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 +1,150 @@
+#! /usr/bin/env python3
+# Copyright 2022 Joshua Wallace
+#
+# 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.
+
+from geometry_msgs.msg import PoseStamped
+from nav2_simple_commander.robot_navigator import BasicNavigator
+import rclpy
+from ament_index_python.packages import get_package_share_directory
+
+import math
+import os
+import pickle
+import glob
+import time
+import numpy as np
+
+from random import seed
+from random import randint
+from random import uniform
+
+from transforms3d.euler import euler2quat
+
+
+def getPlannerResults(navigator, initial_pose, goal_pose, planners):
+    results = []
+    for planner in planners:
+        path = navigator._getPathImpl(initial_pose, goal_pose, planner, use_start=True)
+        if path is not None:
+            results.append(path)
+        else:
+            return results
+    return results
+
+
+def getRandomStart(costmap, max_cost, side_buffer, time_stamp, res):
+    start = PoseStamped()
+    start.header.frame_id = 'map'
+    start.header.stamp = time_stamp
+    while True:
+        row = randint(side_buffer, costmap.shape[0]-side_buffer)
+        col = randint(side_buffer, costmap.shape[1]-side_buffer)
+
+        if costmap[row, col] < max_cost:
+            start.pose.position.x = col*res
+            start.pose.position.y = row*res
+
+            yaw = uniform(0, 1) * 2*math.pi
+            quad = euler2quat(0.0, 0.0, yaw)
+            start.pose.orientation.w = quad[0]
+            start.pose.orientation.x = quad[1]
+            start.pose.orientation.y = quad[2]
+            start.pose.orientation.z = quad[3]
+            break
+    return start
+
+
+def getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res):
+    goal = PoseStamped()
+    goal.header.frame_id = 'map'
+    goal.header.stamp = time_stamp
+    while True:
+        row = randint(side_buffer, costmap.shape[0]-side_buffer)
+        col = randint(side_buffer, costmap.shape[1]-side_buffer)
+
+        start_x = start.pose.position.x
+        start_y = start.pose.position.y
+        goal_x = col*res
+        goal_y = row*res
+        x_diff = goal_x - start_x
+        y_diff = goal_y - start_y
+        dist = math.sqrt(x_diff ** 2 + y_diff ** 2)
+
+        if costmap[row, col] < max_cost and dist > 3.0:
+            goal.pose.position.x = goal_x
+            goal.pose.position.y = goal_y
+
+            yaw = uniform(0, 1) * 2*math.pi
+            quad = euler2quat(0.0, 0.0, yaw)
+            goal.pose.orientation.w = quad[0]
+            goal.pose.orientation.x = quad[1]
+            goal.pose.orientation.y = quad[2]
+            goal.pose.orientation.z = quad[3]
+            break
+    return goal
+
+
+def main():
+    rclpy.init()
+
+    navigator = BasicNavigator()
+
+    # Set map to use, other options: 100by100_15, 100by100_10
+    map_path = os.getcwd() + '/' + glob.glob('**/100by100_20.yaml', recursive=True)[0]
+    navigator.changeMap(map_path)
+    time.sleep(2)
+
+    # Get the costmap for start/goal validation
+    costmap_msg = navigator.getGlobalCostmap()
+    costmap = np.asarray(costmap_msg.data)
+    costmap.resize(costmap_msg.metadata.size_y, costmap_msg.metadata.size_x)
+
+    planners = ['Navfn', 'ThetaStar', 'SmacHybrid', 'Smac2d',  'SmacLattice']
+    max_cost = 210
+    side_buffer = 100
+    time_stamp = navigator.get_clock().now().to_msg()
+    results = []
+    seed(33)
+
+    random_pairs = 100
+    res = costmap_msg.metadata.resolution
+    i = 0
+    while len(results) != random_pairs:
+        print("Cycle: ", i, "out of: ", random_pairs)
+        start = getRandomStart(costmap, max_cost, side_buffer, time_stamp, res)
+        goal = getRandomGoal(costmap, start, max_cost, side_buffer, time_stamp, res)
+        print("Start", start)
+        print("Goal", goal)
+        result = getPlannerResults(navigator, start, goal, planners)
+        if len(result) == len(planners):
+            results.append(result)
+            i = i + 1
+        else:
+            print("One of the planners was invalid")
+
+    print("Write Results...")
+    with open(os.getcwd() + '/results.pickle', 'wb+') as f:
+        pickle.dump(results, f, pickle.HIGHEST_PROTOCOL)
+
+    with open(os.getcwd() + '/costmap.pickle', 'wb+') as f:
+        pickle.dump(costmap_msg, f, pickle.HIGHEST_PROTOCOL)
+
+    with open(os.getcwd() + '/planners.pickle', 'wb+') as f:
+        pickle.dump(planners, f, pickle.HIGHEST_PROTOCOL)
+    print("Write Complete")
+    exit(0)
+
+
+if __name__ == '__main__':
+    main()