Additional backports

ethz-asl · Jan 18, 2024 · 1ad2df9 · 1ad2df9
1 parent 60747fd
commit 1ad2df9
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Showing 6 changed files with 208 additions and 13 deletions.
diff --git a/include/grid_map_geo/grid_map_geo.hpp b/include/grid_map_geo/grid_map_geo.hpp
@@ -84,6 +84,13 @@ class GridMapGeo {
     origin = maporigin_.position;
   };
 
+  /**
+   * @brief Get the name of the coordinate frame of the dataset
+   * 
+   * @return std::string 
+   */
+  std::string getCoordinateName() { return coordinate_name_; };
+
   /**
    * @brief Helper function for loading terrain from path
    *
@@ -169,5 +176,6 @@ class GridMapGeo {
   grid_map::GridMap grid_map_;
   Location maporigin_;
   std::string frame_id_{""};
+  std::string coordinate_name_{""};
 };
 #endif
diff --git a/launch/load_multiple_tif_launch.xml b/launch/load_multiple_tif_launch.xml
@@ -5,19 +5,19 @@
 
     <node pkg="grid_map_geo" exec="test_tif_loader" name="first_tif_loader" output="screen">
         <param name="frame_id" value="map"/>
-        <param name="tif_path" value="/home/jaeyoung/dev/terrain-models/models/sertig.tif"/>
-        <param name="tif_color_path" value="/home/jaeyoung/dev/terrain-models/models/sertig_color.tif"/>
+        <param name="tif_path" value="$(find-pkg-share grid_map_geo)/resources/sargans.tif"/>
+        <param name="tif_color_path" value="$(find-pkg-share grid_map_geo)/resources/sargans_color.tif"/>
     </node>
 
     <node pkg="grid_map_geo" exec="test_tif_loader" name="second_tif_loader" output="screen">
         <param name="frame_id" value="dischma_valley"/>
-        <param name="tif_path" value="/home/jaeyoung/dev/terrain-models/models/dischma_valley.tif"/>
-        <param name="tif_color_path" value="/home/jaeyoung/dev/terrain-models/models/dischma_valley_color.tif"/>
+        <param name="tif_path" value="$(find-pkg-share grid_map_geo)/resources/dischma_valley.tif"/>
+        <param name="tif_color_path" value="$(find-pkg-share grid_map_geo)/resources/dischma_valley_color.tif"/>
         <param name="topic_name" value="elevation2"/>
     </node>
 
 
     <group if="$(var rviz)">
-        <node exec="rviz2" name="rviz2" pkg="rviz2"  args="-d $(find-pkg-share grid_map_geo)/rviz/config.rviz" />
+        <node exec="rviz2" name="rviz2" pkg="rviz2"  args="-d $(find-pkg-share grid_map_geo)/rviz/multi_config.rviz" />
     </group>
 </launch>
diff --git a/rviz/config.rviz b/rviz/config.rviz
@@ -8,7 +8,7 @@ Panels:
         - /Status1
         - /GridMap1
       Splitter Ratio: 0.5
-    Tree Height: 381
+    Tree Height: 1106
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -64,7 +64,7 @@ Visualization Manager:
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: GridMap
-      Show Grid Lines: true
+      Show Grid Lines: false
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -143,10 +143,10 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 670
+  Height: 1403
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001630000021afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002c0000021a000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c0000029a000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004280000003efc0100000002fb0000000800540069006d00650100000000000004280000023d00fffffffb0000000800540069006d00650100000000000004500000000000000000000002c40000021a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000163000004ddfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004dd000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c0000029a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000897000004dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -155,6 +155,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1060
+  Width: 2560
   X: 0
   Y: 0
diff --git a/rviz/multi_config.rviz b/rviz/multi_config.rviz
@@ -0,0 +1,187 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /GridMap1
+        - /GridMap2
+      Splitter Ratio: 0.5
+    Tree Height: 1106
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 100
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Autocompute Intensity Bounds: true
+      Class: grid_map_rviz_plugin/GridMap
+      Color: 200; 200; 200
+      Color Layer: color
+      Color Transformer: ColorLayer
+      Enabled: true
+      Height Layer: elevation
+      Height Transformer: GridMapLayer
+      History Length: 1
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 10
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: GridMap
+      Show Grid Lines: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /elevation2
+      Use Rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Class: grid_map_rviz_plugin/GridMap
+      Color: 200; 200; 200
+      Color Layer: color
+      Color Transformer: ColorLayer
+      Enabled: true
+      Height Layer: elevation
+      Height Transformer: GridMapLayer
+      History Length: 1
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 10
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: GridMap
+      Show Grid Lines: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /elevation_map
+      Use Rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 22312.625
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -469.88262939453125
+        Y: 4805.85498046875
+        Z: -1997.9356689453125
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.8752031326293945
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.6453869342803955
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1403
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000163000004ddfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004dd000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000029afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002c0000029a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000897000004dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2560
+  X: 0
+  Y: 0
diff --git a/src/grid_map_geo.cpp b/src/grid_map_geo.cpp
@@ -103,7 +103,7 @@ bool GridMapGeo::initializeFromGeotiff(const std::string &path) {
   std::cout << std::endl << "Wkt ProjectionRef: " << pszProjection << std::endl;
 
   const OGRSpatialReference *spatial_ref = dataset->GetSpatialRef();
-  std::string name_coordinate = spatial_ref->GetAttrValue("geogcs");
+  coordinate_name_ = spatial_ref->GetAttrValue("geogcs");
   // Get image metadata
   unsigned width = dataset->GetRasterXSize();
   unsigned height = dataset->GetRasterYSize();

diff --git a/src/test_tif_loader.cpp b/src/test_tif_loader.cpp
@@ -64,7 +64,7 @@ class MapPublisher : public rclcpp::Node {
     RCLCPP_INFO_STREAM(get_logger(), "color_path " << color_path);
     tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
 
-    map_ = std::make_shared<GridMapGeo>();
+    map_ = std::make_shared<GridMapGeo>(frame_id);
     map_->Load(file_path, color_path);
     auto timer_callback = [this]() -> void {
       auto msg = grid_map::GridMapRosConverter::toMessage(map_->getGridMap());
@@ -79,7 +79,7 @@ class MapPublisher : public rclcpp::Node {
     map_->getGlobalOrigin(epsg, map_origin);
 
     geometry_msgs::msg::TransformStamped static_transformStamped;
-    // static_transformStamped.header.frame_id = map_->getCoordinateName();
+    static_transformStamped.header.frame_id = map_->getCoordinateName();
     static_transformStamped.child_frame_id = map_->getGridMap().getFrameId();
     static_transformStamped.transform.translation.x = map_origin(0);
     static_transformStamped.transform.translation.y = map_origin(1);