rmf_obstacle_ros2 (#210) #21
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* Publish nav graph Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added ObstacleManager Signed-off-by: Yadunund <yadunund@openrobotics.org> * Moved ObstacleManager into src Signed-off-by: Yadunund <yadunund@gmail.com> * Build as ROS 2 component. Dynamically load detector and responder plugins Signed-off-by: Yadunund <yadunund@gmail.com> * Refactor into data struct Signed-off-by: Yadunund <yadunund@gmail.com> * Uncrustify Signed-off-by: Yadunund <yadunund@gmail.com> * Serialize using octomap Signed-off-by: Yadunund <yadunund@openrobotics.org> * Removed ObstacleData Signed-off-by: Yadunund <yadunund@gmail.com> * Detector accepts a callback Signed-off-by: Yadunund <yadunund@gmail.com> * Export dependencies Signed-off-by: Yadunund <yadunund@gmail.com> * Export include dir Signed-off-by: Yadunund <yadunund@gmail.com> * Explicitly link pluginlib Signed-off-by: Yadunund <yadunund@gmail.com> * Keep ClassLoaders alive Signed-off-by: Yadunund <yadunund@gmail.com> * Revert to msg builder API Signed-off-by: Yadunund <yadunund@gmail.com> * Explicitly include message headers Signed-off-by: Yadunund <yadunund@gmail.com> * Add skeleton for LaneBlocker Signed-off-by: Yadunund <yadunund@gmail.com> * Use api from rmf_traffic_ros2 for graph serialization Signed-off-by: Yadunund <yadunund@openrobotics.org> * Fix typo Signed-off-by: Yadunund <yadunund@openrobotics.org> * Uncrustify Signed-off-by: Yadunund <yadunund@openrobotics.org> * Implement speed limit API and publish lane_states Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added speed limit request interface to legacy full_control Signed-off-by: Yadunund <yadunund@openrobotics.org> * Uncrustify Signed-off-by: Yadunund <yadunund@openrobotics.org> * Compute transfroms to rmf frame Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added skeletop for processing Signed-off-by: Yadunund <yadunund@openrobotics.org> * Warn users of unsupported speed limits Signed-off-by: Yadunund <yadunund@openrobotics.org> * Serialize/deserialize speed limits Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added logic for publishing lane closures Signed-off-by: Yadunund <yadunund@openrobotics.org> * Add cull timer Signed-off-by: Yadunund <yadunund@openrobotics.org> * Finished implementing cull Signed-off-by: Yadunund <yadunund@openrobotics.org> * Updated intersection checker Signed-off-by: Yadunund <yadunund@openrobotics.org> * WIP Signed-off-by: Yadunund <yadunund@openrobotics.org> * Fix tf2_geometry_msgs dep for humble Signed-off-by: Yadunund <yadunund@openrobotics.org> * Rough collision check implementation Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added tests for IntersectionChecker Signed-off-by: Yadunund <yadunund@gmail.com> * Fixes to SAT Signed-off-by: Yadunund <yadunund@gmail.com> * Debug rotation Signed-off-by: Yadunund <yadunund@gmail.com> * Kinda working Signed-off-by: Yadunund <yadunund@gmail.com> * Use lowest not min Signed-off-by: Yadunund <yadunund@gmail.com> * Added more failing tests Signed-off-by: Yadunund <yadunund@gmail.com> * Use dist Signed-off-by: Yadunund <yadunund@gmail.com> * Cleanup Signed-off-by: Yadunund <yadunund@openrobotics.org> * Many logic fixes Signed-off-by: Yadunund <yadunund@openrobotics.org> * Uncrustify Signed-off-by: Yadunund <yadunund@openrobotics.org> * Refactor Signed-off-by: Yadunund <yadunund@openrobotics.org> * Fix API and use bb msgs from rmf_obstacle_ros2 Signed-off-by: Yadunund <yadunund@gmail.com> * Simplify pkg Signed-off-by: Yadunund <yadunund@gmail.com> * Fix rmf_obstacle_ros2 intersection checker (#219) * fix intersection checker Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * fix uncrustify and build warning Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * use Eigen library for transformations Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * cleanup Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * Use local bb2d Signed-off-by: Yadunund <yadunund@gmail.com> * Uncrustify Signed-off-by: Yadunund <yadunund@gmail.com> * Added feeback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Add Speed Limit Requests (#222) * add FleetUpdateHandle speed