diff --git a/LICENSE b/LICENSE index f288702..261eeb9 100644 --- a/LICENSE +++ b/LICENSE @@ -1,674 +1,201 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. By contrast, -the GNU General Public License is intended to guarantee your freedom to -share and change all versions of a program--to make sure it remains free -software for all its users. We, the Free Software Foundation, use the -GNU General Public License for most of our software; it applies also to -any other work released this way by its authors. You can apply it to -your programs, too. - - When we speak of free software, we are referring to freedom, not -price. Our General Public Licenses are designed to make sure that you -have the freedom to distribute copies of free software (and charge for -them if you wish), that you receive source code or can get it if you -want it, that you can change the software or use pieces of it in new -free programs, and that you know you can do these things. - - To protect your rights, we need to prevent others from denying you -these rights or asking you to surrender the rights. Therefore, you have -certain responsibilities if you distribute copies of the software, or if -you modify it: responsibilities to respect the freedom of others. - - For example, if you distribute copies of such a program, whether -gratis or for a fee, you must pass on to the recipients the same -freedoms that you received. You must make sure that they, too, receive -or can get the source code. And you must show them these terms so they -know their rights. - - Developers that use the GNU GPL protect your rights with two steps: -(1) assert copyright on the software, and (2) offer you this License -giving you legal permission to copy, distribute and/or modify it. - - For the developers' and authors' protection, the GPL clearly explains -that there is no warranty for this free software. For both users' and -authors' sake, the GPL requires that modified versions be marked as -changed, so that their problems will not be attributed erroneously to -authors of previous versions. - - Some devices are designed to deny users access to install or run -modified versions of the software inside them, although the manufacturer -can do so. This is fundamentally incompatible with the aim of -protecting users' freedom to change the software. The systematic -pattern of such abuse occurs in the area of products for individuals to -use, which is precisely where it is most unacceptable. Therefore, we -have designed this version of the GPL to prohibit the practice for those -products. If such problems arise substantially in other domains, we -stand ready to extend this provision to those domains in future versions -of the GPL, as needed to protect the freedom of users. - - Finally, every program is threatened constantly by software patents. -States should not allow patents to restrict development and use of -software on general-purpose computers, but in those that do, we wish to -avoid the special danger that patents applied to a free program could -make it effectively proprietary. To prevent this, the GPL assures that -patents cannot be used to render the program non-free. - - The precise terms and conditions for copying, distribution and -modification follow. - - TERMS AND CONDITIONS - - 0. Definitions. - - "This License" refers to version 3 of the GNU General Public License. - - "Copyright" also means copyright-like laws that apply to other kinds of -works, such as semiconductor masks. - - "The Program" refers to any copyrightable work licensed under this -License. Each licensee is addressed as "you". "Licensees" and -"recipients" may be individuals or organizations. - - To "modify" a work means to copy from or adapt all or part of the work -in a fashion requiring copyright permission, other than the making of an -exact copy. The resulting work is called a "modified version" of the -earlier work or a work "based on" the earlier work. - - A "covered work" means either the unmodified Program or a work based -on the Program. - - To "propagate" a work means to do anything with it that, without -permission, would make you directly or secondarily liable for -infringement under applicable copyright law, except executing it on a -computer or modifying a private copy. Propagation includes copying, -distribution (with or without modification), making available to the -public, and in some countries other activities as well. - - To "convey" a work means any kind of propagation that enables other -parties to make or receive copies. Mere interaction with a user through -a computer network, with no transfer of a copy, is not conveying. - - An interactive user interface displays "Appropriate Legal Notices" -to the extent that it includes a convenient and prominently visible -feature that (1) displays an appropriate copyright notice, and (2) -tells the user that there is no warranty for the work (except to the -extent that warranties are provided), that licensees may convey the -work under this License, and how to view a copy of this License. If -the interface presents a list of user commands or options, such as a -menu, a prominent item in the list meets this criterion. - - 1. Source Code. - - The "source code" for a work means the preferred form of the work -for making modifications to it. "Object code" means any non-source -form of a work. - - A "Standard Interface" means an interface that either is an official -standard defined by a recognized standards body, or, in the case of -interfaces specified for a particular programming language, one that -is widely used among developers working in that language. - - The "System Libraries" of an executable work include anything, other -than the work as a whole, that (a) is included in the normal form of -packaging a Major Component, but which is not part of that Major -Component, and (b) serves only to enable use of the work with that -Major Component, or to implement a Standard Interface for which an -implementation is available to the public in source code form. A -"Major Component", in this context, means a major essential component -(kernel, window system, and so on) of the specific operating system -(if any) on which the executable work runs, or a compiler used to -produce the work, or an object code interpreter used to run it. - - The "Corresponding Source" for a work in object code form means all -the source code needed to generate, install, and (for an executable -work) run the object code and to modify the work, including scripts to -control those activities. However, it does not include the work's -System Libraries, or general-purpose tools or generally available free -programs which are used unmodified in performing those activities but -which are not part of the work. For example, Corresponding Source -includes interface definition files associated with source files for -the work, and the source code for shared libraries and dynamically -linked subprograms that the work is specifically designed to require, -such as by intimate data communication or control flow between those -subprograms and other parts of the work. - - The Corresponding Source need not include anything that users -can regenerate automatically from other parts of the Corresponding -Source. - - The Corresponding