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# 源码解析 | SLAM 多点导航开发思路介绍
### 开发背景：
在使用 ROS Navigation & RViz 进行 2D Nav Goal 导航的时候，我们会遇到这些情况：
1. 给定导航的目标点只能设置一个，当有多点任务时需要等待一个个任务结束后，再次手动给目标
2. 无法暂停或取消任务
3. 任务不可循环
### 开发目的：
完成多目标点导航，可以对导航环节进行操控，如可循环、取消、重置任务等。
### 开发思路：
1. 2D Nav Goal 的单点导航是如何实现的？
我们可以知道导航目标是通过 RViz 工具栏中 2D Nav Goal发布出去的。
通过查看 RViz的配置文件或者 Panels->Add New Panel-> Tool Property ，可以了解当使用2D Nav Goal 在地图上拉了一个箭头（给定目标点时），其实是向话题 /move_base_simple/goal 发布了 [geometry_msgs/PoseStamped](http://docs.ros.org/en/api/geometry_msgs/html/msg/PoseStamped.html) 类型的消息，这个是目标点的位姿，包含坐标点与朝向。
根据 NodeGraph 可以看到话题 /move_base_simple/goal 被导航包的节点 /move_base 订阅了，进而发给 Navigation 中的各个话题，完成导航。
![](images/dev1.jpg)
2. 如何基于单点实现多点导航？
要在单点基础上实现多目标点导航的话，就要设计一个关于多个导航目标点消息geometry_msgs/PoseStamped的数据结构，并对多个目标点进行处理，完成导航。
实现多点的方法有多重，在不打破 ROS Navigation 包的完整性的前提下，我选择在2D Nav Goal的 RViz节点和 /move_base 节点中间添加了一个话题 /move_base_simple/goal_temp，将原本发送给 /move_base_simple/goal 的消息，转发给/move_base_simple/goal_temp，通过此话题来积攒多个 2D Nav Goal（任务队列），并根据任务完成的状态反馈，按顺序将每个导航目标点消息 geometry_msgs/PoseStamped 再发送给话题/move_base_simple/goal，以完成多任务中的单次目标点的导航（如下图示）。
![](images/dev2.jpg)
3. 如何来发布多点任务？
像 2D Nav Goal 一样，我们也可以在 RViz 中开发可视化的操作栏，这要使用到 RViz plugin ， ROS中的可视化工具绝大部分都是基于Qt进行开发的，此前古月居有过详细介绍，可参考[这篇文章](https://zhuanlan.zhihu.com/p/39390512)。
### 最终效果
首先，我们来看一下最终的实现效果。
MultiNaviGoalsPanel是多点SLAM导航任务的可视化操作区，包括任务点列表、循环、重置、取消、开始任务。
![](images/dev3.jpg)
通过 RViz plugin 设计的Mark Display，能够显示的目标点的标号及箭头（朝向）。
![](images/intro.png)
### 源代码
项目地址：https://github.com/autolaborcenter/rviz_navi_multi_goals_pub_plugin
#### 代码实现
#### 1. 头文件 multi_navi_goal_panel.h
Qt说明：
* 文字编辑——QLineEdit
* 按键——QPushButton
* 列表——QTableWidget
* 复选框——QCheckBox
* 文字显示——QString
ROS说明:
Publisher：
* 发送每个目标点消息给/move_base_simple/goal的goal_pub_
* 发送取消指令消息给/move_base/cancel的cancel_pub_
* 发送文字和箭头标记的mark_pub_。
Subsrciber：
* 订阅来自rviz中2D Nav Goal的导航目标点消息的goal_sub_
* 订阅目前导航状态的status_sub_
```
#ifndef MULTI_NAVI_GOAL_PANEL_H
#define MULTI_NAVI_GOAL_PANEL_H
#include <string>
#include <ros/ros.h>
#include <ros/console.h>
#include <rviz/panel.h>//plugin基类的头文件
#include <QPushButton>//Qt按钮
#include <QTableWidget>//Qt表格
#include <QCheckBox>//Qt复选框
#include <visualization_msgs/Marker.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/String.h>
#include <actionlib_msgs/GoalStatus.h>
#include <actionlib_msgs/GoalStatusArray.h>
#include <tf/transform_datatypes.h>
namespace navi_multi_goals_pub_rviz_plugin {
class MultiNaviGoalsPanel : public rviz::Panel {
Q_OBJECT
public:
explicit MultiNaviGoalsPanel(QWidget *parent = 0);
public Q_SLOTS:
void setMaxNumGoal(const QString &maxNumGoal);
void writePose(geometry_msgs::Pose pose);
void markPose(const geometry_msgs::PoseStamped::ConstPtr &pose);
void deleteMark();
protected Q_SLOTS:
void updateMaxNumGoal(); // 最大可设置的目标点数量
void initPoseTable(); // 初始化目标点表格
void updatePoseTable(); // 更新目标点表格
