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utils.cpp
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utils.cpp
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//
// Created by pulver on 20/07/19.
//
#include "include/utils.h"
#include "bayesian_topological_localisation/Predict.h"
#include "strands_navigation_msgs/GetRouteTo.h"
#include "std_msgs/String.h"
Utilities::Utilities(){
goal_marker_.header.frame_id = "/map";
goal_marker_.type = goal_marker_.SPHERE;
goal_marker_.pose.position.z = 6;
goal_marker_.pose.orientation.w = 1;
goal_marker_.scale.x = 0.5;
goal_marker_.scale.y = 0.5;
goal_marker_.scale.z = 0.5;
goal_marker_.scale.z = 1;
goal_marker_.color.a = 1.0;
goal_marker_.color.r = 1;
goal_marker_.color.g = 1;
goal_marker_.color.b = 0;
};
Utilities::~Utilities(){};
bool Utilities::contains(std::list<Pose> &list, Pose &p) {
bool result = false;
std::list<Pose>::iterator findIter = std::find(list.begin(), list.end(), p);
if (findIter != list.end()) {
// cout << "Found it: "<< function.getEncodedKey(p,0) <<endl;
result = true;
}
return result;
}
bool Utilities::containsPos(
std::list<std::pair<float, float>> *positionEscluded,
std::pair<float, float> p) {
bool result = false;
std::pair<float, float> tmp_p =
make_pair(float(int(p.first)), float(int(p.second)));
// cout << " [navigation_utilties.py@containsPos] tmp_p: " << tmp_p.first <<
// "," << tmp_p.second << endl;
auto findIter =
std::find(positionEscluded->begin(), positionEscluded->end(), tmp_p);
if (findIter != positionEscluded->end()) {
result = true;
}
// cout << "Is it already visited and excluded: " << result << endl;
return result;
}
void Utilities::cleanPossibleDestination2(std::list<Pose> *possibleDestinations,
Pose &p) {
// for (auto it = possibleDestinations->begin(); it !=
// possibleDestinations->end(); it++)
// {
// cout << function.getEncodedKey(*it, 0) << endl;
// }
std::list<Pose>::iterator findIter =
std::find(possibleDestinations->begin(), possibleDestinations->end(), p);
if (findIter != possibleDestinations->end()) {
// cout << "[navigation_utilties.cpp@cleanPossibleDestination2]
// EncodedKey:"
// << function.getEncodedKey(*findIter,0) << "\n" << endl;
possibleDestinations->erase(findIter);
}
// else cout<< "[navigation_utilties.cpp@cleanPossibleDestination2] Cell not
// found\n" << endl;
// for (auto it = possibleDestinations->begin(); it !=
// possibleDestinations->end(); it++)
// {
// cout << function.getEncodedKey(*it, 0) << endl;
// }
// cout << "[navigation_utilies.cpp@cleanPossibleDestination2]
// cleanedFronties: " << possibleDestinations->size() << endl;
}
void Utilities::cleanDestinationFromTabulist(
std::list<Pose> *possibleDestinations,
std::list<std::pair<float, float>> *posToEsclude) {
std::list<Pose> finalDestination;
// cout << "Size of possibleDestinations: " << possibleDestinations->size() <<
// endl;
for (auto it = possibleDestinations->begin();
it != possibleDestinations->end(); it++) {
// create a temporary position pair
std::pair<float, float> tmp_position(int(it->getX()), int(it->getY()));
// look for this position in the list of forbidden positions
std::list<std::pair<float, float>>::iterator findIter =
std::find(posToEsclude->begin(), posToEsclude->end(), tmp_position);
// if it's not found, add it to the list of final Destination
if (findIter == posToEsclude->end()) {
finalDestination.push_back(*it);
}
}
// cout << "Size of finalDestination: " << finalDestination.size() << endl;
*possibleDestinations = finalDestination;
// cout << "Size of possibleDestinations after update: " <<
// possibleDestinations->size() << endl;
}
void Utilities::pushInitialPositions(string currentRobotWayPoint,
dummy::Map map, float x, float y, float orientation, int range, int FOV,
double threshold, string actualPose,
vector<pair<string, list<Pose>>> *graph2, ros::ServiceClient *path_client,
vector<unordered_map<float,
std::pair<string, bayesian_topological_localisation::
DistributionStamped>>>
*mapping_time_belief,
MCDMFunction *function, double *batteryTime, GridMap *belief_map,
unordered_map<string, string> *mappingWaypoints, prediction_tools *tools,
std::unordered_map<string, double> *distances_map) {
map.findCandidatePositions(x, y, orientation, FOV, range);
vector<pair<float, float>> candidatePosition = map.getCandidatePositions();
map.emptyCandidatePositions();
list<Pose> frontiers;
vector<pair<float, float>>::iterator it = candidatePosition.begin();
for (it; it != candidatePosition.end(); it++) {
