text: /*********************************************************************
   *
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2008, 2013, Willow Garage, Inc.
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   *  modification, are permitted provided that the following conditions
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   *     notice, this list of conditions and the following disclaimer.
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   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
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   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
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   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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   *  POSSIBILITY OF SUCH DAMAGE.
   *
   * Author: Eitan Marder-Eppstein
   *         David V. Lu!!
   *********************************************************************/
  #include <costmap_2d/layered_costmap.h>
  #include <costmap_2d/costmap_2d_ros.h>
  #include <cstdio>
  #include <string>
  #include <algorithm>
  #include <vector>
  #include <tf2/convert.h>
  #include <tf2/utils.h>
  #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
  
  using namespace std;
  
  namespace costmap_2d
  {
  
  void move_parameter(ros::NodeHandle& old_h, ros::NodeHandle& new_h, std::string name, bool should_delete = true)
  {
    if (!old_h.hasParam(name))
      return;
  
    XmlRpc::XmlRpcValue value;
    old_h.getParam(name, value);
    new_h.setParam(name, value);
    if (should_delete) old_h.deleteParam(name);
  }
  
  Costmap2DROS::Costmap2DROS(const std::string& name, tf2_ros::Buffer& tf) :
      layered_costmap_(NULL),
      name_(name),
      tf_(tf),
      transform_tolerance_(0.3),
      map_update_thread_shutdown_(false),
      stop_updates_(false),
      initialized_(true),
      stopped_(false),
      robot_stopped_(false),
      map_update_thread_(NULL),
      last_publish_(0),
      plugin_loader_("costmap_2d", "costmap_2d::Layer"),
      publisher_(NULL),
      dsrv_(NULL),
      footprint_padding_(0.0)
  {
    // Initialize old pose with something
    tf2::toMsg(tf2::Transform::getIdentity(), old_pose_.pose);
  
    ros::NodeHandle private_nh("~/" + name);
    ros::NodeHandle g_nh;
  
    // get global and robot base frame names
    private_nh.param("global_frame", global_frame_, std::string("map"));
    private_nh.param("robot_base_frame", robot_base_frame_, std::string("base_link"));
  
    ros::Time last_error = ros::Time::now();
    std::string tf_error;
    // we need to make sure that the transform between the robot base frame and the global frame is available
    while (ros::ok()
        && !tf_.canTransform(global_frame_, robot_base_frame_, ros::Time(), ros::Duration(0.1), &tf_error))
    {
      ros::spinOnce();
      if (last_error + ros::Duration(5.0) < ros::Time::now())
      {
        ROS_WARN("Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s",
                 robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
        last_error = ros::Time::now();
      }
      // The error string will accumulate and errors will typically be the same, so the last
      // will do for the warning above. Reset the string here to avoid accumulation.
      tf_error.clear();
    }
  
    // check if we want a rolling window version of the costmap
    bool rolling_window, track_unknown_space, always_send_full_costmap;
    private_nh.param("rolling_window", rolling_window, false);
    private_nh.param("track_unknown_space", track_unknown_space, false);
    private_nh.param("always_send_full_costmap", always_send_full_costmap, false);
  
    layered_costmap_ = new LayeredCostmap(global_frame_, rolling_window, track_unknown_space);
  
    if (!private_nh.hasParam("plugins"))
    {
      loadOldParameters(private_nh);
    } else {
      warnForOldParameters(private_nh);
    }
  
    if (private_nh.hasParam("plugins"))
    {
      XmlRpc::XmlRpcValue my_list;
      private_nh.getParam("plugins", my_list);
      for (int32_t i = 0; i < my_list.size(); ++i)
      {
        std::string pname = static_cast<std::string>(my_list[i]["name"]);
        std::string type = static_cast<std::string>(my_list[i]["type"]);
        ROS_INFO("%s: Using plugin \"%s\"", name_.c_str(), pname.c_str());
  
        copyParentParameters(pname, type, private_nh);
  
        boost::shared_ptr<Layer> plugin = plugin_loader_.createInstance(type);
        layered_costmap_->addPlugin(plugin);
        plugin->initialize(layered_costmap_, name + "/" + pname, &tf_);
      }
    }
  
