Support multiple simultaneous trajectories. (#194)
Damon Kohler
GitHub
parent
43c4bacde3
commit
0d1e248f5f
|
|
@ -23,22 +23,50 @@
|
|||
|
||||
namespace cartographer_ros {
|
||||
|
||||
MapBuilderBridge::MapBuilderBridge(
|
||||
const NodeOptions& options,
|
||||
const std::unordered_set<string>& expected_sensor_ids,
|
||||
MapBuilderBridge::MapBuilderBridge(const NodeOptions& options,
|
||||
tf2_ros::Buffer* const tf_buffer)
|
||||
: options_(options),
|
||||
map_builder_(options.map_builder_options, &constant_data_),
|
||||
expected_sensor_ids_(expected_sensor_ids),
|
||||
trajectory_id_(map_builder_.AddTrajectoryBuilder(expected_sensor_ids_)),
|
||||
tf_bridge_(options_.tracking_frame, options_.lookup_transform_timeout_sec,
|
||||
tf_buffer) {
|
||||
sensor_bridge_ = cartographer::common::make_unique<SensorBridge>(
|
||||
&tf_bridge_, map_builder_.GetTrajectoryBuilder(trajectory_id_));
|
||||
tf_buffer_(tf_buffer) {}
|
||||
|
||||
int MapBuilderBridge::AddTrajectory(
|
||||
const std::unordered_set<string>& expected_sensor_ids,
|
||||
const string& tracking_frame) {
|
||||
const int trajectory_id =
|
||||
map_builder_.AddTrajectoryBuilder(expected_sensor_ids);
|
||||
LOG(INFO) << "Added trajectory with ID '" << trajectory_id << "'.";
|
||||
|
||||
CHECK_EQ(tf_bridges_.count(trajectory_id), 0);
|
||||
CHECK_EQ(sensor_bridges_.count(trajectory_id), 0);
|
||||
tf_bridges_[trajectory_id] = cartographer::common::make_unique<TfBridge>(
|
||||
tracking_frame, options_.lookup_transform_timeout_sec, tf_buffer_);
|
||||
sensor_bridges_[trajectory_id] =
|
||||
cartographer::common::make_unique<SensorBridge>(
|
||||
tf_bridge(trajectory_id),
|
||||
map_builder_.GetTrajectoryBuilder(trajectory_id));
|
||||
return trajectory_id;
|
||||
}
|
||||
|
||||
MapBuilderBridge::~MapBuilderBridge() {
|
||||
map_builder_.FinishTrajectory(trajectory_id_);
|
||||
void MapBuilderBridge::FinishTrajectory(const int trajectory_id) {
|
||||
LOG(INFO) << "Finishing trajectory with ID '" << trajectory_id << "'...";
|
||||
|
||||
CHECK_EQ(tf_bridges_.count(trajectory_id), 1);
|
||||
CHECK_EQ(sensor_bridges_.count(trajectory_id), 1);
|
||||
map_builder_.FinishTrajectory(trajectory_id);
|
||||
map_builder_.sparse_pose_graph()->RunFinalOptimization();
|
||||
tf_bridges_.erase(trajectory_id);
|
||||
sensor_bridges_.erase(trajectory_id);
|
||||
}
|
||||
|
||||
void MapBuilderBridge::WriteAssets(const string& stem) {
|
||||
const auto trajectory_nodes =
|
||||
map_builder_.sparse_pose_graph()->GetTrajectoryNodes();
|
||||
if (trajectory_nodes.empty()) {
|
||||
LOG(WARNING) << "No data was collected and no assets will be written.";
|
||||
} else {
|
||||
LOG(INFO) << "Writing assets to '" << stem << "'...";
|
||||
cartographer_ros::WriteAssets(trajectory_nodes, options_, stem);
|
||||
}
|
||||
}
|
||||
|
||||
bool MapBuilderBridge::HandleSubmapQuery(
|
||||
|
|
@ -63,32 +91,6 @@ bool MapBuilderBridge::HandleSubmapQuery(
|
|||
return true;
|
||||
}
|
||||
|
||||
bool MapBuilderBridge::HandleFinishTrajectory(
|
||||
cartographer_ros_msgs::FinishTrajectory::Request& request,
|
||||
cartographer_ros_msgs::FinishTrajectory::Response& response) {
|
||||
LOG(INFO) << "Finishing trajectory...";
