def __init__(self, map_msg, particles, weights, state_lock=None):
if state_lock is None:
self.state_lock = Lock()
else:
self.state_lock = state_lock
self.particles = particles
self.weights = weights
self.LASER_RAY_STEP = int(rospy.get_param(
"~laser_ray_step")) # Step for downsampling laser scans
self.MAX_RANGE_METERS = float(
rospy.get_param("~max_range_meters")) # The max range of the laser
oMap = range_libc.PyOMap(
map_msg) # A version of the map that range_libc can understand
max_range_px = int(
self.MAX_RANGE_METERS /
map_msg.info.resolution) # The max range in pixels of the laser
#self.range_method = range_libc.PyCDDTCast(oMap, max_range_px, THETA_DISCRETIZATION) # The range method that will be used for ray casting
self.range_method = range_libc.PyRayMarchingGPU(
oMap,
max_range_px) # The range method that will be used for ray casting
self.range_method.set_sensor_model(
self.precompute_sensor_model(
max_range_px)) # Load the sensor model expressed as a table
self.queries = None
self.ranges = None
self.laser_angles = None # The angles of each ray
self.downsampled_angles = None # The angles of the downsampled rays
self.do_resample = False # Set so that outside code can know that it's time to resample
def update_range_method_map(self):
self.map_msg.data = self.dynamic_map.astype(int).flatten().tolist()
print "UPDATING MAP"
self.map_debug_pub.publish(self.map_msg)
oMap = range_libc.PyOMap(self.map_msg)
if self.WHICH_RM == "bl":
self.range_method = range_libc.PyBresenhamsLine(
oMap, self.MAX_RANGE_PX)
elif "cddt" in self.WHICH_RM:
self.range_method = range_libc.PyCDDTCast(
oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
if self.WHICH_RM == "pcddt":
print "Pruning..."
self.range_method.prune()
elif self.WHICH_RM == "rm":
self.range_method = range_libc.PyRayMarching(
oMap, self.MAX_RANGE_PX)
elif self.WHICH_RM == "rmgpu":
self.range_method = range_libc.PyRayMarchingGPU(
oMap, self.MAX_RANGE_PX)
elif self.WHICH_RM == "glt":
self.range_method = range_libc.PyGiantLUTCast(
oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
self.range_method.set_sensor_model(self.sensor_model_table)
def get_omap(self):
'''
Fetch the occupancy grid map from the map_server instance, and initialize the correct
RangeLibc method. Also stores a matrix which indicates the permissible region of the map
'''
# this way you could give it a different map server as a parameter
map_service_name = rospy.get_param("~static_map", "static_map")
print("getting map from service: ", map_service_name)
rospy.wait_for_service(map_service_name)
self.map_msg = rospy.ServiceProxy(map_service_name, GetMap)().map
self.dilated_map_msg = rospy.ServiceProxy(map_service_name,
GetMap)().map
self.map_info = self.map_msg.info
self.MAX_RANGE_PX = int(self.MAX_RANGE_METERS /
self.map_info.resolution)
self.init_dynamic_map(self.MAP_BASE_PATH)
self.map_msg.data = self.dynamic_map.astype(float).flatten().tolist()
oMap = range_libc.PyOMap(self.map_msg)
# initialize range method
print "Initializing range method:", self.WHICH_RM
if self.WHICH_RM == "bl":
self.range_method = range_libc.PyBresenhamsLine(
oMap, self.MAX_RANGE_PX)
elif "cddt" in self.WHICH_RM:
self.range_method = range_libc.PyCDDTCast(
oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
if self.WHICH_RM == "pcddt":
print "Pruning..."
self.range_method.prune()
elif self.WHICH_RM == "rm":
self.range_method = range_libc.PyRayMarching(
oMap, self.MAX_RANGE_PX)
elif self.WHICH_RM == "rmgpu":
self.range_method = range_libc.PyRayMarchingGPU(
oMap, self.MAX_RANGE_PX)
elif self.WHICH_RM == "glt":
self.range_method = range_libc.PyGiantLUTCast(
oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
print "Done loading map"
# 0: permissible, -1: unmapped, 100: blocked
array_255 = np.array(self.map_msg.data).reshape(
(self.map_msg.info.height, self.map_msg.info.width))
# 0: not permissible, 1: permissible
self.permissible_region = np.zeros_like(array_255, dtype=bool)
self.permissible_region[array_255 == 0] = 1
self.map_initialized = True
def get_omap(self):
# this way you could give it a different map server as a parameter
map_service_name = rospy.get_param("~static_map", "static_map")
print("getting map from service: ", map_service_name)
rospy.wait_for_service(map_service_name)
map_msg = rospy.ServiceProxy(map_service_name, GetMap)().map
self.map_info = map_msg.info
oMap = range_libc.PyOMap(map_msg)
# this value is the max range used internally in RangeLibc
# it also should be the size of your sensor model table
self.MAX_RANGE_PX = int(self.MAX_RANGE_METERS /
self.map_info.resolution)
# initialize range method
print "Initializing range method:", self.WHICH_RANGE_METHOD
if self.WHICH_RANGE_METHOD == "bl":
self.range_method = range_libc.PyBresenhamsLine(
oMap, self.MAX_RANGE_PX)
elif "cddt" in self.WHICH_RANGE_METHOD:
self.range_method = range_libc.PyCDDTCast(
oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
if self.WHICH_RANGE_METHOD == "pcddt":
print "Pruning..."
