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ros_viz_3d.cpp
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#include "ros_viz_3d.h"
#include <ros/package.h>
double distance(double a_x,double a_y,double b_x,double b_y)
{
return sqrt((a_x-b_x)*(a_x-b_x)+(a_y-b_y)*(a_y-b_y));
}
ros_viz_3d::ros_viz_3d()
{
pub = node.advertise<visualization_msgs::MarkerArray>("/TA_markers", 0, this);
std::string path_to_package = ros::package::getPath("ros_viz_3d");
std::string path_to_agent_files = path_to_package; path_to_agent_files.append("/files/ta_log_AGENTE");
std::string path_to_task_files = path_to_package; path_to_task_files.append("/files/ta_log_T");
agent_base_string=path_to_agent_files;
task_base_string=path_to_task_files;
unsigned int i=1;
std::string file_name=agent_base_string;
std::stringstream iter;
iter.str("");
iter << i;
file_name.append(iter.str());
file_name.append(".txt");
std::cout<<"AGENTS:"<<std::endl;
int ma_id=0;
bool init;
file.open(file_name.c_str());
while(file.is_open())
{
init=false;
std::string topic_name="/marker_";
std::string temp="AGENTE";
iter.str("");
iter << i;
temp.append(iter.str());
topic_name.append(temp);
agents_pubs[topic_name] = node.advertise<visualization_msgs::Marker>(topic_name, 0, this);
agents_files[temp] = file_name;
agents.push_back(topic_name);
std::cout<<" - "<<topic_name<<std::endl;
std::cout<<" - "<<file_name<<std::endl;
std::cout<<" --- creating markers"<<std::endl;
std::string line;
while(getline(file,line))
{
visualization_msgs::Marker marker;
marker.header.frame_id = "/base_link";
marker.type=visualization_msgs::Marker::MESH_RESOURCE;
if (topic_name=="/marker_AGENTE2")
{
marker.mesh_resource = "package://ros_viz_3d/Repair_Kit/Repair_Kit.dae"; // R2D2/R2D2.dae
marker.scale.x = 0.3;
marker.scale.y = 0.3;
marker.scale.z = 0.3;
}
else
{
marker.mesh_resource = "package://ros_viz_3d/forklift/Forklift.dae";
marker.scale.x = 0.1;
marker.scale.y = 0.1;
marker.scale.z = 0.1;
}
marker.mesh_resource = "package://ros_viz_3d/glider/glider.dae"; //HACK
marker.mesh_use_embedded_materials=true;
//marker.type=visualization_msgs::Marker::SPHERE;
marker.scale.x = 0.1;
marker.scale.y = 0.1;
marker.scale.z = 0.1;
marker.pose.position.z=0;
double y;
double charge;
tf::Quaternion q;
std::stringstream linestream(line);
std::string data;
std::getline(linestream, data, ' ');
linestream >> marker.pose.position.x >> marker.pose.position.y >> y >> charge;
if (topic_name=="/marker_AGENTE2") q.setRPY(0,0,y+M_PI/2); //R2D2
else q.setRPY(0,0,y+M_PI/2); //FORKLIFT
q.setRPY(0,0,y+M_PI/2); //FORKLIFT HACK
marker.pose.orientation.w=q.getW();
marker.pose.orientation.x=q.getX();
marker.pose.orientation.y=q.getY();
marker.pose.orientation.z=q.getZ();
marker.lifetime=ros::Duration(1);
agents_marker[topic_name].push_back(marker);
//CHARGE
visualization_msgs::Marker charge_marker;
charge_marker.header.frame_id = "/base_link";
charge_marker.type=visualization_msgs::Marker::TEXT_VIEW_FACING;
std::ostringstream charge_strs;
charge_strs<< (int)charge;
std::string temp_ch = charge_strs.str();
temp_ch.append(" %");
charge_marker.text=temp_ch;
charge_marker.color.a=1;
charge_marker.color.r=0;
charge_marker.color.g=1;
charge_marker.color.b=0;
if(charge < 50)
{
charge_marker.color.r=0.7;
charge_marker.color.g=0.7;
charge_marker.color.b=0;
}
if(charge < 30)
{
charge_marker.color.r=1;
charge_marker.color.g=0;
charge_marker.color.b=0;