Source for a work in source code form is that -same work. - - 2. Basic Permissions. - - All rights granted under this License are granted for the term of -copyright on the Program, and are irrevocable provided the stated -conditions are met. This License explicitly affirms your unlimited -permission to run the unmodified Program. The output from running a -covered work is covered by this License only if the output, given its -content, constitutes a covered work. This License acknowledges your -rights of fair use or other equivalent, as provided by copyright law. - - You may make, run and propagate covered works that you do not -convey, without conditions so long as your license otherwise remains -in force. You may convey covered works to others for the sole purpose -of having them make modifications exclusively for you, or provide you -with facilities for running those works, provided that you comply with -the terms of this License in conveying all material for which you do -not control copyright. Those thus making or running the covered works -for you must do so exclusively on your behalf, under your direction -and control, on terms that prohibit them from making any copies of -your copyrighted material outside their relationship with you. - - Conveying under any other circumstances is permitted solely under -the conditions stated below. Sublicensing is not allowed; section 10 -makes it unnecessary. - - 3. Protecting Users' Legal Rights From Anti-Circumvention Law. - - No covered work shall be deemed part of an effective technological -measure under any applicable law fulfilling obligations under article -11 of the WIPO copyright treaty adopted on 20 December 1996, or -similar laws prohibiting or restricting circumvention of such -measures. - - When you convey a covered work, you waive any legal power to forbid -circumvention of technological measures to the extent such circumvention -is effected by exercising rights under this License with respect to -the covered work, and you disclaim any intention to limit operation or -modification of the work as a means of enforcing, against the work's -users, your or third parties' legal rights to forbid circumvention of -technological measures. - - 4. Conveying Verbatim Copies. - - You may convey verbatim copies of the Program's source code as you -receive it, in any medium, provided that you conspicuously and -appropriately publish on each copy an appropriate copyright notice; -keep intact all notices stating that this License and any -non-permissive terms added in accord with section 7 apply to the code; -keep intact all notices of the absence of any warranty; and give all -recipients a copy of this License along with the Program. - - You may charge any price or no price for each copy that you convey, -and you may offer support or warranty protection for a fee. - - 5. Conveying Modified Source Versions. - - You may convey a work based on the Program, or the modifications to -produce it from the Program, in the form of source code under the -terms of section 4, provided that you also meet all of these conditions: - - a) The work must carry prominent notices stating that you modified - it, and giving a relevant date. - - b) The work must carry prominent notices stating that it is - released under this License and any conditions added under section - 7. This requirement modifies the requirement in section 4 to - "keep intact all notices". - - c) You must license the entire work, as a whole, under this - License to anyone who comes into possession of a copy. This - License will therefore apply, along with any applicable section 7 - additional terms, to the whole of the work, and all its parts, - regardless of how they are packaged. This License gives no - permission to license the work in any other way, but it does not - invalidate such permission if you have separately received it. - - d) If the work has interactive user interfaces, each must display - Appropriate Legal Notices; however, if the Program has interactive - interfaces that do not display Appropriate Legal Notices, your - work need not make them do so. - - A compilation of a covered work with other separate and independent -works, which are not by their nature extensions of the covered work, -and which are not combined with it such as to form a larger program, -in or on a volume of a storage or distribution medium, is called an -"aggregate" if the compilation and its resulting copyright are not -used to limit the access or legal rights of the compilation's users -beyond what the individual works permit. Inclusion of a covered work -in an aggregate does not cause this License to apply to the other -parts of the aggregate. - - 6. Conveying Non-Source Forms. - - You may convey a covered work in object code form under the terms -of sections 4 and 5, provided that you also convey the -machine-readable Corresponding Source under the terms of this License, -in one of these ways: - - a) Convey the object code in, or embodied in, a physical product - (including a physical distribution medium), accompanied by the - Corresponding Source fixed on a durable physical medium - customarily used for software interchange. - - b) Convey the object code in, or embodied in, a physical product - (including a physical distribution medium), accompanied by a - written offer, valid for at least three years and valid for as - long as you offer spare parts or customer support for that product - model, to give anyone who possesses the object code either (1) a - copy of the Corresponding Source for all the software in the - product that is covered by this License, on a durable physical - medium customarily used for software interchange, for a price no - more than your reasonable cost of physically performing this - conveying of source, or (2) access to copy the - Corresponding Source from a network server at no charge. - - c) Convey individual copies of the object code with a copy of the - written offer to provide the Corresponding Source. This - alternative is allowed only occasionally and noncommercially, and - only if you received the object code with such an offer, in accord - with subsection 6b. - - d) Convey the object code by offering access from a designated - place (gratis or for a charge), and offer equivalent access to the - Corresponding Source in the same way through the same place at no - further charge. You need not require recipients to copy the - Corresponding Source along with the object code. If the place to - copy the object code is a network server, the Corresponding Source - may be on a different server (operated by you or a third party) - that supports equivalent copying facilities, provided you maintain - clear directions next to the object code saying where to find the - Corresponding Source. Regardless of what server hosts the - Corresponding Source, you remain obligated to ensure that it is - available for as long as needed to satisfy these requirements. - - e) Convey the object code using peer-to-peer transmission, provided - you inform other peers where the object code and Corresponding - Source of the work are being offered to the general public at no - charge under subsection 6d. - - A separable portion of the object code, whose source code is excluded -from the