building_map_tools package

This package provides tools for manipulating and format-converting building maps.

Quality Declaration

This package claims to be in the Quality Level 4 category. See the Quality Declaration for more details.

Changelog for package rmf_building_map_tools

1.10.0 (2024-06-12)

1.9.0 (2024-06-01)

• Fix MultiPolygon not iterable (#496)
• Harmonic release and ECS refactor (#483)
• workaround fuel dup (#490)
• Add per_page arg to fuel pagination for pit_crew (#491)
• bugfix: specify coordiate_system when generating yaml for lift. (#488)
• Handle geometry collections (#476)
• Contributors: Arjo Chakravarty, Grey, Luca Della Vedova, Teo Koon Peng, Xiyu, cwrx777, methylDragon, Yadunund

1.8.2 (2023-12-15)

• Export door information to nav graphs (#479)
• Export lift information to nav graphs (#478)

1.8.1 (2023-08-10)

• Fix gz classic model download (#470)
• Contributors: Aaron Chong

1.8.0 (2023-06-08)

1.7.0 (2023-06-06)

• Switch to rst changelogs (#464)
• Add texture for white wall (#463)
• Fix navgraph generation for connected docking waypoints (#452)
• Added 5 retries for model downloading failure (#455)
• Migrate to using gzsim server url for fuel (#454)
• Exiting model downloader with non-zero exit code (#453)
• Contributors: Aaron Chong, Luca Della Vedova, Yadunund

1.6.0 (2022-10-05)

• Add Fuel tools dependency to rmf_building_map_tools (#444)
• Fix building_map_server crashes when level scale is not defined (#442)
• Fixed usage of download_models (#440)
• remove usage of deprecated np.asscalar() (#438)
• Added a dispensable field for models (#436)
• Only offset camera pose for global coordinate building when a floor is present (#434)
• Move to collections.abc for crowdsim (#432)
• Contributors: Aaron Chong, Luca Della Vedova, Morgan Quigley, Yadunund

1.5.1 (2022-04-20)

• Floor information for floor toggling plugin in Ignition (#424)
• Use the Ignition Gazebo floor visibility plugin when generating worlds.
• navgraph visualizer (#426)
  • new verb for building_map_generator that will generate navgraph visualization OBJ files, which can then be dropped into a Gazebo simulation to help understand what's going on.
• update versions of pure python packages
• Contributors: Luca Della Vedova, Morgan Quigley

1.5.0 (2022-03-13)

• Always use ign=True and remove spaces when comparing model names (#412)
  • Always use ign=True and remove spaces when comparing model names
  • Pit crew makes model paths available, when checking for missing models, for exporting (#414)
  • Reverted the use of remove_spaces as model names with spaces are used for downloading models
• if map_version is present, copy it into GeoJSON (#415)
• Update package.xml (#406)
• Feature: serve BuildingMap message when loading GeoJSON file in building_map_server (#404)
  • Create a BuildingMap message when serving from GeoJSON file
  • use RTree to speed up BuildingMap creation from GeoJSON
  • use reasonable default scale for Cartesian maps
  • add python3-rtree dependency to GitHub workflow
• First steps towards GeoJSON (#403)
  • add GeoJSON support to `building_map_server`: to start, just vertices and lanes
  • compress GeoJSON output on-the-fly
  • add support for GeoJSON to [building_map_converter]{.title-ref}, auto-detecting based on filename suffix
  • GeoJSON: include preferred projected CRS and suggested coordinate offset for simulation as top-level keys
  • sort GeoJSON keys in building map server for consistency in diffs
  • fix crash for non-geolocated/legacy maps
• Cartesian worlds (y=up) and steps towards using GeoPackage (#396)
  • create passthrough transform for cartesian_meters coordinate systems
  • pass coordinate system to vertex draw, to flip text as needed
  • correct deprecated setuptools key to fix warning
  • Fix errors when building maps with lifts / crowdsim
  • add speed limit param to generated nav-graph files
  • add site_map publishing to building_map_server for cartesian maps
  • publish lane speed limits
  • Change loader to CLoader for performance improvement on large maps
  • on-the-fly geopackage generation for cartesian maps
  • add fiona Python package dependency to package.xml and CI workflow
  • building_map_converter to generate a GeoPackage from a cartesian YAML map
  • add top-level metadata for building/site params
  • fix geopackage metadata extraction for geopackage SiteMap server
  • use json instead of yaml for geopackage parameters
  • assign a nonsense CRS if one doesn't exist
  • Change Legacy -> ReferenceImage throughout code
• fix lift model ele name conflict warning (#399)
• Add speed limit to navgraph (#397)
• Deprecate/http download (#395)
  • deprecate and remove http option
  • Add helpful warning
  • use argparse deprecation method
  • use function level variables
• Use yaml-cpp CLoader and CDumper from Python for speed (#394)
  • use CLoader and CDumper to speed up YAML save/load times
• Contributors: Charayaphan Nakorn Boon Han, Grey, Luca Della Vedova, Morgan Quigley, Yadu, youliang, Aaron Chong

