Merge pull request #3772 from aquintan4/cpp-global-nav

C++ Global Navigation

Author: javizqh

database/exercises/db.sql

@@ -116,7 +116,7 @@ COPY public.exercises (id, exercise_id, name, description, tags, status, url) FR
 3	autoparking	Autoparking	Autoparking exercise testing	["AUTONOMOUS DRIVING","SERVICE ROBOTS","ROS2"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/autoparking
 4	follow_person	Follow Person	Follow a person with kobuki robot	["ROS2"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/follow_person
 5	vacuum_cleaner_loc	Localized Vacuum Cleaner	Localiized vauum clenaer	["ROS2", "MOBILE ROBOTS", "SERVICE ROBOTS"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/MobileRobots/vacuum_cleaner_loc
-6	global_navigation	Global Navigation	Global navigation exercise using REACT and RAM	["ROS2"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/global_navigation
+6	global_navigation	Global Navigation	Global navigation exercise using REACT and RAM	["ROS2", "MULTILANGUAGE"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/global_navigation
 7	rescue_people	Drone Rescue People	Drone Rescue People exercise	["ROS2"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/Drones/rescue_people
 8	obstacle_avoidance	Obstacle Avoidance	Obstacle Avoidance exercise using React and RAM	["ROS2","AUTONOMOUS DRIVING",  "MULTILANGUAGE"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/AutonomousCars/obstacle_avoidance
 9	3d_reconstruction	3D Reconstruction	3D Reconstruction exercise using React and RAM	["ROS2","COMPUTER VISION"]	ACTIVE	https://jderobot.github.io/RoboticsAcademy/exercises/ComputerVision/3d_reconstruction

exercises/global_navigation/cpp_lib/CMakeLists.txt

@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.10)
+project(GlobalNavigationLibs CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+find_package(ament_cmake REQUIRED)
+
+set(ROS2_PACKAGES
+    rclcpp
+    nav_msgs
+    geometry_msgs
+    sensor_msgs
+    cv_bridge
+)
+
+foreach(pkg IN LISTS ROS2_PACKAGES)
+    find_package(${pkg} REQUIRED)
+endforeach()
+
+find_package(Boost REQUIRED COMPONENTS system)
+find_package(nlohmann_json REQUIRED)
+find_package(OpenCV REQUIRED)
+
+set(COMMON_INTERFACES_INCLUDE "/home/ws/install/common_interfaces_cpp/include")
+set(COMMON_INTERFACES_LIB "/home/ws/install/common_interfaces_cpp/lib/libcommon_interfaces_cpp.so")
+
+set(HAL_ROS_DEPS     rclcpp geometry_msgs nav_msgs)
+set(WEBGUI_ROS_DEPS  rclcpp nav_msgs geometry_msgs sensor_msgs cv_bridge)
+set(WEBGUI_SYS_DEPS  Frequency Boost::system nlohmann_json::nlohmann_json ${OpenCV_LIBS})
+
+
+# --- libFrequency.so ---
+add_library(Frequency SHARED src/Frequency.cpp)
+target_include_directories(Frequency PUBLIC include)
+
+# --- libHAL.so ---
+add_library(HAL SHARED src/HAL.cpp)
+target_include_directories(HAL PUBLIC include ${COMMON_INTERFACES_INCLUDE})
+
+ament_target_dependencies(HAL ${HAL_ROS_DEPS})
+target_link_libraries(HAL ${COMMON_INTERFACES_LIB})
+
+# --- libWebGUI.so ---
+add_library(WebGUI SHARED src/WebGUI.cpp src/Map.cpp)
+target_include_directories(WebGUI PUBLIC 
+    include 
+    ${COMMON_INTERFACES_INCLUDE} 
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+ament_target_dependencies(WebGUI ${WEBGUI_ROS_DEPS})
+target_link_libraries(WebGUI ${WEBGUI_SYS_DEPS} ${COMMON_INTERFACES_LIB})