Pose p1 = Pose((*it).first, (*it).second, 0, range, FOV);
Pose p2 = Pose((*it).first, (*it).second, 180, range, FOV);
Pose p3 = Pose((*it).first, (*it).second, 90, range, FOV);
Pose p4 = Pose((*it).first, (*it).second, 270, range, FOV);
frontiers.push_back(p1);
frontiers.push_back(p2);
frontiers.push_back(p3);
frontiers.push_back(p4);
}
EvaluationRecords *record = function->evaluateFrontiers(currentRobotWayPoint,
frontiers, map, threshold, *path_client, *mapping_time_belief,
*batteryTime, *belief_map, *mappingWaypoints, *tools, *distances_map);
list<Pose> nearCandidates = record->getFrontiers();
cout << "Number of candidates:" << nearCandidates.size() << endl;
std::pair<string, list<Pose>> pair = make_pair(actualPose, nearCandidates);
graph2->push_back(pair);
}
double Utilities::calculateScanTime(double scanAngle) {
return (-7.2847174296449998e-006 * scanAngle * scanAngle * scanAngle +
2.2131847908245512e-003 * scanAngle * scanAngle +
1.5987873410233613e-001 * scanAngle + 10);
}
Pose Utilities::createFromInitialPose(Pose pose, float variation, int range,
int FOV) {
Pose tmp = Pose(pose.getX(), pose.getY(), pose.getOrientation() + variation,
FOV, range);
return tmp;
}
void Utilities::calculateDistance(list<Pose> history,
ros::ServiceClient *path_client,
double robot_radius) {
std::list<Pose>::iterator it = history.begin();
double travelledDistance = 0;
int numOfTurning = 0;
nav_msgs::GetPlan path;
path.request.goal.header.frame_id = "map";
// Calculate the overall path connecting these cells
for (it; it != prev(history.end(), 1); it++) {
std::list<Pose>::iterator it2 = next(it, 1);
path.request.goal.pose.position.x = it->getX();
path.request.goal.pose.position.y = it->getY();
path.request.goal.pose.orientation.w = 1;
bool path_srv_call = path_client->call(path);
float path_len;
if (path_srv_call) {
// calculate path length
path_len = getPathLen(path.response.plan.poses, robot_radius);
if (path_len < 1e3) {
} else {
path_len = 1000;
}
} else {
cout
<< "[navigation_utilties.cpp@calculateDistance] Service call failed! "
<< endl;
path_len = 1000;
}
travelledDistance = travelledDistance + path_len;
}
cout << "Number of cells: " << history.size() << endl;
cout << "Num of Turning: " << numOfTurning << endl;
cout << "Travelled distance (cells): " << travelledDistance << endl;
cout << "Travelled distance (meters): " << travelledDistance / 2.0
<< endl; // Valid only if resolution == 1.0 (cell side is 0.5m)
}
void Utilities::updatePathMetrics(
int *count, Pose *target, Pose *previous, string actualPose,
list<Pose> *nearCandidates, vector<pair<string, list<Pose>>> *graph2,
dummy::Map *map, MCDMFunction *function, list<Pose> *tabuList,
list<pair<float, float>> *posToEsclude, vector<string> *history,
int encodedKeyValue, long *numConfiguration, double *totalAngle,
double *travelledDistance, int *numOfTurning, double scanAngle,
ros::ServiceClient *path_client, bool backTracking, double robot_radius,
unordered_map<string, string> *mappingWaypoints) {
double path_len;
// Add it to the list of visited cells as first-view
history->push_back(function->getEncodedKey(*target, encodedKeyValue));
// cout << function->getEncodedKey ( *target,1 ) << endl;
// Add it to the list of visited cells from which acting
tabuList->push_back(*target);
posToEsclude->push_back(
make_pair(int((*target).getX()), int((*target).getY())));
// Remove it from the list of candidate position
cleanPossibleDestination2(nearCandidates, *target);
// Push in the graph the previous robot pose and the new list of candidate
// position, without the current pose of the robot
// We don't want to visit this cell again
if (backTracking == false) {
std::pair<string, list<Pose>> pair = make_pair(actualPose, *nearCandidates);
graph2->push_back(pair);
}
// Calculate the path from the previous robot pose to the current one
// Gridmap
// nav_msgs::GetPlan path;
// path.request.start.header.frame_id = "map";
// path.request.start.pose.position.x = previous->getX();
// path.request.start.pose.position.y = previous->getY();
// path.request.start.pose.orientation.w = 1;
// path.request.goal.header.frame_id = "map";
// path.request.goal.pose.position.x = target->getX();
// path.request.goal.pose.position.y = target->getY();
// path.request.goal.pose.orientation.w = 1;
// bool path_srv_call = path_client->call(path);
// if (path_srv_call) {
// // calculate path length
// path_len = getPathLen(path.response.plan.poses, robot_radius);
// } else {
// cout << "[utils.cpp@updatePathMetrics] Path_finding Service call failed!
