def __init__(self):
print("Graph Search Service Started")
# Input: csv file
self.map_name = rospy.get_param("/map_name")
# Loading map
self.script_dir = os.path.dirname(__file__)
self.map_path = self.script_dir + "/maps/" + self.map_name
self.map_img = self.script_dir + "/maps/map.png"
gc = graph_creator()
self.duckietown_graph = gc.build_graph_from_csv(csv_filename=self.map_name)
self.duckietown_problem = GraphSearchProblem(self.duckietown_graph, None, None)
print("Map loaded successfully.\n")
self.image_pub = rospy.Publisher("~map_graph", Image, queue_size=1, latch=True)
self.bridge = CvBridge()
# Send graph through publisher
self.duckietown_graph.draw(self.script_dir, highlight_edges=None, map_name=self.map_name)
cv_image = cv2.imread(self.map_path + ".png", cv2.IMREAD_COLOR)
overlay = self.prepImage(cv_image)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(overlay, "bgr8"))
def __init__(self):
print 'Graph Search Service Started'
# Input: csv file
self.map_name = rospy.get_param('/map_name')
# Loading map
self.script_dir = os.path.dirname(__file__)
self.map_path = self.script_dir + '/maps/' + self.map_name
self.map_img = self.script_dir + '/maps/map.png'
gc = graph_creator()
self.duckietown_graph = gc.build_graph_from_csv(csv_filename=self.map_name)
self.duckietown_problem = GraphSearchProblem(self.duckietown_graph, None, None)
print "Map loaded successfully!\n"
self.image_pub = rospy.Publisher("~map_graph",Image, queue_size = 1, latch=True)
self.bridge = CvBridge()
# Send graph through publisher
self.duckietown_graph.draw(self.script_dir, highlight_edges=None, map_name = self.map_name)
cv_image = cv2.imread(self.map_path + '.png', cv2.CV_LOAD_IMAGE_COLOR)
overlay = self.prepImage(cv_image)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(overlay, "bgr8"))
def __init__(self):
rospy.loginfo('Graph Search Service Started')
# Input: csv file
self.map_name = rospy.get_param('/map_name')
# Loading map
self.script_dir = os.path.dirname(__file__)
self.map_path = self.script_dir + '/maps/' + self.map_name
self.map_img = self.script_dir + '/maps/map.png'
gc = graph_creator()
self.duckietown_graph = gc.build_graph_from_csv(csv_filename=self.map_name)
self.duckietown_problem = GraphSearchProblem(self.duckietown_graph, None, None)
print "Map loaded successfully!\n"
self.current_node = 0
#Subscribers
#road block detected
self.sub_rb = rospy.Subscriber('~road_blocked', BoolStamped, self.handle_road_blocked)
#duckie is turning; propagate now
self.sub_turn = rospy.Subscriber("~turn_type", Int16, self.propagate_location)
#Publishers
#publish to here to request an a* search from ActionsDispatcherNode
self.pub_plan_request = rospy.Publisher("~plan_request", SourceTargetNodes, queue_size = 1)
self.image_pub = rospy.Publisher("~map_graph",Image, queue_size = 1, latch=True)
self.bridge = CvBridge()
# Send graph through publisher
self.duckietown_graph.draw(self.script_dir, highlight_edges=None, map_name = self.map_name)
cv_image = cv2.imread(self.map_path + '.png', cv2.CV_LOAD_IMAGE_COLOR)
overlay = self.prepImage(cv_image)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(overlay, "bgr8"))
class graph_search_server:
def __init__(self):
print("Graph Search Service Started")
# Input: csv file
self.map_name = rospy.get_param("/map_name")
# Loading map
self.script_dir = os.path.dirname(__file__)
self.map_path = self.script_dir + "/maps/" + self.map_name
self.map_img = self.script_dir + "/maps/map.png"
gc = graph_creator()
self.duckietown_graph = gc.build_graph_from_csv(csv_filename=self.map_name)
self.duckietown_problem = GraphSearchProblem(self.duckietown_graph, None, None)
print("Map loaded successfully.\n")
self.image_pub = rospy.Publisher("~map_graph", Image, queue_size=1, latch=True)
self.bridge = CvBridge()
# Send graph through publisher
self.duckietown_graph.draw(self.script_dir, highlight_edges=None, map_name=self.map_name)
cv_image = cv2.imread(self.map_path + ".png", cv2.IMREAD_COLOR)
overlay = self.prepImage(cv_image)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(overlay, "bgr8"))
def handle_graph_search(self, req):
# Checking if nodes exists
if (req.source_node not in self.duckietown_graph) or (req.target_node not in self.duckietown_graph):
print("Source or target node do not exist.")
