Bugfixes to sphere marker publishing in 3D. Separate RViz config file…

…s for 2D and 3D.
david-dorf · Nov 5, 2023 · 326d865 · 326d865
1 parent 3e68509
commit 326d865
Show file tree

Hide file tree

Showing 8 changed files with 288 additions and 16 deletions.
diff --git a/config/rrt2Dconfig.rviz b/config/rrt2Dconfig.rviz
@@ -0,0 +1,227 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Path1/Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        rrt_markers: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rrt_markers
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 224; 27; 36
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rrt_path
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        rrt_markers: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /obstacle_markers_2D
+      Value: true
+    - Alpha: 0.699999988079071
+      Binary representation: false
+      Binary threshold: 100
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /occupancy_grid
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /occupancy_grid_updates
+      Use Timestamp: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 8.339649200439453
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.9703981876373291
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.0604071617126465
+    Saved:
+      - Class: rviz_default_plugins/Orbit
+        Distance: 10
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: true
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.785398006439209
+        Target Frame: <Fixed Frame>
+        Value: Orbit (rviz)
+        Yaw: 0.785398006439209
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 697
+  Y: 27
diff --git a/config/rrtconfig.rviz → config/rrt3Dconfig.rviz b/config/rrtconfig.rviz → config/rrt3Dconfig.rviz
@@ -4,11 +4,6 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
-        - /Status1
-        - /MarkerArray1
-        - /Path1
-        - /Path1/Status1
         - /Path1/Topic1
       Splitter Ratio: 0.5
     Tree Height: 549
@@ -63,10 +58,22 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /rrt_markers
       Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        rrt_markers: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /obstacle_markers_3D
+      Value: true
     - Alpha: 1
       Buffer Length: 1
       Class: rviz_default_plugins/Path
-      Color: 25; 255; 0
+      Color: 224; 27; 36
       Enabled: true
       Head Diameter: 0.30000001192092896
       Head Length: 0.20000000298023224
@@ -152,10 +159,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.44539856910705566
+      Pitch: 0.4953986406326294
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.6854054927825928
+      Yaw: 4.685409069061279
     Saved:
       - Class: rviz_default_plugins/Orbit
         Distance: 10

diff --git a/launch/rrt2Dlaunch.xml b/launch/rrt2Dlaunch.xml
@@ -7,9 +7,9 @@
   <arg name="obstacle_sub_mode" default="True"/>
   <arg name="step_size" default="0.05"/>
   <arg name="node_limit" default="5000"/>
-  <arg name="goal_tolerance" default="0.1"/>
+  <arg name="goal_tolerance" default="0.2"/>
   <arg name="wall_confidence" default="50"/>
-  <node name="rviz2" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros2rrt)/config/rrtconfig.rviz"/>
+  <node name="rviz2" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros2rrt)/config/rrt2Dconfig.rviz"/>
   <node pkg="ros2rrt" exec="map_frame_pub"/>
   <node pkg="ros2rrt" exec="occupancy_pub"/>
   <node pkg="ros2rrt" exec="obstacle_pub_2D"/>

diff --git a/launch/rrt3Dlaunch.xml b/launch/rrt3Dlaunch.xml
@@ -8,11 +8,11 @@
   <arg name="obstacle_sub_mode" default="True"/>
   <arg name="step_size" default="0.05"/>
   <arg name="node_limit" default="5000"/>
-  <arg name="goal_tolerance" default="0.1"/>
+  <arg name="goal_tolerance" default="0.5"/>
   <arg name="wall_confidence" default="50"/>
-  <node name="rviz2" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros2rrt)/config/rrtconfig.rviz"/>
+  <node name="rviz2" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros2rrt)/config/rrt3Dconfig.rviz"/>
   <node pkg="ros2rrt" exec="map_frame_pub"/>
-  <node pkg="ros2rrt" exec="obstacle_pub"/>
+  <node pkg="ros2rrt" exec="obstacle_pub_3D"/>
   <node pkg="ros2rrt" exec="rrt3D">
     <param name="start_x" value="$(var start_x)"/>
     <param name="start_y" value="$(var start_y)"/>