limit API to python bindings Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * add continuous checker option for dynamic obstacles Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * refactor Lane Close and Open msg building Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * add speed limits Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * Fix style Signed-off-by: Yadunund <yadunund@openrobotics.org> * Fix const correctness and do not pass unordered_map by ref to publisher Signed-off-by: Yadunund <yadunund@openrobotics.org> Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> Signed-off-by: Yadunund <yadunund@openrobotics.org> Co-authored-by: Yadunund <yadunund@gmail.com> Co-authored-by: Yadunund <yadunund@openrobotics.org> * Filled PointCloud message Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Insert lanes with their state Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added MessageFilter to rmf_obstacles topic Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added optional return value to deserialize_key method Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Combine close/open and limit/unlimit functions Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use member variables instead of passing unordered_maps by reference between these functions Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Defined templated pure abstract class to perform serialization/deserialization Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix build Signed-off-by: Yadunund <yadunund@openrobotics.org> * Link against targets in test Signed-off-by: Yadunund <yadunund@openrobotics.org> --------- Signed-off-by: Yadunund <yadunund@openrobotics.org> Signed-off-by: Yadunund <yadunund@gmail.com> Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
Signed-off-by: Yadunund <yadunund@openrobotics.org>
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Apr 2, 2024
* rmf_obstacle_ros2 (#210) * Publish nav graph Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added ObstacleManager Signed-off-by: Yadunund <yadunund@openrobotics.org> * Moved ObstacleManager into src Signed-off-by: Yadunund <yadunund@gmail.com> * Build as ROS 2 component. Dynamically load detector and responder plugins Signed-off-by: Yadunund <yadunund@gmail.com> * Refactor into data struct Signed-off-by: Yadunund <yadunund@gmail.com> * Uncrustify Signed-off-by: Yadunund <yadunund@gmail.com> * Serialize using octomap Signed-off-by: Yadunund <yadunund@openrobotics.org> * Removed ObstacleData Signed-off-by: Yadunund <yadunund@gmail.com> * Detector accepts a callback Signed-off-by: Yadunund <yadunund@gmail.com> * Export dependencies Signed-off-by: Yadunund <yadunund@gmail.com> * Export include dir Signed-off-by: Yadunund <yadunund@gmail.com> * Explicitly link pluginlib Signed-off-by: Yadunund <yadunund@gmail.com> * Keep ClassLoaders alive Signed-off-by: Yadunund <yadunund@gmail.com> * Revert to msg builder API Signed-off-by: Yadunund <yadunund@gmail.com> * Explicitly include message headers Signed-off-by: Yadunund <yadunund@gmail.com> * Add skeleton for LaneBlocker Signed-off-by: Yadunund <yadunund@gmail.com> * Use api from rmf_traffic_ros2 for graph serialization Signed-off-by: Yadunund <yadunund@openrobotics.org> * Fix typo Signed-off-by: Yadunund <yadunund@openrobotics.org> * Uncrustify Signed-off-by: Yadunund <yadunund@openrobotics.org> * Implement speed limit API and publish lane_states Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added speed limit request interface to legacy full_control Signed-off-by: Yadunund <yadunund@openrobotics.org> * Uncrustify Signed-off-by: Yadunund <yadunund@openrobotics.org> * Compute transfroms to rmf frame Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added skeletop for processing Signed-off-by: Yadunund <yadunund@openrobotics.org> * Warn users of unsupported speed limits Signed-off-by: Yadunund <yadunund@openrobotics.org> * Serialize/deserialize speed limits Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added logic for publishing lane closures Signed-off-by: Yadunund <yadunund@openrobotics.org> * Add cull timer Signed-off-by: Yadunund <yadunund@openrobotics.org> * Finished implementing cull Signed-off-by: Yadunund <yadunund@openrobotics.org> * Updated intersection checker Signed-off-by: Yadunund <yadunund@openrobotics.org> * WIP Signed-off-by: Yadunund <yadunund@openrobotics.org> * Fix tf2_geometry_msgs dep for humble Signed-off-by: Yadunund <yadunund@openrobotics.org> * Rough collision check implementation Signed-off-by: Yadunund <yadunund@openrobotics.org> * Added tests for IntersectionChecker Signed-off-by: Yadunund <yadunund@gmail.com> * Fixes to SAT Signed-off-by: Yadunund <yadunund@gmail.com> * Debug rotation Signed-off-by: Yadunund <yadunund@gmail.com> * Kinda working Signed-off-by: Yadunund <yadunund@gmail.com> * Use lowest not min Signed-off-by: Yadunund <yadunund@gmail.com> * Added more failing tests Signed-off-by: Yadunund <yadunund@gmail.com> * Use dist Signed-off-by: Yadunund <yadunund@gmail.com> * Cleanup Signed-off-by: Yadunund <yadunund@openrobotics.org> * Many logic fixes Signed-off-by: Yadunund <yadunund@openrobotics.org> * Uncrustify Signed-off-by: Yadunund <yadunund@openrobotics.org> * Refactor Signed-off-by: Yadunund <yadunund@openrobotics.org> * Fix API and use bb msgs from rmf_obstacle_ros2 Signed-off-by: Yadunund <yadunund@gmail.com> * Simplify pkg Signed-off-by: Yadunund <yadunund@gmail.com> * Fix rmf_obstacle_ros2 intersection checker (#219) * fix intersection checker Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * fix uncrustify and build warning Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * use Eigen library for transformations Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * cleanup Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * Use local bb2d Signed-off-by: Yadunund <yadunund@gmail.com> * Uncrustify Signed-off-by: Yadunund <yadunund@gmail.com> * Added feeback Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Add Speed Limit Requests (#222) * add FleetUpdateHandle speed limit API to python bindings Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * add continuous checker option for dynamic obstacles Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * refactor Lane Close and Open msg building Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * add speed limits Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> * Fix style Signed-off-by: Yadunund <yadunund@openrobotics.org> * Fix const correctness and do not pass unordered_map by ref to publisher Signed-off-by: Yadunund <yadunund@openrobotics.org> Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> Signed-off-by: Yadunund <yadunund@openrobotics.org> Co-authored-by: Yadunund <yadunund@gmail.com> Co-authored-by: Yadunund <yadunund@openrobotics.org> * Filled PointCloud message Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Insert lanes with their state Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added MessageFilter to rmf_obstacles topic Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added optional return value to deserialize_key method Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Combine close/open and limit/unlimit functions Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Use member variables instead of passing unordered_maps by reference between these functions Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Defined templated pure abstract class to perform serialization/deserialization Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix build Signed-off-by: Yadunund <yadunund@openrobotics.org> * Link against targets in test Signed-off-by: Yadunund <yadunund@openrobotics.org> --------- Signed-off-by: Yadunund <yadunund@openrobotics.org> Signed-off-by: Yadunund <yadunund@gmail.com> Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix style Signed-off-by: Yadunund <yadunund@openrobotics.org> * Set all pkg versions to 0.0.0 Signed-off-by: Yadunund <yadunund@openrobotics.org> * Update README Signed-off-by: Yadunund <yadunund@openrobotics.org> --------- Signed-off-by: Yadunund <yadunund@openrobotics.org> Signed-off-by: Yadunund <yadunund@gmail.com> Signed-off-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Pranay Shirodkar <39498451+PranayShirodkar@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
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Transfer open-rmf/rmf_ros2#210 to this repo.