24 KiB
24 KiB
激光SLAM-多点导航
本文介绍SLAM导航中多点导航功能包的开发思路。
开发背景：
在使用 ROS Navigation & RViz 进行 2D Nav Goal 导航的时候，我们会遇到这些情况：
- 给定导航的目标点只能设置一个，当有多点任务时需要等待一个个任务结束后，再次手动给目标
- 无法暂停或取消任务
- 任务不可循环
开发目的：
完成多目标点导航，可以对导航环节进行操控，如可循环、取消、重置任务等。
开发思路：
- 2D Nav Goal 的单点导航是如何实现的？
我们可以知道导航目标是通过 RViz 工具栏中 2D Nav Goal发布出去的。
通过查看 RViz的配置文件或者 Panels->Add New Panel-> Tool Property ，可以了解当使用2D Nav Goal 在地图上拉了一个箭头（给定目标点时），其实是向话题 /move_base_simple/goal 发布了 geometry_msgs/PoseStamped 类型的消息，这个是目标点的位姿，包含坐标点与朝向。
根据 NodeGraph 可以看到话题 /move_base_simple/goal 被导航包的节点 /move_base 订阅了，进而发给 Navigation 中的各个话题，完成导航。
- 如何基于单点实现多点导航？
要在单点基础上实现多目标点导航的话，就要设计一个关于多个导航目标点消息geometry_msgs/PoseStamped的数据结构，并对多个目标点进行处理，完成导航。
实现多点的方法有多种，在不打破 ROS Navigation 包的完整性的前提下，我选择在2D Nav Goal的 RViz节点和 /move_base 节点中间添加了一个话题 /move_base_simple/goal_temp，将原本发送给 /move_base_simple/goal 的消息，转发给/move_base_simple/goal_temp，通过此话题来积攒多个 2D Nav Goal（任务队列），并根据任务完成的状态反馈，按顺序将每个导航目标点消息 geometry_msgs/PoseStamped 再发送给话题/move_base_simple/goal，以完成多任务中的单次目标点的导航（如下图示）。
- 如何来发布多点任务？
像 2D Nav Goal 一样，我们也可以在 RViz 中开发可视化的操作栏，这要使用到 RViz plugin ， ROS中的可视化工具绝大部分都是基于Qt进行开发的，此前古月居有过详细介绍，可参考这篇文章。
最终效果
首先，我们来看一下最终的实现效果。
MultiNaviGoalsPanel是多点SLAM导航任务的可视化操作区，包括任务点列表、循环、重置、取消、开始任务。
通过 RViz plugin 设计的Mark Display，能够显示的目标点的标号及箭头（朝向）。
代码实现
1. 头文件 multi_navi_goal_panel.h
Qt说明：
- 文字编辑——QLineEdit
- 按键——QPushButton
- 列表——QTableWidget
- 复选框——QCheckBox
- 文字显示——QString
ROS说明:
Publisher：
- 发送每个目标点消息给/move_base_simple/goal的goal_pub_
- 发送取消指令消息给/move_base/cancel的cancel_pub_
- 发送文字和箭头标记的mark_pub_。
Subsrciber：
- 订阅来自rviz中2D Nav Goal的导航目标点消息的goal_sub_
- 订阅目前导航状态的status_sub_
#ifndef MULTI_NAVI_GOAL_PANEL_H
#define MULTI_NAVI_GOAL_PANEL_H
#include <string>
#include <ros/ros.h>
#include <ros/console.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <rviz/panel.h>//plugin基类的头文件
#include <QPushButton>//Qt按钮
#include <QTableWidget>//Qt表格
#include <QCheckBox>//Qt复选框
#include <visualization_msgs/Marker.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/String.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib_msgs/GoalStatusArray.h>
#include <tf/transform_datatypes.h>
namespace navi_multi_goals_pub_rviz_plugin {
class MultiNaviGoalsPanel : public rviz::Panel {
Q_OBJECT
public:
explicit MultiNaviGoalsPanel(QWidget *parent = 0);
virtual void load(const rviz::Config &config);
virtual void save(rviz::Config config) const;
public Q_SLOTS:
void setMaxNumGoal(const QString &maxNumGoal);//设置最大可设置的目标点数量
void writePose(geometry_msgs::Pose pose);//将目标点位姿写入任务列表
void markPose(const geometry_msgs::PoseStamped::ConstPtr &pose);//在地图中标记目标位姿
void deleteMark();//删除标记
protected Q_SLOTS:
void updateMaxNumGoal(); // 更新最大可设置的目标点数量
void initPoseTable(); // 初始化目标点表格
void updatePoseTable(); // 更新目标点表格
void startNavi(); // 开始第一个目标点任务导航
void cancelNavi(); // 取消现在进行中的导航
void addPose();
void goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &pose); // 目标数量子回调函数
void statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &statuses); // 状态子回调函数
void checkCycle(); // 确认循环
void completeNavi(); // 第一个任务到达后，继续进行剩下任务点的导航任务
void cycleNavi();
bool checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list); // 检查是否到达目标点
static void startSpin(); // 启用ROS订阅
protected:
QLineEdit *output_maxNumGoal_editor_;
QPushButton *output_maxNumGoal_button_, *output_reset_button_, *output_startNavi_button_, *output_cancel_button_, *output_addPoint_button_;
QTableWidget *poseArray_table_;
QCheckBox *cycle_checkbox_;
QString output_maxNumGoal_;
// The ROS node handle.
