Merge pull request #45 from boschglobal/main-v1.8

Main v1.8

.github/workflows/build_rolling.yml

@@ -8,22 +8,22 @@ on:
   schedule:
     # Run once per day to detect broken dependencies.
     - cron: '33 6 * * *'
-  workflow_dispatch:
 
 jobs:
   build:
-    runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
-        # os: [ ubuntu-20.04, windows-latest, macOS-latest ]
-        os: [ ubuntu-22.04 ]
-        ros_distribution: [ rolling ]
+        include:
+          - ros_distribution: "rolling"
+            os: "ubuntu-22.04"
+    runs-on: ${{ matrix.os }}
     steps:
-    - uses: ros-tooling/setup-ros@v0.3
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
-    - uses : ros-tooling/action-ros-ci@v0.2
+    - uses : ros-tooling/action-ros-ci@v0.3
       with:
         package-name: bosch_locator_bridge
         vcs-repo-file-url: ''
@@ -33,5 +33,5 @@ jobs:
             "build": {
               "mixin": ["coverage-gcc"]
             }
-          }       
+          }
         colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

.github/workflows/build_utils_galactic.yml → .github/workflows/build_utils_humble.yml

@@ -1,4 +1,4 @@
-name: "Build action (utils): Galactic"
+name: "Build action (utils): Humble"
 
 on:
   push:
@@ -16,14 +16,13 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        # os: [ ubuntu-20.04, windows-latest, macOS-latest ]
-        os: [ ubuntu-20.04 ]
-        ros_distribution: [ galactic ]
+        os: [ ubuntu-22.04 ]
+        ros_distribution: [ humble ]
     steps:
-    - uses: ros-tooling/setup-ros@v0.5
+    - uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
-    - uses : ros-tooling/action-ros-ci@v0.2
+    - uses : ros-tooling/action-ros-ci@v0.3
       with:
         package-name: bosch_locator_bridge_utils
         vcs-repo-file-url: ''

README.md

@@ -7,7 +7,7 @@
 [![Build action: Galactic](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_galactic.yml/badge.svg?branch=main)](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_galactic.yml)
 [![Build action: Humble](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_humble.yml/badge.svg?branch=main)](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_humble.yml)
 [![Build action: Rolling](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_rolling.yml/badge.svg?branch=main)](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_rolling.yml)
-[![Build action (utils): Galactic](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_utils_galactic.yml/badge.svg?branch=main)](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_utils_galactic.yml)
+[![Build action (utils): Humble](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_utils_humble.yml/badge.svg?branch=main)](https://github.com/boschglobal/locator_ros_bridge/actions/workflows/build_utils_humble.yml)
 
 ---
 **Level Up Your Mobile Robots. Rexroth ROKIT Locator – Your Easy-to-Use Laser Localization Software**

bosch_locator_bridge/CMakeLists.txt

@@ -36,6 +36,8 @@ find_package(Poco REQUIRED COMPONENTS Foundation Net JSON)
 
 set(msg_files
     "msg/ClientControlMode.msg"
+    "msg/ClientExpandMapOverwriteZoneInformation.msg"
+    "msg/ClientExpandMapVisualization.msg"
     "msg/ClientGlobalAlignLandmarkObservationNotice.msg"
     "msg/ClientGlobalAlignLandmarkVisualizationInformation.msg"
     "msg/ClientGlobalAlignVisualization.msg"
@@ -47,10 +49,12 @@ set(msg_files
 
 set(srv_files
     "srv/ClientConfigGetEntry.srv"
+    "srv/ClientExpandMapEnable.srv"
     "srv/ClientMapList.srv"
     "srv/ClientMapSend.srv"
     "srv/ClientMapSet.srv"
     "srv/ClientMapStart.srv"
+    "srv/ClientRecordingSetCurrentPose.srv"
     "srv/StartRecording.srv"
     "srv/ServerMapGetImageWithResolution.srv"
     "srv/ServerMapList.srv"

