Renamed pkg mrpt_local_obstacles -> mrpt_pointcloud_pipeline to refle…

…ct new capabilities
mrpt-ros-pkg · Jan 3, 2024 · 828eb83 · 828eb83
1 parent 68ec68a
commit 828eb83
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Showing 13 changed files with 25 additions and 23 deletions.
diff --git a/README.md b/README.md
@@ -24,7 +24,9 @@ Related to localization:
 * [mrpt_pf_localization](mrpt_pf_localization): A node for particle filter-based localization of a robot from any kind of metric map (gridmap, points, range-only sensors, ...).
 
 Related to sensor pipelines:
-* [mrpt_local_obstacles](mrpt_local_obstacles): A node that maintains a local obstacle map, mostly needed for 2D lidars to keep a memory of obstacles that get out of the sensor field of view.
+* [mrpt_pointcloud_pipeline](mrpt_pointcloud_pipeline): A node that maintains a local obstacle map from recent sensor readings, including optional point cloud pipeline filtering or processing. For example,
+  - For 3D LIDARs, to filter by a volume or area, downsample the number of points, etc.
+  - For 2D laser scanners, to keep a memory of obstacles that get out of the sensor field of view.
 
 Related to autonomous navigation:
 * [mrpt_reactivenav2d](mrpt_reactivenav2d): A pure reactive navigator for polygonal robots on 2D worlds.

diff --git a/mrpt_map/CMakeLists.txt b/mrpt_map/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(nav_msgs REQUIRED)
 
 find_package(mrpt-maps REQUIRED)
 find_package(mrpt-ros2bridge REQUIRED)
+find_package(mp2p_icp_map REQUIRED)
 
 message(STATUS "MRPT_VERSION: ${MRPT_VERSION}")
 
@@ -54,6 +55,7 @@ target_include_directories(map_server_node
 target_link_libraries(map_server_node
   mrpt::maps
   mrpt::ros2bridge
+  mola::mp2p_icp_map
 )
 
 ament_target_dependencies(

diff --git a/mrpt_map/package.xml b/mrpt_map/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>mrpt2</depend>
+  <depend>mp2p_icp</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>nav_msgs</depend>

diff --git a/mrpt_navigation/package.xml b/mrpt_navigation/package.xml
@@ -16,7 +16,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>mrpt_local_obstacles</depend>
+  <depend>mrpt_pointcloud_pipeline</depend>
   <depend>mrpt_pf_localization</depend>
   <depend>mrpt_map</depend>
   <depend>mrpt_rawlog</depend>

diff --git a/mrpt_local_obstacles/CHANGELOG.rst → mrpt_pointcloud_pipeline/CHANGELOG.rst b/mrpt_local_obstacles/CHANGELOG.rst → mrpt_pointcloud_pipeline/CHANGELOG.rst
@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package mrpt_local_obstacles
+Changelog for package mrpt_pointcloud_pipeline
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 1.0.3 (2022-06-25)
@@ -129,7 +129,7 @@ Changelog for package mrpt_local_obstacles
 
 0.1.5 (2015-04-29)
 ------------------
-* mrpt_local_obstacles: Fix wrong report of number of scan sources
+* mrpt_pointcloud_pipeline: Fix wrong report of number of scan sources
 * Fix build against mrpt 1.3.0
 * Contributors: Jose Luis Blanco
 

diff --git a/mrpt_local_obstacles/CMakeLists.txt → mrpt_pointcloud_pipeline/CMakeLists.txt b/mrpt_local_obstacles/CMakeLists.txt → mrpt_pointcloud_pipeline/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(mrpt_local_obstacles)
+project(mrpt_pointcloud_pipeline)
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
@@ -39,12 +39,11 @@ IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
 ENDIF()
 
 
-find_package(mp2p_icp REQUIRED)
 find_package(mp2p_icp_filters REQUIRED)
 
 add_executable(${PROJECT_NAME}_node
-              src/mrpt_local_obstacles_node.cpp
-              include/mrpt_local_obstacles/mrpt_local_obstacles_node.hpp)
+              src/mrpt_pointcloud_pipeline_node.cpp
+              include/mrpt_pointcloud_pipeline/mrpt_pointcloud_pipeline_node.h)
 
 target_include_directories(${PROJECT_NAME}_node
                            PUBLIC
@@ -58,7 +57,7 @@ target_link_libraries(
   mrpt::obs
   mrpt::gui
   mrpt::ros2bridge
-  mp2p_icp_filters
+  mola::mp2p_icp_filters
 )
 
