def __init__(self):
server_ip = rospy.get_param('~overpass_server_ip')
server_port = rospy.get_param('~overpass_server_port')
ref_lat = rospy.get_param('~ref_latitude')
ref_lon = rospy.get_param('~ref_longitude')
building = rospy.get_param('~building')
global_origin = [ref_lat, ref_lon]
rospy.loginfo("Server " + server_ip + ":" + str(server_port))
rospy.loginfo("Global origin: " + str(global_origin))
rospy.loginfo("Starting servers...")
self.osm_topological_planner_server = SimpleActionServer(
'/osm_topological_planner', OSMTopologicalPlannerAction, self._osm_topological_planner, False)
self.osm_topological_planner_server.start()
osm_bridge = OSMBridge(
server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
coordinate_system="cartesian",
debug=False)
path_planner = PathPlanner(osm_bridge)
path_planner.set_building(building)
self.osm_topological_planner_callback = OSMTopologicalPlannerCallback(
osm_bridge, path_planner)
rospy.loginfo(
"OSM topological planner server started. Listening for requests...")
def __init__(self):
server_ip = rospy.get_param('~overpass_server_ip')
server_port = rospy.get_param('~overpass_server_port')
ref_lat = rospy.get_param('~ref_latitude')
ref_lon = rospy.get_param('~ref_longitude')
building = rospy.get_param('~building')
global_origin = [ref_lat, ref_lon]
print(building)
rospy.loginfo("Server " + server_ip + ":" + str(server_port))
rospy.loginfo("Global origin: " + str(global_origin))
rospy.loginfo("Starting servers...")
self.osm_bridge = OSMBridge(
server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
coordinate_system="cartesian",
debug=False)
self.osm_adapter = OSMAdapter(
server_ip=server_ip,
server_port=server_port,
debug=False)
self.occ_grid_generator = OccGridGenerator(
server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
debug=False)
self.wm_query_server = SimpleActionServer('/wm_query', WMQueryAction, self._wm_query, False)
self.wm_query_server.start()
self.wm_query_callback = WMQueryCallback(self.osm_bridge)
self.osm_query_server = SimpleActionServer('/osm_query', OSMQueryAction, self._osm_query, False)
self.osm_query_server.start()
self.osm_query_callback = OSMQueryCallback(self.osm_adapter)
self.path_planner_server = SimpleActionServer('/path_planner', PathPlannerAction, self._path_planner, False)
self.path_planner = PathPlanner(self.osm_bridge)
self.path_planner.set_building(building)
self.path_planner_server.start()
self.semantic_features_server = SimpleActionServer('/semantic_features', SemanticFeaturesAction, self._semantic_features, False)
self.semantic_features_finder = SemanticFeaturesFinder(self.osm_bridge)
self.semantic_features_server.start()
self.semantic_features_callback = SemanticFeaturesCallback(self.semantic_features_finder)
self.grid_map_generator_server = SimpleActionServer('/grid_map_generator', GridMapGeneratorAction, self._grid_map_generator, False)
self.grid_map_generator_server.start()
self.nearest_wlan_server = SimpleActionServer('/nearest_wlan', NearestWLANAction, self._nearest_wlan, False)
self.nearest_wlan_finder = NearestWLANFinder(self.osm_bridge)
self.nearest_wlan_server.start()
rospy.loginfo("Servers started. Listening for queries...")
