New branch init

robotics-upo · Jun 7, 2024 · 970e452 · 970e452
1 parent d06159d
commit 970e452
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Showing 153 changed files with 471 additions and 49 deletions.
diff --git a/.github/workflows/build_noetic.yml b/.github/workflows/build_noetic.yml
diff --git a/.gitignore b/.gitignore
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2)
 project(heuristic_planners)
 
-add_compile_options(-std=c++17 -Wall -Werror -Wextra -pedantic )
+add_compile_options(-std=gnu++17 -Wall )
 
 option(BUILD_DOC            "Build documentation   " ON)
 option(BUILD_ROS_SUPPORT    "Build with ROS Support" ON)
@@ -27,6 +27,7 @@ if(BUILD_DOC)
       # set input and output files
       set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile)
       set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
 
       # request to configure the file
       configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
@@ -55,15 +56,21 @@ if(BUILD_ROS_SUPPORT)
     nav_msgs
     visualization_msgs
     message_generation
+    rospy
     roscpp
     pcl_conversions
     pcl_ros
     octomap_ros
     costmap_2d
+    sensor_msgs
   )
   #Eigen is used to calculate metrics parameters
   find_package (Eigen3 REQUIRED NO_MODULE)
   find_package(OpenSSL REQUIRED)
+  ####### TORCH DIR SHOULD BE SET TO LIBTORCH FOLDER ########
+  set(Torch_DIR "/home/ros/libtorch/share/cmake/Torch")
+  find_package(Torch REQUIRED)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
   if(BUILD_DEBUG)
     add_definitions(-DPUB_EXPLORED_NODES)
   endif()
@@ -79,6 +86,7 @@ add_service_files(
   FILES
   GetPath.srv
   SetAlgorithm.srv
+  ShareWeights.srv
 )
 
 ## Generate added messages and services with any dependencies listed here
@@ -101,7 +109,7 @@ catkin_package(
  INCLUDE_DIRS include
  LIBRARIES AlgorithmBase AStar AStarM1 AStarM2 ThetaStar ThetaStarM1 ThetaStarM2 LazyThetaStar LazyThetaStarM1 LazyThetaStarM1Mod LazyThetaStarM2
  # 
- CATKIN_DEPENDS std_msgs visualization_msgs geometry_msgs nav_msgs roscpp message_runtime costmap_2d
+ CATKIN_DEPENDS std_msgs visualization_msgs geometry_msgs nav_msgs rospy roscpp message_runtime costmap_2d sensor_msgs pcl_ros pcl_conversions
 #  DEPENDS system_lib
 )
 endif()
@@ -112,6 +120,7 @@ endif()
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
+  ${TORCH_INCLUDE_DIRS}
   ${CMAKE_CURRENT_SOURCE_DIR}/include/voro++-0.4.6
 )
 if( BUILD_VOROCPP )
@@ -139,7 +148,8 @@ list(APPEND ${PROJECT_NAME}_UTILS_SOURCES src/utils/geometry_utils.cpp
                                           src/utils/heuristic.cpp
                                           src/utils/LineOfSight.cpp
                                           src/utils/utils.cpp       
-                                          src/utils/metrics.cpp       
+                                          src/utils/metrics.cpp
+                                          src/utils/FCNet.cpp       
                                           )
 if(BUILD_ROS_SUPPORT)
   list(APPEND ${PROJECT_NAME}_UTILS_SOURCES src/utils/ros/ROSInterfaces.cpp)
@@ -166,14 +176,15 @@ add_library(LazyThetaStarM2    src/Planners/LazyThetaStarM2.cpp )
 
 
 list(APPEND ${PROJECT_NAME}_LIBRARIES AlgorithmBase AStar AStarM1 AStarM2 ThetaStar ThetaStarM1 ThetaStarM2 LazyThetaStar LazyThetaStarM1 LazyThetaStarM1Mod LazyThetaStarM2)  
-target_link_libraries(${${PROJECT_NAME}_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${${PROJECT_NAME}_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${TORCH_LIBRARIES})
 add_dependencies( ${${PROJECT_NAME}_LIBRARIES} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 list(APPEND ${PROJECT_NAME}_TARGETS ${${PROJECT_NAME}_LIBRARIES})
 
