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Add Speed Limit Requests #222
Merged
Yadunund
merged 8 commits into
open-rmf:feature/rmf_obstacle
from
PranayShirodkar:feature/add_speed_limits
Nov 22, 2022
Merged
Add Speed Limit Requests #222
Yadunund
merged 8 commits into
open-rmf:feature/rmf_obstacle
from
PranayShirodkar:feature/add_speed_limits
Nov 22, 2022
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Signed-off-by: Pranay Shirodkar <[email protected]>
Signed-off-by: Pranay Shirodkar <[email protected]>
Signed-off-by: Pranay Shirodkar <[email protected]>
Signed-off-by: Pranay Shirodkar <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Signed-off-by: Yadunund <[email protected]>
Yadunund
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Nov 22, 2022
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I've left TODOs for things to address before merging into main
. Fixed const correctness and made an API tweak to the publisher functions to prevent segfaults if the unordered_maps containing the unique_ptrs are accessed after moving the messaging during publish()
.
Yadunund
added a commit
that referenced
this pull request
Mar 16, 2024
* add FleetUpdateHandle speed limit API to python bindings Signed-off-by: Pranay Shirodkar <[email protected]> * add continuous checker option for dynamic obstacles Signed-off-by: Pranay Shirodkar <[email protected]> * refactor Lane Close and Open msg building Signed-off-by: Pranay Shirodkar <[email protected]> * add speed limits Signed-off-by: Pranay Shirodkar <[email protected]> * Fix style Signed-off-by: Yadunund <[email protected]> * Fix const correctness and do not pass unordered_map by ref to publisher Signed-off-by: Yadunund <[email protected]> Signed-off-by: Pranay Shirodkar <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]>
Yadunund
added a commit
that referenced
this pull request
Mar 18, 2024
* add FleetUpdateHandle speed limit API to python bindings * add continuous checker option for dynamic obstacles * refactor Lane Close and Open msg building * add speed limits * Fix style * Fix const correctness and do not pass unordered_map by ref to publisher Signed-off-by: Pranay Shirodkar <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Pranay Shirodkar <[email protected]>
Yadunund
added a commit
that referenced
this pull request
Mar 18, 2024
author Yadunund <[email protected]> 1652352947 +0800 committer Yadunund <[email protected]> 1710732926 +0800 gpgsig -----BEGIN PGP SIGNATURE----- iQJOBAABCgA4FiEEGyIX6IDAjj8gmqGLhzPx+bEFxS0FAmX3tn4aHHlhZHVudW5k QG9wZW5yb2JvdGljcy5vcmcACgkQhzPx+bEFxS1ZdhAAjREHmggorWRf7flK33VG dRzCWyEB3jRHL++7+XoNtT9dSBVzqNlaHohySw2elz43cGhlPmNZxPm+o+k6vk6g zskYKgiOLCVVbb0xZY3zYU6PgPZ5hHpHkC9Em0L4B86o5lNzhWL7BSJl+Lq0InWa CPjBHNhNqmg4jlcZpFL85WA00kbKxmDKYBn/6xpAm6rCxiBLcIYxKEPjS1ETjw4Y nziSAwPeyR3TDS/FVJ73eHzn8FdfJdx3omXgU9Cfd6Q4SPreXEO9pQEsG8x3oNQy /Hg6BhLd25jUMpkU8CKyWIlA1RtyylToSV+ASOlp6Hf4zXwKAOB3z+WHN2F1oort 9UiFwwFR8Hf5fXnWjFiIYlYs4vAYCkPkTX2aZIsbua77xcfqBUarQIvHU8CBhpWn xVmGRcAraO2aobhg2M4CbMmvWo5HK1L3+CMua2ggFiAAWcaPRNTfcnqs98goIMj7 Z2WFyUukiXc0KtglyM6dYGnJQs+gcmJw1bUNvPMzFLLFxI8Eu0E3HHWQm06ylHlF TfKju8KtGe674Twg8CDkFn/VInIxj7u5a+J1LU+J0VI0HspRA7iccSaw0nBZ8Jay ncVVzW17IWNBD1lvHYt1aj2UrHrrlJF8WamKgNrzRSkqphyvj71s6fkVdddgopFw siJKNIq86U63df76k21XtBc= =hDJO -----END PGP SIGNATURE----- Added ObstacleManager Signed-off-by: Yadunund <[email protected]> Moved ObstacleManager into src Signed-off-by: Yadunund <[email protected]> Build as ROS 2 component. Dynamically load detector and responder plugins Signed-off-by: Yadunund <[email protected]> Refactor into data struct Signed-off-by: Yadunund <[email protected]> Uncrustify Signed-off-by: Yadunund <[email protected]> Serialize using octomap Signed-off-by: Yadunund <[email protected]> Removed ObstacleData Signed-off-by: Yadunund <[email protected]> Detector accepts a callback Signed-off-by: Yadunund <[email protected]> Export dependencies Signed-off-by: Yadunund <[email protected]> Export include dir Signed-off-by: Yadunund <[email protected]> Explicitly link pluginlib Signed-off-by: Yadunund <[email protected]> Keep ClassLoaders alive Signed-off-by: Yadunund <[email protected]> Add skeleton for LaneBlocker Signed-off-by: Yadunund <[email protected]> Publish nav graph Signed-off-by: Yadunund <[email protected]> Use api from rmf_traffic_ros2 for graph serialization Signed-off-by: Yadunund <[email protected]> Compute transfroms to rmf frame Signed-off-by: Yadunund <[email protected]> Added skeletop for processing Signed-off-by: Yadunund <[email protected]> Added logic for publishing lane closures Signed-off-by: Yadunund <[email protected]> Add cull timer Signed-off-by: Yadunund <[email protected]> Finished implementing cull Signed-off-by: Yadunund <[email protected]> Updated intersection checker Signed-off-by: