OctomapServer.h

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/*
 * Copyright (c) 2010-2012, A. Hornung, University of Freiburg
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       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"
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#ifndef OCTOMAP_SERVER_OCTOMAPSERVER_H
#define OCTOMAP_SERVER_OCTOMAPSERVER_H

#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>
#include <nav_msgs/OccupancyGrid.h>
#include <std_msgs/ColorRGBA.h>
#include <arm_navigation_msgs/CollisionObject.h>
#include <arm_navigation_msgs/CollisionMap.h>
#include <sensor_msgs/PointCloud2.h>
#include <std_srvs/Empty.h>
#include <dynamic_reconfigure/server.h>
#include <octomap_server/OctomapServerConfig.h>

#include <pcl/point_types.h>
#include <pcl/ros/conversions.h>
#include <pcl_ros/transforms.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>


#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#if ROS_VERSION_MINIMUM(1,8,0) // test for Fuerte (new build system, separate stacks)
  #include <octomap_msgs/OctomapBinary.h>
  #include <octomap_msgs/GetOctomap.h>
  #include <octomap_msgs/BoundingBoxQuery.h>
#else
  #include <octomap_ros/OctomapBinary.h>
  #include <octomap_ros/GetOctomap.h>
  #include <octomap_ros/ClearBBXRegion.h>
#endif

#include <octomap_ros/conversions.h>
#include <octomap/octomap.h>
#include <octomap/OcTreeKey.h>


namespace octomap_server {
class OctomapServer{

public:
  typedef pcl::PointCloud<pcl::PointXYZ> PCLPointCloud;
#if ROS_VERSION_MINIMUM(1,8,0)
  typedef octomap_msgs::GetOctomap OctomapSrv;
  typedef octomap_msgs::BoundingBoxQuery BBXSrv;
#else
  typedef octomap_ros::GetOctomap OctomapSrv;
  typedef octomap_ros::ClearBBXRegion BBXSrv;
#endif

  typedef octomap::OcTree OcTreeT;

  OctomapServer(ros::NodeHandle private_nh_ = ros::NodeHandle("~"));
  virtual ~OctomapServer();
  virtual bool octomapBinarySrv(OctomapSrv::Request  &req, OctomapSrv::GetOctomap::Response &res);
  virtual bool octomapFullSrv(OctomapSrv::Request  &req, OctomapSrv::GetOctomap::Response &res);
  bool clearBBXSrv(BBXSrv::Request& req, BBXSrv::Response& resp);
  bool resetSrv(std_srvs::Empty::Request& req, std_srvs::Empty::Response& resp);

  virtual void insertCloudCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud);
  virtual bool openFile(const std::string& filename);

protected:
  inline static void updateMinKey(const octomap::OcTreeKey& in, octomap::OcTreeKey& min){
    for (unsigned i=0; i<3; ++i)
      min[i] = std::min(in[i], min[i]);
  };
  
  inline static void updateMaxKey(const octomap::OcTreeKey& in, octomap::OcTreeKey& max){
    for (unsigned i=0; i<3; ++i)
      max[i] = std::max(in[i], max[i]);
  };
 
  inline bool isInUpdateBBX(const octomap::OcTree::iterator& it) const{
    // 2^(tree_depth-depth) voxels wide:
    unsigned voxelWidth = (1 << (m_maxTreeDepth - it.getDepth()));
    octomap::OcTreeKey key = it.getIndexKey(); // lower corner of voxel
    return (key[0]+voxelWidth >= m_updateBBXMin[0]
         && key[1]+voxelWidth >= m_updateBBXMin[1]
         && key[0] <= m_updateBBXMax[0]
         && key[1] <= m_updateBBXMax[1]);
  }

  void reconfigureCallback(octomap_server::OctomapServerConfig& config, uint32_t level);
  void publishBinaryOctoMap(const ros::Time& rostime = ros::Time::now()) const;
  void publishFullOctoMap(const ros::Time& rostime = ros::Time::now()) const;
  void publishAll(const ros::Time& rostime = ros::Time::now());

  virtual void insertScan(const tf::Point& sensorOrigin, const PCLPointCloud& ground, const PCLPointCloud& nonground);

