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refactor(ndt_scan_matcher): modularize pose initialization (autowaref…
…oundation#2254) * still work in progress Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * ptr_ptr yameru Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove unnecessary newline Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert launch setting Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * reverted debugging line Signed-off-by: kminoda <koji.minoda@tier4.jp> * pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove format inclusion Signed-off-by: kminoda <koji.minoda@tier4.jp> * first commit on pose initialization module Signed-off-by: kminoda <koji.minoda@tier4.jp> * use shared_ptr for test Signed-off-by: kminoda <koji.minoda@tier4.jp> * now works fine Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * No StdMap Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * added include Signed-off-by: kminoda <koji.minoda@tier4.jp> * ci(pre-commit): autofix * reflected review Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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localization/ndt_scan_matcher/include/ndt_scan_matcher/pose_initialization_module.hpp
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| // Copyright 2015-2019 Autoware Foundation | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #ifndef NDT_SCAN_MATCHER__POSE_INITIALIZATION_MODULE_HPP_ | ||
| #define NDT_SCAN_MATCHER__POSE_INITIALIZATION_MODULE_HPP_ | ||
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| #include "ndt_scan_matcher/debug.hpp" | ||
| #include "ndt_scan_matcher/particle.hpp" | ||
| #include "ndt_scan_matcher/tf2_listener_module.hpp" | ||
| #include "ndt_scan_matcher/util_func.hpp" | ||
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| #include <rclcpp/rclcpp.hpp> | ||
| #include <tier4_autoware_utils/ros/marker_helper.hpp> | ||
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| #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp> | ||
| #include <tier4_localization_msgs/srv/pose_with_covariance_stamped.hpp> | ||
| #include <visualization_msgs/msg/marker_array.hpp> | ||
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| #include <pcl_conversions/pcl_conversions.h> | ||
| #include <pclomp/ndt_omp.h> | ||
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| #include <map> | ||
| #include <memory> | ||
| #include <string> | ||
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| class PoseInitializationModule | ||
| { | ||
| using PointSource = pcl::PointXYZ; | ||
| using PointTarget = pcl::PointXYZ; | ||
| using NormalDistributionsTransform = | ||
| pclomp::NormalDistributionsTransform<PointSource, PointTarget>; | ||
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| public: | ||
| PoseInitializationModule( | ||
| rclcpp::Node * node, std::mutex * ndt_ptr_mutex, | ||
| std::shared_ptr<NormalDistributionsTransform> ndt_ptr, | ||
| std::shared_ptr<Tf2ListenerModule> tf2_listener_module, std::string map_frame, | ||
| rclcpp::CallbackGroup::SharedPtr main_callback_group, | ||
| std::shared_ptr<std::map<std::string, std::string>> state_ptr); | ||
|
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| private: | ||
| void service_ndt_align( | ||
| const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, | ||
| tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res); | ||
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| geometry_msgs::msg::PoseWithCovarianceStamped align_using_monte_carlo( | ||
| const std::shared_ptr<NormalDistributionsTransform> & ndt_ptr, | ||
| const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov); | ||
| void publish_point_cloud( | ||
| const rclcpp::Time & sensor_ros_time, const std::string & frame_id, | ||
| const std::shared_ptr<const pcl::PointCloud<PointSource>> & sensor_points_mapTF_ptr); | ||
