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fixing static layer update bounds with different fram #5194

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52 changes: 45 additions & 7 deletions nav2_costmap_2d/plugins/static_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -363,15 +363,53 @@

useExtraBounds(min_x, min_y, max_x, max_y);

double wx, wy;
// Might even be in a different frame
if (map_frame_ == global_frame_) {
double wx, wy;

mapToWorld(x_, y_, wx, wy);
*min_x = std::min(wx, *min_x);
*min_y = std::min(wy, *min_y);

mapToWorld(x_ + width_, y_ + height_, wx, wy);
*max_x = std::max(wx, *max_x);
*max_y = std::max(wy, *max_y);
} else {
geometry_msgs::msg::TransformStamped transform;

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try {
transform = tf_->lookupTransform(

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global_frame_, map_frame_, tf2::TimePointZero,
transform_tolerance_);
} catch (tf2::TransformException & ex) {
RCLCPP_ERROR(logger_, "StaticLayer: %s", ex.what());

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return;
}
tf2::Transform tf2_transform;
tf2::fromMsg(transform.transform, tf2_transform);

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double wx, wy;
mapToWorld(x_, y_, wx, wy);

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tf2::Vector3 down_left(wx, wy, 0);

mapToWorld(x_ + width_, y_, wx, wy);

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tf2::Vector3 down_right(wx, wy, 0);

mapToWorld(x_, y_ + height_, wx, wy);

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tf2::Vector3 up_left(wx, wy, 0);

mapToWorld(x_, y_, wx, wy);
*min_x = std::min(wx, *min_x);
*min_y = std::min(wy, *min_y);
mapToWorld(x_ + width_, y_ + height_, wx, wy);

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tf2::Vector3 up_right(wx, wy, 0);

mapToWorld(x_ + width_, y_ + height_, wx, wy);
*max_x = std::max(wx, *max_x);
*max_y = std::max(wy, *max_y);
down_left = tf2_transform * down_left;
down_right = tf2_transform * down_right;
up_left = tf2_transform * up_left;
up_right = tf2_transform * up_right;

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*min_x = std::min({*min_x, down_left.x(), down_right.x(), up_left.x(), up_right.x()});
*min_y = std::min({*min_y, down_left.y(), down_right.y(), up_left.y(), up_right.y()});
*max_x = std::max({*max_x, down_left.x(), down_right.x(), up_left.x(), up_right.x()});
*max_y = std::max({*max_y, down_left.y(), down_right.y(), up_left.y(), up_right.y()});

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}

has_updated_data_ = false;

Expand Down
18 changes: 9 additions & 9 deletions nav2_costmap_2d/test/integration/inflation_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -201,7 +201,7 @@ TEST_F(TestNode, testAdjacentToObstacleCanStillMove)
{
initNode(4.1);
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
layers.resizeMap(10, 10, 1, 0, 0);

// Footprint with inscribed radius = 2.1
Expand Down Expand Up @@ -233,7 +233,7 @@ TEST_F(TestNode, testInflationShouldNotCreateUnknowns)
{
initNode(4.1);
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
layers.resizeMap(10, 10, 1, 0, 0);

// Footprint with inscribed radius = 2.1
Expand Down Expand Up @@ -269,7 +269,7 @@ TEST_F(TestNode, testInflationInUnknown)
node_->set_parameter(rclcpp::Parameter("track_unknown_space", true));

tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
nav2_costmap_2d::LayeredCostmap layers("map", false, true);
layers.resizeMap(9, 9, 1, 0, 0);

// Footprint with inscribed radius = 2.1
Expand Down Expand Up @@ -305,7 +305,7 @@ TEST_F(TestNode, testInflationAroundUnknown)
node_->set_parameter(rclcpp::Parameter("track_unknown_space", true));

tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
layers.resizeMap(10, 10, 1, 0, 0);

// Footprint with inscribed radius = 2.1
Expand All @@ -330,7 +330,7 @@ TEST_F(TestNode, testCostFunctionCorrectness)
{
initNode(10.5);
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

layers.resizeMap(100, 100, 1, 0, 0);
// Footprint with inscribed radius = 5.0
Expand Down Expand Up @@ -405,7 +405,7 @@ TEST_F(TestNode, testInflationOrderCorrectness)
const double inflation_radius = 4.1;
initNode(inflation_radius);
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
layers.resizeMap(10, 10, 1, 0, 0);

