498 lines
24 KiB
C#
498 lines
24 KiB
C#
using System;
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using System.Globalization;
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using System.IO;
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using System.Runtime.InteropServices;
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using System.Runtime.CompilerServices;
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using System.Text.RegularExpressions;
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using SixLabors.ImageSharp;
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using SixLabors.ImageSharp.PixelFormats;
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using NavigationExample;
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namespace NavigationExample
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{
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/// <summary>Thông tin map đọc từ file YAML (maze.yaml).</summary>
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public struct MazeMapConfig
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{
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public string ImagePath; // đường dẫn đầy đủ tới file ảnh
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public float Resolution;
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public double OriginX, OriginY, OriginZ;
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public int Negate; // 0 hoặc 1
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public double OccupiedThresh;
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public double FreeThresh;
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}
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// ============================================================================
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// Example Usage
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// ============================================================================
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class Program
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{
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/// <summary>
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/// Đọc file maze.yaml (image, resolution, origin, negate, occupied_thresh, free_thresh).
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/// ImagePath được resolve tuyệt đối theo thư mục chứa file yaml.
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/// </summary>
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static bool TryLoadMazeYaml(string yamlPath, out MazeMapConfig config)
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{
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config = default;
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if (string.IsNullOrEmpty(yamlPath) || !File.Exists(yamlPath))
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return false;
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string dir = Path.GetDirectoryName(Path.GetFullPath(yamlPath)) ?? "";
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try
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{
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string[] lines = File.ReadAllLines(yamlPath);
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foreach (string line in lines)
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{
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string trimmed = line.Trim();
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if (trimmed.Length == 0 || trimmed.StartsWith("#")) continue;
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int colon = trimmed.IndexOf(':');
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if (colon <= 0) continue;
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string key = trimmed.Substring(0, colon).Trim();
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string value = trimmed.Substring(colon + 1).Trim();
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if (key == "image")
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config.ImagePath = Path.Combine(dir, value);
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else if (key == "resolution" && float.TryParse(value, NumberStyles.Float, CultureInfo.InvariantCulture, out float res))
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config.Resolution = res;
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else if (key == "origin")
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{
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var m = Regex.Match(value, @"\[\s*([-\d.]+\s*),\s*([-\d.]+\s*),\s*([-\d.]+)\s*\]");
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if (m.Success)
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{
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config.OriginX = double.Parse(m.Groups[1].Value, CultureInfo.InvariantCulture);
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config.OriginY = double.Parse(m.Groups[2].Value, CultureInfo.InvariantCulture);
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config.OriginZ = double.Parse(m.Groups[3].Value, CultureInfo.InvariantCulture);
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}
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}
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else if (key == "negate" && int.TryParse(value, out int neg))
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config.Negate = neg;
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else if (key == "occupied_thresh" && double.TryParse(value, NumberStyles.Float, CultureInfo.InvariantCulture, out double ot))
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config.OccupiedThresh = ot;
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else if (key == "free_thresh" && double.TryParse(value, NumberStyles.Float, CultureInfo.InvariantCulture, out double ft))
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config.FreeThresh = ft;
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}
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return !string.IsNullOrEmpty(config.ImagePath);
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}
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catch
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{
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return false;
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}
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}
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/// <summary>
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/// Đọc file ảnh PNG và chuyển pixel sang byte[] occupancy (0=free, 100=occupied, 255=unknown).
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/// Dùng negate, occupied_thresh, free_thresh từ maze.yaml nếu cung cấp.
