feat:Add a very rudimentary way of loading maps#22
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arjo129 merged 7 commits intoJul 6, 2026
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Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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- Added demo_map.launch.py to launch map_server with a custom 20x20 grid map. - Added python script to generate the map image (demo_grid.png) with a box in the center. - Updated robot_spawner to subscribe to /map and serve it via HTTP. - Updated web visualizer (app.js) to fetch and render the grid map. - Merged upstream/epic/next-gen-base and resolved conflicts to keep reservation config features. TAG=agy CONV=e4b3007e-b76e-47c3-a222-643694470b82 Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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July 6, 2026 01:35
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@SamuelFoo Feel free to review this. |
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Tested and works great for me! Just left some minor nit comments for formatting
| pub current_planning_session: Option<u64>, | ||
| pub footprints: Arc<std::sync::Mutex<HashMap<String, f32>>>, | ||
| pub active_plan_ids: HashMap<String, PlanId>, | ||
| pub map: Arc<Map>, |
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I wonder if we can explore other ways of storing/manipulating Map (and other PlanServer members). Understood that it's expensive to clone so wrapping it with Arc is a good strategy here. Perhaps if we integrate with Bevy in the future we could make use of Resource or something. But not a blocker for this PR.
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Id be open to moving this to bevy_ros2 if it provides a better Developer Experience. We could put this as a future roadmap item. For now Im using the bare minimum to get an MVP out.
Co-authored-by: Xiyu <ohxiyu@gmail.com> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
Co-authored-by: Xiyu <ohxiyu@gmail.com> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
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New feature implementation
Related to #12
Implemented feature
Adds a very rudimentary way of loading environment maps. This is by no means a final approach to loading maps, but it provides a high level way of representing them for the time being.
Implementation description
We subscribe to the
/maptopic to listen for OccupancyGrids. It gets converted internally to aMapstructTest it
Use the launch file provided by
demo_map.launch.py. It spins up a ROS 2map_serverloaded with a custom 20x20 grid map (demo_grid.png) and activates it. The dashboard subscribes to/mapand visualizes it as a background layer.Run the launch file:
http://localhost:8080in your web browser.GenAI Use
We follow OSRA's policy on GenAI tools
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