rmf_obstacle_ros2

[Yadunund]

This PR introduces the rmf_obstacle_ros2 package. It depends on open-rmf/rmf_internal_msgs#42
The package currently provides:

1. rmf_obstacle_ros2 library that provides
   a. Responder pure abstract classes that users may implement to take action on detection results.
   b. ObstacleManager to support users with building their own detection/responder piplelines
   c. Utility functions to convert between sensor_msgs types and Obstacles msg.

2. lane_blocker executable that subscribes to /rmf_obstacles and decides whether to close/open lanes or adjust speed limits of lanes that have obstacles in their vicinities. Various thresholds may be adjusted via ROS 2 params.

TODO(YV): Move implementation of lane_blocker as a separate class that derives Responder. Then also provide a node that subscribes to /rmf_obstacles for processing all obstacles.

[codecov]

Codecov Report

Merging #210 (247e019) into main (e9a0516) will decrease coverage by 0.06%.
The diff coverage is n/a.

❗ Current head 247e019 differs from pull request most recent head 069d52c. Consider uploading reports for the commit 069d52c to get more accurate results

@@            Coverage Diff             @@
##             main     #210      +/-   ##
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- Coverage   17.78%   17.72%   -0.07%     
==========================================
  Files         422      422              
  Lines       38906    39178     +272     
  Branches    18686    18900     +214     
==========================================
+ Hits         6919     6943      +24     
- Misses      24541    24654     +113     
- Partials     7446     7581     +135     

Flag	Coverage Δ
tests	17.72% <ø> (-0.07%)	⬇️

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Impacted Files	Coverage Δ
...f_fleet_adapter/services/FindEmergencyPullover.cpp
...er/src/rmf_fleet_adapter/agv/FleetUpdateHandle.cpp
...dapter/src/read_only_blockade/FleetAdapterNode.cpp
...dapter/src/read_only_blockade/FleetAdapterNode.hpp
...mf_rxcpp/RxCpp-4.1.0/Rx/v2/src/rxcpp/rx-predef.hpp
...src/rmf_fleet_adapter/jobs/detail/impl_Rollout.hpp
...ask_ros2/src/rmf_task_ros2/bidding/AsyncBidder.cpp
...dapter/src/rmf_fleet_adapter/phases/IngestItem.cpp
.../rmf_fleet_adapter/test/services/test_FindPath.cpp
...er/src/rmf_fleet_adapter/phases/EndLiftSession.cpp
... and 834 more

[ahcorde]

There is an issue with this commit

the NLohmann's JSON version is not the required. At least in focal

  /__w/rmf_ros2/rmf_ros2/ros_ws/build/nlohmann_json_schema_validator_vendor/nlohmann_json_schema_validator-1063c9adbafc25f5a14bae15c3babdb039de86c6-prefix/src/nlohmann_json_schema_validator-1063c9adbafc25f5a14bae15c3babdb039de86c6/src/nlohmann/json-schema.hpp:28:4: error: "Please use this library with NLohmann's JSON version 3.8.0 or higher"
  #               error "Please use this library with NLohmann's JSON version 3.8.0 or higher"
                  ^

[ahcorde]

@Yadunund related to this TODO 9bc9770

Is there any way to check if a lane is closed ? I can't find something usefull in the Lane class https://github.com/open-rmf/rmf_traffic/blob/main/rmf_traffic/include/rmf_traffic/agv/Graph.hpp#L173-L595

[ahcorde]

@Yadunund I implemented here the tf2_ros::MessageFilter 06f3da1 These two PRs are related

• rmf_obstacle_ros2 #210
• Filled Obstacles header rmf_obstacle#5

[Yadunund]

We've decided to move this feature directly to https://github.com/open-rmf/rmf_obstacle_detectors.

I'll squash merge this branch into a newly created yadu/rmf_obstacle branch and then cherry-pick the commit over to the new repo.

[Yadunund]

Moved open-rmf/rmf_obstacle#21