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Port terrain planner benchmark to ROS 2
* Only ported the terrain_planner_benchmark_node so far, the rest are excluded Signed-off-by: Ryan Friedman <[email protected]>
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@@ -1,88 +1,65 @@ | ||
cmake_minimum_required(VERSION 2.8.12) | ||
cmake_minimum_required(VERSION 3.14.4) | ||
project(terrain_planner_benchmark) | ||
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||
add_definitions(-std=c++17 -Wall) | ||
if(NOT CMAKE_C_STANDARD) | ||
set(CMAKE_C_STANDARD 99) | ||
endif() | ||
if(NOT CMAKE_CXX_STANDARD) | ||
set(CMAKE_CXX_STANDARD 17) | ||
endif() | ||
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||
find_package(GDAL) | ||
find_package(OpenCV REQUIRED) | ||
find_package(ompl REQUIRED) | ||
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find_package(catkin REQUIRED COMPONENTS | ||
eigen_catkin | ||
grid_map_core | ||
grid_map_cv | ||
grid_map_msgs | ||
grid_map_ros | ||
grid_map_pcl | ||
grid_map_geo | ||
terrain_navigation | ||
terrain_planner | ||
) | ||
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||
catkin_package( | ||
INCLUDE_DIRS include | ||
LIBRARIES terrain_planner_benchmark | ||
) | ||
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include_directories( | ||
${catkin_INCLUDE_DIRS} | ||
include | ||
${Boost_INCLUDE_DIR} | ||
${Eigen_INCLUDE_DIRS} | ||
${GeographicLib_INCLUDE_DIRS} | ||
${OMPL_INCLUDE_DIR} | ||
) | ||
# Set policy for 3.16 for CMP0076 defaulting to ON | ||
cmake_policy(VERSION 3.16) | ||
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||
add_library(${PROJECT_NAME} | ||
src/terrain_planner_benchmark.cpp | ||
) | ||
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) | ||
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${GeographicLib_LIBRARIES} ${OMPL_LIBRARIES}) | ||
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
add_compile_options(-Wall -Wextra -Wpedantic) | ||
endif() | ||
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||
add_executable(terrain_planner_benchmark_node | ||
src/terrain_planner_benchmark_node.cpp | ||
) | ||
add_dependencies(terrain_planner_benchmark_node ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY}) | ||
target_link_libraries(terrain_planner_benchmark_node ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES} pthread) | ||
find_package(ament_cmake REQUIRED) | ||
find_package(GDAL 3.5) | ||
find_package(OpenCV REQUIRED) | ||
find_package(ompl REQUIRED) | ||
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||
add_executable(ompl_benchmark_node | ||
src/ompl_benchmark_node.cpp | ||
) | ||
add_dependencies(ompl_benchmark_node ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY}) | ||
target_link_libraries(ompl_benchmark_node ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES} pthread) | ||
find_package(grid_map_core REQUIRED) | ||
find_package(grid_map_cv REQUIRED) | ||
find_package(grid_map_msgs REQUIRED) | ||
find_package(grid_map_ros REQUIRED) | ||
find_package(grid_map_pcl REQUIRED) | ||
find_package(grid_map_geo REQUIRED) | ||
find_package(terrain_navigation REQUIRED) | ||
find_package(Boost REQUIRED) # Workaround for terrain_planner not exporting this correctly | ||
find_package(terrain_planner REQUIRED) | ||
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||
add_executable(test_ics | ||
src/test_ics.cpp | ||
) | ||
add_dependencies(test_ics ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY}) | ||
target_link_libraries(test_ics ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES} ${OMPL_LIBRARIES}) | ||
add_library(${PROJECT_NAME}) | ||
add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME}) | ||
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||
add_executable(test_rrt_replanning_node | ||
src/test_rrt_replanning_node.cpp | ||
target_include_directories(${PROJECT_NAME} | ||
PUBLIC | ||
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" | ||
) | ||
add_dependencies(test_rrt_replanning_node ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY}) | ||
target_link_libraries(test_rrt_replanning_node ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES} ${OMPL_LIBRARIES}) | ||
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||
add_executable(surface_visualization | ||
