From d13fe65937c523acc7dacbcac46bbd761497724c Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 9 Dec 2024 21:15:51 +0100 Subject: [PATCH 1/8] test parameters --- mesh_navigation_tutorials/config/mbf_mesh_nav.yaml | 12 +++++++++--- .../launch/mbf_mesh_navigation_server_launch.py | 4 +++- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml index 246dbc3..14ada86 100644 --- a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml +++ b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml @@ -30,7 +30,13 @@ move_base_flex: cmd_vel_ignored_tolerance: 10.0 mesh_map: - mesh_part: 'mesh' + mesh_file: '/home/amock/mesh_nav_ws/src/mesh_navigation_tutorials/mesh_navigation_tutorials/maps/parking_garage.ply' + mesh_part: '/' + + mesh_working_file: 'parking_garage.h5' + mesh_working_part: 'mesh' + + hem: pmp # pmp (default), lvr layers: ['border', 'height_diff', 'roughness', 'inflation'] @@ -53,8 +59,8 @@ move_base_flex: inflation: type: 'mesh_layers/InflationLayer' factor: 1.0 - inflation_radius: 0.4 - inscribed_radius: 0.2 + inflation_radius: 0.2 + inscribed_radius: 0.4 lethal_value: 1.0 inscribed_value: 0.8 repulsive_field: false diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 73808c5..1db8d72 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -60,8 +60,10 @@ def generate_launch_description(): ], parameters=[ mbf_mesh_nav_config, - {"mesh_map.mesh_file": mesh_map_path}, + # {"mesh_map.mesh_file": mesh_map_path}, ], + arguments=['--ros-args', '--log-level', ['move_base_flex:=', 'DEBUG']], + prefix=['xterm -e gdb --args'] ) return LaunchDescription( From b1257246434811e26aa0a56563ee4eecc01e9779 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Thu, 12 Dec 2024 01:08:59 +0100 Subject: [PATCH 2/8] working version with lvr-update branches --- mesh_navigation_tutorials/config/mbf_mesh_nav.yaml | 8 +++++--- .../launch/mbf_mesh_navigation_server_launch.py | 14 +++++++++++--- .../launch/mesh_navigation_tutorial_launch.py | 3 ++- 3 files changed, 18 insertions(+), 7 deletions(-) diff --git a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml index 14ada86..c984562 100644 --- a/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml +++ b/mesh_navigation_tutorials/config/mbf_mesh_nav.yaml @@ -30,12 +30,14 @@ move_base_flex: cmd_vel_ignored_tolerance: 10.0 mesh_map: - mesh_file: '/home/amock/mesh_nav_ws/src/mesh_navigation_tutorials/mesh_navigation_tutorials/maps/parking_garage.ply' + # input + # mesh_file: '/home/amock/mesh_nav_ws/src/mesh_navigation_tutorials/mesh_navigation_tutorials/maps/parking_garage.ply' mesh_part: '/' - - mesh_working_file: 'parking_garage.h5' + # storage + # mesh_working_file: 'parking_garage.h5' mesh_working_part: 'mesh' + # half-edge-mesh implementation hem: pmp # pmp (default), lvr layers: ['border', 'height_diff', 'roughness', 'inflation'] diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 1db8d72..936fe0e 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -44,8 +44,13 @@ def generate_launch_description(): "mesh_map_path", description="Path to the mesh file that defines the map.", ), + DeclareLaunchArgument( + "mesh_map_working_path", + description="Path to the mesh file that defines the map.", + ), ] mesh_map_path = LaunchConfiguration("mesh_map_path") + mesh_map_working_path = LaunchConfiguration("mesh_map_working_path") mbf_mesh_nav_config = os.path.join( get_package_share_directory("mesh_navigation_tutorials"), "config", "mbf_mesh_nav.yaml" @@ -60,10 +65,13 @@ def generate_launch_description(): ], parameters=[ mbf_mesh_nav_config, - # {"mesh_map.mesh_file": mesh_map_path}, + { + "mesh_map.mesh_file": mesh_map_path, + "mesh_map.mesh_working_file": mesh_map_working_path + } ], - arguments=['--ros-args', '--log-level', ['move_base_flex:=', 'DEBUG']], - prefix=['xterm -e gdb --args'] + # arguments=['--ros-args', '--log-level', ['move_base_flex:=', 'DEBUG']], + # prefix=['xterm -e gdb --args'] ) return LaunchDescription( diff --git a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py index a2a6783..bebf849 100644 --- a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py +++ b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py @@ -165,9 +165,10 @@ def generate_launch_description(): [ pkg_mesh_navigation_tutorials, "maps", - PythonExpression(['"', map_name, '" + ".h5"']), + PythonExpression(['"', map_name, '" + ".ply"']), ] ), + "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) }.items(), ) From 3b2f3744b27b2923fc713f5231f78505b5cc5040 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Fri, 20 Dec 2024 10:27:31 +0100 Subject: [PATCH 3/8] added lvr update branch to CI --- source_dependencies.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source_dependencies.yaml b/source_dependencies.yaml index d4a5d2c..b81e474 100644 --- a/source_dependencies.yaml +++ b/source_dependencies.yaml @@ -4,7 +4,7 @@ repositories: lvr2: type: git url: https://github.com/uos/lvr2.git - version: humble + version: version-upgrade mesh_tools: type: git url: https://github.com/naturerobots/mesh_tools.git From 0f1d2bd0bff6688eaa0112b956e976f935dac643 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Fri, 20 Dec 2024 10:58:52 +0100 Subject: [PATCH 4/8] changed mesh tools branch in source dependencies --- source_dependencies.