-
Notifications
You must be signed in to change notification settings - Fork 2
/
Copy pathpure_navigation_two_readers.cpp
1158 lines (1056 loc) · 55.2 KB
/
pure_navigation_two_readers.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
#include "Criteria/traveldistancecriterion.h"
#include "PathFinding/astar.h"
#include "map.h"
#include "mcdmfunction.h"
#include "newray.h"
#include "utils.h"
#include "radio_models/propagationModel.cpp"
#include <algorithm>
#include <iostream>
#include <iterator>
#define _USE_MATH_DEFINES
#include "math.h"
#include <ctime>
#include <time.h>
#include <unistd.h>
// #include "RFIDGridmap.h"
#include "movebasegoal.h"
#include <costmap_2d/costmap_2d_ros.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <nav_msgs/GetMap.h>
#include <nav_msgs/GetPlan.h>
#include <std_msgs/Float32.h>
#include <std_msgs/String.h>
#include <std_msgs/Bool.h>
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
// mfc ...
#include <ros/console.h>
// mfc: we will record using stats_pub
// #include "record_ros/record.h"
// #include "record_ros/String_cmd.h"
// mfc ...
#include "rfid_grid_map/GetBeliefMaps.h"
#include "rfid_grid_map/GetFakeBeliefMaps.h"
#include "strands_navigation_msgs/TopologicalMap.h"
#include "strands_navigation_msgs/GetRouteTo.h"
#include "strands_navigation_msgs/GetRouteBetween.h"
#include "bayesian_topological_localisation/LocaliseAgent.h"
#include "bayesian_topological_localisation/DistributionStamped.h"
#include "bayesian_topological_localisation/UpdateLikelihoodObservation.h"
#include "bayesian_topological_localisation/UpdatePriorLikelihoodObservation.h"
#include "bayesian_topological_localisation/Predict.h"
#include <visualization_msgs/Marker.h>
#include <ctime>
#include <iomanip>
#include <experimental/filesystem> // or #include <filesystem> for C++17 and up
#include "rasberry_people_perception/NoisyGPS.h"
using namespace std;
using namespace dummy;
namespace fs = std::experimental::filesystem;
// ROS varies
bool move(float x, float y, float orientation, float time_travel,
list<Pose> *tabuList,
std::list<std::pair<float, float> > *posToEsclude);
void update_callback(const map_msgs::OccupancyGridUpdateConstPtr &msg);
void grid_callback(const nav_msgs::OccupancyGridConstPtr &msg);
void belief_topomap_callback(const bayesian_topological_localisation::DistributionStampedConstPtr &msg);
void topological_map_callback(const strands_navigation_msgs::TopologicalMapConstPtr &msg);
void printROSParams();
void loadROSParams();
ros::NodeHandle createROSComms();
void tag_coverage_callback(const std_msgs::Float32 msg);
void belief_map_callback(const grid_map_msgs::GridMap msg);
void gps_callback(const visualization_msgs::MarkerConstPtr &msg);
void sensing();
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>MoveBaseClient;
vector<int> occdata;
int costmapReceived = 0;
int topoMapReceived = 0;
float costresolution;
int costwidth;
int costheight;
geometry_msgs::Pose costorigin;
nav_msgs::OccupancyGrid costmap_grid;
strands_navigation_msgs::TopologicalMap topological_map;
double min_pan_angle, max_pan_angle, min_tilt_angle, max_tilt_angle,
sample_delay, tilt_angle;
int num_pan_sweeps, num_tilt_sweeps;
double sensing_range, offsetY_base_rmld, FoV;
int statusPTU, prevStatusPTU;
double timeOfScanning = 0;
bool btMode = false;
double min_robot_speed = 0.1;
nav_msgs::GetPlan path;
float tag_coverage_percentage = 0.0;
GridMap belief_map;
vector<bayesian_topological_localisation::DistributionStamped> belief_topomaps;
grid_map_msgs::GridMap belief_map_msg;
GridMapRosConverter converter;
int belief_counter = 0;
// ROS PARAMETERS ....................................
