diff --git a/.rosinstall b/.rosinstall deleted file mode 100644 index aca588c..0000000 --- a/.rosinstall +++ /dev/null @@ -1,2 +0,0 @@ -- git: { local-name: AndreaCensi/csm, uri: 'https://github.com/AndreaCensi/csm.git', version: master } ## Needed for building laser_scan_matcher -- git: { local-name: ccny-ros-pkg/scan_tools, uri: 'https://github.com/ccny-ros-pkg/scan_tools.git', version: indigo } diff --git a/laser_scan_splitter/src/laser_scan_splitter_node.cpp b/LICENSE similarity index 84% rename from laser_scan_splitter/src/laser_scan_splitter_node.cpp rename to LICENSE index e62d0b4..84eaee7 100644 --- a/laser_scan_splitter/src/laser_scan_splitter_node.cpp +++ b/LICENSE @@ -25,16 +25,4 @@ * 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. - */ - -#include "laser_scan_splitter/laser_scan_splitter.h" - -int main (int argc, char **argv) -{ - ros::init (argc, argv, "LaserScanSplitter"); - ros::NodeHandle nh; - ros::NodeHandle nh_private("~"); - scan_tools::LaserScanSplitter laser_scan_splitter(nh, nh_private); - ros::spin (); - return 0; -} + */ \ No newline at end of file diff --git a/README.md b/README.md index 2cb50d3..33c8227 100644 --- a/README.md +++ b/README.md @@ -6,54 +6,18 @@ Overview Laser scan processing tools. The meta-package contains: - * `laser_ortho_projector`: calculates orthogonal projections of LaserScan messages - * `laser_scan_matcher`: an incremental laser scan matcher, using Andrea Censi's Canonical -Scan Matcher implementation. It downloads and installs Andrea Censi's Canonical Scan Matcher [1] locally. - - * `laser_scan_sparsifier`: takes in a LaserScan message and sparsifies it - - * `laser_scan_splitter`: takes in a LaserScan message and splits -it into a number of other LaserScan messages - - * `ncd_parser`: reads in .alog data files from the New College Dataset [2] -and broadcasts scan and odometry messages to ROS. +Scan Matcher [1] implementation. * `scan_to_cloud_converter`: converts LaserScan to PointCloud messages. -Installing +License ----------------------------------- -### Prerequisite - -* ROS is installed - * [1-liner ROS Indigo installation on Ubuntu](http://wiki.ros.org/ROS/Installation/TwoLineInstall) -* `apt-get install python-wstool` - -### From binary (RECOMMENDED) - -``` -apt-get install ros-%ROS_DISTRO%-scan-tools - -apt-get install ros-indigo-scan-tools (Indigo) -``` - -### From source ### - -Following is an example with ROS Indigo. - -1. Create a [catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) and navigate to its source directory (e.g. `~/catkin_ws/src`). - -2. In your Catkin workspace, download source and build with the following commands. +This repo is licensed with [BSD-3-Clause](https://opensource.org/licenses/BSD-3-Clause), but depends on the version +of [CSM](https://github.com/AndreaCensi/csm) which uses [eigen](https://eigen.tuxfamily.org/). CSM itself +is [LGPL-3.0](https://opensource.org/licenses/LGPL-3.0), while eigen is [MPL-2.0](https://opensource.org/licenses/MPL-2.0) -``` -cd ~/catkin_ws -wstool init src -wstool merge -t src https://raw.githubusercontent.com/ccny-ros-pkg/scan_tools/indigo/.rosinstall -rosdep install --from-paths src --ignore-src --rosdistro indigo -r -y -catkin_make (or any build commands available in ROS, e.g. `catkin build`) -source devel/setup.bash -``` More info ----------------------------------- diff --git a/laser_ortho_projector/.gitignore b/laser_ortho_projector/.gitignore deleted file mode 100644 index bad425f..0000000 --- a/laser_ortho_projector/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -msg_gen/ -build/ diff --git a/laser_ortho_projector/CHANGELOG.rst b/laser_ortho_projector/CHANGELOG.rst deleted file mode 100644 index 40000bb..0000000 --- a/laser_ortho_projector/CHANGELOG.rst +++ /dev/null @@ -1,23 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package laser_ortho_projector -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.3.3 (2021-02-15) ------------------- -* [maintenance] update to use non deprecated pluginlib macro - -0.3.2 (2016-03-19) ------------------- - -0.3.1 (2015-12-18) ------------------- - -0.3.0 (2015-11-10) ------------------- - -0.2.1 (2015-10-14) ------------------- -* [feat] added support for IMU message for orientation in laser_ortho_projector. The imu topic is imu/data -* [fix] PCL dependency Hydro onward -* [sys] Catkinization: laser_ortho_projector -* Contributors: Ivan Dryanovski, Miguel Sarabia, Enrique Fernández Perdomo diff --git a/laser_ortho_projector/CMakeLists.txt b/laser_ortho_projector/CMakeLists.txt deleted file mode 100644 index 160a84a..0000000 --- a/laser_ortho_projector/CMakeLists.txt +++ /dev/null @@ -1,63 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(laser_ortho_projector) - -# List C++ dependencies on ros packages -set( ROS_CXX_DEPENDENCIES - roscpp - nodelet - sensor_msgs - tf - pcl_ros - pcl_conversions - geometry_msgs - message_filters) - -# Find catkin and all required ROS components -find_package(catkin REQUIRED COMPONENTS ${ROS_CXX_DEPENDENCIES}) -find_package(PCL REQUIRED QUIET) - -# Set include directories -include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) - -# Declare info that other packages need to import library generated here -catkin_package( - INCLUDE_DIRS include - LIBRARIES laser_ortho_projector - CATKIN_DEPENDS ${ROS_CXX_DEPENDENCIES} ) - -#Create library -add_library(laser_ortho_projector src/laser_ortho_projector.cpp) - -#Note we don't link against pcl as we're using header-only parts of the library -target_link_libraries( laser_ortho_projector ${catkin_LIBRARIES}) -add_dependencies(laser_ortho_projector ${catkin_EXPORTED_TARGETS}) - -#Create nodelet -add_library(laser_ortho_projector_nodelet src/laser_ortho_projector_nodelet.cpp) -target_link_libraries(laser_ortho_projector_nodelet laser_ortho_projector) - -#Create node -add_executable(laser_ortho_projector_node src/laser_ortho_projector_node.cpp) -target_link_libraries( laser_ortho_projector_node laser_ortho_projector ) - -#Install library -install(TARGETS laser_ortho_projector laser_ortho_projector_nodelet - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) - -#Install library includes -install(DIRECTORY include/laser_ortho_projector/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) - -#Install node -install(TARGETS laser_ortho_projector_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - -#Install nodelet description -install(FILES laser_ortho_projector_nodelet.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) - -#Install demo files -install(DIRECTORY demo - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) diff --git a/laser_ortho_projector/demo/demo.bag b/laser_ortho_projector/demo/demo.bag deleted file mode 100644 index 9f753c1..0000000 Binary files a/laser_ortho_projector/demo/demo.bag and /dev/null differ diff --git a/laser_ortho_projector/demo/demo.launch b/laser_ortho_projector/demo/demo.launch deleted file mode 100644 index 4f2d17b..0000000 --- a/laser_ortho_projector/demo/demo.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/laser_ortho_projector/demo/demo.vcg b/laser_ortho_projector/demo/demo.vcg deleted file mode 100644 index a49cc9b..0000000 --- a/laser_ortho_projector/demo/demo.vcg +++ /dev/null @@ -1,105 +0,0 @@ -Background\ ColorR=0 -Background\ ColorG=0 -Background\ ColorB=0 -Fixed\ Frame=/world -Target\ Frame= -Grid.Alpha=0.5 -Grid.Cell\ Size=1 -Grid.ColorR=0.5 -Grid.ColorG=0.5 -Grid.ColorB=0.5 -Grid.Enabled=1 -Grid.Line\ Style=0 -Grid.Line\ Width=0.03 -Grid.Normal\ Cell\ Count=0 -Grid.OffsetX=0 -Grid.OffsetY=0 -Grid.OffsetZ=0 -Grid.Plane=0 -Grid.Plane\ Cell\ Count=10 -Grid.Reference\ Frame= -Laser\ Scan.Alpha=1 -Laser\ Scan.Billboard\ Size=0.01 -Laser\ Scan.Color\ Transformer=Flat Color -Laser\ Scan.Decay\ Time=0 -Laser\ Scan.Enabled=1 -Laser\ Scan.Position\ Transformer=XYZ -Laser\ Scan.Selectable=1 -Laser\ Scan.Style=0 -Laser\ Scan.Topic=/scan -Laser\ Scan..AxisAutocompute\ Value\ Bounds=1 -Laser\ Scan..AxisAxis=2 -Laser\ Scan..AxisMax\ Value=10 -Laser\ Scan..AxisMin\ Value=-10 -Laser\ Scan..AxisUse\ Fixed\ Frame=1 -Laser\ Scan..Flat\ ColorColorR=1 -Laser\ Scan..Flat\ ColorColorG=0 -Laser\ Scan..Flat\ ColorColorB=0 -Laser\ Scan..IntensityAutocompute\ Intensity\ Bounds=1 -Laser\ Scan..IntensityMax\ ColorR=1 -Laser\ Scan..IntensityMax\ ColorG=1 -Laser\ Scan..IntensityMax\ ColorB=1 -Laser\ Scan..IntensityMax\ Intensity=4096 -Laser\ Scan..IntensityMin\ ColorR=0 -Laser\ Scan..IntensityMin\ ColorG=0 -Laser\ Scan..IntensityMin\ ColorB=0 -Laser\ Scan..IntensityMin\ Intensity=0 -Projected\ Scan.Alpha=1 -Projected\ Scan.Billboard\ Size=0.01 -Projected\ Scan.Color\ Transformer=Flat Color -Projected\ Scan.Decay\ Time=0 -Projected\ Scan.Enabled=1 -Projected\ Scan.Position\ Transformer=XYZ -Projected\ Scan.Selectable=1 -Projected\ Scan.Style=0 -Projected\ Scan.Topic=/cloud_ortho -Projected\ Scan..AxisAutocompute\ Value\ Bounds=1 -Projected\ Scan..AxisAxis=2 -Projected\ Scan..AxisMax\ Value=9.30076e-08 -Projected\ Scan..AxisMin\ Value=-4.3073e-08 -Projected\ Scan..AxisUse\ Fixed\ Frame=1 -Projected\ Scan..Flat\ ColorColorR=0.00392157 -Projected\ Scan..Flat\ ColorColorG=1 -Projected\ Scan..Flat\ ColorColorB=0 -Projected\ Scan..IntensityAutocompute\ Intensity\ Bounds=1 -Projected\ Scan..IntensityMax\ ColorR=1 -Projected\ Scan..IntensityMax\ ColorG=1 -Projected\ Scan..IntensityMax\ ColorB=1 -Projected\ Scan..IntensityMax\ Intensity=4096 -Projected\ Scan..IntensityMin\ ColorR=0 -Projected\ Scan..IntensityMin\ ColorG=0 -Projected\ Scan..IntensityMin\ ColorB=0 -Projected\ Scan..IntensityMin\ Intensity=0 -TF.All\ Enabled=1 -TF.Enabled=1 -TF.Frame\ Timeout=15 -TF.Show\ Arrows=1 -TF.Show\ Axes=1 -TF.Show\ Names=1 -TF.Update\ Interval=0 -Tool\ 2D\ Nav\ GoalTopic=goal -Tool\ 2D\ Pose\ EstimateTopic=initialpose -Camera\ Type=rviz::OrbitViewController -Camera\ Config=1.32755 0.285803 10.4633 -0.797791 1.83787 -1.22537 -Property\ Grid\ State=selection=;expanded=.Global Options,TF./base_link/base_link,TF./laser/laser,TF./world/world,TF./base_ortho/base_ortho,TF.Enabled.TF.Tree,TF./worldTree/world,TF./base_linkTree/base_link,TF./laserTree/laser,TF./base_orthoTree/base_ortho;scrollpos=0,0;splitterpos=139,279;ispageselected=1 -[Display0] -Name=TF -Package=rviz -ClassName=rviz::TFDisplay -[Display1] -Name=Laser Scan -Package=rviz -ClassName=rviz::LaserScanDisplay -[Display2] -Name=Grid -Package=rviz -ClassName=rviz::GridDisplay -[Display3] -Name=Projected Scan -Package=rviz -ClassName=rviz::PointCloud2Display -[TF.] -base_linkEnabled=1 -base_orthoEnabled=1 -laserEnabled=1 -worldEnabled=1 diff --git a/laser_ortho_projector/include/laser_ortho_projector/laser_ortho_projector.h b/laser_ortho_projector/include/laser_ortho_projector/laser_ortho_projector.h deleted file mode 100644 index ba5e7fd..0000000 --- a/laser_ortho_projector/include/laser_ortho_projector/laser_ortho_projector.h +++ /dev/null @@ -1,114 +0,0 @@ -/* - * Copyright (c) 2010, 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#ifndef LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_H -#define LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace scan_tools { - -class LaserOrthoProjector -{ - typedef pcl::PointXYZ PointT; - typedef pcl::PointCloud PointCloudT; - - typedef geometry_msgs::PoseStamped PoseMsg; - typedef sensor_msgs::Imu ImuMsg; - - public: - - LaserOrthoProjector (ros::NodeHandle nh, ros::NodeHandle nh_private); - virtual ~ LaserOrthoProjector (); - - private: - - // **** ROS-related - - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - - ros::Publisher cloud_publisher_; - - ros::Subscriber scan_subscriber_; - ros::Subscriber imu_subscriber_; - ros::Subscriber pose_subscriber_; - - tf::TransformListener tf_listener_; - tf::TransformBroadcaster tf_broadcaster_; - - // **** paramaters - - std::string world_frame_; - std::string base_frame_; - std::string ortho_frame_; - - bool publish_tf_; - bool use_pose_; - bool use_imu_; - - // **** state variables - - bool initialized_; - - std::vector a_sin_; - std::vector a_cos_; - - PointT nan_point_; - - tf::Transform base_to_laser_; // static, cached - tf::Transform ortho_to_laser_; // computed from b2l, w2b, w2o - - void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_msg); - void poseCallback (const PoseMsg::ConstPtr& pose_msg); - void imuCallback (const ImuMsg::ConstPtr& imu_msg); - void getOrthoTf(const tf::Transform& world_to_base, tf::Transform& world_to_ortho); - bool getBaseToLaserTf (const sensor_msgs::LaserScan::ConstPtr& scan_msg); - void createCache (const sensor_msgs::LaserScan::ConstPtr& scan_msg); - - -}; - -} // namespace scan_tools - -#endif // LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_H diff --git a/laser_ortho_projector/include/laser_ortho_projector/laser_ortho_projector_nodelet.h b/laser_ortho_projector/include/laser_ortho_projector/laser_ortho_projector_nodelet.h deleted file mode 100644 index cfc714f..0000000 --- a/laser_ortho_projector/include/laser_ortho_projector/laser_ortho_projector_nodelet.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * Copyright (c) 2010, 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#ifndef LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_NODELET_H -#define LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_NODELET_H - -#include -#include - -#include "laser_ortho_projector/laser_ortho_projector.h" - -namespace scan_tools { - -class LaserOrthoProjectorNodelet : public nodelet::Nodelet -{ - public: - virtual void onInit(); - - private: - LaserOrthoProjector * laser_ortho_projector_; // FIXME: change to smart pointer -}; - -} //namespace scan tools - -#endif // LASER_ORTHO_PROJECTOR_LASER_ORTHO_PROJECTOR_NODELET_H diff --git a/laser_ortho_projector/laser_ortho_projector_nodelet.xml b/laser_ortho_projector/laser_ortho_projector_nodelet.xml deleted file mode 100644 index ea6bd53..0000000 --- a/laser_ortho_projector/laser_ortho_projector_nodelet.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - Laser ortho projector nodelet publisher. - - - diff --git a/laser_ortho_projector/package.xml b/laser_ortho_projector/package.xml deleted file mode 100644 index 47bbab9..0000000 --- a/laser_ortho_projector/package.xml +++ /dev/null @@ -1,44 +0,0 @@ - - laser_ortho_projector - 0.3.3 - - The laser_ortho_projector package calculates orthogonal projections of LaserScan messages. - - Ivan Dryanovski - Carlos - - http://wiki.ros.org/laser_scan_matcher - Ivan Dryanovski - William Morris - - BSD - - catkin - - roscpp - nodelet - sensor_msgs - tf - pcl_ros - pcl_conversions - geometry_msgs - message_filters - - libpcl-all-dev - - roscpp - nodelet - sensor_msgs - tf - pcl_ros - pcl_conversions - geometry_msgs - message_filters - - libpcl-all - - - - - - diff --git a/laser_ortho_projector/src/laser_ortho_projector.cpp b/laser_ortho_projector/src/laser_ortho_projector.cpp deleted file mode 100644 index c5bdc45..0000000 --- a/laser_ortho_projector/src/laser_ortho_projector.cpp +++ /dev/null @@ -1,256 +0,0 @@ -/* - * Copyright (c) 2010, 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#include "laser_ortho_projector/laser_ortho_projector.h" - -#include - -namespace scan_tools { - -LaserOrthoProjector::LaserOrthoProjector (ros::NodeHandle nh, ros::NodeHandle nh_private): - nh_(nh), - nh_private_(nh_private) -{ - ROS_INFO ("Starting LaserOrthoProjector"); - - initialized_ = false; - - // set initial orientation to 0 - - ortho_to_laser_.setIdentity(); - - nan_point_.x = std::numeric_limits::quiet_NaN(); - nan_point_.y = std::numeric_limits::quiet_NaN(); - nan_point_.z = std::numeric_limits::quiet_NaN(); - - // **** parameters - - if (!nh_private_.getParam ("fixed_frame", world_frame_)) - world_frame_ = "/world"; - if (!nh_private_.getParam ("base_frame", base_frame_)) - base_frame_ = "/base_link"; - if (!nh_private_.getParam ("ortho_frame", ortho_frame_)) - ortho_frame_ = "/base_ortho"; - if (!nh_private_.getParam ("publish_tf", publish_tf_)) - publish_tf_ = false; - if (!nh_private_.getParam ("use_pose", use_pose_)) - use_pose_ = true; - if (!nh_private_.getParam ("use_imu", use_imu_)) - use_imu_ = false; - - if (use_imu_ && use_pose_) - ROS_FATAL("use_imu and use_pose params cannot both be true"); - if (!use_imu_ && !use_pose_) - ROS_FATAL("use_imu and use_pose params cannot both be false"); - - - // **** subscribe to laser scan messages - - scan_subscriber_ = nh_.subscribe( - "scan", 10, &LaserOrthoProjector::scanCallback, this); - - if (use_pose_) - { - pose_subscriber_ = nh_.subscribe( - "pose", 10, &LaserOrthoProjector::poseCallback, this); - } - if (use_imu_) - { - imu_subscriber_ = nh_.subscribe( - "imu/data", 10, &LaserOrthoProjector::imuCallback, this); - } - - // **** advertise orthogonal scan - - cloud_publisher_ = nh_.advertise( - "cloud_ortho", 10); -} - -LaserOrthoProjector::~LaserOrthoProjector() -{ - -} - -void LaserOrthoProjector::imuCallback(const ImuMsg::ConstPtr& imu_msg) -{ - // obtain world to base frame transform from the pose message - tf::Transform world_to_base; - world_to_base.setIdentity(); - - tf::Quaternion q; - tf::quaternionMsgToTF(imu_msg->orientation, q); - world_to_base.setRotation(q); - - // calculate world to ortho frame transform - tf::Transform world_to_ortho; - getOrthoTf(world_to_base, world_to_ortho); - - if (publish_tf_) - { - tf::StampedTransform world_to_ortho_tf( - world_to_ortho, imu_msg->header.stamp, world_frame_, ortho_frame_); - tf_broadcaster_.sendTransform(world_to_ortho_tf); - } - - // calculate ortho to laser tf, and save it for when scans arrive - ortho_to_laser_ = world_to_ortho.inverse() * world_to_base * base_to_laser_; -} - -void LaserOrthoProjector::poseCallback(const PoseMsg::ConstPtr& pose_msg) -{ - // obtain world to base frame transform from the pose message - tf::Transform world_to_base; - tf::poseMsgToTF(pose_msg->pose, world_to_base); - - // calculate world to ortho frame transform - tf::Transform world_to_ortho; - getOrthoTf(world_to_base, world_to_ortho); - - if (publish_tf_) - { - tf::StampedTransform world_to_ortho_tf( - world_to_ortho, pose_msg->header.stamp, world_frame_, ortho_frame_); - tf_broadcaster_.sendTransform(world_to_ortho_tf); - } - - // calculate ortho to laser tf, and save it for when scans arrive - ortho_to_laser_ = world_to_ortho.inverse() * world_to_base * base_to_laser_; -} - -void LaserOrthoProjector::getOrthoTf(const tf::Transform& world_to_base, tf::Transform& world_to_ortho) -{ - const tf::Vector3& w2b_o = world_to_base.getOrigin(); - const tf::Quaternion& w2b_q = world_to_base.getRotation(); - - tf::Vector3 wto_o(w2b_o.getX(), w2b_o.getY(), 0.0); - tf::Quaternion wto_q = tf::createQuaternionFromYaw(tf::getYaw(w2b_q)); - - world_to_ortho.setOrigin(wto_o); - world_to_ortho.setRotation(wto_q); -} - -void LaserOrthoProjector::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg) -{ - if(!initialized_) - { - initialized_ = getBaseToLaserTf(scan_msg); - - if (initialized_) createCache(scan_msg); - else return; - } - - if(!use_pose_) - { - // obtain transform between fixed and base frame - tf::StampedTransform world_to_base_tf; - try - { - tf_listener_.waitForTransform ( - world_frame_, base_frame_, scan_msg->header.stamp, ros::Duration(0.1)); - tf_listener_.lookupTransform ( - world_frame_, base_frame_, scan_msg->header.stamp, world_to_base_tf); - } - catch (tf::TransformException ex) - { - // transform unavailable - skip scan - ROS_WARN("Skipping scan %s", ex.what()); - return; - } - - // calculate world to ortho frame transform - tf::Transform world_to_ortho; - getOrthoTf(world_to_base_tf, world_to_ortho); - } - - // **** build and publish projected cloud - - PointCloudT::Ptr cloud = - boost::shared_ptr(new PointCloudT()); - - pcl_conversions::toPCL(scan_msg->header, cloud->header); - cloud->header.frame_id = ortho_frame_; - - for (unsigned int i = 0; i < scan_msg->ranges.size(); i++) - { - double r = scan_msg->ranges[i]; - - if (r > scan_msg->range_min) - { - tf::Vector3 p(r * a_cos_[i], r * a_sin_[i], 0.0); - p = ortho_to_laser_ * p; - - PointT point; - point.x = p.getX(); - point.y = p.getY(); - point.z = 0.0; - cloud->points.push_back(point); - } - } - - cloud->width = cloud->points.size(); - cloud->height = 1; - cloud->is_dense = true; // no nan's present - - cloud_publisher_.publish (cloud); -} - -bool LaserOrthoProjector::getBaseToLaserTf (const sensor_msgs::LaserScan::ConstPtr& scan_msg) -{ - tf::StampedTransform base_to_laser_tf; - try - { - tf_listener_.waitForTransform( - base_frame_, scan_msg->header.frame_id, scan_msg->header.stamp, ros::Duration(1.0)); - tf_listener_.lookupTransform ( - base_frame_, scan_msg->header.frame_id, scan_msg->header.stamp, base_to_laser_tf); - } - catch (tf::TransformException ex) - { - ROS_WARN("LaserOrthoProjector: Could not get initial laser transform(%s)", ex.what()); - return false; - } - base_to_laser_ = base_to_laser_tf; - - return true; -} - -void LaserOrthoProjector::createCache (const sensor_msgs::LaserScan::ConstPtr& scan_msg) -{ - a_cos_.clear(); - a_sin_.clear(); - - for (unsigned int i = 0; i < scan_msg->ranges.size(); ++i) - { - double angle = scan_msg->angle_min + i * scan_msg->angle_increment; - a_cos_.push_back(cos(angle)); - a_sin_.push_back(sin(angle)); - } -} - -} //namespace scan_tools diff --git a/laser_ortho_projector/src/laser_ortho_projector_node.cpp b/laser_ortho_projector/src/laser_ortho_projector_node.cpp deleted file mode 100644 index 88f8a77..0000000 --- a/laser_ortho_projector/src/laser_ortho_projector_node.cpp +++ /dev/null @@ -1,40 +0,0 @@ -/* - * Copyright (c) 2010, 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#include "laser_ortho_projector/laser_ortho_projector.h" - -int main (int argc, char **argv) -{ - ros::init (argc, argv, "LaserOrthoProjector"); - ros::NodeHandle nh; - ros::NodeHandle nh_private("~"); - scan_tools::LaserOrthoProjector laser_ortho_projector(nh, nh_private); - ros::spin (); - return 0; -} diff --git a/laser_ortho_projector/src/laser_ortho_projector_nodelet.cpp b/laser_ortho_projector/src/laser_ortho_projector_nodelet.cpp deleted file mode 100644 index a1f04a3..0000000 --- a/laser_ortho_projector/src/laser_ortho_projector_nodelet.cpp +++ /dev/null @@ -1,45 +0,0 @@ -/* - * Copyright (c) 2010, 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#include "laser_ortho_projector/laser_ortho_projector_nodelet.h" - -typedef scan_tools::LaserOrthoProjectorNodelet LaserOrthoProjectorNodelet; - -PLUGINLIB_EXPORT_CLASS(LaserOrthoProjectorNodelet, nodelet::Nodelet) - -void LaserOrthoProjectorNodelet::onInit () -{ - NODELET_INFO("Initializing LaserOrthoProjector Nodelet"); - - // TODO: Do we want the single threaded or multithreaded NH? - ros::NodeHandle nh = getMTNodeHandle(); - ros::NodeHandle nh_private = getMTPrivateNodeHandle(); - - laser_ortho_projector_ = new scan_tools::LaserOrthoProjector(nh, nh_private); -} diff --git a/laser_scan_matcher/CMakeLists.txt b/laser_scan_matcher/CMakeLists.txt index ce20592..36b64b0 100644 --- a/laser_scan_matcher/CMakeLists.txt +++ b/laser_scan_matcher/CMakeLists.txt @@ -1,72 +1,59 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(laser_scan_matcher) -# List C++ dependencies on ros packages -set( ROS_CXX_DEPENDENCIES - roscpp - nodelet - sensor_msgs - tf - pcl_ros - pcl_conversions - geometry_msgs - nav_msgs) - -# Find catkin and all required ROS components -find_package(catkin REQUIRED COMPONENTS ${ROS_CXX_DEPENDENCIES} rostest) -find_package(PCL REQUIRED QUIET) +find_package(ament_cmake REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_sensor_msgs REQUIRED) # Find csm project find_package(PkgConfig) pkg_check_modules(csm REQUIRED csm) - -# Set include directories -include_directories(include ${catkin_INCLUDE_DIRS} ${csm_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) link_directories(${csm_LIBRARY_DIRS}) -# Declare info that other packages need to import library generated here -catkin_package( - INCLUDE_DIRS include - LIBRARIES laser_scan_matcher - CATKIN_DEPENDS ${ROS_CXX_DEPENDENCIES} -) +include_directories( + include + ${csm_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ) #Create library -add_library(laser_scan_matcher src/laser_scan_matcher.cpp) - -#Note we don't link against pcl as we're using header-only parts of the library -target_link_libraries( laser_scan_matcher ${catkin_LIBRARIES} ${csm_LIBRARIES}) -add_dependencies(laser_scan_matcher ${csm_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -#Create nodelet -add_library(laser_scan_matcher_nodelet src/laser_scan_matcher_nodelet.cpp) -target_link_libraries(laser_scan_matcher_nodelet laser_scan_matcher) +add_library(${PROJECT_NAME} + src/laser_scan_matcher.cpp + src/param_handler.cpp) +target_link_libraries(${PROJECT_NAME} ${csm_LIBRARIES}) #Create node -add_executable(laser_scan_matcher_node src/laser_scan_matcher_node.cpp) -target_link_libraries( laser_scan_matcher_node laser_scan_matcher ) +add_executable(laser_scan_matcher_node src/laser_scan_matcher_node.cpp) +target_link_libraries(laser_scan_matcher_node ${PROJECT_NAME}) -#Install library -install(TARGETS laser_scan_matcher laser_scan_matcher_nodelet - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) - -#Install library includes -install(DIRECTORY include/laser_scan_matcher/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) - -#Install node -install(TARGETS laser_scan_matcher_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) +ament_target_dependencies(${PROJECT_NAME} + csm + Eigen3 + geometry_msgs + nav_msgs + rclcpp + sensor_msgs + tf2 + tf2_geometry_msgs + tf2_ros + tf2_sensor_msgs +) -#Install nodelet description -install(FILES laser_scan_matcher_nodelet.