GameElementLayer prototype

toid_costmaps/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_costmaps)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(library_name toid_costmaps)
+
+set(
+  PACKAGE_DEPS
+
+  rclcpp
+  angles
+  geometry_msgs
+  pluginlib
+  nav_msgs
+  nav2_core
+  nav2_costmap_2d
+  nav2_util
+  tf2
+  tf2_geometry_msgs
+  tf2_ros
+  Eigen3
+  toid_msgs
+)
+
+set(
+  SOURCES
+  src/game_elements_layer.cpp
+)
+
+find_package(ament_cmake REQUIRED)
+foreach(PACKAGE ${PACKAGE_DEPS})
+  find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+add_library(${library_name} SHARED ${SOURCES})
+
+target_include_directories(
+  ${library_name} 
+  PRIVATE 
+
+  include
+)
+
+ament_target_dependencies(
+  ${library_name}
+  ${PACKAGE_DEPS}
+)
+
+install(TARGETS ${library_name}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin 
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${PACKAGE_DEPS})
+
+pluginlib_export_plugin_description_file(nav2_costmap_2d toid_costmaps.xml)
+
+ament_package()

toid_costmaps/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
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+                        http://www.apache.org/licenses/
+
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+      Contributor provides its Contributions) on an "AS IS" BASIS,
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+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
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+      Work (including but not limited to damages for loss of goodwill,
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+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
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toid_costmaps/include/toid_costmaps/game_elements_layer.hpp

@@ -0,0 +1,39 @@
+#pragma once
+
+#include "nav2_costmap_2d/costmap_layer.hpp"
+#include "nav2_costmap_2d/layer.hpp"
+#include "nav2_costmap_2d/layered_costmap.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+namespace toid
+{
+
+class GameElementLayer : public nav2_costmap_2d::CostmapLayer
+{
+public:
+  GameElementLayer(){
+    costmap_ = NULL;
+  }
+  ~GameElementLayer(){}
+
+  virtual void onInitialize();
+  virtual void updateBounds(
+    double robot_x, double robot_y, double robot_yaw, double * min_x, double * min_y,
+    double * max_x, double * max_y);
+
+  virtual void updateCosts(
+    nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i, int max_j);
+
+  virtual void reset() { return; }
+
+  virtual void onFootprintChanged() {}
+
+  virtual bool isClearable() { return false; }
+
+private:
+  double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
+
+  bool need_recalculation_;
+};
+
+}  // namespace toid

toid_costmaps/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>toid_costmaps</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="82343504+pimpest@users.noreply.github.com">Pimpest</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>angles</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>nav2_costmap_2d</depend>
+  <depend>nav2_util</depend>
+  <depend>nav2_core</depend>
+  <depend>pluginlib</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>toid_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

toid_costmaps/src/game_elements_layer.cpp

@@ -0,0 +1,38 @@
+#include "toid_costmaps/game_elements_layer.hpp"
+
+#include "nav2_util/node_utils.hpp"
+
+namespace toid
+{
+
+void GameElementLayer::onInitialize() {}
+
+void GameElementLayer::updateBounds(
+  double, double, double, double * min_x, double * min_y, double * max_x, double * max_y)
+{
+  touch(1.0 - 0.1, 0.5 - 0.1, min_x, min_y, max_x, max_y);
+  touch(1.0 + 0.1, 0.5 + 0.1, min_x, min_y, max_x, max_y);
+}
+
+void GameElementLayer::updateCosts(
+  nav2_costmap_2d::Costmap2D & grid, int min_i, int min_j, int max_i, int max_j)
+{
+  bool in_bounds = true;
+  uint mx, my;
+  in_bounds &= worldToMap(1.0 - 0.1, 0.5 - 0.1, mx, my);
+  uint mmx, mmy;
+  in_bounds &= worldToMap(1.0 + 0.1, 0.5 + 0.1, mmx, mmy);
+
+  if (in_bounds) {
+    for (uint j = my; j < mmy; j++) {
+      for (uint i = mx; i < mmx; i++) {
+        grid.setCost(i, j, nav2_costmap_2d::LETHAL_OBSTACLE);
+      }
+    }
+  }
+}
+
+}  // namespace toid
+
+#include "pluginlib/class_list_macros.hpp"
+PLUGINLIB_EXPORT_CLASS(toid::GameElementLayer, nav2_costmap_2d::Layer);