 if(BUILD_ROS_SUPPORT)
   add_executable(planner_ros_node src/ROS/planner_ros_node.cpp )
+  ##set_property(TARGET planner_ros_node PROPERTY CXX_STANDARD 17)
   add_dependencies(planner_ros_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_LIBRARIES})
-  target_link_libraries(planner_ros_node ${catkin_LIBRARIES} ${${PROJECT_NAME}_LIBRARIES} -lstdc++fs Eigen3::Eigen -lcrypto -lssl)
+  target_link_libraries(planner_ros_node ${catkin_LIBRARIES} ${TORCH_LIBRARIES} ${${PROJECT_NAME}_LIBRARIES} -lstdc++fs Eigen3::Eigen -lcrypto -lssl)
   list(APPEND ${PROJECT_NAME}_TARGETS planner_ros_node)
 #############
   ## Install ##

diff --git a/Doxyfile b/Doxyfile
diff --git a/LICENSE b/LICENSE
diff --git a/README.md b/README.md
diff --git a/config/costmap_for_rand_maps.yaml b/config/costmap_for_rand_maps.yaml
diff --git a/config/example_costmap_params.yaml b/config/example_costmap_params.yaml
diff --git a/docs/1.Status.md b/docs/1.Status.md
diff --git a/docs/2.ROSNodeInterface.md b/docs/2.ROSNodeInterface.md
diff --git a/docs/algorithms_class_hr.png b/docs/algorithms_class_hr.png
diff --git a/include/Grid3D/grid3d.hpp b/include/Grid3D/grid3d.hpp
diff --git a/include/Planners/AStar.hpp b/include/Planners/AStar.hpp
@@ -30,6 +30,7 @@
 #include <pcl/point_types.h>
 #include <pcl_ros/point_cloud.h>
 #include "utils/ros/ROSInterfaces.hpp"
+#include "utils/FCNet.hpp"
 #endif
 
 namespace Planners{
@@ -70,7 +71,7 @@ namespace Planners{
          * DataVariant = std::variant<std::string, Vec3i, CoordinateList, double, size_t, int, bool, unsigned int>;
          * TODO: Replace map here by unordered_map. Not much important, but it does not make sense to use a map.
          */
-        PathData findPath(const Vec3i &_source, const Vec3i &_target) override;
+        PathData findPath(const Vec3i &_source, const Vec3i &_target, HIOSDFNet& sdf_net) override;
 
         /**
          * @brief Published occupation markers map to visualize the loaded map in RVIZ
@@ -125,7 +126,7 @@ namespace Planners{
          * This operation of erase and re-insert is performed in order to update the position
          * of the node in the container. 
          */
-        virtual void exploreNeighbours(Node* _current, const Vec3i &_target,node_by_position &_index_by_pos);
+        virtual void exploreNeighbours(Node* _current, const Vec3i &_target,node_by_position &_index_by_pos, HIOSDFNet& sdf_net);
 
         /**
          * @brief This functions implements the algorithm G function. 
@@ -161,7 +162,7 @@ namespace Planners{
          * @param _dirs Number of directions used (to distinguish between 2D and 3D)
          * @return unsigned int The G Value calculated by the function
          */
-        virtual unsigned int computeG(const Node* _current, Node* _suc, unsigned int _n_i, unsigned int _dirs);
+        virtual unsigned int computeG(const Node* _current, Node* _suc, unsigned int _n_i, unsigned int _dirs, HIOSDFNet& sdf_net);
 
         unsigned int line_of_sight_checks_{0};  /*!< TODO Comment */
         std::vector<Node*> closedSet_; /*!< TODO Comment */

diff --git a/include/Planners/AStarM1.hpp b/include/Planners/AStarM1.hpp
@@ -58,7 +58,7 @@ namespace Planners{
          * @param _dirs Number of directions used (to distinguish between 2D and 3D)
          * @return unsigned int The G Value calculated by the function
          */
-        inline virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs) override;
+        inline virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs, HIOSDFNet& sdf_net) override;
 
