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| name: CI | ||
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| on: [push, pull_request] | ||
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| jobs: | ||
| industrial_ci: | ||
| strategy: | ||
| matrix: | ||
| env: | ||
| - {ROS_DISTRO: melodic, ROS_REPO: main} | ||
| - {ROS_DISTRO: noetic, ROS_REPO: main} | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - uses: actions/checkout@v1 | ||
| - uses: 'ros-industrial/industrial_ci@master' | ||
| env: ${{matrix.env}} |
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| # Temporal Heat Map for Human Occupancy - Heatmap generation | ||
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| [](https://opensource.org/licenses/Apache-2.0) | ||
| [](https://hub.docker.com/r/<org>/<repo>/) | ||
| <br/> | ||
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| [](https://thmho-heatmap-generator.readthedocs.io/en/latest/?badge=latest) | ||
| [](https://github.com/ramp-eu/TTE.project1/actions?query=workflow%3ACI) | ||
| [](https://coveralls.io/github/ramp-eu/TTE.project1?branch=master) | ||
| [](https://www.codacy.com/gh/ramp-eu/THMHO_heatmap_generator/dashboard?utm_source=github.com&utm_medium=referral&utm_content=ramp-eu/THMHO_heatmap_generator&utm_campaign=Badge_Grade) | ||
| [](https://bestpractices.coreinfrastructure.org/projects/5132) | ||
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| This project is part of [DIH^2](http://www.dih-squared.eu/). For more information check the RAMP Catalogue entry for the | ||
| [components](https://github.com/ramp-eu). | ||
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| | :books: [Documentation](https://thmho-lidar-node.readthedocs.io/en/latest/README.html) | :whale: [Docker Hub](https://hub.docker.com) | | ||
| | --------------------------------------------- | ------------------------------------------------------------- | | ||
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| ## Contents | ||
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| - [Background](#background) | ||
| - [Install](#install) | ||
| - [Usage](#usage) | ||
| - [API](#api) | ||
| - [Testing](#testing) | ||
| - [Feedback](#feedback) | ||
| - [Contribution](#contribution) | ||
| - [License](#license) | ||
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| ## Background | ||
| ### Objective | ||
| The objective of the package is to create the temporal heatmaps that show for each 1 m2, and each 1 hour of each workday the rate of human occupancy. | ||
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| ## Install | ||
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| Information about how to install the `THMHO_heatmap_generator` can be found at the corresponding section of the [Installation & Administration Guide](docs/installationguide.md). | ||
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| ## Usage | ||
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| Information about how to use the `THMHO_heatmap_generator` can be found in the [User & Programmers Manual](docs/usermanual.md). | ||
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| ## Testing | ||
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| ### Troubleshooting | ||
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| - Message `Requesting the map...` on terminal or `No map received` in RViz | ||
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| The file pointed by `sim_map_file` (for simulation) or `real_map_file` (for real laser scanners) in `factory_sim/launch/factory.launch` may not exist in the workspace. | ||
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| - No heatmap is vizualized in `RViz` | ||
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| If `Costmap` is not visualized as well, verify if the laser scan `topic` names specified in `factory_sim/config/costmap_params.yaml` are correct, and if the `tf` tree is published correctly. | ||
| If `Costmap` is visualized, it should be noted that the first heatmap is published after the time specified by `aggregation_time` argument for `heatmap_generator` node in `factory_sim/launch/factory.launch`. The default value is 3600, i.e. 1 hour. | ||
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| ## Feedback | ||
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| Any feedback and suggestions can be submitted by creating New issue in the Issues tab or by emailing the team. | ||
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| ## Contribution | ||
