costmap_2d_publisher.cpp

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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/
#include "nav2_costmap_2d/costmap_2d_publisher.hpp"
#include "nav2_costmap_2d/costmap_layer.hpp"
 
#include <string>
#include <memory>
#include <utility>
 
#include "nav2_costmap_2d/cost_values.hpp"
 
namespace nav2_costmap_2d
{
 
char * Costmap2DPublisher::cost_translation_table_ = NULL;
 
Costmap2DPublisher::Costmap2DPublisher(
  const nav2::LifecycleNode::WeakPtr & parent,
  Costmap2D * costmap,
  std::string global_frame,
  std::string topic_name,
  bool always_send_full_costmap,
  double map_vis_z)
: costmap_(costmap),
  global_frame_(global_frame),
  topic_name_(topic_name),
  always_send_full_costmap_(always_send_full_costmap),
  map_vis_z_(map_vis_z)
{
  auto node = parent.lock();
  clock_ = node->get_clock();
  logger_ = node->get_logger();
 
  auto matched_callback = [this](rclcpp::MatchedInfo & status) {
      if (status.total_count_change > 0) {
        republish_costmap_ = true;
      }
    };
  costmap_pub_ = node->create_publisher<nav_msgs::msg::OccupancyGrid>(
    topic_name,
    nav2::qos::LatchedPublisherQoS(), nullptr, matched_callback);
  costmap_raw_pub_ = node->create_publisher<nav2_msgs::msg::Costmap>(
    topic_name + "_raw",
    nav2::qos::LatchedPublisherQoS(), nullptr, matched_callback);
  costmap_update_pub_ = node->create_publisher<map_msgs::msg::OccupancyGridUpdate>(
    topic_name + "_updates", nav2::qos::LatchedPublisherQoS());
  costmap_raw_update_pub_ = node->create_publisher<nav2_msgs::msg::CostmapUpdate>(
    topic_name + "_raw_updates", nav2::qos::LatchedPublisherQoS());
 
  // Create a service that will use the callback function to handle requests.
  costmap_service_ = node->create_service<nav2_msgs::srv::GetCostmap>(
    std::string("get_") + topic_name,
    std::bind(
      &Costmap2DPublisher::costmap_service_callback, this,
      std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
 
  if (cost_translation_table_ == NULL) {
    cost_translation_table_ = new char[256];
 
    // special values:
    cost_translation_table_[0] = 0;  // NO obstacle
    cost_translation_table_[253] = 99;  // INSCRIBED obstacle
    cost_translation_table_[254] = 100;  // LETHAL obstacle
    cost_translation_table_[255] = -1;  // UNKNOWN
 
    // regular cost values scale the range 1 to 252 (inclusive) to fit
    // into 1 to 98 (inclusive).
    for (int i = 1; i < 253; i++) {
      cost_translation_table_[i] = static_cast<char>(1 + (97 * (i - 1)) / 251);
    }
  }
 
  xn_ = yn_ = 0;
  x0_ = costmap_->getSizeInCellsX();
  y0_ = costmap_->getSizeInCellsY();
}
 
Costmap2DPublisher::~Costmap2DPublisher() {}
 
void Costmap2DPublisher::updateGridParams()
{
  saved_origin_x_ = costmap_->getOriginX();
  saved_origin_y_ = costmap_->getOriginY();
  grid_resolution_ = costmap_->getResolution();
  grid_width_ = costmap_->getSizeInCellsX();
  grid_height_ = costmap_->getSizeInCellsY();
}
 
// prepare grid_ message for publication.
void Costmap2DPublisher::prepareGrid()
{
  std::unique_lock<Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
 
  grid_ = std::make_unique<nav_msgs::msg::OccupancyGrid>();
 
  grid_->header.frame_id = global_frame_;
  grid_->header.stamp = clock_->now();
 
  grid_->info.resolution = grid_resolution_;
 
  grid_->info.width = grid_width_;
  grid_->info.height = grid_height_;
 
  double wx, wy;
  costmap_->mapToWorld(0, 0, wx, wy);
  grid_->info.origin.position.x = wx - grid_resolution_ / 2;
  grid_->info.origin.position.y = wy - grid_resolution_ / 2;
  grid_->info.origin.position.z = map_vis_z_;
  grid_->info.origin.orientation.w = 1.0;
 
  grid_->data.resize(grid_->info.width * grid_->info.height);
 
  unsigned char * data = costmap_->getCharMap();
  std::transform(
    data, data + grid_->data.size(), grid_->data.begin(),
    [](unsigned char c) {return cost_translation_table_[c];});
}
 
void Costmap2DPublisher::prepareCostmap()
{
  std::unique_lock<Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
  double resolution = costmap_->getResolution();
 
  costmap_raw_ = std::make_unique<nav2_msgs::msg::Costmap>();
 
  costmap_raw_->header.frame_id = global_frame_;
  costmap_raw_->header.stamp = clock_->now();
 
  costmap_raw_->metadata.layer = "master";
  costmap_raw_->metadata.resolution = resolution;
 
  costmap_raw_->metadata.size_x = costmap_->getSizeInCellsX();
  costmap_raw_->metadata.size_y = costmap_->getSizeInCellsY();
 
  double wx, wy;
  costmap_->mapToWorld(0, 0, wx, wy);
  costmap_raw_->metadata.origin.position.x = wx - resolution / 2;
  costmap_raw_->metadata.origin.position.y = wy - resolution / 2;
  costmap_raw_->metadata.origin.position.z = 0.0;
  costmap_raw_->metadata.origin.orientation.w = 1.0;
 