     };
 

diff --git a/include/Planners/AStarM2.hpp b/include/Planners/AStarM2.hpp
@@ -56,7 +56,7 @@ namespace Planners{
          * @param _dirs Number of directions used (to distinguish between 2D and 3D)
          * @return unsigned int The G Value calculated by the function
          */
-        inline virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs) override;
+        inline virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs, HIOSDFNet& sdf_net) override;
 
     };
 

diff --git a/include/Planners/AlgorithmBase.hpp b/include/Planners/AlgorithmBase.hpp
@@ -28,6 +28,7 @@
 #include "utils/time.hpp"
 #include "utils/geometry_utils.hpp"
 #include "utils/LineOfSight.hpp"
+#include "utils/FCNet.hpp"
 
 namespace Planners
 {
@@ -154,7 +155,7 @@ namespace Planners
          * @param _target Goal discrete coordinates
          * @return PathData Results stored as PathData object
          */
-        virtual PathData findPath(const Vec3i &_source, const Vec3i &_target) = 0;
+        virtual PathData findPath(const Vec3i &_source, const Vec3i &_target, HIOSDFNet& sdf_net) = 0;
 
         /**
          * @brief Configure the simple inflation implementation

diff --git a/include/Planners/LazyThetaStar.hpp b/include/Planners/LazyThetaStar.hpp
@@ -53,7 +53,7 @@ namespace Planners
          * @param _target Goal discrete coordinates
          * @return PathData PathData Results stored as PathData object
          */
-        virtual PathData findPath(const Vec3i &_source, const Vec3i &_target) override;
+        virtual PathData findPath(const Vec3i &_source, const Vec3i &_target, HIOSDFNet& sdf_net) override;
 
     protected:
 

diff --git a/include/Planners/LazyThetaStarM1.hpp b/include/Planners/LazyThetaStarM1.hpp
@@ -69,7 +69,7 @@ namespace Planners
          * @param _dirs Number of directions used (to distinguish between 2D and 3D)
          * @return unsigned int The G Value calculated by the function
          */
-        virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs) override;
+        virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs, HIOSDFNet& sdf_net) override;
 
 
     };

diff --git a/include/Planners/LazyThetaStarM1Mod.hpp b/include/Planners/LazyThetaStarM1Mod.hpp
diff --git a/include/Planners/LazyThetaStarM2.hpp b/include/Planners/LazyThetaStarM2.hpp
@@ -48,7 +48,7 @@ namespace Planners
          * @param _target 
          * @return PathData 
          */
-        virtual PathData findPath(const Vec3i &_source, const Vec3i &_target) override;
+        virtual PathData findPath(const Vec3i &_source, const Vec3i &_target, HIOSDFNet& sdf_net) override;
 
     protected:
 
@@ -76,7 +76,7 @@ namespace Planners
          * @param _dirs 
          * @return unsigned int 
          */
-        inline virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs) override;
+        inline virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs, HIOSDFNet& sdf_net) override;
 
         // Variable to ensure that the los is true between the parent of the current and one neighbour, so SetVertex function should not be executed
         bool los_neighbour_{false}; /*!< TODO Comment */

diff --git a/include/Planners/ThetaStar.hpp b/include/Planners/ThetaStar.hpp
@@ -80,7 +80,7 @@ namespace Planners
          * This operation of erase and re-insert is performed in order to update the position
          * of the node in the container. 
          */
-        virtual void exploreNeighbours(Node* _current, const Vec3i &_target,node_by_position &_index_by_pos) override;
+        virtual void exploreNeighbours(Node* _current, const Vec3i &_target,node_by_position &_index_by_pos, HIOSDFNet& sdf_net) override;
 
         utils::CoordinateListPtr checked_nodes, checked_nodes_current;  /*!< TODO Comment */
 

diff --git a/include/Planners/ThetaStarM1.hpp b/include/Planners/ThetaStarM1.hpp
@@ -76,7 +76,7 @@ namespace Planners
          * @param _dirs Number of directions used (to distinguish between 2D and 3D)
          * @return unsigned int The G Value calculated by the function
          */
-        inline virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs) override;
+        inline virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs, HIOSDFNet& sdf_net) override;
 
