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add util pkg
Signed-off-by: Chiragkumar Makwana <[email protected]>
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‎nav2_dynamic_util/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(nav2_dynamic_util)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(unique_identifier_msgs REQUIRED)
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find_package(nav2_dynamic_msgs REQUIRED)
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find_package(nav2_dynamic_motion_model REQUIRED)
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find_package(visualization_msgs REQUIRED)
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include_directories(include)
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install(DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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add_library(${PROJECT_NAME} SHARED
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src/tracked_obstacle_utils.cpp
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)
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# Link dependencies
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ament_target_dependencies(${PROJECT_NAME}
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rclcpp
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geometry_msgs
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nav2_dynamic_msgs
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nav2_dynamic_motion_model
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)
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# Export headers
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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add_executable(tracked_obstacle_publisher src/tracked_obstacle_publisher.cpp)
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ament_target_dependencies(tracked_obstacle_publisher
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rclcpp
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nav2_dynamic_msgs
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std_msgs
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geometry_msgs
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unique_identifier_msgs
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visualization_msgs)
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install(TARGETS tracked_obstacle_publisher
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DESTINATION lib/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Export package
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_package()

‎nav2_dynamic_util/include/nav2_dynamic_util/tracked_obstacle_utils.hpp‎

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#ifndef NAV2_DYNAMIC_UTIL__TRACKED_OBSTACLE_UTILS_HPP_
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#define NAV2_DYNAMIC_UTIL__TRACKED_OBSTACLE_UTILS_HPP_
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#include <rclcpp/rclcpp.hpp>
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#include <std_msgs/msg/header.hpp>
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#include <geometry_msgs/msg/pose.hpp>
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#include <nav2_dynamic_msgs/msg/obstacle.hpp>
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#include <nav2_dynamic_msgs/msg/obstacle_array.hpp>
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#include "nav2_dynamic_motion_model/motion_model_base.hpp"
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#include <random>
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#include <vector>
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#include <cmath>
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namespace nav2_dynamic_util
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{
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geometry_msgs::msg::Pose getObstaclePoseAt(const double dt,
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const nav2_dynamic_msgs::msg::Obstacle obstacle,
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const std::shared_ptr<nav2_dynamic_motion_model::MotionModelInterface> &motion_model);
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} // namespace
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#endif // NAV2_DYNAMIC_UTIL__TRACKED_OBSTACLE_UTILS_HPP_

‎nav2_dynamic_util/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>nav2_dynamic_util</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="[email protected]">Chirag Makwana</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>std_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>unique_identifier_msgs</depend>
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<depend>nav2_dynamic_msgs</depend>
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<depend>nav2_dynamic_motion_model</depend>
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<depend>visualization_msgs</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎nav2_dynamic_util/src/tracked_obstacle_publisher.cpp‎