ros::NodeHandle nh_;
ros::Publisher goal_pub_, cancel_pub_, marker_pub_, init_goal_pub_;
ros::Subscriber goal_sub_, status_sub_;
tf2_ros::Buffer tfBuffer_;
tf2_ros::TransformListener tfListener_;
// 多目标点任务栏定义
int maxNumGoal_;
int curGoalIdx_ = 0, cycleCnt_ = 0;
bool permit_ = false, cycle_ = false, arrived_ = false;
geometry_msgs::PoseArray pose_array_;
actionlib_msgs::GoalID cur_goalid_;
};
} // end namespace navi-multi-goals-pub-rviz-plugin
#endif // MULTI_NAVI_GOAL_PANEL_H
2. cpp文件 multi_navi_goal_panel.cpp
#include <cstdio>
#include <ros/console.h>
#include <fstream>
#include <sstream>
#include <QPainter>
#include <QLineEdit>
#include <QVBoxLayout>
#include <QLabel>
#include <QTimer>
#include <QDebug>
#include <QtWidgets/QTableWidget>
#include <QtWidgets/qheaderview.h>
#include "multi_navi_goal_panel.h"
namespace navi_multi_goals_pub_rviz_plugin {
MultiNaviGoalsPanel::MultiNaviGoalsPanel(QWidget *parent)
: rviz::Panel(parent), nh_(), maxNumGoal_(1), tfListener_(tfBuffer_) {
goal_sub_ = nh_.subscribe<geometry_msgs::PoseStamped>("move_base_simple/goal_temp", 100,
boost::bind(&MultiNaviGoalsPanel::goalCntCB, this, _1));
status_sub_ = nh_.subscribe<actionlib_msgs::GoalStatusArray>("move_base/status", 1,
boost::bind(&MultiNaviGoalsPanel::statusCB, this,
_1));
goal_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("move_base_simple/goal", 1);
init_goal_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("move_base_simple/goal_temp", 1);
cancel_pub_ = nh_.advertise<actionlib_msgs::GoalID>("move_base/cancel", 1);
marker_pub_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker", 1);
QVBoxLayout *root_layout = new QVBoxLayout;
// create a panel about "maxNumGoal"
QHBoxLayout *maxNumGoal_layout = new QHBoxLayout;
maxNumGoal_layout->addWidget(new QLabel("目标最大数量"));
output_maxNumGoal_editor_ = new QLineEdit;
maxNumGoal_layout->addWidget(output_maxNumGoal_editor_);
output_maxNumGoal_button_ = new QPushButton("确定");
maxNumGoal_layout->addWidget(output_maxNumGoal_button_);
root_layout->addLayout(maxNumGoal_layout);
QHBoxLayout *second_row_layout = new QHBoxLayout;
cycle_checkbox_ = new QCheckBox("循环");
second_row_layout->addWidget(cycle_checkbox_);
output_addPoint_button_ = new QPushButton("添加机器人当前位置");
second_row_layout->addWidget(output_addPoint_button_);
root_layout->addLayout(second_row_layout);
// creat a QTable to contain the poseArray
poseArray_table_ = new QTableWidget;
initPoseTable();
root_layout->addWidget(poseArray_table_);
//creat a manipulate layout
QHBoxLayout *manipulate_layout = new QHBoxLayout;
output_reset_button_ = new QPushButton("重置");
manipulate_layout->addWidget(output_reset_button_);
output_cancel_button_ = new QPushButton("取消");
manipulate_layout->addWidget(output_cancel_button_);
output_startNavi_button_ = new QPushButton("开始导航!");
manipulate_layout->addWidget(output_startNavi_button_);
root_layout->addLayout(manipulate_layout);
setLayout(root_layout);
// set a Qtimer to start a spin for subscriptions
QTimer *output_timer = new QTimer(this);
output_timer->start(200);
// 设置信号与槽的连接
connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
SLOT(updateMaxNumGoal()));
connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
SLOT(updatePoseTable()));
connect(output_reset_button_, SIGNAL(clicked()), this, SLOT(initPoseTable()));
connect(output_cancel_button_, SIGNAL(clicked()), this, SLOT(cancelNavi()));
connect(output_startNavi_button_, SIGNAL(clicked()), this, SLOT(startNavi()));
