sabarish-prasannna · Jan 4, 2018 · May 21, 2018 · May 21, 2018 · May 21, 2018 · May 28, 2018
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
@@ -0,0 +1,15 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: noetic, ROS_REPO: main}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
diff --git a/docs/core_functions/ros_launch.rst b/docs/core_functions/ros_launch.rst
@@ -25,12 +25,14 @@ Here are the full list of parameters with the default values
                                             step_size:=0.005 \
                                             show_viz:=true \
                                             viz_pub_rate:=30.0 \
-                                            use_rviz:=false
+                                            use_rviz:=false \
+                                            simplify_map:=2
 
 * **world_path**: path to world.yaml
 * **update_rate**: the real time rate to run the simulation loop in Hz
 * **step_size**: amount of time to step each loop in seconds
 * **show_viz**: show visualization, pops the flatland_viz window and publishes 
   visualization messages, either true or false
 * **viz_pub_rate**: rate to publish visualization in Hz, works only when show_viz=true
-* **use_rviz**:  works only when show_viz=true, set this to disable flatland_viz popup
+* **use_rviz**:  works only when show_viz=true, set this to disable flatland_viz popup
+* **simplify_map**: Simpify map during vector tracing: 0=None (default), 1=moderately, 2=significantly
diff --git a/docs/core_functions/yaml_preprocessor.rst b/docs/core_functions/yaml_preprocessor.rst
@@ -9,9 +9,60 @@ Yaml Preprocessor
 Flatland Server has a lua preprocessor for YAML with simple bindings for the environment variables and rosparam.
 The intent is to be able to build parametric models that are defined by dimensions and flags found in either environment variables or rosparam, in a similar way to xacro+urdf. Because this is parsed at model load time, any roslaunch rosparam loading will have completed and those parameters will be available.
 
+Including additional YAML files
+-------------------------------
+The YAML preprocessor allows for including of other YAML files using the `$include` keyword. When this string is encountered, the following filename is parsed as a YAML file and substituted for the `$include`-string. The file path bay be absolute or relative. Relative file paths are relative to the YAML file currently being processed.
+
+.. code-block:: yaml
+
+  # project/param/parent.yaml
+  foo: 123
+  bar: $include child.yaml # Looks in current directory (project/param/) for relative filenames
+  baz: $include /absolute/path/to/project/param/child.yaml # or an absolute path can be specified
+
+  # project/param/child.yaml
+  a: 1
+  b: 2
+
+  # result of YAML preprocessing parent.yaml:
+  foo: 123
+  bar:
+    a: 1
+    b: 2
+  baz:
+    a: 1
+    b: 2
+
+There is also a special form of `$include`, `$[include]`,  that can be used to populate a sequence with an arbitrary number of items. Each individual document in the specified YAML file (separated by `---` as is standard for multi-document YAML files) becomes its own element in the sequence. For example:
+
+.. code-block:: yaml
+
+  # parent.yaml
+  foo:
+    - first
+    - $[include] child.yaml
+    - last
+
+  #child.yaml
+  one
+  ---
+  a: foo
+  b: baz
+  ---
+  three
+
+  # result of YAML preprocessing of parent.yaml:
+  foo:
+    - first
+    - one
+    - a: foo
+      b: baz
+    - three
+    - last
+
 body/joint/plugin enabled flag
 ------------------------------
-Model bodies, plugins and joints now have a new flag `enabled` which can be set to true or false either directly in the yaml, or based on more complex logic from a lua `$eval` string that returns "true" or "false". Disabled bodies, plugins and joints are skipped during yaml loading, and as a result are never instantiated. From Flatland's perspective `enabled: false` causes the affected body/plugin/joint to be deleted. 
+Model bodies, plugins and joints now have a new flag `enabled` which can be set to true or false either directly in the yaml, or based on more complex logic from a lua `$eval` string that returns "true" or "false". Disabled bodies, plugins and joints are skipped during yaml loading, and as a result are never instantiated. From Flatland's perspective `enabled: false` causes the affected body/plugin/joint to be deleted.
 
 bindings for env and param
 -------------------------------

diff --git a/docs/included_plugins/diff_drive.rst b/docs/included_plugins/diff_drive.rst
@@ -21,10 +21,10 @@ velocities and odometries are w.r.t. the robot origin
   plugins:
 
       # required, specify DiffDrive type to load the plugin
-    - type: DiffDrive 
+    - type: DiffDrive
 
       # required, name of the plugin
-      name: turtlebot_drive 
+      name: turtlebot_drive
 
       # required, body of a model to set velocities and obtain odometry
       body: base
@@ -50,29 +50,34 @@ velocities and odometries are w.r.t. the robot origin
       # optional, defaults to "twist", the topic to publish noisy local frame velocity
       # that simulates encoder readings
       twist_pub: twist
-      
+
       # optional, defaults to true, enables the advertising and publishing of both
       # ground truth and noisy odometry
       enable_odom_pub: true
-
+
+      # optional, defaults to true, enables the publishing of the TF between
+      # 'base_link' (or link specified in "body") and 'odom' links.
+      # Disable if your code has its own TF publisher for these two links.
+      enable_odom_tf_pub: true
+
       # optional, defaults to true, enables the advertising and publishing of noisy local
       # frame velocity
       enable_twist_pub: true
 