std::string static_map_srv_name;
std::string belief_map_srv_name_left, belief_map_srv_name_right, fake_belief_map_srv_name_left, fake_belief_map_srv_name_right;
std::string make_plan_srv_name;
std::string make_topo_plan_srv_name, get_topo_distances_srv_name;
std::string move_base_goal_topic_name;
std::string move_base_srv_name;
std::string nav_grid_debug_topic_name;
std::string planning_grid_debug_topic_name;
std::string move_base_costmap_topic_name;
std::string move_base_local_costmap_topic_name;
std::string move_base_costmap_updates_topic_name;
std::string marker_pub_topic_name;
std::string rosbag_srv_name;
std::string gazebo_model_state_srv_name;
std::string experiment_finished_topic_name;
double robot_radius;
Utilities utils;
std::string stats_topic_name;
std::string topological_map_topic_name;
std::string localization_srv_name;
std::string pf_srv_name, pf_stateless_srv_name;
std::string gps_srv_name;
std::string pf_topic_name;
// Ros services/subscribers/publishers
ros::ServiceClient map_service_client_;
ros::ServiceClient path_client;
ros::ServiceClient topo_path_client, topo_distances_client;
ros::ServiceClient belief_map_client_left, belief_map_client_right, fake_belief_map_client_left, fake_belief_map_client_right;
vector<ros::ServiceClient> belief_map_clients ;
ros::ServiceClient localization_client;
ros::ServiceClient pf_client, pf_stateless_client;
ros::ServiceClient gps_client;
ros::ServiceClient gazebo_model_state_client;
vector<ros::ServiceClient> pf_likelihoodClient_list, pf_stateless_likelihoodClient_list;
vector<ros::ServiceClient> gps_client_list;
vector<bayesian_topological_localisation::DistributionStamped> stateless_belief_history;
vector<unordered_map<float, std::pair<string, bayesian_topological_localisation::DistributionStamped>>> mapping_time_belief;
prediction_tools prediction_tools;
// mfc: we will record using stats_pub
//ros::ServiceClient rosbag_client;
nav_msgs::GetMap srv_map;
grid_map_msgs::GridMap srv_belief_map;
ros::Publisher moveBasePub;
ros::Subscriber costmap_sub;
ros::Subscriber costmap_update_sub;
ros::Subscriber tag_coverage_sub;
ros::Subscriber belief_map_sub;
ros::Subscriber topo_map_sub;
ros::Subscriber pf_sub;
ros::Subscriber gps_sub;
std::vector<ros::Subscriber> pf_topoMap_sub_list;
ros::Publisher gridPub;
ros::Publisher planningPub;
ros::Publisher marker_pub;
ros::Publisher pf_pub;
vector<ros::Publisher> pf_topoMap_pub_list;
// vector<string> tag_discovered;
// mfc: we will record using stats_pub
// record_ros::String_cmd srv_rosbag;
ros::Publisher stats_pub;
ros::Publisher experiment_finished_pub;
vector<string> current_tag_waypoint_prediction;
geometry_msgs::Pose pf_tag_pose, gt_tag_pose, gps_tag_pose;
double distance_pf_gt;
// Input : ./mcdm_online_exploration_ros ./../Maps/map_RiccardoFreiburg_1m2.pgm
// 100 75 5 0 15 180 0.95 0.12
// resolution x y orientation range centralAngle precision threshold
int main(int argc, char **argv) {
// mfc ...........................
// some param control ...
if (argc < 6) {
ROS_FATAL("Missing input arguments: Got (%d) and should be (%d) [Field of "
"View, Sensing Range, Precision, Threshold,Resolution]",
argc - 1, 6 - 1);
return 1;
} else {
printf("\nParameters:\n- Field of View (%3.3f)\n- Sensing Range (%d)\n- "
"Precision (%3.3f)\n- Threshold (%3.3f)\n- Resolution: (%3.3f)",
atof(argv[1]), atoi(argv[2]), atof(argv[3]), atof(argv[4]),
atof(argv[5]));
}
// sets console output to debug mode...
// if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME,
// ros::console::levels::Debug)) {
// ros::console::notifyLoggerLevelsChanged();
// }
// mfc ...........................
ros::init(argc, argv, "next_best_sense_node");
// mfc Load params from ros
loadROSParams();
// mfc Load params from ros
printROSParams();
// create ROS connections/services
ros::NodeHandle nh = createROSComms();
belief_map_clients.push_back(belief_map_client_left);
belief_map_clients.push_back(belief_map_client_right);
prediction_tools.radarmodel_fake_reading_srv_list.push_back(fake_belief_map_client_left);
prediction_tools.radarmodel_fake_reading_srv_list.push_back(fake_belief_map_client_right);
double path_len;
bool path_srv_call;
ros::Rate r(20);
std_msgs::String stats_msg;
std::stringstream stats_buffer;
double coverage;
// Create srv request for the RFID belief map
rfid_grid_map::GetBeliefMaps belief_map_srv_left, belief_map_srv_right;
vector<rfid_grid_map::GetBeliefMaps> belief_map_srvs ;
belief_map_srvs.push_back(belief_map_srv_left);
belief_map_srvs.push_back(belief_map_srv_right);
bayesian_topological_localisation::LocaliseAgent localization_srv;
bayesian_topological_localisation::UpdateLikelihoodObservation prediction_srv;
bayesian_topological_localisation::Predict prediction_stateless_srv;
rasberry_people_perception::NoisyGPS gps_srv;
// first time, add header. THIS SHOULD MATCH WHAT YOU PUBLISH LATER!!!!!!
