void TableApproaches::onInit() {
table_appr_srv = nh.advertiseService("/table_detection/detect_table_approaches", &TableApproaches::tableApprCallback, this);
costmap_ros = new costmap_2d::Costmap2DROS("table_costmap", tf_listener);
traj_planner.initialize("table_traj_planner", &tf_listener, costmap_ros);
footprint_model = costmap_ros->getRobotFootprint();
valid_pub = nh.advertise<geometry_msgs::PoseArray>("valid_poses", 1);
invalid_pub = nh.advertise<geometry_msgs::PoseArray>("invalid_poses", 1);
approach_pub = nh.advertise<geometry_msgs::PoseArray>("approach_poses", 1);
close_pub = nh.advertise<geometry_msgs::PoseArray>("close_poses", 1);
//costmap_ros->start();
ros::Duration(1.0).sleep();
}
HectorStuckRecoveryHandler(hector_move_base::IHectorMoveBase* interface) :
HectorMoveBaseHandler(interface),
costmap_(interface->getCostmap()),
tf_(interface->getTransformListener()) {
ros::NodeHandle nh;
inverse_trajectory_service_client_ = nh.serviceClient<hector_nav_msgs::GetRecoveryInfo>("trajectory_recovery_info");
inv_traj_back_pose_pub_ = nh.advertise<geometry_msgs::PoseStamped>("inv_traj_back_pose",1);
ros::NodeHandle controller_nh("controller");
path_pub_ = controller_nh.advertise<hector_move_base_msgs::MoveBaseActionGeneric>("generic",1);
path_drive_feedback_sub_ = controller_nh.subscribe("result", 5, &HectorStuckRecoveryHandler::resultCallback, this);
world_model_ = new base_local_planner::CostmapModel(*costmap_->getCostmap());
counter = 0;
}
bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan,
const costmap_2d::Costmap2DROS& costmap, const std::string& global_frame,
std::vector<geometry_msgs::PoseStamped>& transformed_plan, std::vector<int>& start_end_counts)
{
const geometry_msgs::PoseStamped& plan_pose = global_plan[0];
// initiate refernce variables
transformed_plan.clear();
try
{
if (!global_plan.size() > 0)
{
ROS_ERROR("Recieved plan with zero length");
return false;
}
tf::StampedTransform transform;
tf.lookupTransform(global_frame, ros::Time(), plan_pose.header.frame_id, plan_pose.header.stamp,
plan_pose.header.frame_id, transform);
//let's get the pose of the robot in the frame of the plan
tf::Stamped<tf::Pose> robot_pose;
robot_pose.setIdentity();
robot_pose.frame_id_ = costmap.getBaseFrameID();
robot_pose.stamp_ = ros::Time();
tf.transformPose(plan_pose.header.frame_id, robot_pose, robot_pose);
//we'll keep points on the plan that are within the window that we're looking at
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 = DBL_MAX;
// --- start - modification w.r.t. base_local_planner
// initiate start_end_count
std::vector<int> start_end_count;
start_end_count.assign(2, 0);
// we know only one direction and that is forward! - initiate search with previous start_end_counts
// this is neccesserry to work with the sampling based planners - path may severall time enter and leave moving window
ROS_ASSERT( (start_end_counts.at(0) > 0) && (start_end_counts.at(0) <= (int) global_plan.size()) );
i = (unsigned int) global_plan.size() - (unsigned int) start_end_counts.at(0);
// --- end - modification w.r.t. base_local_planner
//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() && sq_dist > sq_dist_threshold)
{
double x_diff = robot_pose.getOrigin().x() - global_plan[i].pose.position.x;
double y_diff = robot_pose.getOrigin().y() - global_plan[i].pose.position.y;
sq_dist = x_diff * x_diff + y_diff * y_diff;
// --- start - modification w.r.t. base_local_planner
// not yet in reach - get next frame
if( sq_dist > sq_dist_threshold )
++i;
else
// set counter for start of transformed intervall - from back as beginning of plan might be prunned
start_end_count.at(0) = (int) (((unsigned int) global_plan.size()) - i);
// --- end - modification w.r.t. base_local_planner
}
tf::Stamped<tf::Pose> tf_pose;
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)
{
double x_diff = robot_pose.getOrigin().x() - global_plan[i].pose.position.x;
double y_diff = robot_pose.getOrigin().y() - global_plan[i].pose.position.y;
sq_dist = x_diff * x_diff + y_diff * y_diff;
const geometry_msgs::PoseStamped& pose = global_plan[i];
poseStampedMsgToTF(pose, tf_pose);
tf_pose.setData(transform * tf_pose);
tf_pose.stamp_ = transform.stamp_;
tf_pose.frame_id_ = global_frame;
poseStampedTFToMsg(tf_pose, newer_pose);