Corresponding Source as a System Library, need not be -included in conveying the object code work. - - A "User Product" is either (1) a "consumer product", which means any -tangible personal property which is normally used for personal, family, -or household purposes, or (2) anything designed or sold for incorporation -into a dwelling. In determining whether a product is a consumer product, -doubtful cases shall be resolved in favor of coverage. For a particular -product received by a particular user, "normally used" refers to a -typical or common use of that class of product, regardless of the status -of the particular user or of the way in which the particular user -actually uses, or expects or is expected to use, the product. A product -is a consumer product regardless of whether the product has substantial -commercial, industrial or non-consumer uses, unless such uses represent -the only significant mode of use of the product. - - "Installation Information" for a User Product means any methods, -procedures, authorization keys, or other information required to install -and execute modified versions of a covered work in that User Product from -a modified version of its Corresponding Source. The information must -suffice to ensure that the continued functioning of the modified object -code is in no case prevented or interfered with solely because -modification has been made. - - If you convey an object code work under this section in, or with, or -specifically for use in, a User Product, and the conveying occurs as -part of a transaction in which the right of possession and use of the -User Product is transferred to the recipient in perpetuity or for a -fixed term (regardless of how the transaction is characterized), the -Corresponding Source conveyed under this section must be accompanied -by the Installation Information. But this requirement does not apply -if neither you nor any third party retains the ability to install -modified object code on the User Product (for example, the work has -been installed in ROM). - - The requirement to provide Installation Information does not include a -requirement to continue to provide support service, warranty, or updates -for a work that has been modified or installed by the recipient, or for -the User Product in which it has been modified or installed. Access to a -network may be denied when the modification itself materially and -adversely affects the operation of the network or violates the rules and -protocols for communication across the network. - - Corresponding Source conveyed, and Installation Information provided, -in accord with this section must be in a format that is publicly -documented (and with an implementation available to the public in -source code form), and must require no special password or key for -unpacking, reading or copying. - - 7. Additional Terms. - - "Additional permissions" are terms that supplement the terms of this -License by making exceptions from one or more of its conditions. -Additional permissions that are applicable to the entire Program shall -be treated as though they were included in this License, to the extent -that they are valid under applicable law. If additional permissions -apply only to part of the Program, that part may be used separately -under those permissions, but the entire Program remains governed by -this License without regard to the additional permissions. - - When you convey a copy of a covered work, you may at your option -remove any additional permissions from that copy, or from any part of -it. (Additional permissions may be written to require their own -removal in certain cases when you modify the work.) You may place -additional permissions on material, added by you to a covered work, -for which you have or can give appropriate copyright permission. - - Notwithstanding any other provision of this License, for material you -add to a covered work, you may (if authorized by the copyright holders of -that material) supplement the terms of this License with terms: - - a) Disclaiming warranty or limiting liability differently from the - terms of sections 15 and 16 of this License; or - - b) Requiring preservation of specified reasonable legal notices or - author attributions in that material or in the Appropriate Legal - Notices displayed by works containing it; or - - c) Prohibiting misrepresentation of the origin of that material, or - requiring that modified versions of such material be marked in - reasonable ways as different from the original version; or - - d) Limiting the use for publicity purposes of names of licensors or - authors of the material; or - - e) Declining to grant rights under trademark law for use of some - trade names, trademarks, or service marks; or - - f) Requiring indemnification of licensors and authors of that - material by anyone who conveys the material (or modified versions of - it) with contractual assumptions of liability to the recipient, for - any liability that these contractual assumptions directly impose on - those licensors and authors. - - All other non-permissive additional terms are considered "further -restrictions" within the meaning of section 10. If the Program as you -received it, or any part of it, contains a notice stating that it is -governed by this License along with a term that is a further -restriction, you may remove that term. If a license document contains -a further restriction but permits relicensing or conveying under this -License, you may add to a covered work material governed by the terms -of that license document, provided that the further restriction does -not survive such relicensing or conveying. - - If you add terms to a covered work in accord with this section, you -must place, in the relevant source files, a statement of the -additional terms that apply to those files, or a notice indicating -where to find the applicable terms. - - Additional terms, permissive or non-permissive, may be stated in the -form of a separately written license, or stated as exceptions; -the above requirements apply either way. - - 8. Termination. - - You may not propagate or modify a covered work except as expressly -provided under this License. Any attempt otherwise to propagate or -modify it is void, and will automatically terminate your rights under -this License (including any patent licenses granted under the third -paragraph of section 11). - - However, if you cease all violation of this License, then your -license from a particular copyright holder is reinstated (a) -provisionally, unless and until the copyright holder explicitly and -finally terminates your license, and (b) permanently, if the copyright -holder fails to notify you of the violation by some reasonable means -prior to 60 days after the cessation. - - Moreover, your license from a particular copyright holder is -reinstated permanently if the copyright holder notifies you of the -violation by some reasonable means, this is the first time you have -received notice of violation of this License (for any work) from that -copyright holder, and you cure the violation prior to 30 days after -your receipt of the notice. - - Termination of your rights under this section does not terminate the -licenses of parties who have received copies or rights from you under -this License. If your rights have been terminated and not permanently -reinstated, you do not qualify to receive new licenses for the same -material under section 10. - - 9. Acceptance Not Required for Having Copies. - - You are not required to accept this License in order to receive or -run a copy of the Program. Ancillary propagation of a covered work -occurring solely as a consequence of using peer-to-peer transmission -to receive a copy likewise does not require acceptance. However, -nothing other than this License grants you permission to propagate or -modify any covered work. These actions infringe copyright if you do -not accept this License. Therefore, by modifying or propagating a -covered work, you indicate your acceptance of this License to do so. - - 10. Automatic Licensing of Downstream Recipients. - - Each time you convey a covered work, the recipient automatically -receives a license from the original licensors, to run, modify and -propagate that work, subject to this License. You are not responsible -for enforcing compliance by third parties with this License. - - An "entity transaction" is a transaction transferring control of an -organization, or substantially all assets of one, or subdividing an -organization, or merging organizations. If propagation of a covered -work results from an entity transaction, each party to that -transaction who receives a copy of the work also receives whatever -licenses to the work the party's predecessor in interest had or could -give under the previous paragraph, plus a right to possession of the -Corresponding Source of the work from the predecessor in interest, if -the predecessor has it or can get it with reasonable efforts. - - You may not impose any further restrictions on the exercise of the -rights granted or affirmed under this License. For example, you may -not impose a license fee, royalty, or other charge for exercise of -rights granted under this License, and you may not initiate litigation -(including a cross-claim or counterclaim in a lawsuit) alleging that -any patent claim is infringed by making, using, selling, offering for -sale, or importing the Program or any portion of it. - - 11. Patents. - - A "contributor" is a copyright holder who authorizes use under this -License of the Program or a work on which the Program is based. The -work thus licensed is called the contributor's "contributor version". - - A contributor's "essential patent claims" are all patent claims -owned or controlled by the contributor, whether already acquired or -hereafter acquired, that would be infringed by some manner, permitted -by this License, of making, using, or selling its contributor version, -but do not include claims that would be infringed only as a -consequence of further modification of the contributor version. For -purposes of this definition, "control" includes the right to grant -patent sublicenses in a manner consistent with the requirements of -this License. - - Each contributor grants you a non-exclusive, worldwide, royalty-free -patent license under the contributor's essential patent claims, to -make, use, sell, offer for sale, import and otherwise run, modify and -propagate the contents of its contributor version. - - In the following three paragraphs, a "patent license" is any express -agreement or commitment, however denominated, not to enforce a patent -(such as an express permission to practice a patent or covenant not to -sue for patent infringement). To "grant" such a patent license to a -party means to make such an agreement or commitment not to enforce a -patent against the party. - - If you convey a covered work, knowingly relying on a patent license, -and the Corresponding Source of the work is not available for anyone -to copy, free of charge and under the terms of this License, through a -publicly available network server or other readily accessible means, -then you must either (1) cause the Corresponding Source to be so -available, or (2) arrange to deprive yourself of the benefit of the -patent license for this particular work, or (3) arrange, in a manner -consistent with the requirements of this License, to extend the patent -license to downstream recipients. "Knowingly relying" means you have -actual knowledge that, but for the patent license, your conveying the -covered work in a country, or your recipient's use of the covered work -in a country, would infringe one or more identifiable patents in that -country that you have reason to believe are valid. - - If, pursuant to or in connection with a single transaction or -arrangement, you convey, or propagate by procuring conveyance of, a -covered work, and grant a patent license to some of the parties -receiving the covered work authorizing them to use, propagate, modify -or convey a specific copy of the covered work, then the patent license -you grant is automatically extended to all recipients of the covered -work and works based on it. - - A patent license is "discriminatory" if it does not include within -the scope of its coverage, prohibits the exercise of, or is -conditioned on the non-exercise of one or more of the rights that are -specifically granted under this License. You may not convey a covered -work if you are a party to an arrangement with a third party that is -in the business of distributing software, under which you make payment -to the third party based on the extent of your activity of conveying -the work, and under which the third party grants, to any of the -parties who would receive the covered work from you, a discriminatory -patent license (a) in connection with copies of the covered work -conveyed by you (or copies made from those copies), or (b) primarily -for and in connection with specific products or compilations that -contain the covered work, unless you entered into that arrangement, -or that patent license was granted, prior to 28 March 2007. - - Nothing in this License shall be construed as excluding or limiting -any implied license or other defenses to infringement that may -otherwise be available to you under applicable patent law. - - 12. No Surrender of Others' Freedom. - - If conditions are imposed on you (whether by court order, agreement or -otherwise) that contradict the conditions of this License, they do not -excuse you from the conditions of this License. If you cannot convey a -covered work so as to satisfy simultaneously your obligations under this -License and any other pertinent obligations, then as a consequence you may -not convey it at all. For example, if you agree to terms that obligate you -to collect a royalty for further conveying from those to whom you convey -the Program, the only way you could satisfy both those terms and this -License would be to refrain entirely from conveying the Program. - - 13. Use with the GNU Affero General Public License. - - Notwithstanding any other provision of this License, you have -permission to link or combine any covered work with a work licensed -under version 3 of the GNU Affero General Public License into a single -combined work, and to convey the resulting work. The terms of this -License will continue to apply to the part which is the covered work, -but the special requirements of the GNU Affero General Public License, -section 13, concerning