    // subscribe to the footprint topic
    std::string topic_param, topic;
    if (!private_nh.searchParam("footprint_topic", topic_param))
    {
      topic_param = "footprint_topic";
    }
  
    private_nh.param(topic_param, topic, std::string("footprint"));
    footprint_sub_ = private_nh.subscribe(topic, 1, &Costmap2DROS::setUnpaddedRobotFootprintPolygon, this);
  
    if (!private_nh.searchParam("published_footprint_topic", topic_param))
    {
      topic_param = "published_footprint";
    }
  
    private_nh.param(topic_param, topic, std::string("footprint"));  // TODO: revert to oriented_footprint in N-turtle
    footprint_pub_ = private_nh.advertise<geometry_msgs::PolygonStamped>(topic, 1);
  
    setUnpaddedRobotFootprint(makeFootprintFromParams(private_nh));
  
    publisher_ = new Costmap2DPublisher(&private_nh, layered_costmap_->getCostmap(), global_frame_, "costmap",
                                        always_send_full_costmap);
  
    // create a thread to handle updating the map
    stop_updates_ = false;
    initialized_ = true;
    stopped_ = false;
  
    // Create a time r to check if the robot is moving
    robot_stopped_ = false;
    timer_ = private_nh.createTimer(ros::Duration(.1), &Costmap2DROS::movementCB, this);
  
    dsrv_ = new dynamic_reconfigure::Server<Costmap2DConfig>(ros::NodeHandle("~/" + name));
    dynamic_reconfigure::Server<Costmap2DConfig>::CallbackType cb = boost::bind(&Costmap2DROS::reconfigureCB, this, _1,
                                                                                _2);
    dsrv_->setCallback(cb);
  }
  
  void Costmap2DROS::setUnpaddedRobotFootprintPolygon(const geometry_msgs::Polygon& footprint)
  {
    setUnpaddedRobotFootprint(toPointVector(footprint));
  }
  
  Costmap2DROS::~Costmap2DROS()
  {
    timer_.stop();
  
    map_update_thread_shutdown_ = true;
    if (map_update_thread_ != NULL)
    {
      map_update_thread_->join();
      delete map_update_thread_;
    }
    if (publisher_ != NULL)
      delete publisher_;
  
    delete layered_costmap_;
    delete dsrv_;
  }
  
  void Costmap2DROS::loadOldParameters(ros::NodeHandle& nh)
  {
    ROS_WARN("%s: Parameter \"plugins\" not provided, loading pre-Hydro parameters", name_.c_str());
    bool flag;
    std::string s;
    std::vector < XmlRpc::XmlRpcValue > plugins;
  
    XmlRpc::XmlRpcValue::ValueStruct map;
    SuperValue super_map;
    SuperValue super_array;
  
    if (nh.getParam("static_map", flag) && flag)
    {
      map["name"] = XmlRpc::XmlRpcValue("static_layer");
      map["type"] = XmlRpc::XmlRpcValue("costmap_2d::StaticLayer");
      super_map.setStruct(&map);
      plugins.push_back(super_map);
  
      ros::NodeHandle map_layer(nh, "static_layer");
      move_parameter(nh, map_layer, "map_topic");
      move_parameter(nh, map_layer, "unknown_cost_value");
      move_parameter(nh, map_layer, "lethal_cost_threshold");
      move_parameter(nh, map_layer, "track_unknown_space", false);
    }
  
    ros::NodeHandle obstacles(nh, "obstacle_layer");
    if (nh.getParam("map_type", s) && s == "voxel")
    {
      map["name"] = XmlRpc::XmlRpcValue("obstacle_layer");
      map["type"] = XmlRpc::XmlRpcValue("costmap_2d::VoxelLayer");
      super_map.setStruct(&map);
      plugins.push_back(super_map);
  
      move_parameter(nh, obstacles, "origin_z");
      move_parameter(nh, obstacles, "z_resolution");
      move_parameter(nh, obstacles, "z_voxels");
      move_parameter(nh, obstacles, "mark_threshold");
      move_parameter(nh, obstacles, "unknown_threshold");
      move_parameter(nh, obstacles, "publish_voxel_map");
    }
    else
    {
      map["name"] = XmlRpc::XmlRpcValue("obstacle_layer");
      map["type"] = XmlRpc::XmlRpcValue("costmap_2d::ObstacleLayer");
      super_map.setStruct(&map);
      plugins.push_back(super_map);
    }
  
    move_parameter(nh, obstacles, "max_obstacle_height");
    move_parameter(nh, obstacles, "raytrace_range");
    move_parameter(nh, obstacles, "obstacle_range");
    move_parameter(nh, obstacles, "track_unknown_space", true);
    nh.param("observation_sources", s, std::string(""));
    std::stringstream ss(s);
    std::string source;
    while (ss >> source)
    {
      move_parameter(nh, obstacles, source);
    }
    move_parameter(nh, obstacles, "observation_sources");
  
