Merge midemig PR overwriting old content completely

Author: midemig

.github/workflows/jazzy.yaml

@@ -0,0 +1,55 @@
+name: jazzy
+
+on:
+  pull_request:
+    branches:
+      - jazzy
+  push:
+    branches:
+      - jazzy
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v4
+        with:
+          ref: jazzy
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+        with:
+          required-ros-distributions: jazzy
+      - name: install pcl
+        run: sudo apt update && sudo apt install -y libpcl-dev
+      - name: install grid map
+        run: sudo apt install -y ros-jazzy-grid-map-ros
+      - name: install g2o
+        run: sudo apt install -y libg2o-dev
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: local_navigation
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/dependencies.repos
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              },
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          fail_ci_if_error: false

.github/workflows/rolling.yaml

@@ -1,4 +1,4 @@
-[![rolling](https://github.com/midemig/global_navigation/actions/workflows/rolling.yaml/badge.svg)](https://github.com/midemig/global_navigation/actions/workflows/rolling.yaml)
+[![jazzy](https://github.com/midemig/global_navigation/actions/workflows/jazzy.yaml/badge.svg)](https://github.com/midemig/global_navigation/actions/workflows/jazzy.yaml)
 
 # Global Navigation
 
@@ -23,16 +23,22 @@ To reproduce our results, follow these instructions:
 
 - Requirements
   - Ubuntu 24.04
-  - Ros2 Rolling
+  - Ros2 Jazzy
   - Python 3.12.3
 
+<!-- - Or use [distrobox](https://github.com/89luca89/distrobox)
+
+    ```sh
+    distrobox create --image ghcr.io/sloretz/ros:jazzy-desktop --name jazzy-desktop --home /path_to_container_home
+    distrobox enter jazzy-desktop
+    ``` -->
 
 - Create a workspace and clone the repository
 
     ```sh
     mkdir -p global_navigation_ws/src
     cd global_navigation_ws/src
-    git clone https://github.com/midemig/global_navigation -b rolling
+    git clone https://github.com/midemig/global_navigation -b jazzy
     ```
 
 - Install dependences and build workspace
@@ -43,6 +49,7 @@ To reproduce our results, follow these instructions:
     vcs import --recursive . < global_navigation/dependencies.repos
     cd ..
     rosdep install --from-paths src --ignore-src -r -y
+    source /opt/ros/jazzy/setup.bash
     colcon build --symlink-install 
     ```
 
@@ -57,7 +64,7 @@ To reproduce our results, follow these instructions:
 
 ### Launch Demo
 
-1. Download and unzip the [demo bagfile](https://urjc-my.sharepoint.com/:u:/g/personal/juancarlos_serrano_urjc_es/EQI9T9RNYuFJg6reV-pq-7IBjMEeEo7RxaJCudMs9IyRTg?e=hSNyQB).
+1. Download and unzip the [demo bagfile](https://urjc-my.sharepoint.com/:u:/g/personal/miguelangel_demiguel_urjc_es/IQCCUBCLxZOsQKuwxqeLw5i5ARZLa8Z3k4lTLb0z8eX362s?e=j1npwV).
 2. In a terminal, play the downloaded bag:
 
     ```sh
@@ -72,10 +79,29 @@ To reproduce our results, follow these instructions:
     ros2 launch local_navigation demo.launch.py
     ```
 
+## Citing This Work
+
+If you use this code in your research, please cite the corresponding paper:
+
+**BibTeX:**
+```bibtex
+@misc{dmiguel2025,
+  title={I Move Therefore I Learn: Experience-Based Traversability in Outdoor Robotics},
+  author={Miguel Ángel de Miguel, Jorge Beltrán, Juan S. Cely, Francisco Martín, Juan Carlos Manzanares, Alberto García},
+  year={2025},
+  eprint={2507.00882},
+  archivePrefix={arXiv},
+  primaryClass={cs.RO},
+  note={\url{https://doi.org/10.48550/arXiv.2507.00882}}
+}
+```
+    
+
 ## Authors
 
-- [Francisco Martín Rico](github.com/fmrico)
 - [Miguel Ángel de Miguel](github.com/midemig)
+- [Jorge Beltrán](github.com/beltransen)
 - [Juan Sebastián Cely](github.com/juanscelyg)
+- [Francisco Martín Rico](github.com/fmrico)
 - [Juan Carlos Manzanares](github.com/Juancams)
 - [Alberto García](github.com/aaggj)

README.md

@@ -3,11 +3,4 @@ repositories:
     type: git
     url: https://github.com/fmrico/lidarslam_ros2
     version: summit-xl
-  ThirdParty/navigation2:
-    type: git
-    url: https://github.com/ros-navigation/navigation2
-    version: main
-  ThirdParty/grid_map:
-    type: git
-    url: https://github.com/ANYbotics/grid_map.git
-    version: rolling
+    submodules: recursive

dependencies.repos

@@ -2,4 +2,24 @@
 
 This package contains our work about traversity
 
-Currently, we are working on the instructions for reproducing the experiments. Please be patient and return in a few days...
+### How to run:
+
+1. In terminal 1 play a rosbag:
+
+```
+ros2 bag play rosbags/trial_0 --clock -p
+```
+
+2. In terminal 2 launch the nodes:
+
+(Remember to check remaps in launcher, this is for Summit XL)
+
+```
+ros2 launch local_navigation local_navigation.launch.py
+```
+
+3. In terminal 2 visualize:
+
+```
+ros2 run rviz2 rviz2 --ros-args -p use_sim_time:=true
+```

local_navigation/README.md

@@ -1,6 +1,6 @@
 scan_matcher:
   ros__parameters:
-    use_sim_time: false
+    use_sim_time: true
     global_frame_id: "map"
     robot_frame_id: "base_link"
     registration_method: "NDT"
@@ -30,7 +30,7 @@ scan_matcher:
 
 graph_based_slam:
     ros__parameters:
-      use_sim_time: false
+      use_sim_time: true
       registration_method: "NDT"
       ndt_resolution: 1.0
       ndt_num_threads: 2
@@ -46,4 +46,4 @@ graph_based_slam:
 
 rviz:
     ros__parameters:
-      use_sim_time: false
+      use_sim_time: true