diff --git a/nav2_bringup/bringup/params/nav2_params.yaml b/nav2_bringup/bringup/params/nav2_params.yaml
index d8c522f305621fcc809ac17213263301dbc7bd0b..634fced80e7195593823fd8393141f521031f8ac 100644
--- a/nav2_bringup/bringup/params/nav2_params.yaml
+++ b/nav2_bringup/bringup/params/nav2_params.yaml
@@ -102,25 +102,42 @@ local_costmap:
ros__parameters:
use_sim_time: True
global_frame: odom
- plugin_names: ["obstacle_layer", "inflation_layer"]
- plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
+ plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
+ plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
rolling_window: true
width: 3
height: 3
resolution: 0.05
robot_radius: 0.22
- inflation_layer.cost_scaling_factor: 3.0
+ inflation_layer:
+ cost_scaling_factor: 3.0
obstacle_layer:
enabled: True
+ observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
+ data_type: "LaserScan"
+ voxel_layer:
+ enabled: True
+ publish_voxel_map: True
+ origin_z: 0.0
+ z_resolution: 0.2
+ z_voxels: 10
+ max_obstacle_height: 2.0
+ mark_threshold: 0
+ observation_sources: pointcloud
+ pointcloud:
+ topic: /intel_realsense_r200_depth/points
+ max_obstacle_height: 2.0
+ clearing: True
+ marking: True
+ data_type: "PointCloud2"
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
- observation_sources: scan
local_costmap_client:
ros__parameters:
use_sim_time: True
@@ -132,18 +149,36 @@ global_costmap:
global_costmap:
ros__parameters:
use_sim_time: True
+ plugin_names: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
+ plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
robot_radius: 0.22
obstacle_layer:
enabled: True
+ observation_sources: scan
scan:
topic: /scan
max_obstacle_height: 2.0
clearing: True
marking: True
+ data_type: "LaserScan"
+ voxel_layer:
+ enabled: True
+ publish_voxel_map: True
+ origin_z: 0.0
+ z_resolution: 0.2
+ z_voxels: 10
+ max_obstacle_height: 2.0
+ mark_threshold: 0
+ observation_sources: pointcloud
+ pointcloud:
+ topic: /intel_realsense_r200_depth/points
+ max_obstacle_height: 2.0
+ clearing: True
+ marking: True
+ data_type: "PointCloud2"
static_layer:
map_subscribe_transient_local: True
always_send_full_costmap: True
- observation_sources: scan
global_costmap_client:
ros__parameters:
use_sim_time: True
diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
index ca42f6f9a5f893e927aab7226de1b52c6a2b7a80..56b405648c731daf7bfe9080a33ef5a367aced1f 100644
--- a/nav2_costmap_2d/CMakeLists.txt
+++ b/nav2_costmap_2d/CMakeLists.txt
@@ -110,6 +110,10 @@ target_link_libraries(nav2_costmap_2d_markers
nav2_costmap_2d_core
)
+ament_target_dependencies(nav2_costmap_2d_markers
+ ${dependencies}
+)
+
add_executable(nav2_costmap_2d_cloud src/costmap_2d_cloud.cpp)
target_link_libraries(nav2_costmap_2d_cloud
nav2_costmap_2d_core
@@ -125,7 +129,7 @@ target_link_libraries(nav2_costmap_2d
layers
)
-install(TARGETS nav2_costmap_2d_core nav2_costmap_2d layers nav2_costmap_2d_client
+install(TARGETS nav2_costmap_2d_core nav2_costmap_2d layers nav2_costmap_2d_client nav2_costmap_2d_markers
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
diff --git a/nav2_costmap_2d/README.md b/nav2_costmap_2d/README.md
index 405b9683a6e7be01b8f6f08d8b086c0f6debf360..9dd12247e12e81f63c4bd8c8f3c00c63c4b3a765 100644
--- a/nav2_costmap_2d/README.md
+++ b/nav2_costmap_2d/README.md
@@ -10,7 +10,86 @@ ROS2 port of the ROS1 navigation stack version, with minimal noteable changes ne
widespread discussion throughout the navigation stack (see issue https://github.com/ros-planning/navigation2/issues/177) and
general ROS2 community. A proposal temporary replacement has been submitted as a PR here: https://github.com/ros-planning/navigation2/pull/196
+## How to configure using Voxel Layer plugin:
+By default, the navigation stack uses the _Obstacle Layer_ to avoid obstacles in 2D. The _Voxel Layer_ allows for detecting obstacles in 3D using Pointcloud2 data. It requires Pointcloud2 data being published on some topic. For simulation, a Gazebo model of the robot with depth camera enabled will publish a pointcloud topic.
