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merge_maps_kinematic.cpp
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merge_maps_kinematic.cpp
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/*
* Author
* Copyright (c) 2018, Simbe Robotics, Inc.
*
* 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/merge_maps_kinematic.hpp"
#include "slam_toolbox/serialization.hpp"
/*****************************************************************************/
MergeMapsKinematic::MergeMapsKinematic() : num_submaps_(0), nh_("map_merging")
/*****************************************************************************/
{
ROS_INFO("MergeMapsKinematic: Starting up!");
setup();
}
/*****************************************************************************/
void MergeMapsKinematic::setup()
/*****************************************************************************/
{
nh_.param("resolution", resolution_, 0.05);
sstS_.push_back(nh_.advertise<nav_msgs::OccupancyGrid>("/map", 1, true));
sstmS_.push_back(nh_.advertise<nav_msgs::MapMetaData>(
"/map_metadata", 1, true));
ssMap_ = nh_.advertiseService("merge_submaps",
&MergeMapsKinematic::mergeMapCallback, this);
ssSubmap_ = nh_.advertiseService("add_submap",
&MergeMapsKinematic::addSubmapCallback, this);
tfB_ = std::make_unique<tf2_ros::TransformBroadcaster>();
interactive_server_ =
std::make_unique<interactive_markers::InteractiveMarkerServer>(
"merge_maps_tool","",true);
}
/*****************************************************************************/
MergeMapsKinematic::~MergeMapsKinematic()
/*****************************************************************************/
{
}
/*****************************************************************************/
bool MergeMapsKinematic::addSubmapCallback(
slam_toolbox::AddSubmap::Request& req,
slam_toolbox::AddSubmap::Response& resp)
/*****************************************************************************/
{
std::unique_ptr<karto::Mapper> mapper = std::make_unique<karto::Mapper>();
std::unique_ptr<karto::Dataset> dataset = std::make_unique<karto::Dataset>();
if (!serialization::read(req.filename, *mapper, *dataset))
{
ROS_ERROR("addSubmapCallback: Failed to read "
"file: %s.", req.filename.c_str());
return true;
}
// we know the position because we put it there before any scans
karto::LaserRangeFinder* laser = dynamic_cast<karto::LaserRangeFinder*>(
dataset->GetLasers()[0]);
dataset->Add(laser, true);
dataset_vec_.push_back(std::move(dataset));
if (lasers_.find(laser->GetName().GetName()) == lasers_.end())
{
laser_utils::LaserMetadata laserMeta(laser, false);
lasers_[laser->GetName().GetName()] = laserMeta;
}
karto::LocalizedRangeScanVector scans = mapper->GetAllProcessedScans();
scans_vec_.push_back(scans);
num_submaps_++;
// create and publish map with marker that will move the map around
sstS_.push_back(nh_.advertise<nav_msgs::OccupancyGrid>(
"/map_"+std::to_string(num_submaps_), 1, true));
sstmS_.push_back(nh_.advertise<nav_msgs::MapMetaData>(
"/map_metadata_" + std::to_string(num_submaps_), 1, true));
sleep(1.0);
nav_msgs::GetMap::Response map;
nav_msgs::OccupancyGrid& og = map.map;
try
{
kartoToROSOccupancyGrid(scans, map);
} catch (const karto::Exception& e)
{
ROS_WARN("Failed to build grid to add submap, Exception: %s",
e.GetErrorMessage().c_str());
return false;
}
tf2::Transform transform;
transform.setIdentity();
transform.setOrigin(tf2::Vector3(og.info.origin.position.x +
og.info.width * og.info.resolution / 2.0,
og.info.origin.position.y + og.info.height * og.info.resolution / 2.0,
0.));
og.info.origin.position.x = - (og.info.width * og.info.resolution / 2.0);
og.info.origin.position.y = - (og.info.height * og.info.resolution / 2.0);
og.header.stamp = ros::Time::now();
og.header.frame_id = "map_"+std::to_string(num_submaps_);
sstS_[num_submaps_].publish(og);
sstmS_[num_submaps_].publish(og.info);
geometry_msgs::TransformStamped msg;
tf2::convert(transform, msg.transform);
msg.child_frame_id = "/map_"+std::to_string(num_submaps_);
msg.header.frame_id = "/map";
msg.header.stamp = ros::Time::now();
tfB_->sendTransform(msg);