toid_costmaps/toid_costmaps.xml

@@ -0,0 +1,7 @@
+<class_libraries>
+    <library path="toid_costmaps">
+        <class type="toid::GameElementLayer" base_class_type="nav2_costmap_2d::Layer">
+            <description></description>
+        </class>
+    </library>
+</class_libraries>

toid_lidar/CMakeLists.txt

@@ -39,6 +39,14 @@ target_include_directories(
   include
 )
 
+install(
+  DIRECTORY 
+    launch 
+    params
+    rviz
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 ament_target_dependencies(toid_lidar ${PACKAGE_DEPS})
 
 install(TARGETS toid_lidar DESTINATION lib/${PROJECT_NAME})

toid_lidar/launch/launch.py

@@ -0,0 +1,68 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from pathlib import Path
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("").find("toid_lidar")
+
+    lidar_config = PathJoinSubstitution([basedir, "params/lidar.yaml"])
+    rviz_config = PathJoinSubstitution([basedir, "rviz/conf.rviz"])
+
+    visualize = LaunchConfiguration("visualize")
+    draw_markers = LaunchConfiguration("draw_markers")
+    use_closest = LaunchConfiguration("use_closest")
+    lidar_frame = LaunchConfiguration("lidar_frame")
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'visualize',
+            default_value='False',
+            description="Whether to launch rviz2" 
+        ),
+        DeclareLaunchArgument(
+            'draw_markers',
+            default_value='False',
+            description="Draw markers" 
+        ),
+        DeclareLaunchArgument(
+            'use_closest',
+            default_value='True',
+            description="Use closest point for calibration" 
+        ),
+        DeclareLaunchArgument(
+            'lidar_frame',
+            default_value='lidar_frame',
+            description="TF frame of the lidar" 
+        ),
+        Node(
+            package='toid_lidar',
+            executable='toid_lidar',
+            output="screen",
+            parameters=[
+                lidar_config, 
+                {
+                    'closest': use_closest, 
+                    'draw_markers': draw_markers
+                }]
+        ),
+        Node(
+            package='rplidar_ros',
+            executable='rplidar_composition',
+            output="screen",
+            parameters=[lidar_config, {'frame_id': lidar_frame}]
+        ),
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            output='screen',
+            arguments=['-d', rviz_config],
+            condition=IfCondition(visualize)
+        )
+    ])

toid_lidar/params/lidar.yaml

@@ -0,0 +1,11 @@
+rplidar_node:
+  ros__parameters:
+    frame_id: "lidar_frame"
+    
+toid_lidar:
+  ros__parameters:
+    map_width: 3.0
+    map_height: 2.0
+    draw_makers: false
+    closest: true
+    

toid_lidar/rviz/conf.rviz

@@ -0,0 +1,175 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.71659916639328
+    Tree Height: 1144
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: Marker
+      Namespaces:
+        "": true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rivalMaker
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 47
+      Min Color: 0; 0; 0
+      Min Intensity: 47
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Angle: -0.24500009417533875
+      Class: rviz_default_plugins/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Scale: 152.6725311279297
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz_default_plugins)
+      X: 0
+      Y: 0
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1662
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f000000574fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000070000005740000018600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015b00000574fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000070000005740000013800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000b400000005efc0100000002fb0000000800540069006d0065010000000000000b400000048700fffffffb0000000800540069006d00650100000000000004500000000000000000000007dd0000057400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
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