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‎README.md

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@@ -18,6 +18,10 @@ ROS2-TMS-FOR-CONSTRUCTION is developed as an IoRT library for construction appli
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Project page: [https://moonshot-cafe-project.org/en/](https://moonshot-cafe-project.org/en/)
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### Architecture
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![](docs/ros2-tms-for-construction_archtecture.png)
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## Install
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### ROS2 Foxy
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```
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cd ~/ros2-tms-for-constructoin_ws/src/
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git clone　https://github.com/irvs/ros2_tms_for_construction.git
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git clone https://github.com/irvs/ros2_tms_for_construction.git
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```
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### Build the workspace
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- [tms_sd_terrain](tms_sd/tms_sd_terrain)
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tms_sd_terrain is a package for converting PointCloud2 msg to .pcd file and sending the file info to tms_db_writer_gridfs.
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tms_sd_terrain is a package for handling point cloud data of static and dynamic terrain.
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The received PointCloud2 msg is a point cloud data of terrain.
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Static terrain refers to terrain that does not change during construction operations. And dynamic terrain refers to terrain that changes during construction work.
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### tms_sp
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- [tms_sp_machine_odom](tms_sp/tms_sp_machine_odom)
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The received Odometry msg is the estimated location data of the construction machine.
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### tms_ss
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- [tms_ss_terrain_static](tms_ss/tms_ss_terrain_static)
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tms_ss_terrain_static is a package for handling point cloud data of static terrain.
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The received PointCloud2 msg is a point cloud data of terrain.
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### tms_ur
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- [tms_ur_construction](tms_ur/tms_ur_construction)
@@ -137,9 +151,9 @@ ros2 launch tms_sp_machine_odom tms_sp_machine_odom_launch.py input/odom:=/demo/
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ros2 launch tms_sd_ground tms_sd_ground_launch.py input/occupancy_grid:=/demo/occupancy_grid ground_name:=demo_ground
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# PointCloud2
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ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/pointcloud2:=/demo/pointcloud2 filename:=demo.pcd
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ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/demo/pointcloud2 input/terrain/dynamic/pointcloud2:=/pod_1/points filename:=demo.pcd
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```
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# TODO prepare demo data of dynamic terrain
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#### Play rosbag
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```
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ros2 launch tms_sd_ground tms_sd_ground_launch.py input/occupancy_grid:=/demo/occupancy_grid ground_name:=demo_ground
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# PointCloud2
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ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/pointcloud2:=/demo/pointcloud2 filename:=demo.pcd
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ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/demo/pointcloud2 input/terrain/dynamic/pointcloud2:=/pod_1/points filename:=demo.pcd
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```
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#### Rviz2

‎docs/ros2-tms-for-construction_archtecture.png

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‎tms_db/tms_db_manager/README.md

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ros2 launch tms_db_manager tms_db_reader.launch.py db_host:=localhost db_port:=27017
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```
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### Servers
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### Services
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| Name | Type | Description |
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| ---------------------- | ------------------------------------- | ------------------------------------------- |
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| `tms_db_reader` | `tms_msg_db::srv::TmsdbGetData` | get data stored in ROS2-TMS database |
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| `tms_db_reader_gridfs` | `tms_msg_db::srv::TmsdbGridFSGetData` | get GridFS data stored in ROS2-TMS database |
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### Actions
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| Name | Type | Description |
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| ---------------------- | --------------------------------- | ------------------------------------------- |
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| `tms_db_reader_gridfs` | `tms_msg_db::action::TmsdbGridFS` | get GridFS data stored in ROS2-TMS database |
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## Writer
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‎tms_msg/README.md

