X-lanni
127 lines
3.7 KiB
C++
127 lines
3.7 KiB
C++
// 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/scan.hpp"
|
|
|
|
#include <cmath>
|
|
#include <functional>
|
|
|
|
namespace nav2_collision_monitor
|
|
{
|
|
|
|
Scan::Scan(
|
|
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 Scan", source_name_.c_str());
|
|
}
|
|
|
|
Scan::~Scan()
|
|
{
|
|
RCLCPP_INFO(logger_, "[%s]: Destroying Scan", source_name_.c_str());
|
|
data_sub_.reset();
|
|
}
|
|
|
|
void Scan::configure()
|
|
{
|
|
Source::configure();
|
|
auto node = node_.lock();
|
|
if (!node) {
|
|
throw std::runtime_error{"Failed to lock node"};
|
|
}
|
|
|
|
std::string source_topic;
|
|
|
|
// Laser scanner has no own parameters
|
|
getCommonParameters(source_topic);
|
|
|
|
rclcpp::QoS scan_qos = rclcpp::SensorDataQoS(); // set to default
|
|
data_sub_ = node->create_subscription<sensor_msgs::msg::LaserScan>(
|
|
source_topic, scan_qos,
|
|
std::bind(&Scan::dataCallback, this, std::placeholders::_1));
|
|
}
|
|
|
|
void Scan::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 being 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;
|
|
}
|
|
}
|
|
|
|
// Calculate poses and refill data array
|
|
float angle = data_->angle_min;
|
|
for (size_t i = 0; i < data_->ranges.size(); i++) {
|
|
if (data_->ranges[i] >= data_->range_min && data_->ranges[i] <= data_->range_max) {
|
|
// Transform point coordinates from source frame -> to base frame
|
|
tf2::Vector3 p_v3_s(
|
|
data_->ranges[i] * std::cos(angle),
|
|
data_->ranges[i] * std::sin(angle),
|
|
0.0);
|
|
tf2::Vector3 p_v3_b = tf_transform * p_v3_s;
|
|
|
|
// Refill data array
|
|
data.push_back({p_v3_b.x(), p_v3_b.y()});
|
|
}
|
|
angle += data_->angle_increment;
|
|
}
|
|
}
|
|
|
|
void Scan::dataCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr msg)
|
|
{
|
|
data_ = msg;
|
|
}
|
|
|
|
} // namespace nav2_collision_monitor
|