Adds a system which enables exporting occupancy grids. #2958
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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 <arjoc@intrinsic.ai>
ahcorde
previously requested changes
Jun 25, 2025
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
This commit pushes an initial version of the code. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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Here's a patch to add the bazel.patchdiff --git a/BUILD.bazel b/BUILD.bazel
index 9d6d2d9bb..01bc304ad 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -801,6 +801,26 @@ gz_sim_system_libraries(
],
)
+gz_sim_system_libraries(
+ srcs = glob(
+ [
+ "src/systems/free_space_explorer/**/*.cc",
+ "src/systems/free_space_explorer/**/*.hh",
+ ],
+ ),
+ so_lib_name = "gz-sim-free-space_explorer--system.so",
+ static_lib_name = "gz-sim-free-space-explorer-system-static",
+ visibility = ["//visibility:public"],
+ deps = [
+ ":gz-sim",
+ "@gz-common//graphics",
+ "@gz-math",
+ "@gz-msgs//:gzmsgs_cc_proto",
+ "@gz-plugin//:register",
+ "@gz-transport",
+ ],
+)
+
gz_sim_system_libraries(
srcs = glob(
[After removing |
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
…m/gz-sim into arjo/feat/export_occupancy_grid
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
arjo129
changed the title
arjo129
added
the
needs upstream release
azeey
requested changes
Aug 23, 2025
There was a problem hiding this comment.
The overall feature looks great! I have some concerns about where the computation is being done. In most of our plugins, we have the pattern where we only do trivail things in message callbacks and defer expensive computation to Pre/PostUpdate calls. There also a number of style issues.
github-project-automation
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AI was used to migrate the logic in OnLaserScanCallback. Generated-by: Gemini-2.5-Pro Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
…m/gz-sim into arjo/feat/export_occupancy_grid
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Since we are accessing the occupancy grid on the main simulation loop only now, we dont need a mutex to protect it. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
azeey
approved these changes
Aug 23, 2025
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🎉 New feature
Closes #
Summary
Depends on: gazebosim/gz-math#685
This PR adds a system which exports occupancy grids. Currently its a work in progress. The BFS algorithm takes a fair deal of time to converge, hence writing a unit test may not make sense. We should also make a nice UI for it.
Test it
Follow the instructions in the example sdf.
The occupancy grid will be published as an image on the /scan_image topic.
To start the exploration, run the following command in a new terminal:
reduced_Screencast.From.2025-08-22.13-24-20.mp4
Checklist
codecheckpassed (See contributing)Generated-by: Gemini-2.5-Pro
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