^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Changelog for package rmf\_building\_map\_tools ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 1.14.0 (2025-07-21) ------------------- * Download models through Gazebo (`#535 `_) Co-authored-by: Grey * Contributors: Luca Della Vedova 1.13.0 (2025-06-09) ------------------- * Adding "mutex" to vertex and lane param (`#533 `_) * Use a world plugin for charger registration (`#532 `_) * Contributors: Jun, Luca Della Vedova 1.12.0 (2025-05-09) ------------------- * Remove redundant physics plugin (`#530 `_) * Fix to Allow Numerically-Labelled Map (`#528 `_) * Fix pit crew missing models and authorship logic (`#522 `_) * Support robot types with organization namespaces (`#521 `_) * Add flag to skip calculating and setting camera pose (`#523 `_) * Add the ability to customize the base world file (`#519 `_) * Contributors: Aaron Chong, Arjo Chakravarty, Gary Bey, Grey, Luca Della Vedova 1.11.0 (2024-11-27) ------------------- * Fix startup error when waypoint's name is pure numbers (`#508 `_) * Contributors: Gary Bey 1.10.0 (2024-06-12) ------------------- 1.9.0 (2024-06-01) ------------------ * Fix MultiPolygon not iterable (`#496 `_) * Harmonic release and ECS refactor (`#483 `_) * workaround fuel dup (`#490 `_) * Add per_page arg to fuel pagination for pit_crew (`#491 `_) * bugfix: specify coordiate_system when generating yaml for lift. (`#488 `_) * Handle geometry collections (`#476 `_) * Contributors: Arjo Chakravarty, Grey, Luca Della Vedova, Teo Koon Peng, Xiyu, cwrx777, methylDragon, Yadunund 1.8.2 (2023-12-15) ------------------ * Export door information to nav graphs (`#479 `_) * Export lift information to nav graphs (`#478 `_) 1.8.1 (2023-08-10) ------------------ * Fix gz classic model download (`#470 `_) * Contributors: Aaron Chong 1.8.0 (2023-06-08) ------------------ 1.7.0 (2023-06-06) ------------------ * Switch to rst changelogs (`#464 `_) * Add texture for white wall (`#463 `_) * Fix navgraph generation for connected docking waypoints (`#452 `_) * Added 5 retries for model downloading failure (`#455 `_) * Migrate to using gzsim server url for fuel (`#454 `_) * Exiting model downloader with non-zero exit code (`#453 `_) * Contributors: Aaron Chong, Luca Della Vedova, Yadunund 1.6.0 (2022-10-05) ------------------ * Add Fuel tools dependency to rmf_building_map_tools (`#444 `_) * Fix building_map_server crashes when level scale is not defined (`#442 `_) * Fixed usage of download\_models (`#440 `_) * remove usage of deprecated np.asscalar() (`#438 `_) * Added a dispensable field for models (`#436 `_) * Only offset camera pose for global coordinate building when a floor is present (`#434 `_) * Move to collections.abc for crowdsim (`#432 `_) * Contributors: Aaron Chong, Luca Della Vedova, Morgan Quigley, Yadunund 1.5.1 (2022-04-20) ------------------ * Floor information for floor toggling plugin in Ignition (#424) * Use the Ignition Gazebo floor visibility plugin when generating worlds. * navgraph visualizer (#426) * new verb for building_map_generator that will generate navgraph visualization OBJ files, which can then be dropped into a Gazebo simulation to help understand what's going on. * update versions of pure python packages * Contributors: Luca Della Vedova, Morgan Quigley 1.5.0 (2022-03-13) ------------------ * Always use ign=True and remove spaces when comparing model names (#412) * Always use ign=True and remove spaces when comparing model names * Pit crew makes model paths available, when checking for missing models, for exporting (#414) * Reverted the use of remove_spaces as model names with spaces are used for downloading models * if map_version is present, copy it into GeoJSON (#415) * Update package.xml (#406) * Feature: serve BuildingMap message when loading GeoJSON file in building_map_server (#404) * Create a BuildingMap message when serving from GeoJSON file * use RTree to speed up BuildingMap creation from GeoJSON * use reasonable default scale for Cartesian maps * add python3-rtree dependency to GitHub workflow * First steps towards GeoJSON (#403) * add GeoJSON