interaction through a network will apply to the -combination as such. - - 14. Revised Versions of this License. - - The Free Software Foundation may publish revised and/or new versions of -the GNU General Public License from time to time. Such new versions will -be similar in spirit to the present version, but may differ in detail to -address new problems or concerns. - - Each version is given a distinguishing version number. If the -Program specifies that a certain numbered version of the GNU General -Public License "or any later version" applies to it, you have the -option of following the terms and conditions either of that numbered -version or of any later version published by the Free Software -Foundation. If the Program does not specify a version number of the -GNU General Public License, you may choose any version ever published -by the Free Software Foundation. - - If the Program specifies that a proxy can decide which future -versions of the GNU General Public License can be used, that proxy's -public statement of acceptance of a version permanently authorizes you -to choose that version for the Program. - - Later license versions may give you additional or different -permissions. However, no additional obligations are imposed on any -author or copyright holder as a result of your choosing to follow a -later version. - - 15. Disclaimer of Warranty. - - THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY -APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT -HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY -OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, -THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM -IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF -ALL NECESSARY SERVICING, REPAIR OR CORRECTION. - - 16. Limitation of Liability. - - IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING -WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS -THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY -GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE -USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF -DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD -PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), -EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF -SUCH DAMAGES. - - 17. Interpretation of Sections 15 and 16. - - If the disclaimer of warranty and limitation of liability provided -above cannot be given local legal effect according to their terms, -reviewing courts shall apply local law that most closely approximates -an absolute waiver of all civil liability in connection with the -Program, unless a warranty or assumption of liability accompanies a -copy of the Program in return for a fee. - - END OF TERMS AND CONDITIONS - - How to Apply These Terms to Your New Programs - - If you develop a new program, and you want it to be of the greatest -possible use to the public, the best way to achieve this is to make it -free software which everyone can redistribute and change under these terms. - - To do so, attach the following notices to the program. It is safest -to attach them to the start of each source file to most effectively -state the exclusion of warranty; and each file should have at least -the "copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - -Also add information on how to contact you by electronic and paper mail. - - If the program does terminal interaction, make it output a short -notice like this when it starts in an interactive mode: - - Copyright (C) - This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. - This is free software, and you are welcome to redistribute it - under certain conditions; type `show c' for details. - -The hypothetical commands `show w' and `show c' should show the appropriate -parts of the General Public License. Of course, your program's commands -might be different; for a GUI interface, you would use an "about box". - - You should also get your employer (if you work as a programmer) or school, -if any, to sign a "copyright disclaimer" for the program, if necessary. -For more information on this, and how to apply and follow the GNU GPL, see -. - - The GNU General Public License does not permit incorporating your program -into proprietary programs. If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md index 3b02c4b..8d6fe92 100644 --- a/README.md +++ b/README.md @@ -347,7 +347,7 @@ ament_lint_auto ## 📜 License -This project is licensed under the **GNU General Public License v3.0 (GPL-3.0)**. +This project is licensed under the **Apache 2 License**. See the [LICENSE](LICENSE) file for details. --- diff --git a/navmap_core/include/navmap_core/Geometry.hpp b/navmap_core/include/navmap_core/Geometry.hpp index da81b92..8b63286 100644 --- a/navmap_core/include/navmap_core/Geometry.hpp +++ b/navmap_core/include/navmap_core/Geometry.hpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. /** * @file Geometry.hpp diff --git a/navmap_core/package.xml b/navmap_core/package.xml index df9ff77..19e6b60 100644 --- a/navmap_core/package.xml +++ b/navmap_core/package.xml @@ -5,7 +5,8 @@ 0.0.1 Core C++ library for NavMap. Francisco Martín Rico - GPL-3.0-or-later + + Apache License, Version 2.0 ament_cmake diff --git a/navmap_core/src/navmap_core/NavMap.cpp b/navmap_core/src/navmap_core/NavMap.cpp index c855ab4..c213864 100644 --- a/navmap_core/src/navmap_core/NavMap.cpp +++ b/navmap_core/src/navmap_core/NavMap.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include "navmap_core/NavMap.hpp" diff --git a/navmap_core/tests/test_geometry.cpp b/navmap_core/tests/test_geometry.cpp index 791176f..2e63771 100644 --- a/navmap_core/tests/test_geometry.cpp +++ b/navmap_core/tests/test_geometry.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include #include diff --git a/navmap_core/tests/test_locate_grid.cpp b/navmap_core/tests/test_locate_grid.cpp index 984f51a..4090013 100644 --- a/navmap_core/tests/test_locate_grid.cpp +++ b/navmap_core/tests/test_locate_grid.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include #include "navmap_core/NavMap.hpp" diff --git a/navmap_core/tests/test_navmap.cpp b/navmap_core/tests/test_navmap.cpp index 4bf76cf..e6f6cfc 100644 --- a/navmap_core/tests/test_navmap.cpp +++ b/navmap_core/tests/test_navmap.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include #include diff --git a/navmap_core/tests/test_navmap_easy.cpp b/navmap_core/tests/test_navmap_easy.cpp index 54902ba..7ab46d9 100644 --- a/navmap_core/tests/test_navmap_easy.cpp +++ b/navmap_core/tests/test_navmap_easy.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include #include diff --git a/navmap_core/tests/test_navmap_uniform_and_closest.cpp b/navmap_core/tests/test_navmap_uniform_and_closest.cpp index c1d7bd7..0eacc82 100644 --- a/navmap_core/tests/test_navmap_uniform_and_closest.cpp +++ b/navmap_core/tests/test_navmap_uniform_and_closest.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include #include diff --git a/navmap_core/tests/test_raycast_many.cpp b/navmap_core/tests/test_raycast_many.cpp index a607e10..7de6dd6 100644 --- a/navmap_core/tests/test_raycast_many.cpp +++ b/navmap_core/tests/test_raycast_many.