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/// </summary>
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static byte[] LoadMazePixelsAsOccupancy(string imagePath, out int width, out int height,
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int negate = 0, double occupiedThresh = 0.65, double freeThresh = 0.196)
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{
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width = 0;
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height = 0;
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if (string.IsNullOrEmpty(imagePath) || !File.Exists(imagePath))
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{
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LogError($"File not found: {imagePath}");
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return null;
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}
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try
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{
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using var image = Image.Load<Rgba32>(imagePath);
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int w = image.Width;
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int h = image.Height;
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width = w;
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height = h;
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byte[] data = new byte[w * h];
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image.ProcessPixelRows(accessor =>
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{
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for (int y = 0; y < accessor.Height; y++)
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{
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Span<Rgba32> row = accessor.GetRowSpan(y);
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for (int x = 0; x < row.Length; x++)
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{
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ref readonly Rgba32 p = ref row[x];
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double gray = (p.R + p.G + p.B) / 255.0 / 3.0;
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if (negate != 0) gray = 1.0 - gray;
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byte occ;
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if (gray <= freeThresh) occ = 0;
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else if (gray >= occupiedThresh) occ = 100;
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else occ = 255; // unknown
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data[y * w + x] = occ;
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}
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}
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});
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return data;
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}
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catch (Exception ex)
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{
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LogError($"Load image failed: {ex.Message}");
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return null;
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}
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}
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// Helper method để hiển thị file và line number tự động
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static void LogError(string message,
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[CallerFilePath] string filePath = "",
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[CallerLineNumber] int lineNumber = 0,
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[CallerMemberName] string memberName = "")
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{
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// Lấy tên file từ đường dẫn đầy đủ
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string fileName = System.IO.Path.GetFileName(filePath);
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Console.WriteLine($"[{fileName}:{lineNumber}] {memberName}: {message}");
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}
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static void Main(string[] args)
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{
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// Create tf3 buffer (replaces TF listener; used for all static transforms and navigation init)
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IntPtr tf3Buffer = TF3API.tf3_buffer_create(10);
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if (tf3Buffer == IntPtr.Zero)
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{
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LogError("Failed to create tf3 buffer (libtf3.so may be missing)");
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return;
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}
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Console.WriteLine($"[NavigationExample] TF3 buffer created, handle = 0x{tf3Buffer.ToInt64():X16}");
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string version = Marshal.PtrToStringAnsi(TF3API.tf3_get_version()) ?? "?";
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Console.WriteLine($"[TF3] {version}");
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// Inject static transforms: map -> odom -> base_footprint -> base_link
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var tMapOdom = TF3API.CreateStaticTransform("map", "odom", 0, 0, 0, 0, 0, 0, 1);
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var tOdomFoot = TF3API.CreateStaticTransform("odom", "base_footprint", 0, 0, 0, 0, 0, 0, 1);
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var tFootLink = TF3API.CreateStaticTransform("base_footprint", "base_link", 0, 0, 0, 0, 0, 0, 1);
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if (!TF3API.tf3_set_transform(tf3Buffer, ref tMapOdom, "NavigationExample", true) ||
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!TF3API.tf3_set_transform(tf3Buffer, ref tOdomFoot, "NavigationExample", true) ||
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!TF3API.tf3_set_transform(tf3Buffer, ref tFootLink, "NavigationExample", true))
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{
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LogError("Failed to set static TF");
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TF3API.tf3_buffer_destroy(tf3Buffer);
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return;
