├── .gitignore
├── CMakeLists.txt
├── README.md
├── data
├── global_costmap.pickle
├── local_costmap.pickle
└── map.pickle
├── package.xml
├── scripts
├── click_occ_grid.py
├── click_occ_grid_cell_cost.py
├── simple_test.py
└── test.py
├── setup.py
└── src
└── occupancy_grid_python
├── __init__.py
└── occupancy_grid_impl.py
/.gitignore:
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1 | *.pyc
2 | .vscode
3 |
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/CMakeLists.txt:
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1 | cmake_minimum_required(VERSION 2.8.3)
2 | project(occupancy_grid_python)
3 |
4 | ## Compile as C++11, supported in ROS Kinetic and newer
5 | # add_compile_options(-std=c++11)
6 |
7 | ## Find catkin macros and libraries
8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
9 | ## is used, also find other catkin packages
10 | find_package(catkin REQUIRED COMPONENTS
11 | map_msgs
12 | nav_msgs
13 | rospy
14 | )
15 |
16 | ## System dependencies are found with CMake's conventions
17 | # find_package(Boost REQUIRED COMPONENTS system)
18 |
19 |
20 | ## Uncomment this if the package has a setup.py. This macro ensures
21 | ## modules and global scripts declared therein get installed
22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
23 | catkin_python_setup()
24 |
25 | ################################################
26 | ## Declare ROS messages, services and actions ##
27 | ################################################
28 |
29 | ## To declare and build messages, services or actions from within this
30 | ## package, follow these steps:
31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
32 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
33 | ## * In the file package.xml:
34 | ## * add a build_depend tag for "message_generation"
35 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
36 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
37 | ## but can be declared for certainty nonetheless:
38 | ## * add a exec_depend tag for "message_runtime"
39 | ## * In this file (CMakeLists.txt):
40 | ## * add "message_generation" and every package in MSG_DEP_SET to
41 | ## find_package(catkin REQUIRED COMPONENTS ...)
42 | ## * add "message_runtime" and every package in MSG_DEP_SET to
43 | ## catkin_package(CATKIN_DEPENDS ...)
44 | ## * uncomment the add_*_files sections below as needed
45 | ## and list every .msg/.srv/.action file to be processed
46 | ## * uncomment the generate_messages entry below
47 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
48 |
49 | ## Generate messages in the 'msg' folder
50 | # add_message_files(
51 | # FILES
52 | # Message1.msg
53 | # Message2.msg
54 | # )
55 |
56 | ## Generate services in the 'srv' folder
57 | # add_service_files(
58 | # FILES
59 | # Service1.srv
60 | # Service2.srv
61 | # )
62 |
63 | ## Generate actions in the 'action' folder
64 | # add_action_files(
65 | # FILES
66 | # Action1.action
67 | # Action2.action
68 | # )
69 |
70 | ## Generate added messages and services with any dependencies listed here
71 | # generate_messages(
72 | # DEPENDENCIES
73 | # map_msgs# nav_msgs
74 | # )
75 |
76 | ################################################
77 | ## Declare ROS dynamic reconfigure parameters ##
78 | ################################################
79 |
80 | ## To declare and build dynamic reconfigure parameters within this
81 | ## package, follow these steps:
82 | ## * In the file package.xml:
83 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
84 | ## * In this file (CMakeLists.txt):
85 | ## * add "dynamic_reconfigure" to
86 | ## find_package(catkin REQUIRED COMPONENTS ...)
87 | ## * uncomment the "generate_dynamic_reconfigure_options" section below
88 | ## and list every .cfg file to be processed
89 |
90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
91 | # generate_dynamic_reconfigure_options(
92 | # cfg/DynReconf1.cfg
93 | # cfg/DynReconf2.cfg
94 | # )
95 |
96 | ###################################
97 | ## catkin specific configuration ##
98 | ###################################
99 | ## The catkin_package macro generates cmake config files for your package
100 | ## Declare things to be passed to dependent projects
101 | ## INCLUDE_DIRS: uncomment this if your package contains header files
102 | ## LIBRARIES: libraries you create in this project that dependent projects also need
103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
104 | ## DEPENDS: system dependencies of this project that dependent projects also need
105 | catkin_package(
106 | # INCLUDE_DIRS include
107 | # LIBRARIES occupancy_grid_python
108 | # CATKIN_DEPENDS map_msgs nav_msgs rospy
109 | # DEPENDS system_lib
110 | )
111 |
112 | ###########
113 | ## Build ##
114 | ###########
115 |
116 | ## Specify additional locations of header files
117 | ## Your package locations should be listed before other locations
118 | include_directories(
119 | # include
120 | ${catkin_INCLUDE_DIRS}
121 | )
122 |
123 | ## Declare a C++ library
124 | # add_library(${PROJECT_NAME}
125 | # src/${PROJECT_NAME}/occupancy_grid_python.cpp
126 | # )
127 |
128 | ## Add cmake target dependencies of the library
129 | ## as an example, code may need to be generated before libraries
130 | ## either from message generation or dynamic reconfigure
131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
132 |
133 | ## Declare a C++ executable
134 | ## With catkin_make all packages are built within a single CMake context
135 | ## The recommended prefix ensures that target names across packages don't collide
136 | # add_executable(${PROJECT_NAME}_node src/occupancy_grid_python_node.cpp)
137 |
138 | ## Rename C++ executable without prefix
139 | ## The above recommended prefix causes long target names, the following renames the
140 | ## target back to the shorter version for ease of user use
141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
143 |
144 | ## Add cmake target dependencies of the executable
145 | ## same as for the library above
146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
147 |
148 | ## Specify libraries to link a library or executable target against
149 | # target_link_libraries(${PROJECT_NAME}_node
150 | # ${catkin_LIBRARIES}
151 | # )
152 |
153 | #############
154 | ## Install ##
155 | #############
156 |
157 | # all install targets should use catkin DESTINATION variables
158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
159 |
160 | ## Mark executable scripts (Python etc.) for installation
161 | ## in contrast to setup.py, you can choose the destination
162 | # install(PROGRAMS
163 | # scripts/my_python_script
164 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
165 | # )
166 |
167 | ## Mark executables and/or libraries for installation
168 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
169 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
170 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
171 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
172 | # )
173 |
174 | ## Mark cpp header files for installation
175 | # install(DIRECTORY include/${PROJECT_NAME}/
176 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
177 | # FILES_MATCHING PATTERN "*.h"
178 | # PATTERN ".svn" EXCLUDE
179 | # )
180 |
181 | ## Mark other files for installation (e.g. launch and bag files, etc.)
182 | # install(FILES
183 | # # myfile1
184 | # # myfile2
185 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
186 | # )
187 |
188 | #############
189 | ## Testing ##
190 | #############
191 |
192 | ## Add gtest based cpp test target and link libraries
193 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_occupancy_grid_python.cpp)
194 | # if(TARGET ${PROJECT_NAME}-test)
195 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
196 | # endif()
197 |
198 | ## Add folders to be run by python nosetests
199 | # catkin_add_nosetests(test)
200 |
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/README.md:
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1 | # occupancy_grid_python
2 |
3 | **occupancy_grid_python** offers a Python interface to manage OccupancyGrid messages. It supports topics representing a map or a costmap as usually seen in the navigation stack. Including costmaps with the costmap_updates subtopic. It allows to transform from world coordinates to map coordinates and to retrieve the costs from the costmap in any of these coordinates.