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source_dependencies.yaml b/source_dependencies.yaml index b81e474..8649711 100644 --- a/source_dependencies.yaml +++ b/source_dependencies.yaml @@ -8,11 +8,11 @@ repositories: mesh_tools: type: git url: https://github.com/naturerobots/mesh_tools.git - version: humble + version: lvr-update mesh_navigation: type: git url: https://github.com/naturerobots/mesh_navigation.git - version: humble + version: lvr-update move_base_flex: type: git url: https://github.com/naturerobots/move_base_flex.git From 2198b86410ac885db24b4b437244d82f668e9d70 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 23 Dec 2024 13:13:26 +0100 Subject: [PATCH 5/8] added descriptions --- .../launch/mbf_mesh_navigation_server_launch.py | 8 +++----- .../launch/mesh_navigation_tutorial_launch.py | 4 ++-- 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 936fe0e..2ab2d4c 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -42,11 +42,11 @@ def generate_launch_description(): launch_args = [ DeclareLaunchArgument( "mesh_map_path", - description="Path to the mesh file that defines the map.", + description="Path to the mesh file that defines the map. Allowed formats are our internal HDF5 format and all standard mesh formats loadable by Assimp.", ), DeclareLaunchArgument( "mesh_map_working_path", - description="Path to the mesh file that defines the map.", + description="Path to the mesh file used by the mesh navigation to store costs during operation. Only HDF5 formats are permitted.", ), ] mesh_map_path = LaunchConfiguration("mesh_map_path") @@ -69,9 +69,7 @@ def generate_launch_description(): "mesh_map.mesh_file": mesh_map_path, "mesh_map.mesh_working_file": mesh_map_working_path } - ], - # arguments=['--ros-args', '--log-level', ['move_base_flex:=', 'DEBUG']], - # prefix=['xterm -e gdb --args'] + ] ) return LaunchDescription( diff --git a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py index bebf849..8b84c37 100644 --- a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py +++ b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py @@ -52,9 +52,9 @@ def generate_launch_description(): # Launch arguments available_map_names = [ - f[:-3] + f[:-4] for f in os.listdir(os.path.join(pkg_mesh_navigation_tutorials, "maps")) - if f.endswith(".h5") + if f.endswith(".dae") ] launch_args = [ From f95f88a28e12021d422db20faa71e8fbebabe20b Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 23 Dec 2024 13:25:40 +0100 Subject: [PATCH 6/8] added more comments --- .../launch/mesh_navigation_tutorial_launch.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py index 8b84c37..f263bb7 100644 --- a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py +++ b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py @@ -50,13 +50,16 @@ def generate_launch_description(): # Comment Alex: One can have different maps for same worlds # Is this to much choice for a tutorial? - # Launch arguments + # Loading a map files with the following extension + mesh_nav_map_ext = ".ply" + available_map_names = [ - f[:-4] + f[:-len(mesh_nav_map_ext)] for f in os.listdir(os.path.join(pkg_mesh_navigation_tutorials, "maps")) - if f.endswith(".dae") + if f.endswith(mesh_nav_map_ext) ] + # Launch arguments launch_args = [ DeclareLaunchArgument( "map_name", @@ -165,10 +168,10 @@ def generate_launch_description(): [ pkg_mesh_navigation_tutorials, "maps", - PythonExpression(['"', map_name, '" + ".ply"']), + PythonExpression(['"', map_name, mesh_nav_map_ext, '"']), # loading a map from here ] ), - "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) + "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) # working on a local copy (as HDF5 format) }.items(), ) From e025f113de14a6cf365bd8522082eb790ecde1f6 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 23 Dec 2024 14:09:34 +0100 Subject: [PATCH 7/8] line-length --- .../launch/mbf_mesh_navigation_server_launch.py | 7 +++++-- .../launch/mesh_navigation_tutorial_launch.py | 4 ++-- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 2ab2d4c..69be2df 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -42,11 +42,14 @@ def generate_launch_description(): launch_args = [ DeclareLaunchArgument( "mesh_map_path", - description="Path to the mesh file that defines the map. Allowed formats are our internal HDF5 format and all standard mesh formats loadable by Assimp.", + description="Path to the mesh file that defines the map." + "Allowed formats are our internal HDF5 format and all" + "standard mesh formats loadable by Assimp.", ), DeclareLaunchArgument( "mesh_map_working_path", - description="Path to the mesh file used by the mesh navigation to store costs during operation. Only HDF5 formats are permitted.", + description="Path to the mesh file used by the mesh navigation " + "to store costs during operation. Only HDF5 formats are permitted.", ), ] mesh_map_path = LaunchConfiguration("mesh_map_path") diff --git a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py index f263bb7..6684ea7 100644 --- a/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py +++ b/mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py @@ -168,10 +168,10 @@ def generate_launch_description(): [ pkg_mesh_navigation_tutorials, "maps", - PythonExpression(['"', map_name, mesh_nav_map_ext, '"']), # loading a map from here + PythonExpression(['"', map_name, mesh_nav_map_ext, '"']), ] ), - "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) # working on a local copy (as HDF5 format) + "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"']) }.items(), ) From e07be30f11321c046c5541be9e7fb7d1832b9157 Mon Sep 17 00:00:00 2001 From: Alexander Mock Date: Mon, 23 Dec 2024 14:48:35 +0100 Subject: [PATCH 8/8] removed trailing whitespace --- .../launch/mbf_mesh_navigation_server_launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py index 69be2df..42d17a6 100644 --- a/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py +++ b/mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py @@ -42,7 +42,7 @@ def generate_launch_description(): launch_args = [ DeclareLaunchArgument( "mesh_map_path", - description="Path to the mesh file that defines the map." + description="Path to the mesh file that defines the map." "Allowed formats are our internal HDF5 format and all" "standard mesh formats loadable by Assimp.", ),