add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
@@ -0,0 +1,30 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// 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 <memory>
+#include <stdexcept>
+#include <string>
+
+#include "nav2_map_server/map_server.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+int main(int argc, char ** argv)
+{
+  std::string node_name("map_server");
+
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<nav2_map_server::MapServer>();
+  rclcpp::spin(node->get_node_base_interface());
+  rclcpp::shutdown();
+}
@@ -0,0 +1,257 @@
+/* Copyright (c) 2018 Intel Corporation
+ *
+ * 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.
+ */
+
+/* Copyright 2019 Rover Robotics
+ * Copyright 2010 Brian Gerkey
+ * Copyright (c) 2008, 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 the 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.
+ */
+
+#include "nav2_map_server/map_server.hpp"
+
+#include <string>
+#include <memory>
+#include <fstream>
+#include <stdexcept>
+#include <utility>
+
+#include "yaml-cpp/yaml.h"
+#include "lifecycle_msgs/msg/state.hpp"
+#include "nav2_map_server/map_io.hpp"
+
+using namespace std::chrono_literals;
+using namespace std::placeholders;
+
+namespace nav2_map_server
+{
+
+MapServer::MapServer(const rclcpp::NodeOptions & options)
+: nav2_util::LifecycleNode("map_server", "", options), map_available_(false)
+{
+  RCLCPP_INFO(get_logger(), "Creating");
+
+  // Declare the node parameters
+  declare_parameter("yaml_filename", rclcpp::PARAMETER_STRING);
+  declare_parameter("topic_name", "map");
+  declare_parameter("frame_id", "map");
+}
+
+MapServer::~MapServer()
+{
+}
+
+nav2_util::CallbackReturn
+MapServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
+{
+  RCLCPP_INFO(get_logger(), "Configuring");
+
+  // Get the name of the YAML file to use (can be empty if no initial map should be used)
+  std::string yaml_filename = get_parameter("yaml_filename").as_string();
+  std::string topic_name = get_parameter("topic_name").as_string();
+  frame_id_ = get_parameter("frame_id").as_string();
+
+  // only try to load map if parameter was set
+  if (!yaml_filename.empty()) {
+    // Shared pointer to LoadMap::Response is also should be initialized
+    // in order to avoid null-pointer dereference
+    std::shared_ptr<nav2_msgs::srv::LoadMap::Response> rsp =
+      std::make_shared<nav2_msgs::srv::LoadMap::Response>();
+
+    if (!loadMapResponseFromYaml(yaml_filename, rsp)) {
+      throw std::runtime_error("Failed to load map yaml file: " + yaml_filename);
+    }
+  } else {
+    RCLCPP_INFO(
+      get_logger(),
+      "yaml-filename parameter is empty, set map through '%s'-service",
+      load_map_service_name_.c_str());
+  }
+
+  // Make name prefix for services
+  const std::string service_prefix = get_name() + std::string("/");
+
+  // Create a service that provides the occupancy grid
+  occ_service_ = create_service<nav_msgs::srv::GetMap>(
+    service_prefix + std::string(service_name_),
+    std::bind(&MapServer::getMapCallback, this, _1, _2, _3));
+
+  // Create a publisher using the QoS settings to emulate a ROS1 latched topic
+  occ_pub_ = create_publisher<nav_msgs::msg::OccupancyGrid>(
+    topic_name,
+    rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
+
+  // Create a service that loads the occupancy grid from a file
+  load_map_service_ = create_service<nav2_msgs::srv::LoadMap>(
+    service_prefix + std::string(load_map_service_name_),
+    std::bind(&MapServer::loadMapCallback, this, _1, _2, _3));
+
+  return nav2_util::CallbackReturn::SUCCESS;
+}
+
+nav2_util::CallbackReturn
+MapServer::on_activate(const rclcpp_lifecycle::State & /*state*/)
+{
+  RCLCPP_INFO(get_logger(), "Activating");
+
+  // Publish the map using the latched topic
+  occ_pub_->on_activate();