|
||||
|
||||
const int previous_trajectory_id = trajectory_id_;
|
||||
trajectory_id_ = map_builder_.AddTrajectoryBuilder(expected_sensor_ids_);
|
||||
sensor_bridge_ = cartographer::common::make_unique<SensorBridge>(
|
||||
&tf_bridge_, map_builder_.GetTrajectoryBuilder(trajectory_id_));
|
||||
|
||||
map_builder_.FinishTrajectory(previous_trajectory_id);
|
||||
map_builder_.sparse_pose_graph()->RunFinalOptimization();
|
||||
|
||||
const auto trajectory_nodes =
|
||||
map_builder_.sparse_pose_graph()->GetTrajectoryNodes();
|
||||
if (trajectory_nodes.empty()) {
|
||||
LOG(WARNING) << "No data collected and no assets will be written.";
|
||||
} else {
|
||||
LOG(INFO) << "Writing assets...";
|
||||
WriteAssets(trajectory_nodes, options_, request.stem);
|
||||
}
|
||||
|
||||
LOG(INFO) << "New trajectory started.";
|
||||
return true;
|
||||
}
|
||||
|
||||
cartographer_ros_msgs::SubmapList MapBuilderBridge::GetSubmapList() {
|
||||
cartographer_ros_msgs::SubmapList submap_list;
|
||||
submap_list.header.stamp = ::ros::Time::now();
|
||||
|
|
@ -130,4 +132,16 @@ MapBuilderBridge::BuildOccupancyGrid() {
|
|||
return occupancy_grid;
|
||||
}
|
||||
|
||||
SensorBridge* MapBuilderBridge::sensor_bridge(const int trajectory_id) {
|
||||
return sensor_bridges_.at(trajectory_id).get();
|
||||
}
|
||||
|
||||
TfBridge* MapBuilderBridge::tf_bridge(const int trajectory_id) {
|
||||
return tf_bridges_.at(trajectory_id).get();
|
||||
}
|
||||
|
||||
cartographer::mapping::MapBuilder* MapBuilderBridge::map_builder() {
|
||||
return &map_builder_;
|
||||
}
|
||||
|
||||
} // namespace cartographer_ros
|
||||
|
|
|
|||
|
|
@ -19,6 +19,7 @@
|
|||
|
||||
#include <memory>
|
||||
#include <unordered_set>
|
||||
#include <unordered_map>
|
||||
|
||||
#include "cartographer/mapping/map_builder.h"
|
||||
#include "cartographer_ros/node_options.h"
|
||||
|
|
@ -34,30 +35,26 @@ namespace cartographer_ros {
|
|||
|
||||
class MapBuilderBridge {
|
||||
public:
|
||||
MapBuilderBridge(const NodeOptions& options,
|
||||
const std::unordered_set<string>& expected_sensor_ids,
|
||||
tf2_ros::Buffer* tf_buffer);
|
||||
~MapBuilderBridge();
|
||||
MapBuilderBridge(const NodeOptions& options, tf2_ros::Buffer* tf_buffer);
|
||||
|
||||
MapBuilderBridge(const MapBuilderBridge&) = delete;
|
||||
MapBuilderBridge& operator=(const MapBuilderBridge&) = delete;
|
||||
|
||||
int AddTrajectory(const std::unordered_set<string>& expected_sensor_ids,
|
||||
const string& tracking_frame);
|
||||
void FinishTrajectory(int trajectory_id);
|
||||
void WriteAssets(const string& stem);
|
||||
|
||||
bool HandleSubmapQuery(
|
||||
cartographer_ros_msgs::SubmapQuery::Request& request,
|
||||
cartographer_ros_msgs::SubmapQuery::Response& response);
|
||||
bool HandleFinishTrajectory(
|
||||
cartographer_ros_msgs::FinishTrajectory::Request& request,
|
||||
cartographer_ros_msgs::FinishTrajectory::Response& response);
|
||||
|
||||
cartographer_ros_msgs::SubmapList GetSubmapList();
|
||||
std::unique_ptr<nav_msgs::OccupancyGrid> BuildOccupancyGrid();
|
||||
|
||||
SensorBridge* sensor_bridge() { return sensor_bridge_.get(); }
|
||||
|
||||
// TODO(damonkohler): Remove these accessors.
