcl.launch.xml new file mode 100755 index 0000000..1125ac3 --- /dev/null +++ b/simulators/sim_env/launch/include/location_methods/amcl.launch.xml @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulators/sim_env/launch/include/navigation/move_base.launch.xml b/simulators/sim_env/launch/include/navigation/move_base.launch.xml new file mode 100755 index 0000000..f82e479 --- /dev/null +++ b/simulators/sim_env/launch/include/navigation/move_base.launch.xml @@ -0,0 +1,130 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulators/sim_env/launch/include/robots/start_robots.launch.xml b/simulators/sim_env/launch/include/robots/start_robots.launch.xml new file mode 100755 index 0000000..931798d --- /dev/null +++ b/simulators/sim_env/launch/include/robots/start_robots.launch.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulators/sim_env/launch/main.launch b/simulators/sim_env/launch/main.launch new file mode 100755 index 0000000..b124157 --- /dev/null +++ b/simulators/sim_env/launch/main.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/simulators/sim_env/launch/realworld/(untested)qbot_navigaition.launch b/simulators/sim_env/launch/realworld/(untested)qbot_navigaition.launch new file mode 100755 index 0000000..35779a1 --- /dev/null +++ b/simulators/sim_env/launch/realworld/(untested)qbot_navigaition.launch @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulators/sim_env/maps/warehouse/warehouse.pgm b/simulators/sim_env/maps/warehouse/warehouse.pgm new file mode 100755 index 0000000..88ec4c3 --- /dev/null +++ b/simulators/sim_env/maps/warehouse/warehouse.pgm @@ -0,0 +1,7 @@ +P5 +# Created by GIMP version 2.10.30 PNM plug-in +480 480 +255 +     +  ,Z}bb~~U  p͜  +  \ No newline at end of file diff --git a/simulators/sim_env/maps/warehouse/warehouse.yaml b/simulators/sim_env/maps/warehouse/warehouse.yaml new file mode 100755 index 0000000..681e554 --- /dev/null +++ b/simulators/sim_env/maps/warehouse/warehouse.yaml @@ -0,0 +1,7 @@ +image: ./warehouse.pgm +resolution: 0.050000 +origin: [-12.000000, -12.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/simulators/sim_env/meshes/turtlebot3/bases/burger_base.stl b/simulators/sim_env/meshes/turtlebot3/bases/burger_base.stl new file mode 100755 index 0000000..270a12c Binary files /dev/null and b/simulators/sim_env/meshes/turtlebot3/bases/burger_base.stl differ diff --git a/simulators/sim_env/meshes/turtlebot3/bases/waffle_base.stl b/simulators/sim_env/meshes/turtlebot3/bases/waffle_base.stl new file mode 100755 index 0000000..e8b4cbc Binary files /dev/null and b/simulators/sim_env/meshes/turtlebot3/bases/waffle_base.stl differ diff --git a/simulators/sim_env/meshes/turtlebot3/bases/waffle_base_for_open_manipulator.stl b/simulators/sim_env/meshes/turtlebot3/bases/waffle_base_for_open_manipulator.stl new file mode 100755 index 0000000..a164dbe Binary files /dev/null and b/simulators/sim_env/meshes/turtlebot3/bases/waffle_base_for_open_manipulator.stl differ diff --git a/simulators/sim_env/meshes/turtlebot3/bases/waffle_pi_base.stl b/simulators/sim_env/meshes/turtlebot3/bases/waffle_pi_base.stl new file mode 100755 index 0000000..8e2bf43 Binary files /dev/null and b/simulators/sim_env/meshes/turtlebot3/bases/waffle_pi_base.stl differ diff --git a/simulators/sim_env/meshes/turtlebot3/bases/waffle_pi_base_for_open_manipulator.stl b/simulators/sim_env/meshes/turtlebot3/bases/waffle_pi_base_for_open_manipulator.stl new file mode 100755 index 0000000..8d167ed Binary files /dev/null and b/simulators/sim_env/meshes/turtlebot3/bases/waffle_pi_base_for_open_manipulator.stl differ diff --git a/simulators/sim_env/meshes/turtlebot3/sensors/astra.dae b/simulators/sim_env/meshes/turtlebot3/sensors/astra.dae new file mode 100755 index 0000000..eb1ea6b --- /dev/null +++ b/simulators/sim_env/meshes/turtlebot3/sensors/astra.dae @@ -0,0 +1,256759 @@ + + + FBX COLLADA exporter2016-03-24T15:23:32Z2016-03-24T15:23:32ZY_UP + + astra.jpg + + + + + + + + + + + + + 0.000000 0.000000 0.000000 1.000000 + + + 0.156863 0.156863 0.156863 1.000000 + + + + + + TRUE + TRUE + ADD + + + + + + 0.684000 0.684000 0.684000 1.000000 + + + 45.254833 + + + 0.000000 0.000000 0.000000 1.000000 + + + 1.000000 + + + 1.000000 1.000000 1.000000 1.000000 + + + 0.000000 + + + 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9666 3013 2943 9667 3012 2940 9668 3009 2946 9669 3015 2943 9670 3012 2944 9671 3013 2946 9672 3015 2945 9673 3014 2943 9674 3012 2948 9675 3017 2945 9676 3014 2946 9677 3015 2948 9678 3017 2947 9679 3016 2945 9680 3014 2952 9681 3021 2947 9682 3016 2948 9683 3017 2952 9684 3021 2949 9685 3018 2947 9686 3016 2952 9687 3021 2950 9688 3019 2949 9689 3018 2952 9690 3021 2951 9691 3020 2950 9692 3019 2954 9693 3023 2951 9694 3020 2952 9695 3021 2954 9696 3023 2953 9697 3022 2951 9698 3020 2959 9699 3028 2953 9700 3022 2954 9701 3023 2959 9702 3028 2955 9703 3024 2953 9704 3022 2958 9705 3027 2928 9706 2997 2956 9707 3025 2958 9708 3027 2957 9709 3026 2928 9710 2997 2922 9711 2991 2957 9712 3026 2958 9713 3027 2922 9714 2991 2959 9715 3028 2957 9716 3026 2922 9717 2991 2955 9718 3024 2959 9719 3028 3023 9720 3092 2960 9721 3029 2962 9722 3031 2962 9723 3031 2961 9724 3030 3023 9725 3092 2964 9726 3033 2961 9727 3030 2962 9728 3031 2964 9729 3033 2963 9730 3032 2961 9731 3030 2966 9732 3035 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9866 3077 3010 9867 3079 3009 9868 3078 3007 9869 3076 3012 9870 3081 3009 9871 3078 3010 9872 3079 3012 9873 3081 3011 9874 3080 3009 9875 3078 3014 9876 3083 3011 9877 3080 3012 9878 3081 3014 9879 3083 3013 9880 3082 3011 9881 3080 3016 9882 3085 3013 9883 3082 3014 9884 3083 3016 9885 3085 3015 9886 3084 3013 9887 3082 3018 9888 3087 3015 9889 3084 3016 9890 3085 3018 9891 3087 3017 9892 3086 3015 9893 3084 3020 9894 3089 3017 9895 3086 3018 9896 3087 3020 9897 3089 3019 9898 3088 3017 9899 3086 3022 9900 3091 3019 9901 3088 3020 9902 3089 3022 9903 3091 3021 9904 3090 3019 9905 3088 2960 9906 3029 3021 9907 3090 3022 9908 3091 2960 9909 3029 3023 9910 3092 3021 9911 3090 3087 9912 3156 3024 9913 3093 3026 9914 3095 3026 9915 3095 3025 9916 3094 3087 9917 3156 3028 9918 3097 3025 9919 3094 3026 9920 3095 3028 9921 3097 3027 9922 3096 3025 9923 3094 3030 9924 3099 3027 9925 3096 3028 9926 3097 3030 9927 3099 3029 9928 3098 3027 9929 3096 3032 9930 3101 3029 9931 3098 3030 9932 3099 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3123 3053 10000 3122 3051 10001 3120 3056 10002 3125 3053 10003 3122 3054 10004 3123 3056 10005 3125 3055 10006 3124 3053 10007 3122 3058 10008 3127 3055 10009 3124 3056 10010 3125 3058 10011 3127 3057 10012 3126 3055 10013 3124 3060 10014 3129 3057 10015 3126 3058 10016 3127 3060 10017 3129 3059 10018 3128 3057 10019 3126 3062 10020 3131 3059 10021 3128 3060 10022 3129 3062 10023 3131 3061 10024 3130 3059 10025 3128 3064 10026 3133 3061 10027 3130 3062 10028 3131 3064 10029 3133 3063 10030 3132 3061 10031 3130 3066 10032 3135 3063 10033 3132 3064 10034 3133 3066 10035 3135 3065 10036 3134 3063 10037 3132 3068 10038 3137 3065 10039 3134 3066 10040 3135 3068 10041 3137 3067 10042 3136 3065 10043 3134 3070 10044 3139 3067 10045 3136 3068 10046 3137 3070 10047 3139 3069 10048 3138 3067 10049 3136 3072 10050 3141 3069 10051 3138 3070 10052 3139 3072 10053 3141 3071 10054 3140 3069 10055 3138 3074 10056 3143 3071 10057 3140 3072 10058 3141 3074 10059 3143 3073 10060 3142 3071 10061 3140 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6 0 6 7 1 7 5 2 5 7 3 7 4 4 4 5 5 5 0 6 8 5 7 10 4 8 11 5 9 10 0 10 8 3 11 9 6 12 15 8 13 20 7 14 14 8 15 20 1 16 13 7 17 14 1 18 13 8 19 20 2 20 12 2 21 12 8 22 20 3 23 566 7 24 19 1 25 16 4 26 18 1 27 16 0 28 17 4 29 18 1 30 1 2 31 2 0 32 0 2 33 2 3 34 3 0 35 0 6 36 23 5 37 21 8 38 24 8 39 24 5 40 21 3 41 22 14 42 54 15 43 55 13 44 53 15 45 55 16 46 56 13 47 53 18 48 60 17 49 57 16 50 59 16 51 59 17 52 57 13 53 58 14 54 63 20 55 64 15 56 62 20 57 64 19 58 61 15 59 62 19 60 61 20 61 64 21 62 65 21 63 65 20 64 64 17 65 567 15 66 67 19 67 68 16 68 66 19 69 68 18 70 69 16 71 66 19 72 72 21 73 73 18 74 71 21 75 73 17 76 70 18 77 71 14 78 75 13 79 76 20 80 74 20 81 74 13 82 76 17 83 77 23 84 79 24 85 80 22 86 78 24 87 80 25 88 81 22 89 78 27 90 85 26 91 82 25 92 84 25 93 84 26 94 82 22 95 83 23 96 88 29 97 89 24 98 87 29 99 89 28 100 86 24 101 87 28 102 86 29 103 89 30 104 90 29 105 89 26 106 568 30 107 90 24 108 92 28 109 93 25 110 91 28 111 93 27 112 94 25 113 91 30 114 98 26 115 95 28 116 97 28 117 97 26 118 95 27 119 96 23 120 100 22 121 101 29 122 99 29 123 99 22 124 101 26 125 102 32 126 104 33 127 105 31 128 103 33 129 105 34 130 106 31 131 103 36 132 110 35 133 107 34 134 109 34 135 109 35 136 107 31 137 108 32 138 113 38 139 114 33 140 112 38 141 114 37 142 111 33 143 112 37 144 111 38 145 114 39 146 115 39 147 115 38 148 114 35 149 569 33 150 117 37 151 118 34 152 116 37 153 118 36 154 119 34 155 116 35 156 120 37 157 122 39 158 123 37 159 122 35 160 120 36 161 121 32 162 125 31 163 126 38 164 124 38 165 124 31 166 126 35 167 127 41 168 129 42 169 130 40 170 128 42 171 130 43 172 131 40 173 128 45 174 135 44 175 132 43 176 134 43 177 134 44 178 132 40 179 133 41 180 138 47 181 139 42 182 137 47 183 139 46 184 136 42 185 137 46 186 136 47 187 139 48 188 140 48 189 140 47 190 139 44 191 570 42 192 142 46 193 143 43 194 141 46 195 143 45 196 144 43 197 141 48 198 148 44 199 145 46 200 147 46 201 147 44 202 145 45 203 146 41 204 150 40 205 151 47 206 149 47 207 149 40 208 151 44 209 152 50 210 154 51 211 155 49 212 153 51 213 155 52 214 156 49 215 153 52 216 159 53 217 157 49 218 158 53 219 157 52 220 159 54 221 160 55 222 161 56 223 164 53 224 571 56 225 164 55 226 161 51 227 162 56 228 164 51 229 162 50 230 163 51 231 167 55 232 168 52 233 166 55 234 168 54 235 169 52 236 166 57 237 173 53 238 170 55 239 172 55 240 172 53 241 170 54 242 171 50 243 175 49 244 176 56 245 174 56 246 174 49 247 176 53 248 177 59 249 179 60 250 180 58 251 178 60 252 180 61 253 181 58 254 178 63 255 185 62 256 182 61 257 184 61 258 184 62 259 182 58 260 183 59 261 188 65 262 189 60 263 187 65 264 189 64 265 186 60 266 187 64 267 186 65 268 189 66 269 190 66 270 190 65 271 189 62 272 572 60 273 192 64 274 193 61 275 191 64 276 193 63 277 194 61 278 191 66 279 198 62 280 195 64 281 197 64 282 197 62 283 195 63 284 196 59 285 200 58 286 201 65 287 199 65 288 199 58 289 201 62 290 202 68 291 204 69 292 205 67 293 203 69 294 205 70 295 206 67 296 203 67 297 208 70 298 209 71 299 207 70 300 209 72 301 210 71 302 207 73 303 211 71 304 573 75 305 215 73 306 211 74 307 214 71 308 573 74 309 214 73 310 211 69 311 212 74 312 214 69 313 212 68 314 213 69 315 217 73 316 218 70 317 216 73 318 218 72 319 219 70 320 216 71 321 220 73 322 222 75 323 223 73 324 222 71 325 220 72 326 221 68 327 225 67 328 226 74 329 224 74 330 224 67 331 226 71 332 227 93 333 277 94 334 278 92 335 276 94 336 278 95 337 279 92 338 276 92 339 281 95 340 282 96 341 280 96 342 280 95 343 282 97 344 283 98 345 284 94 346 285 99 347 287 94 348 285 93 349 286 99 350 287 100 351 288 98 352 284 96 353 574 99 354 287 96 355 574 98 356 284 94 357 290 98 358 291 95 359 289 98 360 291 97 361 292 95 362 289 100 363 296 96 364 293 98 365 295 98 366 295 96 367 293 97 368 294 93 369 298 92 370 299 99 371 297 99 372 297 92 373 299 96 374 300 102 375 302 103 376 303 101 377 301 103 378 303 104 379 304 101 380 301 101 381 306 104 382 307 105 383 305 104 384 307 106 385 308 105 386 305 107 387 309 108 388 312 105 389 575 108 390 312 107 391 309 103 392 310 108 393 312 103 394 310 102 395 311 103 396 315 107 397 316 106 398 317 103 399 315 106 400 317 104 401 314 109 402 321 105 403 318 107 404 320 107 405 320 105 406 318 106 407 319 102 408 323 101 409 324 108 410 322 108 411 322 101 412 324 105 413 325 111 414 327 112 415 328 110 416 326 112 417 328 113 418 329 110 419 326 110 420 331 113 421 332 114 422 330 114 423 330 113 424 332 115 425 333 116 426 334 112 427 335 117 428 337 112 429 335 111 430 336 117 431 337 117 432 337 114 433 576 116 434 334 112 435 340 116 436 341 113 437 339 116 438 341 115 439 342 113 440 339 118 441 346 114 442 343 116 443 345 116 444 345 114 445 343 115 446 344 111 447 348 110 448 349 117 449 347 117 450 347 110 451 349 114 452 350 120 453 352 121 454 353 119 455 351 121 456 353 122 457 354 119 458 351 122 459 357 123 460 355 119 461 356 123 462 355 122 463 357 124 464 358 125 465 359 126 466 362 123 467 577 126 468 362 125 469 359 121 470 360 126 471 362 121 472 360 120 473 361 121 474 365 125 475 366 124 476 367 121 477 365 124 478 367 122 479 364 127 480 371 123 481 368 125 482 370 125 483 370 123 484 368 124 485 369 120 486 373 119 487 374 126 488 372 126 489 372 119 490 374 123 491 375 129 492 377 130 493 378 128 494 376 130 495 378 131 496 379 128 497 376 128 498 381 131 499 382 132 500 380 132 501 380 131 502 382 133 503 383 134 504 384 130 505 385 135 506 387 130 507 385 129 508 386 135 509 387 135 510 387 132 511 578 134 512 384 130 513 390 134 514 391 131 515 389 134 516 391 133 517 392 131 518 389 132 519 393 134 520 395 136 521 396 134 522 395 132 523 393 133 524 394 129 525 398 128 526 399 135 527 397 135 528 397 128 529 399 132 530 400 138 531 402 139 532 403 137 533 401 139 534 403 140 535 404 137 536 401 140 537 407 141 538 405 137 539 406 141 540 405 140 541 407 142 542 408 143 543 409 144 544 412 141 545 579 144 546 412 143 547 409 139 548 410 144 549 412 139 550 410 138 551 411 139 552 415 143 553 416 142 554 417 139 555 415 142 556 417 140 557 414 145 558 421 141 559 418 143 560 420 143 561 420 141 562 418 142 563 419 138 564 423 137 565 424 144 566 422 144 567 422 137 568 424 141 569 425 147 570 427 148 571 428 146 572 426 148 573 428 149 574 429 146 575 426 151 576 433 150 577 430 149 578 432 150 579 430 146 580 431 149 581 432 153 582 437 148 583 435 147 584 436 148 585 435 153 586 437 152 587 434 152 588 434 153 589 437 154 590 438 154 591 438 153 592 437 150 593 580 148 594 440 152 595 441 149 596 439 152 597 441 151 598 442 149 599 439 150 600 443 152 601 445 154 602 446 152 603 445 150 604 443 151 605 444 147 606 448 146 607 449 153 608 447 153 609 447 146 610 449 150 611 450 156 612 452 157 613 453 155 614 451 157 615 453 158 616 454 155 617 451 155 618 456 160 619 458 159 620 455 160 621 458 155 622 456 158 623 457 161 624 459 162 625 462 159 626 581 162 627 462 161 628 459 157 629 460 162 630 462 157 631 460 156 632 461 157 633 465 161 634 466 160 635 467 157 636 465 160 637 467 158 638 464 163 639 471 159 640 468 161 641 470 161 642 470 159 643 468 160 644 469 156 645 473 155 646 474 162 647 472 162 648 472 155 649 474 159 650 475 165 651 477 166 652 478 164 653 476 166 654 478 167 655 479 164 656 476 164 657 481 167 658 482 168 659 480 168 660 480 167 661 482 169 662 483 170 663 484 166 664 485 171 665 487 166 666 485 165 667 486 171 668 487 171 669 487 168 670 582 170 671 484 166 672 490 170 673 491 167 674 489 170 675 491 169 676 492 167 677 489 168 678 493 170 679 495 172 680 496 170 681 495 168 682 493 169 683 494 165 684 498 164 685 499 171 686 497 171 687 497 164 688 499 168 689 500 182 690 526 183 691 527 181 692 525 183 693 527 184 694 528 181 695 525 181 696 530 186 697 532 185 698 529 186 699 532 181 700 530 184 701 531 187 702 533 183 703 534 188 704 536 183 705 534 182 706 535 188 707 536 189 708 537 187 709 533 185 710 583 188 711 536 185 712 583 187 713 533 183 714 539 187 715 540 184 716 538 187 717 540 186 718 541 184 719 538 189 720 545 185 721 542 187 722 544 187 723 544 185 724 542 186 725 543 182 726 547 181 727 548 188 728 546 188 729 546 181 730 548 185 731 549

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79 732 231 76 733 228 78 734 230 77 735 229 78 736 230 76 737 228 76 738 233 79 739 234 81 740 235 76 741 233 81 742 235 80 743 232 82 744 237 77 745 238 76 746 239 82 747 237 76 748 239 80 749 236 83 750 240 77 751 242 82 752 243 77 753 242 83 754 240 78 755 241 81 756 247 78 757 245 83 758 246 78 759 245 81 760 247 79 761 244 83 762 250 82 763 251 80 764 248 83 765 250 80 766 248 81 767 249 87 768 255 84 769 252 86 770 254 85 771 253 86 772 254 84 773 252 84 774 257 87 775 258 89 776 259 84 777 257 89 778 259 88 779 256 90 780 261 85 781 262 84 782 263 90 783 261 84 784 263 88 785 260 91 786 264 85 787 266 90 788 267 85 789 266 91 790 264 86 791 265 86 792 269 91 793 270 89 794 271 86 795 269 89 796 271 87 797 268 88 798 272 89 799 273 90 800 275 91 801 274 90 802 275 89 803 273 176 804 504 173 805 501 175 806 503 174 807 502 175 808 503 173 809 501 173 810 506 176 811 507 178 812 508 173 813 506 178 814 508 177 815 505 179 816 510 174 817 511 173 818 512 179 819 510 173 820 512 177 821 509 180 822 513 174 823 515 179 824 516 174 825 515 180 826 513 175 827 514 175 828 518 180 829 519 178 830 520 175 831 518 178 832 520 176 833 517 177 834 521 178 835 522 179 836 524 180 837 523 179 838 524 178 839 522

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model://construction_cone/meshes/construction_cone.dae + + + + + + diff --git a/simulators/sim_env/models/construction_cone/model.config b/simulators/sim_env/models/construction_cone/model.config new file mode 100755 index 0000000..76bea74 --- /dev/null +++ b/simulators/sim_env/models/construction_cone/model.config @@ -0,0 +1,24 @@ + + + + Construction Cone + 1.0 + model-1_3.sdf + model-1_4.sdf + model.sdf + + + Cole Biesemeyer + cole.bsmr@gmail.com + + + + Nate Koenig + nate@osrfoundation.com + + + + An orange construction cone + + + diff --git a/simulators/sim_env/models/construction_cone/model.sdf b/simulators/sim_env/models/construction_cone/model.sdf new file mode 100755 index 0000000..36558ca --- /dev/null +++ b/simulators/sim_env/models/construction_cone/model.sdf @@ -0,0 +1,23 @@ + + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + diff --git a/simulators/sim_env/models/construction_cone/thumbnails/1.png b/simulators/sim_env/models/construction_cone/thumbnails/1.png new file mode 100755 index 0000000..4d8852e Binary files /dev/null and b/simulators/sim_env/models/construction_cone/thumbnails/1.png differ diff --git a/simulators/sim_env/models/construction_cone/thumbnails/2.png b/simulators/sim_env/models/construction_cone/thumbnails/2.png new file mode 100755 index 0000000..9b8e34f Binary files /dev/null and b/simulators/sim_env/models/construction_cone/thumbnails/2.png differ diff --git a/simulators/sim_env/models/construction_cone/thumbnails/3.png b/simulators/sim_env/models/construction_cone/thumbnails/3.png new file mode 100755 index 0000000..e9c6700 Binary files /dev/null and b/simulators/sim_env/models/construction_cone/thumbnails/3.png differ diff --git a/simulators/sim_env/models/construction_cone/thumbnails/4.png b/simulators/sim_env/models/construction_cone/thumbnails/4.png new file mode 100755 index 0000000..ea8d3f6 Binary files /dev/null and b/simulators/sim_env/models/construction_cone/thumbnails/4.png differ diff --git a/simulators/sim_env/models/construction_cone/thumbnails/5.png b/simulators/sim_env/models/construction_cone/thumbnails/5.png new file mode 100755 index 0000000..6f0013a Binary files /dev/null and b/simulators/sim_env/models/construction_cone/thumbnails/5.png differ diff --git a/simulators/sim_env/models/dumpster/materials/scripts/dumpster.material b/simulators/sim_env/models/dumpster/materials/scripts/dumpster.material new file mode 100755 index 0000000..346419e --- /dev/null +++ b/simulators/sim_env/models/dumpster/materials/scripts/dumpster.material @@ -0,0 +1,29 @@ +material Dumpster/Diffuse +{ + receive_shadows off + technique + { + pass + { + texture_unit + { + texture Dumpster_Diffuse.png + } + } + } +} + +material Dumpster/Specular +{ + receive_shadows off + technique + { + pass + { + texture_unit + { + texture Dumpster_Spec.png + } + } + } +} diff --git a/simulators/sim_env/models/dumpster/materials/textures/Dumpster_Diffuse.png b/simulators/sim_env/models/dumpster/materials/textures/Dumpster_Diffuse.png new file mode 100755 index 0000000..9a0d075 Binary files /dev/null and b/simulators/sim_env/models/dumpster/materials/textures/Dumpster_Diffuse.png differ diff --git a/simulators/sim_env/models/dumpster/materials/textures/Dumpster_Spec.png b/simulators/sim_env/models/dumpster/materials/textures/Dumpster_Spec.png new file mode 100755 index 0000000..5f1db77 Binary files /dev/null and b/simulators/sim_env/models/dumpster/materials/textures/Dumpster_Spec.png differ diff --git a/simulators/sim_env/models/dumpster/meshes/dumpster.dae b/simulators/sim_env/models/dumpster/meshes/dumpster.dae new file mode 100755 index 0000000..558ffbe --- /dev/null +++ b/simulators/sim_env/models/dumpster/meshes/dumpster.dae @@ -0,0 +1,151 @@ + + + + + Cole + OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: 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+ + + + + + + + + 0 0 0 + + + + + + + + + + + 0.2471926 0.3027847 0.4507179 + + 1 0 0 0 0 1 0 0 0 0 1 8.72673 0 0 0 1 + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulators/sim_env/models/dumpster/model-1_3.sdf b/simulators/sim_env/models/dumpster/model-1_3.sdf new file mode 100755 index 0000000..b756920 --- /dev/null +++ b/simulators/sim_env/models/dumpster/model-1_3.sdf @@ -0,0 +1,28 @@ + + + + + + + + model://dumpster/meshes/dumpster.dae + + + + + + + model://dumpster/meshes/dumpster.dae + + + + + + + + + diff --git a/simulators/sim_env/models/dumpster/model-1_4.sdf b/simulators/sim_env/models/dumpster/model-1_4.sdf new file mode 100755 index 0000000..cdc66f1 --- /dev/null +++ b/simulators/sim_env/models/dumpster/model-1_4.sdf @@ -0,0 +1,28 @@ + + + + + + + + model://dumpster/meshes/dumpster.dae + + + + + + + model://dumpster/meshes/dumpster.dae + + + + + + + + + diff --git a/simulators/sim_env/models/dumpster/model.config b/simulators/sim_env/models/dumpster/model.config new file mode 100755 index 0000000..27cc821 --- /dev/null +++ b/simulators/sim_env/models/dumpster/model.config @@ -0,0 +1,24 @@ + + + + Dumpster + 1.0 + model-1_3.sdf + model-1_4.sdf + model.sdf + + + Cole Biesemeyer + cole.bsmr@gmail.com + + + + Nate Koenig + natekoenig@gmail.com + + + + A dumpster. + + + diff --git a/simulators/sim_env/models/dumpster/model.sdf b/simulators/sim_env/models/dumpster/model.sdf new file mode 100755 index 0000000..bb505f8 --- /dev/null +++ b/simulators/sim_env/models/dumpster/model.sdf @@ -0,0 +1,30 @@ + + + + + + + + 1.5 1.5 1.5 + model://dumpster/meshes/dumpster.dae + + + + + + + 1.5 1.5 1.5 + model://dumpster/meshes/dumpster.dae + + + + + + + + + diff --git a/simulators/sim_env/models/dumpster/thumbnails/1.png b/simulators/sim_env/models/dumpster/thumbnails/1.png new file mode 100755 index 0000000..c0e53a2 Binary files /dev/null and b/simulators/sim_env/models/dumpster/thumbnails/1.png differ diff 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diff --git a/simulators/sim_env/models/shipping_container_conveyor_ariac/materials/textures/ShippingContainer.png b/simulators/sim_env/models/shipping_container_conveyor_ariac/materials/textures/ShippingContainer.png new file mode 100755 index 0000000..0ec6e8d Binary files /dev/null and b/simulators/sim_env/models/shipping_container_conveyor_ariac/materials/textures/ShippingContainer.png differ diff --git a/simulators/sim_env/models/shipping_container_conveyor_ariac/meshes/ShippingContainer_Textured.mtl b/simulators/sim_env/models/shipping_container_conveyor_ariac/meshes/ShippingContainer_Textured.mtl new file mode 100755 index 0000000..4caf9e1 --- /dev/null +++ b/simulators/sim_env/models/shipping_container_conveyor_ariac/meshes/ShippingContainer_Textured.mtl @@ -0,0 +1,16 @@ +# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware +# File Created: 19.01.2018 17:10:24 + +newmtl ShippingContainer + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + 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6760/6764/269 +# s 8 +# f 6753/6757/226 6756/6760/226 6758/6762/226 6757/6761/226 +# s 16 +# f 6756/6760/281 6755/6759/281 6759/6763/281 6758/6762/281 +# s 32 +# f 6755/6759/260 6754/6758/260 6760/6764/260 6759/6763/260 +# s 64 +# f 6754/6758/282 6753/6757/282 6757/6761/282 6760/6764/282 +# s 2 +# f 6761/6765/268 6762/6766/268 6763/6767/268 6764/6768/268 +# s 4 +# f 6765/6769/269 6766/6770/269 6767/6771/269 6768/6772/269 +# s 8 +# f 6761/6765/226 6764/6768/226 6769/6773/226 6770/6774/226 6766/6770/226 6765/6769/226 +# s 16 +# f 6771/6776/281 6772/6777/281 6773/6778/281 6774/6775/281 +# s 32 +# f 6768/6772/260 6767/6771/260 6775/6779/260 6776/6780/260 6763/6767/260 6762/6766/260 +# s 64 +# f 6762/6766/282 6761/6765/282 6765/6769/282 6768/6772/282 +# s 16 +# f 6775/6779/281 6770/6774/281 6769/6773/281 6776/6780/281 +# s off +# f 6764/6768/268 6763/6767/268 6771/6776/268 6774/6775/268 +# f 6763/6767/260 6776/6780/260 6772/6777/260 6771/6776/260 +# f 6776/6780/269 6769/6773/269 6773/6778/269 6772/6777/269 +# f 6769/6773/226 6764/6768/226 6774/6775/226 6773/6778/226 +# s 16 +# f 6777/6782/281 6778/6783/281 6779/6784/281 6780/6781/281 +# s off +# f 6767/6771/269 6766/6770/269 6778/6783/269 6777/6782/269 +# f 6766/6770/226 6770/6774/226 6779/6784/226 6778/6783/226 +# f 6770/6774/268 6775/6779/268 6780/6781/268 6779/6784/268 +# f 6775/6779/260 6767/6771/260 6777/6782/260 6780/6781/260 +# s 8 +# f 6781/6786/259 6782/6787/259 6783/6788/283 6784/6785/283 +# f 6785/6789/260 6786/6790/244 6782/6787/259 6781/6786/259 +# f 6787/6791/261 6788/6792/261 6786/6790/244 6785/6789/260 +# f 6789/6793/284 6790/6794/284 6788/6792/261 6787/6791/261 +# f 6791/6795/285 6792/6796/285 6790/6794/284 6789/6793/284 +# f 6793/6797/226 6794/6798/226 6792/6796/285 6791/6795/285 +# f 6795/6799/286 6796/6800/286 6794/6798/226 6793/6797/226 +# f 6784/6785/283 6783/6788/283 6796/6800/286 6795/6799/286 +# s 1 +# f 6797/6806/268 6798/6807/268 6799/6808/268 6800/6801/268 6801/6802/268 6802/6803/268 6803/6804/268 6804/6805/268 +# f 6805/6814/269 6806/6815/269 6807/6816/269 6808/6809/269 6809/6810/269 6810/6811/269 6811/6812/269 6812/6813/269 +# s 2048 +# f 6813/6817/287 6814/6818/288 6783/6788/288 6782/6787/289 +# f 6815/6819/290 6813/6817/287 6782/6787/289 6786/6790/290 +# f 6816/6820/291 6815/6819/290 6786/6790/290 6788/6792/292 +# f 6817/6821/293 6816/6820/291 6788/6792/292 6790/6794/293 +# f 6818/6822/294 6817/6821/293 6790/6794/293 6792/6796/294 +# f 6819/6823/295 6818/6822/294 6792/6796/294 6794/6798/295 +# f 6820/6824/296 6819/6823/295 6794/6798/295 6796/6800/296 +# f 6814/6818/288 6820/6824/296 6796/6800/296 6783/6788/288 +# s 8 +# f 6809/6810/259 6808/6809/283 6814/6818/283 6813/6817/259 +# f 6810/6811/260 6809/6810/259 6813/6817/259 6815/6819/260 +# f 6811/6812/261 6810/6811/260 6815/6819/260 6816/6820/261 +# f 6812/6813/284 6811/6812/261 6816/6820/261 6817/6821/284 +# f 6805/6814/285 6812/6813/284 6817/6821/284 6818/6822/285 +# f 6806/6815/226 6805/6814/285 6818/6822/285 6819/6823/226 +# f 6807/6816/286 6806/6815/226 6819/6823/226 6820/6824/286 +# f 6808/6809/283 6807/6816/286 6820/6824/286 6814/6818/283 +# s 2048 +# f 6784/6785/297 6821/6825/298 6822/6826/299 6781/6786/299 +# f 6795/6799/300 6823/6827/300 6821/6825/298 6784/6785/297 +# f 6793/6797/301 6824/6828/301 6823/6827/300 6795/6799/300 +# f 6791/6795/302 6825/6829/302 6824/6828/301 6793/6797/301 +# f 6789/6793/303 6826/6830/303 6825/6829/302 6791/6795/302 +# f 6787/6791/304 6827/6831/304 6826/6830/303 6789/6793/303 +# f 6785/6789/305 6828/6832/305 6827/6831/304 6787/6791/304 +# f 6781/6786/299 6822/6826/299 6828/6832/305 6785/6789/305 +# s off +# f 6799/6808/258 6798/6807/258 6822/6826/258 6821/6825/258 +# f 6800/6801/306 6799/6808/306 6821/6825/306 6823/6827/306 +# f 6801/6802/307 6800/6801/307 6823/6827/307 6824/6828/307 +# f 6802/6803/308 6801/6802/308 6824/6828/308 6825/6829/308 +# f 6803/6804/309 6802/6803/309 6825/6829/309 6826/6830/309 +# f 6804/6805/310 6803/6804/310 6826/6830/310 6827/6831/310 +# f 6797/6806/311 6804/6805/311 6827/6831/311 6828/6832/311 +# f 6798/6807/312 6797/6806/312 6828/6832/312 6822/6826/312 +# f 6829/6836/268 6830/6837/268 6831/6838/268 6832/6833/268 6833/6834/268 6834/6835/268 +# f 6835/6840/269 6836/6841/269 6837/6842/269 6838/6843/269 6839/6844/269 6840/6839/269 +# s 1 +# f 6831/6838/313 6835/6840/313 6840/6839/314 6832/6833/314 +# s off +# f 6829/6836/281 6834/6835/281 6838/6843/281 6837/6842/281 +# f 6833/6834/282 6832/6833/282 6840/6839/282 6839/6844/282 +# s 1 +# f 6841/6846/315 6842/6847/315 6843/6848/316 6844/6845/316 +# s off +# f 6841/6846/268 6844/6845/268 6845/6849/268 +# f 6846/6850/269 6843/6848/269 6842/6847/269 +# s 1 +# f 6844/6845/316 6843/6848/316 6846/6850/317 6845/6849/317 +# f 6830/6837/318 6836/6841/318 6842/6847/315 6841/6846/315 +# s off +# f 6841/6846/268 6845/6849/268 6831/6838/268 6830/6837/268 +# f 6846/6850/269 6842/6847/269 6836/6841/269 6835/6840/269 +# s 1 +# f 6845/6849/317 6846/6850/317 6835/6840/313 6831/6838/313 +# f 6829/6836/319 6837/6842/319 6836/6841/318 6830/6837/318 +# s off +# f 6847/6854/268 6848/6855/268 6849/6856/268 6850/6851/268 6851/6852/268 6852/6853/268 +# f 6853/6858/269 6854/6859/269 6855/6860/269 6856/6861/269 6857/6862/269 6858/6857/269 +# s 1 +# f 6849/6856/313 6853/6858/313 6858/6857/314 6850/6851/314 +# s off +# f 6847/6854/281 6852/6853/281 6856/6861/281 6855/6860/281 +# f 6851/6852/284 6850/6851/284 6858/6857/284 6857/6862/284 +# s 1 +# f 6859/6864/315 6860/6865/315 6861/6866/316 6862/6863/316 +# s off +# f 6859/6864/268 6862/6863/268 6863/6867/268 +# f 6864/6868/269 6861/6866/269 6860/6865/269 +# s 1 +# f 6862/6863/316 6861/6866/316 6864/6868/317 6863/6867/317 +# f 6848/6855/318 6854/6859/318 6860/6865/315 6859/6864/315 +# s off +# f 6859/6864/268 6863/6867/268 6849/6856/268 6848/6855/268 +# f 6864/6868/269 6860/6865/269 6854/6859/269 6853/6858/269 +# s 1 +# f 6863/6867/317 6864/6868/317 6853/6858/313 6849/6856/313 +# f 6847/6854/319 6855/6860/319 6854/6859/318 6848/6855/318 +# s off +# f 6865/6872/268 6866/6873/268 6867/6874/268 6868/6869/268 6869/6870/268 6870/6871/268 +# f 6871/6876/269 6872/6877/269 6873/6878/269 6874/6879/269 6875/6880/269 6876/6875/269 +# s 1 +# f 6867/6874/313 6871/6876/313 6876/6875/314 6868/6869/314 +# s off +# f 6865/6872/281 6870/6871/281 6874/6879/281 6873/6878/281 +# f 6869/6870/284 6868/6869/284 6876/6875/284 6875/6880/284 +# s 1 +# f 6877/6882/315 6878/6883/315 6879/6884/316 6880/6881/316 +# s off +# f 6877/6882/268 6880/6881/268 6881/6885/268 +# f 6882/6886/269 6879/6884/269 6878/6883/269 +# s 1 +# f 6880/6881/316 6879/6884/316 6882/6886/317 6881/6885/317 +# f 6866/6873/318 6872/6877/318 6878/6883/315 6877/6882/315 +# s off +# f 6877/6882/268 6881/6885/268 6867/6874/268 6866/6873/268 +# f 6882/6886/269 6878/6883/269 6872/6877/269 6871/6876/269 +# s 1 +# f 6881/6885/317 6882/6886/317 6871/6876/313 6867/6874/313 +# f 6865/6872/319 6873/6878/319 6872/6877/318 6866/6873/318 +# s off +# f 6883/6890/268 6884/6891/268 6885/6892/268 6886/6887/268 6887/6888/268 6888/6889/268 +# f 6889/6894/269 6890/6895/269 6891/6896/269 6892/6897/269 6893/6898/269 6894/6893/269 +# s 1 +# f 6885/6892/313 6889/6894/313 6894/6893/314 6886/6887/314 +# s off +# f 6883/6890/281 6888/6889/281 6892/6897/281 6891/6896/281 +# f 6887/6888/282 6886/6887/282 6894/6893/282 6893/6898/282 +# s 1 +# f 6895/6900/315 6896/6901/315 6897/6902/316 6898/6899/316 +# s off +# f 6895/6900/268 6898/6899/268 6899/6903/268 +# f 6900/6904/269 6897/6902/269 6896/6901/269 +# s 1 +# f 6898/6899/316 6897/6902/316 6900/6904/317 6899/6903/317 +# f 6884/6891/318 6890/6895/318 6896/6901/315 6895/6900/315 +# s off +# f 6895/6900/268 6899/6903/268 6885/6892/268 6884/6891/268 +# f 6900/6904/269 6896/6901/269 6890/6895/269 6889/6894/269 +# s 1 +# f 6899/6903/317 6900/6904/317 6889/6894/313 6885/6892/313 +# f 6883/6890/319 6891/6896/319 6890/6895/318 6884/6891/318 +# s off +# f 6901/6908/268 6902/6909/268 6903/6910/268 6904/6905/268 6905/6906/268 6906/6907/268 +# f 6907/6912/269 6908/6913/269 6909/6914/269 6910/6915/269 6911/6916/269 6912/6911/269 +# s 1 +# f 6903/6910/313 6907/6912/313 6912/6911/314 6904/6905/314 +# s off +# f 6901/6908/281 6906/6907/281 6910/6915/281 6909/6914/281 +# f 6905/6906/282 6904/6905/282 6912/6911/282 6911/6916/282 +# s 1 +# f 6913/6918/315 6914/6919/315 6915/6920/316 6916/6917/316 +# s off +# f 6913/6918/268 6916/6917/268 6917/6921/268 +# f 6918/6922/269 6915/6920/269 6914/6919/269 +# s 1 +# f 6916/6917/316 6915/6920/316 6918/6922/317 6917/6921/317 +# f 6902/6909/318 6908/6913/318 6914/6919/315 6913/6918/315 +# s off +# f 6913/6918/268 6917/6921/268 6903/6910/268 6902/6909/268 +# f 6918/6922/269 6914/6919/269 6908/6913/269 6907/6912/269 +# s 1 +# f 6917/6921/317 6918/6922/317 6907/6912/313 6903/6910/313 +# f 6901/6908/319 6909/6914/319 6908/6913/318 6902/6909/318 +# s off +# f 6919/6926/268 6920/6927/268 6921/6928/268 6922/6923/268 6923/6924/268 6924/6925/268 +# f 6925/6930/320 6926/6931/320 6927/6932/320 6928/6933/320 6929/6934/320 6930/6929/320 +# s 1 +# f 6921/6928/313 6925/6930/313 6930/6929/314 6922/6923/314 +# s off +# f 6919/6926/281 6924/6925/281 6928/6933/281 6927/6932/281 +# f 6923/6924/282 6922/6923/282 6930/6929/282 6929/6934/282 +# s 1 +# f 6931/6936/315 6932/6937/315 6933/6938/316 6934/6935/316 +# s off +# f 6931/6936/268 6934/6935/268 6935/6939/268 +# f 6936/6940/269 6933/6938/269 6932/6937/269 +# s 1 +# f 6934/6935/316 6933/6938/316 6936/6940/317 6935/6939/317 +# f 6920/6927/318 6926/6931/318 6932/6937/315 6931/6936/315 +# s off +# f 6931/6936/268 6935/6939/268 6921/6928/268 6920/6927/268 +# f 6936/6940/269 6932/6937/269 6926/6931/269 6925/6930/269 +# s 1 +# f 6935/6939/317 6936/6940/317 6925/6930/313 6921/6928/313 +# f 6919/6926/319 6927/6932/319 6926/6931/318 6920/6927/318 +# s off +# f 6937/6944/268 6938/6945/268 6939/6946/268 6940/6941/268 6941/6942/268 6942/6943/268 +# f 6943/6948/320 6944/6949/320 6945/6950/320 6946/6951/320 6947/6952/320 6948/6947/320 +# s 1 +# f 6939/6946/313 6943/6948/313 6948/6947/314 6940/6941/314 +# s off +# f 6937/6944/281 6942/6943/281 6946/6951/281 6945/6950/281 +# f 6941/6942/284 6940/6941/284 6948/6947/284 6947/6952/284 +# s 1 +# f 6949/6954/315 6950/6955/315 6951/6956/316 6952/6953/316 +# s off +# f 6949/6954/268 6952/6953/268 6953/6957/268 +# f 6954/6958/269 6951/6956/269 6950/6955/269 +# s 1 +# f 6952/6953/316 6951/6956/316 6954/6958/317 6953/6957/317 +# f 6938/6945/318 6944/6949/318 6950/6955/315 6949/6954/315 +# s off +# f 6949/6954/268 6953/6957/268 6939/6946/268 6938/6945/268 +# f 6954/6958/269 6950/6955/269 6944/6949/269 6943/6948/269 +# s 1 +# f 6953/6957/317 6954/6958/317 6943/6948/313 6939/6946/313 +# f 6937/6944/319 6945/6950/319 6944/6949/318 6938/6945/318 +# s 8 +# f 6955/6960/259 6956/6961/259 6957/6962/283 6958/6959/283 +# f 6959/6963/260 6960/6964/260 6956/6961/259 6955/6960/259 +# f 6961/6965/261 6962/6966/261 6960/6964/260 6959/6963/260 +# f 6963/6967/284 6964/6968/284 6962/6966/261 6961/6965/261 +# f 6965/6969/285 6966/6970/285 6964/6968/284 6963/6967/284 +# f 6967/6971/226 6968/6972/226 6966/6970/285 6965/6969/285 +# f 6969/6973/286 6970/6974/286 6968/6972/226 6967/6971/226 +# f 6958/6959/283 6957/6962/283 6970/6974/286 6969/6973/286 +# s 1 +# f 6971/6980/268 6972/6981/268 6973/6982/268 6974/6975/268 6975/6976/268 6976/6977/268 6977/6978/268 6978/6979/268 +# f 6979/6988/269 6980/6989/269 6981/6990/269 6982/6983/269 6983/6984/269 6984/6985/269 6985/6986/269 6986/6987/269 +# s 2048 +# f 6987/6991/287 6988/6992/288 6957/6962/288 6956/6961/289 +# f 6989/6993/290 6987/6991/287 6956/6961/289 6960/6964/290 +# f 6990/6994/292 6989/6993/290 6960/6964/290 6962/6966/292 +# f 6991/6995/293 6990/6994/292 6962/6966/292 6964/6968/293 +# f 6992/6996/294 6991/6995/293 6964/6968/293 6966/6970/294 +# f 6993/6997/295 6992/6996/294 6966/6970/294 6968/6972/295 +# f 6994/6998/296 6993/6997/295 6968/6972/295 6970/6974/321 +# f 6988/6992/288 6994/6998/296 6970/6974/321 6957/6962/288 +# s 8 +# f 6983/6984/259 6982/6983/283 6988/6992/283 6987/6991/259 +# f 6984/6985/244 6983/6984/259 6987/6991/259 6989/6993/244 +# f 6985/6986/261 6984/6985/244 6989/6993/244 6990/6994/261 +# f 6986/6987/284 6985/6986/261 6990/6994/261 6991/6995/284 +# f 6979/6988/285 6986/6987/284 6991/6995/284 6992/6996/285 +# f 6980/6989/316 6979/6988/285 6992/6996/285 6993/6997/316 +# f 6981/6990/286 6980/6989/316 6993/6997/316 6994/6998/286 +# f 6982/6983/283 6981/6990/286 6994/6998/286 6988/6992/283 +# s 2048 +# f 6958/6959/297 6995/6999/297 6996/7000/299 6955/6960/299 +# f 6969/6973/300 6997/7001/300 6995/6999/297 6958/6959/297 +# f 6967/6971/301 6998/7002/301 6997/7001/300 6969/6973/300 +# f 6965/6969/302 6999/7003/302 6998/7002/301 6967/6971/301 +# f 6963/6967/303 7000/7004/303 6999/7003/302 6965/6969/302 +# f 6961/6965/304 7001/7005/304 7000/7004/303 6963/6967/303 +# f 6959/6963/305 7002/7006/305 7001/7005/304 6961/6965/304 +# f 6955/6960/299 6996/7000/299 7002/7006/305 6959/6963/305 +# s off +# f 6973/6982/258 6972/6981/258 6996/7000/258 6995/6999/258 +# f 6974/6975/306 6973/6982/306 6995/6999/306 6997/7001/306 +# f 6975/6976/307 6974/6975/307 6997/7001/307 6998/7002/307 +# f 6976/6977/308 6975/6976/308 6998/7002/308 6999/7003/308 +# f 6977/6978/309 6976/6977/309 6999/7003/309 7000/7004/309 +# f 6978/6979/310 6977/6978/310 7000/7004/310 7001/7005/310 +# f 6971/6980/311 6978/6979/311 7001/7005/311 7002/7006/311 +# f 6972/6981/312 6971/6980/312 7002/7006/312 6996/7000/312 +# f 7003/7010/268 7004/7011/268 7005/7012/268 7006/7007/268 7007/7008/268 7008/7009/268 +# f 7009/7014/269 7010/7015/269 7011/7016/269 7012/7017/269 7013/7018/269 7014/7013/269 +# s 1 +# f 7005/7012/313 7009/7014/313 7014/7013/314 7006/7007/314 +# s off +# f 7003/7010/281 7008/7009/281 7012/7017/281 7011/7016/281 +# f 7007/7008/284 7006/7007/284 7014/7013/284 7013/7018/284 +# s 1 +# f 7015/7020/315 7016/7021/315 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7603/7604/410 7604/7605/410 7605/7606/410 7606/7607/410 +# s 2048 +# f 7607/7612/461 7578/7581/461 7577/7580/462 7608/7611/462 +# f 7609/7613/463 7580/7583/463 7578/7581/461 7607/7612/461 +# f 7610/7614/464 7582/7585/465 7580/7583/463 7609/7613/463 +# f 7611/7615/466 7584/7587/467 7582/7585/465 7610/7614/464 +# f 7612/7616/468 7586/7589/468 7584/7587/467 7611/7615/466 +# f 7613/7617/469 7588/7591/469 7586/7589/468 7612/7616/468 +# f 7614/7618/470 7590/7593/470 7588/7591/469 7613/7617/469 +# f 7608/7611/462 7577/7580/462 7590/7593/470 7614/7618/470 +# s 8 +# f 7601/7610/455 7607/7612/455 7608/7611/413 7602/7603/413 +# f 7600/7609/415 7609/7613/415 7607/7612/455 7601/7610/455 +# f 7599/7608/458 7610/7614/458 7609/7613/415 7600/7609/415 +# f 7606/7607/417 7611/7615/417 7610/7614/458 7599/7608/458 +# f 7605/7606/459 7612/7616/459 7611/7615/417 7606/7607/417 +# f 7604/7605/412 7613/7617/412 7612/7616/459 7605/7606/459 +# f 7603/7604/460 7614/7618/460 7613/7617/412 7604/7605/412 +# f 7602/7603/413 7608/7611/413 7614/7618/460 7603/7604/460 +# s 2048 +# f 7576/7579/471 7575/7582/472 7615/7619/472 7616/7620/471 +# f 7589/7594/473 7576/7579/471 7616/7620/471 7617/7621/473 +# f 7587/7592/474 7589/7594/473 7617/7621/473 7618/7622/474 +# f 7585/7590/475 7587/7592/474 7618/7622/474 7619/7623/475 +# f 7583/7588/476 7585/7590/475 7619/7623/475 7620/7624/476 +# f 7581/7586/477 7583/7588/476 7620/7624/476 7621/7625/477 +# f 7579/7584/478 7581/7586/477 7621/7625/477 7622/7626/478 +# f 7575/7582/472 7579/7584/478 7622/7626/478 7615/7619/472 +# s off +# f 7595/7596/479 7616/7620/479 7615/7619/479 7596/7597/479 +# f 7594/7595/480 7617/7621/480 7616/7620/480 7595/7596/480 +# f 7593/7602/481 7618/7622/481 7617/7621/481 7594/7595/481 +# f 7592/7601/482 7619/7623/482 7618/7622/482 7593/7602/482 +# f 7591/7600/483 7620/7624/483 7619/7623/483 7592/7601/483 +# f 7598/7599/484 7621/7625/484 7620/7624/484 7591/7600/484 +# f 7597/7598/485 7622/7626/485 7621/7625/485 7598/7599/485 +# f 7596/7597/486 7615/7619/486 7622/7626/486 7597/7598/486 +# f 7623/7630/409 7624/7631/409 7625/7632/409 7626/7627/409 7627/7628/409 7628/7629/409 +# f 7629/7636/410 7630/7637/410 7631/7638/410 7632/7633/410 7633/7634/410 7634/7635/410 +# s 1 +# f 7627/7628/449 7626/7627/450 7632/7633/450 7631/7638/449 +# s off +# f 7623/7630/413 7629/7636/413 7634/7635/413 7624/7631/413 +# f 7625/7632/417 7633/7634/417 7632/7633/417 7626/7627/417 +# s 1 +# f 7635/7642/451 7636/7639/412 7637/7640/412 7638/7641/451 +# s off +# f 7635/7642/409 7639/7643/409 7636/7639/409 +# f 7640/7644/410 7638/7641/410 7637/7640/410 +# s 1 +# f 7636/7639/412 7639/7643/452 7640/7644/452 7637/7640/412 +# f 7628/7629/453 7635/7642/451 7638/7641/451 7630/7637/453 +# s off +# f 7635/7642/409 7628/7629/409 7627/7628/409 7639/7643/409 +# f 7640/7644/410 7631/7638/410 7630/7637/410 7638/7641/410 +# s 1 +# f 7639/7643/452 7627/7628/449 7631/7638/449 7640/7644/452 +# f 7623/7630/454 7628/7629/453 7630/7637/453 7629/7636/454 +# s off +# f 7641/7648/409 7642/7649/409 7643/7650/409 7644/7645/409 7645/7646/409 7646/7647/409 +# f 7647/7654/410 7648/7655/410 7649/7656/410 7650/7651/410 7651/7652/410 7652/7653/410 +# s 1 +# f 7645/7646/449 7644/7645/450 7650/7651/450 7649/7656/449 +# s off +# f 7641/7648/413 7647/7654/413 7652/7653/413 7642/7649/413 +# f 7643/7650/417 7651/7652/417 7650/7651/417 7644/7645/417 +# s 1 +# f 7653/7660/451 7654/7657/412 7655/7658/412 7656/7659/451 +# s off +# f 7653/7660/409 7657/7661/409 7654/7657/409 +# f 7658/7662/410 7656/7659/410 7655/7658/410 +# s 1 +# f 7654/7657/412 7657/7661/452 7658/7662/452 7655/7658/412 +# f 7646/7647/453 7653/7660/451 7656/7659/451 7648/7655/453 +# s off +# f 7653/7660/409 7646/7647/409 7645/7646/409 7657/7661/409 +# f 7658/7662/410 7649/7656/410 7648/7655/410 7656/7659/410 +# s 1 +# f 7657/7661/452 7645/7646/449 7649/7656/449 7658/7662/452 +# f 7641/7648/454 7646/7647/453 7648/7655/453 7647/7654/454 +# s off +# f 7659/7666/409 7660/7667/409 7661/7668/409 7662/7663/409 7663/7664/409 7664/7665/409 +# f 7665/7672/410 7666/7673/410 7667/7674/410 7668/7669/410 7669/7670/410 7670/7671/410 +# s 1 +# f 7663/7664/449 7662/7663/450 7668/7669/450 7667/7674/449 +# s off +# f 7659/7666/413 7665/7672/413 7670/7671/413 7660/7667/413 +# f 7661/7668/417 7669/7670/417 7668/7669/417 7662/7663/417 +# s 1 +# f 7671/7678/451 7672/7675/411 7673/7676/412 7674/7677/451 +# s off +# f 7671/7678/409 7675/7679/409 7672/7675/409 +# f 7676/7680/410 7674/7677/410 7673/7676/410 +# s 1 +# f 7672/7675/411 7675/7679/452 7676/7680/452 7673/7676/412 +# f 7664/7665/453 7671/7678/451 7674/7677/451 7666/7673/453 +# s off +# f 7671/7678/409 7664/7665/409 7663/7664/409 7675/7679/409 +# f 7676/7680/410 7667/7674/410 7666/7673/410 7674/7677/410 +# s 1 +# f 7675/7679/452 7663/7664/449 7667/7674/449 7676/7680/452 +# f 7659/7666/454 7664/7665/453 7666/7673/453 7665/7672/454 +# s off +# f 7677/7684/409 7678/7685/409 7679/7686/409 7680/7681/409 7681/7682/409 7682/7683/409 +# f 7683/7690/410 7684/7691/410 7685/7692/410 7686/7687/410 7687/7688/410 7688/7689/410 +# s 1 +# f 7681/7682/449 7680/7681/450 7686/7687/450 7685/7692/449 +# s off +# f 7677/7684/413 7683/7690/413 7688/7689/413 7678/7685/413 +# f 7679/7686/417 7687/7688/417 7686/7687/417 7680/7681/417 +# s 1 +# f 7689/7696/451 7690/7693/412 7691/7694/412 7692/7695/451 +# s off +# f 7689/7696/409 7693/7697/409 7690/7693/409 +# f 7694/7698/410 7692/7695/410 7691/7694/410 +# s 1 +# f 7690/7693/412 7693/7697/452 7694/7698/452 7691/7694/412 +# f 7682/7683/453 7689/7696/451 7692/7695/451 7684/7691/453 +# s off +# f 7689/7696/409 7682/7683/409 7681/7682/409 7693/7697/409 +# f 7694/7698/410 7685/7692/410 7684/7691/410 7692/7695/410 +# s 1 +# f 7693/7697/452 7681/7682/449 7685/7692/449 7694/7698/452 +# f 7677/7684/454 7682/7683/453 7684/7691/453 7683/7690/454 +# s off +# f 7695/7702/409 7696/7703/409 7697/7704/409 7698/7699/409 7699/7700/409 7700/7701/409 +# f 7701/7708/410 7702/7709/410 7703/7710/410 7704/7705/410 7705/7706/410 7706/7707/410 +# s 1 +# f 7699/7700/449 7698/7699/450 7704/7705/450 7703/7710/449 +# s off +# f 7695/7702/413 7701/7708/413 7706/7707/413 7696/7703/413 +# f 7697/7704/417 7705/7706/417 7704/7705/417 7698/7699/417 +# s 1 +# f 7707/7714/451 7708/7711/412 7709/7712/412 7710/7713/451 +# s off +# f 7707/7714/409 7711/7715/409 7708/7711/409 +# f 7712/7716/410 7710/7713/410 7709/7712/410 +# s 1 +# f 7708/7711/412 7711/7715/452 7712/7716/452 7709/7712/412 +# f 7700/7701/453 7707/7714/451 7710/7713/451 7702/7709/453 +# s off +# f 7707/7714/409 7700/7701/409 7699/7700/409 7711/7715/409 +# f 7712/7716/410 7703/7710/410 7702/7709/410 7710/7713/410 +# s 1 +# f 7711/7715/452 7699/7700/449 7703/7710/449 7712/7716/452 +# f 7695/7702/454 7700/7701/453 7702/7709/453 7701/7708/454 +# s off +# f 7713/7719/487 7714/7720/487 7715/7717/487 7716/7718/487 +# f 7717/7722/488 7718/7723/488 7719/7724/488 7720/7721/488 +# f 7721/7726/489 7722/7727/489 7723/7728/489 7724/7725/489 +# f 7725/7729/490 7726/7730/490 7727/7731/490 7728/7732/490 7729/7733/490 7730/7734/490 7731/7735/490 +# f 7725/7729/410 7732/7736/410 7733/7737/410 7734/7738/410 +# f 7717/7722/491 7735/7739/491 7736/7740/491 7737/7741/491 +# f 7720/7721/492 7738/7742/492 7735/7739/492 7717/7722/492 +# f 7739/7743/492 7723/7728/492 7722/7727/492 7740/7744/492 +# f 7741/7745/493 7742/7746/493 7743/7747/493 7732/7736/493 7744/7748/493 7745/7749/493 7746/7750/493 7747/7751/493 7748/7752/493 +# f 7749/7753/494 7733/7737/494 7732/7736/494 7743/7747/494 +# f 7731/7735/495 7744/7748/495 7732/7736/495 7725/7729/495 +# f 7750/7754/496 7751/7755/496 7742/7746/496 7741/7745/496 +# f 7741/7745/409 7726/7730/409 7752/7756/409 7750/7754/409 +# f 7737/7741/412 7736/7740/412 7751/7755/412 7750/7754/412 +# f 7734/7738/497 7733/7737/497 7753/7757/497 7754/7758/497 +# f 7752/7756/415 7734/7738/415 7754/7758/415 7755/7759/415 +# f 7756/7760/412 7753/7757/412 7733/7737/412 7749/7753/412 +# f 7750/7754/409 7752/7756/409 7755/7759/409 7737/7741/409 +# f 7748/7752/498 7727/7731/498 7726/7730/498 7741/7745/498 +# f 7726/7730/499 7725/7729/499 7734/7738/499 7752/7756/499 +# f 7740/7744/500 7756/7760/500 7757/7761/500 7758/7762/500 +# f 7715/7717/501 7759/7763/501 7760/7764/501 7716/7718/501 +# f 7742/7746/502 7761/7765/502 7757/7761/502 7743/7747/502 +# f 7762/7766/503 7763/7767/503 7738/7742/503 7739/7743/503 +# f 7764/7769/504 7765/7768/504 7714/7720/504 7713/7719/504 +# f 7719/7724/505 7718/7723/505 7721/7726/505 7724/7725/505 +# f 7760/7764/506 7759/7763/506 7765/7768/506 7764/7769/506 +# f 7763/7767/507 7766/7770/507 7735/7739/507 7738/7742/507 +# f 7742/7746/508 7751/7755/508 7736/7740/508 7761/7765/508 +# f 7739/7743/509 7740/7744/509 7758/7762/509 7762/7766/509 +# f 7743/7747/510 7757/7761/510 7756/7760/510 7749/7753/510 +# f 7757/7761/511 7761/7765/511 7766/7770/511 7758/7762/511 +# f 7766/7770/512 7761/7765/512 7736/7740/512 7735/7739/512 +# f 7737/7741/513 7755/7759/513 7718/7723/513 7717/7722/513 +# f 7755/7759/514 7754/7758/514 7721/7726/514 7718/7723/514 +# f 7754/7758/515 7753/7757/515 7722/7727/515 7721/7726/515 +# f 7740/7744/491 7722/7727/491 7753/7757/491 7756/7760/491 +# f 7762/7766/516 7758/7762/516 7766/7770/516 7763/7767/516 +# f 7728/7732/517 7727/7731/517 7748/7752/517 7747/7751/517 +# f 7729/7733/518 7728/7732/518 7747/7751/518 7746/7750/518 +# f 7730/7734/519 7729/7733/519 7746/7750/519 7745/7749/519 +# f 7731/7735/520 7730/7734/520 7745/7749/520 7744/7748/520 +# f 7767/7774/521 7768/7771/521 7769/7772/521 7770/7773/521 +# f 7771/7778/522 7772/7775/522 7773/7776/522 7774/7777/522 +# f 7768/7771/412 7772/7775/412 7771/7778/412 7769/7772/412 +# f 7770/7773/413 7769/7772/413 7771/7778/413 7774/7777/413 +# s 1 +# f 7775/7782/523 7776/7779/524 7777/7780/525 7778/7781/526 +# s off +# f 7779/7784/527 7767/7774/527 7770/7773/527 7780/7783/527 +# f 7781/7786/528 7774/7777/528 7773/7776/528 7782/7785/528 +# f 7780/7783/413 7770/7773/413 7774/7777/413 7781/7786/413 +# f 7768/7771/417 7767/7774/417 7773/7776/417 7772/7775/417 +# f 7767/7774/417 7779/7784/417 7782/7785/417 7773/7776/417 +# s 2 +# f 7779/7784/529 7780/7783/530 7783/7787/531 +# f 7784/7788/532 7782/7785/533 7778/7781/534 +# s 1 +# f 7785/7790/535 7780/7783/413 7781/7786/413 7786/7789/536 +# f 7779/7784/417 7775/7782/523 7778/7781/526 7782/7785/417 +# f 7776/7779/524 7775/7782/523 7783/7787/537 7787/7791/538 +# f 7788/7793/539 7786/7789/536 7784/7788/540 7789/7792/541 +# f 7790/7794/542 7785/7790/535 7786/7789/536 7788/7793/539 +# f 7790/7794/542 7787/7791/538 7783/7787/537 7785/7790/535 +# f 7777/7780/525 7789/7792/541 7784/7788/540 7778/7781/526 +# s 2 +# f 7781/7786/543 7784/7788/532 7786/7789/544 +# f 7784/7788/532 7781/7786/543 7782/7785/533 +# f 7779/7784/529 7783/7787/531 7775/7782/545 +# f 7783/7787/531 7780/7783/530 7785/7790/546 +# s off +# f 7791/7797/487 7792/7798/487 7793/7795/487 7794/7796/487 +# f 7795/7800/488 7796/7801/488 7797/7802/488 7798/7799/488 +# f 7799/7804/489 7800/7805/489 7801/7806/489 7802/7803/489 +# f 7803/7807/490 7804/7808/490 7805/7809/490 7806/7810/490 7807/7811/490 7808/7812/490 7809/7813/490 +# f 7803/7807/410 7810/7814/410 7811/7815/410 7812/7816/410 +# f 7795/7800/491 7813/7817/491 7814/7818/491 7815/7819/491 +# f 7798/7799/492 7816/7820/492 7813/7817/492 7795/7800/492 +# f 7817/7821/492 7801/7806/492 7800/7805/492 7818/7822/492 +# f 7819/7823/493 7820/7824/493 7821/7825/493 7810/7814/493 7822/7826/493 7823/7827/493 7824/7828/493 7825/7829/493 7826/7830/493 +# f 7827/7831/496 7811/7815/496 7810/7814/496 7821/7825/496 +# f 7809/7813/495 7822/7826/495 7810/7814/495 7803/7807/495 +# f 7828/7832/494 7829/7833/494 7820/7824/494 7819/7823/494 +# f 7819/7823/409 7804/7808/409 7830/7834/409 7828/7832/409 +# f 7815/7819/412 7814/7818/412 7829/7833/412 7828/7832/412 +# f 7812/7816/497 7811/7815/497 7831/7835/497 7832/7836/497 +# f 7830/7834/415 7812/7816/415 7832/7836/415 7833/7837/415 +# f 7834/7838/412 7831/7835/412 7811/7815/412 7827/7831/412 +# f 7828/7832/409 7830/7834/409 7833/7837/409 7815/7819/409 +# f 7826/7830/498 7805/7809/498 7804/7808/498 7819/7823/498 +# f 7804/7808/547 7803/7807/547 7812/7816/547 7830/7834/547 +# f 7818/7822/500 7834/7838/500 7835/7839/500 7836/7840/500 +# f 7793/7795/501 7837/7841/501 7838/7842/501 7794/7796/501 +# f 7820/7824/502 7839/7843/502 7835/7839/502 7821/7825/502 +# f 7840/7844/548 7841/7845/548 7816/7820/548 7817/7821/548 +# f 7842/7847/549 7843/7846/549 7792/7798/549 7791/7797/549 +# f 7797/7802/505 7796/7801/505 7799/7804/505 7802/7803/505 +# f 7838/7842/506 7837/7841/506 7843/7846/506 7842/7847/506 +# f 7841/7845/550 7844/7848/550 7813/7817/550 7816/7820/550 +# f 7820/7824/508 7829/7833/508 7814/7818/508 7839/7843/508 +# f 7817/7821/509 7818/7822/509 7836/7840/509 7840/7844/509 +# f 7821/7825/510 7835/7839/510 7834/7838/510 7827/7831/510 +# f 7835/7839/511 7839/7843/511 7844/7848/511 7836/7840/511 +# f 7844/7848/512 7839/7843/512 7814/7818/512 7813/7817/512 +# f 7815/7819/513 7833/7837/513 7796/7801/513 7795/7800/513 +# f 7833/7837/514 7832/7836/514 7799/7804/514 7796/7801/514 +# f 7832/7836/515 7831/7835/515 7800/7805/515 7799/7804/515 +# f 7818/7822/491 7800/7805/491 7831/7835/491 7834/7838/491 +# f 7840/7844/551 7836/7840/551 7844/7848/551 7841/7845/551 +# f 7806/7810/517 7805/7809/517 7826/7830/517 7825/7829/517 +# f 7807/7811/552 7806/7810/552 7825/7829/552 7824/7828/552 +# f 7808/7812/519 7807/7811/519 7824/7828/519 7823/7827/519 +# f 7809/7813/520 7808/7812/520 7823/7827/520 7822/7826/520 +# f 7845/7852/521 7846/7849/521 7847/7850/521 7848/7851/521 +# f 7849/7856/522 7850/7853/522 7851/7854/522 7852/7855/522 +# f 7846/7849/412 7850/7853/412 7849/7856/412 7847/7850/412 +# f 7848/7851/413 7847/7850/413 7849/7856/413 7852/7855/413 +# s 1 +# f 7853/7860/523 7854/7857/524 7855/7858/525 7856/7859/526 +# s off +# f 7857/7862/527 7845/7852/527 7848/7851/527 7858/7861/527 +# f 7859/7864/528 7852/7855/528 7851/7854/528 7860/7863/528 +# f 7858/7861/413 7848/7851/413 7852/7855/413 7859/7864/413 +# f 7846/7849/417 7845/7852/417 7851/7854/417 7850/7853/417 +# f 7845/7852/417 7857/7862/417 7860/7863/417 7851/7854/417 +# s 2 +# f 7857/7862/529 7858/7861/530 7861/7865/531 +# f 7862/7866/532 7860/7863/533 7856/7859/534 +# s 1 +# f 7863/7868/535 7858/7861/413 7859/7864/413 7864/7867/536 +# f 7857/7862/417 7853/7860/523 7856/7859/526 7860/7863/417 +# f 7854/7857/524 7853/7860/523 7861/7865/553 7865/7869/538 +# f 7866/7871/539 7864/7867/536 7862/7866/540 7867/7870/541 +# f 7868/7872/542 7863/7868/535 7864/7867/536 7866/7871/539 +# f 7868/7872/542 7865/7869/538 7861/7865/553 7863/7868/535 +# f 7855/7858/525 7867/7870/541 7862/7866/540 7856/7859/526 +# s 2 +# f 7859/7864/543 7862/7866/532 7864/7867/544 +# f 7862/7866/532 7859/7864/543 7860/7863/533 +# f 7857/7862/529 7861/7865/531 7853/7860/545 +# f 7861/7865/531 7858/7861/530 7863/7868/546 +# s off +# f 7869/7875/487 7870/7876/487 7871/7873/487 7872/7874/487 +# f 7873/7878/488 7874/7879/488 7875/7880/488 7876/7877/488 +# f 7877/7882/489 7878/7883/489 7879/7884/489 7880/7881/489 +# f 7881/7885/490 7882/7886/490 7883/7887/490 7884/7888/490 7885/7889/490 7886/7890/490 7887/7891/490 +# f 7881/7885/410 7888/7892/410 7889/7893/410 7890/7894/410 +# f 7873/7878/491 7891/7895/491 7892/7896/491 7893/7897/491 +# f 7876/7877/492 7894/7898/492 7891/7895/492 7873/7878/492 +# f 7895/7899/492 7879/7884/492 7878/7883/492 7896/7900/492 +# f 7897/7901/493 7898/7902/493 7899/7903/493 7888/7892/493 7900/7904/493 7901/7905/493 7902/7906/493 7903/7907/493 7904/7908/493 +# f 7905/7909/494 7889/7893/494 7888/7892/494 7899/7903/494 +# f 7887/7891/495 7900/7904/495 7888/7892/495 7881/7885/495 +# f 7906/7910/496 7907/7911/496 7898/7902/496 7897/7901/496 +# f 7897/7901/409 7882/7886/409 7908/7912/409 7906/7910/409 +# f 7893/7897/412 7892/7896/412 7907/7911/412 7906/7910/412 +# f 7890/7894/497 7889/7893/497 7909/7913/497 7910/7914/497 +# f 7908/7912/415 7890/7894/415 7910/7914/415 7911/7915/415 +# f 7912/7916/412 7909/7913/412 7889/7893/412 7905/7909/412 +# f 7906/7910/409 7908/7912/409 7911/7915/409 7893/7897/409 +# f 7904/7908/498 7883/7887/498 7882/7886/498 7897/7901/498 +# f 7882/7886/499 7881/7885/499 7890/7894/499 7908/7912/499 +# f 7896/7900/500 7912/7916/500 7913/7917/500 7914/7918/500 +# f 7871/7873/501 7915/7919/501 7916/7920/501 7872/7874/501 +# f 7898/7902/502 7917/7921/502 7913/7917/502 7899/7903/502 +# f 7918/7922/503 7919/7923/503 7894/7898/503 7895/7899/503 +# f 7920/7925/549 7921/7924/549 7870/7876/549 7869/7875/549 +# f 7875/7880/505 7874/7879/505 7877/7882/505 7880/7881/505 +# f 7916/7920/506 7915/7919/506 7921/7924/506 7920/7925/506 +# f 7919/7923/507 7922/7926/507 7891/7895/507 7894/7898/507 +# f 7898/7902/508 7907/7911/508 7892/7896/508 7917/7921/508 +# f 7895/7899/509 7896/7900/509 7914/7918/509 7918/7922/509 +# f 7899/7903/510 7913/7917/510 7912/7916/510 7905/7909/510 +# f 7913/7917/511 7917/7921/511 7922/7926/511 7914/7918/511 +# f 7922/7926/512 7917/7921/512 7892/7896/512 7891/7895/512 +# f 7893/7897/513 7911/7915/513 7874/7879/513 7873/7878/513 +# f 7911/7915/514 7910/7914/514 7877/7882/514 7874/7879/514 +# f 7910/7914/515 7909/7913/515 7878/7883/515 7877/7882/515 +# f 7896/7900/491 7878/7883/491 7909/7913/491 7912/7916/491 +# f 7918/7922/516 7914/7918/516 7922/7926/516 7919/7923/516 +# f 7884/7888/517 7883/7887/517 7904/7908/517 7903/7907/517 +# f 7885/7889/552 7884/7888/552 7903/7907/552 7902/7906/552 +# f 7886/7890/519 7885/7889/519 7902/7906/519 7901/7905/519 +# f 7887/7891/520 7886/7890/520 7901/7905/520 7900/7904/520 +# f 7923/7930/521 7924/7927/521 7925/7928/521 7926/7929/521 +# f 7927/7934/522 7928/7931/522 7929/7932/522 7930/7933/522 +# f 7924/7927/412 7928/7931/412 7927/7934/412 7925/7928/412 +# f 7926/7929/413 7925/7928/413 7927/7934/413 7930/7933/413 +# s 1 +# f 7931/7938/523 7932/7935/554 7933/7936/525 7934/7937/526 +# s off +# f 7935/7940/527 7923/7930/527 7926/7929/527 7936/7939/527 +# f 7937/7942/528 7930/7933/528 7929/7932/528 7938/7941/528 +# f 7936/7939/413 7926/7929/413 7930/7933/413 7937/7942/413 +# f 7924/7927/417 7923/7930/417 7929/7932/417 7928/7931/417 +# f 7923/7930/417 7935/7940/417 7938/7941/417 7929/7932/417 +# s 2 +# f 7935/7940/529 7936/7939/530 7939/7943/531 +# f 7940/7944/555 7938/7941/533 7934/7937/534 +# s 1 +# f 7941/7946/535 7936/7939/413 7937/7942/413 7942/7945/536 +# f 7935/7940/417 7931/7938/523 7934/7937/526 7938/7941/417 +# f 7932/7935/554 7931/7938/523 7939/7943/556 7943/7947/557 +# f 7944/7949/539 7942/7945/536 7940/7944/558 7945/7948/559 +# f 7946/7950/560 7941/7946/535 7942/7945/536 7944/7949/539 +# f 7946/7950/560 7943/7947/557 7939/7943/556 