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PepeOjedaPepeOjeda
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2.5.0
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-179
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‎.gitignore

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log
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.vscode
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**/gas_simulations
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*_U
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*_V

‎Changelog.md

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## 2.5.0
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### Major changes
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- Added support for [BasicSim](https://github.com/PepeOjeda/BasicSim). The preprocessing node now automatically generates a valid BasicSim scene yaml, and the main_simbot launchfile has an argument to let you select BasicSim as the robotic simulator.
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### Minor changes
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- Improved CMakelists build mode configuration and changed some of the fatal errors in `gaden_player` to raise `SIGTRAP` instead of calling `exit()` for easier debugging
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## 2.4.0
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### Major changes
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- Simulation YAML files in the `test_env` directory are now more powerful than ever! You can define any ROS argument per-simulation, so a configuration does not need to be shared between all simulations in a given scenario. However, if you want to add a new parameter to the simulation YAML, you will also need to modify the shared YAML (under the `params` directory) to tell it to use the value that was read from the simulation file -- like this:

‎gaden_common/include/gaden_common/Logging.h

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@@ -12,9 +12,9 @@
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#define GADEN_INFO(...) RCLCPP_INFO(rclcpp::get_logger(GADEN_LOGGER_ID), fmt::format(__VA_ARGS__).c_str())
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#define GADEN_INFO_COLOR(color,...) RCLCPP_INFO(rclcpp::get_logger(GADEN_LOGGER_ID), fmt::format(fmt::fg(color),__VA_ARGS__).c_str())
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15-
#define GADEN_WARN(...) RCLCPP_WARN(rclcpp::get_logger(GADEN_LOGGER_ID), fmt::format(fmt::fg(fmt::terminal_color::yellow), __VA_ARGS__).c_str())
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#define GADEN_WARN(...) RCLCPP_WARN(rclcpp::get_logger(GADEN_LOGGER_ID), fmt::format(__VA_ARGS__).c_str())
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17-
#define GADEN_ERROR(...) RCLCPP_ERROR(rclcpp::get_logger(GADEN_LOGGER_ID), fmt::format(fmt::fg(fmt::terminal_color::red), __VA_ARGS__).c_str())
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#define GADEN_ERROR(...) RCLCPP_ERROR(rclcpp::get_logger(GADEN_LOGGER_ID), fmt::format(__VA_ARGS__).c_str())
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#if GADEN_TRACING
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#define GADEN_TRACE(...) RCLCPP_INFO(rclcpp::get_logger(GADEN_LOGGER_ID"-Trace"), fmt::format(fmt::fg(fmt::terminal_color::green), __VA_ARGS__).c_str())

‎gaden_environment/CMakeLists.txt

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@@ -2,8 +2,13 @@ cmake_minimum_required(VERSION 3.5)
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project(gaden_environment)
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##################
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set(CMAKE_BUILD_TYPE "None")
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set(CMAKE_CXX_FLAGS "-std=c++17 -g -O2 ${CMAKE_CXX_FLAGS}")
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 ${CMAKE_CXX_FLAGS}")
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set(CMAKE_CXX_FLAGS_DEBUG "-g -O0 ${CMAKE_CXX_FLAGS}")
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set(CMAKE_CXX_STANDARD 17)
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find_package(ament_cmake REQUIRED)

‎gaden_filament_simulator/CMakeLists.txt

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@@ -1,17 +1,13 @@
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cmake_minimum_required(VERSION 3.5)
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project(gaden_filament_simulator)
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set(CMAKE_BUILD_TYPE "None")
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 ${CMAKE_CXX_FLAGS}")
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set(CMAKE_CXX_FLAGS_DEBUG "-g -O0 ${CMAKE_CXX_FLAGS}")
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6-
set(CMAKE_CXX_FLAGS "-std=c++17 -fopenmp ${CMAKE_CXX_FLAGS}")
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set(DEBUG OFF)
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if(DEBUG)
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add_definitions(-DDEBUG)
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set(CMAKE_CXX_FLAGS "-g -O0 ${CMAKE_CXX_FLAGS}")
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else()
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set(CMAKE_CXX_FLAGS "-O3 ${CMAKE_CXX_FLAGS}")
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endif(DEBUG)
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set(CMAKE_CXX_STANDARD 17)
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‎gaden_player/CMakeLists.txt

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@@ -1,18 +1,12 @@
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cmake_minimum_required(VERSION 3.5)
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project(gaden_player)
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4-
set(CMAKE_BUILD_TYPE "None")
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set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}")
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 ${CMAKE_CXX_FLAGS}")
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set(CMAKE_CXX_FLAGS_DEBUG "-g -O0 ${CMAKE_CXX_FLAGS}")
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7-
set(DEBUG ON)
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9-
if(DEBUG)
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add_definitions(-DDEBUG)
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set(CMAKE_CXX_FLAGS "-g -O0 ${CMAKE_CXX_FLAGS}")
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else()
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set(CMAKE_CXX_FLAGS "-O3 ${CMAKE_CXX_FLAGS}")
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endif(DEBUG)
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set(CMAKE_CXX_STANDARD 17)
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find_package(ament_cmake REQUIRED)