1.4.0 (2021-09-02)

• Feature/map generator using global coordinates (#379)
• added support for ceilings with texture (#383)
• Feature/wall graph (#377)
• added scaling features to wall texture (#382)
• fix crowdsim map generation when there are no robots (#380)
• Fix crash when level has no floors (#370)
• adding maintainer for buildfarm notifications (#368)
• Fix issues with building map tools using Ignition tools (#362)
• Contributors: Luca Della Vedova, Marco A. Gutiérrez, Matthew Booker, Morgan Quigley, Nicholas, Xiyu

1.3.0 (2021-05-14)

• Added support for fuel textures (#342)
• Convert wall textures from 1d to 2d (#338)
• [Optimization] Remove duplicated textures (#337)
• clean dep and update readme (#336)
• building_map_server: don't crash when missing image file (#334)
• Fix material values for sdf compliance (#330)
• avoid crashing when generating undefined floor polygons. cleanup. (#322)
• improve usage of Shapely on very complex floor polygons (#321)
• auto download crowdsim models (#316)
• rename building_map_tools (#310)
• Account for package rename
• Rename packages and delete moved packages (#308)
• migration to open-rmf org, rename to [rmf_building_map_tools]{.title-ref}
• Contributors: Geoffrey Biggs, Luca Della Vedova, Morgan Quigley, youliang

1.2.0 (2021-01-06)

• Ign rtf optimizations and GUI plugins (#248)
• Merge pull request #257 from Briancbn/pr-fix-disable-plugin-backwards-compatibility Fix door, lift plugin disable options backwards compatibility
• Merge pull request #255 from osrf/feature/remove-plugin-option Feature/remove plugin option
• Three lines of code to double the RTF, :sparkles:
• Makes lifts static if plugins are not required
• Door plugins option parsing correctly now
• Using just the Lift object to propagate the plugin removal option
• Added option to remove plugins for doors on gui and building_map_tools generator
• Fix namespace for rmf charging plugin (#253)
• Textures/additional (#244)
• Implement battery drain and recharge for slotcars (#242)
• Implement animation switching in crowd simulation (#238)
• Add first pass of quality declarations for all packages (#235)
• Add building_crowdsim to generate navmesh and config files for crowd simulation (#224)
• Contributors: Aaron Chong, Chen Bainian, Geoffrey Biggs, Guoliang (Fred) Shao, Luca Della Vedova, Marco A. Gutiérrez, Morgan Quigley, Rushyendra Maganty, Valerie

1.1.0 (2020-09-24)

• Implement model visibility toggling (#226)
• Adding lift operation range selection (#220)
• Add field in lift dialog for initial floor, handle invalid initial floor
• added inertia for lift cabin platform (#217)
• Model counts to be owned by Building, and passed to each Level #211
• Support for adding and recognizing lift waypoints for multi-level navigatio #201
• Fixed the wrong naming of reference_floor (#209)
• Fixing building failure when fiducial values are integers (#208)
• Generate models at the correct Z height of their level #207
• Configurable texture and transparency for wall #200
• Added wall tex in building map generation
• Handle situation when lifts key is not present #188
• Ignition plugins and modularization of doors and slotcar #138
• Adding lift pluting for ignition #171
• Implement automatic lift waypoint setting
• Implement convenience script (#185)
• Implement model downloader: a script to assist in model downloading without needing to also build the worldfile from a specified traffic_editor file. #180
• Contributors: Aaron Chong, Chen Bainian, Geoffrey Biggs, Kevin_Skywalker, Luca Della Vedova, MakinoharaShouko, Morgan Quigley, kevinskwk, methylDragon, youliang

1.0.0 (2020-06-22)