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) +install( + TARGETS + ${PROJECT_NAME} + laser_scan_matcher_node + DESTINATION lib/${PROJECT_NAME}) -#Install demo files -install(DIRECTORY demo - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) +install(DIRECTORY include/ + DESTINATION include/ +) -add_rostest(test/run.test) -add_rostest(test/covariance.test) +ament_package() diff --git a/laser_scan_matcher/README.md b/laser_scan_matcher/README.md new file mode 100644 index 0000000..47eb8d8 --- /dev/null +++ b/laser_scan_matcher/README.md @@ -0,0 +1,84 @@ +# laser_scan_matcher + +An incremental laser scan matcher, using Andrea Censi's Canonical Scan Matcher [1] implementation. + +- https://github.com/AndreaCensi/csm +- https://censi.science/software/csm/ + + [1] A. Censi, "An ICP variant using a point-to-line metric" Proceedings of the +IEEE International Conference on Robotics and Automation (ICRA), 2008 + + +# Subscribed topics + +| Topic | Type | Description | +|-----|----|----| +| **scan** | `sensor_msgs/LaserScan` | The input scan | +| **imu/data (optional)** |`sensor_msgs/Imu` | Used to predict sensor yaw | +| **odom (optional)** | `nav_msgs/Odometry` | Used to predict sensor pose | +| **vel (optional)** | `geometry_msgs/Twist` or `geometry_msgs/TwistStamped` | Used to predict sensor pose | +| **tf** | | A valid transform from the configured `odom_frame` to `base_frame` is required for an initial guess for the scan matcher | + +# Published topics + +| Topic | Type | Description | +|-----|----|----| +| **pose** | `geometry_msgs/PoseWithCovarianceStamped` | Pose message containing estimated pose of the `base frame` in the `odom frame` from the scan match | +| **tf (optional)** | | Transform of from the `odom_frame` to `base_frame` based on scan match result | + +# General Parameters + +| Name | Type | Description | Default | Min | Max | Reconfigurable | +|----|----|----|----|----|----|----| +| **base_frame** | `string` | Which frame to use for the robot base | "base_link" | | |✗| +| **heading_cov_scale** | `double` | Scaling to apply to ICP derived heading covariance | `1.0` | `0.0` | `1e8` |✓| +| **heading_cov_offset** | `double` | Offset to apply to ICP derived heading covariance | `0.0` | `0.0` | `10.0` |✓| +| **min_travel_distance** | `double` | Distance in meters to trigger a new keyframe | `0.5` | `0.0` | `10.0` |✓| +| **min_travel_heading** | `double` | Angle in degrees to trigger a new keyframe. | `30.0` | `0.0` | `180.0` |✓| +| **odom_frame** | `string` | Which frame to track odometry in | "odom" | | |✗| +| **publish_tf** | `bool` | Whether to publish tf transform from `odom_frame` to `base_frame` | `true` | | |✗| +| **tf_timeout** | `double` | TF timeout in seconds | `0.1` | `0.0` | `10.0` |✓| +| **stamped_vel** |`bool` | Whether to subscribe to stamped twist messages | `false` | | |✗| +| **use_imu** |`bool` | Whether to use imu messages for predicting the sensor yaw | `true` | | |✗| +| **use_odom** |`bool` | Whether to use odom messages for predicting the sensor pose | `true` | | |✗| +| **use_tf** |`bool` | Whether to use tf for predicting the sensor pose | `false` | | |✗| +| **use_vel** |`bool` | Whether to use twist messages for predicting the sensor pose | `false` | | |✗| +| **xy_cov_scale** | `double` | Scaling to apply to ICP derived xy position covariance | `1.0` | `0.0` | `1e8` |✓| +| **xy_cov_offset** | `double` | Offset to apply to ICP derived xy position covariance | `0.0` | `0.0` | `10.0` |✓| + +# CSM Parameters + +| Name | Type | Description | Default | Min | Max | Reconfigurable | +|----|----|----|----|----|----|----| +| **alpha_test_threshold** | `double` | Threshold angle to discard correspondences, in degrees | `20.0` | `0.0` | `90.0` |✓| +| **clustering_threshold** | `double` | Max distance, in meters, for staying in the same clustering | `0.25` | `0.0` | `1.0` |✓| +| **debug_verify_tricks** | `bool` | Checks that find_correspondences_tricks gives the right answer | `false` | | |✓| +| **do_alpha_test** | `bool` | Discard correspondences based on the angles | `false` | | |✓| +| **do_compute_covariance** | `bool` | Compute the covariance of the ICP | `true` | | |✓| +| **do_visibility_test** | `bool` | Use visibility test trick for matching | `false` | | |✓| +| **epsilon_theta** | `double` | A threshold for stopping, in radians | `1e-6` | `1e-10` | `1e-1` |✓| +| **epsilon_xy** | `double` | A threshold for stopping, in meters | `1e-6` | `1e-10` | `1e-1` |✓| +| **max_angular_correction_deg** | `double` | Max distance, in meters, for a correspondence to be valid | `0.3` | `0.0` | `10.0` |✓| +| **max_correspondence_dist** | `double` | Max angular displacement, in degrees, between scans | `45` | `0.0` | `90.0` |✓| +| **max_iterations** | `int` | Max ICP cycle iterations | `10` | `1` | `100` |✓| +| **max_linear_correction** | `double` | Max translation, in meters, between scans | `0.5` | `0.0` | `10.0` |✓| +| **orientation_neighbourhood** | `int` | Number of neighbour rays used to estimate the orientation | `20` | `0` | `100` |✓| +| **outliers_adaptive_mult** | `double` | Threshold multiplier for error at chosen percentile | `2.0` | `0.0` | `10.0` |✓| +| **outliers_adaptive_order** | `double` | Percentile `[0, 1]` to use for adaptive outlier detection | `0.7` | `0.0` | `1.0` |✓| +| **outliers_max_perc** | `double` | Percentage `[0, 1]` of correspondences to consider with lowest error | `0.9` | `0.0` | `1.0` |✓| +| **outliers_remove_doubles** | `bool` | Do not allow two different correspondences to share a point | `true` | | |✓| +| **restart** | `bool` | Restart if error is over threshold | `false` | | |✓| +| **restart_dt** | `double` | Displacement, in meters, for restarting | `1.0` | `0.0` | `10.0` |✓| +| **restart_dtheta** | `double` | Displacement, in radians, for restarting | `0.1` | `0.0` | `1.57` |✓| +| **restart_threshold_mean_error** | `double` | Threshold, in meters, for restarting | `0.01` | `0.0` | `1.0` |✓| +| **sigma** | `double` | Noise in the scan, in meters | `0.01` | `0.0` | `1.0` |✓| +| **use_corr_tricks** | `bool` | Use smart tricks for finding correspondences | `true` | | |✓| +| **use_ml_weights** | `bool` | Use the 'true_alpha' or 'alpha' field to weight the impact of each correspondence | `false` | | |✓| +| **use_point_to_line_distance** | `bool` | Use point-to-line ICP. If false, it's vanilla ICP | `true` | | |✓| +| **use_sigma_weights** | `bool` | Use the 'readings_sigma' field of the second scan to weight the correspondence | `false` | | |✓| + +# License + +Note: This package is licensed with [BSD-3-Clause](https://opensource.org/licenses/BSD-3-Clause), but links to the version + of [CSM](https://github.com/AndreaCensi/csm) which uses [eigen](https://eigen.tuxfamily.org/). CSM itself + is [LGPL-3.0](https://opensource.org/licenses/LGPL-3.0), while eigen is [MPL-2.0](https://opensource.org/licenses/MPL-2.0) \ No newline at end of file diff --git a/laser_scan_matcher/demo/demo.bag b/laser_scan_matcher/demo/demo.bag deleted file mode 100644 index 4e289b7..0000000 Binary files a/laser_scan_matcher/demo/demo.bag and /dev/null differ diff --git a/laser_scan_matcher/demo/demo.launch b/laser_scan_matcher/demo/demo.launch deleted file mode 100644 index 8e85de8..0000000 --- a/laser_scan_matcher/demo/demo.launch +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - #### set up data playback from bag ############################# - - - - - - - - - - - #### publish an example base_link -> laser transform ########### - - - - #### start the laser scan_matcher ############################## - - - - - - - - - - - - diff --git a/laser_scan_matcher/demo/demo.rviz b/laser_scan_matcher/demo/demo.rviz deleted file mode 100644 index 754e9ce..0000000 --- a/laser_scan_matcher/demo/demo.rviz +++ /dev/null @@ -1,162 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /LaserScan1 - - /TF1 - - /TF1/Frames1 - Splitter Ratio: 0.5 - Tree Height: 434 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 0.2 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 0; 0 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Flat Squares - Topic: /scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_link: - Value: true - laser: - Value: true - world: - Value: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - world: - base_link: - laser: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 0; 0; 0 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Angle: 0 - Class: rviz/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Name: Current View - Near Clip Distance: 0.01 - Scale: 150 - Target Frame: - Value: TopDownOrtho (rviz) - X: 0 - Y: 0 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 721 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c0000023dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000360000023d000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000023dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000360000023d0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004000000003efc0100000002fb0000000800540069006d00650100000000000004000000024500fffffffb0000000800540069006d00650100000000000004500000000000000000000001a90000023d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1024 - X: -2 - Y: -2 diff --git a/laser_scan_matcher/demo/demo_gmapping.launch b/laser_scan_matcher/demo/demo_gmapping.launch deleted file mode 100644 index 58b6567..0000000 --- a/laser_scan_matcher/demo/demo_gmapping.launch +++ /dev/null @@ -1,68 +0,0 @@ - - - - - #### set up data playback from bag ############################# - - - - - - #### publish an example base_link -> laser transform ########### - - - - #### start rviz ################################################ - - - - #### start the laser scan_matcher ############################## - - - - - - - - - #### start gmapping ############################################ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/laser_scan_matcher/demo/demo_gmapping.rviz b/laser_scan_matcher/demo/demo_gmapping.rviz deleted file mode 100644 index 6706528..0000000 --- a/laser_scan_matcher/demo/demo_gmapping.rviz +++ /dev/null @@ -1,175 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /LaserScan1 - - /TF1 - - /TF1/Frames1 - - /TF1/Frames1/odom1 - - /Map1 - Splitter Ratio: 0.5 - Tree Height: 434 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 0; 0 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Flat Squares - Topic: /scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_link: - Value: true - laser: - Value: true - map: - Value: true - odom: - Value: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - map: - odom: - base_link: - laser: - {} - Update Interval: 0 - Value: true - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: /map - Value: true - Enabled: true - Global Options: - Background Color: 0; 0; 0 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Angle: 0 - Class: rviz/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Name: Current View - Near Clip Distance: 0.01 - Scale: 150 - Target Frame: - Value: TopDownOrtho (rviz) - X: 0 - Y: 0 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 721 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c0000023dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000360000023d000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000023dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000360000023d0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004000000003efc0100000002fb0000000800540069006d00650100000000000004000000024500fffffffb0000000800540069006d00650100000000000004500000000000000000000001a90000023d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1024 - X: -2 - Y: -2 diff --git a/laser_scan_matcher/demo/demo_vel.launch b/laser_scan_matcher/demo/demo_vel.launch deleted file mode 100644 index d7133df..0000000 --- a/laser_scan_matcher/demo/demo_vel.launch +++ /dev/null @@ -1,48 +0,0 @@ - - - - - #### set up data playback from bag ############################# - - - - - - - - #### publish an example base_link -> laser transform ########### - - - - #### start the laser scan_matcher ############################## - - - - - - - - - #### start the alpha-beta filter ############################### - - - - - - - - - - - - - - diff --git a/laser_scan_matcher/include/laser_scan_matcher/laser_scan_matcher.h b/laser_scan_matcher/include/laser_scan_matcher/laser_scan_matcher.h index 6b11aad..6accd93 100644 --- a/laser_scan_matcher/include/laser_scan_matcher/laser_scan_matcher.h +++ b/laser_scan_matcher/include/laser_scan_matcher/laser_scan_matcher.h @@ -35,87 +35,71 @@ * on Robotics and Automation (ICRA), 2008 */ -#ifndef LASER_SCAN_MATCHER_LASER_SCAN_MATCHER_H -#define LASER_SCAN_MATCHER_LASER_SCAN_MATCHER_H - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include // csm defines min and max, but Eigen complains +#pragma once + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include #undef min #undef max -namespace scan_tools -{ +namespace scan_tools { -class LaserScanMatcher +class LaserScanMatcher: public rclcpp::Node { public: - - LaserScanMatcher(ros::NodeHandle nh, ros::NodeHandle nh_private); - ~LaserScanMatcher(); + LaserScanMatcher(); + ~LaserScanMatcher() = default; private: - - typedef pcl::PointXYZ PointT; - typedef pcl::PointCloud PointCloudT; - // **** ros - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - - ros::Subscriber scan_subscriber_; - ros::Subscriber cloud_subscriber_; - ros::Subscriber odom_subscriber_; - ros::Subscriber imu_subscriber_; - ros::Subscriber vel_subscriber_; + rclcpp::TimerBase::SharedPtr init_timer_; - tf::TransformListener tf_listener_; - tf::TransformBroadcaster tf_broadcaster_; + rclcpp::Subscription::SharedPtr scan_subscriber_; + rclcpp::Subscription::SharedPtr odom_subscriber_; + rclcpp::Subscription::SharedPtr imu_subscriber_; + rclcpp::Subscription::SharedPtr vel_subscriber_; + rclcpp::Subscription::SharedPtr vel_stamped_subscriber_; - tf::Transform base_from_laser_; // static, cached - tf::Transform laser_from_base_; // static, cached + std::shared_ptr tf_; + std::shared_ptr tf_broadcaster_; + std::shared_ptr tf_buffer_; - ros::Publisher pose_publisher_; - ros::Publisher pose_stamped_publisher_; - ros::Publisher pose_with_covariance_publisher_; - ros::Publisher pose_with_covariance_stamped_publisher_; + tf2::Transform base_from_laser_; // static, cached + tf2::Transform laser_from_base_; // static, cached - // **** parameters + rclcpp::Publisher::SharedPtr pose_publisher_; - std::string base_frame_; - std::string fixed_frame_; - double cloud_range_min_; - double cloud_range_max_; - double cloud_res_; - bool publish_tf_; - bool publish_pose_; - bool publish_pose_with_covariance_; - bool publish_pose_stamped_; - bool publish_pose_with_covariance_stamped_; - std::vector position_covariance_; - std::vector orientation_covariance_; + // **** coordinate parameters + std::string base_frame_ = "base_link"; + std::string odom_frame_ = "odom"; + bool publish_tf_ = false; + double tf_timeout_ = 0.1; - bool use_cloud_input_; + // **** keyframe parameters + double min_travel_distance_ = 0.5; + double min_travel_heading_ = 30.0; - double kf_dist_linear_; - double kf_dist_linear_sq_; - double kf_dist_angular_; + // **** covariance parameters + double xy_cov_scale_ = 1.0; + double xy_cov_offset_ = 0.0; + double heading_cov_scale_ = 1.0; + double heading_cov_offset_ = 0.0; // **** What predictions are available to speed up the ICP? // 1) imu - [theta] from imu yaw angle - /imu topic @@ -123,61 +107,50 @@ class LaserScanMatcher // 3) tf - [x, y, theta] from /tf topic // 3) velocity [vx, vy, vtheta], usually from ab-filter - /vel. // If more than one is enabled, priority is tf > imu > odom > velocity - - bool use_imu_; - bool use_odom_; - bool use_tf_; - double tf_timeout_; - bool use_vel_; - bool stamped_vel_; + bool use_imu_ = true; + bool use_odom_ = true; + bool use_tf_ = false; + bool use_vel_ = false; + bool stamped_vel_ = false; // **** state variables + bool initialized_ = false; + ParamHandler params_; - boost::mutex mutex_; - - bool initialized_; - bool received_imu_; - bool received_odom_; - bool received_vel_; - - tf::Transform last_base_in_fixed_; // pose of the base of the last scan in fixed frame - tf::Transform keyframe_base_in_fixed_; // pose of the base of last keyframe scan in fixed frame + tf2::Transform last_base_in_fixed_; // pose of the base of the last scan in fixed frame + tf2::Transform keyframe_base_in_fixed_; // pose of the base of last keyframe scan in fixed frame - ros::Time last_icp_time_; + rclcpp::Time last_icp_time_; - sensor_msgs::Imu latest_imu_msg_; - tf::Quaternion last_used_imu_orientation_; - nav_msgs::Odometry latest_odom_msg_; - tf::Transform last_used_odom_pose_; + sensor_msgs::msg::Imu::SharedPtr latest_imu_msg_; + nav_msgs::msg::Odometry::SharedPtr latest_odom_msg_; + geometry_msgs::msg::Twist::SharedPtr latest_vel_msg_; - geometry_msgs::Twist latest_vel_msg_; + tf2::Quaternion last_used_imu_orientation_; + tf2::Transform last_used_odom_pose_; std::vector a_cos_; std::vector a_sin_; sm_params input_; sm_result output_; - LDP prev_ldp_scan_; + LDP keyframe_laser_data_; - // **** methods + // **** methods void initParams(); - void processScan(LDP& curr_ldp_scan, const ros::Time& time); + void processScan(const sensor_msgs::msg::LaserScan::SharedPtr scan_msg); - void laserScanToLDP(const sensor_msgs::LaserScan::ConstPtr& scan_msg, - LDP& ldp); - void PointCloudToLDP(const PointCloudT::ConstPtr& cloud, - LDP& ldp); + void laserScanToLDP(const sensor_msgs::msg::LaserScan::SharedPtr& scan, LDP& ldp); - void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_msg); - void cloudCallback (const PointCloudT::ConstPtr& cloud); + void scanCallback(const sensor_msgs::msg::LaserScan::SharedPtr scan_msg); - void odomCallback(const nav_msgs::Odometry::ConstPtr& odom_msg); - void imuCallback (const sensor_msgs::Imu::ConstPtr& imu_msg); - void velCallback (const geometry_msgs::Twist::ConstPtr& twist_msg); - void velStmpCallback(const geometry_msgs::TwistStamped::ConstPtr& twist_msg); + void odomCallback(const nav_msgs::msg::Odometry::SharedPtr odom_msg); + void imuCallback(const sensor_msgs::msg::Imu::SharedPtr imu_msg); + void velCallback(const geometry_msgs::msg::Twist::SharedPtr twist_msg); + void velStmpCallback(const geometry_msgs::msg::TwistStamped::SharedPtr twist_msg); - void createCache (const sensor_msgs::LaserScan::ConstPtr& scan_msg); + void createCache(const sensor_msgs::msg::LaserScan::SharedPtr& scan_msg); /** * Cache the static transform between the base and laser. @@ -186,17 +159,21 @@ class LaserScanMatcher * * @returns True if the transform was found, false otherwise. */ - bool getBaseLaserTransform(const std::string& frame_id); + bool getBaseToLaserTf (const std::string& frame_id); - bool newKeyframeNeeded(const tf::Transform& d); + bool getTfOffset( + const std::string& frame_id, + const rclcpp::Time& target_stamp, + const rclcpp::Time& source_stamp, + tf2::Transform& transform); - tf::Transform getPrediction(const ros::Time& stamp); + bool newKeyframeNeeded(const tf2::Transform& d); - void createTfFromXYTheta(double x, double y, double theta, tf::Transform& t); + tf2::Transform getPrediction(const rclcpp::Time& stamp); - Eigen::Matrix2f getLaserRotation(const tf::Transform& odom_pose) const; -}; + void createTfFromXYTheta(double x, double y, double theta, tf2::Transform& t); -} // namespace scan_tools + Eigen::Matrix2f getLaserRotation(const tf2::Transform& odom_pose); +}; -#endif // LASER_SCAN_MATCHER_LASER_SCAN_MATCHER_H +} // namespace scan_tools diff --git a/laser_scan_matcher/include/laser_scan_matcher/laser_scan_matcher_nodelet.h b/laser_scan_matcher/include/laser_scan_matcher/laser_scan_matcher_nodelet.h deleted file mode 100644 index 24efdae..0000000 --- a/laser_scan_matcher/include/laser_scan_matcher/laser_scan_matcher_nodelet.h +++ /dev/null @@ -1,59 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -/* This package uses Canonical Scan Matcher [1], written by - * Andrea Censi - * - * [1] A. Censi, "An ICP variant using a point-to-line metric" - * Proceedings of the IEEE International Conference - * on Robotics and Automation (ICRA), 2008 - */ - -#ifndef LASER_SCAN_MATCHER_LASER_SCAN_MATCHER_NODELET_H -#define LASER_SCAN_MATCHER_LASER_SCAN_MATCHER_NODELET_H - -#include -#include - -#include - -namespace scan_tools { - -class LaserScanMatcherNodelet : public nodelet::Nodelet -{ - public: - virtual void onInit (); - - private: - boost::shared_ptr scan_matcher_; -}; - -} // namespace scan_tools - -#endif // LASER_SCAN_MATCHER_LASER_SCAN_MATCHER_NODELET_H diff --git a/laser_scan_matcher/include/laser_scan_matcher/param_handler.h b/laser_scan_matcher/include/laser_scan_matcher/param_handler.h new file mode 100644 index 0000000..1280d23 --- /dev/null +++ b/laser_scan_matcher/include/laser_scan_matcher/param_handler.h @@ -0,0 +1,114 @@ +#pragma once + +#include + +namespace scan_tools { + +class ParamHandler { +public: + ParamHandler() = default; + ~ParamHandler() = default; + + void initialize(rclcpp::Node::SharedPtr node); + + void registerCallback(); + + /** + * Register a non-dynamic parameter and return it's value. + * + * @param[in] name Parameter name + * @param[in] default_val Default parameter value + * @param[in] description Parameter description + * + * @returns the value of the parameter. + */ + template + T param(const std::string& name, const T& default_val, const std::string& description) { + auto descriptor = rcl_interfaces::msg::ParameterDescriptor(); + descriptor.description = description; + descriptor.read_only = true; + node_->declare_parameter(name, rclcpp::ParameterValue(default_val), descriptor); + return node_->get_parameter(name).get_value(); + } + + /** + * Register a dynamic parameter without any range constraint and populate + * the parameter variable with the current value. + * + * @param[out] param Reference to parameter variable + * @param[in] name Parameter name + * @param[in] default_val Default parameter value + * @param[in] description Parameter description + */ + template + void register_param(T* param, const std::string& name, const T& default_val, const std::string& description) { + auto descriptor = rcl_interfaces::msg::ParameterDescriptor(); + descriptor.description = description; + descriptor.read_only = false; + node_->declare_parameter(name, rclcpp::ParameterValue(default_val), descriptor); + auto p = node_->get_parameter(name); + *param = p.get_value(); + + if (p.get_type() == rclcpp::ParameterType::PARAMETER_BOOL) { + bool_params_[name] = static_cast(static_cast(param)); + } + else if (p.get_type() == rclcpp::ParameterType::PARAMETER_DOUBLE) { + double_params_[name] = static_cast(static_cast(param)); + } + else if (p.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER) { + int_params_[name] = static_cast(static_cast(param)); + } + else { + RCLCPP_ERROR(node_->get_logger(), "Unsupported dynamic parameter type: %s for parameter: %s", p.get_type_name().c_str(), name.c_str()); + } + } + + /** + * Register a dynamic bool parameter stored in an integer variable and + * populate the parameter variable with the current value. + * + * @param[out] param Reference to parameter variable + * @param[in] name Parameter name + * @param[in] default_val Default parameter value + * @param[in] description Parameter description + */ + void register_param(int* param, const std::string& name, bool default_val, const std::string& description); + + /** + * Register a dynamic integer parameter with a range constraint and populate + * the parameter variable with the current value. + * + * @param[out] param Reference to parameter variable + * @param[in] name Parameter name + * @param[in] default_val Default parameter value + * @param[in] description Parameter description + * @param[in] min Min value + * @param[in] max Max value + */ + void register_param(int* param, const std::string& name, int default_val, const std::string& description, int min, int max); + + /** + * Register a dynamic double parameter with a range constraint and populate + * the parameter variable with the current value. + * + * @param[out] param Reference to parameter variable + * @param[in] name Parameter name + * @param[in] default_val Default parameter value + * @param[in] description Parameter description + * @param[in] min Min value + * @param[in] max Max value + */ + void register_param(double* param, const std::string& name, double default_val, const std::string& description, double min, double max); + +private: + rclcpp::Node::SharedPtr node_; + rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr params_callback_handle_; + std::unordered_map bool_params_; + std::unordered_map double_params_; + std::unordered_map int_params_; + std::unordered_map string_params_; + + rcl_interfaces::msg::SetParametersResult parametersCallback(const std::vector ¶meters); +}; + +} // scan_tools diff --git a/laser_scan_matcher/laser_scan_matcher_nodelet.xml b/laser_scan_matcher/laser_scan_matcher_nodelet.xml deleted file mode 100644 index 3fbb74f..0000000 --- a/laser_scan_matcher/laser_scan_matcher_nodelet.