Added modified static_layer costmap_2d plugin

CMakeLists.txt

@@ -8,7 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
              cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
              image_transport tf tf_conversions laser_geometry pcl_conversions 
              pcl_ros nodelet dynamic_reconfigure rviz message_filters class_loader
-             genmsg stereo_msgs octomap_ros
+             genmsg stereo_msgs octomap_ros costmap_2d
 )
 
 ## System dependencies are found with CMake's conventions
@@ -84,7 +84,7 @@ catkin_package(
   CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
                  image_transport tf tf_conversions laser_geometry pcl_conversions 
                  pcl_ros nodelet dynamic_reconfigure rviz message_filters class_loader
-                 stereo_msgs octomap_ros
+                 stereo_msgs octomap_ros costmap_2d
 )
 
 ###########
@@ -137,6 +137,7 @@ add_library(rtabmap_ros
    src/rviz/MapGraphDisplay.cpp
    src/rviz/InfoDisplay.cpp
    src/rviz/OrbitOrientedViewController.cpp
+   src/costmap_2d/static_layer.cpp
    ${MOC_FILES}
 )
 target_link_libraries(rtabmap_ros
@@ -238,6 +239,7 @@ install(DIRECTORY
 install(FILES
    nodelet_plugins.xml
    plugin_description.xml
+   costmap_plugins.xml
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 

costmap_plugins.xml

@@ -0,0 +1,8 @@
+<class_libraries>
+  <library path="lib/librtabmap_ros">
+    <class type="rtabmap_ros::StaticLayer"     base_class_type="costmap_2d::Layer">
+      <description>Listens to OccupancyGrid messages and copies them in, like from map_server.</description>
+    </class>
+  </library>
+</class_libraries>
+

launch/azimut3/az3_mapping_robot_nav.launch

@@ -87,7 +87,7 @@
         <param name="base_global_planner" value="navfn/NavfnROS"/>
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
      	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_laser.yaml" command="load" />
+    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_2d.yaml" command="load" />
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
      </node>

launch/azimut3/az3_mapping_robot_stereo_nav.launch

@@ -27,7 +27,7 @@
         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
      	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_3d.yaml" command="load" />
     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
    		</node>

launch/azimut3/config/base_local_planner_params.yaml

@@ -11,23 +11,16 @@ TrajectoryPlannerROS:
   min_vel_x:  0.24
   max_rotational_vel: 0.5
   min_in_place_rotational_vel: 0.15
-  escape_vel: -0.10
-  holonomic_robot: true
 
   xy_goal_tolerance:  0.20
   yaw_goal_tolerance: 0.20
 
   sim_time: 1.5
-  sim_granularity: 0.025
-  vx_samples: 3
   vtheta_samples: 30
-  controller_frequency: 20
 
-  pdist_scale: 0.6
+  meter_scoring: true
-  gdist_scale: 0.8
-  occdist_scale: 0.01
-  heading_lookahead: 0.325
-  dwa: true
 
-  oscillation_reset_dist: 0.05
+#global planner 
-  meter_scoring: false
+NavfnROS:
+    allow_unknown: false
+    visualize_potential: true

launch/azimut3/config/costmap_common_params.yaml

@@ -6,18 +6,5 @@ footprint_padding: 0.03
 inflation_radius: 0.55
 transform_tolerance: 2
 
-controller_patience: 2.0
-#planner_frequency: 0.2
 
-NavfnROS:
-    allow_unknown: false
 
-recovery_behaviors: [
-    {name: conservative_clear, type: clear_costmap_recovery/ClearCostmapRecovery},
-    {name: aggressive_clear, type: clear_costmap_recovery/ClearCostmapRecovery}
-]
-
-conservative_clear: 
-    reset_distance: 3.00
-aggressive_clear:
-    reset_distance: 1.84

launch/azimut3/config/global_costmap_params.yaml

@@ -3,5 +3,8 @@ global_costmap:
   robot_base_frame: base_footprint
   update_frequency: 1
   publish_frequency: 1
-  static_map: true
   always_send_full_costmap: true
+  plugins: [
+    {name: static_layer, type: "rtabmap_ros::StaticLayer"},
+    {name: inflation_layer, type: "costmap_2d::InflationLayer"}
+  ]

