MultiRobotRouteToPathNode.cpp

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/* Copyright (c) 2017, TU Wien
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  modification, are permitted provided that the following conditions are met:
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      * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
      * 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
  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  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/MultiRobotRouteToPathNode.h>
#include <tf/transform_datatypes.h>

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

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

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

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

    return 0;
}

namespace tuw_multi_robot_route_to_path
{
MultiRobotRouteToPathNode::MultiRobotRouteToPathNode(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);
        }
    }

    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_);

    topic_path_ = "path_synced";
    n_param_.param("path_topic", topic_path_, topic_path_);

    topic_seg_path_ = "seg_path";
    n_param_.param("seg_path_topic", topic_seg_path_, topic_seg_path_);

    topic_odom_ = "odom";
    n_param_.param("odom_topic", topic_odom_, topic_odom_);

    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(&MultiRobotRouteToPathNode::subOdomCb, this, _1, i));
        subSegPath_[i] = n.subscribe<tuw_multi_robot_msgs::Route>(robot_names_[i] + "/" + topic_seg_path_, 1, boost::bind(&MultiRobotRouteToPathNode::subSegPathCb, this, _1, i));
    }
}

void MultiRobotRouteToPathNode::subOdomCb(const ros::MessageEvent<const nav_msgs::Odometry> &_event, int _topic)
{
    const nav_msgs::Odometry_<std::allocator<void>>::ConstPtr &odom = _event.getMessage();

    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 MultiRobotRouteToPathNode::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 = "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 = "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 MultiRobotRouteToPathNode::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 MultiRobotRouteToPathNode::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);
}
} // namespace tuw_multi_robot_route_to_path