stats_buffer.str("coveragePercent, numConfiguration, backTracking");
stats_msg.data = stats_buffer.str();
stats_pub.publish(stats_msg);
// Start recording the bag
// srv_rosbag.request.cmd = "record";
// if (rosbag_client.call(srv_rosbag)){
// cout << "Start recording the bag..." << endl;
// sleep(5);
// }else{
// cout << "Error occurring while recording the bag. Exiting now!" << endl;
// ros::shutdown();
// }
std_msgs::Bool finished;
finished.data = false;
experiment_finished_pub.publish(finished);
while (ros::ok()) {
if (costmapReceived == 0) {
ROS_INFO_STREAM_THROTTLE(60, "waiting for costmap" << std::endl);
// cout << "Waiting for costmap" << endl;
}
if (topoMapReceived == 0) {
ROS_INFO_STREAM_THROTTLE(60, "waiting for topologicalmap" << std::endl);
// cout << "Waiting for costmap" << endl;
}
// boost::thread mythread(sensing); // Starting listening to RFID
if (costmapReceived == 1 and topoMapReceived == 1) {
double initFov = atof(argv[1]);
initFov = initFov * M_PI / 180;
FoV = initFov;
int initRange = atoi(argv[2]);
sensing_range = initRange;
double precision = atof(argv[3]);
double threshold = atof(argv[4]);
/* resolution = 0 -> full resolution
* resolution = 1 -> 1mx1m
* resolution = X -> X%(full resolution)
*NOTE: LOWER RES VALUE, HIGHER REAL RESOLUTION*/
double resolution = atof(argv[5]);
double w_info_gain = atof(argv[6]);
double w_travel_distance = atof(argv[7]);
double w_sensing_time = atof(argv[8]);
double w_battery_status = atof(argv[9]);
double w_rfid_gain = atof(argv[10]);
// Normalize the weight such that their sum is always equal to 1
double norm_w_info_gain, norm_w_travel_distance, norm_w_sensing_time,
norm_w_rfid_gain, norm_w_battery_status;
double sum_w = w_info_gain + w_travel_distance + w_sensing_time +
w_rfid_gain + w_battery_status;
norm_w_info_gain = w_info_gain / sum_w;
norm_w_travel_distance = w_travel_distance / sum_w;
norm_w_sensing_time = w_sensing_time / sum_w;
norm_w_battery_status = w_battery_status / sum_w;
norm_w_rfid_gain = w_rfid_gain / sum_w;
bool use_mcdm = bool(atoi(argv[11]));
int num_tags = atoi(argv[12]);
int max_iterations = atoi(argv[13]);
std::string path_distances_map = (argv[14]);
std::string log_dest_folder = (argv[15]);
auto t = std::time(nullptr);
auto tm = *std::localtime(&t);
std::ostringstream oss;
string map_path = log_dest_folder + path_distances_map ;
oss << std::put_time(&tm, "%d-%m-%Y-%H-%M-%S/");
auto str = oss.str();
log_dest_folder += str;
cout << "Creating folder: " << log_dest_folder << endl;
fs::create_directories(log_dest_folder);
cout << "Creation completed! " << endl;
std::string pf_log = log_dest_folder + "pf_tag_pose_";
std::string gt_log = log_dest_folder + "gt_tag_pose_";
std::string gps_log = log_dest_folder + "gps_tag_pose_";
std::string pf_vs_gt_log = log_dest_folder + "pf_vs_gt_";
std::string coverage_log = log_dest_folder + "coverage_mcdm.csv";
std::string out_log = log_dest_folder + "mcdm_result.csv";
cout << "Config: " << endl;
cout << " InitFov: " << initFov << endl;
cout << " InitRange: " << initRange << endl;
cout << " precision: " << precision << endl;
cout << " threshold: " << threshold << endl;
cout << " Resolution: " << resolution
<< "\n Costresolution: " << costresolution << endl;
cout << "Criteria: " << endl;
cout << " w_info_gain: " << norm_w_info_gain << endl;
cout << " w_travel_distance: " << norm_w_travel_distance << endl;
cout << " w_sensing_time: " << norm_w_sensing_time << endl;
cout << " w_battery_status: " << norm_w_battery_status << endl;
cout << " w_rfid_gain: " << norm_w_rfid_gain << endl;
// dummy::Map map = dummy::Map(costresolution, costresolution, costwidth,
// costheight, occdata, costorigin);
dummy::Map map = dummy::Map(resolution, costmap_grid);
ROS_DEBUG("Map created correctly");
list<Pose> topoMap;
unordered_map<string, string> mappingWaypoints;
utils.convertStrandTopoMapToListPose(
&topological_map, &topoMap, initRange, initFov, &mappingWaypoints);
prediction_tools.topoMap = topoMap;
ROS_DEBUG("TopologicalMap created");
// NOTE: let's create a map to store distance between each node and every other node;
double start = ros::Time::now().toSec();
std::unordered_map<string, double> distances_map;
cout << "Loading distances matrix from disk ..." << endl;
bool successfull_loading = utils.loadMap(&distances_map, map_path);
if (successfull_loading == true){
cout << " Distances map contains: " << distances_map.size() << "entries" << endl;
}else{
cout << "It doesn't exist. Create a new one ..." << endl;
strands_navigation_msgs::GetRouteBetween route;
double distance;
for(int i = 0; i < topological_map.nodes.size(); i++){
for(int j = 0; j <= i; j++){
route.request.origin = topological_map.nodes.at(i).name;
route.request.goal = topological_map.nodes.at(j).name;
bool route_srv_call = topo_distances_client.call(route);
if(route_srv_call){
// cout << " Called!" << endl;
distance = 3 * route.response.route.source.size();
}else {
distance = 1000;
}
if (i == j) distance = 0;
distances_map.emplace(topological_map.nodes.at(i).name + topological_map.nodes.at(j).name, distance);
distances_map.emplace(topological_map.nodes.at(j).name + topological_map.nodes.at(i).name, distance);
}
}
cout << " Completed! [" << ros::Time::now().toSec() - start << "s]" << endl;
utils.saveMap(&distances_map, map_path);
cout << "Saving on disk completed" << endl;
}
for (auto it = distances_map.begin(); it != distances_map.end(); ++it) {
std::cout << "{" << (*it).first << ": " << (*it).second << "}\n";
}
map.plotPathPlanningGridColor("/tmp/pathplanning_start.png");
map.plotGridColor("/tmp/nav_start.png");
int gridToPathGridScale = map.getGridToPathGridScale();
// Get the initial pose in map frame
Pose start_pose = utils.getCurrentPose(resolution, costresolution, &map,
initFov, initRange);
Pose target = start_pose;
Pose previous = target;
Pose invertedInitial =
utils.createFromInitialPose(start_pose, M_PI, initRange, initFov);
Pose eastInitial =
utils.createFromInitialPose(start_pose, M_PI / 2, initRange, initFov);
Pose westInitial = utils.createFromInitialPose(start_pose, 3 * M_PI / 2,
initRange, initFov);
std::pair<float, float> targetPos;
long numConfiguration = 1;
vector<pair<string, list<Pose>>> graph2;
bool backTracking = false;
NewRay ray;
ray.setGridToPathGridScale(gridToPathGridScale);
MCDMFunction function(norm_w_info_gain, norm_w_travel_distance, norm_w_sensing_time,
norm_w_rfid_gain, norm_w_battery_status, use_mcdm);
long sensedCells = 0;
long newSensedCells = 0;
long totalFreeCells = map.getTotalFreeCells();
int count = 0;
int countBT;
double travelledDistance = 0;
int numOfTurning = 0;
double totalAngle = 0;
unordered_map<string, int> visitedCell;
vector<string> history;
// history.push_back(function.getEncodedKey(target, 1));
// amount of time the robot should do nothing for scanning the environment
// ( final value expressed in second)
unsigned int microseconds = 5 * 1000 * 1000;
// cout << "total free cells in the main: " << totalFreeCells << endl;
list<Pose> tabuList;
std::list<std::pair<float, float>> posToEsclude;
EvaluationRecords record;
bool scan = true;
double totalScanTime = 0;
int encodedKeyValue = 0;
double batteryTime = MAX_BATTERY;
double batteryPercentage = 100;
// RFID
double absTagX = 0; // std::stod(argv[12]); // m.
double absTagY = 0; // std::stod(argv[11]); // m.
double freq = 0; // std::stod(argv[13]); // Hertzs
double txtPower = 0; // std::stod(argv[14]); // dBs
double rxPower = 0;
// std::pair<int, int> relTagCoord;
long i, j;
long cell_i, cell_j;
double targetX_meter, targetY_meter;
bool success = false;
auto startMCDM = ros::Time::now().toSec();
string content;
double entropy_map = 0;
bool emptyTabuList = false;
int tabuListCount = MAX_TABULIST_COUNT;
bool explorationCompleted = false;
bool break_loop = false;
string closerWaypoint;
string robotName = "thorvald_ii";
// Record the particle filters and create a subscriber
cout << "\nCreating PF agents for " << to_string(num_tags) << " tags" << endl;
for (int tag_id=1; tag_id<=num_tags; tag_id++){
localization_srv.request.name = "tag_" + to_string(tag_id);
localization_srv.request.n_particles = 500;
localization_srv.request.do_prediction = true;
localization_srv.request.prediction_rate = 0.5;
if (localization_client.call(localization_srv)) {
printf("[ParticleFilter] Initialization successful "
"for tag %d\n", tag_id);
pf_topic_name = "/tag_" + to_string(tag_id) + "/likelihood_obs";
pf_pub = nh.advertise<bayesian_topological_localisation::
DistributionStamped>(
pf_topic_name, 1000);
pf_topoMap_pub_list.push_back(pf_pub);
printf(" Creating client...\n");
pf_srv_name = "/tag_" + to_string(tag_id) + "/update_likelihood_obs";
pf_client =
nh.serviceClient<bayesian_topological_localisation::
UpdateLikelihoodObservation>(
pf_srv_name);
gps_srv_name = "/tag_" + to_string(tag_id) + "/gps_pose";
gps_client= nh.serviceClient<rasberry_people_perception::NoisyGPS>(gps_srv_name);
gps_client_list.push_back(gps_client);
pf_stateless_srv_name = "/tag_" + to_string(tag_id) + "/predict_stateless";
pf_stateless_client = nh.serviceClient<bayesian_topological_localisation::
Predict>(
pf_stateless_srv_name);
pf_likelihoodClient_list.push_back(pf_client);
// Create srv client for stateless update
pf_srv_name = "/tag_" + to_string(tag_id) + "/update_stateless";
pf_client =
