Repository Summary
Checkout URI  https://github.com/MetroRobots/polygon_ros.git 
VCS Type  git 
VCS Version  main 
Last Updated  20230822 
Dev Status  DEVELOPED 
CI status  No Continuous Integration 
Released  RELEASED 
Tags  No category tags. 
Contributing 
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) 
Packages
Name  Version 

polygon_demos  1.0.2 
polygon_msgs  1.0.2 
polygon_rviz_plugins  1.0.2 
polygon_utils  1.0.2 
README
polygon_ros
Messages and libraries for operating on two dimensional polygons.
In the standard package geometry_msgs
, Polygon.msg
and PolygonStamped.msg
are defined, but have three primary limitations.
* The Polygon
is defined by Point32
which uses float32
limited precision to store the coordinates.
* The point is also defined in three dimensions, leading to an often ignored Z coordinate.
* There is no support for complex polygons i.e. polygons with holes in them.
This led to the creation of the new messages defined in this package. This work is forked from the ROS 1 version of the robot_navigation
.
Data Types
 The base datatype is
Point2D
, which defines an x and a y coordinate, in 64 bit precision.  The
Polygon2D
type defines a simple polygon with an ordered list ofPoint2D
that are the vertices of the polygon. The first point is connected to the second, the second is connected to the third, and so on, and the last point is also connected to the first. 
Polygon2DStamped
is a single simple polygon with a header. 
ComplexPolygon2D
defines a complex polygon with one polygon that is the outer perimeter, and an arbitrary number of polygons that define the holes. 
Polygon2DCollection
is a list of simple polygons, all with the same frame. There is also an optional perpolygon colors field for display purposes.  Simiarly,
ComplexPolygon2DCollection
is a list of complex polygons, also with a header, and an optional colors field.
Polygon Utils
The polygon_utils
package provides a number of tools for working with polygon_msgs
.
Conversions
Note that when converting from geometry_msgs
to polygon_msgs
, any information in the z coordinate is discarded.
to polygon_msgs

from polygon_msgs


Polygon2D polygon3Dto2D(geometry_msgs::Polygon) 
geometry_msgs::Polygon polygon2Dto3D(Polygon2D) 
Polygon2DStamped polygon3Dto2D(geometry_msgs::PolygonStamped) 
geometry_msgs::PolygonStamped polygon2Dto3D(Polygon2DStamped) 
Operations

equals
 check if two polygons are equal 
movePolygonToPose
 translate and rotate a polygon 
isInside
 check if a point is inside a polygon
triangulate
 Decompose a polygon into a set of nonoverlapping triangles using an open source implementation of the earcut algorithm

Python
There are also a few Pythonbased utility operations available.
* polygon_utils.shapely_lib.py
provides conversions from ROS messages to Shapely objects, enabling a large library of algorithms to be run. Note: Requires shapely
to be installed via pip
.
* polygon_utils.shortest_path.py
provides methods for determining the shortest path around a collection of polygons. (also uses shapely_lib
)
RViz Plugins
The existing rviz_default_plugins::PolygonDisplay
draws only the outline of a given polygon, and cannot fill the polygon in with color. This package has five new RViz displays for polygon data:
* polygon_rviz_plugins::Polygon3DDisplay
will display geometry_msgs/PolygonStamped
messages just like rviz_default_plugins::PolygonDisplay
except it can fill in the polygon.
* polygon_rviz_plugins::PolygonDisplay
displays polygon_msgs/Polygon2DStamped
messages
* polygon_rviz_plugins::ComplexPolygonDisplay
displays polygon_msgs/ComplexPolygon2DStamped
messages
* polygon_rviz_plugins::PolygonsDisplay
(note the S in PolygonS) will display polygon_msgs/Polygon2DCollection
messages.
* polygon_rviz_plugins::ComplexPolygonsDisplay
(note the S in PolygonS) will display polygon_msgs/ComplexPolygon2DCollection
messages.
Each has three display modes, for displaying just the outline, just the filler, or both.
When displaying polygon collections, you have the option to display a single color, colors from the message, or a set of "unique" colors (limited to 54 colors).
The behavior is showcased by running ros2 launch polygon_demos polygons.launch.py
. The results are also shown in the screenshot above.
* The blue star in the middle is a Polygon2DStamped
* The white star is a geometry_msgs/PolygonStamped
* The star burst around the white star is a ComplexPolygon2DStamped
* The ring of yellow stars is a Polygon2DCollection
* The rainbowcolored stars around the blue star are a ComplexPolygon2DCollection
CONTRIBUTING
Repository Summary
Checkout URI  https://github.com/MetroRobots/polygon_ros.git 
VCS Type  git 
VCS Version  main 
Last Updated  20230822 
Dev Status  DEVELOPED 
CI status  No Continuous Integration 
Released  RELEASED 
Tags  No category tags. 
Contributing 
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) 
Packages
Name  Version 

