apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Finalize pointcloud to laserscan

Browse Source
This commit is contained in:
Paul Bovbel
2014-10-05 14:55:00 -04:00
committed by Paul Bovbel
parent 85241bcb53
commit dc1cf04b07
8 changed files with 408 additions and 126 deletions
Download Patch File Download Diff File Expand all files Collapse all files
pointcloud_to_laserscan/src/PointCloudToLaserScanBase.cpp
+167 -26
View File
@@ -1,44 +1,185 @@
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010-2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
/*
* Author: Paul Bovbel
*/
#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h>
#include <sensor_msgs/LaserScan.h>
#include <pcl_ros/transforms.h>
#include <math.h>
namespace pointcloud_to_laserscan
{
PointCloudToLaserScanBase::PointCloudToLaserScanBase(ros::NodeHandle& nh, ros::NodeHandle& private_nh, const unsigned int concurrency) :
nh_(nh), private_nh_(private_nh), concurrency_(concurrency)
{
boost::mutex::scoped_lock lock(connect_mutex_);
pub_ = nh.advertise<sensor_msgs::LaserScan>("scan", 10, boost::bind(&PointCloudToLaserScanBase::connectCb, this), boost::bind(&PointCloudToLaserScanBase::disconnectCb, this));
//todo params
target_frame_ = "base_link";
PointCloudToLaserScanBase::PointCloudToLaserScanBase(ros::NodeHandle& nh, ros::NodeHandle& private_nh) :
nh_(nh), private_nh_(private_nh)
{
}
private_nh.param<std::string>("target_frame", target_frame_, "base_link");
private_nh_.param<double>("min_height", min_height_, 0.0);
private_nh_.param<double>("max_height", max_height_, 1.0);
PointCloudToLaserScanBase::~PointCloudToLaserScanBase(){
sub_.shutdown();
}
private_nh_.param<double>("angle_min", angle_min_, -M_PI/2.0);
private_nh_.param<double>("angle_max", angle_max_, M_PI/2.0);
private_nh_.param<double>("angle_increment", angle_increment_, M_PI/360.0);
private_nh_.param<double>("scan_time", scan_time_, 1.0/30.0);
private_nh_.param<double>("range_min", range_min_, 0.45);
private_nh_.param<double>("range_max", range_max_, 4.0);
void PointCloudToLaserScanBase::cloudCb(const PointCloud::ConstPtr& cloud){
bool use_concurrency;
private_nh_.param<bool>("use_concurrency", use_concurrency, true);
private_nh_.param<bool>("use_inf", use_inf_, true);
}
boost::mutex::scoped_lock lock(connect_mutex_);
//Only allow #threads pointclouds to wait in queue
if(use_concurrency){
input_queue_size_ = boost::thread::hardware_concurrency();
}else{
input_queue_size_ = 1;
}
pub_ = nh.advertise<sensor_msgs::LaserScan>("scan", 10,
boost::bind(&PointCloudToLaserScanBase::connectCb, this),
boost::bind(&PointCloudToLaserScanBase::disconnectCb, this));
void PointCloudToLaserScanBase::connectCb() {
boost::mutex::scoped_lock lock(connect_mutex_);
if (!sub_ && pub_.getNumSubscribers() > 0) {
ROS_DEBUG("Connecting to depth topic.");
sub_ = nh_.subscribe("cloud_in", concurrency_, &PointCloudToLaserScanBase::cloudCb, this);
}
}
void PointCloudToLaserScanBase::disconnectCb() {
boost::mutex::scoped_lock lock(connect_mutex_);
if (pub_.getNumSubscribers() == 0) {
ROS_DEBUG("Unsubscribing from depth topic.");
PointCloudToLaserScanBase::~PointCloudToLaserScanBase(){
sub_.shutdown();
}
}
void PointCloudToLaserScanBase::connectCb() {
boost::mutex::scoped_lock lock(connect_mutex_);
if (!sub_ && pub_.getNumSubscribers() > 0) {
ROS_DEBUG("Connecting to depth topic.");
sub_ = nh_.subscribe("cloud_in", input_queue_size_, &PointCloudToLaserScanBase::cloudCb, this);
}
}
void PointCloudToLaserScanBase::disconnectCb() {
boost::mutex::scoped_lock lock(connect_mutex_);
if (pub_.getNumSubscribers() == 0) {
ROS_DEBUG("Unsubscribing from depth topic.");
sub_.shutdown();
}
}
void PointCloudToLaserScanBase::cloudCb(const PointCloud::ConstPtr& cloud_msg){
//pointer to pointcloud data to transform to laserscan
PointCloud::ConstPtr cloud_scan;
std_msgs::Header cloud_in_header = pcl_conversions::fromPCL(cloud_scan->header);
//decide if pointcloud needs to be transformed to a target frame
if(!target_frame_.empty() && cloud_in_header.frame_id != target_frame_){
bool found_transform = tf_.waitForTransform(cloud_in_header.frame_id, target_frame_, cloud_in_header.stamp, ros::Duration(10.0));
