New Map format

[Jailander]

This is the proposed new map format for topnav2

name:       new_map                    # Topological map name generally should be the same as in the pointset field
metric_map: map2d                       # 2D Metric map name (not used currently)
pointset:   new_map                     # The name of the group of nodes that compose the topological map, typically the same as name
transformation:
  rotation:                        # Topological Map Rotation
    w: 1.0
    x: 0.0
    y: 0.0
    z: 0.0
  translation:                                  # Topological Map Translation
    x: 0.0
    y: 0.0
    z: 0.0
  child: topo_map
  parent: map
meta:                            # Just some meta information
  last_updated: 2020-02-18 12:00 am              # Last time the map was modified
nodes:
- meta:                            # Just some meta information
    map: map2d
    node: WayPoint001        
    pointset: new_map
  node:                                 # Actual Node Properties
    edges:                        # List of edges departing from the node
    - action: move_action                # Action Name
      edge_id: WayPoint001_WayPoint002
      node: WayPoint002
      config: &move_action_config_1             # Edge Reconfigure
      - namespace: param1_namespace                   # Parameter
        name: param1_name
        value: param1_value
      - namespace: param2_namespace                   # Parameter
        name: param2_name
        value: param2_value
      recovery_behaviours_config: ''
      action_type: 'move_action_msgs/MoveActionGoal'      # Goal type for the Action
      goal:
        target_pose:
          header:
            frame_id: $node.parent_frame
          pose: $node.pose
      fail_policy: retry_3, replan, fail        # What to do if execution fail (fail, replan, retry_#number_of_times)
      fluid_navigation: true        # if false robot must be at exact pose of origin node before traversing the edge
      restrictions_planning: (robot_tall & task_transportation) |  ~ robot_narrow
      restrictions_runtime: pose_exact
    - action: move_action                # Action Name
      edge_id: WayPoint001_WayPoint003
      node: WayPoint003
      config: &move_action_config_2             # Edge Reconfigure
      - namespace: param3_namespace                   # Parameter
        name: param3_name
        value: param3_value
      recovery_behaviours_config: ''
      action_type: move_action_msgs/MoveActionGoal      # Goal type for the Action
      goal:
        target_pose:
          header:
            frame_id: $node.parent_frame
          pose: $node.pose
      fail_policy: fail                    # What to do if execution fail (fail, replan, retry_#number_of_times)
      fluid_navigation: true        # if false robot must be at exact pose of origin node before traversing the edge
      restrictions_planning: (robot_tall & task_transportation) |  ~ robot_narrow
      restrictions_runtime: 'True'
    localise_by_topic: ''                       # Localise by topic configuration string
    name: WayPoint001                        # Node name
    parent_frame: map
    pose:                        # Node pose
      orientation:                              # Node orientation (quaternion) 
        w: 0.92388
        x: 0
        y: 0
        z: 0.38268
      position:                        # Node position
        x: 0.0
        y: 0.0
        z: 0.0
    verts:                        # Vetices of the influence zone relative to node position
    - x: 0.689
      y: 0.287
    - x: 0.287
      y: 0.689
    - x: -0.287
      y: 0.689
    - x: -0.689
      y: 0.287
    - x: -0.689
      y: -0.287
    - x: -0.287
      y: -0.689
    - x: 0.287
      y: -0.689
    - x: 0.689
      y: -0.287
    properties:
      xy_goal_tolerance: 0.3                # Goal tolerance in the XY axes
      yaw_goal_tolerance: 0.1                 # Angular goal tolerance
    restrictions_planning: (robot_tall & task_transportation) |  ~ robot_narrow
    restrictions_runtime: 'True'
- meta:                            # Just some meta information
    map: map2d
    node: WayPoint002
    pointset: new_map
  node:                                 # Actual Node Properties
    edges:                        # List of edges departing from the node
    - action: move_action                # Action Name
      edge_id: WayPoint002_WayPoint001
      node: WayPoint001
      config: *move_action_config_1             # Edge Reconfigure
      recovery_behaviours_config: ''
      action_type: move_action_msgs/MoveActionGoal      # Goal type for the Action
      goal:
        target_pose:
          header:
            frame_id: $node.parent_frame
          pose: $node.pose
      fail_policy: retry_3, replan, fail        # What to do if execution fail (fail, replan, retry_#number_of_times)
      fluid_navigation: true        # if false robot must be at exact pose of origin node before traversing the edge
      restrictions_planning: (robot_tall & task_transportation) |  ~ robot_narrow
      restrictions_runtime: 'True'
    - action: move_action                # Action Name
      edge_id: WayPoint002_WayPoint003
      node: WayPoint003
      config: *move_action_config_2             # Edge Reconfigure
      recovery_behaviours_config: ''
      action_type: move_action_msgs/MoveActionGoal      # Goal type for the Action
      goal:
        target_pose:
          header:
            frame_id: $node.parent_frame
          pose: $node.pose
      fail_policy: fail                    # What to do if execution fail (fail, replan, retry_#number_of_times)
      fluid_navigation: true        # if false robot must be at exact pose of origin node before traversing the edge
      restrictions_planning: 'True'
      restrictions_runtime: 'True'
    localise_by_topic: ''                       # Localise by topic configuration string
    name: WayPoint002                        # Node name
    parent_frame: map
    pose:                        # Node pose
      orientation:                              # Node orientation (quaternion) 
        w: 0.92388
        x: 0
        y: 0
        z: 0.38268
      position:                        # Node position
        x: 1.0
        y: 1.0
        z: 0.0
    verts:                        # Vetices of the influence zone relative to node position
    - x: 0.689
      y: 0.287
    - x: 0.287
      y: 0.689
    - x: -0.287
      y: 0.689
    - x: -0.689
      y: 0.287
    - x: -0.689
      y: -0.287
    - x: -0.287
      y: -0.689
    - x: 0.287
      y: -0.689
    - x: 0.689
      y: -0.287
    properties:
      xy_goal_tolerance: 0.3                # Goal tolerance in the XY axes
      yaw_goal_tolerance: 0.1                 # Angular goal tolerance
    restrictions_planning: 'True'
    restrictions_runtime: 'True'
- meta:                            # Just some meta information
    map: map2d
    node: WayPoint003
    pointset: new_map
  node:                                 # Actual Node Properties
    edges:                        # List of edges departing from the node
    - action: move_action                # Action Name
      edge_id: WayPoint003_WayPoint001
      node: WayPoint001
      config: *move_action_config_1             # Edge Reconfigure
      recovery_behaviours_config: ''
      action_type: move_action_msgs/MoveActionGoal      # Goal type for the Action
      goal:
        target_pose:
          header:
            frame_id: $node.parent_frame
          pose: $node.pose
      fail_policy: retry_3, replan, fail        # What to do if execution fail (fail, replan, retry_#number_of_times)
      fluid_navigation: true        # if false robot must be at exact pose of origin node before traversing the edge
      restrictions_planning: (robot_tall & task_transportation) |  ~ robot_narrow
      restrictions_runtime: 'True'
    - action: move_action                # Action Name
      edge_id: WayPoint003_WayPoint002
      node: WayPoint002
      config: *move_action_config_2             # Edge Reconfigure
      recovery_behaviours_config: ''
      action_type: move_action_msgs/MoveActionGoal      # Goal type for the Action
      goal:
        target_pose:
          header:
            frame_id: $node.parent_frame
          pose: $node.pose
      fail_policy: fail                    # What to do if execution fail (fail, replan, retry_#number_of_times)
      fluid_navigation: true        # if false robot must be at exact pose of origin node before traversing the edge
      restrictions_planning: 'True'
      restrictions_runtime: 'True'
    localise_by_topic: ''                       # Localise by topic configuration string
    name: WayPoint003                        # Node name
    parent_frame: map
    pose:                        # Node pose
      orientation:                              # Node orientation (quaternion) 
        w: 0.92388
        x: 0
        y: 0
        z: 0.38268
      position:                        # Node position
        x: -1.0
        y: -1.0
        z: 0.0
    verts:                        # Vertices of the influence zone relative to node position
    - x: 0.689
      y: 0.287
    - x: 0.287
      y: 0.689
    - x: -0.287
      y: 0.689
    - x: -0.689
      y: 0.287
    - x: -0.689
      y: -0.287
    - x: -0.287
      y: -0.689
    - x: 0.287
      y: -0.689
    - x: 0.689
      y: -0.287
    properties:
      xy_goal_tolerance: 0.3                # Goal tolerance in the XY axes
      yaw_goal_tolerance: 0.1                 # Angular goal tolerance
    restrictions_planning: 'True'
    restrictions_runtime: 'True'