// " << endl;
// }
// Topological map
// strands_navigation_msgs::GetRouteTo path;
// string waypointName;
// EvaluationRecords record;
// bool found = false;
// string encoding = record_.getEncodedKey(*target);
// cout << "encoding: " << encoding << endl;
// auto search = mappingWaypoints->find(encoding);
// if (search != mappingWaypoints->end()) {
// waypointName = search->second;
// found = true;
// } else {
// found = false;
// }
// cout << "waypointName: " << waypointName << endl;
// if (found == true){
// path.request.goal = waypointName;
// bool path_srv_call = path_client->call(path);
// if(path_srv_call){
// path_len = path.response.route.source.size();
// }else {
// cout << "[utils.cpp@updatePathMetrics] Path_finding Service call
// failed! " << endl;
// }
// }else{
// path_len = 1000;
// }
// Update the distance counting
// *travelledDistance = *travelledDistance + path_len;
// Update the turning counting
// *numOfTurning = *numOfTurning + astar->getNumberOfTurning(path);
// Update the scanning angle
*totalAngle += scanAngle;
// // Update the number of configurations of the robot along the task
// (*numConfiguration)++;
// // Update counter of iterations
// (*count)++;
}
list<Pose> Utilities::cleanHistory(vector<string> *history,
EvaluationRecords *record_history) {
vector<string>::iterator it_history = history->begin();
list<Pose> tmp_history;
for (it_history; it_history != prev(history->end(), 1); it_history++) {
if ((*it_history).back() == '1') {
tmp_history.push_back(record_history->getPoseFromEncoding(*it_history));
}
}
return tmp_history;
}
void Utilities::printResult(long newSensedCells, long totalFreeCells,
double precision, long numConfiguration,
double travelledDistance, int numOfTurning,
double totalAngle, double totalScanTime,
double resolution, float w_info_gain,
float w_travel_distance, float w_sensing_time,
float w_battery_status, float w_rfid_gain,
std::string fileURI) {
cout << "-----------------------------------------------------------------"
<< endl;
cout << "Area sensed: " << newSensedCells << " / " << totalFreeCells << "[ "
<< 100 * float(newSensedCells) / float(totalFreeCells) << " %]" << endl;
cout << "Total cell visited :" << numConfiguration << endl;
cout << "Total travelled distance (meters): " << travelledDistance << endl;
// cout << "Total travel time: " << travelledDistance / resolution << "s, "
// << (travelledDistance / resolution) / 60 << " m" << endl;
// cout << "I came back to the original position since i don't have any other
// "
// "candidate position"
// << endl;
// cout << "Total exploration time (s): " << travelledDistance / resolution
// << endl; cout << "Total number of turning: " << numOfTurning << endl;
cout << "Sum of scan angles (radians): " << totalAngle << endl;
cout << "Total time for scanning: " << totalScanTime << endl;
// cout << "Total time for exploration: "
// << travelledDistance / resolution + totalScanTime << "s, "
// << (travelledDistance / resolution + totalScanTime) / 60 << " m" <<
// endl;
if (newSensedCells < precision * totalFreeCells) {
cout << "FINAL: MAP NOT EXPLORED! :(" << endl;
} else {
cout << "FINAL: MAP EXPLORED!" << endl;
}
std::ofstream txt(fileURI.c_str());
txt << w_info_gain << "," << w_travel_distance << "," << w_sensing_time << ","
<< w_battery_status << "," << w_rfid_gain << ","
<< float(newSensedCells) / float(totalFreeCells) << ","
<< numConfiguration << "," << travelledDistance << "," << totalScanTime
<< endl;
txt.close();
cout << "-----------------------------------------------------------------"
<< endl;
}
Pose Utilities::getCurrentPose(float resolution, float costresolution,
dummy::Map *map, double initFov, int initRange) {
ros::Time _now_stamp_ = ros::Time(0);
tf::StampedTransform start_pose_in_tf;
tf::TransformListener _tf_listener;
string map_frame = "map";
_tf_listener.waitForTransform(map_frame, "base_link", _now_stamp_,
ros::Duration(5.0));
try {
_tf_listener.lookupTransform(map_frame, "base_link", _now_stamp_,
start_pose_in_tf);
} catch (tf::TransformException &ex) {
cout << "TRANSFORMS ARE COCKED-UP PAL! Why is that :=> " << ex.what()
<< endl;
}
tf::Vector3 start_position = start_pose_in_tf.getOrigin();
// cout << "Origin: " << start_position.x() << ", " << start_position.y() <<
// endl;
tf::Quaternion start_orientation = start_pose_in_tf.getRotation();
geometry_msgs::PoseStamped start_pose;
start_pose.header.stamp = start_pose_in_tf.stamp_;
start_pose.header.frame_id = start_pose_in_tf.frame_id_;
tf::pointTFToMsg(start_position, start_pose.pose.position);
tf::quaternionTFToMsg(start_orientation, start_pose.pose.orientation);
float initX = roundf((start_pose.pose.position.x) * 100) / 100;
float initY = roundf((start_pose.pose.position.y) * 100) / 100;
tf::Quaternion quat = tf::Quaternion(