     };
 

diff --git a/include/Planners/ThetaStarM2.hpp b/include/Planners/ThetaStarM2.hpp
@@ -84,7 +84,7 @@ namespace Planners
          * @param _dirs Number of directions used (to distinguish between 2D and 3D)
          * @return unsigned int The G Value calculated by the function
          */
-        virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs) override;
+        virtual unsigned int computeG(const Node* _current, Node* _suc,  unsigned int _n_i, unsigned int _dirs, HIOSDFNet& sdf_net) override;
 
 
     };

diff --git a/include/utils/FCNet.hpp b/include/utils/FCNet.hpp
@@ -0,0 +1,31 @@
+#ifndef HIOSDFNET_HPP
+#define HIOSDFNET_HPP
+
+#include <torch/torch.h>
+#include <ros/ros.h>
+
+
+// Sine non-linearity
+struct Sine : torch::nn::Module {
+    torch::Tensor forward(torch::Tensor x);
+};
+
+// HIOSDFNet class
+class HIOSDFNet : public torch::nn::Module {
+public:
+    HIOSDFNet(int64_t in_features = 3, int64_t out_features = 1,
+              int64_t hidden_features = 256, int64_t num_hidden_layers = 4);
+
+    torch::Tensor forward(torch::Tensor x);
+    void eval();
+    void load_weights_from_tensor(torch::Tensor& tensor);
+
+private:
+    torch::nn::Sequential net;
+
+    void sine_init(torch::nn::Module& module);
+    void first_layer_sine_init(torch::nn::Module& m);
+};
+
+#endif // HIOSDFNET_HPP
+
diff --git a/include/utils/LineOfSight.hpp b/include/utils/LineOfSight.hpp
diff --git a/include/utils/SaveDataVariantToFile.hpp b/include/utils/SaveDataVariantToFile.hpp
diff --git a/include/utils/geometry_utils.hpp b/include/utils/geometry_utils.hpp
diff --git a/include/utils/heuristic.hpp b/include/utils/heuristic.hpp
diff --git a/include/utils/metrics.hpp b/include/utils/metrics.hpp
diff --git a/include/utils/misc.hpp b/include/utils/misc.hpp
diff --git a/include/utils/ros/ROSInterfaces.hpp b/include/utils/ros/ROSInterfaces.hpp
diff --git a/include/utils/time.hpp b/include/utils/time.hpp
diff --git a/include/utils/utils.hpp b/include/utils/utils.hpp
diff --git a/include/utils/world.hpp b/include/utils/world.hpp
diff --git a/include/voro++-0.4.6/src/c_loops.cc b/include/voro++-0.4.6/src/c_loops.cc
diff --git a/include/voro++-0.4.6/src/c_loops.hh b/include/voro++-0.4.6/src/c_loops.hh
diff --git a/include/voro++-0.4.6/src/cell.cc b/include/voro++-0.4.6/src/cell.cc
diff --git a/include/voro++-0.4.6/src/cell.hh b/include/voro++-0.4.6/src/cell.hh
diff --git a/include/voro++-0.4.6/src/cmd_line.cc b/include/voro++-0.4.6/src/cmd_line.cc
diff --git a/include/voro++-0.4.6/src/common.cc b/include/voro++-0.4.6/src/common.cc
diff --git a/include/voro++-0.4.6/src/common.hh b/include/voro++-0.4.6/src/common.hh
diff --git a/include/voro++-0.4.6/src/config.hh b/include/voro++-0.4.6/src/config.hh
diff --git a/include/voro++-0.4.6/src/container.cc b/include/voro++-0.4.6/src/container.cc
diff --git a/include/voro++-0.4.6/src/container.hh b/include/voro++-0.4.6/src/container.hh
