ros2: add curvature target marker

- Add marker and publish to /curvature_target. - Correct curvature marker direction. - Add curvature marker to rviz config. - Fix code style. Signed-off-by: Rhys Mainwaring <[email protected]>
ethz-asl · Feb 24, 2024 · 03704fc · 03704fc
1 parent f521515
commit 03704fc
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Showing 3 changed files with 55 additions and 18 deletions.
diff --git a/terrain_navigation_ros/include/terrain_navigation_ros/terrain_planner.h b/terrain_navigation_ros/include/terrain_navigation_ros/terrain_planner.h
@@ -130,6 +130,9 @@ class TerrainPlanner : public rclcpp::Node {
                                       const Eigen::Vector3d &velocity, const double curvature);
   void publishReferenceMarker(rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr pub,
                               const Eigen::Vector3d &position, const Eigen::Vector3d &velocity, const double curvature);
+  void publishReferenceCurvatureMarker(rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr pub,
+                                       const Eigen::Vector3d &position, const Eigen::Vector3d &velocity,
+                                       const double curvature);
   void publishVelocityMarker(rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr pub,
                              const Eigen::Vector3d &position, const Eigen::Vector3d &velocity);
   void publishPathSegments(rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr, Path &trajectory);
@@ -179,6 +182,7 @@ class TerrainPlanner : public rclcpp::Node {
   rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr referencehistory_pub_;
   rclcpp::Publisher<mavros_msgs::msg::GlobalPositionTarget>::SharedPtr global_position_setpoint_pub_;
   rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr position_target_pub_;
+  rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr curvature_target_pub_;
   rclcpp::Publisher<planner_msgs::msg::NavigationStatus>::SharedPtr planner_status_pub_;
   rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr goal_pub_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr rallypoint_pub_;

diff --git a/terrain_navigation_ros/src/terrain_planner.cpp b/terrain_navigation_ros/src/terrain_planner.cpp
@@ -107,6 +107,7 @@ TerrainPlanner::TerrainPlanner() : Node("terrain_planner") {
   posehistory_pub_ = this->create_publisher<nav_msgs::msg::Path>("geometric_controller/path", 10);
   referencehistory_pub_ = this->create_publisher<nav_msgs::msg::Path>("reference/path", 10);
   position_target_pub_ = this->create_publisher<visualization_msgs::msg::Marker>("position_target", 1);
+  curvature_target_pub_ = this->create_publisher<visualization_msgs::msg::Marker>("curvature_target", 1);
   vehicle_velocity_pub_ = this->create_publisher<visualization_msgs::msg::Marker>("vehicle_velocity", 1);
   goal_pub_ = this->create_publisher<visualization_msgs::msg::Marker>("goal_marker", 1);
   rallypoint_pub_ = this->create_publisher<visualization_msgs::msg::MarkerArray>("rallypoints_marker", 1);
@@ -260,6 +261,7 @@ void TerrainPlanner::cmdloopCallback() {
     GeoConversions::reverse(lv03_reference_position(0), lv03_reference_position(1), lv03_reference_position(2),
                             latitude, longitude, altitude);
     publishReferenceMarker(position_target_pub_, reference_position, reference_tangent, reference_curvature);
+    publishReferenceCurvatureMarker(curvature_target_pub_, reference_position, reference_tangent, reference_curvature);
 
     // Run additional altitude control
     double altitude_correction = K_z_ * (vehicle_position_(2) - reference_position(2));
@@ -821,6 +823,23 @@ void TerrainPlanner::publishReferenceMarker(rclcpp::Publisher<visualization_msgs
   pub->publish(marker);
 }
 
+void TerrainPlanner::publishReferenceCurvatureMarker(rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr pub,
+                                                     const Eigen::Vector3d &position, const Eigen::Vector3d &velocity,
+                                                     const double curvature) {
+  // do not zero the radius completely for zero curvature as this results in
+  // a warning when displaying the marker in rviz.
+  double radius = std::fabs(curvature) < 1.0E-4 ? 1.0E-6 : 1.0 / std::fabs(curvature);
+  double direction = curvature > 0.0 ? 1.0 : -1.0;
+  auto direction_vector = Eigen::Vector3d(0.0, 0.0, direction);
+  auto projected_velocity = Eigen::Vector3d(velocity(0), velocity(1), 0.0);
+  auto unit_tangent_vector = projected_velocity.normalized();
+  Eigen::Vector3d curvature_vector = radius * direction_vector.cross(unit_tangent_vector);
+  visualization_msgs::msg::Marker marker =
+      vector2ArrowsMsg(position, curvature_vector, 0, Eigen::Vector3d(1.0, 0.0, 0.0), "reference_curvature");
+
+  pub->publish(marker);
+}
+
 void TerrainPlanner::publishPathSegments(rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub,
                                          Path &trajectory) {
   visualization_msgs::msg::MarkerArray msg;