4 |
5 | Note that to keep the class lightweight no transformations are offered in between frames.
6 |
7 | Usage:
8 |
9 | ```python
10 |
11 | from occupancy_grid_python import OccupancyGridManager
12 |
13 | # Subscribe to the nav_msgs/OccupancyGrid topic
14 | ogm = OccupancyGridManager('/move_base/global_costmap/costmap',
15 | subscribe_to_updates=True) # default False
16 |
17 | # Now you can do basic operations
18 | print(ogm.resolution)
19 | # Note that OccupancyGrid data starts on lower left corner (if seen as an image)
20 | # width / X is from left to right
21 | # height / Y is from bottom to top
22 | print(ogm.width)
23 | print(ogm.height)
24 | print(ogm.origin) # geometry_msgs/Pose
25 | print(ogm.reference_frame) # frame_id of this OccupancyGrid
26 |
27 | # You can check the costmap coordinates of world coordinates (in the frame of the OccupancyGrid)
28 | print(ogm.get_costmap_x_y(0.0, 0.0))
29 | # You can check the world coordinates of costmap coordinates (in the frame of the OccupancyGrid)
30 | print(ogm.get_world_x_y(0, 0))
31 |
32 | # You can get the cost of a costmap cell
33 | print(ogm.get_cost_from_costmap_x_y(0, 0))
34 | # You can get the cost from world coordinates (in the frame of the OccupancyGrid)
35 | print(ogm.get_cost_from_world_x_y(0.0, 0.0))
36 |
37 | # You can check if some coordinates are inside of the grid map
38 | print(ogm.is_in_gridmap(9999, 9999))
39 |
40 | # You can find the closest cell with a cost under a value (to find a free cell for example)
41 | # radius is in costmap pixels
42 | print(ogm.get_closest_cell_under_cost(x=100, y=100, cost_threshold=100, max_radius=4))
43 |
44 | # You can find the closest cell with a cost over a value (to find an occupied cell for example)
45 | print(ogm.get_closest_cell_over_cost(x=10, y=200, cost_threshold=254, max_radius=8))
46 |
47 | ```
48 |
49 | ## Example to transform a coordinate into another frame
50 |
51 | If for example we have a `geometry_msgs/Point` in the frame `base_footprint` and we want to check if there is something considered as an obstacle in our `global_costmap`, as our `global_costmap` operates in `map` frame we will need to transform it.
52 | This can be done in Python like:
53 |
54 | ```python
55 | import rospy
56 | from tf import TransformListener
57 |
58 | # Initialize the listener (needs some time to subscribe internally to TF and fill its buffer)
59 | tl = TransformListener()
60 |
61 | # Our point would look like this
62 | from geometry_msgs.msg import PointStamped
63 | p = PointStamped()
64 | p.header.stamp = rospy.Time.now()
65 | p.header.frame_id = 'base_footprint'
66 | p.point.x = 1.0
67 | p.point.y = 0.5
68 | p.point.z = 0.0
69 |
70 | # Transform the point from base_footprint to map
71 | map_p = tl.transformPoint('map', p)
72 |
73 | # Note that transformXXXX can raise exceptions of types:
74 | # ConnectivityException (Raised when the TF tree is not connected between the frames requested.)
75 | # ExtrapolationException (Raised when a tf method has attempted to access a frame, but the frame is not in the graph. The most common reason for this is that the frame is not being published, or a parent frame was not set correctly causing the tree to be broken.)
76 | # LookupException (couldn't find the frame in the buffer at all)
77 | # So you should surround it with a try/except block
78 |
79 | ```
80 |
81 | Once you have the correct coordinates, you could check the costmap value with:
82 |
83 | ```python
84 |
85 | from occupancy_grid_python import OccupancyGridManager
86 |
87 | # Subscribe to the nav_msgs/OccupancyGrid topic
88 | ogm = OccupancyGridManager('/move_base/global_costmap/costmap',
89 | subscribe_to_updates=True) # default False
90 |
91 | # from the previous piece of code we have map_p
92 | cost = ogm.get_cost_from_world_x_y(map_p.point.x, map_p.point.y)
93 |
94 | # Oh, the cost implies there is an obstacle... we can search for the closest point that's free
95 | costmap_x, costmap_y = ogm.get_costmap_x_y(map_p.point.x, map_p.point.y)
96 |
97 | safe_x, safe_y, cost_safe = ogm.get_closest_cell_under_cost(costmap_x, costmap_y,
98 | cost_threshold=50, max_radius=5)
99 |
100 | # Maybe we should send a goal to (safe_x, safe_y instead)
101 |
102 | ```
103 |
104 | ## Testing scripts
105 | This package should have proper testing implemented (_TODO_ but would love help) there are a few scripts in the scripts folder that may help:
106 | * [click_occ_grid.py](scripts/click_occ_grid.py): If you open Rviz and visualize `/map` with a Map viewer, you can click on parts of the map using the `Publish Point` feature of Rviz and it will print on the screen the cost of the cell and the costmap location, e.g.:
107 | ```bash
108 | [INFO] [1604299071.107875]: Which is in costmap coords (x, y): 121, 125
109 | [INFO] [1604299074.067747]: Cost at (x, y): 2.25541591644, -1.0420165062 is 100
110 | [INFO] [1604299074.070528]: Which is in costmap coords (x, y): 120, 126
111 | ```
112 |
113 | * [click_occ_grid_cell_cost.py](scripts/click_occ_grid_cell_cost.py): Similar to the previous, but also publishes a `PointStamped` in the `/closest_cell_cost` topic showing which is the closest cell with a cost over 99 (black in map, e.g. wall).
114 |
115 | * [simple_test.py](scripts/simple_test.py): Publishes a hand-made map and checks that minimal functionality works.
116 |
117 | * [test.py](scripts/test.py): Publishes some gathered-from-real-use-case map and costmaps and runs most if not all methods through them. This should be ported into tests, really.
118 |
119 |
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/data/local_costmap.pickle:
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1 | ccopy_reg
2 | _reconstructor
3 | p1
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3443 | I99
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3454 | I99
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4397 | I99
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4515 | I99
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4635 | I99
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5111 | I99
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5714 | I99
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14237 | tp27
14238 | ab.
