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fmricofmrico
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Merge pull request #3 from fmrico/load_save
[WIP] Save/Load gridmaps
2 parents a7bb5b9 + 4fcfa42 commit 5ba6b35

19 files changed

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‎.github/thirdparty.repos‎

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version: rolling
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ThirdParty/grid_map:
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type: git
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url: https://github.com/kiko2r/grid_map.git
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version: grid_map_msgs
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url: https://github.com/fmrico/grid_map.git
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version: rolling_ament_fixed
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ThirdParty/navigation2:
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type: git
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url: https://github.com/kiko2r/navigation2.git

‎.github/workflows/rolling.yaml‎

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- name: build and test
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uses: ros-tooling/action-ros-ci@0.4.3
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with:
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package-name: easynav_gridmap_maps_builder
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package-name: easynav_gridmap_maps_manager
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target-ros2-distro: rolling
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vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
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skip-test: true

‎easynav_gridmap_maps_builder/CMakeLists.txt‎

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This file was deleted.

‎easynav_gridmap_maps_builder/tests/CMakeLists.txt‎

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‎easynav_gridmap_maps_builder/tests/gridmap_maps_builder_tests.cpp‎

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‎easynav_gridmap_maps_manager/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.20)
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project(easynav_gridmap_maps_manager)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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set(CMAKE_CXX_STANDARD 23)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# Dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(easynav_common REQUIRED)
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find_package(easynav_core REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(grid_map_ros REQUIRED)
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find_package(grid_map_msgs REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(yaml_cpp_vendor REQUIRED)
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find_package(cv_bridge REQUIRED)
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set(dependencies
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rclcpp::rclcpp
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rclcpp_lifecycle::rclcpp_lifecycle
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easynav_common::easynav_common
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easynav_core::easynav_core
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grid_map_ros::grid_map_ros
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ament_index_cpp::ament_index_cpp
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cv_bridge::cv_bridge
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${sensor_msgs_TARGETS}
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${std_msgs_TARGETS}
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${std_srvs_TARGETS}
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${geometry_msgs_TARGETS}
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${grid_map_msgs_TARGETS}
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)
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# Library
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add_library(${PROJECT_NAME} SHARED
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src/easynav_gridmap_maps_manager/GridmapMapsManager.cpp
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src/easynav_gridmap_maps_manager/GridmapMapsBuilderNode.cpp
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src/easynav_gridmap_maps_manager/utils.cpp
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)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<BUILD_INTERFACE:${yaml-cpp_INCLUDE_DIRS}>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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target_link_libraries(${PROJECT_NAME} PUBLIC ${dependencies})
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# Executable
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add_executable(gridmap_maps_builder_main src/gridmap_maps_builder_main.cpp)
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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target_link_libraries(gridmap_maps_builder_main ${PROJECT_NAME} ${dependencies})
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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install(TARGETS
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gridmap_maps_builder_main
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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install(TARGETS
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${PROJECT_NAME}
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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# Tests
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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add_subdirectory(tests)
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endif()
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ament_export_include_directories("include/${PROJECT_NAME}")
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ament_export_libraries(${PROJECT_NAME})
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ament_export_targets(export_${PROJECT_NAME})
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# Register the plugin
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pluginlib_export_plugin_description_file(easynav_core easynav_gridmap_maps_manager_plugins.xml)
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ament_export_dependencies(
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rclcpp
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rclcpp_lifecycle
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sensor_msgs
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std_msgs
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std_srvs
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geometry_msgs
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easynav_common
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grid_map_ros
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grid_map_msgs
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ament_index_cpp
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yaml_cpp_vendor
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cv_bridge
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)
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ament_package()

‎easynav_gridmap_maps_manager/easynav_gridmap_maps_manager_plugins.xml‎

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<class_libraries>
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<library path="easynav_gridmap_maps_manager">
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<class name="easynav_gridmap_maps_manager/GridmapMapsManager" type="easynav::GridmapMapsManager" base_class_type="easynav::MapsManagerBase">
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<description>
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A gridmap implementation for the Maps Manager.
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</description>
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</class>
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</library>
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</class_libraries>

easynav_gridmap_maps_builder/include/easynav_gridmap_maps_builder/GridmapMapsBuilderNode.hpp renamed to easynav_gridmap_maps_manager/include/easynav_gridmap_maps_manager/GridmapMapsBuilderNode.hpp

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/// \file
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/// \brief Definition of the GridmapMapsBuilderNode class.
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#ifndef EASYNAV_OUTDOOR_MAPS_BUILDER__GRIDMAPMAPSBUILDERNODE_HPP_
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#define EASYNAV_OUTDOOR_MAPS_BUILDER__GRIDMAPMAPSBUILDERNODE_HPP_
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#ifndef EASYNAV_GRIDMAP_MAPS_MANAGER__GRIDMAPMAPSBUILDERNODE_HPP_
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#define EASYNAV_GRIDMAP_MAPS_MANAGER__GRIDMAPMAPSBUILDERNODE_HPP_
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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#include "sensor_msgs/msg/point_cloud2.hpp"
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#include "grid_map_msgs/msg/grid_map.hpp"
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#include "std_srvs/srv/trigger.hpp"
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#include "grid_map_ros/grid_map_ros.hpp"
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#include "easynav_common/types/Perceptions.hpp"
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*/
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void register_handler(std::shared_ptr<PerceptionHandler> handler);
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const grid_map::GridMap & get_map() const {return map_;}
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void set_map(const grid_map::GridMap & map) {map_ = map;}
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private:
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/// Name of the sensor topic to subscribe to (e.g., point clouds).
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std::string sensor_topic_;
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/// Registered perception handlers by sensor name.
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std::map<std::string, std::shared_ptr<PerceptionHandler>> handlers_;
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grid_map::GridMap map_;
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};
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} // namespace easynav
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#endif // EASYNAV_OUTDOOR_MAPS_BUILDER__GRIDMAPMAPSBUILDERNODE_HPP_
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#endif // EASYNAV_GRIDMAP_MAPS_MANAGER__GRIDMAPMAPSBUILDERNODE_HPP_

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