Fawkes API Fawkes Development Version
gazsim_vis_localization_thread.cpp
1/***************************************************************************
2 * gazsim_vis_localization_thread.h - Plugin visualizes the localization
3 *
4 * Created: Tue Sep 17 15:38:34 2013
5 * Copyright 2013 Frederik Zwilling
6 ****************************************************************************/
7
8/* This program is free software; you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation; either version 2 of the License, or
11 * (at your option) any later version.
12 *
13 * This program is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 * GNU Library General Public License for more details.
17 *
18 * Read the full text in the LICENSE.GPL file in the doc directory.
19 */
20
21#include "gazsim_vis_localization_thread.h"
22
23#include <aspect/logging.h>
24#include <interfaces/Position3DInterface.h>
25#include <tf/types.h>
26#include <utils/math/angle.h>
27
28#include <cmath>
29#include <gazebo/msgs/msgs.hh>
30#include <gazebo/transport/Node.hh>
31#include <gazebo/transport/transport.hh>
32#include <stdio.h>
33
34using namespace fawkes;
35using namespace gazebo;
36
37/** @class VisLocalizationThread "gazsim_localization_thread.h"
38 * Thread simulates the Localization in Gazebo
39 * @author Frederik Zwilling
40 */
41
42/** Constructor. */
44: Thread("VisLocalizationThread", Thread::OPMODE_WAITFORWAKEUP),
45 BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_WORLDSTATE)
46{
47}
48
49void
51{
52 logger->log_debug(name(), "Initializing Visualization of the Localization");
53
54 //read config values
55 update_rate_ = config->get_float("/gazsim/visualization/localization/update-rate");
56 robot_name_ = config->get_string("/gazsim/robot-name");
57 label_script_name_ = config->get_string("/gazsim/visualization/label-script-name");
58 arrow_script_name_ = config->get_string("/gazsim/visualization/label-arrow-name");
59 location_scripts_ = config->get_string("/gazsim/visualization/location-scripts");
60 location_textures_ = config->get_string("/gazsim/visualization/location-textures");
61 parent_name_ = config->get_string("/gazsim/visualization/localization/parent-name");
62 label_size_ = config->get_float("/gazsim/visualization/localization/label-size");
63 label_height_ = config->get_float("/gazsim/visualization/localization/label-height");
64
65 last_update_time_ = clock->now().in_sec();
66
67 //open interface
69
70 //create publisher
71 visual_publisher_ = gazebo_world_node->Advertise<gazebo::msgs::Visual>("~/visual", 5);
72}
73
74void
76{
77 blackboard->close(pose_if_);
78}
79
80void
82{
83 //visualize the estimated position of the robot every few seconds
84 fawkes::Time new_time = clock->now();
85 double time_elapsed = new_time.in_sec() - last_update_time_.in_sec();
86 if (time_elapsed > 1 / update_rate_) {
87 last_update_time_ = new_time;
88
89 //read pose
90 pose_if_->read();
91 double x = pose_if_->translation(0);
92 double y = pose_if_->translation(1);
93 //calculate ori from quaternion in interface
94 double *quat = pose_if_->rotation();
95 double ori = tf::get_yaw(tf::Quaternion(quat[0], quat[1], quat[2], quat[3]));
96 if (std::isnan(ori)) {
97 ori = 0.0;
98 }
99
100 //create label with number
101 msgs::Visual msg_number;
102 msg_number.set_name((robot_name_ + "-localization-label").c_str());
103 msg_number.set_parent_name(parent_name_.c_str());
104 msgs::Geometry *geomMsg = msg_number.mutable_geometry();
105 geomMsg->set_type(msgs::Geometry::PLANE);
106#if GAZEBO_MAJOR_VERSION > 5
107 msgs::Set(geomMsg->mutable_plane()->mutable_normal(), ignition::math::Vector3d(0.0, 0.0, 1.0));
108 msgs::Set(geomMsg->mutable_plane()->mutable_size(),
109 ignition::math::Vector2d(label_size_, label_size_));
110#else
111 msgs::Set(geomMsg->mutable_plane()->mutable_normal(), math::Vector3(0.0, 0.0, 1.0));
