Beispiel #1
0
 // robot reference point is the origin
 public CSpace(Polygon robot, PolygonMap map) {
   Rectangle2D.Double worldRect = map.getWorldRect();
   constructor(
       robot, worldRect.getMinX(), worldRect.getMinY(), worldRect.getMaxX(), worldRect.getMaxY());
   for (PolygonObstacle obstacle : map.getObstacles()) {
     addObstacle(obstacle);
   }
 }
Beispiel #2
0
  public PolygonObstacle getRobot() {
    Point2D.Double center = polymap.getRobotStart();
    PolygonObstacle robot = new PolygonObstacle();

    double x, y, angle;
    for (int i = 0; i < NUM_SIDES; i++) {
      angle = i * 2.0 * Math.PI / NUM_SIDES;
      x = RADIUS * Math.cos(angle);
      y = RADIUS * Math.sin(angle);
      robot.addVertex(x, y);
    }

    robot.close();

    return robot;
  }
Beispiel #3
0
  @Override
  public void onStart(Node node) {
    ParameterTree paramTree = node.newParameterTree();
    mapFileName = paramTree.getString(node.resolveName("~/mapFileName"));

    last_localization = System.currentTimeMillis();

    try {
      polymap = new PolygonMap(mapFileName);
    } catch (Exception e) {
      e.printStackTrace();
    }

    Point2D.Double robotStart = polymap.getRobotStart();

    Rectangle2D.Double cSpaceWorld =
        CSpace.CSpaceWorldRect(polymap.getWorldRect(), polymap.getRobotStart(), RADIUS);
    List<PolygonObstacle> cSpaceObstacles =
        CSpace.computeCSpace(polymap, getRobot(), polymap.getRobotStart());

    Map<int[], Point2D.Double> fiducialPairs = new HashMap<int[], Point2D.Double>();

    // Finish adding to fiducial pairs here from map

    localization = new Localization(cSpaceObstacles, cSpaceWorld, robotStart, fiducialPairs);

    blobTrack = new BlobTracking(width, height);
    final boolean reverseRGB = node.newParameterTree().getBoolean("reverse_rgb", false);

    localPub = node.newPublisher("/rss/localization", "rss_msgs/OdometryMsg");
    stopPub = node.newPublisher("/rss/stop", "rss_msgs/ResetMsg");

    vidSub = node.newSubscriber("/rss/video", "sensor_msgs/Image");
    vidSub.addMessageListener(
        new MessageListener<org.ros.message.sensor_msgs.Image>() {
          @Override
          public void onNewMessage(org.ros.message.sensor_msgs.Image message) {
            byte[] rgbData;
            if (reverseRGB) {
              rgbData = Image.RGB2BGR(message.data, (int) message.width, (int) message.height);
            } else {
              rgbData = message.data;
            }
            assert ((int) message.width == width);
            assert ((int) message.height == height);
            handle(rgbData);
          }
        });

    depthSub = node.newSubscriber("/rss/depth", "sensor_msgs/Image");
    depthSub.addMessageListener(
        new MessageListener<org.ros.message.sensor_msgs.Image>() {
          @Override
          public void onNewMessage(org.ros.message.sensor_msgs.Image message) {
            byte[] rgbData;
            if (reverseRGB) {
              rgbData = Image.RGB2BGR(message.data, (int) message.width, (int) message.height);
            } else {
              rgbData = message.data;
            }
            assert ((int) message.width == width);
            assert ((int) message.height == height);
            handle(rgbData);
          }
        });

    odoSub = node.newSubscriber("/rss/odometry", "rss_msgs/OdometryMsg");
    odoSub.addMessageListener(
        new MessageListener<org.ros.message.rss_msgs.OdometryMsg>() {
          @Override
          public void onNewMessage(org.ros.message.rss_msgs.OdometryMsg message) {
            odo_x = message.x;
            odo_y = message.y;
            odo_theta = message.theta;

            Point2D.Double curr_point;
            OdometryMsg msg = new OdometryMsg();
            if (LOCALIZE) {
              synchronized (localization) {
                curr_point = localization.encoderUpdate(odo_x, odo_y);
              }
              msg.x = curr_point.x;
              msg.y = curr_point.y;
            } else {
              msg.x = odo_x;
              msg.y = odo_y;
            }
            msg.theta = odo_theta;
            localPub.publish(msg);
          }
        });

    Thread visionThread =
        new Thread(
            new Runnable() {
              @Override
              public void run() {
                handleImage();
                try {
                  Thread.sleep(10);
                } catch (Exception exc) {
                  exc.printStackTrace();
                }
              }
            });
    visionThread.start();
  }