On 9/18/2018 4:13 PM, Hongmei Gou wrote:
Signed-off-by: Hongmei Gou <[email protected]>
---
...navigation-rotate-recovery-mmwave-changes.patch | 88 ++++++++++++++++++++++
.../navigation/rotate-recovery_1.12.14.bbappend | 5 ++
2 files changed, 93 insertions(+)
create mode 100644
recipes-ros/navigation/files/0001-navigation-rotate-recovery-mmwave-changes.patch
create mode 100644 recipes-ros/navigation/rotate-recovery_1.12.14.bbappend
diff --git
a/recipes-ros/navigation/files/0001-navigation-rotate-recovery-mmwave-changes.patch
b/recipes-ros/navigation/files/0001-navigation-rotate-recovery-mmwave-changes.patch
new file mode 100644
index 0000000..089ac34
--- /dev/null
+++
b/recipes-ros/navigation/files/0001-navigation-rotate-recovery-mmwave-changes.patch
@@ -0,0 +1,88 @@
+diff --git a/rotate_recovery/src/rotate_recovery.cpp
b/rotate_recovery/src/rotate_recovery.cpp
Patches should have an "Upstream-Status".
https://www.openembedded.org/wiki/Commit_Patch_Message_Guidelines#Patch_Header_Recommendations:_Upstream-Status
+index 64e9999..65959e8 100644
+--- a/rotate_recovery/src/rotate_recovery.cpp
++++ b/rotate_recovery/src/rotate_recovery.cpp
+@@ -3,6 +3,7 @@
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2009, Willow Garage, Inc.
++* Copyright (c) 2017, Texas Instruments Incorporated
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+@@ -38,7 +39,7 @@
+ #include <pluginlib/class_list_macros.h>
+
+ //register this planner as a RecoveryBehavior plugin
+-PLUGINLIB_DECLARE_CLASS(rotate_recovery, RotateRecovery,
rotate_recovery::RotateRecovery, nav_core::RecoveryBehavior)
++PLUGINLIB_EXPORT_CLASS(rotate_recovery::RotateRecovery,
nav_core::RecoveryBehavior)
+
+ namespace rotate_recovery {
+ RotateRecovery::RotateRecovery(): global_costmap_(NULL), local_costmap_(NULL),
+@@ -54,7 +55,7 @@ void RotateRecovery::initialize(std::string name,
tf::TransformListener* tf,
+
+ //get some parameters from the parameter server
+ ros::NodeHandle private_nh("~/" + name_);
+- ros::NodeHandle blp_nh("~/TrajectoryPlannerROS");
++ ros::NodeHandle blp_nh("~/DWAPlannerROS");
+
+ //we'll simulate every degree by default
+ private_nh.param("sim_granularity", sim_granularity_, 0.017);
+@@ -88,8 +89,13 @@ void RotateRecovery::runBehavior(){
+ ROS_ERROR("The costmaps passed to the RotateRecovery object cannot be NULL.
Doing nothing.");
+ return;
+ }
+- ROS_WARN("Rotate recovery behavior started.");
++ ROS_WARN("mmWave customized rotate recovery behavior started.");
+
++ ROS_WARN("Clearing costmaps...");
++ global_costmap_->resetLayers();
++ local_costmap_->resetLayers();
++
++ ROS_WARN("Performing rotation...");
+ ros::Rate r(frequency_);
+ ros::NodeHandle n;
+ ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 10);
+@@ -101,15 +107,15 @@ void RotateRecovery::runBehavior(){
+
+ bool got_180 = false;
+
+- double start_offset = 0 -
angles::normalize_angle(tf::getYaw(global_pose.getRotation()));
++ double start_offset =
angles::normalize_angle_positive(tf::getYaw(global_pose.getRotation()));
+ while(n.ok()){
+ local_costmap_->getRobotPose(global_pose);
+
+- double norm_angle =
angles::normalize_angle(tf::getYaw(global_pose.getRotation()));
+- current_angle = angles::normalize_angle(norm_angle + start_offset);
++ double norm_angle =
angles::normalize_angle_positive(tf::getYaw(global_pose.getRotation()));
++ current_angle = angles::normalize_angle_positive(norm_angle -
start_offset);
+
+ //compute the distance left to rotate
+- double dist_left = M_PI - current_angle;
++ double dist_left = (2 * M_PI) - current_angle;
+
+ double x = global_pose.getOrigin().x(), y = global_pose.getOrigin().y();
+
+@@ -142,12 +148,20 @@ void RotateRecovery::runBehavior(){
+ vel_pub.publish(cmd_vel);
+
+ //makes sure that we won't decide we're done right after we start
+- if(current_angle < 0.0)
++ if ((fabs(current_angle - M_PI) < M_PI/2) && (got_180 == false))
++ {
+ got_180 = true;
++ }
+
+ //if we're done with our in-place rotation... then return
+- if(got_180 && current_angle >= (0.0 - tolerance_))
++ if(got_180 && ((current_angle >= (2*M_PI - tolerance_)) || (current_angle
<= (M_PI/2))))
++ {
++ cmd_vel.angular.z = 0;
++ vel_pub.publish(cmd_vel);
++
++ ROS_WARN("Completed rotation...");
+ return;
++ }
+
+ r.sleep();
+ }
diff --git a/recipes-ros/navigation/rotate-recovery_1.12.14.bbappend
b/recipes-ros/navigation/rotate-recovery_1.12.14.bbappend
new file mode 100644
index 0000000..435a3d6
--- /dev/null
+++ b/recipes-ros/navigation/rotate-recovery_1.12.14.bbappend
@@ -0,0 +1,5 @@
+PR_append = ".tisdk0"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/files:"
+
+SRC_URI +=
"file://0001-navigation-rotate-recovery-mmwave-changes.patch;patchdir=.."
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