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# TMS Messages
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Messages and Services used in ROS2-TMS-FOR-CONSTRUCTION.
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Actinos, Messages and Services used in ROS2-TMS-FOR-CONSTRUCTION.
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## Actions
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### TmsdbGridFS
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TmsdbGridFS is used by [tms_db_reader_gridfs](../tms_db/tms_db_manager/tms_db_manager/tms_db_reader_gridfs.py) to get file from TMS database.
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```
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string type
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int32 id
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string filename
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bool latest_only
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---
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bool result
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string msg
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sensor_msgs/PointCloud2 pointcloud2
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---
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bool result
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string msg
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sensor_msgs/PointCloud2 pointcloud2
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```
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## Messages
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### ColoredMesh
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ColoredMesh is used by ColoredMeshSrv.
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```
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shape_msgs/MeshTriangle[] triangles
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geometry_msgs/Point[] vertices
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std_msgs/ColorRGBA[] vertex_colors
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geometry_msgs/Vector3[] vertex_normals
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```
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### Tmsdb
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Tmsdb is subscribed by [tms_db_writer](https://github.com/irvs/ros2_tms_for_construction/blob/main/tms_db/tms_db_manager/tms_db_manager/tms_db_writer.py).
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Tmsdb is subscribed by [tms_db_writer](../tms_db/tms_db_manager/tms_db_manager/tms_db_writer.py).
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```
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string time # Time this msg was created.
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### TmsdbGridFS
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TmsdbGridFS is subscribed by [tms_db_writer_gridfs](https://github.com/irvs/ros2_tms_for_construction/blob/main/tms_db/tms_db_manager/tms_db_manager/tms_db_writer_gridfs.py).
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TmsdbGridFS is subscribed by [tms_db_writer_gridfs](../tms_db/tms_db_manager/tms_db_manager/tms_db_writer_gridfs.py).
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```
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string time # Time this msg was created.
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## Services
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### ColoredMeshSrv
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ColoredMeshSrv is used by [tms_ur_construction_terrain_static](../tms_ur/tms_ur_construction/tms_ur_construction/tms_ur_construction_terrain_static.py) to get colored mesh data of static terrain.
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```
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string type
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---
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tms_msg_db/ColoredMesh colored_mesh
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```
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### TerrainStaticSrv
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TerrainStaticSrv is used by [tms_ur_construction_terrain_mesh](../tms_ur/tms_ur_construction/tms_ur_construction/tms_ur_construction_terrain_mesh.py) to get point cloud data of static terrain.
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```
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string type
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---
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sensor_msgs/PointCloud2 pointcloud2
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```
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### TmsdbGetData
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TmsdbGetData is used by [tms_db_reader](https://github.com/irvs/ros2_tms_for_construction/blob/main/tms_db/tms_db_manager/tms_db_manager/tms_db_reader.py) to get data from TMS database.
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TmsdbGetData is used by [tms_db_reader](../tms_db/tms_db_manager/tms_db_manager/tms_db_reader.py) to get data from TMS database.
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```
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string type # Data type (ex. sensor, machine).
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### TmsdbGridFSGetData
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TmsdbGetData is used by [tms_db_reader_gridfs](https://github.com/irvs/ros2_tms_for_construction/blob/main/tms_db/tms_db_manager/tms_db_manager/tms_db_reader_gridfs.py) to get file from TMS database.
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TmsdbGetData is used by [tms_db_reader_gridfs](../tms_db/tms_db_manager/tms_db_manager/tms_db_reader_gridfs.py) to get file from TMS database.
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```
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string type # Data type (ex. sensor, machine).