void startNavi(); // 开始第一个目标点任务导航
void cancelNavi(); // 取消现在进行中的导航
void goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &pose); // 目标数量子回调函数
void statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &statuses); // 状态子回调函数
void checkCycle();
void completeNavi(); // 第一个任务到达后，继续进行剩下任务点的导航任务
void cycleNavi();
bool checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list); // 检查是否到达目标点
static void startSpin(); // spin for sub
protected:
QLineEdit *output_maxNumGoal_editor_;
QPushButton *output_maxNumGoal_button_, *output_reset_button_, *output_startNavi_button_, *output_cancel_button_;
QTableWidget *poseArray_table_;
QCheckBox *cycle_checkbox_;
QString output_maxNumGoal_;
// The ROS node handle.
ros::NodeHandle nh_;
ros::Publisher goal_pub_, cancel_pub_, marker_pub_;
ros::Subscriber goal_sub_, status_sub_;
// 多目标点任务栏定义
int maxNumGoal_;
int curGoalIdx_ = 0, cycleCnt_ = 0;
bool permit_ = false, cycle_ = false, arrived_ = false;
geometry_msgs::PoseArray pose_array_;
actionlib_msgs::GoalID cur_goalid_;
};
} // end namespace navi-multi-goals-pub-rviz-plugin
#endif // MULTI_NAVI_GOAL_PANEL_H
```
#### 2. cpp文件 multi_navi_goal_panel.cpp
```
#include <cstdio>
#include <ros/console.h>
#include <fstream>
#include <sstream>
#include <QPainter>
#include <QLineEdit>
#include <QVBoxLayout>
#include <QLabel>
#include <QTimer>
#include <QDebug>
#include <QtWidgets/QTableWidget>
#include <QtWidgets/qheaderview.h>
#include "multi_navi_goal_panel.h"
namespace navi_multi_goals_pub_rviz_plugin {
MultiNaviGoalsPanel::MultiNaviGoalsPanel(QWidget *parent)
: rviz::Panel(parent), nh_(), maxNumGoal_(1) {
goal_sub_ = nh_.subscribe<geometry_msgs::PoseStamped>("move_base_simple/goal_temp", 1,
boost::bind(&MultiNaviGoalsPanel::goalCntCB, this, _1));
status_sub_ = nh_.subscribe<actionlib_msgs::GoalStatusArray>("move_base/status", 1,
boost::bind(&MultiNaviGoalsPanel::statusCB, this,
_1));
goal_pub_ = nh_.advertise<geometry_msgs::PoseStamped>("move_base_simple/goal", 1);
cancel_pub_ = nh_.advertise<actionlib_msgs::GoalID>("move_base/cancel", 1);
marker_pub_ = nh_.advertise<visualization_msgs::Marker>("visualization_marker", 1);
QVBoxLayout *root_layout = new QVBoxLayout;
// create a panel about "maxNumGoal"
QHBoxLayout *maxNumGoal_layout = new QHBoxLayout;
maxNumGoal_layout->addWidget(new QLabel("目标最大数量"));
output_maxNumGoal_editor_ = new QLineEdit;
maxNumGoal_layout->addWidget(output_maxNumGoal_editor_);
output_maxNumGoal_button_ = new QPushButton("确定");
maxNumGoal_layout->addWidget(output_maxNumGoal_button_);
root_layout->addLayout(maxNumGoal_layout);
cycle_checkbox_ = new QCheckBox("循环");
root_layout->addWidget(cycle_checkbox_);
// creat a QTable to contain the poseArray
poseArray_table_ = new QTableWidget;
initPoseTable();
root_layout->addWidget(poseArray_table_);
//creat a manipulate layout
QHBoxLayout *manipulate_layout = new QHBoxLayout;
output_reset_button_ = new QPushButton("重置");