submap_marker_transform_[num_submaps_] =
tf2::Transform(tf2::Quaternion(0.,0.,0.,1.0),
tf2::Vector3(0,0,0)); //no initial correction -- identity mat
submap_locations_[num_submaps_] =
Eigen::Vector3d(transform.getOrigin().getX(),
transform.getOrigin().getY(),0.);
// create an interactive marker for the base of this frame and attach it
visualization_msgs::Marker m =
vis_utils::toMarker("map", "merge_maps_tool", 2.0);
m.pose.position.x = transform.getOrigin().getX();
m.pose.position.y = transform.getOrigin().getY();
m.id = num_submaps_;
visualization_msgs::InteractiveMarker int_marker =
vis_utils::toInteractiveMarker(m, 2.4);
interactive_server_->insert(int_marker,
boost::bind(&MergeMapsKinematic::processInteractiveFeedback, this, _1));
interactive_server_->applyChanges();
ROS_INFO("Map %s was loaded into topic %s!", req.filename.c_str(),
("/map_"+std::to_string(num_submaps_)).c_str());
return true;
}
/*****************************************************************************/
karto::Pose2 MergeMapsKinematic::applyCorrection(const
karto::Pose2& pose,
const tf2::Transform& submap_correction)
/*****************************************************************************/
{
tf2::Transform pose_tf, pose_corr;
tf2::Quaternion q(0.,0.,0.,1.0);
q.setRPY(0., 0., pose.GetHeading());
pose_tf.setOrigin(tf2::Vector3(pose.GetX(), pose.GetY(), 0.));
pose_tf.setRotation(q);
pose_corr = submap_correction * pose_tf;
return karto::Pose2(pose_corr.getOrigin().x(), pose_corr.getOrigin().y(),
tf2::getYaw(pose_corr.getRotation()));
}
/*****************************************************************************/
karto::Vector2<kt_double> MergeMapsKinematic::applyCorrection(const
karto::Vector2<kt_double>& pose,
const tf2::Transform& submap_correction)
/*****************************************************************************/
{
tf2::Transform pose_tf, pose_corr;
pose_tf.setOrigin(tf2::Vector3(pose.GetX(), pose.GetY(), 0.));
pose_tf.setRotation(tf2::Quaternion(0.,0.,0.,1.0));
pose_corr = submap_correction * pose_tf;
return karto::Vector2<kt_double>(pose_corr.getOrigin().x(),
pose_corr.getOrigin().y());
}
/*****************************************************************************/
void MergeMapsKinematic::transformScan(LocalizedRangeScansIt iter,
tf2::Transform& submap_correction)
/*****************************************************************************/
{
// TRANSFORM BARYCENTERR POSE
const karto::Pose2 bary_center_pose = (*iter)->GetBarycenterPose();
auto bary_center_pose_corr =
applyCorrection(bary_center_pose, submap_correction);
(*iter)->SetBarycenterPose(bary_center_pose_corr);
// TRANSFORM BOUNDING BOX POSITIONS
karto::BoundingBox2 bbox = (*iter)->GetBoundingBox();
const karto::Vector2<kt_double> bbox_min_corr =
applyCorrection(bbox.GetMinimum(), submap_correction);
bbox.SetMinimum(bbox_min_corr);
const karto::Vector2<kt_double> bbox_max_corr =
applyCorrection(bbox.GetMaximum(), submap_correction);
bbox.SetMaximum(bbox_max_corr);
(*iter)->SetBoundingBox(bbox);
// TRANSFORM UNFILTERED POINTS USED
karto::PointVectorDouble UPR_vec = (*iter)->GetPointReadings();
for(karto::PointVectorDouble::iterator it_upr = UPR_vec.begin();
it_upr != UPR_vec.end(); ++it_upr)
{
const karto::Vector2<kt_double> upr_corr = applyCorrection(
*it_upr, submap_correction);
it_upr->SetX(upr_corr.GetX());
it_upr->SetY(upr_corr.GetY());
}
(*iter)->SetPointReadings(UPR_vec);
// TRANSFORM CORRECTED POSE
const karto::Pose2 corrected_pose = (*iter)->GetCorrectedPose();
karto::Pose2 karto_robot_pose_corr = applyCorrection(
corrected_pose, submap_correction);
(*iter)->SetCorrectedPose(karto_robot_pose_corr);
kt_bool dirty = false;
(*iter)->SetIsDirty(dirty);
// TRANSFORM ODOM POSE
karto::Pose2 odom_pose = (*iter)->GetOdometricPose();
karto::Pose2 karto_robot_pose_odom = applyCorrection(
odom_pose, submap_correction);
(*iter)->SetOdometricPose(karto_robot_pose_odom);
}
/*****************************************************************************/
bool MergeMapsKinematic::mergeMapCallback(
slam_toolbox::MergeMaps::Request& req,
slam_toolbox::MergeMaps::Response& resp)