‎tms_sd/tms_sd_terrain/README.md

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- tms_sd_terrain_static
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tms_sd_terrain_static converts PointCloud2 msg to .pcd file and sends the file info to tms_db_writer_gridfs.
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tms_sd_terrain_static relay PointCloud2 msg to [tms_ss_terrain_static](../../tms_ss/tms_ss_terrain_static).
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- tms_sd_terrain_dynamic
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tms_sd_terrain_dynamic formats PointCloud2 msg to TmsdbGridFS msg and sends it to tms_db_writer_gridfs.
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tms_sd_terrain_dynamic formats PointCloud2 msg to TmsdbGridFS msg and sends it to [tms_db_writer_gridfs](../../tms_db/tms_db_manager).
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Received PointCloud2 msg is a point cloud data of terrain.
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# Usecase
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## 1. Run tms_db_writer or tms_db_manager
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## 1. Run tms_db_writer_gridfs or tms_db_manager
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Detail description is [here](https://github.com/irvs/ros2_tms_for_construction/tree/main/tms_db).
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Detail description is [here](../../tms_db/tms_db_manager).
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Receive TmsdbGridFS from tms_sd_terrain and store them in ROS2-TMS database.
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Receive TmsdbGridFS from tms_ss_terrain_static and store them in ROS2-TMS database.
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### Writer
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## 2. Run tms_sd_terrain
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After the below command, a node is executed that subscribes PointCloud2 and publishes TmsdbGridFS including the .pcd file info converted from the PointCloud2.
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Detail description is [here](../../tms_sd/tms_sd_terrain)
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Relay static terrain's PointCloud2 msg to tms_ss_terrain_static.
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```
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ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/topic/of/static/pointcloud2 input/terrain/dynamic/pointcloud2:=/topic/of/dynamic/pointcloud2 filename:=demo.pcd
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ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/topic/of/static/pointcloud2 input/terrain/dynamic/pointcloud2:=/topic/of/dynamic/pointcloud2
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```
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### Inputs / Outputs
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| Name | Type | Default Value | Description |
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| ------------------- | ------ | --------------------- | ----------------------------------------------------------- |
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| `filename` | string | `filename` | .pcd file name of static terrain converted from PointCloud2 |
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## 3. Run tms_ss_terrain_static
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After the following command, a node is executed that subscribes PointCloud2 and publishes TmsdbGridFS including the .pcd or .ply file info converted from the PointCloud2.
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```
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ros2 launch tms_ss_terrain_static tms_ss_terrain_static_launch.py filename:=demo.pcd filename_mesh:=demo.ply voxel_size:=0.1 octree_depth:=8 density_th:=0.1
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```

‎tms_ss/tms_ss_terrain_static/README.md

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# tms_ss_terrain_static
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tms_ss_terrain_static is a package for handling point cloud data of static terrain.
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- tms_ss_terrain_static
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tms_ss_terrain_static converts PointCloud2 msg to .pcd file and sends the file info to [tms_db_writer_gridfs](../../tms_db/tms_db_manager).
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- tms_ss_terrain_static_mesh
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tms_ss_terrain_static_mesh converts PointCloud2 msg to .ply (mesh) file and sends the file info to [tms_db_writer_gridfs](../../tms_db/tms_db_manager).
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The received PointCloud2 msg is a point cloud data of static terrain.
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# Usecase
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## 1. Run tms_db_writer_gridfs or tms_db_manager
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Detail description is [here](../../tms_db/tms_db_manager).
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Receive TmsdbGridFS from tms_ss_terrain_static and store them in ROS2-TMS database.
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### Writer
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```
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ros2 launch tms_db_manager tms_db_writer.launch.py db_host:=localhost db_port:=27017 init_db:=true
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```
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### Reader and Writer
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```
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ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=true
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```
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## 2. Run tms_sd_terrain
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Detail description is [here](../../tms_sd/tms_sd_terrain)
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Relay static terrain's PointCloud2 msg to tms_ss_terrain_static.
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```
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ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/topic/of/static/pointcloud2 input/terrain/dynamic/pointcloud2:=/topic/of/dynamic/pointcloud2
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```
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## 3. Run tms_ss_terrain_static
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After the following command, a node is executed that subscribes PointCloud2 and publishes TmsdbGridFS including the .pcd or .ply file info converted from the PointCloud2.
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```
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ros2 launch tms_ss_terrain_static tms_ss_terrain_static_launch.py filename:=demo.pcd filename_mesh:=demo.ply voxel_size:=0.1 octree_depth:=8 density_th:=0.1
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```
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```
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### Inputs / Outputs
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**Inputs**
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| Name | Type | Description |
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| ------------------------- | ------------------------------- | ----------------------------------- |
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| `/tms_sd_terrain_static` | `sensor_msgs::msg::PointCloud2` | point cloud data of static terrain |
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**Outputs**
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| Name | Type | Description |
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| --------------------- | ------------------------------ | ----------------------------------------------------------------- |
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| `/tms_db_gridfs_data` | `tms_msg_db::msg::TmsdbGridFS` | .pcd or .ply file info of static terrain or static terrain's mesh |
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### Parameters
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| Name | Type | Default Value | Description |
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| --------------- | ------ | ------------------- | -------------------------------------------------------------------------- |
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| `filename` | string | `filename.pcd` | .pcd file name of static terrain converted from PointCloud2 |
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| `filename_mesh` | string | `filename_mesh.ply` | .ply file name of static terrain's mesh converted from PointCloud2 |
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| `voxel_size` | float | `0.0` | voxel size of downsampling |
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| `octree_depth` | int | `2` | octree depth to generate mesh |
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| `density_th` | float | `0.1` | density threshold to remove vertices and triangles that have a low support |