    ros::NodeHandle inflation(nh, "inflation_layer");
    move_parameter(nh, inflation, "cost_scaling_factor");
    move_parameter(nh, inflation, "inflation_radius");
    map["name"] = XmlRpc::XmlRpcValue("inflation_layer");
    map["type"] = XmlRpc::XmlRpcValue("costmap_2d::InflationLayer");
    super_map.setStruct(&map);
    plugins.push_back(super_map);
  
    super_array.setArray(&plugins);
    nh.setParam("plugins", super_array);
  }
  
  void Costmap2DROS::copyParentParameters(const std::string& plugin_name, const std::string& plugin_type, ros::NodeHandle& nh)
  {
    ros::NodeHandle target_layer(nh, plugin_name);
  
    if(plugin_type == "costmap_2d::StaticLayer")
    {
      move_parameter(nh, target_layer, "map_topic", false);
      move_parameter(nh, target_layer, "unknown_cost_value", false);
      move_parameter(nh, target_layer, "lethal_cost_threshold", false);
      move_parameter(nh, target_layer, "track_unknown_space", false);
    }
    else if(plugin_type == "costmap_2d::VoxelLayer")
    {
      move_parameter(nh, target_layer, "origin_z", false);
      move_parameter(nh, target_layer, "z_resolution", false);
      move_parameter(nh, target_layer, "z_voxels", false);
      move_parameter(nh, target_layer, "mark_threshold", false);
      move_parameter(nh, target_layer, "unknown_threshold", false);
      move_parameter(nh, target_layer, "publish_voxel_map", false);
    }
    else if(plugin_type == "costmap_2d::ObstacleLayer")
    {
      move_parameter(nh, target_layer, "max_obstacle_height", false);
      move_parameter(nh, target_layer, "raytrace_range", false);
      move_parameter(nh, target_layer, "obstacle_range", false);
      move_parameter(nh, target_layer, "track_unknown_space", false);
    }
    else if(plugin_type == "costmap_2d::InflationLayer")
    {
      move_parameter(nh, target_layer, "cost_scaling_factor", false);
      move_parameter(nh, target_layer, "inflation_radius", false);
    }
  }
  
  void Costmap2DROS::warnForOldParameters(ros::NodeHandle& nh)
  {
    checkOldParam(nh, "static_map");
    checkOldParam(nh, "map_type");
  }
  
  void Costmap2DROS::checkOldParam(ros::NodeHandle& nh, const std::string &param_name){
    if(nh.hasParam(param_name)){
      ROS_WARN("%s: Pre-Hydro parameter \"%s\" unused since \"plugins\" is provided", name_.c_str(), param_name.c_str());
    }
  }
  
  void Costmap2DROS::reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t level)
  {
    transform_tolerance_ = config.transform_tolerance;
    if (map_update_thread_ != NULL)
    {
      map_update_thread_shutdown_ = true;
      map_update_thread_->join();
      delete map_update_thread_;
    }
    map_update_thread_shutdown_ = false;
    double map_update_frequency = config.update_frequency;
  
    double map_publish_frequency = config.publish_frequency;
    if (map_publish_frequency > 0)
      publish_cycle = ros::Duration(1 / map_publish_frequency);
    else
      publish_cycle = ros::Duration(-1);
  
    // find size parameters
    double map_width_meters = config.width, map_height_meters = config.height, resolution = config.resolution, origin_x =
               config.origin_x,
           origin_y = config.origin_y;
  
    if (!layered_costmap_->isSizeLocked())
    {
      layered_costmap_->resizeMap((unsigned int)(map_width_meters / resolution),
                                  (unsigned int)(map_height_meters / resolution), resolution, origin_x, origin_y);
    }
  
    // If the padding has changed, call setUnpaddedRobotFootprint() to
    // re-apply the padding.
    if (footprint_padding_ != config.footprint_padding)
    {
      footprint_padding_ = config.footprint_padding;
      setUnpaddedRobotFootprint(unpadded_footprint_);
    }
  
    readFootprintFromConfig(config, old_config_);
  
    old_config_ = config;
  
    map_update_thread_ = new boost::thread(boost::bind(&Costmap2DROS::mapUpdateLoop, this, map_update_frequency));
  }
  
  void Costmap2DROS::readFootprintFromConfig(const costmap_2d::Costmap2DConfig &new_config,
                                             const costmap_2d::Costmap2DConfig &old_config)
  {
    // Only change the footprint if footprint or robot_radius has
    // changed.  Otherwise we might overwrite a footprint sent on a
    // topic by a dynamic_reconfigure call which was setting some other
    // variable.
    if (new_config.footprint == old_config.footprint &&
        new_config.robot_radius == old_config.robot_radius)
    {
      return;
    }
  