self.publishImage(req, [])
return GraphSearchResponse([])
# Running A*
self.duckietown_problem.start = req.source_node
self.duckietown_problem.goal = req.target_node
path = self.duckietown_problem.astar_search()
# Publish graph solution
self.publishImage(req, path)
return GraphSearchResponse(path.actions)
def publishImage(self, req, path):
if path:
self.duckietown_graph.draw(
self.script_dir,
highlight_edges=path.edges(),
map_name=self.map_name,
highlight_nodes=[req.source_node, req.target_node],
)
else:
self.duckietown_graph.draw(self.script_dir, highlight_edges=None, map_name=self.map_name)
cv_image = cv2.imread(self.map_path + ".png", cv2.IMREAD_COLOR)
overlay = self.prepImage(cv_image)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(overlay, "bgr8"))
def prepImage(self, cv_image):
map_img = cv2.imread(self.map_img, cv2.IMREAD_COLOR)
map_crop = map_img[16:556, 29:408, :]
map_resize = cv2.resize(map_crop, (cv_image.shape[1], 955), interpolation=cv2.INTER_AREA)
cv_image = cv_image[0:955, :, :]
cv_image = 255 - cv_image
overlay = cv2.addWeighted(cv_image, 0.65, map_resize, 0.35, 0)
overlay = cv2.resize(overlay, (0, 0), fx=0.9, fy=0.9, interpolation=cv2.INTER_AREA)
overlay *= 1.4
return overlay
class graph_search_server():
def __init__(self):
rospy.loginfo('Graph Search Service Started')
# Input: csv file
self.map_name = rospy.get_param('/map_name')
# Loading map
self.script_dir = os.path.dirname(__file__)
self.map_path = self.script_dir + '/maps/' + self.map_name
self.map_img = self.script_dir + '/maps/map.png'
gc = graph_creator()
self.duckietown_graph = gc.build_graph_from_csv(csv_filename=self.map_name)
self.duckietown_problem = GraphSearchProblem(self.duckietown_graph, None, None)
print "Map loaded successfully!\n"
self.current_node = 0
#Subscribers
#road block detected
self.sub_rb = rospy.Subscriber('~road_blocked', BoolStamped, self.handle_road_blocked)
#duckie is turning; propagate now
self.sub_turn = rospy.Subscriber("~turn_type", Int16, self.propagate_location)
#Publishers
#publish to here to request an a* search from ActionsDispatcherNode
self.pub_plan_request = rospy.Publisher("~plan_request", SourceTargetNodes, queue_size = 1)
self.image_pub = rospy.Publisher("~map_graph",Image, queue_size = 1, latch=True)
self.bridge = CvBridge()
# Send graph through publisher
self.duckietown_graph.draw(self.script_dir, highlight_edges=None, map_name = self.map_name)
cv_image = cv2.imread(self.map_path + '.png', cv2.CV_LOAD_IMAGE_COLOR)
overlay = self.prepImage(cv_image)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(overlay, "bgr8"))
def initCurrentNode(self,currentNode):
self.current_node = currentNode
#if current node isn't at an intersection, have to do some propagation
#what happens with a dead end? future work...