• merging master
• Merge pull request #134 from methylDragon/ch3/hotfix-nonetype-pit-crew-bug Make pit_crew robust against missing author names
• Make pit_crew robust against missing author names
• Merge pull request #133 from osrf/fix/pit-crew-deps Adding instructions to install pit_crew dependency
• lint :skull:
• lint :sparkles:
• Merge pull request #132 from methylDragon/ch3/author-namespaced-thumbnails Support Author-namedspaced Thumbnails and Revamp building_map_generator
• Fix build and import bug
• Unify building_map_generators With argparse and pit_crew!
• Merge branch 'master' into ch3/migrate-traffic-editor-thumbnails
• Merge branch 'master' into ch3/author-namespaced-thumbnails
• Merge pull request #129 from methylDragon/ch3/pit-crew Unleash the pit_crew!
• Merge pull request #131 from osrf/bug/building_map_server Fix coordinate frame of lifts and doors in building_map_server
• Implement easier logging init
• Implement lower param
• Implement cache rebuilding option
• Extend pit_crew to support ign directories
• Fix assertion bug
• Clarify assertion
• Implement use_dir_as_name
• Add model config param
• Add usage examples
• Implement dry run downloads
• Clarify docstrings, add swag, lower param, and asserts
• Use namedtuples
• Merge branch 'master' into ch3/migrate-traffic-editor-thumbnails
• Minor fixes
• Fixed format
• Fixed coordinate system for lifts and doors populated in BuildingMap msg
• Fix import bug
• Allow shutil to fail gracefully
• Include author name when returning downloadable models (for now)
• Fix capitalisation bug
• Refine logger formatting
• Fix set bug
• Implement input sanitisation
• Clarify log strings
• Fix import bug
• Reorder __all_ for parity with code
• Neaten description
• Unleash the pit_crew!
• Merge pull request #127 from osrf/fix/door_elevation Fix/door elevation
• Fixed code style
• Fixed elevation of doors and floors in simulation
• Merge pull request #122 from osrf/fix/building_map_server Fix/building map server
• Motion range of doors specified in radians
• Vertices of lift doors populated
• Format fixes
• Lift skeleton
• Lift skeleton
• Fixed format
• doors populated in map server
• Merge pull request #118 from osrf/feature/teleport-dispenser Feature/teleport dispenser
• append number to model names only if not unique
• Merge remote-tracking branch 'origin' into external_traffic_map_files
• bugfix in hole generator in building_map_tools
• Merge pull request #100 from osrf/double_swing_doors_directions branch on double swing door direction for sim generation
• Merge pull request #98 from osrf/camera_pose Add computed camera pose to ignition
• branch on double swing door direction for sim generation
• Add computed camera pose to ignition, add it to gazebo template
• Merge pull request #96 from osrf/fix_normals_in_wall_meshes hopefully fix norm and texture indexing in wall obj files
• Merge pull request #97 from osrf/fix/double-swing-door-direction corrected simulation double swing door direction
• corrected simulation double swing door direction
• pycodestyle
• hopefully fix norm and texture indexing in wall obj files
• Merge pull request #94 from osrf/static_parameter_for_models Static parameter for models Tested manually on a few worlds, looks OK
• parse model static attribute and apply during SDF generation
• Merge pull request #92 from osrf/add_shapely_dep Add dependency to python-shapely in package.xml
• Merge pull request #93 from osrf/fix_server_scale Fix server to latest changes in level transform
• Fix server to latest changes in level transform
• Add dependency to python-shapely in package.xml
• Merge pull request #91 from osrf/calculate_floorplan_drawing_rotations Calculate floorplan drawing rotations
• pycodestyle fix
• finish propagating transform changes through
• finish estimating fiducial alignments, including rotation
• WIP dealing with buildings with some rotated floorplans
• Merge pull request #90 from osrf/feature/single-doors Feature/single doors
• added flip motion direction for swing doors
• WIP open/close positions flipped at -90 and -1
• Merge branch 'master' into feature/single-doors
• single door types work, WIP get the gazebo plugins synced up for door.cpp
• Merge pull request #89 from osrf/add_gazebo_plugins add gazebo plugins used by building_map_tools generators
• add gazebo plugins used by building_map_tools generators
• WIP fixing direction, angle of opening
• parsing hinged and sliding single doors
• handle parsing of single doors
• Merge pull request #86 from osrf/fix/missing-fiducials-tag check if key in dict first
• lint :skull:
• check if key in dict first
• bugfix: somewhat more robust yaml parsing
• don't generate wall mesh tags if there aren't any walls
• Merge pull request #85 from osrf/toggle_floors_gui_plugin generate params for toggle-floor GUI plugin
• generate params for toggle-floor GUI plugin
• Merge pull request #84 from osrf/fix_doors fix wall collision bitmask and door scaling issues
• fix wall collision bitmask and door scaling issues
• Merge pull request #83 from osrf/ignition_generator Ignition generator
• pass options list through for gz/ign tweaks
• fix gz template to actually be gazebo stuff
• Merge pull request #82 from osrf/ign merge
• fix merge conflict