// Footprint with inscribed radius = 2.1
Expand Down Expand Up @@ -438,7 +438,7 @@ TEST_F(TestNode, testInflation)
{
initNode(1);
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

// Footprint with inscribed radius = 2.1
// circumscribed radius = 3.1
Expand Down Expand Up @@ -516,7 +516,7 @@ TEST_F(TestNode, testInflation2)
{
initNode(1);
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

// Footprint with inscribed radius = 2.1
// circumscribed radius = 3.1
Expand Down Expand Up @@ -554,7 +554,7 @@ TEST_F(TestNode, testInflation3)
{
initNode(3);
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
layers.resizeMap(10, 10, 1, 0, 0);

// 1 2 3
Expand Down
20 changes: 10 additions & 10 deletions nav2_costmap_2d/test/integration/obstacle_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,7 @@ class TestNode : public ::testing::Test
TEST_F(TestNode, testRaytracing) {
tf2_ros::Buffer tf(node_->get_clock());

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
addStaticLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);

Expand All @@ -170,7 +170,7 @@ TEST_F(TestNode, testRaytracing) {
*/
TEST_F(TestNode, testRaytracing2) {
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
addStaticLayer(layers, tf, node_);
auto olayer = addObstacleLayer(layers, tf, node_);

Expand Down Expand Up @@ -227,7 +227,7 @@ TEST_F(TestNode, testWaveInterference) {
tf2_ros::Buffer tf(node_->get_clock());
node_->set_parameter(rclcpp::Parameter("track_unknown_space", true));
// Start with an empty map, no rolling window, tracking unknown
nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
nav2_costmap_2d::LayeredCostmap layers("map", false, true);
layers.resizeMap(10, 10, 1, 0, 0);
auto olayer = addObstacleLayer(layers, tf, node_);

Expand Down Expand Up @@ -255,7 +255,7 @@ TEST_F(TestNode, testWaveInterference) {
TEST_F(TestNode, testZThreshold) {
tf2_ros::Buffer tf(node_->get_clock());
// Start with an empty map
nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
nav2_costmap_2d::LayeredCostmap layers("map", false, true);
layers.resizeMap(10, 10, 1, 0, 0);

auto olayer = addObstacleLayer(layers, tf, node_);
Expand All @@ -275,7 +275,7 @@ TEST_F(TestNode, testZThreshold) {
*/
TEST_F(TestNode, testDynamicObstacles) {
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
addStaticLayer(layers, tf, node_);

auto olayer = addObstacleLayer(layers, tf, node_);
Expand All @@ -300,7 +300,7 @@ TEST_F(TestNode, testDynamicObstacles) {
*/
TEST_F(TestNode, testMultipleAdditions) {
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
addStaticLayer(layers, tf, node_);

auto olayer = addObstacleLayer(layers, tf, node_);
Expand All @@ -319,7 +319,7 @@ TEST_F(TestNode, testMultipleAdditions) {
*/
TEST_F(TestNode, testRepeatedResets) {
tf2_ros::Buffer tf(node_->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

std::shared_ptr<nav2_costmap_2d::StaticLayer> slayer = nullptr;
addStaticLayer(layers, tf, node_, slayer);
Expand Down Expand Up @@ -370,7 +370,7 @@ TEST_F(TestNode, testRepeatedResets) {
TEST_F(TestNode, testRaytracing) {
tf2_ros::Buffer tf(node_->get_clock());

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
layers.resizeMap(10, 10, 1, 0, 0);

std::shared_ptr<nav2_costmap_2d::StaticLayer> slayer = nullptr;
Expand Down Expand Up @@ -555,7 +555,7 @@ TEST_F(TestNode, testMaxCombinationMethod) {
tf2_ros::Buffer tf(node_->get_clock());

// Create a costmap with full unknown space
nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
nav2_costmap_2d::LayeredCostmap layers("map", false, true);
layers.resizeMap(10, 10, 1, 0, 0);

std::shared_ptr<nav2_costmap_2d::ObstacleLayer> olayer = nullptr;
Expand Down Expand Up @@ -600,7 +600,7 @@ TEST_F(TestNodeWithoutUnknownOverwrite, testMaxWithoutUnknownOverwriteCombinatio
tf2_ros::Buffer tf(node_->get_clock());