nh.serviceClient<bayesian_topological_localisation::
UpdatePriorLikelihoodObservation>(
pf_srv_name);
prediction_tools.pf_stateless_update_srv_list.push_back(pf_client);
pf_stateless_likelihoodClient_list.push_back(pf_stateless_client);
}else
ROS_ERROR("[ParticleFilter] Error while initializing for "
"tag %d\n", tag_id);
}
sleep(5.0);
// add the service client to utils so it can use it
utils.setGazeboModelStateClient(gazebo_model_state_client);
do {
record.clear();
// if (btMode == false) {
while (record.size() == 0) {
// At every iteration, the current pose of the robot is taken from the
// TF-tree
target = utils.getCurrentPose(resolution, costresolution, &map,
initFov, initRange);
cout << "\n============================================" << endl;
cout << "New iteration[" << count + 1
<< "], position: " << target.getX() << "," << target.getY()
<< "[ " << newSensedCells << " sensed] - ["
<< totalFreeCells << " total]"
<< "[ " << coverage << " %] - ["
<< (ros::Time::now().toSec() - startMCDM) / 60.0 << " min ] - ["
<< batteryPercentage << "% battery left]" << endl;
// Look for the RFID coverage value
std_msgs::Float32ConstPtr msg =
ros::topic::waitForMessage<std_msgs::Float32>("/tag_coverage",
ros::Duration(1));
if (msg != NULL) {
tag_coverage_percentage = msg->data;
}
content =
to_string(numConfiguration) + "," +
to_string(100 * float(newSensedCells) / float(totalFreeCells)) +
"," + to_string(tag_coverage_percentage) + "," +
to_string(travelledDistance) + "\n";
// cout << tag_coverage_percentage << endl;
utils.filePutContents(coverage_log, content, true);
ROS_DEBUG(" ==> Saving the coverage log ...");
map.getPathPlanningIndex(target.getX(), target.getY(), i, j);
map.getPathPlanningPosition(targetX_meter, targetY_meter, i, j);
map.getGridIndex(target.getX(), target.getY(), i, j);
gridPub.publish(map.toMessageGrid());
// Update starting point in the path
// path.request.start.header.frame_id = "map";
// path.request.start.pose.position.x = target.getX();
// path.request.start.pose.position.y = target.getY();
// path.request.start.pose.orientation.w = 1;
float x = target.getX();
float y = target.getY();
float orientation = roundf(target.getOrientation() * 100) / 100;
; // cast orientation in [0, 360]
int range = target.getRange();
double FOV = target.getFOV();
string actualPose = function.getEncodedKey(target, 0);
map.setCurrentPose(target);
string encoding = to_string(target.getX()) + to_string(target.getY());
visitedCell.emplace(encoding, 0);
// Get the sensing time required for scanning
target.setScanAngles(
map.getSensingTime(x, y, orientation, FOV, range));
// Perform a scanning operation
double X_max = range;
double X_min = 1;
double focal_length = (X_max - X_min) / 2.0; // (X_max - X_min)/2
double major_axis = focal_length + X_min; // (focal_length + X_min)
double minor_axis = sqrt(pow(major_axis, 2) - pow(focal_length, 2));
newSensedCells = sensedCells + map.performSensingOperationEllipse(
x, y, orientation, FOV, range,
target.getScanAngles().first,
target.getScanAngles().second,
minor_axis, major_axis);
// Calculate the scanning angle
double scanAngle =
target.getScanAngles().second - target.getScanAngles().first;
// Update the overall scanning time
totalScanTime += utils.calculateScanTime(scanAngle * 180 / M_PI);
map.getPathPlanningIndex(x, y, cell_i, cell_j);
map.updatePathPlanningGrid(x, y, range);
gridPub.publish(map.toMessageGrid());
planningPub.publish(map.toMessagePathPlanning());
map.plotPathPlanningGridColor("/tmp/pathplanning_lastLoop.png");
map.plotGridColor("/tmp/nav_lastLoop.png");
// here save the tag's closest nodes
std::vector<string> closest_waypoints;
// here save the tag ids
std::vector<string> tag_ids;
// if we also navigate for finding a tag
if (norm_w_rfid_gain > 0) {
// Get an updated RFID belief map
printf("Updating the belief...\n");
// cout << "Clients: " << belief_map_clients.size() << ", srvs: " << belief_map_srvs.size() << endl;
for (int i=0; i < belief_map_clients.size(); i++){
cout << "Server: " << i << endl;
// rfid_grid_map::GetBeliefMaps tmp_server = belief_map_srvs[i];
// ros::ServiceClient tmp_client = belief_map_clients[i];
if (belief_map_clients[i].call(belief_map_srvs[i])) {
cout << " BeliefMap client answered" << endl;
belief_map_msg = belief_map_srvs[i].response.rfid_maps;
converter.fromMessage(belief_map_msg, belief_map);
std::vector<string> layers_name = belief_map.getLayers();
// The layers_name vector contains "ref_map, X, Y, 0" which are
// for not for finding the tags. So we can remove their name to
// avoid checking this layers.
layers_name.erase(layers_name.begin(), layers_name.begin() + 4);
// If there are any tags discovered...
