https://github.com/open-rmf/rmf_traffic_editor

GUI, CLI, and ROS 2 messages for robot traffic flows in buildings
https://github.com/open-rmf/rmf_traffic_editor

Last synced: 19 days ago
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GUI, CLI, and ROS 2 messages for robot traffic flows in buildings

• Host: GitHub
• URL: https://github.com/open-rmf/rmf_traffic_editor
• Owner: open-rmf
• License: apache-2.0
• Created: 2019-10-30T07:15:00.000Z (about 5 years ago)
• Default Branch: main
• Last Pushed: 2024-06-14T20:48:21.000Z (6 months ago)
• Last Synced: 2024-07-30T12:13:50.941Z (5 months ago)
• Language: C++
• Homepage:
• Size: 33.7 MB
• Stars: 132
• Watchers: 33
• Forks: 63
• Open Issues: 47
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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• awesome-robotic-tooling - traffic-editor - A graphical editor for robot traffic flows. (Planning and Control / Vector Map)
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README

        
[![](https://github.com/osrf/traffic_editor/workflows/ci/badge.svg)](https://github.com/osrf/traffic_editor/actions/workflows/ci.yaml)

[![](https://github.com/osrf/traffic_editor/workflows/pycodestyle/badge.svg)](https://github.com/osrf/traffic_editor/actions/workflows/pycodestyle.yaml)

# rmf_traffic\_editor

Welcome!

![](docs/rmf_traffic_editor_gui.png)

This repository has the following directories:

 * `rmf_traffic_editor`: GUI for annotating floorplans to create traffic patterns

 * `rmf_building_map_tools`: Python-based tools to use and manipulate the map files created by `rmf_traffic_editor`, such as:

   * `building_map_server`:  a ROS 2 node to serve maps using `rmf_building_map_msgs`

   * translators to simulators such as Gazebo

   * translators to navigation packages such as `rmf_core` (e.g. `rmf_ros2`)

   * scripts that handle downloading of gazebo models. `pit_crew`, `building_map_model_downloader`...

 * `rmf_traffic_editor_assets`: Gazebo model thumbnails, in used by `traffic_editor` GUI

## Installation

This repository is structured as a collection of ROS 2 packages and can be built using `colcon`.

For full installation of RMF, please refer to [here](https://github.com/open-rmf/rmf).

The `rmf_building_map_tools` package requires the following Python 3 dependencies to generate worlds:

```

sudo apt install python3-shapely python3-yaml python3-requests

```

## Usage

`rmf_traffic_editor` consists of a interface and tools to create a simulation `.world` file from a sketched building floor plan.

These simulation  `.world` file can be used by other applications, not just limited to RMF.

![](docs/building_map_generation.png)

### Traffic Editor GUI

Instructions of `traffic_editor` is located [here](https://osrf.github.io/ros2multirobotbook/traffic-editor.html)

To run traffic_editor GUI, run:

```bash

source install/setup.bash

traffic-editor

```

### Building Map Tools

Once done with the editing of the building map with `traffic_editor`, user can now generate the simulated world file from the saved  `.building.yaml` file (`${building_map_path}`).

**Generate a world file from building map**

```bash

ros2 run rmf_building_map_tools building_map_generator gazebo \

  ${building_map_path} ${output_world_path} ${output_model_dir}

```

_switch arg `gazebo` to `ignition` for generating a world file for ignition_

**Download models used in newly created traffic editor building map.**

```bash

ros2 run rmf_building_map_tools building_map_model_downloader \

  ${building_map_path} -f -e ~/.gazebo/models

```

**Generate Traffic Navigation Path File**

```bash

ros2 run rmf_building_map_tools building_map_generator nav \

  ${building_map_path} ${output_nav_graphs_dir}

```