‎tms_ur/tms_ur_construction/README.md

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ros2 launch tms_ur_construction tms_ur_construction_launch.py output/occupancy_grid:=/topic/of/occupancy_grid latest:=true filename:=cloud.pcd voxel_size:=0.5
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```
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#### Servers / Outputs
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#### Services / Actions / Outputs
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**Servers**
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**Services**
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| Name | Type | Description |
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| `tms_db_reader` | `tms_msg_db::srv::TmsdbGetData` | get data stored in ROS2-TMS database |
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| `tms_db_reader_gridfs` | `tms_msg_db::srv::TmsdbGridFSGetData` | get GridFS data stored in ROS2-TMS database |
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**Actions**
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| Name | Type | Description |
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| ---------------------- | --------------------------------- | ------------------------------------------- |
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| `tms_db_reader_gridfs` | `tms_msg_db::action::TmsdbGridFS` | get GridFS data stored in ROS2-TMS database |
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**Outputs**
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| Name | Type | Description |
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| ------------------------------------- | ------------------------------- | ------------------------------------------ |
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| `/output/occupancy_grid` | `nav_msgs::msg::OccupancyGrid` | heatmap showing the hardness of the ground |
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| `/output/terrain/static/pointcloud2` | `sensor_msgs::msg::PointCloud2` | point cloud data of static terrain |
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| `/output/terrain/dynamic/pointcloud2` | `sensor_msgs::msg::PointCloud2` | point cloud data of dynamic terrain |
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| `/output/odom` | `nav_msgs::msg::Odometry` | location of machine |
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| Name | Type | Description |
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| ------------------------------------- | ----------------------------------- | ----------------------------------------------------------- |
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| `/output/occupancy_grid` | `nav_msgs::msg::OccupancyGrid` | heatmap showing the hardness of the ground |
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| `/output/terrain/static_srv` | `tms_msg_db::srv::TerrainStaticSrv` | return point cloud data of static terrain to service client |
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| `/output/terrain/dynamic/pointcloud2` | `sensor_msgs::msg::PointCloud2` | point cloud data of dynamic terrain |
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| `/output/odom` | `nav_msgs::msg::Odometry` | location of machine |
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#### Parameters
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### 2. construction_terrain_mesh
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After the below command, a node is executed that requests mesh's .ply file info to a action service node and publishes Mesh converted from the file.
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```
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ros2 launch tms_ur_construction tms_ur_construction_terrain_mesh_launch.py output/mesh:=/topic/of/mesh filename:=cloud.pcd voxel_size:=0.5 alpha:=3.0
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ros2 launch tms_ur_construction tms_ur_construction_terrain_mesh_launch.py output/terrain/mesh_srv:=/srv/of/mesh filename_mesh:=mesh.ply
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```
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#### Servers / Outputs
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#### Actions / Outputs
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**Servers**
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**Actions**
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| Name | Type | Description |
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| ---------------------- | ------------------------------------- | --------------------------------------- |
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| `tms_db_reader_gridfs` | `tms_msg_db::srv::TmsdbGridFSGetData` | GridFS data stored in ROS2-TMS database |
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| Name | Type | Description |
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| ---------------------- | --------------------------------- | ------------------------------------------- |
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| `tms_db_reader_gridfs` | `tms_msg_db::action::TmsdbGridFS` | get GridFS data stored in ROS2-TMS database |
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**Outputs**
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| Name | Type | Description |
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| -------------- | --------------------- | --------------- |
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| `/output/mesh` | shape_msgs::msg::Mesh | mesh of terrain |
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| Name | Type | Description |
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| -------------------------- | ------------------------------- | ---------------------------------------------------- |
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| `/output/terrain/mesh_srv` | `tms_msg_db::srv::ColoredMeshSrv` | return mesh data of static terrain to service client |
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#### Parameters
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