bosch_locator_bridge/README.md

@@ -83,6 +83,38 @@ When you are done, you can stop the localization with
 
     ros2 service call /bridge_node/stop_localization std_srvs/srv/Empty
 
+#### Map Expansion
+
+1. Record and build the prior map (map name: priormap) as usual.
+2. Start localization on this prior map and move until the system is localized.
+3. Make a note of the pose and do not move
+4. Enable map expansion
+    ```
+    rosservice  call /bridge_node/enable_map_expansion "prior_map_name: priormap"
+    ```
+5. Start visual recording and use the following to visualize the prior map
+    ```
+    rosrun rviz rviz -d `rospack find bosch_locator_bridge`/config/locator_bridge_visual_recording_with_prior_map.rviz
+    ```
+6. Use the pose in step 3 to set the current pose in the recording
+    ```
+    rosservice call /bridge_node/recording_set_current_pose "pose:
+        x: -0.357
+        y: 32.3
+        theta: -0.23"
+    ```
+7. Drive around to record the new area as an extension
+8. Stop visual recording
+9. Start mapping with the recording including the initial pose (map expansion is still enabled)
+    ```
+    rosrun rviz rviz -d `rospack find bosch_locator_bridge`/config/locator_bridge_map_creation_with_prior_map.rviz
+    ```
+10. Disable the map expansion
+    ```
+    rosservice  call /bridge_node/disable_map_expansion
+    ```
+
+
 ## Nodes
 
 ### bridge_node
@@ -97,150 +129,179 @@ To correctly forward the laser scan data, it is important that `ClientSensor.las
 
 * **`/scan`** ([sensor_msgs/msg/LaserScan])
 
-	The laserscan topic of the first laser to translate and forward to the ROKIT Locator.
+    The laserscan topic of the first laser to translate and forward to the ROKIT Locator.
 
 * **`/scan2`** ([sensor_msgs/msg/LaserScan])
 
-	The laserscan topic of the second laser to translate and forward to the ROKIT Locator.
+    The laserscan topic of the second laser to translate and forward to the ROKIT Locator.
 
 * **`/odom`** ([nav_msgs/msg/Odometry])
 
-	The odometry topic to translate and forward to the ROKIT Locator. Only used when `enable_odometry` is set to `true`.
+    The odometry topic to translate and forward to the ROKIT Locator. Only used when `enable_odometry` is set to `true`.
 
 * **`/initialpose`** ([geometry_msgs/msg/PoseWithCovarianceStamped])
 
-	Set a seed pose to help localization.
-	RViz by default sends a message of this type and topic when the user clicks on the "2D Pose Estimate" button in the toolbar.
+    Set a seed pose to help localization.
+    RViz by default sends a message of this type and topic when the user clicks on the "2D Pose Estimate" button in the toolbar.
 
 #### Published Topics
 
 * **`/bridge_node/client_control_mode`** ([bosch_locator_bridge/msg/ClientControlMode](./msg/ClientControlMode.msg))
 
-	The state of the different modules. See ROKIT Locator API Documentation, chapter 5 "Client Control Mode".
+    The state of the different modules. See ROKIT Locator API Documentation, chapter 5 "Client Control Mode".
 
 ##### Map Creation
 
 * **`/bridge_node/client_map_map`** ([sensor_msgs/msg/PointCloud2])
 
-	The map used for localization as point cloud.
+    The map used for localization as point cloud.
 
 * **`/bridge_node/client_map_visualization`** ([bosch_locator_bridge/msg/ClientMapVisualization](./msg/ClientMapVisualization.msg))
 
-	Describes the current state of the map creation mode.
+    Describes the current state of the map creation mode.
 
 * **`/bridge_node/client_map_visualization/pose`** ([geometry_msgs/msg/PoseStamped])
 
-	The current pose of the laser sensor during the map creation mode.
+    The current pose of the laser sensor during the map creation mode.
 
 * **`/bridge_node/client_map_visualization/scan`** ([sensor_msgs/msg/PointCloud2])
 
-	The current laser scan worked on during the map creation mode.
+    The current laser scan worked on during the map creation mode.
 
