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GameElementLayer prototype

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Pimpest
2026-03-25 19:25:10 +01:00
parent 7a2d74edd1
commit 8ba8585a29
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69
toid_costmaps/CMakeLists.txt Normal file
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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()

202
toid_costmaps/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
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39
toid_costmaps/include/toid_costmaps/game_elements_layer.hpp Normal file
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#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

30
toid_costmaps/package.xml Normal file
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<?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>

38
toid_costmaps/src/game_elements_layer.cpp Normal file
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#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);

7
toid_costmaps/toid_costmaps.xml Normal file
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<class_libraries>
<library path="toid_costmaps">
<class type="toid::GameElementLayer" base_class_type="nav2_costmap_2d::Layer">
<description></description>
</class>
</library>
</class_libraries>

8
toid_lidar/CMakeLists.txt
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@@ -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})

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toid_lidar/launch/launch.py Normal file
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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)
)
])

11
toid_lidar/params/lidar.yaml Normal file
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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

175
toid_lidar/rviz/conf.rviz Normal file
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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:
collapsed: false
Width: 2880
X: 0
Y: 64