/*****************************************************************************/
{
ROS_INFO("Merging maps!");
// transform all the scans into the new global map coordinates
int id = 0;
karto::LocalizedRangeScanVector transformed_scans;
for(LocalizedRangeScansVecIt it_LRV = scans_vec_.begin();
it_LRV != scans_vec_.end(); ++it_LRV)
{
id++;
for (LocalizedRangeScansIt iter = it_LRV->begin();
iter != it_LRV->end(); ++iter)
{
tf2::Transform submap_correction = submap_marker_transform_[id];
transformScan(iter, submap_correction);
transformed_scans.push_back((*iter));
}
}
// create the map
nav_msgs::GetMap::Response map;
try
{
kartoToROSOccupancyGrid(transformed_scans, map);
} catch (const karto::Exception& e)
{
ROS_WARN("Failed to build grid to merge maps together, Exception: %s",
e.GetErrorMessage().c_str());
}
// publish
map.map.header.stamp = ros::Time::now();
map.map.header.frame_id = "map";
sstS_[0].publish(map.map);
sstmS_[0].publish(map.map.info);
}
/*****************************************************************************/
void MergeMapsKinematic::kartoToROSOccupancyGrid(
const karto::LocalizedRangeScanVector& scans,
nav_msgs::GetMap::Response& map)
/*****************************************************************************/
{
karto::OccupancyGrid* occ_grid = NULL;
occ_grid = karto::OccupancyGrid::CreateFromScans(scans, resolution_);
if (!occ_grid)
{
ROS_INFO("MergeMapsKinematic: Could not make Karto occupancy grid.");
}
else
{
map.map.info.resolution = resolution_;
vis_utils::toNavMap(occ_grid, map.map);
}
delete occ_grid;
return;
}
/*****************************************************************************/
void MergeMapsKinematic::processInteractiveFeedback(const
visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback)
/*****************************************************************************/
{
const int id = std::stoi(feedback->marker_name,nullptr,10);
if (feedback->event_type ==
visualization_msgs::InteractiveMarkerFeedback::MOUSE_UP &&
feedback->mouse_point_valid)
{
tfScalar yaw = tf2::getYaw(feedback->pose.orientation);
tf2::Quaternion quat(0.,0.,0.,1.0);
tf2::convert(feedback->pose.orientation, quat); // relative
tf2::Transform previous_submap_correction;
previous_submap_correction.setIdentity();
previous_submap_correction.setOrigin(tf2::Vector3(submap_locations_[id](0),
submap_locations_[id](1), 0.));
// update internal knowledge of submap locations
submap_locations_[id] = Eigen::Vector3d(feedback->pose.position.x,
feedback->pose.position.y,
submap_locations_[id](2) + yaw);
// add the map_N frame there
tf2::Transform new_submap_location;
new_submap_location.setOrigin(tf2::Vector3(submap_locations_[id](0),
submap_locations_[id](1), 0.));
new_submap_location.setRotation(quat);
geometry_msgs::TransformStamped msg;
tf2::convert(new_submap_location, msg.transform);
msg.child_frame_id = "/map_"+std::to_string(id);
msg.header.frame_id = "/map";
msg.header.stamp = ros::Time::now();
tfB_->sendTransform(msg);
submap_marker_transform_[id] = submap_marker_transform_[id] *
previous_submap_correction.inverse() * new_submap_location;
}
if (feedback->event_type ==
visualization_msgs::InteractiveMarkerFeedback::POSE_UPDATE)
{
tfScalar yaw = tf2::getYaw(feedback->pose.orientation);
tf2::Quaternion quat(0.,0.,0.,1.0);
tf2::convert(feedback->pose.orientation, quat); // relative
// add the map_N frame there
tf2::Transform new_submap_location;
new_submap_location.setOrigin(tf2::Vector3(feedback->pose.position.x,
feedback->pose.position.y, 0.));
new_submap_location.setRotation(quat);
geometry_msgs::TransformStamped msg;
tf2::convert(new_submap_location, msg.transform);
msg.child_frame_id = "/map_"+std::to_string(id);
msg.header.frame_id = "/map";
msg.header.stamp = ros::Time::now();
tfB_->sendTransform(msg);
}
}
/*****************************************************************************/
int main(int argc, char** argv)
/*****************************************************************************/
{
ros::init(argc, argv, "merge_maps_kinematic");
MergeMapsKinematic mmk;
ros::spin();
return 0;
}