7941/7946/535 +# f 7933/7936/525 7945/7948/559 7940/7944/558 7934/7937/526 +# s 2 +# f 7937/7942/543 7940/7944/555 7942/7945/544 +# f 7940/7944/555 7937/7942/543 7938/7941/533 +# f 7935/7940/529 7939/7943/531 7931/7938/545 +# f 7939/7943/531 7936/7939/530 7941/7946/546 +# s off +# f 7947/7953/487 7948/7954/487 7949/7951/487 7950/7952/487 +# f 7951/7956/488 7952/7957/488 7953/7958/488 7954/7955/488 +# f 7955/7960/489 7956/7961/489 7957/7962/489 7958/7959/489 +# f 7959/7963/490 7960/7964/490 7961/7965/490 7962/7966/490 7963/7967/490 7964/7968/490 7965/7969/490 +# f 7959/7963/410 7966/7970/410 7967/7971/410 7968/7972/410 +# f 7951/7956/491 7969/7973/491 7970/7974/491 7971/7975/491 +# f 7954/7955/492 7972/7976/492 7969/7973/492 7951/7956/492 +# f 7973/7977/492 7957/7962/492 7956/7961/492 7974/7978/492 +# f 7975/7979/493 7976/7980/493 7977/7981/493 7966/7970/493 7978/7982/493 7979/7983/493 7980/7984/493 7981/7985/493 7982/7986/493 +# f 7983/7987/496 7967/7971/496 7966/7970/496 7977/7981/496 +# f 7965/7969/495 7978/7982/495 7966/7970/495 7959/7963/495 +# f 7984/7988/494 7985/7989/494 7976/7980/494 7975/7979/494 +# f 7975/7979/409 7960/7964/409 7986/7990/409 7984/7988/409 +# f 7971/7975/412 7970/7974/412 7985/7989/412 7984/7988/412 +# f 7968/7972/497 7967/7971/497 7987/7991/497 7988/7992/497 +# f 7986/7990/415 7968/7972/415 7988/7992/415 7989/7993/415 +# f 7990/7994/412 7987/7991/412 7967/7971/412 7983/7987/412 +# f 7984/7988/409 7986/7990/409 7989/7993/409 7971/7975/409 +# f 7982/7986/498 7961/7965/498 7960/7964/498 7975/7979/498 +# f 7960/7964/499 7959/7963/499 7968/7972/499 7986/7990/499 +# f 7974/7978/500 7990/7994/500 7991/7995/500 7992/7996/500 +# f 7949/7951/501 7993/7997/501 7994/7998/501 7950/7952/501 +# f 7976/7980/502 7995/7999/502 7991/7995/502 7977/7981/502 +# f 7996/8000/548 7997/8001/548 7972/7976/548 7973/7977/548 +# f 7998/8003/549 7999/8002/549 7948/7954/549 7947/7953/549 +# f 7953/7958/505 7952/7957/505 7955/7960/505 7958/7959/505 +# f 7994/7998/506 7993/7997/506 7999/8002/506 7998/8003/506 +# f 7997/8001/550 8000/8004/550 7969/7973/550 7972/7976/550 +# f 7976/7980/508 7985/7989/508 7970/7974/508 7995/7999/508 +# f 7973/7977/509 7974/7978/509 7992/7996/509 7996/8000/509 +# f 7977/7981/510 7991/7995/510 7990/7994/510 7983/7987/510 +# f 7991/7995/511 7995/7999/511 8000/8004/511 7992/7996/511 +# f 8000/8004/512 7995/7999/512 7970/7974/512 7969/7973/512 +# f 7971/7975/513 7989/7993/513 7952/7957/513 7951/7956/513 +# f 7989/7993/514 7988/7992/514 7955/7960/514 7952/7957/514 +# f 7988/7992/515 7987/7991/515 7956/7961/515 7955/7960/515 +# f 7974/7978/491 7956/7961/491 7987/7991/491 7990/7994/491 +# f 7996/8000/551 7992/7996/551 8000/8004/551 7997/8001/551 +# f 7962/7966/517 7961/7965/517 7982/7986/517 7981/7985/517 +# f 7963/7967/561 7962/7966/561 7981/7985/561 7980/7984/561 +# f 7964/7968/519 7963/7967/519 7980/7984/519 7979/7983/519 +# f 7965/7969/520 7964/7968/520 7979/7983/520 7978/7982/520 +# f 8001/8008/521 8002/8005/521 8003/8006/521 8004/8007/521 +# f 8005/8012/522 8006/8009/522 8007/8010/522 8008/8011/522 +# f 8002/8005/412 8006/8009/412 8005/8012/412 8003/8006/412 +# f 8004/8007/413 8003/8006/413 8005/8012/413 8008/8011/413 +# s 1 +# f 8009/8016/523 8010/8013/524 8011/8014/525 8012/8015/526 +# s off +# f 8013/8018/527 8001/8008/527 8004/8007/527 8014/8017/527 +# f 8015/8020/528 8008/8011/528 8007/8010/528 8016/8019/528 +# f 8014/8017/413 8004/8007/413 8008/8011/413 8015/8020/413 +# f 8002/8005/417 8001/8008/417 8007/8010/417 8006/8009/417 +# f 8001/8008/417 8013/8018/417 8016/8019/417 8007/8010/417 +# s 2 +# f 8013/8018/562 8014/8017/563 8017/8021/564 +# f 8018/8022/565 8016/8019/566 8012/8015/567 +# s 1 +# f 8019/8024/535 8014/8017/413 8015/8020/413 8020/8023/536 +# f 8013/8018/417 8009/8016/523 8012/8015/526 8016/8019/417 +# f 8010/8013/524 8009/8016/523 8017/8021/556 8021/8025/557 +# f 8022/8027/539 8020/8023/536 8018/8022/558 8023/8026/559 +# f 8024/8028/542 8019/8024/535 8020/8023/536 8022/8027/539 +# f 8024/8028/542 8021/8025/557 8017/8021/556 8019/8024/535 +# f 8011/8014/525 8023/8026/559 8018/8022/558 8012/8015/526 +# s 2 +# f 8015/8020/568 8018/8022/565 8020/8023/569 +# f 8018/8022/565 8015/8020/568 8016/8019/566 +# f 8013/8018/562 8017/8021/564 8009/8016/570 +# f 8017/8021/564 8014/8017/563 8019/8024/571 +# s off +# f 7720/7721/572 7719/7724/572 7713/7719/572 7716/7718/572 +# f 7716/7718/573 7760/7764/573 7723/7728/573 7739/7743/573 7738/7742/573 7720/7721/573 +# f 7724/7725/574 7764/7769/574 7713/7719/574 7719/7724/574 +# f 7724/7725/575 7723/7728/575 7760/7764/575 7764/7769/575 +# f 7798/7799/572 7797/7802/572 7791/7797/572 7794/7796/572 +# f 7794/7796/576 7838/7842/576 7801/7806/576 7817/7821/576 7816/7820/576 7798/7799/576 +# f 7802/7803/574 7842/7847/574 7791/7797/574 7797/7802/574 +# f 7802/7803/575 7801/7806/575 7838/7842/575 7842/7847/575 +# f 7876/7877/572 7875/7880/572 7869/7875/572 7872/7874/572 +# f 7872/7874/576 7916/7920/576 7879/7884/576 7895/7899/576 7894/7898/576 7876/7877/576 +# f 7880/7881/574 7920/7925/574 7869/7875/574 7875/7880/574 +# f 7880/7881/575 7879/7884/575 7916/7920/575 7920/7925/575 +# f 7954/7955/572 7953/7958/572 7947/7953/572 7950/7952/572 +# f 7950/7952/576 7994/7998/576 7957/7962/576 7973/7977/576 7972/7976/576 7954/7955/576 +# f 7958/7959/574 7998/8003/574 7947/7953/574 7953/7958/574 +# f 7958/7959/575 7957/7962/575 7994/7998/575 7998/8003/575 +# s 8 +# f 8025/8029/479 8026/8030/479 8027/8031/455 8028/8032/455 +# f 8028/8032/455 8027/8031/455 8029/8033/418 8030/8034/418 +# f 8030/8034/418 8029/8033/418 8031/8035/458 8032/8036/458 +# f 8032/8036/458 8031/8035/458 8033/8037/577 8034/8038/577 +# f 8034/8038/577 8033/8037/577 8035/8039/578 8036/8040/578 +# f 8036/8040/578 8035/8039/578 8037/8041/579 8038/8042/579 +# f 8038/8042/579 8037/8041/579 8039/8043/580 8040/8044/580 +# f 8041/8048/581 8042/8045/582 8043/8046/582 8044/8047/581 +# s 1 +# f 8034/8038/409 8036/8040/409 8038/8042/409 8040/8044/409 8025/8029/409 8028/8032/409 8030/8034/409 8032/8036/409 +# f 8031/8035/410 8029/8033/410 8027/8031/410 8026/8030/410 8039/8043/410 8037/8041/410 8035/8039/410 8033/8037/410 +# s off +# f 8025/8029/583 8045/8049/583 8046/8050/583 8026/8030/583 +# f 8026/8030/410 8046/8050/410 8047/8051/410 8039/8043/410 +# f 8039/8043/584 8047/8051/584 8048/8052/584 8040/8044/584 +# f 8040/8044/409 8048/8052/409 8045/8049/409 8025/8029/409 +# f 8045/8049/585 8049/8053/585 8050/8054/585 8046/8050/585 +# f 8046/8050/410 8050/8054/410 8051/8055/410 8047/8051/410 +# f 8047/8051/586 8051/8055/586 8052/8056/586 8048/8052/586 +# f 8048/8052/409 8052/8056/409 8049/8053/409 8045/8049/409 +# f 8049/8053/587 8053/8057/587 8054/8058/587 8050/8054/587 +# f 8050/8054/410 8054/8058/410 8055/8059/410 8051/8055/410 +# f 8051/8055/588 8055/8059/588 8056/8060/588 8052/8056/588 +# f 8052/8056/409 8056/8060/409 8053/8057/409 8049/8053/409 +# f 8053/8057/589 8057/8061/589 8058/8062/589 8054/8058/589 +# f 8054/8058/410 8058/8062/410 8044/8047/410 8043/8046/410 8055/8059/410 +# f 8055/8059/590 8043/8046/590 8042/8045/590 8056/8060/590 +# f 8056/8060/409 8042/8045/409 8041/8048/409 8057/8061/409 8053/8057/409 +# s 8 +# f 8057/8061/591 8041/8048/581 8044/8047/581 8058/8062/591 +# f 8059/8063/479 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8382/8386/593 8383/8387/593 8384/8388/593 +# s 8 +# f 8377/8381/600 8380/8384/598 8382/8386/600 8381/8385/600 +# s 32 +# f 8379/8383/604 8378/8382/604 8384/8388/604 8383/8387/604 +# 132 polygons + diff --git a/simulators/sim_env/models/shipping_container_conveyor_ariac/model.config b/simulators/sim_env/models/shipping_container_conveyor_ariac/model.config new file mode 100755 index 0000000..2bd6dc9 --- /dev/null +++ b/simulators/sim_env/models/shipping_container_conveyor_ariac/model.config @@ -0,0 +1,22 @@ + + + + Shipping Container Conveyor + 1.0 + model.sdf + + + Cole Biesemeyer + cole.bsmr@gmail.com + + + + Nate Koenig + nate@osrfoundation.com + + + + A shipping container conveyor belt with out ramp. + + + diff --git a/simulators/sim_env/models/shipping_container_conveyor_ariac/model.sdf b/simulators/sim_env/models/shipping_container_conveyor_ariac/model.sdf new file mode 100755 index 0000000..6eea385 --- /dev/null +++ b/simulators/sim_env/models/shipping_container_conveyor_ariac/model.sdf @@ -0,0 +1,36 @@ + + + + true + + + 1.191 1.6275 0.32 0 0 0 + 10 + + + 0.137 7.98 0.3 + + + + + + 0.268 1.6275 0.32 0 0 0 + 10 + + + 0.145 7.98 0.3 + + + + + + + + 1.3 0.7 1.0 + model://shipping_container_conveyor_ariac/meshes/ShippingContainer_Textured.obj + + + + + + diff --git a/simulators/sim_env/package.xml b/simulators/sim_env/package.xml new file mode 100755 index 0000000..f549c27 --- /dev/null +++ b/simulators/sim_env/package.xml @@ -0,0 +1,40 @@ + + sim_env + 0.0.1 + + ROS motion planning simulation environment. + + Winter + Winter + BSD + catkin + roscpp + rospy + std_msgs + message_generation + gazebo_ros + rviz + + roscpp + rospy + std_msgs + controller_manager + urdf + effort_controllers + gazebo_plugins + gazebo_ros + gazebo_ros_control + joint_state_controller + joint_state_publisher + robot_state_publisher + yocs_cmd_vel_mux + message_runtime + xacro + rviz + + + + + + + \ No newline at end of file diff --git a/simulators/sim_env/rviz/cache.rviz b/simulators/sim_env/rviz/cache.rviz new file mode 100755 index 0000000..22857cb --- /dev/null +++ b/simulators/sim_env/rviz/cache.rviz @@ -0,0 +1,47 @@ +Panels: +- Class: rviz/Displays + Name: Displays +- Class: rviz/Tool Properties + Name: Tool Properties +Visualization Manager: + Displays: + - Class: rviz/Map + Enabled: true + Name: Map + Topic: /map + - Class: rviz/Grid + Enabled: true + Name: Grid + - Class: rviz/TF + Enabled: false + Name: TF + - Class: rviz/RobotModel + Enabled: true + Name: RobotModel + Robot Description: robot_description + - Class: rviz/Image + Enabled: false + Name: Image + Topic: /camera/rgb/image_raw + - Alpha: 1 + Class: rviz/LaserScan + Color: 255; 0; 0 + Color Transformer: FlatColor + Enabled: true + Name: LaserScan + Size (m): 0.03 + Style: Spheres + Topic: /scan + Global Options: + Fixed Frame: map + Tools: + - Class: rviz/Interact + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/PublishPoint + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal diff --git a/simulators/sim_env/rviz/sim_env.rviz b/simulators/sim_env/rviz/sim_env.rviz new file mode 100755 index 0000000..8bf9718 --- /dev/null +++ b/simulators/sim_env/rviz/sim_env.rviz @@ -0,0 +1,414 @@ +Panels: + - Class: rviz/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Path1 + - /TrackedPersons1 + - /Map5 + Splitter Ratio: 0.5 + Tree Height: 1520 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + 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: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: 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 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 32; 74; 135 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /move_base/GraphPlanner/plan + Unreliable: false + Value: true + - Alpha: 0.8999999761581421 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: false + Name: Map + Topic: /move_base/GraphPlanner/expand + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.20000000298023224 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Map + Topic: /move_base/local_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - Alpha: 0.20000000298023224 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Map + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /move_base/SamplePlanner/tree + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /target_pose + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 0.5 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /current_pose + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 32; 74; 135 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /human_1/pose + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 32; 74; 135 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /human_2/pose + Unreliable: false + Value: true + - Alpha: 1 + Class: spencer_tracking_rviz_plugin/TrackedPersons + Color: 130; 130; 130 + Color map offset: 0 + Color transform: Rainbow + Delete after no. cycles: 100 + Enabled: true + Excluded person IDs: "" + Font color: 255; 255; 255 + Font color style: Same color + Font scale: 2 + History as line: + Line width: 0.05000000074505806 + Value: true + History size: 100 + Included person IDs: "" + Min. history point distance: 0.4000000059604645 + Missed alpha: 0.5 + Name: TrackedPersons + Occlusion alpha: 0.30000001192092896 + Queue Size: 10 + Render covariances: + Line width: 0.10000000149011612 + Value: true + Render detection IDs: false + Render history: true + Render person visual: true + Render track IDs: true + Render track state: false + Render velocities: true + Show DELETED tracks: false + Show MATCHED tracks: true + Show MISSED tracks: true + Show OCCLUDED tracks: true + Style: + Line width: 0.05000000074505806 + Scaling factor: 1 + Value: Person meshes + Topic: ped_visualization + Unreliable: false + Value: true + Z offset: + Use Z position from message: false + Value: 0 + - Alpha: 0.30000001192092896 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: /move_base/global_costmap/voronoi_layer/voronoi_grid + Unreliable: false + Use Timestamp: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + 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 + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - 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: 31.205366134643555 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.006348671857267618 + Y: 0.48202550411224365 + Z: -4.073554039001465 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: + Yaw: 1.5549954175949097 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 2032 + 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: 3696 + X: 144 + Y: 54 diff --git a/simulators/sim_env/rviz/view_multi.rviz b/simulators/sim_env/rviz/view_multi.rviz new file mode 100755 index 0000000..b7888aa --- /dev/null +++ b/simulators/sim_env/rviz/view_multi.rviz @@ -0,0 +1,330 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 843 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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 + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link_optical: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pitch_platform: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + yaw_platform: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot1/robot_description + TF Prefix: robot1 + Update Interval: 0 + Value: true + Visual Enabled: 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: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0299999993 + Style: Squares + Topic: /robot1/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0199999996 + Style: Flat Squares + Topic: /robot1/camera/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot2/robot_description + TF Prefix: robot2 + Update Interval: 0 + Value: false + Visual Enabled: 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: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0299999993 + Style: Squares + Topic: /robot2/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0199999996 + Style: Flat Squares + Topic: /robot2/camera/depth/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: robot1/odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 14.9153643 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.28042281 + Y: -2.00316596 + Z: 1.72873592 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.539797246 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.57499635 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + 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: 1855 + X: 65 + Y: 24 diff --git a/simulators/sim_env/scripts/killpro.sh b/simulators/sim_env/scripts/killpro.sh new file mode 100755 index 0000000..9598986 --- /dev/null +++ b/simulators/sim_env/scripts/killpro.sh @@ -0,0 +1,4 @@ +killall -9 rosmaster +killall -9 roscore +killall gzserver +killall gzclient diff --git a/simulators/sim_env/scripts/main.sh b/simulators/sim_env/scripts/main.sh new file mode 100755 index 0000000..ed3cdc0 --- /dev/null +++ b/simulators/sim_env/scripts/main.sh @@ -0,0 +1,3 @@ +source ../../../devel/setup.bash +python ../../third_party/dynamic_xml_config/main_generate.py user_config.yaml +# roslaunch sim_env main.launch diff --git a/simulators/sim_env/urdf/pictures/frames/burger_frames.pdf b/simulators/sim_env/urdf/pictures/frames/burger_frames.pdf new file mode 100755 index 0000000..3193f20 Binary files /dev/null and b/simulators/sim_env/urdf/pictures/frames/burger_frames.pdf differ diff --git a/simulators/sim_env/urdf/pictures/frames/waffle_frames.pdf b/simulators/sim_env/urdf/pictures/frames/waffle_frames.pdf new file mode 100755 index 0000000..ebf5f82 Binary files /dev/null and b/simulators/sim_env/urdf/pictures/frames/waffle_frames.pdf differ diff --git a/simulators/sim_env/urdf/pictures/frames/waffle_pi_frames.pdf b/simulators/sim_env/urdf/pictures/frames/waffle_pi_frames.pdf new file mode 100755 index 0000000..ec7d0df Binary files /dev/null and b/simulators/sim_env/urdf/pictures/frames/waffle_pi_frames.pdf differ diff --git a/simulators/sim_env/urdf/pictures/frames/xbot_frames.pdf b/simulators/sim_env/urdf/pictures/frames/xbot_frames.pdf new file mode 100755 index 0000000..a4dd459 Binary files /dev/null and b/simulators/sim_env/urdf/pictures/frames/xbot_frames.pdf differ diff --git a/simulators/sim_env/urdf/pictures/turtlebot3_burger.jpg b/simulators/sim_env/urdf/pictures/turtlebot3_burger.jpg new file mode 100755 index 0000000..ccc146f Binary files /dev/null and b/simulators/sim_env/urdf/pictures/turtlebot3_burger.jpg differ diff --git a/simulators/sim_env/urdf/pictures/turtlebot3_waffle.jpg b/simulators/sim_env/urdf/pictures/turtlebot3_waffle.jpg new file mode 100755 index 0000000..200ef56 Binary files /dev/null and b/simulators/sim_env/urdf/pictures/turtlebot3_waffle.jpg differ diff --git a/simulators/sim_env/urdf/pictures/turtlebot3_waffle_pi.jpg b/simulators/sim_env/urdf/pictures/turtlebot3_waffle_pi.jpg new file mode 100755 index 0000000..f1e2340 Binary files /dev/null and b/simulators/sim_env/urdf/pictures/turtlebot3_waffle_pi.jpg differ diff --git a/simulators/sim_env/urdf/turtlebot3_burger/common_properties.xacro b/simulators/sim_env/urdf/turtlebot3_burger/common_properties.xacro new file mode 100755 index 0000000..b26a853 --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_burger/common_properties.xacro @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.gazebo.xacro b/simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.gazebo.xacro new file mode 100755 index 0000000..9211733 --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.gazebo.xacro @@ -0,0 +1,135 @@ + + + + + + + Gazebo/DarkGrey + + + + 0.1 + 0.1 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 1000000.0 + 100.0 + 0.001 + 1.0 + Gazebo/FlatBlack + + + + + true + $(arg imu_visual) + + Gazebo/FlatBlack + + + + + cmd_vel + odom + odom + world + true + base_footprint + false + true + false + false + 30 + wheel_left_joint + wheel_right_joint + 0.160 + 0.066 + 1 + 10 + na + + + + + + true + imu_link + imu_link + imu + imu_service + 0.0 + 0 + + + gaussian + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + + + Gazebo/FlatBlack + + 0 0 0 0 0 0 + $(arg laser_visual) + 5 + + + + 360 + 1 + 0.0 + 6.28319 + + + + 0.120 + 3.5 + 0.015 + + + gaussian + 0.0 + 0.01 + + + + scan + base_scan + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.urdf.xacro b/simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.urdf.xacro new file mode 100755 index 0000000..eea9c07 --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.urdf.xacro @@ -0,0 +1,163 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.xacro b/simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.xacro new file mode 100755 index 0000000..4fe3a6d --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_burger/turtlebot3_burger.xacro @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_waffle/common_properties.xacro b/simulators/sim_env/urdf/turtlebot3_waffle/common_properties.xacro new file mode 100755 index 0000000..b26a853 --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_waffle/common_properties.xacro @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.gazebo.xacro b/simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.gazebo.xacro new file mode 100755 index 0000000..c9e2e0b --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.gazebo.xacro @@ -0,0 +1,190 @@ + + + + + + + + Gazebo/DarkGrey + + + + 0.1 + 0.1 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 1000000.0 + 100.0 + 0.001 + 1.0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 1000000.0 + 100.0 + 0.001 + 1.0 + Gazebo/FlatBlack + + + + + true + $(arg imu_visual) + + Gazebo/Grey + + + + + cmd_vel + odom + odom + world + true + base_footprint + false + true + false + false + 30 + wheel_left_joint + wheel_right_joint + 0.287 + 0.066 + 1 + 10 + na + + + + + + true + imu_link + imu_link + imu + imu_service + 0.0 + 0 + + + gaussian + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + + + Gazebo/FlatBlack + + 0 0 0 0 0 0 + $(arg laser_visual) + 5 + + + + 360 + 1 + 0.0 + 6.28319 + + + + 0.120 + 3.5 + 0.015 + + + gaussian + 0.0 + 0.01 + + + + scan + base_scan + + + + + + + true + $(arg camera_visual) + + 1.3439 + + 1920 + 1080 + R8G8B8 + + + + 0.03 + 100 + + + + 0.2 + true + 30.0 + camera + camera_rgb_optical_frame + rgb/image_raw + depth/image_raw + depth/points + rgb/camera_info + depth/camera_info + 0.4 + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0 + 0 + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.urdf.xacro b/simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.urdf.xacro new file mode 100755 index 0000000..742d26c --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.urdf.xacro @@ -0,0 +1,249 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.xacro b/simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.xacro new file mode 100755 index 0000000..a1ba42b --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_waffle/turtlebot3_waffle.xacro @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_waffle_pi/common_properties.xacro b/simulators/sim_env/urdf/turtlebot3_waffle_pi/common_properties.xacro new file mode 100755 index 0000000..b26a853 --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_waffle_pi/common_properties.xacro @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.gazebo.xacro b/simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.gazebo.xacro new file mode 100755 index 0000000..3ac563c --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.gazebo.xacro @@ -0,0 +1,180 @@ + + + + + + + + Gazebo/DarkGrey + + + + 0.1 + 0.1 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 1000000.0 + 100.0 + 0.001 + 1.0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 1000000.0 + 100.0 + 0.001 + 1.0 + Gazebo/FlatBlack + + + + + true + $(arg imu_visual) + + Gazebo/Grey + + + + + cmd_vel + odom + odom + world + true + base_footprint + true + true + true + false + 30 + wheel_left_joint + wheel_right_joint + 0.287 + 0.066 + 1 + 10 + na + + + + + + true + imu_link + imu_link + imu + imu_service + 0.0 + 0 + + + gaussian + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + + + Gazebo/FlatBlack + + 0 0 0 0 0 0 + $(arg laser_visual) + 5 + + + + 360 + 1 + 0.0 + 6.28319 + + + + 0.120 + 3.5 + 0.015 + + + gaussian + 0.0 + 0.01 + + + + scan + base_scan + + + + + + + + true + $(arg camera_visual) + + 1.085595 + + 640 + 480 + R8G8B8 + + + 0.03 + 100 + + + + true + 30.0 + camera + camera_rgb_optical_frame + rgb/image_raw + rgb/camera_info + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.urdf.xacro b/simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.urdf.xacro new file mode 100755 index 0000000..9af6793 --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.urdf.xacro @@ -0,0 +1,215 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.xacro b/simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.xacro new file mode 100755 index 0000000..e6103bb --- /dev/null +++ b/simulators/sim_env/urdf/turtlebot3_waffle_pi/turtlebot3_waffle_pi.xacro @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/simulators/sim_env/worlds/pictures/turtlebot3_house.jpg b/simulators/sim_env/worlds/pictures/turtlebot3_house.jpg new file mode 100755 index 0000000..d231c88 Binary files /dev/null and b/simulators/sim_env/worlds/pictures/turtlebot3_house.jpg differ diff --git a/simulators/sim_env/worlds/pictures/workshop.jpg b/simulators/sim_env/worlds/pictures/workshop.jpg new file mode 100755 index 0000000..77dcbd3 Binary files /dev/null and b/simulators/sim_env/worlds/pictures/workshop.jpg differ diff --git a/simulators/sim_env/worlds/turtlebot3_house.world b/simulators/sim_env/worlds/turtlebot3_house.world new file mode 100755 index 0000000..0f5d327 --- /dev/null +++ b/simulators/sim_env/worlds/turtlebot3_house.world @@ -0,0 +1,53 @@ + + + + + + model://sun + + + + + model://ground_plane + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + + model://turtlebot3_house + + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + true + + + + + 0.0 0.0 17.0 0 1.5708 0 + orbit + + + + diff --git a/simulators/sim_env/worlds/turtlebot3_stage_1.world b/simulators/sim_env/worlds/turtlebot3_stage_1.world new file mode 100755 index 0000000..de2b241 --- /dev/null +++ b/simulators/sim_env/worlds/turtlebot3_stage_1.world @@ -0,0 +1,53 @@ + + + + + + model://sun + + + + + model://ground_plane + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + + model://turtlebot3_square + + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + true + + + + + 0.0 0.0 17.0 0 1.5708 0 + orbit + + + + diff --git a/simulators/sim_env/worlds/turtlebot3_stage_2.world b/simulators/sim_env/worlds/turtlebot3_stage_2.world new file mode 100755 index 0000000..d931d6b --- /dev/null +++ b/simulators/sim_env/worlds/turtlebot3_stage_2.world @@ -0,0 +1,203 @@ + + + + + + model://sun + + + + + model://ground_plane + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + + model://turtlebot3_square + + + + 0 0 0 0 -0 0 + + + -0.6 -0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + -0.6 -0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + -0.6 0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + -0.6 0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + 0.6 -0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + 0.6 -0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + 0.6 0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + 0.6 0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + 1 + + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + true + + + + + 0.0 0.0 17.0 0 1.5708 0 + orbit + + + + diff --git a/simulators/sim_env/worlds/turtlebot3_stage_3.world b/simulators/sim_env/worlds/turtlebot3_stage_3.world new file mode 100755 index 0000000..6796fff --- /dev/null +++ b/simulators/sim_env/worlds/turtlebot3_stage_3.world @@ -0,0 +1,202 @@ + + + + + + model://sun + + + + + model://ground_plane + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + + model://turtlebot3_square + + + + 0 0 0 0 -0 0 + + + -0.6 -0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + -0.6 -0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + -0.6 0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + -0.6 0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + 0.6 -0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + 0.6 -0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + 0.6 0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + 0.6 0.6 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + true + + + + + 0.0 0.0 17.0 0 1.5708 0 + orbit + + + + diff --git a/simulators/sim_env/worlds/turtlebot3_stage_4.world 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+ 10 + 0 0 1.25 0 -0 0 + + + 2.25 0.15 2.5 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + 1 + 1 + 8.68743 -1.85107 0 0 -0 3.14 + + + 11 25 1 0 0 0 + + walk.dae + 1.0 + + + walk.dae + 1.0 + true + + + LHipJoint_LeftUpLeg_collision + LeftUpLeg_LeftLeg_collision + LeftLeg_LeftFoot_collision + LeftFoot_LeftToeBase_collision + RHipJoint_RightUpLeg_collision + RightUpLeg_RightLeg_collision + RightLeg_RightFoot_collision + RightFoot_RightToeBase_collision + Spine_Spine1_collision + Neck_Neck1_collision + Neck1_Head_collision + LeftShoulder_LeftArm_collision + LeftArm_LeftForeArm_collision + LeftForeArm_LeftHand_collision + LeftFingerBase_LeftHandIndex1_collision + RightShoulder_RightArm_collision + RightArm_RightForeArm_collision + RightForeArm_RightHand_collision + RightFingerBase_RightHandIndex1_collision + LowerBack_Spine_collision + 0.9 + 0.4 + True + 5.1 + 6.0 + 2.0 + 20.0 + 15 + 3.0 + 2.0 + 1.0 + + ground_plane + turtlebot3_waffle_1 + + + 11 25 1 0 0 0 + 11 30 1 0 0 0 + + + + 5 + + + + \ No newline at end of file diff --git a/simulators/third_party/dynamic_rviz_config/CMakeLists.txt b/simulators/third_party/dynamic_rviz_config/CMakeLists.txt new file mode 100755 index 0000000..dd8c1a3 --- /dev/null +++ b/simulators/third_party/dynamic_rviz_config/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0.2) +project(dynamic_rviz_config) +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy +) + +catkin_package( + CATKIN_DEPENDS urdf xacro +) + +catkin_install_python(PROGRAMS + scripts/rviz_generate.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) \ No newline at end of file diff --git a/simulators/third_party/dynamic_rviz_config/package.xml b/simulators/third_party/dynamic_rviz_config/package.xml new file mode 100755 index 0000000..622c422 --- /dev/null +++ b/simulators/third_party/dynamic_rviz_config/package.xml @@ -0,0 +1,17 @@ + + dynamic_rviz_config + 0.0.1 + dynamic_rviz_config package + Winter + Yang Haodong + BSD + catkin + roscpp + rospy + + roscpp + rospy + urdf + xacro + + diff --git a/simulators/third_party/dynamic_rviz_config/scripts/config.py b/simulators/third_party/dynamic_rviz_config/scripts/config.py new file mode 100755 index 0000000..42325c4 --- /dev/null +++ b/simulators/third_party/dynamic_rviz_config/scripts/config.py @@ -0,0 +1,166 @@ +#!/usr/bin/python +#-*- coding: utf-8 -*- + +''' +****************************************************************************************** +* Copyright (C) 2023 Yang Haodong, All Rights Reserved * +* * +* @brief rviz basic pannel configure class. * +* @author Haodong Yang * +* @version 1.0.1 * +* @date 2022.07.06 * +* @license GNU General Public License (GPL) * +****************************************************************************************** +''' +import yaml + +class RVizConfig: + def __init__(self, rviz_name, path, base_file=None): + # Rviz visualization manager + self.VIZ_MAN = 'Visualization Manager' + # Rviz standard tools + self.STD_TOOLS = ['rviz/Interact', 'rviz/MoveCamera', 'rviz/Select', 'rviz/FocusCamera', 'rviz/Measure', 'rviz/PublishPoint'] + # Rviz standard panels + self.STD_PANELS = ['rviz/Displays', 'rviz/Tool Properties'] + # Rviz file name + self.file_name = rviz_name + # Rviz cache + self.cache_path = path + # Rviz pre-configure + self.data = yaml.load(base_file) if base_file else {} + + def __repr__(self): + return yaml.dump(self.data, default_flow_style=False) + + # @breif: set Rviz configure path + # + # @param[in]: path Rviz configure path + # @return: None + def setFileCache(self, path): + self.cache_path = path + + # @breif: extract all configure data of `rviz Visualization Manager` + # + # @param[in]: None + # @return: all configure data of `rviz Visualization Manager` + def getVisualization(self): + if self.VIZ_MAN not in self.data: + self.data[self.VIZ_MAN] = {} + return self.data[self.VIZ_MAN] + + # @breif: set display format + # @param[in]: displays display format + # @return: True if successful else False + def setDisplays(self, displays): + if 'Displays' not in self.getVisualization(): + self.data[self.VIZ_MAN]['Displays'] = displays + print("Displays have been set successfully!") + return True + print("Displays setting failed! please call displays delete first!") + return False + + # @breif: clear display + # @param[in]: None + # @return: True if successful else False + def delDisplays(self): + if 'Displays' in self.getVisualization(): + del self.data[self.VIZ_MAN]['Displays'] + print("Displays have been deleted successfully!") + return True + print("Displays delete failed! please call displays setting first!") + return False + + # @breif: set Rviz standard tools + # @param[in]: None + # @return: True if successful else False + def setStdTools(self): + v = self.getVisualization() + if 'Tools' not in v: + v['Tools'] = [] + for tool in self.STD_TOOLS: + v['Tools'].append({'Class': tool}) + print("standard tools have been set successfully!") + return True + print("standard tools setting failed! please call standard tools delete first!") + return False + + # @breif: clear Rviz standard tools + # @param[in]: None + # @return: True if successful else False + def delStdTools(self): + if 'Tools' in self.getVisualization(): + del self.data[self.VIZ_MAN]['Tools'] + print("standard tools have been deleted successfully!") + return True + print("standard tools delete failed! please call standard tools setting first!") + return False + + # @breif: set Rviz standard panels + # @param[in]: None + # @return: True if successful else False + def setStdPanels(self): + if 'Panels' not in self.data: + self.data['Panels'] = [] + for tool in self.STD_PANELS: + self.data['Panels'].append({'Class': tool, 'Name': tool.split('/')[-1]}) + print("standard panels have been set successfully!") + return True + print("standard panels setting failed! please call standard panels delete first!") + return False + + # @breif: clear Rviz standard panels + # @param[in]: None + # @return: True if successful else False + def delStdPanels(self): + if 'Panels' in self.data: + del self.data['Panels'] + print("standard panels have been deleted successfully!") + return True + print("standard panels delete failed! please call standard panels setting first!") + return False + + # @breif: set base coordinate + # @param[in]: frame base coordinate, default is `map` + # @return: None + def setFixedFrame(self, frame='map'): + v = self.getVisualization() + if 'Global Options' not in v: + v['Global Options'] = {'Fixed Frame':frame} + else: + v['Global Options']['Fixed Frame'] = frame + + # @breif: set the topics of Rviz standard tools + # @param[in]: name Rviz standard tools classes + # @param[in]: topic the topic of Rviz standard tools relatively + # @return: None + def setToolTopic(self, name, topic): + for m in self.data[self.VIZ_MAN]['Tools']: + if m.get('Class', '')==name: + m['Topic'] = topic + + # @breif: append navigation tools and their topics + # @param[in]: None + # @return: None + def appendToolGoal(self, topic): + v = self.getVisualization() + if 'Tools' not in v: + v['Tools'] = [] + v['Tools'].append({'Class': 'rviz/SetGoal', 'Topic': topic}) + + # @breif: append initial Pose and its topic + # @param[in]: None + # @return: None + def appendToolInit(self, topic): + v = self.getVisualization() + if 'Tools' not in v: + v['Tools'] = [] + v['Tools'].append({'Class': 'rviz/SetInitialPose', 'Topic': topic}) + + # @breif: run Rviz and apply user configure + # @param[in]: None + # @return: None + def run(self): + with open( self.cache_path + self.file_name + '.rviz', "w") as fp: + fp.write(str(self)) + import subprocess + subprocess.call(['rosrun','rviz','rviz', '-d', self.cache_path + self.file_name + '.rviz']) \ No newline at end of file diff --git a/simulators/third_party/dynamic_rviz_config/scripts/displays.py b/simulators/third_party/dynamic_rviz_config/scripts/displays.py new file mode 100755 index 0000000..8e605da --- /dev/null +++ b/simulators/third_party/dynamic_rviz_config/scripts/displays.py @@ -0,0 +1,93 @@ +#!/usr/bin/python +#-*- coding: utf-8 -*- + +''' +****************************************************************************************** +* Copyright (C) 2023 Yang Haodong, All Rights Reserved * +* * +* @brief rviz display pannel configure class. * +* @author Haodong Yang * +* @version 1.0.1 * +* @date 2022.07.06 * +* @license GNU General Public License (GPL) * +****************************************************************************************** +''' + +class Displays(list): + def __init__(self): + None + + + def addDisplay(self, name, class_name, topic=None, color=None, fields={}, enabled=True): + d = {'Name': name, 'Class': class_name, 'Enabled': enabled} + if topic: + d['Topic'] = topic + if color: + d['Color'] = '%d; %d; %d'%color + d.update(fields) + self.append(d) + + def addMap(self, topic='/map', name='Map', alpha=None, scheme=None): + fields = {} + if alpha: + fields['Alpha'] = alpha + if scheme: + fields['Color Scheme'] = scheme + self.addDisplay(name, 'rviz/Map', topic, fields=fields) + + def addGrid(self): + self.addDisplay('Grid', 'rviz/Grid') + + def addTf(self, scale=None): + fields = {} + if scale: + fields['Marker Scale'] = scale + self.addDisplay('TF', 'rviz/TF', fields=fields, enabled=False) + + def addGroup(self, name, displays): + self.addDisplay(name, 'rviz/Group', fields={'Displays': displays}) + + def addModel(self, parameter='robot_description', tf_prefix=None): + fields = {'Robot Description': parameter} + if tf_prefix: + fields['TF Prefix'] = tf_prefix + self.addDisplay('RobotModel', 'rviz/RobotModel', fields=fields) + + def addLaserscan(self, topic='/base_scan', name=None, color=(46, 255, 0), size=0.1, alpha=None): + if name is None: + name = topic + fields = {'Size (m)': size, 'Style': 'Spheres', 'Color Transformer': 'FlatColor'} + if alpha: + fields['Alpha'] = alpha + self.addDisplay(name, 'rviz/LaserScan', topic, color, fields) + + def addPoseArray(self, topic='/particlecloud', color=None): + self.addDisplay('AMCL Cloud', 'rviz/PoseArray', topic, color) + + def addFootprint(self, topic, color=(0,170,255)): + self.addDisplay('Robot Footprint', 'rviz/Polygon', topic, color) + + def addPath(self, topic, name, color=None): + self.addDisplay(name, 'rviz/Path', topic, color) + + def addPose(self, topic, name='Current Goal', color=None, arrow_shape=None): + fields = {} + if arrow_shape: + fields['Head Length'] = arrow_shape[0] + fields['Head Radius'] = arrow_shape[1] + fields['Shaft Length'] = arrow_shape[2] + fields['Shaft Radius'] = arrow_shape[3] + fields['Shape'] = 'Arrow' + self.addDisplay(name, 'rviz/Pose', topic, color, fields) + + def addImage(self, topic="/camera/rgb/image_raw", name="Image"): + self.addDisplay(name, "rviz/Image", topic, enabled=False) + + + +import yaml + +def display_representer(dumper, data): + return dumper.represent_sequence(u'tag:yaml.org,2002:seq', list(data)) + +yaml.add_representer(Displays, display_representer) diff --git a/simulators/third_party/dynamic_rviz_config/scripts/rviz_generate.py b/simulators/third_party/dynamic_rviz_config/scripts/rviz_generate.py new file mode 100755 index 0000000..1031b4b --- /dev/null +++ b/simulators/third_party/dynamic_rviz_config/scripts/rviz_generate.py @@ -0,0 +1,73 @@ +#!/usr/bin/python +#-*- coding: utf-8 -*- + +''' +****************************************************************************************** +* Copyright (C) 2023 Yang Haodong, All Rights Reserved * +* * +* @brief rviz basic pannel configure class. * +* @author Haodong Yang * +* @version 1.0.1 * +* @date 2022.07.06 * +* @license GNU General Public License (GPL) * +****************************************************************************************** +''' +import sys, os +dir_path = os.path.dirname(os.path.realpath(__file__)) +sys.path.insert(0, dir_path) + +from config import RVizConfig +from displays import Displays + +# the number of robots +robot_num = int(sys.argv[1]) + +r = RVizConfig("cache", os.path.split(os.path.realpath(__file__))[0] + "/../../../sim_env/rviz/") +# set Rviz standard tools +r.setStdTools() +# visualize Rviz models +d = Displays() +# load map and grid +d.addMap() +d.addGrid() +# set transform +d.addTf() + +# single robot +if robot_num == 1: + # append robots' model + d.addModel() + # append camera image + d.addImage() + # append laser + d.addLaserscan(topic="/scan", name="LaserScan", color=(255, 0, 0), size=0.03, alpha=1) + # append `initialpose` setting panel + r.appendToolInit('/initialpose') + # append `move_base_simple/goal` setting panel + r.appendToolGoal('/move_base_simple/goal') +else: + # multi-robot + for i in range(robot_num): + meta_robot = Displays() + # append robots' model + meta_robot.addModel(parameter="robot" + str(i + 1) + "/robot_description", tf_prefix="robot" + str(i + 1)) + # append camera image + meta_robot.addImage(topic="/robot" + str(i + 1) + "/camera/rgb/image_raw", name="Image" + str(i + 1)) + # append laser + meta_robot.addLaserscan(topic="/robot" + str(i + 1) + "/scan", name="LaserScan" + str(i + 1), color=(255, 0, 0), size=0.03, alpha=1) + # append path + meta_robot.addPath(topic=None, name="Path", color=(32, 74, 135)) + d.addGroup("Robot" + str(i + 1), meta_robot) + # append `initialpose` setting panel + r.appendToolInit('/robot' + str(i + 1) + '/initialpose') + # ppend `move_base_simple/goal` setting panel + r.appendToolGoal('/robot' + str(i + 1) +'/move_base_simple/goal') + +# 设置Rviz标准面板 +r.setStdPanels() +# 设置Rviz模型显示 +r.setDisplays(d) +# 设置Rviz基坐标系 +r.setFixedFrame() +# 启动Rviz +r.run() diff --git a/simulators/third_party/dynamic_xml_config/CMakeLists.txt b/simulators/third_party/dynamic_xml_config/CMakeLists.txt new file mode 100755 index 0000000..1480716 --- /dev/null +++ b/simulators/third_party/dynamic_xml_config/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) +project(dynamic_xml_config) +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy +) + +catkin_package( + +) + +catkin_install_python(PROGRAMS + plugins/obstacles_generate_ros.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) \ No newline at end of file diff --git a/simulators/third_party/dynamic_xml_config/main_generate.py b/simulators/third_party/dynamic_xml_config/main_generate.py new file mode 100755 index 0000000..03a71c5 --- /dev/null +++ b/simulators/third_party/dynamic_xml_config/main_generate.py @@ -0,0 +1,63 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +""" +****************************************************************************************** +* Copyright (C) 2023 Yang Haodong, All Rights Reserved * +* * +* @brief generate launch file dynamicly based on user configure. * +* @author Haodong Yang * +* @version 1.0.3 * +* @date 2023.07.19 * +* @license GNU General Public License (GPL) * +****************************************************************************************** +""" +import xml.etree.ElementTree as ET +from plugins import XMLGenerator, PedGenerator, RobotGenerator, ObstacleGenerator + +class MainGenerator(XMLGenerator): + def __init__(self, *plugins) -> None: + super().__init__() + self.main_path = self.root_path + "pedestrian_simulation/" + self.app_list = [app for app in plugins] + + def writeMainLaunch(self, path): + """ + Create configure file of package `sim_env` dynamically. + + Parameters + ---------- + path: str + the path of file(.launch.xml) to write. + """ + # root + launch = MainGenerator.createElement("launch") + + # other applications + for app in self.app_list: + assert isinstance(app, XMLGenerator), "Expected type of app is XMLGenerator" + app_register = app.plugin() + for app_element in app_register: + launch.append(app_element) + + # include + include = MainGenerator.createElement("include", props={"file": "$(find sim_env)/launch/config.launch"}) + include.append(MainGenerator.createElement("arg", props={"name": "world", "value": "$(arg world_parameter)"})) + include.append(MainGenerator.createElement("arg", props={"name": "map", "value": self.user_cfg["map"]})) + include.append(MainGenerator.createElement("arg", props={"name": "robot_number", "value": str(len(self.user_cfg["robots_config"]))})) + include.append(MainGenerator.createElement("arg", props={"name": "rviz_file", "value": self.user_cfg["rviz_file"]})) + + launch.append(include) + MainGenerator.indent(launch) + + with open(path, "wb+") as f: + ET.ElementTree(launch).write(f, encoding="utf-8", xml_declaration=True) + + def plugin(self): + pass + +# dynamic generator +main_gen = MainGenerator(PedGenerator(), + RobotGenerator(), + ObstacleGenerator()) +main_gen.writeMainLaunch(main_gen.root_path + "sim_env/launch/main.launch") diff --git a/simulators/third_party/dynamic_xml_config/package.xml b/simulators/third_party/dynamic_xml_config/package.xml new file mode 100755 index 0000000..6f1bfc3 --- /dev/null +++ b/simulators/third_party/dynamic_xml_config/package.xml @@ -0,0 +1,17 @@ + + + dynamic_xml_config + 0.2.0 + + dynamic xml configure + + + Winter + + BSD + + Winter + + catkin + + diff --git a/simulators/third_party/dynamic_xml_config/plugins/__init__.py b/simulators/third_party/dynamic_xml_config/plugins/__init__.py new file mode 100755 index 0000000..d8a8aa8 --- /dev/null +++ b/simulators/third_party/dynamic_xml_config/plugins/__init__.py @@ -0,0 +1,6 @@ +from .xml_generate import XMLGenerator +from .pedestrians_generate import PedGenerator +from .robot_generate import RobotGenerator +from .obstacles_generate import ObstacleGenerator + +__all__ = ["XMLGenerator", "PedGenerator", "RobotGenerator", "ObstacleGenerator"] \ No newline at end of file diff --git a/simulators/third_party/dynamic_xml_config/plugins/__pycache__/__init__.cpython-38.pyc b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/__init__.cpython-38.pyc new file mode 100755 index 0000000..31169e7 Binary files /dev/null and b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/__init__.cpython-38.pyc differ diff --git a/simulators/third_party/dynamic_xml_config/plugins/__pycache__/obstacles_generate.cpython-38.pyc b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/obstacles_generate.cpython-38.pyc new file mode 100755 index 0000000..5b1805c Binary files /dev/null and b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/obstacles_generate.cpython-38.pyc differ diff --git a/simulators/third_party/dynamic_xml_config/plugins/__pycache__/pedestrians_generate.cpython-38.pyc b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/pedestrians_generate.cpython-38.pyc new file mode 100755 index 0000000..819a547 Binary files /dev/null and b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/pedestrians_generate.cpython-38.pyc differ diff --git a/simulators/third_party/dynamic_xml_config/plugins/__pycache__/robot_generate.cpython-38.pyc b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/robot_generate.cpython-38.pyc new file mode 100755 index 0000000..c64ec5e Binary files /dev/null and b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/robot_generate.cpython-38.pyc differ diff --git a/simulators/third_party/dynamic_xml_config/plugins/__pycache__/xml_generate.cpython-38.pyc b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/xml_generate.cpython-38.pyc new file mode 100755 index 0000000..d530f14 Binary files /dev/null and b/simulators/third_party/dynamic_xml_config/plugins/__pycache__/xml_generate.cpython-38.pyc differ diff --git a/simulators/third_party/dynamic_xml_config/plugins/obstacles_generate.py b/simulators/third_party/dynamic_xml_config/plugins/obstacles_generate.py new file mode 100755 index 0000000..294c6e3 --- /dev/null +++ b/simulators/third_party/dynamic_xml_config/plugins/obstacles_generate.py @@ -0,0 +1,191 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +""" +****************************************************************************************** +* Copyright (C) 2023 Yang Haodong, All Rights Reserved * +* * +* @brief generate launch file dynamicly based on user configure. * +* @author Haodong Yang * +* @version 1.0.2 * +* @date 2023.03.15 * +* @license GNU General Public License (GPL) * +****************************************************************************************** +""" +import rospy, tf +from gazebo_msgs.srv import SpawnModel +from geometry_msgs.msg import Quaternion, Pose, Point +import xml.etree.ElementTree as ET +from .xml_generate import XMLGenerator + + +class ObstacleGenerator(XMLGenerator): + def __init__(self) -> None: + super().__init__() + if "plugins" in self.user_cfg.keys() and "obstacles" in self.user_cfg["plugins"] \ + and self.user_cfg["plugins"]["obstacles"]: + self.obs_cfg = ObstacleGenerator.yamlParser(self.root_path + "user_config/" + self.user_cfg["plugins"]["obstacles"]) + else: + self.obs_cfg = None + + self.box_obs, self.cylinder_obs, self.sphere_obs = [], [], [] + + def plugin(self): + """ + Implement of obstacles application. + """ + app_register = [] + if not self.obs_cfg is None: + '''app register''' + # obstacles generation + obs_gen = ObstacleGenerator.createElement("node", props={"pkg": "dynamic_xml_config", "type": "obstacles_generate_ros.py", + "name": "obstacles_generate", "args": "user_config.yaml","output": "screen"}) + app_register.append(obs_gen) + + return app_register + + def spawn(self) -> None: + """ + ROS service for spawning static obstacles in Gazebo world. + """ + rospy.wait_for_service("gazebo/spawn_urdf_model") + proxy = rospy.ServiceProxy("gazebo/spawn_urdf_model", SpawnModel) + + for obs in self.obs_cfg["obstacles"]: + pose = [float(i) for i in obs["pose"].split()] + x, y, z, r, p, yaw = pose + orient = tf.transformations.quaternion_from_euler(r, p, yaw) + orient = Quaternion(orient[0], orient[1], orient[2], orient[3]) + params = obs["props"] + params["c"] = obs["color"] + urdf = self.constructURDF(obs["type"], **params) + + if obs["type"] == "BOX": + z = z if z else obs["props"]["h"] / 2 + pose = Pose(Point(x=x, y=y, z=z), orient) + proxy(obs["type"] + str(len(self.box_obs)), urdf, "", pose, "world") + self.box_obs.append(obs) + elif obs["type"] == "CYLINDER": + z = z if z else obs["props"]["h"] / 2 + pose = Pose(Point(x=x, y=y, z=z), orient) + proxy(obs["type"] + str(len(self.cylinder_obs)), urdf, "", pose, "world") + self.cylinder_obs.append(obs) + elif obs["type"] == "SPHERE": + z = z if z else obs["props"]["r"] + pose = Pose(Point(x=x, y=y, z=z), orient) + proxy(obs["type"] + str(len(self.sphere_obs)), urdf, "", pose, "world") + self.sphere_obs.append(obs) + + def constructURDF(self, model_type: str, **kwargs) -> str: + """ + Construct URDF of specific type of obstacle. + + Parameters + ---------- + model_type: str + specific type of obstacle. Optional is `BOX`, `CYLINDER` and `SPHERE` + kwargs: dict + parameters of obstacle, such as mass, color, height, etc. + + Return + ---------- + urdf_str: str + URDF of obstacle + """ + # parameters checking + if model_type.upper() == "BOX": + assert "m" in kwargs and \ + "w" in kwargs and \ + "d" in kwargs and \ + "h" in kwargs and \ + "c" in kwargs, \ + "Parameters of {} are `m`, `w`, `d`, `h`, `c` which mean mass, \ + width, depth, height and color, ".format(model_type) + ixx = (kwargs["m"] / 12.0) * (pow(kwargs["d"], 2) + pow(kwargs["h"], 2)) + iyy = (kwargs["m"] / 12.0) * (pow(kwargs["w"], 2) + pow(kwargs["h"], 2)) + izz = (kwargs["m"] / 12.0) * (pow(kwargs["w"], 2) + pow(kwargs["d"], 2)) + geometry = ObstacleGenerator.createElement("geometry") + geometry.append(ObstacleGenerator.createElement(model_type.lower(), + props={"size": "{:f} {:f} {:f}".format(kwargs["w"], kwargs["d"], kwargs["h"])})) + elif model_type.upper() == "CYLINDER": + assert "m" in kwargs and \ + "r" in kwargs and \ + "h" in kwargs and \ + "c" in kwargs, \ + "Parameters of {} are `m`, `r`, `h`, `c` which mean mass, \ + radius, height and color, ".format(model_type) + ixx = (kwargs["m"] / 12.0) * (3 * pow(kwargs["r"], 2) + pow(kwargs["h"], 2)) + iyy = (kwargs["m"] / 12.0) * (3 * pow(kwargs["r"], 2) + pow(kwargs["h"], 2)) + izz = (kwargs["m"] * pow(kwargs["r"], 2)) / 2.0 + geometry = ObstacleGenerator.createElement("geometry") + geometry.append(ObstacleGenerator.createElement(model_type.lower(), + props={"length": str(kwargs["h"]), "radius": str(kwargs["r"])})) + elif model_type.upper() == "SPHERE": + assert "m" in kwargs and \ + "r" in kwargs and \ + "c" in kwargs, \ + "Parameters of {} are `m`, `r`, `h`, `c` which mean mass, \ + radius and color, ".format(model_type) + ixx = (2 * kwargs["m"] * pow(kwargs["r"], 2)) / 5.0 + iyy = (2 * kwargs["m"] * pow(kwargs["r"], 2)) / 5.0 + izz = (2 * kwargs["m"] * pow(kwargs["r"], 2)) / 5.0 + geometry = ObstacleGenerator.createElement("geometry") + geometry.append(ObstacleGenerator.createElement("sphere", props={"radius": str(kwargs["r"])})) + else: + raise NotImplementedError + + # URDF generation dynamically + static_obs = ObstacleGenerator.createElement("robot", props={"name": model_type.lower()}) + link = ObstacleGenerator.createElement("link", props={"name": model_type.lower() + "_link"}) + + inertial = ObstacleGenerator.createElement("inertial") + inertial.append(ObstacleGenerator.createElement("origin", props={"xyz": "0 0 0", "rpy": "0 0 0"})) + inertial.append(ObstacleGenerator.createElement("mass", props={"value": str(kwargs["m"])})) + inertial.append(ObstacleGenerator.createElement("inertia", props={"ixx": str(ixx), "ixy": "0.0", "ixz": "0.0", + "iyy": str(iyy), "iyz": "0.0", "izz": str(izz)})) + + collision = ObstacleGenerator.createElement("collision") + collision.append(ObstacleGenerator.createElement("origin", props={"xyz": "0 0 0", "rpy": "0 0 0"})) + + collision.append(geometry) + + visual = ObstacleGenerator.createElement("visual") + visual.append(ObstacleGenerator.createElement("origin", props={"xyz": "0 0 0", "rpy": "0 0 0"})) + visual.append(geometry) + r, g, b, a = ObstacleGenerator.color(kwargs["c"]) + visual.append(ObstacleGenerator.createElement("color", props={"rgba": "{:f} {:f} {:f} {:f}".format(r, g, b, a)})) + + link.append(inertial) + link.append(collision) + link.append(visual) + + gazebo = ObstacleGenerator.createElement("gazebo", props={"reference": model_type.lower() + "_link"}) + gazebo.append(ObstacleGenerator.createElement("kp", text=str(100000.0))) + gazebo.append(ObstacleGenerator.createElement("kd", text=str(100000.0))) + gazebo.append(ObstacleGenerator.createElement("mu1", text=str(10.0))) + gazebo.append(ObstacleGenerator.createElement("mu2", text=str(10.0))) + gazebo.append(ObstacleGenerator.createElement("material", text="Gazebo/" + kwargs["c"])) + + static_obs.append(link) + static_obs.append(gazebo) + + ObstacleGenerator.indent(static_obs) + + return ET.tostring(static_obs).decode() + + @staticmethod + def color(color_name): + if color_name == "Blue": + return (0, 0, 0.8, 1) + elif color_name == "Red": + return (0.8, 0, 0, 1) + elif color_name == "Green": + return (0, 0.8, 0, 1) + elif color_name == "Grey": + return (0.75, 0.75, 0.75, 1) + elif color_name == "White": + return (1.0, 1.0, 1.0, 1) + elif color_name == "Black": + return (0, 0, 0, 1) + else: + return (0.75, 0.75, 0.75, 1) \ No newline at end of file diff --git a/simulators/third_party/dynamic_xml_config/plugins/obstacles_generate_ros.py b/simulators/third_party/dynamic_xml_config/plugins/obstacles_generate_ros.py new file mode 100755 index 0000000..2c0ea32 --- /dev/null +++ b/simulators/third_party/dynamic_xml_config/plugins/obstacles_generate_ros.py @@ -0,0 +1,25 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +""" +****************************************************************************************** +* Copyright (C) 2023 Yang Haodong, All Rights Reserved * +* * +* @brief generate launch file dynamicly based on user configure. * +* @author Haodong Yang * +* @version 1.0.2 * +* @date 2023.03.15 * +* @license GNU General Public License (GPL) * +****************************************************************************************** +""" +import rospy +import sys, os +sys.path.append(os.path.abspath(os.path.join(__file__, "../../"))) + +from plugins import ObstacleGenerator + +if __name__ == "__main__": + obstacles = ObstacleGenerator() + + rospy.init_node("spawn_obstacles") + obstacles.spawn() \ No newline at end of file diff --git a/simulators/third_party/dynamic_xml_config/plugins/pedestrians_generate.py b/simulators/third_party/dynamic_xml_config/plugins/pedestrians_generate.py new file mode 100755 index 0000000..f6862d2 --- /dev/null +++ b/simulators/third_party/dynamic_xml_config/plugins/pedestrians_generate.py @@ -0,0 +1,185 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +""" +****************************************************************************************** +* Copyright (C) 2023 Yang Haodong, All Rights Reserved * +* * +* @brief generate launch file dynamicly based on user configure. * +* @author Haodong Yang * +* @version 1.0.2 * +* @date 2023.03.15 * +* @license GNU General Public License (GPL) * +****************************************************************************************** +""" +import xml.etree.ElementTree as ET +from .xml_generate import XMLGenerator + + +class PedGenerator(XMLGenerator): + def __init__(self) -> None: + super().