polygon_demos  1.0.2 
polygon_msgs  1.0.2 
polygon_rviz_plugins  1.0.2 
polygon_utils  1.0.2 
README
polygon_ros
Messages and libraries for operating on two dimensional polygons.
In the standard package geometry_msgs
, Polygon.msg
and PolygonStamped.msg
are defined, but have three primary limitations.
* The Polygon
is defined by Point32
which uses float32
limited precision to store the coordinates.
* The point is also defined in three dimensions, leading to an often ignored Z coordinate.
* There is no support for complex polygons i.e. polygons with holes in them.
This led to the creation of the new messages defined in this package. This work is forked from the ROS 1 version of the robot_navigation
.
Data Types
 The base datatype is
Point2D
, which defines an x and a y coordinate, in 64 bit precision.  The
Polygon2D
type defines a simple polygon with an ordered list ofPoint2D
that are the vertices of the polygon. The first point is connected to the second, the second is connected to the third, and so on, and the last point is also connected to the first. 
Polygon2DStamped
is a single simple polygon with a header. 
ComplexPolygon2D
defines a complex polygon with one polygon that is the outer perimeter, and an arbitrary number of polygons that define the holes. 
Polygon2DCollection
is a list of simple polygons, all with the same frame. There is also an optional perpolygon colors field for display purposes.  Simiarly,
ComplexPolygon2DCollection
is a list of complex polygons, also with a header, and an optional colors field.
Polygon Utils
The polygon_utils
package provides a number of tools for working with polygon_msgs
.
Conversions
Note that when converting from geometry_msgs
to polygon_msgs
, any information in the z coordinate is discarded.
to polygon_msgs

from polygon_msgs


Polygon2D polygon3Dto2D(geometry_msgs::Polygon) 
geometry_msgs::Polygon polygon2Dto3D(Polygon2D) 
Polygon2DStamped polygon3Dto2D(geometry_msgs::PolygonStamped) 
geometry_msgs::PolygonStamped polygon2Dto3D(Polygon2DStamped) 
Operations

equals
 check if two polygons are equal 
movePolygonToPose
 translate and rotate a polygon 
isInside
 check if a point is inside a polygon
triangulate
 Decompose a polygon into a set of nonoverlapping triangles using an open source implementation of the earcut algorithm

Python
There are also a few Pythonbased utility operations available.
* polygon_utils.shapely_lib.py
provides conversions from ROS messages to Shapely objects, enabling a large library of algorithms to be run. Note: Requires shapely
to be installed via pip
.
* polygon_utils.shortest_path.py
provides methods for determining the shortest path around a collection of polygons. (also uses shapely_lib
)
RViz Plugins
The existing rviz_default_plugins::PolygonDisplay
draws only the outline of a given polygon, and cannot fill the polygon in with color. This package has five new RViz displays for polygon data:
* polygon_rviz_plugins::Polygon3DDisplay
will display geometry_msgs/PolygonStamped
messages just like rviz_default_plugins::PolygonDisplay
except it can fill in the polygon.
* polygon_rviz_plugins::PolygonDisplay
displays polygon_msgs/Polygon2DStamped
messages
* polygon_rviz_plugins::ComplexPolygonDisplay
displays polygon_msgs/ComplexPolygon2DStamped
messages
* polygon_rviz_plugins::PolygonsDisplay
(note the S in PolygonS) will display polygon_msgs/Polygon2DCollection
messages.
* polygon_rviz_plugins::ComplexPolygonsDisplay
(note the S in PolygonS) will display polygon_msgs/ComplexPolygon2DCollection
messages.
Each has three display modes, for displaying just the outline, just the filler, or both.
When displaying polygon collections, you have the option to display a single color, colors from the message, or a set of "unique" colors (limited to 54 colors).
The behavior is showcased by running ros2 launch polygon_demos polygons.launch.py
. The results are also shown in the screenshot above.
* The blue star in the middle is a Polygon2DStamped
* The white star is a geometry_msgs/PolygonStamped
* The star burst around the white star is a ComplexPolygon2DStamped
* The ring of yellow stars is a Polygon2DCollection
* The rainbowcolored stars around the blue star are a ComplexPolygon2DCollection
CONTRIBUTING
Repository Summary
Checkout URI  https://github.com/MetroRobots/polygon_ros.git 
VCS Type  git 
VCS Version  main 
Last Updated  20230822 
Dev Status  DEVELOPED 
CI status  No Continuous Integration 
Released  RELEASED 
Tags  No category tags. 
Contributing 
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) 
Packages
Name  Version 