if self.current_node[0:3] == 'turn': #ensure that last_int_node is actually at an intersection
current_edge_set = self.duckietown_problem.graph._edges[last_node]
for i in [1, 2]:
#traversing forward to next intersection
while len(current_edge_set) == 1: #haven't reached an intersection yet
# find edge(s) after the one we're on
current_edge_set = self.duckietown_problem.graph._edges[next(iter(current_edge_set)).target]
last_node = next(iter(current_edge_set)).source
#reached the next intersection
u_turn_lut = get_flip_lut()
last_node = u_turn_lut[next(iter(current_edge_set)).source]
#repeat the process going in the anti-parallel lane
current_edge_set = self.duckietown_problem.graph._edges[last_node]
self.current_node = last_node
def setupParameter(self,param_name,default_value):
value = rospy.get_param(param_name,default_value)
rospy.set_param(param_name,value) #Write to parameter server for transparancy
rospy.loginfo("[%s] %s = %s " %(self.node_name,param_name,value))
return value
def handle_graph_search(self,req):
# Checking if nodes exists
rospy.loginfo(list( self.duckietown_graph._nodes)) #.nodes() ?
if (req.source_node not in self.duckietown_graph) or (req.target_node not in self.duckietown_graph):
rospy.loginfo("Source or target node do not exist.")
self.publishImage(req, [])
return GraphSearchResponse([])
#set current node to be requested start node
self.initCurrentNode(req.source_node)
# Running A*
self.duckietown_problem.start = req.source_node
self.duckietown_problem.goal = req.target_node
path = self.duckietown_problem.astar_search()
# Publish graph solution
self.publishImage(req, path)
return GraphSearchResponse(path.actions)
def publishImage(self, req, path):
if path:
self.duckietown_graph.draw(self.script_dir, highlight_edges=path.edges(), map_name = self.map_name, highlight_nodes = [req.source_node, req.target_node])
else:
self.duckietown_graph.draw(self.script_dir, highlight_edges=None, map_name = self.map_name)
cv_image = cv2.imread(self.map_path + '.png', cv2.CV_LOAD_IMAGE_COLOR)
overlay = self.prepImage(cv_image)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(overlay, "bgr8"))
def prepImage(self, cv_image):
map_img = cv2.imread(self.map_img, cv2.CV_LOAD_IMAGE_COLOR)
map_crop = map_img[16:556,29:408,:]
map_resize = cv2.resize(map_crop,(cv_image.shape[1],955),interpolation=cv2.INTER_AREA)
cv_image = cv_image[0:955,:,:]
cv_image = 255 - cv_image
overlay = cv_image
#overlay = cv2.addWeighted(cv_image,0.65,map_resize,0.35,0)
overlay = cv2.resize(overlay,(0,0),fx=0.9,fy=0.9,interpolation=cv2.INTER_AREA)
overlay *= 1.4
return overlay
# path observing and map modifying methods
def handle_road_blocked(self,data):
# runs when a complete roadblock is seen
# modify working graph, then plan a new path
if data.data == True:
self.duckietown_problem.graph = self.destroy_edges()
self.pub_plan_request.publish(self.current_node,self.duckietown_problem.goal)
def propagate_location(self,data):
# run each time a turn command is issued; follow along in the graph
data = data.data
possible_edges = self.duckietown_problem.graph._edges[self.current_node]
actionLUT = {1:'s', 2:'r', 0:'l', -1:'w'}
# actionLUT = {"1":'s', "2":'r', "0":'l', "-1":'w'}
# print("actionLUT: ", actionLUT)
# print("data: ", data)
# print("actionLUT: ", actionLUT[data])
#follow the straight roads
while len(possible_edges)==1:
edge = possible_edges.pop()
possible_edges = self.duckietown_problem.graph._edges[edge.target]
#found an intersection
for edge in possible_edges:
#print("edge.action: ", edge.action)
if edge.action == actionLUT[data]:
self.current_node = edge.target
break
rospy.loginfo('reached node %s',self.current_node)
def destroy_edges(self):
