├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── big_octomaps └── forest0.bt ├── big_worlds └── forest0.world ├── genForests.sh ├── genWorlds.py ├── models_high_res ├── Tree1.dae ├── Tree2.dae ├── Tree3.dae ├── Tree4.dae ├── Tree5.dae ├── Tree6.dae ├── bark.jpg ├── bark.png ├── bark_loo.jpg ├── blatt.jpg ├── blatt.png ├── blatt1.jpg ├── blatt1_a.jpg ├── nadeln4.jpg ├── nadeln4.png ├── nadeln4a.jpg ├── nadeln4a.png ├── stamm2.jpg ├── stamm2.png ├── stamm21.jpg ├── stamm21.png └── stamm22.jpg ├── models_low_res ├── Tree1.dae ├── Tree2.dae ├── Tree3.dae ├── Tree4.dae ├── Tree5.dae └── Tree6.dae ├── octomaps ├── forest0.bt ├── forest1.bt ├── forest2.bt ├── forest3.bt ├── forest4.bt ├── forest5.bt ├── forest6.bt ├── forest7.bt ├── forest8.bt └── forest9.bt ├── package.xml ├── start_and_end.csv └── worlds ├── forest0.world ├── forest1.world ├── forest2.world ├── forest3.world ├── forest4.world ├── forest5.world ├── forest6.world ├── forest7.world ├── forest8.world └── forest9.world /.gitignore: -------------------------------------------------------------------------------- 1 | # Prerequisites 2 | *.d 3 | 4 | # Compiled Object files 5 | *.slo 6 | *.lo 7 | *.o 8 | *.obj 9 | 10 | # Precompiled Headers 11 | *.gch 12 | *.pch 13 | 14 | # Compiled Dynamic libraries 15 | *.so 16 | *.dylib 17 | *.dll 18 | 19 | # Fortran module files 20 | *.mod 21 | *.smod 22 | 23 | # Compiled Static libraries 24 | *.lai 25 | *.la 26 | *.a 27 | *.lib 28 | 29 | # Executables 30 | *.exe 31 | *.out 32 | *.app 33 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(forest_gen) 3 | 4 | find_package(catkin_simple REQUIRED) 5 | catkin_simple(ALL_DEPS_REQUIRED) 6 | 7 | ########## 8 | # EXPORT # 9 | ########## 10 | cs_install() 11 | cs_export() 12 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 2-Clause License 2 | 3 | Copyright (c) 2017, ETHZ ASL 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | * Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | * Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 17 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 18 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 19 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 20 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 21 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 22 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 23 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 24 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 25 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 26 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # forest_gen 2 | Generates randomized Poisson forests to use for UAV collision avoidance evaluations. 3 | 4 | Input: map size and density 5 | Output: Gazebo world file and (optionally) Octomap 6 | 7 | **Authors**: Zachary Taylor, zachary.taylor@mavt.ethz.ch \ 8 | **Maintainers**: Zachary Taylor, zachary.taylor@mavt.ethz.ch and Helen Oleynkova, helen.oleynikova@mavt.ethz.ch \ 9 | **Affiliation**: Autonomous Systems Lab, ETH Zurich 10 | 11 | ## Bibliography 12 | If using these datasets, please cite [1]: 13 | 14 | Helen Oleynikova, Michael Burri, Zachary Taylor, Juan Nieto, Roland Siegwart, and Enric Galceran, “**Continuous-Time Trajectory Optimization for Online UAV Replanning**”. In *IEEE Int. Conf. on Intelligent Robots and Systems* (IROS), 2016. 15 | 16 | [[PDF here]](http://helenol.github.io/publications/iros_2016_replanning.pdf) 17 | 18 | ``` 19 | @inproceedings{oleynikova2016continuous-time, 20 | author={Oleynikova, Helen and Burri, Michael and Taylor, Zachary and Nieto, Juan and Siegwart, Roland and Galceran, Enric}, 21 | booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 22 | title={Continuous-Time Trajectory Optimization for Online UAV Replanning}, 23 | year={2016} 24 | } 25 | ``` 26 | 27 | ## Installation Requirements 28 | * ROS indigo and up 29 | * [rotors_simulator](https://github.com/ethz-asl/rotors_simulator) for octomap generation from Gazebo worlds. 