    if (new_config.footprint != "" && new_config.footprint != "[]")
    {
      std::vector<geometry_msgs::Point> new_footprint;
      if (makeFootprintFromString(new_config.footprint, new_footprint))
      {
          setUnpaddedRobotFootprint(new_footprint);
      }
      else
      {
          ROS_ERROR("Invalid footprint string from dynamic reconfigure");
      }
    }
    else
    {
      // robot_radius may be 0, but that must be intended at this point.
      setUnpaddedRobotFootprint(makeFootprintFromRadius(new_config.robot_radius));
    }
  }
  
  void Costmap2DROS::setUnpaddedRobotFootprint(const std::vector<geometry_msgs::Point>& points)
  {
    unpadded_footprint_ = points;
    padded_footprint_ = points;
    padFootprint(padded_footprint_, footprint_padding_);
  
    layered_costmap_->setFootprint(padded_footprint_);
  }
  
  void Costmap2DROS::movementCB(const ros::TimerEvent &event)
  {
    // don't allow configuration to happen while this check occurs
    // boost::recursive_mutex::scoped_lock mcl(configuration_mutex_);
  
    geometry_msgs::PoseStamped new_pose;
  
    if (!getRobotPose(new_pose))
    {
      ROS_WARN_THROTTLE(1.0, "Could not get robot pose, cancelling reconfiguration");
      robot_stopped_ = false;
    }
    // make sure that the robot is not moving
    else
    {
      old_pose_ = new_pose;
  
      robot_stopped_ = (tf2::Vector3(old_pose_.pose.position.x, old_pose_.pose.position.y,
                                     old_pose_.pose.position.z).distance(tf2::Vector3(new_pose.pose.position.x,
                                         new_pose.pose.position.y, new_pose.pose.position.z)) < 1e-3) &&
                       (tf2::Quaternion(old_pose_.pose.orientation.x,
                                        old_pose_.pose.orientation.y,
                                        old_pose_.pose.orientation.z,
                                        old_pose_.pose.orientation.w).angle(tf2::Quaternion(new_pose.pose.orientation.x,
                                            new_pose.pose.orientation.y,
                                            new_pose.pose.orientation.z,
                                            new_pose.pose.orientation.w)) < 1e-3);
    }
  }
  
  void Costmap2DROS::mapUpdateLoop(double frequency)
  {
    // the user might not want to run the loop every cycle
    if (frequency == 0.0)
      return;
  
    ros::NodeHandle nh;
    ros::Rate r(frequency);
    while (nh.ok() && !map_update_thread_shutdown_)
    {
      #ifdef HAVE_SYS_TIME_H
      struct timeval start, end;
      double start_t, end_t, t_diff;
      gettimeofday(&start, NULL);
      #endif
      
      updateMap();
  
      #ifdef HAVE_SYS_TIME_H
      gettimeofday(&end, NULL);
      start_t = start.tv_sec + double(start.tv_usec) / 1e6;
      end_t = end.tv_sec + double(end.tv_usec) / 1e6;
      t_diff = end_t - start_t;
      ROS_DEBUG("Map update time: %.9f", t_diff);
      #endif
      
      if (publish_cycle.toSec() > 0 && layered_costmap_->isInitialized())
      {
        unsigned int x0, y0, xn, yn;
        layered_costmap_->getBounds(&x0, &xn, &y0, &yn);
        publisher_->updateBounds(x0, xn, y0, yn);
  
        ros::Time now = ros::Time::now();
        if (last_publish_ + publish_cycle < now)
        {
          publisher_->publishCostmap();
          last_publish_ = now;
        }
      }
      r.sleep();
      // make sure to sleep for the remainder of our cycle time
      if (r.cycleTime() > ros::Duration(1 / frequency))
        ROS_WARN("Map update loop missed its desired rate of %.4fHz... the loop actually took %.4f seconds", frequency,
                 r.cycleTime().toSec());
    }
  }
  
  void Costmap2DROS::updateMap()
  {
    if (!stop_updates_)
    {
      // get global pose
      geometry_msgs::PoseStamped pose;
      if (getRobotPose (pose))
      {
        double x = pose.pose.position.x,
               y = pose.pose.position.y,
               yaw = tf2::getYaw(pose.pose.orientation);
  
        layered_costmap_->updateMap(x, y, yaw);
  
        geometry_msgs::PolygonStamped footprint;
        footprint.header.frame_id = global_frame_;
        footprint.header.stamp = ros::Time::now();
        transformFootprint(x, y, yaw, padded_footprint_, footprint);
        footprint_pub_.publish(footprint);
  
        initialized_ = true;
      }
    }
  }
  
  void Costmap2DROS::start()
  {
    std::vector < boost::shared_ptr<Layer> > *plugins = layered_costmap_->getPlugins();
    // check if we're stopped or just paused
    if (stopped_)
    {
      // if we're stopped we need to re-subscribe to topics
      for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins->begin(); plugin != plugins->end();
          ++plugin)
      {
        (*plugin)->activate();
      }
      stopped_ = false;
    }
    stop_updates_ = false;
  