--------------------------------------------------------------------------------
/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | occupancy_grid_python
4 | 0.0.0
5 | The occupancy_grid_python package
6 |
7 |
8 |
9 |
10 | Sammy Pfeiffer
11 | Suwen Leong
12 | Sammy Pfeiffer
13 |
14 | BSD
15 |
16 | catkin
17 | map_msgs
18 | nav_msgs
19 | rospy
20 | map_msgs
21 | nav_msgs
22 | rospy
23 | map_msgs
24 | nav_msgs
25 | rospy
26 |
27 |
28 |
29 |
30 |
31 |
32 |
33 |
34 |
--------------------------------------------------------------------------------
/scripts/click_occ_grid.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | import sys
4 | import cPickle
5 | import rospy
6 | from occupancy_grid_python import OccupancyGridManager
7 | from geometry_msgs.msg import PointStamped
8 | from nav_msgs.msg import OccupancyGrid
9 | from rospkg import RosPack
10 |
11 | # Thanks to @MoscowskyAnton at Github for the inspiration
12 |
13 | class OGMTester(object):
14 | def __init__(self):
15 | self.ogm = OccupancyGridManager('/map', subscribe_to_updates=True)
16 |
17 | # Can use 'Publish Point' in Rviz
18 | rospy.Subscriber('/clicked_point', PointStamped, self.point_cb)
19 |
20 | def point_cb(self, msg):
21 | cost = self.ogm.get_cost_from_world_x_y(msg.point.x, msg.point.y)
22 | rospy.loginfo("Cost at (x, y): {}, {} is {}".format(msg.point.x, msg.point.y, cost))
23 | costmap_x, costmap_y = self.ogm.get_costmap_x_y(msg.point.x, msg.point.y)
24 | rospy.loginfo("Which is in costmap coords (x, y): {}, {}".format(costmap_x, costmap_y))
25 |
26 | def run(self):
27 | rospy.spin()
28 |
29 |
30 | if __name__ == '__main__':
31 | argv = rospy.myargv(sys.argv)
32 | use_test_data = True
33 | # Allow to not use test data
34 | if len(argv) > 1:
35 | if argv[1] == '--no-test-data':
36 | use_test_data = False
37 | rospy.init_node('test_clicking')
38 |
39 | if use_test_data:
40 | map_pub = rospy.Publisher('/map',
41 | OccupancyGrid, queue_size=1,
42 | latch=True)
43 | rp = RosPack()
44 | pkg_path = rp.get_path('occupancy_grid_python')
45 | map_msg = cPickle.load(
46 | open(pkg_path + '/data/map.pickle'))
47 |
48 | # Let publisher initialize
49 | rospy.sleep(1.0)
50 | map_pub.publish(map_msg)
51 |
52 | ogmt = OGMTester()
53 | ogmt.run()
54 |
--------------------------------------------------------------------------------
/scripts/click_occ_grid_cell_cost.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | import sys
4 | import cPickle
5 | import rospy
6 | from occupancy_grid_python import OccupancyGridManager
7 | from geometry_msgs.msg import PointStamped
8 | from nav_msgs.msg import OccupancyGrid
9 | from geometry_msgs.msg import PointStamped
10 | from rospkg import RosPack
11 |
12 | # Thanks to @MoscowskyAnton at Github for the inspiration
13 |
14 |
15 | class OGMTesterCellCost(object):
16 | def __init__(self):
17 | self.ogm = OccupancyGridManager('/map', subscribe_to_updates=True)
18 | self.pub = rospy.Publisher('/closest_cell_cost', PointStamped, queue_size=1)
19 | # Can use 'Publish Point' in Rviz
20 | rospy.Subscriber('/clicked_point', PointStamped, self.point_cb)
21 |
22 | def point_cb(self, msg):
23 | cost = self.ogm.get_cost_from_world_x_y(msg.point.x, msg.point.y)
24 | rospy.loginfo("Cost at (x, y): {}, {} is {}".format(msg.point.x, msg.point.y, cost))
25 | costmap_x, costmap_y = self.ogm.get_costmap_x_y(msg.point.x, msg.point.y)
26 | rospy.loginfo("Which is in costmap coords (x, y): {}, {}".format(costmap_x, costmap_y))
27 |
28 | # Publish a PointStamped of the closest cell over 99 cost (black in map)
29 | closest_cell_x, closest_cell_y, cost = self.ogm.get_closest_cell_over_cost(costmap_x, costmap_y, 99, 9)
30 | if closest_cell_x != -1:
31 | p = PointStamped()
32 | p.header.frame_id = self.ogm.reference_frame
33 | p.point.x, p.point.y = self.ogm.get_world_x_y(closest_cell_x, closest_cell_y)
34 | self.pub.publish(p)
35 |
36 | def run(self):
37 | rospy.spin()
38 |
39 |
40 | if __name__ == '__main__':
41 | argv = rospy.myargv(sys.argv)
42 | use_test_data = True
43 | # Allow to not use test data
44 | if len(argv) > 1:
45 | if argv[1] == '--no-test-data':
46 | use_test_data = False
47 | rospy.init_node('test_clicking')
48 |
49 | if use_test_data:
50 | map_pub = rospy.Publisher('/map',
51 | OccupancyGrid, queue_size=1,
52 | latch=True)
53 | rp = RosPack()
54 | pkg_path = rp.get_path('occupancy_grid_python')
55 | map_msg = cPickle.load(
56 | open(pkg_path + '/data/map.pickle'))
57 |
58 | # Let publisher initialize
59 | rospy.sleep(1.0)
60 | map_pub.publish(map_msg)
61 |
62 | ogmt = OGMTesterCellCost()
63 | ogmt.run()
64 |
--------------------------------------------------------------------------------
/scripts/simple_test.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from occupancy_grid_python import OccupancyGridManager
4 | from nav_msgs.msg import OccupancyGrid
5 | from map_msgs.msg import OccupancyGridUpdate
6 | import rospy
7 | from rospkg import RosPack
8 |
9 | import cPickle
10 |
11 | if __name__ == '__main__':
12 | rospy.init_node('test_occ_grid')
13 | rospy.loginfo("Initializing")
14 |
15 | global_costmap_pub = rospy.Publisher('/move_base/global_costmap/costmap',
16 | OccupancyGrid, queue_size=1,
17 | latch=True)
18 | local_costmap_pub = rospy.Publisher('/move_base/local_costmap/costmap',
19 | OccupancyGrid, queue_size=1,
20 | latch=True)
21 | map_pub = rospy.Publisher('/map',
22 | OccupancyGrid, queue_size=1,
23 | latch=True)
24 | update_pub = rospy.Publisher('/map_updates', OccupancyGridUpdate,
25 | queue_size=1)
26 |
27 | occgrid = OccupancyGrid()
28 | occgrid.header.frame_id = 'map'
29 | occgrid.info.width = 10 # x
30 | occgrid.info.height = 2 # y
31 | occgrid.info.origin.position.x = 0.0
32 | occgrid.info.origin.position.y = 0.0
33 | occgrid.info.origin.position.z = 0.0
34 | occgrid.info.origin.orientation.w = 1.0
35 | occgrid.info.resolution = 0.0500000007451
36 |
37 | occgrid.data = [i for i in range(0, 20)]
38 | # [[ 0 1 2 3 4 5 6 7 8 9]
39 | # [10 11 12 13 14 15 16 17 18 19]]
40 |
41 | # but interpreted in Rviz costmap as
42 | # [10 11 12 13 14 15 16 17 18 19]
43 | # [ 0 1 2 3 4 5 6 7 8 9]
44 |
45 | # Initialize publishers...