|
||||
int trajectory_id() const { return trajectory_id_; }
|
||||
TfBridge* tf_bridge() { return &tf_bridge_; }
|
||||
cartographer::mapping::MapBuilder* map_builder() { return &map_builder_; }
|
||||
SensorBridge* sensor_bridge(int trajectory_id);
|
||||
TfBridge* tf_bridge(int trajectory_id);
|
||||
cartographer::mapping::MapBuilder* map_builder();
|
||||
|
||||
private:
|
||||
const NodeOptions options_;
|
||||
|
|
@ -65,10 +62,9 @@ class MapBuilderBridge {
|
|||
std::deque<cartographer::mapping::TrajectoryNode::ConstantData>
|
||||
constant_data_;
|
||||
cartographer::mapping::MapBuilder map_builder_;
|
||||
std::unordered_set<string> expected_sensor_ids_;
|
||||
int trajectory_id_ = -1;
|
||||
TfBridge tf_bridge_;
|
||||
std::unique_ptr<SensorBridge> sensor_bridge_;
|
||||
tf2_ros::Buffer* const tf_buffer_;
|
||||
std::unordered_map<int, std::unique_ptr<TfBridge>> tf_bridges_;
|
||||
std::unordered_map<int, std::unique_ptr<SensorBridge>> sensor_bridges_;
|
||||
};
|
||||
|
||||
} // namespace cartographer_ros
|
||||
|
|
|
|||
|
|
@ -64,11 +64,14 @@ constexpr char kFinishTrajectoryServiceName[] = "finish_trajectory";
|
|||
Node::Node(const NodeOptions& options)
|
||||
: options_(options),
|
||||
tf_buffer_(::ros::Duration(kTfBufferCacheTimeInSeconds)),
|
||||
tf_(tf_buffer_) {}
|
||||
tf_(tf_buffer_),
|
||||
map_builder_bridge_(options_, &tf_buffer_) {}
|
||||
|
||||
Node::~Node() {
|
||||
{
|
||||
carto::common::MutexLocker lock(&mutex_);
|
||||
CHECK_GE(trajectory_id_, 0);
|
||||
map_builder_bridge_.FinishTrajectory(trajectory_id_);
|
||||
terminating_ = true;
|
||||
}
|
||||
if (occupancy_grid_thread_.joinable()) {
|
||||
|
|
@ -78,29 +81,27 @@ Node::~Node() {
|
|||
|
||||
void Node::Initialize() {
|
||||
carto::common::MutexLocker lock(&mutex_);
|
||||
std::unordered_set<string> expected_sensor_ids;
|
||||
|
||||
// For 2D SLAM, subscribe to exactly one horizontal laser.
|
||||
if (options_.use_laser_scan) {
|
||||
horizontal_laser_scan_subscriber_ = node_handle_.subscribe(
|
||||
kLaserScanTopic, kInfiniteSubscriberQueueSize,
|
||||
boost::function<void(const sensor_msgs::LaserScan::ConstPtr&)>(
|
||||
[this](const sensor_msgs::LaserScan::ConstPtr& msg) {
|
||||
map_builder_bridge_->sensor_bridge()->HandleLaserScanMessage(
|
||||
map_builder_bridge_.sensor_bridge(trajectory_id_)->HandleLaserScanMessage(
|
||||
kLaserScanTopic, msg);
|
||||
}));
|
||||
expected_sensor_ids.insert(kLaserScanTopic);
|
||||
expected_sensor_ids_.insert(kLaserScanTopic);
|
||||
}
|
||||
if (options_.use_multi_echo_laser_scan) {
|
||||
horizontal_laser_scan_subscriber_ = node_handle_.subscribe(
|
||||
kMultiEchoLaserScanTopic, kInfiniteSubscriberQueueSize,
|
||||
boost::function<void(const sensor_msgs::MultiEchoLaserScan::ConstPtr&)>(
|
||||
[this](const sensor_msgs::MultiEchoLaserScan::ConstPtr& msg) {
|
||||
map_builder_bridge_->sensor_bridge()
|
||||
map_builder_bridge_.sensor_bridge(trajectory_id_)
|
||||
->HandleMultiEchoLaserScanMessage(kMultiEchoLaserScanTopic,
|
||||
msg);
|
||||
}));
|
||||
expected_sensor_ids.insert(kMultiEchoLaserScanTopic);
|
||||
expected_sensor_ids_.insert(kMultiEchoLaserScanTopic);
|
||||
}
|
||||
|
||||
// For 3D SLAM, subscribe to all point clouds topics.