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}
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// Create navigation instance and initialize with tf3 buffer
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NavigationAPI.NavigationHandle navHandle = NavigationAPI.navigation_create();
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if (navHandle.ptr == IntPtr.Zero)
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{
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LogError("Failed to create navigation instance");
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TF3API.tf3_buffer_destroy(tf3Buffer);
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return;
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}
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if (!NavigationAPI.navigation_initialize(navHandle, tf3Buffer))
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{
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LogError("Failed to initialize navigation with tf3 buffer");
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NavigationAPI.navigation_destroy(navHandle);
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TF3API.tf3_buffer_destroy(tf3Buffer);
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return;
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}
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while (true)
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{
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NavigationAPI.NavFeedback feedback = new NavigationAPI.NavFeedback();
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if (NavigationAPI.navigation_get_feedback(navHandle, ref feedback))
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{
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if (feedback.is_ready)
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{
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Console.WriteLine("Navigation is ready");
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break;
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}
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else
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{
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Console.WriteLine("Navigation is not ready");
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}
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}
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System.Threading.Thread.Sleep(100);
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}
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Console.WriteLine("[NavigationExample] Navigation initialized successfully");
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// Set robot footprint
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Point[] footprint = new Point[]
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{
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new Point { x = 0.3, y = -0.2, z = 0.0 },
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new Point { x = 0.3, y = 0.2, z = 0.0 },
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new Point { x = -0.3, y = 0.2, z = 0.0 },
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new Point { x = -0.3, y = -0.2, z = 0.0 }
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};
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NavigationAPI.navigation_set_robot_footprint(navHandle, footprint, new UIntPtr((uint)footprint.Length));
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IntPtr fFrameId = Marshal.StringToHGlobalAnsi("fscan");
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Header fscanHeader = NavigationAPI.header_create(Marshal.PtrToStringAnsi(fFrameId));
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LaserScan fscanHandle;
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fscanHandle.header = fscanHeader;
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fscanHandle.angle_min = -1.57f;
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fscanHandle.angle_max = 1.57f;
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fscanHandle.angle_increment = 0.785f;
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fscanHandle.time_increment = 0.0f;
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fscanHandle.scan_time = 0.1f;
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fscanHandle.range_min = 0.05f;
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fscanHandle.range_max = 10.0f;
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fscanHandle.ranges = Marshal.AllocHGlobal(sizeof(float) * 5);
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Marshal.Copy(new float[] { 1.0f, 1.2f, 1.1f, 0.9f, 1.3f }, 0, fscanHandle.ranges, 5);
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fscanHandle.ranges_count = new UIntPtr(5);
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fscanHandle.intensities = Marshal.AllocHGlobal(sizeof(float) * 5);
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Marshal.Copy(new float[] { 100.0f, 120.0f, 110.0f, 90.0f, 130.0f }, 0, fscanHandle.intensities, 5);
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fscanHandle.intensities_count = new UIntPtr(5);
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NavigationAPI.navigation_add_laser_scan(navHandle, "/fscan", fscanHandle);
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IntPtr bFrameId = Marshal.StringToHGlobalAnsi("bscan");
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Header bscanHeader = NavigationAPI.header_create(Marshal.PtrToStringAnsi(bFrameId));
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LaserScan bscanHandle;
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bscanHandle.header = bscanHeader;
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bscanHandle.angle_min = 1.57f;
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bscanHandle.angle_max = -1.57f;
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bscanHandle.angle_increment = -0.785f;
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bscanHandle.time_increment = 0.0f;
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bscanHandle.scan_time = 0.1f;
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bscanHandle.range_min = 0.05f;
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bscanHandle.range_max = 10.0f;
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bscanHandle.ranges = Marshal.AllocHGlobal(sizeof(float) * 5);
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Marshal.Copy(new float[] { 1.0f, 1.2f, 1.1f, 0.9f, 1.3f }, 0, bscanHandle.ranges, 5);
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bscanHandle.ranges_count = new UIntPtr(5);