__init__() + if "plugins" in self.user_cfg.keys() and "pedestrians" in self.user_cfg["plugins"] \ + and self.user_cfg["plugins"]["pedestrians"]: + self.ped_cfg = PedGenerator.yamlParser(self.root_path + "user_config/" + self.user_cfg["plugins"]["pedestrians"]) + else: + self.ped_cfg = None + + def __str__(self) -> str: + return "Pedestrians Generator" + + def plugin(self): + """ + Implement of pedestrian application. + """ + app_register = [] + if not self.ped_cfg is None: + '''dynamic confiugre''' + ped_path = self.root_path + "sim_env/worlds/" + self.user_cfg["world"] + "_with_pedestrians.world" + self.writePedestrianWorld(ped_path) + + '''app register''' + # world generation + ped_world = PedGenerator.createElement("arg", props={"name": "world_parameter", + "value": self.user_cfg["world"] + "_with_pedestrians"}) + app_register.append(ped_world) + else: + # world generation + ped_world = PedGenerator.createElement("arg", props={"name": "world_parameter", "value": self.user_cfg["world"]}) + app_register.append(ped_world) + + return app_register + + def writePedestrianWorld(self, path): + """ + Create configure file to construct pedestrians environment. + + Parameters + ---------- + path: str + the path of file(.launch.xml) to write. + """ + + def createHuman(config, index): + """ + Create human element of world file. + + Parameters + ---------- + config: dict + configure data structure. + index: int + human index + + Return + ---------- + human: ET.Element + human element ptr + """ + + def createCollision(name, scale, pose=None): + if pose: + props = {"scale": " ".join("%s" % s for s in scale), "pose": " ".join("%s" % p for p in pose)} + else: + props = {"scale": " ".join("%s" % s for s in scale)} + return PedGenerator.createElement("collision", text=name, props=props) + + # configure + sfm = config["social_force"] + human = config["pedestrians"]["ped_property"][index] + upd_rate = config["pedestrians"]["update_rate"] + + # root: actor + actor = PedGenerator.createElement("actor", props={"name": human["name"]}) + + # human initial pose + pose = PedGenerator.createElement("pose", text=human["pose"]) + + # human skin + skin = PedGenerator.createElement("skin") + skin.append(PedGenerator.createElement("filename", text="walk.dae")) + skin.append(PedGenerator.createElement("scale", text="1.0")) + + animation = PedGenerator.createElement("animation", props={"name": "walking"}) + animation.append(PedGenerator.createElement("filename", text="walk.dae")) + animation.append(PedGenerator.createElement("scale", text="1.0")) + animation.append(PedGenerator.createElement("interpolate_x", text="true")) + + # plugin + if not index: + plugin_visual = PedGenerator.createElement("plugin", props={"name": "pedestrian_visual", "filename": "libPedestrianVisualPlugin.so"}) + plugin_visual.append(PedGenerator.createElement("update_rate", text=str(upd_rate))) + else: + plugin_visual = None + + plugin = PedGenerator.createElement("plugin", props={"name": human["name"] + "_plugin", "filename": "libPedestrianSFMPlugin.so"}) + plugin.append(createCollision("LHipJoint_LeftUpLeg_collision", [0.01, 0.001, 0.001])) + plugin.append(createCollision("LeftUpLeg_LeftLeg_collision", [8.0, 8.0, 1.0])) + plugin.append(createCollision("LeftLeg_LeftFoot_collision", [10.0, 10.0, 1.5])) + plugin.append(createCollision("LeftFoot_LeftToeBase_collision", [4.0, 4.0, 1.5])) + plugin.append(createCollision("RHipJoint_RightUpLeg_collision", [0.01, 0.001, 0.001])) + plugin.append(createCollision("RightUpLeg_RightLeg_collision", [8.0, 8.0, 1.0])) + plugin.append(createCollision("RightLeg_RightFoot_collision", [10.0, 10.0, 1.5])) + plugin.append(createCollision("RightFoot_RightToeBase_collision", [4.0, 4.0, 1.5])) + plugin.append(createCollision("Spine_Spine1_collision", [0.01, 0.001, 0.001])) + plugin.append(createCollision("Neck_Neck1_collision", [0.01, 0.001, 0.001])) + plugin.append(createCollision("Neck1_Head_collision", [5.0, 5.0, 3.0])) + plugin.append(createCollision("LeftShoulder_LeftArm_collision", [0.01, 0.001, 0.001])) + plugin.append(createCollision("LeftArm_LeftForeArm_collision", [5.0, 5.0, 1.0])) + plugin.append(createCollision("LeftForeArm_LeftHand_collision", [5.0, 5.0, 1.0])) + plugin.append(createCollision("LeftFingerBase_LeftHandIndex1_collision", [4.0, 4.0, 3.0])) + plugin.append(createCollision("RightShoulder_RightArm_collision", [0.01, 0.001, 0.001])) + plugin.append(createCollision("RightArm_RightForeArm_collision", [5.0, 5.0, 1.0])) + plugin.append(createCollision("RightForeArm_RightHand_collision", [5.0, 5.0, 1.0])) + plugin.append(createCollision("RightFingerBase_RightHandIndex1_collision", [4.0, 4.0, 3.0])) + plugin.append(createCollision("LowerBack_Spine_collision", [12.0, 20.0, 5.0], [0.05, 0, 0, 0, -0.2, 0])) + + plugin.append(PedGenerator.createElement("velocity", text=str(human["velocity"]))) + plugin.append(PedGenerator.createElement("radius", text=str(human["radius"]))) + plugin.append(PedGenerator.createElement("cycle", text=str(human["cycle"]))) + plugin.append(PedGenerator.createElement("animation_factor", text=str(sfm["animation_factor"]))) + plugin.append(PedGenerator.createElement("people_distance", text=str(sfm["people_distance"]))) + plugin.append(PedGenerator.createElement("goal_weight", text=str(sfm["goal_weight"]))) + plugin.append(PedGenerator.createElement("obstacle_weight", text=str(sfm["obstacle_weight"]))) + plugin.append(PedGenerator.createElement("social_weight", text=str(sfm["social_weight"]))) + plugin.append(PedGenerator.createElement("group_gaze_weight", text=str(sfm["group_gaze_weight"]))) + plugin.append(PedGenerator.createElement("group_coh_weight", text=str(sfm["group_coh_weight"]))) + plugin.append(PedGenerator.createElement("group_rep_weight", text=str(sfm["group_rep_weight"]))) + + if "time_delay" in human.keys(): + plugin.append(PedGenerator.createElement("time_delay", text=str(human["time_delay"]))) + + ignore_obstacles = PedGenerator.createElement("ignore_obstacles") + for model in human["ignore"].values(): + ignore_obstacles.append(PedGenerator.createElement("model", text=model)) + + trajectory = PedGenerator.createElement("trajectory") + for goal in human["trajectory"].values(): + trajectory.append(PedGenerator.createElement("goalpoint", text=goal)) + + plugin.append(ignore_obstacles) + plugin.append(trajectory) + + actor.append(pose) + actor.append(skin) + actor.append(animation) + actor.append(plugin) + + if not plugin_visual is None: + actor.append(plugin_visual) + + PedGenerator.indent(actor) + + return actor + + if not self.ped_cfg is None: + world_file = self.root_path + "sim_env/worlds/" + self.user_cfg["world"] + ".world" + tree = ET.parse(world_file) + world = tree.getroot().find("world") + + human_num = len(self.ped_cfg["pedestrians"]["ped_property"]) + for i in range(human_num): + world.append(createHuman(self.ped_cfg, i)) + + with open(path, "wb+") as f: + tree.write(f, encoding="utf-8", xml_declaration=True) \ No newline at end of file diff --git a/simulators/third_party/dynamic_xml_config/plugins/robot_generate.py b/simulators/third_party/dynamic_xml_config/plugins/robot_generate.py new file mode 100755 index 0000000..a09bec9 --- /dev/null +++ b/simulators/third_party/dynamic_xml_config/plugins/robot_generate.py @@ -0,0 +1,124 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +""" +****************************************************************************************** +* Copyright (C) 2023 Yang Haodong, All Rights Reserved * +* * +* @brief generate launch file dynamicly based on user configure. * +* @author Haodong Yang * +* @version 1.0.2 * +* @date 2023.07.19 * +* @license GNU General Public License (GPL) * +****************************************************************************************** +""" +import xml.etree.ElementTree as ET +from .xml_generate import XMLGenerator + + +class RobotGenerator(XMLGenerator): + def __init__(self) -> None: + super().__init__() + + def __str__(self) -> str: + return "Robots Generator" + + def plugin(self): + """ + Implement of robots starting application. + """ + app_register = [] + self.writeRobotsXml(self.root_path + "sim_env/launch/include/robots/start_robots.launch.xml") + return app_register + + def writeRobotsXml(self, path): + """ + Create configure file to start robots dynamically. + + Parameters + ---------- + path: str + the path of file(.launch.xml) to write. + """ + + def getRobotArg(name: str, index: int = -1): + if index == -1: + e = RobotGenerator.createElement( + "arg", props={"name": name, "value": "$(eval arg('robot' + str(arg('robot_number')) + '_" + name + "'))"} + ) + else: + e = RobotGenerator.createElement( + "arg", + props={ + "name": "robot" + str(index + 1) + "_" + name, + "value": self.user_cfg["robots_config"][index]["robot" + str(index + 1) + "_" + name], + }, + ) + return e + + # root + launch = RobotGenerator.createElement("launch") + + # setting the number of robots + if "robots_config" in self.user_cfg.keys(): + robots_num = len(self.user_cfg["robots_config"]) + else: + robots_num = 0 + raise ValueError("There is no robot!") + + launch.append(RobotGenerator.createElement("arg", props={"name": "robot_number", "default": str(robots_num)})) + + # setting the parameters of robots + for i in range(robots_num): + # robotic type + launch.append(getRobotArg("type", i)) + # global planner + launch.append(getRobotArg("global_planner", i)) + # local planner + launch.append(getRobotArg("local_planner", i)) + # robotic pose + launch.append(getRobotArg("x_pos", i)) + launch.append(getRobotArg("y_pos", i)) + launch.append(getRobotArg("z_pos", i)) + launch.append(getRobotArg("yaw", i)) + + # create starting node + include = RobotGenerator.createElement("include", props={"file": "$(find sim_env)/launch/app/environment_single.launch.xml"}) + include.append( + RobotGenerator.createElement("arg", props={"name": "robot", "value": "$(eval arg('robot' + str(arg('robot_number')) + '_type'))"}) + ) + # planner + include.append(getRobotArg("global_planner")) + include.append(getRobotArg("local_planner")) + # namespace + include.append(RobotGenerator.createElement("arg", props={"name": "robot_namespace", "value": "robot$(arg robot_number)"})) + if robots_num > 1: + include.append(RobotGenerator.createElement("arg", props={"name": "start_ns", "value": "true"})) + else: + include.append(RobotGenerator.createElement("arg", props={"name": "start_ns", "value": "false"})) + # pose + include.append( + RobotGenerator.createElement("arg", props={"name": "robot_x", "value": "$(eval arg('robot' + str(arg('robot_number')) + '_x_pos'))"}) + ) + include.append( + RobotGenerator.createElement("arg", props={"name": "robot_y", "value": "$(eval arg('robot' + str(arg('robot_number')) + '_y_pos'))"}) + ) + include.append( + RobotGenerator.createElement("arg", props={"name": "robot_z", "value": "$(eval arg('robot' + str(arg('robot_number')) + '_z_pos'))"}) + ) + include.append( + RobotGenerator.createElement("arg", props={"name": "robot_yaw", "value": "$(eval arg('robot' + str(arg('robot_number')) + '_yaw'))"}) + ) + + # recursive start + cycle = RobotGenerator.createElement( + "include", props={"file": "$(find sim_env)/launch/include/robots/start_robots.launch.xml", "if": "$(eval arg('robot_number') > 1)"} + ) + cycle.append(RobotGenerator.createElement("arg", props={"name": "robot_number", "value": "$(eval arg('robot_number') - 1)"})) + + launch.append(include) + launch.append(cycle) + RobotGenerator.indent(launch) + + with open(path, "wb+") as f: + ET.ElementTree(launch).write(f, encoding="utf-8", xml_declaration=True) \ No newline at end of file diff --git a/simulators/third_party/dynamic_xml_config/plugins/xml_generate.py b/simulators/third_party/dynamic_xml_config/plugins/xml_generate.py new file mode 100755 index 0000000..de33159 --- /dev/null +++ b/simulators/third_party/dynamic_xml_config/plugins/xml_generate.py @@ -0,0 +1,88 @@ +#!/usr/bin/python +# -*- coding: utf-8 -*- + +""" +****************************************************************************************** +* Copyright (C) 2023 Yang Haodong, All Rights Reserved * +* * +* @brief generate launch file dynamicly based on user configure. * +* @author Haodong Yang * +* @version 1.0.2 * +* @date 2023.04.23 * +* @license GNU General Public License (GPL) * +****************************************************************************************** +""" +import yaml +import xml.etree.ElementTree as ET +import sys, os + +from abc import abstractmethod, ABC + +class XMLGenerator(ABC): + def __init__(self) -> None: + # get the root path of package(src layer) + self.root_path = os.path.split(os.path.realpath(__file__))[0] + "/../../../" + # user configure + self.user_cfg = XMLGenerator.yamlParser(self.root_path + "user_config/" + sys.argv[1]) + + @abstractmethod + def plugin(self): + """ + [interface] Implement of specific application. + + Return + ---------- + app_register: list of ET.Element to register + """ + pass + + @staticmethod + def yamlParser(path: str) -> dict: + """ + Parser user configure file(.yaml). + + Parameters + ---------- + path: str + the path of file(.yaml). + + Return + ---------- + data: dict + user configuer tree + """ + with open(path, "r") as f: + data = yaml.load(f, Loader=yaml.FullLoader) + return data + + @staticmethod + def indent(elem: ET.Element, level: int = 0) -> None: + """ + Format the generated xml document. + + Parameters + ---------- + elem: ET.Element + level: int + indent level. + """ + i = "\n" + level * "\t" + if len(elem): + if not elem.text or not elem.text.strip(): + elem.text = i + "\t" + if not elem.tail or not elem.tail.strip(): + elem.tail = i + for elem in elem: + XMLGenerator.indent(elem, level + 1) + if not elem.tail or not elem.tail.strip(): + elem.tail = i + else: + if level and (not elem.tail or not elem.tail.strip()): + elem.tail = i + + @staticmethod + def createElement(name: str, text: str = None, props: dict = {}) -> ET.Element: + e = ET.Element(name, attrib=props) + if not text is None: + e.text = text + return e \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/CMakeLists.txt b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/CMakeLists.txt new file mode 100755 index 0000000..5aa1cd2 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/CMakeLists.txt @@ -0,0 +1,55 @@ +cmake_minimum_required(VERSION 3.0.2) +project(gazebo_sfm_plugin) + +add_compile_options(-std=c++17) + +find_package(catkin REQUIRED COMPONENTS + gazebo_ros + roscpp + message_generation +) + +find_package(Boost REQUIRED COMPONENTS thread) +find_package(gazebo REQUIRED) + +add_service_files( + FILES + ped_state.srv +) + +generate_messages( + DEPENDENCIES +) + +include_directories(include) +include_directories(SYSTEM + /usr/local/include #to find lightsfm + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} +) + +link_directories( + ${catkin_LIBRARY_DIRS} + ${GAZEBO_LIBRARY_DIRS} +) + + + +catkin_package( + INCLUDE_DIRS include + LIBRARIES PedestrianSFMPlugin + CATKIN_DEPENDS gazebo_ros roscpp +) + + +add_library(PedestrianSFMPlugin src/pedestrian_sfm_plugin.cpp) +add_dependencies(PedestrianSFMPlugin gazebo_sfm_plugin_generate_messages_cpp) +target_link_libraries(PedestrianSFMPlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES}) #${Boost_LIBRARIES + +install(TARGETS + PedestrianSFMPlugin + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + diff --git a/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/angle.hpp b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/angle.hpp new file mode 100755 index 0000000..778f809 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/angle.hpp @@ -0,0 +1,203 @@ +/***********************************************************************/ +/** */ +/** angle.hpp */ +/** */ +/** Copyright (c) 2016, Service Robotics Lab. */ +/** http://robotics.upo.es */ +/** */ +/** All rights reserved. */ +/** */ +/** Authors: */ +/** Ignacio Perez-Hurtado (maintainer) */ +/** Jesus Capitan */ +/** Fernando Caballero */ +/** Luis Merino */ +/** */ +/** This software may be modified and distributed under the terms */ +/** of the BSD license. See the LICENSE file for details. */ +/** */ +/** http://www.opensource.org/licenses/BSD-3-Clause */ +/** */ +/***********************************************************************/ + +#ifndef _ANGLE_HPP_ +#define _ANGLE_HPP_ + +#include +#include + +namespace utils +{ +class Angle +{ +public: + enum AngleRange + { + // [0, 2*pi) or [0°, 360°) + PositiveOnlyRange, + // (-pi, +pi] or (-180°, 180°] + PositiveNegativeRange + }; + + Angle() : value(0) + { + } + virtual ~Angle() + { + } + + static Angle fromRadian(double value) + { + return Angle(value); + } + + static Angle fromDegree(double value) + { + return Angle(value / 180 * M_PI); + } + + double toRadian(AngleRange range = PositiveNegativeRange) const + { + if (range == PositiveNegativeRange) + { + return value; + } + else + { + return (value >= 0) ? value : (value + 2 * M_PI); + } + } + + double cos() const + { + return std::cos(value); + } + + double sin() const + { + return std::sin(value); + } + + double toDegree(AngleRange range = PositiveNegativeRange) const + { + double degreeValue = value * 180 / M_PI; + if (range == PositiveNegativeRange) + { + return degreeValue; + } + else + { + return (degreeValue >= 0) ? degreeValue : (degreeValue + 360); + } + } + + void setRadian(double value) + { + Angle::value = value; + normalize(); + } + + void setDegree(double value) + { + Angle::value = value / 180 * M_PI; + normalize(); + } + + int sign() const + { + if (value == 0) + { + return 0; + } + else if (value > 0) + { + return 1; + } + else + { + return -1; + } + } + + Angle operator+(const Angle& other) const + { + return Angle(value + other.value); + } + + Angle operator-(const Angle& other) const + { + return Angle(value - other.value); + } + + Angle& operator+=(const Angle& other) + { + value += other.value; + normalize(); + return *this; + } + + Angle& operator-=(const Angle& other) + { + value -= other.value; + normalize(); + return *this; + } + + bool operator==(const Angle& other) const + { + return value == other.value; + } + + bool operator!=(const Angle& other) const + { + return value != other.value; + } + + bool operator<(const Angle& other) const + { + return value < other.value; + } + + bool operator<=(const Angle& other) const + { + return value <= other.value; + } + + bool operator>(const Angle& other) const + { + return value > other.value; + } + + bool operator>=(const Angle& other) const + { + return value >= other.value; + } + +private: + Angle(double value) + { + Angle::value = value; + normalize(); + } + + void normalize() + { + while (value <= -M_PI) + value += 2 * M_PI; + while (value > M_PI) + value -= 2 * M_PI; + } + + double value; +}; +} // namespace utils +namespace std +{ +inline ostream& operator<<(ostream& stream, const utils::Angle& alpha) +{ + stream << alpha.toRadian(); + return stream; +} +} // namespace std + +#endif diff --git a/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/map.hpp b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/map.hpp new file mode 100755 index 0000000..7c0f003 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/map.hpp @@ -0,0 +1,53 @@ +/***********************************************************************/ +/** */ +/** map.hpp */ +/** */ +/** Copyright (c) 2016, Service Robotics Lab. */ +/** http://robotics.upo.es */ +/** */ +/** All rights reserved. */ +/** */ +/** Authors: */ +/** Ignacio Perez-Hurtado (maintainer) */ +/** Jesus Capitan */ +/** Fernando Caballero */ +/** Luis Merino */ +/** */ +/** This software may be modified and distributed under the terms */ +/** of the BSD license. See the LICENSE file for details. */ +/** */ +/** http://www.opensource.org/licenses/BSD-3-Clause */ +/** */ +/***********************************************************************/ + +#ifndef _MAP_HPP_ +#define _MAP_HPP_ + +#include "vector2d.hpp" + +namespace sfm +{ +class Map +{ +public: + struct Obstacle + { + Obstacle() : distance(-1) + { + } + double distance; + utils::Vector2d position; + }; + + Map() + { + } + virtual ~Map() + { + } + virtual const Obstacle& getNearestObstacle(const utils::Vector2d& x) = 0; + virtual bool isObstacle(const utils::Vector2d& x) const = 0; +}; +} // namespace sfm + +#endif diff --git a/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/sfm.hpp b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/sfm.hpp new file mode 100755 index 0000000..395a438 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/sfm.hpp @@ -0,0 +1,619 @@ +/***********************************************************************/ +/** */ +/** sfm.hpp */ +/** */ +/** Copyright (c) 2016, Service Robotics Lab. */ +/** http://robotics.upo.es */ +/** */ +/** All rights reserved. */ +/** */ +/** Authors: */ +/** Ignacio Perez-Hurtado (maintainer) */ +/** Jesus Capitan */ +/** Fernando Caballero */ +/** Luis Merino */ +/** */ +/** This software may be modified and distributed under the terms */ +/** of the BSD license. See the LICENSE file for details. */ +/** */ +/** http://www.opensource.org/licenses/BSD-3-Clause */ +/** */ +/***********************************************************************/ + +#ifndef _SFM_HPP_ +#define _SFM_HPP_ + +#include "map.hpp" +#include "vector2d.hpp" +#include +#include +#include + +namespace sfm +{ +struct Forces +{ + utils::Vector2d desiredForce; + utils::Vector2d obstacleForce; + utils::Vector2d socialForce; + utils::Vector2d groupGazeForce; + utils::Vector2d groupCoherenceForce; + utils::Vector2d groupRepulsionForce; + utils::Vector2d groupForce; + utils::Vector2d globalForce; + utils::Vector2d robotSocialForce; +}; + +struct Parameters +{ + Parameters() + : forceFactorDesired(2.0) + , forceFactorObstacle(10) + , forceSigmaObstacle(0.2) + , forceFactorSocial(2.1) + , forceFactorGroupGaze(3.0) + , forceFactorGroupCoherence(2.0) + , forceFactorGroupRepulsion(1.0) + , lambda(2.0) + , gamma(0.35) + , n(2.0) + , nPrime(3.0) + , relaxationTime(0.5) + { + } + + double forceFactorDesired; + double forceFactorObstacle; + double forceSigmaObstacle; + double forceFactorSocial; + double forceFactorGroupGaze; + double forceFactorGroupCoherence; + double forceFactorGroupRepulsion; + double lambda; + double gamma; + double n; + double nPrime; + double relaxationTime; +}; + +struct Goal +{ + utils::Vector2d center; + double radius; +}; + +struct Agent +{ + Agent() + : desiredVelocity(0.6) + , radius(0.35) + , cyclicGoals(false) + , teleoperated(false) + , antimove(false) + , linearVelocity(0) + , angularVelocity(0) + , groupId(-1) + { + } + + Agent(double linearVelocity, double angularVelocity) + : desiredVelocity(0.6) + , radius(0.35) + , cyclicGoals(false) + , teleoperated(true) + , antimove(false) + , linearVelocity(linearVelocity) + , angularVelocity(angularVelocity) + , groupId(-1) + { + } + + Agent(const utils::Vector2d& position, const utils::Angle& yaw, double linearVelocity, double angularVelocity) + : position(position) + , yaw(yaw) + , desiredVelocity(0.6) + , radius(0.35) + , cyclicGoals(false) + , teleoperated(true) + , antimove(false) + , linearVelocity(linearVelocity) + , angularVelocity(angularVelocity) + , groupId(-1) + { + } + + void move(double dt); // only if teleoperated + + utils::Vector2d position; + utils::Vector2d velocity; + utils::Angle yaw; + + utils::Vector2d movement; + + double desiredVelocity; + double radius; + + std::list goals; + bool cyclicGoals; + + bool teleoperated; + bool antimove; + double linearVelocity; + double angularVelocity; + + int groupId; + + int id; + + Forces forces; + Parameters params; + std::vector obstacles1; + std::vector obstacles2; +}; + +struct Group +{ + utils::Vector2d center; + std::vector agents; +}; + +class SocialForceModel +{ +public: + SocialForceModel(SocialForceModel const&) = delete; + void operator=(SocialForceModel const&) = delete; + ~SocialForceModel() + { + } + + static SocialForceModel& getInstance() + { + static SocialForceModel singleton; + return singleton; + } + +#define SFM SocialForceModel::getInstance() + + std::vector& computeForces(std::vector& agents, Map* map = NULL) const; + void computeForces(Agent& me, std::vector& agents, Map* map = NULL); + std::vector& updatePosition(std::vector& agents, double dt) const; + void updatePosition(Agent& me, double dt) const; + +private: +#define PW(x) ((x) * (x)) + SocialForceModel() + { + } + utils::Vector2d computeDesiredForce(Agent& agent) const; + void computeObstacleForce(Agent& agent, Map* map) const; + void computeSocialForce(unsigned index, std::vector& agents) const; + void computeSocialForce(Agent& agent, std::vector& agents) const; + void computeGroupForce(unsigned index, const utils::Vector2d& desiredDirection, std::vector& agents, + const std::unordered_map& groups) const; + void computeGroupForce(Agent& me, const utils::Vector2d& desiredDirection, std::vector& agents, + Group& group) const; +}; + +inline utils::Vector2d SocialForceModel::computeDesiredForce(Agent& agent) const +{ + utils::Vector2d desiredDirection; + if (!agent.goals.empty() && (agent.goals.front().center - agent.position).norm() > agent.goals.front().radius) + { + utils::Vector2d diff = agent.goals.front().center - agent.position; + desiredDirection = diff.normalized(); + agent.forces.desiredForce = agent.params.forceFactorDesired * + (desiredDirection * agent.desiredVelocity - agent.velocity) / + agent.params.relaxationTime; + agent.antimove = false; + } + else + { + agent.forces.desiredForce = -agent.velocity / agent.params.relaxationTime; + agent.antimove = true; + } + return desiredDirection; +} + +inline void SocialForceModel::computeObstacleForce(Agent& agent, Map* map) const +{ + // Initially, the obstacles were expected to be in robot local frame. We have + // replaced it to work in the same frame of the other forces. + // if (agent.obstacles1.size() > 0 || agent.obstacles2.size() > 0) { + // agent.forces.obstacleForce.set(0, 0); + // for (unsigned i = 0; i < agent.obstacles1.size(); i++) { + // double distance = agent.obstacles1[i].norm() - agent.radius; + // agent.forces.obstacleForce += + // agent.params.forceFactorObstacle * + // std::exp(-distance / agent.params.forceSigmaObstacle) * + // (-agent.obstacles1[i]).normalized(); + // } + // for (unsigned i = 0; i < agent.obstacles2.size(); i++) { + // double distance = agent.obstacles2[i].norm() - agent.radius; + // agent.forces.obstacleForce += + // agent.params.forceFactorObstacle * + // std::exp(-distance / agent.params.forceSigmaObstacle) * + // (-agent.obstacles2[i]).normalized(); + // } + // agent.forces.obstacleForce /= + // (double)(agent.obstacles1.size() + agent.obstacles2.size()); + if (agent.obstacles1.size() > 0 || agent.obstacles2.size() > 0) + { + agent.forces.obstacleForce.set(0, 0); + for (unsigned i = 0; i < agent.obstacles1.size(); i++) + { + utils::Vector2d minDiff = agent.position - agent.obstacles1[i]; + double distance = minDiff.norm() - agent.radius; + agent.forces.obstacleForce += agent.params.forceFactorObstacle * + std::exp(-distance / agent.params.forceSigmaObstacle) * minDiff.normalized(); + } + for (unsigned i = 0; i < agent.obstacles2.size(); i++) + { + utils::Vector2d minDiff = agent.position - agent.obstacles2[i]; + double distance = minDiff.norm() - agent.radius; + agent.forces.obstacleForce += agent.params.forceFactorObstacle * + std::exp(-distance / agent.params.forceSigmaObstacle) * minDiff.normalized(); + } + agent.forces.obstacleForce /= (double)(agent.obstacles1.size() + agent.obstacles2.size()); + } + else if (map != NULL) + { + const Map::Obstacle& obs = map->getNearestObstacle(agent.position); + utils::Vector2d minDiff = agent.position - obs.position; + double distance = minDiff.norm() - agent.radius; + agent.forces.obstacleForce = + agent.params.forceFactorObstacle * std::exp(-distance / agent.params.forceSigmaObstacle) * minDiff.normalized(); + } + else + { + agent.forces.obstacleForce.set(0, 0); + } +} + +inline void SocialForceModel::computeSocialForce(unsigned index, std::vector& agents) const +{ + Agent& agent = agents[index]; + agent.forces.socialForce.set(0, 0); + for (unsigned i = 0; i < agents.size(); i++) + { + if (i == index) + { + continue; + } + utils::Vector2d diff = agents[i].position - agent.position; + utils::Vector2d diffDirection = diff.normalized(); + utils::Vector2d velDiff = agent.velocity - agents[i].velocity; + utils::Vector2d interactionVector = agent.params.lambda * velDiff + diffDirection; + double interactionLength = interactionVector.norm(); + utils::Vector2d interactionDirection = interactionVector / interactionLength; + utils::Angle theta = interactionDirection.angleTo(diffDirection); + double B = agent.params.gamma * interactionLength; + double thetaRad = theta.toRadian(); + double forceVelocityAmount = -std::exp(-diff.norm() / B - PW(agent.params.nPrime * B * thetaRad)); + double forceAngleAmount = -theta.sign() * std::exp(-diff.norm() / B - PW(agent.params.n * B * thetaRad)); + utils::Vector2d forceVelocity = forceVelocityAmount * interactionDirection; + utils::Vector2d forceAngle = forceAngleAmount * interactionDirection.leftNormalVector(); + agent.forces.socialForce += agent.params.forceFactorSocial * (forceVelocity + forceAngle); + if (i == 0) + { + agent.forces.robotSocialForce = agent.params.forceFactorSocial * (forceVelocity + forceAngle); + } + } +} + +inline void SocialForceModel::computeSocialForce(Agent& me, std::vector& agents) const +{ + // Agent& agent = agents[index]; + me.forces.socialForce.set(0, 0); + for (unsigned i = 0; i < agents.size(); i++) + { + if (agents[i].id == me.id) + { + continue; + } + utils::Vector2d diff = agents[i].position - me.position; + utils::Vector2d diffDirection = diff.normalized(); + utils::Vector2d velDiff = me.velocity - agents[i].velocity; + utils::Vector2d interactionVector = me.params.lambda * velDiff + diffDirection; + double interactionLength = interactionVector.norm(); + utils::Vector2d interactionDirection = interactionVector / interactionLength; + utils::Angle theta = interactionDirection.angleTo(diffDirection); + double B = me.params.gamma * interactionLength; + double thetaRad = theta.toRadian(); + double forceVelocityAmount = -std::exp(-diff.norm() / B - PW(me.params.nPrime * B * thetaRad)); + double forceAngleAmount = -theta.sign() * std::exp(-diff.norm() / B - PW(me.params.n * B * thetaRad)); + utils::Vector2d forceVelocity = forceVelocityAmount * interactionDirection; + utils::Vector2d forceAngle = forceAngleAmount * interactionDirection.leftNormalVector(); + me.forces.socialForce += me.params.forceFactorSocial * (forceVelocity + forceAngle); + // if (i == 0) + //{ + // agent.forces.robotSocialForce = + // agent.params.forceFactorSocial * (forceVelocity + forceAngle); + //} + } +} + +inline void SocialForceModel::computeGroupForce(unsigned index, const utils::Vector2d& desiredDirection, + std::vector& agents, + const std::unordered_map& groups) const +{ + Agent& agent = agents[index]; + agent.forces.groupForce.set(0, 0); + agent.forces.groupGazeForce.set(0, 0); + agent.forces.groupCoherenceForce.set(0, 0); + agent.forces.groupRepulsionForce.set(0, 0); + if (groups.count(agent.groupId) == 0 || groups.at(agent.groupId).agents.size() < 2) + { + return; + } + const Group& group = groups.at(agent.groupId); + + // Gaze force + utils::Vector2d com = group.center; + com = (1 / (double)(group.agents.size() - 1)) * (group.agents.size() * com - agent.position); + + utils::Vector2d relativeCom = com - agent.position; + utils::Angle visionAngle = utils::Angle::fromDegree(90); + double elementProduct = desiredDirection.dot(relativeCom); + utils::Angle comAngle = + utils::Angle::fromRadian(std::acos(elementProduct / (desiredDirection.norm() * relativeCom.norm()))); + if (comAngle > visionAngle) + { +#ifdef _PAPER_VERSION_ + utils::Angle necessaryRotation = comAngle - visionAngle; + agent.forces.groupGazeForce = -necessaryRotation.toRadian() * desiredDirection; +#else + double desiredDirectionSquared = desiredDirection.squaredNorm(); + double desiredDirectionDistance = elementProduct / desiredDirectionSquared; + agent.forces.groupGazeForce = desiredDirectionDistance * desiredDirection; +#endif + agent.forces.groupGazeForce *= agent.params.forceFactorGroupGaze; + } + + // Coherence force + com = group.center; + relativeCom = com - agent.position; + double distance = relativeCom.norm(); + double maxDistance = ((double)group.agents.size() - 1) / 2; +#ifdef _PAPER_VERSION_ + if (distance >= maxDistance) + { + agent.forces.groupCoherenceForce = relativeCom.normalized(); + agent.forces.groupCoherenceForce *= agent.params.forceFactorGroupCoherence; + } +#else + agent.forces.groupCoherenceForce = relativeCom; + double softenedFactor = agent.params.forceFactorGroupCoherence * (std::tanh(distance - maxDistance) + 1) / 2; + agent.forces.groupCoherenceForce *= softenedFactor; +#endif + + // Repulsion Force + for (unsigned i = 0; i < group.agents.size(); i++) + { + if (index == group.agents[i]) + { + continue; + } + utils::Vector2d diff = agent.position - agents.at(group.agents[i]).position; + if (diff.norm() < agent.radius + agents.at(group.agents[i]).radius) + { + agent.forces.groupRepulsionForce += diff; + } + } + agent.forces.groupRepulsionForce *= agent.params.forceFactorGroupRepulsion; + + // Group Force + agent.forces.groupForce = + agent.forces.groupGazeForce + agent.forces.groupCoherenceForce + agent.forces.groupRepulsionForce; +} + +inline void SocialForceModel::computeGroupForce(Agent& me, const utils::Vector2d& desiredDirection, + std::vector& agents, Group& group) const +{ + // Agent& agent = agents[index]; + me.forces.groupForce.set(0, 0); + me.forces.groupGazeForce.set(0, 0); + me.forces.groupCoherenceForce.set(0, 0); + me.forces.groupRepulsionForce.set(0, 0); + if (group.agents.size() < 2) + { + return; + } + + // Gaze force + utils::Vector2d com = group.center; + com = (1 / (double)(group.agents.size() - 1)) * (group.agents.size() * com - me.position); + + utils::Vector2d relativeCom = com - me.position; + utils::Angle visionAngle = utils::Angle::fromDegree(90); + double elementProduct = desiredDirection.dot(relativeCom); + utils::Angle comAngle = + utils::Angle::fromRadian(std::acos(elementProduct / (desiredDirection.norm() * relativeCom.norm()))); + if (comAngle > visionAngle) + { +#ifdef _PAPER_VERSION_ + utils::Angle necessaryRotation = comAngle - visionAngle; + me.forces.groupGazeForce = -necessaryRotation.toRadian() * desiredDirection; +#else + double desiredDirectionSquared = desiredDirection.squaredNorm(); + double desiredDirectionDistance = elementProduct / desiredDirectionSquared; + me.forces.groupGazeForce = desiredDirectionDistance * desiredDirection; +#endif + me.forces.groupGazeForce *= me.params.forceFactorGroupGaze; + } + + // Coherence force + com = group.center; + relativeCom = com - me.position; + double distance = relativeCom.norm(); + double maxDistance = ((double)group.agents.size() - 1) / 2; +#ifdef _PAPER_VERSION_ + if (distance >= maxDistance) + { + me.forces.groupCoherenceForce = relativeCom.normalized(); + me.forces.groupCoherenceForce *= me.params.forceFactorGroupCoherence; + } +#else + me.forces.groupCoherenceForce = relativeCom; + double softenedFactor = me.params.forceFactorGroupCoherence * (std::tanh(distance - maxDistance) + 1) / 2; + me.forces.groupCoherenceForce *= softenedFactor; +#endif + + // Repulsion Force + // Index 0 -> me + for (unsigned i = 1; i < group.agents.size(); i++) + { + utils::Vector2d diff = me.position - agents.at(group.agents[i]).position; + if (diff.norm() < me.radius + agents.at(group.agents[i]).radius) + { + me.forces.groupRepulsionForce += diff; + } + } + me.forces.groupRepulsionForce *= me.params.forceFactorGroupRepulsion; + + // Group Force + me.forces.groupForce = me.forces.groupGazeForce + me.forces.groupCoherenceForce + me.forces.groupRepulsionForce; +} + +inline std::vector& SocialForceModel::computeForces(std::vector& agents, Map* map) const +{ + std::unordered_map groups; + for (unsigned i = 0; i < agents.size(); i++) + { + if (agents[i].groupId < 0) + { + continue; + } + groups[agents[i].groupId].agents.push_back(i); + groups[agents[i].groupId].center += agents[i].position; + } + for (auto it = groups.begin(); it != groups.end(); ++it) + { + it->second.center /= (double)(it->second.agents.size()); + } + + for (unsigned i = 0; i < agents.size(); i++) + { + utils::Vector2d desiredDirection = computeDesiredForce(agents[i]); + computeObstacleForce(agents[i], map); + computeSocialForce(i, agents); + computeGroupForce(i, desiredDirection, agents, groups); + agents[i].forces.globalForce = agents[i].forces.desiredForce + agents[i].forces.socialForce + + agents[i].forces.obstacleForce + agents[i].forces.groupForce; + } + return agents; +} + +inline void SocialForceModel::computeForces(Agent& me, std::vector& agents, Map* map) +{ + // form the group + Group mygroup; + if (me.groupId != -1) + { + mygroup.agents.push_back(me.id); + mygroup.center = me.position; + for (unsigned i = 0; i < agents.size(); i++) + { + if (agents[i].id == me.id) + { + continue; + } + if (agents[i].groupId == me.groupId) + { + mygroup.agents.push_back(i); + mygroup.center += agents[i].position; + } + } + mygroup.center /= (double)mygroup.agents.size(); + } + + // Compute agent's forces + utils::Vector2d desiredDirection = computeDesiredForce(me); + computeObstacleForce(me, map); + computeSocialForce(me, agents); + computeGroupForce(me, desiredDirection, agents, mygroup); + me.forces.globalForce = + me.forces.desiredForce + me.forces.socialForce + me.forces.obstacleForce + me.forces.groupForce; +} + +inline void Agent::move(double dt) +{ + double imd = linearVelocity * dt; + utils::Vector2d inc(imd * std::cos(yaw.toRadian() + angularVelocity * dt * 0.5), + imd * std::sin(yaw.toRadian() + angularVelocity * dt * 0.5)); + yaw += utils::Angle::fromRadian(angularVelocity * dt); + position += inc; + velocity.set(linearVelocity * yaw.cos(), linearVelocity * yaw.sin()); +} + +inline std::vector& SocialForceModel::updatePosition(std::vector& agents, double dt) const +{ + for (unsigned i = 0; i < agents.size(); i++) + { + utils::Vector2d initPos = agents[i].position; + if (agents[i].teleoperated) + { + double imd = agents[i].linearVelocity * dt; + utils::Vector2d inc(imd * std::cos(agents[i].yaw.toRadian() + agents[i].angularVelocity * dt * 0.5), + imd * std::sin(agents[i].yaw.toRadian() + agents[i].angularVelocity * dt * 0.5)); + agents[i].yaw += utils::Angle::fromRadian(agents[i].angularVelocity * dt); + agents[i].position += inc; + agents[i].velocity.set(agents[i].linearVelocity * agents[i].yaw.cos(), + agents[i].linearVelocity * agents[i].yaw.sin()); + } + else + { + agents[i].velocity += agents[i].forces.globalForce * dt; + if (agents[i].velocity.norm() > agents[i].desiredVelocity) + { + agents[i].velocity.normalize(); + agents[i].velocity *= agents[i].desiredVelocity; + } + agents[i].yaw = agents[i].velocity.angle(); + agents[i].position += agents[i].velocity * dt; + } + agents[i].movement = agents[i].position - initPos; + if (!agents[i].goals.empty() && + (agents[i].goals.front().center - agents[i].position).norm() <= agents[i].goals.front().radius) + { + Goal g = agents[i].goals.front(); + agents[i].goals.pop_front(); + if (agents[i].cyclicGoals) + { + agents[i].goals.push_back(g); + } + } + } + return agents; +} + +inline void SocialForceModel::updatePosition(Agent& agent, double dt) const +{ + utils::Vector2d initPos = agent.position; + utils::Angle initYaw = agent.yaw; + + agent.velocity += agent.forces.globalForce * dt; + if (agent.velocity.norm() > agent.desiredVelocity) + { + agent.velocity.normalize(); + agent.velocity *= agent.desiredVelocity; + } + agent.yaw = agent.velocity.angle(); + agent.position += agent.velocity * dt; + + agent.linearVelocity = agent.velocity.norm(); + agent.angularVelocity = (agent.yaw - initYaw).toRadian() / dt; + + agent.movement = agent.position - initPos; + if (!agent.goals.empty() && (agent.goals.front().center - agent.position).norm() <= agent.goals.front().radius) + { + Goal g = agent.goals.front(); + agent.goals.pop_front(); + if (agent.cyclicGoals) + { + agent.goals.push_back(g); + } + } +} + +} // namespace sfm +#endif diff --git a/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/vector2d.hpp b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/vector2d.hpp new file mode 100755 index 0000000..f54e527 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/lightsfm/vector2d.hpp @@ -0,0 +1,258 @@ +/***********************************************************************/ +/** */ +/** vector2d.hpp */ +/** */ +/** Copyright (c) 2016, Service Robotics Lab. */ +/** http://robotics.upo.es */ +/** */ +/** All rights reserved. */ +/** */ +/** Authors: */ +/** Ignacio Perez-Hurtado (maintainer) */ +/** Jesus Capitan */ +/** Fernando Caballero */ +/** Luis Merino */ +/** */ +/** This software may be modified and distributed under the terms */ +/** of the BSD license. See the LICENSE file for details. */ +/** */ +/** http://www.opensource.org/licenses/BSD-3-Clause */ +/** */ +/***********************************************************************/ + +#ifndef _VECTOR2D_HPP_ +#define _VECTOR2D_HPP_ + +#include +#include +// #include +#include + +#include "angle.hpp" + +namespace utils +{ +class Vector2d +{ +public: + Vector2d() : x(0), y(0) + { + } + Vector2d(double x, double y) : x(x), y(y) + { + } + virtual ~Vector2d() + { + } + double operator()(int index) const + { + return index == 0 ? x : y; + } + double operator[](int index) const + { + return index == 0 ? x : y; + } + bool operator==(const Vector2d& other) const + { + return x == other.x && y == other.y; + } + bool operator<(const Vector2d& other) const + { + return x < other.x || (x == other.x && y < other.y); + } + double getX() const + { + return x; + } + double getY() const + { + return y; + } + + /*geometry_msgs::Point toPoint() const + { + geometry_msgs::Point p; + p.x = x; + p.y = y; + p.z = 0; + return p; + }*/ + + Vector2d& set(double x, double y) + { + Vector2d::x = x; + Vector2d::y = y; + return *this; + } + Vector2d& setX(double x) + { + Vector2d::x = x; + return *this; + } + + Vector2d& setY(double y) + { + Vector2d::y = y; + return *this; + } + + Vector2d& incX(double inc_x) + { + x += inc_x; + return *this; + } + + Vector2d& incY(double inc_y) + { + y += inc_y; + return *this; + } + + Vector2d& inc(double inc_x, double inc_y) + { + x += inc_x; + y += inc_y; + return *this; + } + + const Angle angle() const + { + return Angle::fromRadian(std::atan2(y, x)); + } + + Angle angleTo(const Vector2d& other) const + { + return other.angle() - angle(); + } + + double squaredNorm() const + { + return x * x + y * y; + } + + double norm() const + { + return std::sqrt(squaredNorm()); + } + + double dot(const Vector2d& other) const + { + return x * other.x + y * other.y; + } + + Vector2d& normalize() + { + double n = norm(); + if (n > 0) + { + x /= n; + y /= n; + } + return *this; + } + + Vector2d normalized() const + { + Vector2d v(*this); + v.normalize(); + return v; + } + + Vector2d& operator*=(double scalar) + { + x *= scalar; + y *= scalar; + return *this; + } + Vector2d operator*(double scalar) const + { + return Vector2d(x * scalar, y * scalar); + } + + Vector2d& operator/=(double scalar) + { + x /= scalar; + y /= scalar; + return *this; + } + Vector2d operator/(double scalar) const + { + return Vector2d(x / scalar, y / scalar); + } + + Vector2d leftNormalVector() const + { + return Vector2d(-y, x); + } + + Vector2d rightNormalVector() const + { + return Vector2d(y, -x); + } + + Vector2d& operator+=(const Vector2d& other) + { + set(x + other.x, y + other.y); + return *this; + } + Vector2d operator+(const Vector2d& other) const + { + return Vector2d(x + other.x, y + other.y); + } + Vector2d& operator-=(const Vector2d& other) + { + set(x - other.x, y - other.y); + return *this; + } + Vector2d operator-(const Vector2d& other) const + { + return Vector2d(x - other.x, y - other.y); + } + Vector2d operator-() const + { + return Vector2d(-x, -y); + } + + static const Vector2d& Zero() + { + static Vector2d zero; + return zero; + } + +private: + double x; + double y; +}; +} // namespace utils + +inline utils::Vector2d operator*(double scalar, const utils::Vector2d& v) +{ + utils::Vector2d w(v); + w *= scalar; + return w; +} + +namespace std +{ +inline ostream& operator<<(ostream& stream, const utils::Vector2d& v) +{ + stream << "(" << v.getX() << "," << v.getY() << ")"; + return stream; +} + +template <> +struct hash +{ + size_t operator()(const utils::Vector2d& v) const + { + using boost::hash_combine; + using boost::hash_value; + std::size_t seed = 0; + hash_combine(seed, hash_value(v[0])); + hash_combine(seed, hash_value(v[1])); + return seed; + } +}; +} // namespace std + +#endif diff --git a/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/pedestrian_sfm_plugin.h b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/pedestrian_sfm_plugin.h new file mode 100755 index 0000000..3715c52 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/include/pedestrian_sfm_plugin.h @@ -0,0 +1,131 @@ +/*********************************************************** + * + * @file: pedestrian_sfm_plugin.cpp + * @breif: Gazebo plugin for pedestrians using social force model + * @author: Yang Haodong + * @update: 2023-03-15 + * @version: 1.1 + * + * Copyright (c) 2023， Yang Haodong + * All rights reserved. + * -------------------------------------------------------- + * + **********************************************************/ +#ifndef PEDESTRIANSFM_GAZEBO_PLUGIN_H +#define PEDESTRIANSFM_GAZEBO_PLUGIN_H + +// C++ +#include +#include +#include +#include +#include +#include +#include + +// Gazebo +#include +#include +#include +#include + +// Social Force Model +#include + +// message +#include + +namespace gazebo +{ +class GZ_PLUGIN_VISIBLE PedestrianSFMPlugin : public ModelPlugin +{ +public: + /** + * @brief Construct a gazebo plugin + */ + PedestrianSFMPlugin(); + + /** + * @brief De-Construct a gazebo plugin + */ + ~PedestrianSFMPlugin(); + + /** + * @brief Load the actor plugin. + * @param _model Pointer to the parent model. + * @param _sdf Pointer to the plugin's SDF elements. + */ + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + + /** + * @brief Initialize the social force model. + */ + virtual void Reset(); + +private: + /** + * @brief Function that is called every update cycle. + * @param _info Timing information. + */ + void OnUpdate(const common::UpdateInfo& _info); + + bool OnStateCallBack(gazebo_sfm_plugin::ped_state::Request& req, gazebo_sfm_plugin::ped_state::Response& resp); + + /** + * @brief Helper function to detect the closest obstacles. + */ + void handleObstacles(); + + /** + * @brief Helper function to detect the nearby pedestrians (other actors). + */ + void handlePedestrians(); + +private: + // Gazebo ROS node + std::unique_ptr node_; + // topic publisher + ros::Publisher pose_pub_; + ros::Publisher vel_pub_; + // pedestrian state server + ros::ServiceServer state_server_; + // this actor as a SFM agent + sfm::Agent sfm_actor_; + // names of the other models in my walking group. + std::vector group_names_; + // vector of pedestrians detected. + std::vector other_actors_; + // time delay + double time_delay_; + bool time_init_; + // Maximum distance to detect nearby pedestrians. + double people_dist_; + // initialized + bool pose_init_; + // last pose + double last_pose_x_, last_pose_y_; + // current state + double px_, py_, pz_, vx_, vy_, theta_; + + + // Pointer to the parent actor. + physics::ActorPtr actor_; + // Pointer to the world, for convenience. + physics::WorldPtr world_; + // Pointer to the sdf element. + sdf::ElementPtr sdf_; + // Velocity of the actor + ignition::math::Vector3d velocity_; + // List of connections + std::vector connections_; + // Time scaling factor. Used to coordinate translational motion with the actor's walking animation. + double animation_factor_ = 1.0; + // Time of the last update. + common::Time last_update_; + // List of models to ignore. Used for vector field + std::vector ignore_models_; + // Custom trajectory info. + physics::TrajectoryInfoPtr trajectory_info_; +}; +} // namespace gazebo +#endif \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/package.xml b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/package.xml new file mode 100755 index 0000000..f6e0193 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/package.xml @@ -0,0 +1,27 @@ + + + gazebo_sfm_plugin + 1.0.0 + The gazebo_sfm_plugin package + + winter + GPL3 + + catkin + lightsfm + gazebo_ros + roscpp + message_generation + + gazebo_ros + roscpp + + lightsfm + gazebo_ros + roscpp + message_runtime + + + + + diff --git a/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/src/pedestrian_sfm_plugin.cpp b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/src/pedestrian_sfm_plugin.cpp new file mode 100755 index 0000000..ba97ce9 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/src/pedestrian_sfm_plugin.cpp @@ -0,0 +1,479 @@ +/*********************************************************** + * + * @file: pedestrian_sfm_plugin.cpp + * @breif: Gazebo plugin for pedestrians using social force model + * @author: Yang Haodong + * @update: 2023-03-22 + * @version: 2.0 + * + * Copyright (c) 2023， Yang Haodong + * All rights reserved. + * -------------------------------------------------------- + * + **********************************************************/ +#include +#include +#include + +#include + +#define WALKING_ANIMATION "walking" + +using namespace gazebo; +GZ_REGISTER_MODEL_PLUGIN(PedestrianSFMPlugin) + +/** + * @brief Construct a gazebo plugin + */ +PedestrianSFMPlugin::PedestrianSFMPlugin() : pose_init_(false), time_delay_(0.0), time_init_(false) +{ +} + +/** + * @brief De-Construct a gazebo plugin + */ +PedestrianSFMPlugin::~PedestrianSFMPlugin() +{ + pose_pub_.shutdown(); +} + +/** + * @brief Load the actor plugin. + * @param _model Pointer to the parent model. + * @param _sdf Pointer to the plugin's SDF elements. + */ +void PedestrianSFMPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + // gazebo model pointer + sdf_ = _sdf; + actor_ = boost::dynamic_pointer_cast(_model); + world_ = actor_->GetWorld(); + + // Create the ROS node + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc, argv, "gazebo_client", ros::init_options::NoSigintHandler); + } + node_.reset(new ros::NodeHandle("gazebo_client")); + + // topic publisher + pose_pub_ = node_->advertise("/" + actor_->GetName() + "/pose", 10); + vel_pub_ = node_->advertise("/" + actor_->GetName() + "/twist", 10); + + // server + state_server_ = node_->advertiseService(actor_->GetName() + "_state", &PedestrianSFMPlugin::OnStateCallBack, this); + + // Collision attribute configuration of pedestrian links + std::map scales; + std::map offsets; + + // Read in the collision property + if (sdf_->HasElement("collision")) + { + auto elem = sdf_->GetElement("collision"); + while (elem) + { + auto name = elem->Get(); + + if (elem->HasAttribute("scale")) + { + auto scale = elem->Get("scale"); + scales[name] = scale; + } + if (elem->HasAttribute("pose")) + { + auto pose = elem->Get("pose"); + offsets[name] = pose; + } + elem = elem->GetNextElement("collision"); + } + } + // Configure the links + for (const auto& link : actor_->GetLinks()) + { + // Init the links, which in turn enables collisions + link->Init(); + + if (scales.empty()) + continue; + + // Process all the collisions in all the links + for (const auto& collision : link->GetCollisions()) + { + auto name = collision->GetName(); + // std::cout<(collision->GetShape()); + // Make sure we have a box shape. + if (boxShape) + boxShape->SetSize(boxShape->Size() * scales[name]); + } + + if (offsets.find(name) != offsets.end()) + { + collision->SetInitialRelativePose(offsets[name] + collision->InitialRelativePose()); + } + } + } + + if (sdf_->HasElement("time_delay")) + { + time_delay_ = sdf_->GetElement("time_delay")->Get(); + // std::unique_ptr t_time_delay(new std::thread(&PedestrianSFMPlugin::timeDelay, this)); + std::unique_ptr t_time_delay(new std::thread([this]() { + if (!time_init_) + { + sleep(time_delay_); + time_init_ = true; + } + })); + + std::unique_ptr d_time_delay = std::move(t_time_delay); + d_time_delay->detach(); + } + else + time_init_ = true; + + // Bind the update callback function + connections_.push_back( + event::Events::ConnectWorldUpdateBegin(std::bind(&PedestrianSFMPlugin::OnUpdate, this, std::placeholders::_1))); + + // Initialize the social force model. + this->Reset(); +} + +/** + * @brief Initialize the social force model. + */ +void PedestrianSFMPlugin::Reset() +{ + sfm_actor_.id = actor_->GetId(); + + // Read in the goals to reach + if (sdf_->HasElement("cycle")) + sfm_actor_.cyclicGoals = sdf_->GetElement("cycle")->Get(); + + if (sdf_->HasElement("trajectory")) + { + sdf::ElementPtr model_elem = sdf_->GetElement("trajectory")->GetElement("goalpoint"); + while (model_elem) + { + ignition::math::Pose3d g = model_elem->Get(); + sfm::Goal goal; + goal.center.set(g.Pos().X(), g.Pos().Y()); + goal.radius = 0.3; + sfm_actor_.goals.push_back(goal); + model_elem = model_elem->GetNextElement("goalpoint"); + } + } + + auto skel_anims = actor_->SkeletonAnimations(); + if (skel_anims.find(WALKING_ANIMATION) == skel_anims.end()) + { + gzerr << "Skeleton animation " << WALKING_ANIMATION << " not found.