From d13fe65937c523acc7dacbcac46bbd761497724c Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 9 Dec 2024 21:15:51 +0100 Subject: [PATCH 1/9] test parameters --- mesh_navigation_tutorials/config/mbf_mesh_nav.yaml | 12 +++++++++--- .../launch/mbf_mesh_navigation_server_launch.py | 4 +++- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml index 246dbc3..14ada86 100644 --- a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml +++ b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml @@ -30,7 +30,13 @@ move_base_flex: cmd_vel_ignored_tolerance: 10.0 mesh_map: - mesh_part: 'mesh' + mesh_file: '/home/amock/mesh_nav_ws/src/mesh_navigation_tutorials/mesh_navigation_tutorials/maps/parking_garage.ply' + mesh_part: '/' + + mesh_working_file: 'parking_garage.h5' + mesh_working_part: 'mesh' + + hem: pmp # pmp (default), lvr layers: ['border', 'height_diff', 'roughness', 'inflation'] @@ -53,8 +59,8 @@ move_base_flex: inflation: type: 'mesh_layers/InflationLayer' factor: 1.0 - inflation_radius: 0.4 - inscribed_radius: 0.2 + inflation_radius: 0.2 + inscribed_radius: 0.4 lethal_value: 1.0 inscribed_value: 0.8 repulsive_field: false diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 73808c5..1db8d72 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -60,8 +60,10 @@ def generate_launch_description(): ], parameters=[ mbf_mesh_nav_config, - {"mesh_map.mesh_file": mesh_map_path}, + # {"mesh_map.mesh_file": mesh_map_path}, ], + arguments=['--ros-args', '--log-level', ['move_base_flex:=', 'DEBUG']], + prefix=['xterm -e gdb --args'] ) return LaunchDescription( From b1257246434811e26aa0a56563ee4eecc01e9779 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Thu, 12 Dec 2024 01:08:59 +0100 Subject: [PATCH 2/9] working version with lvr-update branches --- mesh_navigation_tutorials/config/mbf_mesh_nav.yaml | 8 +++++--- .../launch/mbf_mesh_navigation_server_launch.py | 14 +++++++++++--- .../launch/mesh_navigation_tutorial_launch.py | 3 ++- 3 files changed, 18 insertions(+), 7 deletions(-) diff --git a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml index 14ada86..c984562 100644 --- a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml +++ b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml @@ -30,12 +30,14 @@ move_base_flex: cmd_vel_ignored_tolerance: 10.0 mesh_map: - mesh_file: '/home/amock/mesh_nav_ws/src/mesh_navigation_tutorials/mesh_navigation_tutorials/maps/parking_garage.ply' + # input + # mesh_file: '/home/amock/mesh_nav_ws/src/mesh_navigation_tutorials/mesh_navigation_tutorials/maps/parking_garage.ply' mesh_part: '/' - - mesh_working_file: 'parking_garage.h5' + # storage + # mesh_working_file: 'parking_garage.h5' mesh_working_part: 'mesh' + # half-edge-mesh implementation hem: pmp # pmp (default), lvr layers: ['border', 'height_diff', 'roughness', 'inflation'] diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 1db8d72..936fe0e 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -44,8 +44,13 @@ def generate_launch_description(): "mesh_map_path", description="Path to the mesh file that defines the map.", ), + DeclareLaunchArgument( + "mesh_map_working_path", + description="Path to the mesh file that defines the map.", + ), ] mesh_map_path = LaunchConfiguration("mesh_map_path") + mesh_map_working_path = LaunchConfiguration("mesh_map_working_path") mbf_mesh_nav_config = os.path.join( get_package_share_directory("mesh_navigation_tutorials"), "config", "mbf_mesh_nav.yaml" @@ -60,10 +65,13 @@ def generate_launch_description(): ], parameters=[ mbf_mesh_nav_config, - # {"mesh_map.mesh_file": mesh_map_path}, + { + "mesh_map.mesh_file": mesh_map_path, + "mesh_map.mesh_working_file": mesh_map_working_path + } ], - arguments=['--ros-args', '--log-level', ['move_base_flex:=', 'DEBUG']], - prefix=['xterm -e gdb --args'] + # arguments=['--ros-args', '--log-level', ['move_base_flex:=', 'DEBUG']], + # prefix=['xterm -e gdb --args'] ) return LaunchDescription( diff --git a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py index a2a6783..bebf849 100644 --- a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py +++ b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py @@ -165,9 +165,10 @@ def generate_launch_description(): [ pkg_mesh_navigation_tutorials, "maps", - PythonExpression(['"', map_name, '" + ".h5"']), + PythonExpression(['"', map_name, '" + ".ply"']), ] ), + "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) }.items(), ) From 3b2f3744b27b2923fc713f5231f78505b5cc5040 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Fri, 20 Dec 2024 10:27:31 +0100 Subject: [PATCH 3/9] added lvr update branch to CI --- source_dependencies.