# this is to be called when the current edge is a completely blocked road
# traverse edges forward until the next numbered node while deleting
# use flip LUT to delete the lane anti-parallel to the path just travelled
# Doesn't work for blockages in intersections (yet...)
# make a working copy of the graph
#w_graph = Graph(orig_graph.node_label_fn,orig_graph._nodes,orig_graph._edges,orig_graph.node_positions)
w_graph = self.duckietown_problem.graph.copy()
current_edge_set = w_graph._edges[self.current_node]
for i in [1, 2]: #delete this lane and the anti-parallel lane
#traversing forward to next intersection
while len(current_edge_set) == 1: #haven't reached an intersection yet
# delete the current edge
w_graph._edges[self.current_node] = w_graph._edges[self.current_node] - current_edge_set
# find edge(s) after the one we're on
current_edge_set = w_graph._edges[next(iter(current_edge_set)).target]
self.current_node = next(iter(current_edge_set)).source
if i == 2: break
#reached the next intersection
u_turn_lut = self.get_flip_lut()
self.current_node = u_turn_lut[next(iter(current_edge_set)).source]
current_edge_set = w_graph._edges[self.current_node]
return w_graph
def get_flip_lut(self):
# look up table for u-turn node results. For every node at an intersection, this contains the node in the opposite lane closest to the current node
# In the future, this LUT could be autogenerated from the data in the map csv. Once that data is used to generate a graph, it's harder to use that data to generate the lut
# keys: current node
# entries: node in other direction
# no particular order to these
u_turn_lut = {'1':'6',
'2':'3',
'4':'5',
'7':'12',
'8':'9',
'10':'11',
'13':'20',
'14':'15',
'16':'17',
'18':'19',
'21':'26',
'22':'23',
'24':'25',
'32':'27',
'28':'29',
'30':'31',
}
# autogenerate the LUT that reverses all these key, entry pairs
second_half_u_turn_lut = {}
for key in u_turn_lut.keys():
second_half_u_turn_lut[u_turn_lut[key]] = key
#print len(u_turn_lut.keys())
# add the autogenerated content to the original
u_turn_lut.update(second_half_u_turn_lut)
#print len(u_turn_lut.keys())
return u_turn_lut
class graph_search_server():
def __init__(self):
print 'Graph Search Service Started'
# Input: csv file
self.map_name = rospy.get_param('/map_name')
# Loading map
self.script_dir = os.path.dirname(__file__)
self.map_path = self.script_dir + '/maps/' + self.map_name
self.map_img = self.script_dir + '/maps/map.png'
gc = graph_creator()
self.duckietown_graph = gc.build_graph_from_csv(csv_filename=self.map_name)
self.duckietown_problem = GraphSearchProblem(self.duckietown_graph, None, None)
print "Map loaded successfully!\n"
self.image_pub = rospy.Publisher("~map_graph",Image, queue_size = 1, latch=True)
self.bridge = CvBridge()
# Send graph through publisher
self.duckietown_graph.draw(self.script_dir, highlight_edges=None, map_name = self.map_name)
cv_image = cv2.imread(self.map_path + '.png', cv2.CV_LOAD_IMAGE_COLOR)
overlay = self.prepImage(cv_image)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(overlay, "bgr8"))
def handle_graph_search(self,req):
# Checking if nodes exists
if (req.source_node not in self.duckietown_graph) or (req.target_node not in self.duckietown_graph):
print "Source or target node do not exist."
self.publishImage(req, [])
return GraphSearchResponse([])
# Running A*
self.duckietown_problem.start = req.source_node
self.duckietown_problem.goal = req.target_node
path = self.duckietown_problem.astar_search()
# Publish graph solution
self.publishImage(req, path)
return GraphSearchResponse(path.actions)
def publishImage(self, req, path):
if path:
self.duckietown_graph.draw(self.script_dir, highlight_edges=path.edges(), map_name = self.map_name, highlight_nodes = [req.source_node, req.target_node])
else:
self.duckietown_graph.draw(self.script_dir, highlight_edges=None, map_name = self.map_name)
cv_image = cv2.imread(self.map_path + '.png', cv2.CV_LOAD_IMAGE_COLOR)
overlay = self.prepImage(cv_image)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(overlay, "bgr8"))
def prepImage(self, cv_image):
map_img = cv2.imread(self.map_img, cv2.CV_LOAD_IMAGE_COLOR)
map_crop = map_img[16:556,29:408,:]
map_resize = cv2.resize(map_crop,(cv_image.shape[1],955),interpolation=cv2.INTER_AREA)
cv_image = cv_image[0:955,:,:]
cv_image = 255 - cv_image
overlay = cv2.addWeighted(cv_image,0.65,map_resize,0.35,0)
overlay = cv2.resize(overlay,(0,0),fx=0.9,fy=0.9,interpolation=cv2.INTER_AREA)
overlay *= 1.4
return overlay