\n"; + } + else + { + // Create custom trajectory + trajectory_info_.reset(new physics::TrajectoryInfo()); + trajectory_info_->type = WALKING_ANIMATION; + trajectory_info_->duration = 1.0; + actor_->SetCustomTrajectory(trajectory_info_); + } + + // Initialize sfm actor position + ignition::math::Vector3d pos = actor_->WorldPose().Pos(); + ignition::math::Vector3d rpy = actor_->WorldPose().Rot().Euler(); + + sfm_actor_.position.set(pos.X(), pos.Y()); + sfm_actor_.yaw = utils::Angle::fromRadian(rpy.Z()); + ignition::math::Vector3d linvel = actor_->WorldLinearVel(); + sfm_actor_.velocity.set(linvel.X(), linvel.Y()); + sfm_actor_.linearVelocity = linvel.Length(); + ignition::math::Vector3d angvel = actor_->WorldAngularVel(); + sfm_actor_.angularVelocity = angvel.Z(); + + ignition::math::Pose3d actor_pose = actor_->WorldPose(); + actor_pose.Rot() = ignition::math::Quaterniond(1.5707, 0, rpy.Z()); + actor_->SetWorldPose(actor_pose); + + // Read in the maximum velocity of the pedestrian + if (sdf_->HasElement("velocity")) + sfm_actor_.desiredVelocity = sdf_->Get("velocity"); + else + sfm_actor_.desiredVelocity = 0.8; + + // Read in the algorithm weights + if (sdf_->HasElement("goal_weight")) + sfm_actor_.params.forceFactorDesired = sdf_->Get("goal_weight"); + if (sdf_->HasElement("obstacle_weight")) + sfm_actor_.params.forceFactorObstacle = sdf_->Get("obstacle_weight"); + if (sdf_->HasElement("social_weight")) + sfm_actor_.params.forceFactorSocial = sdf_->Get("social_weight"); + if (sdf_->HasElement("group_gaze_weight")) + sfm_actor_.params.forceFactorGroupGaze = sdf_->Get("group_gaze_weight"); + if (sdf_->HasElement("group_coh_weight")) + sfm_actor_.params.forceFactorGroupCoherence = sdf_->Get("group_coh_weight"); + if (sdf_->HasElement("group_rep_weight")) + sfm_actor_.params.forceFactorGroupRepulsion = sdf_->Get("group_rep_weight"); + + // Read in the animation factor (applied in the OnUpdate function). + if (sdf_->HasElement("animation_factor")) + animation_factor_ = sdf_->Get("animation_factor"); + else + animation_factor_ = 4.5; + + if (sdf_->HasElement("people_distance")) + people_dist_ = sdf_->Get("people_distance"); + else + people_dist_ = 5.0; + + // Read in the pedestrians in your walking group + if (sdf_->HasElement("group")) + { + sfm_actor_.groupId = sfm_actor_.id; + sdf::ElementPtr model_elem = sdf_->GetElement("group")->GetElement("model"); + while (model_elem) + { + group_names_.push_back(model_elem->Get()); + model_elem = model_elem->GetNextElement("model"); + } + sfm_actor_.groupId = sfm_actor_.id; + } + else + sfm_actor_.groupId = -1; + + // Read in the other obstacles to ignore + if (sdf_->HasElement("ignore_obstacles")) + { + sdf::ElementPtr model_elem = sdf_->GetElement("ignore_obstacles")->GetElement("model"); + while (model_elem) + { + ignore_models_.push_back(model_elem->Get()); + model_elem = model_elem->GetNextElement("model"); + } + } + // Add our own name to models we should ignore when avoiding obstacles. + ignore_models_.push_back(actor_->GetName()); + + // Add the other pedestrians to the ignored obstacles + for (unsigned int i = 0; i < world_->ModelCount(); ++i) + { + physics::ModelPtr model = world_->ModelByIndex(i); + + if (model->GetId() != actor_->GetId() && ((int)model->GetType() == (int)actor_->GetType())) + ignore_models_.push_back(model->GetName()); + } +} + +/** + * @brief Helper function to detect the closest obstacles. + */ +void PedestrianSFMPlugin::handleObstacles() +{ + double min_dist = 10000.0; + ignition::math::Vector3d closest_obs; + sfm_actor_.obstacles1.clear(); + + for (unsigned int i = 0; i < world_->ModelCount(); ++i) + { + physics::ModelPtr model = world_->ModelByIndex(i); + if (std::find(ignore_models_.begin(), ignore_models_.end(), model->GetName()) == ignore_models_.end()) + { + // simple method, suppose BBs are AABBs + ignition::math::Vector3d actorPos = actor_->WorldPose().Pos(); + ignition::math::Vector3d modelPos = model->WorldPose().Pos(); + + // BB border + double max_x = model->BoundingBox().Max().X(); + double min_x = model->BoundingBox().Min().X(); + double max_y = model->BoundingBox().Max().Y(); + double min_y = model->BoundingBox().Min().Y(); + double max_z = model->BoundingBox().Max().Z(); + double min_z = model->BoundingBox().Min().Z(); + + ignition::math::Vector3d closest_point; + double closest_weight = 0.8; + closest_point.X() = + ignition::math::clamp(closest_weight * actorPos.X() + (1 - closest_weight) * modelPos.X(), min_x, max_x); + closest_point.Y() = + ignition::math::clamp(closest_weight * actorPos.Y() + (1 - closest_weight) * modelPos.Y(), min_y, max_y); + closest_point.Z() = + ignition::math::clamp(closest_weight * actorPos.Z() + (1 - closest_weight) * modelPos.Z(), min_z, max_z); + ignition::math::Vector3d offset = closest_point - actorPos; + double model_dist = offset.Length(); + if (model_dist < min_dist) + { + min_dist = model_dist; + closest_obs = closest_point; + } + } + } + + // ROS_WARN("model: %s, min_dist: %.2f", closest_model->GetName().c_str(), min_dist); + utils::Vector2d ob(closest_obs.X(), closest_obs.Y()); + sfm_actor_.obstacles1.push_back(ob); +} + +/** + * @brief Helper function to detect the nearby pedestrians (other actors). + */ +void PedestrianSFMPlugin::handlePedestrians() +{ + other_actors_.clear(); + + for (unsigned int i = 0; i < world_->ModelCount(); ++i) + { + physics::ModelPtr model = world_->ModelByIndex(i); + + if (model->GetId() != actor_->GetId() && ((int)model->GetType() == (int)actor_->GetType())) + { + ignition::math::Pose3d model_pose = model->WorldPose(); + ignition::math::Vector3d pos = model_pose.Pos() - actor_->WorldPose().Pos(); + if (pos.Length() < people_dist_) + { + sfm::Agent ped; + ped.id = model->GetId(); + ped.position.set(model_pose.Pos().X(), model_pose.Pos().Y()); + ignition::math::Vector3d rpy = model_pose.Rot().Euler(); + ped.yaw = utils::Angle::fromRadian(rpy.Z()); + + ped.radius = sfm_actor_.radius; + ignition::math::Vector3d linvel = model->WorldLinearVel(); + ped.velocity.set(linvel.X(), linvel.Y()); + ped.linearVelocity = linvel.Length(); + ignition::math::Vector3d angvel = model->WorldAngularVel(); + ped.angularVelocity = angvel.Z(); + + // check if the ped belongs to my group + if (sfm_actor_.groupId != -1) + { + std::vector::iterator it; + it = find(group_names_.begin(), group_names_.end(), model->GetName()); + if (it != group_names_.end()) + ped.groupId = sfm_actor_.groupId; + else + ped.groupId = -1; + } + other_actors_.push_back(ped); + } + } + } +} + +/** + * @brief Function that is called every update cycle. + * @param _info Timing information. + */ +void PedestrianSFMPlugin::OnUpdate(const common::UpdateInfo& _info) +{ + if (time_init_) + { + if (!pose_init_) + last_update_ = _info.simTime; + + // Time delta + double dt = (_info.simTime - last_update_).Double(); + + ignition::math::Pose3d actor_pose = actor_->WorldPose(); + + // update closest obstacle + this->handleObstacles(); + // update pedestrian around + this->handlePedestrians(); + + // Compute Social Forces + sfm::SFM.computeForces(sfm_actor_, other_actors_); + // Update model + sfm::SFM.updatePosition(sfm_actor_, dt); + + utils::Angle h = this->sfm_actor_.yaw; + utils::Angle add = utils::Angle::fromRadian(1.5707); + h = h + add; + double yaw = h.toRadian(); + + ignition::math::Vector3d rpy = actor_pose.Rot().Euler(); + utils::Angle current = utils::Angle::fromRadian(rpy.Z()); + double diff = (h - current).toRadian(); + if (std::fabs(diff) > IGN_DTOR(10)) + { + current = current + utils::Angle::fromRadian(diff * 0.005); + yaw = current.toRadian(); + } + + actor_pose.Pos().X(sfm_actor_.position.getX()); + actor_pose.Pos().Y(sfm_actor_.position.getY()); + actor_pose.Pos().Z(1.0); + actor_pose.Rot() = ignition::math::Quaterniond(1.5707, 0, yaw); + + // Distance traveled is used to coordinate motion with the walking + double distance_traveled = (actor_pose.Pos() - actor_->WorldPose().Pos()).Length(); + + actor_->SetWorldPose(actor_pose); + actor_->SetScriptTime(actor_->ScriptTime() + distance_traveled * animation_factor_); + + geometry_msgs::PoseStamped current_pose; + current_pose.header.frame_id = "map"; + current_pose.header.stamp = ros::Time::now(); + current_pose.pose.position.x = sfm_actor_.position.getX(); + current_pose.pose.position.y = sfm_actor_.position.getY(); + current_pose.pose.position.z = 1.0; + tf2::Quaternion q; + q.setRPY(0, 0, sfm_actor_.yaw.toRadian()); + tf2::convert(q, current_pose.pose.orientation); + + // set model velocity + geometry_msgs::Twist current_vel; + if (!pose_init_) + { + pose_init_ = true; + last_pose_x_ = current_pose.pose.position.x; + last_pose_y_ = current_pose.pose.position.y; + current_vel.linear.x = 0; + current_vel.linear.y = 0; + } + else + { + double dt = (_info.simTime - last_update_).Double(); + double vx = (current_pose.pose.position.x - last_pose_x_) / dt; + double vy = (current_pose.pose.position.y - last_pose_y_) / dt; + last_pose_x_ = current_pose.pose.position.x; + last_pose_y_ = current_pose.pose.position.y; + + current_vel.linear.x = vx; + current_vel.linear.y = vy; + } + + pose_pub_.publish(current_pose); + vel_pub_.publish(current_vel); + + // update + px_ = current_pose.pose.position.x; + py_ = current_pose.pose.position.y; + pz_ = current_pose.pose.position.z; + vx_ = current_vel.linear.x; + vy_ = current_vel.linear.y; + theta_ = yaw; + last_update_ = _info.simTime; + } +} + +bool PedestrianSFMPlugin::OnStateCallBack(gazebo_sfm_plugin::ped_state::Request& req, + gazebo_sfm_plugin::ped_state::Response& resp) +{ + if (req.name == actor_->GetName()) + { + resp.px = px_; + resp.py = py_; + resp.pz = pz_; + resp.vx = vx_; + resp.vy = vy_; + resp.theta = theta_; + return true; + } + else + return false; +} \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/srv/ped_state.srv b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/srv/ped_state.srv new file mode 100755 index 0000000..c731fde --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_sfm_plugin/srv/ped_state.srv @@ -0,0 +1,10 @@ +# client +string name +--- +# server +float64 px +float64 py +float64 pz +float64 vx +float64 vy +float64 theta \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/CMakeLists.txt b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/CMakeLists.txt new file mode 100755 index 0000000..864911d --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/CMakeLists.txt @@ -0,0 +1,48 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gazebo_ped_visualizer_plugin) + +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED COMPONENTS + gazebo_ros + roscpp + pedsim_msgs + std_msgs +) + +find_package(Boost REQUIRED COMPONENTS thread) +find_package(gazebo REQUIRED) + + +include_directories(include) +include_directories(SYSTEM + /usr/local/include #to find lightsfm + ${Boost_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} +) + +link_directories( + ${catkin_LIBRARY_DIRS} + ${GAZEBO_LIBRARY_DIRS} +) + + +catkin_package( + INCLUDE_DIRS include + LIBRARIES PedestrianVisualPlugin + CATKIN_DEPENDS gazebo_ros roscpp +) + +add_library(PedestrianVisualPlugin src/pedestrian_visual_plugin.cpp) +add_dependencies(PedestrianVisualPlugin ${catkin_EXPORTED_TARGETS}) +target_link_libraries(PedestrianVisualPlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES}) #${Boost_LIBRARIES + +install(TARGETS + PedestrianVisualPlugin + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + + + diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/include/pedestrian_visual_plugin.h b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/include/pedestrian_visual_plugin.h new file mode 100755 index 0000000..d04f31a --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/include/pedestrian_visual_plugin.h @@ -0,0 +1,93 @@ +/*********************************************************** + * + * @file: pedestrian_sfm_plugin.cpp + * @breif: Gazebo plugin for pedestrians using social force model + * @author: Yang Haodong + * @update: 2023-03-15 + * @version: 1.1 + * + * Copyright (c) 2023， Yang Haodong + * All rights reserved. + * -------------------------------------------------------- + * + **********************************************************/ +#ifndef PEDESTRIANVISUAL_GAZEBO_PLUGIN_H +#define PEDESTRIANVISUAL_GAZEBO_PLUGIN_H + +// C++ +#include +#include +#include +#include +#include +#include +#include + +// Gazebo +#include +#include +#include +#include +#include + +// message +#include +#include +#include +#include +#include + +namespace gazebo +{ +class GZ_PLUGIN_VISIBLE PedestrianVisualPlugin : public ModelPlugin +{ +public: + /** + * @brief Construct a gazebo plugin + */ + PedestrianVisualPlugin(); + + /** + * @brief De-Construct a gazebo plugin + */ + ~PedestrianVisualPlugin(); + + /** + * @brief Load the actor plugin. + * @param _model Pointer to the parent model. + * @param _sdf Pointer to the plugin's SDF elements. + */ + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + + /** + * @brief Publish pedestrians visualization information + */ + void publishPedVisuals(); + +private: + /** + * @brief Function that is called every update cycle. + * @param _info Timing information. + */ + void OnUpdate(const common::UpdateInfo& _info); + +private: + // Gazebo ROS node + std::unique_ptr node_; + // topic publisher + ros::Publisher ped_visual_pub_; + // Pointer to the parent actor. + physics::ActorPtr actor_; + // Pointer to the world, for convenience. + physics::WorldPtr world_; + // Pointer to the sdf element. + sdf::ElementPtr sdf_; + // List of connections + std::vector connections_; + // Update interval + size_t update_interval_; + // Update counter + size_t update_cnt_; +}; +} // namespace gazebo +#endif diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/package.xml b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/package.xml new file mode 100755 index 0000000..61c5b29 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/package.xml @@ -0,0 +1,37 @@ + + + gazebo_ped_visualizer_plugin + 0.1.0 + The pedsim_visualizer package + + Billy Okal + + BSD + + catkin + + geometry_msgs + pedsim_msgs + roscpp + std_msgs + visualization_msgs + gazebo_ros + + + geometry_msgs + pedsim_msgs + roscpp + std_msgs + visualization_msgs + gazebo_ros + + + geometry_msgs + pedsim_msgs + roscpp + std_msgs + visualization_msgs + gazebo_ros + + + \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/src/pedestrian_visual_plugin.cpp b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/src/pedestrian_visual_plugin.cpp new file mode 100755 index 0000000..7996a46 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/gazebo_ped_visualizer_plugin/src/pedestrian_visual_plugin.cpp @@ -0,0 +1,136 @@ +/*********************************************************** + * + * @file: pedestrian_sfm_plugin.cpp + * @breif: Gazebo plugin for pedestrians using social force model + * @author: Yang Haodong + * @update: 2023-03-15 + * @version: 1.1 + * + * Copyright (c) 2023， Yang Haodong + * All rights reserved. + * -------------------------------------------------------- + * + **********************************************************/ +#include +#include +#include + +#include + +using namespace gazebo; +GZ_REGISTER_MODEL_PLUGIN(PedestrianVisualPlugin) + +/** + * @brief Construct a gazebo plugin + */ +PedestrianVisualPlugin::PedestrianVisualPlugin() +{ +} + +/** + * @brief De-Construct a gazebo plugin + */ +PedestrianVisualPlugin::~PedestrianVisualPlugin() +{ + ped_visual_pub_.shutdown(); +} + +/** + * @brief Load the actor plugin. + * @param _model Pointer to the parent model. + * @param _sdf Pointer to the plugin's SDF elements. + */ +void PedestrianVisualPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + // gazebo model pointer + sdf_ = _sdf; + actor_ = boost::dynamic_pointer_cast(_model); + world_ = actor_->GetWorld(); + + // Create the ROS node + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc, argv, "gazebo_client", ros::init_options::NoSigintHandler); + } + node_.reset(new ros::NodeHandle("gazebo_client")); + + // topic publisher + ped_visual_pub_ = node_->advertise("/ped_visualization", 1); + + // Bind the update callback function + connections_.push_back(event::Events::ConnectWorldUpdateBegin( + std::bind(&PedestrianVisualPlugin::OnUpdate, this, std::placeholders::_1))); + + // Update rate setting + if (sdf_->HasElement("update_rate")) + { + auto update_rate = sdf_->Get("update_rate"); + update_interval_ = std::max(size_t(1), size_t(100 / update_rate)); + } + else + update_interval_ = 10; + + update_cnt_ = 0; +} + +/** + * @brief Publish pedestrians visualization information + */ +void PedestrianVisualPlugin::publishPedVisuals() +{ + int human_id = 0; + + pedsim_msgs::TrackedPersons tracked_people; + std_msgs::Header msg_header; + msg_header.stamp = ros::Time::now(); + msg_header.frame_id = "map"; + tracked_people.header = msg_header; + + for (unsigned int i = 0; i < world_->ModelCount(); ++i) + { + physics::ModelPtr model = world_->ModelByIndex(i); + if (((int)model->GetType() == (int)actor_->GetType())) + { + human_id++; + pedsim_msgs::TrackedPerson person; + person.track_id = human_id; + person.is_occluded = false; + person.detection_id = human_id; + + ros::ServiceClient state_client = node_->serviceClient(model->GetName() + "_state"); + gazebo_sfm_plugin::ped_state model_state; + model_state.request.name = model->GetName(); + state_client.call(model_state); + + geometry_msgs::PoseWithCovariance pose_with_cov; + pose_with_cov.pose.position.x = model_state.response.px; + pose_with_cov.pose.position.y = model_state.response.py; + pose_with_cov.pose.position.z = model_state.response.pz; + tf2::Quaternion q; + q.setRPY(0, 0, model_state.response.theta - 1.57); + tf2::convert(q, pose_with_cov.pose.orientation); + person.pose = pose_with_cov; + + geometry_msgs::TwistWithCovariance twist_with_cov; + twist_with_cov.twist.linear.x = model_state.response.vx; + twist_with_cov.twist.linear.y = model_state.response.vy; + person.twist = twist_with_cov; + + tracked_people.tracks.push_back(person); + } + } + ped_visual_pub_.publish(tracked_people); +} + +/** + * @brief Function that is called every update cycle. + * @param _info Timing information. + */ +void PedestrianVisualPlugin::OnUpdate(const common::UpdateInfo& _info) +{ + update_cnt_ = update_cnt_ % update_interval_ + 1; + if (update_cnt_ == 1) + publishPedVisuals(); +} diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/CMakeLists.txt b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/CMakeLists.txt new file mode 100755 index 0000000..8f1e62e --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/CMakeLists.txt @@ -0,0 +1,45 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pedsim_msgs) + +# message and service dependencies +set(MESSAGE_DEPENDENCIES + std_msgs + geometry_msgs + sensor_msgs + nav_msgs +) + +find_package(catkin REQUIRED COMPONENTS message_generation ${MESSAGE_DEPENDENCIES}) + +include_directories(${catkin_INCLUDE_DIRS}) + +## Generate messages in the 'msg' folder +add_message_files( DIRECTORY msg + FILES + AgentState.msg + AgentStates.msg + AgentGroup.msg + AgentGroups.msg + AgentForce.msg + LineObstacle.msg + LineObstacles.msg + TrackedPerson.msg + TrackedPersons.msg + TrackedGroup.msg + TrackedGroups.msg + SocialRelation.msg + SocialRelations.msg + SocialActivity.msg + SocialActivities.msg + Waypoint.msg + Waypoints.msg +) + +# generate the messages +generate_messages(DEPENDENCIES ${MESSAGE_DEPENDENCIES}) + + +#Declare package run-time dependencies +catkin_package( + CATKIN_DEPENDS roscpp rospy message_runtime ${MESSAGE_DEPENDENCIES} +) diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentForce.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentForce.msg new file mode 100755 index 0000000..b9218e2 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentForce.msg @@ -0,0 +1,14 @@ +# Forces acting on an agent. + +# Basic SFM forces. +geometry_msgs/Vector3 desired_force +geometry_msgs/Vector3 obstacle_force +geometry_msgs/Vector3 social_force + +# Additional Group Forces +geometry_msgs/Vector3 group_coherence_force +geometry_msgs/Vector3 group_gaze_force +geometry_msgs/Vector3 group_repulsion_force + +# Extra stabilization/custom forces. +geometry_msgs/Vector3 random_force diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentGroup.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentGroup.msg new file mode 100755 index 0000000..37ed096 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentGroup.msg @@ -0,0 +1,5 @@ +Header header +uint16 group_id +float64 age +uint64[] members +geometry_msgs/Pose center_of_mass diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentGroups.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentGroups.msg new file mode 100755 index 0000000..de1d3ac --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentGroups.msg @@ -0,0 +1,2 @@ +Header header +pedsim_msgs/AgentGroup[] groups diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentState.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentState.msg new file mode 100755 index 0000000..6eee4d8 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentState.msg @@ -0,0 +1,21 @@ +Header header +uint64 id +uint16 type +string social_state +geometry_msgs/Pose pose +geometry_msgs/Twist twist +pedsim_msgs/AgentForce forces + +# Use sensors package to control observability + +# Social State string constants +string TYPE_STANDING = "standing" +string TYPE_INDIVIDUAL_MOVING = "individual_moving" +string TYPE_WAITING_IN_QUEUE = "waiting_in_queue" +string TYPE_GROUP_MOVING = "group_moving" + + +# Agent types +# 0, 1 -> ordinary agents +# 2 -> Robot +# 3 -> standing/elderly agents diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentStates.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentStates.msg new file mode 100755 index 0000000..01b118d --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AgentStates.msg @@ -0,0 +1,2 @@ +Header header +pedsim_msgs/AgentState[] agent_states diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AllAgentsState.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AllAgentsState.msg new file mode 100755 index 0000000..6c95a56 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/AllAgentsState.msg @@ -0,0 +1,2 @@ +Header header +pedsim_msgs/AgentState[] agent_states \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/LineObstacle.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/LineObstacle.msg new file mode 100755 index 0000000..587a251 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/LineObstacle.msg @@ -0,0 +1,4 @@ +# A line obstacle in the simulator. + +geometry_msgs/Point start +geometry_msgs/Point end diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/LineObstacles.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/LineObstacles.msg new file mode 100755 index 0000000..7d4526e --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/LineObstacles.msg @@ -0,0 +1,4 @@ +# A collection of line obstacles. +# No need to header since these are detemined at sim initiation time. +Header header +pedsim_msgs/LineObstacle[] obstacles diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialActivities.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialActivities.msg new file mode 100755 index 0000000..b0b55a4 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialActivities.msg @@ -0,0 +1,5 @@ +std_msgs/Header header + +# All social activities that have been detected in the current time step, +# within sensor range of the robot. +SocialActivity[] elements \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialActivity.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialActivity.msg new file mode 100755 index 0000000..58e9c29 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialActivity.msg @@ -0,0 +1,22 @@ +string type # see constants below +float32 confidence # detection confidence + +uint64[] track_ids # IDs of all person tracks involved in the activity, might be one or multiple + + +# Constants for social activity type (just examples at the moment) +string TYPE_SHOPPING = shopping +string TYPE_STANDING = standing +string TYPE_INDIVIDUAL_MOVING = individual_moving +string TYPE_WAITING_IN_QUEUE = waiting_in_queue +string TYPE_LOOKING_AT_INFORMATION_SCREEN = looking_at_information_screen +string TYPE_LOOKING_AT_KIOSK = looking_at_kiosk +string TYPE_GROUP_ASSEMBLING = group_assembling +string TYPE_GROUP_MOVING = group_moving +string TYPE_FLOW_WITH_ROBOT = flow +string TYPE_ANTIFLOW_AGAINST_ROBOT = antiflow +string TYPE_WAITING_FOR_OTHERS = waiting_for_others + +#string TYPE_COMMUNICATING = communicating +#string TYPE_TAKING_PHOTOGRAPH = taking_photograph +#string TYPE_TALKING_ON_PHONE = talking_on_phone diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialRelation.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialRelation.msg new file mode 100755 index 0000000..2159dc9 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialRelation.msg @@ -0,0 +1,12 @@ +string type # e.g. mother-son relationship, romantic relationship, etc. +float32 strength # relationship strength between 0.0 and 1.0 + +uint32 track1_id +uint32 track2_id + + +# Constants for type (just examples at the moment) +string TYPE_SPATIAL = "spatial" +string TYPE_ROMANTIC = "romantic" +string TYPE_PARENT_CHILD = "parent_child" +string TYPE_FRIENDSHIP = "friendship" \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialRelations.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialRelations.msg new file mode 100755 index 0000000..f30cd8d --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/SocialRelations.msg @@ -0,0 +1,5 @@ +std_msgs/Header header + +# All social relations of all tracks in the current time step. +# There might be multiple social relations per pair of tracks. +SocialRelation[] elements \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedGroup.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedGroup.msg new file mode 100755 index 0000000..29cd536 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedGroup.msg @@ -0,0 +1,10 @@ +# Message defining a tracked group +# + +uint64 group_id # unique identifier of the target, consistent over time + +duration age # age of the group + +geometry_msgs/PoseWithCovariance centerOfGravity # mean and covariance of the group (calculated from its person tracks) + +uint64[] track_ids # IDs of the tracked persons in this group. See srl_tracking_msgs/TrackedPersons \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedGroups.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedGroups.msg new file mode 100755 index 0000000..b22c517 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedGroups.msg @@ -0,0 +1,5 @@ +# Message with all currently tracked groups +# + +Header header # Header containing timestamp etc. of this message +pedsim_msgs/TrackedGroup[] groups # All groups that are currently being tracked diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedPerson.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedPerson.msg new file mode 100755 index 0000000..996c6c3 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedPerson.msg @@ -0,0 +1,14 @@ +# Message defining a tracked person +# + +uint64 track_id # unique identifier of the target, consistent over time +bool is_occluded # if the track is currently not observable in a physical way +bool is_matched # if the track is currently matched by a detection +uint64 detection_id # id of the corresponding detection in the current cycle (undefined if occluded) +duration age # age of the track + +# The following fields are extracted from the Kalman state x and its covariance C + +geometry_msgs/PoseWithCovariance pose # pose of the track (z value and orientation might not be set, check if corresponding variance on diagonal is > 99999) + +geometry_msgs/TwistWithCovariance twist # velocity of the track (z value and rotational velocities might not be set, check if corresponding variance on diagonal is > 99999) diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedPersons.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedPersons.msg new file mode 100755 index 0000000..5c5a361 --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/TrackedPersons.msg @@ -0,0 +1,5 @@ +# Message with all currently tracked persons +# + +Header header # Header containing timestamp etc. of this message +TrackedPerson[] tracks # All persons that are currently being tracked \ No newline at end of file diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/Waypoint.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/Waypoint.msg new file mode 100755 index 0000000..e85e4fc --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/Waypoint.msg @@ -0,0 +1,8 @@ +int8 BHV_SIMPLE = 0 +int8 BHV_SOURCE = 1 +int8 BHV_SINK = 2 + +string name +int8 behavior +geometry_msgs/Point position +float32 radius diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/Waypoints.msg b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/Waypoints.msg new file mode 100755 index 0000000..e0acc3c --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/msg/Waypoints.msg @@ -0,0 +1,2 @@ +Header header +pedsim_msgs/Waypoint[] waypoints diff --git a/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/package.xml b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/package.xml new file mode 100755 index 0000000..02d148d --- /dev/null +++ b/simulators/third_party/gazebo_plugins/pedestrian_visualizer_plugin/pedsim_msgs/package.xml @@ -0,0 +1,29 @@ + + + pedsim_msgs + 0.0.2 + The pedsim_msgs package: contains messages for pedsim + + Billy Okal + + BSD + + catkin + + geometry_msgs + roscpp + rospy + std_msgs + sensor_msgs + nav_msgs + message_generation + + message_runtime + geometry_msgs + roscpp + rospy + std_msgs + sensor_msgs + nav_msgs + + diff --git a/simulators/third_party/map_plugins/voronoi_layer/CMakeLists.txt b/simulators/third_party/map_plugins/voronoi_layer/CMakeLists.txt new file mode 100755 index 0000000..03b0872 --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 3.0.2) +project(voronoi_layer) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++14) + +set(CMAKE_BUILD_TYPE Release) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror") + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + costmap_2d + dynamic_reconfigure + nav_msgs + roscpp +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES voronoi_layer + CATKIN_DEPENDS costmap_2d dynamic_reconfigure nav_msgs roscpp +# DEPENDS system_lib +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(voronoi_layer src/dynamicvoronoi.cpp src/voronoi_layer.cpp) +target_link_libraries(voronoi_layer ${catkin_LIBRARIES}) diff --git a/simulators/third_party/map_plugins/voronoi_layer/costmap_plugins.xml b/simulators/third_party/map_plugins/voronoi_layer/costmap_plugins.xml new file mode 100755 index 0000000..1e0389f --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/costmap_plugins.xml @@ -0,0 +1,7 @@ + + + + A costmap plugin for dynamic Voronoi. + + + diff --git a/simulators/third_party/map_plugins/voronoi_layer/include/bucketedqueue.h b/simulators/third_party/map_plugins/voronoi_layer/include/bucketedqueue.h new file mode 100755 index 0000000..a0769a2 --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/include/bucketedqueue.h @@ -0,0 +1,60 @@ +#ifndef _PRIORITYQUEUE2_H_ +#define _PRIORITYQUEUE2_H_ + +#include +#include +#include +#include +#include "point.h" +#include + +//! Priority queue for integer coordinates with squared distances as priority. +/** A priority queue that uses buckets to group elements with the same priority. + * The individual buckets are unsorted, which increases efficiency if these groups are large. + * The elements are assumed to be integer coordinates, and the priorities are assumed + * to be squared Euclidean distances (integers). + */ + +template +class BucketPrioQueue { + +public: + //! Standard constructor + /** Standard constructor. When called for the first time it creates a look up table + * that maps square distances to bucket numbers, which might take some time... + */ + BucketPrioQueue(); + + + void clear() { + buckets.clear(); + count = 0; + nextPop = buckets.end(); + } + + //! Checks whether the Queue is empty + bool empty(); + //! push an element + void push(int prio, T t); + //! return and pop the element with the lowest squared distance */ + T pop(); + + int size() { return count; } + int getNumBuckets() { return buckets.size(); } + + int getTopPriority(){ + return nextPop->first; + } + +private: + + int count; + + typedef std::map< int, std::queue > BucketType; + BucketType buckets; + typename BucketType::iterator nextPop; +}; + +#include "bucketedqueue.hxx" + +#endif diff --git a/simulators/third_party/map_plugins/voronoi_layer/include/bucketedqueue.hxx b/simulators/third_party/map_plugins/voronoi_layer/include/bucketedqueue.hxx new file mode 100755 index 0000000..b93d8e4 --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/include/bucketedqueue.hxx @@ -0,0 +1,38 @@ +#include "bucketedqueue.h" + +#include "limits.h" +#include +#include + +template +BucketPrioQueue::BucketPrioQueue() { + clear(); +} + +template +bool BucketPrioQueue::empty() { + return (count==0); +} + + +template +void BucketPrioQueue::push(int prio, T t) { + buckets[prio].push(t); + if (nextPop == buckets.end() || prio < nextPop->first) nextPop = buckets.find(prio); + count++; +} + +template +T BucketPrioQueue::pop() { + while (nextPop!=buckets.end() && nextPop->second.empty()) ++nextPop; + + T p = nextPop->second.front(); + nextPop->second.pop(); + if (nextPop->second.empty()) { + typename BucketType::iterator it = nextPop; + nextPop++; + buckets.erase(it); + } + count--; + return p; +} diff --git a/simulators/third_party/map_plugins/voronoi_layer/include/dynamicvoronoi.h b/simulators/third_party/map_plugins/voronoi_layer/include/dynamicvoronoi.h new file mode 100755 index 0000000..a2b483a --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/include/dynamicvoronoi.h @@ -0,0 +1,120 @@ +#ifndef _DYNAMICVORONOI_H_ +#define _DYNAMICVORONOI_H_ + + +#include +#include +#include +#include + +#include "bucketedqueue.h" + +//! A DynamicVoronoi object computes and updates a distance map and Voronoi diagram. +class DynamicVoronoi { + +public: + + DynamicVoronoi(); + ~DynamicVoronoi(); + + //! Initialization with an empty map + void initializeEmpty(int _sizeX, int _sizeY, bool initGridMap=true); + //! Initialization with a given binary map (false==free, true==occupied) + void initializeMap(int _sizeX, int _sizeY, bool** _gridMap); + + //! add an obstacle at the specified cell coordinate + void occupyCell(int x, int y); + //! remove an obstacle at the specified cell coordinate + void clearCell(int x, int y); + //! remove old dynamic obstacles and add the new ones + void exchangeObstacles(std::vector& newObstacles); + + //! update distance map and Voronoi diagram to reflect the changes + void update(bool updateRealDist=true); + //! prune the Voronoi diagram + void prune(); + //! prune the Voronoi diagram by globally revisiting all Voronoi nodes. Takes more time but gives a more sparsely pruned Voronoi graph. You need to call this after every call to udpate() + void updateAlternativePrunedDiagram(); + //! retrieve the alternatively pruned diagram. see updateAlternativePrunedDiagram() + int** alternativePrunedDiagram() const { + return alternativeDiagram; + }; + //! retrieve the number of neighbors that are Voronoi nodes (4-connected) + int getNumVoronoiNeighborsAlternative(int x, int y) const; + //! returns whether the specified cell is part of the alternatively pruned diagram. See updateAlternativePrunedDiagram. + bool isVoronoiAlternative( int x, int y ) const; + + //! returns the obstacle distance at the specified location + float getDistance( int x, int y ) const; + //! returns whether the specified cell is part of the (pruned) Voronoi graph + bool isVoronoi( int x, int y ) const; + //! checks whether the specficied location is occupied + bool isOccupied(int x, int y) const; + //! write the current distance map and voronoi diagram as ppm file + void visualize(const char* filename="result.ppm"); + + //! returns the horizontal size of the workspace/map + unsigned int getSizeX() const {return sizeX;} + //! returns the vertical size of the workspace/map + unsigned int getSizeY() const {return sizeY;} + +private: + struct dataCell { + float dist; + char voronoi; + char queueing; + int obstX; + int obstY; + bool needsRaise; + int sqdist; + }; + + typedef enum {voronoiKeep=-4, freeQueued = -3, voronoiRetry=-2, voronoiPrune=-1, free=0, occupied=1} State; + typedef enum {fwNotQueued=1, fwQueued=2, fwProcessed=3, bwQueued=4, bwProcessed=1} QueueingState; + typedef enum {invalidObstData = SHRT_MAX/2} ObstDataState; + typedef enum {pruned, keep, retry} markerMatchResult; + + + + // methods + void setObstacle(int x, int y); + void removeObstacle(int x, int y); + inline void checkVoro(int x, int y, int nx, int ny, dataCell& c, dataCell& nc); + void recheckVoro(); + void commitAndColorize(bool updateRealDist=true); + inline void reviveVoroNeighbors(int &x, int &y); + + inline bool isOccupied(int &x, int &y, dataCell &c); + inline markerMatchResult markerMatch(int x, int y); + inline bool markerMatchAlternative(int x, int y); + inline int getVoronoiPruneValence(int x, int y); + + // queues + + BucketPrioQueue open; + std::queue pruneQueue; + BucketPrioQueue sortedPruneQueue; + + std::vector removeList; + std::vector addList; + std::vector lastObstacles; + + // maps + int sizeY; + int sizeX; + dataCell** data; + bool** gridMap; + bool allocatedGridMap; + + // parameters + int padding; + double doubleThreshold; + + double sqrt2; + + // dataCell** getData(){ return data; } + int** alternativeDiagram; +}; + + +#endif diff --git a/simulators/third_party/map_plugins/voronoi_layer/include/point.h b/simulators/third_party/map_plugins/voronoi_layer/include/point.h new file mode 100755 index 0000000..4899eac --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/include/point.h @@ -0,0 +1,14 @@ +#ifndef _VOROPOINT_H_ +#define _VOROPOINT_H_ + +#define INTPOINT IntPoint + +/*! A light-weight integer point with fields x,y */ +class IntPoint { +public: + IntPoint() : x(0), y(0) {} + IntPoint(int _x, int _y) : x(_x), y(_y) {} + int x,y; +}; + +#endif diff --git a/simulators/third_party/map_plugins/voronoi_layer/include/voronoi_layer.h b/simulators/third_party/map_plugins/voronoi_layer/include/voronoi_layer.h new file mode 100755 index 0000000..8a1cec7 --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/include/voronoi_layer.h @@ -0,0 +1,76 @@ +/****************************************************************************** + * Copyright (c) 2023, NKU Mobile & Flying Robotics Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + *****************************************************************************/ + +#pragma once + +#include + +#include + +#include "costmap_2d/GenericPluginConfig.h" +#include "costmap_2d/cost_values.h" +#include "costmap_2d/layer.h" +#include "costmap_2d/layered_costmap.h" +#include "dynamic_reconfigure/server.h" +#include "dynamicvoronoi.h" +#include "nav_msgs/OccupancyGrid.h" +#include "ros/ros.h" + +namespace costmap_2d +{ +class VoronoiLayer : public Layer +{ +public: + VoronoiLayer() = default; + virtual ~VoronoiLayer() = default; + + void onInitialize() override; + void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, double* max_x, + double* max_y) override; + void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) override; + const DynamicVoronoi& getVoronoi() const; + boost::mutex& getMutex(); + +private: + void publishVoronoiGrid(const costmap_2d::Costmap2D& master_grid); + void outlineMap(unsigned char* costarr, int nx, int ny, unsigned char value); + + void reconfigureCB(const costmap_2d::GenericPluginConfig& config, uint32_t level); + std::unique_ptr> dsrv_ = nullptr; + ros::Publisher voronoi_grid_pub_; + + DynamicVoronoi voronoi_; + unsigned int last_size_x_ = 0; + unsigned int last_size_y_ = 0; + boost::mutex mutex_; +}; + +} // namespace costmap_2d diff --git a/simulators/third_party/map_plugins/voronoi_layer/package.xml b/simulators/third_party/map_plugins/voronoi_layer/package.xml new file mode 100755 index 0000000..52f87b5 --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/package.xml @@ -0,0 +1,69 @@ + + + voronoi_layer + 0.0.0 + The voronoi_layer package + + + + + jwen + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + costmap_2d + dynamic_reconfigure + nav_msgs + roscpp + costmap_2d + dynamic_reconfigure + nav_msgs + roscpp + costmap_2d + dynamic_reconfigure + nav_msgs + roscpp + + + + + + diff --git a/simulators/third_party/map_plugins/voronoi_layer/src/dynamicvoronoi.cpp b/simulators/third_party/map_plugins/voronoi_layer/src/dynamicvoronoi.cpp new file mode 100755 index 0000000..c868229 --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/src/dynamicvoronoi.cpp @@ -0,0 +1,720 @@ +#include "dynamicvoronoi.h" + +#include +#include + +DynamicVoronoi::DynamicVoronoi() { + sqrt2 = sqrt(2.0); + data = NULL; + gridMap = NULL; + alternativeDiagram = NULL; + allocatedGridMap = false; +} + +DynamicVoronoi::~DynamicVoronoi() { + if (data) { + for (int x=0; x=sizeX-1) continue; + for (int dy=-1; dy<=1; dy++) { + if (dx==0 && dy==0) continue; + int ny = y+dy; + if (ny<=0 || ny>=sizeY-1) continue; + + if (!gridMap[nx][ny]) { + isSurrounded = false; + break; + } + } + } + if (isSurrounded) { + c.obstX = x; + c.obstY = y; + c.sqdist = 0; + c.dist=0; + c.voronoi=occupied; + c.queueing = fwProcessed; + data[x][y] = c; + } else setObstacle(x,y); + } + } + } + } +} + +void DynamicVoronoi::occupyCell(int x, int y) { + gridMap[x][y] = 1; + setObstacle(x,y); +} +void DynamicVoronoi::clearCell(int x, int y) { + gridMap[x][y] = 0; + removeObstacle(x,y); +} + +void DynamicVoronoi::setObstacle(int x, int y) { + dataCell c = data[x][y]; + if(isOccupied(x,y,c)) return; + + addList.push_back(INTPOINT(x,y)); + c.obstX = x; + c.obstY = y; + data[x][y] = c; +} + +void DynamicVoronoi::removeObstacle(int x, int y) { + dataCell c = data[x][y]; + if(isOccupied(x,y,c) == false) return; + + removeList.push_back(INTPOINT(x,y)); + c.obstX = invalidObstData; + c.obstY = invalidObstData; + c.queueing = bwQueued; + data[x][y] = c; +} + +void DynamicVoronoi::exchangeObstacles(std::vector& points) { + + for (unsigned int i=0; i=sizeX-1) continue; + for (int dy=-1; dy<=1; dy++) { + if (dx==0 && dy==0) continue; + int ny = y+dy; + if (ny<=0 || ny>=sizeY-1) continue; + dataCell nc = data[nx][ny]; + if (nc.obstX!=invalidObstData && !nc.needsRaise) { + if(!isOccupied(nc.obstX,nc.obstY,data[nc.obstX][nc.obstY])) { + open.push(nc.sqdist, INTPOINT(nx,ny)); + nc.queueing = fwQueued; + nc.needsRaise = true; + nc.obstX = invalidObstData; + nc.obstY = invalidObstData; + if (updateRealDist) nc.dist = INFINITY; + nc.sqdist = INT_MAX; + data[nx][ny] = nc; + } else { + if(nc.queueing != fwQueued){ + open.push(nc.sqdist, INTPOINT(nx,ny)); + nc.queueing = fwQueued; + data[nx][ny] = nc; + } + } + } + } + } + c.needsRaise = false; + c.queueing = bwProcessed; + data[x][y] = c; + } + else if (c.obstX != invalidObstData && isOccupied(c.obstX,c.obstY,data[c.obstX][c.obstY])) { + + // LOWER + c.queueing = fwProcessed; + c.voronoi = occupied; + + for (int dx=-1; dx<=1; dx++) { + int nx = x+dx; + if (nx<=0 || nx>=sizeX-1) continue; + for (int dy=-1; dy<=1; dy++) { + if (dx==0 && dy==0) continue; + int ny = y+dy; + if (ny<=0 || ny>=sizeY-1) continue; + dataCell nc = data[nx][ny]; + if(!nc.needsRaise) { + int distx = nx-c.obstX; + int disty = ny-c.obstY; + int newSqDistance = distx*distx + disty*disty; + bool overwrite = (newSqDistance < nc.sqdist); + if(!overwrite && newSqDistance==nc.sqdist) { + if (nc.obstX == invalidObstData || isOccupied(nc.obstX,nc.obstY,data[nc.obstX][nc.obstY])==false) overwrite = true; + } + if (overwrite) { + open.push(newSqDistance, INTPOINT(nx,ny)); + nc.queueing = fwQueued; + if (updateRealDist) { + nc.dist = sqrt((double) newSqDistance); + } + nc.sqdist = newSqDistance; + nc.obstX = c.obstX; + nc.obstY = c.obstY; + } else { + checkVoro(x,y,nx,ny,c,nc); + } + data[nx][ny] = nc; + } + } + } + } + data[x][y] = c; + } +} + +float DynamicVoronoi::getDistance( int x, int y ) const { + if( (x>0) && (x0) && (y1 || nc.sqdist>1) && nc.obstX!=invalidObstData) { + if (abs(c.obstX-nc.obstX) > 1 || abs(c.obstY-nc.obstY) > 1) { + //compute dist from x,y to obstacle of nx,ny + int dxy_x = x-nc.obstX; + int dxy_y = y-nc.obstY; + int sqdxy = dxy_x*dxy_x + dxy_y*dxy_y; + int stability_xy = sqdxy - c.sqdist; + if (sqdxy - c.sqdist<0) return; + + //compute dist from nx,ny to obstacle of x,y + int dnxy_x = nx - c.obstX; + int dnxy_y = ny - c.obstY; + int sqdnxy = dnxy_x*dnxy_x + dnxy_y*dnxy_y; + int stability_nxy = sqdnxy - nc.sqdist; + if (sqdnxy - nc.sqdist <0) return; + + //which cell is added to the Voronoi diagram? + if(stability_xy <= stability_nxy && c.sqdist>2) { + if (c.voronoi != free) { + c.voronoi = free; + reviveVoroNeighbors(x,y); + pruneQueue.push(INTPOINT(x,y)); + } + } + if(stability_nxy <= stability_xy && nc.sqdist>2) { + if (nc.voronoi != free) { + nc.voronoi = free; + reviveVoroNeighbors(nx,ny); + pruneQueue.push(INTPOINT(nx,ny)); + } + } + } + } +} + + +void DynamicVoronoi::reviveVoroNeighbors(int &x, int &y) { + for (int dx=-1; dx<=1; dx++) { + int nx = x+dx; + if (nx<=0 || nx>=sizeX-1) continue; + for (int dy=-1; dy<=1; dy++) { + if (dx==0 && dy==0) continue; + int ny = y+dy; + if (ny<=0 || ny>=sizeY-1) continue; + dataCell nc = data[nx][ny]; + if (nc.sqdist != INT_MAX && !nc.needsRaise && (nc.voronoi == voronoiKeep || nc.voronoi == voronoiPrune)) { + nc.voronoi = free; + data[nx][ny] = nc; + pruneQueue.push(INTPOINT(nx,ny)); + } + } + } +} + + +bool DynamicVoronoi::isOccupied(int x, int y) const { + dataCell c = data[x][y]; + return (c.obstX==x && c.obstY==y); +} + +bool DynamicVoronoi::isOccupied(int &x, int &y, dataCell &c) { + return (c.obstX==x && c.obstY==y); +} + +void DynamicVoronoi::visualize(const char *filename) { + // write ppm files + + FILE* F = fopen(filename, "w"); + if (!F) { + std::cerr << "could not open 'result.pgm' for writing!\n"; + return; + } + fprintf(F, "P6\n#\n"); + fprintf(F, "%d %d\n255\n", sizeX, sizeY); + + for(int y = sizeY-1; y >=0; y--){ + for(int x = 0; x255) f=255; + if (f<0) f=0; + c = (unsigned char)f; + fputc( c, F ); + fputc( c, F ); + fputc( c, F ); + } + } + } + fclose(F); +} + + +void DynamicVoronoi::prune() { + // filler + while(!pruneQueue.empty()) { + INTPOINT p = pruneQueue.front(); + pruneQueue.pop(); + int x = p.x; + int y = p.y; + + if (data[x][y].voronoi==occupied) continue; + if (data[x][y].voronoi==freeQueued) continue; + + data[x][y].voronoi = freeQueued; + sortedPruneQueue.push(data[x][y].sqdist, p); + + /* tl t tr + l c r + bl b br */ + + dataCell tr,tl,br,bl; + tr = data[x+1][y+1]; + tl = data[x-1][y+1]; + br = data[x+1][y-1]; + bl = data[x-1][y-1]; + + dataCell r,b,t,l; + r = data[x+1][y]; + l = data[x-1][y]; + t = data[x][y+1]; + b = data[x][y-1]; + + if (x+2=0 && l.voronoi==occupied) { + // fill to the left + if (tl.voronoi!=occupied && bl.voronoi!=occupied && data[x-2][y].voronoi!=occupied) { + l.voronoi = freeQueued; + sortedPruneQueue.push(l.sqdist, INTPOINT(x-1,y)); + data[x-1][y] = l; + } + } + if (y+2=0 && b.voronoi==occupied) { + // fill to the bottom + if (br.voronoi!=occupied && bl.voronoi!=occupied && data[x][y-2].voronoi!=occupied) { + b.voronoi = freeQueued; + sortedPruneQueue.push(b.sqdist, INTPOINT(x,y-1)); + data[x][y-1] = b; + } + } + } + + + while(!sortedPruneQueue.empty()) { + INTPOINT p = sortedPruneQueue.pop(); + dataCell c = data[p.x][p.y]; + int v = c.voronoi; + if (v!=freeQueued && v!=voronoiRetry) { // || v>free || v==voronoiPrune || v==voronoiKeep) { + // assert(v!=retry); + continue; + } + + markerMatchResult r = markerMatch(p.x,p.y); + if (r==pruned) c.voronoi = voronoiPrune; + else if (r==keep) c.voronoi = voronoiKeep; + else { // r==retry + c.voronoi = voronoiRetry; + // printf("RETRY %d %d\n", x, sizeY-1-y); + pruneQueue.push(p); + } + data[p.x][p.y] = c; + + if (sortedPruneQueue.empty()) { + while (!pruneQueue.empty()) { + INTPOINT p = pruneQueue.front(); + pruneQueue.pop(); + sortedPruneQueue.push(data[p.x][p.y].sqdist, p); + } + } + } + // printf("match: %d\nnomat: %d\n", matchCount, noMatchCount); +} + +void DynamicVoronoi::updateAlternativePrunedDiagram() { + + if(alternativeDiagram==NULL){ + alternativeDiagram = new int*[sizeX]; + for(int x=0; x end_cells; + BucketPrioQueue sortedPruneQueue; + for(int x=1; x= 3){ + alternativeDiagram[x][y] = voronoiKeep; + sortedPruneQueue.push(data[x][y].sqdist, INTPOINT(x,y)); + end_cells.push(INTPOINT(x, y)); + } + } + } + + for(int x=1; x= 3){ + alternativeDiagram[x][y] = voronoiKeep; + sortedPruneQueue.push(data[x][y].sqdist, INTPOINT(x,y)); + end_cells.push(INTPOINT(x, y)); + } + } + } + + + while (!sortedPruneQueue.empty()) { + INTPOINT p = sortedPruneQueue.pop(); + + if (markerMatchAlternative(p.x, p.y)) { + alternativeDiagram[p.x][p.y]=voronoiPrune; + } else { + alternativeDiagram[p.x][p.y]=voronoiKeep; + } + } + + // //delete worms + while (!end_cells.empty()) { + INTPOINT p = end_cells.front(); + end_cells.pop(); + + if (isVoronoiAlternative(p.x,p.y) && getNumVoronoiNeighborsAlternative(p.x, p.y) == 1) { + alternativeDiagram[p.x][p.y] = voronoiPrune; + + for (int dx = -1; dx <= 1; ++dx) { + for (int dy = -1; dy <= 1; ++dy) { + if (!(dx || dy) || (dx && dy)) { + continue; + } + int nx = p.x + dx; + int ny = p.y + dy; + if (nx < 0 || nx >= sizeX || ny < 0 || ny >= sizeY) { + continue; + } + if (isVoronoiAlternative(nx,ny)) { + if (getNumVoronoiNeighborsAlternative(nx, ny) == 1) { + end_cells.push(INTPOINT(nx, ny)); + } + } + } + } + } + } +} + +bool DynamicVoronoi::markerMatchAlternative(int x, int y) { +// prune if this returns true + + bool f[8]; + + int nx, ny; + int dx, dy; + + int i = 0; +// int obstacleCount=0; + int voroCount = 0; + for (dy = 1; dy >= -1; dy--) { + ny = y + dy; + for (dx = -1; dx <= 1; dx++) { + if (dx || dy) { + nx = x + dx; + int v = alternativeDiagram[nx][ny]; + bool b = (v <= free && v != voronoiPrune); + // if (v==occupied) obstacleCount++; + f[i] = b; + if (v <= free && !(dx && dy)) + voroCount++; + i++; + } + } + } + + /* + * 5 6 7 + * 3 4 + * 0 1 2 + */ + + { + //connected horizontal or vertically to only one cell + if (voroCount == 1 && (f[1] || f[3] || f[4] || f[6])) { + return false; + } + + // 4-connected + if ((!f[0] && f[1] && f[3]) || (!f[2] && f[1] && f[4]) || (!f[5] && f[3] && f[6]) || (!f[7] && f[6] && f[4])) + return false; + + if ((f[3] && f[4] && !f[1] && !f[6]) || (f[1] && f[6] && !f[3] && !f[4])) + return false; + + } + return true; +} + +int DynamicVoronoi::getNumVoronoiNeighborsAlternative(int x, int y) const { + int count = 0; + for (int dx = -1; dx <= 1; dx++) { + for (int dy = -1; dy <= 1; dy++) { + if ((dx == 0 && dy == 0) || (dx != 0 && dy != 0)) { + continue; + } + + int nx = x + dx; + int ny = y + dy; + if (nx < 0 || nx >= sizeX || ny < 0 || ny >= sizeY) { + continue; + } + if (alternativeDiagram[nx][ny]==free || alternativeDiagram[nx][ny]==voronoiKeep) { + count++; + } + } + } + return count; +} + + + +DynamicVoronoi::markerMatchResult DynamicVoronoi::markerMatch(int x, int y) { + // implementation of connectivity patterns + bool f[8]; + + int nx, ny; + int dx, dy; + + int i=0; + int count=0; + // int obstacleCount=0; + int voroCount=0; + int voroCountFour=0; + + for (dy=1; dy>=-1; dy--) { + ny = y+dy; + for (dx=-1; dx<=1; dx++) { + if (dx || dy) { + nx = x+dx; + dataCell nc = data[nx][ny]; + int v = nc.voronoi; + bool b = (v<=free && v!=voronoiPrune); + // if (v==occupied) obstacleCount++; + f[i] = b; + if (b) { + voroCount++; + if (!(dx && dy)) voroCountFour++; + } + if (b && !(dx && dy) ) count++; + // if (v<=free && !(dx && dy)) voroCount++; + i++; + } + } + } + if (voroCount<3 && voroCountFour==1 && (f[1] || f[3] || f[4] || f[6])) { + // assert(voroCount<2); + // if (voroCount>=2) printf("voro>2 %d %d\n", x, y); + return keep; + } + + // 4-connected + if ((!f[0] && f[1] && f[3]) || (!f[2] && f[1] && f[4]) || (!f[5] && f[3] && f[6]) || (!f[7] && f[6] && f[4])) return keep; + if ((f[3] && f[4] && !f[1] && !f[6]) || (f[1] && f[6] && !f[3] && !f[4])) return keep; + + + + // keep voro cells inside of blocks and retry later + if (voroCount>=5 && voroCountFour>=3 && data[x][y].voronoi!=voronoiRetry) { + return retry; + } + + return pruned; +} diff --git a/simulators/third_party/map_plugins/voronoi_layer/src/voronoi_layer.cpp b/simulators/third_party/map_plugins/voronoi_layer/src/voronoi_layer.cpp new file mode 100755 index 0000000..41a6b09 --- /dev/null +++ b/simulators/third_party/map_plugins/voronoi_layer/src/voronoi_layer.cpp @@ -0,0 +1,204 @@ +/****************************************************************************** + * Copyright (c) 2023, NKU Mobile & Flying Robotics Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. 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. + * + * 3. Neither the name of the copyright holder 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 HOLDER 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. + *****************************************************************************/ + +#include "voronoi_layer.h" + +#include // NOLINT + +#include "pluginlib/class_list_macros.h" + +PLUGINLIB_EXPORT_CLASS(costmap_2d::VoronoiLayer, costmap_2d::Layer) + +namespace costmap_2d +{ +void VoronoiLayer::onInitialize() +{ + ros::NodeHandle nh("~/" + name_); + current_ = true; + + voronoi_grid_pub_ = nh.advertise("voronoi_grid", 1); + + dsrv_ = std::make_unique>(nh); + dynamic_reconfigure::Server::CallbackType cb = + boost::bind(&VoronoiLayer::reconfigureCB, this, _1, _2); + dsrv_->setCallback(cb); +} + +void VoronoiLayer::reconfigureCB(const costmap_2d::GenericPluginConfig& config, uint32_t level) +{ + enabled_ = config.enabled; +} + +const DynamicVoronoi& VoronoiLayer::getVoronoi() const +{ + return voronoi_; +} + +boost::mutex& VoronoiLayer::getMutex() +{ + return mutex_; +} + +void VoronoiLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, + double* max_x, double* max_y) +{ + if (!enabled_) + { + return; + } +} + +void VoronoiLayer::outlineMap(unsigned char* costarr, int nx, int ny, unsigned char value) +{ + unsigned char* pc = costarr; + for (int i = 0; i < nx; i++) + { + *pc++ = value; + } + pc = costarr + (ny - 1) * nx; + for (int i = 0; i < nx; i++) + { + *pc++ = value; + } + pc = costarr; + for (int i = 0; i < ny; i++, pc += nx) + { + *pc = value; + } + pc = costarr + nx - 1; + for (int i = 0; i < ny; i++, pc += nx) + { + *pc = value; + } +} + +void VoronoiLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) +{ + if (!enabled_) + { + return; + } + + boost::unique_lock lock(mutex_); + + unsigned int size_x = master_grid.getSizeInCellsX(); + unsigned int size_y = master_grid.getSizeInCellsY(); + outlineMap(master_grid.getCharMap(), size_x, size_y, costmap_2d::LETHAL_OBSTACLE); + + if (last_size_x_ != size_x || last_size_y_ != size_y) + { + voronoi_.initializeEmpty(size_x, size_y); + + last_size_x_ = size_x; + last_size_y_ = size_y; + } + + std::vector new_free_cells, new_occupied_cells; + for (unsigned int j = 0; j < size_y; ++j) + { + for (unsigned int i = 0; i < size_x; ++i) + { + if (voronoi_.isOccupied(i, j) && master_grid.getCost(i, j) == costmap_2d::FREE_SPACE) + { + new_free_cells.push_back(IntPoint(i, j)); + } + + if (!voronoi_.isOccupied(i, j) && master_grid.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE) + { + new_occupied_cells.push_back(IntPoint(i, j)); + } + } + } + + for (size_t i = 0; i < new_free_cells.size(); ++i) + { + voronoi_.clearCell(new_free_cells[i].x, new_free_cells[i].y); + } + + for (size_t i = 0; i < new_occupied_cells.size(); ++i) + { + voronoi_.occupyCell(new_occupied_cells[i].x, new_occupied_cells[i].y); + } + + // start timing + const auto start_timestamp = std::chrono::system_clock::now(); + + voronoi_.update(); + voronoi_.prune(); + + // end timing + const auto end_timestamp = std::chrono::system_clock::now(); + const std::chrono::duration diff = end_timestamp - start_timestamp; + ROS_DEBUG("Runtime=%.3fms.", diff.count() * 1e3); + + publishVoronoiGrid(master_grid); +} + +void VoronoiLayer::publishVoronoiGrid(const costmap_2d::Costmap2D& master_grid) +{ + unsigned int nx = master_grid.getSizeInCellsX(); + unsigned int ny = master_grid.getSizeInCellsY(); + + double resolution = master_grid.getResolution(); + nav_msgs::OccupancyGrid grid; + // Publish Whole Grid + grid.header.frame_id = "map"; + grid.header.stamp = ros::Time::now(); + grid.info.resolution = resolution; + + grid.info.width = nx; + grid.info.height = ny; + + grid.info.origin.position.x = master_grid.getOriginX(); + grid.info.origin.position.y = master_grid.getOriginY(); + grid.info.origin.position.z = 0.0; + grid.info.origin.orientation.w = 1.0; + + grid.data.resize(nx * ny); + + for (unsigned int x = 0; x < nx; x++) + { + for (unsigned int y = 0; y < ny; y++) + { + if (voronoi_.isVoronoi(x, y)) + { + grid.data[x + y * nx] = 128; + } + else + { + grid.data[x + y * nx] = 0; + } + } + } + voronoi_grid_pub_.publish(grid); +} + +} // namespace costmap_2d diff --git a/simulators/third_party/rviz_plugins/spencer_messages/.gitignore b/simulators/third_party/rviz_plugins/spencer_messages/.gitignore new file mode 100755 index 0000000..4581ef2 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/.gitignore @@ -0,0 +1,29 @@ +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app diff --git a/simulators/third_party/rviz_plugins/spencer_messages/LICENSE b/simulators/third_party/rviz_plugins/spencer_messages/LICENSE new file mode 100755 index 0000000..f13c155 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/LICENSE @@ -0,0 +1,23 @@ +Copyright (c) 2016, spencer.eu +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. + +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 HOLDER 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. diff --git a/simulators/third_party/rviz_plugins/spencer_messages/README.md b/simulators/third_party/rviz_plugins/spencer_messages/README.md new file mode 100755 index 0000000..65678f0 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/README.md @@ -0,0 +1 @@ +# spencer_messages \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/CHANGELOG.rst b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/CHANGELOG.rst new file mode 100755 index 0000000..1acffe2 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/CHANGELOG.rst @@ -0,0 +1,35 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package spencer_control_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.8 (2017-09-22) +------------------ +* Merge pull request `#41 `_ from LCAS/master + 1.0.7 +* Contributors: Timm Linder + +1.0.7 (2017-06-09) +------------------ + +1.0.6 (2017-06-09) +------------------ + +1.0.5 (2017-05-12) +------------------ + +1.0.4 (2017-05-12) +------------------ + +1.0.3 (2017-05-11) +------------------ + +1.0.2 (2017-05-09) +------------------ +* added missing roslib deps +* Contributors: Marc Hanheide + +1.0.1 (2017-05-09) +------------------ +* homogenised all version strings to 1.0.0 +* Adding missing spencer_control_msgs package +* Contributors: Marc Hanheide, Timm Linder diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/CMakeLists.txt b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/CMakeLists.txt new file mode 100755 index 0000000..4380db0 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 2.8.3) +project(spencer_control_msgs) + +find_package(catkin REQUIRED COMPONENTS + roscpp + roslib + std_msgs + message_generation +) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +# Generate messages in the 'msg' folder +add_message_files( + FILES + ComponentStatus.msg +) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS roscpp std_msgs message_runtime +) diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/LICENSE b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/LICENSE new file mode 100755 index 0000000..98f9a8a --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/LICENSE @@ -0,0 +1,29 @@ +Software License Agreement (BSD License) + +Copyright (c) 2013-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg +Copyright (c) 2014-2015 Stefan Breuers, Lucas Beyer, Computer Vision Group, RWTH Aachen University +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 copyright holder 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 HOLDER 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 \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/msg/ComponentStatus.