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source_dependencies.yaml b/source_dependencies.yaml index d4a5d2c..b81e474 100644 --- a/source_dependencies.yaml +++ b/source_dependencies.yaml @@ -4,7 +4,7 @@ repositories: lvr2: type: git url: https://github.com/uos/lvr2.git - version: humble + version: version-upgrade mesh_tools: type: git url: https://github.com/naturerobots/mesh_tools.git From 0f1d2bd0bff6688eaa0112b956e976f935dac643 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Fri, 20 Dec 2024 10:58:52 +0100 Subject: [PATCH 4/9] changed mesh tools branch in source dependencies --- source_dependencies.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source_dependencies.yaml b/source_dependencies.yaml index b81e474..8649711 100644 --- a/source_dependencies.yaml +++ b/source_dependencies.yaml @@ -8,11 +8,11 @@ repositories: mesh_tools: type: git url: https://github.com/naturerobots/mesh_tools.git - version: humble + version: lvr-update mesh_navigation: type: git url: https://github.com/naturerobots/mesh_navigation.git - version: humble + version: lvr-update move_base_flex: type: git url: https://github.com/naturerobots/move_base_flex.git From 2198b86410ac885db24b4b437244d82f668e9d70 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 23 Dec 2024 13:13:26 +0100 Subject: [PATCH 5/9] added descriptions --- .../launch/mbf_mesh_navigation_server_launch.py | 8 +++----- .../launch/mesh_navigation_tutorial_launch.py | 4 ++-- 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 936fe0e..2ab2d4c 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -42,11 +42,11 @@ def generate_launch_description(): launch_args = [ DeclareLaunchArgument( "mesh_map_path", - description="Path to the mesh file that defines the map.", + description="Path to the mesh file that defines the map. Allowed formats are our internal HDF5 format and all standard mesh formats loadable by Assimp.", ), DeclareLaunchArgument( "mesh_map_working_path", - description="Path to the mesh file that defines the map.", + description="Path to the mesh file used by the mesh navigation to store costs during operation. Only HDF5 formats are permitted.", ), ] mesh_map_path = LaunchConfiguration("mesh_map_path") @@ -69,9 +69,7 @@ def generate_launch_description(): "mesh_map.mesh_file": mesh_map_path, "mesh_map.mesh_working_file": mesh_map_working_path } - ], - # arguments=['--ros-args', '--log-level', ['move_base_flex:=', 'DEBUG']], - # prefix=['xterm -e gdb --args'] + ] ) return LaunchDescription( diff --git a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py index bebf849..8b84c37 100644 --- a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py +++ b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py @@ -52,9 +52,9 @@ def generate_launch_description(): # Launch arguments available_map_names = [ - f[:-3] + f[:-4] for f in os.listdir(os.path.join(pkg_mesh_navigation_tutorials, "maps")) - if f.endswith(".h5") + if f.endswith(".dae") ] launch_args = [ From f95f88a28e12021d422db20faa71e8fbebabe20b Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 23 Dec 2024 13:25:40 +0100 Subject: [PATCH 6/9] added more comments --- .../launch/mesh_navigation_tutorial_launch.