LVR Update #70
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LVR Update #70
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…em' now. 'pmp' and 'lvr' are implemented. The old half-edge-mesh can be selected by choosing 'lvr'. The new default half-edge-mesh is 'pmp' since it is more robust to different source meshes. The 'pmp' hem worked also to load all available meshes dynamically. Cleanup: I removed mesh_client package since it was used nowhere.
Cakem1x
requested changes
Dec 20, 2024
| std::list<std::pair<mesh_map::Vector, lvr2::FaceHandle>> path; | ||
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| // mesh_map->combineVertexCosts(); // TODO should be outside the planner | ||
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| RCLCPP_INFO(node_->get_logger(), "start wave front propagation."); | ||
| RCLCPP_DEBUG_STREAM(node_->get_logger(), "start wave front propagation."); |
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Nice, I appreciate using proper log levels! 👍
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| RCLCPP_DEBUG_STREAM(node_->get_logger(), "BLA."); | ||
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| mesh_map_->publishDebugPoint(original_start, mesh_map::color(0, 1, 0), "start_point"); | ||
| mesh_map_->publishDebugPoint(original_goal, mesh_map::color(0, 0, 1), "goal_point"); | ||
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| RCLCPP_DEBUG_STREAM(node_->get_logger(), "published point."); | ||
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| mesh_map::Vector start = original_start; | ||
| mesh_map::Vector goal = original_goal; | ||
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| RCLCPP_DEBUG_STREAM(node_->get_logger(), "Find face."); | ||
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| // Find the containing faces of start and goal | ||
| const auto& start_opt = mesh_map_->getContainingFace(start, 0.4); | ||
| const auto& goal_opt = mesh_map_->getContainingFace(goal, 0.4); | ||
| const lvr2::OptionalFaceHandle start_opt = mesh_map_->getContainingFace(start, 0.4); | ||
| const lvr2::OptionalFaceHandle goal_opt = mesh_map_->getContainingFace(goal, 0.4); | ||
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| RCLCPP_DEBUG_STREAM(node_->get_logger(), "BLA 2."); |
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clean up logging statements.
Maybe we can remove all of them, not sure if some are still useful. If so, I suggest logging something more than bla bla bla :)
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I accidentally left those there :) They are all removed now
| @@ -727,6 +741,8 @@ uint32_t CVPMeshPlanner::waveFrontPropagation(const mesh_map::Vector& original_s | |||
| const auto t_wavefront_start = std::chrono::steady_clock::now(); | |||
| const auto initialization_duration_ms = std::chrono::duration_cast<std::chrono::milliseconds>(t_wavefront_start - t_initialization_start); | |||
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| RCLCPP_DEBUG_STREAM(node_->get_logger(), "GO."); | |||
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clean up log
Suggested change
| RCLCPP_DEBUG_STREAM(node_->get_logger(), "GO."); | |
| RCLCPP_DEBUG_STREAM(node_->get_logger(), "GO."); |
All tests are now running without errors 👍 |
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This is a reaction to the upcoming LVR update (3.0.0). It contains two major changes:
Interchangable Half-Edge-Mesh
The map and all plugins only use the BaseMesh from LVR. This means that as long as you implement the BaseMesh interface of LVR, you can use any half-edge mesh implementation you want. The implementations can be selected with a new ROS parameter “hem” (Half-Edge-Mesh). "hem: pmp" or "hem: lvr" ist possible. If no parameter is specified the new pmp mesh is chosen. The old behavior can be restored by setting "hem" to "lvr". The pmp mesh turned out to be much more robust to load any mesh coming from other meshing software than lvr (such as meshlab or Open3D). Internally, I used a smart pointer to handle the BaseMesh because it makes things easier.
Loading/Writing HDF5
The HDF5 structure has changed slightly over time so that the description of the mesh_tools paper is not valid anymore. I changed parts of it back so that it gets more like the papers again. It also makes things easier to handle since vertex attributes are now separated from the actual mesh geometry inside the HDF5.
Cleanup
I have also removed the
mesh_clientpackage for which we have no tests and which is currently not used elsewhere.Testing instructions
This PR works together with: