Node that implements the intermittent communication policy. More...

#include <Alysson2024Node.h>

Collaboration diagram for Alysson2024Node:

Public Member Functions
	Alysson2024Node ()
	Default constructor that initializes all ros advertisers, publishers, and routines. More...

	~Alysson2024Node ()
	Default destructor. More...

Private Member Functions
void	EstimatePoseCallback (multirobotsimulations::CustomPose::ConstPtr msg)
	Callback for pose estimator from the SLAM algorithm. More...

void	ClustersCallback (multirobotsimulations::Frontiers::ConstPtr msg)
	Callback for the FrontierDiscovery node to update rendezvous locations or for planning. More...

void	SubGoalFinishCallback (std_msgs::String::ConstPtr msg)
	Callback from the IntegratedGlobalPlanner node that is called when the robot reached the assigned goal. More...

void	CSpaceCallback (nav_msgs::OccupancyGrid::ConstPtr msg)
	Callback from the MapStitching node that is used to receive meta data from the map. More...

void	SetExploringCallback (std_msgs::String::ConstPtr msg)
	Callback this node uses to change its internal state to start exploring. More...

void	SetBasestationCallback (std_msgs::String::ConstPtr msg)
	Callback this node uses to go back to the basestation. More...

void	SetIdleCallback (std_msgs::String::ConstPtr msg)
	Callback this node uses to stop the mission and enter in idle mode. More...

void	ChangeState (const ExplorerState &newState)
	Change the state of the robot and print information about the change. More...

int	SelectFrontier (multirobotsimulations::Frontiers &centroids, tf::Vector3 &selectFrontierWorld)
	Select which frontier to explore from the message received by the FrontierDiscovery node. More...

void	CreateMarker (visualization_msgs::Marker &input, const char *ns, const int &id, const int &seq)
	Create a marker to mark selected goal locations (e.g., rendezvous locations or frontier clusters). More...

void	SetGoal (const tf::Vector3 &goal)
	Set the goal location to visit, it could be a rendezvousl location or a frontier cluster center of mass. More...

void	Update ()
	Node's main update routine. More...

bool	CheckNear ()
	Used to help checking if there are other robots nearby. More...

bool	CanCommunicate (const int &id)
	Used to check if this robot can communicate with another. More...

bool	FinishedMission ()
	Check if there are places left to explore. More...

int	RandomizedFrontierSelection (multirobotsimulations::Frontiers &centroids, tf::Vector3 &selectFrontierWorld)
	Select a randomized frontier. More...

int	SelectSubteamNewRendezvous (multirobotsimulations::Frontiers &centroids, tf::Vector3 &selectFrontierWorld)
	Select a new rendezvous location that is the frontier with the highest cost (i.e., that spread the robots the most). More...

void	CommCallback (std_msgs::Int8MultiArray::ConstPtr msg)
	Callback of the MockCommunication model used to check which robots are nearby. More...

Private Attributes
int	aQueueSize
	Size of all publishers and subscribers queues. More...

int	aRate
	Main loop rate. More...

int	aRobots
	Number of robots this robot should be aware. More...

int	aId
	Unique id. More...

bool	aHasPose
	Used to known when this robot received its estimate pose from the SLAM sub-system. More...

bool	aHasOcc
	Used to known when this robot received its OccupancyGrid information from the SLAM sub-system. More...

bool	aDirty
	Used to initialize the basestation location in the main loop only once. More...

bool	aFirst
	Used to skip the first delta time calculation to avoid major errors. More...

double	aDeltaTime
	Delta time between iterations in the main loop. More...

Vec2i	aOccPos
	The position of the robot in the Occupancy Grid reference frame. More...

ros::Time	aLastTime
	The last capatured system time used to compute the dalta time. More...

tf::Vector3	aWorldPos
	The position of the robot in the world reference frame. More...

tf::Vector3	aGoalFrontier
	Temp variable used to store which frontier this robot should explore next. More...

tf::Vector3	aGoalBasestation
	The goal position of the basestation. More...

std::string	aNamespace
	The namespace of this robot. More...