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#include <rclcpp/rclcpp.hpp>
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#include <std_msgs/msg/header.hpp>
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#include <unique_identifier_msgs/msg/uuid.hpp>
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#include <geometry_msgs/msg/point.hpp>
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#include <geometry_msgs/msg/vector3.hpp>
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#include <visualization_msgs/msg/marker_array.hpp>
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#include "nav2_dynamic_msgs/msg/obstacle.hpp"
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#include "nav2_dynamic_msgs/msg/obstacle_array.hpp"
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#include <random>
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#include <vector>
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#include <cmath>
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class ObstacleTracker : public rclcpp::Node {
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public:
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ObstacleTracker() : Node("obstacle_tracker") {
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publisher_ = this->create_publisher<nav2_dynamic_msgs::msg::ObstacleArray>("/tracked_obstacles", 10);
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marker_publisher_ = this->create_publisher<visualization_msgs::msg::MarkerArray>("/obstacle_markers", 10);
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timer_ = this->create_wall_timer(std::chrono::milliseconds(100),
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std::bind(&ObstacleTracker::update_obstacles, this));
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initialize_waypoints();
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initialize_obstacles();
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}
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private:
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rclcpp::Publisher<nav2_dynamic_msgs::msg::ObstacleArray>::SharedPtr publisher_;
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rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr marker_publisher_;
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rclcpp::TimerBase::SharedPtr timer_;
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std::vector<nav2_dynamic_msgs::msg::Obstacle> obstacles_;
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std::vector<std::vector<geometry_msgs::msg::Point>> waypoints_;
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std::vector<size_t> waypoint_indices_;
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std::vector<double> progresses_;
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void initialize_waypoints() {
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std::random_device rd;
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std::mt19937 gen(rd());
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std::uniform_real_distribution<float> pos_dist(-10.0, 10.0);
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waypoints_.resize(4);
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waypoint_indices_.resize(4, 0);
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progresses_.resize(4, 0.0);
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for (int i = 0; i < 4; ++i) {
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for (int j = 0; j < 5; ++j) {
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geometry_msgs::msg::Point p;
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p.x = pos_dist(gen);
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p.y = pos_dist(gen);
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p.z = 0.0;
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waypoints_[i].push_back(p);
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}
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}
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}
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void initialize_obstacles() {
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std::random_device rd;
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std::mt19937 gen(rd());
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std::uniform_real_distribution<float> pos_dist(-10.0, 10.0);
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for (int i = 0; i < 4; ++i) {
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nav2_dynamic_msgs::msg::Obstacle obs;
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obs.uuid = generate_uuid();
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obs.score = 1.0;
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obs.position = waypoints_[i][0];
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obs.velocity.x = 0.0;
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obs.velocity.y = 0.0;
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obs.velocity.z = 0.0;
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obs.size.x = 1.0;
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obs.size.y = 1.0;
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obs.size.z = 1.0;
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std::fill(std::begin(obs.position_covariance), std::end(obs.position_covariance), 0.1);
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std::fill(std::begin(obs.velocity_covariance), std::end(obs.velocity_covariance), 0.05);
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obstacles_.push_back(obs);
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}
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}
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unique_identifier_msgs::msg::UUID generate_uuid() {
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unique_identifier_msgs::msg::UUID uuid;
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std::random_device rd;
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for (auto &byte : uuid.uuid) {
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byte = static_cast<uint8_t>(rd());
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}
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return uuid;
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}
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void update_obstacles() {
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if (obstacles_.empty() || waypoints_.empty()) return;
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nav2_dynamic_msgs::msg::ObstacleArray msg;
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msg.header.stamp = this->now();
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msg.header.frame_id = "map";
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visualization_msgs::msg::MarkerArray marker_array;
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int id = 0;
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for (size_t i = 0; i < obstacles_.size(); ++i) {
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geometry_msgs::msg::Point start = waypoints_[i][waypoint_indices_[i]];
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geometry_msgs::msg::Point end = waypoints_[i][(waypoint_indices_[i] + 1) % waypoints_[i].size()];
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progresses_[i] += 0.02; // Adjust speed of movement
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if (progresses_[i] >= 1.0) {
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progresses_[i] = 0.0;
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waypoint_indices_[i] = (waypoint_indices_[i] + 1) % waypoints_[i].size();
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}
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obstacles_[i].position.x = start.x + (end.x - start.x) * progresses_[i];
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obstacles_[i].position.y = start.y + (end.y - start.y) * progresses_[i];
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visualization_msgs::msg::Marker marker;
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marker.header.frame_id = "map";
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marker.header.stamp = this->now();
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marker.ns = "obstacles";
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marker.id = id++;
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marker.type = visualization_msgs::msg::Marker::SPHERE;
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marker.action = visualization_msgs::msg::Marker::ADD;
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marker.pose.position = obstacles_[i].position;
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marker.scale.x = obstacles_[i].size.x;
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marker.scale.y = obstacles_[i].size.y;
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marker.scale.z = obstacles_[i].size.z;
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marker.color.a = 1.0;
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marker.color.r = 1.0;
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marker.color.g = 0.0;
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marker.color.b = 0.0;
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marker_array.markers.push_back(marker);
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}
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msg.obstacles = obstacles_;
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publisher_->publish(msg);
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marker_publisher_->publish(marker_array);
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}
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};
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int main(int argc, char **argv) {
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<ObstacleTracker>());
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rclcpp::shutdown();
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return 0;
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}

‎nav2_dynamic_util/src/tracked_obstacle_utils.cpp‎

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#include "nav2_dynamic_util/tracked_obstacle_utils.hpp"
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namespace nav2_dynamic_util
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{
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geometry_msgs::msg::Pose getObstaclePoseAt(const double dt,
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const nav2_dynamic_msgs::msg::Obstacle obstacle,
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const std::shared_ptr<nav2_dynamic_motion_model::MotionModelInterface> &motion_model)
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{
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geometry_msgs::msg::Pose predicted_pose = motion_model->predictObstaclePose(obstacle, dt);
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return predicted_pose;
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}
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}

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