transformed_plan.push_back(newer_pose);
// --- start - modification w.r.t. base_local_planner
// set counter for end of transformed intervall - from back as beginning of plan might be prunned
start_end_count.at(1) = int (((unsigned int) global_plan.size()) - i);
// --- end - modification w.r.t. base_local_planner
++i;
}
// --- start - modification w.r.t. base_local_planner
// write to reference variable
start_end_counts = start_end_count;
// --- end - modification w.r.t. base_local_planner
}
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;
}
bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan,
const costmap_2d::Costmap2DROS& costmap, const std::string& global_frame,
std::vector<geometry_msgs::PoseStamped>& transformed_plan) {
const geometry_msgs::PoseStamped& plan_pose = global_plan[0];
transformed_plan.clear();
try {
if (!global_plan.size() > 0)
{
ROS_ERROR("Recieved plan with zero length");
return false;
}
tf::StampedTransform transform;
tf.lookupTransform(global_frame, ros::Time(),
plan_pose.header.frame_id, plan_pose.header.stamp,
plan_pose.header.frame_id, transform);
//let's get the pose of the robot in the frame of the plan
tf::Stamped<tf::Pose> robot_pose;
robot_pose.setIdentity();
robot_pose.frame_id_ = costmap.getBaseFrameID();
robot_pose.stamp_ = ros::Time();
tf.transformPose(plan_pose.header.frame_id, robot_pose, robot_pose);
//we'll keep points on the plan that are within the window that we're looking at
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 = DBL_MAX;
//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() && sq_dist > sq_dist_threshold) {
double x_diff = robot_pose.getOrigin().x() - global_plan[i].pose.position.x;
double y_diff = robot_pose.getOrigin().y() - global_plan[i].pose.position.y;
sq_dist = x_diff * x_diff + y_diff * y_diff;
++i;
}
//make sure not to count the first point that is too far away
if(i > 0)
--i;
tf::Stamped<tf::Pose> tf_pose;
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) {
double x_diff = robot_pose.getOrigin().x() - global_plan[i].pose.position.x;
double y_diff = robot_pose.getOrigin().y() - global_plan[i].pose.position.y;
sq_dist = x_diff * x_diff + y_diff * y_diff;
const geometry_msgs::PoseStamped& pose = global_plan[i];
poseStampedMsgToTF(pose, tf_pose);
tf_pose.setData(transform * tf_pose);
tf_pose.stamp_ = transform.stamp_;
tf_pose.frame_id_ = global_frame;
poseStampedTFToMsg(tf_pose, newer_pose);
transformed_plan.push_back(newer_pose);
++i;
}
}
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;
}
bool isGoalReached(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan,
const costmap_2d::Costmap2DROS& costmap_ros, const std::string& global_frame,
const nav_msgs::Odometry& base_odom, double rot_stopped_vel, double trans_stopped_vel,
double xy_goal_tolerance, double yaw_goal_tolerance) {
const geometry_msgs::PoseStamped& plan_goal_pose = global_plan.back();
tf::Stamped<tf::Pose> goal_pose;
try {
if (!global_plan.size() > 0)
{
ROS_ERROR("Recieved plan with zero length");
return false;
}
tf::StampedTransform transform;
tf.lookupTransform(global_frame, ros::Time(),
plan_goal_pose.header.frame_id, plan_goal_pose.header.stamp,
plan_goal_pose.header.frame_id, transform);
poseStampedMsgToTF(plan_goal_pose, goal_pose);
goal_pose.setData(transform * goal_pose);
goal_pose.stamp_ = transform.stamp_;
goal_pose.frame_id_ = global_frame;
}
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;
}
//we assume the global goal is the last point in the global plan
double goal_x = goal_pose.getOrigin().getX();
double goal_y = goal_pose.getOrigin().getY();
double yaw = tf::getYaw(goal_pose.getRotation());
double goal_th = yaw;
tf::Stamped<tf::Pose> global_pose;
if(!costmap_ros.getRobotPose(global_pose))
return false;
//check to see if we've reached the goal position
if(goalPositionReached(global_pose, goal_x, goal_y, xy_goal_tolerance)) {
//check to see if the goal orientation has been reached
if(goalOrientationReached(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 TableApproaches::tableApprCallback(hrl_table_detect::GetTableApproaches::Request& req,
hrl_table_detect::GetTableApproaches::Response& resp) {
double pose_step = 0.01, start_dist = 0.25, max_dist = 1.2, min_cost = 250;
double close_thresh = 0.10;
// TODO should this be transformed?
