costmap_converter_interface.h

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 * Author: Christoph Rösmann, Otniel Rinaldo
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#ifndef COSTMAP_CONVERTER_INTERFACE_H_
#define COSTMAP_CONVERTER_INTERFACE_H_

//#include <costmap_2d/costmap_2d_ros.h>
#include <ros/ros.h>
#include <ros/callback_queue.h>
#include <boost/thread.hpp>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <geometry_msgs/Polygon.h>
#include <costmap_converter/ObstacleArrayMsg.h>


namespace costmap_converter
{
typedef boost::shared_ptr<ObstacleArrayMsg> ObstacleArrayPtr;
typedef boost::shared_ptr< const ObstacleArrayMsg > ObstacleArrayConstPtr;

typedef boost::shared_ptr< std::vector<geometry_msgs::Polygon> > PolygonContainerPtr;
typedef boost::shared_ptr< const std::vector<geometry_msgs::Polygon> > PolygonContainerConstPtr;
  

class BaseCostmapToPolygons
{
public: 
  
    virtual void initialize(ros::NodeHandle nh) = 0;
    
    virtual ~BaseCostmapToPolygons() 
    {
      stopWorker();
    }

    
    virtual void setCostmap2D(costmap_2d::Costmap2D* costmap) = 0;
    
    virtual void updateCostmap2D() = 0;
    
    virtual void compute() = 0;
    
    virtual PolygonContainerConstPtr getPolygons(){return PolygonContainerConstPtr();}

    virtual ObstacleArrayConstPtr getObstacles()
    {
      ObstacleArrayPtr obstacles = boost::make_shared<ObstacleArrayMsg>();
      PolygonContainerConstPtr polygons = getPolygons();
      if (polygons)
      {
        for (const geometry_msgs::Polygon& polygon : *polygons)
        {
          obstacles->obstacles.emplace_back();
          obstacles->obstacles.back().polygon = polygon;
        }
      }
      return obstacles;
    }

    virtual void setOdomTopic(const std::string& odom_topic) {}

    virtual bool stackedCostmapConversion() {return false;}

    void startWorker(ros::Rate rate, costmap_2d::Costmap2D* costmap, bool spin_thread = false)
    {
      setCostmap2D(costmap);
      
      if (spin_thread_)
      {
        {
          boost::mutex::scoped_lock terminate_lock(terminate_mutex_);
          need_to_terminate_ = true;
        }
        spin_thread_->join();
        delete spin_thread_;
      }
      
      if (spin_thread)
      {
        ROS_DEBUG_NAMED("costmap_converter", "Spinning up a thread for the CostmapToPolygons plugin");
        need_to_terminate_ = false;
        spin_thread_ = new boost::thread(boost::bind(&BaseCostmapToPolygons::spinThread, this));
        nh_.setCallbackQueue(&callback_queue_);
      }
      else
      {
        spin_thread_ = NULL;
        nh_.setCallbackQueue(ros::getGlobalCallbackQueue());
      }
      
      worker_timer_ = nh_.createTimer(rate, &BaseCostmapToPolygons::workerCallback, this);
    }
    
    void stopWorker()
    {
      worker_timer_.stop();
      if (spin_thread_)
      {
        {
          boost::mutex::scoped_lock terminate_lock(terminate_mutex_);
          need_to_terminate_ = true;
        }
        spin_thread_->join();
        delete spin_thread_;
      }
    }

protected:
  
    BaseCostmapToPolygons() : nh_("~costmap_to_polygons"), spin_thread_(NULL), need_to_terminate_(false) {}
    
    void spinThread()
    {
      while (nh_.ok())
      {
        {
          boost::mutex::scoped_lock terminate_lock(terminate_mutex_);
          if (need_to_terminate_)
            break;
        }
        callback_queue_.callAvailable(ros::WallDuration(0.1f));
      }
    }
    
    void workerCallback(const ros::TimerEvent&)
    {
      updateCostmap2D();
      compute();
    }
    
private:
  ros::Timer worker_timer_;
  ros::NodeHandle nh_;
  boost::thread* spin_thread_;
  ros::CallbackQueue callback_queue_;
  boost::mutex terminate_mutex_;
  bool need_to_terminate_;
};    


class BaseCostmapToDynamicObstacles : public BaseCostmapToPolygons
{
public:

  void loadStaticCostmapConverterPlugin(const std::string& plugin_name, ros::NodeHandle nh_parent)
  {
    try
    {
      static_costmap_converter_ = static_converter_loader_.createInstance(plugin_name);

      if(boost::dynamic_pointer_cast<BaseCostmapToDynamicObstacles>(static_costmap_converter_))
      {
        throw pluginlib::PluginlibException("The specified plugin for static costmap conversion is a dynamic plugin. Specify a static plugin.");
      }
      std::string raw_plugin_name = static_converter_loader_.getName(plugin_name);
      static_costmap_converter_->initialize(ros::NodeHandle(nh_parent, raw_plugin_name));
      setStaticCostmapConverterPlugin(static_costmap_converter_);
      ROS_INFO_STREAM("CostmapToDynamicObstacles: underlying costmap conversion plugin for static obstacles " << plugin_name << " loaded.");
    }
    catch(const pluginlib::PluginlibException& ex)
    {
      ROS_WARN("CostmapToDynamicObstacles: The specified costmap converter plugin cannot be loaded. Continuing without subsequent conversion of static obstacles. Error message: %s", ex.what());
      static_costmap_converter_.reset();
    }
  }

  void setStaticCostmapConverterPlugin(boost::shared_ptr<BaseCostmapToPolygons> static_costmap_converter)
  {
    static_costmap_converter_ = static_costmap_converter;
  }

  void setStaticCostmap(boost::shared_ptr<costmap_2d::Costmap2D> static_costmap)
  {
    static_costmap_converter_->setCostmap2D(static_costmap.get());
  }

  void convertStaticObstacles()
  {
    static_costmap_converter_->compute();
  }

  PolygonContainerConstPtr getStaticPolygons()
  {
    return static_costmap_converter_->getPolygons();
  }

  bool stackedCostmapConversion()
  {
    if(static_costmap_converter_)
      return true;
    else
      return false;
  }

protected:
  BaseCostmapToDynamicObstacles() : static_converter_loader_("costmap_converter", "costmap_converter::BaseCostmapToPolygons"), static_costmap_converter_() {}

private:
  pluginlib::ClassLoader<BaseCostmapToPolygons> static_converter_loader_;
  boost::shared_ptr<BaseCostmapToPolygons> static_costmap_converter_;
};


}



#endif // end COSTMAP_CONVERTER_INTERFACE_H_