[WIP] export occupancy UI #3091
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This PR adds a system which exports occupancy grids. Currently its a work in progress. The BFS algorithm seems to not identify when there cannot be any progress made. Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
This commit pushes an initial version of the code. Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
…m/gz-sim into arjo/feat/export_occupancy_grid
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
ahcorde
requested changes
Sep 22, 2025
| }; | ||
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| ExportOccupancyUi::ExportOccupancyUi() : | ||
| dataPtr(std::make_unique<ExportOccupancyUiPrivate>()) |
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| ExportOccupancyUi::~ExportOccupancyUi() | ||
| { | ||
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| EntityComponentManager &_ecm) | ||
| { | ||
| auto world = World(worldEntity(_ecm)); | ||
| if (!world.Valid(_ecm)) { |
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Suggested change
| if (!world.Valid(_ecm)) { | |
| if (!world.Valid(_ecm)) | |
| { |
Signed-off-by: Arjo Chakravarty <[email protected]>
Makes it trivial to export occupancy grids from gazebo worlds. Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
Signed-off-by: Arjo Chakravarty <[email protected]>
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🎉 New feature
Summary
A UI for the free-space-explorer system so that users can trivially export occupancy grids.
occupancy_export_ui_reduced.mp4
Currently you have to trigger "run" to get the scan to work.
Checklist
codecheckpassed (See contributing)