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Transform ispathvalid path to costmap frame #22

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Transform ispathvalid path to costmap frame #22

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27 changes: 22 additions & 5 deletions nav2_controller/src/intermediate_planner_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -719,14 +719,31 @@ void IntermediatePlannerServer::isPathValid(
return;
}

nav_msgs::msg::Path transformed_path;
transformed_path.header.frame_id = costmap_ros_->getGlobalFrameID();
transformed_path.header.stamp = request->path.header.stamp;
transformed_path.poses.reserve(request->path.poses.size());

for (auto & pose : request->path.poses) {
pose.header.frame_id = request->path.header.frame_id;
pose.header.stamp = rclcpp::Time(0);
geometry_msgs::msg::PoseStamped transformed_pose;
if (!costmap_ros_->transformPoseToGlobalFrame(pose, transformed_pose)) {
RCLCPP_WARN(logger_, "Failed to transform path to costmap frame");
response->is_valid = false;
return;
}
transformed_path.poses.push_back(transformed_pose);
}

geometry_msgs::msg::PoseStamped current_pose;
unsigned int closest_point_index = 0;
if (costmap_ros_->getRobotPose(current_pose)) {
float current_distance = std::numeric_limits<float>::max();
float closest_distance = current_distance;
geometry_msgs::msg::Point current_point = current_pose.pose.position;
for (unsigned int i = 0; i < request->path.poses.size(); ++i) {
geometry_msgs::msg::Point path_point = request->path.poses[i].pose.position;
for (unsigned int i = 0; i < transformed_path.poses.size(); ++i) {
geometry_msgs::msg::Point path_point = transformed_path.poses[i].pose.position;

current_distance = nav2_util::geometry_utils::euclidean_distance(
current_point,
Expand All @@ -745,10 +762,10 @@ void IntermediatePlannerServer::isPathValid(
std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
unsigned int mx = 0;
unsigned int my = 0;
for (unsigned int i = closest_point_index; i < request->path.poses.size(); ++i) {
for (unsigned int i = closest_point_index; i < transformed_path.poses.size(); ++i) {
costmap_->worldToMap(
request->path.poses[i].pose.position.x,
request->path.poses[i].pose.position.y, mx, my);
transformed_path.poses[i].pose.position.x,
transformed_path.poses[i].pose.position.y, mx, my);
unsigned int cost = costmap_->getCost(mx, my);

if (cost == nav2_costmap_2d::LETHAL_OBSTACLE ||
Expand Down