MultiRobotLocalBehaviorController.cpp

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/* Copyright (c) 2017, TU Wien
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      names of its contributors may be used to endorse or promote products
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  THIS SOFTWARE IS PROVIDED BY TU Wien ''AS IS'' AND ANY
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#include <ros/ros.h>
#include <tuw_multi_robot_route_to_path/MultiRobotLocalBehaviorController.h>
#include <tf/transform_datatypes.h>
#include <tuw_multi_robot_msgs/RobotInfo.h>

int main(int argc, char **argv)
{

    ros::init(argc, argv, "route_to_path"); 
    ros::NodeHandle n;

    tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController ctrl(n);
    ros::Rate r(20);

    while (ros::ok())
    {
        r.sleep();
        ros::spinOnce();
        ctrl.publishRobotInfo();
    }

    return 0;
}

namespace tuw_multi_robot_route_to_path
{
MultiRobotLocalBehaviorController::MultiRobotLocalBehaviorController(ros::NodeHandle &n) : n_(n),
                                                                                           n_param_("~"),
                                                                                           robot_names_(std::vector<std::string>({"robot_0", "robot_1"}))
{
    n_param_.param("robot_names", robot_names_, robot_names_);
    std::string robot_names_string = "";
    n_param_.param("robot_names_str", robot_names_string, robot_names_string);

    if (robot_names_string.size() > 0)
    {
        robot_names_string.erase(std::remove(robot_names_string.begin(), robot_names_string.end(), ' '), robot_names_string.end());
        std::istringstream stringStr(robot_names_string);
        std::string result;

        robot_names_.clear();

        while (std::getline(stringStr, result, ','))
        {
            robot_names_.push_back(result);
        }
    }
    
    for(int i = 0; i < robot_names_.size(); i++)
    {
      std::cout << "robot_name[" << i << "] = " << robot_names_[i] << std::endl;
    }

    n_param_.param("robot_radius", robot_radius_, robot_radius_);
    robotDefaultRadius_ = 0.3;
    n_param_.param("robot_default_radius", robotDefaultRadius_, robotDefaultRadius_);

    no_robots_ = robot_names_.size();

    ROS_INFO("Subscribing %i robots", no_robots_);

    robot_steps_.resize(no_robots_);
    pubPath_.resize(no_robots_);
    subSegPath_.resize(no_robots_);
    subOdometry_.resize(no_robots_);
    robot_radius_.resize(no_robots_, robotDefaultRadius_);
    robot_pose_.resize(no_robots_);

    n_param_.param<std::string>("path_topic", topic_path_, "path_synced");

    n_param_.param<std::string>("route_topic", topic_route_, "route");

    n_param_.param<std::string>("odom_topic", topic_odom_, "odom");

    n_param_.param<std::string>("robotInfo_topic", topic_robot_info_, "/robot_info");

    n_param_.param<std::string>("frame_map", frame_map_, "map");
    
    for (int i = 0; i < no_robots_; i++)
    {
        converter_.emplace_back(no_robots_, i);
        observer_.emplace_back();
    }

    for (int i = 0; i < no_robots_; i++)
    {
        pubPath_[i] = n.advertise<nav_msgs::Path>(robot_names_[i] + "/" + topic_path_, 100);

        subOdometry_[i] = n.subscribe<nav_msgs::Odometry>(robot_names_[i] + "/" + topic_odom_, 1, boost::bind(&MultiRobotLocalBehaviorController::subOdomCb, this, _1, i));
        subSegPath_[i] = n.subscribe<tuw_multi_robot_msgs::Route>(robot_names_[i] + "/" + topic_route_, 1, boost::bind(&MultiRobotLocalBehaviorController::subSegPathCb, this, _1, i));
    }

    pubRobotInfo_ = n.advertise<tuw_multi_robot_msgs::RobotInfo>(topic_robot_info_, 10);
}

void MultiRobotLocalBehaviorController::subOdomCb(const ros::MessageEvent<const nav_msgs::Odometry> &_event, int _topic)
{
    const nav_msgs::Odometry_<std::allocator<void>>::ConstPtr &odom = _event.getMessage();
    robot_pose_[_topic] = odom->pose;
    Eigen::Vector2d pt(odom->pose.pose.position.x, odom->pose.pose.position.y);

    bool changed = false;
    robot_steps_[_topic] = observer_[_topic].getStep(pt, changed);

    if (changed)
    {
        for (int i = 0; i < no_robots_; i++)
        {
            std::vector<Eigen::Vector3d> newPath = converter_[i].updateSync(robot_steps_, changed);