 * **`/bridge_node/client_map_visualization/path_poses`** ([geometry_msgs/msg/PoseArray])
 
-	The path of the laser sensor during the map creation mode.
+    The path of the laser sensor during the map creation mode.
 
 * **`/bridge_node/client_global_align_visualization`** ([bosch_locator_bridge/msg/ClientGlobalAlignVisualization](./msg/ClientGlobalAlignVisualization.msg))
 
-	Information on global alignment landmarks and their observations.
+    Information on global alignment landmarks and their observations.
 
 * **`/bridge_node/client_global_align_visualization/poses`** ([geometry_msgs/msg/PoseArray])
 
-	Previous poses visited by the laser sensor.
+    Previous poses visited by the laser sensor.
 
 * **`/bridge_node/client_global_align_visualization/landmarks/poses`** ([geometry_msgs/msg/PoseArray])
 
-	Poses of the estimated landmarks.
+    Poses of the estimated landmarks.
 
 ##### Map Recording
 
 * **`/bridge_node/client_recording_map`** ([sensor_msgs/msg/PointCloud2])
 
-	The map as point cloud during the recording mode.
+    The map as point cloud during the recording mode.
 
 * **`/bridge_node/client_recording_visualization`** ([bosch_locator_bridge/msg/ClientRecordingVisualization](./msg/ClientRecordingVisualization.msg))
 
-	Visualization information for the recording process.
+    Visualization information for the recording process.
 
 * **`/bridge_node/client_recording_visualization/pose`** ([geometry_msgs/msg/PoseStamped])
 
-	Latest estimated pose of the laser sensor during the recording process.
+    Latest estimated pose of the laser sensor during the recording process.
 
 * **`/bridge_node/client_recording_visualization/scan`** ([sensor_msgs/msg/LaserScan])
 
-	Latest processed laser scan during the recording process.
+    Latest processed laser scan during the recording process.
 
 * **`/bridge_node/client_recording_visualization/path_poses`** ([geometry_msgs/msg/PoseArray])
 
-	Latest path of the laser sensor during the recording process.
+    Latest path of the laser sensor during the recording process.
 
 ##### Localization
 
 * **`/bridge_node/client_localization_map`** ([sensor_msgs/msg/PointCloud2])
 
-	Map as point cloud used during localization.
+    Map as point cloud used during localization.
 
 * **`/bridge_node/client_localization_visualization`** ([bosch_locator_bridge/msg/ClientLocalizationVisualization](./msg/ClientLocalizationVisualization.msg))
 
-	Visualization information for the localization process.
+    Visualization information for the localization process.
 
 * **`/bridge_node/client_localization_visualization/pose`** ([geometry_msgs/msg/PoseStamped])
 
-	Current estimated pose during localization process.
+    Current estimated pose during localization process.
 
 * **`/bridge_node/client_localization_visualization/scan`** ([sensor_msgs/msg/PointCloud2])
 
-	Currently processed laser scan during localization.
+    Currently processed laser scan during localization.
 
 * **`/bridge_node/client_localization_pose`** ([bosch_locator_bridge/msg/ClientLocalizationPose](./msg/ClientLocalizationPose.msg))
 
-	Localization information.
+    Localization information.
 
 * **`/bridge_node/client_localization_pose/pose`** ([geometry_msgs/msg/PoseStamped])
 
-	6 DoF pose of the laser sensor during localization process.
+    6 DoF pose of the laser sensor during localization process.
 
 * **`/bridge_node/client_localization_pose/lidar_odo_pose`** ([geometry_msgs/msg/PoseStamped])
 
-	The current pose of the laser sensor, given in a relative reference frame.
+    The current pose of the laser sensor, given in a relative reference frame.
+
+##### Map Expansion
+
+* **`/bridge_node/client_expandmap_priormap`** ([sensor_msgs/PointCloud2])
+
+    Prior map as point cloud.
+
+* **`/bridge_node/client_expandmap_visualization`** ([bosch_locator_bridge/ClientExpandMapVisualization](./msg/ClientExpandMapVisualization.msg))
+
+    Map expansion information, e.g. zones.
 