exercises/global_navigation/cpp_lib/include/Frequency.hpp

@@ -0,0 +1,22 @@
+#ifndef INCLUDE_FREQUENCY_HPP_
+#define INCLUDE_FREQUENCY_HPP_
+
+#include <chrono>
+#include <cmath>
+#include <thread>
+
+class Frequency
+{
+private:
+  std::chrono::high_resolution_clock::time_point last_time;
+  int is_first_iteration;
+
+public:
+  Frequency();
+  ~Frequency();
+
+  static int rate;
+  void tick(int ideal_cycle = 50);
+};
+
+#endif

exercises/global_navigation/cpp_lib/include/HAL.hpp

@@ -0,0 +1,25 @@
+#ifndef INCLUDE_HAL_HPP_
+#define INCLUDE_HAL_HPP_
+
+#include <memory>
+#include <thread>
+#include <chrono>
+#include "rclcpp/rclcpp.hpp"
+#include "common_interfaces_cpp/hal/motors.hpp"
+#include "common_interfaces_cpp/hal/odometry.hpp"
+
+class HAL : public rclcpp::Node
+{
+public:
+    HAL();
+    static void set_v(const float speed);
+    static void set_w(const float speed);
+    static Pose3d get_pose3d();
+
+private:
+    static std::shared_ptr<MotorsNode> motors_node_;
+    static std::shared_ptr<OdometryNode> odometry_node_;
+    std::thread spin_thread_;
+};
+
+#endif

exercises/global_navigation/cpp_lib/include/Map.hpp

@@ -0,0 +1,49 @@
+#ifndef INCLUDE_MAP_HPP_
+#define INCLUDE_MAP_HPP_
+
+#include <vector>
+#include <string>
+#include <functional>
+#include <opencv2/opencv.hpp>
+#include "common_interfaces_cpp/hal/odometry.hpp"
+
+class Map
+{
+public:
+    Map(std::function<Pose3d()> pose_cb);
+
+    cv::Mat RTx(double angle, double tx, double ty, double tz);
+    cv::Mat RTy(double angle, double tx, double ty, double tz);
+    cv::Mat RTz(double angle, double tx, double ty, double tz);
+
+    cv::Mat RTWorldGrid();
+    cv::Mat RTGridWorld();
+    cv::Mat RTFormula();
+
+    std::vector<int> worldToGrid(double worldX, double worldY);
+    std::vector<double> gridToWorld(int gridX, int gridY);
+
+    double getGridVal(int x, int y);
+    void setGridVal(int x, int y, double val);
+
+    std::vector<int> getTaxiCoordinates();
+    std::vector<double> getTaxiAngle();
+
+    std::vector<int> rowColumn(const std::vector<double>& pose);
+
+    void reset();
+    void robotPose();
+
+    cv::Mat getMap(const std::string& url);
+
+    int worldWidth;
+    int worldHeight;
+    int gridWidth;
+    int gridHeight;
+
+private:
+    std::function<Pose3d()> pose_callback_;
+    cv::Mat grid_;
+};
+
+#endif