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| In order to contribute you will have to request to be added to the project. | ||
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| ## License | ||
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| The project is licensed under the [Apache-2](https://opensource.org/licenses/Apache-2.0) license. |
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| observation_sources: scan scan_2 scan_3 | ||
| scan: {sensor_frame: sensor_laser, data_type: LaserScan, topic: /sensors/laser_scan, marking: true, clearing: true, | ||
| expected_update_rate: 0.4, max_obstacle_height: 1.0, min_obstacle_height: 0.0, obstacle_range: 10.0} | ||
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| scan_2: {sensor_frame: sensor_laser_2, data_type: LaserScan, topic: /sensors/laser_scan_2, marking: true, clearing: true, | ||
| expected_update_rate: 0.4, max_obstacle_height: 1.0, min_obstacle_height: 0.0, obstacle_range: 10.0} | ||
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| plugins: | ||
| - {name: static_map, type: "costmap_2d::StaticLayer"} | ||
| - {name: obstacles, type: "costmap_2d::ObstacleLayer"} |
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| #!/usr/bin/env python3 | ||
| import rospy | ||
| from nav_msgs.msg import OccupancyGrid | ||
| from scipy.sparse import csr_matrix | ||
| import numpy as np | ||
| import requests | ||
| import time | ||
| from datetime import datetime | ||
| import sys | ||
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| class HeatmapSaver(object): | ||
| def __init__(self): | ||
| self.url = 'http://localhost:5000/insert' | ||
| self.urlsparse = 'http://localhost:5000/insparse' | ||
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| self.heatmap_subscriber = rospy.Subscriber( | ||
| "/costmap_generator/costmap/costmap", OccupancyGrid, self.save_heatmap) | ||
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| costmap = rospy.wait_for_message("/map", OccupancyGrid, timeout=100) | ||
| self.width = costmap.info.width | ||
| self.height = costmap.info.height | ||
| self.size = (self.height, self.width) | ||
| self.mask = np.array(costmap.data).reshape(self.size).astype(bool) | ||
| self.mask = (~self.mask).astype(int) | ||
| self.mask = csr_matrix(self.mask) | ||
| body = { | ||
| 'name': 'base_mask', | ||
| 'width': self.width, | ||
| 'height': self.height, | ||
| 'indices': self.mask.indices.tolist(), | ||
| 'indptr': self.mask.indptr.tolist(), | ||
| } | ||
| requests.post(self.urlsparse, json = body) | ||
| self.mask = self.mask.toarray() | ||
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| def save_heatmap(self, msg): | ||
| data = np.array(msg.data).reshape(self.size) | ||
| try: | ||
| masked_data = csr_matrix(data * self.mask) | ||
| date = datetime.now().isoformat() | ||
| body = { | ||
| 'date': date, | ||
| 'data': msg.data | ||
| } | ||
| body_csr = { | ||
| 'date': date, | ||
| 'indices': masked_data.indices.tolist(), | ||
| 'indptr': masked_data.indptr.tolist(), | ||
| } | ||
| requests.post(self.url, json = body) | ||
| requests.post(self.urlsparse, json = body_csr) | ||
| print(f"Inserted registry in both databases at {date}") | ||
| except Exception as e: | ||
| print(e) | ||
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| if __name__ == '__main__': | ||
| rospy.init_node('heatmap_saver', anonymous=True) | ||
| heatmap = HeatmapSaver() | ||
| time.sleep(5) | ||
| rospy.spin() | ||
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| site_name: <site-name> | ||
| site_url: https://<site-url> | ||
| repo_url: https://github.com/<repo_url> | ||
| site_description: RAMP Documentation | ||
| site_name: THMHO Heatmap Generator | ||
| site_url: https://github.com/ipa320/THMHO_heatmap_generator | ||
| repo_url: https://github.com/ipa320/THMHO_heatmap_generator | ||
| site_description: THMHO Heatmap Generator Documentation | ||
| docs_dir: docs | ||
| site_dir: html | ||
| edit_uri: edit/master/doc/ | ||
| markdown_extensions: [toc,fenced_code] | ||
| use_directory_urls: false | ||
| theme: readthedocs | ||
| pages: | ||
| - Home: 'index.md' | ||
| nav: | ||
| - Home: 'README.md' | ||
| - 'Getting Started' : 'getting-started.md' | ||
| - 'User & Programmers Manual': | ||
| - 'Architecture' : 'architecture.md' | ||
| - 'API' : 'api.md' | ||
| - 'User Guide': 'usermanual.md' | ||
| - 'Installation & Administration Manual': | ||
| - 'Installation Guide': 'installationguide.md' | ||
| - 'Installation Guide': 'installationguide.md' |