            if (changed)
                ROS_INFO("new path found %i %lu", i, newPath.size());

            if (changed)
                publishPath(newPath, i);
        }
    }
}

void MultiRobotLocalBehaviorController::publishPath(std::vector<Eigen::Vector3d> _p, int _topic)
{
    nav_msgs::Path path;
    path.header.seq = 0;
    path.header.stamp = ros::Time::now();
    path.header.frame_id = frame_map_;

    for (const Eigen::Vector3d &p : _p)
    {
        geometry_msgs::PoseStamped ps;
        ps.header.seq = 0;
        ps.header.stamp = ros::Time::now();
        ps.header.frame_id = frame_map_;

        ps.pose.position.x = p[0];
        ps.pose.position.y = p[1];

        Eigen::Quaternion<float> q;
        q = Eigen::AngleAxisf(p[2], Eigen::Vector3f::UnitZ());

        ps.pose.orientation.x = q.x();
        ps.pose.orientation.y = q.y();
        ps.pose.orientation.z = q.z();
        ps.pose.orientation.w = q.w();
        path.poses.push_back(ps);
    }

    ROS_INFO("published path %i", _topic);
    pubPath_[_topic].publish(path);
}

int MultiRobotLocalBehaviorController::findRobotId(std::string _name)
{
    for (uint32_t i = 0; i < robot_names_.size(); i++)
    {
        if (robot_names_[i].compare(_name) == 0)
            return i;
    }

    return -1;
}

void MultiRobotLocalBehaviorController::subSegPathCb(const ros::MessageEvent<const tuw_multi_robot_msgs::Route> &_event, int _topic)
{
    const tuw_multi_robot_msgs::Route_<std::allocator<void>>::ConstPtr &path = _event.getMessage();

    std::vector<SyncedPathPoint> localPath;
    std::vector<PathSegment> segPath;

    if (path->segments.size() == 0)
        return;

    for (const tuw_multi_robot_msgs::RouteSegment &seg : path->segments)
    {
        SyncedPathPoint spp;
        PathSegment ps;

        ps.start[0] = seg.start.position.x;
        ps.start[1] = seg.start.position.y;

        ps.goal[0] = seg.end.position.x;
        ps.goal[1] = seg.end.position.y;

        ps.width = seg.width; //Its the radius :D

        double r, p, y;
        tf::Quaternion q(seg.end.orientation.x, seg.end.orientation.y, seg.end.orientation.z, seg.end.orientation.w);
        tf::Matrix3x3(q).getRPY(r, p, y);

        //float angle = atan2(seg.end.position.y - seg.start.position.y, seg.end.position.x - seg.start.position.x);

        spp.p[0] = seg.end.position.x;
        spp.p[1] = seg.end.position.y;
        spp.p[2] = y; //angle;

        for (const tuw_multi_robot_msgs::RoutePrecondition &pc : seg.preconditions)
        {
            PathPrecondition prec;
            prec.robot_no = findRobotId(pc.robot_id);
            prec.step = pc.current_route_segment;

            spp.sync.push_back(prec);
        }

        segPath.push_back(ps);
        localPath.push_back(spp);
    }

    //Todo reset controllers with new Path
    converter_[_topic].init(localPath);
    observer_[_topic].init(segPath);
    std::fill(robot_steps_.begin(), robot_steps_.end(), 0);

    bool chged = false;
    std::vector<Eigen::Vector3d> newPath = converter_[_topic].updateSync(robot_steps_, chged);

    if (chged)
        ROS_INFO("initial path found %i %lu", _topic, newPath.size());

    if (chged)
        publishPath(newPath, _topic);
}

void MultiRobotLocalBehaviorController::publishRobotInfo()
{
    for (uint32_t i = 0; i < robot_names_.size(); i++)
    {
        tuw_multi_robot_msgs::RobotInfo ri;
        ri.header.stamp = ros::Time::now();
        ri.header.frame_id = frame_map_;
        ri.robot_name = robot_names_[i];
        ri.pose = robot_pose_[i];
        ri.shape = ri.SHAPE_CIRCLE;
        ri.shape_variables.push_back(robot_radius_[i]);
        ri.sync.robot_id = robot_names_[i];
        ri.sync.current_route_segment = robot_steps_[i];
        ri.mode = ri.MODE_NA;
        ri.status = ri.STATUS_STOPPED; //TODO
        ri.good_id = ri.GOOD_NA;

        pubRobotInfo_.publish(ri);
    }
}
} // namespace tuw_multi_robot_route_to_path