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refactor: convert SelfFilterNode to LifecycleNode #7

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12 changes: 5 additions & 7 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
cmake_minimum_required(VERSION 3.8)
cmake_policy(VERSION 3.28)
cmake_minimum_required(VERSION 3.22)

project(robot_self_filter)

Expand All @@ -22,6 +21,7 @@ find_package(yaml-cpp REQUIRED)

# ROS 2 packages
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
Expand Down Expand Up @@ -170,6 +170,7 @@ ament_target_dependencies(${PROJECT_NAME}

ament_target_dependencies(self_filter
rclcpp
rclcpp_lifecycle
tf2
tf2_ros
geometry_msgs
Expand Down Expand Up @@ -201,10 +202,9 @@ install(
TARGETS
robot_geometric_shapes
${PROJECT_NAME}
# test_filter
self_filter
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
DESTINATION lib/${PROJECT_NAME}
)

#
Expand All @@ -217,8 +217,6 @@ ament_export_include_directories(
ament_export_libraries(
robot_geometric_shapes
${PROJECT_NAME}
${BULLET_LIBRARIES}
${ASSIMP_LIBRARIES}
)

# Exporting Bullet as a standard ament dependency doesn't typically do anything,
Expand Down
26 changes: 16 additions & 10 deletions include/robot_self_filter/self_mask.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
#define ROBOT_SELF_FILTER_SELF_MASK_

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/node_interfaces/node_parameters_interface.hpp>
#include <tf2/LinearMath/Transform.h>
#include <tf2/LinearMath/Vector3.h>
#include <tf2_ros/buffer.h>
Expand Down Expand Up @@ -140,10 +141,13 @@ class SelfMask
public:
using PointCloud = pcl::PointCloud<PointT>;

SelfMask(rclcpp::Node::SharedPtr node,
template <class NodeT>
SelfMask(std::shared_ptr<NodeT> node,
tf2_ros::Buffer &tf_buffer,
const std::vector<LinkInfo> &links)
: node_(node)
: node_clock_(node->get_clock())
, node_params_(node->get_node_parameters_interface())
, node_logger_(node->get_logger())
, tf_buffer_(tf_buffer)
{
configure(links);
Expand Down Expand Up @@ -216,14 +220,13 @@ class SelfMask

void assumeFrame(const std_msgs::msg::Header &header)
{
rclcpp::Time transform_time(header.stamp.sec, header.stamp.nanosec, node_->get_clock()->get_clock_type());
for (auto &sl : bodies_)
{
try
{
auto transform_stamped = tf_buffer_.lookupTransform(
header.frame_id, sl.name,
transform_time, rclcpp::Duration(std::chrono::milliseconds(100)));
tf2::TimePointZero);
tf2::Quaternion q(
transform_stamped.transform.rotation.x,
transform_stamped.transform.rotation.y,
Expand Down Expand Up @@ -260,15 +263,14 @@ class SelfMask
const double min_sensor_dist)
{
assumeFrame(header);
rclcpp::Time transform_time(header.stamp.sec, header.stamp.nanosec, node_->get_clock()->get_clock_type());

if (!sensor_frame.empty())
{
try
{
auto transform_stamped = tf_buffer_.lookupTransform(
header.frame_id, sensor_frame,
transform_time, rclcpp::Duration(std::chrono::milliseconds(100)));
tf2::TimePointZero);
tf2::Vector3 t(
transform_stamped.transform.translation.x,
transform_stamped.transform.translation.y,
Expand Down Expand Up @@ -359,15 +361,17 @@ class SelfMask
sensor_pos_ = tf2::Vector3(0, 0, 0);

std::string content;
if (!node_->get_parameter("robot_description", content) || content.empty())
rclcpp::Parameter rd_param;
if (!node_params_->get_parameter("robot_description", rd_param) ||
(content = rd_param.as_string()).empty())
{
RCLCPP_ERROR(node_->get_logger(), "Robot model not found!");
RCLCPP_ERROR(node_logger_, "Robot model not found!");
return false;
}
auto urdfModel = std::make_shared<urdf::Model>();
if (!urdfModel->initString(content))
{
RCLCPP_ERROR(node_->get_logger(), "Unable to parse URDF!");
RCLCPP_ERROR(node_logger_, "Unable to parse URDF!");
return false;
}