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/msg/ComponentStatus.msg new file mode 100755 index 0000000..76f3cba --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/msg/ComponentStatus.msg @@ -0,0 +1,3 @@ +string name +bool alive +string detail \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/package.xml b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/package.xml new file mode 100755 index 0000000..6f5dae9 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/package.xml @@ -0,0 +1,22 @@ + + + + spencer_control_msgs + 1.0.8 + Messages used for controlling the SPENCER robot platform. + + Timm Linder + Timm Linder + + BSD + + catkin + message_generation + roscpp + std_msgs + + message_runtime + roscpp + std_msgs + +roslibroslib diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/CHANGELOG.rst b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/CHANGELOG.rst new file mode 100755 index 0000000..d49b750 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package spencer_human_attribute_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.8 (2017-09-22) +------------------ +* Merge pull request `#2 `_ from spencer-project/master + Integrate multiple fixes from upstream +* Specify correct license in package.xmls +* Merge pull request `#41 `_ from LCAS/master + 1.0.7 +* Contributors: Marc Hanheide, Timm Linder + +1.0.7 (2017-06-09) +------------------ + +1.0.6 (2017-06-09) +------------------ + +1.0.5 (2017-05-12) +------------------ + +1.0.4 (2017-05-12) +------------------ + +1.0.3 (2017-05-11) +------------------ + +1.0.2 (2017-05-09) +------------------ +* added missing roslib deps +* Contributors: Marc Hanheide + +1.0.1 (2017-05-09) +------------------ +* homogenised all version strings to 1.0.0 +* Updated licenses +* Adding message definitions, RViz plugins and mock scripts +* Contributors: Marc Hanheide, Timm Linder diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/CMakeLists.txt b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/CMakeLists.txt new file mode 100755 index 0000000..2a9830c --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 2.8.3) +project(spencer_human_attribute_msgs) + +find_package(catkin REQUIRED COMPONENTS + roscpp + roslib + std_msgs + message_generation +) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +# Generate messages in the 'msg' folder +add_message_files( + FILES + CategoricalAttribute.msg + ScalarAttribute.msg + HumanAttributes.msg +) + +# Generate services in the 'srv' folder +#add_service_files( +# FILES +#) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS roscpp std_msgs message_runtime +) diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/LICENSE b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/LICENSE new file mode 100755 index 0000000..dddbbfb --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/LICENSE @@ -0,0 +1,28 @@ +Software License Agreement (BSD License) + +Copyright (c) 2014-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg +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 copyright holder 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 HOLDER 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 \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/CategoricalAttribute.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/CategoricalAttribute.msg new file mode 100755 index 0000000..1259aa2 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/CategoricalAttribute.msg @@ -0,0 +1,32 @@ +uint64 subject_id # either an observation ID or a track ID (if information has been integrated over time); should be encoded in topic name +string type # type of the attribute, see constants below + +string[] values # values, each value also should have a confidence, highest-confidence attribute should come first +float32[] confidences # corresponding confidences should sum up to 1.0, highest confidence comes first + + +################################################## +### Constants for categorical attribute types. ### +################################################## + +string GENDER = gender +string AGE_GROUP = age_group + +################################################### +### Constants for categorical attribute values. ### +################################################### + +string GENDER_MALE = male +string GENDER_FEMALE = female + +# Age groups are based upon the categories from the "Images Of Groups" RGB database +string AGE_GROUP_0_TO_2 = 0-2 +string AGE_GROUP_3_TO_7 = 3-7 +string AGE_GROUP_8_TO_12 = 8-12 +string AGE_GROUP_13_TO_19 = 13-19 +string AGE_GROUP_20_TO_36 = 20-36 +string AGE_GROUP_37_TO_65 = 37-65 +string AGE_GROUP_66_TO_99 = 66-99 + + + diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/HumanAttributes.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/HumanAttributes.msg new file mode 100755 index 0000000..c60bc27 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/HumanAttributes.msg @@ -0,0 +1,5 @@ +std_msgs/Header header + +# One entry per attribute type per person +CategoricalAttribute[] categoricalAttributes +ScalarAttribute[] scalarAttributes \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/ScalarAttribute.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/ScalarAttribute.msg new file mode 100755 index 0000000..eea07b7 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/ScalarAttribute.msg @@ -0,0 +1,12 @@ +uint64 subject_id # either an observation ID or a track ID (if information has been integrated over time); should be encoded in topic name +string type # type of the attribute, see constants below + +float32[] values # values, each value also should have a confidence; highest-confidence value comes first! +float32[] confidences # corresponding confidences should sum up to 1.0 + + +########################################### +### Constants for scalar attribute types. # +########################################### + +string PERSON_HEIGHT = person_height diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/package.xml b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/package.xml new file mode 100755 index 0000000..98c6f40 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/package.xml @@ -0,0 +1,22 @@ + + + + spencer_human_attribute_msgs + 1.0.8 + Messages used for Human Attribute Recognition + + Timm Linder + Timm Linder + + BSD + + catkin + message_generation + roscpp + std_msgs + + message_runtime + roscpp + std_msgs + +roslibroslib diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/CHANGELOG.rst b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/CHANGELOG.rst new file mode 100755 index 0000000..a8ed908 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/CHANGELOG.rst @@ -0,0 +1,40 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package spencer_social_relation_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.8 (2017-09-22) +------------------ +* Merge pull request `#2 `_ from spencer-project/master + Integrate multiple fixes from upstream +* Specify correct license in package.xmls +* Merge pull request `#41 `_ from LCAS/master + 1.0.7 +* Contributors: Marc Hanheide, Timm Linder + +1.0.7 (2017-06-09) +------------------ + +1.0.6 (2017-06-09) +------------------ + +1.0.5 (2017-05-12) +------------------ + +1.0.4 (2017-05-12) +------------------ + +1.0.3 (2017-05-11) +------------------ + +1.0.2 (2017-05-09) +------------------ +* added missing roslib deps +* Contributors: Marc Hanheide + +1.0.1 (2017-05-09) +------------------ +* homogenised all version strings to 1.0.0 +* Updating lots of utility packages to latest version from SPENCER repo. Licenses updated. +* Updated licenses +* Adding message definitions, RViz plugins and mock scripts +* Contributors: Marc Hanheide, Timm Linder diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/CMakeLists.txt b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/CMakeLists.txt new file mode 100755 index 0000000..7949160 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/CMakeLists.txt @@ -0,0 +1,46 @@ +cmake_minimum_required(VERSION 2.8.3) +project(spencer_social_relation_msgs) + +find_package(catkin REQUIRED COMPONENTS + roscpp + roslib + std_msgs + sensor_msgs + nav_msgs + geometry_msgs + message_generation +) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +# Generate messages in the 'msg' folder +add_message_files( + FILES + SocialRelation.msg + SocialRelations.msg + SocialActivity.msg + SocialActivities.msg +) + +# Generate services in the 'srv' folder +#add_service_files( +# FILES +#) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs + sensor_msgs + nav_msgs + std_msgs +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS roscpp std_msgs sensor_msgs nav_msgs geometry_msgs message_runtime +) diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/LICENSE b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/LICENSE new file mode 100755 index 0000000..7416d42 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/LICENSE @@ -0,0 +1,28 @@ +Software License Agreement (BSD License) + +Copyright (c) 2014-2015 Timm Linder, Billy Okal, Social Robotics Laboratory, University of Freiburg +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 copyright holder 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 HOLDER 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 \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialActivities.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialActivities.msg new file mode 100755 index 0000000..b0b55a4 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialActivities.msg @@ -0,0 +1,5 @@ +std_msgs/Header header + +# All social activities that have been detected in the current time step, +# within sensor range of the robot. +SocialActivity[] elements \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialActivity.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialActivity.msg new file mode 100755 index 0000000..fc1857b --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialActivity.msg @@ -0,0 +1,24 @@ +string type # see constants below +float32 confidence # detection confidence + +uint64[] track_ids # IDs of all person tracks involved in the activity, might be one or multiple + + +# Constants for social activity type (just examples at the moment) +string TYPE_SHOPPING = shopping +string TYPE_STANDING = standing +string TYPE_INDIVIDUAL_MOVING = individual_moving +string TYPE_WAITING_IN_QUEUE = waiting_in_queue +string TYPE_LOOKING_AT_INFORMATION_SCREEN = looking_at_information_screen +string TYPE_LOOKING_AT_KIOSK = looking_at_kiosk +string TYPE_GROUP_ASSEMBLING = group_assembling +string TYPE_GROUP_MOVING = group_moving +string TYPE_FLOW_WITH_ROBOT = flow +string TYPE_ANTIFLOW_AGAINST_ROBOT = antiflow +string TYPE_WAITING_FOR_OTHERS = waiting_for_others +string TYPE_LOOKING_FOR_HELP = looking_for_help + + +#string TYPE_COMMUNICATING = communicating +#string TYPE_TAKING_PHOTOGRAPH = taking_photograph +#string TYPE_TALKING_ON_PHONE = talking_on_phone diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialRelation.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialRelation.msg new file mode 100755 index 0000000..2159dc9 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialRelation.msg @@ -0,0 +1,12 @@ +string type # e.g. mother-son relationship, romantic relationship, etc. +float32 strength # relationship strength between 0.0 and 1.0 + +uint32 track1_id +uint32 track2_id + + +# Constants for type (just examples at the moment) +string TYPE_SPATIAL = "spatial" +string TYPE_ROMANTIC = "romantic" +string TYPE_PARENT_CHILD = "parent_child" +string TYPE_FRIENDSHIP = "friendship" \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialRelations.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialRelations.msg new file mode 100755 index 0000000..f30cd8d --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialRelations.msg @@ -0,0 +1,5 @@ +std_msgs/Header header + +# All social relations of all tracks in the current time step. +# There might be multiple social relations per pair of tracks. +SocialRelation[] elements \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/package.xml b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/package.xml new file mode 100755 index 0000000..3b653d2 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/package.xml @@ -0,0 +1,28 @@ + + + + spencer_social_relation_msgs + 1.0.8 + Messages used for Social Activity Detection and Social Relation Analysis + + Timm Linder + BSD + + Timm Linder + + catkin + message_generation + roscpp + std_msgs + sensor_msgs + nav_msgs + geometry_msgs + + message_runtime + roscpp + std_msgs + sensor_msgs + nav_msgs + geometry_msgs + +roslibroslib diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/CHANGELOG.rst b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/CHANGELOG.rst new file mode 100755 index 0000000..e8cb240 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/CHANGELOG.rst @@ -0,0 +1,41 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package spencer_tracking_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.8 (2017-09-22) +------------------ +* Merge pull request `#2 `_ from spencer-project/master + Integrate multiple fixes from upstream +* Specify correct license in package.xmls +* Merge pull request `#41 `_ from LCAS/master + 1.0.7 +* Contributors: Marc Hanheide, Timm Linder + +1.0.7 (2017-06-09) +------------------ + +1.0.6 (2017-06-09) +------------------ + +1.0.5 (2017-05-12) +------------------ + +1.0.4 (2017-05-12) +------------------ + +1.0.3 (2017-05-11) +------------------ + +1.0.2 (2017-05-09) +------------------ +* added missing roslib deps +* Contributors: Marc Hanheide + +1.0.1 (2017-05-09) +------------------ +* homogenised all version strings to 1.0.0 +* Updating lots of utility packages to latest version from SPENCER repo. Licenses updated. +* Updated licenses +* Adding is_matched field in TrackedPerson message to distinguish between misdetections and physical occlusions +* Adding message definitions, RViz plugins and mock scripts +* Contributors: Marc Hanheide, Timm Linder diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/CMakeLists.txt b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/CMakeLists.txt new file mode 100755 index 0000000..91a25bf --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 2.8.3) +project(spencer_tracking_msgs) + +find_package(catkin REQUIRED COMPONENTS + roscpp + roslib + std_msgs + geometry_msgs + message_generation +) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +# Generate messages in the 'msg' folder +add_message_files( + FILES + DetectedPerson.msg + DetectedPersons.msg + CompositeDetectedPerson.msg + CompositeDetectedPersons.msg + TrackedPerson.msg + TrackedPersons.msg + TrackedPerson2d.msg + TrackedPersons2d.msg + TrackedGroup.msg + TrackedGroups.msg + ImmDebugInfo.msg + ImmDebugInfos.msg + TrackingTimingMetrics.msg +) + +# Generate services in the 'srv' folder +add_service_files( + FILES + GetPersonTrajectories.srv +) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs + std_msgs +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS roscpp std_msgs geometry_msgs message_runtime +) diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/LICENSE b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/LICENSE new file mode 100755 index 0000000..98f9a8a --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/LICENSE @@ -0,0 +1,29 @@ +Software License Agreement (BSD License) + +Copyright (c) 2013-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg +Copyright (c) 2014-2015 Stefan Breuers, Lucas Beyer, Computer Vision Group, RWTH Aachen University +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 copyright holder 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 HOLDER 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 \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/CompositeDetectedPerson.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/CompositeDetectedPerson.msg new file mode 100755 index 0000000..0c8d058 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/CompositeDetectedPerson.msg @@ -0,0 +1,20 @@ +# Specifies which detected persons have been merged into a composite detection by the spencer_detected_person_association module. + +# TODO: Do we need a composite person-specific timestamp (or even a full message header including frame ID)? +# Having a separate timestamp per person could be useful if the timestamps of the merged DetectedPersons messages vary a lot, +# and some persons are only seen by a single sensor (so averaging over all input timestamps would have a detrimental effect). + +uint64 composite_detection_id # ID of the fused detection + +float64 mean_confidence # mean of the confidences of the original detections +float64 max_confidence # maximum confidence of original detections +float64 min_confidence # minimum confidence of original detections + + +geometry_msgs/PoseWithCovariance pose # Merged 3D pose (position + orientation) of the detection center + # check covariance to see which dimensions are actually set! + # unset dimensions shall have a covariance > 9999 + +DetectedPerson[] original_detections # The original detections from individual sensor-specific detectors that have been combined into a composite detection + # We are copying the entire DetectedPersons messages, *with poses transformed into the target frame*, such that subscribers + # do not have to subscribe to all the original DetectedPersons topics. \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/CompositeDetectedPersons.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/CompositeDetectedPersons.msg new file mode 100755 index 0000000..cb7cfe0 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/CompositeDetectedPersons.msg @@ -0,0 +1,8 @@ +# Message specifying which original detected persons (from all kinds of sensors) have been merged into one fused detection before being processed by the person tracker, in the current time step. +# +# This information is processed by the spencer_detected_person_association module, such that other perception components can associate their results (e.g. person age, gender) +# with a particular spencer_tracking_msgs/TrackedPerson (which contains a reference to a composite person detection ID). + +Header header # Header timestamp is set to the *latest* timestamp of all fused DetectedPerson messages. + # Before fusion, all detections are transformed into a common coordinate frame (usually base_footprint). +CompositeDetectedPerson[] elements # Fused (merged) detected persons \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/DetectedPerson.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/DetectedPerson.msg new file mode 100755 index 0000000..7e646f2 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/DetectedPerson.msg @@ -0,0 +1,23 @@ +# Message describing a detection of a person +# + +# Unique id of the detection, monotonically increasing over time +uint64 detection_id + +# (Pseudo-)probabilistic value between 0.0 and 1.0 describing the detector's confidence in the detection +float64 confidence + +# 3D pose (position + orientation) of the *center* of the detection +# check covariance to see which dimensions are actually set! unset dimensions shall have a covariance > 9999 +geometry_msgs/PoseWithCovariance pose + +# Sensor modality / detector type, see example constants below. +# used e.g. later in tracking to check which tracks have been visually confirmed +string modality + + +string MODALITY_GENERIC_LASER_2D = laser2d +string MODALITY_GENERIC_LASER_3D = laser3d +string MODALITY_GENERIC_MONOCULAR_VISION = mono +string MODALITY_GENERIC_STEREO_VISION = stereo +string MODALITY_GENERIC_RGBD = rgbd diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/DetectedPersons.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/DetectedPersons.msg new file mode 100755 index 0000000..e8ec21c --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/DetectedPersons.msg @@ -0,0 +1,5 @@ +# Message with all currently detected persons +# + +Header header # Header containing timestamp etc. of this message +DetectedPerson[] detections # All persons that are currently being detected \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/ImmDebugInfo.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/ImmDebugInfo.msg new file mode 100755 index 0000000..57fbbb6 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/ImmDebugInfo.msg @@ -0,0 +1,10 @@ +# Message for passing debug information of filter performance +# + +uint64 track_id # unique identifier of the target, consistent over time +float64 innovation # innovation of prediction and associated observation +float64 CpXX # variance of prediction acc. to x +float64 CpYY # variance of prediction acc. to y +float64 CXX # variance of state acc. to x +float64 CYY # variance of state acc. to y +float64[] modeProbabilities# array containing mode probabilities \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/ImmDebugInfos.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/ImmDebugInfos.msg new file mode 100755 index 0000000..10792ea --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/ImmDebugInfos.msg @@ -0,0 +1,5 @@ +# Message with all debug infos per frame +# + +Header header # Header containing timestamp etc. of this message +ImmDebugInfo[] infos # All persons that are currently being tracked \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/PersonTrajectory.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/PersonTrajectory.msg new file mode 100755 index 0000000..604bb00 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/PersonTrajectory.msg @@ -0,0 +1,10 @@ +# Message defining the trajectory of a tracked person. +# +# The distinction between track and trajectory is that, depending on the +# implementation of the tracker, a single track (i.e. tracked person) might +# change the trajectory if at some point a new trajectory "fits" that track (person) +# better. +# + +uint64 track_id # Unique identifier of the tracked person. +PersonTrajectoryEntry[] trajectory # All states of the last T frames of the most likely trajectory of that tracked person. diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/PersonTrajectoryEntry.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/PersonTrajectoryEntry.msg new file mode 100755 index 0000000..93a7da3 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/PersonTrajectoryEntry.msg @@ -0,0 +1,11 @@ +# Message defining an entry of a person trajectory. +# + +time stamp # age of the track +bool is_occluded # if the track is currently not matched by a detection +uint64 detection_id # id of the corresponding detection in the current cycle (undefined if occluded) + +# The following fields are extracted from the Kalman state x and its covariance C + +geometry_msgs/PoseWithCovariance pose # pose of the track (z value and orientation might not be set, check if corresponding variance on diagonal is > 99999) +geometry_msgs/TwistWithCovariance twist # velocity of the track (z value and rotational velocities might not be set, check if corresponding variance on diagonal is > 99999) diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedGroup.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedGroup.msg new file mode 100755 index 0000000..29cd536 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedGroup.msg @@ -0,0 +1,10 @@ +# Message defining a tracked group +# + +uint64 group_id # unique identifier of the target, consistent over time + +duration age # age of the group + +geometry_msgs/PoseWithCovariance centerOfGravity # mean and covariance of the group (calculated from its person tracks) + +uint64[] track_ids # IDs of the tracked persons in this group. See srl_tracking_msgs/TrackedPersons \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedGroups.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedGroups.msg new file mode 100755 index 0000000..4117c12 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedGroups.msg @@ -0,0 +1,5 @@ +# Message with all currently tracked groups +# + +Header header # Header containing timestamp etc. of this message +TrackedGroup[] groups # All groups that are currently being tracked \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPerson.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPerson.msg new file mode 100755 index 0000000..996c6c3 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPerson.msg @@ -0,0 +1,14 @@ +# Message defining a tracked person +# + +uint64 track_id # unique identifier of the target, consistent over time +bool is_occluded # if the track is currently not observable in a physical way +bool is_matched # if the track is currently matched by a detection +uint64 detection_id # id of the corresponding detection in the current cycle (undefined if occluded) +duration age # age of the track + +# The following fields are extracted from the Kalman state x and its covariance C + +geometry_msgs/PoseWithCovariance pose # pose of the track (z value and orientation might not be set, check if corresponding variance on diagonal is > 99999) + +geometry_msgs/TwistWithCovariance twist # velocity of the track (z value and rotational velocities might not be set, check if corresponding variance on diagonal is > 99999) diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPerson2d.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPerson2d.msg new file mode 100755 index 0000000..4b370ec --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPerson2d.msg @@ -0,0 +1,10 @@ +# Message defining a 2d image bbox of a tracked person +# + +uint64 track_id # unique identifier of the target, consistent over time +float32 person_height # 3d height of person in m +int32 x # top left corner x of 2d image bbox +int32 y # top left corner y of 2d image bbox +uint32 w # width of 2d image bbox +uint32 h # height of 2d image bbox +float32 depth # distance from the camera in m diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPersons.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPersons.msg new file mode 100755 index 0000000..5c5a361 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPersons.msg @@ -0,0 +1,5 @@ +# Message with all currently tracked persons +# + +Header header # Header containing timestamp etc. of this message +TrackedPerson[] tracks # All persons that are currently being tracked \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPersons2d.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPersons2d.msg new file mode 100755 index 0000000..b800c0e --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPersons2d.msg @@ -0,0 +1,5 @@ +# Message with all 2d bbox in image of currently tracked persons +# + +Header header # Header containing timestamp etc. of this message +TrackedPerson2d[] boxes # All persons that are currently being tracked (2d image bbox) diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackingTimingMetrics.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackingTimingMetrics.msg new file mode 100755 index 0000000..ced3bbc --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackingTimingMetrics.msg @@ -0,0 +1,13 @@ +# Message with timing values for analyzing the efficency +# + +Header header # Header containing timestamp etc. of this message +uint64 track_count # number of person currentl tracked +uint64 cycle_no # incremented number of cycles +float32 average_cycle_time # average time for one cycle of tracker +float32 cycle_time # cycle time of current cycle +float32 average_processing_rate # average frequency of processing data +float32 cpu_load # current cpu load +float32 average_cpu_load # average cpu load +float32 elapsed_time # elapsed seconds since start +float32 elapsed_cpu_time # elapsed cpu time since start \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/package.xml b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/package.xml new file mode 100755 index 0000000..1f43de5 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/package.xml @@ -0,0 +1,29 @@ + + + + spencer_tracking_msgs + 1.0.8 + Messages used for Person Detection and Tracking + + Timm Linder + Stefan Breuers + Lucas Beyer + + BSD + + Timm Linder + Stefan Breuers + Lucas Beyer + + catkin + message_generation + roscpp + std_msgs + geometry_msgs + + message_runtime + roscpp + std_msgs + geometry_msgs + +roslibroslib diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/srv/GetPersonTrajectories.srv b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/srv/GetPersonTrajectories.srv new file mode 100755 index 0000000..fb3e767 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/srv/GetPersonTrajectories.srv @@ -0,0 +1,4 @@ +uint64[] requested_ids # The IDs of the tracks you are interested in getting the trajectories of. An empty array means all available tracks. +duration max_age # The maximum age of a trajectory you want to get. A duration of 0 means "since the beginning of times." +--- +PersonTrajectory[] trajectories # The trajectories of the tracks that have been asked for in requested_ids, in the same order. diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/CHANGELOG.rst b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/CHANGELOG.rst new file mode 100755 index 0000000..1777994 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/CHANGELOG.rst @@ -0,0 +1,39 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package spencer_vision_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.8 (2017-09-22) +------------------ +* Merge pull request `#2 `_ from spencer-project/master + Integrate multiple fixes from upstream +* Specify correct license in package.xmls +* Merge pull request `#41 `_ from LCAS/master + 1.0.7 +* Contributors: Marc Hanheide, Timm Linder + +1.0.7 (2017-06-09) +------------------ + +1.0.6 (2017-06-09) +------------------ + +1.0.5 (2017-05-12) +------------------ + +1.0.4 (2017-05-12) +------------------ + +1.0.3 (2017-05-11) +------------------ + +1.0.2 (2017-05-09) +------------------ +* added missing roslib deps +* Contributors: Marc Hanheide + +1.0.1 (2017-05-09) +------------------ +* homogenised all version strings to 1.0.0 +* Updated licenses +* Adding message definitions, RViz plugins and mock scripts +* Contributors: Marc Hanheide, Timm Linder diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/CMakeLists.txt b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/CMakeLists.txt new file mode 100755 index 0000000..79a25a8 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8.3) +project(spencer_vision_msgs) + +find_package(catkin REQUIRED COMPONENTS + roscpp + roslib + std_msgs + sensor_msgs + geometry_msgs + message_generation +) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +# Generate messages in the 'msg' folder +add_message_files( + FILES + PersonImage.msg + PersonImages.msg + PersonROI.msg + PersonROIs.msg +) + +# Generate services in the 'srv' folder +#add_service_files( +# FILES +#) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs + sensor_msgs + std_msgs +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS roscpp std_msgs sensor_msgs geometry_msgs message_runtime +) diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/LICENSE b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/LICENSE new file mode 100755 index 0000000..98f9a8a --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/LICENSE @@ -0,0 +1,29 @@ +Software License Agreement (BSD License) + +Copyright (c) 2013-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg +Copyright (c) 2014-2015 Stefan Breuers, Lucas Beyer, Computer Vision Group, RWTH Aachen University +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 copyright holder 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 HOLDER 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 \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonImage.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonImage.msg new file mode 100755 index 0000000..b64a80b --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonImage.msg @@ -0,0 +1,6 @@ +# Message describing a depth or RGB image containing a part of a person (e.g. head, face, full body...), which is usually encoded in the topic title +# + +uint64 detection_id +sensor_msgs/Image image + diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonImages.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonImages.msg new file mode 100755 index 0000000..7cb3163 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonImages.msg @@ -0,0 +1,5 @@ +# Message describing an array of depth or RGB images containing a part of a person (e.g. head, face, full body...), which is usually encoded in the topic title +# + +std_msgs/Header header +PersonImage[] elements diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonROI.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonROI.msg new file mode 100755 index 0000000..f48e921 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonROI.msg @@ -0,0 +1,7 @@ +# Message describing a rectangular region of interest in a depth or RGB image containing a part of a person (e.g. head, face, full body...), which is usually encoded in the topic title +# + +uint64 detection_id + +sensor_msgs/RegionOfInterest roi + diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonROIs.msg b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonROIs.msg new file mode 100755 index 0000000..6b197aa --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonROIs.msg @@ -0,0 +1,9 @@ +# Message describing an array of rectangular regions of interest in a depth or RGB image containing a part of a person (e.g. head, face, full body...), which is usually encoded in the topic title +# + +std_msgs/Header header + +string rgb_topic # not necessarily the raw camera output; might be preprocessed for rectification etc. +string depth_topic # might not be set if depth is not available, otherwise it is the registered depth image + +PersonROI[] elements diff --git a/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/package.xml b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/package.xml new file mode 100755 index 0000000..fb01455 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/package.xml @@ -0,0 +1,31 @@ + + + + spencer_vision_msgs + 1.0.8 + Messages used for Vision-related tasks in SPENCER + + Lucas Beyer + Stefan Breuers + Timm Linder + + BSD + + Timm Linder + Stefan Breuers + Lucas Beyer + + catkin + message_generation + roscpp + std_msgs + geometry_msgs + sensor_msgs + + message_runtime + roscpp + std_msgs + geometry_msgs + sensor_msgs + +roslibroslib diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/.gitignore b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/.gitignore new file mode 100755 index 0000000..259148f --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/.gitignore @@ -0,0 +1,32 @@ +# Prerequisites +*.d + +# Compiled Object files +*.slo +*.lo +*.o +*.obj + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/CMakeLists.txt b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/CMakeLists.txt new file mode 100755 index 0000000..5b259ec --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/CMakeLists.txt @@ -0,0 +1,116 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +# Copyright (c) 2012, 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 copyright holder 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 HOLDER 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. + + +cmake_minimum_required(VERSION 2.8.3) +project(spencer_tracking_rviz_plugin) + +find_package(catkin REQUIRED COMPONENTS rviz spencer_tracking_msgs spencer_human_attribute_msgs spencer_social_relation_msgs) +catkin_package() +include_directories(${catkin_INCLUDE_DIRS}) +link_directories(${catkin_LIBRARY_DIRS}) + + + +## This plugin includes Qt widgets, so we must include Qt. +## We'll use the version that rviz used so they are compatible. +if(rviz_QT_VERSION VERSION_LESS "5") + message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + ## pull in all required include dirs, define QT_LIBRARIES, etc. + include(${QT_USE_FILE}) + qt4_wrap_cpp(MOC_FILES + src/detected_persons_display.h + src/tracked_persons_display.h + src/tracked_groups_display.h + src/social_relations_display.h + src/social_activities_display.h + src/human_attributes_display.h + src/person_display_common.h + src/additional_topic_subscriber.h +) +else() + message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies + set(QT_LIBRARIES Qt5::Widgets) + qt5_wrap_cpp(MOC_FILES + src/detected_persons_display.h + src/tracked_persons_display.h + src/tracked_groups_display.h + src/social_relations_display.h + src/social_activities_display.h + src/human_attributes_display.h + src/person_display_common.h + src/additional_topic_subscriber.h +) +endif() + +add_definitions(-DQT_NO_KEYWORDS) + + + +set(SOURCE_FILES + src/detected_persons_display.cpp + src/tracked_persons_display.cpp + src/tracked_groups_display.cpp + src/social_relations_display.cpp + src/social_activities_display.cpp + src/human_attributes_display.cpp + src/person_display_common.cpp + src/tracked_persons_cache.cpp + src/visuals/person_visual.cpp + ${MOC_FILES} +) + + +add_library(${PROJECT_NAME} ${SOURCE_FILES}) +add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # for generation of message dependencies +target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES}) + + +install(TARGETS + ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(FILES + plugin_description.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(DIRECTORY media/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media) + +install(DIRECTORY icons/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons) + +install(PROGRAMS scripts/send_test_msgs.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/DetectedPersons.png b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/DetectedPersons.png new file mode 100755 index 0000000..84b9ccc Binary files /dev/null and b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/DetectedPersons.png differ diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/HumanAttributes.png b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/HumanAttributes.png new file mode 100755 index 0000000..b8873ea Binary files /dev/null and b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/HumanAttributes.png differ diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/SocialActivities.png b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/SocialActivities.png new file mode 100755 index 0000000..66eb0b1 Binary files /dev/null and b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/SocialActivities.png differ diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/SocialRelations.png b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/SocialRelations.png new file mode 100755 index 0000000..fae1feb Binary files /dev/null and b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/icons/classes/SocialRelations.png differ diff --git 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 + + + + + + + + 1.000000 1.000000 1.000000 + + + + + + + 1.000000 0.000000 0.000000 0.992424 0.000000 1.000000 0.000000 -23.446840 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 + + + + + + + + + diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/package.xml b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/package.xml new file mode 100755 index 0000000..1810f29 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/package.xml @@ -0,0 +1,30 @@ + + spencer_tracking_rviz_plugin + 1.0.8 + + + RViz plugin for visualizing tracked and detected persons and groups + + + Timm Linder + Timm Linder + + BSD; CC BY 3.0 (Fugue Icons by Yusuke Kamiyamane) + + catkin + + rviz + spencer_tracking_msgs + spencer_social_relation_msgs + spencer_human_attribute_msgs + + rviz + spencer_tracking_msgs + spencer_social_relation_msgs + spencer_human_attribute_msgs + + + + + +roslibroslib diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/plugin_description.xml b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/plugin_description.xml new file mode 100755 index 0000000..78b9c56 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/plugin_description.xml @@ -0,0 +1,45 @@ + + + + + Displays detected persons from spencer_tracking_msgs/DetectedPersons messages. + + spencer_tracking_msgs/DetectedPersons + + + + + Displays tracked persons from spencer_tracking_msgs/TrackedPersons messages. + + spencer_tracking_msgs/TrackedPersons + + + + + Displays tracked groups from spencer_tracking_msgs/TrackedGroups messages. + + spencer_tracking_msgs/TrackedGroups + + + + + Displays social relations from spencer_social_relation_msgs/SocialRelations messages. + + spencer_social_relation_msgs/SocialRelations + + + + + Displays social activities from spencer_social_relation_msgs/SocialActivities messages. + + spencer_social_relation_msgs/SocialActivities + + + + + Displays human attributes from spencer_human_attribute_msgs/HumanAttributes messages. + + spencer_human_attribute_msgs/HumanAttributes + + + diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/scripts/send_test_msgs.py b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/scripts/send_test_msgs.py new file mode 100755 index 0000000..2da62e4 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/scripts/send_test_msgs.py @@ -0,0 +1,125 @@ +#!/usr/bin/env python + +import roslib; roslib.load_manifest( 'spencer_tracking_rviz_plugin' ) +from spencer_tracking_msgs.msg import TrackedPersons, TrackedPerson, DetectedPersons, DetectedPerson +import rospy +from math import cos, sin, tan, pi +import tf +import random +import copy + +def setPoseAndTwistFromAngle( pose, twist, angle, radius ) : + currentx = radius * cos(angle) + currenty = radius * sin(angle) + + nextx = radius * cos(angle + angleStep) + nexty = radius * sin(angle + angleStep) + + pose.pose.position.x = currentx + pose.pose.position.y = currenty + pose.pose.position.z = 0.0 + + quaternion = tf.transformations.quaternion_from_euler(0, 0, angle + pi/2.0) + pose.pose.orientation.x = quaternion[0] + pose.pose.orientation.y = quaternion[1] + pose.pose.orientation.z = quaternion[2] + pose.pose.orientation.w = quaternion[3] + + pose.covariance[0 + 0 * 6] = 0.4 # x + pose.covariance[1 + 1 * 6] = 0.2 # y + pose.covariance[2 + 2 * 6] = 999999 # z + pose.covariance[3 + 3 * 6] = 0.0 # x rotation + pose.covariance[4 + 5 * 6] = 0.0 # y rotation + pose.covariance[4 + 5 * 6] = 0.1 # z rotation + + twist.twist.linear.x = nextx - currentx + twist.twist.linear.y = nexty - currenty + twist.twist.linear.z = 0 + + for i in range(0, 3): + twist.covariance[i + i * 6] = 1.0 # linear velocity + for i in range(3, 6): + twist.covariance[i + i * 6] = float("inf") # rotational velocity + +def createTrackAndDetection( tracks, detections, track_id, detection_id, angle, radius ) : + trackedPerson = TrackedPerson() + trackedPerson.track_id = track_id + + if detection_id >= 0 : + trackedPerson.detection_id = detection_id + trackedPerson.is_occluded = False + else : + trackedPerson.is_occluded = True + + trackedPerson.age = rospy.Time.now() - startTime + + setPoseAndTwistFromAngle(trackedPerson.pose, trackedPerson.twist, angle, radius) + tracks.append(trackedPerson) + + if detection_id >= 0: + detectedPerson = DetectedPerson() + detectedPerson.detection_id = detection_id + detectedPerson.confidence = random.random() + + detectedPerson.pose = copy.deepcopy(trackedPerson.pose) + detectedPerson.pose.pose.position.x += random.random() * 0.5 - 0.25 # introduce some noise on observation position + detectedPerson.pose.pose.position.y += random.random() * 0.5 - 0.25 + + detections.append(detectedPerson) + + return + +# Main code +trackTopic = '/spencer/tracked_persons' +trackPublisher = rospy.Publisher( trackTopic, TrackedPersons ) + +observationTopic = '/spencer/detected_persons' +observationPublisher = rospy.Publisher( observationTopic, DetectedPersons ) + +rospy.init_node( 'publish_test_tracks_and_detections' ) +br = tf.TransformBroadcaster() + +# State variables +startTime = rospy.Time.now() +currentCycle = 0 +currentAngle = 0.0 +angleStep = 4.5 * pi / 180. +idShift = 0 +updateRateHz = 10 + +# Test coordinate frame for checking if mapping into the fixed frame works correctly +frameOffset = (0, 0, 0) +frameOrientation = tf.transformations.quaternion_from_euler(0, 0, 0) # 90.0 / 180.0 * pi + +print("Sending test messages on " + observationTopic + " and " + trackTopic) +rate = rospy.Rate(updateRateHz) +while not rospy.is_shutdown(): + br.sendTransform(frameOffset, frameOrientation, rospy.Time.now(), "test_tf_frame", "odom") + + trackedPersons = TrackedPersons() + trackedPersons.header.frame_id = "/test_tf_frame" + trackedPersons.header.stamp = rospy.Time.now() + + detectedPersons = DetectedPersons() + detectedPersons.header = trackedPersons.header + + tracks = trackedPersons.tracks; + detections = detectedPersons.detections; + + createTrackAndDetection(tracks, detections, idShift+0, 3, currentAngle, 2.0) + createTrackAndDetection(tracks, detections, idShift+1, 7, currentAngle + pi / 2, 2.5) + createTrackAndDetection(tracks, detections, idShift+2, -1, currentAngle + pi / 1, 3.0) + createTrackAndDetection(tracks, detections, idShift+3, -1, currentAngle + pi * 1.5, cos(currentAngle) * 3.5 + 7.0) + createTrackAndDetection(tracks, detections, idShift+4, 88, 0.0, 0.0) + + trackPublisher.publish( trackedPersons ) + observationPublisher.publish( detectedPersons ) + + currentAngle += angleStep + currentCycle += 1 + + # Periodically shift the IDs to simulate tracks being removed and new tracks being added + if(currentCycle % (updateRateHz * 15) == 0) : + idShift += len(tracks) + + rate.sleep() \ No newline at end of file diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/additional_topic_subscriber.