‎gaden_player/src/simulation_player.cpp

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Original file line numberDiff line numberDiff line change
@@ -247,7 +247,7 @@ sim_obj::sim_obj(std::string filepath, bool load_wind_info, std::string occupanc
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if (!std::filesystem::exists(simulation_filename))
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{
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GADEN_ERROR("Simulation folder does not exist: {}", simulation_filename.c_str());
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exit(-1);
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raise(SIGTRAP);
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}
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}
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@@ -582,12 +582,12 @@ void sim_obj::configure_environment()
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if (result == Gaden::ReadResult::NO_FILE)
583583
{
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GADEN_ERROR("No occupancy file provided to Gaden-player node!");
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exit(-1);
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raise(SIGTRAP);
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}
587587
else if (result == Gaden::ReadResult::READING_FAILED)
588588
{
589589
GADEN_ERROR("Something went wrong while parsing the file!");
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exit(-1);
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raise(SIGTRAP);
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}
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}
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‎gaden_preprocessing/CMakeLists.txt

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@@ -7,18 +7,18 @@ set(CMAKE_CXX_FLAGS "-std=c++17 -fopenmp ${CMAKE_CXX_FLAGS}")
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# OPTIONS!
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#==============================================
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set(GENERATE_COPPELIA_SCENE OFF)
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set(DEBUG OFF)
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#==============================================
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if(DEBUG)
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add_definitions(-DDEBUG)
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set(CMAKE_CXX_FLAGS "-g -O0 ${CMAKE_CXX_FLAGS}")
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else()
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set(CMAKE_CXX_FLAGS "-O3 ${CMAKE_CXX_FLAGS}")
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endif()
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 ${CMAKE_CXX_FLAGS}")
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set(CMAKE_CXX_FLAGS_DEBUG "-g -O0 ${CMAKE_CXX_FLAGS}")
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set(CMAKE_CXX_STANDARD 17)
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@@ -30,6 +30,7 @@ set(AMENT_DEPS
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tf2_geometry_msgs
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std_msgs
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gaden_common
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yaml_cpp_vendor
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)
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if(GENERATE_COPPELIA_SCENE)

‎gaden_preprocessing/include/gaden_preprocessing/Gaden_preprocessing.h

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@@ -79,12 +79,13 @@ class Gaden_preprocessing : public rclcpp::Node
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bool isASCII(const std::string& filename);
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8181
bool compare_cell(int x, int y, int z, cell_state value);
82-
void changeWorldFile(const std::string& filename);
83-
void printMap(std::string filename, int scale, bool block_outlets);
84-
void printEnv(std::string filename, int scale);
85-
void printWind(const std::vector<double>& U, const std::vector<double>& V, const std::vector<double>& W, std::string filename);
82+
void changeStageWorldFile(const std::string& filename);
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void printOccupancyMap(std::string filename, int scale, bool block_outlets);
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void printOccupancyYaml(std::string outputFolder);
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void printBasicSimYaml(std::string outputFolder);
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void printGadenEnvFile(std::string filename, int scale);
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void printWindFiles(const std::vector<double>& U, const std::vector<double>& V, const std::vector<double>& W, std::string filename);
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void printYaml(std::string output);
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std::array<tf2::Vector3, 9> cubePoints(const tf2::Vector3& query_point);
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bool pointInTriangle(const tf2::Vector3& query_point, const tf2::Vector3& triangle_vertex_0, const tf2::Vector3& triangle_vertex_1,
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const tf2::Vector3& triangle_vertex_2);
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namespace Utils
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{
106-
float min_val(float x, float y, float z)
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{
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109-
float min = x;
110-
if (y < min)
111-
min = y;
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if (z < min)
113-
min = z;
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return min;
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}
117-
float max_val(float x, float y, float z)
118-
{
119-
120-
float max = x;
121-
if (y > max)
122-
max = y;
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if (z > max)
124-
max = z;
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return max;
127-
}
128-
bool eq(float x, float y)
107+
inline bool eq(float x, float y)
129108
{
130109
return std::abs(x - y) < 0.01;
131110
}
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133-
bool isParallel(const tf2::Vector3& vec)
112+
inline bool isParallel(const tf2::Vector3& vec)
134113
{
135114
return (eq(vec.y(), 0) && eq(vec.z(), 0)) || (eq(vec.x(), 0) && eq(vec.z(), 0)) || (eq(vec.x(), 0) && eq(vec.y(), 0));
136115
}

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