46 | rospy.sleep(3.0)
47 |
48 | map_pub.publish(occgrid)
49 | rospy.sleep(1.0)
50 |
51 | ogm = OccupancyGridManager('/map',
52 | subscribe_to_updates=False)
53 |
54 | for y in range(2): # row
55 | for x in range(10): # column
56 | if ogm.is_in_gridmap(x, y):
57 | cost = ogm.get_cost_from_costmap_x_y(x, y)
58 | print("x: {}, y: {} is in gridmap (cost: {})".format(x, y, cost))
59 | else:
60 | print("x: {}, y: {} is NOT in gridmap".format(x, y))
61 |
62 | if ogm.is_in_gridmap(ogm.width - 1, ogm.height - 1):
63 | print("ogm.width - 1: {}, ogm.height - 1: {} is in gridmap.".format(ogm.width - 1, ogm.height - 1))
64 | else:
65 | print("ogm.width - 1: {}, ogm.height - 1: {} is NOT in gridmap.".format(ogm.width - 1, ogm.height - 1))
66 |
67 | # simulate an update with adding all of it again
68 | ogu = OccupancyGridUpdate()
69 | ogu.header = occgrid.header
70 | ogu.header.stamp = rospy.Time.now()
71 | ogu.x = ogu.y = 0
72 | ogu.width = occgrid.info.width
73 | ogu.height = occgrid.info.height
74 | ogu.data = occgrid.data
75 |
76 | ogm = OccupancyGridManager('/map',
77 | subscribe_to_updates=True)
78 | # Give a moment to the update subscriber to initialize
79 | rospy.sleep(1.0)
80 |
81 | update_pub.publish(ogu)
82 | # Wait a moment for the update to arrive
83 | rospy.sleep(1.0)
84 |
85 | for y in range(2):
86 | for x in range(10):
87 | if ogm.is_in_gridmap(x, y):
88 | cost = ogm.get_cost_from_costmap_x_y(x, y)
89 | print("x: {}, y: {} is in gridmap (cost: {})".format(x, y, cost))
90 | else:
91 | print("x: {}, y: {} is NOT in gridmap".format(x, y))
92 |
93 | if ogm.is_in_gridmap(ogm.width - 1, ogm.height - 1):
94 | print("ogm.width - 1: {}, ogm.height - 1: {} is in gridmap.".format(ogm.width - 1, ogm.height - 1))
95 | else:
96 | print("ogm.width - 1: {}, ogm.height - 1: {} is NOT in gridmap.".format(ogm.width - 1, ogm.height - 1))
--------------------------------------------------------------------------------
/scripts/test.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from occupancy_grid_python import OccupancyGridManager
4 | from nav_msgs.msg import OccupancyGrid
5 | from map_msgs.msg import OccupancyGridUpdate
6 | import rospy
7 | from rospkg import RosPack
8 |
9 | import cPickle
10 |
11 | if __name__ == '__main__':
12 | rospy.init_node('test_occ_grid')
13 | rospy.loginfo("Initializing")
14 |
15 | global_costmap_pub = rospy.Publisher('/move_base/global_costmap/costmap',
16 | OccupancyGrid, queue_size=1,
17 | latch=True)
18 | local_costmap_pub = rospy.Publisher('/move_base/local_costmap/costmap',
19 | OccupancyGrid, queue_size=1,
20 | latch=True)
21 | map_pub = rospy.Publisher('/map',
22 | OccupancyGrid, queue_size=1,
23 | latch=True)
24 | update_pub = rospy.Publisher('/map_updates', OccupancyGridUpdate,
25 | queue_size=1)
26 | # Give some time to initialize
27 | rospy.sleep(2.0)
28 | rospy.loginfo("Done")
29 | rp = RosPack()
30 | pkg_path = rp.get_path('occupancy_grid_python')
31 | global_costmap_msg = cPickle.load(
32 | open(pkg_path + '/data/global_costmap.pickle'))
33 | local_costmap_msg = cPickle.load(
34 | open(pkg_path + '/data/local_costmap.pickle'))
35 | map_msg = cPickle.load(
36 | open(pkg_path + '/data/map.pickle'))
37 | global_costmap_pub.publish(global_costmap_msg)
38 | local_costmap_pub.publish(local_costmap_msg)
39 | map_pub.publish(map_msg)
40 |
41 | rospy.loginfo("Done publishing example data")
42 |
43 | ogm = OccupancyGridManager('/move_base/global_costmap/costmap',
44 | subscribe_to_updates=False)
45 |
46 | wx1, wy1 = ogm.get_world_x_y(0, 0)
47 | print("world from costmap coords 0 0: ")
48 | print((wx1, wy1))
49 | print("Which, the origin from ogm is:")
50 | print(ogm.origin)
51 | cx1, cy1 = ogm.get_costmap_x_y(wx1, wy1)
52 | print("Costmap from world: ")
53 | print((cx1, cy1))
54 |
55 | cx2, cy2 = ogm.get_costmap_x_y(0.0, 0.0)
56 | print("costmap from world coords 0 0: ")
57 | print((cx2, cy2))
58 | wx2, wy2 = ogm.get_world_x_y(cx2, cy2)
59 | print("back to world: ")
60 | print((wx2, wy2))
61 |
62 | cost = ogm.get_cost_from_costmap_x_y(cx1, cy1)
63 | print("cost cx1, cy1: " + str(cost))
64 | cost = ogm.get_cost_from_world_x_y(wx1, wy1)
65 | print("cost wx1, wy1: " + str(cost))
66 | cost = ogm.get_cost_from_costmap_x_y(cx2, cy2)
67 | print("cost cx2, cy2: " + str(cost))
68 | cost = ogm.get_cost_from_world_x_y(wx2, wy2)
69 | print("cost wx2, wy2: " + str(cost))
70 |
71 | # known place right now
72 | cost = ogm.get_cost_from_world_x_y(0.307, -0.283)
73 | print("cost of know nplace is: " + str(cost))
74 |
75 | # cost = ogm.get_cost_from_world_x_y(6.485, -1.462)
76 | # print("cost of known place is: " + str(cost))
77 | # cx, cy = ogm.get_costmap_x_y(6.485, -1.462)
78 | # print("from costmap coords: " + str((cx, cy)))
79 |
80 | print("trying to access out of bounds")
81 | try:
82 | cost = ogm.get_cost_from_costmap_x_y(9999, 0)
83 | print(cost)
84 | except IndexError as e:
85 | print("We got, correctly, indexerror: " + str(e))
86 | try:
87 | cost = ogm.get_cost_from_costmap_x_y(0, 9999)
88 | print(cost)
89 | except IndexError as e:
90 | print("We got, correctly, indexerror: " + str(e))
91 |
92 | # Print all the Grid
93 | # il = range(0, ogm.width)
94 | # # reverse the list as the origin coordinate is bottom left
95 | # il.reverse()
96 | # for i in il:
97 | # accum = ''
98 | # l = range(0, ogm.height)
99 | # # l.reverse()
100 | # for j in l:
101 | # accum += str(ogm.get_cost_from_costmap_x_y(i, j)) + ' '
102 | # # print(ogm.get_cost_from_costmap_x_y(i, 270))
103 | # print accum
104 |
105 | rospy.loginfo("Getting closest x y")
106 | closest_x, closest_y, cost = ogm.get_closest_cell_under_cost(
107 | ogm.width / 2, ogm.height / 2, 2, 5)
108 | rospy.loginfo("closest x y cost: " + str((closest_x, closest_y, cost)))
109 |
110 | ogm = OccupancyGridManager('/move_base/local_costmap/costmap',
111 | subscribe_to_updates=False)
112 |
113 | wx1, wy1 = ogm.get_world_x_y(0, 0)
114 | print("world from costmap coords 0 0: ")
115 | print((wx1, wy1))
116 | cx1, cy1 = ogm.get_costmap_x_y(wx1, wy1)
117 | print("back to costmap: ")
118 | print((cx1, cy1))
119 |
120 | cx2, cy2 = ogm.get_costmap_x_y(0.0, 0.0)
121 | print("costmap from world coords 0 0: ")
122 | print((cx2, cy2))
123 | wx2, wy2 = ogm.get_world_x_y(cx2, cy2)
124 | print("back to world: ")
125 | print((wx2, wy2))
126 |
127 | cost = ogm.get_cost_from_costmap_x_y(cx1, cy1)
