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182use crate::sim::Sim;
use futures::StreamExt;
use r2r::QosProfile;
use std::sync::{Arc, Mutex};
use std::time::Duration;
type AckDrive = r2r::ackermann_msgs::msg::AckermannDriveStamped;
type LaserScan = r2r::sensor_msgs::msg::LaserScan;
type Odom = r2r::nav_msgs::msg::Odometry;
type TFMsg = r2r::tf2_msgs::msg::TFMessage;
type TFS = r2r::geometry_msgs::msg::TransformStamped;
type Header = r2r::std_msgs::msg::Header;
type Stamp = r2r::builtin_interfaces::msg::Time;
pub struct RosBridge {
pub sim: Sim,
pub hz: f64,
}
impl RosBridge {
pub async fn spin(mut self, poses: Vec<[f64; 3]>) -> Result<(), Box<dyn std::error::Error>> {
let ctx = r2r::Context::create()?;
let mut node = r2r::Node::create(ctx, "f1tenth_sim", "")?;
let n = poses.len();
let qos = QosProfile::default();
self.sim.reset(&poses);
let mut cmds: Vec<Arc<Mutex<[f64; 2]>>> = Vec::new();
let mut scan_pubs = Vec::new();
let mut odom_pubs = Vec::new();
for i in 0..n {
let ns = if n == 1 {
String::new()
} else {
format!("agent{i}")
};
let t = |s: &str| {
if ns.is_empty() {
format!("/{s}")
} else {
format!("/{ns}/{s}")
}
};
let cmd: Arc<Mutex<[f64; 2]>> = Arc::new(Mutex::new([0.0; 2]));
let cmd_c = cmd.clone();
let mut sub = node.subscribe::<AckDrive>(&t("drive"), qos.clone())?;
tokio::spawn(async move {
while let Some(msg) = sub.next().await {
*cmd_c.lock().unwrap() =
[msg.drive.steering_angle as f64, msg.drive.speed as f64]
}
});
cmds.push(cmd);
scan_pubs.push(node.create_publisher::<LaserScan>(&t("scan"), qos.clone())?);
odom_pubs.push(node.create_publisher::<Odom>(&t("odom"), qos.clone())?);
}
let tf_pub = node.create_publisher::<TFMsg>("/tf", qos)?;
let mut interval = tokio::time::interval(Duration::from_secs_f64(1.0 / self.hz));
loop {
interval.tick().await;
node.spin_once(Duration::ZERO);
let actions: Vec<[f64; 2]> = (0..n).map(|i| *cmds[i].lock().unwrap()).collect();
let obs = self.sim.step(&actions);
let stamp = now();
let mut tfs = Vec::new();
for i in 0..n {
let [x, y, th, _, _, _, _] = obs.state[i];
let v = self.sim.cars[i].velocity;
let frame = if n == 1 {
"base_footprint".into()
} else {
format!("agent{i}")
};
scan_pubs[i].publish(&build_scan(&obs.scans[i], &stamp, &frame, &self.sim))?;
odom_pubs[i].publish(&build_odom(x, y, th, v, &stamp, &frame))?;
tfs.push(build_tf(x, y, th, &stamp, "odom", &frame));
tfs.push(build_tf(
0.0,
0.0,
0.0,
&stamp,
&frame,
&format!("{frame}/laser"),
));
if obs.cols[i] {
self.sim.reset_single(&[0.0, 0.0, 0.0], i);
}
}
tf_pub.publish(&TFMsg { transforms: tfs })?;
}
}
}
fn now() -> Stamp {
let d = std::time::SystemTime::now()
.duration_since(std::time::UNIX_EPOCH)
.unwrap();
Stamp {
sec: d.as_secs() as i32,
nanosec: d.subsec_nanos(),
}
}
fn hdr(stamp: &Stamp, frame: &str) -> Header {
Header {
stamp: stamp.clone(),
frame_id: frame.into(),
}
}
fn yaw_q(y: f64) -> r2r::geometry_msgs::msg::Quaternion {
r2r::geometry_msgs::msg::Quaternion {
x: 0.0,
y: 0.0,
z: (y / 2.0).sin(),
w: (y / 2.0).cos(),
}
}
fn build_scan(ranges: &[f64], stamp: &Stamp, frame: &str, sim: &Sim) -> LaserScan {
LaserScan {
header: hdr(stamp, &format!("{frame}/laser")),
angle_min: -(sim.fov / 2.0) as f32,
angle_max: (sim.fov / 2.0) as f32,
angle_increment: (sim.fov / (sim.n_beams - 1) as f64) as f32,
range_min: 0.0,
range_max: sim.max_range as f32,
ranges: ranges.iter().map(|&r| r as f32).collect(),
..Default::default()
}
}
fn build_odom(x: f64, y: f64, th: f64, v: f64, stamp: &Stamp, child: &str) -> Odom {
use r2r::geometry_msgs::msg::*;
Odom {
header: hdr(stamp, "odom"),
child_frame_id: child.into(),
pose: PoseWithCovariance {
pose: Pose {
position: Point { x, y, z: 0.0 },
orientation: yaw_q(th),
},
..Default::default()
},
twist: TwistWithCovariance {
twist: Twist {
linear: Vector3 {
x: v,
y: 0.0,
z: 0.0,
},
..Default::default()
},
..Default::default()
},
}
}
fn build_tf(x: f64, y: f64, th: f64, stamp: &Stamp, parent: &str, child: &str) -> TFS {
use r2r::geometry_msgs::msg::*;
TFS {
header: hdr(stamp, parent),
child_frame_id: child.into(),
transform: Transform {
translation: Vector3 { x, y, z: 0.0 },
rotation: yaw_q(th),
},
}
}