30 | * Recommended: [volumetric_mapping](https://github.com/ethz-asl/volumetric_mapping.git) for using Octomap as a ROS library within other programs. 31 | 32 | ## Package Contents 33 | * 10 pre-generated forest maps, 10 meters by 10 meters by 10 meters, with a density of 0.2 trees/square meter. (worlds) 34 | * 1 pre-generated large map, 50 meters by 50 meters, with a density of 0.1 trees/square meter. (big_worlds) 35 | * Royalty-free tree models, created by [Miedevalworlds](https://www.turbosquid.com/3d-models/free-firtree-3d-model/480733) 36 | * Generation script to create environments of any size and tree density. 37 | * Start and end points used for planning evaluation in [1], as a CSV. 38 | 39 | ![image](https://user-images.githubusercontent.com/5616392/27187849-97ec9a00-51ec-11e7-890c-b4c6d7290a4f.png) 40 | 41 | ## Planning Evaluations 42 | `start_and_end.csv` contains 900 free start and end points, used for the planning evaluations in [1]. All points are at least 4 meters apart and both start and goal are free space, given a bounding box of 1.2 meters by 1.2 meters by 1.0 meters. The actual bounding box used for path evaluations was 0.2 meters smaller; 1.0 meters by 1.0 meters by 0.8 meters. 43 | 44 | ## Generating New Environments 45 | Use the following shell script to generate new worlds. 46 | ``` 47 | ./genForests.sh 48 | ./genForests.sh 1 10 0.2 0.2 49 | ``` 50 | -------------------------------------------------------------------------------- /big_octomaps/forest0.bt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ethz-asl/forest_gen/4ca3e45cd4fe8f5d8ac9fd13daafec67c0d0417d/big_octomaps/forest0.bt -------------------------------------------------------------------------------- /genForests.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | #check args 4 | if [ "$#" -ne 4 ] 5 | then 6 | echo "Generates random forests to evaluate path planning" 7 | echo "Usage: $0 " 8 | exit 1 9 | fi 10 | 11 | echo "generating worlds" 12 | python genWorlds.py --num_worlds $1 --world_length $2 --tree_density $3 --high_res 0 13 | 14 | DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" 15 | 16 | roscore & 17 | 18 | for FILE in $DIR/worlds/*.world; do 19 | NAME=$(basename "$FILE" .world) 20 | echo " " 21 | echo "Generating octomap of $NAME" 22 | echo " " 23 | rosrun gazebo_ros gzserver $FILE & 24 | 25 | rosservice call /world/get_octomap "{bounding_box_origin: {x: 0, y: 0, z: 2.5}, bounding_box_lengths: {x: $2, y: $2, z: 5}, leaf_size: $4, filename: '$DIR/octomaps/$NAME.bt'}" --wait 26 | killall gzserver 27 | done 28 | 29 | echo "done" 30 | -------------------------------------------------------------------------------- /genWorlds.py: -------------------------------------------------------------------------------- 1 | from lxml import etree 2 | import random 3 | import math 4 | import copy 5 | import argparse 6 | from collections import namedtuple 7 | 8 | class Tree: 9 | def __init__(self, id_in, pose_in, scale_in, mesh_num_in): 10 | self.id = 'tree' + str(id_in) 11 | self.pose = pose_in 12 | self.scale = scale_in 13 | self.mesh_num = mesh_num_in 14 | 15 | class GenXML: 16 | def __init__(self): 17 | self.root = etree.Element('world',name='default') 18 | 19 | #add ground 20 | include_el = etree.Element('include') 21 | ground_el = etree.Element('uri') 22 | ground_el.text = 'model://ground_plane' 23 | include_el.append(ground_el) 24 | self.root.append(include_el) 25 | 26 | #add sun 27 | include_el = etree.Element('include') 28 | sun_el = etree.Element('uri') 29 | sun_el.text = 'model://sun' 30 | include_el.append(sun_el) 31 | self.root.append(include_el) 32 | 33 | #disable shadows 34 | scene_el= etree.Element('scene') 35 | shadows_el = etree.Element('shadows') 36 | shadows_el.text = '0' 37 | scene_el.append(shadows_el) 38 | self.root.append(scene_el) 39 | 40 | #create the forest base model 41 | model_el = etree.Element('model', name = 'forest') 42 | static_el = etree.Element('static') 43 | static_el.text = 'true' 44 | model_el.append(static_el) 45 | self.root.append(model_el) 46 | 47 | #plugins 48 | self.add_plugins() 49 | 50 | #physics 51 | self.add_physics() 52 | 53 | 54 | 55 | def add_model(self, name_in, pose_in, scale_in, mesh_num_in, models_type): 56 | 57 | link_el = etree.Element('link', name = name_in) 58 | 59 | pose_el = etree.Element('pose') 60 | pose_el.text = ''.join(str(e) + ' ' for e in pose_in) 61 | link_el.append(pose_el) 62 | 63 | visual_el = etree.Element('visual', name = 'visual') 64 | geometry_el = etree.Element('geometry') 65 | mesh_el = etree.Element('mesh') 66 | uri_el = etree.Element('uri') 67 | uri_el.text = 'file://' + models_type + '/Tree' + str(mesh_num_in) + '.dae' 68 | mesh_el.append(uri_el) 69 | scale_el = etree.Element('scale') 70 | scale_el.text = str(scale_in) + ' ' + str(scale_in) + ' ' + str(scale_in) 71 | mesh_el.append(scale_el) 72 | geometry_el.append(mesh_el) 73 | visual_el.append(geometry_el) 74 | link_el.append(visual_el) 75 | 76 | collision_el = etree.Element('collision', name = 'collision') 77 | collision_el.append(copy.deepcopy(geometry_el)) 78 | contacts_el = etree.Element('max_contacts') 79 | contacts_el.text = '0' 80 | collision_el.append(contacts_el) 81 | link_el.append(collision_el) 82 | 83 | self.root.find('model').append(link_el) 84 | 85 | def add_plugins(self): 86 | #start plugin section 87 | plugins_comment_el = etree.Comment(' Plugins ') 88 | self.root.append(plugins_comment_el) 89 | 90 | #add octomap plugin 91 | oct_plug_el = etree.Element('plugin', name = 'gazebo_octomap', 92 | filename = 'librotors_gazebo_octomap_plugin.so') 93 | self.root.append(oct_plug_el) 94 | 95 | #add rotors interface plugin 96 | rotors_plug_el = etree.Element('plugin', name = 'ros_interface_plugin', 97 | filename = 98 | 'librotors_gazebo_ros_interface_plugin.so') 99 | self.root.append(rotors_plug_el) 100 | 101 | def add_physics(self): 102 | #start physics section 103 | physics_comment_el = etree.Comment(' Physics ') 104 | self.root.append(physics_comment_el) 105 | 106 | #physics 107 | physics_el = etree.Element('physics', name = 'default_physics', 108 | default = '0', type = 'ode') 109 | max_step_size_el = etree.SubElement(physics_el, 'max_step_size') 110 | max_step_size_el.text = '0.01' 111 | real_time_factor_el = etree.SubElement(physics_el, 'real_time_factor') 112 | real_time_factor_el.text = '1' 113 | real_time_update_rate_el = etree.SubElement(physics_el, 114 | 'real_time_update_rate') 115 | real_time_update_rate_el.text = '100' 116 | gravity_el = etree.SubElement(physics_el, 'gravity') 117 | gravity_el.text = '0 0 -9.8' 118 | magnetic_field_el = etree.SubElement(physics_el, 'magnetic_field') 119 | magnetic_field_el.text = '6e-06 2.3e-05 -4.2e-05' 120 | 121 | #ode 122 | ode_el = etree.SubElement(physics_el, 'ode') 123 | #solver 124 | solver_el = etree.SubElement(ode_el, 'solver') 125 | type_el = etree.SubElement(solver_el, 'type') 126 | type_el.text = 'quick' 127 | iters_el = etree.SubElement(solver_el, 'iters') 128 | iters_el.text = '1000' 129 | sor_el = etree.SubElement(solver_el, 'sor') 130 | sor_el.text = '1.3' 131 | use_dynamic_moi_rescaling = etree.SubElement(solver_el, 132 | 'use_dynamic_moi_rescaling') 133 | use_dynamic_moi_rescaling.text = '0' 134 | #constraints 135 | constraints_el = etree.SubElement(ode_el, 'constraints') 136 | cfm_el = etree.SubElement(constraints_el, 'cfm') 137 | cfm_el.text = '0' 138 | erp_el = etree.SubElement(constraints_el, 'erp') 139 | erp_el.text = '0.2' 140 | contact_max_correcting_vel_el = etree.SubElement(constraints_el, 141 | 'contact_max_correcting_vel') 142 | contact_max_correcting_vel_el.text = '100' 143 | contact_surface_layer_el = etree.SubElement(constraints_el, 144 | 'contact_surface_layer') 145 | contact_surface_layer_el.text = '0.001' 146 | self.root.append(physics_el) 