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/additional_topic_subscriber.h new file mode 100755 index 0000000..2cbe41a --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/additional_topic_subscriber.h @@ -0,0 +1,221 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* Copyright (c) 2012, 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 copyright holder 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 HOLDER 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. +*/ +#ifndef ADDITIONAL_TOPIC_SUBSCRIBER_H +#define ADDITIONAL_TOPIC_SUBSCRIBER_H + +#ifndef Q_MOC_RUN +#include +#if ROS_VERSION_MINIMUM(1, 14, 0) +#include +#else +#include +#endif + +#include +#include +#include +#include +#include +#endif + +#include +#include +#include +#include + + +using namespace boost; + +namespace rviz +{ + +/** @brief Helper superclass for AdditionalTopicSubscriber, needed because + * Qt's moc and c++ templates don't work nicely together. Not + * intended to be used directly. */ +class _AdditionalTopicSubscriber : public QObject +{ +Q_OBJECT +public: + void initialize(Display* display, FrameManager* frameManager) + { + QObject::connect(display, SIGNAL(changed()), this, SLOT(displayEnableChanged())); + QObject::connect(frameManager, SIGNAL(fixedFrameChanged()), this, SLOT(fixedFrameChanged())); + additional_topic_property_ = new RosTopicProperty("Additional topic", "", "", "", display, SLOT(updateTopic()), this); + } + +protected Q_SLOTS: + virtual void updateTopic() = 0; + virtual void displayEnableChanged() = 0; + virtual void fixedFrameChanged() = 0; + +protected: + RosTopicProperty* additional_topic_property_; +}; + +/** @brief Display subclass using a tf::MessageFilter, templated on the ROS message type. + * + * This class brings together some common things used in many Display + * types. It has a tf::MessageFilter to filter incoming messages, and + * it handles subscribing and unsubscribing when the display is + * enabled or disabled. It also has an Ogre::SceneNode which */ +template +class AdditionalTopicSubscriber: public _AdditionalTopicSubscriber +{ +// No Q_OBJECT macro here, moc does not support Q_OBJECT in a templated class. +public: + /** @brief Convenience typedef so subclasses don't have to use + * the long templated class name to refer to their super class. */ + typedef AdditionalTopicSubscriber ATSClass; + + AdditionalTopicSubscriber(const QString& propertyName, Display* display, DisplayContext* context, ros::NodeHandle& update_nh, const boost::function)>& messageCallback) + : tf_filter(NULL), m_messagesReceived(0), m_display(display), m_context(context), m_updateNodeHandle(update_nh), m_enabled(false), m_messageCallback(messageCallback) + { + _AdditionalTopicSubscriber::initialize(display, context->getFrameManager()); + + additional_topic_property_->setName(propertyName); + QString message_type = QString::fromStdString(ros::message_traits::datatype()); + additional_topic_property_->setMessageType(message_type); + additional_topic_property_->setDescription(message_type + " topic to subscribe to."); + +#if ROS_VERSION_MINIMUM(1, 14, 0) + tf_filter = new tf2_ros::MessageFilter(*m_context->getTF2BufferPtr(), "map", 10, m_updateNodeHandle); +#else + tf_filter = new tf::MessageFilter(*m_context->getTFClient(), "map", 10, m_updateNodeHandle); +#endif + + tf_filter->connectInput(m_subscriber); + tf_filter->registerCallback(boost::bind(&AdditionalTopicSubscriber::incomingMessage, this, _1)); + m_context->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter, display); + + setEnabled(m_display->isEnabled()); + updateTopic(); + fixedFrameChanged(); + } + + virtual ~AdditionalTopicSubscriber() + { + unsubscribe(); + delete tf_filter; + } + + virtual void reset() + { + tf_filter->clear(); + m_messagesReceived = 0; + } + + void setEnabled(bool enabled) + { + m_enabled = enabled; + if (enabled) subscribe(); + } + +protected: + virtual void updateTopic() + { + ROS_DEBUG_STREAM_NAMED("AdditionalTopicSubscriber", "AdditionalTopicSubscriber: Topic was changed to " << additional_topic_property_->getTopicStd()); + unsubscribe(); + reset(); + subscribe(); + m_context->queueRender(); + } + + virtual void displayEnableChanged() + { + ROS_DEBUG_STREAM_NAMED("AdditionalTopicSubscriber", "AdditionalTopicSubscriber: Display enabled = " << m_display->getBool()); + setEnabled(m_display->getBool()); + } + + virtual void fixedFrameChanged() + { + ROS_DEBUG_STREAM_NAMED("AdditionalTopicSubscriber", "AdditionalTopicSubscriber: Fixed frame has changed for topic " << additional_topic_property_->getTopicStd()); + tf_filter->setTargetFrame(m_context->getFixedFrame().toStdString()); + reset(); + } + + virtual void subscribe() + { + if (!m_display->isEnabled()) { + return; + } + + try { + ROS_DEBUG_STREAM_NAMED("AdditionalTopicSubscriber", "AdditionalTopicSubscriber: Subscribing to topic " << additional_topic_property_->getTopicStd()); + m_subscriber.subscribe(m_updateNodeHandle, additional_topic_property_->getTopicStd(), 10); + m_display->setStatus(StatusProperty::Ok, additional_topic_property_->getName(), "OK"); + } + catch (ros::Exception& e) { + m_display->setStatus(StatusProperty::Error, additional_topic_property_->getName(), QString("Error subscribing: ") + e.what()); + } + } + + virtual void unsubscribe() + { + m_subscriber.unsubscribe(); + } + + /** @brief Incoming message callback. Checks if the message pointer + * is valid, increments m_messagesReceived, then calls + * processMessage(). */ + void incomingMessage(const typename MessageType::ConstPtr& msg) + { + if (!msg) { + return; + } + + ++m_messagesReceived; + m_display->setStatus(StatusProperty::Ok, additional_topic_property_->getName(), QString::number(m_messagesReceived) + " messages received"); + + // Callback for further processing + m_messageCallback(msg); + } + +#if ROS_VERSION_MINIMUM(1, 14, 0) + tf2_ros::MessageFilter* tf_filter; +#else + tf::MessageFilter* tf_filter; +#endif + +private: + std::string m_topic; + bool m_enabled; + Display* m_display; + DisplayContext* m_context; + ros::NodeHandle m_updateNodeHandle; + message_filters::Subscriber m_subscriber; + uint32_t m_messagesReceived; + + const boost::function)> m_messageCallback; +}; + +} // end namespace rviz + +#endif // ADDITIONAL_TOPIC_SUBSCRIBER_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/detected_persons_display.cpp b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/detected_persons_display.cpp new file mode 100755 index 0000000..766f4fa --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/detected_persons_display.cpp @@ -0,0 +1,279 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#include +#include +#include "rviz/selection/selection_manager.h" + +#include "detected_persons_display.h" +#ifndef Q_MOC_RUN +#include +#endif +#define foreach BOOST_FOREACH + +namespace spencer_tracking_rviz_plugin +{ + +// The constructor must have no arguments, so we can't give the +// constructor the parameters it needs to fully initialize. +void DetectedPersonsDisplay::onInitialize() +{ + PersonDisplayCommon::onInitialize(); + + QObject::connect(m_commonProperties->style, SIGNAL(changed()), this, SLOT(personVisualTypeChanged()) ); + + m_render_covariances_property = new rviz::BoolProperty( "Render covariances", true, "Render track covariance ellipses", this, SLOT(stylesChanged()) ); + m_render_detection_ids_property = new rviz::BoolProperty( "Render detection IDs", true, "Render IDs of the detection that a track was matched against, if any", this, SLOT(stylesChanged())); + m_render_confidences_property = new rviz::BoolProperty( "Render confidences", false, "Render detection confidences", this, SLOT(stylesChanged())); + m_render_orientations_property = new rviz::BoolProperty( "Render orientation arrows", true, "Render orientation arrows (only if orientation covariances are finite!)", this, SLOT(stylesChanged())); + m_render_modality_text_property = new rviz::BoolProperty( "Render modality text", false, "Render detection modality as text below detected person", this, SLOT(stylesChanged())); + + m_text_spacing_property = new rviz::FloatProperty( "Text spacing", 1.0, "Factor for vertical spacing betweent texts", this, SLOT(stylesChanged()), this ); + + m_low_confidence_threshold_property = new rviz::FloatProperty( "Low-confidence threshold", 0.5, "Detection confidence below which alpha will be reduced", this, SLOT(stylesChanged())); + m_low_confidence_alpha_property = new rviz::FloatProperty( "Low-confidence alpha", 0.5, "Alpha multiplier for detections with confidence below low-confidence threshold", this, SLOT(stylesChanged())); + + m_covariance_line_width_property = new rviz::FloatProperty( "Line width", 0.1, "Line width of covariance ellipses", m_render_covariances_property, SLOT(stylesChanged()), this ); +} + +DetectedPersonsDisplay::~DetectedPersonsDisplay() +{ + m_previousDetections.clear(); +} + +// Clear the visuals by deleting their objects. +void DetectedPersonsDisplay::reset() +{ + PersonDisplayCommon::reset(); + m_previousDetections.clear(); +} + +// Set the rendering style (cylinders, meshes, ...) of detected persons +void DetectedPersonsDisplay::personVisualTypeChanged() +{ + foreach(boost::shared_ptr& detectedPersonVisual, m_previousDetections) + { + detectedPersonVisual->personVisual.reset(); + createPersonVisualIfRequired(detectedPersonVisual->sceneNode.get(), detectedPersonVisual->personVisual); + } + stylesChanged(); +} + +// Update dynamically adjustable properties of all existing detections +void DetectedPersonsDisplay::stylesChanged() +{ + foreach(boost::shared_ptr detectedPersonVisual, m_previousDetections) + { + bool personHidden = isPersonHidden(detectedPersonVisual->detectionId); + + // Update common styles to person visual, such as line width + applyCommonStyles(detectedPersonVisual->personVisual); + + // Get current detection color + Ogre::ColourValue detectionColor = getColorFromId(detectedPersonVisual->detectionId); + detectionColor.a *= m_commonProperties->alpha->getFloat(); // general alpha + if(personHidden) detectionColor.a = 0.0; + if(detectedPersonVisual->confidence < m_low_confidence_threshold_property->getFloat()) detectionColor.a *= m_low_confidence_alpha_property->getFloat(); + + if(detectedPersonVisual->personVisual) { + detectedPersonVisual->personVisual->setColor(detectionColor); + } + + // Update texts + Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? m_commonProperties->constant_font_color->getOgreColor() : detectionColor; + fontColor.a = m_commonProperties->alpha->getFloat(); + if(personHidden) fontColor.a = 0.0; + + float textOffset = 0.0f; + detectedPersonVisual->detectionIdText->setCharacterHeight(0.18 * m_commonProperties->font_scale->getFloat()); + detectedPersonVisual->detectionIdText->setPosition(Ogre::Vector3(0,0, -0.5*detectedPersonVisual->detectionIdText->getCharacterHeight() - textOffset)); + detectedPersonVisual->detectionIdText->setVisible(m_render_detection_ids_property->getBool()); + detectedPersonVisual->detectionIdText->setColor(fontColor); + if(m_render_detection_ids_property->getBool()) textOffset += m_text_spacing_property->getFloat() * detectedPersonVisual->detectionIdText->getCharacterHeight(); + + detectedPersonVisual->modalityText->setCharacterHeight(0.18 * m_commonProperties->font_scale->getFloat()); + detectedPersonVisual->modalityText->setPosition(Ogre::Vector3(textOffset, 0, -0.5*detectedPersonVisual->modalityText->getCharacterHeight() - textOffset)); + detectedPersonVisual->modalityText->setVisible(m_render_modality_text_property->getBool()); + detectedPersonVisual->modalityText->setColor(fontColor); + if(m_render_modality_text_property->getBool()) textOffset += m_text_spacing_property->getFloat() * detectedPersonVisual->modalityText->getCharacterHeight(); + + detectedPersonVisual->confidenceText->setCharacterHeight(0.13 * m_commonProperties->font_scale->getFloat()); + detectedPersonVisual->confidenceText->setPosition(Ogre::Vector3(textOffset, 0, -0.5*detectedPersonVisual->confidenceText->getCharacterHeight() - textOffset)); + detectedPersonVisual->confidenceText->setVisible(m_render_confidences_property->getBool()); + detectedPersonVisual->confidenceText->setColor(fontColor); + if(m_render_confidences_property->getBool()) textOffset += m_text_spacing_property->getFloat() * detectedPersonVisual->confidenceText->getCharacterHeight(); + + // Set color of covariance visualization + Ogre::ColourValue covarianceColor = detectionColor; + if(!m_render_covariances_property->getBool()) covarianceColor.a = 0.0; + detectedPersonVisual->covarianceVisual->setColor(covarianceColor); + detectedPersonVisual->covarianceVisual->setLineWidth(m_covariance_line_width_property->getFloat()); + + // Update orientation arrow + double arrowAlpha = m_render_orientations_property->getBool() && detectedPersonVisual->hasValidOrientation ? detectionColor.a : 0.0; + detectedPersonVisual->orientationArrow->setColor(Ogre::ColourValue(detectionColor.r, detectionColor.g, detectionColor.b, arrowAlpha)); + const double shaftLength = 0.5, shaftDiameter = 0.05, headLength = 0.2, headDiameter = 0.2; + detectedPersonVisual->orientationArrow->set(shaftLength, shaftDiameter, headLength, headDiameter); + } +} + +// This is our callback to handle an incoming message. +void DetectedPersonsDisplay::processMessage(const spencer_tracking_msgs::DetectedPersons::ConstPtr& msg) +{ + // Get transforms into fixed frame etc. + if(!preprocessMessage(msg)) return; + + const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ); // required to fix orientation of any Cylinder shapes + stringstream ss; + + // Clear previous detections, this will also delete them from the scene graph + m_previousDetections.clear(); + + // + // Iterate over all detections in this message and create a visual representation + // + for (vector::const_iterator detectedPersonIt = msg->detections.begin(); detectedPersonIt != msg->detections.end(); ++detectedPersonIt) + { + boost::shared_ptr detectedPersonVisual; + + // Create a new visual representation of the detected person + detectedPersonVisual = boost::shared_ptr(new DetectedPersonVisual); + m_previousDetections.push_back(detectedPersonVisual); + + // This scene node is the parent of all visualization elements for the detected person + detectedPersonVisual->sceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); + detectedPersonVisual->detectionId = detectedPersonIt->detection_id; + detectedPersonVisual->confidence = detectedPersonIt->confidence; + Ogre::SceneNode* currentSceneNode = detectedPersonVisual->sceneNode.get(); + + + // + // Person visualization + // + + // Create new visual for the person itself, if needed + boost::shared_ptr &personVisual = detectedPersonVisual->personVisual; + createPersonVisualIfRequired(currentSceneNode, personVisual); + + const double personHeight = personVisual ? personVisual->getHeight() : 0; + const double halfPersonHeight = personHeight / 2.0; + + + // + // Position & visibility of entire detection + // + + const Ogre::Matrix3 covXYZinTargetFrame = covarianceXYZIntoTargetFrame(detectedPersonIt->pose); + setPoseOrientation(currentSceneNode, detectedPersonIt->pose, covXYZinTargetFrame, personHeight); + + // + // Texts + // + { + // Detection ID + if (!detectedPersonVisual->detectionIdText) { + detectedPersonVisual->detectionIdText.reset(new TextNode(context_->getSceneManager(), currentSceneNode)); + detectedPersonVisual->detectionIdText->showOnTop(); + } + + ss.str(""); ss << "det " << detectedPersonIt->detection_id; + detectedPersonVisual->detectionIdText->setCaption(ss.str()); + + // Confidence value + if (!detectedPersonVisual->confidenceText) { + detectedPersonVisual->confidenceText.reset(new TextNode(context_->getSceneManager(), currentSceneNode)); + } + + ss.str(""); ss << fixed << setprecision(2) << detectedPersonIt->confidence; + detectedPersonVisual->confidenceText->setCaption(ss.str()); + detectedPersonVisual->confidenceText->showOnTop(); + + // Modality text + if (!detectedPersonVisual->modalityText) { + detectedPersonVisual->modalityText.reset(new TextNode(context_->getSceneManager(), currentSceneNode)); + } + + ss.str(""); ss << detectedPersonIt->modality; + detectedPersonVisual->modalityText->setCaption(ss.str()); + detectedPersonVisual->modalityText->showOnTop(); + } + + // + // Covariance visualization + // + if(!detectedPersonVisual->covarianceVisual) { + detectedPersonVisual->covarianceVisual.reset(new ProbabilityEllipseCovarianceVisual(context_->getSceneManager(), currentSceneNode)); + } + + // Update covariance ellipse + { + Ogre::Vector3 covarianceMean(0,0,0); // zero mean because parent node is already centered at pose mean + detectedPersonVisual->covarianceVisual->setOrientation(currentSceneNode->getOrientation().Inverse()); + detectedPersonVisual->covarianceVisual->setMeanCovariance(covarianceMean, covXYZinTargetFrame); + } + + + // + // Orientation arrows + // + if (!detectedPersonVisual->orientationArrow) { + detectedPersonVisual->orientationArrow.reset(new rviz::Arrow(context_->getSceneManager(), currentSceneNode)); + } + + // Update orientation arrow + { + const Ogre::Vector3 forwardVector(1,0,0); + + const double personRadius = 0.2; + const Ogre::Vector3 arrowAttachPoint(personRadius, 0, halfPersonHeight); // relative to tracked person's scene node + detectedPersonVisual->orientationArrow->setPosition(arrowAttachPoint); + detectedPersonVisual->orientationArrow->setOrientation(Ogre::Vector3::NEGATIVE_UNIT_Z.getRotationTo(forwardVector)); + detectedPersonVisual->hasValidOrientation = hasValidOrientation(detectedPersonIt->pose); + } + + } // end for loop over all detected persons + + // Set all properties that can dynamically be adjusted in the GUI + stylesChanged(); + + // + // Update status (shown in property pane) + // + ss.str(""); + ss << msg->detections.size() << " detections received"; + setStatusStd(rviz::StatusProperty::Ok, "Tracks", ss.str()); +} + +} // end namespace spencer_tracking_rviz_plugin + +// Tell pluginlib about this class. It is important to do this in +// global scope, outside our package's namespace. +#include +PLUGINLIB_EXPORT_CLASS(spencer_tracking_rviz_plugin::DetectedPersonsDisplay, rviz::Display) diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/detected_persons_display.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/detected_persons_display.h new file mode 100755 index 0000000..d210b59 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/detected_persons_display.h @@ -0,0 +1,114 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef DETECTED_PERSONS_DISPLAY_H +#define DETECTED_PERSONS_DISPLAY_H + +#ifndef Q_MOC_RUN +#include +#include +#include +#include "person_display_common.h" +#endif + +namespace spencer_tracking_rviz_plugin +{ + /// The visual of a tracked person. + struct DetectedPersonVisual + { + boost::shared_ptr sceneNode; + + boost::shared_ptr personVisual; + boost::shared_ptr detectionIdText, confidenceText, modalityText; + boost::shared_ptr orientationArrow; + boost::shared_ptr covarianceVisual; + + float confidence; + bool hasValidOrientation; + unsigned int detectionId; + }; + + // The DetectedPersonsDisplay class itself just implements a circular buffer, + // editable parameters, and Display subclass machinery. + class DetectedPersonsDisplay: public PersonDisplayCommon + { + Q_OBJECT + public: + // Constructor. pluginlib::ClassLoader creates instances by calling + // the default constructor, so make sure you have one. + DetectedPersonsDisplay() {}; + virtual ~DetectedPersonsDisplay(); + + // Overrides of protected virtual functions from Display. As much + // as possible, when Displays are not enabled, they should not be + // subscribed to incoming data and should not show anything in the + // 3D view. These functions are where these connections are made + // and broken. + + virtual void onInitialize(); + + protected: + // A helper to clear this display back to the initial state. + virtual void reset(); + + // Must be implemented by derived classes because MOC doesn't work in templates + virtual rviz::DisplayContext* getContext() { + return context_; + } + + private Q_SLOTS: + void personVisualTypeChanged(); + + // Called whenever one of the properties in PersonDisplayCommonProperties has been changed + virtual void stylesChanged(); + + private: + // Function to handle an incoming ROS message. + void processMessage(const spencer_tracking_msgs::DetectedPersons::ConstPtr& msg); + + // All currently active tracks, with unique track ID as map key + vector > m_previousDetections; + + // Properties + rviz::BoolProperty* m_render_covariances_property; + rviz::BoolProperty* m_render_detection_ids_property; + rviz::BoolProperty* m_render_confidences_property; + rviz::FloatProperty* m_low_confidence_threshold_property; + rviz::FloatProperty* m_low_confidence_alpha_property; + rviz::BoolProperty* m_render_orientations_property; + rviz::BoolProperty* m_render_modality_text_property; + + rviz::FloatProperty* m_text_spacing_property; + rviz::FloatProperty* m_covariance_line_width_property; + }; + +} // end namespace spencer_tracking_rviz_plugin + +#endif // DETECTED_PERSONS_DISPLAY_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/human_attributes_display.cpp b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/human_attributes_display.cpp new file mode 100755 index 0000000..db71e15 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/human_attributes_display.cpp @@ -0,0 +1,289 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#include +#include + +#ifndef Q_MOC_RUN +#include "human_attributes_display.h" +#include +#include +#include +#include +#endif +#define foreach BOOST_FOREACH + +namespace spencer_tracking_rviz_plugin +{ + +void HumanAttributesDisplay::onInitialize() +{ + m_trackedPersonsCache.initialize(this, context_, update_nh_); + PersonDisplayCommon::onInitialize(); + + m_render_gender_property = new rviz::BoolProperty( "Render gender", true, "Render gender visual", this, SLOT(stylesChanged())); + m_render_age_group_property = new rviz::BoolProperty( "Render age group", true, "Render age group visual", this, SLOT(stylesChanged())); + m_render_person_height_property = new rviz::BoolProperty( "Render person height", true, "Render person height", this, SLOT(stylesChanged())); + + m_occlusion_alpha_property = new rviz::FloatProperty( "Occlusion alpha", 0.5, "Alpha multiplier for occluded tracks", this, SLOT(stylesChanged()) ); + m_occlusion_alpha_property->setMin( 0.0 ); + + m_commonProperties->z_offset->setFloat(2.7f); + m_commonProperties->style->setHidden(true); +} + +HumanAttributesDisplay::~HumanAttributesDisplay() +{ +} + +// Clear the visuals by deleting their objects. +void HumanAttributesDisplay::reset() +{ + PersonDisplayCommon::reset(); + m_trackedPersonsCache.reset(); + m_humanAttributeVisuals.clear(); + scene_node_->removeAndDestroyAllChildren(); // not sure if required? +} + +void HumanAttributesDisplay::update(float wall_dt, float ros_dt) +{} + +void HumanAttributesDisplay::stylesChanged() +{ + foreach(boost::shared_ptr humanAttributeVisual, m_humanAttributeVisuals | boost::adaptors::map_values) { + updateVisualStyles(humanAttributeVisual); + } +} + +void HumanAttributesDisplay::updateVisualStyles(boost::shared_ptr& humanAttributeVisual) +{ + track_id trackId = humanAttributeVisual->trackId; + bool personHidden = isPersonHidden(trackId); + + boost::shared_ptr trackedPerson = m_trackedPersonsCache.lookup(trackId); + float occlusionAlpha = trackedPerson->isOccluded ? m_occlusion_alpha_property->getFloat() : 1.0; + + // Update text colors, size and visibility + Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? m_commonProperties->constant_font_color->getOgreColor() : getColorFromId(trackId); + fontColor.a = m_commonProperties->alpha->getFloat() * occlusionAlpha; + if(personHidden) fontColor.a = 0; + + humanAttributeVisual->ageGroupText->setVisible(m_render_age_group_property->getBool()); + humanAttributeVisual->ageGroupText->setCharacterHeight(0.17 * m_commonProperties->font_scale->getFloat()); + humanAttributeVisual->ageGroupText->setColor(fontColor); + humanAttributeVisual->ageGroupText->setPosition(Ogre::Vector3(0, 0, 0.17 * m_commonProperties->font_scale->getFloat()) ); + + humanAttributeVisual->personHeightText->setVisible(m_render_person_height_property->getBool()); + humanAttributeVisual->personHeightText->setCharacterHeight(0.17 * m_commonProperties->font_scale->getFloat()); + humanAttributeVisual->personHeightText->setColor(fontColor); + humanAttributeVisual->personHeightText->setPosition(Ogre::Vector3(0, 0, 0) ); + + if(humanAttributeVisual->genderMesh) { + humanAttributeVisual->genderMesh->setPosition(Ogre::Vector3(0, 0, 0.17 * 2 * m_commonProperties->font_scale->getFloat() + 0.3)); + humanAttributeVisual->genderMesh->setVisible(m_render_gender_property->getBool()); + } +} + +boost::shared_ptr HumanAttributesDisplay::createVisualIfNotExists(track_id trackId) +{ + if(m_humanAttributeVisuals.find(trackId) == m_humanAttributeVisuals.end()) { + boost::shared_ptr humanAttributeVisual = boost::shared_ptr(new HumanAttributeVisual); + + humanAttributeVisual->sceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); + + humanAttributeVisual->ageGroupText = boost::shared_ptr(new TextNode(context_->getSceneManager(), humanAttributeVisual->sceneNode.get())); + humanAttributeVisual->ageGroupText->showOnTop(); + humanAttributeVisual->ageGroupText->setCaption(" "); + + humanAttributeVisual->personHeightText = boost::shared_ptr(new TextNode(context_->getSceneManager(), humanAttributeVisual->sceneNode.get())); + humanAttributeVisual->personHeightText->showOnTop(); + humanAttributeVisual->personHeightText->setCaption(" "); + + humanAttributeVisual->trackId = trackId; + + m_humanAttributeVisuals[trackId] = humanAttributeVisual; + } + + + return m_humanAttributeVisuals[trackId]; +} + +// This is our callback to handle an incoming group message. +void HumanAttributesDisplay::processMessage(const spencer_human_attribute_msgs::HumanAttributes::ConstPtr& msg) +{ + // Get transforms into fixed frame etc. + if(!preprocessMessage(msg)) return; + + // Transform into Rviz fixed frame + m_frameTransform = Ogre::Matrix4(m_frameOrientation); + m_frameTransform.setTrans(m_framePosition); + + const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ); // required to fix orientation of any Cylinder shapes + stringstream ss; + + // + // Iterate over all categorical attributes in this message + // + foreach (const spencer_human_attribute_msgs::CategoricalAttribute& categoricalAttribute, msg->categoricalAttributes) + { + // Check if there is already a visual for this particular track + track_id trackId = categoricalAttribute.subject_id; // assumes subject_id is a track_id (not detection_id) + boost::shared_ptr humanAttributeVisual = createVisualIfNotExists(trackId); + + if(categoricalAttribute.values.empty()) { + ROS_ERROR_STREAM("categoricalAttribute.values.empty() for track ID " << trackId << ", attribute " << categoricalAttribute.type); + continue; + } + if(categoricalAttribute.confidences.size() != categoricalAttribute.values.size()) { + ROS_WARN_STREAM("categoricalAttribute.confidences.size() != categoricalAttribute.values.size() for track ID " << trackId << ", attribute " << categoricalAttribute.type); + } + + // Find highest-ranking attribute + size_t highestRankingIndex = 0; float highestConfidence = -999999; + for(size_t i = 0; i < categoricalAttribute.confidences.size(); i++) { + if(categoricalAttribute.confidences[i] > highestConfidence) { + highestConfidence = categoricalAttribute.confidences[i]; + highestRankingIndex = i; + } + } + + std::string valueWithHighestConfidence = categoricalAttribute.values[highestRankingIndex]; + + // Age group + if(categoricalAttribute.type == spencer_human_attribute_msgs::CategoricalAttribute::AGE_GROUP) { + ss.str(""); ss << valueWithHighestConfidence << "yrs"; + humanAttributeVisual->ageGroupText->setCaption(ss.str()); + } + + // Gender + else if(categoricalAttribute.type == spencer_human_attribute_msgs::CategoricalAttribute::GENDER) { + ss.str(""); ss << "package://" ROS_PACKAGE_NAME "/media/" << valueWithHighestConfidence << "_symbol.dae"; + std::string meshResource = ss.str(); + + humanAttributeVisual->genderMesh = boost::shared_ptr(new MeshNode(context_, humanAttributeVisual->sceneNode.get(), meshResource)); + + Ogre::ColourValue meshColor(1, 1, 1, 1); + if(valueWithHighestConfidence == spencer_human_attribute_msgs::CategoricalAttribute::GENDER_MALE) meshColor = Ogre::ColourValue(0, 1, 1, 1); + if(valueWithHighestConfidence == spencer_human_attribute_msgs::CategoricalAttribute::GENDER_FEMALE) meshColor = Ogre::ColourValue(1, 0, 1, 1); + humanAttributeVisual->genderMesh->setColor(meshColor); + + humanAttributeVisual->genderMesh->setScale(0.5); + humanAttributeVisual->genderMesh->setCameraFacing(true); + } + } + + + // + // Iterate over all scalar attributes in this message + // + foreach (const spencer_human_attribute_msgs::ScalarAttribute& scalarAttribute, msg->scalarAttributes) + { + // Check if there is already a visual for this particular track + track_id trackId = scalarAttribute.subject_id; // assumes subject_id is a track_id (not detection_id) + boost::shared_ptr humanAttributeVisual = createVisualIfNotExists(trackId); + + if(scalarAttribute.values.empty()) { + ROS_ERROR_STREAM("scalarAttribute.values.empty() for track ID " << trackId << ", attribute " << scalarAttribute.type); + continue; + } + if(scalarAttribute.confidences.size() != scalarAttribute.values.size()) { + ROS_WARN_STREAM("scalarAttribute.confidences.size() != scalarAttribute.values.size() for track ID " << trackId << ", attribute " << scalarAttribute.type); + } + + // Find highest-ranking attribute + size_t highestRankingIndex = 0; float highestConfidence = -999999; + for(size_t i = 0; i < scalarAttribute.confidences.size(); i++) { + if(scalarAttribute.confidences[i] > highestConfidence) { + highestConfidence = scalarAttribute.confidences[i]; + highestRankingIndex = i; + } + } + + float valueWithHighestConfidence = scalarAttribute.values[highestRankingIndex]; + + // Person height + if(scalarAttribute.type == spencer_human_attribute_msgs::ScalarAttribute::PERSON_HEIGHT) { + ss.str(""); ss << std::fixed << std::setprecision(2) << valueWithHighestConfidence << "m"; + humanAttributeVisual->personHeightText->setCaption(ss.str()); + } + } + + + // + // Update position and style of all existing person visuals + // + set tracksWithUnknownPosition; + foreach(boost::shared_ptr humanAttributeVisual, m_humanAttributeVisuals | boost::adaptors::map_values) + { + boost::shared_ptr trackedPerson = m_trackedPersonsCache.lookup(humanAttributeVisual->trackId); + + // Get current track position + if(!trackedPerson) { + tracksWithUnknownPosition.insert(humanAttributeVisual->trackId); + } + else + { // Track position is known + humanAttributeVisual->sceneNode->setPosition(trackedPerson->center + Ogre::Vector3(0, 0, m_commonProperties->z_offset->getFloat())); + + // Update styles + updateVisualStyles(humanAttributeVisual); + } + } + + + // Remove visuals for tracks with unknown position + foreach(track_id trackId, tracksWithUnknownPosition) { + m_humanAttributeVisuals.erase(trackId); + } + + + // + // Update display status (shown in property pane) + // + + ss.str(""); + ss << msg->categoricalAttributes.size() << " categorical attribute(s)"; + setStatusStd(rviz::StatusProperty::Ok, "Categorical attributes", ss.str()); + + ss.str(""); + ss << msg->scalarAttributes.size() << " scalar attribute(s)"; + setStatusStd(rviz::StatusProperty::Ok, "Scalar attributes", ss.str()); + + ss.str(""); + ss << tracksWithUnknownPosition.size() << " track(s) with unknown position"; + setStatusStd(0 == tracksWithUnknownPosition.size() ? rviz::StatusProperty::Ok : rviz::StatusProperty::Warn, "Attribute-to-track assignment", ss.str()); +} + +} // end namespace spencer_tracking_rviz_plugin + +// Tell pluginlib about this class. It is important to do this in +// global scope, outside our package's namespace. +#include +PLUGINLIB_EXPORT_CLASS(spencer_tracking_rviz_plugin::HumanAttributesDisplay, rviz::Display) diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/human_attributes_display.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/human_attributes_display.h new file mode 100755 index 0000000..344afde --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/human_attributes_display.h @@ -0,0 +1,112 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef HUMAN_ATTRIBUTES_DISPLAY_H +#define HUMAN_ATTRIBUTES_DISPLAY_H + +#ifndef Q_MOC_RUN +#include +#include +#include + +#include "person_display_common.h" +#include "tracked_persons_cache.h" +#include "visuals/mesh_node.h" +#endif + +namespace spencer_tracking_rviz_plugin +{ + /// The display which can be added in RViz to display human attributes. + class HumanAttributesDisplay: public PersonDisplayCommon + { + Q_OBJECT + public: + // Constructor. pluginlib::ClassLoader creates instances by calling + // the default constructor, so make sure you have one. + HumanAttributesDisplay() {}; + virtual ~HumanAttributesDisplay(); + + // Overrides of protected virtual functions from Display. As much + // as possible, when Displays are not enabled, they should not be + // subscribed to incoming data and should not show anything in the + // 3D view. These functions are where these connections are made + // and broken. + + // Called after the constructors have run + virtual void onInitialize(); + + // Called periodically by the visualization manager + virtual void update(float wall_dt, float ros_dt); + + protected: + // A helper to clear this display back to the initial state. + virtual void reset(); + + // Must be implemented by derived classes because MOC doesn't work in templates + virtual rviz::DisplayContext* getContext() { + return context_; + } + + private: + struct HumanAttributeVisual { + boost::shared_ptr sceneNode; + boost::shared_ptr genderMesh; + unsigned int trackId; + boost::shared_ptr ageGroupText; + boost::shared_ptr personHeightText; + }; + + // Functions to handle an incoming ROS message. + void processMessage(const spencer_human_attribute_msgs::HumanAttributes::ConstPtr& msg); + + // Helper functions + void updateVisualStyles(boost::shared_ptr& humanAttributeVisual); + boost::shared_ptr createVisualIfNotExists(track_id trackId); + + // User-editable property variables. + rviz::BoolProperty* m_render_gender_property; + rviz::BoolProperty* m_render_person_height_property; + rviz::BoolProperty* m_render_age_group_property; + + rviz::FloatProperty* m_occlusion_alpha_property; + + // State variables + map > m_humanAttributeVisuals; + + Ogre::Matrix4 m_frameTransform; + TrackedPersonsCache m_trackedPersonsCache; + + private Q_SLOTS: + virtual void stylesChanged(); + }; + +} // end namespace spencer_tracking_rviz_plugin + +#endif // HUMAN_ATTRIBUTES_DISPLAY_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/person_display_common.cpp b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/person_display_common.cpp new file mode 100755 index 0000000..0333dea --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/person_display_common.cpp @@ -0,0 +1,140 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef Q_MOC_RUN +#include "person_display_common.h" +#include +#include +#include +#endif +#define foreach BOOST_FOREACH + + +namespace spencer_tracking_rviz_plugin +{ +// The constructor must have no arguments, so we can't give the +// constructor the parameters it needs to fully initialize. +PersonDisplayCommonProperties::PersonDisplayCommonProperties(rviz::Display* display, StylesChangedSubscriber* stylesChangedSubscriber) + : m_display(display), m_stylesChangedSubscriber(stylesChangedSubscriber) +{ + style = new rviz::EnumProperty( "Style", "Cylinders", "Rendering mode to use, in order of computational complexity.", m_display, SLOT(stylesChanged()), this ); + style->addOption( "Simple", STYLE_SIMPLE ); + style->addOption( "Cylinders", STYLE_CYLINDER ); + style->addOption( "Person meshes", STYLE_PERSON_MESHES ); + style->addOption( "Bounding boxes", STYLE_BOUNDING_BOXES ); + style->addOption( "Crosshairs", STYLE_CROSSHAIRS ); + + color_transform = new rviz::EnumProperty( "Color transform", "Rainbow", "How to color the tracked persons", m_display, SLOT(stylesChanged()), this ); + color_transform->addOption( "SRL Tracking Colors", COLORS_SRL ); + color_transform->addOption( "Alternative SRL colors", COLORS_SRL_ALTERNATIVE ); + color_transform->addOption( "Rainbow", COLORS_RAINBOW ); + color_transform->addOption( "Rainbow + B/W", COLORS_RAINBOW_BW ); + color_transform->addOption( "Flat", COLORS_FLAT ); + color_transform->addOption( "Vintage", COLORS_VINTAGE ); + color_transform->addOption( "Constant color", COLORS_CONSTANT ); + + constant_color = new rviz::ColorProperty("Color", QColor( 130, 130, 130 ), "Color for tracked persons if using constant color transform.", m_display, SLOT(stylesChanged()), this ); + + color_map_offset = new rviz::IntProperty( "Color map offset", 0, "By how many indices to shift the offset in the color map (useful if not happy with the current colors)", m_display, SLOT(stylesChanged()), this); + color_map_offset->setMin( 0 ); + + alpha = new rviz::FloatProperty( "Alpha", 1.0, "0 is fully transparent, 1.0 is fully opaque.", m_display, SLOT(stylesChanged()), this); + alpha->setMin( 0.0 ); + alpha->setMax( 1.0 ); + + line_width = new rviz::FloatProperty( "Line width", 0.05, "Line width for person visual", style, SLOT(stylesChanged()), this); + line_width->setMin( 0.0 ); + line_width->setMax( 1.0 ); + + scaling_factor = new rviz::FloatProperty( "Scaling factor", 1.0, "Scaling factor for person visual", style); + scaling_factor->setMin( 0.0 ); + scaling_factor->setMax( 100.0 ); + + font_color_style = new rviz::EnumProperty( "Font color style", "Same color", "Which type of font coloring to use", m_display, SLOT(stylesChanged()), this ); + font_color_style->addOption( "Same color", FONT_COLOR_FROM_PERSON ); + font_color_style->addOption( "Constant color", FONT_COLOR_CONSTANT ); + + constant_font_color = new rviz::ColorProperty("Font color", QColor( 255, 255, 255 ), "Font color if using a constant color", m_display, SLOT(stylesChanged()), this ); + + font_scale = new rviz::FloatProperty( "Font scale", 2.0, "Larger values mean bigger font", m_display); + font_scale->setMin( 0.0 ); + + z_offset = new rviz::FloatProperty( "Z offset", 0.0, "Offset of all visualizations on the z (height) axis", m_display, SLOT(stylesChanged()), this); + + use_actual_z_position = new rviz::BoolProperty( "Use Z position from message", false, "Use Z position from message (otherwise place above ground plane)", z_offset, SLOT(stylesChanged()), this); + + m_excluded_person_ids_property = new rviz::StringProperty( "Excluded person IDs", "", "Comma-separated list of person IDs whose visualization should be hidden", m_display, SLOT(stylesChanged()), this ); + m_included_person_ids_property = new rviz::StringProperty( "Included person IDs", "", "Comma-separated list of person IDs whose visualization should be visible. Overrides excluded IDs.", m_display, SLOT(stylesChanged()), this ); + + hideIrrelevantProperties(); +} + +void PersonDisplayCommonProperties::hideIrrelevantProperties() +{ + constant_color->setHidden(color_transform->getOptionInt() != COLORS_CONSTANT); + color_map_offset->setHidden(color_transform->getOptionInt() == COLORS_CONSTANT); + constant_font_color->setHidden(font_color_style->getOptionInt() != FONT_COLOR_CONSTANT); + + line_width->setHidden(style->getOptionInt() != STYLE_BOUNDING_BOXES && style->getOptionInt() != STYLE_CROSSHAIRS); +} + +// Callback for any changed style +void PersonDisplayCommonProperties::stylesChanged() +{ + hideIrrelevantProperties(); + + // Update list of person IDs that shall be hidden or visible + m_excludedPersonIDs.clear(); + { + string personIDString = m_excluded_person_ids_property->getStdString(); + char_separator separator(","); + tokenizer< char_separator > tokens(personIDString, separator); + foreach(const string& token, tokens) { + try { m_excludedPersonIDs.insert(lexical_cast(token)); } + catch(bad_lexical_cast &) {} + } + } + m_includedPersonIDs.clear(); + { + string personIDString = m_included_person_ids_property->getStdString(); + char_separator separator(","); + tokenizer< char_separator > tokens(personIDString, separator); + foreach(const string& token, tokens) { + try { m_includedPersonIDs.insert(lexical_cast(token)); } + catch(bad_lexical_cast &) {} + } + } + + // Relay change to other subscribers + m_stylesChangedSubscriber->stylesChanged(); +} + + +} // end namespace spencer_tracking_rviz_plugin diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/person_display_common.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/person_display_common.h new file mode 100755 index 0000000..9a49763 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/person_display_common.h @@ -0,0 +1,383 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef PERSON_DISPLAY_COMMON_H +#define PERSON_DISPLAY_COMMON_H + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include + +#include +#include +#include "visuals/person_visual.h" +#include "visuals/text_node.h" +#include "visuals/covariance_visual.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + + + + + + + +using namespace std; +using namespace boost; + +namespace spencer_tracking_rviz_plugin +{ + typedef unsigned int person_id; + + /// Visualization style for a person + enum Styles { + STYLE_SIMPLE, + STYLE_CYLINDER, + STYLE_PERSON_MESHES, + STYLE_BOUNDING_BOXES, + STYLE_CROSSHAIRS + }; + + /// How to color persons + enum ColorTransforms { + COLORS_SRL, + COLORS_SRL_ALTERNATIVE, + COLORS_RAINBOW, + COLORS_RAINBOW_BW, + COLORS_FLAT, + COLORS_VINTAGE, + COLORS_CONSTANT, + }; + + /// Which font colors to use + enum FontColorStyle { + FONT_COLOR_FROM_PERSON, + FONT_COLOR_CONSTANT + }; + + /// Subclasses of PersonDisplayCommon can override stylesChanged() to get notified when one of the properties in PersonDisplayCommonProperties has changed. + class StylesChangedSubscriber { + public: + virtual ~StylesChangedSubscriber() {} + virtual void stylesChanged() {} + }; + + /// Common properties shared by multiple displays. + class PersonDisplayCommonProperties : public QObject { + Q_OBJECT + public: + PersonDisplayCommonProperties(rviz::Display* display, StylesChangedSubscriber* stylesChangedSubscriber); + + // User-editable property variables. + rviz::EnumProperty* style; + rviz::EnumProperty* color_transform; + rviz::IntProperty* color_map_offset; + + rviz::ColorProperty* constant_color; + rviz::FloatProperty* alpha; + + rviz::FloatProperty* line_width; + rviz::FloatProperty* z_offset; + rviz::FloatProperty* scaling_factor; + + rviz::BoolProperty* use_actual_z_position; + + rviz::EnumProperty* font_color_style; + rviz::ColorProperty* constant_font_color; + rviz::FloatProperty* font_scale; + + rviz::StringProperty* m_excluded_person_ids_property; + rviz::StringProperty* m_included_person_ids_property; + + /// These sets get updated automatically whenever the corresponding properties are updated. + set m_excludedPersonIDs, m_includedPersonIDs; + + private: + rviz::Display* m_display; + StylesChangedSubscriber* m_stylesChangedSubscriber; + + void hideIrrelevantProperties(); + + private Q_SLOTS: + void stylesChanged(); + }; + + /// A display with common properties that are shared by multiple specializations. + template + class PersonDisplayCommon: public rviz::MessageFilterDisplay, public StylesChangedSubscriber + { + public: + /// Constructor. pluginlib::ClassLoader creates instances by calling + /// the default constructor, so make sure you have one. + PersonDisplayCommon() : m_commonProperties(0), m_veryLargeVariance(99999) {} + virtual ~PersonDisplayCommon() {} + + /// Overrides base class method + virtual void onInitialize() + { + rviz::MessageFilterDisplay::onInitialize(); + m_commonProperties = new PersonDisplayCommonProperties(this, this); + } + + protected: + /// Common message processing. This method needs to be called by derived classes + bool preprocessMessage(const typename MessageType::ConstPtr& msg) + { + // Here we call the rviz::FrameManager to get the transform from the + // fixed frame to the frame in the header of this Imu message. If + // it fails, we can't do anything else so we return. + if (!getContext()->getFrameManager()->getTransform(msg->header, m_framePosition, m_frameOrientation)) { + ROS_ERROR_THROTTLE(5.0, "Error transforming from frame '%s' into fixed frame!", msg->header.frame_id.c_str()); + return false; + } + + m_frameOrientation.ToRotationMatrix(m_frameRotationMatrix); + return true; + } + + /// Create a visual representation of the person itself, if not set yet + void createPersonVisualIfRequired(Ogre::SceneNode* sceneNode, boost::shared_ptr &personVisual) + { + if (!personVisual) { + PersonVisualDefaultArgs defaultArgs(getContext()->getSceneManager(), sceneNode); + PersonVisual* newPersonVisual = 0; + + if (m_commonProperties->style->getOptionInt() == STYLE_CYLINDER) newPersonVisual = new CylinderPersonVisual(defaultArgs); + if (m_commonProperties->style->getOptionInt() == STYLE_PERSON_MESHES) newPersonVisual = new MeshPersonVisual(defaultArgs); + if (m_commonProperties->style->getOptionInt() == STYLE_BOUNDING_BOXES) newPersonVisual = new BoundingBoxPersonVisual(defaultArgs); + if (m_commonProperties->style->getOptionInt() == STYLE_CROSSHAIRS) newPersonVisual = new CrosshairPersonVisual(defaultArgs); + personVisual.reset(newPersonVisual); + } + + // Update position of the person visual + if (personVisual) { + personVisual->setPosition(Ogre::Vector3(0,0, personVisual->getHeight() * 0.5)); + } + } + + /// Applies common styles which apply to person visuals, such as line width etc. + void applyCommonStyles(boost::shared_ptr &personVisual) { + if(!personVisual) return; + + // Set line width of wireframe visualization + HasLineWidth* hasLineWidth = dynamic_cast(personVisual.get()); + if(hasLineWidth) { + hasLineWidth->setLineWidth(m_commonProperties->line_width->getFloat()); + } + + // Set scaling factor + personVisual->setScalingFactor(m_commonProperties->scaling_factor->getFloat()); + } + + // Builds velocity vector for a person from a twist message + Ogre::Vector3 getVelocityVector(const geometry_msgs::TwistWithCovariance& twist) { + const double zVelocityVariance = twist.covariance[2 * 6 + 2]; + const double zVelocity = (isnan(zVelocityVariance) || isinf(zVelocityVariance)) ? 0.0 : twist.twist.linear.z; + return Ogre::Vector3(twist.twist.linear.x, twist.twist.linear.y, zVelocity); + } + + /// Returns true if all xyz rotation variances are finite + bool hasValidOrientation(const geometry_msgs::PoseWithCovariance& pose) + { + // Check if quaternion has not been initialized, then it's invalid (all-zero elements) + if(pose.pose.orientation.x == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.w == 0) return false; + + // According to ROS conventions, orientation covariance is always fixed-frame + // so no transform necessary! + const double xRotVariance = pose.covariance[3 * 6 + 3]; + const double yRotVariance = pose.covariance[4 * 6 + 4]; + const double zRotVariance = pose.covariance[5 * 6 + 5]; + // Using logical OR instead of AND here because the orientation is given as a quaternion, instead of independent + // RPY angles. We assume if at least one RPY angle is valid (according to its covariance), the other angles are set to a + // reasonable default (as part of the quaternion) if their variance is non-finite. + return xRotVariance < m_veryLargeVariance || yRotVariance < m_veryLargeVariance || zRotVariance < m_veryLargeVariance; + } + + /// Rotate the position (xyz) part of a pose covariance matrix into the fixed frame used for visualization + /// The covariance matrix needs to be transformed from the source (e.g. sensor) into the target (e.g. odometry) frame + /// This is mainly be a problem if the sensor is rotated vertically compared to the odometry frame, so that axes get swapped + Ogre::Matrix3 covarianceXYZIntoTargetFrame(const geometry_msgs::PoseWithCovariance& pose) { + Ogre::Matrix3 xyzcov; + for(int row = 0; row < 3; row++) for(int col = 0; col < 3; col++) xyzcov[row][col] = pose.covariance[row*6 + col]; // 6 = dimension of ROS covariance matrix + if(!isfinite(xyzcov.Determinant())) ROS_WARN_STREAM("Covariance matrix supplied to covarianceXYZIntoTargetFrame() contains non-finite elements: " << xyzcov); + return m_frameRotationMatrix * xyzcov * m_frameRotationMatrix.Transpose(); // cov(AX + a) = A cov(X) A^T + } + + /// Set pose and orientation of person visual + void setPoseOrientation(Ogre::SceneNode* sceneNode, const geometry_msgs::PoseWithCovariance& pose, const Ogre::Matrix3& covXYZinTargetFrame, double personVisualHeight) + { + const geometry_msgs::Point& position = pose.pose.position; + const geometry_msgs::Quaternion& orientation = pose.pose.orientation; + + Ogre::Matrix4 transform(m_frameOrientation); + transform.setTrans(m_framePosition); + + Ogre::Vector3 originalPosition(position.x, position.y, position.z); + if(!isfinite(originalPosition.x) || !isfinite(originalPosition.y) || !isfinite(originalPosition.z)) { + ROS_WARN("Detected or tracked person has non-finite position! Something is wrong!"); + return; + } + + Ogre::Vector3 positionInTargetFrame = transform * originalPosition; + + if(hasValidOrientation(pose)) { + Ogre::Quaternion detectionOrientation(orientation.w, orientation.x, orientation.y, orientation.z); + detectionOrientation.FromAngleAxis(detectionOrientation.getRoll(), Ogre::Vector3(0,0,1)); // only use yaw angle, ignore roll and pitch + sceneNode->setOrientation(m_frameOrientation * detectionOrientation); + } + else { + Ogre::Quaternion rotateTowardsCamera; + rotateTowardsCamera.FromAngleAxis(Ogre::Degree(180), Ogre::Vector3(0,0,1)); + sceneNode->setOrientation(rotateTowardsCamera); + } + + const double zVariance = covXYZinTargetFrame[2][2]; + bool useActualZPosition = m_commonProperties->use_actual_z_position->getBool() && isfinite(zVariance) && zVariance >= 0 && zVariance < m_veryLargeVariance; + + positionInTargetFrame.z = useActualZPosition ? positionInTargetFrame.z - personVisualHeight/2.0: 0.0; + positionInTargetFrame.z += m_commonProperties->z_offset->getFloat(); + + sceneNode->setPosition(positionInTargetFrame); + } + + /// Get a color based upon track / detection ID. + Ogre::ColourValue getColorFromId(unsigned int object_id) + { + Ogre::ColourValue color; + const int colorScheme = m_commonProperties->color_transform->getOptionInt(); + object_id += max(0, m_commonProperties->color_map_offset->getInt()); + + if(colorScheme == COLORS_SRL || colorScheme == COLORS_SRL_ALTERNATIVE) + { + // SRL People Tracker colors + const size_t NUM_SRL_COLORS = 6, NUM_SRL_COLOR_SHADES = 4, NUM_SRL_TOTAL_COLORS = NUM_SRL_COLORS * NUM_SRL_COLOR_SHADES; + const unsigned int spencer_colors[NUM_SRL_TOTAL_COLORS] = { + 0xC00000, 0xFF0000, 0xFF5050, 0xFFA0A0, // red + 0x00C000, 0x00FF00, 0x50FF50, 0xA0FFA0, // green + 0x0000C0, 0x0000FF, 0x5050FF, 0xA0A0FF, // blue + 0xF20A86, 0xFF00FF, 0xFF50FF, 0xFFA0FF, // magenta + 0x00C0C0, 0x00FFFF, 0x50FFFF, 0xA0FFFF, // cyan + 0xF5A316, 0xFFFF00, 0xFFFF50, 0xFFFFA0 // yellow + }; + + unsigned int rgb = 0; + const unsigned int tableId = object_id % NUM_SRL_TOTAL_COLORS; + if(m_commonProperties->color_transform->getOptionInt() == COLORS_SRL) { + // Colors in original order (first vary shade, then vary color) + rgb = spencer_colors[tableId]; + } + else if(m_commonProperties->color_transform->getOptionInt() == COLORS_SRL_ALTERNATIVE) { + // Colors in alternative order (first vary color, then vary shade) + unsigned int shadeIndex = tableId / NUM_SRL_COLORS; + unsigned int colorIndex = tableId % NUM_SRL_COLORS; + rgb = spencer_colors[colorIndex * NUM_SRL_COLOR_SHADES + shadeIndex]; + } + + float r = ((rgb >> 16) & 0xff) / 255.0f, + g = ((rgb >> 8) & 0xff) / 255.0f, + b = ((rgb >> 0) & 0xff) / 255.0f; + + color = Ogre::ColourValue(r, g, b, 1.0); + } + else if(colorScheme == COLORS_RAINBOW || colorScheme == COLORS_RAINBOW_BW) + { + const size_t NUM_COLOR = 10, NUM_BW = 4; + const unsigned int rainbow_colors[NUM_COLOR + NUM_BW] = { + 0xaf1f90, 0x000846, 0x00468a, 0x00953d, 0xb2c908, 0xfcd22a, 0xffa800, 0xff4500, 0xe0000b, 0xb22222, + 0xffffff, 0xb8b8b8, 0x555555, 0x000000 + }; + + color.setAsARGB(rainbow_colors[object_id % (colorScheme == COLORS_RAINBOW ? NUM_COLOR : (NUM_COLOR+NUM_BW))]); + } + else if(colorScheme == COLORS_FLAT) + { + const size_t NUM_COLOR = 10; + const unsigned int flat_colors[NUM_COLOR] = { + 0x990033, 0xa477c4, 0x3498db, 0x1abc9c, 0x55e08f, 0xfff054, 0xef5523, 0xfe374a, 0xbaa891, 0xad5f43 + }; + + color.setAsARGB(flat_colors[object_id % NUM_COLOR]); + } + else if(colorScheme == COLORS_VINTAGE) + { + const size_t NUM_COLOR = 10; + const unsigned int vintage_colors[NUM_COLOR] = { + 0xd05e56, 0x797d88, 0x448d7a, 0xa5d1cd, 0x88a764, 0xebe18c, 0xd8a027, 0xffcc66, 0xdc3f1c, 0xff9966 + }; + + color.setAsARGB(vintage_colors[object_id % NUM_COLOR]); + } + else + { + // Constant color for all tracks + color = m_commonProperties->constant_color->getOgreColor(); + } + + color.a = 1.0f; // force full opacity + return color; + } + + /// Checks if a person shall be hidden (can be set using include/exclude person ID properties in GUI) + bool isPersonHidden(person_id personId) + { + bool isIncluded = m_commonProperties->m_includedPersonIDs.find(personId) != m_commonProperties->m_includedPersonIDs.end(); + if(isIncluded) return false; + if(!m_commonProperties->m_includedPersonIDs.empty()) return true; + return m_commonProperties->m_excludedPersonIDs.find(personId) != m_commonProperties->m_excludedPersonIDs.end(); + } + + /// Must be implemented by derived classes because MOC doesn't work in templates + virtual rviz::DisplayContext* getContext() = 0; + + /// Common properties for the displays in this plugin + PersonDisplayCommonProperties* m_commonProperties; + + protected: + Ogre::Quaternion m_frameOrientation; + Ogre::Matrix3 m_frameRotationMatrix; + Ogre::Vector3 m_framePosition; + const double m_veryLargeVariance; + }; +} // end namespace spencer_tracking_rviz_plugin + + +#endif // PERSON_DISPLAY_COMMON_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_activities_display.cpp b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_activities_display.cpp new file mode 100755 index 0000000..17e7927 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_activities_display.cpp @@ -0,0 +1,566 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#include +#include +#include "rviz/selection/selection_manager.h" + +#ifndef Q_MOC_RUN +#include "social_activities_display.h" + +#include +#include +#include +#include +#include +#endif +#define foreach BOOST_FOREACH + +// required to fix orientation of any Cylinder shapes +const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ); + + +namespace sr = spencer_social_relation_msgs; +namespace spencer_tracking_rviz_plugin +{ + +void SocialActivitiesDisplay::onInitialize() +{ + m_trackedPersonsCache.initialize(this, context_, update_nh_); + PersonDisplayCommon::onInitialize(); + + QObject::connect(m_commonProperties->style, SIGNAL(changed()), this, SLOT(personVisualTypeChanged()) ); + + m_excluded_activity_types_property = new rviz::StringProperty( "Excluded activity types", "", "Comma-separated list of activity types whose visualization should be hidden", this, SLOT(stylesChanged()) ); + m_included_activity_types_property = new rviz::StringProperty( "Included activity types", "", "Comma-separated list of activity types whose visualization should be visible, overrides excluded", this, SLOT(stylesChanged()) ); + + m_min_confidence_property = new rviz::FloatProperty( "Min. confidence", 0.0, "Minimum confidence for a social activity to be shown", this, SLOT(stylesChanged()) ); + m_min_confidence_property->setMin( 0.0 ); + + m_hide_with_no_activity_property = new rviz::BoolProperty( "Hide tracks with no activity", false, "Hide all tracks which do not have at least one social activity assigned", this, SLOT(stylesChanged())); + + m_render_intraactivity_connections_property = new rviz::BoolProperty( "Connect tracks sharing the same activity", true, "Connect all tracks that share the same activity", this, SLOT(stylesChanged())); + m_line_width_property = new rviz::FloatProperty( "Line width", 0.05, "Line width of connecting lines", m_render_intraactivity_connections_property, SLOT(stylesChanged()), this ); + m_line_width_property->setMin( 0.0 ); + + m_render_activity_types_property = new rviz::BoolProperty( "Render activity type texts", true, "Render activity types as text", this, SLOT(stylesChanged())); + m_activity_type_per_track_property = new rviz::BoolProperty( "Activity type per track", false, "Show activity type for each individual track", this, SLOT(stylesChanged())); + m_render_confidences_property = new rviz::BoolProperty( "Render confidences", true, "Render confidence values next to activity type", this, SLOT(stylesChanged())); + + m_render_circles_property = new rviz::BoolProperty( "Render circles below person", true, "Render circles below person", this, SLOT(stylesChanged())); + m_circle_radius_property = new rviz::FloatProperty( "Radius", 0.45, "Radius of circles below person in meters", m_render_circles_property, SLOT(stylesChanged()), this ); + m_circle_radius_property->setMin( 0.0 ); + + m_circle_alpha_property = new rviz::FloatProperty( "Alpha", 1.0, "Alpha value (opacity) of circles below person", m_render_circles_property, SLOT(stylesChanged()), this ); + m_circle_alpha_property->setMin( 0.0 ); + m_circle_alpha_property->setMax( 1.0 ); + + m_occlusion_alpha_property = new rviz::FloatProperty( "Occlusion alpha", 0.5, "Alpha multiplier for history of occluded tracks", this, SLOT(stylesChanged()) ); + m_occlusion_alpha_property->setMin( 0.0 ); + + m_activity_type_offset = new rviz::FloatProperty( "Activity type Z offset", 2.0, "Offset in z position (height) of the activity type text", this, SLOT(stylesChanged()) ); + + m_activity_colors = new rviz::Property( "Activity colors", "", "Colors of different social activity types", this ); + + // Add colors for new activity types here, also adjust header file! + m_activity_color_unknown = new rviz::ColorProperty( "(Unknown activity)", QColor(255,255,255), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_none = new rviz::ColorProperty( "(No activity)", QColor(200,200,200), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_shopping = new rviz::ColorProperty( sr::SocialActivity::TYPE_SHOPPING.c_str(), QColor(0,0,255), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_standing = new rviz::ColorProperty( sr::SocialActivity::TYPE_STANDING.c_str(), QColor(0,0,0), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_individual_moving = new rviz::ColorProperty( sr::SocialActivity::TYPE_INDIVIDUAL_MOVING.c_str(), QColor(128,128,128), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_waiting_in_queue = new rviz::ColorProperty( sr::SocialActivity::TYPE_WAITING_IN_QUEUE.c_str(), QColor(255,0,255), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_looking_at_information_screen = new rviz::ColorProperty( sr::SocialActivity::TYPE_LOOKING_AT_INFORMATION_SCREEN.c_str(), QColor(255,255,0), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_looking_at_kiosk = new rviz::ColorProperty( sr::SocialActivity::TYPE_LOOKING_AT_KIOSK.c_str(), QColor(255,128,0), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_group_assembling = new rviz::ColorProperty( sr::SocialActivity::TYPE_GROUP_ASSEMBLING.c_str(), QColor(0,128,255), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_group_moving = new rviz::ColorProperty( sr::SocialActivity::TYPE_GROUP_MOVING.c_str(), QColor(0,255,255), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_flow = new rviz::ColorProperty( sr::SocialActivity::TYPE_FLOW_WITH_ROBOT.c_str(), QColor(0,255,0), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_antiflow = new rviz::ColorProperty( sr::SocialActivity::TYPE_ANTIFLOW_AGAINST_ROBOT.c_str(), QColor(255,0,0), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_waiting_for_others = new rviz::ColorProperty( sr::SocialActivity::TYPE_WAITING_FOR_OTHERS.c_str(), QColor(255,170,255), "", m_activity_colors, SLOT(stylesChanged()), this); + m_activity_color_looking_for_help = new rviz::ColorProperty( sr::SocialActivity::TYPE_LOOKING_FOR_HELP.c_str(), QColor(155,170,255), "", m_activity_colors, SLOT(stylesChanged()), this); + + m_commonProperties->color_transform->setHidden(true); + m_commonProperties->color_map_offset->setHidden(true); + + // Create a scene node for visualizing group affiliation history + m_socialActivitiesSceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); +} + +SocialActivitiesDisplay::~SocialActivitiesDisplay() +{ +} + +// Clear the visuals by deleting their objects. +void SocialActivitiesDisplay::reset() +{ + PersonDisplayCommon::reset(); + m_trackedPersonsCache.reset(); + m_socialActivityVisuals.clear(); + m_personVisualMap.clear(); + m_highestConfidenceActivityPerTrack.clear(); +} + +void SocialActivitiesDisplay::update(float wall_dt, float ros_dt) +{ + // Update animations + foreach(PersonVisualContainer& personVisualContainer, m_personVisualMap | boost::adaptors::map_values) { + if(personVisualContainer.personVisual) { + personVisualContainer.personVisual->update(ros_dt); + } + } +} + +void SocialActivitiesDisplay::stylesChanged() +{ + m_commonProperties->color_map_offset->setHidden(true); + + // Get list of group IDs belonging to tracks that shall be hidden or visible + m_excludedActivityTypes.clear(); + { + string inputString = m_excluded_activity_types_property->getStdString(); + char_separator separator(","); + tokenizer< char_separator > tokens(inputString, separator); + foreach(const string& token, tokens) { + string tmp = token; + boost::algorithm::to_lower(tmp); + m_excludedActivityTypes.insert(tmp); + } + } + m_includedActivityTypes.clear(); + { + string inputString = m_included_activity_types_property->getStdString(); + char_separator separator(","); + tokenizer< char_separator > tokens(inputString, separator); + foreach(const string& token, tokens) { + string tmp = token; + boost::algorithm::to_lower(tmp); + m_includedActivityTypes.insert(tmp); + } + } + + foreach(boost::shared_ptr socialActivityVisual, m_socialActivityVisuals) { + updateSocialActivityVisualStyles(socialActivityVisual); + } + + foreach(PersonVisualContainer& personVisualContainer, m_personVisualMap | boost::adaptors::map_values) { + if(personVisualContainer.personVisual) { + // Update common styles to person visual, such as line width + applyCommonStyles(personVisualContainer.personVisual); + + // Update color according to highest-ranking social activity for this person + Ogre::ColourValue activityColor; + + activity_type activityType = ""; + float confidence = 1.0f; + if(m_highestConfidenceActivityPerTrack.find(personVisualContainer.trackId) != m_highestConfidenceActivityPerTrack.end()) { + activityType = m_highestConfidenceActivityPerTrack[personVisualContainer.trackId].type; + confidence = m_highestConfidenceActivityPerTrack[personVisualContainer.trackId].confidence; + } + else { + if(m_hide_with_no_activity_property->getBool()) confidence = -999; + } + activityColor = getActivityColor(activityType, confidence); + + personVisualContainer.personVisual->setColor(activityColor); + } + } +} + +bool SocialActivitiesDisplay::isActivityTypeHidden(activity_type activityType) { + boost::algorithm::to_lower(activityType); + + bool isIncluded = m_includedActivityTypes.find(activityType) != m_includedActivityTypes.end(); + if(isIncluded) return false; + if(!m_includedActivityTypes.empty()) return true; + + return m_excludedActivityTypes.find(activityType) != m_excludedActivityTypes.end(); +} + +Ogre::ColourValue SocialActivitiesDisplay::getActivityColor(activity_type activityType, float confidence) { + bool hideActivityType = isActivityTypeHidden(activityType); + + // Determine color + rviz::ColorProperty* colorProperty = NULL; + + // Add new social activity types here, and also add a property in constructor at top of file! + if(activityType.empty()) + colorProperty = m_activity_color_none; + else if(activityType == sr::SocialActivity::TYPE_SHOPPING) + colorProperty = m_activity_color_shopping; + else if(activityType == sr::SocialActivity::TYPE_STANDING) + colorProperty = m_activity_color_standing; + else if(activityType == sr::SocialActivity::TYPE_INDIVIDUAL_MOVING) + colorProperty = m_activity_color_individual_moving; + else if(activityType == sr::SocialActivity::TYPE_WAITING_IN_QUEUE) + colorProperty = m_activity_color_waiting_in_queue; + else if(activityType == sr::SocialActivity::TYPE_LOOKING_AT_INFORMATION_SCREEN) + colorProperty = m_activity_color_looking_at_information_screen; + else if(activityType == sr::SocialActivity::TYPE_LOOKING_AT_KIOSK) + colorProperty = m_activity_color_looking_at_kiosk; + else if(activityType == sr::SocialActivity::TYPE_GROUP_ASSEMBLING) + colorProperty = m_activity_color_group_assembling; + else if(activityType == sr::SocialActivity::TYPE_GROUP_MOVING) + colorProperty = m_activity_color_group_moving; + else if(activityType == sr::SocialActivity::TYPE_FLOW_WITH_ROBOT) + colorProperty = m_activity_color_flow; + else if(activityType == sr::SocialActivity::TYPE_ANTIFLOW_AGAINST_ROBOT) + colorProperty = m_activity_color_antiflow; + else if(activityType == sr::SocialActivity::TYPE_WAITING_FOR_OTHERS) + colorProperty = m_activity_color_waiting_for_others; + else if(activityType == sr::SocialActivity::TYPE_LOOKING_FOR_HELP) + colorProperty = m_activity_color_looking_for_help; + else + colorProperty = m_activity_color_unknown; + + Ogre::ColourValue activityColor = colorProperty->getOgreColor(); + activityColor.a = 1.0f; + + activityColor.a *= m_commonProperties->alpha->getFloat(); // general alpha + if(hideActivityType) activityColor.a = 0; + + if(confidence < m_min_confidence_property->getFloat()) activityColor.a = 0; + + return activityColor; +} + +// Set the rendering style (cylinders, meshes, ...) of tracked persons +void SocialActivitiesDisplay::personVisualTypeChanged() +{ + m_personVisualMap.clear(); + foreach(PersonVisualContainer& personVisualContainer, m_personVisualMap | boost::adaptors::map_values) { + personVisualContainer.personVisual.reset(); + createPersonVisualIfRequired(personVisualContainer.sceneNode.get(), personVisualContainer.personVisual); + } + stylesChanged(); +} + +void SocialActivitiesDisplay::updateSocialActivityVisualStyles(boost::shared_ptr& socialActivityVisual) +{ + std::stringstream ss; + + Ogre::ColourValue activityColor = getActivityColor(socialActivityVisual->activityType, socialActivityVisual->confidence); + bool hideActivity = isActivityTypeHidden(socialActivityVisual->activityType) || socialActivityVisual->confidence < m_min_confidence_property->getFloat(); + bool showCircles = m_render_circles_property->getBool(); + + foreach(boost::shared_ptr circle, socialActivityVisual->socialActivityAssignmentCircles) { + circle->setColor(activityColor.r, activityColor.g, activityColor.b, activityColor.a * m_circle_alpha_property->getFloat() * (showCircles ? 