start_pose.pose.orientation.x, start_pose.pose.orientation.y,
start_pose.pose.orientation.z, start_pose.pose.orientation.w);
tfScalar angle = roundf(2 * atan2(quat[2], quat[3]) * 100) / 100;
// cout << "Current position in the " << map_frame << " frame:" << initX <<
// "," << initY
// << " with orientation :" << angle << "(" << (angle * 180 / M_PI)
// << " deg)" << endl;
int initOrientation = angle * 180 / M_PI;
// cout << "Orientation after casting: " << initOrientation << endl;
// ATTENTION: should be adapted for cells different from 1mx1m
// convert from map frame to image
tf::Vector3 pose = tf::Vector3(initX, initY, 0.0);
// if (resolution >= 0 && resolution < 1 && resolution != costresolution)
// {
// //full resolution and scaling
// cout << "Full resolution and scaling" << endl;
// pose = pose / costresolution;
//// cout << "[BEFORE]Initial position in the Gazebo frame: " <<
/// pose.getX() * costresolution<< "," << pose.getY() * costresolution <<
/// endl;
// Pose initialPose = Pose(map->getPathPlanningNumRows() - (long)
// pose.getY() + costorigin.position.y / costresolution, (long) pose.getX()
// - costorigin.position.x / costresolution,
// initOrientation, initRange, initFov);
// return initialPose;
// }
// else
// {
// 1mx1m
// cout << endl << "1mx1m" << endl;
// cout << "[BEFORE]Initial position in the image frame: " << pose.getX()<<
// "," << map.getPathPlanningNumRows() - (long)pose.getY() << endl;
// NOTE: Y in map are X in image
Pose initialPose = Pose(pose.getX(), pose.getY(), angle, initRange, initFov);
return initialPose;
// }
}
bool Utilities::move(float x, float y, float orientation, float time_travel,
list<Pose> *tabuList,
std::list<std::pair<float, float>> *posToEsclude) {
move_base_msgs::MoveBaseGoal goal;
bool success = false;
MoveBaseClient ac("move_base", true);
while (!ac.waitForServer(ros::Duration(5.0))) {
cout << "[navigation_utilities@createROSComms]... waiting ..." << endl;
}
// we'll send a goal to the robot to move 1 meter forward
goal.target_pose.header.frame_id = "map";
goal.target_pose.header.stamp = ros::Time::now();
goal.target_pose.pose.position.x = x;
goal.target_pose.pose.position.y = y;
double _orientation = orientation;
// The orientation needs to be within [-M_PI, M_PI]
if (orientation > M_PI)
_orientation = orientation - 2 * M_PI;
tf::Quaternion q = tf::createQuaternionFromRPY(0.0, 0.0, _orientation);
goal.target_pose.pose.orientation.x = q.getX();
goal.target_pose.pose.orientation.z = q.getY();
goal.target_pose.pose.orientation.z = q.getZ();
goal.target_pose.pose.orientation.w = q.getW();
tf::Matrix3x3 m(q);
double roll, pitch, yaw;
m.getRPY(roll, pitch, yaw);
cout << "[navigation_utilties.cpp@move] Sending goal = (" << x << "," << y
<< ") with orientation: " << _orientation << "("
<< _orientation * 180 / M_PI << ")" << endl;
ac.sendGoal(goal);
// cout << "[navigation_utilties.cpp@move] I'm moving..." << endl;
actionlib::SimpleClientGoalState curr_state =
actionlib::SimpleClientGoalState::PENDING;
float total_wait_time = 0.0;
while (!curr_state.isDone()) {
time_travel = std::min(time_travel, (float)5.0);
total_wait_time += time_travel;
cout << " [navigation_utilties.cpp@move] Waiting for "
<< total_wait_time << "/60.0 seconds to reach goal" << endl;
ac.waitForResult(ros::Duration(time_travel));
curr_state = ac.getState();
cout << " Result: " << curr_state.getText() << endl;
if (curr_state == actionlib::SimpleClientGoalState::SUCCEEDED) {
cout << "[navigation_utilties.cpp@move] Goal position reached!" << endl;
success = true;
} else if (curr_state.isDone()) {
cout << "[navigation_utilties.cpp@move] The base failed to move, adding "
"this "
"pose to the Tabulist and posToEsclude"
<< endl;
success = false;
std::pair<int, int> pairToRemove;
pairToRemove = make_pair(int(x), int(y));
posToEsclude->push_back(pairToRemove);
} else if (total_wait_time > 60.0) {
cout << "[navigation_utilties.cpp@move] Is taking too long" << endl;
success = false;
curr_state = actionlib::SimpleClientGoalState::ABORTED;
}
}
return success;
}
double Utilities::getPathLen(std::vector<geometry_msgs::PoseStamped> poses,
double robot_radius) {
double len = 0;
geometry_msgs::Point p1, p2;
int npoints = poses.size();
// cout << "[navigation_utilties.cpp@getPathLen]Path has [" <<npoints << "]
// points" << endl;
if (npoints > 0) {
for (int i = 1; i < npoints; i++) {
p1 = poses[i].pose.position;
p2 = poses[i - 1].pose.position;
len += sqrt(pow(p1.x - p2.x, 2) + pow(p1.y - p2.y, 2));
len += abs(getAngleBetPoses(poses[i], poses[i - 1])) * robot_radius;
}
} else {
len = std::numeric_limits<double>::max();
// cout << "[navigation_utilties.cpp@getPathLen]Empty path. Len set to
// infinite... " << endl;
}
return len;
}
double Utilities::getAngleBetPoses(geometry_msgs::PoseStamped ps1,
geometry_msgs::PoseStamped ps2) {
// ....................