ExplorerState	aCurrentState
	The current state of the robot. More...

std::vector< ros::Timer >	aTimers
	Routines of this node. More...

std::vector< ros::Subscriber >	aSubscribers
	All subscribers of this node. More...

ros::Publisher	aGoalPublisher
	This publisher is used to tell the global planner, which goal location the robot should visit next. More...

ros::Publisher	aFrontierComputePublisher
	This publisher is used to request the FrontierDiscovery module to compute new frontier clusters. More...

multirobotsimulations::Frontiers	aFrontierCentroidsMsg
	Message used to receive frontier clusters. More...

nav_msgs::OccupancyGrid	aCSpaceMsg
	Message used to store meta data from the occupancy grid to help converting world positions to positions in the grid. More...

bool	aHasComm
	Flag used to check if the robot received the mock communication model communications array. More...

bool	aReceivedNewRendezvousLocation
	Flag used to check if this robot received new rendezvous location in the it is not the consensus robot. More...

double	aWaitingThreshold
	The maximum allowed waiting time in rendezvous location. More...

double	aTimeWaiting
	Counter to help checking if this robot is waiting for too long. More...

std::shared_ptr< RendezvousPlan >	aPlan
	The rendezvous plan object used to control how agreements are executed, their order, and which ones to update. More...

std_msgs::Int8MultiArray	aCommMsg
	Message to receive information from the mock communication model node. More...

multirobotsimulations::rendezvous	aRendezvousMsg
	Message that helps the consensus robot sending new rendezvous locations to other robots. More...

multirobotsimulations::CustomPose	aRendezvousNewPoseMsg
	Custom pose used to tell the other robots which location they should meet next with their current sub-team. More...

tf::Vector3	aRendezvousFootprint
	The rendezvous location this robot should go when inside a rendezous zone. More...

tf::Vector3	aFirstRendezvous
	Store the location of the first rendezvous location for all sub-teams. More...

tf::Vector3	aGoalRendezvous
	Helper variable that holds the location of the rendezvous location. More...

tf::Vector3	aNewRendezvousLocation
	Helper variable used to keep track where this robot should meet next with its current sub-team. More...

std::unique_ptr< std::mt19937 >	aRandomNumberGenerator
	Random number generator for randomized social welfare. More...

std::random_device	aRandomNumberDevice
	Random device to use with std::mt19937 to generate random numbers. More...

ros::Publisher	aPlanRealizationPublisher
	Publisher used to help synchronize who is fulfilling a rendezvous agreement. More...

ros::Publisher	aPlanLocationPublisher
	Publisher to broadcast new rendezvous locations for the current sub-team. More...

Detailed Description

Node that implements the intermittent communication policy.

While exploring, robots are going to meet at rendezvous locations spread dynamically while exploration happens. The joint-policy spreads robots when they can communicate and maximize the utility of visiting frontiers when they are alone. Robots also share maps when near each other considering a mock communication model based on communication range.

Constructor & Destructor Documentation

◆ Alysson2024Node()

Alysson2024Node::Alysson2024Node ( )

Default constructor that initializes all ros advertisers, publishers, and routines.

◆ ~Alysson2024Node()

Alysson2024Node::~Alysson2024Node ( )

Default destructor.

Member Function Documentation

◆ CanCommunicate()

bool Alysson2024Node::CanCommunicate ( const int & id )

private

Used to check if this robot can communicate with another.

Parameters

id	integer specifying the id of the other robot.

Returns: false if it cannot communicate with the other robot, returns true otherwise.

◆ ChangeState()

void Alysson2024Node::ChangeState ( const ExplorerState & newState )

private

Change the state of the robot and print information about the change.

Parameters

newState integer referencing the state to change to.

◆ CheckNear()

bool Alysson2024Node::CheckNear ( )

private

Used to help checking if there are other robots nearby.

This information is used to make decisions, such as where to explore.

◆ ClustersCallback()

void Alysson2024Node::ClustersCallback ( multirobotsimulations::Frontiers::ConstPtr msg )

private

Callback for the FrontierDiscovery node to update rendezvous locations or for planning.