support to `building_map_server`: to start, just vertices and lanes * compress GeoJSON output on-the-fly * add support for GeoJSON to `building_map_converter`, auto-detecting based on filename suffix * GeoJSON: include preferred projected CRS and suggested coordinate offset for simulation as top-level keys * sort GeoJSON keys in building map server for consistency in diffs * fix crash for non-geolocated/legacy maps * Cartesian worlds (y=up) and steps towards using GeoPackage (#396) * create passthrough transform for cartesian_meters coordinate systems * pass coordinate system to vertex draw, to flip text as needed * correct deprecated setuptools key to fix warning * Fix errors when building maps with lifts / crowdsim * add speed limit param to generated nav-graph files * add site_map publishing to building_map_server for cartesian maps * publish lane speed limits * Change loader to CLoader for performance improvement on large maps * on-the-fly geopackage generation for cartesian maps * add fiona Python package dependency to package.xml and CI workflow * building_map_converter to generate a GeoPackage from a cartesian YAML map * add top-level metadata for building/site params * fix geopackage metadata extraction for geopackage SiteMap server * use json instead of yaml for geopackage parameters * assign a nonsense CRS if one doesn't exist * Change Legacy -> ReferenceImage throughout code * fix lift model ele name conflict warning (#399) * Add speed limit to navgraph (#397) * Deprecate/http download (#395) * deprecate and remove http option * Add helpful warning * use argparse deprecation method * use function level variables * Use yaml-cpp CLoader and CDumper from Python for speed (#394) * use CLoader and CDumper to speed up YAML save/load times * Contributors: Charayaphan Nakorn Boon Han, Grey, Luca Della Vedova, Morgan Quigley, Yadu, youliang, Aaron Chong 1.4.0 (2021-09-02) ------------------ * Feature/map generator using global coordinates (`#379 `_) * added support for ceilings with texture (`#383 `_) * Feature/wall graph (`#377 `_) * added scaling features to wall texture (`#382 `_) * fix crowdsim map generation when there are no robots (`#380 `_) * Fix crash when level has no floors (`#370 `_) * adding maintainer for buildfarm notifications (`#368 `_) * Fix issues with building map tools using Ignition tools (`#362 `_) * Contributors: Luca Della Vedova, Marco A. Gutiérrez, Matthew Booker, Morgan Quigley, Nicholas, Xiyu 1.3.0 (2021-05-14) ------------------ * Added support for fuel textures (`#342 `_) * Convert wall textures from 1d to 2d (`#338 `_) * [Optimization] Remove duplicated textures (`#337 `_) * clean dep and update readme (`#336 `_) * building_map_server: don't crash when missing image file (`#334 `_) * Fix material values for sdf compliance (`#330 `_) * avoid crashing when generating undefined floor polygons. cleanup. (`#322 `_) * improve usage of Shapely on very complex floor polygons (`#321 `_) * auto download crowdsim models (`#316 `_) * rename building_map_tools (`#310 `_) * Account for package rename * Rename packages and delete moved packages (`#308 `_) * migration to open-rmf org, rename to `rmf_building_map_tools` * Contributors: Geoffrey Biggs, Luca Della Vedova, Morgan Quigley, youliang 1.2.0 (2021-01-06) ------------------ * Ign rtf optimizations and GUI plugins (`#248 `_) * Merge pull request `#257 `_ from Briancbn/pr-fix-disable-plugin-backwards-compatibility Fix door, lift plugin disable options backwards compatibility * Merge pull request `#255 `_ from osrf/feature/remove-plugin-option Feature/remove plugin option * Three lines of code to double the RTF, :sparkles: * Makes lifts static if plugins are not required * Door plugins option parsing correctly now * Using just the Lift object to propagate the plugin removal option * Added option to remove plugins for doors on gui and building_map_tools generator * Fix namespace for rmf charging plugin (`#253 `_) * Textures/additional (`#244 `_) * Implement battery drain and recharge for slotcars (`#242 `_) * Implement animation switching in crowd simulation (`#238 `_) * Add first pass of quality declarations for all packages (`#235 `_) * Add building_crowdsim to generate navmesh and config files for crowd simulation (`#224 `_) * Contributors: Aaron Chong, Chen Bainian, Geoffrey Biggs, Guoliang (Fred) Shao, Luca Della Vedova, Marco A. Gutiérrez, Morgan Quigley, Rushyendra Maganty, Valerie 1.1.0 (2020-09-24) ------------------ * Implement model visibility toggling (`#226 `_) * Adding lift operation range selection (`#220 `_) * Add field in lift dialog for initial floor, handle invalid initial floor * added inertia for lift cabin platform (`#217 `_) * Model counts to be owned by Building, and passed to each Level `#211 `_ * Support for adding and recognizing lift waypoints for multi-level navigatio `#201 `_ * Fixed the wrong naming of reference_floor (`#209 `_) * Fixing building failure when fiducial values are integers (`#208 `_) * Generate models at the correct Z height of their level `#207 `_ * Configurable texture and transparency for wall `#200 `_ * Added wall tex in building map generation * Handle situation when lifts key is not present `#188 `_ * Ignition plugins and modularization of doors and slotcar `#138 `_ * Adding lift pluting for ignition `#171 `_ * Implement automatic lift waypoint setting * Implement convenience script (`#185 `_) * Implement model downloader: a script to assist in model downloading without needing to also build the worldfile from a specified traffic_editor file. `#180 `_ * Contributors: Aaron Chong, Chen Bainian, Geoffrey Biggs, Kevin_Skywalker, Luca Della Vedova, MakinoharaShouko, Morgan Quigley, kevinskwk, methylDragon, youliang 1.0.0 (2020-06-22) ------------------ * merging master * Merge pull request `#134 `_ from methylDragon/ch3/hotfix-nonetype-pit-crew-bug Make pit_crew robust against missing author names * Make pit_crew robust against missing author names * Merge pull request `#133 `_ from osrf/fix/pit-crew-deps Adding instructions to install pit_crew dependency * lint :skull: * lint :sparkles: * Merge pull request `#132 `_ from methylDragon/ch3/author-namespaced-thumbnails Support Author-namedspaced Thumbnails and Revamp building_map_generator * Fix build and import bug * Unify building_map_generators With argparse and pit_crew! * Merge branch 'master' into ch3/migrate-traffic-editor-thumbnails * Merge branch 'master' into ch3/author-namespaced-thumbnails * Merge pull request `#129 `_ from methylDragon/ch3/pit-crew Unleash the pit_crew! * Merge pull request `#131 `_ from osrf/bug/building_map_server Fix coordinate frame of lifts and doors in building_map_server * Implement easier logging init * Implement lower param * Implement cache rebuilding option * Extend pit_crew to support ign directories * Fix assertion bug * Clarify assertion * Implement use_dir_as_name * Add model config param * Add usage examples * Implement dry run downloads * Clarify docstrings, add swag, lower param, and asserts * Use namedtuples * Merge branch 'master' into ch3/migrate-traffic-editor-thumbnails * Minor fixes * Fixed format * Fixed coordinate system for lifts and doors populated in BuildingMap msg * Fix import bug * Allow shutil to fail gracefully * Include author name when returning downloadable models (for now) * Fix capitalisation bug * Refine logger formatting * Fix set bug * Implement input sanitisation * Clarify log strings * Fix import bug * Reorder __all_\_ for parity with code * Neaten description * Unleash the pit_crew! * Merge pull request `#127 `_ from osrf/fix/door_elevation Fix/door elevation * Fixed code style * Fixed elevation of doors and floors in simulation * Merge pull request `#122 `_ from osrf/fix/building_map_server Fix/building map server * Motion range of doors specified in radians * Vertices of lift doors populated * Format fixes * Lift skeleton * Lift skeleton * Fixed format * doors populated in map server * Merge pull request `#118 `_ from osrf/feature/teleport-dispenser Feature/teleport dispenser * append number to model names only if not unique * Merge remote-tracking branch 'origin' into external_traffic_map_files * bugfix in hole generator in building_map_tools * Merge pull request `#100 `_ from osrf/double_swing_doors_directions branch on double swing door direction for sim generation * Merge pull request `#98 `_ from osrf/camera_pose Add computed camera pose to ignition * branch on double swing door direction for sim generation * Add computed camera pose to ignition, add it to gazebo template * Merge pull request `#96 `_ from osrf/fix_normals_in_wall_meshes hopefully fix norm and texture indexing in wall obj files * Merge pull request `#97 `_ from osrf/fix/double-swing-door-direction corrected simulation double swing door direction * corrected simulation double swing door direction * pycodestyle * hopefully fix norm and texture indexing in wall obj files * Merge pull request `#94 `_ from osrf/static_parameter_for_models Static parameter for models Tested manually on a few worlds, looks OK * parse model static attribute and apply during SDF generation * Merge pull request `#92 `_ from osrf/add_shapely_dep Add dependency to python-shapely in package.xml * Merge pull request `#93 `_ from osrf/fix_server_scale Fix server to latest changes in level transform * Fix server to latest changes in level transform * Add dependency to python-shapely in package.xml * Merge pull request `#91 `_ from osrf/calculate_floorplan_drawing_rotations Calculate floorplan drawing rotations * pycodestyle fix * finish propagating transform changes through * finish estimating fiducial alignments, including rotation * WIP dealing with buildings with some rotated floorplans * Merge pull request `#90 `_ from osrf/feature/single-doors Feature/single doors * added flip motion direction for swing doors * WIP open/close positions flipped at -90 and -1 * Merge branch 'master' into feature/single-doors * single door types work, WIP get the gazebo plugins synced up for door.cpp * Merge pull request `#89 `_ from osrf/add_gazebo_plugins add gazebo plugins used by building_map_tools generators * add gazebo plugins used by building_map_tools generators * WIP fixing direction, angle of opening * parsing hinged and sliding single doors * handle parsing of single doors * Merge pull request `#86 `_ from osrf/fix/missing-fiducials-tag check if key in dict first * lint :skull: * check if key in dict first * bugfix: somewhat more robust yaml parsing * don't generate wall mesh tags if there aren't any walls * Merge pull request `#85 `_ from osrf/toggle_floors_gui_plugin generate params for toggle-floor GUI plugin * generate params for toggle-floor GUI plugin * Merge pull request `#84 `_ from osrf/fix_doors fix wall collision bitmask and door scaling issues * fix wall collision bitmask and door scaling issues * Merge pull request `#83 `_ from osrf/ignition_generator Ignition generator * pass options list through for gz/ign tweaks * fix gz template to actually be gazebo stuff * Merge pull request `#82 `_ from osrf/ign merge * fix merge conflict * use share path rather than file-relative path * create the actual ignition generator, whoops * add options flags to generator call chain for ign/gz * Merge pull request `#81 `_ from osrf/add_flattened_offsets XY translation of each level in a 'flattened' world generation mode * Brighten up doors * Remove redundant ambient tag * Fix world name (hence ign gazebo plugins) * Add xml tag to generated world * Remove namespaced name from plugin * Fix door plugin name for ignition * First series of hacks for ignition compatibility * XY translation of each level in a 'flattened' world generation mode * Merge pull request `#80 `_ from osrf/floor_holes Floor holes * use specified level elevations; don't scale by default * instantiate floor hole polygons using Shapely * fix pycodestyle complaint * Merge branch 'master' of ssh://github.com/osrf/traffic_editor into floor_holes * Merge pull request `#79 `_ from osrf/feature/model-elevation Feature/model elevation * lint again * lint * added printout to mention deprecated model z field without elevation/z * z in yaml parsing does not need scaling * reverted back to using double for model::z, makes yaml parsing cleaner * Merge pull request `#77 `_ from osrf/pycodestyle_action_and_fixes