Add layered global map composition and Nav2 observation demo#1
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SamuelFoo wants to merge 15 commits into
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Add layered global map composition and Nav2 observation demo#1SamuelFoo wants to merge 15 commits into
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Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Introduce MapRegionPatch so one MapRegionUpdate can carry multiple clear and obstacle patches from the same observation snapshot. Move patch-specific action, occupancy value, TTL, and region geometry out of MapRegionUpdate, leaving the update to describe the source, optional reset_source operation, and ordered patch list. Use std_msgs/Header and robot_pose on MapObservationSource, and express TTLs as seconds so rmf_layered_map_msgs no longer depends directly on builtin_interfaces. Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Update the layered map server and callers for MapRegionUpdate.patches: reset_source is applied before patches from the same snapshot, clear-space patches are sorted before obstacle patches for deterministic clear-then-mark behavior, older snapshots are rejected per source/map timestamp, and the demo/test helpers now populate MapRegionPatch, Header, and TTL seconds while the server package drops its unused direct builtin_interfaces dependency. Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
Define robot_pose in the observation header frame, transform supported region geometry before rasterization, and reject updates whose frame does not match the static map. Signed-off-by: SamuelFoo <fooenzesamuel@gmail.com>
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Superseded by #2. This PR was opened against the wrong base. |
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Summary
/mapbeam_strideandpublish_period_secso the representation/update-rate trade-off can be evaluated directlyDemo