remap_plugin_base

⚠️ This README was automatically generated by a LLM and should be manually reviewed for accuracy ⚠️

remap_plugin_base provides a base class for developing ReMap plugins. It offers core functionality for setting up nodes, managing clients, and interacting with a fact-based knowledge base.

Features

• Base class for ReMap plugin development
• Manages ROS 2 node setup
• Handles region registration and removal
• Publishes and removes facts from the knowledge base
• Supports semantic mapping and simulation control

Installation

Clone the repository and build it using colcon:

cd <your_ros2_workspace>/src
git clone <repository_url>
cd ..
colcon build --packages-select remap_plugin_base

Usage

To use remap_plugin_base, inherit from remap::plugins::PluginBase in your custom plugin.

Example

#include <remap_plugin_base/plugin_base.hpp>

class MyPlugin : public remap::plugins::PluginBase {
public:
  MyPlugin() {}
  void customFunction() {
    pushFact("example_fact");
  }
};

API Reference

PluginBase Class

Constructor

PluginBase();
PluginBase(std::shared_ptr<regions_register::RegionsRegister> & regions_register);

Initializes the base class, optionally accepting a RegionsRegister instance.

Setup Function

void setup(
  const std::shared_ptr<rclcpp::Node> & node_ptr,
  const std::string & name,
  const bool & threaded);

Sets up the plugin node, clients, and knowledge base publishers.

Fact Management

void pushFact(const std::string & fact) const;
void removeFact(const std::string & fact) const;

Publishes or removes a fact from the knowledge base.

SemanticPlugin Class

SemanticPlugin extends PluginBase, providing additional functionalities for semantic mapping and simulation control.

Constructor

SemanticPlugin();
SemanticPlugin(
  std::shared_ptr<map_handler::SemanticMapHandler> & semantic_map,
  std::shared_ptr<remap::regions_register::RegionsRegister> & regions_register);

Simulation Control

void initializeSimulationStructures();

Initializes ROS 2 subscriptions for simulation control.

Simulation Callbacks

void startSimulationCallback(const std_msgs::msg::Bool::SharedPtr msg);
void stopSimulationCallback(const std_msgs::msg::Bool::SharedPtr msg);
void stepCallback(const std_msgs::msg::Float32::SharedPtr msg);
void forwardCallback(const std_msgs::msg::Bool::SharedPtr msg);
void backwardCallback(const std_msgs::msg::Bool::SharedPtr msg);

Handles simulation start, stop, stepping, and directional control.

Setters

void setSemanticMapHandler(
  std::shared_ptr<map_handler::SemanticMapHandler> & semantic_map);
void setRegionsRegister(
  std::shared_ptr<remap::regions_register::RegionsRegister> & regions_register);

Allows setting the semantic map handler and regions register dynamically.

Storing spatial relationships

Each plugin can store spatial relationships in the knowledge base, starting from the generic spatial relationships computed by the map_handler::SemanticMapHandler or the information it can extract from the regions_register::RegionsRegister.

To do this, each plugin should implement the following functions:

virtual void storeRegionsRelationships(
    std::map<int, std::map<int,
    std::string>> relationships_matrix);
virtual void storeEntitiesRelationships(
    std::map<std::string, std::map<std::string,
    std::string>> relationships_matrix);

These functions are called by the remap_manager for each plugin after every plugin has contributed and stored its information both in the knowledge base and in the 3D grid. The map_handler::SemanticMapHandler object can compute the generic spatial relationships both for regions and entities. The plugins can decide which of these relationships they want to use to compute the domain specific spatial relationships and push them to the knowledge base.

Both funtions receive a matrix of relationships:

• std::map<int, std::map<int, std::string>> relationships_matrix is the matrix of relationships between the reMap regions, identified by their numeric IDs. To be able to compute inter-entities relationships, you should extract information about the entities contained in each region. This is possible via the regions_register::RegionsRegister API.
• std::map<std::string, std::map<std::string, std::string>> relationships_matrix is the matrix of relationships between the entities, identified by their names. Ideally (that is, if all the plugins are doing their job correctly) these names should be the same as the one used to identify the entities in the knowledge base.

License

This project is licensed under the Apache License 2.0. See LICENSE for details.

Author

PAL Robotics, S.L.

Contributions

Contributions are welcome! Feel free to open an issue or submit a pull request.