128 | print("cost cx1, cy1: " + str(cost))
129 | cost = ogm.get_cost_from_world_x_y(wx1, wy1)
130 | print("cost wx1, wy1: " + str(cost))
131 | cost = ogm.get_cost_from_costmap_x_y(cx2, cy2)
132 | print("cost cx2, cy2: " + str(cost))
133 | cost = ogm.get_cost_from_world_x_y(wx2, wy2)
134 | print("cost wx2, wy2: " + str(cost))
135 |
136 | # known place right now
137 | cost = ogm.get_cost_from_world_x_y(0.307, -0.283)
138 | print("cost of know nplace is: " + str(cost))
139 |
140 | # cost = ogm.get_cost_from_world_x_y(6.485, -1.462)
141 | # print("cost of known place is: " + str(cost))
142 | # cx, cy = ogm.get_costmap_x_y(6.485, -1.462)
143 | # print("from costmap coords: " + str((cx, cy)))
144 |
145 | print("trying to access out of bounds")
146 | try:
147 | cost = ogm.get_cost_from_costmap_x_y(9999, 0)
148 | print(cost)
149 | except IndexError as e:
150 | print("We got, correctly, indexerror: " + str(e))
151 | try:
152 | cost = ogm.get_cost_from_costmap_x_y(0, 9999)
153 | print(cost)
154 | except IndexError as e:
155 | print("We got, correctly, indexerror: " + str(e))
156 |
157 | # il = range(0, ogm.width)
158 | # # reverse the list as the origin coordinate is bottom left
159 | # il.reverse()
160 | # for i in il:
161 | # accum = ''
162 | # l = range(0, ogm.height)
163 | # # l.reverse()
164 | # for j in l:
165 | # accum += str(ogm.get_cost_from_costmap_x_y(i, j)) + ' '
166 | # # print(ogm.get_cost_from_costmap_x_y(i, 270))
167 | # print accum
168 |
169 | rospy.loginfo("Getting closest x y")
170 | closest_x, closest_y, cost = ogm.get_closest_cell_under_cost(
171 | ogm.width / 2 + 20, ogm.height / 2 + 20, 255, 5)
172 | rospy.loginfo("closest x y cost: " + str((closest_x, closest_y, cost)))
173 |
174 | ogm = OccupancyGridManager('/map',
175 | subscribe_to_updates=False)
176 |
177 | # Check bounds are correct (e.g. x is x and y is y)
178 | # Note that X is width, and Y is height, both starting
179 | # from the bottom left corner
180 | print("map info: ")
181 | print(ogm._occ_grid_metadata)
182 | wx1, wy1 = ogm.get_world_x_y(ogm.width, ogm.height)
183 | print("costmap coords ogm.width ogm.height: ")
184 | print((ogm.width, ogm.height))
185 | print("world from map coords:")
186 | print((wx1, wy1))
187 | cx1, cy1 = ogm.get_costmap_x_y(wx1, wy1)
188 | print("back to costmap: ")
189 | print((cx1, cy1))
190 |
191 | wx1, wy1 = ogm.get_world_x_y(0, 0)
192 | print("world from costmap coords 0 0: ")
193 | print((wx1, wy1))
194 | cx1, cy1 = ogm.get_costmap_x_y(wx1, wy1)
195 | print("back to costmap: ")
196 | print((cx1, cy1))
197 |
198 | cx2, cy2 = ogm.get_costmap_x_y(0.0, 0.0)
199 | print("costmap from world coords 0 0: ")
200 | print((cx2, cy2))
201 | wx2, wy2 = ogm.get_world_x_y(cx2, cy2)
202 | print("back to world: ")
203 | print((wx2, wy2))
204 |
205 | cost = ogm.get_cost_from_costmap_x_y(cx1, cy1)
206 | print("cost cx1, cy1: " + str(cost))
207 | cost = ogm.get_cost_from_world_x_y(wx1, wy1)
208 | print("cost wx1, wy1: " + str(cost))
209 | cost = ogm.get_cost_from_costmap_x_y(cx2, cy2)
210 | print("cost cx2, cy2: " + str(cost))
211 | cost = ogm.get_cost_from_world_x_y(wx2, wy2)
212 | print("cost wx2, wy2: " + str(cost))
213 |
214 | # known place right now
215 | cost = ogm.get_cost_from_world_x_y(0.307, -0.283)
216 | print("cost of know nplace is: " + str(cost))
217 |
218 | # cost = ogm.get_cost_from_world_x_y(6.485, -1.462)
219 | # print("cost of known place is: " + str(cost))
220 | # cx, cy = ogm.get_costmap_x_y(6.485, -1.462)
221 | # print("from costmap coords: " + str((cx, cy)))
222 |
223 | print("trying to access out of bounds")
224 | try:
225 | cost = ogm.get_cost_from_costmap_x_y(9999, 0)
226 | print(cost)
227 | except IndexError as e:
228 | print("We got, correctly, indexerror: " + str(e))
229 | try:
230 | cost = ogm.get_cost_from_costmap_x_y(0, 9999)
231 | print(cost)
232 | except IndexError as e:
233 | print("We got, correctly, indexerror: " + str(e))
234 |
235 | # il = range(0, ogm.width)
236 | # # reverse the list as the origin coordinate is bottom left
237 | # il.reverse()
238 | # for i in il:
239 | # accum = ''
240 | # l = range(0, ogm.height)
241 | # # l.reverse()
242 | # for j in l:
243 | # accum += str(ogm.get_cost_from_costmap_x_y(i, j)) + ' '
244 | # # print(ogm.get_cost_from_costmap_x_y(i, 270))
245 | # print accum
246 |
247 | rospy.loginfo("Getting closest x y")
248 | closest_x, closest_y, cost = ogm.get_closest_cell_under_cost(
249 | ogm.width / 2 + 20, ogm.height / 2 + 20, 100, 5)
250 | rospy.loginfo("closest x y cost: " + str((closest_x, closest_y, cost)))
251 |
252 | rospy.loginfo("radius 1")
253 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
254 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
255 | 0, 0, 253, 1)
256 | rospy.loginfo("closest x y cost over: " +
257 | str((closest_x, closest_y, cost)))
258 |
259 | rospy.loginfo("radius 2")
260 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
261 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
262 | 0, 0, 253, 2)
263 | rospy.loginfo("closest x y cost over: " +
264 | str((closest_x, closest_y, cost)))
265 |
266 | rospy.loginfo("radius 3")
267 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
268 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
269 | 0, 0, 253, 3)
270 | rospy.loginfo("closest x y cost over: " +
271 | str((closest_x, closest_y, cost)))
272 |
273 | rospy.loginfo("radius 4")
274 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
275 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
276 | 0, 0, 253, 4)
277 | rospy.loginfo("closest x y cost over: " +
278 | str((closest_x, closest_y, cost)))
279 |
280 | rospy.loginfo("radius 5")
281 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
282 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
283 | 0, 0, 253, 5)
284 | rospy.loginfo("closest x y cost over: " +
285 | str((closest_x, closest_y, cost)))
286 |
287 | rospy.loginfo("radius 40 (would be 2m at 0.05 resolution)")
288 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
289 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
290 | 0, 0, 253, 5)
291 | rospy.loginfo("closest x y cost over: " +
292 | str((closest_x, closest_y, cost)))
293 |
294 | # Repeat again but with updateable occupancy grid
295 | rospy.loginfo("\n\n\n\nRepeating map test but subscribed to updates")
296 | ogm = OccupancyGridManager('/map',
