topological_rviz_tools

Rviz tool for creating a STRANDS topological map

Usage

This rviz toolset can be launched using

roslaunch topological_rviz_tools strands_rviz_topmap.launch map:=/path/to/map.yaml topmap:=topmap_pointset db_path:=/path/to/db standalone:=true

map specifies the yaml file for the map you are using, and topmap the corresponding pointset that exists in the database. db_path is used to point to the database you want to use. If standalone is true, everything needed will be run automatically. If false, it is assumed that other parts of the strands system are running (navigation and mongodb_store in particular), and only run a few additional things.

You can also add the node tool, edge tool and topological map panel to rviz individually by using the buttons for adding tools or panels. You will need to run the above launch file with standalone=false for this to work correctly.

When you launch with a database which contains a topological map, you should see something like the following:

You can move nodes around by clicking the arrow at the centre of topological nodes and dragging. The ring around the node allows you to change the orientation of the node. You can delete edges using the red arrows in the middle of edges.

The following sections give a little more detail about to tools and panel labelled in the image above.

1. The edge tool

Use this tool to create edges between nodes. Left click to select the start point of the edge, then click again to create an edge. The edge will be created between the nodes closest to the two clicks, but only if there are nodes within some distance of the clicks. Left clicking will create a bidirectional edge, whereas right clicking will create an edge only from the node closest to the first click to the second one. This tool stays on until you press escape.

The shortcut is e.

2. The node tool

This tool allows you to add nodes to the topological map. Click the tool and then click on the map to add a node in that location. Edges will automatically be added between the new node and any nodes in close proximity.

The shortcut is n.

3. Add tag button

This button allows you to add tags to nodes. You can select multiple nodes, and the tag you enter in the dialog box will be added to all of them.

4. Remove button

With this button, you can remove edges, tags, and nodes from the topological map. You can select multiple elements and they will all be removed at once.

5. Topological map panel

You can see all the elements of the topological map here. You can edit the following elements:

• Node name
• Node pose
• Node tags
• Node yaw tolerance
• Node xy tolerance
• Edge action
• Edge velocity

Ctrl-click allows you to select multiple distinct elements. Shift-click will select elements between the previously selected element and the current one.

Changelog for package topological_rviz_tools

2.4.0 (2022-01-25)

• Merge pull request #111 from adambinch/remove_strands_dependencies Removing strands navigation dependencies from topological navigation.
• update
• strands dependencies removed from topological_rviz_tools
• Merge branch 'master' of github.com:LCAS/topological_navigation into francescodelduchetto-toponav2-restrictions
• Merge branch 'master' of github.com:LCAS/topological_navigation into toponav2_launch
• Merge branch 'master' of github.com:LCAS/topological_navigation into faster_route_search2
• Merge branch 'toponav2-devel-restrictions' of github.com:francescodelduchetto/topological_navigation into toponav2-devel
• Merge branch 'master' of https://github.com/adambinch/topological_navigation into adam-master
• Contributors: Adam Binch, adambinch, francescodelduchetto

2.3.0 (2021-07-15)

• Merge branch 'master' of github.com:LCAS/topological_navigation into tmap_to_tmap2
• Merge pull request #82 from adambinch/fix_conflicts Fix conflicts
• Merge branch 'master' of github.com:LCAS/topological_navigation into fix_conflicts # Conflicts: # topological_navigation/scripts/execute_policy_server.py # topological_navigation/scripts/navigation.py
• Contributors: Adam Binch, adambinch
• Merge branch 'master' of github.com:LCAS/topological_navigation into tmap_to_tmap2
• Merge pull request #82 from adambinch/fix_conflicts Fix conflicts
• Merge branch 'master' of github.com:LCAS/topological_navigation into fix_conflicts # Conflicts: # topological_navigation/scripts/execute_policy_server.py # topological_navigation/scripts/navigation.py
• Contributors: Adam Binch, adambinch

2.1.0 (2020-04-20)

• Merge pull request #8 from heuristicus/move_topo_rviz_tools Move topo rviz tools from strands_navigation
• added install for topmap interface
• 1.2.0
• updated changelogs
• 1.1.0
• changelogs
• 1.0.8
• updated changelogs
• 1.0.7
• updated changelogs
• added install for extra dirs (#365)
• Standalone easier to run on strands robots Would have to run with rviz=false and then run rviz on the main PC if the database is on on of the side PCs. With this change can run the database on the side PC and then run this with launch_db:=false to not have to run rviz separately
• 1.0.6
• updated changelogs
• 1.0.5
• updated changelogs
• update of absolute/relative topic names for multi-robot setup
• more descriptive names for topics displayed in rviz
• Can now place nodes with RMB to stop automatic edge creation Fix deletion dialogue, edges and tags were swapped
• Adding waiting for services
• Update topological_edge_tool.cpp
• Adding waiting for the add_node service
• Update strands_rviz_topmap.launch
• 1.0.4
• updated changelogs
• set version to 1.0.3 as the rest of repository
• add standalone flag for when navigation is running
• Topmap editor (#344)
  • Initial commit
  • initial slightly modified clone of plantflag tutorial
  • Add slightly modified clone of rviz views panel
  • Plugin and tool now load properly

