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Deprecates use of geometry_msgs/PoseArray for particle cloud in AMCL #2281

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merged 5 commits into from
Apr 2, 2021
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Deprecates use of geometry_msgs/PoseArray for particle cloud in AMCL #2281

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6648841
removed geometry_msgs/PoseArray in AMCL, updated rviz configs
abhishek47kashyap Mar 25, 2021
6250969
ParticleFilter -> ParticuleCloud
abhishek47kashyap Mar 29, 2021
b8a5d26
put back adding of weights and poses for particles
abhishek47kashyap Mar 31, 2021
bdc1707
complies with linter's max line length
abhishek47kashyap Apr 1, 2021
42b0d66
reformatted file using ament_uncrustify
abhishek47kashyap Apr 2, 2021
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2 changes: 0 additions & 2 deletions nav2_amcl/include/nav2_amcl/amcl_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,6 @@
#include <utility>
#include <vector>

#include "geometry_msgs/msg/pose_array.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "message_filters/subscriber.h"
#include "nav2_util/lifecycle_node.hpp"
Expand Down Expand Up @@ -171,7 +170,6 @@ class AmclNode : public nav2_util::LifecycleNode
initial_pose_sub_;
rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr
pose_pub_;
rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PoseArray>::SharedPtr particlecloud_pub_;
rclcpp_lifecycle::LifecyclePublisher<nav2_msgs::msg::ParticleCloud>::SharedPtr
particle_cloud_pub_;
/*
Expand Down
28 changes: 6 additions & 22 deletions nav2_amcl/src/amcl_node.cpp
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Expand Up @@ -274,14 +274,8 @@ AmclNode::on_activate(const rclcpp_lifecycle::State & /*state*/)

// Lifecycle publishers must be explicitly activated
pose_pub_->on_activate();
particlecloud_pub_->on_activate();
particle_cloud_pub_->on_activate();

RCLCPP_WARN(
get_logger(),
"Publishing the particle cloud as geometry_msgs/PoseArray msg is deprecated, "
"will be published as nav2_msgs/ParticleCloud in the future");

first_pose_sent_ = false;

// Keep track of whether we're in the active state. We won't
Expand Down Expand Up @@ -318,7 +312,6 @@ AmclNode::on_deactivate(const rclcpp_lifecycle::State & /*state*/)

// Lifecycle publishers must be explicitly deactivated
pose_pub_->on_deactivate();
particlecloud_pub_->on_deactivate();
particle_cloud_pub_->on_deactivate();

// destroy bond connection
Expand Down Expand Up @@ -354,7 +347,6 @@ AmclNode::on_cleanup(const rclcpp_lifecycle::State & /*state*/)

// PubSub
pose_pub_.reset();
particlecloud_pub_.reset();
particle_cloud_pub_.reset();

// Odometry
Expand Down Expand Up @@ -873,19 +865,15 @@ AmclNode::publishParticleCloud(const pf_sample_set_t * set)
cloud_with_weights_msg->header.frame_id = global_frame_id_;
cloud_with_weights_msg->particles.resize(set->sample_count);

auto cloud_msg = std::make_unique<geometry_msgs::msg::PoseArray>();
cloud_msg->header.stamp = this->now();
cloud_msg->header.frame_id = global_frame_id_;
cloud_msg->poses.resize(set->sample_count);
for (int i = 0; i < set->sample_count; i++) {
cloud_msg->poses[i].position.x = set->samples[i].pose.v[0];
cloud_msg->poses[i].position.y = set->samples[i].pose.v[1];
cloud_msg->poses[i].position.z = 0;
cloud_msg->poses[i].orientation = orientationAroundZAxis(set->samples[i].pose.v[2]);
cloud_with_weights_msg->particles[i].pose = (*cloud_msg).poses[i];
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You deleted the population of the particle could poses / weights for the one that's keeping too... I thought you tested this in rviz?

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cloud_msg is type PoseArray, and cloud_with_weights_msg is type ParticleCloud. I deleted the former.

I did test in rviz, here's a screenshot:
particle_cloud

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Then where is the particle cloud in that image?

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Re-read that code, its very clear that you're not populating the poses or the weights from just removing that full for statement

cloud_with_weights_msg->particles[i].pose = (*cloud_msg).poses[i];
cloud_with_weights_msg->particles[i].weight = set->samples[i].weight;

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@abhishek47kashyap abhishek47kashyap Mar 31, 2021 •
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Dumb mistake, does f21bed8 correct it?

particle_cloud

cloud_with_weights_msg->particles[i].pose.position.x = set->samples[i].pose.v[0];
cloud_with_weights_msg->particles[i].pose.position.y = set->samples[i].pose.v[1];
cloud_with_weights_msg->particles[i].pose.position.z = 0;
cloud_with_weights_msg->particles[i].pose.orientation = orientationAroundZAxis(
set->samples[i].pose.v[2]);
cloud_with_weights_msg->particles[i].weight = set->samples[i].weight;
}
particlecloud_pub_->publish(std::move(cloud_msg));

particle_cloud_pub_->publish(std::move(cloud_with_weights_msg));
}

Expand Down Expand Up @@ -1264,10 +1252,6 @@ AmclNode::initPubSub()
{
RCLCPP_INFO(get_logger(), "initPubSub");

particlecloud_pub_ = create_publisher<geometry_msgs::msg::PoseArray>(
"particlecloud",
rclcpp::SensorDataQoS());

particle_cloud_pub_ = create_publisher<nav2_msgs::msg::ParticleCloud>(
"particle_cloud",
rclcpp::SensorDataQoS());
Expand Down