297 | subscribe_to_updates=True)
298 | # Give a moment to initialize
299 | rospy.sleep(1.0)
300 |
301 | # simulate an update with adding all of it again
302 | ogu = OccupancyGridUpdate()
303 | ogu.header = map_msg.header
304 | ogu.header.stamp = rospy.Time.now()
305 | ogu.x = ogu.y = 0
306 | ogu.width = map_msg.info.width
307 | ogu.height = map_msg.info.height
308 | ogu.data = map_msg.data
309 |
310 | update_pub.publish(ogu)
311 | # Wait a moment for the update to arrive
312 | rospy.sleep(1.0)
313 |
314 | # Check bounds are correct (e.g. x is x and y is y)
315 | # Note that X is height, and Y is width, both starting
316 | # from the bottom left corner
317 | print("map info: ")
318 | print(ogm._occ_grid_metadata)
319 | wx1, wy1 = ogm.get_world_x_y(ogm.width, ogm.height)
320 | print("costmap coords ogm.height ogm.width: ")
321 | print((ogm.width, ogm.height))
322 | print("world from map coords:")
323 | print((wx1, wy1))
324 | cx1, cy1 = ogm.get_costmap_x_y(wx1, wy1)
325 | print("back to costmap: ")
326 | print((cx1, cy1))
327 |
328 | print("Checking if ogm.width -1 ogm.height -1 is in bounds:")
329 | if ogm.is_in_gridmap(ogm.width - 1, ogm.height - 1):
330 | print("ogm.width: {}, ogm.height: {} is in bounds".format(ogm.width - 1, ogm.height - 1))
331 | else:
332 | print("ogm.width: {}, ogm.height: {} is NOT in bounds".format(ogm.width - 1, ogm.height - 1))
333 |
334 | wx1, wy1 = ogm.get_world_x_y(0, 0)
335 | print("world from costmap coords 0 0: ")
336 | print((wx1, wy1))
337 | cx1, cy1 = ogm.get_costmap_x_y(wx1, wy1)
338 | print("back to costmap: ")
339 | print((cx1, cy1))
340 |
341 | cx2, cy2 = ogm.get_costmap_x_y(0.0, 0.0)
342 | print("costmap from world coords 0 0: ")
343 | print((cx2, cy2))
344 | wx2, wy2 = ogm.get_world_x_y(cx2, cy2)
345 | print("back to world: ")
346 | print((wx2, wy2))
347 |
348 | cost = ogm.get_cost_from_costmap_x_y(cx1, cy1)
349 | print("cost cx1, cy1: " + str(cost))
350 | cost = ogm.get_cost_from_world_x_y(wx1, wy1)
351 | print("cost wx1, wy1: " + str(cost))
352 | cost = ogm.get_cost_from_costmap_x_y(cx2, cy2)
353 | print("cost cx2, cy2: " + str(cost))
354 | cost = ogm.get_cost_from_world_x_y(wx2, wy2)
355 | print("cost wx2, wy2: " + str(cost))
356 |
357 | # known place right now
358 | cost = ogm.get_cost_from_world_x_y(0.307, -0.283)
359 | print("cost of know nplace is: " + str(cost))
360 |
361 | # cost = ogm.get_cost_from_world_x_y(6.485, -1.462)
362 | # print("cost of known place is: " + str(cost))
363 | # cx, cy = ogm.get_costmap_x_y(6.485, -1.462)
364 | # print("from costmap coords: " + str((cx, cy)))
365 |
366 | print("trying to access out of bounds")
367 | try:
368 | cost = ogm.get_cost_from_costmap_x_y(9999, 0)
369 | print(cost)
370 | except IndexError as e:
371 | print("We got, correctly, indexerror: " + str(e))
372 | try:
373 | cost = ogm.get_cost_from_costmap_x_y(0, 9999)
374 | print(cost)
375 | except IndexError as e:
376 | print("We got, correctly, indexerror: " + str(e))
377 |
378 | # il = range(0, ogm.width)
379 | # # reverse the list as the origin coordinate is bottom left
380 | # il.reverse()
381 | # for i in il:
382 | # accum = ''
383 | # l = range(0, ogm.height)
384 | # # l.reverse()
385 | # for j in l:
386 | # accum += str(ogm.get_cost_from_costmap_x_y(i, j)) + ' '
387 | # # print(ogm.get_cost_from_costmap_x_y(i, 270))
388 | # print accum
389 |
390 | rospy.loginfo("Getting closest x y")
391 | closest_x, closest_y, cost = ogm.get_closest_cell_under_cost(
392 | ogm.width / 2 + 20, ogm.height / 2 + 20, 100, 5)
393 | rospy.loginfo("closest x y cost: " + str((closest_x, closest_y, cost)))
394 |
395 | rospy.loginfo("radius 1")
396 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
397 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
398 | 0, 0, 253, 1)
399 | rospy.loginfo("closest x y cost over: " +
400 | str((closest_x, closest_y, cost)))
401 |
402 | rospy.loginfo("radius 2")
403 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
404 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
405 | 0, 0, 253, 2)
406 | rospy.loginfo("closest x y cost over: " +
407 | str((closest_x, closest_y, cost)))
408 |
409 | rospy.loginfo("radius 3")
410 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
411 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
412 | 0, 0, 253, 3)
413 | rospy.loginfo("closest x y cost over: " +
414 | str((closest_x, closest_y, cost)))
415 |
416 | rospy.loginfo("radius 4")
417 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
418 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
419 | 0, 0, 253, 4)
420 | rospy.loginfo("closest x y cost over: " +
421 | str((closest_x, closest_y, cost)))
422 |
423 | rospy.loginfo("radius 5")
424 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
425 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
426 | 0, 0, 253, 5)
427 | rospy.loginfo("closest x y cost over: " +
428 | str((closest_x, closest_y, cost)))
429 |
430 | rospy.loginfo("radius 40 (would be 2m at 0.05 resolution)")
431 | rospy.loginfo("Getting closest x y over (look point: " + str((0, 0)))
432 | closest_x, closest_y, cost = ogm.get_closest_cell_over_cost(
433 | 0, 0, 253, 5)
434 | rospy.loginfo("closest x y cost over: " +
435 | str((closest_x, closest_y, cost)))
436 |
--------------------------------------------------------------------------------
/setup.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from distutils.core import setup
4 | from catkin_pkg.python_setup import generate_distutils_setup
5 |
6 | d = generate_distutils_setup(
7 | packages=['occupancy_grid_python'],
8 | package_dir={'': 'src'}
9 | )
10 |
11 | setup(**d)
12 |
--------------------------------------------------------------------------------
/src/occupancy_grid_python/__init__.py:
--------------------------------------------------------------------------------
1 | from .occupancy_grid_impl import OccupancyGridManager
--------------------------------------------------------------------------------
/src/occupancy_grid_python/occupancy_grid_impl.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | import rospy
4 | from nav_msgs.msg import OccupancyGrid
5 | from map_msgs.msg import OccupancyGridUpdate
6 | import numpy as np
7 | from itertools import product
8 |
9 | """
10 | Class to deal with OccupancyGrid in Python
11 | as in local / global costmaps.
