Mesh Nav Update (#6)

* test parameters

* working version with lvr-update branches

* added lvr update branch to CI

* changed mesh tools branch in source dependencies

* added descriptions

* added more comments

* line-length

* removed trailing whitespace

Author: amock

mesh_navigation_tutorials/config/mbf_mesh_nav.yaml

@@ -30,7 +30,15 @@ move_base_flex:
     cmd_vel_ignored_tolerance: 10.0
 
     mesh_map:
-      mesh_part: 'mesh'
+      # input
+      # mesh_file: '/home/amock/mesh_nav_ws/src/mesh_navigation_tutorials/mesh_navigation_tutorials/maps/parking_garage.ply'
+      mesh_part: '/'
+      # storage
+      # mesh_working_file: 'parking_garage.h5'
+      mesh_working_part: 'mesh'
+
+      # half-edge-mesh implementation
+      hem: pmp # pmp (default), lvr
 
       layers: ['border', 'height_diff', 'roughness', 'inflation']
 
@@ -53,8 +61,8 @@ move_base_flex:
       inflation:
         type: 'mesh_layers/InflationLayer'
         factor: 1.0
-        inflation_radius: 0.4
-        inscribed_radius: 0.2
+        inflation_radius: 0.2
+        inscribed_radius: 0.4
         lethal_value: 1.0
         inscribed_value: 0.8
         repulsive_field: false

mesh_navigation_tutorials/launch/mbf_mesh_navigation_server_launch.py

@@ -42,10 +42,18 @@ def generate_launch_description():
     launch_args = [
         DeclareLaunchArgument(
             "mesh_map_path",
-            description="Path to the mesh file that defines the map.",
+            description="Path to the mesh file that defines the map."
+            "Allowed formats are our internal HDF5 format and all"
+            "standard mesh formats loadable by Assimp.",
+        ),
+        DeclareLaunchArgument(
+            "mesh_map_working_path",
+            description="Path to the mesh file used by the mesh navigation "
+            "to store costs during operation. Only HDF5 formats are permitted.",
         ),
     ]
     mesh_map_path = LaunchConfiguration("mesh_map_path")
+    mesh_map_working_path = LaunchConfiguration("mesh_map_working_path")
 
     mbf_mesh_nav_config = os.path.join(
         get_package_share_directory("mesh_navigation_tutorials"), "config", "mbf_mesh_nav.yaml"
@@ -60,8 +68,11 @@ def generate_launch_description():
         ],
         parameters=[
             mbf_mesh_nav_config,
-            {"mesh_map.mesh_file": mesh_map_path},
-        ],
+            {
+                "mesh_map.mesh_file": mesh_map_path,
+                "mesh_map.mesh_working_file": mesh_map_working_path
+            }
+        ]
     )
 
     return LaunchDescription(

mesh_navigation_tutorials/launch/mesh_navigation_tutorial_launch.py

@@ -50,13 +50,16 @@ def generate_launch_description():
     # Comment Alex: One can have different maps for same worlds
     # Is this to much choice for a tutorial?
 
-    # Launch arguments
+    # Loading a map files with the following extension
+    mesh_nav_map_ext = ".ply"
+
     available_map_names = [
-        f[:-3]
+        f[:-len(mesh_nav_map_ext)]
         for f in os.listdir(os.path.join(pkg_mesh_navigation_tutorials, "maps"))
-        if f.endswith(".h5")
+        if f.endswith(mesh_nav_map_ext)
     ]
 
+    # Launch arguments
     launch_args = [
         DeclareLaunchArgument(
             "map_name",
@@ -165,9 +168,10 @@ def generate_launch_description():
                 [
                     pkg_mesh_navigation_tutorials,
                     "maps",
-                    PythonExpression(['"', map_name, '" + ".h5"']),
+                    PythonExpression(['"', map_name, mesh_nav_map_ext, '"']),
                 ]
             ),
+            "mesh_map_working_path": PythonExpression(['"', map_name, '" + ".h5"'])
         }.items(),
     )
 

source_dependencies.yaml

@@ -4,15 +4,15 @@ repositories:
   lvr2:
     type: git
     url: https://github.com/uos/lvr2.git
-    version: humble
+    version: version-upgrade
   mesh_tools:
     type: git
     url: https://github.com/naturerobots/mesh_tools.git
-    version: humble
+    version: lvr-update
   mesh_navigation:
     type: git
     url: https://github.com/naturerobots/mesh_navigation.git
-    version: humble
+    version: lvr-update
   move_base_flex:
     type: git
     url: https://github.com/naturerobots/move_base_flex.git