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bscanHandle.intensities = Marshal.AllocHGlobal(sizeof(float) * 5);
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Marshal.Copy(new float[] { 100.0f, 120.0f, 110.0f, 90.0f, 130.0f }, 0, bscanHandle.intensities, 5);
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bscanHandle.intensities_count = new UIntPtr(5);
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NavigationAPI.navigation_add_laser_scan(navHandle, "/bscan", bscanHandle);
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IntPtr oFrameId = Marshal.StringToHGlobalAnsi("odom");
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Header odometryHeader = NavigationAPI.header_create(Marshal.PtrToStringAnsi(oFrameId));
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Odometry odometryHandle = new Odometry();
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odometryHandle.header = odometryHeader;
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IntPtr childFrameId = Marshal.StringToHGlobalAnsi("base_footprint");
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odometryHandle.child_frame_id = childFrameId;
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odometryHandle.pose.pose.position.x = 0.0;
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odometryHandle.pose.pose.position.y = 0.0;
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odometryHandle.pose.pose.position.z = 0.0;
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odometryHandle.pose.pose.orientation.x = 0.0;
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odometryHandle.pose.pose.orientation.y = 0.0;
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odometryHandle.pose.pose.orientation.z = 0.0;
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odometryHandle.pose.pose.orientation.w = 1.0;
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double[] pose_covariance = new double[36];
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for(int i = 0; i < pose_covariance.Length; i++) {
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pose_covariance[i] = 0.0;
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}
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odometryHandle.pose.covariance = Marshal.AllocHGlobal(sizeof(double) * pose_covariance.Length);
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Marshal.Copy(pose_covariance, 0, odometryHandle.pose.covariance, pose_covariance.Length);
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odometryHandle.pose.covariance_count = new UIntPtr((uint)pose_covariance.Length);
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odometryHandle.twist.twist.linear.x = 0.0;
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odometryHandle.twist.twist.linear.y = 0.0;
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odometryHandle.twist.twist.linear.z = 0.0;
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odometryHandle.twist.twist.angular.x = 0.0;
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odometryHandle.twist.twist.angular.y = 0.0;
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odometryHandle.twist.twist.angular.z = 0.0;
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double[] twist_covariance = new double[36];
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for(int i = 0; i < twist_covariance.Length; i++) {
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twist_covariance[i] = 0.0;
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}
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odometryHandle.twist.covariance = Marshal.AllocHGlobal(sizeof(double) * twist_covariance.Length);
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Marshal.Copy(twist_covariance, 0, odometryHandle.twist.covariance, twist_covariance.Length);
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odometryHandle.twist.covariance_count = new UIntPtr((uint)twist_covariance.Length);
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NavigationAPI.navigation_add_odometry(navHandle, "odometry", odometryHandle);
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// Add static map: đọc maze.yaml rồi load ảnh và cập nhật mapMetaData
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string mapYamlPath = "maze.yaml";
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int mapWidth, mapHeight;
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byte[] data;
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MazeMapConfig mapConfig;
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if (TryLoadMazeYaml(mapYamlPath, out mapConfig))
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{
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data = LoadMazePixelsAsOccupancy(mapConfig.ImagePath, out mapWidth, out mapHeight,
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mapConfig.Negate, mapConfig.OccupiedThresh, mapConfig.FreeThresh);
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if (data == null)
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{
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mapWidth = 3;
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mapHeight = 10;
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data = new byte[30];
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for (int i = 0; i < data.Length; i++) data[i] = 100;
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Console.WriteLine("YAML loaded but image failed; using default map 3x10");
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}
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else
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{
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Console.WriteLine("Loaded map from {0}: {1}x{2}, resolution={3}, origin=({4},{5},{6})",
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mapConfig.ImagePath, mapWidth, mapHeight, mapConfig.Resolution,
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mapConfig.OriginX, mapConfig.OriginY, mapConfig.OriginZ);
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}
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}
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else
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{
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mapWidth = 3;
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mapHeight = 10;
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data = new byte[30];
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for (int i = 0; i < data.Length; i++) data[i] = 100;
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mapConfig = default;
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mapConfig.Resolution = 0.05f;
