Added lidar opponent tracking

mg_lidar/src/scanner.cpp

@@ -0,0 +1,134 @@
+#include "rclcpp/rclcpp.hpp"
+
+#include "sensor_msgs/msg/laser_scan.hpp"
+#include "geometry_msgs/msg/point_stamped.hpp"
+#include "glm/glm.hpp"
+
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
+#include "tf2/convert.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include <glm/gtx/norm.hpp>
+
+class MgScanner : public rclcpp::Node {
+    using LaserScan    = sensor_msgs::msg::LaserScan;
+    using PointStamped = geometry_msgs::msg::PointStamped;
+
+  public:
+    MgScanner() : rclcpp::Node("EnemyScanner") {
+        gen_rotations();
+        scan_sup_ = create_subscription<LaserScan>(
+          "scan", rclcpp::QoS(1), [this](LaserScan::ConstSharedPtr msg) { process_scan(msg); });
+        enemy_pub_ = create_publisher<PointStamped>("/dynamicObstacle", rclcpp::QoS(1));
+
+        tf_buf_      = std::make_shared<tf2_ros::Buffer>(get_clock());
+        tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buf_);
+    }
+
+  private:
+    rclcpp::Subscription<LaserScan>::SharedPtr  scan_sup_;
+    rclcpp::Publisher<PointStamped>::SharedPtr  enemy_pub_;
+    std::shared_ptr<tf2_ros::Buffer>            tf_buf_;
+    std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+
+    std::vector<glm::dmat2> rotations;
+
+    void gen_rotations() {
+        constexpr double min_angle       = -3.1241393089294434;
+        constexpr double max_angle       = 3.1415927410125732;
+        constexpr double angle_increment = 0.008714509196579456;
+
+        double curr = min_angle;
+        while (curr <= max_angle) {
+            rotations.emplace_back(glm::cos(curr), glm::sin(curr), -glm::sin(curr), glm::cos(curr));
+            curr += angle_increment;
+        }
+
+        rotations.emplace_back(glm::cos(curr), glm::sin(curr), -glm::sin(curr), glm::cos(curr));
+    }
+
+    glm::dvec3 pos_query() {
+        RCLCPP_ERROR(get_logger(), "Works to here");
+        try {
+            double x   = NAN;
+            double y   = NAN;
+            double rot = NAN;
+
+            auto tmsg = tf_buf_->lookupTransform("odom", "base-link", tf2::TimePointZero);
+
+            tf2::Transform t;
+            tf2::convert(tmsg.transform, t);
+            t.getBasis().getRPY(x, y, rot);
+            auto vec3 = tmsg.transform.translation;
+
+            return { vec3.x, vec3.y, rot };
+
+        } catch (const tf2::TransformException& e) {
+            RCLCPP_ERROR(get_logger(), "Got following error when looking up transform:\n\t%s", e.what());
+        }
+        return { 0, 0, 0 };
+    }
+
+    static bool part_of_clump(const glm::dvec2 prev, glm::dvec2 curr) {
+        return glm::length2(prev - curr) < 0.05 * 0.05;
+    }
+
+    void process_scan(LaserScan::ConstSharedPtr msg) {
+        // TODO: finish processing
+        const glm::dvec3 v   = pos_query();
+        const glm::dvec2 pos = { v.x, v.y };
+        const glm::dmat2 rot = { glm::cos(v.z), glm::sin(v.z), -glm::sin(v.z), glm::cos(v.z) };
+
+        double mini = INFINITY;
+
+        glm::dvec2 mini_pos = { 0, 0 };
+        glm::dvec2 prev     = { -1, -1 };
+
+        glm::dvec2 clump      = { -1, -1 };
+        int        clump_size = 0;
+
+        bool good_clump = false;
+
+        if (msg->ranges.size() != rotations.size()) {
+            RCLCPP_ERROR(get_logger(),
+                         "The amount of rotations differs from amount of ranges(%lu != %lu)",
+                         msg->ranges.size(),
+                         rotations.size());
+        }
+
+        for (uint i = 0; i < msg->ranges.size(); i++) {
+            if (msg->intensities.at(i) < 35.0) {
+                continue;
+            }
+            const glm::dvec2 potential_pos = rot * rotations.at(i) * glm::dvec2{ msg->ranges.at(i), 0 } + pos;
+            if (0.1 < potential_pos.x && potential_pos.x < 2.9 && 0.1 < potential_pos.y && potential_pos.y < 1.9) {
+                if (!part_of_clump(prev, potential_pos)) {
+                    clump_size = 0;
+                    clump      = { 0, 0 };
+                }
+                good_clump |= mini > msg->ranges.at(i);
+                clump += potential_pos;
+                clump_size++;
+                if (good_clump) {
+                    mini     = msg->ranges.at(i);
+                    mini_pos = clump / (double)clump_size;
+                }
+            }
+            prev = potential_pos;
+        }
+        if (mini < INFINITY) {
+            PointStamped m;
+            m.header.frame_id = "odom";
+            m.point.x         = mini_pos.x;
+            m.point.y         = mini_pos.y;
+
+            enemy_pub_->publish(m);
+        }
+    }
+};
+
+int main(const int argc, const char** argv) {
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<MgScanner>());
+    rclcpp::shutdown();
+}