mrpt_localization_node.cpp

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/***********************************************************************************
 * Revised BSD License                                                             *
 * Copyright (c) 2014, Markus Bader <markus.bader@tuwien.ac.at>                    *
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#include "mrpt_localization_node.h"
#include <boost/interprocess/sync/scoped_lock.hpp>
#include <geometry_msgs/PoseArray.h>

#include <mrpt_bridge/pose.h>
#include <mrpt_bridge/laser_scan.h>
#include <mrpt_bridge/time.h>
#include <mrpt_bridge/map.h>
#include <mrpt/base.h>
#include <mrpt/slam.h>
#include <mrpt/gui.h>

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

    ros::init(argc, argv, "localization");
    ros::NodeHandle n;
    PFLocalizationNode my_node(n);
    my_node.init();
    my_node.loop();
    return 0;
}

PFLocalizationNode::~PFLocalizationNode() {
}

PFLocalizationNode::PFLocalizationNode(ros::NodeHandle &n) :
    PFLocalization(new PFLocalizationNode::Parameters(&odom_params_)), n_(n), loop_count_(0) {
}

PFLocalizationNode::Parameters *PFLocalizationNode::param() {
    return (PFLocalizationNode::Parameters*) param_;
}

void PFLocalizationNode::init() {
    PFLocalization::init();
    subLaser0_ = n_.subscribe("scan", 1, &PFLocalizationNode::callbackLaser, this);
    subLaser1_ = n_.subscribe("scan1", 1, &PFLocalizationNode::callbackLaser, this);
    subLaser2_ = n_.subscribe("scan2", 1, &PFLocalizationNode::callbackLaser, this);

    subLaser2_ = n_.subscribe("initialpose", 1, &PFLocalizationNode::callbackInitialpose, this);

    if(!param()->mapFile.empty()) {
        mrpt_bridge::convert(*metric_map_.m_gridMaps[0], resp_.map);
        pub_map_ = n_.advertise<nav_msgs::OccupancyGrid>("map", 1, true);
        pub_metadata_= n_.advertise<nav_msgs::MapMetaData>("map_metadata", 1, true);
        service_map_ = n_.advertiseService("static_map", &PFLocalizationNode::mapCallback, this);
    }
    pub_Particles_ = n_.advertise<geometry_msgs::PoseArray>("particlecloud", 1, true);
}

void PFLocalizationNode::loop() {
    ROS_INFO("loop");
    for (ros::Rate rate(param()->rate); ros::ok(); loop_count_++) {
        param()->update(loop_count_);
        if(loop_count_%param()->map_update_skip == 0)   publishMap();
        if(loop_count_%param()->particlecloud_update_skip == 0)   publishParticles();
        publishTF();
        ros::spinOnce();
        rate.sleep();
    }
}

bool PFLocalizationNode::waitForTransform(mrpt::poses::CPose3D &des, const std::string& target_frame, const std::string& source_frame, const ros::Time& time, const ros::Duration& timeout, const ros::Duration& polling_sleep_duration){
    tf::StampedTransform transform;
    try
    {
        listenerTF_.waitForTransform(target_frame, source_frame,  time, polling_sleep_duration);
        listenerTF_.lookupTransform(target_frame, source_frame,  time, transform);
    }
    catch(tf::TransformException)
    {
        ROS_INFO("Failed to get transform target_frame (%s) to source_frame (%s)", target_frame.c_str(), source_frame.c_str());
        return false;
    }
    mrpt_bridge::convert(transform, des);
    return true;
}


void PFLocalizationNode::callbackLaser (const sensor_msgs::LaserScan &_msg) {
    //ROS_INFO("callbackLaser");
    mrpt::slam::CObservation2DRangeScanPtr laser = mrpt::slam::CObservation2DRangeScan::Create();

    //printf("callbackLaser %s\n", _msg.header.frame_id.c_str());
    if(laser_poses_.find(_msg.header.frame_id) == laser_poses_.end()) {
        updateLaserPose (_msg.header.frame_id);
    } else {
        //mrpt::poses::CPose3D pose = laser_poses_[_msg.header.frame_id];
        //ROS_INFO("LASER POSE %4.3f, %4.3f, %4.3f, %4.3f, %4.3f, %4.3f",  pose.x(), pose.y(), pose.z(), pose.roll(), pose.pitch(), pose.yaw());
        mrpt_bridge::convert(_msg, laser_poses_[_msg.header.frame_id],  *laser);


        std::string base_frame_id = tf::resolve(param()->tf_prefix, param()->base_frame_id);
        std::string odom_frame_id = tf::resolve(param()->tf_prefix, param()->odom_frame_id);
        mrpt::slam::CObservationOdometryPtr odometry;
        mrpt::poses::CPose3D poseOdom;
        if(this->waitForTransform(poseOdom, odom_frame_id, base_frame_id, _msg.header.stamp, ros::Duration(1))){
            odometry = mrpt::slam::CObservationOdometry::Create();
            odometry->sensorLabel = odom_frame_id;
            odometry->hasEncodersInfo = false;
            odometry->hasVelocities = false;
            odometry->odometry.x() = poseOdom.x();
            odometry->odometry.y() = poseOdom.y();
            odometry->odometry.phi() = poseOdom.yaw();
        }
        mrpt::slam::CSensoryFramePtr sf = mrpt::slam::CSensoryFrame::Create();
        mrpt::slam::CObservationPtr obs = mrpt::slam::CObservationPtr(laser);
        sf->insert(obs);
        observation(sf, odometry); 
        if(param()->gui_mrpt) show3DDebug(sf);
    }
}