112 msgs::Set(geomMsg->mutable_plane()->mutable_size(), math::Vector2d(label_size_, label_size_));
113 msg_number.set_transparency(0.2);
114#endif
115 msg_number.set_cast_shadows(false);
116#if GAZEBO_MAJOR_VERSION > 5
117 msgs::Set(msg_number.mutable_pose(), ignition::math::Pose3d(x, y, label_height_, 0, 0, 0));
118#else
119 msgs::Set(msg_number.mutable_pose(), math::Pose(x, y, label_height_, 0, 0, 0));
120#endif
121 msgs::Material::Script *script = msg_number.mutable_material()->mutable_script();
122 script->add_uri(location_scripts_.c_str());
123 script->add_uri(location_textures_.c_str());
124 script->set_name(label_script_name_.c_str());
125
126 visual_publisher_->Publish(msg_number);
127
128 //create label with direction arrow
129#if GAZEBO_MAJOR_VERSION <= 5
130 msgs::Visual msg_arrow;
131 msg_arrow.set_name((robot_name_ + "-localization-arrow").c_str());
132 msg_arrow.set_parent_name(parent_name_.c_str());
133 msgs::Geometry *geomArrowMsg = msg_arrow.mutable_geometry();
134 geomArrowMsg->set_type(msgs::Geometry::PLANE);
135# if GAZEBO_MAJOR_VERSION > 5
136 msgs::Set(geomArrowMsg->mutable_plane()->mutable_normal(),
137 ignition::math::Vector3d(0.0, 0.0, 1.0));
138 msgs::Set(geomArrowMsg->mutable_plane()->mutable_size(), ignition::math::Vector2d(0.17, 0.17));
139# else
140 msgs::Set(geomArrowMsg->mutable_plane()->mutable_normal(), math::Vector3(0.0, 0.0, 1.0));
141 msgs::Set(geomArrowMsg->mutable_plane()->mutable_size(), math::Vector2d(0.17, 0.17));
142 msg_arrow.set_transparency(0.4);
143# endif
144 msg_arrow.set_cast_shadows(false);
145# if GAZEBO_MAJOR_VERSION > 5
146 msgs::Set(msg_arrow.mutable_pose(),
147 ignition::math::Pose3d(
148 x, y, label_height_ + 0.01, 0, 0, ori - /*turn image right*/ M_PI / 2));
149# else
150 msgs::Set(msg_arrow.mutable_pose(),
151 math::Pose(x, y, label_height_ + 0.01, 0, 0, ori - /*turn image right*/ M_PI / 2));
152# endif
153 msgs::Material::Script *arrow_script = msg_arrow.mutable_material()->mutable_script();
154 arrow_script->add_uri(location_scripts_.c_str());
155 arrow_script->add_uri(location_textures_.c_str());
156 arrow_script->set_name(arrow_script_name_.c_str());
157
158 visual_publisher_->Publish(msg_arrow);
159#endif
160 }
161}
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
BlackBoard * blackboard
This is the BlackBoard instance you can use to interact with the BlackBoard.
Definition: blackboard.h:44
virtual Interface * open_for_reading(const char *interface_type, const char *identifier, const char *owner=NULL)=0
Open interface for reading.
virtual void close(Interface *interface)=0
Close interface.
Thread aspect to use blocked timing.
Clock * clock
By means of this member access to the clock is given.
Definition: clock.h:42
Time now() const
Get the current time.
Definition: clock.cpp:242
Configuration * config
This is the Configuration member used to access the configuration.
Definition: configurable.h:41
virtual float get_float(const char *path)=0
Get value from configuration which is of type float.
virtual std::string get_string(const char *path)=0
Get value from configuration which is of type string.
gazebo::transport::NodePtr gazebo_world_node
Gazebo Node for communication with the world (e.g.
Definition: gazebo.h:51
void read()
Read from BlackBoard into local copy.
Definition: interface.cpp:479
virtual void log_debug(const char *component, const char *format,...)=0
Log debug message.
Logger * logger
This is the Logger member used to access the logger.
Definition: logging.h:41
Position3DInterface Fawkes BlackBoard Interface.
double * rotation() const
Get rotation value.
double * translation() const
Get translation value.
Thread class encapsulation of pthreads.
Definition: thread.h:46
const char * name() const
Get name of thread.
Definition: thread.h:100
A class for handling time.
Definition: time.h:93
double in_sec() const
Convet time to seconds.
Definition: time.cpp:219
Fawkes library namespace.