// find quaternion to go from q1 to q2
// q2 = qr *q1
// qr = q2 * q1_inv
double roll, pitch, yaw;
// inverted quaternion is just inverting w component
tf::Quaternion q1_inv(ps1.pose.orientation.x, ps1.pose.orientation.y,
ps1.pose.orientation.z, -ps1.pose.orientation.w);
tf::Quaternion q2(ps2.pose.orientation.x, ps2.pose.orientation.y,
ps2.pose.orientation.z, ps2.pose.orientation.w);
tf::Quaternion qr = q2 * q1_inv;
qr.normalize();
// and get angles
tf::Matrix3x3 m(qr);
m.getRPY(roll, pitch, yaw);
//
return yaw;
}
bool Utilities::showMarkerandNavigate(
Pose target, ros::Publisher *marker_pub, dummy::Map *map,
ros::ServiceClient *path_client, list<Pose> *tabuList,
std::list<std::pair<float, float>> *posToEsclude, double min_robot_speed,
double *batteryTime, double *travelledDistance,
unordered_map<string, string> *mappingWaypoints,
strands_navigation_msgs::TopologicalMap topological_map,
std::vector<string> tag_ids)
{
//---------------------------PRINT GOAL POSITION
// geometry_msgs::PointStamped p;
// p.header.frame_id = "map";
// p.header.stamp = ros::Time::now();
// p.point.x = target.getX();
// p.point.y = target.getY();
goal_marker_.header.stamp = ros::Time::now();
goal_marker_.pose.position.x = target.getX();
goal_marker_.pose.position.y = target.getY();
marker_pub->publish(goal_marker_);
//----------------------------------------------
// move_base_msgs::MoveBaseGoal goal;
// Get distance from metric map
// double path_len = criterion_utils_.computeMetricDistance(target, map, path_len);
// Get distance from topological map
double path_len = criterion_utils_.computeTopologicalDistance(target, path_client, mappingWaypoints);
// cout << " PathLen: " << path_len << endl;
float time_travel = 2 * path_len / min_robot_speed;
time_travel = std::max(time_travel, (float)180.0);
*batteryTime -= time_travel;
// cout << " New batteryTime: " << *batteryTime << endl;
*travelledDistance += path_len;
return moveTopological(target, time_travel, tabuList, posToEsclude,
mappingWaypoints, topological_map, tag_ids, marker_pub);
}
bool Utilities::freeInLocalCostmap(
Pose target, std::string move_base_local_costmap_topic_name) {
string map_frame = "map";
bool ans = false;
int val = 0;
grid_map::GridMap local_grid;
geometry_msgs::PointStamped targetPoint_map;
geometry_msgs::PointStamped targetPoint_local;
targetPoint_map.point.x = target.getX();
targetPoint_map.point.y = target.getY();
targetPoint_map.header.frame_id = map_frame;
// read a local costmap
// printf("............................................................
// \n");
nav_msgs::OccupancyGridConstPtr local_costmap =
ros::topic::waitForMessage<nav_msgs::OccupancyGrid>(
move_base_local_costmap_topic_name, ros::Duration(1.0));
if (!local_costmap) {
ROS_ERROR("Local occupancy grid not valid! \n");
}
// printf("Local costmap frame is: %s
// \n",local_costmap->header.frame_id.c_str());
// cast stupid point into local gridmap frame
tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tf2_listener(tfBuffer);
geometry_msgs::TransformStamped map_to_local_tf;
ros::Time _now_stamp_ = ros::Time(0);
try {
map_to_local_tf =
tfBuffer.lookupTransform(local_costmap->header.frame_id, map_frame,
_now_stamp_, ros::Duration(5.0));
} catch (tf2::TransformException &ex) {
cout << "TRANSFORMS ARE COCKED-UP PAL! Why is that :=> " << ex.what()
<< endl;
}
tf2::doTransform(targetPoint_map, targetPoint_local, map_to_local_tf);
// printf("In [%s] frame, point is (%3.1f, %3.1f)
// \n",targetPoint_map.header.frame_id.c_str(), targetPoint_map.point.x,
// targetPoint_map.point.y); printf("In [%s] frame, point is (%3.1f,
// %3.1f) \n",targetPoint_local.header.frame_id.c_str(),
// targetPoint_local.point.x, targetPoint_local.point.y);
// cast occupancy grid to gridmap
GridMapRosConverter::fromOccupancyGrid(*local_costmap, "layer", local_grid);
grid_map::Position point(targetPoint_local.point.x,
targetPoint_local.point.y);
// check target cell value inside local costmap
if (local_grid.isInside(point)) {
// printf("Point is INSIDE \n");
// profit
val = local_grid.atPosition("layer", point);
// printf("Value was %d \n",val);
} else {
// printf("Point is OUTSIDE ... \n");
}
ans = (val == 0);
// printf("............................................................