-      # optional, defaults to [0, 0, 0], corresponds to noise on [x, y, yaw], 
+      # optional, defaults to [0, 0, 0], corresponds to noise on [x, y, yaw],
       # the variances of gaussian noise to apply to the pose components of the
       # odometry message
       odom_pose_noise: [0, 0, 0]
 
-      # optional, defaults to [0, 0, 0], corresponds to noise on 
+      # optional, defaults to [0, 0, 0], corresponds to noise on
       # [x velocity, y velocity, yaw rate], the variances of gaussian noise to
       # apply to the twist components of the odometry message
       odom_twist_noise: [0, 0, 0]
 
-      # optional, defaults to the diagonal [x, y, yaw] components replaced by 
-      # odom_pose_noise with all other values equals zero, must have length of 36, 
-      # represents a 6x6 covariance matrix for x, y, z, roll, pitch, yaw. 
-      # This does not involve in any of the noise calculation, it is simply 
+      # optional, defaults to the diagonal [x, y, yaw] components replaced by
+      # odom_pose_noise with all other values equals zero, must have length of 36,
+      # represents a 6x6 covariance matrix for x, y, z, roll, pitch, yaw.
+      # This does not involve in any of the noise calculation, it is simply
       # the output values of odometry pose covariance
       odom_pose_covariance: [0, 0, 0, 0, 0, 0,
                              0, 0, 0, 0, 0, 0,
@@ -81,10 +86,10 @@ velocities and odometries are w.r.t. the robot origin
                              0, 0, 0, 0, 0, 0,
                              0, 0, 0, 0, 0, 0]
 
-      # optional, defaults to the diagonal [x velocity, y velocity, yaw rate] 
+      # optional, defaults to the diagonal [x velocity, y velocity, yaw rate]
       # components replaced by odom_twist_noise with all other values equals zero,
-      # must have length of 36, represents a 6x6 covariance matrix for rates x, 
-      # y, z, roll, pitch, yaw. This does not involve in any of the noise 
+      # must have length of 36, represents a 6x6 covariance matrix for rates x,
+      # y, z, roll, pitch, yaw. This does not involve in any of the noise
       # calculation, it is simply the output values of odometry twist covariance
       odom_twist_covariance: [0, 0, 0, 0, 0, 0
                              0, 0, 0, 0, 0, 0
@@ -105,4 +110,6 @@ velocities and odometries are w.r.t. the robot origin
       linear_dynamics:
         acceleration_limit: 0.0   # max acceleration (away from 0), in m/s/s; 0.0 means "no limit"
         deceleration_limit: 0.0   # max deceleration (towards 0), in m/s/s; 0.0 means "no limit"; left blank, will default to acceleration_limit value
-        velocity_limit: 0.0       # max absolute velocity in m/s; 0.0 means "no limit"
+        velocity_limit: 0.0       # max absolute velocity in m/s; 0.0 means "no limit"
+
+      ground_truth_frame_id: map  # The name of the ground truth origin TF frame
diff --git a/docs/included_plugins/imu.rst b/docs/included_plugins/imu.rst
@@ -0,0 +1,55 @@
+.. image:: ../_static/flatland_logo2.png
+    :width: 250px
+    :align: right
+    :target: ../_static/flatland_logo2.png
+
+
+IMU
+==========
+This plugin provides a simple simulation of an IMU (three-axis accelerometer and three-axis gyroscope).
+
+* The reference frame of the IMU is x-forward, y-left, z-up. Because Flatland is 2D, only the x and y axes are populated with accelerations only the z axis is populated with an angular rate, and the orientation has components only in the z and w fields.
+
+* The measurements are modelled in a simple manner; they are simply the ground truth corrupted with zero-mean Gaussian noise.
+
+* Publishes a `sensor_msgs/Imu <http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html>`_ message with the simulated measurements
+
+.. code-block:: yaml
+
+  plugins:
+
+      # required, specify Imu type to load the plugin
+    - type: Imu
+
+      # required, name of the plugin
+      name: turtlebot_imu
+
+      # required, body of a model to set location of simulated IMU
+      body: base
+
+      # optional, defaults to true, whether to publish the IMU data
+      enable_imu_pub: true
+
+      # optional, defaults to imu, TF frame name of the IMU
+      imu_frame_id: imu
+
+      # optional, defaults to imu/filtered, the topic on which the noisy imu data is published
+      imu_pub: imu/filtered
+
+      # optional, defaults to imu/ground_truth, the topic on which the true (no noise added) imu data is published
+      ground_truth_pub: imu/ground_truth
+
+      # optional, defaults to [0.0, 0.0, 0.0], the diagonal of the covariance matrix of the zero-mean noise added to the orientation . Note that because the simulation is 2D, only the third value (i.e., yaw noise) is used.
+      orientation_noise: [0.0, 0.0, 0.0]
+
+      # optional, defaults to [0.0, 0.0, 0.0], the diagonal of the covariance matrix of the zero-mean noise added to the angular velocity. Note that because the simulation is 2D, only the third value (i.e., yaw rate noise) is used.
+      angular_velocity_noise: [0.0, 0.0, 0.0]
+
+      # optional, defaults to [0.0, 0.0, 0.0], the diagonal of the covariance matrix of the zero-mean noise added to the linear acceleration. Note that because the simulation is 2D, only the first two values (i.e., x and y acceleration noise) are used.
+      linear_acceleration_noise: [0.0, 0.0, 0.0]
+
+      # optional, defaults to inifinity (i.e., as fast as the simulation updates), rate to publish IMU measurements, in Hz
+      update_rate: 40
+
+      # optional, defaults to true, whether to publish TF
+      broadcast_tf: true
diff --git a/docs/included_plugins/laser.rst b/docs/included_plugins/laser.rst
@@ -34,6 +34,9 @@ messages.
       # optional, default to true, whether to publish TF
       broadcast_tf: true
 