connect(output_addPoint_button_, SIGNAL(clicked()), this, SLOT(addPose()));
connect(cycle_checkbox_, SIGNAL(clicked(bool)), this, SLOT(checkCycle()));
connect(output_timer, SIGNAL(timeout()), this, SLOT(startSpin()));
}
// 更新maxNumGoal命名
void MultiNaviGoalsPanel::updateMaxNumGoal() {
setMaxNumGoal(output_maxNumGoal_editor_->text());
}
// set up the maximum number of goals
void MultiNaviGoalsPanel::setMaxNumGoal(const QString &new_maxNumGoal) {
// 检查maxNumGoal是否发生改变.
if (new_maxNumGoal != output_maxNumGoal_) {
output_maxNumGoal_ = new_maxNumGoal;
// 如果命名为空，不发布任何信息
if (output_maxNumGoal_ == "") {
nh_.setParam("maxNumGoal_", 1);
maxNumGoal_ = 1;
} else {
// velocity_publisher_ = nh_.advertise<geometry_msgs::Twist>(output_maxNumGoal_.toStdString(), 1);
nh_.setParam("maxNumGoal_", output_maxNumGoal_.toInt());
maxNumGoal_ = output_maxNumGoal_.toInt();
}
Q_EMIT configChanged();
}
}
// initialize the table of pose
void MultiNaviGoalsPanel::initPoseTable() {
ROS_INFO("Initialize");
curGoalIdx_ = 0, cycleCnt_ = 0;
permit_ = false, cycle_ = false;
poseArray_table_->clear();
pose_array_.poses.clear();
deleteMark();
poseArray_table_->setRowCount(maxNumGoal_);
poseArray_table_->setColumnCount(3);
poseArray_table_->setEditTriggers(QAbstractItemView::NoEditTriggers);
poseArray_table_->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
QStringList pose_header;
pose_header << "x" << "y" << "yaw";
poseArray_table_->setHorizontalHeaderLabels(pose_header);
cycle_checkbox_->setCheckState(Qt::Unchecked);
}
// delete marks in the map
void MultiNaviGoalsPanel::deleteMark() {
visualization_msgs::Marker marker_delete;
marker_delete.action = visualization_msgs::Marker::DELETEALL;
marker_pub_.publish(marker_delete);
}
//update the table of pose
void MultiNaviGoalsPanel::updatePoseTable() {
poseArray_table_->setRowCount(maxNumGoal_);
// pose_array_.poses.resize(maxNumGoal_);
QStringList pose_header;
pose_header << "x" << "y" << "yaw";
poseArray_table_->setHorizontalHeaderLabels(pose_header);
poseArray_table_->show();
}
// call back function for counting goals
void MultiNaviGoalsPanel::goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &pose) {
if (pose_array_.poses.size() < maxNumGoal_) {
pose_array_.poses.push_back(pose->pose);
pose_array_.header.frame_id = pose->header.frame_id;
writePose(pose->pose);
markPose(pose);
} else {
ROS_ERROR("Beyond the maximum number of goals: %d", maxNumGoal_);
}
}
// write the poses into the table
void MultiNaviGoalsPanel::writePose(geometry_msgs::Pose pose) {
poseArray_table_->setItem(pose_array_.poses.size() - 1, 0,
new QTableWidgetItem(QString::number(pose.position.x, 'f', 2)));
poseArray_table_->setItem(pose_array_.poses.size() - 1, 1,
new QTableWidgetItem(QString::number(pose.position.y, 'f', 2)));
poseArray_table_->setItem(pose_array_.poses.size() - 1, 2,
new QTableWidgetItem(
QString::number(tf::getYaw(pose.orientation) * 180.0 / 3.14, 'f', 2)));
}
// when setting a Navi Goal, it will set a mark on the map
void MultiNaviGoalsPanel::markPose(const geometry_msgs::PoseStamped::ConstPtr &pose) {
if (ros::ok()) {
visualization_msgs::Marker arrow;
visualization_msgs::Marker number;
arrow.header.frame_id = number.header.frame_id = pose->header.frame_id;
arrow.ns = "navi_point_arrow";
number.ns = "navi_point_number";
arrow.action = number.action = visualization_msgs::Marker::ADD;
arrow.type = visualization_msgs::Marker::ARROW;
number.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