diff --git a/ros2rrt/obstacle_pub_3D.py b/ros2rrt/obstacle_pub_3D.py
@@ -0,0 +1,37 @@
+import rclpy
+from rclpy.node import Node
+from visualization_msgs.msg import Marker, MarkerArray
+from .submodules.Marker import Sphere, Box, create_marker
+
+
+class ObstaclePublisher2D(Node):
+
+    def __init__(self):
+        super().__init__('obstacle_publisher_3D')
+        self.publisher = self.create_publisher(
+            MarkerArray, 'obstacle_markers_3D', 10)
+        self.timer = self.create_timer(
+            1.0, self.publish_obstacle)
+        self.obstacle_1 = Sphere(1.0, 1.0, 1.0, 1.0)
+        self.obstacle_2 = Box(-1.0, -1.0, 1.0, 1.0, 1.0, 1.0, 0.0)
+        self.obstacle_list = [self.obstacle_1, self.obstacle_2]
+
+    def publish_obstacle(self):
+        marker_array = MarkerArray()
+        for obstacle in self.obstacle_list:
+            if isinstance(obstacle, Sphere):
+                marker = create_marker(Marker.SPHERE, self.obstacle_list.index(
+                    obstacle), [1.0, 0.0, 0.0, 1.0], [obstacle.radius * 2, obstacle.radius * 2, obstacle.radius * 2], [obstacle.x, obstacle.y, obstacle.z])
+                marker_array.markers.append(marker)
+            elif isinstance(obstacle, Box):
+                marker = create_marker(Marker.CUBE, self.obstacle_list.index(
+                    obstacle), [1.0, 0.0, 0.0, 1.0], [obstacle.width, obstacle.height, obstacle.depth], [obstacle.x, obstacle.y, obstacle.z])
+                marker_array.markers.append(marker)
+        self.publisher.publish(marker_array)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    obstacle_publisher = ObstaclePublisher2D()
+    rclpy.spin(obstacle_publisher)
+    rclpy.shutdown()
diff --git a/ros2rrt/rrt2D.py b/ros2rrt/rrt2D.py
@@ -21,7 +21,7 @@ def __init__(self):
             ('obstacle_sub_mode', True),
             ('step_size', 0.05),
             ('node_limit', 5000),
-            ('goal_tolerance', 0.5),
+            ('goal_tolerance', 0.2),
             ('wall_confidence', 50)
         ]
         self.declare_parameters(namespace='', parameters=parameters)

diff --git a/ros2rrt/rrt3D.py b/ros2rrt/rrt3D.py
@@ -39,7 +39,7 @@ def __init__(self):
         if self.obstacle_sub_mode:
             self.obstacle_list = []
             self.obstacle_subscription = self.create_subscription(
-                MarkerArray, 'obstacle_markers', self.obstacle_callback, 10)
+                MarkerArray, 'obstacle_markers_3D', self.obstacle_callback, 10)
         self.start_node = TreeNode(self.start_position, None)
         self.node_list = [self.start_node]
         self.timer = self.create_timer(1.0, self.timer_callback)
@@ -129,7 +129,7 @@ def obstacle_callback(self, msg):
         """
         self.obstacle_list = []
         for marker in msg.markers:
-            if marker.type == Marker.CYLINDER:
+            if marker.type == Marker.SPHERE:
                 self.obstacle_list.append(Sphere(
                     marker.pose.position.x, marker.pose.position.y, marker.pose.position.z, marker.scale.x/2))
             elif marker.type == Marker.CUBE:

diff --git a/setup.py b/setup.py
@@ -29,6 +29,7 @@
             'map_frame_pub = ros2rrt.map_frame_pub:main',
             'occupancy_pub = ros2rrt.occupancy_pub:main',
             'obstacle_pub_2D = ros2rrt.obstacle_pub_2D:main',
+            'obstacle_pub_3D = ros2rrt.obstacle_pub_3D:main',
         ],
     },
 )