From 266ae94d3a2df76b6aaf5dfb3c167377e588cf20 Mon Sep 17 00:00:00 2001 From: jorgenfj Date: Fri, 9 Aug 2024 16:30:23 +0200 Subject: [PATCH] fill landmark polygons --- .../config/sitaw/map_manager_params.yaml | 8 +- .../include/landmark_server/grid_manager.hpp | 7 ++ mission/landmark_server/src/grid_manager.cpp | 34 +++++++++ .../params/map_manager_params.yaml | 12 +-- mission/map_manager/src/map_manager_ros.cpp | 2 +- .../docking_task/docking_task_1.png | Bin 0 -> 199410 bytes .../docking_task/docking_task_2.png | Bin 0 -> 145381 bytes .../include/docking_task/docking_task_ros.hpp | 16 ++++ .../params/docking_task_params.yaml | 9 ++- .../docking_task/src/docking_task_ros.cpp | 72 +++++++++++++++++- 10 files changed, 148 insertions(+), 12 deletions(-) create mode 100644 mission/njord_tasks/docking_task/docking_task_1.png create mode 100644 mission/njord_tasks/docking_task/docking_task_2.png diff --git a/asv_setup/config/sitaw/map_manager_params.yaml b/asv_setup/config/sitaw/map_manager_params.yaml index fb8c56b..801738c 100644 --- a/asv_setup/config/sitaw/map_manager_params.yaml +++ b/asv_setup/config/sitaw/map_manager_params.yaml @@ -16,6 +16,10 @@ map_manager_node: # map_origin_lon: 150.6740063854522 # use_predef_map_origin: true # Map origin for sim_maneuvering - map_origin_lat: -33.72213985487166 - map_origin_lon: 150.67413507552098 + # map_origin_lat: -33.72213985487166 + # map_origin_lon: 150.67413507552098 + # use_predef_map_origin: true + #colav + map_origin_lat: -33.72213988382845 + map_origin_lon: 150.67413500672993 use_predef_map_origin: true \ No newline at end of file diff --git a/mission/landmark_server/include/landmark_server/grid_manager.hpp b/mission/landmark_server/include/landmark_server/grid_manager.hpp index 31ab72c..ca33657 100644 --- a/mission/landmark_server/include/landmark_server/grid_manager.hpp +++ b/mission/landmark_server/include/landmark_server/grid_manager.hpp @@ -26,6 +26,13 @@ class GridManager { void draw_line(int x0, int y0, int x1, int y1, int8_t *grid, int value); + void fill_polygon(int8_t *grid, + const Eigen::Array &polygon, + int value); + + bool point_in_polygon(int x, int y, const Eigen::Array &polygon); + + private: float resolution_; uint32_t height_; diff --git a/mission/landmark_server/src/grid_manager.cpp b/mission/landmark_server/src/grid_manager.cpp index a46d368..9eaf336 100644 --- a/mission/landmark_server/src/grid_manager.cpp +++ b/mission/landmark_server/src/grid_manager.cpp @@ -25,6 +25,40 @@ void GridManager::handle_polygon( draw_line(x0, y0, x1, y1, grid, value); } + if ( vertices.cols() > 1){ + fill_polygon(grid, vertices, value); + } +} + +void GridManager::fill_polygon(int8_t *grid, + const Eigen::Array &polygon, + int value) { + double max_x = polygon.row(0).maxCoeff(); + double min_x = polygon.row(0).minCoeff(); + double max_y = polygon.row(1).maxCoeff(); + double min_y = polygon.row(1).minCoeff(); + + for (int x = min_x; x < max_x; x++) { + for (int y = min_y; y < max_y; y++) { + if (x >= 0 && x < static_cast(width_) && y >= 0 && y < static_cast(height_)) { + if (point_in_polygon(x, y, polygon)) { + grid[y * width_ + x] += value; + } + } + } + } +} + +bool GridManager::point_in_polygon(int x, int y, const Eigen::Array &polygon) { + int i, j; + bool c = false; + for (i = 0, j = polygon.cols() - 1; i < polygon.cols(); j = i++) { + if (((polygon(1, i) > y) != (polygon(1, j) > y)) && + (x < (polygon(0, j) - polygon(0, i)) * (y - polygon(1, i)) / (polygon(1, j) - polygon(1, i)) + polygon(0, i)) + ) + c = !c; + } + return c; } void GridManager::draw_line(int x0, int y0, int x1, int y1, int8_t *grid, diff --git a/mission/map_manager/params/map_manager_params.yaml b/mission/map_manager/params/map_manager_params.yaml index 4b7b047..992cda1 100644 --- a/mission/map_manager/params/map_manager_params.yaml +++ b/mission/map_manager/params/map_manager_params.yaml @@ -7,9 +7,9 @@ map_manager_node: map_height: 1000 frame_id: "world" # Map origin for office rosbag - # map_origin_lat: 63.414660884931976 - # map_origin_lon: 10.398554661537544 - # use_predef_map_origin: true - map_origin_lat: 0.0 - map_origin_lon: 0.0 - use_predef_map_origin: false + map_origin_lat: 63.414660884931976 + map_origin_lon: 10.398554661537544 + use_predef_map_origin: true + # map_origin_lat: 0.0 + # map_origin_lon: 0.0 + # use_predef_map_origin: false diff --git a/mission/map_manager/src/map_manager_ros.cpp b/mission/map_manager/src/map_manager_ros.cpp index 0126688..37491c0 100644 --- a/mission/map_manager/src/map_manager_ros.cpp +++ b/mission/map_manager/src/map_manager_ros.cpp @@ -213,7 +213,7 @@ nav_msgs::msg::OccupancyGrid MapManagerNode::createOccupancyGrid() { grid.info.resolution = get_parameter("map_resolution").as_double(); grid.info.width = get_parameter("map_width").as_int(); grid.info.height = get_parameter("map_height").as_int(); - // grid.info.origin = calculate_map_origin(); + grid.info.origin = calculate_map_origin(); 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zWbN*$%v4M%R~56FTITELxcowHsoYRpp|d;?Vs^jTt@Z+~#_j55vKt1uZ*d(UYp|QA z%aso!;4oY;Mte7RGj+;UIdY#UQy=^U=Gst_aUD42vV#NFOW#`h0Tu;ZShEyBbEHoJ zc3coqJwL*zB&I&XGsER4o*)&5V|ITUxUus&DS)P5pQ&L zh$%LE@m~mjbLu)UXDCp-!Eq$aw=?OP-sb@q)LdtAIhYTSJl+rz0F#kCuRWPKLo#+j zY-l?E@_RUc5$Y;{gBMPv2wS1=oy+xQZ1Nk`n5d_1_^l-3+mqQE zB(Ug&xBu)-OVnRxNfxAN9-Pb|5=hXsgp$kZ(1XfJlT)w`5L)g z0?WC`LgKn7bkcDSnDTe?Yw*8gK}f2C;$HzA<*@1GHSou search_line(const nav_msgs::msg::OccupancyGrid &grid, double x0, double y0, double x1, double y1); + + private: mutable std::mutex grid_mutex_; bool new_grid_msg_ = false; diff --git a/mission/njord_tasks/docking_task/params/docking_task_params.yaml b/mission/njord_tasks/docking_task/params/docking_task_params.yaml index 4b67518..61a239f 100644 --- a/mission/njord_tasks/docking_task/params/docking_task_params.yaml +++ b/mission/njord_tasks/docking_task/params/docking_task_params.yaml @@ -23,7 +23,14 @@ docking_task_node: distance_to_first_buoy_pair: 2.0 # Distance in x-direction to first buoy pair in meters from current postition (not gps) position in base_link frame # If the distance is greater than 6.0 we drive distance-4m towards the first buoy pair before trying to find it distance_between_buoys_in_pair: 5.0 # Distance between the two buoys in a pair - grid_topic: "grid" + grid_topic: "pcl_grid" + dock_structure_absolute_width: 4.39 # Width of the dock structure in meters 4.39 for task 4.2 and 4.52 for task 4.1 + dock_structure_absolute_width_padding: 0.5 # Padding on