+
+The Voxel Layer plugin can be used to update the local costmap, glocal costmap or both, depending on how you define it in the `nav2_params.yaml` file in the nav2_bringup directory. The voxel layer plugin has to be added to the list of ```plugin_names``` and ```plugin_types``` in the global/local costmap scopes in the param file. If these are not defined in the param file, the default plugins set in nav2_costmap_2d will be used.
+
+Inside each costmap layer (voxel, obstacle, etc) define `observation_sources` param. Here you can define multiple sources to be used with the layer. The param configuration example below shows the way you can configure costmaps to use voxel layer.
+
+The `voxel_layer` param has `observation_source: pointcloud` in it's scope, and the param `pointcloud` has `topic`, and `data_type` inside it's scope. By default, the data_type is `LaserScan`, thus you need to specify `PointCloud2` if you are using PointCould2 data from a depth sensor.
+
+Example param configuration snippet for enabling voxel layer in local costmap is shown below (not all params are shown):
+```
+local_costmap:
+ local_costmap:
+ ros__parameters:
+ plugin_names: ["obstacle_layer", "voxel_layer", "inflation_layer"]
+ plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::VoxelLayer", "nav2_costmap_2d::InflationLayer"]
+ obstacle_layer:
+ enabled: True
+ observation_sources: scan
+ scan:
+ topic: /scan
+ max_obstacle_height: 2.0
+ clearing: True
+ marking: True
+ data_type: "LaserScan"
+ voxel_layer:
+ enabled: True
+ publish_voxel_map: True
+ origin_z: 0.0
+ z_resolution: 0.2
+ z_voxels: 10
+ max_obstacle_height: 2.0
+ mark_threshold: 0
+ observation_sources: pointcloud
+ pointcloud:
+ topic: /intel_realsense_r200_depth/points
+ max_obstacle_height: 2.0
+ clearing: True
+ marking: True
+ data_type: "PointCloud2"
+```
+Please note that not all params needed to run the navigation stack are shown here. This example only shows how you can add different costmap layers, with multiple input sources of different types.
+
+### To visualize the voxels in RVIZ:
+- Make sure `publish_voxel_map` in `voxel_layer` param's scope is set to `True`.
+- Open a new terminal and run:
+ ```ros2 run nav2_costmap_2d nav2_costmap_2d_markers voxel_grid:=/local_costmap/voxel_grid visualization_marker:=/my_marker```
+ Here you can change `my_marker` to any topic name you like for the markers to be published on.
+
+- Then add `my_marker` to RVIZ using the GUI.
+
+
+####Errata:
+- To see the markers in 3D, you will need to change the _view_ in RVIZ to a 3 dimensional view (e.g. orbit) from the RVIZ GUI.
+- Currently due to some bug in rviz, you need to set the `fixed_frame` in the rviz display, to `odom` frame.
+- Using pointcloud data from a saved bag file while using gazebo simulation can be troublesome due to the clock time skipping to an earlier time.
+
+## How to use multiple sensor sources:
+Multiple sources can be added into a costmap layer (e.g., obstacle layer), by listing them under the 'observation_sources' for that layer.
+For example, to add laser scan and pointcloud as two different sources of inputs to the obstacle layer, you can define them in the params file as shown below for the local costmap:
+```
+local_costmap:
+ local_costmap:
+ ros__parameters:
+ plugin_names: ["obstacle_layer", "inflation_layer"]
+ plugin_types: ["nav2_costmap_2d::ObstacleLayer", "nav2_costmap_2d::InflationLayer"]
+ obstacle_layer:
+ enabled: True
+ observation_sources: scan pointcloud
+ scan:
+ topic: /scan
+ data_type: "LaserScan"
+ pointcloud:
+ topic: /intel_realsense_r200_depth/points
+ data_type: "PointCloud2"
+```
+In order to add multiple sources to the global costmap, follow the same procedure shown in the example above, but now adding the sources and their specific params under the `global_costmap` scope.