1.0f : 0.0f)); + const double circleDiameter = m_circle_radius_property->getFloat() * 2, circleHeight = 0; + circle->setScale(shapeQuaternion * Ogre::Vector3(circleDiameter, circleDiameter, circleHeight)); + } + + double connectionLineVisibilityAlpha = m_render_intraactivity_connections_property->getBool() ? 1.0 : 0.0; + foreach(boost::shared_ptr connectionLine, socialActivityVisual->connectionLines) { + connectionLine->setColor(activityColor.r, activityColor.g, activityColor.b, activityColor.a * connectionLineVisibilityAlpha); + connectionLine->setLineWidth(m_line_width_property->getFloat()); + } + + // Update text colors, size and visibility + ss.str(""); ss << socialActivityVisual->activityType; + if(m_render_confidences_property->getBool()) ss << fixed << setprecision(1) << " (" << 100*socialActivityVisual->confidence << "%)"; + + for(int i = 0; i < socialActivityVisual->typeTexts.size(); i++) { + boost::shared_ptr& typeText = socialActivityVisual->typeTexts[i]; + + if(typeText) { // might be not set if center of activity could not be determined + typeText->setCaption(ss.str()); + + Ogre::Vector3 centerAt; + if(m_activity_type_per_track_property->getBool()) { + boost::shared_ptr trackedPerson = m_trackedPersonsCache.lookup(socialActivityVisual->trackIds[i]); + if(!trackedPerson) continue; + centerAt = Ogre::Vector3(trackedPerson->center.x, trackedPerson->center.y, m_commonProperties->z_offset->getFloat()); + } + else centerAt = Ogre::Vector3(socialActivityVisual->socialActivityCenter.x, socialActivityVisual->socialActivityCenter.y, socialActivityVisual->socialActivityCenter.z); + + Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? m_commonProperties->constant_font_color->getOgreColor() : activityColor; + fontColor.a = m_commonProperties->alpha->getFloat(); + if(hideActivity) fontColor.a = 0; + float characterHeight = 0.23 * m_commonProperties->font_scale->getFloat(); + typeText->setVisible(m_render_activity_types_property->getBool()); + typeText->setCharacterHeight(characterHeight); + typeText->setColor(fontColor); + typeText->setPosition(m_frameTransform * Ogre::Vector3( + centerAt.x, + centerAt.y, + centerAt.z + m_activity_type_offset->getFloat() + m_commonProperties->z_offset->getFloat() + + socialActivityVisual->declutteringOffset * characterHeight /* this is for decluttering of overlapping labels */)); + } + } +} + +// Helper function for guaranteeing consistent ordering of activity labels +bool CompareActivityByType (const SocialActivitiesDisplay::ActivityWithConfidence& first, const SocialActivitiesDisplay::ActivityWithConfidence& second) { + return first.type < second.type; +} + +// This is our callback to handle an incoming group message. +void SocialActivitiesDisplay::processMessage(const spencer_social_relation_msgs::SocialActivities::ConstPtr& msg) +{ + // Get transforms into fixed frame etc. + if(!preprocessMessage(msg)) return; + + // Transform into Rviz fixed frame + m_frameTransform = Ogre::Matrix4(m_frameOrientation); + m_frameTransform.setTrans(m_framePosition); + stringstream ss; + + // Clear previous visualization (not very efficient, but easier to implement) + // Note that person visuals are not cleared to allow walking animations to function properly + m_socialActivityVisuals.clear(); + m_socialActivitiesSceneNode->removeAndDestroyAllChildren(); + + m_highestConfidenceActivityPerTrack.clear(); // used later on to determine color of person visuals + m_allActivitiesPerTrack.clear(); + + unsigned int numTracksWithUnknownPosition = 0; + + + // + // Iterate over all social activities in this message + // + foreach (const spencer_social_relation_msgs::SocialActivity& socialActivity, msg->elements) + { + // Create a new visual representation of the social activity + boost::shared_ptr socialActivityVisual = boost::shared_ptr(new SocialActivityVisual); + socialActivityVisual->activityType = socialActivity.type; + socialActivityVisual->confidence = socialActivity.confidence; + socialActivityVisual->personCount = socialActivity.track_ids.size(); + m_socialActivityVisuals.push_back(socialActivityVisual); + + geometry_msgs::Point socialActivityCenter; + size_t numGoodTracksInActivity = 0; + + // + // Assignment circles, person visuals (if enabled) + connections between social activity members + // + + for(size_t trackIndex = 0; trackIndex < socialActivity.track_ids.size(); trackIndex++) + { + const track_id trackId = socialActivity.track_ids[trackIndex]; + boost::shared_ptr trackedPerson = m_trackedPersonsCache.lookup(trackId); + + ActivityWithConfidence activityWithConfidence; + activityWithConfidence.type = socialActivity.type; + activityWithConfidence.confidence = socialActivity.confidence; + + // Update map of highest-confidence activity per person + if(m_highestConfidenceActivityPerTrack.find(trackId) == m_highestConfidenceActivityPerTrack.end() + || socialActivity.confidence > m_highestConfidenceActivityPerTrack[trackId].confidence) { + m_highestConfidenceActivityPerTrack[trackId] = activityWithConfidence; + } + + // Update map of all activities per person + if(m_allActivitiesPerTrack.find(trackId) == m_allActivitiesPerTrack.end()) { + m_allActivitiesPerTrack[trackId] = vector(); + } + m_allActivitiesPerTrack[trackId].push_back(activityWithConfidence); + + + // Get current track position + if(!trackedPerson) { + numTracksWithUnknownPosition++; + } + else + { + socialActivityVisual->trackIds.push_back(trackId); + numGoodTracksInActivity++; + + Ogre::Vector3 trackCenterAtGroundPlane(trackedPerson->center.x, trackedPerson->center.y, m_commonProperties->z_offset->getFloat()); + socialActivityCenter.x += trackCenterAtGroundPlane.x; + socialActivityCenter.y += trackCenterAtGroundPlane.y; + socialActivityCenter.z += trackCenterAtGroundPlane.z; + + + // + // Social activity assignment circles (below tracks) + // + + if(m_render_circles_property->getBool()) // only create circles if they are enabled, for better performance + { + boost::shared_ptr circle = boost::shared_ptr(new rviz::Shape(rviz::Shape::Cylinder, context_->getSceneManager(), m_socialActivitiesSceneNode.get())); + + const double circleHeight = 0; + circle->setOrientation(shapeQuaternion); + + Ogre::Vector3 circlePos = trackCenterAtGroundPlane + Ogre::Vector3(0, 0, -0.5*circleHeight - 0.01); + circle->setPosition(circlePos); + + socialActivityVisual->socialActivityAssignmentCircles.push_back(circle); + } + + // + // Intra-activity connections + // + + if(m_render_intraactivity_connections_property->getBool()) // only create circles if they are enabled, for better performance + { + // Iterate over all tracks sharing the same activity to render intra-activity connections + for(size_t otherTrackIndex = trackIndex + 1; otherTrackIndex < socialActivity.track_ids.size(); otherTrackIndex++) + { + const track_id otherTrackId = socialActivity.track_ids[otherTrackIndex]; + boost::shared_ptr otherTrackedPerson = m_trackedPersonsCache.lookup(otherTrackId); + + // Get other track's position + if(otherTrackedPerson) { + // Get positions. These are already in fixed frame coordinates! + const Ogre::Vector3 verticalShift(0,0, 0.5 + m_commonProperties->z_offset->getFloat()); + const Ogre::Vector3& position1 = verticalShift + trackedPerson->center; + const Ogre::Vector3& position2 = verticalShift + otherTrackedPerson->center; + + // Add line connecting the two tracks + boost::shared_ptr connectionLine(new rviz::BillboardLine(context_->getSceneManager(), m_socialActivitiesSceneNode.get())); + connectionLine->setMaxPointsPerLine(2); + connectionLine->addPoint(position1); + connectionLine->addPoint(position2); + socialActivityVisual->connectionLines.push_back(connectionLine); + } + } // end loop over other tracks sharing same activity + } + + } // end if track found + } // end for loop over tracks + + // + // Texts + // + socialActivityCenter.x /= (double) numGoodTracksInActivity; + socialActivityCenter.y /= (double) numGoodTracksInActivity; + socialActivityCenter.z /= (double) numGoodTracksInActivity; + socialActivityVisual->socialActivityCenter = socialActivityCenter; + + // Social activity type + if(numGoodTracksInActivity > 0) { + for(int i = 0; i < (m_activity_type_per_track_property->getBool() ? socialActivityVisual->trackIds.size() : 1); i++) { + boost::shared_ptr typeText(new TextNode(context_->getSceneManager(), m_socialActivitiesSceneNode.get())); + typeText->showOnTop(); + socialActivityVisual->typeTexts.push_back(typeText); + } + } + } // end for loop over all social activities in msg + + + // + // Second iteration over all social activities and member tracks, required for decluttering + // + ROS_ASSERT(msg->elements.size() == m_socialActivityVisuals.size()); + for(size_t i = 0; i < msg->elements.size(); i++) + { + const spencer_social_relation_msgs::SocialActivity& socialActivity = msg->elements[i]; + boost::shared_ptr socialActivityVisual = m_socialActivityVisuals[i]; + size_t maxIndexOfThisActivity = 0; + + for(size_t trackIndex = 0; trackIndex < socialActivity.track_ids.size(); trackIndex++) + { + const track_id trackId = socialActivity.track_ids[trackIndex]; + vector activitiesOfTrack(m_allActivitiesPerTrack[trackId]); + + // Sort to ensure consistency across multiple runs, even if msg->elements order changes + std::sort(activitiesOfTrack.begin(), activitiesOfTrack.end(), CompareActivityByType); + + for(size_t j = 0; j < activitiesOfTrack.size(); j++) { + if(activitiesOfTrack[j].type == socialActivityVisual->activityType) { + maxIndexOfThisActivity = std::max(maxIndexOfThisActivity, j); + break; + } + } + } + + socialActivityVisual->declutteringOffset = maxIndexOfThisActivity; // got it + } + + + // + // Create person visuals for all tracked persons (colored in color of activity with highest confidence) + // + set seenTrackIds; + foreach(const TrackedPersonsCache::CachedTrackedPersonsMap::value_type& entry, m_trackedPersonsCache.getMap()) { + const track_id trackId = entry.first; + const boost::shared_ptr trackedPerson = entry.second; + + PersonVisualContainer personVisualContainer; + if(m_personVisualMap.find(trackId) != m_personVisualMap.end()) { + personVisualContainer = m_personVisualMap[trackId]; + } + else { + personVisualContainer.trackId = trackId; + personVisualContainer.sceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); // This scene node is the parent of all visualization elements for the tracked person + } + + // Create new visual for the person itself, if needed + createPersonVisualIfRequired(personVisualContainer.sceneNode.get(), personVisualContainer.personVisual); + + const double personHeight = personVisualContainer.personVisual ? personVisualContainer.personVisual->getHeight() : 0; + const Ogre::Matrix3 covXYZinTargetFrame = covarianceXYZIntoTargetFrame(trackedPerson->pose); + setPoseOrientation(personVisualContainer.sceneNode.get(), trackedPerson->pose, covXYZinTargetFrame, personHeight); + + // Update walking animation if required + const Ogre::Vector3 velocityVector = getVelocityVector(trackedPerson->twist); + boost::shared_ptr meshPersonVisual = boost::dynamic_pointer_cast(personVisualContainer.personVisual); + if(meshPersonVisual) { + meshPersonVisual->setWalkingSpeed(velocityVector.length()); + } + + m_personVisualMap[trackId] = personVisualContainer; // to keep visuals alive across multiple frames, for walking animation + seenTrackIds.insert(trackId); + } + + // Delete obsolete track visuals of tracks that have disappeared + set trackIdsToDelete; + foreach(track_id trackId, m_personVisualMap | boost::adaptors::map_keys) { + if(seenTrackIds.find(trackId) == seenTrackIds.end()) trackIdsToDelete.insert(trackId); + } + foreach(track_id trackIdToDelete, trackIdsToDelete) { + m_personVisualMap.erase(trackIdToDelete); + } + + // + // Update all styles (colors etc. which can also be reconfigured at runtime, even if no new messages are received) + // + stylesChanged(); + + + // + // Update status (shown in property pane) + // + + ss.str(""); + ss << msg->elements.size() << " activities(s)"; + setStatusStd(rviz::StatusProperty::Ok, "Social activities", ss.str()); + + ss.str(""); + ss << numTracksWithUnknownPosition << " track(s) with unknown position"; + setStatusStd(0 == numTracksWithUnknownPosition ? rviz::StatusProperty::Ok : rviz::StatusProperty::Warn, "Track-to-activity assignment", ss.str()); +} + +} // end namespace spencer_tracking_rviz_plugin + +// Tell pluginlib about this class. It is important to do this in +// global scope, outside our package's namespace. +#include +PLUGINLIB_EXPORT_CLASS(spencer_tracking_rviz_plugin::SocialActivitiesDisplay, rviz::Display) diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_activities_display.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_activities_display.h new file mode 100755 index 0000000..9414e83 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_activities_display.h @@ -0,0 +1,167 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef SOCIAL_ACTIVITIES_DISPLAY_H +#define SOCIAL_ACTIVITIES_DISPLAY_H +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#endif +#include "person_display_common.h" +#include "tracked_persons_cache.h" + +namespace spencer_tracking_rviz_plugin +{ + typedef std::string activity_type; + + /// The display which can be added in RViz to display social activities. + class SocialActivitiesDisplay: public PersonDisplayCommon + { + Q_OBJECT + public: + // To determine, for persons involved in multiple social activities, their most likely one. + struct ActivityWithConfidence { + activity_type type; + float confidence; + }; + + // Constructor. pluginlib::ClassLoader creates instances by calling + // the default constructor, so make sure you have one. + SocialActivitiesDisplay() {}; + virtual ~SocialActivitiesDisplay(); + + // Overrides of protected virtual functions from Display. As much + // as possible, when Displays are not enabled, they should not be + // subscribed to incoming data and should not show anything in the + // 3D view. These functions are where these connections are made + // and broken. + + // Called after the constructors have run + virtual void onInitialize(); + + // Called periodically by the visualization manager + virtual void update(float wall_dt, float ros_dt); + + protected: + // A helper to clear this display back to the initial state. + virtual void reset(); + + // Must be implemented by derived classes because MOC doesn't work in templates + virtual rviz::DisplayContext* getContext() { + return context_; + } + + private: + struct SocialActivityVisual { + vector > socialActivityAssignmentCircles; + vector > connectionLines; + vector< boost::shared_ptr > typeTexts; + vector trackIds; + activity_type activityType; + float confidence; + geometry_msgs::Point socialActivityCenter; + size_t personCount; + size_t declutteringOffset; // for decluttering of labels etc. in case of multiple activities per track, e.g. 1 = shift label by 1 row + }; + + // Functions to handle an incoming ROS message. + void processMessage(const spencer_social_relation_msgs::SocialActivities::ConstPtr& msg); + + // Helper functions + void updateSocialActivityVisualStyles(boost::shared_ptr& groupVisual); + bool isActivityTypeHidden(activity_type activityType); + Ogre::ColourValue getActivityColor(activity_type activityType, float confidence); + + // Scene nodes + boost::shared_ptr m_socialActivitiesSceneNode; + + // User-editable property variables. + rviz::StringProperty* m_excluded_activity_types_property; + rviz::StringProperty* m_included_activity_types_property; + + rviz::BoolProperty* m_render_intraactivity_connections_property; + rviz::BoolProperty* m_render_activity_types_property; + rviz::BoolProperty* m_activity_type_per_track_property; + rviz::BoolProperty* m_render_confidences_property; + rviz::BoolProperty* m_render_circles_property; + rviz::BoolProperty* m_hide_with_no_activity_property; + + rviz::FloatProperty* m_occlusion_alpha_property; + rviz::FloatProperty* m_min_confidence_property; + rviz::FloatProperty* m_circle_radius_property; + rviz::FloatProperty* m_circle_alpha_property; + rviz::FloatProperty* m_line_width_property; + rviz::FloatProperty* m_activity_type_offset; // z offset of the group ID text + + rviz::Property* m_activity_colors; + rviz::ColorProperty* m_activity_color_none; + rviz::ColorProperty* m_activity_color_unknown; + rviz::ColorProperty* m_activity_color_shopping; + rviz::ColorProperty* m_activity_color_standing; + rviz::ColorProperty* m_activity_color_individual_moving; + rviz::ColorProperty* m_activity_color_waiting_in_queue; + rviz::ColorProperty* m_activity_color_looking_at_information_screen; + rviz::ColorProperty* m_activity_color_looking_at_kiosk; + rviz::ColorProperty* m_activity_color_group_assembling; + rviz::ColorProperty* m_activity_color_group_moving; + rviz::ColorProperty* m_activity_color_flow; + rviz::ColorProperty* m_activity_color_antiflow; + rviz::ColorProperty* m_activity_color_waiting_for_others; + rviz::ColorProperty* m_activity_color_looking_for_help; + + + // State variables + struct PersonVisualContainer { + boost::shared_ptr personVisual; + boost::shared_ptr sceneNode; + track_id trackId; + }; + + vector > m_socialActivityVisuals; + map m_personVisualMap; // to keep person visuals alive across multiple frames, for walking animation + + map m_highestConfidenceActivityPerTrack; // only highest-confidence activity per person + map > m_allActivitiesPerTrack; // all activities that a track is involved in + + set m_excludedActivityTypes, m_includedActivityTypes; + + Ogre::Matrix4 m_frameTransform; + TrackedPersonsCache m_trackedPersonsCache; + + private Q_SLOTS: + void personVisualTypeChanged(); + virtual void stylesChanged(); + }; + +} // end namespace spencer_tracking_rviz_plugin + +#endif // SOCIAL_ACTIVITIES_DISPLAY_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_relations_display.cpp b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_relations_display.cpp new file mode 100755 index 0000000..f38e44f --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_relations_display.cpp @@ -0,0 +1,167 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#include +#include +#include "rviz/selection/selection_manager.h" + +#ifndef Q_MOC_RUN +#include "social_relations_display.h" +#include +#endif +#define foreach BOOST_FOREACH + +namespace spencer_tracking_rviz_plugin +{ + +void SocialRelationsDisplay::onInitialize() +{ + m_trackedPersonsCache.initialize(this, context_, update_nh_); + PersonDisplayCommon::onInitialize(); + + m_relation_type_filter_property = new rviz::StringProperty( "Relation type filter", "", "Type of social relations to display (see \"type\" field in message). No wildcards allowed. Leave empty to allow any type of relation.", this, SLOT(stylesChanged())); + + m_positive_person_relation_threshold = new rviz::FloatProperty( "Positive relation threshold", 0.5, "Above which probability threshold a social relation between tracks is considered as positive", this, SLOT(stylesChanged())); + + m_positive_person_relations_color = new rviz::ColorProperty( "Positive relation color", QColor(0,255,0), "Color for positive track relations", this, SLOT(stylesChanged())); + m_negative_person_relations_color = new rviz::ColorProperty( "Negative relation color", QColor(255,0,0), "Color for negative track relations", this, SLOT(stylesChanged())); + + m_render_positive_person_relations_property = new rviz::BoolProperty( "Render positive relations", true, "Render positive person relations", this, SLOT(stylesChanged())); + m_render_negative_person_relations_property = new rviz::BoolProperty( "Render negative relations", false, "Render negative person relations", this, SLOT(stylesChanged())); + + // Create a scene node for visualizing social relations + m_socialRelationsSceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); +} + +SocialRelationsDisplay::~SocialRelationsDisplay() +{ +} + +// Clear the visuals by deleting their objects. +void SocialRelationsDisplay::reset() +{ + PersonDisplayCommon::reset(); + m_trackedPersonsCache.reset(); + m_relationVisuals.clear(); +} + +void SocialRelationsDisplay::processMessage(const spencer_social_relation_msgs::SocialRelations::ConstPtr& msg) +{ + // Get transforms into fixed frame etc. + if(!preprocessMessage(msg)) return; + + // Loop over all social relations between tracks + m_relationVisuals.clear(); + m_socialRelationsSceneNode->removeAndDestroyAllChildren(); + + foreach(const spencer_social_relation_msgs::SocialRelation& socialRelation, msg->elements) + { + boost::shared_ptr personTrack1 = m_trackedPersonsCache.lookup(socialRelation.track1_id); + boost::shared_ptr personTrack2 = m_trackedPersonsCache.lookup(socialRelation.track2_id); + + // Cannot draw relations for tracks with unknown position + if(!personTrack1 || !personTrack2) continue; + + // Create a new visual representation of the tracked person + boost::shared_ptr relationVisual = boost::shared_ptr(new RelationVisual); + relationVisual->type = socialRelation.type; + relationVisual->relationStrength = socialRelation.strength; + m_relationVisuals.push_back(relationVisual); + + // Get positions. These are already in fixed frame coordinates! + const Ogre::Vector3 verticalShift(0,0, 1.0 + m_commonProperties->z_offset->getFloat()), textShift(0,0, 0.3); + const Ogre::Vector3& position1 = verticalShift + personTrack1->center; + const Ogre::Vector3& position2 = verticalShift + personTrack2->center; + const Ogre::Vector3& centerPosition = (position1 + position2) / 2.0; + + // Add line connecting the two tracks + boost::shared_ptr relationLine(new rviz::BillboardLine(context_->getSceneManager(), m_socialRelationsSceneNode.get())); + relationLine->setMaxPointsPerLine(2); + relationLine->addPoint(position1); + relationLine->addPoint(position2); + relationVisual->relationLine = relationLine; + + // Add relationship strength text + stringstream ss; + boost::shared_ptr relationText(new TextNode(context_->getSceneManager(), m_socialRelationsSceneNode.get())); + ss.str(""); ss << std::fixed << std::setprecision(0) << socialRelation.strength * 100 << "%"; + relationText->setCaption(ss.str()); + relationText->setPosition(centerPosition + textShift); + relationText->showOnTop(); + relationVisual->relationText = relationText; + + // Remember to which groups the tracks belong, to be able to hide certain groups and their track-to-track relations + relationVisual->trackId1 = socialRelation.track1_id; + relationVisual->trackId2 = socialRelation.track2_id; + + // Update adjustable styles + updateRelationVisualStyles(relationVisual); + } +} + +void SocialRelationsDisplay::stylesChanged() +{ + foreach(boost::shared_ptr relationVisual, m_relationVisuals) { + updateRelationVisualStyles(relationVisual); + } +} + +void SocialRelationsDisplay::updateRelationVisualStyles(boost::shared_ptr& relationVisual) +{ + std::string typeFilter = m_relation_type_filter_property->getStdString(); + bool validRelationType = relationVisual->type.find(typeFilter) != std::string::npos; + bool hideRelation = !validRelationType || isPersonHidden(relationVisual->trackId1) || isPersonHidden(relationVisual->trackId2); + + // Determine type of the relationship + bool isPositiveRelation = relationVisual->relationStrength > m_positive_person_relation_threshold->getFloat(); + + // Get color + Ogre::ColourValue relationColor = isPositiveRelation ? m_positive_person_relations_color->getOgreColor() : m_negative_person_relations_color->getOgreColor(); + relationColor.a *= m_commonProperties->alpha->getFloat(); // general alpha + if(hideRelation) relationColor.a = 0; + + if(isPositiveRelation && !m_render_positive_person_relations_property->getBool()) relationColor.a = 0; + if(!isPositiveRelation && !m_render_negative_person_relations_property->getBool()) relationColor.a = 0; + + + relationVisual->relationLine->setLineWidth(0.03 * (isPositiveRelation ? 1.0 : 0.3)); + relationVisual->relationLine->setColor(relationColor.r, relationColor.g, relationColor.b, relationColor.a); + + relationVisual->relationText->setCharacterHeight(0.15 * m_commonProperties->font_scale->getFloat()); + relationVisual->relationText->setColor(relationColor); +} + + +} // end namespace spencer_tracking_rviz_plugin + +// Tell pluginlib about this class. It is important to do this in +// global scope, outside our package's namespace. +#include +PLUGINLIB_EXPORT_CLASS(spencer_tracking_rviz_plugin::SocialRelationsDisplay, rviz::Display) diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_relations_display.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_relations_display.h new file mode 100755 index 0000000..48e53cc --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/social_relations_display.h @@ -0,0 +1,108 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef SOCIAL_RELATIONS_DISPLAY_H +#define SOCIAL_RELATIONS_DISPLAY_H + +#ifndef Q_MOC_RUN +#include +#include "person_display_common.h" +#include "tracked_persons_cache.h" +#endif + +namespace spencer_tracking_rviz_plugin +{ + /// The display which can be added in RViz to display social relations. + class SocialRelationsDisplay: public PersonDisplayCommon + { + Q_OBJECT + public: + // Constructor. pluginlib::ClassLoader creates instances by calling + // the default constructor, so make sure you have one. + SocialRelationsDisplay() {}; + virtual ~SocialRelationsDisplay(); + + // Overrides of protected virtual functions from Display. As much + // as possible, when Displays are not enabled, they should not be + // subscribed to incoming data and should not show anything in the + // 3D view. These functions are where these connections are made + // and broken. + + // Called after the constructors have run + virtual void onInitialize(); + + protected: + // A helper to clear this display back to the initial state. + virtual void reset(); + + // Must be implemented by derived classes because MOC doesn't work in templates + virtual rviz::DisplayContext* getContext() { + return context_; + } + + private: + struct RelationVisual { + std::string type; + double relationStrength; + boost::shared_ptr relationLine; + boost::shared_ptr relationText; + track_id trackId1, trackId2; // required to hide certain tracks + }; + + // Functions to handle an incoming ROS message. + void processMessage(const spencer_social_relation_msgs::SocialRelations::ConstPtr& msg); + + // Helper functions + void updateRelationVisualStyles(boost::shared_ptr& relationVisual); + + // Scene node for group affiliation history visualization + boost::shared_ptr m_socialRelationsSceneNode; + + // User-editable property variables. + rviz::StringProperty* m_relation_type_filter_property; + + rviz::BoolProperty* m_render_positive_person_relations_property; + rviz::BoolProperty* m_render_negative_person_relations_property; + + rviz::FloatProperty* m_positive_person_relation_threshold; + rviz::ColorProperty* m_positive_person_relations_color; + rviz::ColorProperty* m_negative_person_relations_color; + + // State variables + vector > m_relationVisuals; + TrackedPersonsCache m_trackedPersonsCache; + + private Q_SLOTS: + virtual void stylesChanged(); + }; + +} // end namespace spencer_tracking_rviz_plugin + +#endif // SOCIAL_RELATIONS_DISPLAY_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_groups_display.cpp b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_groups_display.cpp new file mode 100755 index 0000000..160c54f --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_groups_display.cpp @@ -0,0 +1,405 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#include +#include +#include "rviz/selection/selection_manager.h" + +#include "tracked_groups_display.h" +#ifndef Q_MOC_RUN +#include +#include +#include +#endif +#define foreach BOOST_FOREACH + +namespace spencer_tracking_rviz_plugin +{ + +void TrackedGroupsDisplay::onInitialize() +{ + m_realFixedFrame = "map"; + + m_trackedPersonsCache.initialize(this, context_, update_nh_); + PersonDisplayCommon::onInitialize(); + + QObject::connect(m_commonProperties->style, SIGNAL(changed()), this, SLOT(personVisualTypeChanged()) ); + + m_excluded_group_ids_property = new rviz::StringProperty( "Excluded group IDs", "", "Comma-separated list of group IDs whose group visualization should be hidden", this, SLOT(stylesChanged()) ); + m_included_group_ids_property = new rviz::StringProperty( "Included group IDs", "", "Comma-separated list of group IDs whose group visualization should be visible, overrides excluded", this, SLOT(stylesChanged()) ); + + m_render_intragroup_connections_property = new rviz::BoolProperty( "Connect group members", true, "Connect all members of a group by lines", this, SLOT(stylesChanged())); + m_render_ids_property = new rviz::BoolProperty( "Render group IDs", true, "Render group IDs as text", this, SLOT(stylesChanged())); + m_render_history_property = new rviz::BoolProperty( "Render history", false, "Render group affiliation history", this, SLOT(stylesChanged())); + + m_single_person_groups_in_constant_color_property = new rviz::BoolProperty( "Single-person groups in constant color", true, "Render single-person groups in constant color", this, SLOT(stylesChanged())); + m_hide_ids_of_single_person_groups_property = new rviz::BoolProperty( "Hide IDs of single-person groups", false, "Hide IDs of single-person groups", m_render_ids_property, SLOT(stylesChanged()), this); + + m_history_length_property = new rviz::IntProperty( "Global history size", 1000, "Global number of group affiliation history entries to display.", this, SLOT(stylesChanged())); + m_history_length_property->setMin( 1 ); + m_history_length_property->setMax( 10000000 ); + + m_occlusion_alpha_property = new rviz::FloatProperty( "Occlusion alpha", 0.5, "Alpha multiplier for history of occluded tracks", this, SLOT(stylesChanged()) ); + m_occlusion_alpha_property->setMin( 0.0 ); + + m_group_id_offset = new rviz::FloatProperty( "Group ID Z offset", 2.0, "Offset in z position (height) of the group ID text", this, SLOT(stylesChanged()) ); + + // Create a scene node for visualizing group affiliation history + m_groupAffiliationHistorySceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); + m_groupsSceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); +} + +TrackedGroupsDisplay::~TrackedGroupsDisplay() +{ +} + +// Clear the visuals by deleting their objects. +void TrackedGroupsDisplay::reset() +{ + PersonDisplayCommon::reset(); + m_trackedPersonsCache.reset(); + m_groupVisuals.clear(); + m_groupAffiliationHistory.clear(); + m_groupAffiliations.clear(); +} + +void TrackedGroupsDisplay::update(float wall_dt, float ros_dt) +{ + // Move map scene node + Ogre::Vector3 mapFramePosition; Ogre::Quaternion mapFrameOrientation; + getContext()->getFrameManager()->getTransform(m_realFixedFrame, ros::Time(0), mapFramePosition, mapFrameOrientation); + Ogre::Matrix4 mapFrameTransform(mapFrameOrientation); mapFrameTransform.setTrans(mapFramePosition); + m_groupAffiliationHistorySceneNode->setPosition(mapFramePosition); + m_groupAffiliationHistorySceneNode->setOrientation(mapFrameOrientation); +} + +bool TrackedGroupsDisplay::isGroupHidden(group_id groupId) { + bool isIncluded = m_includedGroupIDs.find(groupId) != m_includedGroupIDs.end(); + if(isIncluded) return false; + if(!m_includedGroupIDs.empty()) return true; + + return m_excludedGroupIDs.find(groupId) != m_excludedGroupIDs.end(); +} + +void TrackedGroupsDisplay::stylesChanged() +{ + // Get list of group IDs belonging to tracks that shall be hidden or visible + m_excludedGroupIDs.clear(); + { + string groupIDString = m_excluded_group_ids_property->getStdString(); + char_separator separator(","); + tokenizer< char_separator > tokens(groupIDString, separator); + foreach(const string& token, tokens) { + try { m_excludedGroupIDs.insert(lexical_cast(token)); } + catch(bad_lexical_cast &) {} + } + } + m_includedGroupIDs.clear(); + { + string groupIDString = m_included_group_ids_property->getStdString(); + char_separator separator(","); + tokenizer< char_separator > tokens(groupIDString, separator); + foreach(const string& token, tokens) { + try { m_includedGroupIDs.insert(lexical_cast(token)); } + catch(bad_lexical_cast &) {} + } + } + + foreach(boost::shared_ptr groupVisual, m_groupVisuals) { + updateGroupVisualStyles(groupVisual); + } + + // Update history size + m_groupAffiliationHistory.rset_capacity(m_history_length_property->getInt()); + + // Update history color etc. + updateHistoryStyles(); +} + + +// Set the rendering style (cylinders, meshes, ...) of tracked persons +void TrackedGroupsDisplay::personVisualTypeChanged() +{ + foreach(boost::shared_ptr groupVisual, m_groupVisuals) { + foreach(boost::shared_ptr& personVisual, groupVisual->personVisuals) { + Ogre::SceneNode* parentSceneNode = personVisual->getParentSceneNode(); + personVisual.reset(); + createPersonVisualIfRequired(parentSceneNode, personVisual); + } + } + stylesChanged(); +} + +void TrackedGroupsDisplay::updateGroupVisualStyles(boost::shared_ptr& groupVisual) +{ + bool hideGroup = isGroupHidden(groupVisual->groupId); + + // Apply current group color + Ogre::ColourValue groupColor = m_commonProperties->constant_color->getOgreColor(); + + if(groupVisual->personCount > 1 || !m_single_person_groups_in_constant_color_property->getBool()) { + groupColor = getColorFromId(groupVisual->groupId); + } + + groupColor.a *= m_commonProperties->alpha->getFloat(); // general alpha + if(hideGroup) groupColor.a = 0; + + foreach(boost::shared_ptr groupAssignmentCircle, groupVisual->groupAssignmentCircles) { + groupAssignmentCircle->setColor(groupColor.r, groupColor.g, groupColor.b, groupColor.a); + } + + foreach(boost::shared_ptr& personVisual, groupVisual->personVisuals) { + if(personVisual) { + // Update common styles to person visual, such as line width + applyCommonStyles(personVisual); + + personVisual->setColor(groupColor); + } + } + + double connectionLineVisibilityAlpha = m_render_intragroup_connections_property->getBool() ? 1.0 : 0.0; + foreach(boost::shared_ptr connectionLine, groupVisual->connectionLines) { + connectionLine->setColor(groupColor.r, groupColor.g, groupColor.b, groupColor.a * connectionLineVisibilityAlpha); + connectionLine->setLineWidth(0.05); + } + + // Update text colors, size and visibility + Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? m_commonProperties->constant_font_color->getOgreColor() : groupColor; + fontColor.a = m_commonProperties->alpha->getFloat(); + if(hideGroup) fontColor.a = 0; + bool groupIdVisible = groupVisual->personCount > 1 ? true : !m_hide_ids_of_single_person_groups_property->getBool(); + groupVisual->idText->setVisible(m_render_ids_property->getBool() && groupIdVisible); + groupVisual->idText->setCharacterHeight(0.23 * m_commonProperties->font_scale->getFloat()); + groupVisual->idText->setColor(fontColor); + groupVisual->idText->setPosition(m_frameTransform * Ogre::Vector3( + groupVisual->groupCenter.x, + groupVisual->groupCenter.y, + groupVisual->groupCenter.z + m_group_id_offset->getFloat() + m_commonProperties->z_offset->getFloat())); +} + +void TrackedGroupsDisplay::updateHistoryStyles() +{ + const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ); + foreach(boost::shared_ptr groupAffiliationHistoryEntry, m_groupAffiliationHistory) { + bool hideGroup = isGroupHidden(groupAffiliationHistoryEntry->groupId); + const double historyShapeDiameter = 0.1; + + Ogre::ColourValue historyColor = m_commonProperties->constant_color->getOgreColor(); + + if(!groupAffiliationHistoryEntry->wasSinglePersonGroup || !m_single_person_groups_in_constant_color_property->getBool()) { + historyColor = getColorFromId(groupAffiliationHistoryEntry->groupId); + } + + + historyColor.a = m_commonProperties->alpha->getFloat(); + + if(groupAffiliationHistoryEntry->wasOccluded) historyColor.a *= m_occlusion_alpha_property->getFloat(); + if(hideGroup) historyColor.a = 0; + if(!m_render_history_property->getBool()) historyColor.a = 0; + + groupAffiliationHistoryEntry->shape->setColor(historyColor); + groupAffiliationHistoryEntry->shape->setScale(shapeQuaternion * Ogre::Vector3(historyShapeDiameter, historyShapeDiameter, 0.05)); + } +} + +// This is our callback to handle an incoming group message. +void TrackedGroupsDisplay::processMessage(const spencer_tracking_msgs::TrackedGroups::ConstPtr& msg) +{ + // Get transforms into fixed frame etc. + if(!preprocessMessage(msg)) return; + + // Transform from map/odometry frame into fixed frame, required to display track history if the fixed frame is not really "fixed" (e.g. base_link) + Ogre::Vector3 mapFramePosition; Ogre::Quaternion mapFrameOrientation; + getContext()->getFrameManager()->getTransform(m_realFixedFrame, msg->header.stamp, mapFramePosition, mapFrameOrientation); + Ogre::Matrix4 mapFrameTransform(mapFrameOrientation); mapFrameTransform.setTrans(mapFramePosition); + + // Transform into Rviz fixed frame + m_frameTransform = Ogre::Matrix4(m_frameOrientation); + m_frameTransform.setTrans(m_framePosition); + + const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ); // required to fix orientation of any Cylinder shapes + stringstream ss; + + // Clear previous visualization + m_groupVisuals.clear(); + m_groupsSceneNode->removeAndDestroyAllChildren(); + + unsigned int numTracksWithUnknownPosition = 0; + m_groupAffiliations.clear(); + + // + // Iterate over all groups in this message + // + foreach (const spencer_tracking_msgs::TrackedGroup& trackedGroup, msg->groups) + { + // Create a new visual representation of the tracked group + boost::shared_ptr groupVisual = boost::shared_ptr(new GroupVisual); + groupVisual->groupId = trackedGroup.group_id; + groupVisual->personCount = trackedGroup.track_ids.size(); + m_groupVisuals.push_back(groupVisual); + + // + // Group visualization circles, person visuals (if enabled) + connections between group members + // + + for(size_t trackIndex = 0; trackIndex < trackedGroup.track_ids.size(); trackIndex++) + { + const track_id trackId = trackedGroup.track_ids[trackIndex]; + boost::shared_ptr trackedPerson = m_trackedPersonsCache.lookup(trackId); + + // Get current track position + if(!trackedPerson) { + numTracksWithUnknownPosition++; + } + else + { + Ogre::Vector3 trackCenterAtGroundPlane(trackedPerson->center.x, trackedPerson->center.y, m_commonProperties->z_offset->getFloat()); + + m_groupAffiliations[trackId] = trackedGroup.group_id; // required to hide certain groups later on + + + // + // Group visualization circles (below tracks) + // + + const double groupAssignmentCircleHeight = 0; + const double groupAssignmentCircleDiameter = 0.9; + boost::shared_ptr groupAssignmentCircle = boost::shared_ptr(new rviz::Shape(rviz::Shape::Cylinder, context_->getSceneManager(), m_groupsSceneNode.get())); + + groupAssignmentCircle->setScale(shapeQuaternion * Ogre::Vector3(groupAssignmentCircleDiameter, groupAssignmentCircleDiameter, groupAssignmentCircleHeight)); + groupAssignmentCircle->setOrientation(shapeQuaternion); + + Ogre::Vector3 groupAssignmentCirclePos = trackCenterAtGroundPlane + Ogre::Vector3(0, 0, -0.5*groupAssignmentCircleHeight - 0.01); + groupAssignmentCircle->setPosition(groupAssignmentCirclePos); + + groupVisual->groupAssignmentCircles.push_back(groupAssignmentCircle); + + + // + // Person visuals (colored in group color) + // + + // This scene node is the parent of all visualization elements for the tracked person + boost::shared_ptr sceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); + groupVisual->personVisualSceneNodes.push_back(sceneNode); + + // Create new visual for the person itself, if needed + boost::shared_ptr personVisual; + createPersonVisualIfRequired(sceneNode.get(), personVisual); + groupVisual->personVisuals.push_back(personVisual); + + const double personHeight = personVisual ? personVisual->getHeight() : 0; + const Ogre::Matrix3 covXYZinTargetFrame = covarianceXYZIntoTargetFrame(trackedPerson->pose); + setPoseOrientation(sceneNode.get(), trackedPerson->pose, covXYZinTargetFrame, personHeight); + + + // + // Intra-group connections + // + + // Iterate over all neighbouring group tracks to render intra-group connections + for(size_t otherTrackIndex = trackIndex + 1; otherTrackIndex < trackedGroup.track_ids.size(); otherTrackIndex++) + { + const track_id otherTrackId = trackedGroup.track_ids[otherTrackIndex]; + boost::shared_ptr otherTrackedPerson = m_trackedPersonsCache.lookup(otherTrackId); + + // Get other track's position + if(otherTrackedPerson) { + // Get positions. These are already in fixed frame coordinates! + const Ogre::Vector3 verticalShift(0,0, 0.5 + m_commonProperties->z_offset->getFloat()); + const Ogre::Vector3& position1 = verticalShift + trackedPerson->center; + const Ogre::Vector3& position2 = verticalShift + otherTrackedPerson->center; + + // Add line connecting the two tracks + boost::shared_ptr connectionLine(new rviz::BillboardLine(context_->getSceneManager(), m_groupsSceneNode.get())); + connectionLine->setMaxPointsPerLine(2); + connectionLine->addPoint(position1); + connectionLine->addPoint(position2); + groupVisual->connectionLines.push_back(connectionLine); + } + } // end loop over neighbouring group tracks + + + // + // Group affiliation history + // + + boost::shared_ptr newHistoryEntry(new GroupAffiliationHistoryEntry); + newHistoryEntry->shape = boost::shared_ptr(new rviz::Shape(rviz::Shape::Cylinder, context_->getSceneManager(), m_groupAffiliationHistorySceneNode.get())); + newHistoryEntry->shape->setPosition(mapFrameTransform.inverse() * trackCenterAtGroundPlane); + newHistoryEntry->shape->setOrientation(shapeQuaternion); + newHistoryEntry->wasOccluded = trackedPerson->isOccluded; + newHistoryEntry->wasSinglePersonGroup = trackedGroup.track_ids.size() <= 1; + newHistoryEntry->groupId = trackedGroup.group_id; + m_groupAffiliationHistory.push_back(newHistoryEntry); + + + } // end if track found + } // end for loop over tracks + + + // + // Texts + // + const geometry_msgs::Point& groupCenter = trackedGroup.centerOfGravity.pose.position; + groupVisual->groupCenter = groupCenter; + + // Group ID + boost::shared_ptr idText(new TextNode(context_->getSceneManager(), m_groupsSceneNode.get())); + ss.str(""); ss << "group " << trackedGroup.group_id; + idText->setCaption(ss.str()); + idText->showOnTop(); + groupVisual->idText = idText; + + // Set adjustable styles such as color etc. + updateGroupVisualStyles(groupVisual); + updateHistoryStyles(); + } // end for loop over all tracked groups + + + // + // Update status (shown in property pane) + // + + ss.str(""); + ss << msg->groups.size() << " group(s)"; + setStatusStd(rviz::StatusProperty::Ok, "Groups", ss.str()); + + ss.str(""); + ss << numTracksWithUnknownPosition << " track(s) with unknown position"; + setStatusStd(0 == numTracksWithUnknownPosition ? rviz::StatusProperty::Ok : rviz::StatusProperty::Warn, "Track-to-group assignment", ss.str()); +} + +} // end namespace spencer_tracking_rviz_plugin + +// Tell pluginlib about this class. It is important to do this in +// global scope, outside our package's namespace. +#include +PLUGINLIB_EXPORT_CLASS(spencer_tracking_rviz_plugin::TrackedGroupsDisplay, rviz::Display) diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_groups_display.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_groups_display.h new file mode 100755 index 0000000..88c606d --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_groups_display.h @@ -0,0 +1,146 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef TRACKED_GROUPS_DISPLAY_H +#define TRACKED_GROUPS_DISPLAY_H + +#ifndef Q_MOC_RUN +#include +#include +#endif +#include + +#include "person_display_common.h" +#include "tracked_persons_cache.h" + +namespace spencer_tracking_rviz_plugin +{ + typedef unsigned int group_id; + + /// A single entry in the history of a tracked person, to show group affiliation. + struct GroupAffiliationHistoryEntry + { + group_id groupId; + boost::shared_ptr shape; + bool wasOccluded, wasSinglePersonGroup; + }; + + /// History of a tracked person. + typedef circular_buffer > GroupAffiliationHistory; + + /// The display which can be added in RViz to display tracked groups. + class TrackedGroupsDisplay: public PersonDisplayCommon + { + Q_OBJECT + public: + // Constructor. pluginlib::ClassLoader creates instances by calling + // the default constructor, so make sure you have one. + TrackedGroupsDisplay() {}; + virtual ~TrackedGroupsDisplay(); + + // Overrides of protected virtual functions from Display. As much + // as possible, when Displays are not enabled, they should not be + // subscribed to incoming data and should not show anything in the + // 3D view. These functions are where these connections are made + // and broken. + + // Called after the constructors have run + virtual void onInitialize(); + + // Called periodically by the visualization manager + virtual void update(float wall_dt, float ros_dt); + + protected: + // A helper to clear this display back to the initial state. + virtual void reset(); + + // Must be implemented by derived classes because MOC doesn't work in templates + virtual rviz::DisplayContext* getContext() { + return context_; + } + + private: + struct GroupVisual { + vector > groupAssignmentCircles; + vector > personVisuals; + vector > personVisualSceneNodes; + vector > connectionLines; + boost::shared_ptr idText; + group_id groupId; + geometry_msgs::Point groupCenter; + size_t personCount; + }; + + // Functions to handle an incoming ROS message. + void processMessage(const spencer_tracking_msgs::TrackedGroups::ConstPtr& msg); + + // Helper functions + void updateGroupVisualStyles(boost::shared_ptr& groupVisual); + void updateHistoryStyles(); + bool isGroupHidden(group_id groupId); + + // Scene node for group affiliation history visualization + boost::shared_ptr m_groupAffiliationHistorySceneNode, m_groupsSceneNode; + + std::string m_realFixedFrame; + + // User-editable property variables. + rviz::StringProperty* m_excluded_group_ids_property; + rviz::StringProperty* m_included_group_ids_property; + + rviz::BoolProperty* m_render_intragroup_connections_property; + rviz::BoolProperty* m_render_ids_property; + rviz::BoolProperty* m_render_history_property; + rviz::BoolProperty* m_single_person_groups_in_constant_color_property; + rviz::BoolProperty* m_hide_ids_of_single_person_groups_property; + + rviz::IntProperty* m_history_length_property; + + rviz::FloatProperty* m_occlusion_alpha_property; + rviz::FloatProperty* m_group_id_offset; // z offset of the group ID text + + // State variables + vector > m_groupVisuals; + + map m_groupAffiliations; + GroupAffiliationHistory m_groupAffiliationHistory; + set m_excludedGroupIDs, m_includedGroupIDs; + + Ogre::Matrix4 m_frameTransform; + TrackedPersonsCache m_trackedPersonsCache; + + private Q_SLOTS: + void personVisualTypeChanged(); + virtual void stylesChanged(); + }; + +} // end namespace spencer_tracking_rviz_plugin + +#endif // TRACKED_GROUPS_DISPLAY_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_cache.cpp b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_cache.cpp new file mode 100755 index 0000000..df8d734 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_cache.cpp @@ -0,0 +1,98 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#include "tracked_persons_cache.h" + +#ifndef Q_MOC_RUN +#include +#include +#endif +#define foreach BOOST_FOREACH + + +namespace spencer_tracking_rviz_plugin +{ + +TrackedPersonsCache::~TrackedPersonsCache() +{ + m_cachedTrackedPersons.clear(); + delete m_tracked_person_subscriber; +} + +void TrackedPersonsCache::initialize(rviz::Display* display, rviz::DisplayContext* context, ros::NodeHandle update_nh) +{ + m_display = display; + m_context = context; + + m_tracked_person_subscriber = new rviz::AdditionalTopicSubscriber("Tracked persons topic", display, context, update_nh, + boost::bind(&TrackedPersonsCache::processTrackedPersonsMessage, this, _1)); +} + +void TrackedPersonsCache::reset() +{ + m_cachedTrackedPersons.clear(); +} + +const boost::shared_ptr TrackedPersonsCache::lookup(track_id trackId) +{ + CachedTrackedPersonsMap::const_iterator entry = m_cachedTrackedPersons.find(trackId); + if(entry == m_cachedTrackedPersons.end()) return boost::shared_ptr(); + else return entry->second; +} + +void TrackedPersonsCache::processTrackedPersonsMessage(const spencer_tracking_msgs::TrackedPersons::ConstPtr& msg) +{ + // Get transform of person tracks into fixed frame + Ogre::Vector3 frameOrigin; Ogre::Quaternion frameOrientation; + m_context->getFrameManager()->getTransform(msg->header, frameOrigin, frameOrientation); + Ogre::Matrix4 transform(frameOrientation); + transform.setTrans(frameOrigin); + + // Now iterate over all tracks and store their positions + m_cachedTrackedPersons.clear(); + foreach(spencer_tracking_msgs::TrackedPerson trackedPerson, msg->tracks) + { + m_cachedTrackedPersons[trackedPerson.track_id] = boost::shared_ptr(new CachedTrackedPerson); + CachedTrackedPerson& cachedTrackedPerson = *m_cachedTrackedPersons[trackedPerson.track_id]; + + const geometry_msgs::Point& position = trackedPerson.pose.pose.position; + cachedTrackedPerson.center = transform * Ogre::Vector3(position.x, position.y, position.z); + cachedTrackedPerson.pose = trackedPerson.pose; + cachedTrackedPerson.twist = trackedPerson.twist; + cachedTrackedPerson.isOccluded = trackedPerson.is_occluded; + } + + std::stringstream ss; + ss << msg->tracks.size() << " track(s)"; + m_display->setStatusStd(rviz::StatusProperty::Ok, "Tracks", ss.str()); +} + + +} // end namespace spencer_tracking_rviz_plugin diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_cache.