Code

Wavemap 2.0#66

Code

Merged

victorreijgwart merged 164 commits intomainethz-asl/wavemap:mainfrom develop/v2.0ethz-asl/wavemap:develop/v2.0Copy head branch name to clipboardAug 19, 2024

+19,335-8,151

Commits

Commits on Oct 13, 2023

• Implement Quasi Euclidean SDF generator

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  9f1c630

• Correctly handle surface crossings and negative distances

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  3d0f0f4

Commits on Oct 16, 2023

• Minor refactoring

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Commits on Oct 20, 2023

• Major refactoring to make the spatial data structures reusable

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  393a3db

• Clean up block and cell index conversions for hashed data structures

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  373b87c

• Merge branch 'feature/optimize_chunked_integrator' into feature/esdf

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  89bccd0

Commits on Oct 26, 2023

• Draft full Euclidean SDF generator

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  31d60cb

• Clean up min distance computation

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  8902c4e

Commits on Oct 27, 2023

• Implement (de)serialization of HashedBlock maps to files

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• Implement (de)serialization of HashedBlocks to ROS msgs

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  6fcd67f

• Extend Rviz plugin to support ESDFs

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  ee8d212

• Add a small occupancy to ESDF conversion script

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  e5164b1

Commits on Nov 15, 2023

• Reduce code duplication between hashed dense block data structures

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  a059ba5

• Move ESDF generation script to examples

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  8964b6b

• Improve SDF tests

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  f3fbbe6

Commits on Nov 16, 2023

• Minor cleanup

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  585d32e

• Clean up and extend ray iterator

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  587fa30

• Merge branch 'main' into feature/planning_tools

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  6766d01

Commits on Nov 17, 2023

• Handle default arguments for non-float types

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  70a126f

Commits on Nov 20, 2023

• Draft plugin system

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  9a67f59

• Update wavemap config schema and configs

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  5abdf6f

Commits on Nov 21, 2023

• Update Livox-only code

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  68110fd

• Implement map_crop operation for local mapping

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  47c3b0a

• Drive operations with input message time instead of ros::Time::now()

