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tms_ur_construction package from ros2_tms_for_construction repo

tms_db_manager tms_msg_db tms_msg_rp tms_msg_ts tms_msg_ur tms_sd_ground tms_sd_terrain tms_sd_theta tms_sp_machine tms_sp_sample tms_sp_sensing tms_ss_terrain_static tms_tf_gui sensing_msgs tms_ts_launch tms_ts_manager tms_ts_subtask tms_ur_button_input tms_ur_construction tms_ur_test

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Package Summary

Tags No category tags.
Version 0.0.0
License Apache License, Version 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/irvs/ros2_tms_for_construction.git
VCS Type git
VCS Version main
Last Updated 2024-12-13
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The tms_ur_construction package

Additional Links

Maintainers

  • Ryuichi Maeda

Authors

  • Ryuichi Maeda
tms_ur/tms_ur_construction/README.md

tms_ur_construction

tms_ur_construction is a package for getting construction data (ex. machine’s location, terrain, hardness of ground) and publishing them.

Usecase

1. Run tms_db_reader or tms_db_manager

Detail description is here.

Receive requests from clients and return data in ROS2-TMS database to the clients.

Reader

ros2 launch tms_db_manager tms_db_reader.launch.py db_host:=localhost db_port:=27017

Reader and Writer

ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=false

2. Run tms_ur_construction

1. cv_odom, construction_ground, construction_terrain

After the below command, nodes are executed that request data to a service node and publish response data.

ros2 launch tms_ur_construction tms_ur_construction_launch.py output/occupancy_grid:=/topic/of/occupancy_grid latest:=true filename:=cloud.pcd voxel_size:=0.5

Services / Actions / Outputs

Services

Name Type Description
tms_db_reader tms_msg_db::srv::TmsdbGetData get data stored in ROS2-TMS database

Actions

Name Type Description
tms_db_reader_gridfs tms_msg_db::action::TmsdbGridFS get GridFS data stored in ROS2-TMS database

Outputs

Name Type Description
/output/occupancy_grid nav_msgs::msg::OccupancyGrid heatmap showing the hardness of the ground
/output/terrain/static_srv tms_msg_db::srv::TerrainStaticSrv return point cloud data of static terrain to service client
/output/terrain/dynamic/pointcloud2 sensor_msgs::msg::PointCloud2 point cloud data of dynamic terrain
/output/odom nav_msgs::msg::Odometry location of machine

Parameters

Name Type Default Value Description
latest bool False whether to get the latest data
filename string filename .pcd file name stored in ROS2-TMS database
voxel_size float 0.0 voxel size of downsampling

2. construction_terrain_mesh

After the below command, a node is executed that requests mesh’s .ply file info to a action service node and publishes Mesh converted from the file.

ros2 launch tms_ur_construction tms_ur_construction_terrain_mesh_launch.py output/terrain/mesh_srv:=/srv/of/mesh filename_mesh:=mesh.ply

Actions / Outputs

Actions

Name Type Description
tms_db_reader_gridfs tms_msg_db::action::TmsdbGridFS get GridFS data stored in ROS2-TMS database

Outputs

Name Type Description
/output/terrain/mesh_srv tms_msg_db::srv::ColoredMeshSrv return mesh data of static terrain to service client

Parameters

Name Type Default Value Description
filename_mesh string filename_mesh .pcd file name stored in ROS2-TMS database
voxel_size float 0.0 voxel size of downsampling
alpha float 1.0 alpha shapes of mesh

3. construction_theta

After the below command, a node is executed that requests jpeg image data to a service node and publish response data.

ros2 launch tms_ur_construction tms_ur_construction_theta_launch.py output/theta/compressed:=/topic/of/compressed_image latest:=true theta_name:=theta

Services / Outputs

Services

Name Type Description
tms_db_reader tms_msg_db::srv::TmsdbGetData get data stored in ROS2-TMS database

Outputs

Name Type Description
/output/theta/compressed sensor_msgs::msg::CompressedImage a jpeg imag taken by a 360-degree camera

Parameters

Name Type Default Value Description
latest bool False whether to get the latest data
theta_name string theta_name 360-degree camera name to identify ground from the ROS2-TMS database

4. ground_mesh

After the below command, a node is executed that requests ground and terrain mesh data to a service node and publish terrain mesh reflecting ground data.

ros2 launch tms_ur_construction tms_ur_construction_terrain_mesh_launch.py output/terrain/mesh_srv:=/srv/of/mesh filename_mesh:=mesh.ply
ros2 launch tms_ur_construction tms_ur_ground_mesh_launch.py output/ground_mesh:=/topic/of/mesh timer_period:=10

Services / Outputs

Services

Name Type Description
tms_db_reader tms_msg_db::srv::TmsdbGetData get data stored in ROS2-TMS database
/output/terrain/mesh_srv tms_msg_db::srv::ColoredMeshSrv return mesh data of static terrain to service client

Outputs

Name Type Description
/output/ground_mesh tms_msg_db::msg::ColoredMesh terrain mesh reflecting ground data

Parameters

Name Type Default Value Description
timer_period int 10 publisher’s timer_period

5. construction_terrain_dem

After the below command, a node is executed that requests dem’s .npy file info to a action service node and publishes DEM converted from the file.

ros2 launch tms_ur_construction tms_ur_construction_terrain_dem_launch.py output/terrain/dem_srv:=/srv/of/dem filename_dem:=dem.npy resolution:=1.0

Actions / Outputs

Actions

Name Type Description
tms_db_reader_gridfs tms_msg_db::action::TmsdbGridFS get GridFS data stored in ROS2-TMS database

Outputs

Name Type Description
/output/terrain/dem_srv tms_msg_db::srv::DemSrv return DEM data of static terrain to service client

Parameters

Name Type Default Value Description
filename_dem string filename_dem.npy .npy file name stored in ROS2-TMS database
resolution float 0.1 resolution of DEM
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

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