Installation Info

[FrGe2016]

Hi

I would like to try it for my homemade ROS lawn mower but the installation is quite different from what i am used to and i would not like to create problems in my existing catkin_ws

Q1. Can the installation be made within another workspace without adaptations

Q2. Where and how i should download the dependencies for dependencies.rosinstall

[rikba]

Q1. Can the installation be made within another workspace without adaptations

Yes, you can build the package in a different workspace. I have a separate workspace for example containing only polygon_coverage_planning, cgal_catkin and catkin_simple.

Q2. Where and how i should download the dependencies for dependencies.rosinstall

You can either use ws_tool or you clone them manually.

cd ~
mkdir coverage_ws
cd coverage_ws
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --extend /opt/ros/melodic
mkdir src
cd src
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/ethz-asl/cgal_catkin.git
git clone https://github.com/ethz-asl/polygon_coverage_planning.git
cd cgal_catkin
git checkout releases/CGAL-5.0.3
cd ../polygon_coverage_planning
git checkout v2.0.4

Make sure to install the non-catkin dependencies. Then you should be able to do catkin build.

Good luck with your project!

[FrGe2016]

Hi Rik Thanks for your response. You have a very interesting package. The installation went fine until : *wstool update* Here is a close up of the feedback at this step ***@***.***:~/coverage_ws/src$ wstool update Prepare updating ***@***.***:ethz-asl/polygon_coverage_planning.git (version None) to /home/francois/coverage_ws/src/polygon_coverage_planning Url https://github.com/ethz-asl/polygon_coverage_planning.git does not match ***@***.***:ethz-asl/polygon_coverage_planning.git requested. * (d)elete and replace, (a)bort, (b)ackup and replace, (s)kip: d* [polygon_coverage_planning] Fetching ***@***.***:ethz-asl/polygon_coverage_planning.git (version None) to /home/francois/coverage_ws/src/polygon_coverage_planning Cloning into '/home/francois/coverage_ws/src/polygon_coverage_planning'... Warning: Permanently added the RSA host key for IP address '140.82.114.3' to the list of known hosts. ***@***.*** ***@***.***>: Permission denied (publickey).fatal: Could not read from remote repository.* Please make sure you have the correct access rights and the repository exists. Exception caught during install: Error processing 'polygon_coverage_planning' : [polygon_coverage_planning] Checkout of ***@***.***:ethz-asl/polygon_coverage_planning.git version None into /home/francois/coverage_ws/src/polygon_coverage_planning failed. ERROR in config: Error processing 'polygon_coverage_planning' : [polygon_coverage_planning] Checkout of ***@***.***:ethz-asl/polygon_coverage_planning.git version None into /home/francois/coverage_ws/src/polygon_coverage_planning failed. *It is looking that the repository is restricted somehow* *regards* *Francois* Le sam. 27 nov. 2021, à 15 h 15, Rik Baehnemann ***@***.***> a écrit :

…

Closed #60 <#60>. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#60 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AEARAMLLJFV5FKM6CET4YETUOE34HANCNFSM5ISRKQ5Q> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[rikba]

Hi Francois

I think that is because you are using the SSH link, i.e.,

wstool set --git polygon_coverage_planning git@github.com:ethz-asl/polygon_coverage_planning.git

but you do not have a git ssh key setup. You can either setup the SSH key or use the https link instead:

wstool set --git polygon_coverage_planning https://github.com/ethz-asl/polygon_coverage_planning.git

Remember, if you use the https key you also need to use the dependencies_https.rosinstall.

wstool merge polygon_coverage_planning/install/dependencies_https.rosinstall

[FrGe2016]

Awesome, thanks! I wave tried it with coverage_planner.launch The imported polygon is working well when a call the ROS service <https://github.com/ethz-asl/polygon_coverage_planning/blob/master/polygon_coverage_msgs/srv/PlannerService.srv> call 'rosservice call /coverage_planner/plan_path' But not in RVIZ, where i have the same issue as 36. roslaunch polygon_coverage_ros coverage_planner.launch is having this problem roslaunch polygon_coverage_ros shortest_path_planner.launch is having this problem After the polygon edition, it is very difficult to generate the starting point has to be clicked many times b4 we have a feedback in the console (Selecting START from RVIZ PublishPoint tool) after a second selection of the Publish point button, it is also a struggle to have the goal then the generated path is just a line from the start to the goal Number of waypoints: 3 Start point: 25.4363 15.0461 Goal point: 145.071 14.6242 Altitude: 3 [m] Path length: 122.413 [m] From what i have seen it is only working with a Satellite background (i.e roslaunch polygon_coverage_ros coverage_planner_satellite.launch is ok) I have started a modified version of "coverage_planner_satellite.rviz" ( removed the AerialMapDisplay add on and added the local map display ) with my mobile robot simulator to provide the map in replacement of the satellite * and it-is ok,* ( This way i can draw above my map generated with a cad drawing witch is good somehow but idealy i would like to avoid the long process of making a drawing a scaling the pgn image corectly ) If try the same exercise starting with a modified config of "coverage_planner.rviz" ( replaced world frame with map and added local map display) t*hen the problem is still there* Le dim. 28 nov. 2021, à 07 h 39, Rik Baehnemann ***@***.***> a écrit :