launch/azimut3/config/local_costmap_params_2d.yaml

@@ -11,15 +11,15 @@ local_costmap:
   origin_x: -2.0
   origin_y: -2.0
 
-  #observation_sources: laser_scan_sensor
+  observation_sources: laser_scan_sensor
-  observation_sources: laser_scan_sensor point_cloud_sensor
+  #observation_sources: laser_scan_sensor point_cloud_sensor
 
   laser_scan_sensor: {
     data_type: LaserScan, 
     topic: base_scan, 
     expected_update_rate: 0.2, 
     marking: true, 
-    clearing: true}
+    clearing: false}
 
   point_cloud_sensor: {
     sensor_frame: base_footprint,
@@ -30,3 +30,4 @@ local_costmap:
     clearing: true,
     min_obstacle_height: 0.05,
     max_obstacle_height: 0.4}
+

launch/azimut3/config/local_costmap_params_3d.yaml

@@ -11,15 +11,15 @@ local_costmap:
   origin_x: -2.0
   origin_y: -2.0
 
-  observation_sources: laser_scan_sensor point_cloud_sensor
+  #observation_sources: laser_scan_sensor point_cloud_sensor
-  #observation_sources: point_cloud_sensor
+  observation_sources: point_cloud_sensor
 
   laser_scan_sensor: {
     data_type: LaserScan, 
     topic: base_scan, 
     expected_update_rate: 0.2, 
     marking: true, 
-    clearing: false}
+    clearing: true}
 
   # assuming receiving a cloud from rtabmap/obstacles_detection node
   point_cloud_sensor: {

package.xml

@@ -35,6 +35,7 @@
   <build_depend>class_loader</build_depend>
   <build_depend>rtabmap</build_depend>
   <build_depend>move_base_msgs</build_depend>
+  <build_depend>costmap_2d</build_depend>
   <build_depend>octomap_ros</build_depend>
   <build_depend>octomap</build_depend>
   
@@ -62,6 +63,7 @@
   <run_depend>class_loader</run_depend>
   <run_depend>rtabmap</run_depend>
   <run_depend>move_base_msgs</run_depend>
+  <run_depend>costmap_2d</run_depend>
   <run_depend>octomap_ros</run_depend>
   <run_depend>octomap</run_depend>
 
@@ -70,5 +72,6 @@
   <export>
 	<nodelet plugin="${prefix}/nodelet_plugins.xml" />
 	<rviz plugin="${prefix}/plugin_description.xml"/>
+    <costmap_2d plugin="${prefix}/costmap_plugins.xml"/>
   </export>
 </package>