// Create a costmap with full unknown space
nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
nav2_costmap_2d::LayeredCostmap layers("map", false, true);
layers.resizeMap(10, 10, 1, 0, 0);

std::shared_ptr<nav2_costmap_2d::ObstacleLayer> olayer = nullptr;
Expand Down
18 changes: 9 additions & 9 deletions nav2_costmap_2d/test/integration/plugin_container_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -158,7 +158,7 @@ class TestNode : public ::testing::Test
TEST_F(TestNode, testObstacleLayers) {
tf2_ros::Buffer tf(node_->get_clock());

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);
layers.resizeMap(10, 10, 1, 0, 0);

std::shared_ptr<nav2_costmap_2d::PluginContainerLayer> pclayer_a = nullptr;
Expand Down Expand Up @@ -191,7 +191,7 @@ TEST_F(TestNode, testObstacleAndStaticLayers) {
node_->declare_parameter("pclayer_a.static.map_topic",
rclcpp::ParameterValue(std::string("map")));

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

layers.resizeMap(10, 10, 1, 0, 0);

Expand Down Expand Up @@ -232,7 +232,7 @@ TEST_F(TestNode, testDifferentInflationLayers) {
node_->declare_parameter("pclayer_b.inflation.inflation_radius",
rclcpp::ParameterValue(1.0));

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

layers.resizeMap(10, 10, 1, 0, 0);

Expand Down Expand Up @@ -281,7 +281,7 @@ TEST_F(TestNode, testDifferentInflationLayers2) {
node_->declare_parameter("pclayer_a.inflation.inflation_radius",
rclcpp::ParameterValue(1.0));

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

layers.resizeMap(10, 10, 1, 0, 0);

Expand Down Expand Up @@ -336,7 +336,7 @@ TEST_F(TestNode, testResetting) {
node_->declare_parameter("pclayer_b.inflation.inflation_radius",
rclcpp::ParameterValue(1.0));

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

layers.resizeMap(10, 10, 1, 0, 0);

Expand Down Expand Up @@ -407,7 +407,7 @@ TEST_F(TestNode, testClearing) {
node_->declare_parameter("pclayer_b.inflation.inflation_radius",
rclcpp::ParameterValue(1.0));

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

layers.resizeMap(10, 10, 1, 0, 0);

Expand Down Expand Up @@ -473,7 +473,7 @@ TEST_F(TestNode, testOverwriteCombinationMethods) {
node_->declare_parameter("pclayer_b.inflation.inflation_radius",
rclcpp::ParameterValue(1.0));

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

layers.resizeMap(10, 10, 1, 0, 0);

Expand Down Expand Up @@ -534,7 +534,7 @@ TEST_F(TestNode, testWithoutUnknownOverwriteCombinationMethods) {
node_->declare_parameter("pclayer_b.inflation.inflation_radius",
rclcpp::ParameterValue(1.0));

nav2_costmap_2d::LayeredCostmap layers("frame", false, true);
nav2_costmap_2d::LayeredCostmap layers("map", false, true);

layers.resizeMap(10, 10, 1, 0, 0);

Expand Down Expand Up @@ -580,7 +580,7 @@ TEST_F(TestNode, testWithoutUnknownOverwriteCombinationMethods) {
TEST_F(TestNode, testClearable) {
tf2_ros::Buffer tf(node_->get_clock());

nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

std::shared_ptr<nav2_costmap_2d::PluginContainerLayer> pclayer_a = nullptr;
addPluginContainerLayer(layers, tf, node_, pclayer_a, "pclayer_a");
Expand Down
4 changes: 2 additions & 2 deletions nav2_costmap_2d/test/unit/declare_parameter_test.cpp
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Expand Up @@ -34,7 +34,7 @@ TEST(DeclareParameter, useValidParameter)
nav2_util::LifecycleNode::SharedPtr node =
std::make_shared<nav2_util::LifecycleNode>("test_node");
tf2_ros::Buffer tf(node->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

layer.initialize(&layers, "test_layer", &tf, node, nullptr);

Expand All @@ -53,7 +53,7 @@ TEST(DeclareParameter, useInvalidParameter)
nav2_util::LifecycleNode::SharedPtr node =
std::make_shared<nav2_util::LifecycleNode>("test_node");
tf2_ros::Buffer tf(node->get_clock());
nav2_costmap_2d::LayeredCostmap layers("frame", false, false);
nav2_costmap_2d::LayeredCostmap layers("map", false, false);

layer.initialize(&layers, "test_layer", &tf, node, nullptr);

Expand Down
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