Yadunund <[email protected]> WIP Signed-off-by: Yadunund <[email protected]> Fix tf2_geometry_msgs dep for humble Signed-off-by: Yadunund <[email protected]> Rough collision check implementation Signed-off-by: Yadunund <[email protected]> Added tests for IntersectionChecker Signed-off-by: Yadunund <[email protected]> Fixes to SAT Signed-off-by: Yadunund <[email protected]> Debug rotation Signed-off-by: Yadunund <[email protected]> Kinda working Signed-off-by: Yadunund <[email protected]> Use lowest not min Signed-off-by: Yadunund <[email protected]> Added more failing tests Signed-off-by: Yadunund <[email protected]> Use dist Signed-off-by: Yadunund <[email protected]> Cleanup Signed-off-by: Yadunund <[email protected]> Many logic fixes Signed-off-by: Yadunund <[email protected]> Uncrustify Signed-off-by: Yadunund <[email protected]> Refactor Signed-off-by: Yadunund <[email protected]> Fix API and use bb msgs from rmf_obstacle_ros2 Signed-off-by: Yadunund <[email protected]> Simplify pkg Signed-off-by: Yadunund <[email protected]> Fix rmf_obstacle_ros2 intersection checker (#219) * fix intersection checker Signed-off-by: Pranay Shirodkar <[email protected]> * fix uncrustify and build warning Signed-off-by: Pranay Shirodkar <[email protected]> * use Eigen library for transformations Signed-off-by: Pranay Shirodkar <[email protected]> * cleanup Signed-off-by: Pranay Shirodkar <[email protected]> Use local bb2d Signed-off-by: Yadunund <[email protected]> Uncrustify Signed-off-by: Yadunund <[email protected]> Added feeback Signed-off-by: Alejandro Hernández Cordero <[email protected]> Add Speed Limit Requests (#222) * add FleetUpdateHandle speed limit API to python bindings Signed-off-by: Pranay Shirodkar <[email protected]> * add continuous checker option for dynamic obstacles Signed-off-by: Pranay Shirodkar <[email protected]> * refactor Lane Close and Open msg building Signed-off-by: Pranay Shirodkar <[email protected]> * add speed limits Signed-off-by: Pranay Shirodkar <[email protected]> * Fix style Signed-off-by: Yadunund <[email protected]> * Fix const correctness and do not pass unordered_map by ref to publisher Signed-off-by: Yadunund <[email protected]> Signed-off-by: Pranay Shirodkar <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]> Filled PointCloud message Signed-off-by: Alejandro Hernández Cordero <[email protected]> Insert lanes with their state Signed-off-by: Alejandro Hernández Cordero <[email protected]> Added MessageFilter to rmf_obstacles topic Signed-off-by: Alejandro Hernández Cordero <[email protected]> Added optional return value to deserialize_key method Signed-off-by: Alejandro Hernández Cordero <[email protected]> Combine close/open and limit/unlimit functions Signed-off-by: Alejandro Hernández Cordero <[email protected]> Use member variables instead of passing unordered_maps by reference between these functions Signed-off-by: Alejandro Hernández Cordero <[email protected]> Defined templated pure abstract class to perform serialization/deserialization Signed-off-by: Alejandro Hernández Cordero <[email protected]> Fix build Signed-off-by: Yadunund <[email protected]> Link against targets in test Signed-off-by: Yadunund <[email protected]> Restore files Signed-off-by: Yadunund <[email protected]>
Yadunund
added a commit
that referenced
this pull request
Mar 18, 2024
* Publish nav graph Signed-off-by: Yadunund <[email protected]> * Added ObstacleManager Signed-off-by: Yadunund <[email protected]> * Moved ObstacleManager into src Signed-off-by: Yadunund <[email protected]> * Build as ROS 2 component. Dynamically load detector and responder plugins Signed-off-by: Yadunund <[email protected]> * Refactor into data struct Signed-off-by: Yadunund <[email protected]> * Uncrustify Signed-off-by: Yadunund <[email protected]> * Serialize using octomap Signed-off-by: Yadunund <[email protected]> * Removed ObstacleData Signed-off-by: Yadunund <[email protected]> * Detector accepts a callback Signed-off-by: Yadunund <[email protected]> * Export dependencies Signed-off-by: Yadunund <[email protected]> * Export include dir Signed-off-by: Yadunund <[email protected]> * Explicitly link pluginlib Signed-off-by: Yadunund <[email protected]> * Keep ClassLoaders alive Signed-off-by: Yadunund <[email protected]> * Revert to msg builder API Signed-off-by: Yadunund <[email protected]> * Explicitly include message headers Signed-off-by: Yadunund <[email protected]> * Add skeleton for LaneBlocker Signed-off-by: Yadunund <[email protected]> * Use api from rmf_traffic_ros2 for graph serialization Signed-off-by: Yadunund <[email protected]> * Fix typo Signed-off-by: Yadunund <[email protected]> * Uncrustify Signed-off-by: Yadunund <[email protected]> * Implement speed limit API and publish lane_states Signed-off-by: Yadunund <[email protected]> * Added speed limit request interface to legacy full_control Signed-off-by: Yadunund <[email protected]> * Uncrustify Signed-off-by: Yadunund <[email protected]> * Compute transfroms to rmf frame Signed-off-by: Yadunund <[email protected]> * Added skeletop for processing Signed-off-by: Yadunund <[email protected]> * Warn users of unsupported speed limits Signed-off-by: Yadunund <[email protected]> * Serialize/deserialize speed limits Signed-off-by: Yadunund <[email protected]> * Added logic for publishing lane closures Signed-off-by: Yadunund <[email protected]> * Add cull timer Signed-off-by: Yadunund <[email protected]> * Finished implementing cull Signed-off-by: Yadunund <[email protected]> * Updated intersection checker Signed-off-by: Yadunund <[email protected]> * WIP Signed-off-by: Yadunund <[email protected]> * Fix tf2_geometry_msgs dep for humble Signed-off-by: Yadunund <[email protected]> * Rough collision check implementation Signed-off-by: Yadunund <[email protected]> * Added tests for IntersectionChecker Signed-off-by: Yadunund <[email protected]> * Fixes to SAT Signed-off-by: Yadunund <[email protected]> * Debug rotation Signed-off-by: Yadunund <[email protected]> * Kinda working Signed-off-by: Yadunund <[email protected]> * Use lowest not min Signed-off-by: Yadunund <[email protected]> * Added more failing tests Signed-off-by: Yadunund <[email protected]> * Use dist Signed-off-by: Yadunund <[email protected]> * Cleanup Signed-off-by: Yadunund <[email protected]> * Many logic fixes Signed-off-by: Yadunund <[email protected]> * Uncrustify Signed-off-by: Yadunund <[email protected]> * Refactor Signed-off-by: Yadunund <[email protected]> * Fix API and use bb msgs from rmf_obstacle_ros2 Signed-off-by: Yadunund <[email protected]> * Simplify pkg Signed-off-by: Yadunund <[email protected]> * Fix rmf_obstacle_ros2 intersection checker (#219) * fix intersection checker Signed-off-by: Pranay Shirodkar <[email protected]> * fix uncrustify and build warning Signed-off-by: Pranay Shirodkar <[email protected]> * use Eigen library for transformations Signed-off-by: Pranay Shirodkar <[email protected]> * cleanup Signed-off-by: Pranay Shirodkar <[email protected]> * Use local bb2d Signed-off-by: Yadunund <[email protected]> * Uncrustify Signed-off-by: Yadunund <[email protected]> * Added feeback Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Add Speed Limit Requests (#222) * add FleetUpdateHandle speed limit API to python bindings Signed-off-by: Pranay Shirodkar <[email protected]> * add continuous checker option for dynamic obstacles Signed-off-by: Pranay Shirodkar <[email protected]> * refactor Lane Close and Open msg building Signed-off-by: Pranay Shirodkar <[email protected]> * add speed limits Signed-off-by: Pranay Shirodkar <[email protected]> * Fix style Signed-off-by: Yadunund <[email protected]> * Fix const correctness and do not pass unordered_map by ref to publisher Signed-off-by: Yadunund <[email protected]> Signed-off-by: Pranay Shirodkar <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]> * Filled PointCloud message Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Insert lanes with their state Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added MessageFilter to rmf_obstacles topic Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Added optional return value to deserialize_key method Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Combine close/open and limit/unlimit functions Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Use member variables instead of passing unordered_maps by reference between these functions Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Defined templated pure abstract class to perform serialization/deserialization Signed-off-by: Alejandro Hernández Cordero <[email protected]> * Fix build Signed-off-by: Yadunund <[email protected]> * Link against targets in test Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Yadunund <[email protected]> Signed-off-by: Yadunund <[email protected]> Signed-off-by: Pranay Shirodkar <[email protected]> Signed-off-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Pranay Shirodkar <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
arjo129
pushed a commit
that referenced
this pull request
Jun 7, 2024
* add FleetUpdateHandle speed limit API to python bindings * add continuous checker option for dynamic obstacles * refactor Lane Close and Open msg building * add speed limits * Fix style * Fix const correctness and do not pass unordered_map by ref to publisher Signed-off-by: Pranay Shirodkar <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Pranay Shirodkar <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]>
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Changes
continuous_checker
add speed limits