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mapConfig.OriginX = mapConfig.OriginY = mapConfig.OriginZ = 0.0;
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Console.WriteLine("maze.yaml not found, using default map 3x10");
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}
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Time mapLoadTime = NavigationAPI.time_create();
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MapMetaData mapMetaData = new MapMetaData();
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mapMetaData.map_load_time = mapLoadTime;
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mapMetaData.resolution = mapConfig.Resolution;
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mapMetaData.width = (uint)mapWidth;
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mapMetaData.height = (uint)mapHeight;
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mapMetaData.origin = new Pose();
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mapMetaData.origin.position.x = mapConfig.OriginX;
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mapMetaData.origin.position.y = mapConfig.OriginY;
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mapMetaData.origin.position.z = mapConfig.OriginZ;
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mapMetaData.origin.orientation.x = 0.0;
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mapMetaData.origin.orientation.y = 0.0;
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mapMetaData.origin.orientation.z = 0.0;
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mapMetaData.origin.orientation.w = 1.0;
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OccupancyGrid occupancyGrid = new OccupancyGrid();
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IntPtr mapFrameId = Marshal.StringToHGlobalAnsi("map");
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occupancyGrid.header = NavigationAPI.header_create(Marshal.PtrToStringAnsi(mapFrameId));
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occupancyGrid.info = mapMetaData;
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occupancyGrid.data = Marshal.AllocHGlobal(sizeof(byte) * data.Length);
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Marshal.Copy(data, 0, occupancyGrid.data, data.Length);
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occupancyGrid.data_count = new UIntPtr((uint)data.Length);
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Console.WriteLine("data length: {0} {1}", data.Length, occupancyGrid.data_count);
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Console.WriteLine("C# OccupancyGrid sizeof={0} data_off={1} data_count_off={2}",
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Marshal.SizeOf<OccupancyGrid>(),
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Marshal.OffsetOf<OccupancyGrid>("data"),
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Marshal.OffsetOf<OccupancyGrid>("data_count"));
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NavigationAPI.navigation_add_static_map(navHandle, "/map", occupancyGrid);
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Twist2DStamped twist = new Twist2DStamped();
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if (NavigationAPI.navigation_get_twist(navHandle, ref twist))
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{
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Console.WriteLine(
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"Twist: {0}, {1}, {2}, {3}",
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NavigationAPI.MarshalString(twist.header.frame_id), twist.velocity.x, twist.velocity.y, twist.velocity.theta);
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}
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// Build order (thao cách bom order): header + nodes + edges giống C++
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Order order = new Order();
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order.headerId = 1;
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order.timestamp = Marshal.StringToHGlobalAnsi("2026-02-28 10:00:00");
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order.version = Marshal.StringToHGlobalAnsi("1.0.0");
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order.manufacturer = Marshal.StringToHGlobalAnsi("Manufacturer");
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order.serialNumber = Marshal.StringToHGlobalAnsi("Serial Number");
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order.orderId = Marshal.StringToHGlobalAnsi("Order ID");
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order.orderUpdateId = 1;
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// Nodes: giống for (auto node : order.nodes) { node_msg.nodeId = ...; node_msg.nodePosition.x = ...; order_msg.nodes.push_back(node_msg); }
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int nodeCount = 1;
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order.nodes = Marshal.AllocHGlobal(Marshal.SizeOf<Node>() * nodeCount);
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order.nodes_count = new UIntPtr((uint)nodeCount);
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Node node1 = new Node();
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node1.nodeId = Marshal.StringToHGlobalAnsi("node-1");
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node1.sequenceId = 0;
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node1.nodeDescription = Marshal.StringToHGlobalAnsi("Goal node");
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node1.released = 0;
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node1.nodePosition.x = 1.0;
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node1.nodePosition.y = 1.0;
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node1.nodePosition.theta = 0.0;
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node1.nodePosition.allowedDeviationXY = 0.1f;
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node1.nodePosition.allowedDeviationTheta = 0.05f;
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node1.nodePosition.mapId = Marshal.StringToHGlobalAnsi("map");
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node1.nodePosition.mapDescription = Marshal.StringToHGlobalAnsi("");
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node1.actions = IntPtr.Zero;
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node1.actions_count = UIntPtr.Zero;
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Marshal.StructureToPtr(node1, order.nodes, false);
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// Edges: rỗng trong ví dụ này; nếu cần thì alloc và fill tương tự (edge_msg.edgeId, trajectory.controlPoints, ...)
