bool DWAPlannerROS::computeVelocityCommands(geometry_msgs::Twist& cmd_vel) {
// dispatches to either dwa sampling control or stop and rotate control, depending on whether we have been close enough to goal
if ( ! costmap_ros_->getRobotPose(current_pose_)) {
ROS_ERROR("Could not get robot pose");
return false;
}
std::vector<geometry_msgs::PoseStamped> transformed_plan;
if ( ! planner_util_.getLocalPlan(current_pose_, transformed_plan)) {
ROS_ERROR("Could not get local plan");
return false;
}
//if the global plan passed in is empty... we won't do anything
if(transformed_plan.empty()) {
ROS_WARN_NAMED("dwa_local_planner", "Received an empty transformed plan.");
return false;
}
ROS_DEBUG_NAMED("dwa_local_planner", "Received a transformed plan with %zu points.", transformed_plan.size());
//we want to clear the robot footprint from the costmap we're using
costmap_ros_->clearRobotFootprint();
// make sure to update the costmap we'll use for this cycle
costmap_ros_->getCostmapCopy(costmap_);
// update plan in dwa_planner even if we just stop and rotate, to allow checkTrajectory
dp_->updatePlanAndLocalCosts(current_pose_, transformed_plan);
if (latchedStopRotateController_.isPositionReached(&planner_util_, current_pose_)) {
//publish an empty plan because we've reached our goal position
std::vector<geometry_msgs::PoseStamped> local_plan;
std::vector<geometry_msgs::PoseStamped> transformed_plan;
publishGlobalPlan(transformed_plan);
publishLocalPlan(local_plan);
base_local_planner::LocalPlannerLimits limits = planner_util_.getCurrentLimits();
return latchedStopRotateController_.computeVelocityCommandsStopRotate(
cmd_vel,
limits.getAccLimits(),
dp_->getSimPeriod(),
&planner_util_,
odom_helper_,
current_pose_,
boost::bind(&DWAPlanner::checkTrajectory, dp_, _1, _2, _3));
} else {
bool isOk = dwaComputeVelocityCommands(current_pose_, cmd_vel);
if (isOk) {
publishGlobalPlan(transformed_plan);
} else {
ROS_WARN_NAMED("dwa_local_planner", "DWA planner failed to produce path.");
std::vector<geometry_msgs::PoseStamped> empty_plan;
publishGlobalPlan(empty_plan);
}
return isOk;
}
}
bool DWAPlannerROS::dwaComputeVelocityCommands(tf::Stamped<tf::Pose> &global_pose, geometry_msgs::Twist& cmd_vel) {
// dynamic window sampling approach to get useful velocity commands
if(! isInitialized()){
ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner");
return false;
}
tf::Stamped<tf::Pose> robot_vel;
odom_helper_.getRobotVel(robot_vel);
/* For timing uncomment
struct timeval start, end;
double start_t, end_t, t_diff;
gettimeofday(&start, NULL);
*/
//compute what trajectory to drive along
tf::Stamped<tf::Pose> drive_cmds;
drive_cmds.frame_id_ = costmap_ros_->getBaseFrameID();
// call with updated footprint
base_local_planner::Trajectory path = dp_->findBestPath(global_pose, robot_vel, drive_cmds, costmap_ros_->getRobotFootprint());
//ROS_ERROR("Best: %.2f, %.2f, %.2f, %.2f", path.xv_, path.yv_, path.thetav_, path.cost_);
/* For timing uncomment
gettimeofday(&end, NULL);
start_t = start.tv_sec + double(start.tv_usec) / 1e6;
end_t = end.tv_sec + double(end.tv_usec) / 1e6;
t_diff = end_t - start_t;
ROS_INFO("Cycle time: %.9f", t_diff);
*/
//pass along drive commands
cmd_vel.linear.x = drive_cmds.getOrigin().getX();
cmd_vel.linear.y = drive_cmds.getOrigin().getY();
cmd_vel.angular.z = tf::getYaw(drive_cmds.getRotation());
//if we cannot move... tell someone
std::vector<geometry_msgs::PoseStamped> local_plan;
if(path.cost_ < 0) {
ROS_DEBUG_NAMED("dwa_local_planner",
"The dwa local planner failed to find a valid plan, cost functions discarded all candidates. This can mean there is an obstacle too close to the robot.");
local_plan.clear();
publishLocalPlan(local_plan);
return false;
}
ROS_DEBUG_NAMED("dwa_local_planner", "A valid velocity command of (%.2f, %.2f, %.2f) was found for this cycle.",
cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z);
// Fill out the local plan
for(unsigned int i = 0; i < path.getPointsSize(); ++i) {
double p_x, p_y, p_th;
path.getPoint(i, p_x, p_y, p_th);
tf::Stamped<tf::Pose> p =
tf::Stamped<tf::Pose>(tf::Pose(
tf::createQuaternionFromYaw(p_th),
tf::Point(p_x, p_y, 0.0)),
ros::Time::now(),
costmap_ros_->getGlobalFrameID());
geometry_msgs::PoseStamped pose;
tf::poseStampedTFToMsg(p, pose);
local_plan.push_back(pose);
}
//publish information to the visualizer
publishLocalPlan(local_plan);
return true;
}