arrow.pose = number.pose = pose->pose;
number.pose.position.z += 1.0;
arrow.scale.x = 1.0;
arrow.scale.y = 0.2;
number.scale.z = 1.0;
arrow.color.r = number.color.r = 1.0f;
arrow.color.g = number.color.g = 0.98f;
arrow.color.b = number.color.b = 0.80f;
arrow.color.a = number.color.a = 1.0;
arrow.id = number.id = pose_array_.poses.size();
number.text = std::to_string(pose_array_.poses.size());
marker_pub_.publish(arrow);
marker_pub_.publish(number);
}
}
// check whether it is in the cycling situation
void MultiNaviGoalsPanel::checkCycle() {
cycle_ = cycle_checkbox_->isChecked();
}
void MultiNaviGoalsPanel::addPose() {
std::string target_frame = "map";
std::string child_frame = "base_link";
if (tfBuffer_.canTransform(target_frame, child_frame, ros::Time(0), ros::Duration(4.0))) {
geometry_msgs::TransformStamped transformStamped = tfBuffer_.lookupTransform(target_frame, child_frame,
ros::Time(0),
ros::Duration(4.0));
geometry_msgs::PoseStamped pose;
pose.header.frame_id = target_frame;
pose.header.stamp = transformStamped.header.stamp;
pose.pose.position.x = transformStamped.transform.translation.x;
pose.pose.position.y = transformStamped.transform.translation.y;
pose.pose.position.z = transformStamped.transform.translation.z;
pose.pose.orientation = transformStamped.transform.rotation;
init_goal_pub_.publish(pose);
}
}
// start to navigate, and only command the first goal
void MultiNaviGoalsPanel::startNavi() {
curGoalIdx_ = curGoalIdx_ % pose_array_.poses.size();
if (!pose_array_.poses.empty() && curGoalIdx_ < maxNumGoal_) {
geometry_msgs::PoseStamped goal;
goal.header = pose_array_.header;
goal.pose = pose_array_.poses.at(curGoalIdx_);
goal_pub_.publish(goal);
ROS_INFO("Navi to the Goal%d", curGoalIdx_ + 1);
poseArray_table_->item(curGoalIdx_, 0)->setBackgroundColor(QColor(255, 69, 0));
poseArray_table_->item(curGoalIdx_, 1)->setBackgroundColor(QColor(255, 69, 0));
poseArray_table_->item(curGoalIdx_, 2)->setBackgroundColor(QColor(255, 69, 0));
curGoalIdx_ += 1;
permit_ = true;
} else {
ROS_ERROR("Something Wrong");
}
}
// complete the remaining goals
void MultiNaviGoalsPanel::completeNavi() {
if (curGoalIdx_ < pose_array_.poses.size()) {
geometry_msgs::PoseStamped goal;
goal.header = pose_array_.header;
goal.pose = pose_array_.poses.at(curGoalIdx_);
goal_pub_.publish(goal);
ROS_INFO("Navi to the Goal%d", curGoalIdx_ + 1);
poseArray_table_->item(curGoalIdx_, 0)->setBackgroundColor(QColor(255, 69, 0));
poseArray_table_->item(curGoalIdx_, 1)->setBackgroundColor(QColor(255, 69, 0));
poseArray_table_->item(curGoalIdx_, 2)->setBackgroundColor(QColor(255, 69, 0));
curGoalIdx_ += 1;
permit_ = true;
} else {
ROS_ERROR("All goals are completed");
permit_ = false;
}
}
// command the goals cyclically
void MultiNaviGoalsPanel::cycleNavi() {
if (permit_) {
geometry_msgs::PoseStamped goal;
goal.header = pose_array_.header;
goal.pose = pose_array_.poses.at(curGoalIdx_ % pose_array_.poses.size());
goal_pub_.publish(goal);
ROS_INFO("Navi to the Goal%lu, in the %dth cycle", curGoalIdx_ % pose_array_.poses.size() + 1,
cycleCnt_ + 1);
bool even = ((cycleCnt_ + 1) % 2 != 0);
QColor color_table;
if (even) color_table = QColor(255, 69, 0); else color_table = QColor(100, 149, 237);
poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 0)->setBackgroundColor(color_table);
poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 1)->setBackgroundColor(color_table);
poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 2)->setBackgroundColor(color_table);
curGoalIdx_ += 1;
cycleCnt_ = curGoalIdx_ / pose_array_.poses.size();
}
}
// cancel the current command
void MultiNaviGoalsPanel::cancelNavi() {
if (!cur_goalid_.id.empty()) {
cancel_pub_.publish(cur_goalid_);
ROS_ERROR("Navigation have been canceled");
}
}
// call back for listening current state
void MultiNaviGoalsPanel::statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &statuses) {
bool arrived_pre = arrived_;
arrived_ = checkGoal(statuses->status_list);
// if (arrived_) { ROS_ERROR("%d,%d", int(arrived_), int(arrived_pre)); }
if (arrived_ && arrived_ != arrived_pre && ros::ok() && permit_) {
if (cycle_) cycleNavi();
else completeNavi();
}
}
//check the current state of goal
bool MultiNaviGoalsPanel::checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list) {
bool done;
if (!status_list.empty()) {
for (auto &i : status_list) {
if (i.status == 3) {
done = true;
// ROS_INFO("completed Goal%d", curGoalIdx_);
} else if (i.status == 4) {
// ROS_ERROR("Goal%d is Invalid, Navi to Next Goal%d", curGoalIdx_, curGoalIdx_ + 1);
return false;
} else if (i.status == 0) {
done = true;
} else if (i.status == 1) {
cur_goalid_ = i.goal_id;
done = false;
} else done = false;
}
} else {
// ROS_INFO("Please input the Navi Goal");
done = false;
}
return done;
}
// spin for subscribing
void MultiNaviGoalsPanel::startSpin() {
if (ros::ok()) {
ros::spinOnce();
}
}
//读取目标点
void MultiNaviGoalsPanel::load(const rviz::Config &config) {
Panel::load(config);
QString goal_number;
if (config.mapGetString("multi_goal_panel_number", &goal_number)) {
output_maxNumGoal_editor_->setText(goal_number);
updateMaxNumGoal();
updatePoseTable();
QString goal_var;
if (config.mapGetString("multi_goal_panel_data", &goal_var)) {
QStringList goal_list = goal_var.split("|");
for (int i = 0; i < goal_list.size(); i++) {
QStringList goal = goal_list.at(i).split(",");
geometry_msgs::PoseStamped pose;
pose.header.frame_id = "map";
pose.header.stamp = ros::Time::now();
pose.pose.position.x = goal.at(0).toDouble();
pose.pose.position.y = goal.at(1).toDouble();
pose.pose.position.z = 0.0;
pose.pose.orientation = tf::createQuaternionMsgFromYaw(goal.at(2).toDouble() / 180 * 3.14);
init_goal_pub_.publish(pose);
}
}
bool cycle_flag;
if (config.mapGetBool("multi_goal_panel_cycle", &cycle_flag)) {
if (cycle_flag) {
cycle_checkbox_->setCheckState(Qt::CheckState::Checked);
} else {
cycle_checkbox_->setCheckState(Qt::CheckState::Unchecked);
}
checkCycle();
}
}
}
//保存目标点
void MultiNaviGoalsPanel::save(rviz::Config config) const {
Panel::save(config);
config.mapSetValue("multi_goal_panel_cycle", cycle_checkbox_->isChecked());
if (!output_maxNumGoal_editor_->text().isEmpty()) {
int goal_number = output_maxNumGoal_editor_->text().toInt();
if (goal_number > 0) {
config.mapSetValue("multi_goal_panel_number", goal_number);
QString *goal_list = new QString();
for (int i = 0; i < pose_array_.poses.size(); i++) {
for (int j = 0; j < 3; j++) {
goal_list->append(poseArray_table_->item(i, j)->text());
if (j != 2) {
goal_list->append(",");
}
}
if (i != goal_number - 1) {
goal_list->append("|");
}
}
if (!goal_list->isEmpty()) {
config.mapSetValue("multi_goal_panel_data", *goal_list);
}
}
}
}
} // end namespace navi-multi-goals-pub-rviz-plugin
// 声明此类是一个rviz的插件
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(navi_multi_goals_pub_rviz_plugin::MultiNaviGoalsPanel, rviz::Panel)