std::vector<geometry_msgs::Point> table_poly = req.table.points;
geometry_msgs::PointStamped approach_pt = req.approach_pt;
/*
double xsize = 1.0, ysize = 1.0, xoff = 2.5, yoff = 0.0;
geometry_msgs::Point pt;
pt.x = xoff-xsize/2; pt.y = yoff-ysize/2;
table_poly.push_back(pt);
pt.x = xoff+xsize/2; pt.y = yoff-ysize/2;
table_poly.push_back(pt);
pt.x = xoff+xsize/2; pt.y = yoff+ysize/2;
table_poly.push_back(pt);
pt.x = xoff-xsize/2; pt.y = yoff+ysize/2;
table_poly.push_back(pt);
geometry_msgs::PointStamped approach_pt;
approach_pt.header.frame_id = "/base_link";
approach_pt.header.stamp = ros::Time::now();
approach_pt.point.x = 2.2; approach_pt.point.y = 0.3;
*/
costmap_ros->getCostmapCopy(costmap);
world_model = new base_local_planner::CostmapModel(costmap);
geometry_msgs::PoseArray valid_locs;
valid_locs.header.frame_id = "/base_link";
valid_locs.header.stamp = ros::Time::now();
geometry_msgs::PoseArray invalid_locs;
invalid_locs.header.frame_id = "/base_link";
invalid_locs.header.stamp = ros::Time::now();
geometry_msgs::PoseArray close_locs;
close_locs.header.frame_id = "/base_link";
close_locs.header.stamp = ros::Time::now();
for(int i=0;i<4000;i++) {
geometry_msgs::PoseStamped cpose, odom_pose;
cpose.header.frame_id = "/base_link";
cpose.header.stamp = ros::Time(0);
cpose.pose.position.x = (rand()%8000) / 1000.0 -4 ;
cpose.pose.position.y = (rand()%8000) / 1000.0 - 4;
double rot = (rand()%10000) / 10000.0 * 2 * 3.14;
cpose.pose.orientation = tf::createQuaternionMsgFromYaw(rot);
cout << cpose.pose.orientation.z << " " << cpose.pose.orientation.w << " " << rot << endl;
tf_listener.transformPose("/odom_combined", cpose, odom_pose);
//uint32_t x, y;
//if(!costmap.worldToMap(odom_pose.pose.position.x, odom_pose.pose.position.y, x, y))
//continue;
Eigen::Vector3f pos(odom_pose.pose.position.x, odom_pose.pose.position.y, tf::getYaw(odom_pose.pose.orientation));
//cout << x << ", " << y << ":" << curpt.point.x << "," << curpt.point.y << "$";
//cout << double(costmap.getCost(x,y)) << endl;
double foot_cost = footprintCost(pos, 1);
if(foot_cost == 0)
valid_locs.poses.push_back(cpose.pose);
else if(foot_cost != -1)
close_locs.poses.push_back(cpose.pose);
else
invalid_locs.poses.push_back(cpose.pose);
cout << foot_cost << endl;
}
cout << costmap_ros->getRobotFootprint().size() << endl;
valid_pub.publish(valid_locs);
invalid_pub.publish(invalid_locs);
close_pub.publish(close_locs);
geometry_msgs::PoseArray dense_table_poses;
dense_table_poses.header.frame_id = "/base_link";
dense_table_poses.header.stamp = ros::Time::now();
uint32_t i2;
for(uint32_t i=0;i<table_poly.size();i++) {
i2 = i+1;
if(i2 == table_poly.size())
i2 = 0;
double diffx = table_poly[i2].x-table_poly[i].x;
double diffy = table_poly[i2].y-table_poly[i].y;
double len = std::sqrt(diffx*diffx + diffy*diffy);
