/************************************************************************************************** Software License Agreement (BSD License) Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt 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 University of Aveiro 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 HOLDER 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 #include "representation_rviz.h" /** \brief Nodelet that use Navigability_Map class to generate a Accessibility Map. * This nodelet subscribes sensor_msgs::PointCloud2 and filters the PointCloud, * then it generates a Grid with each node containing data * from the PointCloud \file main.cpp \author Diogo Matos \date June 2013 **/ //GLOBAL VARIABLES Navigability_Map *g_NavMap; bool cloud_arrived=false; ros::Publisher elevation_map_pub; ros::Publisher normals_pub; ros::Publisher accessibility_map_pub; ros::Publisher polygon_pub; ros::Publisher obstacle_pub; pcl::PointCloud::Ptr pc_filter (new pcl::PointCloud); tf::TransformListener *p_listener; /** * \brief Callback from the Pointcloud subscribed topic * This calback filter the pointcloud uses de Navigability_Map class to generate a navigability_map * \param[in] pcmsg_in PointCloud subscribed */ void pointcloud_cb (sensor_msgs::PointCloud2 pcmsg_in) { ros::Time begin = ros::Time::now(); visualization_msgs::MarkerArray grid_markers_elavationmap, accessibility_markers; visualization_msgs::Marker marker_normals; visualization_msgs::Marker marker_polygon; visualization_msgs::Marker marker_obstacle; //Cloud received pcl::PointCloud pc_in; pcl::fromROSMsg(pcmsg_in,pc_in); pcl::PointCloud::Ptr cloud_in (new pcl::PointCloud); *cloud_in=pc_in; //filter cloud g_NavMap->Filter_PointCloud(cloud_in,pc_filter); //Normal Estimation std::cout<<"Normal Estimation"<Normal_Estimation(pc_filter); ros::Time end_normal = ros::Time::now(); double max_Xval=g_NavMap->Xmax_filter; //X max range value double max_Yval=max(abs(g_NavMap->Ymin_filter),g_NavMap->Ymax_filter); //y max range value //seting the grid parameter g_NavMap->setGrid_parameter(max_Xval,max_Yval); //inicialize grid g_NavMap->inicialize_grid(); //seting grid data g_NavMap->setGrid_data(*pc_filter); //calc grid data g_NavMap->calcGrid_data(); //fill empty cells g_NavMap->fill_data_cells(); //calc Cells_accessibility g_NavMap->set_Cells_accessibility(); ros::Time end = ros::Time::now(); std::cout<<"Makers"<header.frame_id ); //normals marker_normals=create_Markers_Normals(*g_NavMap, pc_filter->header.frame_id); //accessibility accessibility_markers.markers=create_Markers_AccessibilityMap(*g_NavMap, pc_filter->header.frame_id); // publish elevation_map_pub.publish(grid_markers_elavationmap); normals_pub.publish(marker_normals); accessibility_map_pub.publish(accessibility_markers); //_______________ // | // Ground truth | //_______________| // g_NavMap->polygon_groundtruth(); // g_NavMap->getCell_inpolygon(); // g_NavMap->dataCell_inpolygon(); // // marker_polygon=create_Markers_Polygon(*g_NavMap, pc_filter->header.frame_id); // marker_obstacle=create_Markers_Obstacle(*g_NavMap, pc_filter->header.frame_id); // polygon_pub.publish(marker_polygon); // obstacle_pub.publish(marker_obstacle); cloud_arrived=true; } int main(int argc, char **argv) { ros::init(argc, argv, "navigability_map"); ros::NodeHandle n("~"); tf::TransformListener listener(n,ros::Duration(1000)); p_listener=&listener; // Declare the class Navigability_Map navmap; g_NavMap=&navmap; double output_freq; //Seting Param n.param("output_frequency", output_freq, 200.0); n.param("PointCLoud_Xmin_filter",g_NavMap->Xmin_filter,0.0); n.param("PointCLoud_Xmax_filter",g_NavMap->Xmax_filter,22.5); n.param("PointCLoud_Ymax_filter",g_NavMap->Ymax_filter,22.5); n.param("PointCLoud_Ymin_filter",g_NavMap->Ymin_filter,-22.5); n.param("PointCLoud_Zmin_filter",g_NavMap->Zmin_filter,-15.0); n.param("PointCLoud_Zmax_filter",g_NavMap->Zmax_filter,2.0); n.param("Grid_Sx",g_NavMap->Sx,0.2); n.param("Grid_Sy",g_NavMap->Sy,0.2); n.param("Radius_neighbors",g_NavMap->Radius_neighbors,0.3); n.param("K_neighbors",g_NavMap->K_neighbors,10); n.param("Use_Radius_Search",g_NavMap->Use_Radius_Search,1); n.param("Zmax_heigh_difference",g_NavMap->Zmax_heigh_difference,0.1); n.param("angleX_max_difference",g_NavMap->angleX_max_difference,0.1); n.param("angleY_max_difference",g_NavMap->angleY_max_difference,0.1); n.param("angleZ_max_difference",g_NavMap->angleZ_max_difference,0.1); n.param("debug_accessibility",g_NavMap->debug_accessibility,1); n.param("default_confidence",g_NavMap->default_confidence,0.5); n.param("fator_confidence_neighbour_limit",g_NavMap->fator_confidence_neighbour_limit,1.5); n.param("Standard_Deviation_max_confidence",g_NavMap->Standard_Deviation_max,0.2); n.param("Standard_Deviation_anglex_max_confidence",g_NavMap->Standard_Deviation_anglex_max_confidence,0.2); n.param("Standard_Deviation_angley_max_confidence",g_NavMap->Standard_Deviation_angley_max_confidence,0.2); n.param("Standard_Deviation_anglez_max_confidence",g_NavMap->Standard_Deviation_anglez_max_confidence,0.2); // declare the subsriber ros::Subscriber sub_phiversion = n.subscribe ("/pointcloud0", 1, pointcloud_cb); // declare advertiser //normals normals_pub = n.advertise("/normals", 1); //pointcloud filter ros::Publisher pub = n.advertise("/pc_filter_navmap", 1); //maps elevation_map_pub = n.advertise("/elevation_map", 1); accessibility_map_pub = n.advertise("/accessibility_map", 1); //ground truth polygon_pub = n.advertise("/polygon", 1); obstacle_pub = n.advertise("/obstacle", 1); ros::Rate loop_rate(output_freq); while (n.ok()) { ros::spinOnce(); if (cloud_arrived) { sensor_msgs::PointCloud2 pcmsg_out; pcl::toROSMsg(*pc_filter, pcmsg_out); pcmsg_out.header.stamp = ros::Time::now(); //publish the pointcloud pub.publish(pcmsg_out); cloud_arrived=false; } loop_rate.sleep(); } }