|
||||
|
|
@ -114,10 +115,10 @@ void Node::Initialize() {
|
|||
topic, kInfiniteSubscriberQueueSize,
|
||||
boost::function<void(const sensor_msgs::PointCloud2::ConstPtr&)>(
|
||||
[this, topic](const sensor_msgs::PointCloud2::ConstPtr& msg) {
|
||||
map_builder_bridge_->sensor_bridge()->HandlePointCloud2Message(
|
||||
map_builder_bridge_.sensor_bridge(trajectory_id_)->HandlePointCloud2Message(
|
||||
topic, msg);
|
||||
})));
|
||||
expected_sensor_ids.insert(topic);
|
||||
expected_sensor_ids_.insert(topic);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -131,10 +132,10 @@ void Node::Initialize() {
|
|||
kImuTopic, kInfiniteSubscriberQueueSize,
|
||||
boost::function<void(const sensor_msgs::Imu::ConstPtr& msg)>(
|
||||
[this](const sensor_msgs::Imu::ConstPtr& msg) {
|
||||
map_builder_bridge_->sensor_bridge()->HandleImuMessage(kImuTopic,
|
||||
map_builder_bridge_.sensor_bridge(trajectory_id_)->HandleImuMessage(kImuTopic,
|
||||
msg);
|
||||
}));
|
||||
expected_sensor_ids.insert(kImuTopic);
|
||||
expected_sensor_ids_.insert(kImuTopic);
|
||||
}
|
||||
|
||||
if (options_.use_odometry) {
|
||||
|
|
@ -142,14 +143,14 @@ void Node::Initialize() {
|
|||
kOdometryTopic, kInfiniteSubscriberQueueSize,
|
||||
boost::function<void(const nav_msgs::Odometry::ConstPtr&)>(
|
||||
[this](const nav_msgs::Odometry::ConstPtr& msg) {
|
||||
map_builder_bridge_->sensor_bridge()->HandleOdometryMessage(
|
||||
map_builder_bridge_.sensor_bridge(trajectory_id_)->HandleOdometryMessage(
|
||||
kOdometryTopic, msg);
|
||||
}));
|
||||
expected_sensor_ids.insert(kOdometryTopic);
|
||||
expected_sensor_ids_.insert(kOdometryTopic);
|
||||
}
|
||||
|
||||
map_builder_bridge_ = carto::common::make_unique<MapBuilderBridge>(
|
||||
options_, expected_sensor_ids, &tf_buffer_);
|
||||
trajectory_id_ = map_builder_bridge_.AddTrajectory(expected_sensor_ids_,
|
||||
options_.tracking_frame);
|
||||
|
||||
submap_list_publisher_ =
|
||||
node_handle_.advertise<::cartographer_ros_msgs::SubmapList>(
|
||||
|
|
@ -185,27 +186,31 @@ bool Node::HandleSubmapQuery(
|
|||
::cartographer_ros_msgs::SubmapQuery::Request& request,
|
||||
::cartographer_ros_msgs::SubmapQuery::Response& response) {
|
||||
carto::common::MutexLocker lock(&mutex_);
|
||||
return map_builder_bridge_->HandleSubmapQuery(request, response);
|
||||
return map_builder_bridge_.HandleSubmapQuery(request, response);
|
||||
}
|
||||
|
||||
bool Node::HandleFinishTrajectory(
|
||||
::cartographer_ros_msgs::FinishTrajectory::Request& request,
|
||||
::cartographer_ros_msgs::FinishTrajectory::Response& response) {
|
||||
::cartographer_ros_msgs::FinishTrajectory::Response&) {
|
||||
carto::common::MutexLocker lock(&mutex_);
|
||||
return map_builder_bridge_->HandleFinishTrajectory(request, response);
|
||||
const int previous_trajectory_id = trajectory_id_;
|
||||
trajectory_id_ = map_builder_bridge_.AddTrajectory(expected_sensor_ids_,
|
||||
options_.tracking_frame);
|
||||
map_builder_bridge_.FinishTrajectory(previous_trajectory_id);