double ang = std::atan2(diffy, diffx) - 3.14/2;
double incx = std::cos(ang)*0.01, incy = std::sin(ang)*0.01;
for(double t=0;t<len;t+=pose_step) {
double polyx = table_poly[i].x + t*diffx;
double polyy = table_poly[i].y + t*diffy;
geometry_msgs::PoseStamped test_pose, odom_test_pose;
bool found_pose = false;
for(int k=start_dist/0.01;k<max_dist/0.01;k++) {
test_pose.header.frame_id = "/base_link";
test_pose.header.stamp = ros::Time(0);
test_pose.pose.position.x = polyx + incx*k;
test_pose.pose.position.y = polyy + incy*k;
test_pose.pose.orientation = tf::createQuaternionMsgFromYaw(ang+3.14);
tf_listener.transformPose("/odom_combined", test_pose, odom_test_pose);
Eigen::Vector3f pos(odom_test_pose.pose.position.x,
odom_test_pose.pose.position.y,
tf::getYaw(odom_test_pose.pose.orientation));
double foot_cost = footprintCost(pos, 1.0);
// found a valid pose
if(foot_cost >= 0 && foot_cost <= min_cost) {
found_pose = true;
break;
}
uint32_t mapx, mapy;
// break if we go outside the grid
if(!costmap.worldToMap(odom_test_pose.pose.position.x,
odom_test_pose.pose.position.y, mapx, mapy))
break;
double occ_map = double(costmap.getCost(mapx, mapy));
// break if we come across and obstacle
if(occ_map == costmap_2d::LETHAL_OBSTACLE ||
occ_map == costmap_2d::NO_INFORMATION)
break;
}
if(found_pose)
dense_table_poses.poses.push_back(test_pose.pose);
}
}
ROS_INFO("POLY: %d, denseposes: %d", table_poly.size(), dense_table_poses.poses.size());
// downsample and sort dense pose possibilties by distance to
// approach point and thresholded distance to each other
geometry_msgs::PoseArray downsampled_table_poses;
boost::function<bool(geometry_msgs::Pose&, geometry_msgs::Pose&)> dist_comp
= boost::bind(&pose_dist_comp, _1, _2, approach_pt.point);
while(ros::ok() && !dense_table_poses.poses.empty()) {
// add the closest valid pose to the approach location on the table
geometry_msgs::Pose new_pose = *std::min_element(
dense_table_poses.poses.begin(), dense_table_poses.poses.end(),
dist_comp);
downsampled_table_poses.poses.push_back(new_pose);
// remove all poses in the dense sampling which are close to
// the newest added pose
boost::function<bool(geometry_msgs::Pose)> rem_thresh
= boost::bind(&pose_dist_thresh, _1, new_pose.position,
close_thresh);
dense_table_poses.poses.erase(std::remove_if(
dense_table_poses.poses.begin(),
dense_table_poses.poses.end(),
rem_thresh),
dense_table_poses.poses.end());
ROS_INFO("denseposes: %d", dense_table_poses.poses.size());
}
downsampled_table_poses.header.frame_id = "/base_link";
downsampled_table_poses.header.stamp = ros::Time::now();
approach_pub.publish(downsampled_table_poses);
resp.approach_poses = downsampled_table_poses;
ROS_INFO("POLY: %d, poses: %d", table_poly.size(), downsampled_table_poses.poses.size());
delete world_model;
return true;
}