+
## Future Plans
- Conceptually, the costmap_2d model acts as a world model of what is known from the map, sensor, robot pose, etc. We'd like
to broaden this world model concept and use costmap's layer concept as motivation for providing a service-style interface to
potential clients needing information about the world (see issue https://github.com/ros-planning/navigation2/issues/18)
+
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.hpp
index 22dc74fdfa8b943c4bc2c477d82e469aa50ee2c2..5e963c4f977fed0c9f964619be746c7b2c3965b7 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.hpp
@@ -94,7 +94,7 @@ private:
double * max_y);
bool publish_voxel_;
- rclcpp::Publisher<nav2_msgs::msg::VoxelGrid>::SharedPtr voxel_pub_;
+ rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::VoxelGrid>::SharedPtr voxel_pub_;
nav2_voxel_grid::VoxelGrid voxel_grid_;
double z_resolution_, origin_z_;
int unknown_threshold_, mark_threshold_, size_z_;
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
index 347a139bb9c30b39dea6a94e06f42692505fcb6a..e40b02039c8f38e2af7bc4071aca301df3f2de36 100644
--- a/nav2_costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -80,6 +80,7 @@ void ObstacleLayer::onInitialize()
rclcpp::ParameterValue(true));
declareParameter("max_obstacle_height", rclcpp::ParameterValue(2.0));
declareParameter("combination_method", rclcpp::ParameterValue(1));
+ declareParameter("observation_sources", rclcpp::ParameterValue(std::string("")));
node_->get_parameter(name_ + "." + "enabled", enabled_);
node_->get_parameter(name_ + "." + "footprint_clearing_enabled", footprint_clearing_enabled_);
@@ -87,7 +88,7 @@ void ObstacleLayer::onInitialize()
node_->get_parameter(name_ + "." + "combination_method", combination_method_);
node_->get_parameter("track_unknown_space", track_unknown_space);
node_->get_parameter("transform_tolerance", transform_tolerance);
- node_->get_parameter("observation_sources", topics_string);
+ node_->get_parameter(name_ + "." + "observation_sources", topics_string);
RCLCPP_INFO(node_->get_logger(), "Subscribed to Topics: %s", topics_string.c_str());
diff --git a/nav2_costmap_2d/plugins/voxel_layer.cpp b/nav2_costmap_2d/plugins/voxel_layer.cpp
index 105b88a1492b500b3ab43a811c819cee6b1cd89e..526b6200f4faee854f5d6c9e9a3ac3b81f8854c1 100644
--- a/nav2_costmap_2d/plugins/voxel_layer.cpp
+++ b/nav2_costmap_2d/plugins/voxel_layer.cpp
@@ -88,6 +88,8 @@ void VoxelLayer::onInitialize()
"voxel_grid", custom_qos);
}
+ voxel_pub_->on_activate();
+
clearing_endpoints_pub_ = node_->create_publisher<sensor_msgs::msg::PointCloud>(
"clearing_endpoints", custom_qos);
@@ -108,11 +110,12 @@ void VoxelLayer::matchSize()
void VoxelLayer::reset()
{
+ voxel_pub_->on_deactivate();
deactivate();
resetMaps();
- voxel_grid_.reset();
activate();
undeclareAllParameters();
+ voxel_pub_->on_activate();
}
void VoxelLayer::resetMaps()
diff --git a/nav2_costmap_2d/src/costmap_2d_markers.cpp b/nav2_costmap_2d/src/costmap_2d_markers.cpp
index 423573213692d7a4002d9a232bf9a94fa86924cc..2f1af4f78dc614dcc264f6642096433801c83d37 100644
--- a/nav2_costmap_2d/src/costmap_2d_markers.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_markers.cpp
@@ -62,7 +62,8 @@ float g_colors_a[] = {0.0f, 0.5f, 1.0f};
V_Cell g_cells;
nav2_util::LifecycleNode::SharedPtr g_node;
-rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr pub;
+rclcpp_lifecycle::LifecyclePublisher<visualization_msgs::msg::Marker>::SharedPtr pub;
+
void voxelCallback(const nav2_msgs::msg::VoxelGrid::ConstSharedPtr grid)
{
if (grid->data.empty()) {
@@ -150,6 +151,7 @@ int main(int argc, char ** argv)
pub = g_node->create_publisher<visualization_msgs::msg::Marker>(
"visualization_marker", 1);
+ pub->on_activate();
auto sub = g_node->create_subscription<nav2_msgs::msg::VoxelGrid>(
"voxel_grid", rclcpp::SystemDefaultsQoS(), voxelCallback);