costmap_2d_publisher.cpp

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 * Author: Eitan Marder-Eppstein
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#include "nav2_costmap_2d/costmap_2d_publisher.hpp"

#include <string>
#include <memory>

#include "nav2_costmap_2d/cost_values.hpp"

namespace nav2_costmap_2d
{

char * Costmap2DPublisher::cost_translation_table_ = NULL;

Costmap2DPublisher::Costmap2DPublisher(
  nav2_util::LifecycleNode::SharedPtr ros_node, Costmap2D * costmap,
  std::string global_frame,
  std::string topic_name,
  bool always_send_full_costmap)
: node_(ros_node), costmap_(costmap), global_frame_(global_frame), topic_name_(topic_name),
  active_(false), always_send_full_costmap_(always_send_full_costmap)
{
  auto custom_qos = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable();

  // TODO(bpwilcox): port onNewSubscription functionality for publisher
  costmap_pub_ = node_->create_publisher<nav_msgs::msg::OccupancyGrid>(topic_name,
      custom_qos);
  costmap_raw_pub_ = node_->create_publisher<nav2_msgs::msg::Costmap>(topic_name + "_raw",
      custom_qos);
  costmap_update_pub_ = node_->create_publisher<map_msgs::msg::OccupancyGridUpdate>(
    topic_name + "_updates", custom_qos);

  // Create a service that will use the callback function to handle requests.
  costmap_service_ = node_->create_service<nav2_msgs::srv::GetCostmap>(
    "get_costmap", 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() {}

// TODO(bpwilcox): find equivalent/workaround to ros::SingleSubscriberPublishr
/*
void Costmap2DPublisher::onNewSubscription(const ros::SingleSubscriberPublisher& pub)
{
  prepareGrid();
  pub.publish(grid_);
} */

// prepare grid_ message for publication.
void Costmap2DPublisher::prepareGrid()
{
  std::unique_lock<Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
  double resolution = costmap_->getResolution();

  grid_.header.frame_id = global_frame_;
  grid_.header.stamp = rclcpp::Time();

  grid_.info.resolution = resolution;

  grid_.info.width = costmap_->getSizeInCellsX();
  grid_.info.height = costmap_->getSizeInCellsY();

  double wx, wy;
  costmap_->mapToWorld(0, 0, wx, wy);
  grid_.info.origin.position.x = wx - resolution / 2;
  grid_.info.origin.position.y = wy - resolution / 2;
  grid_.info.origin.position.z = 0.0;
  grid_.info.origin.orientation.w = 1.0;
  saved_origin_x_ = costmap_->getOriginX();
  saved_origin_y_ = costmap_->getOriginY();

  grid_.data.resize(grid_.info.width * grid_.info.height);

  unsigned char * data = costmap_->getCharMap();
  for (unsigned int i = 0; i < grid_.data.size(); i++) {
    grid_.data[i] = cost_translation_table_[data[i]];
  }
}

void Costmap2DPublisher::prepareCostmap()
{
  std::unique_lock<Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
  double resolution = costmap_->getResolution();

  costmap_raw_.header.frame_id = global_frame_;
  costmap_raw_.header.stamp = node_->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();
  for (unsigned int i = 0; i < costmap_raw_.data.size(); i++) {
    costmap_raw_.data[i] = data[i];
  }
}

void Costmap2DPublisher::publishCostmap()
{
  prepareCostmap();
  costmap_raw_pub_->publish(costmap_raw_);
  float resolution = costmap_->getResolution();

  if (always_send_full_costmap_ || grid_.info.resolution != resolution ||
    grid_.info.width != costmap_->getSizeInCellsX() ||
    grid_.info.height != costmap_->getSizeInCellsY() ||
    saved_origin_x_ != costmap_->getOriginX() ||
    saved_origin_y_ != costmap_->getOriginY())
  {
    prepareGrid();
    costmap_pub_->publish(grid_);
  } else if (x0_ < xn_) {
    std::unique_lock<Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
    // Publish Just an Update
    map_msgs::msg::OccupancyGridUpdate update;
    update.header.stamp = rclcpp::Time();
    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);

    unsigned int i = 0;
    for (unsigned int y = y0_; y < yn_; y++) {
      for (unsigned int x = x0_; x < xn_; x++) {
        unsigned char cost = costmap_->getCost(x, y);
        update.data[i++] = cost_translation_table_[cost];
      }
    }
    costmap_update_pub_->publish(update);
  }

  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(node_->get_logger(), "Received costmap service request");

  // TODO(bpwilcox): Grab correct orientation information
  tf2::Quaternion quaternion;
  quaternion.setRPY(0.0, 0.0, 0.0);

  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 = node_->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