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Niklas Yann Wettengel
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#include <stdio.h>
#include <stdlib.h>
#include <sstream>
#include <string>
#include <vector>
#include "MapManager.h"
#include <nav_msgs/OccupancyGrid.h>
#include <homer_mapnav_msgs/ModifyMap.h>
#include <homer_mapnav_msgs/MapLayers.h>
#include <tools/tools.h>
MapManager::MapManager(ros::NodeHandle* nh)
{
m_MapPublisher = nh->advertise<nav_msgs::OccupancyGrid>("/map", 1);
//enable all map layers
m_MapVisibility[homer_mapnav_msgs::MapLayers::SLAM_LAYER] = true;
m_MapVisibility[homer_mapnav_msgs::MapLayers::KINECT_LAYER] = true;
m_MapVisibility[homer_mapnav_msgs::MapLayers::SICK_LAYER] = true;
m_MapVisibility[homer_mapnav_msgs::MapLayers::MASKING_LAYER] = true;
m_Height = -1;
m_Width = -1;
m_Resolution = -1;
}
MapManager::~MapManager()
{
}
void MapManager::updateMapLayer(int type, nav_msgs::OccupancyGrid::ConstPtr layer)
{
m_MapLayers[type] = layer;
//if slam map update map sizes
if(type == homer_mapnav_msgs::MapLayers::SLAM_LAYER)
{
m_Height = layer->info.height;
m_Width = layer->info.width;
m_Resolution = layer->info.resolution;
m_Origin = layer->info.origin;
sendMergedMap();
}
}
void MapManager::clearMapLayers()
{
m_MapLayers.clear();
}
void MapManager::toggleMapVisibility(int type, bool state)
{
ROS_INFO_STREAM("MapManager: " << type << ": " << state);
m_MapVisibility[type] = state;
}
nav_msgs::OccupancyGrid::ConstPtr MapManager::getMapLayer(int type)
{
if(m_MapLayers.find(type) == m_MapLayers.end())
return nav_msgs::OccupancyGrid::ConstPtr();
return m_MapLayers[type];
}
/**
* Sends the SLAM map (OccupancyGrid) and (if available and enabled) other merged map layers to the gui node
*
*/
void MapManager::sendMergedMap()
{
if ( m_MapLayers.find(homer_mapnav_msgs::MapLayers::SLAM_LAYER) == m_MapLayers.end() )
{
ROS_ERROR_STREAM( "SLAM map is missing!" );
return;
}
nav_msgs::OccupancyGrid mergedMap( *(m_MapLayers[homer_mapnav_msgs::MapLayers::SLAM_LAYER]) );
//apply kinect map if enabled
if ( m_MapLayers.find(homer_mapnav_msgs::MapLayers::KINECT_LAYER) != m_MapLayers.end()
&& m_MapVisibility[homer_mapnav_msgs::MapLayers::KINECT_LAYER])
{
nav_msgs::OccupancyGridConstPtr &kinectMap = m_MapLayers[homer_mapnav_msgs::MapLayers::KINECT_LAYER];
for ( int y = 0; y < kinectMap->info.height; y++ )
{
for ( int x = 0; x < kinectMap->info.width; x++ )
{
int i = x + y * kinectMap->info.width;
//if cell is occupied by kinect obstacle merge cell with merged map
if(kinectMap->data[i] == homer_mapnav_msgs::ModifyMap::BLOCKED)
{
Eigen::Vector2i point(x,y);
geometry_msgs::Point tmp = map_tools::fromMapCoords( point ,kinectMap->info.origin, kinectMap->info.resolution);
point = map_tools::toMapCoords(tmp , mergedMap.info.origin, mergedMap.info.resolution);
int k = point.y() * mergedMap.info.width + point.x();
mergedMap.data[k] = homer_mapnav_msgs::ModifyMap::KINECT;
}
}
}
}
//apply SICK map if enabled
if(m_MapLayers.find(homer_mapnav_msgs::MapLayers::SICK_LAYER) != m_MapLayers.end()
&& m_MapVisibility[homer_mapnav_msgs::MapLayers::SICK_LAYER])
{
nav_msgs::OccupancyGridConstPtr &sickMap = m_MapLayers[homer_mapnav_msgs::MapLayers::SICK_LAYER];
if ( ( sickMap->info.width == mergedMap.info.width )
&& ( sickMap->info.height == mergedMap.info.height ) )
{
for ( int i=0; i<mergedMap.data.size(); i++ )
{
//if cell is occupied by kinect obstacle merge cell with merged map
if(sickMap->data[i] == homer_mapnav_msgs::ModifyMap::BLOCKED)
{
mergedMap.data[i] = homer_mapnav_msgs::ModifyMap::BLOCKED;
}
}
}
else
{
ROS_ERROR_STREAM( "Size mismatch between SLAM map and SICK map!" );
}
}
//apply masking map if enabled
if ( m_MapLayers.find(homer_mapnav_msgs::MapLayers::MASKING_LAYER) != m_MapLayers.end()
&& m_MapVisibility[homer_mapnav_msgs::MapLayers::MASKING_LAYER])
{
nav_msgs::OccupancyGridConstPtr &maskingMap = m_MapLayers[homer_mapnav_msgs::MapLayers::MASKING_LAYER];
if ( ( maskingMap->info.width == mergedMap.info.width )
&& ( maskingMap->info.height == mergedMap.info.height ) )
{
for ( int i=0; i<mergedMap.data.size(); i++ )
{
//if cell should be masked apply masking on merged map
if(maskingMap->data[i] != homer_mapnav_msgs::ModifyMap::NOT_MASKED)
{
mergedMap.data[i] = maskingMap->data[i];
}
}
}
else
{
ROS_ERROR_STREAM( "Size mismatch between SLAM map (" << mergedMap.info.width << "x" << mergedMap.info.height << ") and masking map (" << maskingMap->info.width << "x" << maskingMap->info.height << ")!" );
}
}
m_MapPublisher.publish(mergedMap);
ROS_DEBUG_STREAM("Publishing map");
}