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Initial draft of changes for online map / planner updates #12

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Initial draft of changes for online map / planner updates #12

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745d2d0
Add functionality to update map (and the planner state space boundari…
meychr Apr 5, 2021
51f0bac
Make class member of StateValidator private
meychr May 13, 2021
c8ad75d
Make some class functions constant
meychr May 13, 2021
0d0bcc0
Unify name of state space boundaries to StateSpaceBoundaries
meychr May 13, 2021
07efb89
Reorder member variables
meychr May 13, 2021
b492b7f
Implement getStartingState and getGoalState for OmplReedsSheppPlanner
meychr May 14, 2021
85723b8
Move ROS publishers and services to base class PlannerRos, use Planne…
meychr May 14, 2021
f24ce13
Make isStateValid constant
meychr May 14, 2021
11075fe
Fix typo
meychr May 14, 2021
8c0bc04
Move StateValidator functions to Planner interface
meychr May 14, 2021
0072859
Adapt se2_grid_map_generator config and add TODOs to fix frames
meychr May 19, 2021
db4a618
Set state space bounds changes
meychr May 19, 2021
2735940
Fix formatting
meychr May 19, 2021
6b3863b
Move getStateSpaceBoundaries to OmplPlanner
meychr May 19, 2021
4704095
Remove comment
meychr May 19, 2021
808bd65
Reorder code and remove TODO
meychr May 29, 2021
21e3385
Fix format
meychr Jun 7, 2021
5c1afb2
Implement map interface and occupancy map & adapt height map
meychr Jun 7, 2021
fc57077
Add ROS class for occupancy map
meychr Jun 7, 2021
632a7f6
Integrate new map for state space boundaries update, adapt tests
meychr Jun 7, 2021
db5da4d
Uncomment isTraversable again
meychr Jun 7, 2021
80db121
Make GridMapLazyStateValidatorRos similar to OccupancyMapRos
meychr Jun 7, 2021
ad3095d
Change config file to use elevation for collision checking in state v…
meychr Jun 7, 2021
d07c579
Increase footprint size in car_demo
meychr Jun 7, 2021
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Make GridMapLazyStateValidatorRos similar to OccupancyMapRos
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@meychr
meychr committed Jun 7, 2021
commit 80db12126c1ef5d722773cb8fe2e3740224c303e
9 changes: 1 addition & 8 deletions se2_planning_ros/include/se2_planning_ros/GridMapLazyStateValidatorRos.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,9 +21,6 @@

namespace se2_planning {

using WriteLock = boost::unique_lock<boost::shared_mutex>;
using ReadLock = boost::shared_lock<boost::shared_mutex>;

struct GridMapLazyStateValidatorRosParameters {
std::string gridMapFrame_ = "map";
std::string gridMapMsgSubTopic_ = "state_validator_ros/traversability_map_in";
Expand Down Expand Up @@ -61,14 +58,10 @@ class GridMapLazyStateValidatorRos : public GridMapLazyStateValidator {
void initRos();
void mapCb(const grid_map_msgs::GridMap& msg);

ros::NodeHandlePtr nh_;
GridMapLazyStateValidatorRosParameters parameters_;

//! Grid map data.
ros::NodeHandlePtr nh_;
ros::Subscriber mapSubscriber_;
ros::Publisher mapPublisher_;
bool newMapAvailable_ = false;
boost::shared_mutex gridMapMutex_;
};

geometry_msgs::Polygon convert(const RobotFootprint& footprint);
Expand Down
31 changes: 10 additions & 21 deletions se2_planning_ros/src/GridMapLazyStateValidatorRos.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@

namespace se2_planning {

GridMapLazyStateValidatorRos::GridMapLazyStateValidatorRos(ros::NodeHandlePtr nh) : BASE(), nh_(nh), newMapAvailable_(false) {}
GridMapLazyStateValidatorRos::GridMapLazyStateValidatorRos(ros::NodeHandlePtr nh) : BASE(), nh_(nh) {}

void GridMapLazyStateValidatorRos::setParameters(const GridMapLazyStateValidatorRosParameters& parameters) {
parameters_ = parameters;
Expand All @@ -23,27 +23,16 @@ void GridMapLazyStateValidatorRos::initialize() {
}

void GridMapLazyStateValidatorRos::mapCb(const grid_map_msgs::GridMap& msg) {
// TODO Also replace using the same gridMapMutex_? Issue that we require to set it in OMPLReedsSheppPlanner which only
// has access to StateValidator class => add general state validator mutex?
if (isLocked()) {
ROS_INFO_STREAM("Planner is running, grid map for state validator can not be updated!");
return;
} else {
grid_map::GridMap newMap;
grid_map::GridMapRosConverter::fromMessage(msg, newMap);
grid_map::GridMap newMap;
grid_map::GridMapRosConverter::fromMessage(msg, newMap);

if (newMap.exists(obstacleLayerName_)) {
WriteLock writeLock(gridMapMutex_);
setGridMap(newMap);
newMapAvailable_ = true;
if (!isGridMapInitialized_) {
isGridMapInitialized_ = true;
}
writeLock.unlock();
publishMap(getGridMap());
} else {
ROS_ERROR("GlobalMap: No traversability layer found to load!");
}
if (newMap.exists(obstacleLayerName_)) {
BASE::lock();
BASE::setGridMap(newMap);
BASE::unlock();
publishMap(getGridMap());
} else {
ROS_ERROR("GlobalMap: No traversability layer found to load!");
}
}

Expand Down