Added support for the scale_factor and min_road_length parameters.

cfg/OpendriveGlobalPlanner.cfg

@@ -16,6 +16,8 @@ gen.add("angle_tol", double_t, 0, "Angle tolerance to find start and end positio
 gen.add("dist_tol", double_t, 0, "Distance tolerance to find start and end positions on the road map", 3.0, 0.5, 10.0)
 gen.add("multi_hyp", bool_t, 0, "Use multi hypothesis path search", False)
 gen.add("resolution", double_t, 0, "Resolution of the generated path", 0.1, 0.01, 1.0)
+gen.add("scale_factor", double_t, 0, "Scale factor of the input road description", 1.0, 0.01, 10.0)
+gen.add("min_road_length", double_t, 0, "Minimum road length to take it into account", 0.1, 0.01, 1.0)
 gen.add("cost_type", int_t, 0, "Cost type", 0, 0, 1, edit_method=enum_cost_type)
 
 exit(gen.generate(PACKAGE, "iri_opendrive_global_planner", "OpendriveGlobalPlanner"))

src/opendrive_planner.cpp

@@ -75,6 +75,8 @@ void OpendriveGlobalPlanner::initialize(std::string name, costmap_2d::Costmap2DR
 
 void OpendriveGlobalPlanner::initialize(std::string name, costmap_2d::Costmap2D* costmap, std::string frame_id) 
 {
+  double value;
+
   if (!initialized_) 
   {
     ros::NodeHandle private_nh("~/" + name);
@@ -83,15 +85,19 @@ void OpendriveGlobalPlanner::initialize(std::string name, costmap_2d::Costmap2D*
 
     try{
       std::string opendrive_file;
+      private_nh.param("resolution", value,0.0);
+      this->roadmap.set_resolution(value);
+      private_nh.param("scale_factor", value,0.0);
+      this->roadmap.set_scale_factor(value);
+      private_nh.param("min_road_length", value,0.0);
+      this->roadmap.set_min_road_length(value);
       private_nh.param("opendrive_file", opendrive_file,std::string(""));
       if(opendrive_file!="")
         this->roadmap.load(opendrive_file);
-      double resolution;
-      private_nh.param("resolution", resolution,0.0);
-      this->roadmap.set_resolution(resolution);
       private_nh.param("angle_tol", this->angle_tol,DEFAULT_ANGLE_THRESHOLD);
       private_nh.param("dist_tol", this->dist_tol,DEFAULT_DIST_THRESHOLD);
       private_nh.param("multi_hyp", this->multi_hyp,false);
+      std::cout << "multi hypothessis: " << this->multi_hyp << std::endl;
       int cost_type;
       private_nh.param("cost_type",cost_type,(int)COST_DIST);
       this->roadmap.set_cost_type((cost_t)cost_type);
@@ -114,13 +120,15 @@ void OpendriveGlobalPlanner::initialize(std::string name, costmap_2d::Costmap2D*
 void OpendriveGlobalPlanner::reconfigureCB(iri_opendrive_global_planner::OpendriveGlobalPlannerConfig& new_config, uint32_t level) 
 {
   try{
-    if(new_config.opendrive_file!=this->config.opendrive_file)
+    this->roadmap.set_resolution(new_config.resolution);
+    this->roadmap.set_scale_factor(new_config.scale_factor);
+    this->roadmap.set_min_road_length(new_config.min_road_length);
+    if(new_config.opendrive_file!=this->config.opendrive_file || new_config.scale_factor!=this->config.scale_factor || new_config.min_road_length!=this->config.min_road_length)
       this->roadmap.load(new_config.opendrive_file);
     this->angle_tol=new_config.angle_tol;
     this->dist_tol=new_config.dist_tol;
     this->multi_hyp=new_config.multi_hyp;
     this->config=new_config;
-    this->roadmap.set_resolution(new_config.resolution);
     this->roadmap.set_cost_type((cost_t)new_config.cost_type);
   }catch(CException &e){
     ROS_ERROR_STREAM(e.what());
@@ -179,10 +187,13 @@ bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, c
 
 bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal,double tolerance, std::vector<geometry_msgs::PoseStamped>& plan) 
 {
-  double yaw,cost;
+  double yaw,best_cost;
   unsigned int best_path_index;
-  std::vector<unsigned int> path;
+  std::vector<unsigned int> best_path;
   std::vector<double> x,y,heading;
+  std::vector< std::vector<unsigned int> > paths;
+  std::vector<double> costs;
+  std::vector<TMapPose> start_candidates,end_candidates;
 
   boost::mutex::scoped_lock lock(mutex_);
   if (!initialized_) {
@@ -232,14 +243,38 @@ bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, c
     ROS_WARN("Make Plan");
     yaw=tf2::getYaw(start.pose.orientation);
     this->roadmap.set_start_pose(start.pose.position.x,start.pose.position.y,yaw,this->dist_tol,this->angle_tol);
+    this->roadmap.get_start_pose_candidates(start_candidates);
+    std::cout << "Start pose candidates: " << std::endl;
+    for(unsigned int i=0;i<start_candidates.size();i++)
+    {
+      std::cout << i << ". x: " << start_candidates[i].pose.x << ", y:" << start_candidates[i].pose.y << ", heading: " << start_candidates[i].pose.heading << std::endl;
+      std::cout << "   road map node: " << start_candidates[i].node_index << " child: " << start_candidates[i].child_index << std::endl;
+      std::cout << "   distance from desired pose: " << start_candidates[i].dist << std::endl;
+    }
     yaw=tf2::getYaw(goal.pose.orientation);
     this->roadmap.set_end_pose(goal.pose.position.x,goal.pose.position.y,yaw,this->dist_tol,this->angle_tol);
+    this->roadmap.get_end_pose_candidates(end_candidates);
+    std::cout << "End pose candidates: " << std::endl;
+    for(unsigned int i=0;i<end_candidates.size();i++)
+    {
+      std::cout << i << ". x: " << end_candidates[i].pose.x << ", y:" << end_candidates[i].pose.y << ", heading: " << end_candidates[i].pose.heading << std::endl;
+      std::cout << "   road map node: " << end_candidates[i].node_index << " child: " << end_candidates[i].child_index << std::endl;
+      std::cout << "   distance from desired pose: " << end_candidates[i].dist << std::endl;
+    }
     this->roadmap.find_shortest_path(this->multi_hyp);
-    best_path_index=this->roadmap.get_best_path(cost,path);
-//    std::cout << "best path index: " << best_path_index << std::endl;
-//    for(unsigned int i=0;i<path.size();i++)
-//      std::cout << path[i] << ",";
-//    std::cout << std::endl;
+    this->roadmap.get_paths(costs,paths);
+    for(unsigned int i=0;i<paths.size();i++)
+    {
+      std::cout << "path " << i << ":" << std::endl;
+      for(unsigned int j=0;j<paths[i].size();j++)
+        std::cout << paths[i][j] << ",";
+      std::cout << std::endl;
+    }
+    best_path_index=this->roadmap.get_best_path(best_cost,best_path);
+    std::cout << "best path index: " << best_path_index << std::endl;
+    for(unsigned int i=0;i<best_path.size();i++)
+      std::cout << best_path[i] << ",";
+    std::cout << std::endl;
     this->roadmap.get_trajectory(best_path_index,x,y,heading);
     plan.resize(x.size());
     ros::Time plan_time=ros::Time::now();