topological_navigation
topological_navigation copied to clipboard
LCAS
New Map format
This is the proposed new map format for topnav2
name: new_map # Topological map name generally should be the same as in the pointset field
metric_map: map2d # 2D Metric map name (not used currently)
pointset: new_map # The name of the group of nodes that compose the topological map, typically the same as name
transformation:
rotation: # Topological Map Rotation
w: 1.0
x: 0.0
y: 0.0
z: 0.0
translation: # Topological Map Translation
x: 0.0
y: 0.0
z: 0.0
child: topo_map
parent: map
meta: # Just some meta information
last_updated: 2020-02-18 12:00 am # Last time the map was modified
nodes:
- meta: # Just some meta information
map: map2d
node: WayPoint001
pointset: new_map
node: # Actual Node Properties
edges: # List of edges departing from the node
- action: move_action # Action Name
edge_id: WayPoint001_WayPoint002
node: WayPoint002
config: &move_action_config_1 # Edge Reconfigure
- namespace: param1_namespace # Parameter
name: param1_name
value: param1_value
- namespace: param2_namespace # Parameter
name: param2_name
value: param2_value
recovery_behaviours_config: ''
action_type: 'move_action_msgs/MoveActionGoal' # Goal type for the Action
goal:
target_pose:
header:
frame_id: $node.parent_frame
pose: $node.pose
fail_policy: retry_3, replan, fail # What to do if execution fail (fail, replan, retry_#number_of_times)
fluid_navigation: true # if false robot must be at exact pose of origin node before traversing the edge
restrictions_planning: (robot_tall & task_transportation) | ~ robot_narrow
restrictions_runtime: pose_exact
- action: move_action # Action Name
edge_id: WayPoint001_WayPoint003
node: WayPoint003
config: &move_action_config_2 # Edge Reconfigure
- namespace: param3_namespace # Parameter
name: param3_name
value: param3_value
recovery_behaviours_config: ''
action_type: move_action_msgs/MoveActionGoal # Goal type for the Action
goal:
target_pose:
header:
frame_id: $node.parent_frame
pose: $node.pose
fail_policy: fail # What to do if execution fail (fail, replan, retry_#number_of_times)
fluid_navigation: true # if false robot must be at exact pose of origin node before traversing the edge
restrictions_planning: (robot_tall & task_transportation) | ~ robot_narrow
restrictions_runtime: 'True'
localise_by_topic: '' # Localise by topic configuration string
name: WayPoint001 # Node name
parent_frame: map
pose: # Node pose
orientation: # Node orientation (quaternion)
w: 0.92388
x: 0
y: 0
z: 0.38268
position: # Node position
x: 0.0
y: 0.0
z: 0.0
verts: # Vetices of the influence zone relative to node position
- x: 0.689
y: 0.287
- x: 0.287
y: 0.689
- x: -0.287
y: 0.689
- x: -0.689
y: 0.287
- x: -0.689
y: -0.287
- x: -0.287
y: -0.689
- x: 0.287
y: -0.689
- x: 0.689
y: -0.287
properties:
xy_goal_tolerance: 0.3 # Goal tolerance in the XY axes
yaw_goal_tolerance: 0.1 # Angular goal tolerance
restrictions_planning: (robot_tall & task_transportation) | ~ robot_narrow
restrictions_runtime: 'True'
- meta: # Just some meta information
map: map2d
node: WayPoint002
pointset: new_map
node: # Actual Node Properties
edges: # List of edges departing from the node
- action: move_action # Action Name
edge_id: WayPoint002_WayPoint001
node: WayPoint001
config: *move_action_config_1 # Edge Reconfigure
recovery_behaviours_config: ''
action_type: move_action_msgs/MoveActionGoal # Goal type for the Action
goal:
target_pose:
header:
frame_id: $node.parent_frame
pose: $node.pose
fail_policy: retry_3, replan, fail # What to do if execution fail (fail, replan, retry_#number_of_times)
fluid_navigation: true # if false robot must be at exact pose of origin node before traversing the edge
restrictions_planning: (robot_tall & task_transportation) | ~ robot_narrow
restrictions_runtime: 'True'
- action: move_action # Action Name
edge_id: WayPoint002_WayPoint003
node: WayPoint003
config: *move_action_config_2 # Edge Reconfigure
recovery_behaviours_config: ''
action_type: move_action_msgs/MoveActionGoal # Goal type for the Action
goal:
target_pose:
header:
frame_id: $node.parent_frame
pose: $node.pose
fail_policy: fail # What to do if execution fail (fail, replan, retry_#number_of_times)
fluid_navigation: true # if false robot must be at exact pose of origin node before traversing the edge
restrictions_planning: 'True'
restrictions_runtime: 'True'
localise_by_topic: '' # Localise by topic configuration string
name: WayPoint002 # Node name
parent_frame: map
pose: # Node pose
orientation: # Node orientation (quaternion)
w: 0.92388
x: 0
y: 0
z: 0.38268
position: # Node position
x: 1.0
y: 1.0
z: 0.0
verts: # Vetices of the influence zone relative to node position
- x: 0.689
y: 0.287
- x: 0.287
y: 0.689
- x: -0.287
y: 0.689
- x: -0.689
y: 0.287
- x: -0.689
y: -0.287
- x: -0.287
y: -0.689
- x: 0.287
y: -0.689
- x: 0.689