Expand Down Expand Up @@ -588,7 +592,9 @@ class SelfMask
}
}

rclcpp::Node::SharedPtr node_;
rclcpp::Clock::SharedPtr node_clock_;
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params_;
rclcpp::Logger node_logger_;
tf2_ros::Buffer &tf_buffer_;

tf2::Vector3 sensor_pos_{0, 0, 0};
Expand Down
90 changes: 47 additions & 43 deletions include/robot_self_filter/self_see_filter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,46 +39,51 @@ class SelfFilter : public FilterBase<pcl::PointCloud<PointT>>, public SelfFilter
public:
using PointCloud = pcl::PointCloud<PointT>;

explicit SelfFilter(const rclcpp::Node::SharedPtr &node)
: node_(node)
, tf_buffer_(std::make_shared<tf2_ros::Buffer>(node_->get_clock()))
, tf_listener_(std::make_shared<tf2_ros::TransformListener>(*tf_buffer_))
template <class NodeT>
explicit SelfFilter(const std::shared_ptr<NodeT> &node,
std::shared_ptr<tf2_ros::Buffer> existing_tf_buffer = nullptr)
: tf_buffer_(existing_tf_buffer
? existing_tf_buffer
: std::make_shared<tf2_ros::Buffer>(node->get_clock()))
, tf_listener_(existing_tf_buffer
? nullptr
: std::make_shared<tf2_ros::TransformListener>(*tf_buffer_))
{
node_->declare_parameter<double>("min_sensor_dist", 0.01, rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<bool>("keep_organized", false, rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<bool>("zero_for_removed_points", false, rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<bool>("invert", false, rcl_interfaces::msg::ParameterDescriptor());
node->template declare_parameter<double>("min_sensor_dist", 0.01, rcl_interfaces::msg::ParameterDescriptor());
node->template declare_parameter<bool>("keep_organized", false, rcl_interfaces::msg::ParameterDescriptor());
node->template declare_parameter<bool>("zero_for_removed_points", false, rcl_interfaces::msg::ParameterDescriptor());
node->template declare_parameter<bool>("invert", false, rcl_interfaces::msg::ParameterDescriptor());

node_->declare_parameter<std::vector<double>>("default_box_scale",
node->template declare_parameter<std::vector<double>>("default_box_scale",
{1.0, 1.0, 1.0}, rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<std::vector<double>>("default_box_padding",
node->template declare_parameter<std::vector<double>>("default_box_padding",
{0.01, 0.01, 0.01}, rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<std::vector<double>>("default_cylinder_scale",
node->template declare_parameter<std::vector<double>>("default_cylinder_scale",
{1.0, 1.0}, rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<std::vector<double>>("default_cylinder_padding",
node->template declare_parameter<std::vector<double>>("default_cylinder_padding",
{0.01, 0.01}, rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<double>("default_sphere_scale", 1.0, rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<double>("default_sphere_padding", 0.01, rcl_interfaces::msg::ParameterDescriptor());

node_->get_parameter("min_sensor_dist", min_sensor_dist_);
node_->get_parameter("keep_organized", keep_organized_);
node_->get_parameter("zero_for_removed_points", zero_for_removed_points_);
node_->get_parameter("invert", invert_);

node_->get_parameter("default_box_scale", default_box_scale_);
node_->get_parameter("default_box_padding", default_box_pad_);
node_->get_parameter("default_cylinder_scale", default_cyl_scale_);
node_->get_parameter("default_cylinder_padding", default_cyl_pad_);
node_->get_parameter("default_sphere_scale", default_sphere_scale_);
node_->get_parameter("default_sphere_padding", default_sphere_pad_);

node_->declare_parameter<std::vector<std::string>>(
node->template declare_parameter<double>("default_sphere_scale", 1.0, rcl_interfaces::msg::ParameterDescriptor());
node->template declare_parameter<double>("default_sphere_padding", 0.01, rcl_interfaces::msg::ParameterDescriptor());

node->get_parameter("min_sensor_dist", min_sensor_dist_);
node->get_parameter("keep_organized", keep_organized_);
node->get_parameter("zero_for_removed_points", zero_for_removed_points_);
node->get_parameter("invert", invert_);

