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Graph Server

The graph server takes an occupancy grid from file and runs a ROS service that will return a Voronoi Graph in JSON format parsed from a published occupancy grid.

Requirements

  • numpy
  • scipy
  • scikit-image
  • ROS

Running the Server

  1. Ensure a valid occupancy grid is being published and make sure its topic matches the global varibale DEFAUL_MAP_TOPIC
  2. Run the executable: `./graph_server.py
  3. Have some external code call its ROS service (or manually: rosservice call /graph "{}"), the message contents should be empty.
  4. Profit!

Message Format

The message contents are a JSON string of each node's position, id, and neighboring nodes.

[
  {
    "x": 0.0,
    "y": 5.0,
    "id": 0,
    "neighbors": [1, 2]
  },
  { 
    "x": 10.2,
    "y": 3.1,
    "id": 1,
    "neighbors": [0]
  },
  { 
    "x": 5.0,
    "y": 5.0,
    "id": 2,
    "neighbors": [0]
  }
]