self.range_method.prune()
elif self.WHICH_RANGE_METHOD == "rm":
self.range_method = range_libc.PyRayMarching(
oMap, self.MAX_RANGE_PX)
elif self.WHICH_RANGE_METHOD == "rmgpu":
self.range_method = range_libc.PyRayMarchingGPU(
oMap, self.MAX_RANGE_PX)
elif self.WHICH_RANGE_METHOD == "glt":
self.range_method = range_libc.PyGiantLUTCast(
oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
print "Done loading map"
# 0: permissible, -1: unmapped, large value: blocked
array_255 = np.array(map_msg.data).reshape(
(map_msg.info.height, map_msg.info.width))
# 0: not permissible, 1: permissible
# this may be useful for global particle initialization - don't initialize particles in non-permissible states
self.permissible_region = np.zeros_like(array_255, dtype=bool)
self.permissible_region[array_255 == 0] = 1
self.map_initialized = True
def setRaytracingMethod(self, method="RM"):
"""
Set which Ray tracing method to use
"""
if not self.hasMap:
print "for set RaytracingMethod use setMap first"
return
if method == "RM":
self.scan_method = range_libc.PyRayMarching(self.omap,
self.mrx)
elif method == "RMGPU":
self.scan_method = range_libc.PyRayMarchingGPU(self.omap,
self.mrx)
else:
print "Only ray marching is supported"
sys.exit()
def __init__(self,
num_rays=None,
min_angle=None,
max_angle=None,
max_range=None,
range_method=None,
frame=None,
omap=None):
self.max_range = max_range
self.laser_ranges = np.zeros(num_rays, dtype=np.float32)
self.laser_angles = np.linspace(min_angle,
max_angle,
num_rays,
endpoint=True)
self.queries = np.zeros((num_rays, 3), dtype=np.float32)
map_msg = omap.map_msg
map_info = map_msg.info
oMap = range_libc.PyOMap(map_msg)
self.MAX_RANGE_PX = int(self.max_range / map_info.resolution)
self.THETA_DISCRETIZATION = 200
# initialize range method
print "Initializing range method:", range_method
if range_method == "bl":
self.range_method = range_libc.PyBresenhamsLine(
oMap, self.MAX_RANGE_PX)
elif "cddt" in range_method:
self.range_method = range_libc.PyCDDTCast(
oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
if range_method == "pcddt":
print "Pruning..."
self.range_method.prune()
elif range_method == "rm":
self.range_method = range_libc.PyRayMarching(
oMap, self.MAX_RANGE_PX)
elif range_method == "rmgpu":
self.range_method = range_libc.PyRayMarchingGPU(
oMap, self.MAX_RANGE_PX)
elif range_method == "glt":
self.range_method = range_libc.PyGiantLUTCast(
oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
print "Simulated Laser Scanner Initialized..."
def get_omap(self):
'''
Fetch the occupancy grid map from the map_server instance, and initialize the correct
RangeLibc method. Also stores a matrix which indicates the permissible region of the map
'''
# this way you could give it a different map server as a parameter
# map_service_name = rospy.get_param('/static_map', '/static_map')
map_service_name = '/static_map'
print('getting map from service: ', map_service_name)
print('map service name: {}'.format(map_service_name))
rospy.wait_for_service(map_service_name)
map_msg = rospy.ServiceProxy(map_service_name, GetMap)().map
self.map_info = map_msg.info
oMap = range_libc.PyOMap(map_msg)
self.MAX_RANGE_PX = int(self.MAX_RANGE_METERS / self.map_info.resolution)
# initialize range method
print 'Initializing range method:', self.WHICH_RM
if self.WHICH_RM == 'bl':
self.range_method = range_libc.PyBresenhamsLine(oMap, self.MAX_RANGE_PX)
elif 'cddt' in self.WHICH_RM:
self.range_method = range_libc.PyCDDTCast(oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
if self.WHICH_RM == 'pcddt':
print 'Pruning...'
self.range_method.prune()
elif self.WHICH_RM == 'rm':
self.range_method = range_libc.PyRayMarching(oMap, self.MAX_RANGE_PX)
elif self.WHICH_RM == 'rmgpu':
self.range_method = range_libc.PyRayMarchingGPU(oMap, self.MAX_RANGE_PX)
elif self.WHICH_RM == 'glt':
self.range_method = range_libc.PyGiantLUTCast(oMap, self.MAX_RANGE_PX, self.THETA_DISCRETIZATION)
print 'Done loading map'
# 0: permissible, -1: unmapped, 100: blocked
array_255 = np.array(map_msg.data).reshape((map_msg.info.height, map_msg.info.width))
# 0: not permissible, 1: permissible
self.permissible_region = np.zeros_like(array_255, dtype=bool)
self.permissible_region[array_255==0] = 1
self.map_initialized = True