node->get_parameter("default_box_scale", default_box_scale_);
node->get_parameter("default_box_padding", default_box_pad_);
node->get_parameter("default_cylinder_scale", default_cyl_scale_);
node->get_parameter("default_cylinder_padding", default_cyl_pad_);
node->get_parameter("default_sphere_scale", default_sphere_scale_);
node->get_parameter("default_sphere_padding", default_sphere_pad_);

node->template declare_parameter<std::vector<std::string>>(
"self_see_links.names",
std::vector<std::string>(),
rcl_interfaces::msg::ParameterDescriptor()
);
std::vector<std::string> link_names;
node_->get_parameter("self_see_links.names", link_names);
node->get_parameter("self_see_links.names", link_names);

std::vector<robot_self_filter::LinkInfo> links;
for (auto &lname : link_names)
Expand All @@ -95,33 +100,33 @@ class SelfFilter : public FilterBase<pcl::PointCloud<PointT>>, public SelfFilter
std::string padding_key = "self_see_links." + lname + ".padding";
std::string scale_key = "self_see_links." + lname + ".scale";

node_->declare_parameter<std::vector<double>>(box_scale_key,
node->template declare_parameter<std::vector<double>>(box_scale_key,
std::vector<double>(), rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<std::vector<double>>(box_padding_key,
node->template declare_parameter<std::vector<double>>(box_padding_key,
std::vector<double>(), rcl_interfaces::msg::ParameterDescriptor());
node_->get_parameter(box_scale_key, li.box_scale);
node_->get_parameter(box_padding_key, li.box_padding);
node->get_parameter(box_scale_key, li.box_scale);
node->get_parameter(box_padding_key, li.box_padding);

node_->declare_parameter<std::vector<double>>(cyl_scale_key,
node->template declare_parameter<std::vector<double>>(cyl_scale_key,
std::vector<double>(), rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<std::vector<double>>(cyl_padding_key,
node->template declare_parameter<std::vector<double>>(cyl_padding_key,
std::vector<double>(), rcl_interfaces::msg::ParameterDescriptor());
node_->get_parameter(cyl_scale_key, li.cylinder_scale);
node_->get_parameter(cyl_padding_key, li.cylinder_padding);
node->get_parameter(cyl_scale_key, li.cylinder_scale);
node->get_parameter(cyl_padding_key, li.cylinder_padding);

node_->declare_parameter<double>(padding_key, default_sphere_pad_, rcl_interfaces::msg::ParameterDescriptor());
node_->declare_parameter<double>(scale_key, default_sphere_scale_, rcl_interfaces::msg::ParameterDescriptor());
node->template declare_parameter<double>(padding_key, default_sphere_pad_, rcl_interfaces::msg::ParameterDescriptor());
node->template declare_parameter<double>(scale_key, default_sphere_scale_, rcl_interfaces::msg::ParameterDescriptor());
double link_pad = default_sphere_pad_;
double link_scl = default_sphere_scale_;
node_->get_parameter(padding_key, link_pad);
node_->get_parameter(scale_key, link_scl);
node->get_parameter(padding_key, link_pad);
node->get_parameter(scale_key, link_scl);
li.padding = link_pad;
li.scale = link_scl;

links.push_back(li);
}

sm_ = std::make_shared<robot_self_filter::SelfMask<PointT>>(node_, *tf_buffer_, links);
sm_ = std::make_shared<robot_self_filter::SelfMask<PointT>>(node, *tf_buffer_, links);
}

~SelfFilter() override = default;
Expand Down Expand Up @@ -223,7 +228,6 @@ class SelfFilter : public FilterBase<pcl::PointCloud<PointT>>, public SelfFilter
}
}

rclcpp::Node::SharedPtr node_;
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
std::shared_ptr<robot_self_filter::SelfMask<PointT>> sm_;
Expand Down
2 changes: 2 additions & 0 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

<!-- Build dependencies -->
<build_depend>rclcpp</build_depend>
<build_depend>rclcpp_lifecycle</build_depend>
<build_depend>tf2</build_depend>
<build_depend>tf2_ros</build_depend>
<build_depend>geometry_msgs</build_depend>
Expand All @@ -30,6 +31,7 @@

<!-- Execution dependencies -->
<exec_depend>rclcpp</exec_depend>
<exec_depend>rclcpp_lifecycle</exec_depend>
<exec_depend>tf2</exec_depend>
<exec_depend>tf2_ros</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
Expand Down
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