147 | 148 | def output_xml(self): 149 | sdf = etree.Element('sdf',version='1.4') 150 | sdf.append(self.root) 151 | 152 | return '\n' + etree.tostring(sdf, pretty_print=True) 153 | 154 | class World: 155 | TOTAL_NUM_MESHES = 6 156 | 157 | def __init__(self, world_length, use_high_res): 158 | self.world_length = world_length 159 | self.trees = [] 160 | 161 | if(use_high_res): 162 | self.models_type = 'models_high_res' 163 | else: 164 | self.models_type = 'models_low_res' 165 | 166 | def _gen_random_tree(self): 167 | id_num = len(self.trees) 168 | x = random.uniform(-self.world_length/2, self.world_length/2) 169 | y = random.uniform(-self.world_length/2, self.world_length/2) 170 | angle = random.uniform(0, 2*math.pi) 171 | scale = random.uniform(0.3, 1) 172 | mesh_num = random.randint(1, self.TOTAL_NUM_MESHES) 173 | 174 | return Tree(id_num, [x,y,0,0,0,angle], scale, mesh_num) 175 | 176 | def add_trees(self, num_trees): 177 | for i in range(num_trees): 178 | self.trees.append(self._gen_random_tree()) 179 | 180 | def save_world(self, filename): 181 | 182 | xml = GenXML() 183 | for tree in self.trees: 184 | xml.add_model(tree.id, 185 | tree.pose, 186 | tree.scale, 187 | tree.mesh_num, 188 | self.models_type) 189 | 190 | text_file = open(filename, "w") 191 | text_file.write(xml.output_xml()) 192 | text_file.close() 193 | 194 | def gen_worlds(save_path, num_worlds, world_length, num_trees, use_high_res): 195 | for i in range(num_worlds): 196 | world = World(world_length, use_high_res) 197 | world.add_trees(num_trees) 198 | world.save_world(save_path + '/forest' + str(i) + '.world') 199 | 200 | if __name__ == "__main__": 201 | parser = argparse.ArgumentParser(description='Generate a random gazebo forest.') 202 | parser.add_argument('--num_worlds', type=int, help='Number of worlds to generate') 203 | parser.add_argument('--world_length', type=int, help='Length and width of world in m') 204 | parser.add_argument('--tree_density', type=float, help='Number of trees per m^2') 205 | parser.add_argument('--high_res', type=int, help='Use high res tree models') 206 | args = parser.parse_args() 207 | 208 | gen_worlds('./worlds', args.num_worlds, args.world_length, 209 | int(args.world_length*args.world_length*args.tree_density), 210 | bool(args.high_res)) 211 | -------------------------------------------------------------------------------- /models_high_res/bark.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ethz-asl/forest_gen/4ca3e45cd4fe8f5d8ac9fd13daafec67c0d0417d/models_high_res/bark.jpg -------------------------------------------------------------------------------- /models_high_res/bark.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ethz-asl/forest_gen/4ca3e45cd4fe8f5d8ac9fd13daafec67c0d0417d/models_high_res/bark.png -------------------------------------------------------------------------------- /models_high_res/bark_loo.jpg: -------------------------------------------------------------------------------- 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12 | 13 | catkin 14 | catkin_simple 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /worlds/forest0.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | model://ground_plane 6 | 7 | 8 | model://sun 9 | 10 | 11 | 0 12 | 13 | 14 | true 15 | 16 | 2.2537645306 -4.12767774163 0 0 0 6.15932265451 17 | 18 | 19 | 20 | file://models_low_res/Tree4.dae 21 | 0.569341717575 0.569341717575 0.569341717575 22 | 23 | 24 | 25 | 26 | 27 | 28 | file://models_low_res/Tree4.dae 29 | 0.569341717575 0.569341717575 0.569341717575 30 | 31 | 32 | 0 33 | 34 | 35 | 36 | -1.84444380071 -0.249626063783 0 0 0 3.31729722753 37 | 38 | 39 | 40 | file://models_low_res/Tree1.dae 41 | 0.693137102345 0.693137102345 0.693137102345 42 | 43 | 44 | 45 | 46 | 47 | 48 | file://models_low_res/Tree1.dae 49 | 0.693137102345 0.693137102345 0.693137102345 50 | 51 | 52 | 0 53 | 54 | 55 | 56 | 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