Parameters

msg	multirobotsimulations::Frontiers.

◆ CommCallback()

void Alysson2024Node::CommCallback ( std_msgs::Int8MultiArray::ConstPtr msg )

private

Callback of the MockCommunication model used to check which robots are nearby.

Parameters

msg	std_msgs::Int8MultiArray.

◆ CreateMarker()

void Alysson2024Node::CreateMarker	(	visualization_msgs::Marker &	input,
		const char *	ns,
		const int &	id,
		const int &	seq
	)

private

Create a marker to mark selected goal locations (e.g., rendezvous locations or frontier clusters).

Parameters

input	visualization_msgs::Marker of object from ROS to initialize.
ns	const char* specifying the namespace of this robot to assemble the reference frame name.
id	integer holding the unique id of this robot to assemble the reference frame name.
seq	integer holding the current marker index.

◆ CSpaceCallback()

void Alysson2024Node::CSpaceCallback ( nav_msgs::OccupancyGrid::ConstPtr msg )

private

Callback from the MapStitching node that is used to receive meta data from the map.

Parameters

msg	nav_msgs::OccupancyGrid.

◆ EstimatePoseCallback()

void Alysson2024Node::EstimatePoseCallback ( multirobotsimulations::CustomPose::ConstPtr msg )

private

Callback for pose estimator from the SLAM algorithm.

Parameters

msg	multirobotsimulations::CustomPose.

◆ FinishedMission()

bool Alysson2024Node::FinishedMission ( )

private

Check if there are places left to explore.

Returns: false if there are places to explore, true otherwise.

◆ RandomizedFrontierSelection()

int Alysson2024Node::RandomizedFrontierSelection	(	multirobotsimulations::Frontiers &	centroids,
		tf::Vector3 &	selectFrontierWorld
	)

private

Select a randomized frontier.

Parameters

centroids	multirobotsimulations::Frontiers message with all frontier clusters, their utilities, and best options.
selectFrontierWorld	tf::Vector3 selected cluster.

Returns: integer index of the selected cluster.

◆ SelectFrontier()

int Alysson2024Node::SelectFrontier	(	multirobotsimulations::Frontiers &	centroids,
		tf::Vector3 &	selectFrontierWorld
	)

private

Select which frontier to explore from the message received by the FrontierDiscovery node.

The best frontier, the one that maximizes the utility one time step into the future, is already computed by the FrontierDiscovery node, thus saving some processing.

Parameters

centroids	multirobotsimulations::Frontiers message holding the available frontier clusters.
selectFrontierWorld	tf::Vector3 referencee to the selected cluster in the world's reference frame.

Returns: integer index of the frontier cluster that maximizes the utility one time step into the future.

◆ SelectSubteamNewRendezvous()

int Alysson2024Node::SelectSubteamNewRendezvous	(	multirobotsimulations::Frontiers &	centroids,
		tf::Vector3 &	selectFrontierWorld
	)

private

Select a new rendezvous location that is the frontier with the highest cost (i.e., that spread the robots the most).

Parameters

centroids	multirobotsimulations::Frontiers message with all frontier clusters, their utilities, and best options.
selectFrontierWorld	tf::Vector3 selected cluster.

Returns: integer index of the selected cluster.

◆ SetBasestationCallback()

void Alysson2024Node::SetBasestationCallback ( std_msgs::String::ConstPtr msg )

private

Callback this node uses to go back to the basestation.

Parameters

msg	std_msgs::String message received.

◆ SetExploringCallback()

void Alysson2024Node::SetExploringCallback ( std_msgs::String::ConstPtr msg )

private

Callback this node uses to change its internal state to start exploring.

Parameters

msg	std_msgs::String message received.

◆ SetGoal()

void Alysson2024Node::SetGoal ( const tf::Vector3 & goal )

private

Set the goal location to visit, it could be a rendezvousl location or a frontier cluster center of mass.

Parameters

goal	tf::Vector3 holding the goal location in the world reference frame.

◆ SetIdleCallback()

void Alysson2024Node::SetIdleCallback ( std_msgs::String::ConstPtr msg )

private

Callback this node uses to stop the mission and enter in idle mode.