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  5b7d3a0

• Add schema for map crop operation config validation

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  a1b8578

Commits on Nov 23, 2023

• Add convenience aliases

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  d3fda74

Commits on Nov 24, 2023

• Rename operations param to operations_pipeline as suggested by @jk-ethz

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  82ca28e

• Redesign tree data structure interfaces

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  d67c840

Commits on Nov 29, 2023

• Add generic hashed octree data structure

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  eeb48f7

Commits on Nov 30, 2023

• Refactor grid neighborhood utils

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  be8a072

Commits on Dec 1, 2023

• Refactor and extend ROS msg conversions

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  bb49e60

• Add plugin to publish obstacles as fixed-resolution pointcloud

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  39f9510

• Update config validation schema to support new operation

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  70c57a8

• Switch to sensor_msgs::PointCloud2 msg type

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  07e67a2

Commits on Dec 2, 2023

• Extend and test adjacency utils

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  f99a579

• Make Adjacency types and masks more intuitive to use

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  d5acc16

• Refactor the TypeSelector class to support nicer syntax

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  1f9f6f5

Commits on Dec 4, 2023

• Use available methods directly

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  f1d214d

Commits on Dec 5, 2023

• Avoid unnecessary square root computation in point validity check

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  1e528af

• Avoid unnecessary square root computation in point validity check

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  6a15148

• Extend AABBs to handle AABB-AABB min and max distance queries

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  b204a33

• Use bit_ops::is_bit_set to make code easier to read

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  1689a67

• Additional convenience methods

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  7278b6e

Commits on Dec 8, 2023

• Test NdtreeIndex adjacency checks

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  3c4fa22

Commits on Dec 11, 2023

• Hint GCC that the loop has a small, fixed size

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  4ddf81a

Commits on Dec 12, 2023

• Fix LoD level selection when using Rviz's TopDownOrtho ViewController

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  b6e1336

Commits on Dec 14, 2023

• Only hallucinate filler leaves when needed

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  9b66f7c

Commits on Dec 16, 2023

• Add query accelerator for Spatial and NdtreeBlock hash data structures

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  1d0c51c

• Replace checks with dchecks

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  c704ba4

Commits on Dec 27, 2023

• Simplify traversing ChunkedNdtrees by emulating single node ptrs

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  1e3076e

• Update serialization methods to use the new simulated ptrs

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  dbb6086

Commits on Dec 28, 2023

• Improve simulated pointer/reference semantics

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  b4349e1

• Merge branch 'main' into feature/planning_tools

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  81d6ad9

Commits on Dec 29, 2023

• Rename VolumetricDataStructure to Map

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  3dbec03

• Refactor tests

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  6b6f746

Commits on Jan 5, 2024

• Merge branch 'main' into feature/plugin_system

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  88c6d6b

• Add option to only publish points for changed blocks

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  94e90a3

Commits on Jan 10, 2024

• Refactor OccupancyClassifier and implement ClassifiedMap

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  4253df7

• Test occupancy classifier

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  f4b1d81

• Add query methods and visitors to ClassifiedMap

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  49f0970

Commits on Jan 11, 2024

• Expose additional getters

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  5becb7e

• Add getter for block hash map

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  1ab37c4

• Remove unused member variable

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  6ce07ad

• Start implementing accelerated node getter for NdtreeBlockHashes

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  4547a1b

Commits on Jan 15, 2024

• Reorganize unit tests to match new utils structure

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  7280aed

• Improve readability of initializer

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  8286b15

• Minor refactoring

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  5157074

Commits on Jan 16, 2024

• Test classified map

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  6a9b05d

Commits on Jan 17, 2024

• Remove unsafe optimizations

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  7e61609

Commits on Jan 19, 2024

• Also call callback for partial matches at termination height

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  7b81ca9

Commits on Jan 23, 2024

• Accelerate all ClassifiedMap query types

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  536d8f3

• Implement accelerated node getters for generic NdtreeBlockHashes

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  13116f8

• Make eraseBlockIf available for more spatial hash data structures

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  ed29b02

• Minor improvements to ClassifiedMap

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  b25ad42

• Minor optimizations

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  2346387

• Clean up syntax

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  30a554c

Commits on Jan 25, 2024

• Improve consistency

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  91c37fc

• Reintroduce collision utils

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  20615e5

Commits on Jan 31, 2024

• Improve index conversion vector op syntax

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  236d525

• Add method to query the ray's length

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  0c2ba15

Commits on Feb 1, 2024

• Extend random point sampling utils

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  8714abc

Commits on Feb 2, 2024

• Add option to inflate the occupancy map based a robot's radius

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  6e14b05

Commits on Feb 3, 2024

• Extend ClassifiedMap interfaces and convenience methods

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  5a40d0f

• Make it possible to pass expressions in param validators

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  56368ef

• Directly use the ClassifiedMap to sample random (collision free) points

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  ecb7149

Commits on Feb 4, 2024

• Improve SDF generator tests

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  1e47bac

Commits on Feb 16, 2024

• Expose height of last query result

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  b66ecef

• Improve param variant syntax and add method to get child as given type

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  7f4905c

Commits on Feb 17, 2024

• Make it possible to fix the PointSampler's random seed

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  3fb1547

Commits on Mar 27, 2024

• No longer use catkin_simple for wavemap_io

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  ec051ea

• Merge branch 'feature/plugin_system' into release/v2.0

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  1701cdb

• Rename wavemap server to make room for ROS agnostic server

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  ef94488

Commits on Mar 28, 2024

• Move wavemap_io into regular wavemap library for simplicity

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  1d1ce9d

• Remove dependencies on catkinized gflags, glog and Eigen

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  09b55b2

• Find glog using its included pkgconfig instead of defining our own

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  a647ada

Commits on Apr 4, 2024

• Start migration to pure CMake wavemap library

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  631c767

Commits on May 3, 2024

• Clean up library file structure and (transitive) dependency handling

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Commits on May 6, 2024

• Make ROS1 interfaces compatible with CMake-only library

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  2c23eb6

Commits on May 7, 2024

• Enable unit testing in CMake-only projects

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  c59f773

• Update unit tests in catkin packages and tidy up CMake files

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  13d3385

• Auto-select supported packages in toplevel CMakeLists (for IDEs)

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Commits on Jul 8, 2024

• Minor minkindr code cleanup

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  44705cb

Commits on Jul 17, 2024

• Make measurement integration and map operation pipeline ROS-agnostic

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  a3bc0d9

• Update config files and schemas

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  d256d1d

• Update all factories to return unique_ptrs

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• Move pointcloud undistortion code into ROS-agnostic library