manipulate_layout->addWidget(output_reset_button_);
output_cancel_button_ = new QPushButton("取消");
manipulate_layout->addWidget(output_cancel_button_);
output_startNavi_button_ = new QPushButton("开始导航!");
manipulate_layout->addWidget(output_startNavi_button_);
root_layout->addLayout(manipulate_layout);
setLayout(root_layout);
// set a Qtimer to start a spin for subscriptions
QTimer *output_timer = new QTimer(this);
output_timer->start(200);
// 设置信号与槽的连接
connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
SLOT(updateMaxNumGoal()));
connect(output_maxNumGoal_button_, SIGNAL(clicked()), this,
SLOT(updatePoseTable()));
connect(output_reset_button_, SIGNAL(clicked()), this, SLOT(initPoseTable()));
connect(output_cancel_button_, SIGNAL(clicked()), this, SLOT(cancelNavi()));
connect(output_startNavi_button_, SIGNAL(clicked()), this, SLOT(startNavi()));
connect(cycle_checkbox_, SIGNAL(clicked(bool)), this, SLOT(checkCycle()));
connect(output_timer, SIGNAL(timeout()), this, SLOT(startSpin()));
}
// 更新maxNumGoal命名
void MultiNaviGoalsPanel::updateMaxNumGoal() {
setMaxNumGoal(output_maxNumGoal_editor_->text());
}
// set up the maximum number of goals
void MultiNaviGoalsPanel::setMaxNumGoal(const QString &new_maxNumGoal) {
// 检查maxNumGoal是否发生改变.
if (new_maxNumGoal != output_maxNumGoal_) {
output_maxNumGoal_ = new_maxNumGoal;
// 如果命名为空，不发布任何信息
if (output_maxNumGoal_ == "") {
nh_.setParam("maxNumGoal_", 1);
maxNumGoal_ = 1;
} else {
// velocity_publisher_ = nh_.advertise<geometry_msgs::Twist>(output_maxNumGoal_.toStdString(), 1);
nh_.setParam("maxNumGoal_", output_maxNumGoal_.toInt());
maxNumGoal_ = output_maxNumGoal_.toInt();
}
Q_EMIT configChanged();
}
}
// initialize the table of pose
void MultiNaviGoalsPanel::initPoseTable() {
ROS_INFO("Initialize");
curGoalIdx_ = 0, cycleCnt_ = 0;
permit_ = false, cycle_ = false;
poseArray_table_->clear();
pose_array_.poses.clear();
deleteMark();
poseArray_table_->setRowCount(maxNumGoal_);
poseArray_table_->setColumnCount(3);
poseArray_table_->setEditTriggers(QAbstractItemView::NoEditTriggers);
poseArray_table_->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
QStringList pose_header;
pose_header << "x" << "y" << "yaw";
poseArray_table_->setHorizontalHeaderLabels(pose_header);
cycle_checkbox_->setCheckState(Qt::Unchecked);
}
// delete marks in the map
void MultiNaviGoalsPanel::deleteMark() {
visualization_msgs::Marker marker_delete;
marker_delete.action = visualization_msgs::Marker::DELETEALL;
marker_pub_.publish(marker_delete);
}
//update the table of pose
void MultiNaviGoalsPanel::updatePoseTable() {
poseArray_table_->setRowCount(maxNumGoal_);
// pose_array_.poses.resize(maxNumGoal_);
QStringList pose_header;
pose_header << "x" << "y" << "yaw";
poseArray_table_->setHorizontalHeaderLabels(pose_header);
poseArray_table_->show();
}
// call back function for counting goals