Parameters

msg	std_msgs::String message received.

◆ SubGoalFinishCallback()

void Alysson2024Node::SubGoalFinishCallback ( std_msgs::String::ConstPtr msg )

private

Callback from the IntegratedGlobalPlanner node that is called when the robot reached the assigned goal.

Parameters

msg	std_msgs::String.

◆ Update()

void Alysson2024Node::Update ( )

private

Node's main update routine.

It runs the robot's state machine or policy.

Member Data Documentation

◆ aCommMsg

std_msgs::Int8MultiArray Alysson2024Node::aCommMsg

private

Message to receive information from the mock communication model node.

◆ aCSpaceMsg

nav_msgs::OccupancyGrid Alysson2024Node::aCSpaceMsg

private

Message used to store meta data from the occupancy grid to help converting world positions to positions in the grid.

◆ aCurrentState

ExplorerState Alysson2024Node::aCurrentState

private

The current state of the robot.

◆ aDeltaTime

double Alysson2024Node::aDeltaTime

private

Delta time between iterations in the main loop.

◆ aDirty

bool Alysson2024Node::aDirty

private

Used to initialize the basestation location in the main loop only once.

◆ aFirst

bool Alysson2024Node::aFirst

private

Used to skip the first delta time calculation to avoid major errors.

◆ aFirstRendezvous

tf::Vector3 Alysson2024Node::aFirstRendezvous

private

Store the location of the first rendezvous location for all sub-teams.

◆ aFrontierCentroidsMsg

multirobotsimulations::Frontiers Alysson2024Node::aFrontierCentroidsMsg

private

Message used to receive frontier clusters.

◆ aFrontierComputePublisher

ros::Publisher Alysson2024Node::aFrontierComputePublisher

private

This publisher is used to request the FrontierDiscovery module to compute new frontier clusters.

◆ aGoalBasestation

tf::Vector3 Alysson2024Node::aGoalBasestation

private

The goal position of the basestation.

◆ aGoalFrontier

tf::Vector3 Alysson2024Node::aGoalFrontier

private

Temp variable used to store which frontier this robot should explore next.

◆ aGoalPublisher

ros::Publisher Alysson2024Node::aGoalPublisher

private

This publisher is used to tell the global planner, which goal location the robot should visit next.

◆ aGoalRendezvous

tf::Vector3 Alysson2024Node::aGoalRendezvous

private

Helper variable that holds the location of the rendezvous location.

◆ aHasComm

bool Alysson2024Node::aHasComm

private

Flag used to check if the robot received the mock communication model communications array.

◆ aHasOcc

bool Alysson2024Node::aHasOcc

private

Used to known when this robot received its OccupancyGrid information from the SLAM sub-system.

◆ aHasPose

bool Alysson2024Node::aHasPose

private

Used to known when this robot received its estimate pose from the SLAM sub-system.

◆ aId

int Alysson2024Node::aId

private

Unique id.

◆ aLastTime

ros::Time Alysson2024Node::aLastTime

private

The last capatured system time used to compute the dalta time.

◆ aNamespace

std::string Alysson2024Node::aNamespace

private

The namespace of this robot.

◆ aNewRendezvousLocation

tf::Vector3 Alysson2024Node::aNewRendezvousLocation

private

Helper variable used to keep track where this robot should meet next with its current sub-team.

◆ aOccPos

Vec2i Alysson2024Node::aOccPos

private

The position of the robot in the Occupancy Grid reference frame.

◆ aPlan

std::shared_ptr<RendezvousPlan> Alysson2024Node::aPlan

private

The rendezvous plan object used to control how agreements are executed, their order, and which ones to update.

◆ aPlanLocationPublisher

ros::Publisher Alysson2024Node::aPlanLocationPublisher

private

Publisher to broadcast new rendezvous locations for the current sub-team.

◆ aPlanRealizationPublisher

ros::Publisher Alysson2024Node::aPlanRealizationPublisher

private

Publisher used to help synchronize who is fulfilling a rendezvous agreement.