|
||||
map_builder_bridge_.WriteAssets(request.stem);
|
||||
return true;
|
||||
}
|
||||
|
||||
void Node::PublishSubmapList(const ::ros::WallTimerEvent& unused_timer_event) {
|
||||
carto::common::MutexLocker lock(&mutex_);
|
||||
submap_list_publisher_.publish(map_builder_bridge_->GetSubmapList());
|
||||
submap_list_publisher_.publish(map_builder_bridge_.GetSubmapList());
|
||||
}
|
||||
|
||||
void Node::PublishPoseAndScanMatchedPointCloud(
|
||||
const ::ros::WallTimerEvent& timer_event) {
|
||||
carto::common::MutexLocker lock(&mutex_);
|
||||
const carto::mapping::TrajectoryBuilder* trajectory_builder =
|
||||
map_builder_bridge_->map_builder()->GetTrajectoryBuilder(
|
||||
map_builder_bridge_->trajectory_id());
|
||||
map_builder_bridge_.map_builder()->GetTrajectoryBuilder(trajectory_id_);
|
||||
const carto::mapping::TrajectoryBuilder::PoseEstimate last_pose_estimate =
|
||||
trajectory_builder->pose_estimate();
|
||||
if (carto::common::ToUniversal(last_pose_estimate.time) < 0) {
|
||||
|
|
@ -214,7 +219,7 @@ void Node::PublishPoseAndScanMatchedPointCloud(
|
|||
|
||||
const Rigid3d tracking_to_local = last_pose_estimate.pose;
|
||||
const Rigid3d local_to_map =
|
||||
map_builder_bridge_->map_builder()
|
||||
map_builder_bridge_.map_builder()
|
||||
->sparse_pose_graph()
|
||||
->GetLocalToGlobalTransform(*trajectory_builder->submaps());
|
||||
const Rigid3d tracking_to_map = local_to_map * tracking_to_local;
|
||||
|
|
@ -239,8 +244,8 @@ void Node::PublishPoseAndScanMatchedPointCloud(
|
|||
}
|
||||
|
||||
const auto published_to_tracking =
|
||||
map_builder_bridge_->tf_bridge()->LookupToTracking(
|
||||
last_pose_estimate.time, options_.published_frame);
|
||||
map_builder_bridge_.tf_bridge(trajectory_id_)
|
||||
->LookupToTracking(last_pose_estimate.time, options_.published_frame);
|
||||
if (published_to_tracking != nullptr) {
|
||||
if (options_.provide_odom_frame) {
|
||||
std::vector<geometry_msgs::TransformStamped> stamped_transforms;
|
||||
|
|
@ -279,7 +284,7 @@ void Node::SpinOccupancyGridThreadForever() {
|
|||
if (occupancy_grid_publisher_.getNumSubscribers() == 0) {
|
||||
continue;
|
||||
}
|
||||
const auto occupancy_grid = map_builder_bridge_->BuildOccupancyGrid();
|
||||
const auto occupancy_grid = map_builder_bridge_.BuildOccupancyGrid();
|
||||
if (occupancy_grid != nullptr) {
|
||||
occupancy_grid_publisher_.publish(*occupancy_grid);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -66,7 +66,9 @@ class Node {
|
|||
tf2_ros::TransformBroadcaster tf_broadcaster_;
|
||||
|
||||
cartographer::common::Mutex mutex_;
|
||||
std::unique_ptr<MapBuilderBridge> map_builder_bridge_ GUARDED_BY(mutex_);
|
||||
MapBuilderBridge map_builder_bridge_ GUARDED_BY(mutex_);
|
||||
int trajectory_id_ = -1;
|
||||
std::unordered_set<string> expected_sensor_ids_;
|
||||
|
||||
::ros::NodeHandle node_handle_;
|
||||
::ros::Subscriber imu_subscriber_;
|
||||
|
|
|
|||
Loading…
Reference in New Issue