Merge run slam (ros2) (#99)

* Add gulrak/filesystem * Update run_slam and merge run_localization
stella-cv · Aug 29, 2022 · bda22b5 · bda22b5
1 parent c535409
commit bda22b5
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Showing 9 changed files with 105 additions and 258 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -33,6 +33,8 @@ jobs:
         ROS_LOG_DIR: ${GITHUB_WORKSPACE}/.ros
     steps:
       - uses: actions/checkout@v2
+        with:
+          submodules: recursive
       - name: build ros2 packages
         run: |
           mkdir -p /ros_ws/src
@@ -48,34 +50,34 @@ jobs:
         run: |
           (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint)&
           (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 -1.57 0 0 -1.57 base_footprint cam0)&
-          (source /opt/ros/${ROS2_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_mono.yaml --map-db map_mono.msg --ros-args -r /camera/image_raw:=/cam0/image_raw)&
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_mono.yaml --map-db-out map_mono.msg --ros-args -r /camera/image_raw:=/cam0/image_raw)&
           (source /opt/ros/${ROS1_DISTRO}/setup.bash && source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 bag play -s rosbag_v2 /datasets/EuRoC/MH_04_difficult.bag)
           sleep 1
           if ! pkill -0 run_slam; then exit 1; fi
           echo "pkill -SIGINT -f run_slam"
           pkill -SIGINT -f run_slam
           while pkill -0 run_slam 2> /dev/null; do sleep 1; done
           pkill -SIGINT -f static_transform_publisher
-      - name: run run_slam (stereo)
+      - name: run slam (stereo)
         run: |
           (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint)&
           (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 -1.57 0 0 -1.57 base_footprint cam0)&
-          (source /opt/ros/${ROS2_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam -r -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db map_stereo.msg --ros-args -r /camera/left/image_raw:=/cam0/image_raw -r /camera/right/image_raw:=/cam1/image_raw)&
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam -r -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg --ros-args -r /camera/left/image_raw:=/cam0/image_raw -r /camera/right/image_raw:=/cam1/image_raw)&
           (source /opt/ros/${ROS1_DISTRO}/setup.bash && source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 bag play -s rosbag_v2 /datasets/EuRoC/MH_04_difficult.bag)
           sleep 1
           if ! pkill -0 run_slam; then exit 1; fi
           echo "pkill -SIGINT -f run_slam"
           pkill -SIGINT -f run_slam
           while pkill -0 run_slam 2> /dev/null; do sleep 1; done
           pkill -SIGINT -f static_transform_publisher
-      - name: run run_localization
+      - name: run localization
         run: |
           (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint)&
           (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 -1.57 0 -1.57 base_footprint cam0)&
-          (source /opt/ros/${ROS2_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_localization -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_mono.yaml --map-db map_mono.msg --ros-args -r /camera/image_raw:=/cam0/image_raw)&
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_mono.yaml --map-db-in map_mono.msg --ros-args -r /camera/image_raw:=/cam0/image_raw)&
           sleep 5
           (source /opt/ros/${ROS1_DISTRO}/setup.bash && source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 bag play -s rosbag_v2 /datasets/EuRoC/MH_04_difficult.bag)
-          pkill -SIGINT -f run_localization
+          pkill -SIGINT -f run_slam
           pkill -SIGINT -f static_transform_publisher
 
   rosdep:

diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "3rd/filesystem"]
+	path = 3rd/filesystem
+	url = https://github.com/gulrak/filesystem
diff --git a/3rd/filesystem b/3rd/filesystem
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -158,6 +158,10 @@ find_package(yaml-cpp REQUIRED)
 set(spdlog_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/3rd/spdlog/include)
 include_directories(${spdlog_INCLUDE_DIR})
 
+# filesystem
+set(filesystem_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/3rd/filesystem/include)
+include_directories(${filesystem_INCLUDE_DIR})
+
 # popl
 set(popl_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/3rd/popl/include)
 include_directories(${popl_INCLUDE_DIR})

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -12,9 +12,6 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR})
 add_executable(run_slam run_slam.cc stella_vslam_ros.cc)
 list(APPEND EXECUTABLE_TARGETS run_slam)
 
-add_executable(run_localization run_localization.cc stella_vslam_ros.cc)
-list(APPEND EXECUTABLE_TARGETS run_localization)
-
 foreach(EXECUTABLE_TARGET IN LISTS EXECUTABLE_TARGETS)
     # pangolin_viewer is used on a priority basis
     if(USE_PANGOLIN_VIEWER)

diff --git a/src/run_localization.cc b/src/run_localization.cc