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include #include "navmap_core/NavMap.hpp" diff --git a/navmap_examples/package.xml b/navmap_examples/package.xml index c7a8bd5..b015d33 100644 --- a/navmap_examples/package.xml +++ b/navmap_examples/package.xml @@ -5,7 +5,8 @@ 0.1.0 Examples related to navmap_core y navmap_ros. fmrico - MIT + + Apache License, Version 2.0 ament_cmake diff --git a/navmap_examples/src/01_flat_plane.cpp b/navmap_examples/src/01_flat_plane.cpp index 39eec0c..130bba3 100644 --- a/navmap_examples/src/01_flat_plane.cpp +++ b/navmap_examples/src/01_flat_plane.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src/02_two_floors.cpp b/navmap_examples/src/02_two_floors.cpp index c8a2757..db1afec 100644 --- a/navmap_examples/src/02_two_floors.cpp +++ b/navmap_examples/src/02_two_floors.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src/03_slope_surface.cpp b/navmap_examples/src/03_slope_surface.cpp index 5a4654b..c4cbcb6 100644 --- a/navmap_examples/src/03_slope_surface.cpp +++ b/navmap_examples/src/03_slope_surface.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src/04_layers.cpp b/navmap_examples/src/04_layers.cpp index d42ddb3..5edfffe 100644 --- a/navmap_examples/src/04_layers.cpp +++ b/navmap_examples/src/04_layers.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src/05_neighbors_and_centroids.cpp b/navmap_examples/src/05_neighbors_and_centroids.cpp index 634b0ec..7f11065 100644 --- a/navmap_examples/src/05_neighbors_and_centroids.cpp +++ b/navmap_examples/src/05_neighbors_and_centroids.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src/06_area_marking.cpp b/navmap_examples/src/06_area_marking.cpp index 89f3ebd..fdda86c 100644 --- a/navmap_examples/src/06_area_marking.cpp +++ b/navmap_examples/src/06_area_marking.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src/07_raycast.cpp b/navmap_examples/src/07_raycast.cpp index 452461e..ce97653 100644 --- a/navmap_examples/src/07_raycast.cpp +++ b/navmap_examples/src/07_raycast.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src/08_copy_and_assign.cpp b/navmap_examples/src/08_copy_and_assign.cpp index 88d98f0..0b84de4 100644 --- a/navmap_examples/src/08_copy_and_assign.cpp +++ b/navmap_examples/src/08_copy_and_assign.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src_ros2/01_from_occgrid.cpp b/navmap_examples/src_ros2/01_from_occgrid.cpp index 573ea72..eda2662 100644 --- a/navmap_examples/src_ros2/01_from_occgrid.cpp +++ b/navmap_examples/src_ros2/01_from_occgrid.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src_ros2/02_to_occgrid.cpp b/navmap_examples/src_ros2/02_to_occgrid.cpp index c3fe923..71d68c9 100644 --- a/navmap_examples/src_ros2/02_to_occgrid.cpp +++ b/navmap_examples/src_ros2/02_to_occgrid.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_examples/src_ros2/03_save_load.cpp b/navmap_examples/src_ros2/03_save_load.cpp index c448940..fa43e54 100644 --- a/navmap_examples/src_ros2/03_save_load.cpp +++ b/navmap_examples/src_ros2/03_save_load.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. // Guardar/cargar NavMap en JSON muy simple (demo) — geometría + una capa U8 diff --git a/navmap_ros/CMakeLists.txt b/navmap_ros/CMakeLists.txt index c65050b..3d9248a 100644 --- a/navmap_ros/CMakeLists.txt +++ b/navmap_ros/CMakeLists.txt @@ -15,7 +15,9 @@ find_package(navmap_ros_interfaces REQUIRED) find_package(geometry_msgs REQUIRED) find_package(nav_msgs REQUIRED) find_package(sensor_msgs REQUIRED) -find_package(PCL REQUIRED COMPONENTS common io) +find_package(std_srvs REQUIRED) +find_package(PCL REQUIRED COMPONENTS common io kdtree search) +find_package(pcl_conversions REQUIRED) add_library(${PROJECT_NAME} SHARED src/${PROJECT_NAME}/conversions.cpp @@ -29,13 +31,19 @@ target_include_directories(${PROJECT_NAME} PUBLIC target_link_libraries(${PROJECT_NAME} PUBLIC rclcpp::rclcpp navmap_core::navmap_core + pcl_conversions::pcl_conversions ${navmap_ros_interfaces_TARGETS} ${geometry_msgs_TARGETS} ${nav_msgs_TARGETS} ${sensor_msgs_TARGETS} + ${std_srvs_TARGETS} ${PCL_LIBRARIES} ) +add_executable(slam_server_app + src/slam_server_app.cpp +) +target_link_libraries(slam_server_app ${PROJECT_NAME}) install( DIRECTORY include/ @@ -44,6 +52,7 @@ install( install(TARGETS ${PROJECT_NAME} + slam_server_app EXPORT export_${PROJECT_NAME} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib @@ -71,5 +80,6 @@ ament_export_dependencies( geometry_msgs sensor_msgs PCL + pcl_conversions ) ament_package() \ No newline at end of file diff --git a/navmap_ros/include/navmap_ros/conversions.hpp b/navmap_ros/include/navmap_ros/conversions.hpp index 9e4fe23..9187863 100644 --- a/navmap_ros/include/navmap_ros/conversions.hpp +++ b/navmap_ros/include/navmap_ros/conversions.hpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #ifndef NAVMAP_ROS__CONVERSIONS_HPP_ @@ -47,10 +43,12 @@ #include #include -#include -#include -#include -#include +#include "sensor_msgs/msg/point_cloud2.hpp" +#include "navmap_ros_interfaces/msg/nav_map.hpp" +#include "navmap_ros_interfaces/msg/nav_map_layer.hpp" +#include "nav_msgs/msg/occupancy_grid.hpp" + +#include "navmap_core/NavMap.hpp" /** * @namespace navmap_ros @@ -160,42 +158,23 @@ navmap::NavMap from_occupancy_grid(const nav_msgs::msg::OccupancyGrid & grid); */ nav_msgs::msg::OccupancyGrid to_occupancy_grid(const navmap::NavMap & nm); -/** - * @brief Serialize a triangle mesh (from a PCL point cloud and index triplets) into - * a `navmap_ros_interfaces::msg::NavMap`, optionally returning the core `navmap::NavMap`. - * - * This function is useful to publish arbitrary triangle surfaces through ROS without having to - * manually assemble the transport message. The input mesh is assumed to be watertight or at - * least manifold enough for downstream consumers; no global repair is performed. - * - * @param[in] cloud Vertex positions as a PCL point cloud. Only XYZ is used. - * @param[in] triangles Triangle index triplets (each `Eigen::Vector3i` stores indices into @p cloud). - * @param[in] frame_id TF frame id to assign to the resulting surface. - * @param[out] out_msg Output transport message containing geometry, one surface, and no layers. - * @param[out] out_core_opt Optional pointer to receive the constructed core `navmap::NavMap`. - * If non-null, a copy of the internal core representation is written here. - * - * @return `true` on success, `false` if inputs are inconsistent (e.g., out-of-range indices, - * NaN/Inf coordinates) and the message cannot be built. - * - * @post - * - `out_msg` contains: - * * All input vertices in order. - * * All input triangles (winding preserved as provided). - * * A single surface with `frame_id` set to @p frame_id and containing all triangles. - * - If @p out_core_opt is provided, it mirrors the same content for direct core-level use. - * - * @warning This function does not compute or attach per-NavCel layers. If you need layers - * (e.g., `"elevation"`, `"occupancy"`), create and populate them explicitly afterward. - * @warning Triangle normals and adjacency are computed by the core upon `rebuild_geometry_accels()`. - * If you plan to query topology or do ray casts, call that method on the core map you use. - */ -bool build_navmap_from_mesh( - const pcl::PointCloud & cloud, - const std::vector & triangles, - const std::string & frame_id, +struct BuildParams +{ + Eigen::Vector3f seed = {0.0, 0.0, 0.0}; + float resolution = 1.0; + float