def publish_obstacle_msg(self):
if self.args.no_ros:
return
else:
from tf.transformations import quaternion_from_euler
from geometry_msgs.msg import Point32, Quaternion
from costmap_converter.msg import ObstacleArrayMsg, ObstacleMsg
obstacles_msg = ObstacleArrayMsg()
obstacles_msg.header.stamp = self.get_sim_time()
obstacles_msg.header.frame_id = kFixedFrame
for i in range(1, self.n_sim_agents):
# Add point obstacle
obst = ObstacleMsg()
obst.id = i
obst.polygon.points = [Point32()]
obst.polygon.points[0].x = self.rlenv.virtual_peppers[i].pos[0]
obst.polygon.points[0].y = self.rlenv.virtual_peppers[i].pos[1]
obst.polygon.points[0].z = 0
obst.radius = self.rlenv.vp_radii[i]
yaw = self.rlenv.virtual_peppers[i].pos[2]
q = quaternion_from_euler(0,0,yaw)
obst.orientation = Quaternion(*q)
obst.velocities.twist.linear.x = self.rlenv.virtual_peppers[i].vel[0]
obst.velocities.twist.linear.y = self.rlenv.virtual_peppers[i].vel[1]
obst.velocities.twist.linear.z = 0
obst.velocities.twist.angular.x = 0
obst.velocities.twist.angular.y = 0
obst.velocities.twist.angular.z = self.rlenv.virtual_peppers[i].vel[2]
obstacles_msg.obstacles.append(obst)
self.obstpub.publish(obstacles_msg)
return
def add_obstacle(self, id, posx, posy, vel_x, vel_y, range_x, range_y):
self.pose_x.append(posx)
self.pose_y.append(posy)
self.range_x.append(range_x)
self.range_y.append(range_y)
samp_obstacle = ObstacleMsg()
samp_obstacle.id = id
samp_obstacle.radius = 0.35
samp_obstacle.polygon.points = [Point32()]
samp_obstacle.polygon.points[0].x = posx
samp_obstacle.polygon.points[0].y = posy
samp_obstacle.polygon.points[0].z = 0
yaw = math.atan2(vel_y, vel_x)
q = tf.transformations.quaternion_from_euler(0, 0, yaw)
samp_obstacle.orientation = Quaternion(*q)
samp_obstacle.velocities.twist.linear.x = vel_x
samp_obstacle.velocities.twist.linear.y = vel_y
samp_obstacle.velocities.twist.linear.z = 0
samp_obstacle.velocities.twist.angular.x = 0
samp_obstacle.velocities.twist.angular.y = 0
samp_obstacle.velocities.twist.angular.z = 0
return samp_obstacle
def run():
global h2_odom, h3_odom, tf_buffer, tf_listener_1
rospy.init_node('local_planning_test_script')
tf_buffer = tf2_ros.Buffer(rospy.Duration(1200.0)) # tf buffer length
tf_listener = tf2_ros.TransformListener(tf_buffer)
tf_listener_1 = tf.TransformListener()
pub_h2 = rospy.Publisher("/h2/cmd_vel", Twist, queue_size=1)
pub_h3 = rospy.Publisher("/h3/cmd_vel", Twist, queue_size=1)
pub_h1_goal = rospy.Publisher("/move_base_simple/goal",
PoseStamped,
queue_size=1)
sub_h1_pose = rospy.Subscriber("/odometry/filtered", Odometry, h1_odom_cb)
sub_h2_pose = rospy.Subscriber("/h2/odometry/filtered", Odometry,
h2_odom_cb)
sub_h3_pose = rospy.Subscriber("/h3/odometry/filtered", Odometry,
h3_odom_cb)
pub_h1_obstacless = rospy.Publisher(
"/move_base/TebLocalPlannerROS/obstacles",
ObstacleArrayMsg,
queue_size=1)
rate = rospy.Rate(20)
count = 0
while not rospy.is_shutdown():
# try:
# (trans, rot) = tf_listener.lookupTransform('/map', '/h2/odom', rospy.Time(0))
# except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
# continue
# print(type(trans))
# print(type(rot))
# print(h2_odom)
# print(h3_odom)
if h2_odom is not None and h3_odom is not None:
h2_obstacles = ObstacleMsg()
h2_obstacles.header = h2_odom.header
point = Point32()
point.x = h2_odom.pose.pose.position.x
point.y = h2_odom.pose.pose.position.y
point.z = h2_odom.pose.pose.position.z
h2_obstacles.polygon.points.append(point)
h2_obstacles.radius = 0.5
h2_obstacles.velocities = h2_odom.twist
#print("h2 velocity:{} {}".format(h2_odom.twist.twist.linear.x,h2_odom.twist.twist.linear.y))
h2_obstacles.orientation = h2_odom.pose.pose.orientation
h3_obstacles = ObstacleMsg()
point1 = Point32()
point1.x = h3_odom.pose.pose.position.x
point1.y = h3_odom.pose.pose.position.y
point1.z = h3_odom.pose.pose.position.z
h3_obstacles.header = h3_odom.header
h3_obstacles.polygon.points.append(point1)
