Merge remote-tracking branch 'origin/master' into feature/costmap-origin

.gitmodules

-[submodule "external/range-v3"]
-	path = external/range-v3
-	url = https://github.com/ericniebler/range-v3.git

CMakeLists.txt

@@ -30,26 +30,10 @@ armarx_find_package(PUBLIC Ceres QUIET)
 armarx_find_package(PUBLIC VTK QUIET)
 armarx_find_package(PUBLIC SemanticObjectRelations QUIET)
 armarx_find_package(PUBLIC OpenCV QUIET)  # Required as RobotAPI is a legacy project.
-
+armarx_find_package(PUBLIC range-v3 QUIET)
 
 add_subdirectory(etc)
 
-set(RANGES_VERBOSE_BUILD OFF)
-set(RANGES_RELEASE_BUILD ON)
-set(RANGES_CXX_STD 17)
-add_subdirectory(external)
-
-
-#include(FetchContent)
-
-#FetchContent_Declare(
-#    range_v3
-#    GIT_REPOSITORY https://github.com/ericniebler/range-v3.git
-#    GIT_TAG 0.11.0
-#)
-#FetchContent_MakeAvailable(range_v3)
-
-
 # FetchContent_Declare(
 #     inotify_cpp
 #     GIT_REPOSITORY https://github.com/erikzenker/inotify-cpp.git

external/CMakeLists.txt

-add_subdirectory(range-v3)

range-v3 @ 0487cca2

-Subproject commit 0487cca29e352e8f16bbd91fda38e76e39a0ed28

scenarios/Armar3Navigation/Armar3Navigation.scx

+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="Armar3Navigation" creation="2022-02-17.16:27:09" globalConfigName="./config/global.cfg" package="armarx_navigation" deploymentType="local" nodeName="NodeMain">
+	<application name="navigation_memory" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+

scenarios/Armar3Navigation/config/global.cfg

+# ==================================================================
+# Global Config from Scenario Armar3Navigation
+# ==================================================================
+

scenarios/Armar3Navigation/config/navigation_memory.cfg

+# ==================================================================
+# navigation_memory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages:  List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName:  Application name
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+#  Attributes:
+#  - Default:            mongo/.cache
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config:  Comma-separated list of configuration files 
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath:  Semicolon-separated search list for data files
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages:  List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig:  Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+#  Attributes:
+#  - Default:            ./config/dependencies.cfg
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging:  Turn logging off in whole application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling:  Enable profiling of CPU load produced by this application
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries:  Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup:  The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.NavigationMemory.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.NavigationMemory.ArVizTopicName:  Name of the ArViz topic
+#  Attributes:
+#  - Default:            ArVizTopic
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.NavigationMemory.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.EnableProfiling = false
+
+
+# ArmarX.NavigationMemory.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.NavigationMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.NavigationMemory.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.ObjectName = ""
+
+
+# ArmarX.NavigationMemory.RemoteGuiName:  Name of the remote gui provider
+#  Attributes:
+#  - Default:            RemoteGuiProvider
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.NavigationMemory.mem.MemoryName:  Name of this memory server.
+#  Attributes:
+#  - Default:            Navigation
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.mem.MemoryName = Navigation
+
+
+# ArmarX.NavigationMemory.mem.ltm..buffer.storeFreq:  Frequency to store the buffer to the LTM in Hz.
+#  Attributes:
+#  - Default:            10
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.NavigationMemory.mem.ltm.depthImageExtractor.Enabled:  
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
+# ArmarX.NavigationMemory.mem.ltm.enabled:  
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.enabled = false
+
+
+# ArmarX.NavigationMemory.mem.ltm.exrConverter.Enabled:  
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.NavigationMemory.mem.ltm.imageExtractor.Enabled:  
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.Enabled:  
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.WaitingTime:  Waiting time in MS after each LTM update.
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.NavigationMemory.mem.ltm.pngConverter.Enabled:  
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.NavigationMemory.mem.ltm.sizeToCompressDataInMegaBytes:  The size in MB to compress away the current export. Exports are numbered (lower number means newer).
+#  Attributes:
+#  - Default:            1024
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.Enabled:  
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.MaxWaitingTime:  Max Waiting time in MS after each Entity update.
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.Enabled:  
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.WaitingTime:  Waiting time in MS after each Entity update.
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.NavigationMemory.mem.ltm.storagepath:  The path to the memory storage (the memory will be stored in a seperate subfolder).
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.mem.ltm.storagepath = Default value not mapped.
+
+
+# ArmarX.NavigationMemory.mns.MemoryNameSystemEnabled:  Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.NavigationMemory.mns.MemoryNameSystemName:  Name of the Memory Name System (MNS) component.
+#  Attributes:
+#  - Default:            MemoryNameSystem
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.NavigationMemory.p.locationGraph.visuFrequency:  Visualization frequeny of locations and graph edges [Hz].
+#  Attributes:
+#  - Default:            2
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.p.locationGraph.visuFrequency = 2
+
+
+# ArmarX.NavigationMemory.p.locationGraph.visuGraphEdges:  Enable visualization of navigation graph edges.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.p.locationGraph.visuGraphEdges = true
+
+
+# ArmarX.NavigationMemory.p.locationGraph.visuLocation:  Enable visualization of locations.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.NavigationMemory.p.locationGraph.visuLocation = true
+
+
+# ArmarX.NavigationMemory.p.snapshotToLoad:  Memory snapshot to load at start up 
+# (e.g. 'PriorKnowledgeData/navigation-graphs/snapshot').
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+ArmarX.NavigationMemory.p.snapshotToLoad = "./PriorKnowledgeData/navigation-graphs/KitchenKK"
+
+
+# ArmarX.NavigationMemory.tpc.pub.MemoryListener:  Name of the `MemoryListener` topic to publish data to.
+#  Attributes:
+#  - Default:            MemoryUpdates
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.tpc.pub.MemoryListener = MemoryUpdates
+
+
+# ArmarX.NavigationMemory.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
+#  Attributes:
+#  - Default:            MemoryUpdates
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.NavigationMemory.tpc.sub.MemoryListener = MemoryUpdates
+
+
+# ArmarX.RedirectStdout:  Redirect std::cout and std::cerr to ArmarXLog
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout:  The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+#  Attributes:
+#  - Default:            3000
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash:  If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize:  Size of the ArmarX ThreadPool that is always running.
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix:  Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer:  Enable using a global Timeserver (e.g. from ArmarXSimulator)
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity:  Global logging level for whole application
+#  Attributes:
+#  - Default:            Info
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+