bool PFLocalizationNode::waitForMap() {
    clientMap_ = n_.serviceClient<nav_msgs::GetMap>("static_map");
    nav_msgs::GetMap srv;
    while (!clientMap_.call(srv) && ros::ok()) {
        ROS_INFO("waiting for map service!");
        sleep(1);
    }
    updateMap (srv.response.map);
    clientMap_.shutdown();
}

void PFLocalizationNode::updateLaserPose (std::string _frame_id) {
    mrpt::poses::CPose3D pose;
    tf::StampedTransform transform;
    try {
        listenerTF_.lookupTransform(param()->base_frame_id, _frame_id, ros::Time(0), transform);
        tf::Vector3 translation = transform.getOrigin();
        tf::Quaternion quat = transform.getRotation();
        pose.x() = translation.x();
        pose.y() = translation.y();
        pose.z() = translation.z();
        double roll, pitch, yaw;
        tf::Matrix3x3 Rsrc(quat);
        mrpt::poses::CMatrixDouble33 Rdes;
        for(int c = 0; c < 3; c++)
            for(int r = 0; r < 3; r++)
                Rdes(r,c) = Rsrc.getRow(r)[c];
        pose.setRotationMatrix(Rdes);
        laser_poses_[_frame_id] = pose;
    }
    catch (tf::TransformException ex) {
        ROS_ERROR("%s",ex.what());
        ros::Duration(1.0).sleep();
    }

}

void PFLocalizationNode::callbackInitialpose (const geometry_msgs::PoseWithCovarianceStamped& _msg) {
    const geometry_msgs::PoseWithCovariance &pose = _msg.pose;
    mrpt_bridge::convert(pose, initialPose_);
    log_info("callbackInitialpose");
    state_ = INIT;
}

void PFLocalizationNode::updateMap (const nav_msgs::OccupancyGrid &_msg) {
    ASSERT_( metric_map_.m_gridMaps.size()==1 );
    mrpt_bridge::convert(_msg, *metric_map_.m_gridMaps[0]);
}

bool PFLocalizationNode::mapCallback(nav_msgs::GetMap::Request  &req, nav_msgs::GetMap::Response &res )
{
    ROS_INFO("mapCallback: service requested!\n");
    res = resp_;
    return true;
}

void PFLocalizationNode::publishMap () {
    resp_.map.header.stamp = ros::Time::now();
    resp_.map.header.frame_id =  param()->global_frame_id;
    resp_.map.header.seq = loop_count_;
    if(pub_map_.getNumSubscribers() > 0) {
        pub_map_.publish(resp_.map );
    }
    if(pub_metadata_.getNumSubscribers() > 0) {
        pub_metadata_.publish( resp_.map.info );
    }
}

void PFLocalizationNode::publishParticles () {
    geometry_msgs::PoseArray poseArray;
    std::string global_frame = param()->global_frame_id;
    poseArray.header.frame_id = global_frame;
    poseArray.header.stamp = ros::Time::now();
    poseArray.header.seq = loop_count_;
    poseArray.poses.resize(pdf_.particlesCount());
    for(size_t i = 0; i < pdf_.particlesCount(); i++) {
        mrpt::poses::CPose2D p = pdf_.getParticlePose(i);
        mrpt_bridge::convert(p, poseArray.poses[i]);
    }
    mrpt::poses::CPose2D p;
    pub_Particles_.publish(poseArray);
}

void PFLocalizationNode::publishTF() {
    // Most of this code was copy and pase form ros::amcl
    // sorry it is realy ugly
    mrpt::poses::CPose2D robotPose;
    pdf_.getMean(robotPose);
    std::string base_frame_id = tf::resolve(param()->tf_prefix, param()->base_frame_id);
    std::string global_frame_id = tf::resolve(param()->tf_prefix, param()->global_frame_id);
    std::string odom_frame_id = tf::resolve(param()->tf_prefix, param()->odom_frame_id);
    tf::Stamped<tf::Pose> odom_to_map;
    tf::Transform tmp_tf;
    ros::Time stamp;
    mrpt_bridge::convert(timeLastUpdate_, stamp);
    mrpt_bridge::convert(robotPose, tmp_tf);
    try
    {
        tf::Stamped<tf::Pose> tmp_tf_stamped (tmp_tf.inverse(), stamp,  base_frame_id);
        //ROS_INFO("subtract global_frame (%s) form odom_frame (%s)", global_frame_id.c_str(), odom_frame_id.c_str());
        listenerTF_.transformPose(odom_frame_id, tmp_tf_stamped, odom_to_map);
    }
    catch(tf::TransformException)
    {
        ROS_INFO("Failed to subtract global_frame (%s) form odom_frame (%s)", global_frame_id.c_str(), odom_frame_id.c_str());
        return;
    }

    tf::Transform latest_tf_ = tf::Transform(tf::Quaternion(odom_to_map.getRotation()),
                               tf::Point(odom_to_map.getOrigin()));

    // We want to send a transform that is good up until a
    // tolerance time so that odom can be used
    ros::Duration transform_tolerance_(0.5);
    ros::Time transform_expiration = (stamp + transform_tolerance_);
    tf::StampedTransform tmp_tf_stamped(latest_tf_.inverse(),
                                        transform_expiration,
                                        global_frame_id, odom_frame_id);
    tf_broadcaster_.sendTransform(tmp_tf_stamped);
    //ROS_INFO("%s, %s\n", global_frame_id.c_str(), odom_frame.c_str());
}