def test_overall_path_planner(self):
path_planner = PathPlanner(self.osm_bridge)
path_planner.set_building('AMK')
path = path_planner.get_path_plan(
start_floor='AMK_L-1',
destination_floor='AMK_L4',
start_area='AMK_D_L-1_C41',
destination_area='AMK_B_L4_C1',
start_local_area='AMK_D_L-1_C41_LA1',
destination_local_area='AMK_B_L4_C1_LA1')
print(path)
self.assertEqual(path[1].id, 119)
self.assertEqual(len(path), 27)
def test_get_estimated_path_distance(self):
path_planner = PathPlanner(self.osm_bridge)
path_planner.set_building('AMK')
try:
# even though connections are blocked since traffic rules are relaxed
# path planning should be successful in this case
distance = path_planner.get_estimated_path_distance(
start_floor='AMK_L-1',
destination_floor='AMK_L4',
start_area='AMK_D_L-1_C41',
destination_area='AMK_B_L4_C1')
print("Path distance:", distance)
except:
self.fail("In this case path shhould be successfully planned")
def test_dynamic_path_planner_blocked_with_traffic_rules(self):
path_planner = PathPlanner(self.osm_bridge)
path_planner.set_building('AMK')
# path planning should fail here as connections are blocked and traffic rules are
# still in effect
with self.assertRaises(Exception) as context:
self.assertRaises(
path_planner.get_path_plan(
start_floor='AMK_L-1',
destination_floor='AMK_L4',
start_area='AMK_D_L-1_C41',
destination_area='AMK_B_L4_C1',
start_local_area='AMK_D_L-1_C41_LA1',
destination_local_area='AMK_B_L4_C1_LA1',
blocked_connections=[[
'AMK_C_L-1_C36_LA2', 'AMK_C_L-1_C35_LA2'
], ['AMK_C_L-1_C35_LA2', 'AMK_C_L-1_C34_Door1']],
relax_traffic_rules=False))
self.assertTrue("Couldn't plan the path" in str(context.exception))
def test_dynamic_path_planner_blocked_wo_traffic_rules(self):
path_planner = PathPlanner(self.osm_bridge)
path_planner.set_building('AMK')
try:
# even though connections are blocked since traffic rules are relaxed
# path planning should be successful in this case
path_planner.get_path_plan(
start_floor='AMK_L-1',
destination_floor='AMK_L4',
start_area='AMK_D_L-1_C41',
destination_area='AMK_B_L4_C1',
start_local_area='AMK_D_L-1_C41_LA1',
destination_local_area='AMK_B_L4_C1_LA1',
blocked_connections=[[
'AMK_C_L-1_C36_LA2', 'AMK_C_L-1_C35_LA2'
], ['AMK_C_L-1_C35_LA2', 'AMK_C_L-1_C34_Door1']],
relax_traffic_rules=True)
except:
self.fail("In this case path shhould be successfully planned")
class OSMBridgeROS(object):
def __init__(self):
server_ip = rospy.get_param('~overpass_server_ip')
server_port = rospy.get_param('~overpass_server_port')
ref_lat = rospy.get_param('~ref_latitude')
ref_lon = rospy.get_param('~ref_longitude')
building = rospy.get_param('~building')
global_origin = [ref_lat, ref_lon]
print(building)
rospy.loginfo("Server " + server_ip + ":" + str(server_port))
rospy.loginfo("Global origin: " + str(global_origin))
rospy.loginfo("Starting servers...")
self.osm_bridge = OSMBridge(
server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
coordinate_system="cartesian",
debug=False)
self.osm_adapter = OSMAdapter(
server_ip=server_ip,
server_port=server_port,
debug=False)
self.occ_grid_generator = OccGridGenerator(
server_ip=server_ip,
server_port=server_port,
global_origin=global_origin,
debug=False)
self.wm_query_server = SimpleActionServer('/wm_query', WMQueryAction, self._wm_query, False)
self.wm_query_server.start()
self.wm_query_callback = WMQueryCallback(self.osm_bridge)
self.osm_query_server = SimpleActionServer('/osm_query', OSMQueryAction, self._osm_query, False)
self.osm_query_server.start()
self.osm_query_callback = OSMQueryCallback(self.osm_adapter)
self.path_planner_server = SimpleActionServer('/path_planner', PathPlannerAction, self._path_planner, False)
self.path_planner = PathPlanner(self.osm_bridge)
self.path_planner.set_building(building)
self.path_planner_server.start()
self.semantic_features_server = SimpleActionServer('/semantic_features', SemanticFeaturesAction, self._semantic_features, False)
self.semantic_features_finder = SemanticFeaturesFinder(self.osm_bridge)
self.semantic_features_server.start()
self.semantic_features_callback = SemanticFeaturesCallback(self.semantic_features_finder)
self.grid_map_generator_server = SimpleActionServer('/grid_map_generator', GridMapGeneratorAction, self._grid_map_generator, False)
self.grid_map_generator_server.start()
self.nearest_wlan_server = SimpleActionServer('/nearest_wlan', NearestWLANAction, self._nearest_wlan, False)
self.nearest_wlan_finder = NearestWLANFinder(self.osm_bridge)
self.nearest_wlan_server.start()
rospy.loginfo("Servers started. Listening for queries...")
def _wm_query(self, req):
''' Access the fields of goal of the wm_query message and ask OSMBridge for it.
After receiving info from OSMBridge, it packages it as response message and send it back.
'''
res = self.wm_query_callback.get_safe_response(req)
if res is not None:
self.wm_query_server.set_succeeded(res)
else:
self.wm_query_server.set_aborted(res)
def _osm_query(self, req):
''' Access the fields of goal of the osm_query message and ask OSMBridge for it.