// \n");
return ans;
}
Pose Utilities::selectFreePoseInLocalCostmap(string currentRobotWayPoint,
Pose target, list<Pose> *nearCandidates, dummy::Map *map,
MCDMFunction *function, double threshold, ros::ServiceClient *path_client,
vector<unordered_map<float,
std::pair<string, bayesian_topological_localisation::
DistributionStamped>>>
*mapping_time_belief,
std::list<std::pair<float, float>> *posToEsclude, EvaluationRecords *record,
std::string move_base_local_costmap_topic_name, double *batteryTime,
GridMap *belief_map, unordered_map<string, string> *mappingWaypoints,
prediction_tools *tools, std::unordered_map<string, double> *distances_map) {
bool isFreeFromObstacle = false;
while (isFreeFromObstacle == false) {
// cout << "===> Checking against localmap!" << endl;
// check that the current target is free from obstacles in the local map
isFreeFromObstacle =
freeInLocalCostmap(target, move_base_local_costmap_topic_name);
// cout << " isFree: " << isFreeFromObstacle << endl;
if (isFreeFromObstacle == true)
break; // if it's free, the while will be break immediately
// Otherwise you have to select a new target and continue in the while
// 1) Add this cell to the list of cell not reachebale
std::pair<int, int> pairToRemove = make_pair(target.getX(), target.getY());
posToEsclude->push_back(pairToRemove);
// remove the current target from the list of candidate position
// cout << "nearCandidate before: " << nearCandidates->size() << endl;
cleanPossibleDestination2(nearCandidates, target);
// cout << "nearCandidate after: " << nearCandidates->size() << endl;
// Get the list of new candidate position with associated evaluation
record = function->evaluateFrontiers(currentRobotWayPoint,
*nearCandidates, *map, threshold, *path_client, *mapping_time_belief,
*batteryTime, *belief_map, *mappingWaypoints, *tools, *distances_map);
// Get a new target
std::pair<Pose, double> result = function->selectNewPose(record);
// cout << " record size: " << record->size() << endl;
target = result.first;
// cout << " New target selected: " << target.getX() << ", " <<
// target.getY() << endl;
// and start the new iteration
}
return target;
}
void Utilities::filePutContents(const std::string &name,
const std::string &content, bool append) {
std::ofstream outfile;
std::ifstream pFile(name);
if (outfile.fail()) {
std::cout << "Error while opening the stream." << endl;
// std::cout << "File does not exist! Create a new one!" << endl;
// outfile.open(name);
// outfile <<
// "w_info_gain,w_travel_distance,w_sensing_time,w_rfid_gain,coverage,numConfiguration,travelledDistance,totalScanTime";
} else {
if (pFile.peek() == std::ifstream::traits_type::eof()) { // file is empty
// std::cout << "File does not exist! Create a new one!" << endl;
outfile.open(name);
if (name.find("result") != string::npos) {
outfile << "w_info_gain,w_travel_distance,w_sensing_time,w_rfid_gain,w_"
"battery_status,norm_w_info_gain,norm_w_travel_distance,"
"norm_w_sensing_time,norm_w_rfid_gain,norm_w_battery_status,"
"coverage,numConfiguration,travelledDistance,totalScanTime,"
"accumulatedRxPower,batteryStatus,accuracy"
<< endl;
} else if (name.find("coverage") != string::npos) {
outfile << "w_info_gain,w_travel_distance,w_sensing_time,w_rfid_gain,w_"
"battery_status,norm_w_info_gain,norm_w_travel_distance,"
"norm_w_sensing_time,norm_w_rfid_gain,norm_w_battery_status,"
"numConfiguration,increasingCoverage,travelledDistance"
<< endl;
} else if (name.find("distance") != string::npos) {
outfile << "w_info_gain,w_travel_distance,w_sensing_time,w_rfid_gain,w_"
"battery_status,tag1,tag2,tag3,tag4,tag5,tag6,tag7,tag8,"
"tag9,tag10"
<< endl;
} else if (name.find("accuracy") != string::npos) {
outfile << "w_info_gain,w_travel_distance,w_sensing_time,w_rfid_gain,w_"
"battery_status,range,numConfiguration,accuracy"
<< endl;
} else if (name.find("prediction") != string::npos) {
outfile << "pf_prediction, gt_closer_waypoint, metric_distance" << endl;
} else if (name.find("gt_tag_pose") != string::npos) {
outfile << "gt_x, gt_y" << endl;
} else if (name.find("pf_tag_pose") != string::npos) {
outfile << "pf_x, pf_y" << endl;
} else if (name.find("gps_tag_pose") != string::npos) {
outfile << "gps_x, gps_y" << endl;
}
} else {
// std::cout << "File exists! Appending data!" << endl;
outfile.open(name, std::ios_base::app);
}
}
outfile << content;
}
std::vector<std::pair<int, std::pair<int, int>>>
Utilities::findTagFromBeliefMap(GridMap *belief_map) {
std::vector<std::pair<int, std::pair<int, int>>> tag_positions;
// First, remove the useless layers
std::vector<string> layers_name = belief_map->getLayers();
// The layers_name vector contains "ref_map, X, Y" which are for not for
// finding the tags. So we can remove their name to avoid checking this
// layers.