h3_obstacles.radius = 0.5
h3_obstacles.velocities = h3_odom.twist
h3_obstacles.orientation = h3_odom.pose.pose.orientation
msg = ObstacleArrayMsg()
msg.header = h2_obstacles.header
msg.obstacles.append(h2_obstacles)
msg.obstacles.append(h3_obstacles)
pub_h1_obstacless.publish(msg)
if count < 20:
#print("begin pub")
msg = PoseStamped()
msg.header.seq = count
msg.header.frame_id = "map"
msg.pose.position.x = -6
msg.pose.position.y = 0
msg.pose.orientation.x = 0.0
msg.pose.orientation.y = 0.0
msg.pose.orientation.z = 0.0
msg.pose.orientation.w = 1.0
pub_h1_goal.publish(msg)
# if 40 < count < 190: this seting will hit the robot
if 20 < count < 380:
msg_h2 = Twist()
msg_h2.linear.x = 1.0
msg_h2.angular.z = 0.0
pub_h2.publish(msg_h2)
if 20 < count < 1800:
msg_h3 = Twist()
msg_h3.linear.x = 0.30 #use teb set it 0.30,use steb set it 0.45
msg_h3.angular.z = 0.0
#pub_h3.publish(msg_h3)
if count >= 2800:
break
count += 1
storage()
rate.sleep()
return
def publish_obstacles(self):
with self.lock:
if self.transport_data is None:
return
# non-leg obstacles
timestamp, xx, yy, clusters, is_legs, cogs, radii, tf_rob_in_fix = self.transport_data
# tracks
track_ids = []
tracks_latest_pos, tracks_color = [], []
tracks_in_frame, tracks_velocities = [], []
tracks_radii = []
for trackid in self.tracker.active_tracks:
track = self.tracker.active_tracks[trackid]
xy = np.array(track.pos_history[-1])
is_track_in_frame = True
if trackid in self.tracker.latest_matches:
color = (0.,1.,0.,1.) # green
elif trackid in self.tracker.new_tracks:
color = (0.,0.,1.,1.) # blue
else:
color = (0.7, 0.7, 0.7, 1.)
is_track_in_frame = False
track_ids.append(trackid)
tracks_latest_pos.append(xy)
tracks_color.append(color)
tracks_in_frame.append(is_track_in_frame)
tracks_velocities.append(track.estimate_velocity())
tracks_radii.append(track.avg_radius())
# publish trackedpersons
from spencer_tracking_msgs.msg import TrackedPersons, TrackedPerson
pub = rospy.Publisher("/tracked_persons", TrackedPersons, queue_size=1)
tp_msg = TrackedPersons()
tp_msg.header.frame_id = self.kFixedFrame
tp_msg.header.stamp = timestamp
for trackid, xy, in_frame, vel, radius in zip(track_ids, tracks_latest_pos, tracks_in_frame, tracks_velocities, tracks_radii):
# if not in_frame:
# continue
tp = TrackedPerson()
tp.track_id = trackid
tp.is_occluded = False
tp.is_matched = in_frame
tp.detection_id = trackid
tp.pose.pose.position.x = xy[0]
tp.pose.pose.position.y = xy[1]
heading_angle = np.arctan2(vel[1], vel[0]) # guess heading from velocity
from geometry_msgs.msg import Quaternion
tp.pose.pose.orientation = Quaternion(
*tf.transformations.quaternion_from_euler(0, 0, heading_angle))
tp.twist.twist.linear.x = vel[0]
tp.twist.twist.linear.y = vel[1]
tp.twist.twist.angular.z = 0 # unknown
tp_msg.tracks.append(tp)
pub.publish(tp_msg)
pub = rospy.Publisher('/obstacles', ObstacleArrayMsg, queue_size=1)
obstacles_msg = ObstacleArrayMsg()
obstacles_msg.header.stamp = timestamp
obstacles_msg.header.frame_id = self.kFixedFrame
for trackid, xy, in_frame, vel, radius in zip(track_ids, tracks_latest_pos, tracks_in_frame, tracks_velocities, tracks_radii):
if not in_frame:
continue
# Add point obstacle
obst = ObstacleMsg()
obst.id = trackid
obst.polygon.points = [Point32()]
obst.polygon.points[0].x = xy[0]
obst.polygon.points[0].y = xy[1]
obst.polygon.points[0].z = 0
obst.radius = radius
yaw = np.arctan2(vel[1], vel[0])
q = tf.transformations.quaternion_from_euler(0,0,yaw)
obst.orientation = Quaternion(*q)
obst.velocities.twist.linear.x = vel[0]
obst.velocities.twist.linear.y = vel[1]
obst.velocities.twist.linear.z = 0
obst.velocities.twist.angular.x = 0
obst.velocities.twist.angular.y = 0
obst.velocities.twist.angular.z = 0
obstacles_msg.obstacles.append(obst)
pub.publish(obstacles_msg)
pub = rospy.Publisher('/close_nonleg_obstacles', ObstacleArrayMsg, queue_size=1)
MAX_DIST_STATIC_CLUSTERS_M = 3.
