rmf_visualization v2.0

[Yadunund]

Depends on

• Fleet adapter publishes its navigation graph rmf_ros2#207

This PR is a complete overhaul of most of the packages in this repository without breaking behavior in any of the rmf_demos launch files. The only public facing API is in rmf_visualization_schedule but no API + ABI breaking changes should have been made. In addition, it adds the following new packages

1. rmf_visualization_navgraphs : Visualize the navigation graphs of each fleet along with lane closures and speed limits. Previously, the rmf_visualization_schedule was publishing the navgraphs for the entire building. This has been removed as it does not support updates to lane markers since it lacks mapping to the navgraphs used by the fleet adapters

2. rmf_visualization_obstacles: Visualize obstacles published over /rmf_obstacles.

3. rmf_visualization_floorplans: Publish floorplan images. (Separated from rmf_visaulization_schedule).

Build instructions

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to rmf_visualization

Test

Launch any of the demo worlds in rmf_demos_gz or rmf_demos_ign. No other changes needed.

Detailed changelogs are provided below

rmf_visualization_obstacles

• ROS 2 component for publishing obstacle markers
• Markers are published to /fleet_markers but under the obstacles namespace. This prevents the need to update every single .rviz config file out there to subscribe to a new marker topic.

rmf_visualization_schedule

• Re-written as ROS 2 Component
• Runs on a single executor
• Argparse parameters replaced with ROS 2 params
• Navgraph and floorplan marker publishing separated into rmf_visualization_navgraphs and rmf_visualization_floorplans resp.

rmf_visualization_fleet_states

• Re-written with rclcpp as a ROS 2 Component
• Reduce memory footprint
• Fix bug with lingering robot markers despite switching maps
• FLEET_NAME_radius param can be set to provide accurate scale of robot markers. Relative scale of nose marker used to indicate robot heading can also be set as ROS 2 param.

rmf_visualization_navgraphs

• ROS 2 Component publishing lane markers representing navgraphs published by the fleet adapters. Lanes and waypoints + text have matching colors.
• Closed lanes turn grey
• Speed limited lanes have narrower widths
• Lane width, waypoint size, lane transparency can be set via ROS 2 params

navgraphs.viz.mp4

rmf_visualization_floorplans

• ROS 2 component to publish the floorplan for a level as an OccupancyGrid. The images from BuildingMap msg is used.
• If multiple images are provided, they will be fused into a single one

rmf_visualization_building_systems

• No changes yet

rmf_visualization

• Updated visualization.launch.xml launch file with suitable executables and parameters

[codecov]

Codecov Report

Merging #44 (e32f363) into main (fb1b97a) will not change coverage.
The diff coverage is 0.00%.

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  Coverage   0.00%   0.00%           
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  Files         21      21           
  Lines       4230    4207   -23     
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+ Misses      4230    4207   -23     

Flag	Coverage Δ
tests	0.00% <0.00%> (ø)

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Impacted Files	Coverage Δ
...alization_schedule/src/ScheduleMarkerPublisher.hpp	0.00% <0.00%> (ø)

[luca-della-vedova]

New schedule visualization looks ✨ , a few minor comments around, I don't really know how to test the obstacle visualization, any input? Maybe some sample ros2 topic pubs?