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| rclcpp::Service<tier4_localization_msgs::srv::PoseWithCovarianceStamped>::SharedPtr service_; | ||
| rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr sensor_aligned_pose_pub_; | ||
| rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr | ||
| ndt_monte_carlo_initial_pose_marker_pub_; | ||
| int initial_estimate_particles_num_; | ||
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| std::shared_ptr<NormalDistributionsTransform> ndt_ptr_; | ||
| std::mutex * ndt_ptr_mutex_; | ||
| std::string map_frame_; | ||
| rclcpp::Logger logger_; | ||
| rclcpp::Clock::SharedPtr clock_; | ||
| std::shared_ptr<Tf2ListenerModule> tf2_listener_module_; | ||
| std::shared_ptr<std::map<std::string, std::string>> state_ptr_; | ||
| }; | ||
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| #endif // NDT_SCAN_MATCHER__POSE_INITIALIZATION_MODULE_HPP_ |
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139 changes: 139 additions & 0 deletions
139
localization/ndt_scan_matcher/src/pose_initialization_module.cpp
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| // Copyright 2022 Autoware Foundation | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #include "ndt_scan_matcher/pose_initialization_module.hpp" | ||
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| PoseInitializationModule::PoseInitializationModule( | ||
| rclcpp::Node * node, std::mutex * ndt_ptr_mutex, | ||
| std::shared_ptr<NormalDistributionsTransform> ndt_ptr, | ||
| std::shared_ptr<Tf2ListenerModule> tf2_listener_module, std::string map_frame, | ||
| rclcpp::CallbackGroup::SharedPtr main_callback_group, | ||
| std::shared_ptr<std::map<std::string, std::string>> state_ptr) | ||
| : ndt_ptr_(ndt_ptr), | ||
| ndt_ptr_mutex_(ndt_ptr_mutex), | ||
| map_frame_(map_frame), | ||
| logger_(node->get_logger()), | ||
| clock_(node->get_clock()), | ||
| tf2_listener_module_(tf2_listener_module), | ||
| state_ptr_(state_ptr) | ||
| { | ||
| initial_estimate_particles_num_ = | ||
| node->declare_parameter("initial_estimate_particles_num", initial_estimate_particles_num_); | ||
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| sensor_aligned_pose_pub_ = | ||
| node->create_publisher<sensor_msgs::msg::PointCloud2>("monte_carlo_points_aligned", 10); | ||
| ndt_monte_carlo_initial_pose_marker_pub_ = | ||
| node->create_publisher<visualization_msgs::msg::MarkerArray>( | ||
| "monte_carlo_initial_pose_marker", 10); | ||
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| service_ = node->create_service<tier4_localization_msgs::srv::PoseWithCovarianceStamped>( | ||
| "ndt_align_srv", | ||
| std::bind( | ||
| &PoseInitializationModule::service_ndt_align, this, std::placeholders::_1, | ||
| std::placeholders::_2), | ||
| rclcpp::ServicesQoS().get_rmw_qos_profile(), main_callback_group); | ||
| } | ||
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| void PoseInitializationModule::service_ndt_align( | ||
| const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, | ||
| tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res) | ||
| { | ||
| // get TF from pose_frame to map_frame | ||
| auto TF_pose_to_map_ptr = std::make_shared<geometry_msgs::msg::TransformStamped>(); | ||
| tf2_listener_module_->get_transform( | ||
| clock_->now(), map_frame_, req->pose_with_covariance.header.frame_id, TF_pose_to_map_ptr); | ||
|
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| // transform pose_frame to map_frame | ||
| const auto mapTF_initial_pose_msg = transform(req->pose_with_covariance, *TF_pose_to_map_ptr); | ||
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| if (ndt_ptr_->getInputTarget() == nullptr) { | ||
| res->success = false; | ||
| RCLCPP_WARN(logger_, "No InputTarget"); | ||
| return; | ||
| } | ||
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| if (ndt_ptr_->getInputSource() == nullptr) { | ||
| res->success = false; | ||
| RCLCPP_WARN(logger_, "No InputSource"); | ||
| return; | ||
| } | ||
|