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - Laser Scan Matcher nodelet publisher. - - - diff --git a/laser_scan_matcher/package.xml b/laser_scan_matcher/package.xml index 9fb5978..934d620 100644 --- a/laser_scan_matcher/package.xml +++ b/laser_scan_matcher/package.xml @@ -1,4 +1,6 @@ - + + + laser_scan_matcher 0.3.3 @@ -17,32 +19,24 @@ BSD LGPLv3 - catkin + ament_cmake + pkg-config - csm - geometry_msgs - libpcl-all-dev - nav_msgs - nodelet - pcl_conversions - pcl_ros - roscpp - sensor_msgs - tf + csm + eigen + geometry_msgs + nav_msgs + rclcpp + sensor_msgs + tf2 + tf2_geometry_msgs + tf2_ros + tf2_sensor_msgs - csm - geometry_msgs - libpcl-all - nav_msgs - nodelet - pcl_ros - pcl_conversions - roscpp - sensor_msgs - tf + ament_lint_auto + ament_lint_common - + ament_cmake - diff --git a/laser_scan_matcher/src/laser_scan_matcher.cpp b/laser_scan_matcher/src/laser_scan_matcher.cpp index 7498057..60b9417 100644 --- a/laser_scan_matcher/src/laser_scan_matcher.cpp +++ b/laser_scan_matcher/src/laser_scan_matcher.cpp @@ -27,8 +27,7 @@ * POSSIBILITY OF SUCH DAMAGE. */ -/* This package uses Canonical Scan Matcher [1], written by - * Andrea Censi +/* This package uses Canonical Scan Matcher [1], written by Andrea Censi * * [1] A. Censi, "An ICP variant using a point-to-line metric" * Proceedings of the IEEE International Conference @@ -36,470 +35,258 @@ */ #include -#include -#include -#include -namespace scan_tools -{ - -LaserScanMatcher::LaserScanMatcher(ros::NodeHandle nh, ros::NodeHandle nh_private): - nh_(nh), - nh_private_(nh_private), - initialized_(false), - received_imu_(false), - received_odom_(false), - received_vel_(false) -{ - ROS_INFO("Starting LaserScanMatcher"); +#include - // **** init parameters +#include +#include +#include - initParams(); +using namespace std::chrono_literals; - // **** state variables +namespace scan_tools { - last_base_in_fixed_.setIdentity(); - keyframe_base_in_fixed_.setIdentity(); - last_used_odom_pose_.setIdentity(); - input_.laser[0] = 0.0; - input_.laser[1] = 0.0; - input_.laser[2] = 0.0; - - // Initialize output_ vectors as Null for error-checking - output_.cov_x_m = 0; - output_.dx_dy1_m = 0; - output_.dx_dy2_m = 0; - - // **** publishers +LaserScanMatcher::LaserScanMatcher() : + rclcpp::Node("laser_scan_matcher"), + tf_buffer_(std::make_shared(get_clock())) +{ + RCLCPP_INFO(get_logger(), "Starting LaserScanMatcher"); - if (publish_pose_) + init_timer_ = create_wall_timer(100ms, [&]() { - pose_publisher_ = nh_.advertise( - "pose2D", 5); - } + // **** init parameters + initParams(); - if (publish_pose_stamped_) - { - pose_stamped_publisher_ = nh_.advertise( - "pose_stamped", 5); - } + // **** state variables + last_base_in_fixed_.setIdentity(); + keyframe_base_in_fixed_.setIdentity(); + last_used_odom_pose_.setIdentity(); + input_.laser[0] = 0.0; + input_.laser[1] = 0.0; + input_.laser[2] = 0.0; - if (publish_pose_with_covariance_) - { - pose_with_covariance_publisher_ = nh_.advertise( - "pose_with_covariance", 5); - } + // Initialize output_ vectors as Null for error-checking + output_.cov_x_m = nullptr; + output_.dx_dy1_m = nullptr; + output_.dx_dy2_m = nullptr; - if (publish_pose_with_covariance_stamped_) - { - pose_with_covariance_stamped_publisher_ = nh_.advertise( - "pose_with_covariance_stamped", 5); - } + // **** publishers + pose_publisher_ = create_publisher("laser_pose", rclcpp::SystemDefaultsQoS()); - // *** subscribers + if (publish_tf_) { + tf_broadcaster_ = std::make_shared(*this); + } - if (use_cloud_input_) - { - cloud_subscriber_ = nh_.subscribe( - "cloud", 1, &LaserScanMatcher::cloudCallback, this); - } - else - { - scan_subscriber_ = nh_.subscribe( - "scan", 1, &LaserScanMatcher::scanCallback, this); - } + // **** subscribers + scan_subscriber_ = create_subscription( + "scan", rclcpp::SensorDataQoS(), std::bind(&LaserScanMatcher::scanCallback, this, std::placeholders::_1)); + tf_ = std::make_shared(*tf_buffer_); - if (use_imu_) - { - imu_subscriber_ = nh_.subscribe( - "imu/data", 1, &LaserScanMatcher::imuCallback, this); - } - if (use_odom_) - { - odom_subscriber_ = nh_.subscribe( - "odom", 1, &LaserScanMatcher::odomCallback, this); - } - if (use_vel_) - { - if (stamped_vel_) - vel_subscriber_ = nh_.subscribe( - "vel", 1, &LaserScanMatcher::velStmpCallback, this); - else - vel_subscriber_ = nh_.subscribe( - "vel", 1, &LaserScanMatcher::velCallback, this); - } -} - -LaserScanMatcher::~LaserScanMatcher() -{ - ROS_INFO("Destroying LaserScanMatcher"); + if (use_imu_) + { + imu_subscriber_ = create_subscription( + "imu/data", rclcpp::SensorDataQoS(), std::bind(&LaserScanMatcher::imuCallback, this, std::placeholders::_1)); + } + if (use_odom_) + { + odom_subscriber_ = create_subscription( + "odom", 10, std::bind(&LaserScanMatcher::odomCallback, this, std::placeholders::_1)); + } + if (use_vel_) + { + if (stamped_vel_) + { + vel_stamped_subscriber_ = create_subscription( + "vel", rclcpp::SensorDataQoS(), std::bind(&LaserScanMatcher::velStmpCallback, this, std::placeholders::_1)); + } + else + { + vel_subscriber_ = create_subscription( + "vel", rclcpp::SensorDataQoS(), std::bind(&LaserScanMatcher::velCallback, this, std::placeholders::_1)); + } + } + }); } -void LaserScanMatcher::initParams() -{ - if (!nh_private_.getParam ("base_frame", base_frame_)) - base_frame_ = "base_link"; - if (!nh_private_.getParam ("fixed_frame", fixed_frame_)) - fixed_frame_ = "world"; - - // **** input type - laser scan, or point clouds? - // if false, will subscribe to LaserScan msgs on /scan. - // if true, will subscribe to PointCloud2 msgs on /cloud - - if (!nh_private_.getParam ("use_cloud_input", use_cloud_input_)) - use_cloud_input_= false; - - if (use_cloud_input_) - { - if (!nh_private_.getParam ("cloud_range_min", cloud_range_min_)) - cloud_range_min_ = 0.1; - if (!nh_private_.getParam ("cloud_range_max", cloud_range_max_)) - cloud_range_max_ = 50.0; - if (!nh_private_.getParam ("cloud_res", cloud_res_)) - cloud_res_ = 0.05; - - input_.min_reading = cloud_range_min_; - input_.max_reading = cloud_range_max_; - } - - // **** keyframe params: when to generate the keyframe scan - // if either is set to 0, reduces to frame-to-frame matching - - if (!nh_private_.getParam ("kf_dist_linear", kf_dist_linear_)) - kf_dist_linear_ = 0.10; - if (!nh_private_.getParam ("kf_dist_angular", kf_dist_angular_)) - kf_dist_angular_ = 10.0 * (M_PI / 180.0); - - kf_dist_linear_sq_ = kf_dist_linear_ * kf_dist_linear_; - - // **** What predictions are available to speed up the ICP? - // 1) imu - [theta] from imu yaw angle - /imu topic - // 2) odom - [x, y, theta] from wheel odometry - /odom topic - // 3) vel - [x, y, theta] from velocity predictor - see alpha-beta predictors - /vel topic - // If more than one is enabled, priority is imu > odom > vel - - if (!nh_private_.getParam ("use_imu", use_imu_)) - use_imu_ = true; - if (!nh_private_.getParam ("use_odom", use_odom_)) - use_odom_ = true; - if (!nh_private_.getParam ("use_tf", use_tf_)) - use_tf_ = true; - if (!nh_private_.getParam ("tf_timeout", tf_timeout_)) - tf_timeout_ = 0.1; - if (!nh_private_.getParam ("use_vel", use_vel_)) - use_vel_ = false; - - // **** Are velocity input messages stamped? - // if false, will subscribe to Twist msgs on /vel - // if true, will subscribe to TwistStamped msgs on /vel - if (!nh_private_.getParam ("stamped_vel", stamped_vel_)) - stamped_vel_ = false; - - // **** How to publish the output? - // tf (fixed_frame->base_frame), - // pose message (pose of base frame in the fixed frame) - - if (!nh_private_.getParam ("publish_tf", publish_tf_)) - publish_tf_ = true; - if (!nh_private_.getParam ("publish_pose", publish_pose_)) - publish_pose_ = true; - if (!nh_private_.getParam ("publish_pose_stamped", publish_pose_stamped_)) - publish_pose_stamped_ = false; - if (!nh_private_.getParam ("publish_pose_with_covariance", publish_pose_with_covariance_)) - publish_pose_with_covariance_ = false; - if (!nh_private_.getParam ("publish_pose_with_covariance_stamped", publish_pose_with_covariance_stamped_)) - publish_pose_with_covariance_stamped_ = false; - - if (!nh_private_.getParam("position_covariance", position_covariance_)) - { - position_covariance_.resize(3); - std::fill(position_covariance_.begin(), position_covariance_.end(), 1e-9); - } - - if (!nh_private_.getParam("orientation_covariance", orientation_covariance_)) - { - orientation_covariance_.resize(3); - std::fill(orientation_covariance_.begin(), orientation_covariance_.end(), 1e-9); - } - // **** CSM parameters - comments copied from algos.h (by Andrea Censi) - - // Maximum angular displacement between scans - if (!nh_private_.getParam ("max_angular_correction_deg", input_.max_angular_correction_deg)) - input_.max_angular_correction_deg = 45.0; - - // Maximum translation between scans (m) - if (!nh_private_.getParam ("max_linear_correction", input_.max_linear_correction)) - input_.max_linear_correction = 0.50; - - // Maximum ICP cycle iterations - if (!nh_private_.getParam ("max_iterations", input_.max_iterations)) - input_.max_iterations = 10; - - // A threshold for stopping (m) - if (!nh_private_.getParam ("epsilon_xy", input_.epsilon_xy)) - input_.epsilon_xy = 0.000001; - - // A threshold for stopping (rad) - if (!nh_private_.getParam ("epsilon_theta", input_.epsilon_theta)) - input_.epsilon_theta = 0.000001; - - // Maximum distance for a correspondence to be valid - if (!nh_private_.getParam ("max_correspondence_dist", input_.max_correspondence_dist)) - input_.max_correspondence_dist = 0.3; - - // Noise in the scan (m) - if (!nh_private_.getParam ("sigma", input_.sigma)) - input_.sigma = 0.010; - - // Use smart tricks for finding correspondences. - if (!nh_private_.getParam ("use_corr_tricks", input_.use_corr_tricks)) - input_.use_corr_tricks = 1; - - // Restart: Restart if error is over threshold - if (!nh_private_.getParam ("restart", input_.restart)) - input_.restart = 0; - - // Restart: Threshold for restarting - if (!nh_private_.getParam ("restart_threshold_mean_error", input_.restart_threshold_mean_error)) - input_.restart_threshold_mean_error = 0.01; - - // Restart: displacement for restarting. (m) - if (!nh_private_.getParam ("restart_dt", input_.restart_dt)) - input_.restart_dt = 1.0; - - // Restart: displacement for restarting. (rad) - if (!nh_private_.getParam ("restart_dtheta", input_.restart_dtheta)) - input_.restart_dtheta = 0.1; - - // Max distance for staying in the same clustering - if (!nh_private_.getParam ("clustering_threshold", input_.clustering_threshold)) - input_.clustering_threshold = 0.25; - - // Number of neighbour rays used to estimate the orientation - if (!nh_private_.getParam ("orientation_neighbourhood", input_.orientation_neighbourhood)) - input_.orientation_neighbourhood = 20; - - // If 0, it's vanilla ICP - if (!nh_private_.getParam ("use_point_to_line_distance", input_.use_point_to_line_distance)) - input_.use_point_to_line_distance = 1; - - // Discard correspondences based on the angles - if (!nh_private_.getParam ("do_alpha_test", input_.do_alpha_test)) - input_.do_alpha_test = 0; - - // Discard correspondences based on the angles - threshold angle, in degrees - if (!nh_private_.getParam ("do_alpha_test_thresholdDeg", input_.do_alpha_test_thresholdDeg)) - input_.do_alpha_test_thresholdDeg = 20.0; - - // Percentage of correspondences to consider: if 0.9, - // always discard the top 10% of correspondences with more error - if (!nh_private_.getParam ("outliers_maxPerc", input_.outliers_maxPerc)) - input_.outliers_maxPerc = 0.90; - - // Parameters describing a simple adaptive algorithm for discarding. - // 1) Order the errors. - // 2) Choose the percentile according to outliers_adaptive_order. - // (if it is 0.7, get the 70% percentile) - // 3) Define an adaptive threshold multiplying outliers_adaptive_mult - // with the value of the error at the chosen percentile. - // 4) Discard correspondences over the threshold. - // This is useful to be conservative; yet remove the biggest errors. - if (!nh_private_.getParam ("outliers_adaptive_order", input_.outliers_adaptive_order)) - input_.outliers_adaptive_order = 0.7; - - if (!nh_private_.getParam ("outliers_adaptive_mult", input_.outliers_adaptive_mult)) - input_.outliers_adaptive_mult = 2.0; - - // If you already have a guess of the solution, you can compute the polar angle - // of the points of one scan in the new position. If the polar angle is not a monotone - // function of the readings index, it means that the surface is not visible in the - // next position. If it is not visible, then we don't use it for matching. - if (!nh_private_.getParam ("do_visibility_test", input_.do_visibility_test)) - input_.do_visibility_test = 0; - - // no two points in laser_sens can have the same corr. - if (!nh_private_.getParam ("outliers_remove_doubles", input_.outliers_remove_doubles)) - input_.outliers_remove_doubles = 1; - - // If 1, computes the covariance of ICP using the method http://purl.org/censi/2006/icpcov - if (!nh_private_.getParam ("do_compute_covariance", input_.do_compute_covariance)) - input_.do_compute_covariance = 0; - - // Checks that find_correspondences_tricks gives the right answer - if (!nh_private_.getParam ("debug_verify_tricks", input_.debug_verify_tricks)) - input_.debug_verify_tricks = 0; - - // If 1, the field 'true_alpha' (or 'alpha') in the first scan is used to compute the - // incidence beta, and the factor (1/cos^2(beta)) used to weight the correspondence."); - if (!nh_private_.getParam ("use_ml_weights", input_.use_ml_weights)) - input_.use_ml_weights = 0; - - // If 1, the field 'readings_sigma' in the second scan is used to weight the - // correspondence by 1/sigma^2 - if (!nh_private_.getParam ("use_sigma_weights", input_.use_sigma_weights)) - input_.use_sigma_weights = 0; +void LaserScanMatcher::initParams() { + init_timer_->cancel(); + params_.initialize(shared_from_this()); + + // static parameters + base_frame_ = params_.param("base_frame", std::string("base_link"), "Which frame to use for the robot base"); + odom_frame_ = params_.param("odom_frame", std::string("odom"), "Which frame to track odometry in"); + publish_tf_ = params_.param("publish_tf", true, "Whether to publish tf transform from 'odom_frame' to 'base_frame'"); + use_imu_ = params_.param("use_imu", true, "Whether to use imu messages for predicting the sensor yaw"); + use_odom_ = params_.param("use_odom", true, "Whether to use odom messages for predicting the sensor pose"); + use_vel_ = params_.param("use_vel", false, "Whether to use twist messages for predicting the sensor pose"); + use_tf_ = params_.param("use_tf", false, "Whether to use tf for predicting the sensor pose"); + stamped_vel_ = params_.param("stamped_vel", false, "Whether to subscribe to stamped twist messages."); + + if (use_tf_ && publish_tf_) { + RCLCPP_WARN(get_logger(),"'publish_tf' and 'use_tf' cannot be used together. Disabling TF publishing ..."); + publish_tf_ = false; + } + + // dynamic parameters + params_.register_param(&tf_timeout_, "tf_timeout", 0.1, "TF timeout in seconds.", 0.0, 10.0); + params_.register_param(&xy_cov_scale_, "xy_cov_scale", 1.0, "Scaling to apply to xy position covariance", 0.0, 1e8); + params_.register_param(&xy_cov_offset_, "xy_cov_offset", 0.0, "Offset to apply to xy position covariance", 0.0, 10.0); + params_.register_param(&heading_cov_scale_, "heading_cov_scale", 1.0, "Scaling to apply to heading covariance", 0.0, 1e8); + params_.register_param(&heading_cov_offset_, "heading_cov_offset", 0.0, "Offset to apply to heading covariance", 0.0, 10.0); + params_.register_param(&min_travel_distance_, "min_travel_distance", 0.5, "Distance in meters to trigger a new keyframe", 0.0, 10.0); + params_.register_param(&min_travel_heading_, "min_travel_heading", 30.0, "Angle in degrees to trigger a new keyframe.", 0.0, 180.0); + + // CSM parameters - comments copied from algos.h (by Andrea Censi) + params_.register_param(&input_.max_angular_correction_deg, "max_angular_correction_deg", 45.0, "Maximum angular displacement between scans.", 0.0, 90.0); + params_.register_param(&input_.max_linear_correction, "max_linear_correction", 0.5, "Maximum translation between scans (m).", 0.0, 10.0); + params_.register_param(&input_.max_iterations, "max_iterations", 10, "Maximum ICP cycle iterations", 1, 100); + params_.register_param(&input_.epsilon_xy, "epsilon_xy", 1e-6, "A threshold for stopping (m).", 1e-10, 1e-1); + params_.register_param(&input_.epsilon_theta, "epsilon_theta", 1e-6, "A threshold for stopping (rad).", 1e-10, 1e-1); + params_.register_param(&input_.max_correspondence_dist, "max_correspondence_dist", 0.3, "Maximum distance for a correspondence to be valid.", 0.0, 10.0); + params_.register_param(&input_.sigma, "sigma", 0.01, "Noise in the scan (m).", 0.0, 1.0); + params_.register_param(&input_.use_corr_tricks, "use_corr_tricks", true, "Use smart tricks for finding correspondences."); + params_.register_param(&input_.restart, "restart", false, "Restart if error is over threshold."); + params_.register_param(&input_.restart_threshold_mean_error, "restart_threshold_mean_error", 0.01, "Threshold for restarting.", 0.0, 1.0); + params_.register_param(&input_.restart_dt, "restart_dt", 1.0, "Displacement for restarting. (m).", 0.0, 10.0); + params_.register_param(&input_.restart_dtheta, "restart_dtheta", 0.1, "Displacement for restarting. (rad).", 0.0, M_PI_2); + params_.register_param(&input_.clustering_threshold, "clustering_threshold", 0.25, "Max distance for staying in the same clustering.", 0.0, 1.0); + params_.register_param(&input_.orientation_neighbourhood, "orientation_neighbourhood", 20, "Number of neighbour rays used to estimate the orientation.", 0, 100); + params_.register_param(&input_.use_point_to_line_distance, "use_point_to_line_distance", true, "If false, it's vanilla ICP."); + params_.register_param(&input_.do_alpha_test, "do_alpha_test", false, "Discard correspondences based on the angles."); + params_.register_param(&input_.do_alpha_test_thresholdDeg, "alpha_test_threshold", 20.0, "Threshold angle to discard correspondences, in degrees.", 0.0, 90.0); + params_.register_param(&input_.outliers_maxPerc, "outliers_max_perc", 0.9, "Percentage [0, 1] of correspondences to consider with lowest error", 0.0, 1.0); + params_.register_param(&input_.outliers_adaptive_order, "outliers_adaptive_order", 0.7, "Percentile [0, 1] to use for adaptive outlier detection", 0.0, 1.0); + params_.register_param(&input_.outliers_adaptive_mult, "outliers_adaptive_mult", 2.0, "Threshold multiplier for error at chosen percentile", 0.0, 10.0); + params_.register_param(&input_.do_visibility_test, "do_visibility_test", false, "Use visibility test trick for matching."); + params_.register_param(&input_.outliers_remove_doubles, "outliers_remove_doubles", true, "Do not allow two different correspondences to share a point"); + params_.register_param(&input_.do_compute_covariance, "do_compute_covariance", true, "Compute the covariance of the ICP"); + params_.register_param(&input_.debug_verify_tricks, "debug_verify_tricks", false, "Checks that find_correspondences_tricks gives the right answer."); + params_.register_param(&input_.use_ml_weights, "use_ml_weights", false, "Use the 'true_alpha' or 'alpha' field to weight the impact of each correspondence"); + params_.register_param(&input_.use_sigma_weights, "use_sigma_weights", false, "Use the 'readings_sigma' field of the second scan to weight the correspondence."); + + params_.registerCallback(); } -void LaserScanMatcher::imuCallback(const sensor_msgs::Imu::ConstPtr& imu_msg) +void LaserScanMatcher::imuCallback(const sensor_msgs::msg::Imu::SharedPtr imu_msg) { - boost::mutex::scoped_lock(mutex_); - latest_imu_msg_ = *imu_msg; - if (!received_imu_) - { - tf::quaternionMsgToTF(imu_msg->orientation, last_used_imu_orientation_); - received_imu_ = true; + if (!latest_imu_msg_) { + tf2::fromMsg(imu_msg->orientation, last_used_imu_orientation_); } + latest_imu_msg_ = imu_msg; } -void LaserScanMatcher::odomCallback(const nav_msgs::Odometry::ConstPtr& odom_msg) +void LaserScanMatcher::odomCallback(const nav_msgs::msg::Odometry::SharedPtr odom_msg) { - boost::mutex::scoped_lock(mutex_); - latest_odom_msg_ = *odom_msg; - if (!received_odom_) - { - tf::poseMsgToTF(odom_msg->pose.pose, last_used_odom_pose_); - received_odom_ = true; + if (!latest_odom_msg_) { + tf2::fromMsg(odom_msg->pose.pose, last_used_odom_pose_); } + latest_odom_msg_ = odom_msg; } -void LaserScanMatcher::velCallback(const geometry_msgs::Twist::ConstPtr& twist_msg) +void LaserScanMatcher::velCallback(const geometry_msgs::msg::Twist::SharedPtr twist_msg) { - boost::mutex::scoped_lock(mutex_); - latest_vel_msg_ = *twist_msg; - - received_vel_ = true; + latest_vel_msg_ = twist_msg; } -void LaserScanMatcher::velStmpCallback(const geometry_msgs::TwistStamped::ConstPtr& twist_msg) +void LaserScanMatcher::velStmpCallback(const geometry_msgs::msg::TwistStamped::SharedPtr twist_msg) { - boost::mutex::scoped_lock(mutex_); - latest_vel_msg_ = twist_msg->twist; - - received_vel_ = true; + latest_vel_msg_ = std::make_shared(twist_msg->twist); } -void LaserScanMatcher::cloudCallback (const PointCloudT::ConstPtr& cloud) -{ - // **** if first scan, cache the tf from base to the scanner - - std_msgs::Header cloud_header = pcl_conversions::fromPCL(cloud->header); - - if (!initialized_) - { - // cache the static tf from base to laser - if (!getBaseLaserTransform(cloud_header.frame_id)) - { - ROS_WARN("Skipping scan"); - return; - } - - PointCloudToLDP(cloud, prev_ldp_scan_); - last_icp_time_ = cloud_header.stamp; - initialized_ = true; - } - - LDP curr_ldp_scan; - PointCloudToLDP(cloud, curr_ldp_scan); - processScan(curr_ldp_scan, cloud_header.stamp); -} - -void LaserScanMatcher::scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_msg) -{ +void LaserScanMatcher::scanCallback(const sensor_msgs::msg::LaserScan::SharedPtr scan_msg) { // **** if first scan, cache the tf from base to the scanner if (!initialized_) { createCache(scan_msg); // caches the sin and cos of all angles - // cache the static transform between the base and laser - if (!getBaseLaserTransform(scan_msg->header.frame_id)) + // cache the static tf from base to laser + if (!getBaseToLaserTf(scan_msg->header.frame_id)) { - ROS_WARN("Skipping scan"); return; } - laserScanToLDP(scan_msg, prev_ldp_scan_); + laserScanToLDP(scan_msg, keyframe_laser_data_); last_icp_time_ = scan_msg->header.stamp; initialized_ = true; } - LDP curr_ldp_scan; - laserScanToLDP(scan_msg, curr_ldp_scan); - processScan(curr_ldp_scan, scan_msg->header.stamp); + processScan(scan_msg); } -void LaserScanMatcher::processScan(LDP& curr_ldp_scan, const ros::Time& time) +void LaserScanMatcher::processScan(const sensor_msgs::msg::LaserScan::SharedPtr scan_msg) { - ros::WallTime start = ros::WallTime::now(); + // Canonical Scan Matcher (CSM) is used in the following way: + // - The scans are always in the laser frame. + // - The reference scan (keyframe_laser_data_) has a pose of [0, 0, 0] + // - The new scan (curr_laser_data) has a pose equal to the movement of the + // laser in the laser frame since the last scan + // - The computed correction is then propagated using the tf machinery - // CSM is used in the following way: - // The scans are always in the laser frame - // The reference scan (prevLDPcan_) has a pose of [0, 0, 0] - // The new scan (currLDPScan) has a pose equal to the movement - // of the laser in the laser frame since the last scan - // The computed correction is then propagated using the tf machinery + LDP curr_laser_data; + laserScanToLDP(scan_msg, curr_laser_data); - prev_ldp_scan_->odometry[0] = 0.0; - prev_ldp_scan_->odometry[1] = 0.0; - prev_ldp_scan_->odometry[2] = 0.0; + keyframe_laser_data_->odometry[0] = 0.0; + keyframe_laser_data_->odometry[1] = 0.0; + keyframe_laser_data_->odometry[2] = 0.0; - prev_ldp_scan_->estimate[0] = 0.0; - prev_ldp_scan_->estimate[1] = 0.0; - prev_ldp_scan_->estimate[2] = 0.0; + keyframe_laser_data_->estimate[0] = 0.0; + keyframe_laser_data_->estimate[1] = 0.0; + keyframe_laser_data_->estimate[2] = 0.0; - prev_ldp_scan_->true_pose[0] = 0.0; - prev_ldp_scan_->true_pose[1] = 0.0; - prev_ldp_scan_->true_pose[2] = 0.0; + keyframe_laser_data_->true_pose[0] = 0.0; + keyframe_laser_data_->true_pose[1] = 0.0; + keyframe_laser_data_->true_pose[2] = 0.0; - input_.laser_ref = prev_ldp_scan_; - input_.laser_sens = curr_ldp_scan; + input_.laser_ref = keyframe_laser_data_; + input_.laser_sens = curr_laser_data; + + tf2::Transform last_base = last_base_in_fixed_; // **** estimated change since last scan // get the predicted offset of the scan base pose from the last scan base pose - tf::Transform pred_last_base_offset = getPrediction(time); + tf2::Transform pred_last_base_offset = getPrediction(scan_msg->header.stamp); // calculate the predicted scan base pose by applying the predicted offset to the last scan base pose - tf::Transform pred_base_in_fixed = last_base_in_fixed_ * pred_last_base_offset; + tf2::Transform pred_base_in_fixed = last_base_in_fixed_ * pred_last_base_offset; // calculate the offset between the keyframe base pose and predicted scan base pose - tf::Transform pred_keyframe_base_offset = keyframe_base_in_fixed_.inverse() * pred_base_in_fixed; + tf2::Transform pred_keyframe_base_offset = keyframe_base_in_fixed_.inverse() * pred_base_in_fixed; // convert the predicted offset from the keyframe base frame to be in the keyframe laser frame - tf::Transform pred_keyframe_laser_offset = laser_from_base_ * pred_keyframe_base_offset * base_from_laser_ ; + tf2::Transform pred_keyframe_laser_offset = laser_from_base_ * pred_keyframe_base_offset * base_from_laser_ ; input_.first_guess[0] = pred_keyframe_laser_offset.getOrigin().getX(); input_.first_guess[1] = pred_keyframe_laser_offset.getOrigin().getY(); - input_.first_guess[2] = tf::getYaw(pred_keyframe_laser_offset.getRotation()); + input_.first_guess[2] = tf2::getYaw(pred_keyframe_laser_offset.getRotation()); - // If they are non-Null, free covariance gsl matrices to avoid leaking memory + // free covariance matrices, if they are allocated, to avoid leaking memory if (output_.cov_x_m) { gsl_matrix_free(output_.cov_x_m); - output_.cov_x_m = 0; + output_.cov_x_m = nullptr; } if (output_.dx_dy1_m) { gsl_matrix_free(output_.dx_dy1_m); - output_.dx_dy1_m = 0; + output_.dx_dy1_m = nullptr; } if (output_.dx_dy2_m) { gsl_matrix_free(output_.dx_dy2_m); - output_.dx_dy2_m = 0; + output_.dx_dy2_m = nullptr; } // *** scan match - using point to line icp from CSM sm_icp(&input_, &output_); - tf::Transform meas_keyframe_base_offset; + tf2::Transform meas_keyframe_base_offset; if (output_.valid) { - // the measured offset of the scan from the keyframe in the keyframe laser frame - tf::Transform meas_keyframe_laser_offset; + tf2::Transform meas_keyframe_laser_offset; createTfFromXYTheta(output_.x[0], output_.x[1], output_.x[2], meas_keyframe_laser_offset); // convert the measured offset from the keyframe laser frame to the keyframe base frame @@ -519,226 +306,109 @@ void LaserScanMatcher::processScan(LDP& curr_ldp_scan, const ros::Time& time) xy_cov(0, 1) = gsl_matrix_get(output_.cov_x_m, 0, 1); xy_cov(1, 0) = gsl_matrix_get(output_.cov_x_m, 1, 0); xy_cov(1, 1) = gsl_matrix_get(output_.cov_x_m, 1, 1); - yaw_cov = gsl_matrix_get(output_.cov_x_m, 2, 2); // rotate xy covariance from the keyframe into odom frame - auto rotation = getLaserRotation(f2b_kf_); + auto rotation = getLaserRotation(keyframe_base_in_fixed_); xy_cov = rotation * xy_cov * rotation.transpose(); - } - else { - xy_cov(0, 0) = position_covariance_[0]; - xy_cov(1, 1) = position_covariance_[1]; - yaw_cov = orientation_covariance_[2]; - } - if (publish_pose_) - { - // unstamped Pose2D message - geometry_msgs::Pose2D::Ptr pose_msg; - pose_msg = boost::make_shared(); - pose_msg->x = last_base_in_fixed_.getOrigin().getX(); - pose_msg->y = last_base_in_fixed_.getOrigin().getY(); - pose_msg->theta = tf::getYaw(last_base_in_fixed_.getRotation()); - pose_publisher_.publish(pose_msg); + yaw_cov = gsl_matrix_get(output_.cov_x_m, 2, 2); } - if (publish_pose_stamped_) - { - // stamped Pose message - geometry_msgs::PoseStamped::Ptr pose_stamped_msg; - pose_stamped_msg = boost::make_shared(); - - pose_stamped_msg->header.stamp = time; - pose_stamped_msg->header.frame_id = fixed_frame_; - - tf::poseTFToMsg(last_base_in_fixed_, pose_stamped_msg->pose); - pose_stamped_publisher_.publish(pose_stamped_msg); - } - if (publish_pose_with_covariance_) - { - // unstamped PoseWithCovariance message - geometry_msgs::PoseWithCovariance::Ptr pose_with_covariance_msg; - pose_with_covariance_msg = boost::make_shared(); - tf::poseTFToMsg(last_base_in_fixed_, pose_with_covariance_msg->pose); - - pose_with_covariance_msg->covariance = boost::assign::list_of - (xy_cov(0, 0)) (xy_cov(0, 1)) (0) (0) (0) (0) - (xy_cov(1, 0)) (xy_cov(1, 1)) (0) (0) (0) (0) - (0) (0) (0) (0) (0) (0) - (0) (0) (0) (0) (0) (0) - (0) (0) (0) (0) (0) (0) - (0) (0) (0) (0) (0) (yaw_cov); - - pose_with_covariance_publisher_.publish(pose_with_covariance_msg); - } - if (publish_pose_with_covariance_stamped_) - { + if (pose_publisher_->get_subscription_count() > 0) { // stamped Pose message - geometry_msgs::PoseWithCovarianceStamped::Ptr pose_with_covariance_stamped_msg; - pose_with_covariance_stamped_msg = boost::make_shared(); - - pose_with_covariance_stamped_msg->header.stamp = time; - pose_with_covariance_stamped_msg->header.frame_id = fixed_frame_; + geometry_msgs::msg::PoseWithCovarianceStamped pose_msg; - tf::poseTFToMsg(last_base_in_fixed_, pose_with_covariance_stamped_msg->pose.pose); + pose_msg.header.stamp = scan_msg->header.stamp; + pose_msg.header.frame_id = odom_frame_; + tf2::toMsg(last_base_in_fixed_, pose_msg.pose.pose); - pose_with_covariance_stamped_msg->pose.covariance = boost::assign::list_of - (xy_cov(0, 0)) (xy_cov(0, 1)) (0) (0) (0) (0) - (xy_cov(1, 0)) (xy_cov(1, 1)) (0) (0) (0) (0) - (0) (0) (0) (0) (0) (0) - (0) (0) (0) (0) (0) (0) - (0) (0) (0) (0) (0) (0) - (0) (0) (0) (0) (0) (yaw_cov); + pose_msg.pose.covariance[0] = xy_cov(0, 0) * xy_cov_scale_ + xy_cov_offset_; + pose_msg.pose.covariance[1] = xy_cov(0, 1) * xy_cov_scale_; + pose_msg.pose.covariance[6] = xy_cov(1, 0) * xy_cov_scale_; + pose_msg.pose.covariance[7] = xy_cov(1, 1) * xy_cov_scale_ + xy_cov_offset_; + pose_msg.pose.covariance[35] = yaw_cov * heading_cov_scale_ + heading_cov_offset_; - pose_with_covariance_stamped_publisher_.publish(pose_with_covariance_stamped_msg); + pose_publisher_->publish(pose_msg); } - if (publish_tf_) - { - tf::StampedTransform transform_msg (last_base_in_fixed_, time, fixed_frame_, base_frame_); - tf_broadcaster_.sendTransform (transform_msg); + if (publish_tf_) { + geometry_msgs::msg::TransformStamped tf_msg; + tf_msg.transform = tf2::toMsg(last_base_in_fixed_); + + tf_msg.header.stamp = scan_msg->header.stamp;; + tf_msg.header.frame_id = odom_frame_; + tf_msg.child_frame_id = base_frame_; + tf_broadcaster_->sendTransform (tf_msg); } } - else - { + else { meas_keyframe_base_offset.setIdentity(); - ROS_WARN("Error in scan matching"); - } + RCLCPP_WARN(get_logger(),"Error in scan matching. Creating new keyframe ..."); + + // generate a new keyframe + ld_free(keyframe_laser_data_); + keyframe_laser_data_ = curr_laser_data; + keyframe_base_in_fixed_ = last_base; + last_base_in_fixed_ = keyframe_base_in_fixed_; - // **** swap old and new + last_icp_time_ = scan_msg->header.stamp; + return; + } if (newKeyframeNeeded(meas_keyframe_base_offset)) { // generate a keyframe - ld_free(prev_ldp_scan_); - prev_ldp_scan_ = curr_ldp_scan; + RCLCPP_DEBUG(get_logger(), "Creating new keyframe ..."); + ld_free(keyframe_laser_data_); + keyframe_laser_data_ = curr_laser_data; keyframe_base_in_fixed_ = last_base_in_fixed_; } else { - ld_free(curr_ldp_scan); + ld_free(curr_laser_data); } - last_icp_time_ = time; - - // **** statistics + last_icp_time_ = scan_msg->header.stamp; - double dur = (ros::WallTime::now() - start).toSec() * 1e3; - ROS_DEBUG("Scan matcher total duration: %.1f ms", dur); + return; } -bool LaserScanMatcher::newKeyframeNeeded(const tf::Transform& d) -{ - if (fabs(tf::getYaw(d.getRotation())) > kf_dist_angular_) return true; +bool LaserScanMatcher::newKeyframeNeeded(const tf2::Transform& d) { + if (std::fabs(tf2::getYaw(d.getRotation())) > min_travel_heading_ * M_PI / 180.0) { + return true; + } double x = d.getOrigin().getX(); double y = d.getOrigin().getY(); - if (x*x + y*y > kf_dist_linear_sq_) return true; - - return false; -} - -void LaserScanMatcher::PointCloudToLDP(const PointCloudT::ConstPtr& cloud, - LDP& ldp) -{ - double max_d2 = cloud_res_ * cloud_res_; - - PointCloudT cloud_f; - - cloud_f.points.push_back(cloud->points[0]); - - for (unsigned int i = 1; i < cloud->points.size(); ++i) - { - const PointT& pa = cloud_f.points[cloud_f.points.size() - 1]; - const PointT& pb = cloud->points[i]; - - double dx = pa.x - pb.x; - double dy = pa.y - pb.y; - double d2 = dx*dx + dy*dy; - - if (d2 > max_d2) - { - cloud_f.points.push_back(pb); - } - } - - unsigned int n = cloud_f.points.size(); - - ldp = ld_alloc_new(n); - - for (unsigned int i = 0; i < n; i++) - { - // calculate position in laser frame - if (is_nan(cloud_f.points[i].x) || is_nan(cloud_f.points[i].y)) - { - ROS_WARN("Laser Scan Matcher: Cloud input contains NaN values. \ - Please use a filtered cloud input."); - } - else - { - double r = sqrt(cloud_f.points[i].x * cloud_f.points[i].x + - cloud_f.points[i].y * cloud_f.points[i].y); - - if (r > cloud_range_min_ && r < cloud_range_max_) - { - ldp->valid[i] = 1; - ldp->readings[i] = r; - } - else - { - ldp->valid[i] = 0; - ldp->readings[i] = -1; // for invalid range - } - } - - ldp->theta[i] = atan2(cloud_f.points[i].y, cloud_f.points[i].x); - ldp->cluster[i] = -1; + if (x * x + y * y > min_travel_distance_ * min_travel_distance_) { + return true; } - ldp->min_theta = ldp->theta[0]; - ldp->max_theta = ldp->theta[n-1]; - - ldp->odometry[0] = 0.0; - ldp->odometry[1] = 0.0; - ldp->odometry[2] = 0.0; - - ldp->true_pose[0] = 0.0; - ldp->true_pose[1] = 0.0; - ldp->true_pose[2] = 0.0; + return false; } -void LaserScanMatcher::laserScanToLDP(const sensor_msgs::LaserScan::ConstPtr& scan_msg, - LDP& ldp) -{ - unsigned int n = scan_msg->ranges.size(); +void LaserScanMatcher::laserScanToLDP(const sensor_msgs::msg::LaserScan::SharedPtr& scan, LDP& ldp) { + unsigned int n = scan->ranges.size(); ldp = ld_alloc_new(n); - for (unsigned int i = 0; i < n; i++) - { - // calculate position in laser frame - - double r = scan_msg->ranges[i]; - - if (r > scan_msg->range_min && r < scan_msg->range_max) - { - // fill in laser scan data - + for (unsigned int i = 0; i < n; i++) { + // Calculate position in laser frame + double r = scan->ranges[i]; + if ((r > scan->range_min) && (r < scan->range_max)) { + // Fill in laser scan data ldp->valid[i] = 1; ldp->readings[i] = r; } - else - { + else { ldp->valid[i] = 0; ldp->readings[i] = -1; // for invalid range } - - ldp->theta[i] = scan_msg->angle_min + i * scan_msg->angle_increment; - - ldp->cluster[i] = -1; + ldp->theta[i] = scan->angle_min + i * scan->angle_increment; + ldp->cluster[i] = -1; } ldp->min_theta = ldp->theta[0]; - ldp->max_theta = ldp->theta[n-1]; + ldp->max_theta = ldp->theta[n - 1]; ldp->odometry[0] = 0.0; ldp->odometry[1] = 0.0; @@ -749,13 +419,11 @@ void LaserScanMatcher::laserScanToLDP(const sensor_msgs::LaserScan::ConstPtr& sc ldp->true_pose[2] = 0.0; } -void LaserScanMatcher::createCache (const sensor_msgs::LaserScan::ConstPtr& scan_msg) -{ +void LaserScanMatcher::createCache(const sensor_msgs::msg::LaserScan::SharedPtr& scan_msg) { a_cos_.clear(); a_sin_.clear(); - for (unsigned int i = 0; i < scan_msg->ranges.size(); ++i) - { + for (unsigned int i = 0; i < scan_msg->ranges.size(); ++i) { double angle = scan_msg->angle_min + i * scan_msg->angle_increment; a_cos_.push_back(cos(angle)); a_sin_.push_back(sin(angle)); @@ -765,52 +433,72 @@ void LaserScanMatcher::createCache (const sensor_msgs::LaserScan::ConstPtr& scan input_.max_reading = scan_msg->range_max; } -bool LaserScanMatcher::getBaseLaserTransform(const std::string& frame_id) -{ - tf::StampedTransform base_from_laser; - try - { - tf_listener_.waitForTransform(base_frame_, frame_id, ros::Time(0), ros::Duration(tf_timeout_)); - tf_listener_.lookupTransform (base_frame_, frame_id, ros::Time(0), base_from_laser); +bool LaserScanMatcher::getBaseToLaserTf(const std::string& frame_id) { + try { + auto msg = tf_buffer_->lookupTransform(base_frame_, frame_id, rclcpp::Time(0), rclcpp::Duration::from_seconds(tf_timeout_)); + tf2::fromMsg(msg.transform, base_from_laser_); + laser_from_base_ = base_from_laser_.inverse(); } - catch (const tf::TransformException& ex) - { - ROS_WARN("Could not get initial transform from base to laser frame, %s", ex.what()); + catch (tf2::TransformException ex) { + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 2000, "Could not get initial transform of base to laser frame, %s", ex.what()); return false; } - base_from_laser_ = base_from_laser; - laser_from_base_ = base_from_laser_.inverse(); return true; } -// returns the predicted offset from the base pose of the last scan -tf::Transform LaserScanMatcher::getPrediction(const ros::Time& stamp) +bool LaserScanMatcher::getTfOffset( + const std::string& frame_id, + const rclcpp::Time& target_stamp, + const rclcpp::Time& source_stamp, + tf2::Transform& transform) { - boost::mutex::scoped_lock(mutex_); + if (!tf_buffer_->_frameExists(odom_frame_)) { + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 2000, "tf frame [%s] doesn't exist yet.'", odom_frame_.c_str()); + return false; + } + + if (!tf_buffer_->_frameExists(frame_id)) { + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 2000, "tf frame [%s] doesn't exist yet.'", frame_id.c_str()); + return false; + } + try { + auto msg = tf_buffer_->lookupTransform( + frame_id, target_stamp, frame_id, source_stamp, odom_frame_, rclcpp::Duration::from_seconds(tf_timeout_)); + tf2::fromMsg(msg.transform, transform); + } + catch (tf2::TransformException ex) { + RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 2000, "Could not get transform: %s", ex.what()); + return false; + } + + return true; +} + +tf2::Transform LaserScanMatcher::getPrediction(const rclcpp::Time& stamp) { // **** base case - no input available, use zero-motion model - tf::Transform pred_last_base_offset = tf::Transform::getIdentity(); + tf2::Transform pred_last_base_offset = tf2::Transform::getIdentity(); // **** use velocity (for example from ab-filter) if (use_vel_) { - double dt = (stamp - last_icp_time_).toSec(); + double dt = (stamp - last_icp_time_).seconds(); // NOTE: this assumes the velocity is in the base frame and that the base // and laser frames share the same x,y and z axes - double pr_ch_x = dt * latest_vel_msg_.linear.x; - double pr_ch_y = dt * latest_vel_msg_.linear.y; - double pr_ch_a = dt * latest_vel_msg_.angular.z; + double pr_ch_x = dt * latest_vel_msg_->linear.x; + double pr_ch_y = dt * latest_vel_msg_->linear.y; + double pr_ch_a = dt * latest_vel_msg_->angular.z; createTfFromXYTheta(pr_ch_x, pr_ch_y, pr_ch_a, pred_last_base_offset); } // **** use wheel odometry - if (use_odom_ && received_odom_) + if (use_odom_ && latest_odom_msg_) { // NOTE: this assumes the odometry is in the base frame - tf::Transform latest_odom_pose; - tf::poseMsgToTF(latest_odom_msg_.pose.pose, latest_odom_pose); + tf2::Transform latest_odom_pose; + tf2::fromMsg(latest_odom_msg_->pose.pose, latest_odom_pose); pred_last_base_offset = last_used_odom_pose_.inverse() * latest_odom_pose; @@ -818,13 +506,13 @@ tf::Transform LaserScanMatcher::getPrediction(const ros::Time& stamp) } // **** use imu - if (use_imu_ && received_imu_) + if (use_imu_ && latest_imu_msg_) { // NOTE: this assumes the imu is in the base frame - tf::Quaternion latest_imu_orientation; - tf::quaternionMsgToTF(latest_imu_msg_.orientation, latest_imu_orientation); + tf2::Quaternion latest_imu_orientation; + tf2::fromMsg(latest_imu_msg_->orientation, latest_imu_orientation); - tf::Quaternion imu_orientation_offset = last_used_imu_orientation_.inverse() * latest_imu_orientation; + tf2::Quaternion imu_orientation_offset = last_used_imu_orientation_.inverse() * latest_imu_orientation; pred_last_base_offset.setRotation(imu_orientation_offset); last_used_imu_orientation_ = latest_imu_orientation; @@ -833,38 +521,30 @@ tf::Transform LaserScanMatcher::getPrediction(const ros::Time& stamp) // **** use tf if (use_tf_) { - tf::StampedTransform pred_last_base_offset_tf; - try + tf2::Transform pred_last_base_offset_tf; + if (getTfOffset(base_frame_, last_icp_time_, stamp, pred_last_base_offset_tf)) { - tf_listener_.waitForTransform(base_frame_, last_icp_time_, base_frame_, stamp, fixed_frame_, ros::Duration(tf_timeout_)); - tf_listener_.lookupTransform (base_frame_, last_icp_time_, base_frame_, stamp, fixed_frame_, pred_last_base_offset_tf); pred_last_base_offset = pred_last_base_offset_tf; } - catch (const tf::TransformException& ex) - { - ROS_WARN("Could not get base to fixed frame transform, %s", ex.what()); - } } return pred_last_base_offset; } -void LaserScanMatcher::createTfFromXYTheta( - double x, double y, double theta, tf::Transform& t) -{ - t.setOrigin(tf::Vector3(x, y, 0.0)); - tf::Quaternion q; +void LaserScanMatcher::createTfFromXYTheta(double x, double y, double theta, tf2::Transform& t) { + t.setOrigin(tf2::Vector3(x, y, 0.0)); + tf2::Quaternion q; q.setRPY(0.0, 0.0, theta); t.setRotation(q); } -Eigen::Matrix2f LaserScanMatcher::getLaserRotation(const tf::Transform& odom_pose) const { - tf::Transform laser_in_fixed = odom_pose * laser_to_base_; - tf::Matrix3x3 fixed_from_laser_rot(laser_in_fixed.getRotation()); +Eigen::Matrix2f LaserScanMatcher::getLaserRotation(const tf2::Transform& odom_pose) { + tf2::Transform laser_in_fixed = odom_pose * laser_from_base_; + tf2::Matrix3x3 fixed_from_laser_rot(laser_in_fixed.getRotation()); double r,p,y; fixed_from_laser_rot.getRPY(r, p, y); Eigen::Rotation2Df t(y); return t.toRotationMatrix(); } -} // namespace scan_tools +} // namespace scan_tools diff --git a/laser_scan_matcher/src/laser_scan_matcher_node.cpp b/laser_scan_matcher/src/laser_scan_matcher_node.cpp index 58d1b6a..2639402 100644 --- a/laser_scan_matcher/src/laser_scan_matcher_node.cpp +++ b/laser_scan_matcher/src/laser_scan_matcher_node.cpp @@ -36,13 +36,14 @@ */ #include +#include int main(int argc, char** argv) { - ros::init(argc, argv, "LaserScanMatcher"); - ros::NodeHandle nh; - ros::NodeHandle nh_private("~"); - scan_tools::LaserScanMatcher laser_scan_matcher(nh, nh_private); - ros::spin(); + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node->get_node_base_interface()); + rclcpp::shutdown(); + return 0; } diff --git a/laser_scan_matcher/src/laser_scan_matcher_nodelet.cpp b/laser_scan_matcher/src/laser_scan_matcher_nodelet.cpp deleted file mode 100644 index 9fc4684..0000000 --- a/laser_scan_matcher/src/laser_scan_matcher_nodelet.cpp +++ /dev/null @@ -1,55 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -/* This package uses Canonical Scan Matcher [1], written by - * Andrea Censi - * - * [1] A. Censi, "An ICP variant using a point-to-line metric" - * Proceedings of the IEEE International Conference - * on Robotics and Automation (ICRA), 2008 - */ - -#include - -typedef scan_tools::LaserScanMatcherNodelet LaserScanMatcherNodelet; - -PLUGINLIB_EXPORT_CLASS(LaserScanMatcherNodelet, nodelet::Nodelet) - -void LaserScanMatcherNodelet::onInit() -{ - NODELET_INFO("Initializing LaserScanMatcher Nodelet"); - - // TODO: Do we want the single threaded or multithreaded NH? - ros::NodeHandle nh = getMTNodeHandle(); - ros::NodeHandle nh_private = getMTPrivateNodeHandle(); - - scan_matcher_ = boost::shared_ptr( - new LaserScanMatcher(nh, nh_private)); -} - diff --git a/laser_scan_matcher/src/param_handler.cpp b/laser_scan_matcher/src/param_handler.cpp new file mode 100644 index 0000000..275ba1b --- /dev/null +++ b/laser_scan_matcher/src/param_handler.cpp @@ -0,0 +1,106 @@ +#include + +namespace scan_tools { + +void ParamHandler::initialize(rclcpp::Node::SharedPtr node) { + node_ = node; +} + +void ParamHandler::registerCallback() { + params_callback_handle_ = node_->add_on_set_parameters_callback( + std::bind(&ParamHandler::parametersCallback, this, std::placeholders::_1)); +} + +rcl_interfaces::msg::SetParametersResult ParamHandler::parametersCallback( + const std::vector ¶meters) +{ + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + result.reason = "success"; + + for (const auto ¶m: parameters) { + if (param.get_type() == rclcpp::ParameterType::PARAMETER_BOOL) { + auto bool_param = bool_params_.find(param.get_name()); + if (bool_param != bool_params_.end()) { + *bool_param->second = param.as_bool(); + RCLCPP_INFO(node_->get_logger(), "Parameter updated: %s = %s", param.get_name().c_str(), (param.as_bool() ? "true": "false")); + } + else { + auto int_param = int_params_.find(param.get_name()); + if (int_param != int_params_.end()) { + *int_param->second = param.as_bool(); + RCLCPP_INFO(node_->get_logger(), "Parameter updated: %s = %s", param.get_name().c_str(), (param.as_bool() ? "true": "false")); + } + RCLCPP_WARN(node_->get_logger(), "Unknown bool parameter updated: %s", param.get_name().c_str()); + } + } + else if (param.get_type() == rclcpp::ParameterType::PARAMETER_DOUBLE) { + auto double_param = double_params_.find(param.get_name()); + if (double_param != double_params_.end()) { + *double_param->second = param.as_double(); + RCLCPP_INFO(node_->get_logger(), "Parameter updated: %s = %lf", param.get_name().c_str(), param.as_double()); + } + else { + RCLCPP_WARN(node_->get_logger(), "Unknown double parameter updated: %s", param.get_name().c_str()); + } + } + else if (param.get_type() == rclcpp::ParameterType::PARAMETER_INTEGER) { + auto int_param = int_params_.find(param.get_name()); + if (int_param != int_params_.end()) { + *int_param->second = param.as_int(); + RCLCPP_INFO(node_->get_logger(), "Parameter updated: %s = %ld", param.get_name().c_str(), param.as_int()); + } + else { + RCLCPP_WARN(node_->get_logger(), "Unknown int parameter updated: %s", param.get_name().c_str()); + } + } + else { + RCLCPP_WARN(node_->get_logger(), "Unsupported parameter type updated: %s (%s)", param.get_name().c_str(), param.get_type_name().c_str()); + } + } + + return result; +} + +void ParamHandler::register_param( + int* param, const std::string& name, bool default_val, const std::string& description) +{ + auto descriptor = rcl_interfaces::msg::ParameterDescriptor(); + descriptor.description = description; + descriptor.read_only = false; + node_->declare_parameter(name, rclcpp::ParameterValue(default_val), descriptor); + *param = node_->get_parameter(name).as_bool(); + int_params_[name] = param; +} + +void ParamHandler::register_param( + int* param, const std::string& name, int default_val, const std::string& description, int min, int max) +{ + auto descriptor = rcl_interfaces::msg::ParameterDescriptor(); + descriptor.description = description; + descriptor.read_only = false; + descriptor.integer_range.resize(1); + descriptor.integer_range[0].from_value = min; + descriptor.integer_range[0].to_value = max; + descriptor.integer_range[0].step = 0; + node_->declare_parameter(name, default_val, descriptor); + *param = node_->get_parameter(name).as_int(); + int_params_[name] = param; +} + +void ParamHandler::register_param( + double* param, const std::string& name, double default_val, const std::string& description, double min, double max) +{ + auto descriptor = rcl_interfaces::msg::ParameterDescriptor(); + descriptor.description = description; + descriptor.read_only = false; + descriptor.floating_point_range.resize(1); + descriptor.floating_point_range[0].from_value = min; + descriptor.floating_point_range[0].to_value = max; + descriptor.floating_point_range[0].step = 0; + node_->declare_parameter(name, default_val, descriptor); + *param = node_->get_parameter(name).as_double(); + double_params_[name] = param; +} + +} // namespace scan_tools diff --git a/laser_scan_matcher/test/covariance.test b/laser_scan_matcher/test/covariance.test deleted file mode 100644 index 5108be3..0000000 --- a/laser_scan_matcher/test/covariance.test +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/laser_scan_matcher/test/run.test b/laser_scan_matcher/test/run.test deleted file mode 100644 index a6dbf8d..0000000 --- a/laser_scan_matcher/test/run.test +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - \ No newline at end of file diff --git a/laser_scan_sparsifier/CHANGELOG.rst b/laser_scan_sparsifier/CHANGELOG.rst deleted file mode 100644 index 24f4b9f..0000000 --- a/laser_scan_sparsifier/CHANGELOG.rst +++ /dev/null @@ -1,22 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package laser_scan_sparsifier -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.3.3 (2021-02-15) ------------------- -* update to use non deprecated pluginlib macro - -0.3.2 (2016-03-19) ------------------- - -0.3.1 (2015-12-18) ------------------- - -0.3.0 (2015-11-10) ------------------- - -0.2.1 (2015-10-14) ------------------- -* [sys] Catkinizing: laser_scan_sparsifier -* [sys] renamed skip to step parameter in scan sparsifier -* Contributors: Ivan Dryanovski, Miguel Sarabia diff --git a/laser_scan_sparsifier/CMakeLists.txt b/laser_scan_sparsifier/CMakeLists.txt deleted file mode 100644 index 059f28b..0000000 --- a/laser_scan_sparsifier/CMakeLists.txt +++ /dev/null @@ -1,56 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(laser_scan_sparsifier) - -# List C++ dependencies on ros packages -set( ROS_CXX_DEPENDENCIES - roscpp - nodelet - sensor_msgs) - -# Find catkin and all required ROS components -find_package(catkin REQUIRED COMPONENTS ${ROS_CXX_DEPENDENCIES}) - -# Set include directories -include_directories(include ${catkin_INCLUDE_DIRS}) - -# Declare info that other packages need to import library generated here -catkin_package( - INCLUDE_DIRS include - LIBRARIES laser_scan_sparsifier - CATKIN_DEPENDS ${ROS_CXX_DEPENDENCIES} -) - -#Create library -add_library(laser_scan_sparsifier src/laser_scan_sparsifier.cpp) -target_link_libraries( laser_scan_sparsifier ${catkin_LIBRARIES}) -add_dependencies(laser_scan_sparsifier ${catkin_EXPORTED_TARGETS}) - -#Create nodelet -add_library(laser_scan_sparsifier_nodelet src/laser_scan_sparsifier_nodelet.cpp) -target_link_libraries(laser_scan_sparsifier_nodelet laser_scan_sparsifier) - -#Create node -add_executable(laser_scan_sparsifier_node src/laser_scan_sparsifier_node.cpp) -target_link_libraries( laser_scan_sparsifier_node laser_scan_sparsifier ) - -#Install library -install(TARGETS laser_scan_sparsifier laser_scan_sparsifier_nodelet - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) - -#Install library includes -install(DIRECTORY include/laser_scan_sparsifier/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) - -#Install node -install(TARGETS laser_scan_sparsifier_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - -#Install nodelet description -install(FILES laser_scan_sparsifier_nodelet.