if (layers_name.size() != 0) {
// We now instantiate the Particle Filter for each tag
// discovered
for (auto it = layers_name.begin(); it != layers_name.end();
it++) {
// If the laters name contains more than 2 character,
// skip it because it can be some debug layer (e.g.,
// obst_losses)
if (it->size() > 2)
continue;
// Publish to the PF the sensor reading
bayesian_topological_localisation::DistributionStamped
tmp_belief_topo = utils.convertGridBeliefMapToTopoMap(
belief_map, topoMap, mappingWaypoints, *it, 0.5);
tmp_belief_topo.header.stamp = ros::Time::now();
int index = std::stoi(*it);
prediction_srv.request.likelihood = tmp_belief_topo;
prediction_srv.request.identifying = true;
if (pf_likelihoodClient_list.at(index - 1).call(
prediction_srv)) {
cout << " [" << index << "] Prediction srv called successfully" << endl;
// printf("[PF - Tag %d ] Prediction: %s\n", index,
// prediction_srv.response.estimated_node.c_str());
// Store waypoint prediction coming from particle filter
if (current_tag_waypoint_prediction.size() < index ){
current_tag_waypoint_prediction.push_back(prediction_srv.response.estimated_node);
} else current_tag_waypoint_prediction.at(index - 1) = prediction_srv.response.estimated_node;
pf_tag_pose = utils.getWaypointPoseFromName(current_tag_waypoint_prediction.at(index - 1), &topological_map);
// Save pf prediction (expressed as metric position) on log
content = to_string(pf_tag_pose.position.x) + "," + to_string(pf_tag_pose.position.y) + "\n";
utils.filePutContents(pf_log + to_string(index) + ".csv", content, true);
// Save noisy gps location on log
if (gps_client_list.at(index - 1).call(gps_srv)){
content = to_string(gps_srv.response.p.x) + "," + to_string(gps_srv.response.p.y) + "\n";
utils.filePutContents(gps_log + to_string(index) + ".csv", content, true);
}
// Obtain ground truth position from Gazebo's engine
string closerWaypoint;
string model_name = "tag_" + index;
if (utils.getModelClosestWaypoint(model_name, topological_map, closerWaypoint, gt_tag_pose))
{
// Save ground truth on log
content = to_string(gt_tag_pose.position.x) + "," + to_string(gt_tag_pose.position.y) + "\n";
utils.filePutContents(gt_log + to_string(index) + ".csv", content, true);
// Look for closer waypoint to current pose
// and compare it to the PF prediction
distance_pf_gt = sqrt(pow(pf_tag_pose.position.x - gt_tag_pose.position.x, 2) +
pow(pf_tag_pose.position.y - gt_tag_pose.position.y, 2));
// Save to log prediction and ground truth
content =
current_tag_waypoint_prediction.at(index - 1) + "," +
closerWaypoint + "," + to_string(distance_pf_gt) + "\n";
// cout << "Prediction VS GT: " << content << endl;
utils.filePutContents(pf_vs_gt_log + to_string(index) + ".csv", content, true);
// save closest waypoint for this tag
closest_waypoints.push_back(closerWaypoint);
}
tag_ids.push_back(std::to_string(index + 1));
if (belief_topomaps.size() < index) {
belief_topomaps.push_back(
prediction_srv.response.current_prob_dist);
} else
belief_topomaps.at(index - 1) =
prediction_srv.response.current_prob_dist;
prediction_tools.prior_distributions = belief_topomaps;
} else
cout << " [" << index << "][ERROR] PF node did not reply!" << endl;
}
}
} else {
printf("ATTENTION! Failed to get the RFID belief map\n");
}
}
}
// If the exploration just started
if (count == 0) {
// Calculate other three pose given the starting one
string invertedPose = function.getEncodedKey(invertedInitial, 0);
string eastPose = function.getEncodedKey(eastInitial, 0);
string westPose = function.getEncodedKey(westInitial, 0);
list<Pose> empty;
std::pair<string, list<Pose>> pair1 =
make_pair(invertedPose, empty);
std::pair<string, list<Pose>> pair2 = make_pair(eastPose, empty);
std::pair<string, list<Pose>> pair3 = make_pair(westPose, empty);
// And add them (with empty candidates) to the graph structure
graph2.push_back(pair1);
graph2.push_back(pair2);
graph2.push_back(pair3);
}
// If it's not the first step but we are in one of the initial
// position (we come back here with backtracking)
if (count != 0 &&
(target.isEqual(invertedInitial) || target.isEqual(eastInitial) ||
target.isEqual(westInitial))) {
// If there are no more destination in the graph, terminates the
// navigation
if (graph2.size() == 0)
break;
graph2.pop_back();
actualPose = function.getEncodedKey(target, 0);
// Add to the graph the initial positions and the candidates from
// there (calculated inside the function)
utils.pushInitialPositions(closerWaypoint,
map, x, y, orientation, range, FOV, threshold, actualPose,
&graph2, &topo_path_client, &mapping_time_belief, &function, &batteryTime,
&belief_map, &mappingWaypoints, &prediction_tools, &distances_map);
}
list<Pose> frontiers = topoMap;
// If there are no new candidate positions from the current pose of
// the robot
if (frontiers.size() == 0) {
std::cout << "[ERROR] Topological map empty." << endl;
break;
}
//... otherwise, if there are further candidate new position from the
// current pose of the robot
else {
// Remove the closest cells to every tag, to avoind investing the agent!
