mapskit

mapskit package responsible for both C++ (.cpp) and Python (.py) nodes that interact with the ompl and octomap protocol.

download

mkdir -p ~/workspace/
cd ~/workspace/
git clone https://github.com/vyom-os/mapskit.git --recusive

install dependencies

cd mapskit 
chmod +x setup.sh
sudo ./setup.sh

build and install the package

mkdir -p build
cd build
cmake ..
make 
sudo make install

this installs the package for a systemwide location at /usr/local/mapskit* for a more custom location change prefix path ny passing args to

cmake -DCMAKE_PREFIX_PATH=/mycustom-install-path ..

and then proceed with make as usual.

running

Kindly go though the docs to understand what changes to make and how they affect the system performance, orbbec camera is used here as an example.

• understanding voxels
• understanding tracking

this essentially replaces octomap-server with an enhanced mapskit server built on top of it offering additional features and APIs.

setting up your custom config

you can find the default configs at /usr/local/share/mapskit/config/default_conf.yaml to set your custom configs you can use the cp the default and make changes

mkdir -p ~/.mapskit/
cp /usr/local/share/mapskit/config/default_conf.yaml ~/.mapskit/config.yaml

change input / output, topic names as needed, tweak params etc.

you can run a benchtest to verify the working by using

./usr/local/lib/mapskit/mapskit_core_cxx /home/myuser/.mapskit/config.yaml

or just use default configs by running

./usr/local/lib/mapskit/mapskit_core_cxx

using a .service to use precompiled .cxx binary

create a .service file at /etc/system

sudo nano /etc/systemd/system/mapskit-server.service

and append the following content

[Unit]
Description= mapskit-server Service
After=network.target

[Service]
ExecStart=/bin/bash -c "/usr/local/lib/mapskit/mapskit_core_cxx /home/myuser/.mapskit/config.yaml"
Restart=on-failure
User=myuser
Group=mygroup
WorkingDirectory=/opt/my_application

[Install]
WantedBy=multi-user.target

start and enable this by

sudo systemctl daemon-reload
sudo systemctl enable --now mapskit-server.service 

API integration - Add site-packages to PYTHONPATH

try running a python3 shell and importing mapskit

python3
import mapskit

sometimes if the site install path is not there in pythonpath import mapskit can fail.

You can add it to .bashrc for a permanent fix

if [[ ":$PYTHONPATH:" != *":/usr/local/lib/python3.10/site-packages:"* ]]; then
    export PYTHONPATH="/usr/local/lib/python3.10/site-packages${PYTHONPATH:+":$PYTHONPATH"}"
fi

and then retry.

find binaries in this location exec /usr/local/lib/mapskit/ python modules get installed in /usr/local/lib/python3.10/site-packages

WIP / Roadmap :

Fix and integrate remappings from topics i/o. Testcases for python3 bindings ...