After receiving info from OSMBridge, it packages it as response message and send it back.
'''
# rospy.loginfo(req)
res = self.osm_query_callback.get_response(req)
self.osm_query_server.set_succeeded(res)
def _path_planner(self, req):
'''Access the fields of goal of PathPlanner.action message and call
OSM Bridge Path planner with those parameters and return the response to the sender.
'''
start_floor = req.start_floor
destination_floor = req.destination_floor
start_area = req.start_area
destination_area = req.destination_area
start_local_area = req.start_local_area
destination_local_area = req.destination_local_area
start_position = req.start_position
destination_task = req.destination_task
temp = req.blocked_connections
blocked_connections = []
for t in temp:
blocked_connections.append([t.start_id, t.end_id])
relax_traffic_rules = False
path = []
notSucceeded = False
if req.relax_traffic_rules:
relax_traffic_rules = True
if start_local_area and destination_local_area:
path = self.path_planner.get_path_plan(start_floor=start_floor, destination_floor=destination_floor,start_area=start_area,\
destination_area=destination_area, start_local_area=start_local_area,destination_local_area=destination_local_area,\
blocked_connections=blocked_connections, relax_traffic_rules=relax_traffic_rules)
elif start_local_area and destination_task:
path = self.path_planner.get_path_plan(start_floor=start_floor, destination_floor=destination_floor,start_area=start_area,\
destination_area=destination_area, start_local_area=start_local_area,destination_task=destination_task,\
blocked_connections=blocked_connections, relax_traffic_rules=relax_traffic_rules)
elif start_position and destination_task:
path = self.path_planner.get_path_plan(start_floor=start_floor, destination_floor=destination_floor,start_area=start_area,\
destination_area=destination_area, robot_position=start_position,destination_task=destination_task,\
blocked_connections=blocked_connections, relax_traffic_rules=relax_traffic_rules)
elif start_position and destination_local_area:
path = self.path_planner.get_path_plan(start_floor=start_floor, destination_floor=destination_floor,start_area=start_area,\
destination_area=destination_area, robot_position=start_position,destination_local_area=destination_local_area,\
blocked_connections=blocked_connections, relax_traffic_rules=relax_traffic_rules)
else:
rospy.logerr("Path planner need more arguments to plan the path")
notSucceeded = True
res = PathPlannerResult()
for pt in path:
res.planner_areas.append(OBLWMToROSAdapter.get_planner_area(pt))
if notSucceeded :
self.path_planner_server.set_aborted(res)
else :
self.path_planner_server.set_succeeded(res)
def _grid_map_generator(self, req):
'''Access the fields of goal of GridMapGenerator.action message and call
OccGridGenerator with those parameters and return the response to the sender.
'''
local_offset_x = req.local_offset_x
local_offset_y = req.local_offset_y
resolution = req.resolution
dimension = req.dimension
dirname = req.dirname
filename = req.filename
floor = req.floor
self.occ_grid_generator.setDimension(dimension)
self.occ_grid_generator.setResolution(resolution)
self.occ_grid_generator.setDirName(dirname)
self.occ_grid_generator.setFileName(filename)
self.occ_grid_generator.setLocalOffset([local_offset_x, local_offset_y])
filename = self.occ_grid_generator.generate_map(floor=floor)
res = GridMapGeneratorResult()
res.filename = filename
self.grid_map_generator_server.set_succeeded(res)
def _semantic_features(self, req):
res = self.semantic_features_callback.get_safe_response(req)
if res is not None:
self.semantic_features_server.set_succeeded(res)
else:
self.semantic_features_server.set_aborted(res)
def _nearest_wlan(self, req):
floor_name, area_name, local_area_name, x, y = None, None, None, None, None
if req.is_x_y_provided:
x = req.x
y = req.y
floor_name = OSMBridgeROS._get_ref_or_id_from_string(req.floor)
area_name = OSMBridgeROS._get_ref_or_id_from_string(req.area)
local_area_name = OSMBridgeROS._get_ref_or_id_from_string(req.local_area)
point_obj = self.nearest_wlan_finder.get_nearest_wlan(
x=x, y=y, floor_name=floor_name, area_name=area_name,
local_area_name=local_area_name)
if point_obj:
res = NearestWLANResult(
point=OBLWMToROSAdapter.get_point_msg_from_point_obj(point_obj))
self.nearest_wlan_server.set_succeeded(res)
else:
self.nearest_wlan_server.set_aborted()
@staticmethod
def _get_ref_or_id_from_string(var):
ref = None
if var != '':
try:
ref = int(var)
except Exception as e:
ref = var
return ref