}
charge_marker.scale.x = 1;
charge_marker.scale.y = 1;
charge_marker.scale.z = 0.1;
charge_marker.pose.position.x=marker.pose.position.x;
charge_marker.pose.position.y=marker.pose.position.y;
charge_marker.pose.position.z=marker.pose.position.z+0.6;
q.setRPY(0,0,0);
charge_marker.pose.orientation.w=q.getW();
charge_marker.pose.orientation.x=q.getX();
charge_marker.pose.orientation.y=q.getY();
charge_marker.pose.orientation.z=q.getZ();
charge_marker.lifetime=ros::Duration(1);
agents_charge[topic_name].push_back(charge_marker);
//HOME
if(!init)
{
visualization_msgs::Marker home_marker;
home_marker.header.frame_id = "/base_link";
home_marker.type=visualization_msgs::Marker::CYLINDER;
home_marker.scale.x = 1;
home_marker.scale.y = 1;
home_marker.scale.z = 0.01;
home_marker.pose.position.x=marker.pose.position.x;
home_marker.pose.position.y=marker.pose.position.y;
home_marker.pose.position.z=marker.pose.position.z;
q.setRPY(0,0,0);
home_marker.pose.orientation.w=q.getW();
home_marker.pose.orientation.x=q.getX();
home_marker.pose.orientation.y=q.getY();
home_marker.pose.orientation.z=q.getZ();
home_marker.color.r = 0.662745;
home_marker.color.g = 0.662745;
home_marker.color.b = 0.662745;
home_marker.color.a=1;
home_marker.lifetime=ros::Duration(1);
agents_home[topic_name]=home_marker;
init=true;
}
}
file.close();
i++;
file_name=agent_base_string;
iter.str("");
iter << i;
file_name.append(iter.str());
file_name.append(".txt");
file.open(file_name.c_str());
}
i=1;
file_name=task_base_string;
iter.str("");
iter << i;
file_name.append(iter.str());
file_name.append(".txt");
std::cout<<"TASKS:"<<std::endl;
ma_id=2;
long int sim_index;
int color_switch=0;
bool active;
file.open(file_name.c_str());
while(file.is_open())
{
sim_index=0;
std::string topic_name="/marker_";
std::string temp="T";
iter.str("");
iter << i;
temp.append(iter.str());
topic_name.append(temp);
tasks_pubs[topic_name] = node.advertise<visualization_msgs::Marker>(topic_name, 0, this);
tasks_files[temp] = file_name;
tasks.push_back(topic_name);
std::cout<<" - "<<topic_name<<std::endl;
std::cout<<" - "<<file_name<<std::endl;
std::cout<<" --- creating markers"<<std::endl;
active=true;
std::string line;
while(getline(file,line))
{
visualization_msgs::Marker marker;
marker.header.frame_id = "/base_link";
marker.pose.position.z=0;
double execution_time,period,deadline,time;
std::string id,owner;
int type,executing,available,done;
tf::Quaternion q;
std::stringstream linestream(line);
std::string data;
std::getline(linestream, data, ' ');
linestream >> id >> marker.pose.position.x >> marker.pose.position.y >> marker.pose.position.z >> type >> execution_time >> period >> deadline >> executing >> time >> owner >> available >> done;
q.setRPY(0,0,0);
q.setRPY(0,0,M_PI/2); //HACK
marker.pose.orientation.w=q.getW();
marker.pose.orientation.x=q.getX();
marker.pose.orientation.y=q.getY();
marker.pose.orientation.z=q.getZ();
marker.lifetime=ros::Duration(1);
if(active)
{
marker.color.a=1;
if(type==1 || type==2)
{
marker.type=visualization_msgs::Marker::MESH_RESOURCE;
// marker.mesh_resource = "package://ros_viz_3d/oildrum/oildrum.dae";
marker.mesh_resource = "package://ros_viz_3d/glider/glider.dae"; //HACK
//marker.mesh_use_embedded_materials=true;
//marker.type=visualization_msgs::Marker::CUBE;
marker.scale.x = 0.1; //0.25
marker.scale.y = 0.1; //0.25
marker.scale.z = 0.1; //0.25
