goal_functions.cpp

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* Author: Eitan Marder-Eppstein
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#include <base_local_planner/goal_functions.h>
#include <tf2/LinearMath/Matrix3x3.h>
#include <tf2/utils.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#ifdef _MSC_VER
#define GOAL_ATTRIBUTE_UNUSED
#else
#define GOAL_ATTRIBUTE_UNUSED __attribute__ ((unused))
#endif
 
namespace base_local_planner {
 
  double getGoalPositionDistance(const geometry_msgs::PoseStamped& global_pose, double goal_x, double goal_y) {
    return hypot(goal_x - global_pose.pose.position.x, goal_y - global_pose.pose.position.y);
  }
 
  double getGoalOrientationAngleDifference(const geometry_msgs::PoseStamped& global_pose, double goal_th) {
    double yaw = tf2::getYaw(global_pose.pose.orientation);
    return angles::shortest_angular_distance(yaw, goal_th);
  }
 
  void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path, const ros::Publisher& pub) {
    //given an empty path we won't do anything
    if(path.empty())
      return;
 
    //create a path message
    nav_msgs::Path gui_path;
    gui_path.poses.resize(path.size());
    gui_path.header.frame_id = path[0].header.frame_id;
    gui_path.header.stamp = path[0].header.stamp;
 
    // Extract the plan in world co-ordinates, we assume the path is all in the same frame
    for(unsigned int i=0; i < path.size(); i++){
      gui_path.poses[i] = path[i];
    }
 
    pub.publish(gui_path);
  }
 
  void prunePlan(const geometry_msgs::PoseStamped& global_pose, std::vector<geometry_msgs::PoseStamped>& plan, std::vector<geometry_msgs::PoseStamped>& global_plan){
    ROS_ASSERT(global_plan.size() >= plan.size());
    double min_plan_sq_dist = 1e6;
    int current_waypoint_index = -1;
 
    for(unsigned int i = 0; i < plan.size(); ++i){
        double x_diff = global_pose.pose.position.x - plan[i].pose.position.x;
        double y_diff = global_pose.pose.position.y - plan[i].pose.position.y;
        double sq_plan_dist = x_diff * x_diff + y_diff * y_diff;
 
        if (sq_plan_dist < min_plan_sq_dist){
            current_waypoint_index = i;
            min_plan_sq_dist = sq_plan_dist;
        }
    }
 
    if (current_waypoint_index >= 0)
    {
        ROS_DEBUG("Nearest waypoint to <%f, %f> is <%f, %f>\n", global_pose.pose.position.x, global_pose.pose.position.y,
                  plan[current_waypoint_index].pose.position.x, plan[current_waypoint_index].pose.position.y);
        plan = std::vector<geometry_msgs::PoseStamped>(plan.begin() + current_waypoint_index, plan.end());
        global_plan = std::vector<geometry_msgs::PoseStamped>(global_plan.begin() + current_waypoint_index, global_plan.end());
    }
  }
 
  void planFromLookahead(const std::vector<geometry_msgs::PoseStamped>& plan, double lookahead, std::vector<geometry_msgs::PoseStamped>& new_plan){
    double waypoint_dist_sum = 0;
    unsigned int target_waypoint_index = plan.size() - 1;
    for(unsigned int i = 1; i < plan.size(); ++i){
      double x_diff = plan[i].pose.position.x - plan[i-1].pose.position.x;
      double y_diff = plan[i].pose.position.y - plan[i-1].pose.position.y;
      double waypoint_dist = sqrt(x_diff * x_diff + y_diff * y_diff);
      waypoint_dist_sum += waypoint_dist;
      if (waypoint_dist_sum > lookahead)
      {
        target_waypoint_index = i;
        break;
      }
    }
 
    new_plan = std::vector<geometry_msgs::PoseStamped>(plan.begin()+target_waypoint_index, plan.end());
  }
 
  bool transformGlobalPlan(
      const tf2_ros::Buffer& tf,
      const std::vector<geometry_msgs::PoseStamped>& global_plan,
      const geometry_msgs::PoseStamped& global_pose,
      const costmap_2d::Costmap2D& costmap,
      const std::string& global_frame,
      std::vector<geometry_msgs::PoseStamped>& transformed_plan){
    transformed_plan.clear();
 
    if (global_plan.empty()) {
      ROS_ERROR("Received plan with zero length");
      return false;
    }
 
    const geometry_msgs::PoseStamped& plan_pose = global_plan[0];
    try {
      // get plan_to_global_transform from plan frame to global_frame
      geometry_msgs::TransformStamped plan_to_global_transform = tf.lookupTransform(global_frame, ros::Time(),
          plan_pose.header.frame_id, plan_pose.header.stamp, plan_pose.header.frame_id, ros::Duration(0.5));
 
      //let's get the pose of the robot in the frame of the plan
      geometry_msgs::PoseStamped robot_pose;
      tf.transform(global_pose, robot_pose, plan_pose.header.frame_id);
 
      //we'll discard points on the plan that are outside the local costmap
      double dist_threshold = std::max(costmap.getSizeInCellsX() * costmap.getResolution() / 2.0,
                                       costmap.getSizeInCellsY() * costmap.getResolution() / 2.0);
 
      unsigned int i = 0;
      double sq_dist_threshold = dist_threshold * dist_threshold;
      double sq_dist = 0;
 
