From 1ad2df9551edc5bd3a1fda34cbda06e09aac9201 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Thu, 18 Jan 2024 04:04:09 +0100 Subject: [PATCH] Additional backports --- include/grid_map_geo/grid_map_geo.hpp | 8 ++ launch/load_multiple_tif_launch.xml | 10 +- rviz/config.rviz | 10 +- rviz/multi_config.rviz | 187 ++++++++++++++++++++++++++ src/grid_map_geo.cpp | 2 +- src/test_tif_loader.cpp | 4 +- 6 files changed, 208 insertions(+), 13 deletions(-) create mode 100644 rviz/multi_config.rviz diff --git a/include/grid_map_geo/grid_map_geo.hpp b/include/grid_map_geo/grid_map_geo.hpp index c094ddc..d25e115 100644 --- a/include/grid_map_geo/grid_map_geo.hpp +++ b/include/grid_map_geo/grid_map_geo.hpp @@ -84,6 +84,13 @@ class GridMapGeo { origin = maporigin_.position; }; + /** + * @brief Get the name of the coordinate frame of the dataset + * + * @return std::string + */ + std::string getCoordinateName() { return coordinate_name_; }; + /** * @brief Helper function for loading terrain from path * @@ -169,5 +176,6 @@ class GridMapGeo { grid_map::GridMap grid_map_; Location maporigin_; std::string frame_id_{""}; + std::string coordinate_name_{""}; }; #endif diff --git a/launch/load_multiple_tif_launch.xml b/launch/load_multiple_tif_launch.xml index daef4aa..055feb9 100644 --- a/launch/load_multiple_tif_launch.xml +++ b/launch/load_multiple_tif_launch.xml @@ -5,19 +5,19 @@ - - + + - - + + - + diff --git a/rviz/config.rviz b/rviz/config.rviz index 34ebd80..284125e 100644 --- a/rviz/config.rviz +++ b/rviz/config.rviz @@ -8,7 +8,7 @@ Panels: - /Status1 - /GridMap1 Splitter Ratio: 0.5 - Tree Height: 381 + Tree Height: 1106 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -64,7 +64,7 @@ Visualization Manager: Min Color: 0; 0; 0 Min Intensity: 0 Name: GridMap - Show Grid Lines: true + Show Grid Lines: false Topic: Depth: 5 Durability Policy: Volatile @@ -143,10 +143,10 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 670 + Height: 1403 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001630000021afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002c0000021a000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c0000029a000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004280000003efc0100000002fb0000000800540069006d00650100000000000004280000023d00fffffffb0000000800540069006d00650100000000000004500000000000000000000002c40000021a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000163000004ddfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004dd000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c0000029a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000897000004dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -155,6 +155,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1060 + Width: 2560 X: 0 Y: 0 diff --git a/rviz/multi_config.rviz b/rviz/multi_config.rviz new file mode 100644 index 0000000..2f51dd0 --- /dev/null +++ b/rviz/multi_config.rviz @@ -0,0 +1,187 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /GridMap1 + - /GridMap2 + Splitter Ratio: 0.5 + Tree Height: 1106 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 100 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: color + Color Transformer: ColorLayer + Enabled: true + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: GridMap + Show Grid Lines: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /elevation2 + Use Rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: color + Color Transformer: ColorLayer + Enabled: true + Height Layer: elevation + Height Transformer: GridMapLayer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: GridMap + Show Grid Lines: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /elevation_map + Use Rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 22312.625 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -469.88262939453125 + Y: 4805.85498046875 + Z: -1997.9356689453125 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.8752031326293945 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.6453869342803955 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1403 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000163000004ddfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004dd000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c0000029a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000897000004dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 2560 + X: 0 + Y: 0 diff --git a/src/grid_map_geo.cpp b/src/grid_map_geo.cpp index ab4f150..debe96f 100644 --- a/src/grid_map_geo.cpp +++ b/src/grid_map_geo.cpp @@ -103,7 +103,7 @@ bool GridMapGeo::initializeFromGeotiff(const std::string &path) { std::cout << std::endl << "Wkt ProjectionRef: " << pszProjection << std::endl; const OGRSpatialReference *spatial_ref = dataset->GetSpatialRef(); - std::string name_coordinate = spatial_ref->GetAttrValue("geogcs"); + coordinate_name_ = spatial_ref->GetAttrValue("geogcs"); // Get image metadata unsigned width = dataset->GetRasterXSize(); unsigned height = dataset->GetRasterYSize(); diff --git a/src/test_tif_loader.cpp b/src/test_tif_loader.cpp index c123139..e3f64fc 100644 --- a/src/test_tif_loader.cpp +++ b/src/test_tif_loader.cpp @@ -64,7 +64,7 @@ class MapPublisher : public rclcpp::Node { RCLCPP_INFO_STREAM(get_logger(), "color_path " << color_path); tf_broadcaster_ = std::make_shared(this); - map_ = std::make_shared(); + map_ = std::make_shared(frame_id); map_->Load(file_path, color_path); auto timer_callback = [this]() -> void { auto msg = grid_map::GridMapRosConverter::toMessage(map_->getGridMap()); @@ -79,7 +79,7 @@ class MapPublisher : public rclcpp::Node { map_->getGlobalOrigin(epsg, map_origin); geometry_msgs::msg::TransformStamped static_transformStamped; - // static_transformStamped.header.frame_id = map_->getCoordinateName(); + static_transformStamped.header.frame_id = map_->getCoordinateName(); static_transformStamped.child_frame_id = map_->getGridMap().getFrameId(); static_transformStamped.transform.translation.x = map_origin(0); static_transformStamped.transform.translation.y = map_origin(1);