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loop_closure_assistant.cpp
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loop_closure_assistant.cpp
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/*
* loop_closure_assistant
* Copyright (c) 2019, Samsung Research America
*
* THE WORK (AS DEFINED BELOW) IS PROVIDED UNDER THE TERMS OF THIS CREATIVE
* COMMONS PUBLIC LICENSE ("CCPL" OR "LICENSE"). THE WORK IS PROTECTED BY
* COPYRIGHT AND/OR OTHER APPLICABLE LAW. ANY USE OF THE WORK OTHER THAN AS
* AUTHORIZED UNDER THIS LICENSE OR COPYRIGHT LAW IS PROHIBITED.
*
* BY EXERCISING ANY RIGHTS TO THE WORK PROVIDED HERE, YOU ACCEPT AND AGREE TO
* BE BOUND BY THE TERMS OF THIS LICENSE. THE LICENSOR GRANTS YOU THE RIGHTS
* CONTAINED HERE IN CONSIDERATION OF YOUR ACCEPTANCE OF SUCH TERMS AND
* CONDITIONS.
*
*/
/* Author: Steven Macenski */
#include "slam_toolbox/loop_closure_assistant.hpp"
namespace loop_closure_assistant
{
/*****************************************************************************/
LoopClosureAssistant::LoopClosureAssistant(
ros::NodeHandle& node,
karto::Mapper* mapper,
laser_utils::ScanHolder* scan_holder,
PausedState& state, ProcessType & processor_type)
: mapper_(mapper), scan_holder_(scan_holder),
interactive_mode_(false), nh_(node), state_(state),
processor_type_(processor_type)
/*****************************************************************************/
{
node.setParam("paused_processing", false);
tfB_ = std::make_unique<tf2_ros::TransformBroadcaster>();
ssClear_manual_ = node.advertiseService("clear_changes",
&LoopClosureAssistant::clearChangesCallback, this);
ssLoopClosure_ = node.advertiseService("manual_loop_closure",
&LoopClosureAssistant::manualLoopClosureCallback, this);
scan_publisher_ = node.advertise<sensor_msgs::LaserScan>(
"karto_scan_visualization",10);
solver_ = mapper_->getScanSolver();
interactive_server_ =
std::make_unique<interactive_markers::InteractiveMarkerServer>(
"slam_toolbox","",true);
ssInteractive_ = node.advertiseService("toggle_interactive_mode",
&LoopClosureAssistant::interactiveModeCallback,this);
node.setParam("interactive_mode", interactive_mode_);
marker_publisher_ = node.advertise<visualization_msgs::MarkerArray>(
"karto_graph_visualization",1);
node.param("map_frame", map_frame_, std::string("map"));
}
/*****************************************************************************/
void LoopClosureAssistant::processInteractiveFeedback(const
visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)
/*****************************************************************************/
{
if (processor_type_ != PROCESS)
{
ROS_ERROR_THROTTLE(5.,
"Interactive mode is invalid outside processing mode.");
return;
}
const int id = std::stoi(feedback->marker_name, nullptr, 10) - 1;
// was depressed, something moved, and now released
if (feedback->event_type ==
visualization_msgs::InteractiveMarkerFeedback::MOUSE_UP &&
feedback->mouse_point_valid)
{
addMovedNodes(id, Eigen::Vector3d(feedback->mouse_point.x,
feedback->mouse_point.y, tf2::getYaw(feedback->pose.orientation)));
}
// is currently depressed, being moved before release
if (feedback->event_type ==
visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE)
{
// get scan
sensor_msgs::LaserScan scan = scan_holder_->getCorrectedScan(id);
// get correct orientation
tf2::Quaternion quat(0.,0.,0.,1.0), msg_quat(0.,0.,0.,1.0);
double node_yaw, first_node_yaw;
solver_->GetNodeOrientation(id, node_yaw);
solver_->GetNodeOrientation(0, first_node_yaw);
tf2::Quaternion q1(0.,0.,0.,1.0);
q1.setEuler(0., 0., node_yaw - 3.14159);
tf2::Quaternion q2(0.,0.,0.,1.0);
q2.setEuler(0., 0., 3.14159);
quat *= q1;
quat *= q2;
// interactive move
tf2::convert(feedback->pose.orientation, msg_quat);
quat *= msg_quat;
quat.normalize();
// create correct transform
tf2::Transform transform;
transform.setOrigin(tf2::Vector3(feedback->pose.position.x,
feedback->pose.position.y, 0.));
transform.setRotation(quat);
// publish the scan visualization with transform
geometry_msgs::TransformStamped msg;
tf2::convert(transform, msg.transform);
msg.child_frame_id = "karto_scan_visualization";
msg.header.frame_id = feedback->header.frame_id;
msg.header.stamp = ros::Time::now();
tfB_->sendTransform(msg);
scan.header.frame_id = "karto_scan_visualization";
scan.header.stamp = ros::Time::now();
scan_publisher_.publish(scan);
}
}