diff --git a/include/voro++-0.4.6/src/container_prd.cc b/include/voro++-0.4.6/src/container_prd.cc
diff --git a/include/voro++-0.4.6/src/container_prd.hh b/include/voro++-0.4.6/src/container_prd.hh
diff --git a/include/voro++-0.4.6/src/pre_container.cc b/include/voro++-0.4.6/src/pre_container.cc
diff --git a/include/voro++-0.4.6/src/pre_container.hh b/include/voro++-0.4.6/src/pre_container.hh
diff --git a/include/voro++-0.4.6/src/rad_option.hh b/include/voro++-0.4.6/src/rad_option.hh
diff --git a/include/voro++-0.4.6/src/unitcell.cc b/include/voro++-0.4.6/src/unitcell.cc
diff --git a/include/voro++-0.4.6/src/unitcell.hh b/include/voro++-0.4.6/src/unitcell.hh
diff --git a/include/voro++-0.4.6/src/v_base.cc b/include/voro++-0.4.6/src/v_base.cc
diff --git a/include/voro++-0.4.6/src/v_base.hh b/include/voro++-0.4.6/src/v_base.hh
diff --git a/include/voro++-0.4.6/src/v_base_wl.cc b/include/voro++-0.4.6/src/v_base_wl.cc
diff --git a/include/voro++-0.4.6/src/v_compute.cc b/include/voro++-0.4.6/src/v_compute.cc
diff --git a/include/voro++-0.4.6/src/v_compute.hh b/include/voro++-0.4.6/src/v_compute.hh
diff --git a/include/voro++-0.4.6/src/voro++.cc b/include/voro++-0.4.6/src/voro++.cc
diff --git a/include/voro++-0.4.6/src/voro++.hh b/include/voro++-0.4.6/src/voro++.hh
diff --git a/include/voro++-0.4.6/src/wall.cc b/include/voro++-0.4.6/src/wall.cc
diff --git a/include/voro++-0.4.6/src/wall.hh b/include/voro++-0.4.6/src/wall.hh
diff --git a/include/voro++-0.4.6/src/worklist.hh b/include/voro++-0.4.6/src/worklist.hh
diff --git a/launch/plan_random_path.launch b/launch/plan_random_path.launch
diff --git a/launch/planner.launch b/launch/planner.launch
diff --git a/launch/planner2d_example.launch b/launch/planner2d_example.launch
diff --git a/launch/utils/create_octomap.launch b/launch/utils/create_octomap.launch
diff --git a/package.xml b/package.xml
@@ -12,10 +12,12 @@
   <build_depend>geometry_msgs</build_depend>
   <build_depend>visualization_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>pcl_ros</build_depend>
   <build_depend>pcl_conversions</build_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
   <build_depend>octomap_ros</build_depend>
   <build_depend>octomap_server</build_depend>
   <build_depend>costmap_2d</build_depend>
@@ -26,9 +28,11 @@
   <build_depend>eigen</build_depend>
 
   <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
   <build_export_depend>visualization_msgs</build_export_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
   <build_export_depend>nav_msgs</build_export_depend>
   <build_export_depend>pcl_ros</build_export_depend>
   <build_export_depend>pcl_conversions</build_export_depend>
@@ -43,8 +47,10 @@
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>visualization_msgs</exec_depend>
   <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>pcl_ros</exec_depend>
   <exec_depend>pcl_conversions</exec_depend>
   <exec_depend>octomap_ros</exec_depend>

