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dwa_planner_ros.cpp
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dwa_planner_ros.cpp
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/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* 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 Willow Garage, Inc. 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 OWNER 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.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#include <dwa_local_planner/dwa_planner_ros.h>
#include <Eigen/Core>
#include <cmath>
#include <ros/console.h>
#include <pluginlib/class_list_macros.h>
#include <base_local_planner/goal_functions.h>
#include <nav_msgs/Path.h>
//register this planner as a BaseLocalPlanner plugin
PLUGINLIB_EXPORT_CLASS(dwa_local_planner::DWAPlannerROS, nav_core::BaseLocalPlanner)
namespace dwa_local_planner {
void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) {
if (setup_ && config.restore_defaults) {
config = default_config_;
config.restore_defaults = false;
}
if ( ! setup_) {
default_config_ = config;
setup_ = true;
}
// update generic local planner params
base_local_planner::LocalPlannerLimits limits;
limits.max_trans_vel = config.max_trans_vel;
limits.min_trans_vel = config.min_trans_vel;
limits.max_vel_x = config.max_vel_x;
limits.min_vel_x = config.min_vel_x;
limits.max_vel_y = config.max_vel_y;
limits.min_vel_y = config.min_vel_y;
limits.max_rot_vel = config.max_rot_vel;
limits.min_rot_vel = config.min_rot_vel;
limits.acc_lim_x = config.acc_lim_x;
limits.acc_lim_y = config.acc_lim_y;
limits.acc_lim_theta = config.acc_lim_theta;
limits.acc_limit_trans = config.acc_limit_trans;
limits.xy_goal_tolerance = config.xy_goal_tolerance;
limits.yaw_goal_tolerance = config.yaw_goal_tolerance;
limits.prune_plan = config.prune_plan;
limits.trans_stopped_vel = config.trans_stopped_vel;
limits.rot_stopped_vel = config.rot_stopped_vel;
planner_util_.reconfigureCB(limits, config.restore_defaults);
// update dwa specific configuration
dp_->reconfigure(config);
}
DWAPlannerROS::DWAPlannerROS() : initialized_(false),
odom_helper_("odom"), setup_(false) {
}
void DWAPlannerROS::initialize(
std::string name,
tf::TransformListener* tf,
costmap_2d::Costmap2DROS* costmap_ros) {
if (! isInitialized()) {
ros::NodeHandle private_nh("~/" + name);
g_plan_pub_ = private_nh.advertise<nav_msgs::Path>("global_plan", 1);
l_plan_pub_ = private_nh.advertise<nav_msgs::Path>("local_plan", 1);
tf_ = tf;
costmap_ros_ = costmap_ros;
costmap_ros_->getRobotPose(current_pose_);
// make sure to update the costmap we'll use for this cycle
costmap_2d::Costmap2D* costmap = costmap_ros_->getCostmap();
planner_util_.initialize(tf, costmap, costmap_ros_->getGlobalFrameID());
//create the actual planner that we'll use.. it'll configure itself from the parameter server
dp_ = boost::shared_ptr<DWAPlanner>(new DWAPlanner(name, &planner_util_));
if( private_nh.getParam( "odom_topic", odom_topic_ ))
{
odom_helper_.setOdomTopic( odom_topic_ );
}
initialized_ = true;
dsrv_ = new dynamic_reconfigure::Server<DWAPlannerConfig>(private_nh);
dynamic_reconfigure::Server<DWAPlannerConfig>::CallbackType cb = boost::bind(&DWAPlannerROS::reconfigureCB, this, _1, _2);
dsrv_->setCallback(cb);
}
else{
ROS_WARN("This planner has already been initialized, doing nothing.");
}
}
bool DWAPlannerROS::setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan) {
if (! isInitialized()) {
ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner");
return false;
}
//when we get a new plan, we also want to clear any latch we may have on goal tolerances
latchedStopRotateController_.resetLatching();
ROS_INFO("Got new plan");
return dp_->setPlan(orig_global_plan);
}
bool DWAPlannerROS::isGoalReached() {
if (! isInitialized()) {
ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner");
return false;
}
if ( ! costmap_ros_->getRobotPose(current_pose_)) {
ROS_ERROR("Could not get robot pose");
return false;
}
if(latchedStopRotateController_.isGoalReached(&planner_util_, odom_helper_, current_pose_)) {
ROS_INFO("Goal reached");
return true;
} else {
return false;
}
}
void DWAPlannerROS::publishLocalPlan(std::vector<geometry_msgs::PoseStamped>& path) {
base_local_planner::publishPlan(path, l_plan_pub_);
}
void DWAPlannerROS::publishGlobalPlan(std::vector<geometry_msgs::PoseStamped>& path) {