// if(type==1)
// {
// marker.color.r = 0.5;
// marker.color.g = 0.5;
// marker.color.b = 0;
// }
// else
// {
// marker.color.r = 0.5;
// marker.color.g = 0;
// marker.color.b = 0.5;
// }
marker.color.r = 1;
marker.color.g = 0.7;
marker.color.b = 0.4;
marker.color.a=0.5; //1
if(!available && owner!="0")
{
std::string temp_str="/marker_";
temp_str.append(owner);
tf::Quaternion q2;
q2.setX(agents_marker.at(temp_str).at(sim_index).pose.orientation.x);
q2.setY(agents_marker.at(temp_str).at(sim_index).pose.orientation.y);
q2.setZ(agents_marker.at(temp_str).at(sim_index).pose.orientation.z);
q2.setW(agents_marker.at(temp_str).at(sim_index).pose.orientation.w);
double roll_,pitch_,yaw_;
tf::Matrix3x3(q2).getRPY(roll_,pitch_,yaw_);
//if (owner!="AGENTE2")
//{
if(type==1)
{
marker.pose.position.x = agents_marker.at(temp_str).at(sim_index).pose.position.x + 0.4*cos(yaw_-M_PI/2);
marker.pose.position.y = agents_marker.at(temp_str).at(sim_index).pose.position.y + 0.4*sin(yaw_-M_PI/2);
}
else
{
marker.pose.position.x = agents_marker.at(temp_str).at(sim_index).pose.position.x + 0.6*cos(yaw_-M_PI/2);
marker.pose.position.y = agents_marker.at(temp_str).at(sim_index).pose.position.y + 0.6*sin(yaw_-M_PI/2);
}
//}
//else
//{
// marker.pose.position.x = agents_marker.at(temp_str).at(sim_index).pose.position.x;
// marker.pose.position.y = agents_marker.at(temp_str).at(sim_index).pose.position.y;
// }
marker.pose.position.z = 0.1;
if(distance(marker.pose.position.x,marker.pose.position.y,agents_home.at(temp_str).pose.position.x,agents_home.at(temp_str).pose.position.y) < 0.2) active=false;
}
}
if(type==0)
{
marker.type=visualization_msgs::Marker::CUBE;
marker.scale.x = 1;
marker.scale.y = 1;
marker.scale.z = 0.01;
marker.color.r = 0;
marker.color.g = 0.2;
marker.color.b = 0;
marker.color.a=1;
if(owner!="0" && !available)
{
if(color_switch<30)
{
marker.color.r = 0;
marker.color.g = 0.2;
marker.color.b = 0;
marker.color.a=1;
color_switch++;
}
else
{
marker.color.r = 0;
marker.color.g = 0.4;
marker.color.b = 0;
marker.color.a=1;
color_switch++;
if(color_switch==60) color_switch=0;
}
}
}
}
else
{
marker.color.a=0;
if(available)
{
active=true;
}
}
tasks_marker[topic_name].push_back(marker);
sim_index++;
}
file.close();
i++;
file_name=task_base_string;
iter.str("");
iter << i;
file_name.append(iter.str());
file_name.append(".txt");
file.open(file_name.c_str());
}
}
void ros_viz_3d::read()
{
std::cout<<std::endl<<"Publishing Markers"<<std::endl;
unsigned int i,j,k,l,m,g;
j=0;g=0;
while(j<agents_marker.at(agents.at(0)).size() && g<tasks_marker.at(tasks.at(0)).size())
{
visualization_msgs::MarkerArray ma;
for(i=0;i<agents.size();i++)
{
agents_marker.at(agents.at(i)).at(j).id=i;
ma.markers.push_back(agents_marker.at(agents.at(i)).at(j));
}
// for(l=0;l<agents.size();l++)
// {
// agents_home.at(agents.at(l)).id=i+l;
// ma.markers.push_back(agents_home.at(agents.at(l)));
// }
for(m=0;m<agents.size();m++)
{
agents_charge.at(agents.at(m)).at(j).id=i+m+l;
ma.markers.push_back(agents_charge.at(agents.at(m)).at(j));
}
for(k=0;k<tasks.size();k++)
{
tasks_marker.at(tasks.at(k)).at(g).id=i+m+l+k;
ma.markers.push_back(tasks_marker.at(tasks.at(k)).at(g));
}
marker_array.push_back(ma);
j++;g++;
}
for(i=0;i<marker_array.size();i++)
{
pub.publish(marker_array.at(i));
usleep(10000);
}
std::cout<<std::endl<<"Markers Finished"<<std::endl;
}
ros_viz_3d::~ros_viz_3d()
{
}