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00038 #ifndef COSTMAP_2D_OBSTACLE_LAYER_H_
00039 #define COSTMAP_2D_OBSTACLE_LAYER_H_
00040
00041 #include <ros/ros.h>
00042 #include <costmap_2d/costmap_layer.h>
00043 #include <costmap_2d/layered_costmap.h>
00044 #include <costmap_2d/observation_buffer.h>
00045
00046 #include <nav_msgs/OccupancyGrid.h>
00047
00048 #include <sensor_msgs/LaserScan.h>
00049 #include <laser_geometry/laser_geometry.h>
00050 #include <sensor_msgs/PointCloud.h>
00051 #include <sensor_msgs/PointCloud2.h>
00052 #include <sensor_msgs/point_cloud_conversion.h>
00053 #include <tf/message_filter.h>
00054 #include <message_filters/subscriber.h>
00055 #include <dynamic_reconfigure/server.h>
00056 #include <costmap_2d/ObstaclePluginConfig.h>
00057 #include <costmap_2d/footprint.h>
00058
00059 namespace costmap_2d
00060 {
00061
00062 class ObstacleLayer : public CostmapLayer
00063 {
00064 public:
00065 ObstacleLayer()
00066 {
00067 costmap_ = NULL;
00068 }
00069
00070 virtual ~ObstacleLayer();
00071 virtual void onInitialize();
00072 virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
00073 double* max_x, double* max_y);
00074 virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
00075
00076 virtual void activate();
00077 virtual void deactivate();
00078 virtual void reset();
00079
00085 void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
00086 const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
00087
00093 void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message,
00094 const boost::shared_ptr<ObservationBuffer>& buffer);
00095
00101 void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
00102 const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
00103
00109 void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
00110 const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
00111
00112
00113 void addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing);
00114 void clearStaticObservations(bool marking, bool clearing);
00115
00116 protected:
00117 virtual void setupDynamicReconfigure(ros::NodeHandle& nh);
00118
00124 bool getMarkingObservations(std::vector<costmap_2d::Observation>& marking_observations) const;
00125
00131 bool getClearingObservations(std::vector<costmap_2d::Observation>& clearing_observations) const;
00132
00141 virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
00142 double* max_x, double* max_y);
00143
00144 void updateRaytraceBounds(double ox, double oy, double wx, double wy, double range, double* min_x, double* min_y,
00145 double* max_x, double* max_y);
00146
00147 std::vector<geometry_msgs::Point> transformed_footprint_;
00148 bool footprint_clearing_enabled_;
00149 void updateFootprint(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
00150 double* max_x, double* max_y);
00151
00152 std::string global_frame_;
00153 double max_obstacle_height_;
00154
00155 laser_geometry::LaserProjection projector_;
00156
00157 std::vector<boost::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_;
00158 std::vector<boost::shared_ptr<tf::MessageFilterBase> > observation_notifiers_;
00159 std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > observation_buffers_;
00160 std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > marking_buffers_;
00161 std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > clearing_buffers_;
00162
00163
00164 std::vector<costmap_2d::Observation> static_clearing_observations_, static_marking_observations_;
00165
00166 bool rolling_window_;
00167 dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig> *dsrv_;
00168
00169 int combination_method_;
00170
00171 private:
00172 void reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level);
00173 };
00174
00175 }
00176
00177 #endif // COSTMAP_2D_OBSTACLE_LAYER_H_
costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:15