unordered_map<string, string>::iterator it = mappingWaypoints.begin(); // this contains (encoding, waypoint name)
for (std::pair<string,string> element : mappingWaypoints){
if (std::find(closest_waypoints.begin(), closest_waypoints.end(), element.second) != closest_waypoints.end()){
Pose rm_pose = record.getPoseFromEncoding(element.first);
frontiers.remove(rm_pose);
// std::cout << "Removed node because the picker is on it: " << element.second << std::endl;
}
}
// Remove the cells which are recently visited (part of tabuList)
list<Pose>::iterator it_tabuList;
for (it_tabuList = tabuList.begin(); it_tabuList != tabuList.end();
it_tabuList++) {
utils.cleanPossibleDestination2(&frontiers, *it_tabuList);
}
// FIXME: this can still be useful by not every iteration
// utils.cleanDestinationFromTabulist(&frontiers, &posToEsclude);
// cout <<"CleanedFrontiers: " << frontiers.size() << endl;
mapping_time_belief = utils.getStatelessRFIDBelief(50.0, true, &pf_stateless_likelihoodClient_list);
// cout << "Stateless update obtained" << endl;
cout << "Obtain current robot waypoint name" << endl;
utils.getModelClosestWaypoint(robotName, topological_map, closerWaypoint, gt_tag_pose);
cout << "Evaluating nodes..." << endl;
record = *function.evaluateFrontiers(closerWaypoint,
frontiers, map, threshold, topo_path_client, mapping_time_belief, batteryTime,
belief_map, mappingWaypoints, prediction_tools, distances_map);
cout << " Evaluation: " << ros::Time::now().toSec() - start << endl;
// FIXME: this shouldn't be necessary but I cannot remove it because
// some cells in the tabulist are not removed with
// cleanPossibleDestination2 Clean all the possible destination from
// cells recently visited
for (list<Pose>::iterator it = tabuList.begin();
it != tabuList.end(); it++) {
record.removeFrontier(*it);
}
// If there are candidate positions
if (record.size() > 0) {
frontiers = record.getFrontiers();
// Set the previous pose equal to the current one (represented by
// target)
previous = target;
// Select the new robot destination from the list of candidates
std::pair<Pose, double> result = function.selectNewPose(&record);
target = result.first;
// target = utils.selectFreePoseInLocalCostmap(
// target, &frontiers, &map, &function, threshold,
// &topo_path_client, &posToEsclude, &record,
// move_base_local_costmap_topic_name, &batteryTime, &belief_map,
// &mappingWaypoints, &belief_topomaps);
targetPos =
std::make_pair(int(target.getX()), int(target.getY()));
// Select a new position until it is not explored recently
int iter = 0;
while (utils.containsPos(&posToEsclude, targetPos)) {
iter++;
// cout << iter << endl;
if (record.size() > 0) {
record.removeFrontier(target);
result = function.selectNewPose(&record);
target = result.first;
// target = utils.selectFreePoseInLocalCostmap(
// target, &frontiers, &map, &function, threshold,
// &topo_path_client, &posToEsclude, &record,
// move_base_local_costmap_topic_name, &batteryTime,
// &belief_map, &mappingWaypoints, &belief_topomaps);
targetPos =
std::make_pair(int(target.getX()), int(target.getY()));
posToEsclude.push_back(targetPos);
} else {
cout << "Record is empty and cannot find new candidate pose. Navigation should be terminated." << endl;
break_loop = true;
break;
}
}
if (break_loop == true)
break;
// If the selected destination does not appear among the cells
// already visited
if ((!utils.containsPos(&posToEsclude, targetPos))) {
// i switch x and y to allow debugging graphically looking the image
cout << "New target : x = " << targetPos.first << ", y = " << targetPos.second
<< ", orientation = " << target.getOrientation() * 180 / M_PI << endl;
// Add it to the list of visited cells as first-view
encodedKeyValue = 1;
backTracking = false;
// If the target has a different orientation from the current one,
// let's rotate the robot first
// cout << "Current Orientation: " << previous.getOrientation() <<
// ", target Orientation: " << target.getOrientation() << endl;
// if (fmod(M_PI, std::abs(previous.getOrientation() - target.getOrientation())) > M_PI/6 ){
// cout << "Let's rotate the robot." << endl;
// utils.move(previous.getX(),
// previous.getY(),
// target.getOrientation(),
// 20,
// &tabuList,
// &posToEsclude);
// cout << "Rotation completed! Sending waypoint now." << endl;
// }
cout << "New destination found." << endl;
success = utils.showMarkerandNavigate(
target, &marker_pub, &map, &topo_path_client, &tabuList,
&posToEsclude, TRANSL_SPEED, &batteryTime,
&travelledDistance, &mappingWaypoints, topological_map, tag_ids);
if (success == true) {
// Recently visited cells shouldn't be visited soon again
if (tabuListCount > 0) {
tabuListCount--;
} else {
cout << "----> RESET TABULIST!! <----" << endl;
tabuList.clear();
posToEsclude.clear();
tabuListCount = MAX_TABULIST_COUNT;
}
// We empty the lists before pushing the new target inside,
// so it can't be selected at the next NBS iteration
utils.updatePathMetrics(
&count, &target, &previous, actualPose, &frontiers, &graph2,
&map, &function, &tabuList, &posToEsclude, &history,
encodedKeyValue, &numConfiguration, &totalAngle,
&travelledDistance, &numOfTurning, scanAngle,
&topo_path_client, backTracking, robot_radius, &mappingWaypoints);
}
scan = true;
}
// ...otherwise, if the selected cell has already been visited
else {
// NOTE: Technically, it shouldn't enter here due to the
// previous while loop
// cout << "3" << endl;
cout << "We shouldn't be here" << endl;
}
}
// ... otherwise, if there are no candidate positions
else {
cout << "There are no more waypoints significant to explore. End "
"the exploration task."
