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SteveMacenskiSteveMacenski
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Eloquent pr test (#13)
* initial dashing port * fixing initialization declare * linting * bump dashing to 2.0.1 to release in dashing * bump test (#12) * bump test * adding build icon and test deps * include updated build icon * adding eloquent updates
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‎CMakeLists.txt‎

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@@ -1,91 +1,114 @@
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cmake_minimum_required(VERSION 2.8.3)
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cmake_minimum_required(VERSION 3.5)
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project(nonpersistent_voxel_layer)
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find_package(catkin REQUIRED
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COMPONENTS
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cmake_modules
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dynamic_reconfigure
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geometry_msgs
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laser_geometry
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map_msgs
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message_filters
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message_generation
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nav_msgs
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pcl_conversions
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pcl_ros
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pluginlib
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roscpp
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sensor_msgs
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std_msgs
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tf
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visualization_msgs
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voxel_grid
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costmap_2d
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)
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find_package(PCL REQUIRED)
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remove_definitions(-DDISABLE_LIBUSB-1.0)
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if(NOT WIN32)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(laser_geometry REQUIRED)
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find_package(map_msgs REQUIRED)
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find_package(message_filters REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(nav2_msgs REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(visualization_msgs REQUIRED)
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find_package(nav2_voxel_grid REQUIRED)
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find_package(nav2_costmap_2d REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system thread)
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find_package(PCL REQUIRED COMPONENTS filters common)
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if(NOT "${PCL_LIBRARIES}" STREQUAL "")
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# This package fails to build on Debian Stretch with a linking error against
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# 'Qt5::Widgets'. This is a transitive dependency that comes in to PCL via
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# the PCL dependency on VTK. However, we don't actually care about the Qt
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# dependencies for this package, so just remove them. This is similar to the
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# workaround in https://github.com/ros-perception/perception_pcl/pull/151,
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# and can be removed when Stretch goes out of support.
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list(REMOVE_ITEM PCL_LIBRARIES
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"vtkGUISupportQt"
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"vtkGUISupportQtOpenGL"
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"vtkGUISupportQtSQL"
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"vtkGUISupportQtWebkit"
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"vtkViewsQt"
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"vtkRenderingQt")
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endif()
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set(dependencies
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geometry_msgs
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laser_geometry
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map_msgs
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message_filters
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nav_msgs
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pcl_conversions
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pluginlib
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sensor_msgs
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nav2_msgs
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rclcpp
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std_msgs
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tf2
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tf2_ros
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visualization_msgs
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nav2_voxel_grid
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nav2_costmap_2d)
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set(library_name nonpersistent_voxel_layer_core)
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add_definitions(${EIGEN3_DEFINITIONS})
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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)
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add_definitions(${EIGEN3_DEFINITIONS})
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add_library(${library_name} SHARED
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plugins/nonpersistent_voxel_layer.cpp
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)
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# dynamic reconfigure
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generate_dynamic_reconfigure_options(
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cfg/NonPersistentVoxelPlugin.cfg
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target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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target_link_libraries(${library_name}
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${PCL_LIBRARIES}
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${EIGEN3_LIBRARIES}
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)
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES nonpersistent_voxel_layer
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CATKIN_DEPENDS
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dynamic_reconfigure
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geometry_msgs
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laser_geometry
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map_msgs
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costmap_2d
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message_filters
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message_runtime
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nav_msgs
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pcl_ros
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pluginlib
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roscpp
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sensor_msgs
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std_msgs
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tf
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visualization_msgs
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voxel_grid
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DEPENDS
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PCL
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EIGEN3
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Boost
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ament_target_dependencies(${library_name}
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${dependencies}
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)
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add_library(nonpersistent_voxel_layer
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plugins/nonpersistent_voxel_layer.cpp
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(TARGETS ${library_name}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION lib
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)
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add_dependencies(nonpersistent_voxel_layer ${PROJECT_NAME}_gencfg)
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target_link_libraries(nonpersistent_voxel_layer ${catkin_LIBRARIES})
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install(TARGETS
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nonpersistent_voxel_layer
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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install(DIRECTORY example
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DESTINATION share
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)
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84106
install(FILES costmap_plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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DESTINATION share
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)
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install(DIRECTORY include/nonpersistent_voxel_layer/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
90-
PATTERN ".svn" EXCLUDE
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)
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ament_export_include_directories(include)
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ament_export_libraries(${library_name})
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ament_export_dependencies(${dependencies})
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pluginlib_export_plugin_description_file(nav2_costmap_2d costmap_plugins.xml)
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ament_package()