each side of the dock structure for line search start and end + + + + + dock_width: 4.13 # width of available docking space dock_width_tolerance: 0.5 dock_length: 2.0 # length of available docking space diff --git a/mission/njord_tasks/docking_task/src/docking_task_ros.cpp b/mission/njord_tasks/docking_task/src/docking_task_ros.cpp index 31b523b..f995383 100644 --- a/mission/njord_tasks/docking_task/src/docking_task_ros.cpp +++ b/mission/njord_tasks/docking_task/src/docking_task_ros.cpp @@ -247,15 +247,24 @@ void DockingTaskNode::main_task() { buoy_vis_msg.header.stamp = this->now(); buoy_visualization_pub_->publish(buoy_vis_msg); + Eigen::Vector2d direction_vector_up; + direction_vector_up << (buoy_landmarks_4_to_5[0].pose_odom_frame.position.x + + buoy_landmarks_4_to_5[1].pose_odom_frame.position.x) / + 2 - odom_start_point_.x, + (buoy_landmarks_4_to_5[0].pose_odom_frame.position.y + + buoy_landmarks_4_to_5[1].pose_odom_frame.position.y) / + 2 - odom_start_point_.y; + direction_vector_up.normalize(); + geometry_msgs::msg::Point waypoint_third_pair; waypoint_third_pair.x = (buoy_landmarks_4_to_5[0].pose_odom_frame.position.x + buoy_landmarks_4_to_5[1].pose_odom_frame.position.x) / - 2; + 2 + direction_vector_up(0) * 2; waypoint_third_pair.y = (buoy_landmarks_4_to_5[0].pose_odom_frame.position.y + buoy_landmarks_4_to_5[1].pose_odom_frame.position.y) / - 2; + 2 + direction_vector_up(1) * 2; waypoint_third_pair.z = 0.0; send_waypoint(waypoint_third_pair); set_desired_heading(odom_start_point_, waypoint_third_pair); @@ -377,4 +386,63 @@ std::shared_ptr DockingTaskNode::get_grid() { return grid_msg_; } +std::vector DockingTaskNode::search_line(const nav_msgs::msg::OccupancyGrid &grid, double dx0, double dy0, + double dx1, double dy1) { + int x0 = x0 / grid.info.resolution + grid.info.width / 2; + int y0 = y0 / grid.info.resolution + grid.info.height / 2; + int x1 = x1 / grid.info.resolution + grid.info.width / 2; + int y1 = y1 / grid.info.resolution + grid.info.height / 2; + + std::vector occupied_cells; + bool steep = std::abs(y1 - y0) > std::abs(x1 - x0); + if (steep) { + occupied_cells.reserve(std::abs(y1 - y0)); + } else { + occupied_cells.reserve(std::abs(x1 - x0)); + } + if (steep) { + std::swap(x0, y0); + std::swap(x1, y1); + } + bool swap = x0 > x1; + if (swap) { + std::swap(x0, x1); + std::swap(y0, y1); + } + int dx = x1 - x0; + int dy = std::abs(y1 - y0); + int error = 2 * dy - dx; + int ystep = (y0 < y1) ? 1 : -1; + int xbounds = steep ? grid.info.height : grid.info.width; + int ybounds = steep ? grid.info.width : grid.info.height; + int y = y0; + + for (int x = x0; x <= x1; x++) { + if (steep) { + if (x >= 0 && x < xbounds && y >= 0 && y < ybounds) { + occupied_cells.push_back(grid.data[y + x * grid.info.width] > 0); + } + } else { + if (y >= 0 && y < ybounds && x >= 0 && x < xbounds) { + occupied_cells.push_back(grid.data[y * grid.info.width + x] > 0); + } + } + if (error > 0) { + y += ystep; + error -= 2 * (dx - dy); + } else { + error += 2 * dy; + } + } + if (swap) { + std::reverse(occupied_cells.begin(), occupied_cells.end()); + } + return occupied_cells; + +} + +void DockingTaskNode::find_dock_structure_edges(){ + +} + } // namespace docking_task \ No newline at end of file