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Porting rtabmap_costmap_plugins (Voxel Layer) to ROS2 (#1373)
* Porting rtabmap_costmap_plugins (Voxel Layer) to ROS2 * fixed voxel grid * Ported voxel_marker * ported patrol.py
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matlabbe
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// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RTABMAP_COSTMAP_PLUGINS__VISIBILITY_CONTROL_H_
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#define RTABMAP_COSTMAP_PLUGINS__VISIBILITY_CONTROL_H_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
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// https://gcc.gnu.org/wiki/Visibility
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#if defined _WIN32 || defined __CYGWIN__
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#ifdef __GNUC__
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#define RTABMAP_COSTMAP_PLUGINS_EXPORT __attribute__ ((dllexport))
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#define RTABMAP_COSTMAP_PLUGINS_IMPORT __attribute__ ((dllimport))
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#else
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#define RTABMAP_COSTMAP_PLUGINS_EXPORT __declspec(dllexport)
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#define RTABMAP_COSTMAP_PLUGINS_IMPORT __declspec(dllimport)
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#endif
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#ifdef RTABMAP_COSTMAP_PLUGINS_BUILDING_DLL
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#define RTABMAP_COSTMAP_PLUGINS_PUBLIC RTABMAP_COSTMAP_PLUGINS_EXPORT
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#else
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#define RTABMAP_COSTMAP_PLUGINS_PUBLIC RTABMAP_COSTMAP_PLUGINS_IMPORT
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#endif
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#define RTABMAP_COSTMAP_PLUGINS_PUBLIC_TYPE RTABMAP_COSTMAP_PLUGINS_PUBLIC
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#define RTABMAP_COSTMAP_PLUGINS_LOCAL
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#else
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#define RTABMAP_COSTMAP_PLUGINS_EXPORT __attribute__ ((visibility("default")))
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#define RTABMAP_COSTMAP_PLUGINS_IMPORT
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#if __GNUC__ >= 4
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#define RTABMAP_COSTMAP_PLUGINS_PUBLIC __attribute__ ((visibility("default")))
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#define RTABMAP_COSTMAP_PLUGINS_LOCAL __attribute__ ((visibility("hidden")))
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#else
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#define RTABMAP_COSTMAP_PLUGINS_PUBLIC
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#define RTABMAP_COSTMAP_PLUGINS_LOCAL
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#endif
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#define RTABMAP_COSTMAP_PLUGINS_PUBLIC_TYPE
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif // RTABMAP_COSTMAP_PLUGINS__VISIBILITY_CONTROL_H_
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/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, 2013, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author: Eitan Marder-Eppstein
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* David V. Lu!!
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*********************************************************************/
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#ifndef RTABMAP_COSTMAP_PLUGINS__VOXEL_LAYER_HPP_
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#define RTABMAP_COSTMAP_PLUGINS__VOXEL_LAYER_HPP_
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#include <vector>
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#include <rtabmap_costmap_plugins/visibility.h>
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#include <rclcpp/rclcpp.hpp>
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#include <nav2_costmap_2d/layer.hpp>
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#include <nav2_costmap_2d/layered_costmap.hpp>
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#include <nav2_costmap_2d/observation_buffer.hpp>
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#include <nav_msgs/msg/occupancy_grid.hpp>
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#include <nav2_msgs/msg/voxel_grid.hpp>
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#include <sensor_msgs/msg/laser_scan.hpp>
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#include <laser_geometry/laser_geometry.hpp>
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#include <sensor_msgs/msg/point_cloud.hpp>
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#include <sensor_msgs/msg/point_cloud2.hpp>
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#include <nav2_costmap_2d/obstacle_layer.hpp>
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#include <nav2_voxel_grid/voxel_grid.hpp>
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namespace rtabmap_costmap_plugins
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{
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/**
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* @class VoxelLayer
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* @brief Takes laser and pointcloud data to populate a 3D voxel representation of the environment
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*/
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class VoxelLayer : public nav2_costmap_2d::ObstacleLayer
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{
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public:
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RTABMAP_COSTMAP_PLUGINS_PUBLIC
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VoxelLayer()
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: voxel_grid_(0, 0, 0)
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{
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costmap_ = NULL; // this is the unsigned char* member of parent class's parent class Costmap2D
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}
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/**
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* @brief Voxel Layer destructor
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*/
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virtual ~VoxelLayer();
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/**
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* @brief Initialization process of layer on startup
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*/
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virtual void onInitialize();
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/**
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* @brief Update the bounds of the master costmap by this layer's update dimensions
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* @param robot_x X pose of robot
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* @param robot_y Y pose of robot
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* @param robot_yaw Robot orientation
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* @param min_x X min map coord of the window to update
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* @param min_y Y min map coord of the window to update
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* @param max_x X max map coord of the window to update
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* @param max_y Y max map coord of the window to update
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*/
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virtual void updateBounds(
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double robot_x, double robot_y, double robot_yaw, double * min_x,
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double * min_y,
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double * max_x,
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double * max_y);
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/**
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* @brief Update the layer's origin to a new pose, often when in a rolling costmap
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*/
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void updateOrigin(double new_origin_x, double new_origin_y);
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/**
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* @brief If layer is discretely populated
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*/
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bool isDiscretized()
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{
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return true;
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}
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/**
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* @brief Match the size of the master costmap
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*/
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virtual void matchSize();
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/**
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* @brief Reset this costmap
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*/
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virtual void reset();
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/**
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* @brief If clearing operations should be processed on this layer or not
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*/
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virtual bool isClearable() {return true;}
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protected:
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/**
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* @brief Reset internal maps
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*/
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virtual void resetMaps();
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/**
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* @brief Use raycasting between 2 points to clear freespace
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*/
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virtual void raytraceFreespace(
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const nav2_costmap_2d::Observation & clearing_observation,
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double * min_x, double * min_y,
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double * max_x,
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double * max_y);
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bool publish_voxel_;
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std::string robot_base_frame_;
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rclcpp::Publisher<nav2_msgs::msg::VoxelGrid>::SharedPtr voxel_pub_;
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nav2_voxel_grid::VoxelGrid voxel_grid_;
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double z_resolution_, origin_z_;