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) - -#Install demo directory -install(DIRECTORY demo - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) diff --git a/laser_scan_sparsifier/demo/demo.bag b/laser_scan_sparsifier/demo/demo.bag deleted file mode 100644 index 90ba77e..0000000 Binary files a/laser_scan_sparsifier/demo/demo.bag and /dev/null differ diff --git a/laser_scan_sparsifier/demo/demo.launch b/laser_scan_sparsifier/demo/demo.launch deleted file mode 100644 index e2c7d1e..0000000 --- a/laser_scan_sparsifier/demo/demo.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - diff --git a/laser_scan_sparsifier/demo/demo.vcg b/laser_scan_sparsifier/demo/demo.vcg deleted file mode 100644 index db43ce5..0000000 --- a/laser_scan_sparsifier/demo/demo.vcg +++ /dev/null @@ -1,93 +0,0 @@ -Background\ ColorR=0 -Background\ ColorG=0 -Background\ ColorB=0 -Fixed\ Frame=/laser -Target\ Frame= -Grid.Alpha=0.5 -Grid.Cell\ Size=1 -Grid.ColorR=0.5 -Grid.ColorG=0.5 -Grid.ColorB=0.5 -Grid.Enabled=1 -Grid.Line\ Style=0 -Grid.Line\ Width=0.03 -Grid.Normal\ Cell\ Count=0 -Grid.OffsetX=0 -Grid.OffsetY=0 -Grid.OffsetZ=0 -Grid.Plane=0 -Grid.Plane\ Cell\ Count=10 -Grid.Reference\ Frame= -Laser\ Scan\ In.Alpha=0.1 -Laser\ Scan\ In.Billboard\ Size=0.02 -Laser\ Scan\ In.Color\ Transformer=Flat Color -Laser\ Scan\ In.Decay\ Time=0 -Laser\ Scan\ In.Enabled=1 -Laser\ Scan\ In.Position\ Transformer=XYZ -Laser\ Scan\ In.Selectable=1 -Laser\ Scan\ In.Style=1 -Laser\ Scan\ In.Topic=/scan -Laser\ Scan\ In..AxisAutocompute\ Value\ Bounds=1 -Laser\ Scan\ In..AxisAxis=2 -Laser\ Scan\ In..AxisMax\ Value=8.6725e-08 -Laser\ Scan\ In..AxisMin\ Value=-1.09645e-07 -Laser\ Scan\ In..AxisUse\ Fixed\ Frame=1 -Laser\ Scan\ In..Flat\ ColorColorR=0.0431373 -Laser\ Scan\ In..Flat\ ColorColorG=1 -Laser\ Scan\ In..Flat\ ColorColorB=0 -Laser\ Scan\ In..IntensityAutocompute\ Intensity\ Bounds=1 -Laser\ Scan\ In..IntensityChannel\ Name=intensity -Laser\ Scan\ In..IntensityMax\ ColorR=1 -Laser\ Scan\ In..IntensityMax\ ColorG=1 -Laser\ Scan\ In..IntensityMax\ ColorB=1 -Laser\ Scan\ In..IntensityMax\ Intensity=4096 -Laser\ Scan\ In..IntensityMin\ ColorR=0 -Laser\ Scan\ In..IntensityMin\ ColorG=0 -Laser\ Scan\ In..IntensityMin\ ColorB=0 -Laser\ Scan\ In..IntensityMin\ Intensity=0 -Laser\ Scan\ In..IntensityUse\ full\ RGB\ spectrum=0 -Laser\ Scan\ Out.Alpha=1 -Laser\ Scan\ Out.Billboard\ Size=0.03 -Laser\ Scan\ Out.Color\ Transformer=Flat Color -Laser\ Scan\ Out.Decay\ Time=0 -Laser\ Scan\ Out.Enabled=1 -Laser\ Scan\ Out.Position\ Transformer=XYZ -Laser\ Scan\ Out.Selectable=1 -Laser\ Scan\ Out.Style=1 -Laser\ Scan\ Out.Topic=/scan_sparse -Laser\ Scan\ Out..AxisAutocompute\ Value\ Bounds=1 -Laser\ Scan\ Out..AxisAxis=2 -Laser\ Scan\ Out..AxisMax\ Value=10 -Laser\ Scan\ Out..AxisMin\ Value=-10 -Laser\ Scan\ Out..AxisUse\ Fixed\ Frame=1 -Laser\ Scan\ Out..Flat\ ColorColorR=1 -Laser\ Scan\ Out..Flat\ ColorColorG=0 -Laser\ Scan\ Out..Flat\ ColorColorB=0 -Laser\ Scan\ Out..IntensityAutocompute\ Intensity\ Bounds=1 -Laser\ Scan\ Out..IntensityChannel\ Name=intensity -Laser\ Scan\ Out..IntensityMax\ ColorR=1 -Laser\ Scan\ Out..IntensityMax\ ColorG=1 -Laser\ Scan\ Out..IntensityMax\ ColorB=1 -Laser\ Scan\ Out..IntensityMax\ Intensity=4096 -Laser\ Scan\ Out..IntensityMin\ ColorR=0 -Laser\ Scan\ Out..IntensityMin\ ColorG=0 -Laser\ Scan\ Out..IntensityMin\ ColorB=0 -Laser\ Scan\ Out..IntensityMin\ Intensity=0 -Laser\ Scan\ Out..IntensityUse\ full\ RGB\ spectrum=0 -Tool\ 2D\ Nav\ GoalTopic=goal -Tool\ 2D\ Pose\ EstimateTopic=initialpose -Camera\ Type=rviz::OrbitViewController -Camera\ Config=0.621 1.57915 11.0056 0.281448 0.0839437 -0.509401 -Property\ Grid\ State=selection=Laser Scan In.Enabled.Laser Scan In.Alpha;expanded=.Global Options,Laser Scan In.Enabled,Laser Scan Out.Enabled;scrollpos=0,0;splitterpos=133,266;ispageselected=1 -[Display0] -Name=Grid -Package=rviz -ClassName=rviz::GridDisplay -[Display1] -Name=Laser Scan In -Package=rviz -ClassName=rviz::LaserScanDisplay -[Display2] -Name=Laser Scan Out -Package=rviz -ClassName=rviz::LaserScanDisplay diff --git a/laser_scan_sparsifier/include/laser_scan_sparsifier/laser_scan_sparsifier.h b/laser_scan_sparsifier/include/laser_scan_sparsifier/laser_scan_sparsifier.h deleted file mode 100644 index 7437f0a..0000000 --- a/laser_scan_sparsifier/include/laser_scan_sparsifier/laser_scan_sparsifier.h +++ /dev/null @@ -1,64 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski - * 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 the CCNY Robotics Lab 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. - */ - -#ifndef LASER_SCAN_SPARSIFIER_LASER_SCAN_SPARSIFIER_H -#define LASER_SCAN_SPARSIFIER_LASER_SCAN_SPARSIFIER_H - -#include -#include - -namespace scan_tools { - -class LaserScanSparsifier -{ - public: - - LaserScanSparsifier(ros::NodeHandle nh, ros::NodeHandle nh_private); - virtual ~LaserScanSparsifier(); - - private: - - // **** ROS-related - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Subscriber scan_subscriber_; - ros::Publisher scan_publisher_; - - // **** paramaters - - int step_; - - // **** member functions - - void scanCallback(const sensor_msgs::LaserScanConstPtr& scan_msg); -}; - -} //namespace scan_tools - -#endif // LASER_SCAN_SPARSIFIER_LASER_SCAN_SPARSIFIER_H diff --git a/laser_scan_sparsifier/include/laser_scan_sparsifier/laser_scan_sparsifier_nodelet.h b/laser_scan_sparsifier/include/laser_scan_sparsifier/laser_scan_sparsifier_nodelet.h deleted file mode 100644 index 49c3722..0000000 --- a/laser_scan_sparsifier/include/laser_scan_sparsifier/laser_scan_sparsifier_nodelet.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski - * 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 the CCNY Robotics Lab 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. - */ - -#ifndef LASER_SCAN_SPARSIFIER_LASER_SCAN_SPARSIFIER_NODELET_H -#define LASER_SCAN_SPARSIFIER_LASER_SCAN_SPARSIFIER_NODELET_H - -#include -#include - -#include "laser_scan_sparsifier/laser_scan_sparsifier.h" - -namespace scan_tools { - -class LaserScanSparsifierNodelet : public nodelet::Nodelet -{ - public: - virtual void onInit(); - - private: - LaserScanSparsifier * laser_scan_sparsifier_; // FIXME: change to smart pointer -}; - -} //namespace scan_tools - -#endif // LASER_SCAN_SPARSIFIER_LASER_SCAN_SPARSIFIER_NODELET_H diff --git a/laser_scan_sparsifier/laser_scan_sparsifier_nodelet.xml b/laser_scan_sparsifier/laser_scan_sparsifier_nodelet.xml deleted file mode 100644 index 9c76adc..0000000 --- a/laser_scan_sparsifier/laser_scan_sparsifier_nodelet.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - Laser scan sparsifier nodelet publisher. - - - diff --git a/laser_scan_sparsifier/package.xml b/laser_scan_sparsifier/package.xml deleted file mode 100644 index b2676e5..0000000 --- a/laser_scan_sparsifier/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - laser_scan_sparsifier - 0.3.3 - - The laser_scan_sparsifier takes in a LaserScan message and sparsifies it. - - Ivan Dryanovski - Carlos - - http://wiki.ros.org/laser_scan_matcher - Ivan Dryanovski - William Morris - - BSD - - catkin - - roscpp - nodelet - sensor_msgs - - roscpp - nodelet - sensor_msgs - - - - - - diff --git a/laser_scan_sparsifier/src/laser_scan_sparsifier.cpp b/laser_scan_sparsifier/src/laser_scan_sparsifier.cpp deleted file mode 100644 index f25c184..0000000 --- a/laser_scan_sparsifier/src/laser_scan_sparsifier.cpp +++ /dev/null @@ -1,99 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#include "laser_scan_sparsifier/laser_scan_sparsifier.h" - -namespace scan_tools { - -LaserScanSparsifier::LaserScanSparsifier(ros::NodeHandle nh, ros::NodeHandle nh_private): - nh_(nh), - nh_private_(nh_private) -{ - ROS_INFO ("Starting LaserScanSparsifier"); - - // **** get paramters - - if (!nh_private_.getParam ("step", step_)) - step_ = 2; - - ROS_ASSERT_MSG(step_ > 0, - "step parameter is set to %, must be > 0", step_); - - // **** advertise topics - - scan_publisher_ = nh_.advertise( - "scan_sparse", 10); - - // **** subscribe to laser scan messages - - scan_subscriber_ = nh_.subscribe( - "scan", 10, &LaserScanSparsifier::scanCallback, this); -} - -LaserScanSparsifier::~LaserScanSparsifier () -{ - ROS_INFO ("Destroying LaserScanSparsifier"); -} - -void LaserScanSparsifier::scanCallback (const sensor_msgs::LaserScanConstPtr& scan_msg) -{ - sensor_msgs::LaserScan::Ptr scan_sparse; - scan_sparse = boost::make_shared(); - - // copy over equal fields - - scan_sparse->header = scan_msg->header; - scan_sparse->range_min = scan_msg->range_min; - scan_sparse->range_max = scan_msg->range_max; - scan_sparse->angle_min = scan_msg->angle_min; - scan_sparse->angle_increment = scan_msg->angle_increment * step_; - scan_sparse->time_increment = scan_msg->time_increment; - scan_sparse->scan_time = scan_msg->scan_time; - - // determine size of new scan - - unsigned int size_sparse = scan_msg->ranges.size() / step_; - scan_sparse->ranges.resize(size_sparse); - - // determine new maximum angle - - scan_sparse->angle_max = - scan_sparse->angle_min + (scan_sparse->angle_increment * (size_sparse - 1)); - - for (unsigned int i = 0; i < size_sparse; i++) - { - scan_sparse->ranges[i] = scan_msg->ranges[i * step_]; - // TODO - also copy intensity values - } - - scan_publisher_.publish(scan_sparse); -} - -} //namespace scan_tools - diff --git a/laser_scan_sparsifier/src/laser_scan_sparsifier_node.cpp b/laser_scan_sparsifier/src/laser_scan_sparsifier_node.cpp deleted file mode 100644 index d408ad7..0000000 --- a/laser_scan_sparsifier/src/laser_scan_sparsifier_node.cpp +++ /dev/null @@ -1,40 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#include "laser_scan_sparsifier/laser_scan_sparsifier.h" - -int main (int argc, char **argv) -{ - ros::init (argc, argv, "LaserScanSparsifier"); - ros::NodeHandle nh; - ros::NodeHandle nh_private("~"); - scan_tools::LaserScanSparsifier laser_scan_sparsifier(nh, nh_private); - ros::spin (); - return 0; -} diff --git a/laser_scan_sparsifier/src/laser_scan_sparsifier_nodelet.cpp b/laser_scan_sparsifier/src/laser_scan_sparsifier_nodelet.cpp deleted file mode 100644 index 1fc4bad..0000000 --- a/laser_scan_sparsifier/src/laser_scan_sparsifier_nodelet.cpp +++ /dev/null @@ -1,45 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#include "laser_scan_sparsifier/laser_scan_sparsifier_nodelet.h" - -typedef scan_tools::LaserScanSparsifierNodelet LaserScanSparsifierNodelet; - -PLUGINLIB_EXPORT_CLASS(LaserScanSparsifierNodelet, nodelet::Nodelet) - -void LaserScanSparsifierNodelet::onInit () -{ - NODELET_INFO("Initializing LaserScanSparsifier Nodelet"); - - // TODO: Do we want the single threaded or multithreaded NH? - ros::NodeHandle nh = getMTNodeHandle(); - ros::NodeHandle nh_private = getMTPrivateNodeHandle(); - - laser_scan_sparsifier_ = new LaserScanSparsifier(nh, nh_private); -} diff --git a/laser_scan_splitter/CHANGELOG.rst b/laser_scan_splitter/CHANGELOG.rst deleted file mode 100644 index 4105225..0000000 --- a/laser_scan_splitter/CHANGELOG.rst +++ /dev/null @@ -1,21 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package laser_scan_splitter -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.3.3 (2021-02-15) ------------------- -* update to use non deprecated pluginlib macro - -0.3.2 (2016-03-19) ------------------- - -0.3.1 (2015-12-18) ------------------- - -0.3.0 (2015-11-10) ------------------- - -0.2.1 (2015-10-14) ------------------- -* [sys] Catkinization: laser_scan_splitter -* Contributors: Ivan Dryanovski, Miguel Sarabia diff --git a/laser_scan_splitter/CMakeLists.txt b/laser_scan_splitter/CMakeLists.txt deleted file mode 100644 index 7de4faf..0000000 --- a/laser_scan_splitter/CMakeLists.txt +++ /dev/null @@ -1,56 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(laser_scan_splitter) - -# List C++ dependencies on ros packages -set( ROS_CXX_DEPENDENCIES - roscpp - nodelet - sensor_msgs) - -# Find catkin and all required ROS components -find_package(catkin REQUIRED COMPONENTS ${ROS_CXX_DEPENDENCIES}) - -# Set include directories -include_directories(include ${catkin_INCLUDE_DIRS}) - -# Declare info that other packages need to import library generated here -catkin_package( - INCLUDE_DIRS include - LIBRARIES laser_scan_splitter - CATKIN_DEPENDS ${ROS_CXX_DEPENDENCIES} -) - -#Create library -add_library(laser_scan_splitter src/laser_scan_splitter.cpp) -target_link_libraries( laser_scan_splitter ${catkin_LIBRARIES}) -add_dependencies(laser_scan_splitter ${catkin_EXPORTED_TARGETS}) - -#Create nodelet -add_library(laser_scan_splitter_nodelet src/laser_scan_splitter_nodelet.cpp) -target_link_libraries(laser_scan_splitter_nodelet laser_scan_splitter) - -#Create node -add_executable(laser_scan_splitter_node src/laser_scan_splitter_node.cpp) -target_link_libraries( laser_scan_splitter_node laser_scan_splitter ) - -#Install library -install(TARGETS laser_scan_splitter laser_scan_splitter_nodelet - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) - -#Install library includes -install(DIRECTORY include/laser_scan_splitter/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) - -#Install node -install(TARGETS laser_scan_splitter_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - -#Install nodelet description -install(FILES laser_scan_splitter_nodelet.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) - -#Install demo directory -install(DIRECTORY demo - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) diff --git a/laser_scan_splitter/demo/demo.bag b/laser_scan_splitter/demo/demo.bag deleted file mode 100644 index 90ba77e..0000000 Binary files a/laser_scan_splitter/demo/demo.bag and /dev/null differ diff --git a/laser_scan_splitter/demo/demo.launch b/laser_scan_splitter/demo/demo.launch deleted file mode 100644 index 4e268fc..0000000 --- a/laser_scan_splitter/demo/demo.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - diff --git a/laser_scan_splitter/demo/demo.vcg b/laser_scan_splitter/demo/demo.vcg deleted file mode 100644 index 503af9b..0000000 --- a/laser_scan_splitter/demo/demo.vcg +++ /dev/null @@ -1,149 +0,0 @@ -Background\ ColorR=0 -Background\ ColorG=0 -Background\ ColorB=0 -Fixed\ Frame=/laser -Target\ Frame= -Grid.Alpha=0.5 -Grid.Cell\ Size=1 -Grid.ColorR=0.5 -Grid.ColorG=0.5 -Grid.ColorB=0.5 -Grid.Enabled=1 -Grid.Line\ Style=0 -Grid.Line\ Width=0.03 -Grid.Normal\ Cell\ Count=0 -Grid.OffsetX=0 -Grid.OffsetY=0 -Grid.OffsetZ=0 -Grid.Plane=0 -Grid.Plane\ Cell\ Count=10 -Grid.Reference\ Frame= -Laser\ Scan\ 1.Alpha=1 -Laser\ Scan\ 1.Billboard\ Size=0.01 -Laser\ Scan\ 1.Color\ Transformer=Flat Color -Laser\ Scan\ 1.Decay\ Time=0 -Laser\ Scan\ 1.Enabled=1 -Laser\ Scan\ 1.Position\ Transformer=XYZ -Laser\ Scan\ 1.Selectable=1 -Laser\ Scan\ 1.Style=0 -Laser\ Scan\ 1.Topic=scan1 -Laser\ Scan\ 1..AxisAutocompute\ Value\ Bounds=1 -Laser\ Scan\ 1..AxisAxis=2 -Laser\ Scan\ 1..AxisMax\ Value=10 -Laser\ Scan\ 1..AxisMin\ Value=-10 -Laser\ Scan\ 1..AxisUse\ Fixed\ Frame=1 -Laser\ Scan\ 1..Flat\ ColorColorR=1 -Laser\ Scan\ 1..Flat\ ColorColorG=0 -Laser\ Scan\ 1..Flat\ ColorColorB=0 -Laser\ Scan\ 1..IntensityAutocompute\ Intensity\ Bounds=1 -Laser\ Scan\ 1..IntensityMax\ ColorR=1 -Laser\ Scan\ 1..IntensityMax\ ColorG=1 -Laser\ Scan\ 1..IntensityMax\ ColorB=1 -Laser\ Scan\ 1..IntensityMax\ Intensity=4096 -Laser\ Scan\ 1..IntensityMin\ ColorR=0 -Laser\ Scan\ 1..IntensityMin\ ColorG=0 -Laser\ Scan\ 1..IntensityMin\ ColorB=0 -Laser\ Scan\ 1..IntensityMin\ Intensity=0 -Laser\ Scan\ 2.Alpha=1 -Laser\ Scan\ 2.Billboard\ Size=0.01 -Laser\ Scan\ 2.Color\ Transformer=Flat Color -Laser\ Scan\ 2.Decay\ Time=0 -Laser\ Scan\ 2.Enabled=1 -Laser\ Scan\ 2.Position\ Transformer=XYZ -Laser\ Scan\ 2.Selectable=1 -Laser\ Scan\ 2.Style=0 -Laser\ Scan\ 2.Topic=scan2 -Laser\ Scan\ 2..AxisAutocompute\ Value\ Bounds=1 -Laser\ Scan\ 2..AxisAxis=2 -Laser\ Scan\ 2..AxisMax\ Value=10 -Laser\ Scan\ 2..AxisMin\ Value=-10 -Laser\ Scan\ 2..AxisUse\ Fixed\ Frame=1 -Laser\ Scan\ 2..Flat\ ColorColorR=0 -Laser\ Scan\ 2..Flat\ ColorColorG=1 -Laser\ Scan\ 2..Flat\ ColorColorB=0 -Laser\ Scan\ 2..IntensityAutocompute\ Intensity\ Bounds=1 -Laser\ Scan\ 2..IntensityMax\ ColorR=1 -Laser\ Scan\ 2..IntensityMax\ ColorG=1 -Laser\ Scan\ 2..IntensityMax\ ColorB=1 -Laser\ Scan\ 2..IntensityMax\ Intensity=4096 -Laser\ Scan\ 2..IntensityMin\ ColorR=0 -Laser\ Scan\ 2..IntensityMin\ ColorG=0 -Laser\ Scan\ 2..IntensityMin\ ColorB=0 -Laser\ Scan\ 2..IntensityMin\ Intensity=0 -Laser\ Scan\ In.Alpha=1 -Laser\ Scan\ In.Billboard\ Size=0.01 -Laser\ Scan\ In.Color\ Transformer=Flat Color -Laser\ Scan\ In.Decay\ Time=0 -Laser\ Scan\ In.Enabled=0 -Laser\ Scan\ In.Position\ Transformer=XYZ -Laser\ Scan\ In.Selectable=1 -Laser\ Scan\ In.Style=0 -Laser\ Scan\ In.Topic=/scan -Laser\ Scan\ In..AxisAutocompute\ Value\ Bounds=1 -Laser\ Scan\ In..AxisAxis=2 -Laser\ Scan\ In..AxisMax\ Value=8.6725e-08 -Laser\ Scan\ In..AxisMin\ Value=-1.09645e-07 -Laser\ Scan\ In..AxisUse\ Fixed\ Frame=1 -Laser\ Scan\ In..Flat\ ColorColorR=1 -Laser\ Scan\ In..Flat\ ColorColorG=1 -Laser\ Scan\ In..Flat\ ColorColorB=1 -Laser\ Scan\ In..IntensityAutocompute\ Intensity\ Bounds=1 -Laser\ Scan\ In..IntensityMax\ ColorR=1 -Laser\ Scan\ In..IntensityMax\ ColorG=1 -Laser\ Scan\ In..IntensityMax\ ColorB=1 -Laser\ Scan\ In..IntensityMax\ Intensity=4096 -Laser\ Scan\ In..IntensityMin\ ColorR=0 -Laser\ Scan\ In..IntensityMin\ ColorG=0 -Laser\ Scan\ In..IntensityMin\ ColorB=0 -Laser\ Scan\ In..IntensityMin\ Intensity=0 -Laser\ Scan.Alpha=1 -Laser\ Scan.Billboard\ Size=0.01 -Laser\ Scan.Color\ Transformer=Flat Color -Laser\ Scan.Decay\ Time=0 -Laser\ Scan.Enabled=1 -Laser\ Scan.Position\ Transformer=XYZ -Laser\ Scan.Selectable=1 -Laser\ Scan.Style=0 -Laser\ Scan.Topic=scan3 -Laser\ Scan..AxisAutocompute\ Value\ Bounds=1 -Laser\ Scan..AxisAxis=2 -Laser\ Scan..AxisMax\ Value=10 -Laser\ Scan..AxisMin\ Value=-10 -Laser\ Scan..AxisUse\ Fixed\ Frame=1 -Laser\ Scan..Flat\ ColorColorR=0 -Laser\ Scan..Flat\ ColorColorG=0 -Laser\ Scan..Flat\ ColorColorB=1 -Laser\ Scan..IntensityAutocompute\ Intensity\ Bounds=1 -Laser\ Scan..IntensityMax\ ColorR=1 -Laser\ Scan..IntensityMax\ ColorG=1 -Laser\ Scan..IntensityMax\ ColorB=1 -Laser\ Scan..IntensityMax\ Intensity=4096 -Laser\ Scan..IntensityMin\ ColorR=0 -Laser\ Scan..IntensityMin\ ColorG=0 -Laser\ Scan..IntensityMin\ ColorB=0 -Laser\ Scan..IntensityMin\ Intensity=0 -Tool\ 2D\ Nav\ GoalTopic=goal -Tool\ 2D\ Pose\ EstimateTopic=initialpose -Camera\ Type=rviz::OrbitViewController -Camera\ Config=0.621 1.57915 6.81013 0.281448 0.0839437 -0.509401 -Property\ Grid\ State=selection=Laser Scan In.Enabled;expanded=.Global Options;scrollpos=0,0;splitterpos=132,266;ispageselected=1 -[Display0] -Name=Grid -Package=rviz -ClassName=rviz::GridDisplay -[Display1] -Name=Laser Scan In -Package=rviz -ClassName=rviz::LaserScanDisplay -[Display2] -Name=Laser Scan 1 -Package=rviz -ClassName=rviz::LaserScanDisplay -[Display3] -Name=Laser Scan 2 -Package=rviz -ClassName=rviz::LaserScanDisplay -[Display4] -Name=Laser Scan -Package=rviz -ClassName=rviz::LaserScanDisplay diff --git a/laser_scan_splitter/include/laser_scan_splitter/laser_scan_splitter.h b/laser_scan_splitter/include/laser_scan_splitter/laser_scan_splitter.h deleted file mode 100644 index a00d2ab..0000000 --- a/laser_scan_splitter/include/laser_scan_splitter/laser_scan_splitter.h +++ /dev/null @@ -1,73 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#ifndef LASER_SCAN_SPLITTER_LASER_SCAN_SPLITTER_H -#define LASER_SCAN_SPLITTER_LASER_SCAN_SPLITTER_H - -#include -#include - -namespace scan_tools { - -const std::string scan_topic_ = "scan"; - -class LaserScanSplitter -{ - private: - - // **** ROS-related - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; - ros::Subscriber scan_subscriber_; - std::vector scan_publishers_; - - // **** paramaters - - std::vector published_scan_topics_; - std::vector published_laser_frames_; - std::vector sizes_; - - // **** state variables - - unsigned int size_sum_; - - // **** member functions - - void scanCallback (const sensor_msgs::LaserScanConstPtr& scan_msg); - void tokenize (const std::string& str, std::vector& tokens); - - public: - - LaserScanSplitter (ros::NodeHandle nh, ros::NodeHandle nh_private); - virtual ~ LaserScanSplitter (); -}; - -} //namespace scan_tools - -#endif // LASER_SCAN_SPLITTER_LASER_SCAN_SPLITTER_H diff --git a/laser_scan_splitter/include/laser_scan_splitter/laser_scan_splitter_nodelet.h b/laser_scan_splitter/include/laser_scan_splitter/laser_scan_splitter_nodelet.h deleted file mode 100644 index 39fa1df..0000000 --- a/laser_scan_splitter/include/laser_scan_splitter/laser_scan_splitter_nodelet.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#ifndef LASER_SCAN_SPLITTER_LASER_SCAN_SPLITTER_NODELET_H -#define LASER_SCAN_SPLITTER_LASER_SCAN_SPLITTER_NODELET_H - -#include -#include - -#include "laser_scan_splitter/laser_scan_splitter.h" - -namespace scan_tools { - -class LaserScanSplitterNodelet : public nodelet::Nodelet -{ - public: - virtual void onInit(); - - private: - LaserScanSplitter * laser_scan_splitter_; // FIXME: change to smart pointer -}; - -} //namespace scan_tools - -#endif // LASER_SCAN_SPLITTER_LASER_SCAN_SPLITTER_NODELET_H diff --git a/laser_scan_splitter/laser_scan_splitter_nodelet.xml b/laser_scan_splitter/laser_scan_splitter_nodelet.xml deleted file mode 100644 index 33c60a9..0000000 --- a/laser_scan_splitter/laser_scan_splitter_nodelet.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - Laser scan splitter nodelet publisher. - - - diff --git a/laser_scan_splitter/package.xml b/laser_scan_splitter/package.xml deleted file mode 100644 index 56a5a8a..0000000 --- a/laser_scan_splitter/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - laser_scan_splitter - 0.3.3 - - The laser_scan_splitter takes in a LaserScan message and splits it into a number of other LaserScan messages. Each of the resulting laser scans can be assigned an arbitrary coordinate frame, and is published on a separate topic. - - Ivan Dryanovski - Carlos - - http://wiki.ros.org/laser_scan_splitter - Ivan Dryanovski - William Morris - - BSD - - catkin - - roscpp - nodelet - sensor_msgs - - roscpp - nodelet - sensor_msgs - - - - - - diff --git a/laser_scan_splitter/src/laser_scan_splitter.cpp b/laser_scan_splitter/src/laser_scan_splitter.cpp deleted file mode 100644 index 9701ca7..0000000 --- a/laser_scan_splitter/src/laser_scan_splitter.cpp +++ /dev/null @@ -1,148 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#include "laser_scan_splitter/laser_scan_splitter.h" - -namespace scan_tools { - -LaserScanSplitter::LaserScanSplitter(ros::NodeHandle nh, ros::NodeHandle nh_private): - nh_(nh), - nh_private_(nh_private) -{ - ROS_INFO ("Starting LaserScanSplitter"); - - // **** get paramters - - std::string topics_string; - std::string frames_string; - std::string sizes_string; - - if (!nh_private_.getParam ("topics", topics_string)) - topics_string = "scan1 scan2"; - if (!nh_private_.getParam ("frames", frames_string)) - frames_string = "laser laser"; - if (!nh_private_.getParam ("sizes", sizes_string)) - sizes_string = "256 256"; - - // **** tokenize inputs - tokenize (topics_string, published_scan_topics_); - tokenize (frames_string, published_laser_frames_); - - std::vector sizes_tokens; - tokenize (sizes_string, sizes_tokens); - - size_sum_ = 0; - for (unsigned int i = 0; i < sizes_tokens.size (); i++) - { - sizes_.push_back (atoi (sizes_tokens[i].c_str ())); - size_sum_ += sizes_[i]; - - ROS_ASSERT_MSG ((sizes_[i] > 0), "LaserScanSplitter: Scan size cannot be zero. Quitting."); - } - - // **** check that topic, frames, and sizes vectors have same sizes - - ROS_ASSERT_MSG ((published_scan_topics_.size () == published_laser_frames_.size ()) && - (sizes_.size () == published_laser_frames_.size ()), - "LaserScanSplitter: Invalid parameters. Quitting."); - - // **** subscribe to laser scan messages - scan_subscriber_ = nh_.subscribe (scan_topic_, 10, &LaserScanSplitter::scanCallback, this); - - // **** advertise topics - for (unsigned int i = 0; i < published_scan_topics_.size (); i++) - { - scan_publishers_.push_back (ros::Publisher ()); - scan_publishers_[i] = - nh_.advertise(published_scan_topics_[i], 10); - } -} - -LaserScanSplitter::~LaserScanSplitter () -{ - ROS_INFO ("Destroying LaserScanSplitter"); -} - -void LaserScanSplitter::scanCallback (const sensor_msgs::LaserScanConstPtr & scan_msg) -{ - // **** check for scan size - if (size_sum_ != scan_msg->ranges.size ()) - { - ROS_WARN ("LaserScanSplitter: Received a laser scan with size (%d) \ - incompatible to input parameters. Skipping scan.", (int)scan_msg->ranges.size()); - return; - } - - // **** copy information over - int r = 0; - - for (unsigned int i = 0; i < published_scan_topics_.size (); i++) - { - sensor_msgs::LaserScan::Ptr scan_segment; - scan_segment = boost::make_shared(); - - scan_segment->header = scan_msg->header; - scan_segment->range_min = scan_msg->range_min; - scan_segment->range_max = scan_msg->range_max; - scan_segment->angle_increment = scan_msg->angle_increment; - scan_segment->time_increment = scan_msg->time_increment; - scan_segment->scan_time = scan_msg->scan_time; - scan_segment->header.frame_id = published_laser_frames_[i]; - - scan_segment->angle_min = - scan_msg->angle_min + (scan_msg->angle_increment * r); - scan_segment->angle_max = - scan_msg->angle_min + (scan_msg->angle_increment * (r + sizes_[i] - 1)); - - // TODO - also copy intensity values - - scan_segment->ranges.resize(sizes_[i]); - memcpy(&scan_segment->ranges[0], &scan_msg->ranges[r], sizes_[i]*sizeof(int)); - r+=sizes_[i]; - - scan_publishers_[i].publish (scan_segment); - } -} - -void LaserScanSplitter::tokenize (const std::string & str, std::vector < std::string > &tokens) -{ - std::string::size_type last_pos = str.find_first_not_of (" ", 0); - std::string::size_type pos = str.find_first_of (" ", last_pos); - - while (std::string::npos != pos || std::string::npos != last_pos) - { - std::string string_token = str.substr (last_pos, pos - last_pos); - tokens.push_back (string_token); - last_pos = str.find_first_not_of (" ", pos); - pos = str.find_first_of (" ", last_pos); - } -} - -} //namespace scan_tools - diff --git a/laser_scan_splitter/src/laser_scan_splitter_nodelet.cpp b/laser_scan_splitter/src/laser_scan_splitter_nodelet.cpp deleted file mode 100644 index b5c36ae..0000000 --- a/laser_scan_splitter/src/laser_scan_splitter_nodelet.cpp +++ /dev/null @@ -1,45 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#include "laser_scan_splitter/laser_scan_splitter_nodelet.h" - -typedef scan_tools::LaserScanSplitterNodelet LaserScanSplitterNodelet; - -PLUGINLIB_EXPORT_CLASS(LaserScanSplitterNodelet, nodelet::Nodelet) - -void LaserScanSplitterNodelet::onInit () -{ - NODELET_INFO("Initializing LaserScanSplitter Nodelet"); - - // TODO: Do we want the single threaded or multithreaded NH? - ros::NodeHandle nh = getMTNodeHandle(); - ros::NodeHandle nh_private = getMTPrivateNodeHandle(); - - laser_scan_splitter_ = new LaserScanSplitter(nh, nh_private); -} diff --git a/ncd_parser/CHANGELOG.rst b/ncd_parser/CHANGELOG.rst deleted file mode 100644 index fe68604..0000000 --- a/ncd_parser/CHANGELOG.rst +++ /dev/null @@ -1,22 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ncd_parser -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.3.3 (2021-02-15) ------------------- - -0.3.2 (2016-03-19) ------------------- - -0.3.1 (2015-12-18) ------------------- - -0.3.0 (2015-11-10) ------------------- - -0.2.1 (2015-10-14) ------------------- -* [doc] README files to contain catkin instructions -* [sys] Catkinization: ncd_parser -* [sys] Small tweaks to CMakeLists.txt and package.xml files -* Contributors: Ivan Dryanovski, Miguel Sarabia diff --git a/ncd_parser/CMakeLists.txt b/ncd_parser/CMakeLists.txt deleted file mode 100644 index 361f8b6..0000000 --- a/ncd_parser/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ncd_parser) - -# List C++ dependencies on ros packages -set( ROS_CXX_DEPENDENCIES - roscpp - sensor_msgs - tf ) - -# Find catkin and all required ROS components -find_package(catkin REQUIRED COMPONENTS ${ROS_CXX_DEPENDENCIES}) - -# Set include directories -include_directories(include ${catkin_INCLUDE_DIRS}) - -# Declare info that other packages need to import library generated here -catkin_package() - -#Create node -add_executable( ${PROJECT_NAME} src/ncd_parser.cpp) -target_link_libraries( ${PROJECT_NAME} ${catkin_LIBRARIES}) -add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) - -#Install node -install(TARGETS ${PROJECT_NAME} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - -#Install demo directory -install(DIRECTORY demo - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) diff --git a/ncd_parser/README.md b/ncd_parser/README.md deleted file mode 100644 index a845bdc..0000000 --- a/ncd_parser/README.md +++ /dev/null @@ -1,24 +0,0 @@ -DESCRIPTION: ------------------------------------ - -The ncd_parser package reads in .alog data files from the New College Dataset and -broadcasts scan and odometry messages to ROS. - -INSTRUCTIONS: ------------------------------------ - -To compile, see scan_tools's `README.md` - -To test, run: - - roslaunch ncd_parser demo.launch - -ACKNOWLEDGEMENTS: ------------------------------------ - -QuadTree_Alog.alog used with the permission of Dr. Paul Newman, Oxford University. - -M. Smith, I. Baldwin, W. Churchill, R. Paul, and P. Newman, The new -college vision and laser data set, International Journal for Robotics -Research (IJRR), vol. 28, no. 5, pp. 595599, May 2009. - diff --git a/ncd_parser/demo/QuadTree_Alog.alog b/ncd_parser/demo/QuadTree_Alog.alog deleted file mode 100644 index 6da1f99..0000000 --- a/ncd_parser/demo/QuadTree_Alog.alog +++ /dev/null @@ -1,1283 +0,0 @@ -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -%% LOG FILE: /home/mrg/MOOSData/LisaNewCollege/MOOSLog_3_11_2008_____13_43_32/MOOSLog_3_11_2008_____13_43_32.alog -%% FILE OPENED ON Mon Nov 3 13:43:32 2008 -%% LOGSTART 1225719811.65 -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% --3.466 MISSION_FILE Antler{Monarch} ANTLERFILTER: -#begbroke - the door to the lab... -LatOrigin = 51.818496 -LongOrigin = -1.308591 -ServerHost = lisa1 -ServerPort = 9000 -Simulator = false -GlobalLogPath = /home/mrg/MOOSData/LisaNewCollege -MaximumVehicleSpeed = 1.7 -MaximumVehicleTurnRate = 0.5 -define:XTERM_BEIGE=#BBB6A7 -define:XTERM_LIGHT_BLUE=#0B4583 -define:SharedBin=/home/mrg/shared/bin -ProcessConfig = ANTLER -{ -EnableDistributed = true -MSBetweenLaunches = 50 -ExecutablePath=/home/mrg/shared/bin -Run = MOOSDB @ NewConsole = true -Run = iPlatform @ NewConsole = true,XConfig=XPlatform -Run = iRelayBox @ NewConsole = true -Run = iRemote @ NewConsole = true -Run = pLogger @ NewConsole = true -Run = pNav @ NewConsole = true -Run = iJoystick @ NewConsole = true -Run = uWatchdog @ NewConsole = true -Run = iGPS @ AntlerID = lisa2,NewConsole = true -Run = iLMSLisaMulti @ AntlerID = lisa3, NewConsole=true ~ LMS1 -Run = iLMSLisaMulti @ AntlerID = lisa3, NewConsole=true ~ LMS2 -Run = iCamera @ AntlerID = lisa3, NewConsole = true ~ iCameraLadybug -Run = iCamera @ AntlerID = lisa4,NewConsole = true ~ iCameraBumbleBee -Run = DataServer @ AntlerID = lisa4,NewConsole = true,InhibitMOOSParams = true,Xconfig = FDSXConfig -Run = pLogStereo @ AntlerID = lisa4,NewConsole = true,XConfig=XLogStereo -XHelm=-bg,#BBB6A7,-T,TheHelm, -XPlatform=-bg,#0B4583,-T,iPlatform -XLogStereo=-geometry,180x20+700+500,-bg,#cccccc,-T,pLogStereo -FDSXConfig = -bg, #F0F000 -FDSParams = -v,5 -} -ProcessConfig = iPlatform -{ -AppTick = 30 -CommsTick = 30 -VehicleName = LISA -UseXSens = false -XSensPort = /dev/ttyS1 -XSensFreq = 20 -OdometryName = ODOMETRY_POSE -} -ProcessConfig = iRelayBox -{ -AppTick = 2 -CommsTick = 2 -Port = /dev/ttyS1 -BaudRate = 9600 -Streaming = false -CIRCUIT : Port = 1, Name = LMS1, InitialState = LAST -CIRCUIT : Port = 2, Name = LMS2, InitialState = LAST -CIRCUIT : Port = 3, Name = LADYBUG, InitialState = LAST -CIRCUIT : Port = 4, Name = PANTILT, InitialState = LAST -CIRCUIT : Port = 5, Name = P5, InitialState = LAST -CIRCUIT : Port = 6, Name = P6, InitialState = LAST -CIRCUIT : Port = 7, Name = P7, InitialState = LAST -CIRCUIT : Port = 8, Name = P8, InitialState = LAST -CIRCUIT : Port = 9, Name = P9, InitialState = LAST -CIRCUIT : Port = 10, Name = P10, InitialState = LAST -CIRCUIT : Port = 11, Name = P11, InitialState = LAST -CIRCUIT : Port = 12, Name = P12, InitialState = LAST -CIRCUIT : Port = 13, Name = P13, InitialState = LAST -CIRCUIT : Port = 14, Name = P14, InitialState = LAST -CIRCUIT : Port = 15, Name = P15, InitialState = LAST -CIRCUIT : Port = 16, Name = P16, InitialState = LAST -WatchdogTimeout = 20.0 -} -ProcessConfig = uWatchdog -{ -AppTick = 1 -CommsTick = 1 -StartupGracePeriod = 30 -WatchedVariables = GPS -WatchedProcesses = pLogStereo,iCamera,LMS1,LMS2 -VariableTimeout = 5 -} -ProcessConfig = iRemote -{ -CommsTick = 30 -AppTick = 30 -CustomKey = 1: RELAYBOX_CMD @ "LMS1=TOGGLE" -CustomKey = 2: RELAYBOX_CMD @ "LMS2=TOGGLE" -CustomKey = 3: RELAYBOX_CMD @ "LADYBUG=TOGGLE" -CustomKey = 4: RELAYBOX_CMD @ "PANTILT=TOGGLE" -CustomKey = 5: PANTILT_RESET_COMMAND @ "" -CustomKey = 0: RELAYBOX_CMD @ "LMS1=OFF,LMS2=OFF,LADYBUG=OFF,PANTILT=OFF,P5=OFF,P6=OFF,P7=OFF,P8=OFF,P9=OFF,P10=OFF,P11=OFF,P12=OFF,P13=OFF,P14=OFF,P15=OFF,P16=OFF" -CustomSummary = RELAYBOX_STATUS -} -ProcessConfig = pLogger -{ -AppTick = 40.0 -CommsTick = 40.0 -PATH = /home/mrg/MOOSData/LisaNewCollege -SyncLog = true @ 0.2 -AsyncLog = true -FileTimeStamp = true -WildCardLogging = true -} -ProcessConfig = pNav -{ -Pose = ODOMETRY @ 2.0 -UseLSQ = false -UseEKF = false -USETOPDOWN = false -} -ProcessConfig = iGPS -{ -AppTick = 8 -CommsTick = 4 -Port = /dev/ttyR1 -Type = SERES -verbose = true -BaudRate = 9600 -Streaming = true -PublishRaw = true -CombineMessages = true -} -ProcessConfig = iLogGPS_SeresBinary -{ -AppTick = 8 -CommsTick = 4 -Port = /dev/ttyR1 -BaudRate = 9600 -Streaming = true -RequestBinary = true -} -ProcessConfig = iCameraLadybug -{ -AppTick = 0 -CommsTick = 10 -VerboseLevel = 1 -OutputColorMode = RGB_INTERLACED_8 -CameraDevice = DriverName=LadyBug,CamIdVect=[1x5]{0,1,2,3,4} -CameraFeatures = BRIGHTNESS=AUTO,SHUTTER=AUTO,EXPOSURE=AUTO,GAIN=AUTO,GAMMA=MANUAL,GAMMAVal=0 -GrabSettings = Framerate=MAX -WriteImagesToDisk = true -FileIOSettings = NameStem=ladybug,Type=jpg,NameRule=TIME_STAMP -FileIOCaptureSettings = Framerate = MAX -UseBinaryCache = false -BinaryCacheSettings = Host=localhost,PortID=9100 -UseDynamicLogPath = true -UseDataServer = false -Host=localhost,PortID=5555,SubscriptionName=Unibrain -DataServerSettings = Host=telemachos,PortID=5555,SubscriptionName=Unibrain -UsePanTilt = false -OdometryName = NAV_POSE -} -ProcessConfig = LMS1 -{ -AppTick = 20 -CommsTick = 40 -Port = /dev/ttyUSB0 -500KBPS = true -PublishAs = LMS_LASER_2D -BaudRate = 500000 -Verbose = true -Streaming = false -Debug = true -UseCSMExt = false -LMSStreamingType = 80 -} -ProcessConfig = LMS2 -{ -AppTick = 20 -CommsTick = 40 -Port = /dev/ttyUSB1 -500KBPS = true -PublishAs = LMS_LASER_2D -BaudRate = 500000 -Verbose = true -Streaming = false -Debug = true -UseCSMExt = false -LMSStreamingType = 80 -} -ProcessConfig = iCameraBumbleBee -{ -AppTick = 0 -CommsTick = 15 -VerboseLevel = 1 -CameraDevice = DriverName=BumbleBee -OutputColorMode = 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LMS_LASER_2D_LEFT LMS1 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-63.215 DESIRED_THRUST iJoystick 85.5708487197 -63.215 DESIRED_RUDDER iJoystick 1.02847376934 -63.223 RAW_ODOMETRY_POSE iPlatform Pose=[3x1]{5.3702,19.5830,-0.9059},Vel=[3x1]{-0.9263,-0.7261,2.0513},Raw=[2x1]{21.5470,-0.9059},time=1225719874.87048888206482,Speed=1.17695160772174,Pitch=0.03365030600758,Roll=0.02467689107222,PitchDot=0.05384048961213,RollDot=0.00085247441886 -63.223 ODOMETRY_POSE iPlatform Pose=[3x1]{5.3702,19.5830,-0.9055},Vel=[3x1]{-0.9263,-0.7261,2.0507},Raw=[2x1]{21.5470,-0.9059},time=1225719874.8705,Speed=1.1770,Pitch=0.0014,Roll=0.0417,PitchDot=-0.0241,RollDot=-0.0481 -63.202 LMS_LASER_2D_RIGHT LMS2 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-64.198 LMS_LASER_2D_RIGHT LMS2 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diff --git a/ncd_parser/demo/demo.launch b/ncd_parser/demo/demo.launch deleted file mode 100644 index fea5687..0000000 --- a/ncd_parser/demo/demo.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - diff --git a/ncd_parser/demo/demo.vcg b/ncd_parser/demo/demo.vcg deleted file mode 100644 index e13fd29..0000000 --- a/ncd_parser/demo/demo.vcg +++ /dev/null @@ -1,49 +0,0 @@ -Background\ ColorR=0 -Background\ ColorG=0 -Background\ ColorB=0 -Fixed\ Frame=/map -Target\ Frame= -Left\ Laser\ Scan.Alpha=1 -Left\ Laser\ Scan.Billboard\ Size=0.01 -Left\ Laser\ Scan.Color\ Transformer=Height map -Left\ Laser\ Scan.Decay\ Time=500 -Left\ Laser\ Scan.Enabled=1 -Left\ Laser\ Scan.Position\ Transformer=XYZ -Left\ Laser\ Scan.Selectable=1 -Left\ Laser\ Scan.Style=1 -Left\ Laser\ Scan.Topic=scan -Left\ Laser\ Scan..Flat\ ColorColorR=1 -Left\ Laser\ Scan..Flat\ ColorColorG=1 -Left\ Laser\ Scan..Flat\ ColorColorB=1 -Left\ Laser\ Scan..Height\ mapAutocompute\ Height\ Bounds=0 -Left\ Laser\ Scan..Height\ mapMax\ Height=6 -Left\ Laser\ Scan..Height\ mapMin\ Height=-2 -Left\ Laser\ Scan..IntensityAutocompute\ Intensity\ Bounds=1 -Left\ Laser\ Scan..IntensityMax\ ColorR=1 -Left\ Laser\ Scan..IntensityMax\ ColorG=0 -Left\ Laser\ Scan..IntensityMax\ ColorB=0 -Left\ Laser\ Scan..IntensityMax\ Intensity=108 -Left\ Laser\ Scan..IntensityMin\ ColorR=1 -Left\ Laser\ Scan..IntensityMin\ ColorG=1 -Left\ Laser\ Scan..IntensityMin\ ColorB=0 -Left\ Laser\ Scan..IntensityMin\ Intensity=27 -TF.All\ Enabled=0 -TF.Enabled=0 -TF.Frame\ Timeout=15 -TF.Show\ Arrows=1 -TF.Show\ Axes=1 -TF.Show\ Names=1 -TF.Update\ Interval=0 -Tool\ 2D\ Nav\ GoalTopic=goal -Tool\ 2D\ Pose\ EstimateTopic=initialpose -Camera\ Type=rviz::OrbitViewController -Camera\ Config=1.34552 4.91839 7.01259 -22.3902 1.6998 -4.07936 -Property\ Grid\ State=selection=Left Laser Scan.Enabled;expanded=.Global Options,TF.Enabled.TF.StatusTopStatus,TF.Enabled.TF.Tree,Left Laser Scan.Enabled;scrollpos=0,0;splitterpos=133,266;ispageselected=1 -[Display0] -Name=TF -Package=rviz -ClassName=rviz::TFDisplay -[Display1] -Name=Left Laser Scan -Package=rviz -ClassName=rviz::LaserScanDisplay diff --git a/ncd_parser/include/ncd_parser/ncd_parser.h b/ncd_parser/include/ncd_parser/ncd_parser.h deleted file mode 100644 index 71b8d23..0000000 --- a/ncd_parser/include/ncd_parser/ncd_parser.h +++ /dev/null @@ -1,93 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#ifndef NCD_PARSER_NCD_PARSER -#define NCD_PARSER_NCD_PARSER - -#include -#include - -#include -#include -#include - -const double DEG_TO_RAD = 3.14159 / 180.0; - -const double RANGE_MIN = 0.20; -const double RANGE_MAX = 50.0; - -const std::string worldFrame_ = "map"; -const std::string odomFrame_ = "odom"; -const std::string leftLaserFrame_ = "laser_left"; -const std::string rightLaserFrame_ = "laser_right"; - -class NCDParser -{ - private: - - char* filename_; - double rate_; - double start_, end_; - double lastTime_; - - ros::Publisher leftLaserPublisher_; - ros::Publisher rightLaserPublisher_; - - tf::TransformBroadcaster tfBroadcaster_; - - tf::Transform worldToOdom_; - tf::Transform odomToLeftLaser_; - tf::Transform odomToRightLaser_; - - void publishLaserMessage(const std::vector& tokens, - const std::string& laserFrame, - const ros::Publisher& publisher); - - void publishTfMessages(const std::vector& tokens); - - void tokenize (const std::string& str, - std::vector &tokens, - std::string sentinel); - - std::vector extractArray(std::string s, std::string pattern); - - double extractValue(std::string s, std::string pattern); - - void createOdomToLeftLaserTf(); - void createOdomToRightLaserTf(); - - public: - - NCDParser(char* filename); - virtual ~NCDParser(); - - void launch(); -}; - -#endif diff --git a/ncd_parser/package.xml b/ncd_parser/package.xml deleted file mode 100644 index 0f680f2..0000000 --- a/ncd_parser/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - ncd_parser - 0.3.3 - - The ncd_parser package reads in .alog data files from the New College Dataset and broadcasts scan and odometry messages to ROS. - - Ivan Dryanovski - Carlos - - http://wiki.ros.org/ncd_parser - Ivan Dryanovski - BSD - - catkin - - roscpp - sensor_msgs - tf - - roscpp - sensor_msgs - tf - - diff --git a/ncd_parser/src/ncd_parser.cpp b/ncd_parser/src/ncd_parser.cpp deleted file mode 100644 index 9837686..0000000 --- a/ncd_parser/src/ncd_parser.cpp +++ /dev/null @@ -1,283 +0,0 @@ -/* - * Copyright (c) 2011, Ivan Dryanovski, William Morris - * 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 the CCNY Robotics Lab 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. - */ - -#include "ncd_parser/ncd_parser.h" - -int main(int argc, char** argv) -{ - if(argc != 4) - { - printf("usage is `rosrun ncd_parser ncd_parser filename.alog`\n"); - return 1; - } - - ros::init (argc, argv, "ncd_parser"); - NCDParser parser(argv[1]); - sleep(2); - parser.launch(); - return 0; -} - -NCDParser::NCDParser(char* filename):filename_(filename) -{ - ROS_INFO ("Starting NCDParser"); - - ros::NodeHandle nh; - ros::NodeHandle nh_private ("~"); - - createOdomToLeftLaserTf(); - createOdomToRightLaserTf(); - lastTime_ = -1; - - // **** parameters - - if (!nh_private.getParam ("start", start_)) - start_ = 0.0; - if (!nh_private.getParam ("end", end_)) - end_ = -1; - if (!nh_private.getParam ("rate", rate_)) - rate_ = 1.0; - - if (rate_ == 0) ROS_FATAL("rate parameter cannot be 0"); - - // **** topics - - leftLaserPublisher_ = nh.advertise("scan", 100); - rightLaserPublisher_ = nh.advertise("scan", 100); -} - -NCDParser::~NCDParser() -{ - ROS_INFO ("Shutting down NCDParser"); -} - -void NCDParser::launch() -{ - std::ifstream aLogFile; - aLogFile.open(filename_); - - if(!aLogFile.is_open()) - ROS_FATAL("Could not open %s\n", filename_); - - int lineCounter = 0; - std::string line; - - // **** skip first lines - - for (int i = 0; i < 210; i++) - { - getline(aLogFile, line); - lineCounter++; - } - - // **** iterate over rest of file - - while (getline(aLogFile, line)) - { - lineCounter++; - std::vector tokens; - tokenize(line, tokens, " "); - - // skip incomplete line - if (tokens.size() < 4) continue; - - // skip log entries before start time - if (strtod(tokens[0].c_str(), NULL) <= start_) continue; - - // stop if time is bigger than end point time - if (strtod(tokens[0].c_str(), NULL) > end_ && end_ != -1) - { - std::cout << strtod(tokens[0].c_str(), NULL) << ", " << end_ << std::endl; - ROS_INFO("Reached specified end time."); - break; - } - - // publish messages - if (tokens[1].compare("LMS_LASER_2D_LEFT") == 0) - publishLaserMessage(tokens, leftLaserFrame_, leftLaserPublisher_); - else if (tokens[1].compare("LMS_LASER_2D_RIGHT") == 0) - publishLaserMessage(tokens, rightLaserFrame_, rightLaserPublisher_); - else if (tokens[1].compare("ODOMETRY_POSE") == 0) - publishTfMessages(tokens); - else - continue; - - // wait before publishing next message - - double time = extractValue(tokens[3], "time="); - - if(lastTime_ == -1) lastTime_ = time; - else - { - ros::Duration d = (ros::Time(time) - ros::Time(lastTime_)) * ( 1.0 / rate_); - lastTime_ = time; - if (d.toNSec() > 0) d.sleep(); - } - } -} - -void NCDParser::publishLaserMessage(const std::vector& tokens, - const std::string& laserFrame, - const ros::Publisher& publisher) -{ - ROS_DEBUG("Laser message"); - - sensor_msgs::LaserScan scan; - - double time = extractValue(tokens[3], "time="); - - scan.header.stamp = ros::Time(time); - scan.header.frame_id = laserFrame; - - scan.angle_min = extractValue(tokens[3], "minAngle=") * DEG_TO_RAD; - scan.angle_max = extractValue(tokens[3], "maxAngle=") * DEG_TO_RAD; - scan.angle_increment = extractValue(tokens[3], "angRes=") * DEG_TO_RAD; - scan.range_min = RANGE_MIN; - scan.range_max = RANGE_MAX; - scan.ranges = extractArray(tokens[3], "Range=[181]"); - scan.intensities = extractArray(tokens[3], "Reflectance=[181]"); - - publisher.publish(scan); -} - -void NCDParser::publishTfMessages(const std::vector& tokens) -{ - ROS_DEBUG("Tf message"); - - // extract time - double time = extractValue(tokens[3], "time="); - - // extract x, y, theta - std::vector xytheta = extractArray(tokens[3], "Pose=[3x1]"); - double x = xytheta[0]; - double y = xytheta[1]; - double z = 0.0; - double theta = xytheta[2]; - - // extract Pitch - double pitch = extractValue(tokens[3], "Pitch="); - - // extract Roll - double roll = extractValue(tokens[3], "Roll="); - - tf::Quaternion rotation; - rotation.setRPY (roll, pitch, theta); - worldToOdom_.setRotation (rotation); - - tf::Vector3 origin; - origin.setValue (x, y, z); - worldToOdom_.setOrigin (origin); - - tf::StampedTransform worldToOdomStamped(worldToOdom_, ros::Time(time), worldFrame_, odomFrame_); - tfBroadcaster_.sendTransform(worldToOdomStamped); - - tf::StampedTransform odomToLeftLaserStamped(odomToLeftLaser_, ros::Time(time), odomFrame_, leftLaserFrame_); - tfBroadcaster_.sendTransform(odomToLeftLaserStamped); - - tf::StampedTransform odomToRightLaserStamped(odomToRightLaser_, ros::Time(time), odomFrame_, rightLaserFrame_); - tfBroadcaster_.sendTransform(odomToRightLaserStamped); -} - -void NCDParser::tokenize (const std::string& str, - std::vector &tokens, - std::string sentinel) -{ - std::string::size_type lastPos = str.find_first_not_of (sentinel, 0); - std::string::size_type pos = str.find_first_of (sentinel, lastPos); - - while (std::string::npos != pos || std::string::npos != lastPos) - { - std::string stringToken = str.substr (lastPos, pos - lastPos); - tokens.push_back (stringToken); - lastPos = str.find_first_not_of (sentinel, pos); - pos = str.find_first_of (sentinel, lastPos); - } -} - -std::vector NCDParser::extractArray(std::string s, std::string pattern) -{ - int n0 = s.find(pattern); - int n1 = s.find("{", n0); - int n2 = s.find("}", n1); - std::string valueList = s.substr(n1+1, n2-n1-1); - - std::vector values; - std::vector s_values; - tokenize(valueList, s_values, ","); - - for (unsigned int i = 0; i < s_values.size(); i++) - values.push_back(strtod(s_values[i].c_str(), NULL)); - - return values; -} - -double NCDParser::extractValue(std::string s, std::string pattern) -{ - int n1 = s.find(pattern); - int n2 = s.find(",", n1); - std::string s_value = s.substr(n1+pattern.length(), n2-n1-pattern.length()); - return strtod(s_value.c_str(), NULL); -} - - -void NCDParser::createOdomToLeftLaserTf() -{ - double x = -0.270; - double y = -0.030; - double z = 0.495; - double roll = 180.0 * DEG_TO_RAD; - double pitch = 90.0 * DEG_TO_RAD; - double yaw = -90.0 * DEG_TO_RAD; - - tf::Quaternion rotation; - rotation.setRPY (roll, pitch, yaw); - odomToLeftLaser_.setRotation (rotation); - - tf::Vector3 origin; - origin.setValue (x, y, z); - odomToLeftLaser_.setOrigin (origin); -} - -void NCDParser::createOdomToRightLaserTf() -{ - double x = 0.270; - double y = -0.030; - double z = 0.495; - double roll = 90.0 * DEG_TO_RAD; - double pitch = -90.0 * DEG_TO_RAD; - double yaw = 180.0 * DEG_TO_RAD; - - tf::Quaternion rotation; - rotation.setRPY (roll, pitch, yaw); - odomToRightLaser_.setRotation (rotation); - - tf::Vector3 origin; - origin.setValue (x, y, z); - odomToRightLaser_.setOrigin (origin); -} diff --git a/polar_scan_matcher/CHANGELOG.rst b/polar_scan_matcher/CHANGELOG.rst deleted file mode 100644 index 866e938..0000000 --- a/polar_scan_matcher/CHANGELOG.rst +++ /dev/null @@ -1,26 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package polar_scan_matcher -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -0.3.3 (2021-02-15) ------------------- - -0.3.2 (2016-03-19) ------------------- - -0.3.1 (2015-12-18) ------------------- - -0.3.0 (2015-11-10) ------------------- - -0.2.1 (2015-10-14) ------------------- -* [feat] added polar scan matcher -* [feat] added imu option to PSM, made CSM and PSM look similar -* [feat] added demo dir to CSM, -* [fix] PSM launch file -* [sys] ROS Hydro compatible -* [sys] Cleaning -* [sys] correct license and references to PSM and CSM -* Contributors: Daniel Axtens, Ivan Dryanovski diff --git a/polar_scan_matcher/CMakeLists.txt b/polar_scan_matcher/CMakeLists.txt deleted file mode 100644 index 0677241..0000000 --- a/polar_scan_matcher/CMakeLists.txt +++ /dev/null @@ -1,45 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(polar_scan_matcher) - -set( ROS_CXX_DEPENDENCIES - roscpp - tf - sensor_msgs - geometry_msgs) - -find_package(catkin REQUIRED COMPONENTS ${ROS_CXX_DEPENDENCIES}) - -include_directories(include ${catkin_INCLUDE_DIRS}) - -catkin_package( - INCLUDE_DIRS include - LIBRARIES polar_scan_matcher - CATKIN_DEPENDS ${ROSS_CXX_DEPENDENCIES} -) - -add_library(polar_scan_matcher src/polar_match.cpp) - -add_executable(psm_node src/psm_node.cpp) -target_link_libraries(psm_node polar_scan_matcher - ${catkin_LIBRARIES}) - -install(TARGETS polar_scan_matcher - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) - -#Install library includes -install(DIRECTORY include/polar_scan_matcher/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) - -install(TARGETS psm_node - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -#set the default path for built executables to the "bin" directory -#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) -#set the default path for built libraries to the "lib" directory -#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) - -#rosbuild_add_executable(polar_scan_matcher src/psm_node.cpp -# src/polar_match.cpp) - diff --git a/polar_scan_matcher/COPYING b/polar_scan_matcher/COPYING deleted file mode 100644 index d60c31a..0000000 --- a/polar_scan_matcher/COPYING +++ /dev/null @@ -1,340 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 2, June 1991 - - Copyright (C) 1989, 1991 Free Software Foundation, Inc. - 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The licenses for most software are designed to take away your -freedom to share and change it. 