src/costmap_2d/static_layer.cpp

@@ -0,0 +1,266 @@
+/*********************************************************************
+ *
+ * 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!!
+ *********************************************************************/
+
+/*
+ * Modified: added "layered_costmap_->updateMap(0,0,0);" below
+ */
+
+#include "static_layer.h"
+#include <costmap_2d/costmap_math.h>
+#include <pluginlib/class_list_macros.h>
+
+PLUGINLIB_EXPORT_CLASS(rtabmap_ros::StaticLayer, costmap_2d::Layer)
+
+using costmap_2d::NO_INFORMATION;
+using costmap_2d::LETHAL_OBSTACLE;
+using costmap_2d::FREE_SPACE;
+
+namespace rtabmap_ros
+{
+
+StaticLayer::StaticLayer() : dsrv_(NULL) {}
+
+StaticLayer::~StaticLayer()
+{
+    if(dsrv_)
+        delete dsrv_;
+}
+
+void StaticLayer::onInitialize()
+{
+  ros::NodeHandle nh("~/" + name_), g_nh;
+  current_ = true;
+
+  global_frame_ = layered_costmap_->getGlobalFrameID();
+
+  std::string map_topic;
+  nh.param("map_topic", map_topic, std::string("map"));
+  nh.param("subscribe_to_updates", subscribe_to_updates_, false);
+  
+  nh.param("track_unknown_space", track_unknown_space_, true);
+  nh.param("use_maximum", use_maximum_, false);
+
+  int temp_lethal_threshold, temp_unknown_cost_value;
+  nh.param("lethal_cost_threshold", temp_lethal_threshold, int(100));
+  nh.param("unknown_cost_value", temp_unknown_cost_value, int(-1));
+  nh.param("trinary_costmap", trinary_costmap_, true);
+
+  lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
+  unknown_cost_value_ = temp_unknown_cost_value;
+  //we'll subscribe to the latched topic that the map server uses
+  ROS_INFO("Requesting the map...");
+  map_sub_ = g_nh.subscribe(map_topic, 1, &StaticLayer::incomingMap, this);
+  map_received_ = false;
+  has_updated_data_ = false;
+
+  ros::Rate r(10);
+  while (!map_received_ && g_nh.ok())
+  {
+    ros::spinOnce();
+    r.sleep();
+  }
+
+  ROS_INFO("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution());
+  
+  if(subscribe_to_updates_)
+  {
+    ROS_INFO("Subscribing to updates");
+    map_update_sub_ = g_nh.subscribe(map_topic + "_updates", 10, &StaticLayer::incomingUpdate, this);
+  }
+
+  if(dsrv_)
+  {
+    delete dsrv_;
+  }
+
+  dsrv_ = new dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>(nh);
+  dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>::CallbackType cb = boost::bind(
+      &StaticLayer::reconfigureCB, this, _1, _2);
+  dsrv_->setCallback(cb);
+}
+
+void StaticLayer::reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level)
+{
+  if (config.enabled != enabled_)
+  {
+    enabled_ = config.enabled;
+    has_updated_data_ = true;
+    x_ = y_ = 0;
+    width_ = size_x_;
+    height_ = size_y_;
+  }
+}
+
+void StaticLayer::matchSize()
+{
+  Costmap2D* master = layered_costmap_->getCostmap();
+  resizeMap(master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(),
+            master->getOriginX(), master->getOriginY());
+}
+
+unsigned char StaticLayer::interpretValue(unsigned char value)
+{
+  //check if the static value is above the unknown or lethal thresholds
+  if (track_unknown_space_ && value == unknown_cost_value_)
+    return NO_INFORMATION;
+  else if (value >= lethal_threshold_)
+    return LETHAL_OBSTACLE;
+  else if (trinary_costmap_)
+    return FREE_SPACE;
+
+  double scale = (double) value / lethal_threshold_;
+  return scale * LETHAL_OBSTACLE;
+}
+
+void StaticLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map)
+{
+  unsigned int size_x = new_map->info.width, size_y = new_map->info.height;
+
+  ROS_DEBUG("Received a %d X %d map at %f m/pix", size_x, size_y, new_map->info.resolution);
+
+  // resize costmap if size, resolution or origin do not match
+  Costmap2D* master = layered_costmap_->getCostmap();
+  if (master->getSizeInCellsX() != size_x ||
+      master->getSizeInCellsY() != size_y ||
+      master->getResolution() != new_map->info.resolution ||
+      master->getOriginX() != new_map->info.origin.position.x ||
+      master->getOriginY() != new_map->info.origin.position.y ||
+      !layered_costmap_->isSizeLocked())
+  {
+    ROS_INFO("Resizing costmap to %d X %d at %f m/pix", size_x, size_y, new_map->info.resolution);
+    layered_costmap_->resizeMap(size_x, size_y, new_map->info.resolution, new_map->info.origin.position.x,
+                                new_map->info.origin.position.y, true);
+  }else if(size_x_ != size_x || size_y_ != size_y ||
+      resolution_ != new_map->info.resolution ||
+      origin_x_ != new_map->info.origin.position.x ||
+      origin_y_ != new_map->info.origin.position.y){
+    matchSize();
+  }
+
+  unsigned int index = 0;
+
+  //initialize the costmap with static data
+  for (unsigned int i = 0; i < size_y; ++i)
+  {
+    for (unsigned int j = 0; j < size_x; ++j)
+    {
+      unsigned char value = new_map->data[index];
+      costmap_[index] = interpretValue(value);
+      ++index;
+    }
+  }
+  x_ = y_ = 0;
+  width_ = size_x_;
+  height_ = size_y_;
+  map_received_ = true;
+  has_updated_data_ = true;
+
+  layered_costmap_->updateMap(0,0,0);
+}
+
+void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update)
+{
+    unsigned int di = 0;
+    for (unsigned int y = 0; y < update->height ; y++)
+    {
+        unsigned int index_base = (update->y + y) * size_x_;
+        for (unsigned int x = 0; x < update->width ; x++)
+        {
+            unsigned int index = index_base + x + update->x;
+            costmap_[index] = interpretValue( update->data[di++] );
+        }
+    }
+    x_ = update->x;
+    y_ = update->y;
+    width_ = update->width;
+    height_ = update->height;
+    has_updated_data_ = true;
+
+    layered_costmap_->updateMap(0,0,0);
+}
+
+void StaticLayer::activate()
+{
+    onInitialize();
+}
+
+void StaticLayer::deactivate()
+{
+    map_sub_.shutdown();
+    if (subscribe_to_updates_)
+        map_update_sub_.shutdown();
+}
+
+void StaticLayer::reset()
+{
+    deactivate();
+    activate();
+}
+
+void StaticLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
+                               double* max_x, double* max_y)
+{
+  if (!map_received_ || !(has_updated_data_ || has_extra_bounds_))
+    return;
+    
+  useExtraBounds(min_x, min_y, max_x, max_y);
+
+  double mx, my;
+  
+  mapToWorld(x_, y_, mx, my);
+  *min_x = std::min(mx, *min_x);
+  *min_y = std::min(my, *min_y);
+  
+  mapToWorld(x_ + width_, y_ + height_, mx, my);
+  *max_x = std::max(mx, *max_x);
+  *max_y = std::max(my, *max_y);
+  
+  has_updated_data_ = false;
+}
+
+void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
+{
+  if (!map_received_)
+    return;
+  if (!use_maximum_)
+    updateWithTrueOverwrite(master_grid, min_i, min_j, max_i, max_j);
+  else
+    updateWithMax(master_grid, min_i, min_j, max_i, max_j);
+}
+
+}  // namespace rtabmap_ros