void MultiNaviGoalsPanel::goalCntCB(const geometry_msgs::PoseStamped::ConstPtr &pose) {
if (pose_array_.poses.size() < maxNumGoal_) {
pose_array_.poses.push_back(pose->pose);
pose_array_.header.frame_id = pose->header.frame_id;
writePose(pose->pose);
markPose(pose);
} else {
ROS_ERROR("Beyond the maximum number of goals: %d", maxNumGoal_);
}
}
// write the poses into the table
void MultiNaviGoalsPanel::writePose(geometry_msgs::Pose pose) {
poseArray_table_->setItem(pose_array_.poses.size() - 1, 0,
new QTableWidgetItem(QString::number(pose.position.x, 'f', 2)));
poseArray_table_->setItem(pose_array_.poses.size() - 1, 1,
new QTableWidgetItem(QString::number(pose.position.y, 'f', 2)));
poseArray_table_->setItem(pose_array_.poses.size() - 1, 2,
new QTableWidgetItem(
QString::number(tf::getYaw(pose.orientation) * 180.0 / 3.14, 'f', 2)));
}
// when setting a Navi Goal, it will set a mark on the map
void MultiNaviGoalsPanel::markPose(const geometry_msgs::PoseStamped::ConstPtr &pose) {
if (ros::ok()) {
visualization_msgs::Marker arrow;
visualization_msgs::Marker number;
arrow.header.frame_id = number.header.frame_id = pose->header.frame_id;
arrow.ns = "navi_point_arrow";
number.ns = "navi_point_number";
arrow.action = number.action = visualization_msgs::Marker::ADD;
arrow.type = visualization_msgs::Marker::ARROW;
number.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
arrow.pose = number.pose = pose->pose;
number.pose.position.z += 1.0;
arrow.scale.x = 1.0;
arrow.scale.y = 0.2;
number.scale.z = 1.0;
arrow.color.r = number.color.r = 1.0f;
arrow.color.g = number.color.g = 0.98f;
arrow.color.b = number.color.b = 0.80f;
arrow.color.a = number.color.a = 1.0;
arrow.id = number.id = pose_array_.poses.size();
number.text = std::to_string(pose_array_.poses.size());
marker_pub_.publish(arrow);
marker_pub_.publish(number);
}
}
// check whether it is in the cycling situation
void MultiNaviGoalsPanel::checkCycle() {
cycle_ = cycle_checkbox_->isChecked();
}
// start to navigate, and only command the first goal
void MultiNaviGoalsPanel::startNavi() {
curGoalIdx_ = curGoalIdx_ % pose_array_.poses.size();
if (!pose_array_.poses.empty() && curGoalIdx_ < maxNumGoal_) {
geometry_msgs::PoseStamped goal;
goal.header = pose_array_.header;
goal.pose = pose_array_.poses.at(curGoalIdx_);
goal_pub_.publish(goal);
ROS_INFO("Navi to the Goal%d", curGoalIdx_ + 1);
poseArray_table_->item(curGoalIdx_, 0)->setBackgroundColor(QColor(255, 69, 0));
poseArray_table_->item(curGoalIdx_, 1)->setBackgroundColor(QColor(255, 69, 0));
poseArray_table_->item(curGoalIdx_, 2)->setBackgroundColor(QColor(255, 69, 0));
curGoalIdx_ += 1;
permit_ = true;
} else {
ROS_ERROR("Something Wrong");
}
}
// complete the remaining goals
void MultiNaviGoalsPanel::completeNavi() {
if (curGoalIdx_ < pose_array_.poses.size()) {
geometry_msgs::PoseStamped goal;
goal.header = pose_array_.header;
