bool PoseFollower::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);
tf::Stamped<tf::Pose> tf_pose;
geometry_msgs::PoseStamped newer_pose;
//now we'll transform until points are outside of our distance threshold
for(unsigned int i = 0; i < global_plan.size(); ++i){
const geometry_msgs::PoseStamped& pose = global_plan[i];
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);
}
}
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, 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 tf::Stamped<tf::Pose>& global_pose,
const costmap_2d::Costmap2D& 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("Received plan with zero length");
return false;
}
// get plan_to_global_transform from plan frame to global_frame
tf::StampedTransform plan_to_global_transform;
tf.waitForTransform(global_frame, ros::Time::now(),
plan_pose.header.frame_id, plan_pose.header.stamp,
plan_pose.header.frame_id, ros::Duration(0.5));
tf.lookupTransform(global_frame, ros::Time(),
plan_pose.header.frame_id, plan_pose.header.stamp,
plan_pose.header.frame_id, plan_to_global_transform);
//let's get the pose of the robot in the frame of the plan
tf::Stamped<tf::Pose> robot_pose;
tf.transformPose(plan_pose.header.frame_id, global_pose, robot_pose);
//we'll discard points on the plan that are outside the local costmap
double dist_threshold = std::max(costmap.getSizeInCellsX() * costmap.getResolution() / 2.0,
costmap.getSizeInCellsY() * costmap.getResolution() / 2.0);
unsigned int i = 0;
double sq_dist_threshold = dist_threshold * dist_threshold;
double sq_dist = 0;
//we need to loop to a point on the plan that is within a certain distance of the robot
while(i < (unsigned int)global_plan.size()) {
double x_diff = robot_pose.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;
if (sq_dist <= sq_dist_threshold) {
break;
}
++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) {
const geometry_msgs::PoseStamped& pose = global_plan[i];
poseStampedMsgToTF(pose, tf_pose);
tf_pose.setData(plan_to_global_transform * tf_pose);
tf_pose.stamp_ = plan_to_global_transform.stamp_;
tf_pose.frame_id_ = global_frame;
poseStampedTFToMsg(tf_pose, newer_pose);
transformed_plan.push_back(newer_pose);
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;
}
}
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;
}