◆ aQueueSize

int Alysson2024Node::aQueueSize

private

Size of all publishers and subscribers queues.

◆ aRandomNumberDevice

std::random_device Alysson2024Node::aRandomNumberDevice

private

Random device to use with std::mt19937 to generate random numbers.

◆ aRandomNumberGenerator

std::unique_ptr<std::mt19937> Alysson2024Node::aRandomNumberGenerator

private

Random number generator for randomized social welfare.

◆ aRate

int Alysson2024Node::aRate

private

Main loop rate.

◆ aReceivedNewRendezvousLocation

bool Alysson2024Node::aReceivedNewRendezvousLocation

private

Flag used to check if this robot received new rendezvous location in the it is not the consensus robot.

◆ aRendezvousFootprint

tf::Vector3 Alysson2024Node::aRendezvousFootprint

private

The rendezvous location this robot should go when inside a rendezous zone.

◆ aRendezvousMsg

multirobotsimulations::rendezvous Alysson2024Node::aRendezvousMsg

private

Message that helps the consensus robot sending new rendezvous locations to other robots.

◆ aRendezvousNewPoseMsg

multirobotsimulations::CustomPose Alysson2024Node::aRendezvousNewPoseMsg

private

Custom pose used to tell the other robots which location they should meet next with their current sub-team.

◆ aRobots

int Alysson2024Node::aRobots

private

Number of robots this robot should be aware.

◆ aSubscribers

std::vector<ros::Subscriber> Alysson2024Node::aSubscribers

private

All subscribers of this node.

Since the subscriber object is not used throughout the node, it can be stored as an array for cleaner code.

◆ aTimers

std::vector<ros::Timer> Alysson2024Node::aTimers

private

Routines of this node.

They are stored in a list format for simplicity.

◆ aTimeWaiting

double Alysson2024Node::aTimeWaiting

private

Counter to help checking if this robot is waiting for too long.

◆ aWaitingThreshold

double Alysson2024Node::aWaitingThreshold

private

The maximum allowed waiting time in rendezvous location.

If this timer is exceeded when waiting for other robots, then this robot should reset the plan and start exploring again.

◆ aWorldPos

tf::Vector3 Alysson2024Node::aWorldPos

private

The position of the robot in the world reference frame.

The documentation for this class was generated from the following file:

src/multirobotexploration/include/nodes/Alysson2024Node.h

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Alysson2024Node()

◆ ~Alysson2024Node()

Member Function Documentation

◆ CanCommunicate()

◆ ChangeState()

◆ CheckNear()

◆ ClustersCallback()

◆ CommCallback()

◆ CreateMarker()

◆ CSpaceCallback()

◆ EstimatePoseCallback()

◆ FinishedMission()

◆ RandomizedFrontierSelection()

◆ SelectFrontier()

◆ SelectSubteamNewRendezvous()

◆ SetBasestationCallback()

◆ SetExploringCallback()

◆ SetGoal()

◆ SetIdleCallback()

◆ SubGoalFinishCallback()

◆ Update()

Member Data Documentation

◆ aCommMsg

◆ aCSpaceMsg

◆ aCurrentState

◆ aDeltaTime

◆ aDirty

◆ aFirst

◆ aFirstRendezvous

◆ aFrontierCentroidsMsg

◆ aFrontierComputePublisher

◆ aGoalBasestation

◆ aGoalFrontier

◆ aGoalPublisher

◆ aGoalRendezvous

◆ aHasComm

◆ aHasOcc

◆ aHasPose

◆ aId

◆ aLastTime

◆ aNamespace

◆ aNewRendezvousLocation

◆ aOccPos

◆ aPlan

◆ aPlanLocationPublisher

◆ aPlanRealizationPublisher

◆ aQueueSize

◆ aRandomNumberDevice

◆ aRandomNumberGenerator

◆ aRate

◆ aReceivedNewRendezvousLocation

◆ aRendezvousFootprint

◆ aRendezvousMsg

◆ aRendezvousNewPoseMsg

◆ aRobots

◆ aSubscribers

◆ aTimers

◆ aTimeWaiting

◆ aWaitingThreshold

◆ aWorldPos