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int unknown_threshold_, mark_threshold_, size_z_;
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rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr
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clearing_endpoints_pub_;
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/**
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* @brief Convert world coordinates into map coordinates
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*/
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inline bool worldToMap3DFloat(
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double wx, double wy, double wz, double & mx, double & my,
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double & mz)
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{
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if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_) {
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return false;
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}
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mx = ((wx - origin_x_) / resolution_);
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my = ((wy - origin_y_) / resolution_);
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mz = ((wz - origin_z_) / z_resolution_);
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if (mx < size_x_ && my < size_y_ && mz < size_z_) {
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return true;
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}
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return false;
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}
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/**
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* @brief Convert world coordinates into map coordinates
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*/
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inline bool worldToMap3D(
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double wx, double wy, double wz, unsigned int & mx, unsigned int & my,
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unsigned int & mz)
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{
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if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_) {
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return false;
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}
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mx = static_cast<unsigned int>((wx - origin_x_) / resolution_);
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my = static_cast<unsigned int>((wy - origin_y_) / resolution_);
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mz = static_cast<unsigned int>((wz - origin_z_) / z_resolution_);
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if (mx < size_x_ && my < size_y_ && mz < (unsigned int)size_z_) {
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return true;
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}
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return false;
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}
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/**
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* @brief Convert map coordinates into world coordinates
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*/
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inline void mapToWorld3D(
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unsigned int mx, unsigned int my, unsigned int mz, double & wx,
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double & wy,
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double & wz)
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{
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// returns the center point of the cell
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wx = origin_x_ + (mx + 0.5) * resolution_;
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wy = origin_y_ + (my + 0.5) * resolution_;
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wz = origin_z_ + (mz + 0.5) * z_resolution_;
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}
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/**
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* @brief Find L2 norm distance in 3D
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*/
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inline double dist(double x0, double y0, double z0, double x1, double y1, double z1)
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{
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return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
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}
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/**
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* @brief Get the height of the voxel sizes in meters
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*/
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double getSizeInMetersZ() const
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{
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return (size_z_ - 1 + 0.5) * z_resolution_;
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}
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/**
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* @brief Copy a region of a source map into a destination map
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* @param source_map The source map
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* @param sm_lower_left_x The lower left x point of the source map to start the copy
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* @param sm_lower_left_y The lower left y point of the source map to start the copy
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* @param sm_size_x The x size of the source map
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* @param dest_map The destination map
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* @param dm_lower_left_x The lower left x point of the destination map to start the copy
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* @param dm_lower_left_y The lower left y point of the destination map to start the copy
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* @param dm_size_x The x size of the destination map
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* @param region_size_x The x size of the region to copy
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* @param region_size_y The y size of the region to copy
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*/
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template<typename data_type>
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void copyMapRegion3D(
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data_type * source_map, unsigned int sm_lower_left_x,
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unsigned int sm_lower_left_y,
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unsigned int sm_size_x, data_type * dest_map, unsigned int dm_lower_left_x,
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unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x,
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unsigned int region_size_y, int z_shift)
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{
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// we'll first need to compute the starting points for each map
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// this is like getting voxel column. We are not taking into account the z position of the voxel
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data_type * sm_index = source_map + (sm_lower_left_y * sm_size_x + sm_lower_left_x);
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data_type * dm_index = dest_map + (dm_lower_left_y * dm_size_x + dm_lower_left_x);
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uint32_t marked_bits_mask = (data_type) 0xFFFF0000;
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uint32_t unknown_bits_mask = (data_type) 0x0000FFFF;
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// now, we'll copy the source map into the destination map
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for (unsigned int i = 0; i < region_size_y; ++i) {
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memcpy(dm_index, sm_index, region_size_x * sizeof(data_type));
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for (unsigned int j = 0; j < region_size_x; j++) {
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// known marked: 11 = 2 bits, unknown: 01 = 1 bit, known free: 00 = 0 bits
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if (z_shift > 0) {
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dm_index[j] =
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// Shift marked cells, insert zeros for new unknowns
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((dm_index[j] & marked_bits_mask) >> z_shift & marked_bits_mask) |
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// Shift empty/unknown cells, insert ones for new unknowns
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(((dm_index[j] & unknown_bits_mask) >> z_shift | (~((data_type) 0) << (sizeof(data_type) * 4 - z_shift))) & unknown_bits_mask);
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} else if (z_shift < 0) {
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dm_index[j] =
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// Shift marked cells, insert zeros for new unknowns
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(dm_index[j] & marked_bits_mask) << z_shift * -1 |
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// Shift empty/unknown cells, insert ones for new unknowns
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((dm_index[j] << z_shift * -1 & unknown_bits_mask) | ~(~((data_type) 0) << z_shift * -1));
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}
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}
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sm_index += sm_size_x;
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dm_index += dm_size_x;
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}
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}
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/**
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* @brief Callback executed when a parameter change is detected
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* @param event ParameterEvent message
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*/
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rcl_interfaces::msg::SetParametersResult
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dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters);
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// Dynamic parameters handler
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rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
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};
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} // namespace rtabmap_costmap_plugins
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#endif // RTABMAP_COSTMAP_PLUGINS__VOXEL_LAYER_HPP_
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