MultiRobotLocalBehaviorController.cpp

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/* Copyright (c) 2017, TU Wien
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      * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
  THIS SOFTWARE IS PROVIDED BY TU Wien ''AS IS'' AND ANY
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  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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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