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 +1,173 @@
+#! /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.
+
+import numpy as np
+import math
+
+import os
+from ament_index_python.packages import get_package_share_directory
+import pickle
+
+import seaborn as sns
+import matplotlib.pylab as plt
+from tabulate import tabulate
+
+
+def getPaths(results):
+    paths = []
+    for result in results:
+        for path in result:
+            paths.append(path.path)
+    return paths
+
+
+def getTimes(results):
+    times = []
+    for result in results:
+        for time in result:
+            times.append(time.planning_time.nanosec/1e09 + time.planning_time.sec)
+    return times
+
+
+def getMapCoordsFromPaths(paths, resolution):
+    coords = []
+    for path in paths:
+        x = []
+        y = []
+        for pose in path.poses:
+            x.append(pose.pose.position.x/resolution)
+            y.append(pose.pose.position.y/resolution)
+        coords.append(x)
+        coords.append(y)
+    return coords
+
+
+def getPathLength(path):
+    path_length = 0
+    x_prev = path.poses[0].pose.position.x
+    y_prev = path.poses[0].pose.position.y
+    for i in range(1, len(path.poses)):
+        x_curr = path.poses[i].pose.position.x
+        y_curr = path.poses[i].pose.position.y
+        path_length = path_length + math.sqrt((x_curr-x_prev)**2 + (y_curr-y_prev)**2)
+        x_prev = x_curr
+        y_prev = y_curr
+    return path_length
+
+
+def plotResults(costmap, paths):
+    coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution)
+    data = np.asarray(costmap.data)
+    data.resize(costmap.metadata.size_y, costmap.metadata.size_x)
+    data = np.where(data <= 253, 0, data)
+
+    plt.figure(3)
+    ax = sns.heatmap(data, cmap='Greys', cbar=False)
+    for i in range(0, len(coords), 2):
+        ax.plot(coords[i], coords[i+1], linewidth=0.7)
+    plt.axis('off')
+    ax.set_aspect('equal', 'box')
+    plt.show()
+
+
+def averagePathCost(paths, costmap, num_of_planners):
+    coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution)
+    data = np.asarray(costmap.data)
+    data.resize(costmap.metadata.size_y, costmap.metadata.size_x)
+
+    average_path_costs = []
+    for i in range(num_of_planners):
+        average_path_costs.append([])
+
+    k = 0
+    for i in range(0, len(coords), 2):
+        costs = []
+        for j in range(len(coords[i])):
+            costs.append(data[math.floor(coords[i+1][j])][math.floor(coords[i][j])])
+        average_path_costs[k % num_of_planners].append(sum(costs)/len(costs))
+        k += 1
+
+    return average_path_costs
+
+
+def maxPathCost(paths, costmap, num_of_planners):
+    coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution)
+    data = np.asarray(costmap.data)
+    data.resize(costmap.metadata.size_y, costmap.metadata.size_x)
+
+    max_path_costs = []
+    for i in range(num_of_planners):
+        max_path_costs.append([])
+
+    k = 0
+    for i in range(0, len(coords), 2):
+        max_cost = 0
+        for j in range(len(coords[i])):
+            cost = data[math.floor(coords[i+1][j])][math.floor(coords[i][j])]
+            if max_cost < cost:
+                max_cost = cost
+        max_path_costs[k % num_of_planners].append(max_cost)
+        k += 1
+
+    return max_path_costs
+
+
+def main():
+
+    print("Read data")
+    with open(os.getcwd() + '/results.pickle', 'rb') as f:
+        results = pickle.load(f)
+
+    with open(os.getcwd() + '/planners.pickle', 'rb') as f:
+        planners = pickle.load(f)
+
+    with open(os.getcwd() + '/costmap.pickle', 'rb') as f:
+        costmap = pickle.load(f)
+
+    paths = getPaths(results)
+    path_lengths = []
+
+    for path in paths:
+        path_lengths.append(getPathLength(path))
+    path_lengths = np.asarray(path_lengths)
+    total_paths = len(paths)
+
+    path_lengths.resize((int(total_paths/len(planners)), len(planners)))
+    path_lengths = path_lengths.transpose()
+
+    times = getTimes(results)
+    times = np.asarray(times)
+    times.resize((int(total_paths/len(planners)), len(planners)))
+    times = np.transpose(times)
+
+    # Costs
+    average_path_costs = np.asarray(averagePathCost(paths, costmap, len(planners)))
+    max_path_costs = np.asarray(maxPathCost(paths, costmap, len(planners)))
+
+    # Generate table
+    planner_table = [['Planner', 'Average path length (m)', 'Average Time (s)',
+                      'Average cost', 'Max cost']]
+
+    for i in range(0, len(planners)):
+        planner_table.append([planners[i], np.average(path_lengths[i]), np.average(times[i]),
+                              np.average(average_path_costs[i]), np.average(max_path_costs[i])])
+
+    # Visualize results
+    print(tabulate(planner_table))
+    plotResults(costmap, paths)
+
+
+if __name__ == '__main__':
+    main()