 ament_target_dependencies(

diff --git a/...l_obstacles/mrpt_local_obstacles_node.hpp → ..._pipeline/mrpt_pointcloud_pipeline_node.h b/...l_obstacles/mrpt_local_obstacles_node.hpp → ..._pipeline/mrpt_pointcloud_pipeline_node.h
diff --git a/...l_obstacles/launch/demo_with_mvsim.launch → ...ud_pipeline/launch/demo_with_mvsim.launch b/...l_obstacles/launch/demo_with_mvsim.launch → ...ud_pipeline/launch/demo_with_mvsim.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
 	<!-- Node: Local obstacles builder -->
-	<node pkg="mrpt_local_obstacles" type="mrpt_local_obstacles_node" name="mrpt_local_obstacles_node" output="screen">
+	<node pkg="mrpt_pointcloud_pipeline" type="mrpt_pointcloud_pipeline_node" name="mrpt_pointcloud_pipeline_node" output="screen">
 		<param name="source_topics_2dscan" value="laser1,laser2"/> 
 	</node>
 

diff --git a/...bstacles/launch/demo_with_mvsim.launch.py → ...pipeline/launch/demo_with_mvsim.launch.py b/...bstacles/launch/demo_with_mvsim.launch.py → ...pipeline/launch/demo_with_mvsim.launch.py
@@ -35,10 +35,10 @@ def generate_launch_description():
     )
 
     # Node: Local obstacles builder
-    mrpt_local_obstacles_node = Node(
-        package='mrpt_local_obstacles',
-        executable='mrpt_local_obstacles_node',
-        name='mrpt_local_obstacles_node',
+    mrpt_pointcloud_pipeline_node = Node(
+        package='mrpt_pointcloud_pipeline',
+        executable='mrpt_pointcloud_pipeline_node',
+        name='mrpt_pointcloud_pipeline_node',
         output='screen',
         parameters=[
             {'source_topics_2dscan': LaunchConfiguration('lidar_topic_name')},
@@ -70,5 +70,5 @@ def generate_launch_description():
         time_window_arg,
         filter_yaml_file_arg,
         filter_output_layer_name_arg,
-        mrpt_local_obstacles_node
+        mrpt_pointcloud_pipeline_node
     ])
diff --git a/...ch/local-obstacles-decimation-filter.yaml → ...ch/local-obstacles-decimation-filter.yaml b/...ch/local-obstacles-decimation-filter.yaml → ...ch/local-obstacles-decimation-filter.yaml
diff --git a/mrpt_local_obstacles/package.xml → mrpt_pointcloud_pipeline/package.xml b/mrpt_local_obstacles/package.xml → mrpt_pointcloud_pipeline/package.xml
@@ -1,10 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>mrpt_local_obstacles</name>
+  <name>mrpt_pointcloud_pipeline</name>
   <version>1.0.3</version>
-  <description>Maintains a local obstacle map (point cloud,
-   voxels or occupancy grid) from recent sensor readings within a
-   configurable time window.</description>
+  <description>Maintains a local obstacle map from recent sensor readings, including optional point cloud pipeline filtering or processing.</description>
 
   <maintainer email="[email protected]">Jose-Luis Blanco-Claraco</maintainer>
   <maintainer email="[email protected]">Shravan S Rai</maintainer>
@@ -16,7 +14,6 @@
 
   <url type="website">https://github.com/mrpt-ros-pkg/mrpt_navigation</url>
 
-
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>mrpt2</depend>

diff --git a/...stacles/src/mrpt_local_obstacles_node.cpp → ...ine/src/mrpt_pointcloud_pipeline_node.cpp b/...stacles/src/mrpt_local_obstacles_node.cpp → ...ine/src/mrpt_pointcloud_pipeline_node.cpp
@@ -6,7 +6,8 @@
    | All rights reserved. Released under BSD 3-Clause license. See LICENSE  |
    +------------------------------------------------------------------------+ */
 
-#include <mrpt_local_obstacles/mrpt_local_obstacles_node.hpp>
+#include <mrpt_pointcloud_pipeline/mrpt_pointcloud_pipeline_node.h>
+
 #include <sstream>
 
 #include "rclcpp_components/register_node_macro.hpp"
@@ -18,7 +19,7 @@ using namespace mrpt::maps;
 using namespace mrpt::obs;
 
 LocalObstaclesNode::LocalObstaclesNode(const rclcpp::NodeOptions& options)
-	: Node("mrpt_local_obstacles", options)
+	: Node("mrpt_pointcloud_pipeline", options)
 {
 	read_parameters();
 

diff --git a/mrpt_reactivenav2d/launch/reactive_nav_demo_with_mvsim.launch b/mrpt_reactivenav2d/launch/reactive_nav_demo_with_mvsim.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
 	<!-- Node: Local obstacles builder -->
-	<node pkg="mrpt_local_obstacles" type="mrpt_local_obstacles_node" name="mrpt_local_obstacles_node" output="screen">
+	<node pkg="mrpt_pointcloud_pipeline" type="mrpt_pointcloud_pipeline_node" name="mrpt_pointcloud_pipeline_node" output="screen">
 		<param name="source_topics_2dscan" value="laser1,laser2"/>
 		<param name="show_gui" value="false"/>
 	</node>