first commit

CMakeLists.txt

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+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake

clean_robot/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(clean_robot)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  costmap_2d
+  geometry_msgs
+  move_base_msgs
+  nav_msgs
+  roscpp
+  tf
+tf2
+tf2_ros
+)
+find_package(OpenCV REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
+find_package(catkin REQUIRED
+  COMPONENTS
+    angles
+    costmap_2d
+    geometry_msgs
+    nav_msgs
+    roscpp
+    tf
+tf2
+tf2_ros
+)
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs#   move_base_msgs#   nav_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+ INCLUDE_DIRS include
+ LIBRARIES clean_robot
+ CATKIN_DEPENDS actionlib costmap_2d geometry_msgs move_base_msgs nav_msgs roscpp tf tf2 tf2_ros
+ DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/clean_robot.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/clean_robot_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_clean_robot.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+add_executable(path_planning_node src/PathPlanningNode.cpp src/CleaningPathPlanner.cpp )
+target_link_libraries(path_planning_node ${catkin_LIBRARIES} ${OpenCV_LIBS})
+
+add_executable(next_goal src/next_goal.cpp)
+target_link_libraries(next_goal
+	${catkin_LIBRARIES}
+)

clean_robot/config/cleaning_costmap_params.yaml

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+cleaning_costmap:
+   global_frame: map
+   robot_base_frame: base_footprint
+   update_frequency: 1.0
+   publish_frequency: 1.0
+   static_map: true
+   rolling_window: false
+   resolution: 0.05
+   transform_tolerance: 1.0
+   inflation_radius: 0.15
+   map_type: costmap
+
+cleaning_plan_nodehandle:   
+   size_of_cell: 3
+   grid_covered_value: 200

clean_robot/config/costmap_common_params.yaml

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+obstacle_range: 2.5   #2.5
+raytrace_range: 3.0   #3.0
+#footprint: [[0.175, 0.175], [0.175, -0.175], [-0.175, -0.175], [-0.175, 0.175]]
+#footprint_inflation: 0.01
+robot_radius: 0.175  #0.175
+max_obstacle_height: 0.6
+min_obstacle_height: 0.0
+observation_sources: scan
+scan: {data_type: LaserScan, topic: /scan, marking: true, clearing: true, expected_update_rate: 0}
+
+# if set to false,then obstacle layer take unknow space to be free.
+obstacle_layer:
+   track_unknown_space: true

clean_robot/include/CleaningPathPlanner.h

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+/***
+ * @brief: cleaning robot path planning
+ * @author: Wyz
+ * @date: 20200905
+***/
+
+#ifndef CLEANINGPATHPLANNING_H
+#define CLEANINGPATHPLANNING_H
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <vector>
+#include <string>
+
+#include "tf/tf.h"
+#include "tf/transform_listener.h"
+#include <costmap_2d/costmap_2d.h>
+#include <costmap_2d/costmap_2d_ros.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <nav_msgs/Path.h>
+
+using namespace cv;
+using namespace std;
+
+constexpr double PI =3.14159;
+
+struct cellIndex
+{
+    int row;
+    int col;
+    double theta; //{0, 45,90,135,180,225,270,315}     角度信息
+};
+
+/*************************************************
+ *
+ * 读取栅格地图并根据占据信息获取其对应的空闲（可行走）空间，
+ * 按照遍历算法规划行走路线。
+ *
+ * **********************************************/
+class CleaningPathPlanning
+{
+public:
+    //CleaningPathPlanning() = delete;
+    CleaningPathPlanning(costmap_2d::Costmap2DROS *costmap2d_ros);
+
+    vector<geometry_msgs::PoseStamped> GetPathInROS(); 
+    vector<geometry_msgs::PoseStamped> GetBorderTrackingPathInROS();
+
+    void SetCoveredGrid(double wx,double wy);
+    int GetSizeOfCell(){return this->SIZE_OF_CELL;}
+
+    //for visualization
+    void PublishCoveragePath();
+    void PublishGrid();
+private:
+    //helper functions.
+    bool initializeMats();
+    bool initializeCoveredGrid();
+    void getCellMatAndFreeSpace(Mat srcImg, Mat &cellMat,vector<cellIndex> &freeSpaceVec);
+    void initializeNeuralMat(Mat cellMat, Mat neuralizedMat);
+    void writeResult(Mat resultmat,vector<cellIndex> pathVec);
+    void writeResult(cv::Mat resultmat,std::vector<cv::Point2i> pathVec);
+    void mainPlanningLoop();
+    double distance(Point2i pta,Point2i ptb);
+    bool findElement(vector<cv::Point2i> pointsVec,cv::Point2i pt, int&index);
+    void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path);
+    bool cellContainsPoint(cv::Point2i pt,cellIndex cell);
+
+    void GetBorderTrackingPathInCV(vector<cv::Point2i>&resultVec);
+    vector<cellIndex> GetPathInCV();
+
+
+    bool initialized_;
+    Mat srcMap_;
+    Mat cellMat_;
+    Mat neuralizedMat_;
+    vector<cellIndex> freeSpaceVec_;
+    vector<cellIndex> pathVec_;
+    vector<geometry_msgs::PoseStamped> pathVecInROS_;
+
+    double resolution_;
+    ros::Publisher plan_pub_;
+    ros::Publisher grid_pub_;
+    nav_msgs::OccupancyGrid covered_path_grid_;
+
+    //tf::TransformListener &tf_;
+    tf::Stamped<tf::Pose> initPose_;
+
+    costmap_2d::Costmap2D* costmap2d_;
+    costmap_2d::Costmap2DROS* costmap2d_ros_;
+
+    int SIZE_OF_CELL; //must be odd number.
+    int GRID_COVERED_VALUE;
+};
+
+#endif // CLEANINGPATHPLANNING_H