add humble-navigation2

navigation2/nav2_collision_monitor/src/pointcloud.cpp

@@ -0,0 +1,144 @@
+// Copyright (c) 2022 Samsung R&D Institute Russia
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "nav2_collision_monitor/pointcloud.hpp"
+
+#include <functional>
+
+#include "sensor_msgs/point_cloud2_iterator.hpp"
+
+#include "nav2_util/node_utils.hpp"
+
+namespace nav2_collision_monitor
+{
+
+PointCloud::PointCloud(
+  const nav2_util::LifecycleNode::WeakPtr & node,
+  const std::string & source_name,
+  const std::shared_ptr<tf2_ros::Buffer> tf_buffer,
+  const std::string & base_frame_id,
+  const std::string & global_frame_id,
+  const tf2::Duration & transform_tolerance,
+  const rclcpp::Duration & source_timeout,
+  const bool base_shift_correction)
+: Source(
+    node, source_name, tf_buffer, base_frame_id, global_frame_id,
+    transform_tolerance, source_timeout, base_shift_correction),
+  data_(nullptr)
+{
+  RCLCPP_INFO(logger_, "[%s]: Creating PointCloud", source_name_.c_str());
+}
+
+PointCloud::~PointCloud()
+{
+  RCLCPP_INFO(logger_, "[%s]: Destroying PointCloud", source_name_.c_str());
+  data_sub_.reset();
+}
+
+void PointCloud::configure()
+{
+  Source::configure();
+  auto node = node_.lock();
+  if (!node) {
+    throw std::runtime_error{"Failed to lock node"};
+  }
+
+  std::string source_topic;
+
+  getParameters(source_topic);
+
+  rclcpp::QoS pointcloud_qos = rclcpp::SensorDataQoS();  // set to default
+  data_sub_ = node->create_subscription<sensor_msgs::msg::PointCloud2>(
+    source_topic, pointcloud_qos,
+    std::bind(&PointCloud::dataCallback, this, std::placeholders::_1));
+}
+
+void PointCloud::getData(
+  const rclcpp::Time & curr_time,
+  std::vector<Point> & data) const
+{
+  // Ignore data from the source if it is not being published yet or
+  // not published for a long time
+  if (data_ == nullptr) {
+    return;
+  }
+  if (!sourceValid(data_->header.stamp, curr_time)) {
+    return;
+  }
+
+  tf2::Transform tf_transform;
+  if (base_shift_correction_) {
+    // Obtaining the transform to get data from source frame and time where it was received
+    // to the base frame and current time
+    if (
+      !nav2_util::getTransform(
+        data_->header.frame_id, data_->header.stamp,
+        base_frame_id_, curr_time, global_frame_id_,
+        transform_tolerance_, tf_buffer_, tf_transform))
+    {
+      return;
+    }
+  } else {
+    // Obtaining the transform to get data from source frame to base frame without time shift
+    // considered. Less accurate but much more faster option not dependent on state estimation
+    // frames.
+    if (
+      !nav2_util::getTransform(
+        data_->header.frame_id, base_frame_id_,
+        transform_tolerance_, tf_buffer_, tf_transform))
+    {
+      return;
+    }
+  }
+
+  sensor_msgs::PointCloud2ConstIterator<float> iter_x(*data_, "x");
+  sensor_msgs::PointCloud2ConstIterator<float> iter_y(*data_, "y");
+  sensor_msgs::PointCloud2ConstIterator<float> iter_z(*data_, "z");
+
+  // Refill data array with PointCloud points in base frame
+  for (; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) {
+    // Transform point coordinates from source frame -> to base frame
+    tf2::Vector3 p_v3_s(*iter_x, *iter_y, *iter_z);
+    tf2::Vector3 p_v3_b = tf_transform * p_v3_s;
+
+    // Refill data array
+    if (p_v3_b.z() >= min_height_ && p_v3_b.z() <= max_height_) {
+      data.push_back({p_v3_b.x(), p_v3_b.y()});
+    }
+  }
+}
+
+void PointCloud::getParameters(std::string & source_topic)
+{
+  auto node = node_.lock();
+  if (!node) {
+    throw std::runtime_error{"Failed to lock node"};
+  }
+
+  getCommonParameters(source_topic);
+
+  nav2_util::declare_parameter_if_not_declared(
+    node, source_name_ + ".min_height", rclcpp::ParameterValue(0.05));
+  min_height_ = node->get_parameter(source_name_ + ".min_height").as_double();
+  nav2_util::declare_parameter_if_not_declared(
+    node, source_name_ + ".max_height", rclcpp::ParameterValue(0.5));
+  max_height_ = node->get_parameter(source_name_ + ".max_height").as_double();
+}
+
+void PointCloud::dataCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
+{
+  data_ = msg;
+}
+
+}  // namespace nav2_collision_monitor