[Jailander]

updated map format to include restrictions

[Jailander]

Hi, I was wondering if it would be worth including the field's datum in the topological map format, and if so, should it be included in the meta field or as a field in root?

Also, we should consider that there is already a field for the transform between the metric map and the topo map so probably this won't be necessary.

[Jailander]

@MikHut any comments?

[MikHut]

It might be nice to include the datum so you can do things independently with the topomap, however, the datum is required by a lot of nodes so it might be best to just keep the one, and all the nodes get it from the same place instead of storing it independently

[ayu135]

I discovered that there is no field called edge_id for the edges in the new map, the old map had the edge id which was used by the navigate.py followroute() function. I think we should add that here as well.

[adambinch]

The edge id field has been added in #44 - it just isnt here in the issue. Just added it.

…

On Thu, Jan 7, 2021 at 8:19 AM Ayush Sharma ***@***.***> wrote: I discovered that there is no field called edge_id for the edges in the new map, the old map had the edge id which was used by the navigate.py followroute() function. I think we should add that here as well. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#35 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AF3YS3VV3JZHAT5QEW3C2ZDSYVVCVANCNFSM4S2646EA> .

-- *Dr Adam Binch* | Senior Robotics Engineer SAGA ROBOTICS LTD // THORVALD Think Tank Lincoln LN6 7FL Office: 01522837293 Mobile Phone +44 7940 835 628

[adambinch]

The config field for an edge is now a list of dictionaries, with each setting a parameter to reconfigure and contains the parameter's namespace, name and value.

[adambinch]

The restrictions field for a node and for an edge has been changed from:

restrictions:
        robot_type: "Narrow"
        task_name: "NOT_UV"
        transition: "exact_pose"

to:

restrictions_planning: (robot_tall & task_transportation) |  ~ robot_narrow
restrictions_runtime: pose_exact

A restriction is now a boolean sentence (default='True'). In other words nodes and edges are not restricted by default.
Node and edge restrictions can be updated using the services /topological_map_manager2/update_node_restrictions and /topological_map_manager2/update_edge_restrictions, respectively.

[adambinch]

default edge goal field changed from

goal:
  target_pose: $node.pose

to

goal:
  target_pose:
    header:
      frame_id: $node.parent_frame
    pose: $node.pose

and field parent_frame (default="map") added to a node.

[adambinch]

This seems to be done for now but will keep as an open issue as there could be changes in the future @Jailander @francescodelduchetto