y: -0.287
properties:
xy_goal_tolerance: 0.3 # Goal tolerance in the XY axes
yaw_goal_tolerance: 0.1 # Angular goal tolerance
restrictions_planning: 'True'
restrictions_runtime: 'True'
- meta: # Just some meta information
map: map2d
node: WayPoint003
pointset: new_map
node: # Actual Node Properties
edges: # List of edges departing from the node
- action: move_action # Action Name
edge_id: WayPoint003_WayPoint001
node: WayPoint001
config: *move_action_config_1 # Edge Reconfigure
recovery_behaviours_config: ''
action_type: move_action_msgs/MoveActionGoal # Goal type for the Action
goal:
target_pose:
header:
frame_id: $node.parent_frame
pose: $node.pose
fail_policy: retry_3, replan, fail # What to do if execution fail (fail, replan, retry_#number_of_times)
fluid_navigation: true # if false robot must be at exact pose of origin node before traversing the edge
restrictions_planning: (robot_tall & task_transportation) | ~ robot_narrow
restrictions_runtime: 'True'
- action: move_action # Action Name
edge_id: WayPoint003_WayPoint002
node: WayPoint002
config: *move_action_config_2 # Edge Reconfigure
recovery_behaviours_config: ''
action_type: move_action_msgs/MoveActionGoal # Goal type for the Action
goal:
target_pose:
header:
frame_id: $node.parent_frame
pose: $node.pose
fail_policy: fail # What to do if execution fail (fail, replan, retry_#number_of_times)
fluid_navigation: true # if false robot must be at exact pose of origin node before traversing the edge
restrictions_planning: 'True'
restrictions_runtime: 'True'
localise_by_topic: '' # Localise by topic configuration string
name: WayPoint003 # Node name
parent_frame: map
pose: # Node pose
orientation: # Node orientation (quaternion)
w: 0.92388
x: 0
y: 0
z: 0.38268
position: # Node position
x: -1.0
y: -1.0
z: 0.0
verts: # Vertices of the influence zone relative to node position
- x: 0.689
y: 0.287
- x: 0.287
y: 0.689
- x: -0.287
y: 0.689
- x: -0.689
y: 0.287
- x: -0.689
y: -0.287
- x: -0.287
y: -0.689
- x: 0.287
y: -0.689
- x: 0.689
y: -0.287
properties:
xy_goal_tolerance: 0.3 # Goal tolerance in the XY axes
yaw_goal_tolerance: 0.1 # Angular goal tolerance
restrictions_planning: 'True'
restrictions_runtime: 'True'
Hi, I was wondering if it would be worth including the field's datum in the topological map format, and if so, should it be included in the meta field or as a field in root?
Also, we should consider that there is already a field for the transform between the metric map and the topo map so probably this won't be necessary.
It might be nice to include the datum so you can do things independently with the topomap, however, the datum is required by a lot of nodes so it might be best to just keep the one, and all the nodes get it from the same place instead of storing it independently
I discovered that there is no field called edge_id for the edges in the new map, the old map had the edge id which was used by the navigate.py followroute() function. I think we should add that here as well.
The edge id field has been added in https://github.com/LCAS/topological_navigation/pull/44 - it just isnt here in the issue. Just added it.
On Thu, Jan 7, 2021 at 8:19 AM Ayush Sharma [email protected] wrote:
I discovered that there is no field called edge_id for the edges in the new map, the old map had the edge id which was used by the navigate.py followroute() function. I think we should add that here as well.
— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/LCAS/topological_navigation/issues/35#issuecomment-755961668, or unsubscribe https://github.com/notifications/unsubscribe-auth/AF3YS3VV3JZHAT5QEW3C2ZDSYVVCVANCNFSM4S2646EA .
-- Dr Adam Binch | Senior Robotics Engineer SAGA ROBOTICS LTD // THORVALD Think Tank Lincoln LN6 7FL Office: 01522837293 Mobile Phone +44 7940 835 628
The config field for an edge is now a list of dictionaries, with each setting a parameter to reconfigure and contains the parameter's namespace, name and value.
The restrictions field for a node and for an edge has been changed from:
restrictions:
robot_type: "Narrow"
task_name: "NOT_UV"
transition: "exact_pose"
to:
restrictions_planning: (robot_tall & task_transportation) | ~ robot_narrow
restrictions_runtime: pose_exact
A restriction is now a boolean sentence (default='True'). In other words nodes and edges are not restricted by default.
Node and edge restrictions can be updated using the services /topological_map_manager2/update_node_restrictions and /topological_map_manager2/update_edge_restrictions, respectively.
default edge goal field changed from
goal:
target_pose: $node.pose
to
goal:
target_pose:
header:
frame_id: $node.parent_frame
pose: $node.pose
and field parent_frame (default="map") added to a node.
This seems to be done for now but will keep as an open issue as there could be changes in the future @Jailander @francescodelduchetto