source/armarx/navigation/components/Navigator/Navigator.cpp

@@ -458,6 +458,8 @@ namespace armarx::navigation::components
         // Add a required property.
         // def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
 
+        def->optional(params.robotName, "p.robotName");
+
         // Add an optionalproperty.
         def->optional(params.occupiedGridThreshold,
                       "p.occupancy_grid.occopied_threshold",

source/armarx/navigation/core/CMakeLists.txt

@@ -37,20 +37,19 @@ armarx_add_library(core
         json_conversions.h
         time/ChronoMonotonicTimeServer.h
         time/TimeServerInterface.h
-    DEPENDENCIES
-        PUBLIC
-            ArmarXCoreInterfaces
-            ArmarXCore
-            ArmarXCoreObservers # variant
-            # RobotAPI
-            aron
-            aroncommon
-            RobotAPIInterfaces
-            SemanticObjectRelations
-            Simox::VirtualRobot
-            armarx_navigation::core_aron
-        PRIVATE
-            range-v3::range-v3
+    DEPENDENCIES_PUBLIC
+        ArmarXCoreInterfaces
+        ArmarXCore
+        ArmarXCoreObservers # variant
+        # RobotAPI
+        aron
+        aroncommon
+        RobotAPIInterfaces
+        SemanticObjectRelations
+        Simox::VirtualRobot
+        armarx_navigation::core_aron
+    DEPENDENCIES_PRIVATE
+        range-v3::range-v3
 
 )
 

source/armarx/navigation/global_planning/CMakeLists.txt

@@ -7,17 +7,16 @@ armarx_add_aron_library(global_planning_aron
 )
 
 armarx_add_library(global_planning
-    DEPENDENCIES
-        PUBLIC
-            ceres
-            ArmarXCoreInterfaces
-            ArmarXCore
-            aroncommon
-            armarx_navigation::core
-            armarx_navigation::algorithms
-            armarx_navigation::global_planning_aron
-        PRIVATE
-            range-v3::range-v3
+    DEPENDENCIES_PUBLIC
+        Ceres::ceres
+        ArmarXCoreInterfaces
+        ArmarXCore
+        aroncommon
+        armarx_navigation::core
+        armarx_navigation::algorithms
+        armarx_navigation::global_planning_aron
+    DEPENDENCIES_PRIVATE
+        range-v3::range-v3
     SOURCES
         ./GlobalPlanner.cpp
         ./AStar.cpp

source/armarx/navigation/server/CMakeLists.txt

@@ -34,8 +34,7 @@ armarx_add_library(server
         ./monitoring/GoalReachedMonitor.h
         # parameterization
         ./parameterization/MemoryParameterizationService.h
-    DEPENDENCIES
-        PUBLIC
+    DEPENDENCIES_PUBLIC
             ArmarXCoreInterfaces
             ArmarXCore
             ArViz # RobotAPI
@@ -46,7 +45,7 @@ armarx_add_library(server
             armarx_navigation::trajectory_control
             armarx_navigation::safety_control
             armarx_navigation::memory
-        PRIVATE
+    DEPENDENCIES_PRIVATE
             range-v3::range-v3
 )