Pycodestyle action and many python style fixes * fix various python style abominations * Merge pull request `#76 `_ from osrf/defer_scaling_in_world_generation Calculate scale and translation to align building levels * calculate scale and translation to align generated building levels * working towards using fiducials in gazebo level generation * Merge pull request `#75 `_ from osrf/simplify_floor_polygons simplify floor polygons to eliminate duplicate vertices * simplify floor polygons to eliminate duplicate vertices * Merge pull request `#74 `_ from osrf/generate_wall_meshes Generate wall meshes * recursive triangulation function and slight clean-up of code abominations * WIP generating a mega-wall obj. It's way faster than primitives. * WIP towards wall meshes instead of primitive collections * Add thickness to wall length * Merge pull request `#64 `_ from osrf/specify_floor_textures Specify floor textures * don't crash * create new vertices as needed for the triangles cropped by concave edges * WIP debugging triangulation holes * allow specification of floor texture and scale * Merge pull request `#61 `_ from osrf/use_shapely_for_geometry Use shapely for geometry * fix triangle winding order after intersection and camera pose * shapely triangulation now looking OK for convex hulls. * figuring out a path forward... * Merge pull request `#60 `_ from osrf/port_ign_changes Port ign changes * Remove unused function * Simplify ignition migration * Merge pull request `#55 `_ from osrf/update_yaml_key_names fix `#54 `_, update yaml key names * fix `#54 `_, update yaml key names * Merge pull request `#50 `_ from osrf/initial_multilevel_sdf parse fiducials * parse fiducials * Merge pull request `#47 `_ from osrf/bug/fix-dict-illegal-access Bug/fix dict illegal accesses * empty array initialization instead * remove ABOMINATION * added None initialization and checks, in case map is really really minimal * Merge pull request `#29 `_ from osrf/tweak_door_limits Tweaking limits on doors so they can close * Merge pull request `#31 `_ from osrf/rendering_layers_controls Rendering layers controls * rendering starting to work * Merge pull request `#30 `_ from osrf/fix_orientation_on_unidirectional_edge_conversion Fix orientation on unidirectional edge conversion * use brain * fix regression on bidirectional->unidirectional orientation constraints * Improve inertial parameters * Tweaking limits on doors so they can close * Merge pull request `#28 `_ from osrf/generate_doors Generate doors * add various door gazebo generation stuff and demo mock lift floor changes * fix flake8 fixes :) and more hacking towards doors * flake8 fixes * Merge pull request `#27 `_ from osrf/add_dock_points add dock points and generate docking nav graph params * add dock points and generate docking nav graph params * Merge pull request `#26 `_ from osrf/generate_doors send nav graphs in building map server and more work towards doors * fix building map server and more work towards doors * Merge pull request `#24 `_ from osrf/calculate_robot_spawn_yaw calculate robot heading at spawn point using nearest edge * calculate robot heading at spawn point using nearest edge * Merge pull request `#23 `_ from osrf/output_nav_graph_dir output nav graphs by name into directory given as param * output nav graphs by name into directory given as param * Merge pull request `#21 `_ from osrf/spawn_robot_parameters robot parameters for spawning and Gazebo world generation * add robots when generating world * Merge pull request `#19 `_ from osrf/redraw_after_new_file_create redraw after file->new, also give explicit model path for gazebo gen * redraw after file->new, also give explicit model path for gazebo gen * Merge pull request `#16 `_ from osrf/repository_reorganization Repository reorganization * calculate texture paths using ament magic * fix up server to use same yaml parser as the generators * grand reorganization as colcon-buildable packages for ros2 integration * Contributors: Aaron, Aaron Chong, Luca Della Vedova, Michael X. Grey, Morgan Quigley, Yadu, Yadunund, methylDragon