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Merged
SteveMacenski merged 7 commits into from
Mar 6, 2023
Merged

Example graph #3438

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9bd9faa
added simple graph
jwallace42 Mar 1, 2023
d592fa4
added metadata and operations to graph
jwallace42 Mar 2, 2023
860b958
update
jwallace42 Mar 2, 2023
980b3d0
Merge branch 'nav2_route_server' into example_graph
jwallace42 Mar 2, 2023
91e0d81
add space
jwallace42 Mar 2, 2023
2637d9d
added test for sample_graph
jwallace42 Mar 4, 2023
79e4cde
added to readme
jwallace42 Mar 4, 2023
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4 changes: 3 additions & 1 deletion nav2_route/README.md
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Expand Up @@ -75,7 +75,9 @@ Otherwise, the Node, Edge, and Operations may contain other arbitrary applicatio
These can be primitive types (float, int, string, etc), vector types (e.g. a polygon or other vector of information), or even contain information nested under namespaces - whereas a metadata object may exist as a key's value within `metadata`.

While GeoJSON is not YAML-based, the following YAML file is provided as a more human-readable example for illustration of the conventions above.
Usable real graph file demos can be found in the `graphs/` directory.
Usable real graph file demos can be found in the `graphs/` directory. However, the
`sample_graph.geojson` in the `graph/` directory exists to show the different API for options
for operations, metadata, recursive metadata and vectors.

```
example_graph.yaml
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2 changes: 1 addition & 1 deletion nav2_route/graphs/aws_graph.geojson
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@@ -1,6 +1,6 @@
{
"type": "FeatureCollection",
"name": "nodes",
"name": "graph",
"crs": { "type": "name", "properties": { "name": "urn:ogc:def:crs:EPSG::3857" } },
"date_generated": "Wed Feb 22 05:41:45 PM EST 2023",
"features": [
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121 changes: 121 additions & 0 deletions nav2_route/graphs/sample_graph.geojson
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@@ -0,0 +1,121 @@
{
"type": "FeatureCollection",
"name": "graph",
"crs": { "type": "name", "properties": { "name": "urn:ogc:def:crs:EPSG::3857" } },
"date_generated": "Tue Feb 28 07:48:03 PM EST 2023",
"features": [
{
"type": "Feature",
"properties":
{
"id": 0,
"frame": "map",
"metadata":
{
"region":
{
"x_values": [1.0, -1.0, -1.0, 1.0],
"y_values": [1.0, 1.0, -1.0, -1.0],
"properties": {
"class_type": "living_room",
"number_of_lights": 10
}
}
},
"operations":
{
"stop":
{
"type": "stop",
"trigger": "NODE",
"metadata":
{
"wait_for": 5.0
}
}
}
},
"geometry":
{
"type": "Point",
"coordinates": [ 0.0, 0.0 ]
}
},
{ "type": "Feature", "properties": { "id": 1, "frame": "map" }, "geometry": { "type": "Point", "coordinates": [ 1.0, 0.0 ] } },
{ "type": "Feature", "properties": { "id": 2, "frame": "map" }, "geometry": { "type": "Point", "coordinates": [ 2.0, 0.0 ] } },
{ "type": "Feature", "properties": { "id": 3, "frame": "map" }, "geometry": { "type": "Point", "coordinates": [ 0.0, 1.0 ] } },
{ "type": "Feature", "properties": { "id": 4, "frame": "map" }, "geometry": { "type": "Point", "coordinates": [ 1.0, 1.0 ] } },
{ "type": "Feature", "properties": { "id": 5, "frame": "map" }, "geometry": { "type": "Point", "coordinates": [ 2.0, 1.0 ] } },
{ "type": "Feature", "properties": { "id": 6, "frame": "map" }, "geometry": { "type": "Point", "coordinates": [ 0.0, 2.0 ] } },
{ "type": "Feature", "properties": { "id": 7, "frame": "map" }, "geometry": { "type": "Point", "coordinates": [ 1.0, 2.0 ] } },
{ "type": "Feature", "properties": { "id": 8, "frame": "map" }, "geometry": { "type": "Point", "coordinates": [ 2.0, 2.0 ] } },
{
"type": "Feature",
"properties":
{
"id": 9,
"startid": 0,
"endid": 1,
"overridable": false,
"cost": 10.0,
"metadata":
{
"speed_limit": 0.85,
"aisle_number": 14
},
"operations":
{
"open_door":
{
"type": "open_door",
"trigger": "ON_ENTER",
"metadata":
{
"door_id": 54,
"service_name": "open_door"
}
},
"take_picture":
{
"type": "take_picture",
"trigger": "ON_EXIT",
"metadata":
{
"type": "jpg",
"resolution": [1080, 720]
}
}
}
},
"geometry":
{
"type": "MultiLineString",
"coordinates": [ [ [ 0.0, 0.0 ], [ 1.0, 0.0 ] ] ]
}
},