diff --git a/terrain_planner/launch/config.rviz b/terrain_planner/launch/config.rviz
@@ -8,7 +8,7 @@ Panels:
         - /Vehicle1
         - /Vehicle1/VehiclePoseMarker1/Namespaces1
       Splitter Ratio: 0.5
-    Tree Height: 285
+    Tree Height: 280
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -33,6 +33,7 @@ Panels:
     Topic: ""
   - Class: mav_planning_rviz/PlanningPanel
     Name: PlanningPanel
+    flight_stack: px4
     namespace: ""
     odometry_topic: ""
     planner_name: davosdorf
@@ -227,6 +228,19 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /position_target
           Value: true
+        - Class: rviz_default_plugins/Marker
+          Enabled: true
+          Name: CurvatureTargetMarker
+          Namespaces:
+            {}
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /curvature_target
+          Value: true
         - Class: rviz_default_plugins/InteractiveMarkers
           Enable Transparency: true
           Enabled: true
@@ -287,14 +301,14 @@ Visualization Manager:
         - Alpha: 1
           Buffer Length: 1
           Class: rviz_default_plugins/Path
-          Color: 0; 0; 255
+          Color: 255; 255; 0
           Enabled: true
           Head Diameter: 0.30000001192092896
           Head Length: 0.20000000298023224
           Length: 0.30000001192092896
           Line Style: Lines
           Line Width: 0.029999999329447746
-          Name: GeometricControllerPath
+          Name: ReferencePath
           Offset:
             X: 0
             Y: 0
@@ -310,19 +324,19 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /geometric_controller/path
+            Value: /reference/path
           Value: true
         - Alpha: 1
           Buffer Length: 1
           Class: rviz_default_plugins/Path
-          Color: 255; 255; 0
+          Color: 0; 255; 255
           Enabled: true
           Head Diameter: 0.30000001192092896
           Head Length: 0.20000000298023224
           Length: 0.30000001192092896
           Line Style: Lines
           Line Width: 0.029999999329447746
-          Name: ReferencePath
+          Name: PlannedVehiclePath
           Offset:
             X: 0
             Y: 0
@@ -338,7 +352,7 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /reference/path
+            Value: /vehicle_path
           Value: true
       Enabled: true
       Name: Planning
@@ -385,14 +399,14 @@ Visualization Manager:
         - Alpha: 1
           Buffer Length: 1
           Class: rviz_default_plugins/Path
-          Color: 0; 255; 255
+          Color: 0; 0; 255
           Enabled: true
           Head Diameter: 0.30000001192092896
           Head Length: 0.20000000298023224
           Length: 0.30000001192092896
           Line Style: Lines
           Line Width: 0.029999999329447746
-          Name: VehiclePath
+          Name: VehiclePoseHistory
           Offset:
             X: 0
             Y: 0
@@ -408,7 +422,7 @@ Visualization Manager:
             Filter size: 10
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /vehicle_path
+            Value: /geometric_controller/path
           Value: true
       Enabled: true
       Name: Vehicle
@@ -459,25 +473,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 4404.001953125
+      Distance: 3783.384765625
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -1531.7305908203125
-        Y: -52.1274299621582
-        Z: 1152.6519775390625
+        X: 808.8604736328125
+        Y: -174.71060180664062
+        Z: 1149.7601318359375
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.25479769706726074
+      Pitch: 1.5697963237762451
       Target Frame: map
       Value: Orbit (rviz_default_plugins)
-      Yaw: 6.203699588775635
+      Yaw: -1.5700000524520874
     Saved: ~
 Window Geometry:
   Displays:
@@ -487,7 +501,7 @@ Window Geometry:
   Hide Right Dock: true
   PlanningPanel:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000002ad000002dafc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000640000016c000000e300fffffffb0000001a0050006c0061006e006e0069006e006700500061006e0065006c01000001d10000016d0000016d00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000020c000001b10000000000000000fb0000000c00540065006c0065006f00700000000368000000b20000007a00ffffff000000010000010f00000317fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000007c00000317000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000052b00000037fc0100000002fb0000000800540069006d006501000000000000052b0000023d00fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000014efc0100000001fb0000000800540069006d006501000000000000045000000000000000000000027d000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002ad000002dafc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006400000167000000e300fffffffb0000001a0050006c0061006e006e0069006e006700500061006e0065006c01000001cc000001720000017200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000020c000001b10000000000000000fb0000000c00540065006c0065006f00700000000368000000b20000007a00ffffff000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000064000002da000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000052b00000037fc0100000002fb0000000800540069006d006501000000000000052b0000023d00fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000014efc0100000001fb0000000800540069006d006501000000000000045000000000000000000000027d000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Teleop:
@@ -500,4 +514,4 @@ Window Geometry:
     collapsed: true
   Width: 1323
   X: 0
-  Y: 25
+  Y: 38