12 |
13 | Author: Sammy Pfeiffer
14 | """
15 |
16 |
17 | class OccupancyGridManager(object):
18 | def __init__(self, topic, subscribe_to_updates=False):
19 | # OccupancyGrid starts on lower left corner
20 | self._grid_data = None
21 | self._occ_grid_metadata = None
22 | self._reference_frame = None
23 | self._sub = rospy.Subscriber(topic, OccupancyGrid,
24 | self._occ_grid_cb,
25 | queue_size=1)
26 | if subscribe_to_updates:
27 | rospy.loginfo("Subscribing to updates!")
28 | self._updates_sub = rospy.Subscriber(topic + '_updates',
29 | OccupancyGridUpdate,
30 | self._occ_grid_update_cb,
31 | queue_size=1)
32 | rospy.loginfo("Waiting for '" +
33 | str(self._sub.resolved_name) + "'...")
34 | while self._occ_grid_metadata is None and \
35 | self._grid_data is None and not rospy.is_shutdown():
36 | rospy.sleep(0.1)
37 | rospy.loginfo("OccupancyGridManager for '" +
38 | str(self._sub.resolved_name) +
39 | "' initialized!")
40 | rospy.loginfo("Height (y / rows): " + str(self.height) +
41 | ", Width (x / columns): " + str(self.width) +
42 | ", starting from bottom left corner of the grid. " +
43 | " Reference_frame: " + str(self.reference_frame) +
44 | " origin: " + str(self.origin))
45 |
46 | @property
47 | def resolution(self):
48 | return self._occ_grid_metadata.resolution
49 |
50 | @property
51 | def width(self):
52 | return self._occ_grid_metadata.width
53 |
54 | @property
55 | def height(self):
56 | return self._occ_grid_metadata.height
57 |
58 | @property
59 | def origin(self):
60 | return self._occ_grid_metadata.origin
61 |
62 | @property
63 | def reference_frame(self):
64 | return self._reference_frame
65 |
66 | def _occ_grid_cb(self, data):
67 | rospy.loginfo("Got a full OccupancyGrid update")
68 | self._occ_grid_metadata = data.info
69 | # Contains resolution, width & height
70 | # np.set_printoptions(threshold=99999999999, linewidth=200)
71 | # data comes in row-major order http://docs.ros.org/en/melodic/api/nav_msgs/html/msg/OccupancyGrid.html
72 | # first index is the row, second index the column
73 | self._grid_data = np.array(data.data,
74 | dtype=np.int8).reshape(data.info.height,
75 | data.info.width)
76 | self._reference_frame = data.header.frame_id
77 | # print(self._grid_data)
78 |
79 | def _occ_grid_update_cb(self, data):
80 | rospy.loginfo("Got a partial OccupancyGrid update")
81 | # x, y origin point of the update
82 | # width and height of the update
83 | # data, the update
84 | # data comes in row-major order http://docs.ros.org/en/melodic/api/nav_msgs/html/msg/OccupancyGrid.html
85 | # first index is the row, second index the column
86 | data_np = np.array(data.data,
87 | dtype=np.int8).reshape(data.height, data.width)
88 | self._grid_data[data.y:data.y +
89 | data.height, data.x:data.x + data.width] = data_np
90 | # print(self._grid_data)
91 |
92 | def get_world_x_y(self, costmap_x, costmap_y):
93 | world_x = costmap_x * self.resolution + self.origin.position.x
94 | world_y = costmap_y * self.resolution + self.origin.position.y
95 | return world_x, world_y
96 |
97 | def get_costmap_x_y(self, world_x, world_y):
98 | costmap_x = int(
99 | round((world_x - self.origin.position.x) / self.resolution))
100 | costmap_y = int(
101 | round((world_y - self.origin.position.y) / self.resolution))
102 | return costmap_x, costmap_y
103 |
104 | def get_cost_from_world_x_y(self, x, y):
105 | cx, cy = self.get_costmap_x_y(x, y)
106 | try:
107 | return self.get_cost_from_costmap_x_y(cx, cy)
108 | except IndexError as e:
109 | raise IndexError("Coordinates out of grid (in frame: {}) x: {}, y: {} must be in between: [{}, {}], [{}, {}]. Internal error: {}".format(
110 | self.reference_frame, x, y,
111 | self.origin.position.x,
112 | self.origin.position.x + self.height * self.resolution,
113 | self.origin.position.y,
114 | self.origin.position.y + self.width * self.resolution,
115 | e))
116 |
117 | def get_cost_from_costmap_x_y(self, x, y):
118 | if self.is_in_gridmap(x, y):
119 | # data comes in row-major order http://docs.ros.org/en/melodic/api/nav_msgs/html/msg/OccupancyGrid.html
120 | # first index is the row, second index the column
121 | return self._grid_data[y][x]
122 | else:
123 | raise IndexError(
124 | "Coordinates out of gridmap, x: {}, y: {} must be in between: [0, {}], [0, {}]".format(
125 | x, y, self.height, self.width))
126 |
127 | def is_in_gridmap(self, x, y):
128 | if -1 < x < self.width and -1 < y < self.height:
129 | return True
130 | else:
131 | return False
132 |
133 | def get_closest_cell_under_cost(self, x, y, cost_threshold, max_radius):
134 | """
135 | Looks from closest to furthest in a circular way for the first cell
136 | with a cost under cost_threshold up until a distance of max_radius,
137 | useful to find closest free cell.