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_cache.h new file mode 100755 index 0000000..55f641c --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_cache.h @@ -0,0 +1,93 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef TRACKED_PERSONS_CACHE_H +#define TRACKED_PERSONS_CACHE_H + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#endif +#include "additional_topic_subscriber.h" + +namespace spencer_tracking_rviz_plugin +{ + typedef unsigned int track_id; + + /// Data structure for storing information about individual person tracks + struct CachedTrackedPerson + { + Ogre::Vector3 center; + geometry_msgs::PoseWithCovariance pose; + geometry_msgs::TwistWithCovariance twist; + bool isOccluded; + }; + + /// Subscribes to a TrackedPersons topic and caches all TrackedPersons of the current cycle, so that + /// the owning rviz::Display can look up track positions etc for visualization. + class TrackedPersonsCache { + public: + typedef std::map > CachedTrackedPersonsMap; + + // Destructor + ~TrackedPersonsCache(); + + /// Create TrackedPersons subscriber and setup RViz properties. + void initialize(rviz::Display* display, rviz::DisplayContext* context, ros::NodeHandle update_nh); + + /// Clear internal state, including all cached track positions. + void reset(); + + /// Lookup information for the given tracked person ID. Returns a null pointer if no information is available. + const boost::shared_ptr lookup(track_id trackId); + + /// Return internal map + const CachedTrackedPersonsMap& getMap() { + return m_cachedTrackedPersons; + } + + private: + // Callback when a new TrackedPersons message has arrived + void processTrackedPersonsMessage(const spencer_tracking_msgs::TrackedPersons::ConstPtr& msg); + + rviz::AdditionalTopicSubscriber* m_tracked_person_subscriber; + rviz::Display* m_display; + rviz::DisplayContext* m_context; + + // Our TrackedPerson memory + CachedTrackedPersonsMap m_cachedTrackedPersons; + }; + + +} + +#endif // TRACKED_PERSONS_CACHE_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_display.cpp b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_display.cpp new file mode 100755 index 0000000..711bbf6 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_display.cpp @@ -0,0 +1,608 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef Q_MOC_RUN +#include +#include +#include "rviz/selection/selection_manager.h" +#include "tracked_persons_display.h" +#include +#include +#include +#endif +#define foreach BOOST_FOREACH + +namespace spencer_tracking_rviz_plugin +{ +// The constructor must have no arguments, so we can't give the +// constructor the parameters it needs to fully initialize. +void TrackedPersonsDisplay::onInitialize() +{ + PersonDisplayCommon::onInitialize(); + + m_realFixedFrame = "odom"; + QObject::connect(m_commonProperties->style, SIGNAL(changed()), this, SLOT(personVisualTypeChanged())); + + m_occlusion_alpha_property = new rviz::FloatProperty("Occlusion alpha", 0.3, "Alpha multiplier for occluded tracks", + this, SLOT(stylesChanged())); + m_occlusion_alpha_property->setMin(0.0); + + m_missed_alpha_property = + new rviz::FloatProperty("Missed alpha", 0.5, "Alpha multiplier for missed tracks", this, SLOT(stylesChanged())); + m_missed_alpha_property->setMin(0.0); + + m_history_length_property = new rviz::IntProperty("History size", 100, "Number of prior track positions to display.", + this, SLOT(stylesChanged())); + m_history_length_property->setMin(1); + m_history_length_property->setMax(10000000); + + m_delete_after_ncycles_property = new rviz::IntProperty("Delete after no. cycles", 100, + "After how many time steps to delete an old track that has " + "not been seen again, including its history", + this, SLOT(stylesChanged())); + m_delete_after_ncycles_property->setMin(0); + m_delete_after_ncycles_property->setMax(10000000); + + m_show_deleted_property = new rviz::BoolProperty( + "Show DELETED tracks", false, "Show tracks which have been marked as deleted", this, SLOT(stylesChanged())); + m_show_occluded_property = new rviz::BoolProperty("Show OCCLUDED tracks", true, + "Show tracks which could not be matched to an detection due to " + "sensor occlusion", + this, SLOT(stylesChanged())); + m_show_missed_property = new rviz::BoolProperty("Show MISSED tracks", true, + "Show tracks which could not be matched to an detection but should " + "be observable by the sensor", + this, SLOT(stylesChanged())); + m_show_matched_property = new rviz::BoolProperty( + "Show MATCHED tracks", true, "Show tracks which could be matched to an detection", this, SLOT(stylesChanged())); + + m_render_history_property = + new rviz::BoolProperty("Render history", true, "Render prior track positions", this, SLOT(stylesChanged())); + m_render_history_as_line_property = new rviz::BoolProperty( + "History as line", true, "Display history as line instead of dots", this, SLOT(stylesChanged())); + m_render_person_property = + new rviz::BoolProperty("Render person visual", true, "Render person visualization", this, SLOT(stylesChanged())); + m_render_covariances_property = new rviz::BoolProperty("Render covariances", true, "Render track covariance ellipses", + this, SLOT(stylesChanged())); + m_render_velocities_property = + new rviz::BoolProperty("Render velocities", true, "Render track velocity arrows", this, SLOT(stylesChanged())); + m_render_ids_property = + new rviz::BoolProperty("Render track IDs", true, "Render track IDs as text", this, SLOT(stylesChanged())); + m_render_detection_ids_property = new rviz::BoolProperty("Render detection IDs", true, + "Render IDs of the detection that a track was matched " + "against, if any", + this, SLOT(stylesChanged())); + m_render_track_state_property = + new rviz::BoolProperty("Render track state", true, "Render track state text", this, SLOT(stylesChanged())); + + m_history_min_point_distance_property = new rviz::FloatProperty("Min. history point distance", 0.4, + "Minimum distance between history points before a " + "new one is placed", + this, SLOT(stylesChanged())); + m_history_line_width_property = new rviz::FloatProperty( + "Line width", 0.05, "Line width of history", m_render_history_as_line_property, SLOT(stylesChanged()), this); + m_covariance_line_width_property = + new rviz::FloatProperty("Line width", 0.1, "Line width of covariance ellipses", m_render_covariances_property, + SLOT(stylesChanged()), this); + + // TODO: Implement functionality + // m_render_state_prediction_property = new rviz::BoolProperty( "Render state prediction", true, "Render state + // prediction from Kalman filter", this, SLOT( updateRenderFlags() )); + + // Create a scene node for visualizing track history + m_trackHistorySceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); +} + +TrackedPersonsDisplay::~TrackedPersonsDisplay() +{ + m_cachedTracks.clear(); +} + +// Clear the visuals by deleting their objects. +void TrackedPersonsDisplay::reset() +{ + PersonDisplayCommon::reset(); + m_cachedTracks.clear(); +} + +void TrackedPersonsDisplay::update(float wall_dt, float ros_dt) +{ + // Move map scene node + Ogre::Vector3 mapFramePosition; + Ogre::Quaternion mapFrameOrientation; + getContext()->getFrameManager()->getTransform(m_realFixedFrame, ros::Time(0), mapFramePosition, mapFrameOrientation); + Ogre::Matrix4 mapFrameTransform(mapFrameOrientation); + mapFrameTransform.setTrans(mapFramePosition); + m_trackHistorySceneNode->setPosition(mapFramePosition); + m_trackHistorySceneNode->setOrientation(mapFrameOrientation); + + // Update position of deleted tracks (because they are not being updated by ROS messages any more) + foreach (const track_map::value_type& entry, m_cachedTracks) + { + const boost::shared_ptr& trackedPersonVisual = entry.second; + if (trackedPersonVisual->isDeleted) + { + Ogre::Matrix4 poseInCurrentFrame = mapFrameTransform * trackedPersonVisual->lastObservedPose; + Ogre::Vector3 position = poseInCurrentFrame.getTrans(); + Ogre::Quaternion orientation = poseInCurrentFrame.extractQuaternion(); + if (!position.isNaN() && !orientation.isNaN()) + { + trackedPersonVisual->sceneNode->setPosition(position); + trackedPersonVisual->sceneNode->setOrientation(orientation); + } + } + else + { + // Update animation etc. + if (trackedPersonVisual->personVisual) + trackedPersonVisual->personVisual->update(ros_dt); + } + } +} + +/// Update all dynamically adjusted visualization properties (colors, font sizes etc.) of all currently tracked persons +void TrackedPersonsDisplay::stylesChanged() +{ + const Ogre::Quaternion shapeQuaternion(Ogre::Degree(90), Ogre::Vector3(1, 0, 0)); + + // Update each track + foreach (const track_map::value_type& entry, m_cachedTracks) + { + const track_id trackId = entry.first; + const boost::shared_ptr& trackedPersonVisual = entry.second; + + // Update common styles to person visual, such as line width + applyCommonStyles(trackedPersonVisual->personVisual); + + // Update track visibility + bool trackVisible = !isPersonHidden(trackId); + + if (trackedPersonVisual->isDeleted) + trackVisible &= m_show_deleted_property->getBool(); + else if (trackedPersonVisual->isOccluded) + trackVisible &= m_show_occluded_property->getBool(); + else if (trackedPersonVisual->isMissed) + trackVisible &= m_show_missed_property->getBool(); + else + trackVisible &= m_show_matched_property->getBool(); + + trackedPersonVisual->sceneNode->setVisible(trackVisible); + trackedPersonVisual->historySceneNode->setVisible(trackVisible && !m_render_history_as_line_property->getBool()); + trackedPersonVisual->historyLineSceneNode->setVisible(trackVisible && m_render_history_as_line_property->getBool()); + + // Get current track color + Ogre::ColourValue trackColorWithFullAlpha = getColorFromId(trackId); + Ogre::ColourValue trackColor = getColorFromId(trackId); + trackColor.a *= m_commonProperties->alpha->getFloat(); // general alpha + if (trackedPersonVisual->isOccluded) + trackColor.a *= m_occlusion_alpha_property->getFloat(); // occlusion alpha + if (trackedPersonVisual->isMissed) + trackColor.a *= m_missed_alpha_property->getFloat(); // occlusion alpha + + // Update person color + Ogre::ColourValue personColor = trackColor; + if (!m_render_person_property->getBool()) + personColor.a = 0.0; + + if (trackedPersonVisual->personVisual) + { + trackedPersonVisual->personVisual->setColor(personColor); + } + + // Update history size + trackedPersonVisual->history.rset_capacity(m_history_length_property->getInt()); + + // Update history color + foreach (boost::shared_ptr historyEntry, trackedPersonVisual->history) + { + const double historyShapeDiameter = 0.1; + Ogre::ColourValue historyColor = trackColorWithFullAlpha; + historyColor.a *= m_commonProperties->alpha->getFloat(); // general alpha + if (historyEntry->wasOccluded) + historyColor.a *= m_occlusion_alpha_property->getFloat(); + if (isPersonHidden(trackId) || m_render_history_as_line_property->getBool()) + historyColor.a = 0; + + if (historyEntry->shape) + { + historyEntry->shape->setColor(historyColor); + historyEntry->shape->setScale(shapeQuaternion * + Ogre::Vector3(historyShapeDiameter, historyShapeDiameter, 0.05)); + } + } + + if (trackedPersonVisual->historyLine) + { // history-as-line mode (as opposed to history-as-dots) + Ogre::ColourValue historyColor = trackColorWithFullAlpha; + historyColor.a *= m_commonProperties->alpha->getFloat(); // general alpha + if (isPersonHidden(trackId)) + historyColor.a = 0; + trackedPersonVisual->historyLine->setColor(historyColor.r, historyColor.g, historyColor.b, historyColor.a); + } + + // Update text colors, font size and visibility + const double personHeight = trackedPersonVisual->personVisual ? trackedPersonVisual->personVisual->getHeight() : 0; + Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? + m_commonProperties->constant_font_color->getOgreColor() : + trackColor; + fontColor.a = m_commonProperties->alpha->getFloat(); + + trackedPersonVisual->detectionIdText->setCharacterHeight(0.18 * m_commonProperties->font_scale->getFloat()); + trackedPersonVisual->detectionIdText->setVisible(!trackedPersonVisual->isOccluded && + m_render_detection_ids_property->getBool() && trackVisible); + trackedPersonVisual->detectionIdText->setColor(fontColor); + trackedPersonVisual->detectionIdText->setPosition( + Ogre::Vector3(0, 0, -trackedPersonVisual->detectionIdText->getCharacterHeight())); + + trackedPersonVisual->stateText->setCharacterHeight(0.18 * m_commonProperties->font_scale->getFloat()); + trackedPersonVisual->stateText->setVisible(m_render_track_state_property->getBool() && trackVisible); + trackedPersonVisual->stateText->setColor(fontColor); + trackedPersonVisual->stateText->setPosition( + Ogre::Vector3(0, 0, personHeight + trackedPersonVisual->stateText->getCharacterHeight())); + + const double stateTextOffset = + m_render_track_state_property->getBool() ? 1.2 * trackedPersonVisual->stateText->getCharacterHeight() : 0; + trackedPersonVisual->idText->setCharacterHeight(0.25 * m_commonProperties->font_scale->getFloat()); + trackedPersonVisual->idText->setVisible(m_render_ids_property->getBool() && trackVisible); + trackedPersonVisual->idText->setColor(fontColor); + trackedPersonVisual->idText->setPosition( + Ogre::Vector3(0, 0, personHeight + trackedPersonVisual->idText->getCharacterHeight() + stateTextOffset)); + + // Update velocity arrow color + double arrowAlpha = m_render_velocities_property->getBool() ? trackColor.a : 0.0; + if (trackedPersonVisual->hasZeroVelocity) + arrowAlpha = 0.0; + trackedPersonVisual->velocityArrow->setColor( + Ogre::ColourValue(trackColor.r, trackColor.g, trackColor.b, arrowAlpha)); + + // Set color of covariance visualization + Ogre::ColourValue covarianceColor = trackColor; + if (!m_render_covariances_property->getBool()) + covarianceColor.a = 0.0; + trackedPersonVisual->covarianceVisual->setColor(covarianceColor); + trackedPersonVisual->covarianceVisual->setLineWidth(m_covariance_line_width_property->getFloat()); + } + + // Update global history visibility + m_trackHistorySceneNode->setVisible(m_render_history_property->getBool()); +} + +// Set the rendering style (cylinders, meshes, ...) of tracked persons +void TrackedPersonsDisplay::personVisualTypeChanged() +{ + foreach (const track_map::value_type& entry, m_cachedTracks) + { + const boost::shared_ptr& trackedPersonVisual = entry.second; + trackedPersonVisual->personVisual.reset(); + createPersonVisualIfRequired(trackedPersonVisual->sceneNode.get(), trackedPersonVisual->personVisual); + } + stylesChanged(); +} + +// This is our callback to handle an incoming message. +void TrackedPersonsDisplay::processMessage(const spencer_tracking_msgs::TrackedPersons::ConstPtr& msg) +{ + // Get transforms into fixed frame etc. + if (!preprocessMessage(msg)) + return; + + // Transform from map/odometry frame into fixed frame, required to display track history if the fixed frame is not + // really "fixed" (e.g. base_link) + Ogre::Vector3 mapFramePosition; + Ogre::Quaternion mapFrameOrientation; + getContext()->getFrameManager()->getTransform(m_realFixedFrame, msg->header.stamp, mapFramePosition, + mapFrameOrientation); + Ogre::Matrix4 mapFrameTransform(mapFrameOrientation); + mapFrameTransform.setTrans(mapFramePosition); + + // Transform required to fix orientation of any Cylinder shapes + const Ogre::Quaternion shapeQuaternion(Ogre::Degree(90), Ogre::Vector3(1, 0, 0)); + stringstream ss; + + // + // Iterate over all tracks in this message, see if we have a cached visual (then update it) or create a new one. + // + set encounteredTrackIds; + for (vector::const_iterator trackedPersonIt = msg->tracks.begin(); + trackedPersonIt != msg->tracks.end(); ++trackedPersonIt) + { + boost::shared_ptr trackedPersonVisual; + + // See if we encountered this track ID before in this loop (means duplicate track ID) + if (encounteredTrackIds.find(trackedPersonIt->track_id) != encounteredTrackIds.end()) + { + ROS_ERROR_STREAM("spencer_tracking_msgs::TrackedPersons contains duplicate track ID " + << trackedPersonIt->track_id << "! Skipping duplicate track."); + continue; + } + else + { + encounteredTrackIds.insert(trackedPersonIt->track_id); + } + + // See if we have cached a track with this ID + if (m_cachedTracks.find(trackedPersonIt->track_id) != m_cachedTracks.end()) + { + trackedPersonVisual = m_cachedTracks[trackedPersonIt->track_id]; + } + else + { + // Create a new visual representation of the tracked person + trackedPersonVisual = boost::shared_ptr(new TrackedPersonVisual); + m_cachedTracks[trackedPersonIt->track_id] = trackedPersonVisual; + + // This scene node is the parent of all visualization elements for the tracked person + trackedPersonVisual->sceneNode = boost::shared_ptr(scene_node_->createChildSceneNode()); + trackedPersonVisual->historySceneNode = + boost::shared_ptr(m_trackHistorySceneNode->createChildSceneNode()); + trackedPersonVisual->historyLineSceneNode = + boost::shared_ptr(m_trackHistorySceneNode->createChildSceneNode()); + } + + // These values need to be remembered for later use in stylesChanged() + if (trackedPersonIt->is_occluded && !trackedPersonIt->is_matched) + { + trackedPersonVisual->isOccluded = true; + trackedPersonVisual->isMissed = false; + } + else if (!trackedPersonIt->is_occluded && !trackedPersonIt->is_matched) + { + trackedPersonVisual->isOccluded = false; + trackedPersonVisual->isMissed = true; + } + else + { + trackedPersonVisual->isOccluded = false; + trackedPersonVisual->isMissed = false; + } + + trackedPersonVisual->isDeleted = false; + trackedPersonVisual->numCyclesNotSeen = 0; + + Ogre::SceneNode* currentSceneNode = trackedPersonVisual->sceneNode.get(); + + // + // Person visualization + // + + // Create new visual for the person itself, if needed + boost::shared_ptr& personVisual = trackedPersonVisual->personVisual; + createPersonVisualIfRequired(currentSceneNode, personVisual); + + const double personHeight = personVisual ? personVisual->getHeight() : 0; + const double halfPersonHeight = personHeight / 2.0; + + // + // Position of entire track + // + + const Ogre::Matrix3 covXYZinTargetFrame = covarianceXYZIntoTargetFrame(trackedPersonIt->pose); + setPoseOrientation(currentSceneNode, trackedPersonIt->pose, covXYZinTargetFrame, personHeight); + + // + // Track history + // + + Ogre::Vector3 newHistoryEntryPosition = mapFrameTransform.inverse() * currentSceneNode->getPosition(); + + const float MIN_HISTORY_ENTRY_DISTANCE = m_history_min_point_distance_property->getFloat(); // in meters + if ((trackedPersonVisual->positionOfLastHistoryEntry - newHistoryEntryPosition).length() > + MIN_HISTORY_ENTRY_DISTANCE) + { + // General history + boost::shared_ptr newHistoryEntry(new TrackedPersonHistoryEntry); + newHistoryEntry->trackId = trackedPersonIt->track_id; + newHistoryEntry->position = newHistoryEntryPosition; // used by history lines (below) even if no shape is set + newHistoryEntry->wasOccluded = trackedPersonIt->is_occluded; + trackedPersonVisual->history.push_back(newHistoryEntry); + + // Always need to reset history line since history is like a queue, oldest element has to be removed but + // BillboardLine doesn't offer that functionality + trackedPersonVisual->historyLine.reset( + new rviz::BillboardLine(context_->getSceneManager(), trackedPersonVisual->historyLineSceneNode.get())); + + if (m_render_history_as_line_property->getBool()) + { + // History lines + if (trackedPersonVisual->history.size() >= 2) + { + trackedPersonVisual->historyLine->setLineWidth(m_history_line_width_property->getFloat()); + trackedPersonVisual->historyLine->setMaxPointsPerLine(trackedPersonVisual->history.size()); + + foreach (const boost::shared_ptr& historyEntry, trackedPersonVisual->history) + { + historyEntry->shape.reset(); // remove existing dot shapes, if any, for better performance + trackedPersonVisual->historyLine->addPoint(historyEntry->position); + } + } + } + else + { + // History dots + newHistoryEntry->shape = boost::shared_ptr(new rviz::Shape( + rviz::Shape::Cylinder, context_->getSceneManager(), trackedPersonVisual->historySceneNode.get())); + newHistoryEntry->shape->setPosition(newHistoryEntryPosition); + newHistoryEntry->shape->setOrientation(shapeQuaternion); + } + + trackedPersonVisual->positionOfLastHistoryEntry = newHistoryEntryPosition; + } + + // + // Texts + // + { + if (!trackedPersonVisual->idText) + { + trackedPersonVisual->idText.reset(new TextNode(context_->getSceneManager(), currentSceneNode)); + trackedPersonVisual->stateText.reset(new TextNode(context_->getSceneManager(), currentSceneNode)); + trackedPersonVisual->detectionIdText.reset(new TextNode(context_->getSceneManager(), currentSceneNode)); + } + + // Detection ID + ss.str(""); + ss << "det " << trackedPersonIt->detection_id; + trackedPersonVisual->detectionIdText->setCaption(ss.str()); + + // Track state + ss.str(""); + + if (trackedPersonIt->is_occluded && !trackedPersonIt->is_matched) + ss << "OCCLUDED"; + else if (!trackedPersonIt->is_occluded && !trackedPersonIt->is_matched) + ss << "MISSED"; + else + ss << "MATCHED"; + + trackedPersonVisual->stateText->setCaption(ss.str()); + + // Track ID + ss.str(""); + ss << "Human " << trackedPersonIt->track_id; + trackedPersonVisual->idText->setCaption(ss.str()); + } + + // + // Velocity arrows + // + if (!trackedPersonVisual->velocityArrow) + { + trackedPersonVisual->velocityArrow.reset(new rviz::Arrow(context_->getSceneManager(), currentSceneNode)); + } + + // Update velocity arrow + { + const Ogre::Vector3 velocityVector = getVelocityVector(trackedPersonIt->twist); + + if (velocityVector.isZeroLength() || velocityVector.length() > 100 || velocityVector.isNaN()) + { + if (!velocityVector.isZeroLength()) + { // do not show warning for zero velocity + ROS_WARN("Track %lu has suspicious velocity (%.1f m/s), not showing velocity vector!", + trackedPersonIt->track_id, velocityVector.length()); + } + } + else + { + const double personRadius = 0.2; + const Ogre::Vector3 velocityArrowAttachPoint(personRadius, 0, + halfPersonHeight); // relative to tracked person's scene node + trackedPersonVisual->velocityArrow->setPosition(velocityArrowAttachPoint); + trackedPersonVisual->velocityArrow->setOrientation( + m_frameOrientation * currentSceneNode->getOrientation().Inverse() * + Ogre::Vector3::NEGATIVE_UNIT_Z.getRotationTo(velocityVector)); + + const double shaftLength = velocityVector.length(), shaftDiameter = 0.05, headLength = 0.2, headDiameter = 0.2; + trackedPersonVisual->velocityArrow->set(shaftLength, shaftDiameter, headLength, headDiameter); + trackedPersonVisual->hasZeroVelocity = velocityVector.length() < 0.05; + } + + boost::shared_ptr meshPersonVisual = + boost::dynamic_pointer_cast(personVisual); + if (meshPersonVisual) + { + meshPersonVisual->setWalkingSpeed(velocityVector.length()); + } + } + + // + // Covariance visualization + // + if (!trackedPersonVisual->covarianceVisual) + { + trackedPersonVisual->covarianceVisual.reset( + new ProbabilityEllipseCovarianceVisual(context_->getSceneManager(), currentSceneNode)); + } + + // Update covariance ellipse + { + Ogre::Vector3 covarianceMean(0, 0, 0); // zero mean because parent node is already centered at pose mean + trackedPersonVisual->covarianceVisual->setOrientation(currentSceneNode->getOrientation().Inverse()); + trackedPersonVisual->covarianceVisual->setMeanCovariance(covarianceMean, covXYZinTargetFrame); + } + + } // end for loop over all tracked persons + + // Set all properties which can be dynamically in the GUI. This iterates over all tracks. + stylesChanged(); + + // + // First hide, then delete old cached tracks which have not been seen for a while + // + set trackIdsToDelete; + for (map >::const_iterator cachedTrackIt = + m_cachedTracks.begin(); + cachedTrackIt != m_cachedTracks.end(); ++cachedTrackIt) + { + if (encounteredTrackIds.end() == encounteredTrackIds.find(cachedTrackIt->first)) + { + const boost::shared_ptr& trackedPersonVisual = cachedTrackIt->second; + + // Update state and visibility + if (!trackedPersonVisual->isDeleted) + { + trackedPersonVisual->stateText->setCaption("DELETED"); + trackedPersonVisual->isDeleted = true; + + Ogre::Matrix4 lastObservedPose(trackedPersonVisual->sceneNode->getOrientation()); + lastObservedPose.setTrans(trackedPersonVisual->sceneNode->getPosition()); + trackedPersonVisual->lastObservedPose = mapFrameTransform.inverse() * lastObservedPose; + } + + if (!m_show_deleted_property->getBool()) + trackedPersonVisual->sceneNode->setVisible(false); + + // Delete if too old + if (++trackedPersonVisual->numCyclesNotSeen > m_delete_after_ncycles_property->getInt()) + { + trackIdsToDelete.insert(cachedTrackIt->first); + } + } + } + + for (set::const_iterator setIt = trackIdsToDelete.begin(); setIt != trackIdsToDelete.end(); ++setIt) + { + m_cachedTracks.erase(*setIt); + } + + // + // Update status (shown in property pane) + // + ss.str(""); + ss << msg->tracks.size() << " tracks received"; + setStatusStd(rviz::StatusProperty::Ok, "Tracks", ss.str()); +} + +} // end namespace spencer_tracking_rviz_plugin + +// Tell pluginlib about this class. It is important to do this in +// global scope, outside our package's namespace. +#include +PLUGINLIB_EXPORT_CLASS(spencer_tracking_rviz_plugin::TrackedPersonsDisplay, rviz::Display) diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_display.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_display.h new file mode 100755 index 0000000..0c70469 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/tracked_persons_display.h @@ -0,0 +1,155 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef TRACKED_PERSONS_DISPLAY_H +#define TRACKED_PERSONS_DISPLAY_H + +#ifndef Q_MOC_RUN +#include +#include +#include +#include "person_display_common.h" +#endif + +namespace spencer_tracking_rviz_plugin +{ + typedef unsigned int track_id; + + /// A single entry in the history of a tracked person. + struct TrackedPersonHistoryEntry + { + Ogre::Vector3 position; + boost::shared_ptr shape; + bool wasOccluded; + track_id trackId; + }; + + /// History of a tracked person. + typedef circular_buffer > TrackedPersonHistory; + + /// The visual of a tracked person. + struct TrackedPersonVisual + { + TrackedPersonHistory history; + boost::shared_ptr historyLine; + Ogre::Vector3 positionOfLastHistoryEntry; + + boost::shared_ptr sceneNode, historySceneNode, historyLineSceneNode; + + boost::shared_ptr personVisual; + boost::shared_ptr idText, detectionIdText, stateText; + boost::shared_ptr velocityArrow; + boost::shared_ptr covarianceVisual; + + Ogre::Matrix4 lastObservedPose; + + bool isOccluded, isDeleted, isMissed, hasZeroVelocity; + int numCyclesNotSeen; + }; + + // The TrackedPersonsDisplay class itself just implements a circular buffer, + // editable parameters, and Display subclass machinery. + class TrackedPersonsDisplay: public PersonDisplayCommon + { + Q_OBJECT + public: + // Constructor. pluginlib::ClassLoader creates instances by calling + // the default constructor, so make sure you have one. + TrackedPersonsDisplay() {}; + virtual ~TrackedPersonsDisplay(); + + // Overrides of protected virtual functions from Display. As much + // as possible, when Displays are not enabled, they should not be + // subscribed to incoming data and should not show anything in the + // 3D view. These functions are where these connections are made + // and broken. + + // Called after the constructors have run + virtual void onInitialize(); + + // Called periodically by the visualization manager + virtual void update(float wall_dt, float ros_dt); + + protected: + // A helper to clear this display back to the initial state. + virtual void reset(); + + // Must be implemented by derived classes because MOC doesn't work in templates + virtual rviz::DisplayContext* getContext() { + return context_; + } + + private Q_SLOTS: + void personVisualTypeChanged(); + + // Called whenever one of the properties in PersonDisplayCommonProperties has been changed + virtual void stylesChanged(); + + private: + // Function to handle an incoming ROS message. + void processMessage(const spencer_tracking_msgs::TrackedPersons::ConstPtr& msg); + + // All currently active tracks, with unique track ID as map key + typedef map > track_map; + track_map m_cachedTracks; + + // Scene node for track history visualization + boost::shared_ptr m_trackHistorySceneNode; + std::string m_realFixedFrame; + + // User-editable property variables. + rviz::FloatProperty* m_occlusion_alpha_property; + rviz::FloatProperty* m_missed_alpha_property; + rviz::IntProperty* m_history_length_property; + rviz::IntProperty* m_delete_after_ncycles_property; + + rviz::BoolProperty* m_show_deleted_property; + rviz::BoolProperty* m_show_occluded_property; + rviz::BoolProperty* m_show_missed_property; + rviz::BoolProperty* m_show_matched_property; + + rviz::BoolProperty* m_render_person_property; + rviz::BoolProperty* m_render_history_property; + rviz::BoolProperty* m_render_history_as_line_property; + rviz::BoolProperty* m_render_covariances_property; + rviz::BoolProperty* m_render_state_prediction_property; + rviz::BoolProperty* m_render_velocities_property; + rviz::BoolProperty* m_render_ids_property; + rviz::BoolProperty* m_render_detection_ids_property; + rviz::BoolProperty* m_render_track_state_property; + + rviz::FloatProperty* m_history_line_width_property; + rviz::FloatProperty* m_history_min_point_distance_property; + rviz::FloatProperty* m_covariance_line_width_property; + }; + +} // end namespace spencer_tracking_rviz_plugin + +#endif // TRACKED_PERSONS_DISPLAY_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/covariance_visual.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/covariance_visual.h new file mode 100755 index 0000000..3fda09c --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/covariance_visual.h @@ -0,0 +1,236 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg + * Copyright (c) 2006, Kai O. Arras, Autonomous Intelligent Systems Lab, University of Freiburg + * 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 copyright holder 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 HOLDER 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. + */ + +#ifndef COVARIANCE_VISUAL_H +#define COVARIANCE_VISUAL_H + +#include +#include +#include + +namespace spencer_tracking_rviz_plugin +{ +// Visualization of a covariance matrix +class CovarianceVisual +{ +public: + CovarianceVisual(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parentNode) : m_sceneManager(sceneManager) + { + m_sceneNode = parentNode->createChildSceneNode(); + } + + virtual ~CovarianceVisual() + { + m_sceneManager->destroySceneNode(m_sceneNode->getName()); + }; + + void setPosition(const Ogre::Vector3& position) + { + m_sceneNode->setPosition(position); + } + + void setOrientation(const Ogre::Quaternion& orientation) + { + m_sceneNode->setOrientation(orientation); + } + + void setVisible(bool visible) + { + m_sceneNode->setVisible(visible, true); + } + + virtual void setColor(const Ogre::ColourValue& c) = 0; + + virtual void setLineWidth(float lineWidth) = 0; + + /// NOTE: It is assumed that the covariance matrix is already rotated into the target frame of the sceneNode! + virtual void setMeanCovariance(const Ogre::Vector3& mean, const Ogre::Matrix3& cov) = 0; + +protected: + Ogre::SceneManager* m_sceneManager; + Ogre::SceneNode* m_sceneNode; +}; + +// 2D ellipse visualization of a covariance matrix +class ProbabilityEllipseCovarianceVisual : public CovarianceVisual +{ +public: + ProbabilityEllipseCovarianceVisual(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parentNode) + : CovarianceVisual(sceneManager, parentNode) + { + m_line = new rviz::BillboardLine(m_sceneManager, m_sceneNode); + } + + virtual ~ProbabilityEllipseCovarianceVisual() + { + delete m_line; + } + + virtual void setLineWidth(float lineWidth) + { + m_line->setLineWidth(lineWidth); + } + + virtual void setColor(const Ogre::ColourValue& c) + { + m_line->setColor(c.r, c.g, c.b, c.a); + } + + virtual void setMeanCovariance(const Ogre::Vector3& mean, const Ogre::Matrix3& cov) + { + int numberOfPoints; + double *xs, *ys; + double determinant = cov[0][0] * cov[1][1] - cov[1][0] * cov[0][1]; + + m_line->clear(); + + if (!std::isfinite(determinant)) + { + ROS_WARN_STREAM_THROTTLE( + 5.0, "Covariance matrix has non-finite values in ProbabilityEllipseCovarianceVisual::setMeanCovariance(): " + << cov); + return; + } + + if (std::abs(cov[0][1] - cov[1][0]) > 0.00001) + { + ROS_WARN_STREAM_THROTTLE( + 5.0, + "Covariance matrix is not symmetric in ProbabilityEllipseCovarianceVisual::setMeanCovariance(): " << cov); + return; + } + + if (determinant > 0 && cov[0][0] > 0 /* positive definite? */ || + std::abs(determinant - 0.00001) == 0.0 && (cov[0][0] > 0 || cov[1][1] > 0) /* positive semidefinite? */) + { + calc_prob_elli_99(mean.x, mean.y, cov[0][0], cov[1][1], cov[0][1], numberOfPoints, xs, ys); + + m_line->setMaxPointsPerLine(numberOfPoints); + + for (int i = 0; i < numberOfPoints; i++) + { + Ogre::Vector3 vertex(xs[i], ys[i], mean.z); + m_line->addPoint(vertex); + } + } + else + { + if (cov[0][0] != 0 || cov[0][1] != 0 || cov[0][2] != 0 || cov[1][0] != 0 || cov[1][1] != 0 || cov[1][2] != 0 || + cov[2][0] != 0 || cov[2][1] != 0 || cov[2][2] != 0) + ROS_WARN_STREAM_THROTTLE(5.0, + "Covariance matrix is not positive (semi-)definite in " + "ProbabilityEllipseCovarianceVisual::setMeanCovariance(): " + << cov); + } + } + +private: + rviz::BillboardLine* m_line; + + // Puts angle alpha into the interval [min..min+2*pi[ + double set_angle_to_range(double alpha, double min) + { + while (alpha >= min + 2.0 * M_PI) + { + alpha -= 2.0 * M_PI; + } + while (alpha < min) + { + alpha += 2.0 * M_PI; + } + return alpha; + } + + // Calculates the points on a rotated ellipse given by center xc, yc, half axes a, b and angle phi. + // Returns number of points np and points in Cart. coordinates + void calc_ellipse(double xc, double yc, double a, double b, double phi, int& np, double*& xvec, double*& yvec) + { + const int N_ELLI_POINTS = 40; + int i, offset; + double t, cr, sr, ca, sa, xi, yi, reso; + static double x[N_ELLI_POINTS + 1]; + static double y[N_ELLI_POINTS + 1]; + reso = 2 * M_PI / N_ELLI_POINTS; + offset = N_ELLI_POINTS / 2; + ca = cos(phi); + sa = sin(phi); + i = 0; + t = 0; + while (t < M_PI) + { + cr = cos(t); + sr = sin(t); + xi = a * cr * ca - b * sr * sa; + yi = a * cr * sa + b * sr * ca; + x[i] = xi + xc; + y[i] = yi + yc; + x[offset + i] = -xi + xc; + y[offset + i] = -yi + yc; + t = t + reso; + i++; + } + x[N_ELLI_POINTS] = x[0]; // Close contour + y[N_ELLI_POINTS] = y[0]; // Close contour + np = N_ELLI_POINTS + 1; + xvec = x; + yvec = y; + } + + // Calculates the points on a 95%-iso-probability ellipse given by the bivarate RV with mean xc, yc + // and covariance matrix sxx, syy, sxy. Returns number of points np and points in Cart. coordinates + void calc_prob_elli_95(double xc, double yc, double sxx, double syy, double sxy, int& np, double*& x, double*& y) + { + double la, lb, a, b, phi; + la = (sxx + syy + sqrt((sxx - syy) * (sxx - syy) + 4 * sxy * sxy)) / 2; + lb = (sxx + syy - sqrt((sxx - syy) * (sxx - syy) + 4 * sxy * sxy)) / 2; + a = sqrt(5.991464 * la); + b = sqrt(5.991464 * lb); + phi = set_angle_to_range(atan2(2 * sxy, sxx - syy) / 2, 0); + calc_ellipse(xc, yc, a, b, phi, np, x, y); + } + + // Calculates the points on a 99%-iso-probability ellipse given by the bivarate RV with mean xc, yc + // and covariance matrix sxx, syy, sxy. Returns number of points np and points in Cart. coordinates + void calc_prob_elli_99(double xc, double yc, double sxx, double syy, double sxy, int& np, double*& x, double*& y) + { + double la, lb, a, b, phi; + la = (sxx + syy + sqrt((sxx - syy) * (sxx - syy) + 4 * sxy * sxy)) / 2; + lb = (sxx + syy - sqrt((sxx - syy) * (sxx - syy) + 4 * sxy * sxy)) / 2; + a = sqrt(9.210340 * la); + b = sqrt(9.210340 * lb); + phi = set_angle_to_range(atan2(2 * sxy, sxx - syy) / 2, 0); + calc_ellipse(xc, yc, a, b, phi, np, x, y); + } +}; + +} // namespace spencer_tracking_rviz_plugin + +#endif // COVARIANCE_VISUAL_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/mesh_node.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/mesh_node.h new file mode 100755 index 0000000..6b7aa04 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/mesh_node.h @@ -0,0 +1,191 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef MESH_NODE_H +#define MESH_NODE_H + +#include +#ifndef Q_MOC_RUN +#include +#endif +#include +#include // hack to get camera position + +#include +#include +#include +#include +#include +#include +#include + + +namespace spencer_tracking_rviz_plugin { + class MeshNode : public Ogre::FrameListener { + public: + MeshNode(rviz::DisplayContext* displayContext, Ogre::SceneNode* parentNode, const std::string& meshResource, Ogre::Vector3 position = Ogre::Vector3::ZERO) + : m_sceneManager(displayContext->getSceneManager()), m_displayContext(displayContext), m_meshResource(meshResource) + { + m_cameraFacing = false; + m_sceneNode = parentNode->createChildSceneNode(); + m_sceneNode->setVisible(false); + + // Load mesh + assert(!rviz::loadMeshFromResource(meshResource).isNull()); + + // Create scene entity + std::stringstream ss; + static int counter = 0; + ss << "gender_symbol_" << counter++; + std::string id = ss.str(); + + m_entity = m_sceneManager->createEntity(id, meshResource); + m_sceneNode->attachObject(m_entity); + + // set up material + ss << "Material"; + // Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create( ss.str(), "rviz" ); + Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create(ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + default_material->setReceiveShadows(false); + default_material->getTechnique(0)->setLightingEnabled(true); + default_material->getTechnique(0)->setAmbient( 0.5, 0.5, 0.5 ); + m_materials.insert( default_material ); + m_entity->setMaterial( default_material ); + + setPosition(position); + setVisible(true); + + // For camera-facing meshes + Ogre::Root::getSingleton().addFrameListener(this); + } + + virtual ~MeshNode() { + Ogre::Root::getSingleton().removeFrameListener(this); + m_sceneManager->destroyEntity(m_entity); + + // destroy all the materials we've created + std::set::iterator it; + for(it = m_materials.begin(); it != m_materials.end(); it++ ) + { + Ogre::MaterialPtr material = *it; + if (!material.isNull()) + { + material->unload(); + Ogre::MaterialManager::getSingleton().remove(material->getName()); + } + } + m_materials.clear(); + m_sceneManager->destroySceneNode(m_sceneNode->getName()); + } + + void setOrientation(const Ogre::Quaternion& orientation) { + m_orientation = orientation; + } + + void setPosition(const Ogre::Vector3& position) { + m_sceneNode->setPosition(position); + } + + void setScale(const float scaleFactor) { + m_sceneNode->setScale(Ogre::Vector3(scaleFactor, scaleFactor, scaleFactor)); + } + + void setVisible(bool visible) { + m_sceneNode->setVisible(visible, true); + } + + void setCameraFacing(bool cameraFacing) { + m_cameraFacing = cameraFacing; + } + + void setColor(const Ogre::ColourValue& c) { + Ogre::SceneBlendType blending; + bool depth_write; + + if ( c.a < 0.9998 ) + { + blending = Ogre::SBT_TRANSPARENT_ALPHA; + depth_write = false; + } + else + { + blending = Ogre::SBT_REPLACE; + depth_write = true; + } + + std::set::iterator it; + for(it = m_materials.begin(); it != m_materials.end(); it++) + { + Ogre::Technique* technique = (*it)->getTechnique( 0 ); + + technique->setAmbient( c.r*0.5, c.g*0.5, c.b*0.5 ); + technique->setDiffuse( c.r, c.g, c.b, c.a ); + technique->setSceneBlending( blending ); + technique->setDepthWriteEnabled( depth_write ); + technique->setLightingEnabled( true ); + } + } + + const std::string& getMeshResource() const { + return m_meshResource; + } + + // We are using this FrameListener callback to orient the mesh towards the camera. + // Using a SceneManager::Listener and its preUpdateSceneGraph(SceneManager, Camera) method doesn't work because + // it is apparently never invoked by the Rviz render system. + virtual bool frameStarted(const Ogre::FrameEvent &evt) + { + Ogre::Quaternion cameraQuat; + if(m_cameraFacing) { + // Align with camera view direction + // FIXME: The following way of retrieving the camera and its position is a bit hacky, don't try this at home! + rviz::VisualizationManager* visualizationManager = dynamic_cast(m_displayContext); + assert(visualizationManager != NULL); + cameraQuat = visualizationManager->getRenderPanel()->getCamera()->getOrientation(); + } + m_sceneNode->setOrientation(cameraQuat * m_orientation); + return true; + } + + private: + Ogre::SceneManager* m_sceneManager; + Ogre::SceneNode* m_sceneNode; + rviz::DisplayContext* m_displayContext; + + Ogre::Quaternion m_orientation; + Ogre::Entity* m_entity; + std::set m_materials; + std::string m_meshResource; + bool m_cameraFacing; + }; + +} + +#endif // MESH_NODE_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/person_visual.cpp b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/person_visual.cpp new file mode 100755 index 0000000..2671eeb --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/person_visual.cpp @@ -0,0 +1,232 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + + +#include +#ifndef Q_MOC_RUN +#include +#include +#include + +#include +#include +#endif +#include +#include +#include +#include +#include +#include + +#include "person_visual.h" + + +namespace fs = boost::filesystem; + +namespace spencer_tracking_rviz_plugin { + +/** This helper class ensures that skeletons can be loaded from a package:// path **/ +class RosPackagePathResourceLoadingListener : public Ogre::ResourceLoadingListener +{ +public: + RosPackagePathResourceLoadingListener(const fs::path& parentPath) : _parentPath(parentPath) { + } + + /** This event is called when a resource beings loading. */ + virtual Ogre::DataStreamPtr resourceLoading(const Ogre::String &name, const Ogre::String &group, Ogre::Resource *resource) { + fs::path absolutePath = _parentPath / name; + ROS_INFO_STREAM("RosPackagePathResourceLoadingListener loading resource: " << absolutePath.string()); + + try + { + resource_retriever::Retriever retriever; + _lastResource = retriever.get(absolutePath.string()); // not thread-safe! + return Ogre::DataStreamPtr(new Ogre::MemoryDataStream(_lastResource.data.get(), _lastResource.size)); + } + catch (resource_retriever::Exception& e) + { + ROS_ERROR("In RosPackagePathResourceLoadingListener: %s", e.what()); + return Ogre::DataStreamPtr(); + } + } + + virtual void resourceStreamOpened(const Ogre::String &name, const Ogre::String &group, Ogre::Resource *resource, Ogre::DataStreamPtr& dataStream) { + } + + virtual bool resourceCollision(Ogre::Resource *resource, Ogre::ResourceManager *resourceManager) { + return false; + } + +private: + const fs::path& _parentPath; + resource_retriever::MemoryResource _lastResource; +}; + + + +MeshPersonVisual::MeshPersonVisual(const PersonVisualDefaultArgs& args) : PersonVisual(args), m_animationState(NULL), m_walkingSpeed(1.0), entity_(NULL) +{ + m_childSceneNode = m_sceneNode->createChildSceneNode(); + m_childSceneNode->setVisible(false); + + std::string meshResource = "package://" ROS_PACKAGE_NAME "/media/animated_walking_man.mesh"; + + std::cout<createEntity(id, meshResource); + m_childSceneNode->attachObject(entity_); + + // set up animation + setAnimationState(""); + + // set up material + ss << "Material"; + // Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create( ss.str(), "rviz" ); + Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create(ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + default_material->setReceiveShadows(false); + default_material->getTechnique(0)->setLightingEnabled(true); + default_material->getTechnique(0)->setAmbient( 0.5, 0.5, 0.5 ); + materials_.insert( default_material ); + entity_->setMaterial( default_material ); + + // set position + Ogre::Quaternion quat1; quat1.FromAngleAxis(Ogre::Degree(90), Ogre::Vector3(0,1,0)); + Ogre::Quaternion quat2; quat2.FromAngleAxis(Ogre::Degree(-90), Ogre::Vector3(0,0,1)); + m_childSceneNode->setOrientation(quat1 * quat2); + + double scaleFactor = 0.243 * 1.75; + m_childSceneNode->setScale(Ogre::Vector3(scaleFactor, scaleFactor, scaleFactor)); + m_childSceneNode->setPosition(Ogre::Vector3(0, 0, -1)); + + m_childSceneNode->setVisible(true); +} + +MeshPersonVisual::~MeshPersonVisual() { + m_sceneManager->destroyEntity( entity_ ); + + // destroy all the materials we've created + std::set::iterator it; + for ( it = materials_.begin(); it!=materials_.end(); it++ ) + { + Ogre::MaterialPtr material = *it; + if (!material.isNull()) + { + material->unload(); + Ogre::MaterialManager::getSingleton().remove(material->getName()); + } + } + materials_.clear(); + + m_sceneManager->destroySceneNode(m_childSceneNode->getName()); +} + +void MeshPersonVisual::setColor(const Ogre::ColourValue& c) { + Ogre::SceneBlendType blending; + bool depth_write; + + if ( c.a < 0.9998 ) + { + blending = Ogre::SBT_TRANSPARENT_ALPHA; + depth_write = false; + } + else + { + blending = Ogre::SBT_REPLACE; + depth_write = true; + } + + std::set::iterator it; + for( it = materials_.begin(); it != materials_.end(); it++ ) + { + Ogre::Technique* technique = (*it)->getTechnique( 0 ); + + technique->setAmbient( c.r*0.5, c.g*0.5, c.b*0.5 ); + technique->setDiffuse( c.r, c.g, c.b, c.a ); + technique->setSceneBlending( blending ); + technique->setDepthWriteEnabled( depth_write ); + technique->setLightingEnabled( true ); + } +} + +void MeshPersonVisual::setAnimationState(const std::string& nameOfAnimationState) { + Ogre::AnimationStateSet *animationStates = entity_->getAllAnimationStates(); + if(animationStates != NULL) + { + Ogre::AnimationStateIterator animationsIterator = animationStates->getAnimationStateIterator(); + while (animationsIterator.hasMoreElements()) + { + Ogre::AnimationState *animationState = animationsIterator.getNext(); + if(animationState->getAnimationName() == nameOfAnimationState || nameOfAnimationState.empty()) { + animationState->setLoop(true); + animationState->setEnabled(true); + m_animationState = animationState; + return; + } + } + + // Not found. Set first animation state then. + ROS_WARN_STREAM_ONCE("Person mesh animation state " << nameOfAnimationState << " does not exist in mesh!"); + setAnimationState(""); + } +} + +void MeshPersonVisual::setWalkingSpeed(float walkingSpeed) { + m_walkingSpeed = walkingSpeed; +} + + +void MeshPersonVisual::update(float deltaTime) { + if(m_animationState) { + m_animationState->addTime(0.7 * deltaTime * m_walkingSpeed); + } +} + + +} // end of namespace spencer_tracking_rviz_plugin diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/person_visual.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/person_visual.h new file mode 100755 index 0000000..f57fe67 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/person_visual.h @@ -0,0 +1,319 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef PERSON_VISUAL_H +#define PERSON_VISUAL_H + +#include +#include + +#include +#include +#include +#include + + +namespace spencer_tracking_rviz_plugin { + // Abstract class for visuals which have got an adjustable line width + class HasLineWidth { + public: + virtual void setLineWidth(double lineWidth) = 0; + }; + + // Default arguments that need to be supplied to all types of PersonVisual + struct PersonVisualDefaultArgs { + PersonVisualDefaultArgs(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parentNode) : sceneManager(sceneManager), parentNode(parentNode) {} + Ogre::SceneManager* sceneManager; + Ogre::SceneNode* parentNode; + }; + + /// Base class for all person visualization types + class PersonVisual { + public: + PersonVisual(const PersonVisualDefaultArgs& args) : + m_sceneManager(args.sceneManager), + m_correctOrientation( Ogre::Degree(90), Ogre::Vector3(1,0,0) ) + { + m_parentSceneNode = args.parentNode; + m_sceneNode = args.parentNode->createChildSceneNode(); + + Ogre::Vector3 scale(1,1,1); + m_sceneNode->setScale(m_correctOrientation * scale); + } + + virtual ~PersonVisual() { + m_sceneManager->destroySceneNode(m_sceneNode->getName()); + }; + + void setPosition(const Ogre::Vector3& position) { + m_sceneNode->setPosition(position); + } + + const Ogre::Vector3& getPosition() const { + return m_sceneNode->getPosition(); + } + + void setOrientation(const Ogre::Quaternion& orientation) { + m_sceneNode->setOrientation(orientation * m_correctOrientation); + } + + const Ogre::Quaternion& getOrientation() const { + return m_sceneNode->getOrientation(); + } + + virtual void setScalingFactor(double scalingFactor) { + m_sceneNode->setScale(scalingFactor, scalingFactor, scalingFactor); + } + + void setVisible(bool visible) { + m_sceneNode->setVisible(visible, true); + } + + Ogre::SceneNode* getParentSceneNode() { + return m_parentSceneNode; + } + + virtual void update(float deltaTime) {} + virtual void setColor(const Ogre::ColourValue& c) = 0; + virtual double getHeight() = 0; + + protected: + Ogre::SceneManager* m_sceneManager; + Ogre::SceneNode *m_sceneNode, *m_parentSceneNode; + Ogre::Quaternion m_correctOrientation; + }; + + + /// Visualization of a person as cylinder (body) + sphere (head) + class CylinderPersonVisual : public PersonVisual { + public: + CylinderPersonVisual(const PersonVisualDefaultArgs& args) : PersonVisual(args) + { + m_bodyShape = new rviz::Shape(rviz::Shape::Cylinder, args.sceneManager, m_sceneNode); + m_headShape = new rviz::Shape(rviz::Shape::Sphere, args.sceneManager, m_sceneNode); + + const float headDiameter = 0.4; + const float totalHeight = getHeight(); + const float cylinderHeight = totalHeight - headDiameter; + + m_bodyShape->setScale(Ogre::Vector3(headDiameter, headDiameter, cylinderHeight)); + m_headShape->setScale(Ogre::Vector3(headDiameter, headDiameter, headDiameter)); + + m_bodyShape->setPosition(Ogre::Vector3(0, 0, cylinderHeight / 2 - totalHeight / 2)); + m_headShape->setPosition(Ogre::Vector3(0, 0, totalHeight / 2 - headDiameter / 2 )); + } + + virtual ~CylinderPersonVisual() { + delete m_bodyShape; + delete m_headShape; + } + + virtual void setColor(const Ogre::ColourValue& c) { + m_bodyShape->setColor(c); + m_headShape->setColor(c); + } + + virtual double getHeight() { + return 1.75; + } + + private: + rviz::Shape *m_bodyShape, *m_headShape; + }; + + + /// Visualization of a person as a wireframe bounding box + class BoundingBoxPersonVisual : public PersonVisual, public HasLineWidth { + public: + BoundingBoxPersonVisual(const PersonVisualDefaultArgs& args, double height = 1.75, double width = 0.6, double scalingFactor = 1.0) : PersonVisual(args) + { + m_width = width; m_height = height; m_scalingFactor = scalingFactor; m_lineWidth = 0.03; + m_wireframe = NULL; + generateWireframe(); + } + + virtual ~BoundingBoxPersonVisual() { + delete m_wireframe; + } + + virtual void setColor(const Ogre::ColourValue& c) { + m_wireframe->setColor(c.r, c.g, c.b, c.a); + } + + virtual double getHeight() { + return m_height; + } + + virtual void setLineWidth(double lineWidth) { + m_wireframe->setLineWidth(lineWidth); + } + + /* + virtual void setScalingFactor(double scalingFactor) { + if(scalingFactor != m_scalingFactor) { + m_scalingFactor = scalingFactor; + generateWireframe(); + } + } + */ + + protected: + virtual void generateWireframe() { + delete m_wireframe; + m_wireframe = new rviz::BillboardLine(m_sceneManager, m_sceneNode); + + m_wireframe->setLineWidth(m_lineWidth); + m_wireframe->setMaxPointsPerLine(2); + m_wireframe->setNumLines(12); + + double w = m_width * m_scalingFactor, h = m_height * m_scalingFactor; + Ogre::Vector3 bottomLeft(0, -w, 0), bottomRight(0, 0, 0), topLeft(0, -w, h), topRight(0, 0, h); + Ogre::Vector3 rear(w, 0, 0); + + // Front quad + m_wireframe->addPoint(bottomLeft); m_wireframe->addPoint(bottomRight); + m_wireframe->newLine(); m_wireframe->addPoint(bottomRight); m_wireframe->addPoint(topRight); + m_wireframe->newLine(); m_wireframe->addPoint(topRight); m_wireframe->addPoint(topLeft); + m_wireframe->newLine(); m_wireframe->addPoint(topLeft); m_wireframe->addPoint(bottomLeft); + + // Rear quad + m_wireframe->newLine(); m_wireframe->addPoint(bottomLeft + rear); m_wireframe->addPoint(bottomRight + rear); + m_wireframe->newLine(); m_wireframe->addPoint(bottomRight + rear); m_wireframe->addPoint(topRight + rear); + m_wireframe->newLine(); m_wireframe->addPoint(topRight + rear); m_wireframe->addPoint(topLeft + rear); + m_wireframe->newLine(); m_wireframe->addPoint(topLeft + rear); m_wireframe->addPoint(bottomLeft + rear); + + // Four connecting lines between front and rear + m_wireframe->newLine(); m_wireframe->addPoint(bottomLeft); m_wireframe->addPoint(bottomLeft + rear); + m_wireframe->newLine(); m_wireframe->addPoint(bottomRight); m_wireframe->addPoint(bottomRight + rear); + m_wireframe->newLine(); m_wireframe->addPoint(topRight); m_wireframe->addPoint(topRight + rear); + m_wireframe->newLine(); m_wireframe->addPoint(topLeft); m_wireframe->addPoint(topLeft + rear); + + m_wireframe->setPosition(Ogre::Vector3(-w/2, w/2, -h/2)); + } + + private: + rviz::BillboardLine *m_wireframe; + double m_width, m_height, m_scalingFactor, m_lineWidth; + }; + + + /// Visualization of a person as a crosshair + class CrosshairPersonVisual : public PersonVisual, public HasLineWidth { + public: + CrosshairPersonVisual(const PersonVisualDefaultArgs& args, double height = 1.0, double width = 1.0) : PersonVisual(args) + { + m_width = width; m_height = height; m_lineWidth = 0.03; + m_crosshair = NULL; + generateCrosshair(); + } + + virtual ~CrosshairPersonVisual() { + delete m_crosshair; + } + + virtual void setColor(const Ogre::ColourValue& c) { + m_crosshair->setColor(c.r, c.g, c.b, c.a); + } + + virtual double getHeight() { + return m_height; + } + + virtual void setLineWidth(double lineWidth) { + m_crosshair->setLineWidth(lineWidth); + } + + + protected: + virtual void generateCrosshair() { + delete m_crosshair; + m_crosshair = new rviz::BillboardLine(m_sceneManager, m_sceneNode); + + m_crosshair->setLineWidth(m_lineWidth); + m_crosshair->setMaxPointsPerLine(2); + m_crosshair->setNumLines(5); + + double w = m_width / 2.0; + Ogre::Vector3 p1a(-w, 0, 0), p1b(+w, 0, 0); + Ogre::Vector3 p2a(0, -w, 0), p2b(0, +w, 0); + Ogre::Vector3 p3a(0, 0, -w), p3b(0, 0, +w); + + Ogre::Vector3 arrow_a(0.7*w, -0.2*w, 0), arrow_m(w, 0, 0), arrow_b(0.7*w, +0.2*w, 0); + + m_crosshair->addPoint(p1a); m_crosshair->addPoint(p1b); + m_crosshair->newLine(); m_crosshair->addPoint(p2a); m_crosshair->addPoint(p2b); + m_crosshair->newLine(); m_crosshair->addPoint(p3a); m_crosshair->addPoint(p3b); + + m_crosshair->newLine(); m_crosshair->addPoint(arrow_m); m_crosshair->addPoint(arrow_a); + m_crosshair->newLine(); m_crosshair->addPoint(arrow_m); m_crosshair->addPoint(arrow_b); + + m_crosshair->setPosition(Ogre::Vector3(0, 0, 0)); + } + + private: + rviz::BillboardLine *m_crosshair; + double m_width, m_height, m_lineWidth; + }; + + + /// Visualization of a person as a mesh (walking human) + class MeshPersonVisual : public PersonVisual { + public: + MeshPersonVisual(const PersonVisualDefaultArgs& args); + + virtual ~MeshPersonVisual(); + + virtual void update(float deltaTime); + + virtual void setColor(const Ogre::ColourValue& c); + + void setAnimationState(const std::string& nameOfAnimationState); + + void setWalkingSpeed(float walkingSpeed); + + virtual double getHeight() { + return 1.75; + } + + virtual void setScalingFactor(double scalingFactor) { + // Not supported (for some reason causes the mesh to be mirrored vertically). + } + + private: + Ogre::SceneNode *m_childSceneNode; + Ogre::Entity* entity_; + Ogre::AnimationState* m_animationState; + std::set materials_; + float m_walkingSpeed; + }; + +} + +#endif // PERSON_VISUAL_H diff --git a/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/text_node.h b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/text_node.h new file mode 100755 index 0000000..1389a33 --- /dev/null +++ b/simulators/third_party/rviz_plugins/spencer_tracking_rviz_plugin/src/visuals/text_node.h @@ -0,0 +1,95 @@ +/* +* Software License Agreement (BSD License) +* +* Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg +* 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 copyright holder 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 HOLDER 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. +*/ + +#ifndef TEXT_NODE_H +#define TEXT_NODE_H + +#include +#include + +namespace spencer_tracking_rviz_plugin { + class TextNode { + public: + TextNode(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parentNode, Ogre::Vector3 position = Ogre::Vector3::ZERO) : m_sceneManager(sceneManager) + { + m_sceneNode = parentNode->createChildSceneNode(); + + m_text = new rviz::MovableText("text"); + m_text->setTextAlignment(rviz::MovableText::H_CENTER, rviz::MovableText::V_BELOW); + m_sceneNode->attachObject(m_text); + + setCharacterHeight(1.0); + setPosition(position); + setVisible(true); + } + + virtual ~TextNode() { + m_sceneManager->destroySceneNode(m_sceneNode->getName()); + delete m_text; + }; + + void setCharacterHeight(double characterHeight) { + m_text->setCharacterHeight(characterHeight); + m_text->setSpaceWidth(0.3 * characterHeight); + } + + double getCharacterHeight() { + return m_text->getCharacterHeight(); + } + + void setCaption(const std::string& caption) { + m_text->setCaption(caption); + } + + void setPosition(const Ogre::Vector3& position) { + m_sceneNode->setPosition(position); + } + + void setVisible(bool visible) { + m_sceneNode->setVisible(visible, true); + } + + void setColor(const Ogre::ColourValue& c) { + m_text->setColor(c); + } + + void showOnTop(bool onTop = true) { + m_text->showOnTop(onTop); + } + + private: + Ogre::SceneManager* m_sceneManager; + Ogre::SceneNode* m_sceneNode; + rviz::MovableText* m_text; + }; + +} + +#endif // TEXT_NODE_H diff --git a/simulators/user_config/obstacles_config.yaml b/simulators/user_config/obstacles_config.yaml new file mode 100755 index 0000000..f99c2c6 --- /dev/null +++ b/simulators/user_config/obstacles_config.yaml @@ -0,0 +1,18 @@ +# static obstacles +obstacles: + - type: BOX + pose: 4 2 0 0 0 0 + color: Grey + props: + m: 1.00 + w: 0.50 + d: 1.00 + h: 0.80 + - type: BOX + pose: 3 3 0 0 0 0 + color: Grey + props: + m: 1.00 + w: 1.00 + d: 0.50 + h: 1.00 \ No newline at end of file diff --git a/simulators/user_config/pedestrian_config.yaml b/simulators/user_config/pedestrian_config.yaml new file mode 100755 index 0000000..e0cb0df --- /dev/null +++ b/simulators/user_config/pedestrian_config.yaml @@ -0,0 +1,50 @@ +# sfm algorithm configure +social_force: + animation_factor: 5.1 + # only handle pedestrians within `people_distance` + people_distance: 6.0 + # weights of social force model + goal_weight: 2.0 + obstacle_weight: 20.0 + social_weight: 15 + group_gaze_weight: 3.0 + group_coh_weight: 2.0 + group_rep_weight: 1.0 + +# pedestrians setting +pedestrians: + update_rate: 5 + ped_property: + - name: human_1 + pose: 11 25 1 0 0 0 + velocity: 0.9 + radius: 0.4 + cycle: true + ignore: + model_1: ground_plane + model_2: turtlebot3_waffle_1 + trajectory: + goal_point_1: 11 25 1 0 0 0 + goal_point_2: 11 30 1 0 0 0 + # - name: human_2 + # pose: -0.5 -8.5 1 0 0 0 + # velocity: 1.2 + # radius: 0.4 + # cycle: true + # ignore: + # model_1: ground_plane + # model_2: turtlebot3_waffle + # trajectory: + # goal_point_1: -0.5 -8.5 1 0 0 0 + # goal_point_2: -9 2.5 1 0 0 0 + # - name: human_3 + # pose: -3.5 -8.5 1 0 0 0 + # velocity: 1.2 + # radius: 0.4 + # cycle: true + # ignore: + # model_1: ground_plane + # model_2: turtlebot3_waffle + # trajectory: + # goal_point_1: -3.5 -8.5 1 0 0 0 + # goal_point_2: -3.5 8.5 1 0 0 0 diff --git a/simulators/user_config/user_config.yaml b/simulators/user_config/user_config.yaml new file mode 100755 index 0000000..12d7067 --- /dev/null +++ b/simulators/user_config/user_config.yaml @@ -0,0 +1,17 @@ +map: "warehouse" +world: "warehouse" +rviz_file: "sim_env.rviz" + +robots_config: + - robot1_type: "turtlebot3_waffle" + robot1_global_planner: "d_star" + robot1_local_planner: "dwa" + robot1_x_pos: "0.0" + robot1_y_pos: "0.0" + robot1_z_pos: "0.0" + robot1_yaw: "0.0" + +plugins: + pedestrians: "pedestrian_config.yaml" + obstacles: "obstacles_config.yaml" + map_layers: "maps_config.yaml"