      //we need to loop to a point on the plan that is within a certain distance of the robot
      while(i < (unsigned int)global_plan.size()) {
        double x_diff = robot_pose.pose.position.x - global_plan[i].pose.position.x;
        double y_diff = robot_pose.pose.position.y - global_plan[i].pose.position.y;
        sq_dist = x_diff * x_diff + y_diff * y_diff;
        if (sq_dist <= sq_dist_threshold) {
          break;
        }
        ++i;
      }
 
      geometry_msgs::PoseStamped newer_pose;
 
      //now we'll transform until points are outside of our distance threshold
      while(i < (unsigned int)global_plan.size() && sq_dist <= sq_dist_threshold) {
        const geometry_msgs::PoseStamped& pose = global_plan[i];
        tf2::doTransform(pose, newer_pose, plan_to_global_transform);
 
        transformed_plan.push_back(newer_pose);
 
        double x_diff = robot_pose.pose.position.x - global_plan[i].pose.position.x;
        double y_diff = robot_pose.pose.position.y - global_plan[i].pose.position.y;
        sq_dist = x_diff * x_diff + y_diff * y_diff;
 
        ++i;
      }
    }
    catch(tf2::LookupException& ex) {
      ROS_ERROR("No Transform available Error: %s\n", ex.what());
      return false;
    }
    catch(tf2::ConnectivityException& ex) {
      ROS_ERROR("Connectivity Error: %s\n", ex.what());
      return false;
    }
    catch(tf2::ExtrapolationException& ex) {
      ROS_ERROR("Extrapolation Error: %s\n", ex.what());
      if (!global_plan.empty())
        ROS_ERROR("Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str());
 
      return false;
    }
 
    return true;
  }
 
  bool getGoalPose(const tf2_ros::Buffer& tf,
      const std::vector<geometry_msgs::PoseStamped>& global_plan,
      const std::string& global_frame, geometry_msgs::PoseStamped &goal_pose) {
    if (global_plan.empty())
    {
      ROS_ERROR("Received plan with zero length");
      return false;
    }
 
    const geometry_msgs::PoseStamped& plan_goal_pose = global_plan.back();
    try{
      geometry_msgs::TransformStamped transform = tf.lookupTransform(global_frame, ros::Time(),
                         plan_goal_pose.header.frame_id, plan_goal_pose.header.stamp,
                         plan_goal_pose.header.frame_id, ros::Duration(0.5));
 
      tf2::doTransform(plan_goal_pose, goal_pose, transform);
    }
    catch(tf2::LookupException& ex) {
      ROS_ERROR("No Transform available Error: %s\n", ex.what());
      return false;
    }
    catch(tf2::ConnectivityException& ex) {
      ROS_ERROR("Connectivity Error: %s\n", ex.what());
      return false;
    }
    catch(tf2::ExtrapolationException& ex) {
      ROS_ERROR("Extrapolation Error: %s\n", ex.what());
      if (global_plan.size() > 0)
        ROS_ERROR("Global Frame: %s Plan Frame size %d: %s\n", global_frame.c_str(), (unsigned int)global_plan.size(), global_plan[0].header.frame_id.c_str());
 
      return false;
    }
    return true;
  }
 
  bool isGoalReached(const tf2_ros::Buffer& tf,
      const std::vector<geometry_msgs::PoseStamped>& global_plan,
      const costmap_2d::Costmap2D& costmap GOAL_ATTRIBUTE_UNUSED,
      const std::string& global_frame,
      geometry_msgs::PoseStamped& global_pose,
      const nav_msgs::Odometry& base_odom,
      double rot_stopped_vel, double trans_stopped_vel,
      double xy_goal_tolerance, double yaw_goal_tolerance){
 
    //we assume the global goal is the last point in the global plan
    geometry_msgs::PoseStamped goal_pose;
    getGoalPose(tf, global_plan, global_frame, goal_pose);
 
    double goal_x = goal_pose.pose.position.x;
    double goal_y = goal_pose.pose.position.y;
    double goal_th = tf2::getYaw(goal_pose.pose.orientation);
 
    //check to see if we've reached the goal position
    if(getGoalPositionDistance(global_pose, goal_x, goal_y) <= xy_goal_tolerance) {
      //check to see if the goal orientation has been reached
      if(fabs(getGoalOrientationAngleDifference(global_pose, goal_th)) <= yaw_goal_tolerance) {
        //make sure that we're actually stopped before returning success
        if(stopped(base_odom, rot_stopped_vel, trans_stopped_vel))
          return true;
      }
    }
 
    return false;
  }
 
  bool stopped(const nav_msgs::Odometry& base_odom, 
      const double& rot_stopped_velocity, const double& trans_stopped_velocity){
    return fabs(base_odom.twist.twist.angular.z) <= rot_stopped_velocity 
      && fabs(base_odom.twist.twist.linear.x) <= trans_stopped_velocity
      && fabs(base_odom.twist.twist.linear.y) <= trans_stopped_velocity;
  }
 
  bool stopped(const geometry_msgs::PoseStamped& robot_vel, const double& rot_stopped_velocity, const double& trans_stopped_velocity){
     nav_msgs::Odometry base_odom;
     base_odom.twist.twist.linear.x = robot_vel.pose.position.x;
     base_odom.twist.twist.linear.y = robot_vel.pose.position.y;
     base_odom.twist.twist.angular.z = tf2::getYaw(robot_vel.pose.orientation);
     return stopped(base_odom, rot_stopped_velocity, trans_stopped_velocity);
   }
};