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Adds a system which enables exporting occupancy grids. (#2958)
This PR adds a system which exports occupancy grids. Currently its a work in progress. The BFS algorithm seems to not identify when there cannot be any progress made. --------- Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
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‎BUILD.bazel‎

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@@ -821,6 +821,26 @@ gz_sim_system_libraries(
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],
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)
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gz_sim_system_libraries(
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srcs = glob(
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[
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"src/systems/free_space_explorer/**/*.cc",
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"src/systems/free_space_explorer/**/*.hh",
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],
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),
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so_lib_name = "gz-sim-free-space_explorer--system.so",
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static_lib_name = "gz-sim-free-space-explorer-system-static",
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visibility = ["//visibility:public"],
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deps = [
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":gz-sim",
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"@gz-common//graphics",
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"@gz-math",
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"@gz-msgs//:gzmsgs_cc_proto",
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"@gz-plugin//:register",
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"@gz-transport",
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],
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)
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gz_sim_system_libraries(
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srcs = glob(
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[

‎examples/worlds/export_occupancy_grid.sdf‎

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<!--
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This world demonstrates the FreeSpaceExplorer system plugin.
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A lidar will explore the world and generate an occupancy grid.
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The occupancy grid will be published as an image on the /scan_image topic.
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To start the exploration, run the following command in a new terminal:
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gz topic -t /start_exploration -m gz.msgs.Boolean -p 'data: true'
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-->
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<sdf version="1.6">
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<world name="empty">
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<gui>
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<plugin filename="ImageDisplay" name="Image Display">
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<topic>/scan_image</topic>
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</plugin>
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</gui>
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="gz-sim-contact-system"
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name="gz::sim::systems::Contact">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name="model_with_lidar">
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<pose>-1 -1 0.5 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.000166667</ixx>
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<iyy>0.000166667</iyy>
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<izz>0.000166667</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.1 0.1 0.1</size>
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</box>
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</geometry>
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</visual>
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<sensor name='gpu_lidar' type='gpu_lidar'>
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<topic>scan</topic>
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<update_rate>10</update_rate>
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<lidar>
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<scan>
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<horizontal>
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<samples>640</samples>
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<resolution>1</resolution>
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<min_angle>0</min_angle>
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<max_angle>6.28</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.08</min>
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<max>9.0</max>
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<resolution>0.01</resolution>
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</range>
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</lidar>
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<visualize>true</visualize>
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</sensor>
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</link>
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<static>true</static>
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<plugin
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filename="gz-sim-free-space-explorer-system"
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name="gz::sim::systems::FreeSpaceExplorer">
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<lidar_topic>/scan</lidar_topic>
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<image_topic>/scan_image</image_topic>
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<start_topic>/start_exploration</start_topic>
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<width>100</width>
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<height>100</height>
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<resolution>0.25</resolution>
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<sensor_link>link</sensor_link>
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</plugin>
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</model>
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<model name="cube">
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<pose>1 1 0.5 0 0 0</pose>
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<link name="box_link">
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<inertial>
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<inertia>
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<ixx>0.16666</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.16666</iyy>
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<iyz>0</iyz>
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<izz>0.16666</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="box_collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="box_visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<ambient>1 0 0 1</ambient>
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<diffuse>1 0 0 1</diffuse>
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<specular>1 0 0 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>

‎src/gui/plugins/CMakeLists.txt‎

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add_subdirectory(plot_3d)
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add_subdirectory(plotting)
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add_subdirectory(resource_spawner)
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add_subdirectory(select_entities)
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add_subdirectory(scene_manager)
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add_subdirectory(select_entities)
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add_subdirectory(shapes)
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add_subdirectory(spawn)
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add_subdirectory(transform_control)
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add_subdirectory(video_recorder)
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add_subdirectory(view_angle)
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add_subdirectory(visualization_capabilities)
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add_subdirectory(visualize_contacts)
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add_subdirectory(visualize_lidar)
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add_subdirectory(visualize_frustum)
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add_subdirectory(visualize_lidar)

‎src/systems/CMakeLists.txt‎

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add_subdirectory(environmental_sensor_system)
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add_subdirectory(follow_actor)
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add_subdirectory(force_torque)
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add_subdirectory(free_space_explorer)
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add_subdirectory(hydrodynamics)
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add_subdirectory(imu)
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add_subdirectory(joint_controller)

‎src/systems/free_space_explorer/CMakeLists.txt‎

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gz_add_system(free-space-explorer
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SOURCES
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FreeSpaceExplorer.cc
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PUBLIC_LINK_LIBS
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gz-common::gz-common
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gz-math::gz-math
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gz-plugin::core
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)

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