cogs_in_fix = []
for i in range(len(cogs)):
cogs_in_fix.append(apply_tf(cogs[i], Pose2D(tf_rob_in_fix)))
obstacles_msg = ObstacleArrayMsg()
obstacles_msg.header.stamp = timestamp
obstacles_msg.header.frame_id = self.kFixedFrame
for c, cog_in_fix, cog_in_rob, r, is_leg in zip(clusters, cogs_in_fix, cogs, radii, is_legs):
if np.linalg.norm(cog_in_rob) < self.kRobotRadius:
continue
if len(c) < self.kMinClusterSize:
continue
# leg obstacles are already published in the tracked obstacles topic
if is_leg:
continue
# close obstacles only
if np.linalg.norm(cog_in_rob) > MAX_DIST_STATIC_CLUSTERS_M:
continue
# Add point obstacle
obst = ObstacleMsg()
obst.id = 0
obst.polygon.points = [Point32()]
obst.polygon.points[0].x = cog_in_fix[0]
obst.polygon.points[0].y = cog_in_fix[1]
obst.polygon.points[0].z = 0
obst.radius = r
yaw = 0
q = tf.transformations.quaternion_from_euler(0,0,yaw)
from geometry_msgs.msg import Quaternion
obst.orientation = Quaternion(*q)
obst.velocities.twist.linear.x = 0
obst.velocities.twist.linear.y = 0
obst.velocities.twist.linear.z = 0
obst.velocities.twist.angular.x = 0
obst.velocities.twist.angular.y = 0
obst.velocities.twist.angular.z = 0
obstacles_msg.obstacles.append(obst)
pub.publish(obstacles_msg)
pub = rospy.Publisher('/obstacle_markers', MarkerArray, queue_size=1)
# delete all markers
ma = MarkerArray()
mk = Marker()
mk.header.frame_id = self.kFixedFrame
mk.ns = "obstacles"
mk.id = 0
mk.type = 0 # ARROW
mk.action = 3 # deleteall
ma.markers.append(mk)
pub.publish(ma)
# publish tracks
ma = MarkerArray()
id_ = 0
# track endpoint
for trackid, xy, in_frame, vel in zip(track_ids, tracks_latest_pos, tracks_in_frame, tracks_velocities):
if not in_frame:
continue
normvel = np.linalg.norm(vel)
if normvel == 0:
continue
mk = Marker()
mk.header.frame_id = self.kFixedFrame
mk.ns = "tracks"
mk.id = trackid
mk.type = 0 # ARROW
mk.action = 0
mk.scale.x = np.linalg.norm(vel)
mk.scale.y = 0.1
mk.scale.z = 0.1
mk.color.r = color[0]
mk.color.g = color[1]
mk.color.b = color[2]
mk.color.a = color[3]
mk.frame_locked = True
mk.pose.position.x = xy[0]
mk.pose.position.y = xy[1]
mk.pose.position.z = 0.03
yaw = np.arctan2(vel[1], vel[0])
q = tf.transformations.quaternion_from_euler(0,0,yaw)
mk.pose.orientation = Quaternion(*q)
ma.markers.append(mk)
pub.publish(ma)