layers_name.erase(layers_name.begin(), layers_name.begin() + 3);
for (auto it = layers_name.begin(); it != layers_name.end(); it++) {
std::pair<int, int> tag(0, 0);
double likelihood = 0;
// Access the belief map of every tag
GridMap::Matrix &grid = (*belief_map)[*it];
// Iterate over a submap and sum the likelihood in all the cells
for (GridMapIterator iterator(*belief_map); !iterator.isPastEnd();
++iterator) {
const grid_map::Index index(*iterator);
// For every cell, analyse the surrounding area
double tmp_likelihood = grid(index(0), index(1));
int buffer_size = 3;
if (index(0) > buffer_size and
index(0) <= belief_map->getLength().x() - buffer_size) {
if (index(1) > buffer_size and
index(1) <= belief_map->getLength().y() - buffer_size) {
// std::cout << "I: " << index(0) << "," << index(1) << endl;
grid_map::Index submapStartIndex(index(0) - buffer_size,
index(1) - buffer_size);
grid_map::Index submapBufferSize(buffer_size, buffer_size);
for (grid_map::SubmapIterator sub_iterator(
*belief_map, submapStartIndex, submapBufferSize);
!sub_iterator.isPastEnd(); ++sub_iterator) {
grid_map::Index sub_index(*sub_iterator);
// std::cout << "I: " << sub_index(0) << "," << sub_index(1) <<
// endl;
tmp_likelihood += grid(sub_index(0), sub_index(1));
}
}
}
if (tmp_likelihood > likelihood) {
likelihood = tmp_likelihood;
Position tag_p;
belief_map->getPosition(index, tag_p);
tag.first = tag_p.x();
tag.second = tag_p.y();
}
}
std::pair<int, std::pair<int, int>> single_tag(likelihood, tag);
tag_positions.push_back(single_tag);
}
return tag_positions;
}
void Utilities::convertStrandTopoMapToListPose(
strands_navigation_msgs::TopologicalMap *topoMap, list<Pose> *frontiers,
int range, double FoV, unordered_map<string, string> *mappingWaypoints) {
tf::Quaternion quat;
tfScalar angle;
Pose tmpPose;
string encoding;
// Iterate on all the nodes of the topological map and create a list of Pose
// elements
for (auto nodes_it = topoMap->nodes.begin(); nodes_it != topoMap->nodes.end();
nodes_it++) {
quat = tf::Quaternion(
nodes_it->pose.orientation.x, nodes_it->pose.orientation.y,
nodes_it->pose.orientation.z, nodes_it->pose.orientation.w);
// NOTE: create eight pose for every node
for (int i = 0; i < 1; i++) {
tmpPose =
Pose(nodes_it->pose.position.x, nodes_it->pose.position.y,
// roundf(i* M_PI / 4 * 100) / 100,
// angle * (-1 + i*2), // only two angles, one defined by the
// topology and the opposite one
angle * (1 - i) + (i)*fmod(angle + M_PI, 2 * M_PI), range, FoV);
frontiers->push_back(tmpPose);
encoding = record_.getEncodedKey(tmpPose);
mappingWaypoints->insert(std::make_pair(encoding, nodes_it->name));
}
// NOTE: one note per node, like in the topological map
// angle = roundf(2 * atan2(quat[2], quat[3]) * 100) / 100;
// tmpPose = Pose(nodes_it->pose.position.x,
// nodes_it->pose.position.y,
// angle,
// range,
// FoV);
// frontiers->push_back(tmpPose);
// encoding = record_.getEncodedKey(tmpPose);
// mappingWaypoints->insert(std::make_pair(encoding, nodes_it->name));
}
// cout <<"[TOPOMAP]: " << frontiers->size() << " nodes" << endl;
}
void Utilities::setGazeboModelStateClient(ros::ServiceClient &gazebo_model_state_client)
{
this->gazebo_model_state_client = &gazebo_model_state_client;
}
bool Utilities::getGazeboModelPose(string model_name, string relative_entity_name, geometry_msgs::Pose *model_pose)
{
// Create srv request for gazebo model
gazebo_msgs::GetModelState model_state_srv;
if (!this->gazebo_model_state_client){
std::cout << "[utils.cpp@getGazeboModelPose]... set the gazebo client first with setGazeboModelStateClient" << std::endl;
return false;
}
model_state_srv.request.model_name = model_name;
model_state_srv.request.relative_entity_name = relative_entity_name;
if (this->gazebo_model_state_client->call(model_state_srv))
{
*model_pose = model_state_srv.response.pose;
// cout << "Got model pose for " << model_name << endl;
return true;
}
return false;
}
bool Utilities::getModelClosestWaypoint(
string model_name, strands_navigation_msgs::TopologicalMap topological_map,
string &closest_waypoint_name, geometry_msgs::Pose &closest_waypoint_pose)
{
// string model_name = "tag_" + tag_id;
string relative_entity_name = "map";
if (getGazeboModelPose(model_name, relative_entity_name, &closest_waypoint_pose))
{
// Look for closer waypoint to current pose
// and compare it to the PF prediction
closest_waypoint_name = getCloserWaypoint(closest_waypoint_pose, topological_map);
// cout << "closest_wp_name " << closest_waypoint_name << endl;
return true;
}
return false;
}
void Utilities::checkOnNode(strands_navigation_msgs::TopologicalMap topological_map)
{