exercises/global_navigation/cpp_lib/include/WebGUI.hpp

@@ -0,0 +1,73 @@
+#ifndef INCLUDE_WEBGUI_HPP_
+#define INCLUDE_WEBGUI_HPP_
+
+#include <boost/beast/core.hpp>
+#include <boost/beast/websocket.hpp>
+#include <boost/asio/connect.hpp>
+#include <boost/asio/ip/tcp.hpp>
+#include <boost/asio/strand.hpp>
+#include <nlohmann/json.hpp>
+#include <opencv2/opencv.hpp>
+#include <mutex>
+#include <memory>
+#include <string>
+#include <vector>
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/point.hpp"
+#include "nav_msgs/msg/path.hpp"
+#include "sensor_msgs/msg/image.hpp"
+#include "common_interfaces_cpp/hal/odometry.hpp"
+#include "Map.hpp"
+
+namespace beast = boost::beast;
+namespace websocket = beast::websocket;
+namespace net = boost::asio;
+using tcp = net::ip::tcp;
+using json = nlohmann::json;
+
+class WebGUI
+{
+public:
+    WebGUI();
+
+    static void showNumpy(const cv::Mat& image);
+    static void showPath(const std::vector<std::vector<int>>& array);
+    static std::vector<double> getTargetPose();
+    static cv::Mat getMap(const std::string& url);
+    static std::vector<int> rowColumn(const std::vector<double>& pose);
+    static std::vector<int> worldToGrid(const std::vector<double>& pose);
+    static std::vector<double> gridToWorld(const std::vector<int>& cell);
+    static void reset_gui();
+    static std::string payloadImage();
+
+    static std::vector<double> worldXY;
+    static std::string array_str;
+
+private:
+    static cv::Mat image_to_be_shown;
+    static bool image_to_be_shown_updated;
+    static std::mutex image_show_lock;
+    static std::mutex array_lock;
+};
+
+class WebGUINode : public rclcpp::Node
+{
+public:
+    WebGUINode();
+    
+    static std::shared_ptr<Map> map_;
+    static std::shared_ptr<OdometryNode> pose3d_node_;
+    
+    static void publish_target(double x, double y);
+
+private:
+    void path_callback(nav_msgs::msg::Path::UniquePtr msg);
+    void image_callback(sensor_msgs::msg::Image::UniquePtr msg);
+
+    rclcpp::Subscription<nav_msgs::msg::Path>::SharedPtr path_sub_;
+    rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
+
+    static std::shared_ptr<rclcpp::Publisher<geometry_msgs::msg::Point>> target_pub_;
+};
+
+#endif

exercises/global_navigation/cpp_lib/src/Frequency.cpp

@@ -0,0 +1,34 @@
+#include "Frequency.hpp"
+
+int Frequency::rate = 0;
+
+Frequency::Frequency() : is_first_iteration(1) {}
+
+Frequency::~Frequency() {}
+
+void Frequency::tick(int ideal_cycle)
+{
+  const auto ideal_ms = std::chrono::milliseconds(1000 / ideal_cycle);
+  const auto now = std::chrono::high_resolution_clock::now();
+
+  if (is_first_iteration == 1)
+  {
+    last_time = now;
+    is_first_iteration = 0;
+    return;
+  }
+
+  const auto iter_ms = std::chrono::duration_cast<std::chrono::milliseconds>(now - last_time);
+
+  if (iter_ms < ideal_ms)
+  {
+    rate = std::round(1000.0 / ideal_ms.count());
+    std::this_thread::sleep_for(ideal_ms - iter_ms);
+  }
+  else
+  {
+    rate = std::round(1000.0 / iter_ms.count());
+  }
+
+  last_time = now;
+}

exercises/global_navigation/cpp_lib/src/HAL.cpp

@@ -0,0 +1,46 @@
+#include "HAL.hpp"
+
+using namespace std::chrono_literals;
+
+std::shared_ptr<MotorsNode> HAL::motors_node_ = nullptr;
+std::shared_ptr<OdometryNode> HAL::odometry_node_ = nullptr;
+
+HAL::HAL() : Node("hal_node")
+{
+    motors_node_ = std::make_shared<MotorsNode>("/cmd_vel", 4.0, 0.3);
+    odometry_node_ = std::make_shared<OdometryNode>("/odom", "hal_odometry_node");
+
+    spin_thread_ = std::thread([]() {
+        rclcpp::executors::SingleThreadedExecutor executor;
+        executor.add_node(HAL::motors_node_);
+        executor.add_node(HAL::odometry_node_);
+        
+        while (rclcpp::ok()) {
+            executor.spin_some();
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        }
+    });
+    spin_thread_.detach();
+}
+
+void HAL::set_v(const float speed)
+{
+    if (motors_node_) {
+        motors_node_->sendV(static_cast<double>(speed));
+    }
+}
+
+void HAL::set_w(const float speed)
+{
+    if (motors_node_) {
+        motors_node_->sendW(static_cast<double>(speed));
+    }
+}
+
+Pose3d HAL::get_pose3d()
+{
+    if (odometry_node_) {
+        return odometry_node_->getPose3d();
+    }
+    return Pose3d();
+}