max_edge_len = 2.0; + float max_slope_deg = 30.0f; // maximum slope w.r.t. vertical + float neighbor_radius = 2.0f; // search radius + int k_neighbors = 20; // k-NN alternative to radius + float min_area = 1e-6f; // minimum triangle area to avoid degenerates + bool use_radius = true; + float min_angle_deg = 20.0f; // minimum interior angle (deg) to avoid sliver triangles +}; + +navmap::NavMap from_pointcloud2( + const sensor_msgs::msg::PointCloud2 & pc2, navmap_ros_interfaces::msg::NavMap & out_msg, - navmap::NavMap * out_core_opt = nullptr); + BuildParams params); } // namespace navmap_ros diff --git a/navmap_ros/include/navmap_ros/navmap_io.hpp b/navmap_ros/include/navmap_ros/navmap_io.hpp index 53ac09a..a2b8d60 100644 --- a/navmap_ros/include/navmap_ros/navmap_io.hpp +++ b/navmap_ros/include/navmap_ros/navmap_io.hpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #ifndef NAVMAP_ROS__NAVMAP_IO_HPP_ diff --git a/navmap_ros/package.xml b/navmap_ros/package.xml index a95c8a3..3dd348e 100644 --- a/navmap_ros/package.xml +++ b/navmap_ros/package.xml @@ -4,7 +4,8 @@ 0.0.1 Conversions between navmap_core and ROS messages Francisco Martín Rico - GPLv3 + + Apache License, Version 2.0 ament_cmake @@ -13,6 +14,7 @@ navmap_ros_interfaces geometry_msgs sensor_msgs + std_srvs pcl_conversions pcl_ros diff --git a/navmap_ros/src/navmap_ros/conversions.cpp b/navmap_ros/src/navmap_ros/conversions.cpp index 9ee82c5..2794c39 100644 --- a/navmap_ros/src/navmap_ros/conversions.cpp +++ b/navmap_ros/src/navmap_ros/conversions.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include "navmap_ros/conversions.hpp" @@ -24,12 +20,23 @@ #include #include -#include +#include "geometry_msgs/msg/pose.hpp" #include +#include "sensor_msgs/msg/point_cloud2.hpp" +#include "navmap_ros_interfaces/msg/nav_map.hpp" +#include "navmap_ros_interfaces/msg/nav_map_layer.hpp" +#include "nav_msgs/msg/occupancy_grid.hpp" + +#include "navmap_core/Geometry.hpp" -#include -#include -#include +#include "pcl_conversions/pcl_conversions.h" +#include "pcl/point_types_conversion.h" + +#include "pcl/common/transforms.h" +#include "pcl/point_cloud.h" +#include "pcl/point_types.h" +#include "pcl/PointIndices.h" +#include "pcl/kdtree/kdtree_flann.h" namespace navmap_ros { @@ -54,7 +61,7 @@ static inline int8_t u8_to_occ(uint8_t u) return static_cast(std::lround((u / 254.0) * 100.0)); } -// Given grid dims (W,H) and pattern=0, the two triangles indices for cell (i,j): +// Given grid dims (W,H) and pattern=0, the two triangle indices for cell (i,j): // tri0=(i,j)->(i+1,j)->(i+1,j+1), tri1=(i,j)->(i+1,j+1)->(i,j+1) static inline navmap::NavCelId tri_index_for_cell(uint32_t i, uint32_t j, uint32_t W) { @@ -324,7 +331,7 @@ navmap::NavMap from_occupancy_grid(const nav_msgs::msg::OccupancyGrid & grid) // 4) Derived geometry nm.rebuild_geometry_accels(); - // 5) Per-NavCel layer "occupancy" (U8), two tris per cell with same value + // 5) Per-NavCel "occupancy" layer (U8), two triangles per cell with the same value auto occ = nm.layers.add_or_get("occupancy", nm.navcels.size(), navmap::LayerType::U8); tidx = 0; auto cell_id = [W](uint32_t i, uint32_t j) {return j * W + i;}; @@ -359,10 +366,8 @@ nav_msgs::msg::OccupancyGrid to_occupancy_grid(const navmap::NavMap & nm) auto occ = std::dynamic_pointer_cast>(base); // Fast path: detect regular grid from positions and triangle layout. - // We infer W,H, res and origin from the surface AABB & vertex lattice. - // Assumptions: single flat Z plane, regular spacing in X,Y, raster tri order. + // Assumptions: single flat Z plane, regular spacing in X/Y, raster triangle order. if (nm.surfaces.size() == 1) { - // Heuristic: infer W,H by counting unique X and Y coordinates. std::vector xs(nm.positions.x.begin(), nm.positions.x.end()); std::vector ys(nm.positions.y.begin(), nm.positions.y.end()); std::sort(xs.begin(), xs.end()); xs.erase(std::unique(xs.begin(), xs.end()), xs.end()); @@ -509,14 +514,457 @@ bool build_navmap_from_mesh( out_msg.layers.push_back(std::move(layer)); } - // (Optional) Vertex colors -> out_msg.has_vertex_rgba = true; ... (r,g,b,a) - // (Optional) Surfaces -> you can group navcels by surface later - - // 4) Convert a kernel if requested + // 4) Convert to core structure if requested if (out_core_opt) { *out_core_opt = navmap_ros::from_msg(out_msg); } return true; } +// ----------------- Surface from PC2 ----------------- + + +using Triangle = Eigen::Vector3i; + +static inline float sqr(float v) {return v * v;} +static inline float dist3(const pcl::PointXYZ & a, const pcl::PointXYZ & b) +{ + return std::sqrt(sqr(a.x - b.x) + sqr(a.y - b.y) + sqr(a.z - b.z)); +} + +static inline float clamp01(float x) +{ + if (x < 0.0f) {return 0.0f;} + if (x > 1.0f) {return 1.0f;} + return x; +} + +static inline float tri_area( + const Eigen::Vector3f & a, + const Eigen::Vector3f & b, + const Eigen::Vector3f & c) +{ + return 0.5f * ((b - a).cross(c - a)).norm(); +} +static inline float tri_slope_deg( + const Eigen::Vector3f & a, + const Eigen::Vector3f & b, + const Eigen::Vector3f & c) +{ + Eigen::Vector3f n = (b - a).cross(c - a); + float nn = n.norm(); + if (nn < 1e-9f) {return 0.0f;} + float cos_theta = std::abs(n.normalized().dot(Eigen::Vector3f::UnitZ())); // cosine w.r.t. vertical + cos_theta = std::clamp(cos_theta, 0.0f, 1.0f); + float theta = std::acos(cos_theta); // angle w.r.t. vertical + return theta * 180.0f / static_cast(M_PI); +} + +// Keys to avoid duplicates +struct EdgeKey +{ + int a, b; + bool operator==(const EdgeKey & o) const noexcept {return a == o.a && b == o.b;} +}; +struct EdgeHasher +{ + std::size_t operator()(const EdgeKey & e) const noexcept + { + return (static_cast(e.a) << 32) ^ static_cast(e.b); + } +}; +static inline EdgeKey make_edge(int i, int j) +{ + if (i < j) {return {i, j};} + return {j, i}; +} + +struct TriKey +{ + int a, b, c; + bool operator==(const TriKey & o) const noexcept + { + return a == o.a && b == o.b && c == o.c; + } +}; +struct TriHasher +{ + std::size_t operator()(const TriKey & t) const noexcept + { + std::size_t h = 1469598103934665603ull; + auto mix = [&](int k){ + h ^= static_cast(k) + 0x9e3779b97f4a7c15ull + (h << 6) + (h >> 2); + }; + mix(t.a); mix(t.b); mix(t.c); + return h; + } +}; +static inline TriKey make_tri(int i, int j, int k) +{ + int v[3] = {i, j, k}; + std::sort(v, v + 3); + return {v[0], v[1], v[2]}; +} + +// Local PCA to obtain a tangent plane at v. +// Returns two orthogonal axes t1, t2 on the tangent plane. +// If PCA is unreliable (too few points), fall back to a stable orthonormal pair. +inline void local_tangent_basis( + const std::vector & nbrs, + Eigen::Vector3f & t1, Eigen::Vector3f & t2) +{ + if (nbrs.size() < 3) { + t1 = Eigen::Vector3f::UnitX(); + t2 = Eigen::Vector3f::UnitY(); + return; + } + + // Center + Eigen::Vector3f mean = Eigen::Vector3f::Zero(); + for (auto & p : nbrs) { + mean += p; + } + mean /= static_cast(nbrs.size()); + + // Covariance + Eigen::Matrix3f C = Eigen::Matrix3f::Zero(); + for (auto & p : nbrs) { + Eigen::Vector3f d = p - mean; + C += d * d.transpose(); + } + C /= static_cast(nbrs.size()); + + // Eigenvectors + Eigen::SelfAdjointEigenSolver es(C); + // Ascending eigenvalues: column 0 ~ smallest (approximate normal) + Eigen::Vector3f e1 = es.eigenvectors().col(1); + Eigen::Vector3f