src/surface_visualization.cpp | ||
) | ||
add_dependencies(surface_visualization ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY}) | ||
target_link_libraries(surface_visualization ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES} ${OMPL_LIBRARIES}) | ||
add_executable(terrain_planner_benchmark_node) | ||
add_executable(ompl_benchmark_node EXCLUDE_FROM_ALL) | ||
add_executable(test_ics EXCLUDE_FROM_ALL) | ||
add_executable(test_rrt_replanning_node EXCLUDE_FROM_ALL) | ||
add_executable(surface_visualization EXCLUDE_FROM_ALL) | ||
add_executable(test_dubins_classification EXCLUDE_FROM_ALL) | ||
add_executable(run_replay EXCLUDE_FROM_ALL) | ||
add_executable(test_rrt_circle_goal EXCLUDE_FROM_ALL) | ||
add_subdirectory(src) | ||
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||
add_executable(test_dubins_classification | ||
src/test_dubins_classification.cpp | ||
include(GNUInstallDirs) | ||
install( | ||
TARGETS | ||
terrain_planner_benchmark_node | ||
EXPORT export_${PROJECT_NAME} | ||
DESTINATION lib/${PROJECT_NAME} | ||
) | ||
add_dependencies(test_dubins_classification ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY}) | ||
target_link_libraries(test_dubins_classification ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES} ${OMPL_LIBRARIES}) | ||
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||
add_executable(run_replay | ||
src/rviz_replay.cpp | ||
install(DIRECTORY | ||
launch | ||
resource | ||
DESTINATION share/${PROJECT_NAME}/ | ||
) | ||
add_dependencies(run_replay ${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY}) | ||
target_link_libraries(run_replay ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES} ${OMPL_LIBRARIES}) | ||
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add_executable(test_rrt_circle_goal | ||
src/test_rrt_circle_goal.cpp | ||
) | ||
add_dependencies(test_rrt_circle_goal terrain_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${GDAL_LIBRARY}) | ||
target_link_libraries(test_rrt_circle_goal ${PROJECT_NAME} ${catkin_LIBRARIES} ${GDAL_LIBRARY} ${OpenCV_LIBRARIES} ${OMPL_LIBRARIES}) | ||
ament_package() |
Empty file.
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# Terrain Planner Benchmark | ||
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## Terrain Planner Benchmark Node | ||
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```bash | ||
ros2 launch terrain_planner_benchmark goaltype_benchmark.launch | ||
``` |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,54 @@ | ||
target_sources(${PROJECT_NAME} | ||
PRIVATE | ||
terrain_planner_benchmark.cpp | ||
) | ||
target_link_libraries(${PROJECT_NAME} | ||
PUBLIC | ||
terrain_navigation::terrain_navigation | ||
terrain_planner::terrain_planner | ||
${OpenCV_LIBRARIES} ${GeographicLib_LIBRARIES} ${OMPL_LIBRARIES} | ||
) | ||
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target_sources(${PROJECT_NAME}_node | ||
PRIVATE | ||
terrain_planner_benchmark_node.cpp | ||
) | ||
target_link_libraries(${PROJECT_NAME}_node | ||
PRIVATE | ||
${PROJECT_NAME}::${PROJECT_NAME} rclcpp::rclcpp ${geometry_msgs_TARGETS} | ||
) | ||
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target_sources(ompl_benchmark_node | ||
PRIVATE | ||
ompl_benchmark_node.cpp | ||
) | ||
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target_sources(test_ics | ||
PRIVATE | ||
test_ics.cpp | ||
) | ||
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target_sources(test_rrt_replanning_node | ||
PRIVATE | ||
test_rrt_replanning_node.cpp | ||
) | ||
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target_sources(surface_visualization | ||
PRIVATE | ||
surface_visualization.cpp | ||
) | ||
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target_sources(test_dubins_classification | ||
PRIVATE | ||
test_dubins_classification.cpp | ||
) | ||
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target_sources(run_replay | ||
PRIVATE | ||
rviz_replay.cpp | ||
) | ||
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target_sources(test_rrt_circle_goal | ||
PRIVATE | ||
test_rrt_circle_goal.cpp | ||
) |
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@@ -38,45 +38,51 @@ | |
* @author Jaeyoung Lim <[email protected]> | ||
*/ | ||
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#include <geometry_msgs/Point.h> | ||