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  7fa862b

• Make integrator max_update_resolution easier to configure

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  a4a649b

Commits on Jul 18, 2024

• Handle integrator names natively through config system

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  e949194

• Print clear error msgs when measurement_integrator_names fail to parse

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• Fetch schema standard over HTTPS not HTTP

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Commits on Jul 19, 2024

• Make wavemap catkin installable

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  85c7ac5

• Make 'catkin test wavemap' run the library's tests

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Commits on Jul 24, 2024

• Remove minkindr install dep as it is no longer needed

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  b52b682

• Remove Docker stage to build from-source deps as no longer needed

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  24d8a72

• Build wavemap_msgs without catkin_simple

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  b29c0aa

• Simplify Docker and CI scripts now that we no longer build deps from src

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  7cf16b6

• Build wavemap_ros_conversions without catkin_simple

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  f59e376

• Mark wavemap_ros_conversions library and headers for installation

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  f94c97f

• Reintroduce clang-tidy CI integration

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  65e867f

• Update doc generation scripts

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  9cb149d

• Fix catkin install errors found in CI

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  98a0a56

• Revert doc page paths due to issues with PDF generation

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  b56f089

• Bump GitHub actions versions to address deprecation warnings

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Commits on Jul 25, 2024

• Shorten map_operations_pipeline param name to map_operations

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  3c53eed

• Fix GCC hanging when compiling with UBSAN enabled

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  b87384f

• Bump docker/build-push-action from v3 to v6

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Commits on Jul 26, 2024

• Restructure examples into generic cpp and ros1-specific examples

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Commits on Jul 29, 2024

• Simplify DECLARE_CONFIG_MEMBERS macro

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Commits on Jul 31, 2024

• Add option to pull in missing dependencies with FetchContent

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  66b5a14

• Minor dependency management fixes after testing in Docker

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  26110b8

Commits on Aug 2, 2024

• Make wavemap library installable

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  9be9421

• Disable option to install if not all deps are available as system libs

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  fa579e5

• Fix conflicts between plain CMake and catkin install rules

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  155cb1f

Commits on Aug 3, 2024

• Start updating the documentation

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  4b27488

Commits on Aug 6, 2024

• Cleaner dependency handling in catkin

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  d562b2e

• Use more future proof names for ROS input handlers

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  d03dbef

• Restructure docs and extend C++ and ROS1 specific tutorials

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Commits on Aug 7, 2024

• Add examples/cpp to wavemap_ide CMake for introspection in IDEs

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  2c9c520

• Add methods to configure the C++ library's logging level (verbosity)

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  339338b

• Update the documentation on how to configure wavemap

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Commits on Aug 8, 2024

• Move C++ library into subfolder to make space for Python API

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  0574c28

• Address @LionelOtt's first set of comments on PR #66

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  407ed1f

• Make utility scripts ROS agnostic and remove wavemap_utils ROS pkg

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  27a7744

• Check and update documentation links

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  ece82dd

Commits on Aug 9, 2024

• Remove last dependencies on catkin_simple

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  6b9f7ec

• Remove rosdep skip-keys that are no longer applicable

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  f1bb45c

• Clean up CI workflows by using Docker image default args

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  bcc5f88

• Clean up Docker build context

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  e25c152

• Add example Dockerfiles for wavemap C++ on Alpine and Debian

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  281e604

• Switch from CI to local release management

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  c1634e2

• Address CI clang-tidy warnings

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  ef6097a

• Revert fix for clang-tidy unused variable warning

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  876f04e

• Add script to update changelogs and version numbers incl. non-ROS pkgs

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  d0d9f00

• Remove hard coded CMake project name

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  75dc457

Commits on Aug 12, 2024

• Update documentation links in README

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  5095e41

• Extend changelog script to include previous paths for migrated packages

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  fbb227b

• Include contributors in changelogs

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  af49c93

• Update changelogs

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  27e2baf

Commits on Aug 16, 2024

• Anchor links from docs to GH code against current commit to avoid expiry

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  1f95725

• Add missing gitpython CI dep

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  719bc51

• Improve prepare_release script

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  83a94fc

• Address doc generation not finding git repo in CI

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  cf332c7

• Add helper to draft release notes

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  8c1f656

Commits on Aug 19, 2024

• Rename wavemap ROS1 Docker img to make space for pure C++ and ROS2 imgs

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