diff --git a/resources/2dmaps/big_lab.pgm b/resources/2dmaps/big_lab.pgm
diff --git a/resources/2dmaps/big_lab.yaml b/resources/2dmaps/big_lab.yaml
diff --git a/resources/2dmaps/big_lab_map_v2.pgm b/resources/2dmaps/big_lab_map_v2.pgm
diff --git a/resources/2dmaps/big_lab_map_v2.yaml b/resources/2dmaps/big_lab_map_v2.yaml
diff --git a/resources/2dmaps/random_maps/large/random0_1.pgm b/resources/2dmaps/random_maps/large/random0_1.pgm
diff --git a/resources/2dmaps/random_maps/large/random0_1.yaml b/resources/2dmaps/random_maps/large/random0_1.yaml
diff --git a/resources/2dmaps/random_maps/large/random0_2.pgm b/resources/2dmaps/random_maps/large/random0_2.pgm
diff --git a/resources/2dmaps/random_maps/large/random0_2.yaml b/resources/2dmaps/random_maps/large/random0_2.yaml
diff --git a/resources/2dmaps/random_maps/large/random0_3.pgm b/resources/2dmaps/random_maps/large/random0_3.pgm
diff --git a/resources/2dmaps/random_maps/large/random0_3.yaml b/resources/2dmaps/random_maps/large/random0_3.yaml
diff --git a/resources/2dmaps/random_maps/large/random0_4.pgm b/resources/2dmaps/random_maps/large/random0_4.pgm
diff --git a/resources/2dmaps/random_maps/large/random0_4.yaml b/resources/2dmaps/random_maps/large/random0_4.yaml
diff --git a/resources/2dmaps/random_maps/large/random0_5.pgm b/resources/2dmaps/random_maps/large/random0_5.pgm
diff --git a/resources/2dmaps/random_maps/large/random0_5.yaml b/resources/2dmaps/random_maps/large/random0_5.yaml
diff --git a/resources/2dmaps/random_maps/medium/random0_1.pgm b/resources/2dmaps/random_maps/medium/random0_1.pgm
diff --git a/resources/2dmaps/random_maps/medium/random0_1.yaml b/resources/2dmaps/random_maps/medium/random0_1.yaml
diff --git a/resources/2dmaps/random_maps/medium/random0_2.pgm b/resources/2dmaps/random_maps/medium/random0_2.pgm
diff --git a/resources/2dmaps/random_maps/medium/random0_2.yaml b/resources/2dmaps/random_maps/medium/random0_2.yaml
diff --git a/resources/2dmaps/random_maps/medium/random0_3.pgm b/resources/2dmaps/random_maps/medium/random0_3.pgm
diff --git a/resources/2dmaps/random_maps/medium/random0_3.yaml b/resources/2dmaps/random_maps/medium/random0_3.yaml
diff --git a/resources/2dmaps/random_maps/medium/random0_4.pgm b/resources/2dmaps/random_maps/medium/random0_4.pgm
diff --git a/resources/2dmaps/random_maps/medium/random0_4.yaml b/resources/2dmaps/random_maps/medium/random0_4.yaml
diff --git a/resources/2dmaps/random_maps/medium/random0_5.pgm b/resources/2dmaps/random_maps/medium/random0_5.pgm
diff --git a/resources/2dmaps/random_maps/medium/random0_5.yaml b/resources/2dmaps/random_maps/medium/random0_5.yaml
diff --git a/resources/2dmaps/random_maps/small/random0_1.pgm b/resources/2dmaps/random_maps/small/random0_1.pgm
diff --git a/resources/2dmaps/random_maps/small/random0_1.yaml b/resources/2dmaps/random_maps/small/random0_1.yaml
diff --git a/resources/2dmaps/random_maps/small/random0_2.pgm b/resources/2dmaps/random_maps/small/random0_2.pgm
diff --git a/resources/2dmaps/random_maps/small/random0_2.yaml b/resources/2dmaps/random_maps/small/random0_2.yaml
diff --git a/resources/2dmaps/random_maps/small/random0_3.pgm b/resources/2dmaps/random_maps/small/random0_3.pgm