  costmap_raw_->data.resize(costmap_raw_->metadata.size_x * costmap_raw_->metadata.size_y);
 
  unsigned char * data = costmap_->getCharMap();
  memcpy(costmap_raw_->data.data(), data, costmap_raw_->data.size());
}
 
std::unique_ptr<map_msgs::msg::OccupancyGridUpdate> Costmap2DPublisher::createGridUpdateMsg()
{
  auto update = std::make_unique<map_msgs::msg::OccupancyGridUpdate>();
 
  update->header.stamp = clock_->now();
  update->header.frame_id = global_frame_;
  update->x = x0_;
  update->y = y0_;
  update->width = xn_ - x0_;
  update->height = yn_ - y0_;
  update->data.resize(update->width * update->height);
  const std::uint32_t map_width = costmap_->getSizeInCellsX();
  unsigned char * costmap_data = costmap_->getCharMap();
  std::uint32_t i = 0;
  for (std::uint32_t y = y0_; y < yn_; y++) {
    std::uint32_t row_start = y * map_width + x0_;
    std::transform(
      costmap_data + row_start, costmap_data + row_start + update->width,
      update->data.begin() + i,
      [](unsigned char c) {return cost_translation_table_[c];});
    i += update->width;
  }
  return update;
}
 
std::unique_ptr<nav2_msgs::msg::CostmapUpdate> Costmap2DPublisher::createCostmapUpdateMsg()
{
  auto msg = std::make_unique<nav2_msgs::msg::CostmapUpdate>();
 
  msg->header.stamp = clock_->now();
  msg->header.frame_id = global_frame_;
  msg->x = x0_;
  msg->y = y0_;
  msg->size_x = xn_ - x0_;
  msg->size_y = yn_ - y0_;
  msg->data.resize(msg->size_x * msg->size_y);
  const std::uint32_t map_width = costmap_->getSizeInCellsX();
  unsigned char * costmap_data = costmap_->getCharMap();
 
  std::uint32_t i = 0;
  for (std::uint32_t y = y0_; y < yn_; y++) {
    std::uint32_t row_start = y * map_width + x0_;
    std::copy_n(costmap_data + row_start, msg->size_x, msg->data.begin() + i);
    i += msg->size_x;
  }
  return msg;
}
 
void Costmap2DPublisher::publishCostmap()
{
  auto const costmap_layer = dynamic_cast<CostmapLayer *>(costmap_);
  if (costmap_layer != nullptr && !costmap_layer->isEnabled()) {
    return;
  }
 
  const bool republish = republish_costmap_.exchange(false);
  float resolution = costmap_->getResolution();
  if (always_send_full_costmap_ || grid_resolution_ != resolution ||
    grid_width_ != costmap_->getSizeInCellsX() ||
    grid_height_ != costmap_->getSizeInCellsY() ||
    saved_origin_x_ != costmap_->getOriginX() ||
    saved_origin_y_ != costmap_->getOriginY() ||
    !costmap_published_once_ || republish)
  {
    updateGridParams();
    if (costmap_pub_->get_subscription_count() > 0 || !costmap_published_once_) {
      prepareGrid();
      costmap_pub_->publish(std::move(grid_));
    }
    if (costmap_raw_pub_->get_subscription_count() > 0 || !costmap_published_once_) {
      prepareCostmap();
      costmap_raw_pub_->publish(std::move(costmap_raw_));
    }
    costmap_published_once_ = true;
  } else if (x0_ < xn_) {
    // Publish just update msgs
    std::unique_lock<Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
    if (costmap_update_pub_->get_subscription_count() > 0) {
      costmap_update_pub_->publish(createGridUpdateMsg());
    }
    if (costmap_raw_update_pub_->get_subscription_count() > 0) {
      costmap_raw_update_pub_->publish(createCostmapUpdateMsg());
    }
  }
 
  xn_ = yn_ = 0;
  x0_ = costmap_->getSizeInCellsX();
  y0_ = costmap_->getSizeInCellsY();
}
 
void
Costmap2DPublisher::costmap_service_callback(
  const std::shared_ptr<rmw_request_id_t>/*request_header*/,
  const std::shared_ptr<nav2_msgs::srv::GetCostmap::Request>/*request*/,
  const std::shared_ptr<nav2_msgs::srv::GetCostmap::Response> response)
{
  RCLCPP_DEBUG(logger_, "Received costmap service request");
 
  // TODO(bpwilcox): Grab correct orientation information
  tf2::Quaternion quaternion;
  quaternion.setRPY(0.0, 0.0, 0.0);
 
  std::unique_lock<Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
 
  auto size_x = costmap_->getSizeInCellsX();
  auto size_y = costmap_->getSizeInCellsY();
  auto data_length = size_x * size_y;
  unsigned char * data = costmap_->getCharMap();
  auto current_time = clock_->now();
 
  response->map.header.stamp = current_time;
  response->map.header.frame_id = global_frame_;
  response->map.metadata.size_x = size_x;
  response->map.metadata.size_y = size_y;
  response->map.metadata.resolution = costmap_->getResolution();
  response->map.metadata.layer = "master";
  response->map.metadata.map_load_time = current_time;
  response->map.metadata.update_time = current_time;
  response->map.metadata.origin.position.x = costmap_->getOriginX();
  response->map.metadata.origin.position.y = costmap_->getOriginY();
  response->map.metadata.origin.position.z = 0.0;
  response->map.metadata.origin.orientation = tf2::toMsg(quaternion);
  response->map.data.resize(data_length);
  response->map.data.assign(data, data + data_length);
}
 
}  // end namespace nav2_costmap_2d