  void filterGroundPlane(const PCLPointCloud& pc, PCLPointCloud& ground, PCLPointCloud& nonground) const;

  bool isSpeckleNode(const octomap::OcTreeKey& key) const;

  virtual void handlePreNodeTraversal(const ros::Time& rostime);

  virtual void handleNode(const OcTreeT::iterator& it) {};

  virtual void handleNodeInBBX(const OcTreeT::iterator& it) {};

  virtual void handleOccupiedNode(const OcTreeT::iterator& it);

  virtual void handleOccupiedNodeInBBX(const OcTreeT::iterator& it);

  virtual void handleFreeNode(const OcTreeT::iterator& it);

  virtual void handleFreeNodeInBBX(const OcTreeT::iterator& it);

  virtual void handlePostNodeTraversal(const ros::Time& rostime);

  virtual void update2DMap(const OcTreeT::iterator& it, bool occupied);

  inline unsigned mapIdx(int i, int j) const{
    return m_gridmap.info.width*j + i;
  }

  inline unsigned mapIdx(const octomap::OcTreeKey& key) const{
    return mapIdx((key[0] - m_paddedMinKey[0])/m_multires2DScale,
        (key[1] - m_paddedMinKey[1])/m_multires2DScale);

  }

  void adjustMapData(nav_msgs::OccupancyGrid& map, const nav_msgs::MapMetaData& oldMapInfo) const;

  inline bool mapChanged(const nav_msgs::MapMetaData& oldMapInfo, const nav_msgs::MapMetaData& newMapInfo){
    return (    oldMapInfo.height != newMapInfo.height
             || oldMapInfo.width !=newMapInfo.width
             || oldMapInfo.origin.position.x != newMapInfo.origin.position.x
             || oldMapInfo.origin.position.y != newMapInfo.origin.position.y);
  }

  static std_msgs::ColorRGBA heightMapColor(double h);
  ros::NodeHandle m_nh;
  ros::Publisher  m_markerPub, m_binaryMapPub, m_fullMapPub, m_pointCloudPub, m_collisionObjectPub, m_mapPub, m_cmapPub, m_fmapPub, m_fmarkerPub;
  message_filters::Subscriber<sensor_msgs::PointCloud2>* m_pointCloudSub;
  tf::MessageFilter<sensor_msgs::PointCloud2>* m_tfPointCloudSub;
  ros::ServiceServer m_octomapBinaryService, m_octomapFullService, m_clearBBXService, m_resetService;
  tf::TransformListener m_tfListener;
  dynamic_reconfigure::Server<OctomapServerConfig> m_reconfigureServer;

  octomap::OcTree* m_octree;
  octomap::KeyRay m_keyRay;  // temp storage for ray casting
  octomap::OcTreeKey m_updateBBXMin;
  octomap::OcTreeKey m_updateBBXMax;

  double m_maxRange;
  std::string m_worldFrameId; // the map frame
  std::string m_baseFrameId; // base of the robot for ground plane filtering
  bool m_useHeightMap;
  std_msgs::ColorRGBA m_color;
  std_msgs::ColorRGBA m_colorFree;
  double m_colorFactor;

  bool m_latchedTopics;
  bool m_publishFreeSpace;

  double m_res;
  unsigned m_treeDepth;
  unsigned m_maxTreeDepth;
  double m_probHit;
  double m_probMiss;
  double m_thresMin;
  double m_thresMax;

  double m_pointcloudMinZ;
  double m_pointcloudMaxZ;
  double m_occupancyMinZ;
  double m_occupancyMaxZ;
  double m_minSizeX;
  double m_minSizeY;
  bool m_filterSpeckles;

  bool m_filterGroundPlane;
  double m_groundFilterDistance;
  double m_groundFilterAngle;
  double m_groundFilterPlaneDistance;

  bool m_compressMap;

  // downprojected 2D map:
  bool m_incrementalUpdate;
  nav_msgs::OccupancyGrid m_gridmap;
  bool m_publish2DMap;
  bool m_mapOriginChanged;
  octomap::OcTreeKey m_paddedMinKey;
  unsigned m_multires2DScale;
  bool m_projectCompleteMap;
};
}

#endif