Repository Summary

Checkout URI	https://github.com/snt-arg/situational_graphs_reasoning.git
VCS Type	git
VCS Version	develop
Last Updated	2024-08-05
Dev Status	MAINTAINED
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
situational_graphs_reasoning	0.0.1

README

Situational Graphs - Reasoning

Situational Graphs - Reasoning is a ROS2 package for generating in real-time semantic concepts like Rooms and Walls from Wall Surfaces S-Graphs. For that purpose, Graph Neural Networks (GNNs) are used to estimate the existing relations between the wall surfaces.

📜 Table of contents

📖 Published Papers

Learning High-level Semantic-Relational Concepts for SLAM

⚙️ Installation

[!NOTE] Situational Graphs - Reasoning was only tested on Ubuntu 20.04, ROS2 Foxy, Humble Distros. We strongly recommend using cyclone_dds instead of the default fastdds.

📦 Installation with S-Graphs

Follow the S-Graphs installation instructions

📦 Installation From Source

[!IMPORTANT] Before proceeding, make sure you have rosdep installed. You can install it using sudo apt-get install python3-rosdep In addition, ssh keys are needed to be configured on you GitHub account. If you haven’t yet configured ssh keys, follow this tutorial

Update Rosdep:

rosdep init && rosdep update --include-eol-distros

Create a ROS2 workspace for S-Graphs

mkdir -p $HOME/workspaces && cd $HOME/workspaces

Clone the S-Graphs repository into the created workspace

git clone git@github.com:snt-arg/situational_graphs_reasoning.git -b develop

[!IMPORTANT] If you have Nvidia GPU please install CUDA from this link. This code has only been tested with CUDA 11.8. If you dont have CUDA S-Graphs will use CPU only.

Install required dependencies. Change $ROS_DISTRO to your ros2 version.

cd situational_graphs_reasoning && source /opt/ros/$ROS_DISTRO/setup.sh && pip3 install -r requirements.txt

[!NOTE] If you want to compile with debug traces (from backward_cpp) run:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

🚀 Usage

Follow the S-Graphs instructions to use this package along with all other functionalities.

Or launch situational_graphs_reasoning.py.

⚙️ Configuration files

File name	Description
`config/same_room_training.json`	Describes the data preprocessing and the GNN hyperparameters for room generation.
`config/same_wall_training.json`	Describes the data preprocessing and the GNN hyperparameters for wall generation.

📥 Subscribed Topics

`situational_graphs_reasoning_node` node

Topic name	Message Type	Description
`/s_graphs/all_map_planes`	s_graphs/PlanesData	Al the plains contained in the map.
`/s_graphs/map_planes`	s_graphs/PlanesData	Only the plains incorporated with the last keypoint.

📤 Published Topics

`situational_graphs_reasoning_node` node

Topic name	Message Type	Description
`/room_segmentation/room_data`	s_graphs/RoomsData	Contains all the necessary information about the rooms on a given floor.
`/room_segmentation/wall_data`	s_graphs/WallsData	Contains all the necessary information about the walls on a given floor.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI	https://github.com/snt-arg/situational_graphs_reasoning.git
VCS Type	git
VCS Version	develop
Last Updated	2024-08-05
Dev Status	MAINTAINED
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
situational_graphs_reasoning	0.0.1

README

Situational Graphs - Reasoning

Situational Graphs - Reasoning is a ROS2 package for generating in real-time semantic concepts like Rooms and Walls from Wall Surfaces S-Graphs. For that purpose, Graph Neural Networks (GNNs) are used to estimate the existing relations between the wall surfaces.

📜 Table of contents

📖 Published Papers

Learning High-level Semantic-Relational Concepts for SLAM

⚙️ Installation

[!NOTE] Situational Graphs - Reasoning was only tested on Ubuntu 20.04, ROS2 Foxy, Humble Distros. We strongly recommend using cyclone_dds instead of the default fastdds.

📦 Installation with S-Graphs

Follow the S-Graphs installation instructions

📦 Installation From Source

[!IMPORTANT] Before proceeding, make sure you have rosdep installed. You can install it using sudo apt-get install python3-rosdep In addition, ssh keys are needed to be configured on you GitHub account. If you haven’t yet configured ssh keys, follow this tutorial

Update Rosdep:

rosdep init && rosdep update --include-eol-distros

Create a ROS2 workspace for S-Graphs

mkdir -p $HOME/workspaces && cd $HOME/workspaces

Clone the S-Graphs repository into the created workspace

git clone git@github.com:snt-arg/situational_graphs_reasoning.git -b develop

[!IMPORTANT] If you have Nvidia GPU please install CUDA from this link. This code has only been tested with CUDA 11.8. If you dont have CUDA S-Graphs will use CPU only.

Install required dependencies. Change $ROS_DISTRO to your ros2 version.

cd situational_graphs_reasoning && source /opt/ros/$ROS_DISTRO/setup.sh && pip3 install -r requirements.txt

[!NOTE] If you want to compile with debug traces (from backward_cpp) run:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

🚀 Usage

Follow the S-Graphs instructions to use this package along with all other functionalities.

Or launch situational_graphs_reasoning.py.

⚙️ Configuration files

File name	Description
`config/same_room_training.json`	Describes the data preprocessing and the GNN hyperparameters for room generation.
`config/same_wall_training.json`	Describes the data preprocessing and the GNN hyperparameters for wall generation.

📥 Subscribed Topics

`situational_graphs_reasoning_node` node

Topic name	Message Type	Description
`/s_graphs/all_map_planes`	s_graphs/PlanesData	Al the plains contained in the map.
`/s_graphs/map_planes`	s_graphs/PlanesData	Only the plains incorporated with the last keypoint.

📤 Published Topics

`situational_graphs_reasoning_node` node

Topic name	Message Type	Description
`/room_segmentation/room_data`	s_graphs/RoomsData	Contains all the necessary information about the rooms on a given floor.
`/room_segmentation/wall_data`	s_graphs/WallsData	Contains all the necessary information about the walls on a given floor.

CONTRIBUTING

No CONTRIBUTING.md found.

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