Merge remote-tracking branch 'remote2/develop' into develop

MOLAorg · Dec 15, 2023 · ad42a33 · ad42a33
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diff --git a/.clang-format b/.clang-format
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diff --git a/docs/module-demos.rst b/docs/module-demos.rst
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+.. _mola_demos:
+
+========================================
+Module: mola_demos
+========================================
+
+Write me!
+
+.. index::
+   single: mola_demos
+   module: mola_demos
diff --git a/mola_demos/CHANGELOG.rst b/mola_demos/CHANGELOG.rst
@@ -0,0 +1,14 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mola_demos
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.2 (2023-09-08)
+------------------
+* Progress with demo
+* Import first demo files
+* Contributors: Jose Luis Blanco-Claraco
+
+0.2.1 (2023-09-08)
+------------------
+* Initial commit
+* Contributors: Jose Luis Blanco-Claraco
diff --git a/mola_demos/CMakeLists.txt b/mola_demos/CMakeLists.txt
@@ -0,0 +1,46 @@
+# ------------------------------------------------------------------------------
+#        A Modular Optimization framework for Localization and mApping
+#                               (MOLA)
+#
+# Copyright (C) 2018-2023, Jose Luis Blanco-Claraco, contributors (AUTHORS.md)
+# All rights reserved.
+# Released under GNU GPL v3. See LICENSE file
+# ------------------------------------------------------------------------------
+
+# Minimum CMake vesion: limited by CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS
+cmake_minimum_required(VERSION 3.4)
+
+if("$ENV{ROS_VERSION}" STREQUAL "2")
+	set(DETECTED_ROS2 TRUE)
+endif()
+
+# Tell CMake we'll use C++ for use in its tests/flags
+project(mola_demos LANGUAGES CXX)
+
+# MOLA CMake scripts: "mola_xxx()"
+#find_package(mola_common REQUIRED)
+
+# Instrumental lib:
+add_library(${PROJECT_NAME} INTERFACE)
+
+# Install files:
+install(DIRECTORY
+  launch
+  DESTINATION
+    share/${PROJECT_NAME}
+)
+
+
+# -----------------------------------------------------------------------------
+#  ROS2
+# -----------------------------------------------------------------------------
+if (DETECTED_ROS2)
+	# find dependencies
+	find_package(ament_cmake REQUIRED)
+
+	#ament_target_dependencies(MY_TARGET
+	#  rclcpp...
+	#)
+
+	ament_package()
+endif()
diff --git a/mola_demos/LICENSE b/mola_demos/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2005-2019, Individual contributors, see AUTHORS file
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/mola_demos/README.md b/mola_demos/README.md
@@ -0,0 +1,22 @@
+# mola_demos
+Demo and example launch files for MOLA
+
+Note that there are launch files for both, ROS 2 and standalone builds of MOLA. 
+
+## Examples and demos
+
+### Read an external Ouster lidar into MOLA
+
+```bash
+# In one terminal
+mola-cli -c  $(ros2 pkg prefix --share mola_demos)/launch/ros2_ouster_just_view.yaml
+
+# In another terminal:
+ros2 bag play my_lidar_dataset.mcap
+```
+
+## Build and install
+Refer to the [root MOLA repository](https://github.com/MOLAorg/mola).
+
+## License
+This package is released under the BSD-3 license.
diff --git a/mola_demos/launch/euroc_stereo_just_replay.yaml b/mola_demos/launch/euroc_stereo_just_replay.yaml
@@ -0,0 +1,32 @@
+# -----------------------------------------------------------------------------
+#                        SLAM system definition for MOLA
+# This file defines:
+#  an EUROC dataset reader. No actual SLAM or localization with this file!
+# -----------------------------------------------------------------------------
+
+modules:
+  # =====================
+  # EurocDataset
+  # =====================
+  - name: euroc_input
+    type: mola::EurocDataset
+    execution_rate: 50 # Hz
+    # (The following requires creating a MolaViz instance)
+    gui_preview_sensors:
+      - raw_sensor_label: cam0
+        decimation: 1
+        win_pos: 0 0 500 200 # [x,y,width,height]
+      - raw_sensor_label: cam1
+        decimation: 1
+        win_pos: 510 0 500 200 # [x,y,width,height]
+    params:
+      base_dir: ${EUROC_BASE_DIR}
+      sequence: vicon_room1/V1_01_easy/
+      time_warp_scale: 1.0
+  # =====================
+  # MolaViz
+  # =====================
+  - name: viz
+    type: mola::MolaViz
+    #verbosity_level: DEBUG
+    params: ~ # none
diff --git a/mola_demos/launch/kitti_just_replay.yaml b/mola_demos/launch/kitti_just_replay.yaml
@@ -0,0 +1,41 @@
+# -----------------------------------------------------------------------------
+#                        SLAM system definition for MOLA
+#
+# This file just replays (no SLAM) the raw data of a sequence of the KITTI dataset
+# -----------------------------------------------------------------------------
+
+modules:
+  # =====================
+  # KittiOdometryDataset
+  # =====================
+  - type: mola::KittiOdometryDataset
+    name: kitti_input
+    execution_rate: 20 # Hz