if(found_transform){
PointCloud::Ptr cloud_tf(new PointCloud);
pcl_ros::transformPointCloud(target_frame_, *cloud_msg, *cloud_tf, tf_);
cloud_scan = cloud_tf;
}else{
ROS_WARN_STREAM_THROTTLE(1.0, "Can't transform cloud with frame " << cloud_in_header.frame_id << " into lasercan with frame " << target_frame_);
return;
}
}else{
cloud_scan = cloud_msg;
}
//build laserscan output
sensor_msgs::LaserScan output;
output.header = cloud_in_header;
output.header.frame_id = target_frame_;
output.angle_min = angle_min_;
output.angle_max = angle_max_;
output.angle_increment = angle_increment_;
output.time_increment = 0.0;
output.scan_time = scan_time_;
output.range_min = range_min_;
output.range_max = range_max_;
uint32_t ranges_size = std::ceil((output.angle_max - output.angle_min) / output.angle_increment);
//determine if laserscan rays with no obstacle data will evaluate to infinity
if(use_inf_){
output.ranges.assign(ranges_size, std::numeric_limits<double>::infinity());
}else{
output.ranges.assign(ranges_size, output.range_max + 1.0);
}
for (PointCloud::const_iterator it = cloud_scan->begin(); it != cloud_scan->end(); ++it){
const float &x = it->x;
const float &y = it->y;
const float &z = it->z;
if ( std::isnan(x) || std::isnan(y) || std::isnan(z) ){
//NODELET_DEBUG("rejected for nan in point(%f, %f, %f)\n", x, y, z);
continue;
}
if (z > max_height_ || z < min_height_){
//NODELET_DEBUG("rejected for height %f not in range (%f, %f)\n", z, min_height_, max_height_);
continue;
}
double range = hypot(x,y);
if (range < range_min_){
//NODELET_DEBUG("rejected for range %f below minimum value %f. Point: (%f, %f, %f)", range, range_min_, x, y, z);
continue;
}
double angle = atan2(y, x);
if (angle < output.angle_min || angle > output.angle_max){
//NODELET_DEBUG("rejected for angle %f not in range (%f, %f)\n", angle, output.angle_min, output.angle_max);
continue;
}
//overwrite range at laserscan ray if new range is smaller
int index = (angle - output.angle_min) / output.angle_increment;
if (range < output.ranges[index]){
output.ranges[index] = range;
}
}
pub_.publish(output);
}
} // pointcloud_to_laserscan
pointcloud_to_laserscan/src/PointCloudToLaserScanNodelet.cpp
+76
View File
@@ -0,0 +1,76 @@
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010-2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
/*
* Author: Paul Bovbel
*/
#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h>
#include <nodelet/nodelet.h>
namespace pointcloud_to_laserscan
{
class PointCloudToLaserScanNodelet : public nodelet::Nodelet
{
public:
PointCloudToLaserScanNodelet() {};
~PointCloudToLaserScanNodelet() {}
private:
virtual void onInit()
{
bool use_concurrency;
getPrivateNodeHandle().param<bool>("use_concurrency", use_concurrency, false);
if(use_concurrency){
cloud_to_scan.reset(new PointCloudToLaserScanBase(getMTNodeHandle(), getPrivateNodeHandle()));
}else{
cloud_to_scan.reset(new PointCloudToLaserScanBase(getNodeHandle(), getPrivateNodeHandle()));
}
};
boost::shared_ptr<PointCloudToLaserScanBase> cloud_to_scan;
};
}
#include <pluginlib/class_list_macros.h>
PLUGINLIB_DECLARE_CLASS(pointcloud_to_laserscan, PointCloudToLaserScanNodelet, pointcloud_to_laserscan::PointCloudToLaserScanNodelet, nodelet::Nodelet);
pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp
+50 -4
View File
@@ -1,16 +1,62 @@
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010-2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
/*
* Author: Paul Bovbel
*/
#include <ros/ros.h>
#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h>
int main(int argc, char **argv){
ros::init(argc, argv, "pointcloud_to_laserscan");
ros::NodeHandle nh;
ros::NodeHandle nh_private("~");
ros::NodeHandle private_nh("~");
bool use_concurrency;
unsigned int concurrency = 4;
private_nh.param<bool>("use_concurrency", use_concurrency, false);
pointcloud_to_laserscan::PointCloudToLaserScanBase node(nh, nh_private, concurrency);
pointcloud_to_laserscan::PointCloudToLaserScanBase node(nh, private_nh);
ros::spin();
if(use_concurrency) {
ros::MultiThreadedSpinner spinner;
spinner.spin();
}else{
ros::spin();
}
return 0;
}