+      # optional, default to false, if true compute/publish even if no subscribers (for benchmarking)
+      always_publish: false
+
       # optional, default to name of this plugin, the TF frame id to publish TF with
       # only used when broadcast_tf=true
       frame: laser_back
@@ -46,6 +49,9 @@ messages.
 
       # required, w.r.t to the coordinate system, scan from min angle to max angle
       # at steps of specified increments
+      # Scan direction defaults to counter-clockwise but clockwise rotations can be
+      # simulated by providing a decrementing angle configuration.
+      # e.g. min: 2, max: -2, increment: -0.1 (clockwise)
       angle: {min: -2.356194490192345, max: 2.356194490192345, increment: 0.004363323129985824}
 
       # optional, default to inf (as fast as possible), rate to publish laser scan messages
@@ -55,6 +61,13 @@ messages.
       # lasers only detects objects in the specified layers
       layers: ["all"]
 
+      # optional, invert the mounting orientation of the lidar (default: false)
+      # This will invert the laser's body->laser frame TF (roll=PI)
+      # And sweep the lidar scan across a field mirrored across its mounted axis
+      # (as if you physically mounted the lidar upside down)
+      upside_down: false
+
+
     # another example
     - type: Laser
       name: laser_front
@@ -64,4 +77,4 @@ messages.
       layers: ["layer_1", "layer_2", "layer_3"]
       update_rate: 100
       noise_std_dev: 0.01
-
+
diff --git a/docs/included_plugins/tricycle_drive.rst b/docs/included_plugins/tricycle_drive.rst
@@ -147,4 +147,6 @@ has no effect on the actual motion of the robot.
       # optional, defaults to 0.0 which means no limit
       # sets the steering angular acceleration limit (absolute, rad/s^2)
       # the steering angular acceleration will not exceed this absolute limit
-      max_steer_acceleration: 0.0
+      max_steer_acceleration: 0.0
+
+      ground_truth_frame_id: map  # The name of the ground truth origin TF frame
diff --git a/flatland/CHANGELOG.rst b/flatland/CHANGELOG.rst
@@ -4,6 +4,14 @@ Change Log
 
 This project adheres to `Semantic Versioning <http://semver.org/>`_.
 
+1.4.1 (2023-11-24)
+------------------
+* CMake version required bump to fix ros build farm warning
+
+1.4.0 (2023-11-22)
+------------------
+* Version Bump
+
 1.1.0
 ------------------
 * Added Lua based parametric model yaml files

diff --git a/flatland/CMakeLists.txt b/flatland/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(flatland)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/flatland/LICENSE b/flatland/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2023, Avidbots Corp.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/flatland/package.xml b/flatland/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <package>
   <name>flatland</name>
-  <version>1.1.3</version>
+  <version>1.4.1</version>
   <description>
     This is the metapackage for flatland.
   </description>

diff --git a/flatland_msgs/CHANGELOG.rst b/flatland_msgs/CHANGELOG.rst
@@ -0,0 +1,26 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package flatland_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.4.1 (2023-11-24)
+------------------
+* CMake version required bump to fix ros build farm warning
+
+
+1.4.0 (2023-11-22)
+------------------
+* Version Bump
+
+1.3.3 (2023-02-06)
+------------------
+* Merge pull request `#95 <https://github.com/avidbots/flatland/issues/95>`_ from avidbots/per-package-licenses
+  Per package licenses
+* Contributors: Joseph Duchesne
+
+* Merge pull request `#95 <https://github.com/avidbots/flatland/issues/95>`_ from avidbots/per-package-licenses
+  Per package licenses
+* Contributors: Joseph Duchesne
+
+* Merge pull request `#95 <https://github.com/avidbots/flatland/issues/95>`_ from avidbots/per-package-licenses
+  Per package licenses
+* Contributors: Joseph Duchesne
diff --git a/flatland_msgs/CMakeLists.txt b/flatland_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(flatland_msgs)
 
 # Ensure we're using c++11