  * Shuffling things around, taking code from existing rviz property Looks like properties are the best way to look at things from rviz. Kind of a rudimentary approximation of messages. Not sure of the best way to transfer data back to the map once we want to change it, but that will come once we can view the map data in the panel.

  • finally have compiling base classes to modify
  • renamed classes
  • fix function call parens
  • panel displays some default values
  • More work on getting nodes and edges represented in the panel

  * Rearrange property orderings Property ordering is nodecontroller \^ | nodeproperty (per node) \^ \^ / poseproperty edgecontroller \^ | edgeproperty (per edge) Controllers are intended as a way of adding nodes and edges from the topological map while keeping everything contained somewhat nicely in its own class * Finally linked to topmap topic Still not able to see edges. They are being added, but not displayed in the panel. Something to do with the edge controller? * Now properly displays edges in each node EdgeController was missing the base class initialisation from its constructor.

  • slots for node updates connected

  * Start on python interface node to allow access to topmap modification Add custom rviz config to use for topmap modification, plus launch file

  • update launch to allow proper viewing of topmap

  * Now correctly refreshes on change, constructors filled in Very inefficient - repopulates all properties when anything in the map changes. Constructors all use delete. This should be changed later to not use pointers. Currently has a segfault when a pose property is modified, think it's because the current node is deleted and there is still something else referencing it. * First attempt at not replacing all properties when one is modified Connected slot in node property to node controller to notify on modification of xy threshold and yaw etc, need to do the same for pose and edge properties and see if knowing which node was changed can help fix the problem.

  • finally able to modify poses without crash
  • fix only partial deletion of properties on new map
  • fix weird space-colon

  * Easier translational movement of waypoints, generic node field updater Moving the waypoints that are displayed in the topological map in rviz is now easier - just uses 2D planar motion as opposed to multiple handles for the x and y dimensions. Added a function which calls into the database to update any property of a node.

  • linked name changing

  * Prevent possibility of node name duplication Also added resets to the previous value of the property when a service call fails, so that the properties reflect the actual values.

  • Now possible to add and remove nodes via rviz
  • can now use the edge tool to add edges

  * Fixed not loading map after update, correctly updates edges on node rename This should really not be the file being used - it seems like the one in util is used to change things and as such is more up to date. * Adding nodes now done via tool Click tool, then click on map to add node. Add shortcuts for edge tool (e), and node tool (n). * Fix edge property name, bidirectional with left click Also fix node tool disabling

  • use dummy navigation
  • remove unnecessary if
  • Show arrow when creating edge, disallow edges to self
  • rename package and namespace
  • updated launch file and rviz config
  • update import in interface script, add db path to args
  • update function for edge action and top_vel
  • allow edge property editing for action and top_vel
  • add localise by topic to node prop (read only)
  • add deprecation warnings to topological_map.py - should use manager.py instead
  • start on work to make manager services more useful for modifying map

  * initial work on tags for nodes still needs work in the manager to retrieve tags for specific nodes

  • add callback for getting tags for a specific node
  • hide tag controller property if node has no tags
  • partial switch to the using manager, updating and adding tags

  * tag addition and modification, move to manager.py in progress started moving topological map update to the panel rather than node controller so we can decide whether to update or not more easily

  • fix message fields and add messages to generation

  * redirect most calls to manager rather than interface Removed/moved messages to strands navigation msgs so that the manager can perform all required tasks Map updates triggered in the topological map panel as opposed to at the node level

  • move to subdirectory in preparation for PR
  • small script to insert empty map into a database
  • more sensible paths
  • add edge removal service
  • allow removal of tags and edges from panel
  • add confirmation dialog for remove button
  • add readme
  • little more in the readme
  • nodes in panel sorted, fix occasional segfault due iterate/delete
  • change callbacks so that functions can be called without service
  • update edge and update tolerance now pass both params
  • Readme mentions standalone flag
  • add note about using tools in arbitrary rviz session
  • try and stop compilation issue with AddEdge not being found
  • add dependency on the project messages to library generation
• Contributors: Bruno Lacerda, Jaime Pulido Fentanes, Jenkins, LCAS build farm, Lenka Mudrova, Marc Hanheide, Michal Staniaszek, Nick Hawes