Tools for visualizing the rmf_core planner

To build:

1. Create a new colcon workspace
2. Clone https://github.com/osrf/rmf_core
3. Clone https://github.com/osrf/rmf_planner_viz
4. Clone https://github.com/SFML/SFML
5. Clone https://github.com/eliasdaler/imgui-sfml.git
6. Clone the version of https://github.com/ocornut/imgui.git mentioned in the previous step (at the time of this writing, v1.80)
7. go into your imgui directory and do touch COLCON_IGNORE
8. get back to your colcon workspace and source your foxy installation
9. colcon build --cmake-args -DBUILD_SHARED_LIBS=ON -DIMGUI_DIR=<your colcon workspace>/src/imgui

Then you can start running interactive tests in the ./build/rmf_planner_viz/ directory

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Test Programs:

• simple_test: Visual AStar planner debugger
• test_trajectory, test_spline: spline testing utilities

(Requires fcl 0.6)

• test_fcl_spline: spline drawing using fcl SplineMotion parameters
• test_fcl_spline_offset: Spline catmullrom approximation
• test_sidecar: CCD with bilateral advancement algorithm
• test_fcl_bvh: Collision detection via adding shapes to bounding volume hierarchy. Crashes with issue flexible-collision-library/fcl#512

-- Optionally, you can build and run fcl 0.6 demos by cloning

https://github.com/flexible-collision-library/fcl version 0.6

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Using the Visual AStar planner debugger

Running ./build/simple_test will use a default nav graph.

To use other nav graphs,

• Import https://github.com/osrf/rmf_demos and https://github.com/osrf/traffic_editor into your colcon workspace and colcon build it.
• This will generate the navgraph .yaml files in the build/rmf_demo_maps/maps//nav_graphs/*.yaml
• Run ./build/simple_test ./build/rmf_demo_maps/maps/<map name>/nav_graphs/*.yaml to load the nav graph