polygon_demos  1.0.2 
polygon_msgs  1.0.2 
polygon_rviz_plugins  1.0.2 
polygon_utils  1.0.2 
README
polygon_ros
Messages and libraries for operating on two dimensional polygons.
In the standard package geometry_msgs
, Polygon.msg
and PolygonStamped.msg
are defined, but have three primary limitations.
* The Polygon
is defined by Point32
which uses float32
limited precision to store the coordinates.
* The point is also defined in three dimensions, leading to an often ignored Z coordinate.
* There is no support for complex polygons i.e. polygons with holes in them.
This led to the creation of the new messages defined in this package. This work is forked from the ROS 1 version of the robot_navigation
.
Data Types
 The base datatype is
Point2D
, which defines an x and a y coordinate, in 64 bit precision.  The
Polygon2D
type defines a simple polygon with an ordered list ofPoint2D
that are the vertices of the polygon. The first point is connected to the second, the second is connected to the third, and so on, and the last point is also connected to the first. 
Polygon2DStamped
is a single simple polygon with a header. 
ComplexPolygon2D
defines a complex polygon with one polygon that is the outer perimeter, and an arbitrary number of polygons that define the holes. 
Polygon2DCollection
is a list of simple polygons, all with the same frame. There is also an optional perpolygon colors field for display purposes.  Simiarly,
ComplexPolygon2DCollection
is a list of complex polygons, also with a header, and an optional colors field.
Polygon Utils
The polygon_utils
package provides a number of tools for working with polygon_msgs
.
Conversions
Note that when converting from geometry_msgs
to polygon_msgs
, any information in the z coordinate is discarded.
to polygon_msgs

from polygon_msgs


Polygon2D polygon3Dto2D(geometry_msgs::Polygon) 
geometry_msgs::Polygon polygon2Dto3D(Polygon2D) 
Polygon2DStamped polygon3Dto2D(geometry_msgs::PolygonStamped) 
geometry_msgs::PolygonStamped polygon2Dto3D(Polygon2DStamped) 
Operations

equals
 check if two polygons are equal 
movePolygonToPose
 translate and rotate a polygon 
isInside
 check if a point is inside a polygon
triangulate
 Decompose a polygon into a set of nonoverlapping triangles using an open source implementation of the earcut algorithm

Python
There are also a few Pythonbased utility operations available.
* polygon_utils.shapely_lib.py
provides conversions from ROS messages to Shapely objects, enabling a large library of algorithms to be run. Note: Requires shapely
to be installed via pip
.
* polygon_utils.shortest_path.py
provides methods for determining the shortest path around a collection of polygons. (also uses shapely_lib
)
RViz Plugins
The existing rviz_default_plugins::PolygonDisplay
draws only the outline of a given polygon, and cannot fill the polygon in with color. This package has five new RViz displays for polygon data:
* polygon_rviz_plugins::Polygon3DDisplay
will display geometry_msgs/PolygonStamped
messages just like rviz_default_plugins::PolygonDisplay
except it can fill in the polygon.
* polygon_rviz_plugins::PolygonDisplay
displays polygon_msgs/Polygon2DStamped
messages
* polygon_rviz_plugins::ComplexPolygonDisplay
displays polygon_msgs/ComplexPolygon2DStamped
messages
* polygon_rviz_plugins::PolygonsDisplay
(note the S in PolygonS) will display polygon_msgs/Polygon2DCollection
messages.
* polygon_rviz_plugins::ComplexPolygonsDisplay
(note the S in PolygonS) will display polygon_msgs/ComplexPolygon2DCollection
messages.
Each has three display modes, for displaying just the outline, just the filler, or both.
When displaying polygon collections, you have the option to display a single color, colors from the message, or a set of "unique" colors (limited to 54 colors).
The behavior is showcased by running ros2 launch polygon_demos polygons.launch.py
. The results are also shown in the screenshot above.
* The blue star in the middle is a Polygon2DStamped
* The white star is a geometry_msgs/PolygonStamped
* The star burst around the white star is a ComplexPolygon2DStamped
* The ring of yellow stars is a Polygon2DCollection
* The rainbowcolored stars around the blue star are a ComplexPolygon2DCollection
CONTRIBUTING
Repository Summary
Checkout URI  https://github.com/MetroRobots/polygon_ros.git 
VCS Type  git 
VCS Version  main 
Last Updated  20230822 
Dev Status  DEVELOPED 
CI status  No Continuous Integration 
Released  RELEASED 
Tags  No category tags. 
Contributing 
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) 
Packages
Name  Version 

