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Update visualization #34

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merged 1 commit into from
Oct 17, 2023
Merged

Update visualization #34

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19 changes: 9 additions & 10 deletions config/rviz.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,8 @@ Panels:
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.7647058963775635
Tree Height: 743
Splitter Ratio: 0.5427135825157166
Tree Height: 746
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand Down Expand Up @@ -93,14 +93,13 @@ Visualization Manager:
Topic: /footprint
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/Polygon
Color: 0; 63; 252
- Class: rviz/MarkerArray
Enabled: true
Name: PredictFootPrint
Queue Size: 10
Topic: /local_planner/point_follow_planner/predict_footprint
Unreliable: false
Marker Topic: /local_planner/point_follow_planner/predict_footprints
Name: PredictFootprints
Namespaces:
/local_planner/point_follow_planner/predict_footprints: true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Expand Down Expand Up @@ -166,7 +165,7 @@ Window Geometry:
Height: 1043
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000015600000373fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000373000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000373fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e00000373000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000031f00fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000037300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000019000000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000373fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e00000373000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005ea0000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand Down
7 changes: 5 additions & 2 deletions include/point_follow_planner/point_follow_planner.h
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,10 @@ class PointFollowPlanner
const ros::Publisher &pub);
void visualize_trajectories(
const std::vector<std::vector<State>> &trajectories, const double r, const double g, const double b,
const int trajectories_size, const ros::Publisher &pub);
const ros::Publisher &pub);
void visualize_footprints(
const std::vector<State> &trajectory, const double r, const double g, const double b,
const ros::Publisher &pub);

// param
double hz_;
Expand Down Expand Up @@ -130,7 +133,7 @@ class PointFollowPlanner
ros::Publisher cmd_vel_pub_;
ros::Publisher candidate_trajectories_pub_;
ros::Publisher best_trajectory_pub_;
ros::Publisher predict_footprint_pub_;
ros::Publisher predict_footprints_pub_;
ros::Publisher finish_flag_pub_;
ros::Subscriber footprint_sub_;
ros::Subscriber goal_sub_;
Expand Down
66 changes: 44 additions & 22 deletions src/point_follow_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ PointFollowPlanner::PointFollowPlanner(void)
cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
best_trajectory_pub_ = private_nh_.advertise<visualization_msgs::Marker>("best_trajectory", 1);
candidate_trajectories_pub_ = private_nh_.advertise<visualization_msgs::MarkerArray>("candidate_trajectories", 1);
predict_footprint_pub_ = private_nh_.advertise<geometry_msgs::PolygonStamped>("predict_footprint", 1);
predict_footprints_pub_ = private_nh_.advertise<visualization_msgs::MarkerArray>("predict_footprints", 1);
finish_flag_pub_ = private_nh_.advertise<std_msgs::Bool>("finish_flag", 1);

footprint_sub_ = nh_.subscribe("/footprint", 1, &PointFollowPlanner::footprint_callback, this);
Expand Down Expand Up @@ -431,9 +431,9 @@ geometry_msgs::Twist PointFollowPlanner::calc_cmd_vel()
trajectories.push_back(best_traj);
}

visualize_trajectory(best_traj, 1.0, 0.0, 0.0, best_trajectory_pub_);
visualize_trajectories(trajectories, 0.0, 1.0, 0.0, 1000, candidate_trajectories_pub_);
predict_footprint_pub_.publish(transform_footprint(best_traj.back()));
visualize_trajectory(best_traj, 1, 0, 0, best_trajectory_pub_);
visualize_trajectories(trajectories, 0, 1, 0, candidate_trajectories_pub_);
visualize_footprints(best_traj, 0, 0, 1, predict_footprints_pub_);

return cmd_vel;
}
Expand Down Expand Up @@ -532,12 +532,10 @@ void PointFollowPlanner::visualize_trajectory(

void PointFollowPlanner::visualize_trajectories(
const std::vector<std::vector<State>> &trajectories, const double r, const double g, const double b,
const int trajectories_size, const ros::Publisher &pub)
const ros::Publisher &pub)
{
visualization_msgs::MarkerArray v_trajectories;
int count = 0;

for (; count < trajectories.size(); count++)
for (int i = 0; i < trajectories.size(); i++)
{
visualization_msgs::Marker v_trajectory;
v_trajectory.header.frame_id = robot_frame_;
Expand All @@ -550,33 +548,57 @@ void PointFollowPlanner::visualize_trajectories(
v_trajectory.type = visualization_msgs::Marker::LINE_STRIP;
v_trajectory.action = visualization_msgs::Marker::ADD;
v_trajectory.lifetime = ros::Duration();
v_trajectory.id = count;
v_trajectory.id = i;
v_trajectory.scale.x = 0.02;
geometry_msgs::Pose pose;
pose.orientation.w = 1;
v_trajectory.pose = pose;
geometry_msgs::Point p;
for (const auto &pose : trajectories[count])
for (const auto &pose : trajectories[i])
{
p.x = pose.x_;
p.y = pose.y_;
v_trajectory.points.push_back(p);
}
v_trajectories.markers.push_back(v_trajectory);
}
pub.publish(v_trajectories);
}

for (; count < trajectories_size; count++)
void PointFollowPlanner::visualize_footprints(
const std::vector<State> &trajectory, const double r, const double g, const double b, const ros::Publisher &pub)
{
visualization_msgs::MarkerArray v_footprints;
for (int i = 0; i < trajectory.size(); i++)
{
visualization_msgs::Marker v_trajectory;
v_trajectory.header.frame_id = robot_frame_;
v_trajectory.header.stamp = ros::Time::now();
v_trajectory.ns = pub.getTopic();
v_trajectory.type = visualization_msgs::Marker::LINE_STRIP;
v_trajectory.action = visualization_msgs::Marker::DELETE;
v_trajectory.lifetime = ros::Duration();
v_trajectory.id = count;
v_trajectories.markers.push_back(v_trajectory);
visualization_msgs::Marker v_footprint;
v_footprint.header.frame_id = robot_frame_;
v_footprint.header.stamp = ros::Time::now();
v_footprint.color.r = r;
v_footprint.color.g = g;
v_footprint.color.b = b;
v_footprint.color.a = 0.8;
v_footprint.ns = pub.getTopic();
v_footprint.type = visualization_msgs::Marker::LINE_STRIP;
v_footprint.action = visualization_msgs::Marker::ADD;
v_footprint.lifetime = ros::Duration();
v_footprint.id = i;
v_footprint.scale.x = 0.01;
geometry_msgs::Pose pose;
pose.orientation.w = 1;
v_footprint.pose = pose;
geometry_msgs::Point p;
const geometry_msgs::PolygonStamped footprint = transform_footprint(trajectory[i]);
for (const auto &point : footprint.polygon.points)
{
p.x = point.x;
p.y = point.y;
v_footprint.points.push_back(p);
}
p.x = footprint.polygon.points.front().x;
p.y = footprint.polygon.points.front().y;
v_footprint.points.push_back(p);
v_footprints.markers.push_back(v_footprint);
}

pub.publish(v_trajectories);
pub.publish(v_footprints);
}