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Repository Summary
| Description | |
| Checkout URI | https://github.com/navigation-gridmap/extended_map_server.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-05-23 |
| 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) |
Packages
| Name | Version |
|---|---|
| extended_map_server | 0.1.0 |
| extended_mapping_msgs | 0.1.0 |
README
Extended Map Server
This is part of my final degree work at the Universidad Rey Juan Carlos, Madrid, Spain, in the research group Intelligent Robotics Lab, headed by Francisco Martín Rico (@fmrico).
-
Incorporated
grid_mapandoctomapto themap_serverandmap_saver, in order to use Nav2 with non-planar maps. Therefore,grid_mapandoctomapdependencies where added to the package. -
Previous functionality conserved, allowing retrocompatibility
-
Added tests
How to use:
I added an example.yaml, example.pgm, example_ele.pgm, and example_octo.ot to extended_map_server/test so it can be tried out easily.
Serving the maps
At navigation2/extended_map_server/test, the file example.yaml is:
image: example.pgm
mode: trinary
resolution: 0.2
origin: [0, 0, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25
# elevation layer
elevation_image: example_ele.pgm
min_height: -1.16
max_height: 1.88
# octomap
octomap_file: example_octo.ot
binary: false
min_height and max_height are necessary to convert the scale from the image pixels to a real metric value.
Note: octomap section is not necessary to load a grid_map with elevation information and grid_map section is not necessary to load and serve the octomap file.
With this file and topic_name parameter set to “map” (default):
$ ros2 run extended_map_server map_server --ros-args -p yaml_filename:=example.yaml
.....
.....
$ ros2 lifecycle set /map_server 1
Transition succesful
$ ros2 lifecycle set /map_server 3
Transition succesful
It creates 3 topics:
-
/$(topic_name): OccupancyGrid -
/grid_map_$(topic_name): GridMap withelevationandoccupancy(the same map as in /$(topic_name)) layers. -
/octomap_$(topic_name): Octomap
Saving the maps
When saving the maps, behaviour changes depending on the type of the topic and whether or not an octomap topic is specified.
- If the target map topic is a
nav_msgs/msg/OccupancyGridonly a image of the 2d map is saved (the same as before). - If the target map topic is a
grid_map_msgs/msg/GridMapit will save the 2d map from theoccupancylayer and the heigth information from theelevationlayer. - Additionally, if an octomap topic is specified, the octomap file is saved and its name written to the yaml file.
With the topics created from the previous example:
$ ros2 run extended_map_server map_saver_cli -t /grid_map_map --octo_t /octomap_map -f example_saving
[INFO] [1674527902.388702271] [map_saver]:
map_saver lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information.
[INFO] [1674527902.388795721] [map_saver]: Creating
[INFO] [1674527902.388959642] [map_saver]: Configuring
[INFO] [1674527902.390605276] [map_saver]: Saving map (occupancy + elevation) from '/grid_map_map' topic to 'example_saving' file
[WARN] [1674527902.390625391] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
[WARN] [1674527902.390642502] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
===> saveGridmapTopicToFile
[WARN] [map_io]: Image format unspecified. Setting it to: pgm
[INFO] [map_io]: Received a 300 X 300 map @ 0.2 m/pix
[INFO] [map_io]: Writing map occupancy data to example_saving.pgm
[WARN] [map_io]: Image format unspecified. Setting it to: pgm
[INFO] [map_io]: Received a 300 X 300 map @ 0.2 m/pix
[INFO] [map_io]: Writing map occupancy data to example_saving_ele.pgm
[WARN] [map_io]: Image format unspecified. Setting it to: pgm
[INFO] [map_io]: Writing map metadata to example_saving.yaml
[INFO] [map_io]: Writing map metadata to example_saving.yaml
[INFO] [map_io]: Map saved
[INFO] [1674527902.460199348] [map_saver]: Map saved successfully
===> saveOctomapTopicToFile
[INFO] [1674527902.460453576] [map_saver]: Saving octomap (3D obstacles) from '/octomap_map' topic to 'example_saving' file
[WARN] [map_io]: Occupied threshold unspecified. Setting it to default value: 0.65
[WARN] [map_io]: Free threshold unspecified. Setting it to default value: 0.25
[WARN] [map_io]: Image format unspecified. Setting it to: pgm
Map received (87 nodes, 0.2 m res), saving toexample_saving_octo.ot
[INFO] [map_io]: Writing octomap metadata to example_saving.yaml
[INFO] [map_io]: Octomap saved
[INFO] [1674527902.473389494] [map_saver]: Map saved successfully
[INFO] [1674527902.473791509] [map_saver]: Destroying
example_saving.yaml:
image: example_saving_ele.pgm
mode: trinary
resolution: 0.2
origin: [0, 0, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.25
# elevation layer
elevation_image: example_saving_ele.pgm
min_height: -1.16
max_height: 1.88
# octomap
octomap_file: example_saving_octo.ot
binary: false
To create these topics to save the files from a Gazebo world simulation, the fmrico/gazebo_gridmap_plugin can be used.
CONTRIBUTING
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