…

Hi Francois I think that is because you are using the SSH link, i.e., wstool set --git polygon_coverage_planning ***@***.***:ethz-asl/polygon_coverage_planning.git but you do not have a git ssh key setup <https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent>. You can either setup the SSH key or use the https link instead: wstool set --git polygon_coverage_planning https://github.com/ethz-asl/polygon_coverage_planning.git Remember, if you use the https key you also need to use the dependencies_https.rosinstall. wstool merge polygon_coverage_planning/install/dependencies_https.rosinstall — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#60 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AEARAMMYIRPCA34T2WKIFADUOIPHLANCNFSM5ISRKQ5Q> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[rikba]

Sorry, I cannot quite read your question due to the formatting. But from skimming I suppose you are referring to the RVIZ clicked point tool select a start and stop point of the coverage planner. The clicked point only reacts to objects in the scene, e.g., the lines and corners of the grid background or the RVIZ satellite background tile. As a quick work around you may decrease the cell size and increase the cell count of the grid

Alternatively, you can also set the start and goal point from a ROS service

rosservice call /coverage_planner/plan_path "start_pose:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs: 0
    frame_id: ''
  pose:
    position:
      x: 0.0
      y: 0.0
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 0.0
goal_pose:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs: 0
    frame_id: ''
      w: 0.0" n:

If the problem persists or I misinterpreted your issue please open a new issue with the formatted description of the problem.

[FrGe2016]

Thanks for the feedback. For now i have 2 workarounds: - Sending the one you gave me - Using roslaunch polygon_coverage_ros coverage_planner_satellite.launch and a map published by the map server. Then i can make it work, it is fine for me. But someone else could have the problem. Here are a few more questions: Question 1 Is there an existing* setting of parameters to force the direction of the sweeping*. ( in the exemple below it could be interesting only horizontal paths ) [image: Screenshot from 2021-12-01 09-26-01.png] i know that sweep_single_direction: false gives me a mix of both directions Question 2 I would like to verify my understanding. For a lawn mower with a 0.5 m diameter blade. I would use this setting sensor_model_type: 0 # [0: Line, 1: Frustum] lateral_overlap: 0.1 lateral_footprint: 0.5 # Only for line sensor model. with type 1 sensor, it would not be necessary to evaluate a specific z value to have the right distance between mowing paths regards Francois Le mer. 1 déc. 2021, à 07 h 04, Rik Baehnemann ***@***.***> a écrit :

…

Sorry, I cannot quite read your question due to the formatting. But from skimming I suppose you are referring to the RVIZ clicked point tool select a start and stop point of the coverage planner. The clicked point only reacts to objects in the scene, e.g., the lines and corners of the grid background or the RVIZ satellite background tile. As a quick work around you may decrease the cell size and increase the cell count of the grid [image: Screenshot_2021-12-01_13-02-10] <https://user-images.githubusercontent.com/11293852/144231150-6ed34ec2-0e5f-4439-8165-87367339fb97.png> Alternatively, you can also set the start and goal point from a ROS service rosservice call /coverage_planner/plan_path "start_pose: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 goal_pose: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' w: 0.0" n: If the problem persists or I misinterpreted your issue please open a new issue with the formatted description of the problem. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#60 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AEARAMLFOSADO4OZ7ULCYNDUOYFMTANCNFSM5ISRKQ5Q> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.

[rikba]

Question 1
Is there an existing* setting of parameters to force the
direction of the sweeping*. ( in the exemple below it could be interesting
only horizontal paths )

This is not implemented at the moment. But I think it's a useful feature. Opened a new issue #63

     Question 2

     I would like to verify my understanding. For a lawn mower with a

0.5 m diameter blade. I would use this setting
sensor_model_type: 0 # [0: Line, 1: Frustum]
lateral_overlap: 0.1
lateral_footprint: 0.5 # Only for line sensor model.

If you have 0.5m diameter blade your setting like this should be correct. No need to calculate z in this case.

[FrGe2016]

Thanks for the feedback! Le mer. 1 déc. 2021, à 10 h 55, Rik Baehnemann ***@***.***> a écrit :

…

Question 1 Is there an existing* setting of parameters to force the direction of the sweeping*. ( in the exemple below it could be interesting only horizontal paths ) This is not implemented at the moment. But I think it's a useful feature. Opened a new issue #63 <#63> Question 2 I would like to verify my understanding. For a lawn mower with a 0.5 m diameter blade. I would use this setting sensor_model_type: 0 # [0: Line, 1: Frustum] lateral_overlap: 0.1 lateral_footprint: 0.5 # Only for line sensor model. If you have 0.5m diameter blade your setting like this should be correct. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#60 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AEARAMMU2NCPSIHIMEUKSETUOZANVANCNFSM5ISRKQ5Q> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.