src/costmap_2d/static_layer.h

@@ -0,0 +1,100 @@
+/*********************************************************************
+ *
+ * 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 RTABMAP_ROS_STATIC_LAYER_H_
+#define RTABMAP_ROS_STATIC_LAYER_H_
+
+#include <ros/ros.h>
+#include <costmap_2d/costmap_layer.h>
+#include <costmap_2d/layered_costmap.h>
+#include <costmap_2d/GenericPluginConfig.h>
+#include <dynamic_reconfigure/server.h>
+#include <nav_msgs/OccupancyGrid.h>
+#include <map_msgs/OccupancyGridUpdate.h>
+#include <message_filters/subscriber.h>
+
+namespace rtabmap_ros
+{
+
+class StaticLayer : public costmap_2d::CostmapLayer
+{
+public:
+  StaticLayer();
+  virtual ~StaticLayer();
+  virtual void onInitialize();
+  virtual void activate();
+  virtual void deactivate();
+  virtual void reset();
+
+  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y, double* max_x,
+                             double* max_y);
+  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
+
+  virtual void matchSize();
+
+private:
+  /**
+   * @brief  Callback to update the costmap's map from the map_server
+   * @param new_map The map to put into the costmap. The origin of the new
+   * map along with its size will determine what parts of the costmap's
+   * static map are overwritten.
+   */
+  void incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map);
+  void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update);
+  void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
+
+  unsigned char interpretValue(unsigned char value);
+
+  std::string global_frame_; ///< @brief The global frame for the costmap
+  bool subscribe_to_updates_;
+  bool map_received_;
+  bool has_updated_data_;
+  unsigned int x_,y_,width_,height_;
+  bool track_unknown_space_;
+  bool use_maximum_;
+  bool trinary_costmap_;
+  ros::Subscriber map_sub_, map_update_sub_;
+
+  unsigned char lethal_threshold_, unknown_cost_value_;
+
+  mutable boost::recursive_mutex lock_;
+  dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
+};
+
+}  // namespace rtabmap_ros
+
+#endif  // RTABMAP_ROS_DYNAMIC_LAYER_H_