+  if (map_available_) {
+    auto occ_grid = std::make_unique<nav_msgs::msg::OccupancyGrid>(msg_);
+    occ_pub_->publish(std::move(occ_grid));
+  }
+
+  // create bond connection
+  createBond();
+
+  return nav2_util::CallbackReturn::SUCCESS;
+}
+
+nav2_util::CallbackReturn
+MapServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
+{
+  RCLCPP_INFO(get_logger(), "Deactivating");
+
+  occ_pub_->on_deactivate();
+
+  // destroy bond connection
+  destroyBond();
+
+  return nav2_util::CallbackReturn::SUCCESS;
+}
+
+nav2_util::CallbackReturn
+MapServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
+{
+  RCLCPP_INFO(get_logger(), "Cleaning up");
+
+  occ_pub_.reset();
+  occ_service_.reset();
+  load_map_service_.reset();
+  map_available_ = false;
+  msg_ = nav_msgs::msg::OccupancyGrid();
+
+  return nav2_util::CallbackReturn::SUCCESS;
+}
+
+nav2_util::CallbackReturn
+MapServer::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
+{
+  RCLCPP_INFO(get_logger(), "Shutting down");
+  return nav2_util::CallbackReturn::SUCCESS;
+}
+
+void MapServer::getMapCallback(
+  const std::shared_ptr<rmw_request_id_t>/*request_header*/,
+  const std::shared_ptr<nav_msgs::srv::GetMap::Request>/*request*/,
+  std::shared_ptr<nav_msgs::srv::GetMap::Response> response)
+{
+  // if not in ACTIVE state, ignore request
+  if (get_current_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) {
+    RCLCPP_WARN(
+      get_logger(),
+      "Received GetMap request but not in ACTIVE state, ignoring!");
+    return;
+  }
+  RCLCPP_INFO(get_logger(), "Handling GetMap request");
+  response->map = msg_;
+}
+
+void MapServer::loadMapCallback(
+  const std::shared_ptr<rmw_request_id_t>/*request_header*/,
+  const std::shared_ptr<nav2_msgs::srv::LoadMap::Request> request,
+  std::shared_ptr<nav2_msgs::srv::LoadMap::Response> response)
+{
+  // if not in ACTIVE state, ignore request
+  if (get_current_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) {
+    RCLCPP_WARN(
+      get_logger(),
+      "Received LoadMap request but not in ACTIVE state, ignoring!");
+    response->result = response->RESULT_UNDEFINED_FAILURE;
+    return;
+  }
+  RCLCPP_INFO(get_logger(), "Handling LoadMap request");
+  // Load from file
+  if (loadMapResponseFromYaml(request->map_url, response)) {
+    auto occ_grid = std::make_unique<nav_msgs::msg::OccupancyGrid>(msg_);
+    occ_pub_->publish(std::move(occ_grid));  // publish new map
+  }
+}
+
+bool MapServer::loadMapResponseFromYaml(
+  const std::string & yaml_file,
+  std::shared_ptr<nav2_msgs::srv::LoadMap::Response> response)
+{
+  switch (loadMapFromYaml(yaml_file, msg_)) {
+    case MAP_DOES_NOT_EXIST:
+      response->result = nav2_msgs::srv::LoadMap::Response::RESULT_MAP_DOES_NOT_EXIST;
+      return false;
+    case INVALID_MAP_METADATA:
+      response->result = nav2_msgs::srv::LoadMap::Response::RESULT_INVALID_MAP_METADATA;
+      return false;
+    case INVALID_MAP_DATA:
+      response->result = nav2_msgs::srv::LoadMap::Response::RESULT_INVALID_MAP_DATA;
+      return false;
+    case LOAD_MAP_SUCCESS:
+      // Correcting msg_ header when it belongs to specific node
+      updateMsgHeader();
+
+      map_available_ = true;
+      response->map = msg_;
+      response->result = nav2_msgs::srv::LoadMap::Response::RESULT_SUCCESS;
+  }
+
+  return true;
+}
+
+void MapServer::updateMsgHeader()
+{
+  msg_.info.map_load_time = now();
+  msg_.header.frame_id = frame_id_;
+  msg_.header.stamp = now();
+}
+
+}  // namespace nav2_map_server
+
+#include "rclcpp_components/register_node_macro.hpp"
+
+// Register the component with class_loader.
+// This acts as a sort of entry point, allowing the component to be discoverable when its library
+// is being loaded into a running process.
+RCLCPP_COMPONENTS_REGISTER_NODE(nav2_map_server::MapServer)