<< endl;
break;
}
// If the record is empty, we didn't find a new position so we must finish
if (break_loop == true)
break;
// NOTE: not requested for testing purpose
// usleep(microseconds);
sensedCells = newSensedCells;
frontiers.clear();
// delete record;
}
}
// after 1 loop is complete, publish some stats
// IF YOU CHANGE WHAT'S PUBLISHED HERE CHANGE HEADER PUBLISHING ABOVE!!!
coverage = 100 * float(newSensedCells) / float(totalFreeCells);
batteryPercentage = 100 * batteryTime / MAX_BATTERY;
stats_buffer.str(std::string()); // remove old data
stats_buffer << (coverage) << ", " << (numConfiguration) << ", "
<< (btMode);
stats_msg.data = stats_buffer.str();
stats_pub.publish(stats_msg);
}
// Perform exploration until a certain stopping criterion is achieved
while (batteryPercentage > 10.0 and count < max_iterations);
// Plotting utilities
map.drawVisitedCells();
map.printVisitedCells(history);
// map.drawRFIDScan();
// map.drawRFIDGridScan(myGrid);
// myGrid.saveAs(("/home/pulver/Desktop/MCDM/rfid_result_gridmap.pgm"));
cout << "Num configuration: " << numConfiguration << endl;
cout << "Travelled distance calculated during the algorithm: "
<< travelledDistance << endl;
cout << "------------------ HISTORY -----------------" << endl;
// Calculate which cells have been visited only once
list<Pose> tmp_history = utils.cleanHistory(&history, &record);
utils.calculateDistance(tmp_history, &topo_path_client, robot_radius);
cout << "------------------ TABULIST -----------------" << endl;
utils.calculateDistance(tabuList, &topo_path_client, robot_radius);
cout << "------------------- ending experiment ---------------" << endl;
std_msgs::Bool finished;
finished.data = true;
experiment_finished_pub.publish(finished);
utils.printResult(newSensedCells, totalFreeCells, precision,
numConfiguration, travelledDistance, numOfTurning,
totalAngle, totalScanTime, resolution, norm_w_info_gain,
norm_w_travel_distance, norm_w_sensing_time,
norm_w_battery_status, norm_w_rfid_gain, out_log);
// Find the tag
std::vector<std::pair<int, std::pair<int, int>>> tag_positions =
utils.findTagFromBeliefMap(&belief_map);
cout << "Tags positions (for all the found ones):" << endl;
for (int i = 0; i < tag_positions.size(); i++) {
std::pair<int, std::pair<int, int>> tag = tag_positions.at(i);
cout << " Tag[" << to_string(i) << "] = (" << tag.second.first << ","
<< tag.second.second << ")" << endl;
}
cout
<< "-----------------------------------------------------------------"
<< endl;
auto endMCDM = ros::Time::now().toSec();
double totalTimeMCDM = endMCDM - startMCDM;
cout << "Total time for MCDM algorithm : " << totalTimeMCDM << "s, "
<< totalTimeMCDM / 60 << " m " << endl;
cout << "Spinning at the end" << endl;
sleep(1);
ros::shutdown();
}
ros::spinOnce();
r.sleep();
} // end while ros::ok
} // end main
void grid_callback(const nav_msgs::OccupancyGridConstPtr &msg) {
// printf("RECEIVED A MAP!");
if (costmapReceived == 0) {
// cout << "CALLBACK FIRST!" << endl;
costmap_grid = *msg;
costresolution = msg->info.resolution;
costwidth = msg->info.width;
costheight = msg->info.height;
costorigin = msg->info.origin;
for (int i = 0; i < msg.get()->data.size(); ++i) {
occdata.push_back(msg->data.at(i));
}
// std::cout << "size of occdata " << occdata.size()
// << " size of message data " << msg->data.size() << std::endl;
// std::cout << "height " << msg->info.height << " width " << msg->info.width
// << " resolution " << msg->info.resolution << std::endl;
costmapReceived = 1;
}
}
void belief_topomap_callback(const bayesian_topological_localisation::DistributionStampedConstPtr &msg){
belief_counter = belief_counter + 1;
cout << "ATTENZIONE" << endl;
// string tag = msg->header.frame_id;
// cout << "[belief_topomap_callback@pure_navigation.cpp]tag: " << tag << endl;
// int len = sizeof(tag)/sizeof(tag[0]);
// // std::string::size_type pos = tag.find(tag.end());
// int index = std::stoi(tag.substr(3, len)); // let's drop "tag_" substring
// cout << "[belief_topomap_callback@pure_navigation.cpp]index: " << index << endl;
// If there are not maps, push it back to avoid overflow, otherwise access the right index
// if (index != 0){
// if (belief_topomaps.size() < index){
// belief_topomaps.push_back(*msg);
// }else belief_topomaps.at(index-1) = *msg;
// }
}
void topological_map_callback(const strands_navigation_msgs::TopologicalMapConstPtr &msg){
if (topoMapReceived == 0){
topological_map = *msg;
topoMapReceived = 1;
// cout << "[TOPOLOGICALMAP] Number of elements: " << topological_map.nodes.size() << endl;
}
}