 #### Services
 
 * **`/bridge_node/get_config_entry`** ([bosch_locator_bridge/srv/ClientConfigGetEntry](./srv/ClientConfigGetEntry.srv))
 
-	Returns the value of the config entry with the given name.
+    Returns the value of the config entry with the given name.
 
 * **`/bridge_node/start_visual_recording`** ([bosch_locator_bridge/srv/StartRecording](./srv/StartRecording.srv))
 
-	Starts the visual map recording under the given map name.
+    Starts the visual map recording under the given map name.
 
 * **`/bridge_node/stop_visual_recording`** ([std_srvs/srv/Empty])
 
-	Stops visual map recording.
+    Stops visual map recording.
 
 * **`/bridge_node/start_map`** ([bosch_locator_bridge/srv/ClientMapStart](./srv/ClientMapStart.srv))
 
-	Start to create a map from the data contained within a recording.
+    Start to create a map from the data contained within a recording.
 
 * **`/bridge_node/stop_map`** ([std_srvs/srv/Empty])
 
-	Stop map creation.
+    Stop map creation.
 
 * **`/bridge_node/send_map`** ([bosch_locator_bridge/srv/ClientMapSend](./srv/ClientMapSend.srv))
 
-	Send the given map to the map server. This is a prerequisite so that the map can be used for localization.
+    Send the given map to the map server. This is a prerequisite so that the map can be used for localization.
 
 * **`/bridge_node/set_map`** ([bosch_locator_bridge/srv/ClientMapSet](./srv/ClientMapSet.srv))
 
-	Set the given map to be used for localization.
+    Set the given map to be used for localization.
 
 * **`/bridge_node/start_localization`** ([std_srvs/srv/Empty])
 
-	Start self-localization within the map.
+    Start self-localization within the map.
 
 * **`/bridge_node/stop_localization`** ([std_srvs/srv/Empty])
 
-	Stop self-localization within the map.
+    Stop self-localization within the map.
+
+* **`/bridge_node/enable_map_expansion`** ([bosch_locator_bridge/ClientExpandMapEnable](./srv/ClientExpandMapEnable.srv))
+
+    Enable the map expansion
+
+* **`/bridge_node/disable_map_expansion`** ([std_srvs/Empty])
+
+    Disable the map expansion
+
+* **`/bridge_node/recording_set_current_pose`** ([bosch_locator_bridge/ClientRecordingSetCurrentPose](./srv/ClientRecordingSetCurrentPose.srv))
+
+    Set the current pose in the recording.
+    ```
+    rosservice call /bridge_node/recording_set_current_pose "pose:
+        x: -0.357
+        y: 32.3
+        theta: -0.23"
+    ```
+
 
 ### server_bridge_node
 
@@ -261,11 +322,11 @@ where
 
 * **`/server_bridge_node/get_map_with_resolution`** ([bosch_locator_bridge/srv/ServerMapGetImageWithResolution](./srv/ServerMapGetImageWithResolution.srv))
 
-	Stores the requested map in a pair of files (YAML and PNG), as is usual with ROS.
+    Stores the requested map in a pair of files (YAML and PNG), as is usual with ROS.
 
 * **`/server_bridge_node/list_server_maps`** ([bosch_locator_bridge/srv/ServerMapList](./srv/ServerMapList.srv))
 
-	Returns list of maps on map server.
+    Returns list of maps on map server.
 
 ## Caveats
 
@@ -288,7 +349,11 @@ To avoid this, make sure `LaserScan` messages are sent to the bridge before swit
 
 ## Support of earlier versions of ROKIT Locator
 
-If you have version 1.5 of ROKIT Locator, checkout the corresponding tag:
+If you have version 1.6 of ROKIT Locator, checkout the corresponding tag:
+
+    git checkout 2.1.9 -b main-v1.5
+
+And if you have version 1.5:
 
     git checkout 2.1.8 -b main-v1.5