/*****************************************************************************/
void LoopClosureAssistant::publishGraph()
/*****************************************************************************/
{
interactive_server_->clear();
std::unordered_map<int, Eigen::Vector3d>* graph = solver_->getGraph();
if (graph->size() == 0)
{
return;
}
ROS_DEBUG("Graph size: %i",(int)graph->size());
bool interactive_mode = false;
{
boost::mutex::scoped_lock lock(interactive_mutex_);
interactive_mode = interactive_mode_;
}
visualization_msgs::MarkerArray marray;
visualization_msgs::Marker m = vis_utils::toMarker(map_frame_,
"slam_toolbox", 0.1);
for (ConstGraphIterator it = graph->begin(); it != graph->end(); ++it)
{
m.id = it->first + 1;
m.pose.position.x = it->second(0);
m.pose.position.y = it->second(1);
if (interactive_mode)
{
visualization_msgs::InteractiveMarker int_marker =
vis_utils::toInteractiveMarker(m, 0.3);
interactive_server_->insert(int_marker,
boost::bind(
&LoopClosureAssistant::processInteractiveFeedback,
this, _1));
}
else
{
marray.markers.push_back(m);
}
}
// if disabled, clears out old markers
interactive_server_->applyChanges();
marker_publisher_.publish(marray);
return;
}
/*****************************************************************************/
bool LoopClosureAssistant::manualLoopClosureCallback(
slam_toolbox::LoopClosure::Request& req,
slam_toolbox::LoopClosure::Response& resp)
/*****************************************************************************/
{
{
boost::mutex::scoped_lock lock(moved_nodes_mutex_);
if (moved_nodes_.size() == 0)
{
ROS_WARN("No moved nodes to attempt manual loop closure.");
return true;
}
ROS_INFO("LoopClosureAssistant: Attempting to manual "
"loop close with %i moved nodes.", (int)moved_nodes_.size());
// for each in node map
std::map<int, Eigen::Vector3d>::const_iterator it = moved_nodes_.begin();
for (it; it != moved_nodes_.end(); ++it)
{
moveNode(it->first,
Eigen::Vector3d(it->second(0),it->second(1), it->second(2)));
}
}
// optimize
mapper_->CorrectPoses();
// update visualization and clear out nodes completed
publishGraph();
clearMovedNodes();
return true;
}
/*****************************************************************************/
bool LoopClosureAssistant::interactiveModeCallback(
slam_toolbox::ToggleInteractive::Request &req,
slam_toolbox::ToggleInteractive::Response &resp)
/*****************************************************************************/
{
bool interactive_mode;
{
boost::mutex::scoped_lock lock_i(interactive_mutex_);
interactive_mode_ = !interactive_mode_;
interactive_mode = interactive_mode_;
nh_.setParam("interactive_mode", interactive_mode_);
}
ROS_INFO("SlamToolbox: Toggling %s interactive mode.",
interactive_mode ? "on" : "off");
publishGraph();
clearMovedNodes();
// set state so we don't overwrite changes in rviz while loop closing
state_.set(PROCESSING, interactive_mode);
state_.set(VISUALIZING_GRAPH, interactive_mode);
nh_.setParam("paused_processing", interactive_mode);
return true;
}
/*****************************************************************************/
void LoopClosureAssistant::moveNode(
const int& id, const Eigen::Vector3d& pose)
/*****************************************************************************/
{
solver_->ModifyNode(id, pose);
}
/*****************************************************************************/
bool LoopClosureAssistant::clearChangesCallback(
slam_toolbox::Clear::Request& req,
slam_toolbox::Clear::Response& resp)
/*****************************************************************************/
{
ROS_INFO("LoopClosureAssistant: Clearing manual loop closure nodes.");
publishGraph();
clearMovedNodes();
return true;
}
/*****************************************************************************/
void LoopClosureAssistant::clearMovedNodes()
/*****************************************************************************/
{
boost::mutex::scoped_lock lock(moved_nodes_mutex_);
moved_nodes_.clear();
}
/*****************************************************************************/
void LoopClosureAssistant::addMovedNodes(const int& id, Eigen::Vector3d vec)
/*****************************************************************************/
{
ROS_INFO("LoopClosureAssistant: Node %i new manual loop closure "
"pose has been recorded.",id);
boost::mutex::scoped_lock lock(moved_nodes_mutex_);
moved_nodes_[id] = vec;
}
} // end namespace