• use share path rather than file-relative path
• create the actual ignition generator, whoops
• add options flags to generator call chain for ign/gz
• Merge pull request #81 from osrf/add_flattened_offsets XY translation of each level in a 'flattened' world generation mode
• Brighten up doors
• Remove redundant ambient tag
• Fix world name (hence ign gazebo plugins)
• Add xml tag to generated world
• Remove namespaced name from plugin
• Fix door plugin name for ignition
• First series of hacks for ignition compatibility
• XY translation of each level in a 'flattened' world generation mode
• Merge pull request #80 from osrf/floor_holes Floor holes
• use specified level elevations; don't scale by default
• instantiate floor hole polygons using Shapely
• fix pycodestyle complaint
• Merge branch 'master' of <ssh://github.com/osrf/traffic_editor> into floor_holes
• Merge pull request #79 from osrf/feature/model-elevation Feature/model elevation
• lint again
• lint
• added printout to mention deprecated model z field without elevation/z
• z in yaml parsing does not need scaling
• reverted back to using double for model::z, makes yaml parsing cleaner
• Merge pull request #77 from osrf/pycodestyle_action_and_fixes Pycodestyle action and many python style fixes
• fix various python style abominations
• Merge pull request #76 from osrf/defer_scaling_in_world_generation Calculate scale and translation to align building levels
• calculate scale and translation to align generated building levels
• working towards using fiducials in gazebo level generation
• Merge pull request #75 from osrf/simplify_floor_polygons simplify floor polygons to eliminate duplicate vertices
• simplify floor polygons to eliminate duplicate vertices
• Merge pull request #74 from osrf/generate_wall_meshes Generate wall meshes
• recursive triangulation function and slight clean-up of code abominations
• WIP generating a mega-wall obj. It's way faster than primitives.
• WIP towards wall meshes instead of primitive collections
• Add thickness to wall length
• Merge pull request #64 from osrf/specify_floor_textures Specify floor textures
• don't crash
• create new vertices as needed for the triangles cropped by concave edges
• WIP debugging triangulation holes
• allow specification of floor texture and scale
• Merge pull request #61 from osrf/use_shapely_for_geometry Use shapely for geometry
• fix triangle winding order after intersection and camera pose
• shapely triangulation now looking OK for convex hulls.
• figuring out a path forward...
• Merge pull request #60 from osrf/port_ign_changes Port ign changes
• Remove unused function
• Simplify ignition migration
• Merge pull request #55 from osrf/update_yaml_key_names fix #54, update yaml key names
• fix #54, update yaml key names
• Merge pull request #50 from osrf/initial_multilevel_sdf parse fiducials
• parse fiducials
• Merge pull request #47 from osrf/bug/fix-dict-illegal-access Bug/fix dict illegal accesses
• empty array initialization instead
• remove ABOMINATION
• added None initialization and checks, in case map is really really minimal
• Merge pull request #29 from osrf/tweak_door_limits Tweaking limits on doors so they can close
• Merge pull request #31 from osrf/rendering_layers_controls Rendering layers controls
• rendering starting to work
• Merge pull request #30 from osrf/fix_orientation_on_unidirectional_edge_conversion Fix orientation on unidirectional edge conversion
• use brain
• fix regression on bidirectional->unidirectional orientation constraints
• Improve inertial parameters
• Tweaking limits on doors so they can close
• Merge pull request #28 from osrf/generate_doors Generate doors
• add various door gazebo generation stuff and demo mock lift floor changes
• fix flake8 fixes :) and more hacking towards doors
• flake8 fixes
• Merge pull request #27 from osrf/add_dock_points add dock points and generate docking nav graph params
• add dock points and generate docking nav graph params
• Merge pull request #26 from osrf/generate_doors send nav graphs in building map server and more work towards doors
• fix building map server and more work towards doors
• Merge pull request #24 from osrf/calculate_robot_spawn_yaw calculate robot heading at spawn point using nearest edge
• calculate robot heading at spawn point using nearest edge
• Merge pull request #23 from osrf/output_nav_graph_dir output nav graphs by name into directory given as param
• output nav graphs by name into directory given as param
• Merge pull request #21 from osrf/spawn_robot_parameters robot parameters for spawning and Gazebo world generation
• add robots when generating world
• Merge pull request #19 from osrf/redraw_after_new_file_create redraw after file->new, also give explicit model path for gazebo gen
• redraw after file->new, also give explicit model path for gazebo gen
• Merge pull request #16 from osrf/repository_reorganization Repository reorganization
• calculate texture paths using ament magic
• fix up server to use same yaml parser as the generators
• grand reorganization as colcon-buildable packages for ros2 integration
• Contributors: Aaron, Aaron Chong, Luca Della Vedova, Michael X. Grey, Morgan Quigley, Yadu, Yadunund, methylDragon