stonier / cost_map Goto Github PK

Or remove the function if it is not really implemented..
This is evil

Hello
Cost_map_core build is failing. cost_map::CostMap is referring elements which are not declared as members for this class.

cost_map_iterator.cpp:19:3: error: ‘mapIndexWithinRange’ is not a member of ‘grid_map’
grid_map::mapIndexWithinRange(endIndex_, size_);
spiral_iterator.cpp:30:7: error: ‘checkIfIndexWithinRange’ is not a member of ‘grid_map’
if (grid_map::checkIfIndexWithinRange(indexCenter_, bufferSize_)) pointsRing_.push_back(indexCenter_);
89:9: error: ‘checkIfIndexWithinRange’ is not a member of ‘grid_map’
if (grid_map::checkIfIndexWithinRange(pointInMap, bufferSize_)) {
polygon_iterator.cpp:85:3: error: ‘limitPositionToRange’ is not a member of ‘grid_map’
grid_map::limitPositionToRange(topLeft, mapLength_, mapPosition_);
polygon_iterator.cpp:86:3: error: ‘limitPositionToRange’ is not a member of ‘grid_map’
grid_map::limitPositionToRange(bottomRight, mapLength_, mapPosition_);
circle_iterator.cpp:87:3: error: ‘limitPositionToRange’ is not a member of ‘grid_map’
grid_map::limitPositionToRange(topLeft, mapLength_, mapPosition_);
circle_iterator.cpp:88:3: error: ‘limitPositionToRange’ is not a member of ‘grid_map’
grid_map::limitPositionToRange(bottomRight, mapLength_, mapPosition_);

..........
..........
ellipse_iterator.cpp:95:3: error: ‘limitPositionToRange’ is not a member of ‘grid_map’
grid_map::limitPositionToRange(bottomRight, mapLength_, mapPosition_);

Write now it just converts data linearly according to the policy 0.0 (FREE_SPACE) - 100.0 (NO_INFORMATION).

• Could use a user-provided rule for conversion
• Could use a addLayerFromCostMap() function so it can be done piecemeal

The current implementation of fromROSCostMap2D does not allow to specify the location of the window which is copied from the ros costmap_2d. (This is what broke the navigation.)

The implementation before pr #19 always extracted around the position of the robot.

Ideally you should be able to specify it and have default.

Ros Costmap

Converted Costmap

Do a toImageBundle on a cost map topic.

Args:

• topic name
• yaml filename (maybe default should be topic name?)

Important to make sure this is always working - need a battery of tests that test the various permutations of rolling vs non-rolling windows, map at the origin and not, robot pose aligned or not.

https://github.com/stonier/cost_map/blob/indigo-devel/cost_map_core/include/cost_map_core/CostMap.hpp#L287

and

https://github.com/stonier/cost_map/blob/indigo-devel/cost_map_core/include/cost_map_core/CostMap.hpp#L299

It shouldn't change the object and without the const definition I cannot use it with a const object.

This would be a good change for grid_map as well, I guess.

Just planning to take a step from costmap_2d to gridmap/costmap.

Wondering if there is already a functionality/layer like ObstacleLayer in costmap_2d. If not, would it make sense to have it here?

Probably because of: https://github.com/ethz-asl/grid_map/pull/32

Seems like https://github.com/ethz-asl/grid_map is needed in the workspace for now.

E. g. trying to convert a 5 x 5 m ros costmap the length has to be a bit smaller than 5 x 5m, e. g. 4.9 x 4.9 m.

The error pops up here.

This closes the gap between image bundle and definition of multi-layered costmap.

cell_inflation_radius_ here is not initialised before first use.

It looks like https://github.com/ethz-asl/grid_map/pull/96 moved the location of the header.

I've ticketed it for a backwards compatibility header: https://github.com/ethz-asl/grid_map/issues/111 but until that's available or the include is switched this is broken.

http://build.ros.org/view/Ibin_uT64/job/Ibin_uT64__cost_map_ros__ubuntu_trusty_amd64__binary/8/console

00:07:47.321 /tmp/binarydeb/ros-indigo-cost-map-ros-0.3.1/src/lib/converter.cpp:23:47: fatal error: grid_map_ros/Costmap2DConverter.hpp: No such file or directory
00:07:47.321  #include <grid_map_ros/Costmap2DConverter.hpp>
00:07:47.321    

Due to a bug in OpenCV's find package module (ros-infrastructure/bloom#301) the order of the includes gets mixed up putting the debs before the sources. Hence compiling a newer version might fail, if one has the debs installed as well.

Probably this changes should go into grid_map as well.

Need to change the position of find_package(OpenCV) in cost_map/CMakeLists.txt.

Right now the image bundles convert from opencv type to a ros image message and then to a cost map object.

Cut the secondary conversion and go direct from opencv type to cost map object. This has been done over in grid_map. Additionally, get this code in via a similar set of api in cost_map_cv.

When Inflate cannot find the provided layer name a STD exception is thrown:

terminate called after throwing an instance of 'std::out_of_range'
  what():  CostMap::get(...) : No map layer of type '' available.

Looking at the demo inflation code, I would expect I only have to catch ECL exception. Should I implement a catch all or should this exception be caught by Inflate.

PS: The same issue also exists in Deflate.