138 | returns -1, -1 , -1 if it was not found.
139 |
140 | :param x int: x coordinate to look from
141 | :param y int: y coordinate to look from
142 | :param cost_threshold int: maximum threshold to look for
143 | :param max_radius int: maximum number of cells around to check
144 | """
145 | return self._get_closest_cell_arbitrary_cost(
146 | x, y, cost_threshold, max_radius, bigger_than=False)
147 |
148 | def get_closest_cell_over_cost(self, x, y, cost_threshold, max_radius):
149 | """
150 | Looks from closest to furthest in a circular way for the first cell
151 | with a cost over cost_threshold up until a distance of max_radius,
152 | useful to find closest obstacle.
153 | returns -1, -1, -1 if it was not found.
154 |
155 | :param x int: x coordinate to look from
156 | :param y int: y coordinate to look from
157 | :param cost_threshold int: minimum threshold to look for
158 | :param max_radius int: maximum number of cells around to check
159 | """
160 | return self._get_closest_cell_arbitrary_cost(
161 | x, y, cost_threshold, max_radius, bigger_than=True)
162 |
163 | def _get_closest_cell_arbitrary_cost(self, x, y,
164 | cost_threshold, max_radius,
165 | bigger_than=False):
166 |
167 | # Check the actual goal cell
168 | try:
169 | cost = self.get_cost_from_costmap_x_y(x, y)
170 | except IndexError:
171 | return None
172 |
173 | if bigger_than:
174 | if cost > cost_threshold:
175 | return x, y, cost
176 | else:
177 | if cost < cost_threshold:
178 | return x, y, cost
179 |
180 | def create_radial_offsets_coords(radius):
181 | """
182 | Creates an ordered by radius (without repetition)
183 | generator of coordinates to explore around an initial point 0, 0
184 |
185 | For example, radius 2 looks like:
186 | [(-1, -1), (-1, 0), (-1, 1), (0, -1), # from radius 1
187 | (0, 1), (1, -1), (1, 0), (1, 1), # from radius 1
188 | (-2, -2), (-2, -1), (-2, 0), (-2, 1),
189 | (-2, 2), (-1, -2), (-1, 2), (0, -2),
190 | (0, 2), (1, -2), (1, 2), (2, -2),
191 | (2, -1), (2, 0), (2, 1), (2, 2)]
192 | """
193 | # We store the previously given coordinates to not repeat them
194 | # we use a Dict as to take advantage of its hash table to make it more efficient
195 | coords = {}
196 | # iterate increasing over every radius value...
197 | for r in range(1, radius + 1):
198 | # for this radius value... (both product and range are generators too)
199 | tmp_coords = product(range(-r, r + 1), repeat=2)
200 | # only yield new coordinates
201 | for i, j in tmp_coords:
202 | if (i, j) != (0, 0) and not coords.get((i, j), False):
203 | coords[(i, j)] = True
204 | yield (i, j)
205 |
206 | coords_to_explore = create_radial_offsets_coords(max_radius)
207 |
208 | for idx, radius_coords in enumerate(coords_to_explore):
209 | # for coords in radius_coords:
210 | tmp_x, tmp_y = radius_coords
211 | # print("Checking coords: " +
212 | # str((x + tmp_x, y + tmp_y)) +
213 | # " (" + str(idx) + " / " + str(len(coords_to_explore)) + ")")
214 | try:
215 | cost = self.get_cost_from_costmap_x_y(x + tmp_x, y + tmp_y)
216 | # If accessing out of grid, just ignore
217 | except IndexError:
218 | pass
219 | if bigger_than:
220 | if cost > cost_threshold:
221 | return x + tmp_x, y + tmp_y, cost
222 |
223 | else:
224 | if cost < cost_threshold:
225 | return x + tmp_x, y + tmp_y, cost
226 |
227 | return -1, -1, -1
228 |
229 |
230 | if __name__ == '__main__':
231 | rospy.init_node('test_occ_grid')
232 | ogm = OccupancyGridManager('/move_base_flex/global_costmap/costmap',
233 | subscribe_to_updates=True)
234 | wx1, wy1 = ogm.get_world_x_y(0, 0)
235 | print("world from costmap coords 0 0: ")
236 | print((wx1, wy1))
237 | cx1, cy1 = ogm.get_costmap_x_y(wx1, wy1)
238 | print("back to costmap: ")
239 | print((cx1, cy1))
240 |
241 | cx2, cy2 = ogm.get_costmap_x_y(0.0, 0.0)
242 | print("costmap from world coords 0 0: ")
243 | print((cx2, cy2))
244 | wx2, wy2 = ogm.get_world_x_y(cx2, cy2)
245 | print("back to world: ")
246 | print((wx2, wy2))
247 |
248 | cost = ogm.get_cost_from_costmap_x_y(cx1, cy1)
249 | print("cost cx1, cy1: " + str(cost))
250 | cost = ogm.get_cost_from_world_x_y(wx1, wy1)
251 | print("cost wx1, wy1: " + str(cost))
252 | cost = ogm.get_cost_from_costmap_x_y(cx2, cy2)
253 | print("cost cx2, cy2: " + str(cost))
254 | cost = ogm.get_cost_from_world_x_y(wx2, wy2)
255 | print("cost wx2, wy2: " + str(cost))
256 |
257 | # known place right now
258 | cost = ogm.get_cost_from_world_x_y(0.307, -0.283)
259 | print("cost of know nplace is: " + str(cost))
260 |
261 | # cost = ogm.get_cost_from_world_x_y(6.485, -1.462)
262 | # print("cost of known place is: " + str(cost))
263 | # cx, cy = ogm.get_costmap_x_y(6.485, -1.462)
264 | # print("from costmap coords: " + str((cx, cy)))
265 |
266 | print("trying to access out of bounds")
267 | try:
268 | cost = ogm.get_cost_from_costmap_x_y(9999, 0)
269 | print(cost)
270 | except IndexError as e:
271 | print("We got, correctly, indexerror: " + str(e))
272 | try:
273 | cost = ogm.get_cost_from_costmap_x_y(0, 9999)
274 | print(cost)
275 | except IndexError as e:
276 | print("We got, correctly, indexerror: " + str(e))
277 |
278 | il = range(0, ogm.height)
279 | # reverse the list as the origin coordinate is bottom left
280 | il.reverse()
281 | for i in il:
282 | accum = ''
283 | l = range(0, ogm.width)
284 | # l.reverse()
285 | for j in l:
286 | accum += str(ogm.get_cost_from_costmap_x_y(i, j)) + ' '
287 | # print(ogm.get_cost_from_costmap_x_y(i, 270))
288 | print(accum)
289 |
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