actionlib::SimpleClientGoalState curr_state = actionlib::SimpleClientGoalState::PENDING;
topological_navigation::GotoNodeActionGoal topoGoal;
float total_wait_time = 0.0;
float sleep_time = 2.0;
std_msgs::StringConstPtr current_node = ros::topic::waitForMessage<std_msgs::String>("/current_node", ros::Duration(5));
if (current_node && current_node->data == "none")
{
string closest_wp;
geometry_msgs::Pose closest_waypoint_pose;
if (getModelClosestWaypoint("thorvald_ii", topological_map, closest_wp, closest_waypoint_pose))
{
topoGoal.goal.target = closest_wp;
topoGoal.goal.no_orientation = true;
cout << "[utils.cpp@moveTopological] Going temporarily to the closest node: "
<< topoGoal.goal.target << endl;
this->topoAC->sendGoal(topoGoal.goal);
while (!curr_state.isDone() && total_wait_time < 10.0)
{
total_wait_time += sleep_time;
this->topoAC->waitForResult(ros::Duration(sleep_time));
curr_state = this->topoAC->getState();
}
}
else
{
cout << "[utils.cpp@moveTopological] No closest node found for thorvald_ii" << endl;
}
}
}
bool Utilities::moveTopological(
Pose target, float time_travel, list<Pose> *tabuList,
std::list<std::pair<float, float>> *posToEsclude,
unordered_map<string, string> *mappingWaypoints,
strands_navigation_msgs::TopologicalMap topological_map,
std::vector<string> tag_ids, ros::Publisher *marker_pub)
{
topological_navigation::GotoNodeActionGoal topoGoal;
string encoding = record_.getEncodedKey(target);
bool success = false;
if (!this->topoAC) {
this->topoAC = new actionlib::SimpleActionClient<topological_navigation::GotoNodeAction>("topological_navigation", true);
}
while (!this->topoAC->waitForServer(ros::Duration(5.0))) {
cout << "[utils.cpp@moveTopological]... waiting ..." << endl;
}
topoGoal.header.frame_id = "map";
topoGoal.header.stamp = ros::Time::now();
// check if the robot is outside nodes influence
checkOnNode(topological_map); // this is blocking; goes to the closest node if not on it
auto search = mappingWaypoints->find(encoding);
string waypointName;
if (search != mappingWaypoints->end()) {
waypointName = search->second;
// std::cout << "Found :" << search->second << '\n';
} else {
std::cout << "[utils.cpp@moveTopological]Not found\n";
}
topoGoal.goal.target = waypointName;
topoGoal.goal.no_orientation = false;
// NOTE: since time passes between pose selection and sending goal, it can be
// that the target is now occupied by the tag. We need then to select a
// connected node to the one we would like to go.
bool change_destination = updateDestinationWaypoint(
tag_ids, topological_map, waypointName, target, *marker_pub, topoGoal, success, posToEsclude);
cout << "[utils.cpp@moveTopological] New robot destination: "
<< topoGoal.goal.target << endl;
this->topoAC->sendGoal(topoGoal.goal);
actionlib::SimpleClientGoalState curr_state = actionlib::SimpleClientGoalState::PENDING;
float total_wait_time = 0.0;
float sleep_time = 2.0;
if (time_travel < 180.0) time_travel = 180.0; // This should be useless
while (!curr_state.isDone()) {
total_wait_time += sleep_time;
this->topoAC->waitForResult(ros::Duration(sleep_time));
curr_state = this->topoAC->getState();
if (curr_state == actionlib::SimpleClientGoalState::SUCCEEDED && this->topoAC->getResult()->success) {
cout << "[utils.cpp@moveTopological] Goal position reached!" << endl;
success = true;
} else if (curr_state.isDone()) {
cout << "[utils.cpp@moveTopological] The base failed to move" << endl;
success = false;
} else if (total_wait_time > time_travel) {
cout << "[utils.cpp@moveTopological] Is taking too long" << endl;
success = false;
this->topoAC->cancelAllGoals();
curr_state = actionlib::SimpleClientGoalState::ABORTED;
}else { // here we are still navigating toward the goal
// check that the goal is still reachable, i.e. that no tag is on it
// cout << " ... checking robot and tag positions..." << endl;
change_destination = updateDestinationWaypoint(
tag_ids, topological_map, waypointName, target, *marker_pub, topoGoal, success, posToEsclude);
if (change_destination == true){
this->topoAC->cancelAllGoals();
// check if the robot is outside nodes influence
checkOnNode(topological_map); // this is blocking; goes to the closest node if not on it
// Send the updated goal
this->topoAC->sendGoal(topoGoal.goal);
curr_state = actionlib::SimpleClientGoalState::PENDING;
cout << "[utils.cpp@moveTopological] Destination have been changed again: "
<< topoGoal.goal.target << endl;
}
// for (auto tag_id : tag_ids) {
// if (getTagClosestWaypoint(tag_id, topological_map, closest_waypoint_name_, closest_waypoint_pose_)){
// if (closest_waypoint_name_ == waypointName){
// //abort navigation