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Merged
SteveMacenski merged 1 commit into from
Mar 18, 2023
Merged

scripts for route #3490

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1 change: 1 addition & 0 deletions nav2_route/graphs/scripts/README.md
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These scripts are used to help automate parts of route graph generation process.
19 changes: 19 additions & 0 deletions nav2_route/graphs/scripts/export_shapefiles.py
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import geopandas as gpd
import pandas as pd
import sys
from datetime import datetime

try:
file_prefix = sys.argv[1]
edges = gpd.read_file(sys.argv[2])
nodes = gpd.read_file(sys.argv[3])
except:
raise Exception("Incorrect arguements provided")

now = datetime.now()

graph = pd.concat([nodes, edges])

file_name = file_prefix + "_" + now.strftime("%m_%d_%Y_%H_%M_%S") + ".geojson"

graph.to_file(file_name, driver='GeoJSON')
22 changes: 22 additions & 0 deletions nav2_route/graphs/scripts/generate_start_and_end_id.sql
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WITH start_points AS
(
SELECT n.id AS node_id
,e.id AS edge_id
,e.geometry AS edge_geometry
FROM edges AS e, nodes AS n
WHERE ST_INTERSECTS(n.geometry, ST_StartPoint(e.geometry))
), end_points AS
(
SELECT n.id AS node_id
,e.id AS edge_id
,e.geometry AS edge_geometry
FROM edges AS e, nodes AS n
WHERE ST_INTERSECTS(n.geometry, ST_EndPoint(e.geometry))
)
SELECT sp.edge_id AS edge_id
,sp.node_id AS start_node
,ep.node_id AS end_node
,sp.edge_geometry AS geometry
FROM start_points AS sp
JOIN end_points AS ep
ON sp.edge_id = ep.edge_id
21 changes: 21 additions & 0 deletions nav2_route/graphs/scripts/increment_edge_id.json
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{
"author": "josh",
"exported_at": "2023-03-15T19:27:03",
"expressions": [
{
"description": "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;\">\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p></body></html>",
"expression": "if(maximum(\"id\") is null, 10000, maximum(\"id\")+1)",
"group": "user",
"name": "increment_edge_id",
"type": "expression"
},
{
"description": "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;\">\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p></body></html>",
"expression": "if(maximum(\"id\") is null, 0, maximum(\"id\")+1)",
"group": "user",
"name": "increment_node_id",
"type": "expression"
}
],
"qgis_version": "3.22.4-Białowieża"
}
14 changes: 14 additions & 0 deletions nav2_route/graphs/scripts/increment_node_id.json
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{
"author": "josh",
"exported_at": "2023-03-15T19:22:14",
"expressions": [
{
"description": "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">\n<html><head><style type=\"text/css\">\np, li { white-space: pre-wrap; }\n</style></head><body style=\" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;\">\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><br /></p></body></html>",
"expression": "if(maximum(\"id\") is null, 0, maximum(\"id\")+1)",
"group": "user",
"name": "increment_node_id",
"type": "expression"
}
],
"qgis_version": "3.22.4-Białowieża"
}