[ROS2] map_server加载地图文件的三种模式

[首飞Kevin]

map的数据类型

map话题的类型是nav_msgs::msg::OccupancyGrid。使用下面的命令可以查询该类型的数据结构。

ros2 interface show nav_msgs/msg/OccupancyGrid

nav_msgs::msg::OccupancyGrid的数据结构：

# This represents a 2-D grid map
std_msgs/Header header
        builtin_interfaces/Time stamp
                int32 sec
                uint32 nanosec
        string frame_id

# MetaData for the map
MapMetaData info
        builtin_interfaces/Time map_load_time
                int32 sec
                uint32 nanosec
        float32 resolution
        uint32 width
        uint32 height
        geometry_msgs/Pose origin
                Point position
                        float64 x
                        float64 y
                        float64 z
                Quaternion orientation
                        float64 x 0
                        float64 y 0
                        float64 z 0
                        float64 w 1

# The map data, in row-major order, starting with (0,0).
# Cell (1, 0) will be listed second, representing the next cell in the x direction.
# Cell (0, 1) will be at the index equal to info.width, followed by (1, 1).
# The values inside are application dependent, but frequently,
# 0 represents unoccupied, 1 represents definitely occupied, and
# -1 represents unknown.
int8[] data

其中data数据成员用于存储地图中的每个栅格值。nav_msgs::msg::OccupancyGrid存储的栅格值范围在[0~100]。0表示栅格未被占用，100表示栅格被占用了，而0到100之间表示被占用的程度。-1表示未知区域。

info成员变量中主要存储地图文件的一些参数。比如：地图大小，分辨率，原点等信息。

加载map的三种模式

map_server功能包支持加载三种类型的图片文件：PGM/PNG/BMP。图片中每个像素的颜色亮度值将被转化成nav_msgs::msg::OccupancyGrid类型中的栅格值，存储在data成员变量中。

加载地图有下面三种方式：

• trinary
• scale
• raw

其中trinary为默认的加载方式。

地图的加载方式通常会被配置在地图文件对应的配置文件中。该配置文件的内容如下：

image: map.pgm
resolution: 0.050000
origin: [-10.000000, -10.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

代码中对应的数据结构体：

struct LoadParameters
{
  std::string image_file_name;
  double resolution{0};
  std::vector<double> origin{0, 0, 0};
  double free_thresh;
  double occupied_thresh;
  MapMode mode;
  bool negate;
};

其中mode如果不在yaml文件中写明的话就会使用默认的trinary。 free_thresh和occupied_thresh是判断栅格是否被占用的阈值。

地图图片中每个像素可能有多个颜色通道。比如：RGB。像素的明暗程度值是通过求取各个颜色通道的明暗程度值得到的。像素的明暗程度值的范围在[0~1.0]。下面是代码的实现：

      auto pixel = img.pixelColor(x, y);

      std::vector<Magick::Quantum> channels = {pixel.redQuantum(), pixel.greenQuantum(),
        pixel.blueQuantum()};
      if (load_parameters.mode == MapMode::Trinary && img.matte()) {
        // To preserve existing behavior, average in alpha with color channels in Trinary mode.
        // CAREFUL. alpha is inverted from what you might expect. High = transparent, low = opaque
        channels.push_back(MaxRGB - pixel.alphaQuantum());
      }
      double sum = 0;
      for (auto c : channels) {
        sum += c;
      }
      /// on a scale from 0.0 to 1.0 how bright is the pixel?
      double shade = Magick::ColorGray::scaleQuantumToDouble(sum / channels.size());

      // If negate is true, we consider blacker pixels free, and whiter
      // pixels occupied. Otherwise, it's vice versa.
      /// on a scale from 0.0 to 1.0, how occupied is the map cell (before thresholding)?
      double occ = (load_parameters.negate ? shade : 1.0 - shade);

默认情况下，我们认为颜色越暗，栅格被占用的概率越大。颜色越亮，栅格被占用的概率越小。

但是当negate置为1时，这个逻辑就反过来了。颜色越暗，栅格被占用的概率越小。颜色越亮，栅格被占用的概率越大。

trinary模式下的栅格赋值方法

trinary模式下的判断比较简单。主要是像素的明暗程度值小于free_thresh就表示栅格没有被占用，给栅格赋0。若大于occupied_thresh就认为被占用了，给栅格赋100。在free_thresh和occupied_thresh之间就认为是状态不明，给栅格赋-1。下面是具体的代码实现：

case MapMode::Trinary:
    if (load_parameters.occupied_thresh < occ) {
    map_cell = nav2_util::OCC_GRID_OCCUPIED;
    } else if (occ < load_parameters.free_thresh) {
    map_cell = nav2_util::OCC_GRID_FREE;
    } else {
    map_cell = nav2_util::OCC_GRID_UNKNOWN;
    }

scale模式下的栅格赋值方法

当像素的Alpha值不为0，栅格值被设定为状态不明。像素的明暗程度值小于free_thresh就表示栅格没有被占用，给栅格赋0。若大于occupied_thresh就认为被占用了，给栅格赋100。在free_thresh和occupied_thresh之间就线性转换到[0~100]之间。

case MapMode::Scale:
    if (pixel.alphaQuantum() != OpaqueOpacity) {
        map_cell = nav2_util::OCC_GRID_UNKNOWN;
    } else if (load_parameters.occupied_thresh < occ) {
        map_cell = nav2_util::OCC_GRID_OCCUPIED;
    } else if (occ < load_parameters.free_thresh) {
        map_cell = nav2_util::OCC_GRID_FREE;
    } else {
        map_cell = std::rint(
            (occ - load_parameters.free_thresh) /
            (load_parameters.occupied_thresh - load_parameters.free_thresh) * 100.0);
    }
    break;

raw模式下的栅格赋值方法

将像素的明暗程度值当成是百分比，通过下面代码描述的方式对栅格值赋值。

case MapMode::Raw: {
    double occ_percent = std::round(shade * 255);
    if (nav2_util::OCC_GRID_FREE <= occ_percent &&
    	occ_percent <= nav2_util::OCC_GRID_OCCUPIED)
    {
    	map_cell = static_cast<int8_t>(occ_percent);
    } else {
    	map_cell = nav2_util::OCC_GRID_UNKNOWN;
    }
    	break;
    

参考：

https://navigation.ros.org/tutorials/docs/navigation2_with_keepout_filter.html#prepare-filter-mask

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