    // block until the costmap is re-initialized.. meaning one update cycle has run
    ros::Rate r(100.0);
    while (ros::ok() && !initialized_)
      r.sleep();
  }
  
  void Costmap2DROS::stop()
  {
    stop_updates_ = true;
    std::vector < boost::shared_ptr<Layer> > *plugins = layered_costmap_->getPlugins();
    // unsubscribe from topics
    for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins->begin(); plugin != plugins->end();
        ++plugin)
    {
      (*plugin)->deactivate();
    }
    initialized_ = false;
    stopped_ = true;
  }
  
  void Costmap2DROS::pause()
  {
    stop_updates_ = true;
    initialized_ = false;
  }
  
  void Costmap2DROS::resume()
  {
    stop_updates_ = false;
  
    // block until the costmap is re-initialized.. meaning one update cycle has run
    ros::Rate r(100.0);
    while (!initialized_)
      r.sleep();
  }
  
  
  void Costmap2DROS::resetLayers()
  {
    Costmap2D* top = layered_costmap_->getCostmap();
    top->resetMap(0, 0, top->getSizeInCellsX(), top->getSizeInCellsY());
    std::vector < boost::shared_ptr<Layer> > *plugins = layered_costmap_->getPlugins();
    for (vector<boost::shared_ptr<Layer> >::iterator plugin = plugins->begin(); plugin != plugins->end();
        ++plugin)
    {
      (*plugin)->reset();
    }
  }
  
  bool Costmap2DROS::getRobotPose(geometry_msgs::PoseStamped& global_pose) const
  {
    tf2::toMsg(tf2::Transform::getIdentity(), global_pose.pose);
    geometry_msgs::PoseStamped robot_pose;
    tf2::toMsg(tf2::Transform::getIdentity(), robot_pose.pose);
    robot_pose.header.frame_id = robot_base_frame_;
    robot_pose.header.stamp = ros::Time();
    ros::Time current_time = ros::Time::now();  // save time for checking tf delay later
  
    // get the global pose of the robot
    try
    {
      // use current time if possible (makes sure it's not in the future)
      if (tf_.canTransform(global_frame_, robot_base_frame_, current_time))
      {
        geometry_msgs::TransformStamped transform = tf_.lookupTransform(global_frame_, robot_base_frame_, current_time);
        tf2::doTransform(robot_pose, global_pose, transform);
      }
      // use the latest otherwise
      else
      {
        tf_.transform(robot_pose, global_pose, global_frame_);
      }
    }
    catch (tf2::LookupException& ex)
    {
      ROS_ERROR_THROTTLE(1.0, "No Transform available Error looking up robot pose: %s\n", ex.what());
      return false;
    }
    catch (tf2::ConnectivityException& ex)
    {
      ROS_ERROR_THROTTLE(1.0, "Connectivity Error looking up robot pose: %s\n", ex.what());
      return false;
    }
    catch (tf2::ExtrapolationException& ex)
    {
      ROS_ERROR_THROTTLE(1.0, "Extrapolation Error looking up robot pose: %s\n", ex.what());
      return false;
    }
    // check global_pose timeout
    if (current_time.toSec() - global_pose.header.stamp.toSec() > transform_tolerance_)
    {
      ROS_WARN_THROTTLE(1.0,
                        "Costmap2DROS transform timeout. Current time: %.4f, global_pose stamp: %.4f, tolerance: %.4f",
                        current_time.toSec(), global_pose.header.stamp.toSec(), transform_tolerance_);
      return false;
    }
  
    return true;
  }
  
  void Costmap2DROS::getOrientedFootprint(std::vector<geometry_msgs::Point>& oriented_footprint) const
  {
    geometry_msgs::PoseStamped global_pose;
    if (!getRobotPose(global_pose))
      return;
  
    double yaw = tf2::getYaw(global_pose.pose.orientation);
    transformFootprint(global_pose.pose.position.x, global_pose.pose.position.y, yaw,
                       padded_footprint_, oriented_footprint);
  }
  
  }  // namespace costmap_2d
  