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py index 8b84c37..f263bb7 100644 --- a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py +++ b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py @@ -50,13 +50,16 @@ def generate_launch_description(): # Comment Alex: One can have different maps for same worlds # Is this to much choice for a tutorial? - # Launch arguments + # Loading a map files with the following extension + mesh_nav_map_ext = ".ply" + available_map_names = [ - f[:-4] + f[:-len(mesh_nav_map_ext)] for f in os.listdir(os.path.join(pkg_mesh_navigation_tutorials, "maps")) - if f.endswith(".dae") + if f.endswith(mesh_nav_map_ext) ] + # Launch arguments launch_args = [ DeclareLaunchArgument( "map_name", @@ -165,10 +168,10 @@ def generate_launch_description(): [ pkg_mesh_navigation_tutorials, "maps", - PythonExpression(['"', map_name, '" + ".ply"']), + PythonExpression(['"', map_name, mesh_nav_map_ext, '"']), # loading a map from here ] ), - "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) + "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) # working on a local copy (as HDF5 format) }.items(), ) From e025f113de14a6cf365bd8522082eb790ecde1f6 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 23 Dec 2024 14:09:34 +0100 Subject: [PATCH 7/9] line-length --- .../launch/mbf_mesh_navigation_server_launch.py | 7 +++++-- .../launch/mesh_navigation_tutorial_launch.py | 4 ++-- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 2ab2d4c..69be2df 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -42,11 +42,14 @@ def generate_launch_description(): launch_args = [ DeclareLaunchArgument( "mesh_map_path", - description="Path to the mesh file that defines the map. Allowed formats are our internal HDF5 format and all standard mesh formats loadable by Assimp.", + description="Path to the mesh file that defines the map." + "Allowed formats are our internal HDF5 format and all" + "standard mesh formats loadable by Assimp.", ), DeclareLaunchArgument( "mesh_map_working_path", - description="Path to the mesh file used by the mesh navigation to store costs during operation. Only HDF5 formats are permitted.", + description="Path to the mesh file used by the mesh navigation " + "to store costs during operation. Only HDF5 formats are permitted.", ), ] mesh_map_path = LaunchConfiguration("mesh_map_path") diff --git a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py index f263bb7..6684ea7 100644 --- a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py +++ b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py @@ -168,10 +168,10 @@ def generate_launch_description(): [ pkg_mesh_navigation_tutorials, "maps", - PythonExpression(['"', map_name, mesh_nav_map_ext, '"']), # loading a map from here + PythonExpression(['"', map_name, mesh_nav_map_ext, '"']), ] ), - "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) # working on a local copy (as HDF5 format) + "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) }.items(), ) From e07be30f11321c046c5541be9e7fb7d1832b9157 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 23 Dec 2024 14:48:35 +0100 Subject: [PATCH 8/9] removed trailing whitespace --- .../launch/mbf_mesh_navigation_server_launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 69be2df..42d17a6 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -42,7 +42,7 @@ def generate_launch_description(): launch_args = [ DeclareLaunchArgument( "mesh_map_path", - description="Path to the mesh file that defines the map." + description="Path to the mesh file that defines the map." "Allowed formats are our internal HDF5 format and all" "standard mesh formats loadable by Assimp.", ), From 840f4e8040b406e161de47e04981ffe6f8cf1920 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Thu, 2 Jan 2025 14:36:19 +0100 Subject: [PATCH 9/9] updated source dependencies file to use the main branch of lvr2 --- source_dependencies.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/source_dependencies.yaml b/source_dependencies.yaml index 8649711..8b58ab9 100644 --- a/source_dependencies.yaml +++ b/source_dependencies.yaml @@ -4,15 +4,15 @@ repositories: lvr2: type: git url: https://github.com/uos/lvr2.git - version: version-upgrade + version: main mesh_tools: type: git url: https://github.com/naturerobots/mesh_tools.git - version: lvr-update + version: humble mesh_navigation: type: git url: https://github.com/naturerobots/mesh_navigation.git - version: lvr-update + version: humble move_base_flex: type: git url: https://github.com/naturerobots/move_base_flex.git