base_local_planner::publishPlan(path, g_plan_pub_);
}
DWAPlannerROS::~DWAPlannerROS(){
//make sure to clean things up
delete dsrv_;
}
bool DWAPlannerROS::dwaComputeVelocityCommands(tf::Stamped<tf::Pose> &global_pose, geometry_msgs::Twist& cmd_vel) {
// dynamic window sampling approach to get useful velocity commands
if(! isInitialized()){
ROS_ERROR("This planner has not been initialized, please call initialize() before using this planner");
return false;
}
tf::Stamped<tf::Pose> robot_vel;
odom_helper_.getRobotVel(robot_vel);
/* For timing uncomment
struct timeval start, end;
double start_t, end_t, t_diff;
gettimeofday(&start, NULL);
*/
//compute what trajectory to drive along
tf::Stamped<tf::Pose> drive_cmds;
drive_cmds.frame_id_ = costmap_ros_->getBaseFrameID();
// call with updated footprint
base_local_planner::Trajectory path = dp_->findBestPath(global_pose, robot_vel, drive_cmds, costmap_ros_->getRobotFootprint());
//ROS_ERROR("Best: %.2f, %.2f, %.2f, %.2f", path.xv_, path.yv_, path.thetav_, path.cost_);
/* For timing uncomment
gettimeofday(&end, NULL);
start_t = start.tv_sec + double(start.tv_usec) / 1e6;
end_t = end.tv_sec + double(end.tv_usec) / 1e6;
t_diff = end_t - start_t;
ROS_INFO("Cycle time: %.9f", t_diff);
*/
//pass along drive commands
cmd_vel.linear.x = drive_cmds.getOrigin().getX();
cmd_vel.linear.y = drive_cmds.getOrigin().getY();
cmd_vel.angular.z = tf::getYaw(drive_cmds.getRotation());
//if we cannot move... tell someone
std::vector<geometry_msgs::PoseStamped> local_plan;
if(path.cost_ < 0) {
ROS_DEBUG_NAMED("dwa_local_planner",
"The dwa local planner failed to find a valid plan, cost functions discarded all candidates. This can mean there is an obstacle too close to the robot.");
local_plan.clear();
publishLocalPlan(local_plan);
return false;
}
ROS_DEBUG_NAMED("dwa_local_planner", "A valid velocity command of (%.2f, %.2f, %.2f) was found for this cycle.",
cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z);
// Fill out the local plan
for(unsigned int i = 0; i < path.getPointsSize(); ++i) {
double p_x, p_y, p_th;
path.getPoint(i, p_x, p_y, p_th);
tf::Stamped<tf::Pose> p =
tf::Stamped<tf::Pose>(tf::Pose(
tf::createQuaternionFromYaw(p_th),
tf::Point(p_x, p_y, 0.0)),
ros::Time::now(),
costmap_ros_->getGlobalFrameID());
geometry_msgs::PoseStamped pose;
tf::poseStampedTFToMsg(p, pose);
local_plan.push_back(pose);
}
//publish information to the visualizer
publishLocalPlan(local_plan);
return true;
}
bool DWAPlannerROS::computeVelocityCommands(geometry_msgs::Twist& cmd_vel) {
// dispatches to either dwa sampling control or stop and rotate control, depending on whether we have been close enough to goal
if ( ! costmap_ros_->getRobotPose(current_pose_)) {
ROS_ERROR("Could not get robot pose");
return false;
}
std::vector<geometry_msgs::PoseStamped> transformed_plan;
if ( ! planner_util_.getLocalPlan(current_pose_, transformed_plan)) {
ROS_ERROR("Could not get local plan");
return false;
}
//if the global plan passed in is empty... we won't do anything
if(transformed_plan.empty()) {
ROS_WARN_NAMED("dwa_local_planner", "Received an empty transformed plan.");
return false;
}
ROS_DEBUG_NAMED("dwa_local_planner", "Received a transformed plan with %zu points.", transformed_plan.size());
// update plan in dwa_planner even if we just stop and rotate, to allow checkTrajectory
dp_->updatePlanAndLocalCosts(current_pose_, transformed_plan);
if (latchedStopRotateController_.isPositionReached(&planner_util_, current_pose_)) {
//publish an empty plan because we've reached our goal position
std::vector<geometry_msgs::PoseStamped> local_plan;
std::vector<geometry_msgs::PoseStamped> transformed_plan;
publishGlobalPlan(transformed_plan);
publishLocalPlan(local_plan);
base_local_planner::LocalPlannerLimits limits = planner_util_.getCurrentLimits();
return latchedStopRotateController_.computeVelocityCommandsStopRotate(
cmd_vel,
limits.getAccLimits(),
dp_->getSimPeriod(),
&planner_util_,
odom_helper_,
current_pose_,
boost::bind(&DWAPlanner::checkTrajectory, dp_, _1, _2, _3));
} else {
bool isOk = dwaComputeVelocityCommands(current_pose_, cmd_vel);
if (isOk) {
publishGlobalPlan(transformed_plan);
} else {
ROS_WARN_NAMED("dwa_local_planner", "DWA planner failed to produce path.");
std::vector<geometry_msgs::PoseStamped> empty_plan;
publishGlobalPlan(empty_plan);
}
return isOk;
}
}
};