#include <ros/ros.h> | ||
#include <terrain_navigation/terrain_map.h> | ||
#include <tf2/LinearMath/Quaternion.h> | ||
#include <tf2_eigen/tf2_eigen.h> | ||
#include <tf2_geometry_msgs/tf2_geometry_msgs.h> | ||
#include <visualization_msgs/MarkerArray.h> | ||
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#include <geometry_msgs/msg/point.hpp> | ||
#include <grid_map_ros/GridMapRosConverter.hpp> | ||
#include <rclcpp/rclcpp.hpp> | ||
#include <tf2_eigen/tf2_eigen.hpp> | ||
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp> | ||
#include <visualization_msgs/msg/marker_array.hpp> | ||
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#include "terrain_planner/common.h" | ||
#include "terrain_planner/terrain_ompl_rrt.h" | ||
#include "terrain_planner/visualization.h" | ||
#include "terrain_planner_benchmark/terrain_planner_benchmark.h" | ||
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int main(int argc, char** argv) { | ||
ros::init(argc, argv, "ompl_rrt_planner"); | ||
ros::NodeHandle nh(""); | ||
ros::NodeHandle nh_private("~"); | ||
rclcpp::init(argc, argv); | ||
auto node = rclcpp::Node::make_shared("ompl_rrt_planner"); | ||
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// Initialize ROS related publishers for visualization | ||
auto start_pos_pub = nh.advertise<visualization_msgs::Marker>("start_position", 1, true); | ||
auto goal_pos_pub = nh.advertise<visualization_msgs::Marker>("goal_position", 1, true); | ||
auto path_pub = nh.advertise<nav_msgs::Path>("path", 1, true); | ||
auto interpolate_path_pub = nh.advertise<nav_msgs::Path>("interpolated_path", 1, true); | ||
auto path_segment_pub = nh.advertise<visualization_msgs::MarkerArray>("path_segments", 1, true); | ||
auto grid_map_pub = nh.advertise<grid_map_msgs::GridMap>("grid_map", 1, true); | ||
auto trajectory_pub = nh.advertise<visualization_msgs::MarkerArray>("tree", 1, true); | ||
std::string map_path, color_file_path, output_file_dir, location; | ||
int number_of_runs; | ||
nh_private.param<std::string>("map_path", map_path, ""); | ||
nh_private.param<std::string>("location", location, ""); | ||
nh_private.param<std::string>("color_file_path", color_file_path, ""); | ||
nh_private.param<std::string>("output_directory", output_file_dir, ""); | ||
nh_private.param<int>("number_of_runs", number_of_runs, 10); | ||
auto start_pos_pub = | ||
node->create_publisher<visualization_msgs::msg::Marker>("start_position", rclcpp::QoS(1).transient_local()); | ||
auto goal_pos_pub = | ||
node->create_publisher<visualization_msgs::msg::Marker>("goal_position", rclcpp::QoS(1).transient_local()); | ||
auto path_pub = node->create_publisher<nav_msgs::msg::Path>("path", rclcpp::QoS(1).transient_local()); | ||
auto interpolate_path_pub = | ||
node->create_publisher<nav_msgs::msg::Path>("interpolated_path", rclcpp::QoS(1).transient_local()); | ||
auto path_segment_pub = | ||
node->create_publisher<visualization_msgs::msg::MarkerArray>("path_segments", rclcpp::QoS(1).transient_local()); | ||
auto grid_map_pub = node->create_publisher<grid_map_msgs::msg::GridMap>("grid_map", rclcpp::QoS(1).transient_local()); | ||
auto trajectory_pub = | ||
node->create_publisher<visualization_msgs::msg::MarkerArray>("tree", rclcpp::QoS(1).transient_local()); | ||
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auto const map_path = node->declare_parameter("map_path", ""); | ||
auto const location = node->declare_parameter("location", ""); | ||
auto const color_file_path = node->declare_parameter("color_file_path", ""); | ||
auto const output_file_dir = node->declare_parameter("output_directory", ""); | ||
auto const number_of_runs = node->declare_parameter("number_of_runs", 10); | ||
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// Load terrain map from defined tif paths | ||
auto terrain_map = std::make_shared<TerrainMap>(); | ||
terrain_map->initializeFromGeotiff(map_path, false); | ||
if (!terrain_map->initializeFromGeotiff(map_path)) { | ||
RCLCPP_ERROR_STREAM(node->get_logger(), "Unable to load geotiff from '" << map_path << "'!"); | ||
return 1; | ||
} | ||
if (!color_file_path.empty()) { // Load color layer if the color path is nonempty | ||
terrain_map->addColorFromGeotiff(color_file_path); | ||
} | ||
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