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Kleeman, "Laser Scan Matching in Polar Coordinates with -Application to SLAM " Proceedings of 2005 IEEE/RSJ International Conference -on Intelligent Robots and Systems, August, 2005, Edmonton, Canada diff --git a/polar_scan_matcher/demo/demo.bag b/polar_scan_matcher/demo/demo.bag deleted file mode 100644 index 9f753c1..0000000 Binary files a/polar_scan_matcher/demo/demo.bag and /dev/null differ diff --git a/polar_scan_matcher/demo/demo.launch b/polar_scan_matcher/demo/demo.launch deleted file mode 100644 index 207bf63..0000000 --- a/polar_scan_matcher/demo/demo.launch +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/polar_scan_matcher/demo/demo.rviz b/polar_scan_matcher/demo/demo.rviz deleted file mode 100644 index 7dd8ad9..0000000 --- a/polar_scan_matcher/demo/demo.rviz +++ /dev/null @@ -1,161 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /LaserScan1 - - /TF1 - - /TF1/Frames1 - Splitter Ratio: 0.5 - Tree Height: 434 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Flat Squares - Topic: /scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_link: - Value: true - laser: - Value: true - world: - Value: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - world: - base_link: - laser: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Angle: 0 - Class: rviz/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Name: Current View - Near Clip Distance: 0.01 - Scale: 100 - Target Frame: - Value: TopDownOrtho (rviz) - X: 0 - Y: 0 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 721 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c0000023dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000360000023d000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000023dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000360000023d0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004000000003efc0100000002fb0000000800540069006d00650100000000000004000000024500fffffffb0000000800540069006d00650100000000000004500000000000000000000004000000023d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1024 - X: 0 - Y: 0 diff --git a/polar_scan_matcher/include/polar_scan_matcher/polar_match.h b/polar_scan_matcher/include/polar_scan_matcher/polar_match.h deleted file mode 100644 index 828d2f4..0000000 --- a/polar_scan_matcher/include/polar_scan_matcher/polar_match.h +++ /dev/null @@ -1,183 +0,0 @@ -/*************************************************************************** - polar_match.h - matching laser scans in polar coord system - designed for use with SICK LMS in cm res./361 meas. mode - only 181 readings (1 deg res) are used (less accuracy but higher - speed) - ------------------- - begin : Tue Nov 9 2004 - version : 0.2 - copyright : (C) 2005 by Albert Diosi and Lindsay Kleeman - email : albert.diosi@gmail.com - comments : range units are cm; angle units are deg - the laser is on the robots y axis - - in scan projections, occluded ref scanpoints aren't removed! - changed: - 14/03/2005 removing of unnecessary code - ***************************************************************************/ - /**************************************************************************** - This file is part of polar_matching. - - polar_matching is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - polar_matching is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with polar_matching; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -****************************************************************************/ - -#ifndef POLAR_SCAN_MATCHING_POLAR_MATCHER_H -#define POLAR_SCAN_MATCHING_POLAR_MATCHER_H - -#include -#include -#include -#include -#include -#include -#include - -#define PM_TYPE double // change it to double for higher accuracy and lower speed - -// range reading errors -#define PM_RANGE 1 // range reading is longer than PM_MAX_RANGE -#define PM_MOVING 2 // range reading corresponds to a moving point -#define PM_MIXED 4 // range reading is a mixed pixel -#define PM_OCCLUDED 8 // range reading is occluded -#define PM_EMPTY 16 // at that bearing there is no measurment (between 2 - // segments there is no interpolation!) - -#define PM_ODO -1 //show results with odometry only in mapping_with_matching() -#define PM_PSM 1 //polar scanmatching - matching bearing -#define PM_PSM_C 2 //polar scanmatching - using cartesian equations -#define PM_ICP 3 //scanmatchign with iterative closest point -#define PM_IDC 4 //lu's iterative dual correspondence - not implemented, - //Guttman's external code is used for comparisson -#define PM_MBICP 5 //scanmatchign with metric based ICP - -const double PM_D2R = M_PI/180.0; // degrees to rad -const double PM_R2D = 180.0/M_PI; // rad to degrees - -//const int PM_L_POINTS = 681; - -//might want to consider doubles for rx,ry -> in a large environment? -struct PMScan -{ - PMScan(int nPoints) - { - r.resize(nPoints); - x.resize(nPoints); - y.resize(nPoints); - bad.resize(nPoints); - seg.resize(nPoints); - } - - PM_TYPE rx; //robot odometry pos - PM_TYPE ry; //robot odometry pos - PM_TYPE th; //robot orientation - std::vector r;//[cm] - 0 or negative ranges denote invalid readings. - std::vector x;//[cm] - std::vector y;//[cm] - std::vector bad;// 0 if OK - //sources of invalidity - too big range; - //moving object; occluded;mixed pixel - std::vector seg;//nuber describing into which segment the point belongs to -}; - -class PolarMatcher -{ - private: - - //calculates an error index expressing the quality of the match - //of the actual scan to the reference scan - //has to be called after scan matching so the actual scan in expressed - //in the reference scan coordinate system - //return the average minimum Euclidean distance; MAXIMUM RANGE points - //are not considered; number of non maximum range points have to be - //smaller than a threshold - PM_TYPE pm_error_index(PMScan *lsr,PMScan *lsa); - - //estimates the covariance matrix(c11,c12,c22,c33) (x,y,th) of - //a scan match based on an error index (err-depends on how good the - //match is), and the angle of the corridor if it is a corridor - void pm_cov_est(PM_TYPE err, double *c11,double *c12, double *c22, double *c33, - bool corridor=false, PM_TYPE corr_angle=0); - - void pm_scan_project(const PMScan *act, PM_TYPE *new_r, int *new_bad); - PM_TYPE pm_orientation_search(const PMScan *ref, const PM_TYPE *new_r, const int *new_bad); - PM_TYPE pm_translation_estimation(const PMScan *ref, const PM_TYPE *new_r, const int *new_bad, PM_TYPE C, PM_TYPE *dx, PM_TYPE *dy); - - PM_TYPE point_line_distance ( PM_TYPE x1, PM_TYPE y1, PM_TYPE x2, PM_TYPE y2, - PM_TYPE x3, PM_TYPE y3,PM_TYPE *x, PM_TYPE *y); - - inline PM_TYPE norm_a ( PM_TYPE a ) - { - int m; - m= ( int ) ( a/ ( 2.0*M_PI ) ); - a=a- ( PM_TYPE ) m*M_PI; - if ( a< ( -M_PI ) ) - a+=2.0*M_PI; - if ( a>=M_PI ) - a-=2.0*M_PI; - return ( a ); - } - - public: - - int PM_L_POINTS; - - PM_TYPE PM_FI_MIN;// = M_PI/2.0 - PM_FOV*PM_D2R/2.0;//[rad] bearing from which laser scans start - PM_TYPE PM_FI_MAX;// = M_PI/2.0 + PM_FOV*PM_D2R/2.0;//[rad] bearing at which laser scans end - PM_TYPE PM_DFI; // = PM_FOV*PM_D2R/ ( PM_L_POINTS + 1.0 );//[rad] angular resolution of laser scans - - std::vector pm_fi;//contains precomputed angles - std::vector pm_si;//contains sinus of angles - std::vector pm_co;//contains cos of angles - - double PM_FOV ; //! field of view of the laser range finder in degrees - double PM_MAX_RANGE ; //![cm] max valid laser range (set this to about 400 for the Hokuyo URG) - int PM_MIN_VALID_POINTS; //! minimum number of valid points for scanmatching - int PM_SEARCH_WINDOW; //! half window size which is searched for correct orientation - - double PM_TIME_DELAY; //!<[ms]time delay (time registration error) in the laser measurements - - double PM_MAX_ERROR; //[cm] max distance between associated points used in pose est. - double PM_STOP_COND; //! stopping condition; the pose change has to be smaller than ... - int PM_MAX_ITER; //! maximum number of iterations for PSM.PSM_C - int PM_MAX_ITER_ICP; //! maximum number of iterations for ICP,MBICP - int PM_STOP_COND_ICP; //! stopping condition; the pose change has to be smaller than ... for ICP, MBICP - - PolarMatcher(); - - void pm_init(); - - //filters the ranges with a median filter. x,y points are not upadted - //ls - laser scan; the job of the median filter is to remove chair and table - //legs wich would be moving anyway; - void pm_median_filter(PMScan *ls); - - // marks point further than a given distance PM_MAX_RANGE as PM_RANGE - void pm_find_far_points(PMScan *ls); - - //segments scanpoints into groups based on range discontinuities - void pm_segment_scan(PMScan *ls); - - // minimizes least square error through changing lsa->rx, lsa->ry,lsa->th - // this looks for angle too, like pm_linearized_match_proper,execept it - // fits a parabola to the error when searching for the angle and interpolates. - PM_TYPE pm_psm(PMScan *lsr,PMScan *lsa); - - // does scan matching using the equations for translation and orietation - //estimation as in Lu & milios, however our matching bearing association rule - //is used together with our association filter. - //this is PSM-C in the tech report - PM_TYPE pm_psm_c(PMScan *lsr,PMScan *lsa); -}; - -#endif //POLAR_SCAN_MATCHING_POLAR_MATCH_H diff --git a/polar_scan_matcher/include/polar_scan_matcher/psm_node.h b/polar_scan_matcher/include/polar_scan_matcher/psm_node.h deleted file mode 100644 index 8007822..0000000 --- a/polar_scan_matcher/include/polar_scan_matcher/psm_node.h +++ /dev/null @@ -1,117 +0,0 @@ -/* -* Polar Scan Matcher -* Copyright (C) 2010, CCNY Robotics Lab -* Ivan Dryanovski -* William Morris -* http://robotics.ccny.cuny.edu -* Modified 2014, Daniel Axtens -* whilst a student at the Australian National University -* -* This program is free software: you can redistribute it and/or modify -* it under the terms of the GNU General Public License as published by -* the Free Software Foundation, either version 3 of the License, or -* (at your option) any later version. -* -* This program is distributed in the hope that it will be useful, -* but WITHOUT ANY WARRANTY; without even the implied warranty of -* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -* GNU General Public License for more details. -* -* You should have received a copy of the GNU General Public License -* along with this program. If not, see . -* -* This is a wrapper around Polar Scan Matcher [1], written by -* Albert Diosi -* -* [1] A. Diosi and L. Kleeman, "Laser Scan Matching in Polar Coordinates with -* Application to SLAM " Proceedings of 2005 IEEE/RSJ International Conference -* on Intelligent Robots and Systems, August, 2005, Edmonton, Canada -*/ - -#ifndef POLAR_SCAN_MATCHER_PSM_NODE_H -#define POLAR_SCAN_MATCHER_PSM_NODE_H - -#include - -#include -#include -#include -#include -#include -#include - -#include "polar_scan_matcher/polar_match.h" - -const std::string imuTopic_ = "imu"; -const std::string scanTopic_ = "scan"; -const std::string poseTopic_ = "pose2D"; - -const double ROS_TO_PM = 100.0; // convert from cm to m - -class PSMNode -{ - private: - - ros::Subscriber scanSubscriber_; - ros::Subscriber imuSubscriber_; - ros::Publisher posePublisher_; - - tf::TransformBroadcaster tfBroadcaster_; - tf::TransformListener tfListener_; - tf::Transform prevWorldToBase_; - tf::Transform baseToLaser_; - tf::Transform laserToBase_; - - bool initialized_; - double totalDuration_; - int scansCount_; - - PolarMatcher matcher_; - PMScan * prevPMScan_; - - boost::mutex imuMutex_; - double prevImuAngle_; // the yaw angle when we last perfomred a scan match - double currImuAngle_; // the most recent yaw angle we have received - - // **** parameters - - bool publishTf_; - bool publishPose_; - bool useTfOdometry_; - bool useImuOdometry_; - - int minValidPoints_; - int searchWindow_; - double maxError_; - int maxIterations_; - double stopCondition_; - - std::string worldFrame_; - std::string baseFrame_; - std::string laserFrame_; - - void getParams(); - bool initialize(const sensor_msgs::LaserScan& scan); - - void imuCallback (const sensor_msgs::Imu& imuMsg); - void scanCallback (const sensor_msgs::LaserScan& scan); - - void publishTf(const tf::Transform& transform, - const ros::Time& time); - void publishPose(const tf::Transform& transform); - - void rosToPMScan(const sensor_msgs::LaserScan& scan, - const tf::Transform& change, - PMScan* pmScan); - void pose2DToTf(const geometry_msgs::Pose2D& pose, tf::Transform& t); - void tfToPose2D(const tf::Transform& t, geometry_msgs::Pose2D& pose); - void getCurrentEstimatedPose(tf::Transform& worldToBase, - const sensor_msgs::LaserScan& scanMsg); - - public: - - PSMNode(); - virtual ~PSMNode(); -}; - -#endif // POLAR_SCAN_MATCHER_PSM_NODE_H diff --git a/polar_scan_matcher/launch/psm.launch b/polar_scan_matcher/launch/psm.launch deleted file mode 100644 index 0b55891..0000000 --- a/polar_scan_matcher/launch/psm.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - /hokuyo_node/min_ang: -2.0862138271331787 - /hokuyo_node/max_ang: 2.0923497676849365 - - - - - - - - - - - - - - - - - - diff --git a/polar_scan_matcher/mainpage.dox b/polar_scan_matcher/mainpage.dox deleted file mode 100644 index c4edc14..0000000 --- a/polar_scan_matcher/mainpage.dox +++ /dev/null @@ -1,26 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -\b polar_scan_matcher is ... - - - - -\section codeapi Code API - - - - -*/ diff --git a/polar_scan_matcher/package.xml b/polar_scan_matcher/package.xml deleted file mode 100644 index 5206015..0000000 --- a/polar_scan_matcher/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - polar_scan_matcher - 0.3.3 - -

- A wrapper around Polar Scan Matcher by Albert Diosi and Lindsay Kleeman, used for laser scan registration. -

- - Ivan Dryanovski - Ivan Dryanovski - Carlos - GPL - - http://ros.org/wiki/polar_scan_matcher - - catkin - - tf - roscpp - sensor_msgs - geometry_msgs - tf - roscpp - sensor_msgs - geometry_msgs - - - diff --git a/polar_scan_matcher/src/polar_match.cpp b/polar_scan_matcher/src/polar_match.cpp deleted file mode 100644 index af58d02..0000000 --- a/polar_scan_matcher/src/polar_match.cpp +++ /dev/null @@ -1,876 +0,0 @@ -/*************************************************************************** - polar_match.cpp - matching laser scans in polar coord system - designed for use with SICK LMS in cm res./361 meas. mode - only 181 readings (1 deg res) are used (less accuracy but higher - speed) - changes made to accomodate other lasers, but not tested properly yet. - ------------------- -begin : Tue Nov 9 2004 -version : 0.2 -copyright : (C) 2005,2006,2007,2008,2009 by Albert Diosi and Lindsay Kleeman -email : albert.diosi@gmail.com -comments : - range units are cm; angle units are deg - - don't forget to set the optimization switch! - - if it works with float->change fabs-fabsf, floor->floorf - - why not add angle as well to the iterative least squares? - => bad convergence, error tends to be fixed with rotation - - try to make the C - coef for sigmoid function smaller with - with the as scanmatching converges, to increase the precision - as in dudek -changed: - 05/03/2007- add interpolation to icp - 04/11/2005- bug fixed in pm_is_corridor. Bug pointed out by Alan Zhang - 03/08/2005- simple implementation of IDC added not working yet - remove! - 26/05/2005- projection filter of ICP fixed - 7/12/2004 - dx,dy estimation interleaved with dth estimation - seems to work OK - 3/12/2004 - iterative range least squares seems to work (for - dx,dy only), though it needs to be thoroughly tested - - 26/11/2004 - -edited: (Ivan Dyanovski, ivan.dryanovski@gmail.com) - - 11/08/2010 - removed everything related to visualisation - - changed defines to private class members - - removed methods and variables not needed for basic - matching - - -TODO: change the time measurement approach; do a proper cleanup. have doxygen comments. - - Comment colours used when GR is defined. - - Document all magic constansts.(pm_psm: change of C after 10 steps) -***************************************************************************/ -/**************************************************************************** - This file is part of polar_matching. - - polar_matching is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - polar_matching is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with polar_matching; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -****************************************************************************/ - -#include "polar_scan_matcher/polar_match.h" - -using namespace std; - -PolarMatcher::PolarMatcher() -{ - -} - -/** @brief Initialises internar variables -*/ -void PolarMatcher::pm_init() -{ - pm_fi.resize(PM_L_POINTS); - pm_si.resize(PM_L_POINTS); - pm_co.resize(PM_L_POINTS); - - PM_FI_MIN = M_PI/2.0 - PM_FOV*PM_D2R/2.0; - PM_FI_MAX = M_PI/2.0 + PM_FOV*PM_D2R/2.0; - PM_DFI = PM_FOV*PM_D2R/ ( PM_L_POINTS + 1.0 ); - - for ( int i=0;i=0 ) ?j:0 ); - r[k]=ls->r[ ( ( l < PM_L_POINTS ) ?l: ( PM_L_POINTS-1 ) ) ]; - k++; - } - //bubble sort r - for ( j= ( WINDOW-1 );j>0;j-- ) - for ( k=0;kr[k+1] ) // wrong order? - swap them - { - w=r[k]; - r[k]=r[k+1]; - r[k+1] = w; - } - ls->r[i] = r[HALF_WINDOW];//choose the middle point - } -} - -//------------------------------------------------------------------------- -// segments scanpoints into groups based on range discontinuities -// number 0 is reserved to segments with size 1 -// assumptions: too far points PM_MAX_RANGE - divide segments -// - bad points are only due to far points and mixed pixels -// seems all right, except a far point can be the beginning of a new segment -// if the next point is good and close -> it shouldn't make a difference -void PolarMatcher::pm_segment_scan ( PMScan *ls ) -{ - const PM_TYPE MAX_DIST = 20.0;//max range diff between conseq. points in a seg - PM_TYPE dr; - int seg_cnt = 0; - int i,cnt; - bool break_seg; - - seg_cnt = 1; - - //init: - if ( fabs ( ls->r[0]-ls->r[1] ) seg[0] = seg_cnt; - ls->seg[1] = seg_cnt; - cnt = 2; //2 points in the segment - } - else - { - ls->seg[0] = 0; //point is a segment in itself - ls->seg[1] = seg_cnt; - cnt = 1; - } - - for ( i=2;ibad[i] ) - { - break_seg = true; - ls->seg[i] = 0; - } - else - { - dr = ls->r[i]- ( 2.0*ls->r[i-1]-ls->r[i-2] );//extrapolate & calc difference - if ( fabs ( ls->r[i]-ls->r[i-1] ) seg[i-1]==ls->seg[i-2] ) - && fabs ( dr ) seg[i] = seg_cnt; - } - else - break_seg = true; - }//if ls - if ( break_seg ) // breaking the segment? - { - if ( cnt==1 ) - { - //check first if the last three are not on a line by coincidence - dr = ls->r[i]- ( 2.0*ls->r[i-1]-ls->r[i-2] ); - if ( ls->seg[i-2] == 0 && ls->bad[i] == 0 && ls->bad[i-1] == 0 - && ls->bad[i-2] == 0 && fabs ( dr ) seg[i] = seg_cnt; - ls->seg[i-1] = seg_cnt; - ls->seg[i-2] = seg_cnt; - cnt = 3; - }//if ls-> - else - { - ls->seg[i-1] = 0; - //what if ls[i] is a bad point? - it could be the start of a new - //segment if the next point is a good point and is close enough! - //in that case it doesn't really matters - ls->seg[i] = seg_cnt;//the current point is a new segment - cnt = 1; - } - }//if cnt ==1 - else - { - seg_cnt++; - ls->seg[i] = seg_cnt; - cnt = 1; - }//else if cnt - }//if break seg - }//for -}//pm_segment_scan - -//------------------------------------------------------------------------- -// marks point further than a given distance PM_MAX_RANGE as PM_RANGE -void PolarMatcher::pm_find_far_points ( PMScan *ls ) -{ - for ( int i=0;ir[i]>PM_MAX_RANGE ) - ls->bad[i] |= PM_RANGE; - }// -} - -//------------------------------------------------------------------------- -//calculates an error index expressing the quality of the match -//of the actual scan to the reference scan -//has to be called after scan matching so the actual scan in expressed -//in the reference scan coordinate system -//return the average minimum Euclidean distance; MAXIMUM RANGE points -//are not considered; number of non maximum range points have to be -//smaller than a threshold -//actual scan is compared to reference scan and vice versa, maximum is -//taken -//I could implement it in polar frame as well, would be O(n) -PM_TYPE PolarMatcher::pm_error_index ( PMScan *lsr,PMScan *lsa ) -{ - int i,j; - PM_TYPE rx[PM_L_POINTS],ry[PM_L_POINTS],ax[PM_L_POINTS],ay[PM_L_POINTS]; - PM_TYPE x,y; - PM_TYPE d,dmin,dsum,dx,dy; - PM_TYPE dsum1; - int n,n1,rn=0,an=0; - const PM_TYPE HUGE_ERROR = 1000000; - const int MIN_POINTS = 100; - - lsa->th = norm_a ( lsa->th ); - PM_TYPE co = cos ( lsa->th ),si = sin ( lsa->th ); - PM_TYPE c,sig; - - //x axis equation si*x-co*y+c=0 - c = - ( lsa->rx*si-lsa->ry*co );//calc for the x axis of the actual frame - //"signum" of a point from the lasers view substituted into the equation - sig = si* ( lsa->rx+cos ( lsa->th+0.1 ) )-co* ( lsa->ry+sin ( lsa->th+0.1 ) ) +c; - - for ( i=0;ir[i]*pm_co[i]; - y = lsr->r[i]*pm_si[i]; - if ( !lsr->bad[i] && sig* ( si*x-co*y+c ) >0 ) - { - rx[rn] = x; - ry[rn++] = y; - }//if - if ( !lsa->bad[i] ) - { - x = lsa->r[i]*pm_co[i]; - y = lsa->r[i]*pm_si[i]; - ax[an] = x*co-y*si+lsa->rx; - ay[an] = x*si+y*co+lsa->ry; - if ( ay[an]>0 ) - { - an++; - } - }//if - }//for i - - dsum = 0;n=0; - for ( i=0;i0 ) - { - dsum1 = dsum/ ( PM_TYPE ) n; - n1 = n; - } - else - return HUGE_ERROR; - - //now checking the reference scan agains the actual - dsum = 0;n=0; - for ( i=0;i0 ) - { - dsum = dsum/ ( PM_TYPE ) n; - } - else - return HUGE_ERROR; - - cout<<"pm_error_index: "<MIN_POINTS && n>MIN_POINTS ) - { - if ( dsum1>dsum ) - return dsum1; //return the larger one - else - return dsum; - } - return HUGE_ERROR; -} - -//------------------------------------------------------------------------- -//estimates the covariance matrix(c11,c12,c22,c33) (x,y,th) of -//a scan match based on an error index (err-depends on how good the -//match is), and the angle of the corridor if it is a corridor -// for non corridors cov matrix is diagonal -void PolarMatcher::pm_cov_est ( PM_TYPE err, double *c11,double *c12, double *c22, double *c33, - bool corridor, PM_TYPE corr_angle ) -{ -#define SQ(x) ((x)*(x)) - const double cov_x = SQ ( 20 ); //10 // cm - const double cov_y = SQ ( 20 );//10 // cm - const double cov_th = SQ ( 4.0*M_PI/180.0 ); // 2 deg - //for corridors - const double cov_along = SQ ( 400 ); // cm - const double cov_across = SQ ( 30 ); // cm - - err = err-5; - if ( err<1 ) - err = 1; - if ( corridor ) //was the actual scan taken of a corridor? - { - double co = cos ( corr_angle ); - double si = sin ( corr_angle ); - *c11 = err* ( SQ ( co ) *cov_along+SQ ( si ) *cov_across ); - *c12 = err* ( -co*si* ( -cov_along+cov_across ) ); - *c22 = err* ( SQ ( si ) *cov_along+SQ ( co ) *cov_across ); - *c33 = err*cov_th; - }//if - else - { - *c12 = 0; - *c11 = err*cov_x; - *c22 = err*cov_y; - *c33 = err*cov_th; - }//else -}//pm_cov_est - -//------------------------------------------------------------------------- -// does scan matching using the equations for translation and orietation -//estimation as in Lu & milios, however our matching bearing association rule -//is used together with our association filter. -//have to do an angle search othervise doesn't converge to 0! -//weights implemented! -PM_TYPE PolarMatcher::pm_psm_c ( PMScan *lsr,PMScan *lsa ) -{ -// #define GR //comment out if no graphics necessary - PMScan act(PM_L_POINTS), ref(PM_L_POINTS);//copies of actual and reference scans - PM_TYPE rx,ry,rth,ax,ay,ath;//robot pos at ref and actual scans - PM_TYPE t13,t23; - PM_TYPE new_r[PM_L_POINTS];//interpolated r at measurement bearings - int new_bad[PM_L_POINTS];//bad flags of the interpolated range readings - PM_TYPE C = 70*70;//weighting factor; see dudek00 - int n = 0;//number of valid points - int iter,i,small_corr_cnt=0; - PM_TYPE abs_err=0,dx=0,dy=0,dth=0;//match error, actual scan corrections - - act = *lsa; - ref = *lsr; - - rx = ref.rx; ry = ref.ry; rth = ref.th; - ax = act.rx; ay = act.ry; ath = act.th; - - //transformation of actual scan laser scanner coordinates into reference - //laser scanner coordinates - t13 = cos(rth) * ax + sin(rth) * ay - sin (rth) * ry - rx * cos(rth); - t23 = -sin(rth) * ax + cos(rth) * ay - cos (rth) * ry + rx * sin(rth); - - ref.rx = 0; ref.ry = 0; ref.th = 0; - act.rx = t13; act.ry = t23; act.th = ath-rth; - - ax = act.rx; ay = act.ry; ath = act.th; - //from now on act.rx,.. express the lasers position in the ref frame - - iter = -1; - while ( ++iter10 ) - C = 100; - - // do the weighted linear regression on the linearized ... - // include angle as well - PM_TYPE dr; - - //computation of the new dx1,dy1,dtheta1 - PM_TYPE X=0,Y=0,Xp=0,Yp=0,W=0,w; - PM_TYPE sxx=0,sxy=0,syx=0, syy=0; - PM_TYPE meanpx,meanpy,meanppx,meanppy; - meanpx = 0;meanpy = 0; - meanppx= 0;meanppy= 0; - - abs_err=0; - n=0; - for ( i=0;i10.0 && fabs ( dr ) rx =ax;lsa->ry=ay;lsa->th=ath; - return ( abs_err/n ); -}//pm_psm_c - -//------------------------------------------------------------------------- -// minimizes least square error through changing lsa->rx, lsa->ry,lsa->th -// this looks for angle too, like pm_linearized_match_proper,execept it -// fits a parabola to the error when searching for the angle and interpolates. -PM_TYPE PolarMatcher::pm_psm ( PMScan *lsr,PMScan *lsa ) -{ - PMScan act(PM_L_POINTS), ref(PM_L_POINTS);//copies of actual and reference scans - PM_TYPE rx,ry,rth,ax,ay,ath;//robot pos at ref and actual scans - PM_TYPE t13,t23; - PM_TYPE new_r[PM_L_POINTS];//interpolated r at measurement bearings - int new_bad[PM_L_POINTS];//bad flags of the interpolated range readings - PM_TYPE C = 70*70;//weighting factor; see dudek00 - int iter,small_corr_cnt=0; - PM_TYPE dx=0,dy=0,dth=0;//match error, actual scan corrections - PM_TYPE avg_err = 100000000.0; - - act = *lsa; - ref = *lsr; - - rx = ref.rx; ry = ref.ry; rth = ref.th; - ax = act.rx; ay = act.ry; ath = act.th; - - //transformation of actual scan laser scanner coordinates into reference - //laser scanner coordinates - t13 = cos(rth) * ax + sin(rth) * ay-sin (rth) * ry - rx * cos (rth); - t23 = -sin(rth) * ax + cos(rth) * ay-cos (rth) * ry + rx * sin (rth); - - ref.rx = 0; ref.ry = 0; ref.th = 0; - act.rx = t13; act.ry = t23; act.th = ath-rth; - - ax = act.rx; ay = act.ry; ath = act.th; - //from now on act.rx,.. express the lasers position in the ref frame - - iter = -1; - while ( ++iter10 ) - C = 100; - - avg_err = pm_translation_estimation(&ref, new_r, new_bad, C, &dx, &dy); - - ax += dx; - ay += dy; - -// //for SIMULATION iteration results.. - - }//while iter - - lsa->rx =ax;lsa->ry=ay;lsa->th=ath; - return ( avg_err); -}//pm_linearized_match_int_angle - -//------------------------------------------------------------------------- -//calculate distance of the point (x3,y3) from a line (defined by (x1,y1) -//and (x2,y2)). Returns the distance to the line or -1 if the -//projection of (x3,y3) falls outside the line segment defined by (x1,y1) -//and (x2,y2). -//The projection of (x3,y3) onto the line is also returned in x,y -PM_TYPE PolarMatcher::point_line_distance ( PM_TYPE x1, PM_TYPE y1, PM_TYPE x2, PM_TYPE y2, - PM_TYPE x3, PM_TYPE y3,PM_TYPE *x, PM_TYPE *y ) -{ - PM_TYPE ax,ay,t1,D; - ax = x2-x1; - ay = y2-y1; - D = sqrt ( ax*ax+ay*ay ); - if ( D <0.0001 ) - { - cerr <<"point_line_distance: unexpected D:" <1 ) // projection falls outside the line segment - { - return -1; - } - *x = x1+t1*ax; - *y = y1+t1*ay; - return ( sqrt ( ( x3-*x ) * ( x3-*x ) + ( y3-*y ) * ( y3-*y ) ) );//distance of line to p. -}// point_line_distance - -//------------------------------------------------------------------------- -//! projects the current (active) scan act to the base (ref.) (0,0,0) coordinate frame -//! returns in new_r interpolated r at measurement bearings -//! returns in new_bad bad flags of the interpolated range readings -void PolarMatcher::pm_scan_project(const PMScan *act, PM_TYPE *new_r, int *new_bad) -{ - PM_TYPE r[PM_L_POINTS],fi[PM_L_POINTS];//actual scan in ref. coord. syst. - PM_TYPE x,y; - int i; - PM_TYPE delta; - - // convert range readings into ref frame - // this can be speeded up, by connecting it with the interpolation - for ( i=0;ith + pm_fi[i]; - x = act->r[i]*cos ( delta ) + act->rx; - y = act->r[i]*sin ( delta ) + act->ry; - r[i] = sqrt ( x*x+y*y ); - fi[i] = atan2 ( y,x ); - //handle discontinuity at pi - if(x<0 && y<0) - fi[i] += 2.0*M_PI; - - new_r[i] = 10000;//initialize big interpolated r; - new_bad[i]= PM_EMPTY;//for interpolated r; - - }//for i - - //------------------------INTERPOLATION------------------------ - //calculate/interpolate the associations to the ref scan points - //algorithm ignores crosings at 0 and 180 -> to make it faster - for ( i=1;iseg[i] != 0 && act->seg[i] == act->seg[i-1] && !act->bad[i] && - !act->bad[i-1] /* && fi[i]>PM_FI_MIN && fi[i-1]>PM_FI_MIN*/ ) - { - //calculation of the "whole" parts of the angles - int j0,j1; - PM_TYPE r0,r1,a0,a1; - bool occluded; - if ( fi[i]>fi[i-1] ) //are the points visible? - { - //visible - occluded = false; - a0 = fi[i-1]; - a1 = fi[i]; - - j0 = (int) ceil ( ( fi[i-1] - PM_FI_MIN ) /PM_DFI ); - j1 = (int) floor ( ( fi[i] - PM_FI_MIN ) /PM_DFI ); - r0 = r[i-1]; - r1 = r[i]; - } - else - { - //invisible - still have to calculate to filter out points which - occluded = true; //are covered up by these! - //flip the points-> easier to program - a0 = fi[i]; - a1 = fi[i-1]; - - j0 = (int) ceil ( ( fi[i] - PM_FI_MIN ) /PM_DFI ); - j1 = (int) floor ( ( fi[i-1] - PM_FI_MIN ) /PM_DFI ); - r0 = r[i]; - r1 = r[i-1]; - } - //here fi0 is always smaller than fi1! - - //interpolate for all the measurement bearings beween fi0 and fi1 - while ( j0<=j1 ) //if at least one measurement point difference, then ... - { - // cout <<( ( PM_TYPE ) j0*PM_DFI )<<" "<<( ( ( PM_TYPE ) j0*PM_DFI +PM_FI_MIN )-a0 )< falls into the measurement range and ri is shorter - //than the current range then overwrite it - if ( j0>=0 && j0ri ) - { - new_r[j0] = ri;//overwrite the previous reading - new_bad[j0] &=~PM_EMPTY;//clear the empty flag - if ( occluded ) //check if it was occluded - new_bad[j0] = new_bad[j0]|PM_OCCLUDED;//set the occluded flag - else - new_bad[j0] = new_bad[j0]&~PM_OCCLUDED; - //the new range reading also it has to inherit the other flags - new_bad[j0] |= act->bad[i];//superfluos - since act.bad[i] was checked for 0 - new_bad[j0] |= act->bad[i-1];//superfluos - since act.bad[i-1] was checked for 0 - - } - j0++;//check the next measurement angle! - }//while - }//if act - }//for i -}//pm_scan_project - -//------------------------------------------------------------------------- -//! Function estimating the orientation of the current scan represented with range readings -//! new_r and flags new_bad with respect to the reference scan ref. -//! Assuming that the current and ref scan were taken at the same position, to an orientation -//! change of the current scan a left or right shift of the scan ranges corresponds. -//! The functions estimates the orientation by finding that shift which minimizes the -//! difference between the current and ref. scan. The orientation estimate is then -//! refined using interpolation. -PM_TYPE PolarMatcher::pm_orientation_search(const PMScan *ref, const PM_TYPE *new_r, const int *new_bad) -{ - int i; - int window = PM_SEARCH_WINDOW;//20;//+- width of search for correct orientation - PM_TYPE dth=0;//\actual scan corrections - - //pm_fi,ref.r - reference points - PM_TYPE e,err[PM_L_POINTS]; // the error rating - PM_TYPE beta[PM_L_POINTS];// angle for the corresponding error - PM_TYPE n; - int k=0; - - for ( int di=-window;di<=window;di++ ) - { - n=0;e=0; - - int min_i,max_i; - if ( di<=0 ) - {min_i = -di;max_i=PM_L_POINTS;} - else - {min_i = 0;max_i=PM_L_POINTS-di;} - - for ( i=min_i;ibad[i+di] ) - { - e += fabs ( new_r[i]-ref->r[i+di] ); - n++; - } - - }//for i - - if ( n>0 ) - err[k] = e/n;//don't forget to correct with n! - else - err[k] = 10000;//don't forget to correct with n! - beta[k] = di; - k++; - }//for dfi - - //now search for the global minimum - //later I can make it more robust - //assumption: monomodal error function! - PM_TYPE emin = 1000000; - int imin; - for ( i=0;i=10000 ) - { - cerr <<"Polar Match: orientation search failed" <=1 && imin< ( k-1 ) ) //is it not on the extreme? - { - //lets try interpolation - PM_TYPE D = err[imin-1]+err[imin+1]-2.0*err[imin]; - PM_TYPE d=1000; - if ( fabs ( D ) >0.01 && err[imin-1]>err[imin] && err[imin+1]>err[imin] ) - d= ( err[imin-1]-err[imin+1] ) /D/2.0; - - if ( fabs ( d ) <1 ) - dth+=d*PM_DFI; - }//if - - return(dth); -}//pm_orientation_search - -PM_TYPE PolarMatcher::pm_translation_estimation(const PMScan *ref, const PM_TYPE *new_r, const int *new_bad, PM_TYPE C, PM_TYPE *dx, PM_TYPE *dy) -{ - // do the weighted linear regression on the linearized ... - // include angle as well - int i; - PM_TYPE hi1, hi2,hwi1,hwi2, hw1=0,hw2=0,hwh11=0; - PM_TYPE hwh12=0,hwh21=0,hwh22=0,w; - PM_TYPE dr; - PM_TYPE abs_err = 0; - int n = 0; - for ( i=0;ir[i]-new_r[i]; - abs_err += fabs ( dr ); - - //weight calculation - if (ref->bad[i] == 0 && - new_bad[i] == 0 && - new_r[i] < PM_MAX_RANGE && - new_r[i] > 10.0 && - fabs(dr) < PM_MAX_ERROR ) - { - //weighting according to DUDEK00 - - w = C / (dr*dr + C); - n++; - - //proper calculations of the jacobian - hi1 = pm_co[i];//xx/new_r[i];//this the correct - hi2 = pm_si[i];//yy/new_r[i]; - - hwi1 = hi1*w; - hwi2 = hi2*w; - - //par = (H^t*W*H)^-1*H^t*W*dr - hw1 += hwi1*dr;//H^t*W*dr - hw2 += hwi2*dr; - - //H^t*W*H - hwh11 += hwi1*hi1; - hwh12 += hwi1*hi2; - hwh21 += hwi2*hi1; //should take adv. of symmetricity!! - hwh22 += hwi2*hi2; - } - else - { -/* - if (ref->bad[i] != 0) printf("rb "); - if (new_bad[i] != 0) printf("nb "); - if (new_r[i] < PM_MAX_RANGE) printf("MR "); - if (fabs(dr) < PM_MAX_ERROR) printf("ME "); - printf(".\n"); - */ - } - }//for i - if ( n -* William Morris -* http://robotics.ccny.cuny.edu -* Modified 2014, Daniel Axtens -* whilst a student at the Australian National University -* -* This program is free software: you can redistribute it and/or modify -* it under the terms of the GNU General Public License as published by -* the Free Software Foundation, either version 3 of the License, or -* (at your option) any later version. -* -* This program is distributed in the hope that it will be useful, -* but WITHOUT ANY WARRANTY; without even the implied warranty of -* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -* GNU General Public License for more details. -* -* You should have received a copy of the GNU General Public License -* along with this program. If not, see . -* -* This is a wrapper around Polar Scan Matcher [1], written by -* Albert Diosi -* -* [1] A. Diosi and L. Kleeman, "Laser Scan Matching in Polar Coordinates with -* Application to SLAM " Proceedings of 2005 IEEE/RSJ International Conference -* on Intelligent Robots and Systems, August, 2005, Edmonton, Canada -*/ - -#include "polar_scan_matcher/psm_node.h" - -int main (int argc, char** argv) -{ - ros::init(argc, argv, "PolarScanMatching Node"); - PSMNode psmNode; - ros::spin(); -} - -PSMNode::PSMNode() -{ - ROS_INFO("Creating PolarScanMatching node"); - - ros::NodeHandle nh; - - initialized_ = false; - totalDuration_ = 0.0; - scansCount_ = 0; - - prevWorldToBase_.setIdentity(); - - getParams(); - - scanSubscriber_ = nh.subscribe (scanTopic_, 10, &PSMNode::scanCallback, this); - imuSubscriber_ = nh.subscribe (imuTopic_, 10, &PSMNode::imuCallback, this); - posePublisher_ = nh.advertise(poseTopic_, 10); -} - -PSMNode::~PSMNode() -{ - ROS_INFO("Destroying PolarScanMatching node"); -} - -void PSMNode::getParams() -{ - ros::NodeHandle nh_private("~"); - - std::string odometryType; - - // **** wrapper parameters - - if (!nh_private.getParam ("world_frame", worldFrame_)) - worldFrame_ = "world"; - if (!nh_private.getParam ("base_frame", baseFrame_)) - baseFrame_ = "base_link"; - if (!nh_private.getParam ("publish_tf", publishTf_)) - publishTf_ = true; - if (!nh_private.getParam ("publish_pose", publishPose_)) - publishPose_ = true; - if (!nh_private.getParam ("odometry_type", odometryType)) - odometryType = "none"; - - if (odometryType.compare("none") == 0) - { - useTfOdometry_ = false; - useImuOdometry_ = false; - } - else if (odometryType.compare("tf") == 0) - { - useTfOdometry_ = true; - useImuOdometry_ = false; - } - else if (odometryType.compare("imu") == 0) - { - useTfOdometry_ = false; - useImuOdometry_ = true; - } - else - { - ROS_WARN("Unknown value of odometry_type parameter passed to psm_node. \ - Using default value (\"none\")"); - useTfOdometry_ = false; - useImuOdometry_ = false; - } - - // **** PSM parameters - - if (!nh_private.getParam ("min_valid_points", minValidPoints_)) - minValidPoints_ = 200; - if (!nh_private.getParam ("search_window", searchWindow_)) - searchWindow_ = 40; - if (!nh_private.getParam ("max_error", maxError_)) - maxError_ = 0.20; - if (!nh_private.getParam ("max_iterations", maxIterations_)) - maxIterations_ = 20; - if (!nh_private.getParam ("stop_condition", stopCondition_)) - stopCondition_ = 0.01; -} - -bool PSMNode::initialize(const sensor_msgs::LaserScan& scan) -{ - laserFrame_ = scan.header.frame_id; - - // **** get base to laser tf - - tf::StampedTransform baseToLaserTf; - try - { - tfListener_.waitForTransform(baseFrame_, scan.header.frame_id, scan.header.stamp, ros::Duration(1.0)); - tfListener_.lookupTransform (baseFrame_, scan.header.frame_id, scan.header.stamp, baseToLaserTf); - } - catch (tf::TransformException ex) - { - ROS_WARN("ScanMatcherNode: Could get initial laser transform, skipping scan (%s)", ex.what()); - return false; - } - baseToLaser_ = baseToLaserTf; - laserToBase_ = baseToLaser_.inverse(); - - // **** pass parameters to matcher and initialise - - matcher_.PM_L_POINTS = scan.ranges.size(); - - matcher_.PM_FOV = (scan.angle_max - scan.angle_min) * 180.0 / M_PI; - matcher_.PM_MAX_RANGE = scan.range_max * ROS_TO_PM; - - matcher_.PM_TIME_DELAY = 0.00; - - matcher_.PM_MIN_VALID_POINTS = minValidPoints_; - matcher_.PM_SEARCH_WINDOW = searchWindow_; - matcher_.PM_MAX_ERROR = maxError_ * ROS_TO_PM; - - matcher_.PM_MAX_ITER = maxIterations_; - matcher_.PM_MAX_ITER_ICP = maxIterations_; - matcher_.PM_STOP_COND = stopCondition_ * ROS_TO_PM; - matcher_.PM_STOP_COND_ICP = stopCondition_ * ROS_TO_PM; - - matcher_.pm_init(); - - // **** get the initial worldToBase tf - - getCurrentEstimatedPose(prevWorldToBase_, scan); - - // **** create the first pm scan from the laser scan message - - tf::Transform t; - t.setIdentity(); - prevPMScan_ = new PMScan(scan.ranges.size()); - rosToPMScan(scan, t, prevPMScan_); - - return true; -} - -void PSMNode::imuCallback (const sensor_msgs::Imu& imuMsg) -{ - imuMutex_.lock(); - tf::Quaternion q(imuMsg.orientation.x, imuMsg.orientation.y, imuMsg.orientation.z, imuMsg.orientation.w); - tf::Matrix3x3 m(q); - double temp; - m.getRPY(temp, temp, currImuAngle_); - imuMutex_.unlock(); -} - -void PSMNode::scanCallback(const sensor_msgs::LaserScan& scan) -{ - ROS_DEBUG("Received scan"); - scansCount_++; - - struct timeval start, end; - gettimeofday(&start, NULL); - - // **** if this is the first scan, initialize and leave the function here - - if (!initialized_) - { - initialized_ = initialize(scan); - if (initialized_) ROS_INFO("Matcher initialized"); - return; - } - - // **** attmempt to match the two scans - - // PM scan matcher is used in the following way: - // The reference scan (prevPMScan_) always has a pose of 0 - // The new scan (currPMScan) has a pose equal to the movement - // of the laser in the world frame since the last scan (tf::Transform change) - // The computed correction is then propagated using the tf machinery - - prevPMScan_->rx = 0; - prevPMScan_->ry = 0; - prevPMScan_->th = 0; - - tf::Transform currWorldToBase; - tf::Transform change; - change.setIdentity(); - - // what odometry model to use - if (useTfOdometry_) - { - // get the current position of the base in the world frame - // if no transofrm is available, we'll use the last known transform - - getCurrentEstimatedPose(currWorldToBase, scan); - change = laserToBase_ * prevWorldToBase_.inverse() * currWorldToBase * baseToLaser_; - } - else if (useImuOdometry_) - { - imuMutex_.lock(); - double dTheta = currImuAngle_ - prevImuAngle_; - prevImuAngle_ = currImuAngle_; - change.getRotation().setRPY(0.0, 0.0, dTheta); - imuMutex_.unlock(); - } - - PMScan * currPMScan = new PMScan(scan.ranges.size()); - rosToPMScan(scan, change, currPMScan); - - try - { - matcher_.pm_psm(prevPMScan_, currPMScan); - } - catch(int err) - { - ROS_WARN("Error in scan matching"); - delete prevPMScan_; - prevPMScan_ = currPMScan; - return; - }; - - // **** calculate change in position - - // rotate by -90 degrees, since polar scan matcher assumes different laser frame - // and scale down by 100 - double dx = currPMScan->ry / ROS_TO_PM; - double dy = -currPMScan->rx / ROS_TO_PM; - double da = currPMScan->th; - - // change = scan match result for how much laser moved between scans, - // in the world frame - change.setOrigin(tf::Vector3(dx, dy, 0.0)); - tf::Quaternion q; - q.setRPY(0, 0, da); - change.setRotation(q); - - // **** publish the new estimated pose as a tf - - currWorldToBase = prevWorldToBase_ * baseToLaser_ * change * laserToBase_; - - if (publishTf_ ) publishTf (currWorldToBase, scan.header.stamp); - if (publishPose_) publishPose(currWorldToBase); - - // **** swap old and new - - delete prevPMScan_; - prevPMScan_ = currPMScan; - prevWorldToBase_ = currWorldToBase; - - // **** timing information - needed for profiling only - - gettimeofday(&end, NULL); - double dur = ((end.tv_sec * 1000000 + end.tv_usec ) - - (start.tv_sec * 1000000 + start.tv_usec)) / 1000.0; - totalDuration_ += dur; - double ave = totalDuration_/scansCount_; - - ROS_INFO("dur:\t %.3f ms \t ave:\t %.3f ms", dur, ave); -} - -void PSMNode::publishTf(const tf::Transform& transform, - const ros::Time& time) -{ - tf::StampedTransform transformMsg (transform, time, worldFrame_, baseFrame_); - tfBroadcaster_.sendTransform (transformMsg); -} - -void PSMNode::publishPose(const tf::Transform& transform) -{ - geometry_msgs::Pose2D pose; - tfToPose2D(transform, pose); - - posePublisher_.publish(pose); -} - -void PSMNode::rosToPMScan(const sensor_msgs::LaserScan& scan, - const tf::Transform& change, - PMScan* pmScan) -{ - geometry_msgs::Pose2D pose; - tfToPose2D(change, pose); - - // FIXME: rotate x & y by 90 degree? - - pmScan->rx = pose.x * ROS_TO_PM; - pmScan->ry = pose.y * ROS_TO_PM; - pmScan->th = pose.theta; - - for (int i = 0; i < scan.ranges.size(); ++i) - { - if (scan.ranges[i] == 0) - { - pmScan->r[i] = 99999; // hokuyo uses 0 for out of range reading - } - else - { - pmScan->r[i] = scan.ranges[i] * ROS_TO_PM; - pmScan->x[i] = (pmScan->r[i]) * matcher_.pm_co[i]; - pmScan->y[i] = (pmScan->r[i]) * matcher_.pm_si[i]; - pmScan->bad[i] = 0; - } - - pmScan->bad[i] = 0; - } - - matcher_.pm_median_filter (pmScan); - matcher_.pm_find_far_points(pmScan); - matcher_.pm_segment_scan (pmScan); -} - -void PSMNode::getCurrentEstimatedPose(tf::Transform& worldToBase, - const sensor_msgs::LaserScan& scanMsg) -{ - tf::StampedTransform worldToBaseTf; - try - { - tfListener_.lookupTransform (worldFrame_, baseFrame_, scanMsg.header.stamp, worldToBaseTf); - } - catch (tf::TransformException ex) - { - // transform unavailable - use the pose from our last estimation - ROS_WARN("Transform unavailable, using last estimated pose (%s)", ex.what()); - worldToBase = prevWorldToBase_; - return; - } - worldToBase = worldToBaseTf; -} - -void PSMNode::pose2DToTf(const geometry_msgs::Pose2D& pose, tf::Transform& t) -{ - t.setOrigin(tf::Vector3(pose.x, pose.y, 0.0)); - tf::Quaternion q; - q.setRPY(0, 0, pose.theta); - t.setRotation(q); -} - -void PSMNode::tfToPose2D(const tf::Transform& t, geometry_msgs::Pose2D& pose) -{ - tf::Matrix3x3 m(t.getRotation()); - double roll, pitch, yaw; - m.getRPY(roll, pitch, yaw); - - pose.x = t.getOrigin().getX(); - pose.y = t.getOrigin().getY(); - pose.theta = yaw; -} diff --git a/scan_to_cloud_converter/CMakeLists.txt b/scan_to_cloud_converter/CMakeLists.txt index 6fa18ce..6c08271 100644 --- a/scan_to_cloud_converter/CMakeLists.txt +++ b/scan_to_cloud_converter/CMakeLists.txt @@ -1,34 +1,25 @@ -cmake_minimum_required(VERSION 2.8.3) -project(scan_to_cloud_converter) - - -# List C++ dependencies on ros packages -set( ROS_CXX_DEPENDENCIES - roscpp - pcl_ros - pcl_conversions) - -# Find catkin and all required ROS components -find_package(catkin REQUIRED COMPONENTS ${ROS_CXX_DEPENDENCIES}) -find_package(PCL REQUIRED QUIET) - -# Set include directories -include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) - -# Declare info that other packages need to import library generated here -catkin_package( ) - -#Create node -add_executable( scan_to_cloud_converter_node - src/scan_to_cloud_converter_node.cpp - src/scan_to_cloud_converter.cpp ) - -# No need to link against pcl (using header only libraries) -target_link_libraries( scan_to_cloud_converter_node ${catkin_LIBRARIES}) - -add_dependencies(scan_to_cloud_converter_node ${catkin_EXPORTED_TARGETS}) +cmake_minimum_required(VERSION 3.5) +project(scan_to_cloud_converter) -#Install node -install(TARGETS scan_to_cloud_converter_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) +find_package(ament_cmake REQUIRED) +find_package(laser_geometry REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(tf2 REQUIRED) + +add_executable(${PROJECT_NAME} src/scan_to_cloud_converter.cpp) +target_include_directories(${PROJECT_NAME} + PRIVATE + "include" +) +ament_target_dependencies(${PROJECT_NAME} + laser_geometry + rclcpp + sensor_msgs + tf2 +) + +install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME}) + +ament_package() diff --git a/scan_to_cloud_converter/include/scan_to_cloud_converter/scan_to_cloud_converter.h b/scan_to_cloud_converter/include/scan_to_cloud_converter/scan_to_cloud_converter.h index 436ee37..5d8c7f2 100644 --- a/scan_to_cloud_converter/include/scan_to_cloud_converter/scan_to_cloud_converter.h +++ b/scan_to_cloud_converter/include/scan_to_cloud_converter/scan_to_cloud_converter.h @@ -30,36 +30,26 @@ #ifndef SCAN_TO_CLOUD_CONVERTER_SCAN_TO_CLOUD_CONVERTER_H #define SCAN_TO_CLOUD_CONVERTER_SCAN_TO_CLOUD_CONVERTER_H -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include namespace scan_tools { -class ScanToCloudConverter -{ - typedef pcl::PointXYZ PointT; - typedef pcl::PointCloud PointCloudT; +class ScanToCloudConverter : public rclcpp::Node { + public: - private: - - ros::NodeHandle nh_; - ros::NodeHandle nh_private_; + ScanToCloudConverter(); + ~ScanToCloudConverter() = default; - ros::Publisher cloud_publisher_; - ros::Subscriber scan_subscriber_; - - PointT invalid_point_; + private: + rclcpp::Publisher::SharedPtr cloud_pub_; + rclcpp::Subscription::SharedPtr scan_sub_; - void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg); - - public: + laser_geometry::LaserProjection laser_projector_; - ScanToCloudConverter(ros::NodeHandle nh, ros::NodeHandle nh_private); - ~ScanToCloudConverter(); + void scanCallback(const sensor_msgs::msg::LaserScan::SharedPtr scan_msg); }; } // namespace scan_tools diff --git a/scan_to_cloud_converter/package.xml b/scan_to_cloud_converter/package.xml index 0604502..62b27c3 100644 --- a/scan_to_cloud_converter/package.xml +++ b/scan_to_cloud_converter/package.xml @@ -1,4 +1,6 @@ - + + + scan_to_cloud_converter 0.3.3 @@ -13,18 +15,18 @@ BSD - catkin + ament_cmake - roscpp - pcl_ros - pcl_conversions + laser_geometry + rclcpp + sensor_msgs + tf2 - libpcl-all-dev + ament_lint_auto + ament_lint_common - roscpp - pcl_ros - pcl_conversions - - libpcl-all + + ament_cmake + diff --git a/scan_to_cloud_converter/src/scan_to_cloud_converter.cpp b/scan_to_cloud_converter/src/scan_to_cloud_converter.cpp index 749c9dd..fac325c 100644 --- a/scan_to_cloud_converter/src/scan_to_cloud_converter.cpp +++ b/scan_to_cloud_converter/src/scan_to_cloud_converter.cpp @@ -27,62 +27,32 @@ * POSSIBILITY OF SUCH DAMAGE. */ -#include "scan_to_cloud_converter/scan_to_cloud_converter.h" - -#include +#include namespace scan_tools { -ScanToCloudConverter::ScanToCloudConverter(ros::NodeHandle nh, ros::NodeHandle nh_private): - nh_(nh), - nh_private_(nh_private) -{ - ROS_INFO("Starting ScanToCloudConverter"); - - invalid_point_.x = std::numeric_limits::quiet_NaN(); - invalid_point_.y = std::numeric_limits::quiet_NaN(); - invalid_point_.z = std::numeric_limits::quiet_NaN(); +ScanToCloudConverter::ScanToCloudConverter() : rclcpp::Node("scan_to_cloud_converter") { + cloud_pub_ = create_publisher("cloud", rclcpp::SystemDefaultsQoS()); - cloud_publisher_ = nh_.advertise( - "cloud", 1); - scan_subscriber_ = nh_.subscribe( - "scan", 1, &ScanToCloudConverter::scanCallback, this); + scan_sub_ = create_subscription( + "scan", rclcpp::SensorDataQoS(), std::bind(&ScanToCloudConverter::scanCallback, this, std::placeholders::_1)); } -ScanToCloudConverter::~ScanToCloudConverter() -{ - ROS_INFO("Destroying ScanToCloudConverter"); +void ScanToCloudConverter::scanCallback(const sensor_msgs::msg::LaserScan::SharedPtr scan_msg) { + sensor_msgs::msg::PointCloud2 laser_cloud; + laser_projector_.projectLaser(*scan_msg, laser_cloud); + laser_cloud.header = scan_msg->header; + cloud_pub_->publish(laser_cloud); } -void ScanToCloudConverter::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg) -{ - PointCloudT::Ptr cloud_msg = - boost::shared_ptr(new PointCloudT()); - - cloud_msg->points.resize(scan_msg->ranges.size()); - - for (unsigned int i = 0; i < scan_msg->ranges.size(); ++i) - { - PointT& p = cloud_msg->points[i]; - float range = scan_msg->ranges[i]; - if (range > scan_msg->range_min && range < scan_msg->range_max) - { - float angle = scan_msg->angle_min + i*scan_msg->angle_increment; +} //namespace scan_tools - p.x = range * cos(angle); - p.y = range * sin(angle); - p.z = 0.0; - } - else - p = invalid_point_; - } - cloud_msg->width = scan_msg->ranges.size(); - cloud_msg->height = 1; - cloud_msg->is_dense = false; //contains nans - pcl_conversions::toPCL(scan_msg->header, cloud_msg->header); +int main(int argc, char ** argv) { + rclcpp::init(argc, argv); + auto node = std::make_shared(); + rclcpp::spin(node->get_node_base_interface()); + rclcpp::shutdown(); - cloud_publisher_.publish(cloud_msg); + return 0; } - -} //namespace scan_tools diff --git a/scan_to_cloud_converter/src/scan_to_cloud_converter_node.cpp b/scan_to_cloud_converter/src/scan_to_cloud_converter_node.cpp deleted file mode 100644 index 0a978bd..0000000 --- a/scan_to_cloud_converter/src/scan_to_cloud_converter_node.cpp +++ /dev/null @@ -1,11 +0,0 @@ -#include "scan_to_cloud_converter/scan_to_cloud_converter.h" - -int main (int argc, char **argv) -{ - ros::init (argc, argv, "ScanToCloudConverter"); - ros::NodeHandle nh; - ros::NodeHandle nh_private("~"); - scan_tools::ScanToCloudConverter ltcc(nh, nh_private); - ros::spin(); - return 0; -} diff --git a/scan_tools/CMakeLists.txt b/scan_tools/CMakeLists.txt index 7b09ba6..1452cab 100644 --- a/scan_tools/CMakeLists.txt +++ b/scan_tools/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 2.8.3) -project(scan_tools) -find_package(catkin REQUIRED) -catkin_metapackage() +cmake_minimum_required(VERSION 3.5) +project(scan_tools NONE) +find_package(ament_cmake REQUIRED) +ament_package() diff --git a/scan_tools/package.xml b/scan_tools/package.xml index d40fed9..7416cfc 100644 --- a/scan_tools/package.xml +++ b/scan_tools/package.xml @@ -1,4 +1,6 @@ - + + + scan_tools 0.3.3 @@ -15,18 +17,13 @@ http://ros.org/wiki/scan_tools - catkin + ament_cmake - laser_ortho_projector - laser_scan_matcher - laser_scan_sparsifier - laser_scan_splitter - ncd_parser - scan_to_cloud_converter - polar_scan_matcher + laser_scan_matcher + scan_to_cloud_converter - + ament_cmake