Add in range sensor costmap layer (#1888)

* range costmap building

* range sensor layer working

* nav2 costmap pass linter and uncrustify tests

* Added back semicolon to range class

* Added docs

* Added angles dependency

* Added BSD license

* Added BSD license

* Made functions inline

* revmoed get_clock

* added input_sensor_type to docs

* Made defualt topic name empty to cause error

* using chorno literal to denote time units

* Added small initial test

* Fixed linter error, line breaks, enum, logger level, and transform_tolerance issue

* fixed segmentation fault in test and added transfrom tolerances to tf_->transform

* Got test to pass

* Added more tests

* removed incorrect parameter declaration

* Improved marking while moving tests and added clearing tests

* removed general clearing test

* changed testing helper import in test

doc/parameters/param_list.md

@@ -51,11 +51,13 @@ For example:
 ```yaml
 local_costmap:
   ros__parameters:
-    plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
+    plugins: ["obstacle_layer", "voxel_layer", "sonar_layer", "inflation_layer"]
     obstacle_layer:
       plugin: "nav2_costmap_2d::ObstacleLayer"
     voxel_layer:
       plugin: "nav2_costmap_2d::VoxelLayer"
+    sonar_layer:
+      plugin: "nav2_costmap_2d::RangeSensorLayer"
     inflation_layer:
       plugin: "nav2_costmap_2d::InflationLayer"
 ```
@@ -115,7 +117,23 @@ When `plugins` parameter is not overridden, the following default plugins are lo
 | `<data source>`.marking | true | Whether source should mark in costmap |
 | `<data source>`.clearing | false | Whether source should raytrace clear in costmap |
 | `<data source>`.obstacle_range | 2.5 | Maximum range to mark obstacles in costmap |
-| `<data source>`.raytrace_range | 3.0 | Maximum range to raytrace clear obstacles from costmap | 
+| `<data source>`.raytrace_range | 3.0 | Maximum range to raytrace clear obstacles from costmap |
+
+## range_sensor_layer plugin
+
+* `<range layer>`: Name corresponding to the `nav2_costmap_2d::RangeSensorLayer` plugin. This name gets defined in `plugin_names`.
+
+| Parameter | Default | Description |
+| ----------| --------| ------------|
+| `<range layer>`.enabled | true | Whether it is enabled |
+| `<range layer>`.topics | [""] | Range topics to subscribe to |
+| `<range layer>`.phi | 1.2 | Phi value |
+| `<range layer>`.inflate_cone | 1.0 | Inflate the triangular area covered by the sensor (percentage) |
+| `<range layer>`.no_readings_timeout | 0.0 | No Readings Timeout |
+| `<range layer>`.clear_threshold | 0.2 | Probability below which cells are marked as free |
+| `<range layer>`.mark_threshold | 0.8 | Probability above which cells are marked as occupied |
+| `<range layer>`.clear_on_max_reading | false | Clear on max reading |
+| `<range layer>`.input_sensor_type | ALL | Input sensor type either ALL (automatic selection), VARIABLE (min range != max range), or FIXED (min range == max range) |
 
 ## voxel_layer plugin
 

nav2_costmap_2d/CMakeLists.txt

@@ -22,6 +22,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_sensor_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
+find_package(angles REQUIRED)
 
 remove_definitions(-DDISABLE_LIBUSB-1.0)
 find_package(Eigen3 REQUIRED)
@@ -72,6 +73,7 @@ set(dependencies
   tf2_ros
   tf2_sensor_msgs
   visualization_msgs
+  angles
 )
 
 ament_target_dependencies(nav2_costmap_2d_core
@@ -84,6 +86,7 @@ add_library(layers SHARED
   plugins/obstacle_layer.cpp
   src/observation_buffer.cpp
   plugins/voxel_layer.cpp
+  plugins/range_sensor_layer.cpp
 )
 ament_target_dependencies(layers
   ${dependencies}

nav2_costmap_2d/costmap_plugins.xml

@@ -12,6 +12,9 @@
     <class type="nav2_costmap_2d::VoxelLayer"     base_class_type="nav2_costmap_2d::Layer">
       <description>Similar to obstacle costmap, but uses 3D voxel grid to store data.</description>
     </class>
+    <class type="nav2_costmap_2d::RangeSensorLayer" base_class_type="nav2_costmap_2d::Layer">
+      <description>A range-sensor (sonar, IR) based obstacle layer for costmap_2d</description>
+    </class>
   </library>
 </class_libraries>
 