polygon_demos  1.0.2 
polygon_msgs  1.0.2 
polygon_rviz_plugins  1.0.2 
polygon_utils  1.0.2 
README
polygon_ros
Messages and libraries for operating on two dimensional polygons.
In the standard package geometry_msgs
, Polygon.msg
and PolygonStamped.msg
are defined, but have three primary limitations.
* The Polygon
is defined by Point32
which uses float32
limited precision to store the coordinates.
* The point is also defined in three dimensions, leading to an often ignored Z coordinate.
* There is no support for complex polygons i.e. polygons with holes in them.
This led to the creation of the new messages defined in this package. This work is forked from the ROS 1 version of the robot_navigation
.
Data Types
 The base datatype is
Point2D
, which defines an x and a y coordinate, in 64 bit precision.  The
Polygon2D
type defines a simple polygon with an ordered list ofPoint2D
that are the vertices of the polygon. The first point is connected to the second, the second is connected to the third, and so on, and the last point is also connected to the first. 
Polygon2DStamped
is a single simple polygon with a header. 
ComplexPolygon2D
defines a complex polygon with one polygon that is the outer perimeter, and an arbitrary number of polygons that define the holes. 
Polygon2DCollection
is a list of simple polygons, all with the same frame. There is also an optional perpolygon colors field for display purposes.  Simiarly,
ComplexPolygon2DCollection
is a list of complex polygons, also with a header, and an optional colors field.
Polygon Utils
The polygon_utils
package provides a number of tools for working with polygon_msgs
.
Conversions
Note that when converting from geometry_msgs
to polygon_msgs
, any information in the z coordinate is discarded.
to polygon_msgs

from polygon_msgs


Polygon2D polygon3Dto2D(geometry_msgs::Polygon) 
geometry_msgs::Polygon polygon2Dto3D(Polygon2D) 
Polygon2DStamped polygon3Dto2D(geometry_msgs::PolygonStamped) 
geometry_msgs::PolygonStamped polygon2Dto3D(Polygon2DStamped) 
Operations

equals
 check if two polygons are equal 
movePolygonToPose
 translate and rotate a polygon 
isInside
 check if a point is inside a polygon
triangulate
 Decompose a polygon into a set of nonoverlapping triangles using an open source implementation of the earcut algorithm

Python
There are also a few Pythonbased utility operations available.
* polygon_utils.shapely_lib.py
provides conversions from ROS messages to Shapely objects, enabling a large library of algorithms to be run. Note: Requires shapely
to be installed via pip
.
* polygon_utils.shortest_path.py
provides methods for determining the shortest path around a collection of polygons. (also uses shapely_lib
)
RViz Plugins
The existing rviz_default_plugins::PolygonDisplay
draws only the outline of a given polygon, and cannot fill the polygon in with color. This package has five new RViz displays for polygon data:
* polygon_rviz_plugins::Polygon3DDisplay
will display geometry_msgs/PolygonStamped
messages just like rviz_default_plugins::PolygonDisplay
except it can fill in the polygon.
* polygon_rviz_plugins::PolygonDisplay
displays polygon_msgs/Polygon2DStamped
messages
* polygon_rviz_plugins::ComplexPolygonDisplay
displays polygon_msgs/ComplexPolygon2DStamped
messages
* polygon_rviz_plugins::PolygonsDisplay
(note the S in PolygonS) will display polygon_msgs/Polygon2DCollection
messages.
* polygon_rviz_plugins::ComplexPolygonsDisplay
(note the S in PolygonS) will display polygon_msgs/ComplexPolygon2DCollection
messages.
Each has three display modes, for displaying just the outline, just the filler, or both.
When displaying polygon collections, you have the option to display a single color, colors from the message, or a set of "unique" colors (limited to 54 colors).
The behavior is showcased by running ros2 launch polygon_demos polygons.launch.py
. The results are also shown in the screenshot above.
* The blue star in the middle is a Polygon2DStamped
* The white star is a geometry_msgs/PolygonStamped
* The star burst around the white star is a ComplexPolygon2DStamped
* The ring of yellow stars is a Polygon2DCollection
* The rainbowcolored stars around the blue star are a ComplexPolygon2DCollection