goal.pose = pose_array_.poses.at(curGoalIdx_);
goal_pub_.publish(goal);
ROS_INFO("Navi to the Goal%d", curGoalIdx_ + 1);
poseArray_table_->item(curGoalIdx_, 0)->setBackgroundColor(QColor(255, 69, 0));
poseArray_table_->item(curGoalIdx_, 1)->setBackgroundColor(QColor(255, 69, 0));
poseArray_table_->item(curGoalIdx_, 2)->setBackgroundColor(QColor(255, 69, 0));
curGoalIdx_ += 1;
permit_ = true;
} else {
ROS_ERROR("All goals are completed");
permit_ = false;
}
}
// command the goals cyclically
void MultiNaviGoalsPanel::cycleNavi() {
if (permit_) {
geometry_msgs::PoseStamped goal;
goal.header = pose_array_.header;
goal.pose = pose_array_.poses.at(curGoalIdx_ % pose_array_.poses.size());
goal_pub_.publish(goal);
ROS_INFO("Navi to the Goal%lu, in the %dth cycle", curGoalIdx_ % pose_array_.poses.size() + 1,
cycleCnt_ + 1);
bool even = ((cycleCnt_ + 1) % 2 != 0);
QColor color_table;
if (even) color_table = QColor(255, 69, 0); else color_table = QColor(100, 149, 237);
poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 0)->setBackgroundColor(color_table);
poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 1)->setBackgroundColor(color_table);
poseArray_table_->item(curGoalIdx_ % pose_array_.poses.size(), 2)->setBackgroundColor(color_table);
curGoalIdx_ += 1;
cycleCnt_ = curGoalIdx_ / pose_array_.poses.size();
}
}
// cancel the current command
void MultiNaviGoalsPanel::cancelNavi() {
if (!cur_goalid_.id.empty()) {
cancel_pub_.publish(cur_goalid_);
ROS_ERROR("Navigation have been canceled");
}
}
// call back for listening current state
void MultiNaviGoalsPanel::statusCB(const actionlib_msgs::GoalStatusArray::ConstPtr &statuses) {
bool arrived_pre = arrived_;
arrived_ = checkGoal(statuses->status_list);
if (arrived_) { ROS_ERROR("%d,%d", int(arrived_), int(arrived_pre)); }
if (arrived_ && arrived_ != arrived_pre && ros::ok() && permit_) {
if (cycle_) cycleNavi();
else completeNavi();
}
}
//check the current state of goal
bool MultiNaviGoalsPanel::checkGoal(std::vector<actionlib_msgs::GoalStatus> status_list) {
bool done;
if (!status_list.empty()) {
for (auto &i : status_list) {
if (i.status == 3) {
done = true;
ROS_INFO("completed Goal%d", curGoalIdx_);
} else if (i.status == 4) {
ROS_ERROR("Goal%d is Invalid, Navi to Next Goal%d", curGoalIdx_, curGoalIdx_ + 1);
return true;
} else if (i.status == 0) {
done = true;
} else if (i.status == 1) {
cur_goalid_ = i.goal_id;
done = false;
} else done = false;
}
} else {
ROS_INFO("Please input the Navi Goal");
done = false;
}
return done;
}
// spin for subscribing
void MultiNaviGoalsPanel::startSpin() {
if (ros::ok()) {
ros::spinOnce();
}
}
} // end namespace navi-multi-goals-pub-rviz-plugin
// 声明此类是一个rviz的插件
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(navi_multi_goals_pub_rviz_plugin::MultiNaviGoalsPanel, rviz::Panel)
```
### 使用
使用请参考[使用说明](README.md)。

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