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Merge pull request #6 from axydes/costmap-2d-footprint 

Costmap 2d footprint
master
Christoph Rösmann 2020-03-08 18:29:54 +01:00 committed by GitHub
parent e3658ac44d aeccd15ac6
commit 76681c3e02
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 48 additions and 12 deletions
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10
mpc_local_planner/include/mpc_local_planner/mpc_local_planner_ros.h
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@ -186,9 +186,17 @@ class MpcLocalPlannerROS : public nav_core::BaseLocalPlanner, public mbf_costmap
/**
* @brief Get the current robot footprint/contour model
* @param nh const reference to the local ros::NodeHandle
* @param costmap_ros pointer to an intialized instance of costmap_2d::Costmap2dROS
* @return Robot footprint model used for optimization
*/
static RobotFootprintModelPtr getRobotFootprintFromParamServer(const ros::NodeHandle& nh);
static RobotFootprintModelPtr getRobotFootprintFromParamServer(const ros::NodeHandle& nh, costmap_2d::Costmap2DROS* costmap_ros = nullptr);
/**
* @brief Get the current robot footprint/contour model
* @param costmap_ros reference to an intialized instance of costmap_2d::Costmap2dROS
* @return Robot footprint model used for optimization
*/
static RobotFootprintModelPtr getRobotFootprintFromCostmap2d(costmap_2d::Costmap2DROS& costmap_ros);
/**
* @brief Set the footprint from the given XmlRpcValue.

50
mpc_local_planner/src/mpc_local_planner_ros.cpp
View File

@ -97,16 +97,6 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
// reserve some memory for obstacles
_obstacles.reserve(700);
// create robot footprint/contour model for optimization
_robot_model = getRobotFootprintFromParamServer(nh);
// create the planner instance
if (!_controller.configure(nh, _obstacles, _robot_model, _via_points))
{
ROS_ERROR("Controller configuration failed.");
return;
}
// init other variables
_tf = tf;
_costmap_ros = costmap_ros;
@ -117,6 +107,16 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
_global_frame = _costmap_ros->getGlobalFrameID();
_robot_base_frame = _costmap_ros->getBaseFrameID();
// create robot footprint/contour model for optimization
_robot_model = getRobotFootprintFromParamServer(nh, _costmap_ros);
// create the planner instance
if (!_controller.configure(nh, _obstacles, _robot_model, _via_points))
{
ROS_ERROR("Controller configuration failed.");
return;
}
// create visualization instance
_publisher.initialize(nh, _controller.getRobotDynamics(), _global_frame);
@ -850,7 +850,7 @@ void MpcLocalPlannerROS::customViaPointsCB(const nav_msgs::Path::ConstPtr& via_p
_custom_via_points_active = !_via_points.empty();
}
teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintFromParamServer(const ros::NodeHandle& nh)
teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintFromParamServer(const ros::NodeHandle& nh, costmap_2d::Costmap2DROS* costmap_ros)
{
std::string model_name;
if (!nh.getParam("footprint_model/type", model_name))
@ -859,6 +859,18 @@ teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintF
return boost::make_shared<teb_local_planner::PointRobotFootprint>();
}
// from costmap_2d
if (model_name.compare("costmap_2d") == 0)
{
if (!costmap_ros)
{
ROS_WARN_STREAM("Costmap 2d pointer is null. Using point model instead.");
return boost::make_shared<teb_local_planner::PointRobotFootprint>();
}
ROS_INFO("Footprint model loaded from costmap_2d for trajectory optimization.");
return getRobotFootprintFromCostmap2d(*costmap_ros);
}
// point
if (model_name.compare("point") == 0)
{
@ -977,6 +989,22 @@ teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintF
return boost::make_shared<teb_local_planner::PointRobotFootprint>();
}
teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintFromCostmap2d(costmap_2d::Costmap2DROS& costmap_ros)
{
Point2dContainer footprint;
Eigen::Vector2d pt;
geometry_msgs::Polygon polygon = costmap_ros.getRobotFootprintPolygon();
for (int i = 0; i < polygon.points.size(); ++i)
{
pt.x() = polygon.points[i].x;
pt.y() = polygon.points[i].y;
footprint.push_back(pt);
}
return boost::make_shared<teb_local_planner::PolygonRobotFootprint>(footprint);
}
teb_local_planner::Point2dContainer MpcLocalPlannerROS::makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc,
const std::string& full_param_name)
{