+    #export_to_rawlog: kitti_${KITTI_SEQ}.rawlog
+    #verbosity_level: INFO
+    gui_preview_sensors:
+      - raw_sensor_label: lidar
+        decimation: 1
+        win_pos: 5 70 400 400
+      - raw_sensor_label: image_0
+        decimation: 1
+        win_pos: 5 370 600 200
+      - raw_sensor_label: image_1
+        decimation: 1
+        win_pos: 5 500 600 200
+    params:
+      base_dir: ${KITTI_BASE_DIR}
+      sequence: ${KITTI_SEQ}
+      time_warp_scale: 1.0
+      publish_lidar: true
+      publish_image_0: true
+      publish_image_1: true
+      publish_ground_truth: true
+
+  # =====================
+  # MolaViz
+  # =====================
+  - name: viz
+    type: mola::MolaViz
+    #verbosity_level: DEBUG
+    params: ~ # none
diff --git a/mola_demos/launch/live_velodyne_just_view.yaml b/mola_demos/launch/live_velodyne_just_view.yaml
@@ -0,0 +1,60 @@
+# -----------------------------------------------------------------------------
+#                        SLAM system definition for MOLA
+# This file defines:
+# a live sensor input (Velodyne scanner). No SLAM, just shows the received data
+# -----------------------------------------------------------------------------
+
+modules:
+# Offline or online sensory data sources =====================
+  - type: mola::GenericSensor
+    name: velodyne_input
+    execution_rate: 100 # Hz (max processing rate)
+    #verbosity_level: INFO
+    gui_preview_sensors:
+      - raw_sensor_label: Velodyne1_SCAN
+        decimation: 1
+        win_pos: 5 5 400 400
+    # GenericSensor parameters are the same than those in share/mrpt/rawlog_grabber/*.ini
+    # which can be converted to YAML using the mrpt tool "ini2yaml".
+    # Refer to docs for http://mrpt.ual.es/reference/devel/classmrpt_1_1hwdrivers_1_1_c_generic_sensor.html
+    # for possible sensors and available parameters.
+    params:
+      driver: CVelodyneScanner
+      # Optional but recommended: put here your vendor-provided calibration file
+      #calibration_file: PUT_HERE_FULL_PATH_TO_CALIB_FILE.xml
+      # model: Can be any of: `VLP16`,`HDL32`,`HDL64`  (It is used to load default calibration file. Parameter not required if `calibration_file` is provided.
+      model: VLP16
+      # ---- Online operation ----
+      # IP address of the device. UDP packets from other IPs will be ignored. Leave commented or blank
+      # if only one scanner is present (no IP filtering)
+      #device_ip: 10.0.0.100
+      # Sensor RPM (Default: unchanged). Requires setting `device_ip`
+      # If set, an HTTP request will be issued to change the device settings.
+      #rpm: 300
+      # Any of: 'STRONGEST', 'LAST', 'DUAL'. Requires setting `device_ip`
+      # If set, an HTTP request will be issued to change the device settings.
+      #return_type: STRONGEST
+      # ---- Offline operation ----
+      # If uncommented, and non-empty, this class will read from the PCAP instead of connecting and listening
+      # for online network packets.
+      #pcap_input: ${PCAP_INPUT}
+      #pcap_read_once: false    # Do not loop
+      #pcap_read_fast: false    # fast forward skipping non-velodyne packets
+      #pcap_read_full_scan_delay_ms: 100  # Used to simulate a reasonable number of full scans / second
+      #pcap_repeat_delay: 0.0  #  seconds
+      # ---- Save to PCAP file ----
+      # If uncommented, a PCAP file named `[pcap_output_prefix]_[DATE_TIME].pcap` will be
+      # written simultaneously to the normal operation of this class.
+      #pcap_output: velodyne_log
+      #
+      # Sensor pose on the robot/vehicle:
+      pose_pitch: 0
+      pose_roll: 0
+      pose_x: 0
+      pose_y: 0
+      pose_yaw: 0
+      pose_z: 0
+      # This driver will generate observations:
+      # - ${sensorLabel}_SCAN: Velodyne scans
+      # - ${sensorLabel}_GPS: RMC GPS frames
+      sensorLabel: Velodyne1
diff --git a/mola_demos/launch/mulran_just_replay.yaml b/mola_demos/launch/mulran_just_replay.yaml
@@ -0,0 +1,33 @@
+# -----------------------------------------------------------------------------
+#                        SLAM system definition for MOLA
+#
+# This file just replays (no SLAM) the raw data of a sequence of the Mulran dataset
+# -----------------------------------------------------------------------------
+
+modules:
+  # =====================
+  # MulranDataset
+  # =====================
+  - type: mola::MulranDataset
+    name: mulran_input
+    execution_rate: 20 # Hz
+    #export_to_rawlog: mulran_${MULRAN_SEQ}.rawlog
+    #verbosity_level: INFO
+    gui_preview_sensors:
+      - raw_sensor_label: lidar
+        decimation: 1
+        win_pos: 5 70 400 400
+    params:
+      base_dir: ${MULRAN_BASE_DIR}
+      sequence: ${MULRAN_SEQ}
+      time_warp_scale: 1.0
+      publish_lidar: true
+      publish_ground_truth: true
+
+  # =====================
+  # MolaViz
+  # =====================
+  - name: viz
+    type: mola::MolaViz
+    #verbosity_level: DEBUG
+    params: ~ # none