nav2_costmap_2d/include/nav2_costmap_2d/range_sensor_layer.hpp

@@ -0,0 +1,138 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018 David V. Lu!!
+ *  Copyright (c) 2020, Bytes Robotics
+ *  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 the copyright holder 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 HOLDER 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.
+ */
+
+#ifndef NAV2_COSTMAP_2D__RANGE_SENSOR_LAYER_HPP_
+#define NAV2_COSTMAP_2D__RANGE_SENSOR_LAYER_HPP_
+
+#include <list>
+#include <string>
+#include <vector>
+#include <mutex>
+
+#include "map_msgs/msg/occupancy_grid_update.hpp"
+#include "message_filters/subscriber.h"
+#include "nav2_costmap_2d/costmap_layer.hpp"
+#include "nav2_costmap_2d/layered_costmap.hpp"
+#include "nav_msgs/msg/occupancy_grid.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "sensor_msgs/msg/range.hpp"
+
+namespace nav2_costmap_2d
+{
+
+class RangeSensorLayer : public CostmapLayer
+{
+public:
+  enum class InputSensorType
+  {
+    VARIABLE,
+    FIXED,
+    ALL
+  };
+
+  RangeSensorLayer();
+
+  virtual void onInitialize();
+  virtual void updateBounds(
+    double robot_x, double robot_y, double robot_yaw,
+    double * min_x, double * min_y, double * max_x, double * max_y);
+  virtual void updateCosts(
+    nav2_costmap_2d::Costmap2D & master_grid, int min_i,
+    int min_j, int max_i, int max_j);
+  virtual void reset();
+  virtual void deactivate();
+  virtual void activate();
+
+  void bufferIncomingRangeMsg(const sensor_msgs::msg::Range::SharedPtr range_message);
+
+private:
+  void updateCostmap();
+  void updateCostmap(sensor_msgs::msg::Range & range_message, bool clear_sensor_cone);
+
+  void processRangeMsg(sensor_msgs::msg::Range & range_message);
+  void processFixedRangeMsg(sensor_msgs::msg::Range & range_message);
+  void processVariableRangeMsg(sensor_msgs::msg::Range & range_message);
+
+  void resetRange();
+
+  inline double gamma(double theta);
+  inline double delta(double phi);
+  inline double sensor_model(double r, double phi, double theta);
+
+  inline void get_deltas(double angle, double * dx, double * dy);
+  inline void update_cell(
+    double ox, double oy, double ot,
+    double r, double nx, double ny, bool clear);
+
+  inline double to_prob(unsigned char c)
+  {
+    return static_cast<double>(c) / nav2_costmap_2d::LETHAL_OBSTACLE;
+  }
+  inline unsigned char to_cost(double p)
+  {
+    return static_cast<unsigned char>(p * nav2_costmap_2d::LETHAL_OBSTACLE);
+  }
+
+  std::function<void(sensor_msgs::msg::Range & range_message)> processRangeMessageFunc_;
+  std::mutex range_message_mutex_;
+  std::list<sensor_msgs::msg::Range> range_msgs_buffer_;
+
+  double max_angle_, phi_v_;
+  double inflate_cone_;
+  std::string global_frame_;
+
+  double clear_threshold_, mark_threshold_;
+  bool clear_on_max_reading_;
+
+  tf2::Duration transform_tolerance_;
+  double no_readings_timeout_;
+  rclcpp::Time last_reading_time_;
+  unsigned int buffered_readings_;
+  std::vector<rclcpp::Subscription<sensor_msgs::msg::Range>::SharedPtr> range_subs_;
+  double min_x_, min_y_, max_x_, max_y_;
+
+  float area(int x1, int y1, int x2, int y2, int x3, int y3)
+  {
+    return fabs((x1 * (y2 - y3) + x2 * (y3 - y1) + x3 * (y1 - y2)) / 2.0);
+  }
+
+  int orient2d(int Ax, int Ay, int Bx, int By, int Cx, int Cy)
+  {
+    return (Bx - Ax) * (Cy - Ay) - (By - Ay) * (Cx - Ax);
+  }
+};
+}  // namespace nav2_costmap_2d
+#endif  // NAV2_COSTMAP_2D__RANGE_SENSOR_LAYER_HPP_

nav2_costmap_2d/plugins/inflation_layer.cpp

@@ -40,6 +40,8 @@
 #include <limits>
 #include <map>
 #include <vector>
+#include <algorithm>
+#include <utility>
 
 #include "nav2_costmap_2d/costmap_math.hpp"
 #include "nav2_costmap_2d/footprint.hpp"
@@ -163,7 +165,7 @@ InflationLayer::updateCosts(
   }
 
   // make sure the inflation list is empty at the beginning of the cycle (should always be true)
-  for (auto & dist:inflation_cells_) {
+  for (auto & dist : inflation_cells_) {
     RCLCPP_FATAL_EXPRESSION(
       rclcpp::get_logger("nav2_costmap_2d"),
       !dist.empty(), "The inflation list must be empty at the beginning of inflation");
@@ -215,9 +217,10 @@ InflationLayer::updateCosts(
   // Process cells by increasing distance; new cells are appended to the
   // corresponding distance bin, so they
   // can overtake previously inserted but farther away cells
-  for (const auto & dist_bin: inflation_cells_) {
+  for (const auto & dist_bin : inflation_cells_) {
     for (std::size_t i = 0; i < dist_bin.size(); ++i) {
-      // Do not use iterator or for-range based loops to iterate though dist_bin, since it's size might
+      // Do not use iterator or for-range based loops to
+      // iterate though dist_bin, since it's size might
       // change when a new cell is enqueued, invalidating all iterators
       unsigned int index = dist_bin[i].index_;
 
@@ -260,7 +263,7 @@ InflationLayer::updateCosts(
     }
   }
 
-  for (auto & dist:inflation_cells_) {
+  for (auto & dist : inflation_cells_) {
     dist.clear();
     dist.reserve(200);
   }