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order.edges = IntPtr.Zero;
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order.edges_count = UIntPtr.Zero;
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order.zoneSetId = Marshal.StringToHGlobalAnsi("");
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PoseStamped goal = new PoseStamped();
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goal.header = NavigationAPI.header_create(Marshal.PtrToStringAnsi(mapFrameId));
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goal.pose.position.x = 0.01;
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goal.pose.position.y = 0.01;
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goal.pose.position.z = 0.0;
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goal.pose.orientation.x = 0.0;
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goal.pose.orientation.y = 0.0;
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goal.pose.orientation.z = 0.0;
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goal.pose.orientation.w = 1.0;
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// Console.WriteLine("Docking to docking_point");
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NavigationAPI.navigation_dock_to(navHandle, "charger", goal);
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// NavigationAPI.navigation_move_to_nodes_edges(navHandle, order.nodes, order.nodes_count, order.edges, order.edges_count, goal);
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// NavigationAPI.navigation_move_to_order(navHandle, order, goal);
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NavigationAPI.navigation_set_twist_linear(navHandle, 0.1, 0.0, 0.0);
|
|
NavigationAPI.navigation_set_twist_angular(navHandle, 0.0, 0.0, 0.2);
|
|
|
|
// NavigationAPI.navigation_move_straight_to(navHandle, 1.0);
|
|
|
|
while (true)
|
|
{
|
|
System.Threading.Thread.Sleep(100);
|
|
// NavigationAPI.NavFeedback feedback = new NavigationAPI.NavFeedback();
|
|
// if (NavigationAPI.navigation_get_feedback(navHandle, ref feedback))
|
|
// {
|
|
// if (feedback.navigation_state == NavigationAPI.NavigationState.Succeeded)
|
|
// {
|
|
// Console.WriteLine("Navigation is Succeeded");
|
|
// break;
|
|
// }
|
|
// }
|
|
|
|
// NavigationAPI.PlannerDataOutput globalData = new NavigationAPI.PlannerDataOutput();
|
|
// if (NavigationAPI.navigation_get_global_data(navHandle, ref globalData))
|
|
// {
|
|
// int n = (int)(uint)globalData.plan.poses_count;
|
|
// int poseSize = Marshal.SizeOf<Pose2DStamped>();
|
|
// for (int i = 0; i < n; i++)
|
|
// {
|
|
// IntPtr posePtr = IntPtr.Add(globalData.plan.poses, i * poseSize);
|
|
// Pose2DStamped p = Marshal.PtrToStructure<Pose2DStamped>(posePtr);
|
|
// double p_x = p.pose.x;
|
|
// double p_y = p.pose.y;
|
|
// double p_theta = p.pose.theta;
|
|
// Console.WriteLine("Plan: {0}, {1}, {2}", p_x, p_y, p_theta);
|
|
// }
|
|
// if(globalData.is_costmap_updated) {
|
|
// for(int i = 0; i < (int)(uint)globalData.costmap.data_count; i++) {
|
|
// byte cellValue = Marshal.ReadByte(globalData.costmap.data, i);
|
|
// Console.WriteLine("Costmap: {0} {1}", i, cellValue);
|
|
// }
|
|
// }
|
|
// else {
|
|
// Console.WriteLine("Global Costmap is not updated");
|
|
// }
|
|
// }
|
|
|
|
// NavigationAPI.PlannerDataOutput localData = new NavigationAPI.PlannerDataOutput();
|
|
// if(NavigationAPI.navigation_get_local_data(navHandle, ref localData))
|
|
// {
|
|
// int n = (int)(uint)localData.plan.poses_count;
|
|
// int poseSize = Marshal.SizeOf<Pose2DStamped>();
|
|
// for (int i = 0; i < n; i++)
|
|
// {
|
|
// IntPtr posePtr = IntPtr.Add(localData.plan.poses, i * poseSize);
|
|
// Pose2DStamped p = Marshal.PtrToStructure<Pose2DStamped>(posePtr);
|
|
// double p_x = p.pose.x;
|
|
// double p_y = p.pose.y;
|
|
// double p_theta = p.pose.theta;
|
|
// Console.WriteLine("Plan: {0}, {1}, {2}", p_x, p_y, p_theta);
|
|
// }
|
|
// if(localData.is_costmap_updated) {
|
|
// for(int i = 0; i < (int)(uint)localData.costmap.data_count; i++) {
|
|
// byte cellValue = Marshal.ReadByte(localData.costmap.data, i);
|
|
// Console.WriteLine("Costmap: {0} {1}", i, cellValue);
|
|
// }
|
|
// }
|
|
// else {
|
|
// Console.WriteLine("Local Costmap is not updated");
|
|
// }
|
|
// }
|
|
}
|
|
// Cleanup (destroy nav first, then tf3 buffer)
|
|
|
|
NavigationAPI.navigation_destroy(navHandle);
|
|
TF3API.tf3_buffer_destroy(tf3Buffer);
|
|
Console.WriteLine("Press any key to exit...");
|
|
try
|
|
{
|
|
Console.ReadKey(intercept: true);
|
|
}
|
|
catch (InvalidOperationException)
|
|
{
|
|
// Running without a real console (e.g. redirected/automated run).
|
|
}
|
|
}
|
|
}
|
|
}
|