v0.5.1 (genmos)

The package is renamed to genmos_object_search; use GenMOS in accordance with the paper.

To run a test, check out ros/tests/spot/grpc/simple_sim/test_simple_sim_env_local_search_3d.py. Follow the instructions in the comments,

# To run the test, do the following IN ORDER:
# 0. run config_simple_sim_lab121_lidar.py to generate the .yaml configuration file
# 1. run in a terminal 'roslaunch rbd_spot_perception graphnav_map_publisher.launch map_name:=lab121_lidar'
# 2. run in a terminal 'roslaunch genmos_object_search_ros spot_local_cloud_publisher.launch robot_pose_topic:=/simple_sim_env/init_robot_pose'
# 3. run in a terminal 'roslaunch genmos_object_search_ros simple_sim_env.launch map_name:=lab121_lidar'
# 4. run in a terminal 'python -m genmos_object_search.grpc.server'
# 5. run in a terminal 'python test_simple_sim_env_local_search_3d.py groundtruth 32 config_simple_sim_lab121_lidar.yaml
# 6. run in a terminal 'roslaunch genmos_object_search_ros view_simple_sim.launch'
# 7. to monitor CPU temperature: 'watch -n 1 -x sensors'

This opens up RViZ (step 6) which should show something like:

This requires setting up robotdev for Spot (which contains rbd_spot_perception). This is because the SLAM map used in this test is built by Spot in our lab. Note that you don't need to have a Spot in order to setup the robotdev for Spot. Just follow: https://github.com/zkytony/robotdev/tree/master/spot

The ROS package inside this release is at the state when evaluation was conducted on Spot, MOVO and UR5e. This includes code, launch files & configurations used in those evaluations. Future releases may overwrite those for better organization.