{ "type": "Feature", "properties": { "id": 10, "startid": 1, "endid": 0 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 0.0 ], [ 0.0, 0.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 11, "startid": 1, "endid": 2 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 0.0 ], [ 2.0, 0.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 12, "startid": 2, "endid": 1 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 2.0, 0.0 ], [ 1.0, 0.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 13, "startid": 0, "endid": 3 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 0.0, 0.0 ], [ 0.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 14, "startid": 3, "endid": 0 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 0.0, 1.0 ], [ 0.0, 0.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 15, "startid": 1, "endid": 4 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 0.0 ], [ 1.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 16, "startid": 4, "endid": 1 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 1.0 ], [ 1.0, 0.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 17, "startid": 2, "endid": 5 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 2.0, 0.0 ], [ 2.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 18, "startid": 5, "endid": 2 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 2.0, 1.0 ], [ 2.0, 0.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 19, "startid": 3, "endid": 4 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 0.0, 1.0 ], [ 1.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 20, "startid": 4, "endid": 3 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 1.0 ], [ 0.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 21, "startid": 4, "endid": 5 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 1.0 ], [ 2.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 22, "startid": 5, "endid": 4 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 2.0, 1.0 ], [ 1.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 23, "startid": 3, "endid": 6 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 0.0, 1.0 ], [ 0.0, 2.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 24, "startid": 6, "endid": 3 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 0.0, 2.0 ], [ 0.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 25, "startid": 4, "endid": 7 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 1.0 ], [ 1.0, 2.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 26, "startid": 7, "endid": 4 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 2.0 ], [ 1.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 27, "startid": 5, "endid": 8 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 2.0, 1.0 ], [ 2.0, 2.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 28, "startid": 8, "endid": 5 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 2.0, 2.0 ], [ 2.0, 1.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 29, "startid": 6, "endid": 7 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 0.0, 2.0 ], [ 1.0, 2.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 30, "startid": 7, "endid": 6 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 2.0 ], [ 0.0, 2.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 31, "startid": 7, "endid": 8 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 1.0, 2.0 ], [ 2.0, 2.0 ] ] ] } },
{ "type": "Feature", "properties": { "id": 32, "startid": 8, "endid": 7 }, "geometry": { "type": "MultiLineString", "coordinates": [ [ [ 2.0, 2.0 ], [ 1.0, 2.0 ] ] ] } }

]
}
33 changes: 33 additions & 0 deletions nav2_route/test/test_geojson_graph_file_loader.cpp
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Expand Up @@ -16,7 +16,9 @@
#include <fstream>
#include <string>
#include <nlohmann/json.hpp>
#include <ament_index_cpp/get_package_share_directory.hpp>

#include "nav2_util/node_utils.hpp"
#include "nav2_route/plugins/graph_file_loaders/geojson_graph_file_loader.hpp"

class RclCppFixture
Expand Down Expand Up @@ -326,3 +328,34 @@ TEST(GeoJsonGraphFileLoader, simple_graph)
EXPECT_TRUE(graph[0].neighbors[0].edge_cost.overridable);
EXPECT_EQ(graph[0].neighbors[0].edge_cost.cost, 0.0f);
}

TEST(GeoJsonGraphFileLoader, sample_graph)
{
auto file_path = ament_index_cpp::get_package_share_directory("nav2_route") +
"/graphs/sample_graph.geojson";

Graph graph;
GraphToIDMap graph_to_id_map;
GeoJsonGraphFileLoader graph_file_loader;
bool result = graph_file_loader.loadGraphFromFile(graph, graph_to_id_map, file_path);
EXPECT_TRUE(result);

Metadata region;
region = graph[0].metadata.getValue("region", region);
EXPECT_EQ(region.data.size(), 3u);

std::vector<std::any> x_values;
x_values = region.getValue("x_values", x_values);
EXPECT_EQ(x_values.size(), 4u);

EXPECT_EQ(graph[0].neighbors[0].edge_cost.cost, 10.0f);
EXPECT_EQ(graph[0].neighbors[0].edge_cost.overridable, false);

auto & operations = graph[0].neighbors[0].operations;

EXPECT_EQ(operations[0].type, "open_door");

std::string type;
type = operations[1].metadata.getValue("type", type);
EXPECT_EQ(type, "jpg");
}
2 changes: 1 addition & 1 deletion nav2_route/test/test_graph_loader.cpp
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Expand Up @@ -59,7 +59,7 @@ TEST(GraphLoader, test_api)
nav2_util::declare_parameter_if_not_declared(
node, "graph_filepath", rclcpp::ParameterValue(
ament_index_cpp::get_package_share_directory("nav2_route") +
"/graphs/geojson/aws_graph.geojson"));
"/graphs/aws_graph.geojson"));

GraphLoader graph_loader(node, tf, frame);

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