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| // mutex Map | ||
| std::lock_guard<std::mutex> lock(*ndt_ptr_mutex_); | ||
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| (*state_ptr_)["state"] = "Aligning"; | ||
| res->pose_with_covariance = align_using_monte_carlo(ndt_ptr_, mapTF_initial_pose_msg); | ||
| (*state_ptr_)["state"] = "Sleeping"; | ||
| res->success = true; | ||
| res->pose_with_covariance.pose.covariance = req->pose_with_covariance.pose.covariance; | ||
| } | ||
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| geometry_msgs::msg::PoseWithCovarianceStamped PoseInitializationModule::align_using_monte_carlo( | ||
| const std::shared_ptr<NormalDistributionsTransform> & ndt_ptr, | ||
| const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov) | ||
| { | ||
| if (ndt_ptr->getInputTarget() == nullptr || ndt_ptr->getInputSource() == nullptr) { | ||
| RCLCPP_WARN(logger_, "No Map or Sensor PointCloud"); | ||
| return geometry_msgs::msg::PoseWithCovarianceStamped(); | ||
| } | ||
|
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| // generateParticle | ||
| const auto initial_poses = | ||
| create_random_pose_array(initial_pose_with_cov, initial_estimate_particles_num_); | ||
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| std::vector<Particle> particle_array; | ||
| auto output_cloud = std::make_shared<pcl::PointCloud<PointSource>>(); | ||
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| for (unsigned int i = 0; i < initial_poses.size(); i++) { | ||
| const auto & initial_pose = initial_poses[i]; | ||
| const Eigen::Matrix4f initial_pose_matrix = pose_to_matrix4f(initial_pose); | ||
| ndt_ptr->align(*output_cloud, initial_pose_matrix); | ||
| const pclomp::NdtResult ndt_result = ndt_ptr->getResult(); | ||
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| Particle particle( | ||
| initial_pose, matrix4f_to_pose(ndt_result.pose), ndt_result.transform_probability, | ||
| ndt_result.iteration_num); | ||
| particle_array.push_back(particle); | ||
| const auto marker_array = make_debug_markers( | ||
| clock_->now(), map_frame_, tier4_autoware_utils::createMarkerScale(0.3, 0.1, 0.1), particle, | ||
| i); | ||
| ndt_monte_carlo_initial_pose_marker_pub_->publish(marker_array); | ||
|
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| auto sensor_points_mapTF_ptr = std::make_shared<pcl::PointCloud<PointSource>>(); | ||
| pcl::transformPointCloud(*ndt_ptr->getInputSource(), *sensor_points_mapTF_ptr, ndt_result.pose); | ||
| publish_point_cloud(initial_pose_with_cov.header.stamp, map_frame_, sensor_points_mapTF_ptr); | ||
| } | ||
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| auto best_particle_ptr = std::max_element( | ||
| std::begin(particle_array), std::end(particle_array), | ||
| [](const Particle & lhs, const Particle & rhs) { return lhs.score < rhs.score; }); | ||
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| geometry_msgs::msg::PoseWithCovarianceStamped result_pose_with_cov_msg; | ||
| result_pose_with_cov_msg.header.stamp = initial_pose_with_cov.header.stamp; | ||
| result_pose_with_cov_msg.header.frame_id = map_frame_; | ||
| result_pose_with_cov_msg.pose.pose = best_particle_ptr->result_pose; | ||
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| return result_pose_with_cov_msg; | ||
| } | ||
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| void PoseInitializationModule::publish_point_cloud( | ||
| const rclcpp::Time & sensor_ros_time, const std::string & frame_id, | ||
| const std::shared_ptr<const pcl::PointCloud<PointSource>> & sensor_points_mapTF_ptr) | ||
| { | ||
| sensor_msgs::msg::PointCloud2 sensor_points_mapTF_msg; | ||
| pcl::toROSMsg(*sensor_points_mapTF_ptr, sensor_points_mapTF_msg); | ||
| sensor_points_mapTF_msg.header.stamp = sensor_ros_time; | ||
| sensor_points_mapTF_msg.header.frame_id = frame_id; | ||
| sensor_aligned_pose_pub_->publish(sensor_points_mapTF_msg); | ||
| } |