rviz_terrain_publisher.cc

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Copyright (c) 2018, Alexander W. Winkler. All rights reserved.

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#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>

#include <Eigen/Dense>

#include <towr_ros/TowrCommand.h>
#include <towr_ros/topic_names.h>
#include <towr/terrain/height_map.h>


namespace towr {

static ros::Publisher rviz_pub;

void UserCommandCallback(const towr_ros::TowrCommand& msg_in)
{
  // get which terrain
  auto terrain_id = static_cast<HeightMap::TerrainID>(msg_in.terrain);
  auto terrain_ = HeightMap::MakeTerrain(terrain_id);

  // x-y area patch that should be drawn in rviz
  double dxy   =  0.06;
  double x_min = -1.0;
  double x_max =  4.0;
  double y_min = -1.0;
  double y_max =  1.0;

  visualization_msgs::Marker m;
  int id = 0;
  m.type = visualization_msgs::Marker::CUBE;
  m.scale.z = 0.003;
  m.ns = "terrain";
  m.header.frame_id = "world";
  m.color.r = 245./355; m.color.g  = 222./355; m.color.b  = 179./355; // wheat
  m.color.a = 0.65;

  visualization_msgs::MarkerArray msg;
  double x =  x_min;
  while (x < x_max) {
    double y = y_min;
    while (y < y_max) {
      // position
      m.pose.position.x = x;
      m.pose.position.y = y;
      m.pose.position.z = terrain_->GetHeight(x,y);

      // orientation
      Eigen::Vector3d n = terrain_->GetNormalizedBasis(HeightMap::Normal, x, y);
      Eigen::Quaterniond q = Eigen::Quaterniond::FromTwoVectors(Eigen::Vector3d(0,0,1), n);
      m.pose.orientation.w = q.w();
      m.pose.orientation.x = q.x();
      m.pose.orientation.y = q.y();
      m.pose.orientation.z = q.z();

      // enlarge surface-path when tilting
      double gain = 1.5;
      m.scale.x = (1+gain*n.cwiseAbs().x())*dxy;
      m.scale.y = (1+gain*n.cwiseAbs().y())*dxy;


      m.id = id++;
      msg.markers.push_back(m);

      y += dxy;
    }
    x += dxy;
  }

  rviz_pub.publish(msg);
}

} // namespace towr

int main(int argc, char *argv[])
{
  ros::init(argc, argv, "rviz_terrain_visualizer");

  ros::NodeHandle n;

  ros::Subscriber goal_sub;
  goal_sub       = n.subscribe(towr_msgs::user_command, 1, towr::UserCommandCallback);
  towr::rviz_pub = n.advertise<visualization_msgs::MarkerArray>("xpp/terrain", 1);

  ros::spin();

  return 1;
}