‎README.md‎

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# nonpersistent_voxel_layer [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__navigation__ubuntu_xenial_amd64__binary)](http://build.ros.org/job/Kdev__nonpersistent_voxel_layer__ubuntu_xenial_amd64/)
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# nonpersistent_voxel_layer [![Build Status](http://build.ros2.org/buildStatus/icon?job=Edev__nonpersistent_voxel_layer__ubuntu_bionic_amd64)](http://build.ros2.org/job/Edev__nonpersistent_voxel_layer__ubuntu_bionic_amd64/)
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<a href="https://www.buymeacoffee.com/stevemacenski" target="_blank"><img src="https://www.buymeacoffee.com/assets/img/custom_images/orange_img.png" alt="Buy Me A Coffee" style="height: 41px !important;width: 174px !important;box-shadow: 0px 3px 2px 0px rgba(190, 190, 190, 0.5) !important;-webkit-box-shadow: 0px 3px 2px 0px rgba(190, 190, 190, 0.5) !important;" ></a>
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ROS drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.
5+
ROS2 drop in replacement to the voxel layer which does not persist readings through iterations when ray tracing or map maintenance is undesirable.
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Bloom released, install via
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```
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sudo apt-get update && sudo apt-get install ros-kinetic-nonpersistent-voxel-layer
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sudo apt-get update && sudo apt-get install ros-eloquent-nonpersistent-voxel-layer
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```
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1313
Created in response to need for a rolling local costmap layer to not persist readings due to a specific sensor being used. After looking through the community, it seems several people on ros answers have asked for a similar tool. This is to make that possible. This also helps with sensors like sonars, blob marking, radars, etc that aren't dense enough to clear effectively.
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Build and tested on ROS1 Kinetic, verified working in Indigo and Melodic
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1715
http://wiki.ros.org/nonpersistent_voxel_grid
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## Example Use
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2119
### in costmap commons
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```
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nonpersisting_obstacle_layer:
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enabled: true
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track_unknown_space: true
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max_obstacle_height: 1.8
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unknown_threshold: 15
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mark_threshold: 2
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combination_method: 1
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obstacle_range: 3.0
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origin_z: 0.
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z_resolution: 0.05
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z_voxels: 16
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publish_voxel_map: true
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observation_sources: rgbd
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rgbd:
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data_type: PointCloud2
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topic: camera/depth/points
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marking: true
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min_obstacle_height: 0.7
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max_obstacle_height: 1.7
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global_costmap:
22+
global_costmap:
23+
ros__parameters:
24+
nonpersisting_obstacle_layer:
25+
enabled: true
26+
track_unknown_space: true
27+
max_obstacle_height: 1.8
28+
unknown_threshold: 15
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mark_threshold: 2
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combination_method: 1
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obstacle_range: 3.0
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origin_z: 0.
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z_resolution: 0.05
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z_voxels: 16
35+
publish_voxel_map: true
36+
observation_sources: rgbd
37+
rgbd:
38+
data_type: PointCloud2
39+
topic: camera/depth/points
40+
marking: true
41+
min_obstacle_height: 0.7
42+
max_obstacle_height: 1.7
4243
```
4344
### in list of plugins for local/global
4445
```
45-
plugins:
46-
- {name: nonpersisting_obstacle_layer, type: "costmap_2d::NonPersistentVoxelLayer"}
46+
global_costmap:
47+
global_costmap:
48+
ros__parameters:
49+
use_sim_time: True
50+
plugin_names: ["static_layer", "nonpersisting_obstacle_layer"]
51+
plugin_types: ["nav2_costmap_2d::StaticLayer", "nav2_costmap_2d::NonPersistentVoxelLayer"]
4752
```
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## parameters

‎cfg/NonPersistentVoxelPlugin.cfg‎

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This file was deleted.

‎costmap_plugins.xml‎

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<class_libraries>
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<library path="lib/libnonpersistent_voxel_layer">
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<class type="costmap_2d::NonPersistentVoxelLayer" base_class_type="costmap_2d::Layer">
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<description>Similar to voxel costmap, but 3D stored data is not saved between iterations.</description>
5-
</class>
6-
</library>
7-
</class_libraries>
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<library path="nonpersistent_voxel_layer_core">
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<class name="nav2_costmap_2d/NonPersistentVoxelLayer" type="nav2_costmap_2d::NonPersistentVoxelLayer" base_class_type="nav2_costmap_2d::Layer">
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<description>Similar to voxel costmap, but 3D stored data is not saved between iterations.</description>
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</class>
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</library>

‎example/costmap_config.yaml‎

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Original file line numberDiff line numberDiff line change
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# in costmap commons
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nonpersisting_obstacle_layer:
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enabled: true
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track_unknown_space: true
5-
max_obstacle_height: 1.7
6-
unknown_threshold: 15
7-
mark_threshold: 0
8-
combination_method: 1
9-
obstacle_range: 3.0
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origin_z: 0.2
11-
z_resolution: 0.1
12-
z_voxels: 16
13-
publish_voxel_map: true
14-
observation_sources: rgbd
15-
rgbd:
16-
data_type: PointCloud2
17-
topic: camera/depth/points
18-
marking: true
19-
min_obstacle_height: 0.7
20-
max_obstacle_height: 1.7
1+
global_costmap:
2+
global_costmap:
3+
ros__parameters:
4+
# in costmap commons
5+
nonpersisting_obstacle_layer:
6+
enabled: true
7+
track_unknown_space: true
8+
max_obstacle_height: 1.7
9+
unknown_threshold: 15
10+
mark_threshold: 0
11+
combination_method: 1
12+
obstacle_range: 10.0
13+
origin_z: 0.0
14+
z_resolution: 0.05
15+
z_voxels: 16
16+
publish_voxel_map: true
17+
observation_sources: rgbd
18+
rgbd:
19+
data_type: PointCloud2
20+
topic: camera/depth/points
21+
marking: true
22+
min_obstacle_height: 0.0
23+
max_obstacle_height: 1.7
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22-
# in list of plugins for local/global
23-
plugins:
24-
- {name: nonpersisting_obstacle_layer, type: "costmap_2d::NonPersistentVoxelLayer"}
25+
# in list of plugins for local/global
26+
plugins:
27+
- {name: nonpersisting_obstacle_layer, type: "nav2_costmap_2d/NonPersistentVoxelLayer"}

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