diff --git a/resources/2dmaps/random_maps/small/random0_3.yaml b/resources/2dmaps/random_maps/small/random0_3.yaml
diff --git a/resources/2dmaps/random_maps/small/random0_4.pgm b/resources/2dmaps/random_maps/small/random0_4.pgm
diff --git a/resources/2dmaps/random_maps/small/random0_4.yaml b/resources/2dmaps/random_maps/small/random0_4.yaml
diff --git a/resources/2dmaps/random_maps/small/random0_5.pgm b/resources/2dmaps/random_maps/small/random0_5.pgm
diff --git a/resources/2dmaps/random_maps/small/random0_5.yaml b/resources/2dmaps/random_maps/small/random0_5.yaml
diff --git a/resources/2dmaps/random_maps/sparse/random0_01.pgm b/resources/2dmaps/random_maps/sparse/random0_01.pgm
diff --git a/resources/2dmaps/random_maps/sparse/random0_01.yaml b/resources/2dmaps/random_maps/sparse/random0_01.yaml
diff --git a/resources/2dmaps/random_maps/sparse/random0_02.pgm b/resources/2dmaps/random_maps/sparse/random0_02.pgm
diff --git a/resources/2dmaps/random_maps/sparse/random0_02.yaml b/resources/2dmaps/random_maps/sparse/random0_02.yaml
diff --git a/resources/2dmaps/random_maps/sparse/random0_03.pgm b/resources/2dmaps/random_maps/sparse/random0_03.pgm
diff --git a/resources/2dmaps/random_maps/sparse/random0_03.yaml b/resources/2dmaps/random_maps/sparse/random0_03.yaml
diff --git a/resources/2dmaps/random_maps/sparse/random0_04.pgm b/resources/2dmaps/random_maps/sparse/random0_04.pgm
diff --git a/resources/2dmaps/random_maps/sparse/random0_04.yaml b/resources/2dmaps/random_maps/sparse/random0_04.yaml
diff --git a/resources/2dmaps/random_maps/sparse/random0_05.pgm b/resources/2dmaps/random_maps/sparse/random0_05.pgm
diff --git a/resources/2dmaps/random_maps/sparse/random0_05.yaml b/resources/2dmaps/random_maps/sparse/random0_05.yaml
diff --git a/resources/2dmaps/robbi_1.pgm b/resources/2dmaps/robbi_1.pgm
diff --git a/resources/2dmaps/robbi_1.yaml b/resources/2dmaps/robbi_1.yaml
diff --git a/resources/2dmaps/robbi_2.pgm b/resources/2dmaps/robbi_2.pgm
diff --git a/resources/2dmaps/robbi_2.yaml b/resources/2dmaps/robbi_2.yaml
diff --git a/resources/2dmaps/test.pgm b/resources/2dmaps/test.pgm
diff --git a/resources/2dmaps/test.yaml b/resources/2dmaps/test.yaml
diff --git a/resources/2dmaps/tunnel.pgm b/resources/2dmaps/tunnel.pgm
diff --git a/resources/2dmaps/tunnel.yaml b/resources/2dmaps/tunnel.yaml
diff --git a/resources/3dmaps/Atlas_8_puertas_02.bt b/resources/3dmaps/Atlas_8_puertas_02.bt
diff --git a/resources/images/2dexample.png b/resources/images/2dexample.png
diff --git a/resources/images/3dexample.png b/resources/images/3dexample.png
diff --git a/resources/images/laberynth.png b/resources/images/laberynth.png
diff --git a/resources/images/manufacturing.png b/resources/images/manufacturing.png
diff --git a/resources/images/maze.png b/resources/images/maze.png
diff --git a/resources/images/mbzirc.png b/resources/images/mbzirc.png
diff --git a/resources/images/test.png b/resources/images/test.png
diff --git a/resources/images/two_blocks.png b/resources/images/two_blocks.png
diff --git a/resources/images/wall.png b/resources/images/wall.png
diff --git a/rviz/planners.rviz b/rviz/planners.rviz
diff --git a/rviz/planners_2d.rviz b/rviz/planners_2d.rviz