Program Listing for File cp_forward_obstacle_detector.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// 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.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <smacc2/smacc.hpp>
namespace sm_dance_bot_warehouse
{
namespace cl_lidar
{
using namespace std::chrono_literals;
class CpForwardObstacleDetector : public smacc2::ISmaccComponent
{
public:
sensor_msgs::msg::LaserScan lastScanMessage_;
const float SECURITY_DISTANCE = 0.4; // meters
void onInitialize() override
{
auto client_ =
dynamic_cast<smacc2::client_bases::SmaccSubscriberClient<sensor_msgs::msg::LaserScan> *>(
owner_);
client_->onMessageReceived(&CpForwardObstacleDetector::MessageCallbackStoreDistanceToWall, this);
}
int modulo_Euclidean(int a, int b)
{
int m = a % b;
if (m < 0)
{
// m += (b < 0) ? -b : b; // avoid this form: -b is UB when b == INT_MIN
m = (b < 0) ? m - b : m + b;
}
return m;
}
float getForwardDistance(int raysWidthCount = 0)
{
//auto fwdist = scanmsg.ranges[scanmsg.ranges.size() / 2] /*meter*/;
auto fwdist = lastScanMessage_.ranges[0] /*meter*/;
// RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] ranges[0]" << ss.str());
std::stringstream ss;
//check rays around main ray
for (int i = 0; i < raysWidthCount; i++)
{
// int baseindex = 0;
int scanindex = (- raysWidthCount / 2 + i) % raysWidthCount;
if(scanindex < 0)
{
scanindex = lastScanMessage_.ranges.size() + scanindex;
}
float fwdist2 = lastScanMessage_.ranges[scanindex];
RCLCPP_INFO_STREAM(
getLogger(), "[" << getName() << "]"
<< "range[" << scanindex << "] = " << fwdist2);
if (fwdist2 > 0.01 && fwdist2 < fwdist)
{
RCLCPP_INFO_STREAM(
getLogger(), "[" << getName() << "]"
<< "updated range[0] = " << fwdist2);
fwdist = fwdist2;
}
}
RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "]" << ss.str());
/*if the distance is infinity or nan, use max range distance*/
if (fwdist == std::numeric_limits<float>::infinity() || fwdist != fwdist)
{
fwdist = lastScanMessage_.range_max - SECURITY_DISTANCE /*meters*/;
RCLCPP_INFO_THROTTLE(
getLogger(), *(getNode()->get_clock()), 1000,
"[CpForwardObstacleDetector] Distance to forward obstacle is not a number, setting default value "
"to: %lf",
lastScanMessage_.range_max);
}
else
{
RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] fwdist: " << fwdist);
fwdist = std::max(fwdist - SECURITY_DISTANCE, 0.0F);
RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] fwdist: " << fwdist);
}
return fwdist;
}
void MessageCallbackStoreDistanceToWall(const sensor_msgs::msg::LaserScan & scanmsg)
{
this->lastScanMessage_ = scanmsg;
}
};
} // namespace cl_lidar
} // namespace sm_dance_bot_warehouse