e2 = es.eigenvectors().col(2); + + // Tangent plane basis {e1, e2} + t1 = e1.normalized(); + t2 = (e2 - e2.dot(t1) * t1).normalized(); +} + +inline void triangle_angles_deg( + const Eigen::Vector3f & A, + const Eigen::Vector3f & B, + const Eigen::Vector3f & C, + float & angA, float & angB, float & angC) +{ + // Sides opposite to vertices A, B, C + float a = (B - C).norm(); + float b = (C - A).norm(); + float c = (A - B).norm(); + + // Avoid divisions by zero + const float eps = 1e-12f; + a = std::max(a, eps); + b = std::max(b, eps); + c = std::max(c, eps); + + // Law of cosines with numeric clamping + auto angle_from = [](float opp, float x, float y) -> float { + float cosv = (x * x + y * y - opp * opp) / (2.0f * x * y); + cosv = std::min(1.0f, std::max(-1.0f, cosv)); + return std::acos(cosv) * 180.0f / static_cast(M_PI); + }; + + angA = angle_from(a, b, c); + angB = angle_from(b, c, a); + angC = angle_from(c, a, b); +} + +// Sort neighbors by angle on the tangent plane at v +inline void sort_neighbors_angular( + const Eigen::Vector3f & vpos, + const std::vector> & nbrs, // (idx, pos) + std::vector & out_ordered) +{ + std::vector pts; + pts.reserve(nbrs.size() + 1); + pts.push_back(vpos); + for (auto & it : nbrs) { + pts.push_back(it.second); + } + + Eigen::Vector3f t1, t2; + local_tangent_basis(pts, t1, t2); + + std::vector> ang_idx; + ang_idx.reserve(nbrs.size()); + for (auto & it : nbrs) { + Eigen::Vector3f d = it.second - vpos; + float x = d.dot(t1); + float y = d.dot(t2); + float ang = std::atan2(y, x); // -pi..pi + ang_idx.emplace_back(ang, it.first); + } + + std::sort(ang_idx.begin(), ang_idx.end(), + [](auto & a, auto & b){return a.first < b.first;}); + + out_ordered.clear(); + out_ordered.reserve(ang_idx.size()); + for (auto & ai : ang_idx) { + out_ordered.push_back(ai.second); + } +} + +// Attempt to add triangle (i,j,k) under the given constraints +inline bool try_add_triangle( + int i, int j, int k, + const pcl::PointCloud & cloud, + const BuildParams & P, + std::unordered_set & tri_set, + std::unordered_set & edge_set, + std::vector & tris) +{ + TriKey tk = make_tri(i, j, k); + if (tri_set.find(tk) != tri_set.end()) {return false;} + + const auto & A = cloud[i]; + const auto & B = cloud[j]; + const auto & C = cloud[k]; + if (!pcl::isFinite(A) || !pcl::isFinite(B) || !pcl::isFinite(C)) {return false;} + + // Max edge length + auto dAB = dist3(A, B); + auto dBC = dist3(B, C); + auto dCA = dist3(C, A); + if (dAB > P.max_edge_len || dBC > P.max_edge_len || dCA > P.max_edge_len) {return false;} + + Eigen::Vector3f a(A.x, A.y, A.z); + Eigen::Vector3f b(B.x, B.y, B.z); + Eigen::Vector3f c(C.x, C.y, C.z); + + // Min area + if (tri_area(a, b, c) < P.min_area) {return false;} + + // Max slope + float slope = tri_slope_deg(a, b, c); + if (slope > P.max_slope_deg) {return false;} + + // Min angle at each vertex + float angA, angB, angC; + triangle_angles_deg(a, b, c, angA, angB, angC); + if (angA < P.min_angle_deg || angB < P.min_angle_deg || angC < P.min_angle_deg) { + return false; + } + + { + const Eigen::Vector3f up = Eigen::Vector3f::UnitZ(); + Eigen::Vector3f n = (b - a).cross(c - a); + if (n.norm() < 1e-9f) {return false;} + if (n.dot(up) < 0.0f) { + std::swap(j, k); + } + } + + // Accept + tri_set.insert(tk); + edge_set.insert(make_edge(i, j)); + edge_set.insert(make_edge(j, k)); + edge_set.insert(make_edge(k, i)); + tris.emplace_back(Triangle(i, j, k)); + return true; +} + +struct Voxel +{ + int x, y, z; + bool operator==(const Voxel & o) const noexcept + { + return x == o.x && y == o.y && z == o.z; + } +}; + +struct VoxelHash +{ + std::size_t operator()(const Voxel & v) const noexcept + { + // Simple, stable hash + std::size_t h = 1469598103934665603ull; // FNV-1a offset + auto mix = [&](int k) { + std::size_t x = static_cast(k); + h ^= x + 0x9e3779b97f4a7c15ull + (h << 6) + (h >> 2); + }; + mix(v.x); mix(v.y); mix(v.z); + return h; + } +}; + +struct VoxelAccum +{ + float sum_x = 0.0f; + float sum_y = 0.0f; + float sum_z = 0.0f; + int count = 0; +}; + + +pcl::PointCloud +downsample_voxelize_avgXYZ( + const pcl::PointCloud & input_points, + float resolution) +{ + pcl::PointCloud output; + + std::unordered_map voxels; + voxels.reserve(input_points.size() / 2); // rough estimate + + // 1) Accumulate all points per voxel + for (std::size_t i = 0; i < input_points.size(); ++i) { + const auto & pt = input_points[i]; + if (!pcl::isFinite(pt)) {continue;} + + int vx = static_cast(std::floor(pt.x / resolution)); + int vy = static_cast(std::floor(pt.y / resolution)); + int vz = static_cast(std::floor(pt.z / resolution)); + + Voxel v{vx, vy, vz}; + auto & acc = voxels[v]; + acc.sum_x += pt.x; + acc.sum_y += pt.y; + acc.sum_z += pt.z; + acc.count += 1; + } + + // 2) Emit one averaged point per voxel + output.points.reserve(voxels.size()); + for (const auto & kv : voxels) { + const VoxelAccum & acc = kv.second; + float cx = acc.sum_x / acc.count; + float cy = acc.sum_y / acc.count; + float cz = acc.sum_z / acc.count; + output.emplace_back(cx, cy, cz); + } + + output.width = static_cast(output.size()); + output.height = 1; + output.is_dense = true; + + return output; +} + + +std::vector grow_surface_from_seed( + const pcl::PointCloud & cloud, + int seed_idx, + const BuildParams & P) +{ + std::vector tris; + if (cloud.empty() || seed_idx < 0 || seed_idx >= static_cast(cloud.size())) { + return tris; + } + + pcl::KdTreeFLANN kdtree; + kdtree.setInputCloud(cloud.makeShared()); + + std::queue frontier; + std::unordered_set seen; + frontier.push(seed_idx); + seen.insert(seed_idx); + + std::unordered_set tri_set; + std::unordered_set edge_set; + + std::vector nbr_indices; + std::vector nbr_dists; + + while (!frontier.empty()) { + int v = frontier.front(); frontier.pop(); + const auto & V = cloud[v]; + + if (!pcl::isFinite(V)) {continue;} + + // 1) Neighborhood + nbr_indices.clear(); nbr_dists.clear(); + int found = 0; + if (P.use_radius) { + found = kdtree.radiusSearch(V, P.neighbor_radius, nbr_indices, nbr_dists); + } else { + found = kdtree.nearestKSearch(V, P.k_neighbors, nbr_indices, nbr_dists); + } + if (found <= 1) {continue;} // only itself + + // 2) Filter by edge length and drop v itself + std::vector> candidates; + candidates.reserve(found); + for (int idx : nbr_indices) { + if (idx == v) {continue;} + const auto & Pn = cloud[idx]; + if (!pcl::isFinite(Pn)) {continue;} + if (dist3(V, Pn) <= P.max_edge_len) { + candidates.emplace_back(idx, Eigen::Vector3f(Pn.x, Pn.y, Pn.z)); + } + } + if (candidates.size() < 2) {continue;} + + // 3) Angular order on the local tangent plane at v + Eigen::Vector3f vpos(V.x, V.y, V.z); + std::vector ordered; + sort_neighbors_angular(vpos, candidates, ordered); + + // 4) Try fan triangles from consecutive pairs + // Optionally close the fan by connecting last with first. + for (size_t t = 0; t + 1 < ordered.size(); ++t) { + int i = v; + int j = ordered[t]; + int k = ordered[t + 1]; + + if (try_add_triangle(i, j, k, cloud, P, tri_set, edge_set, tris)) { + if (!seen.count(j)) {frontier.push(j); seen.insert(j);} + if (!seen.count(k)) {frontier.push(k); seen.insert(k);} + } + } + // Optional fan closure + int j0 = ordered.front(), k0 = ordered.back(); + try_add_triangle(v, k0, j0, cloud, P, tri_set, edge_set, tris); + } + + return tris; +} + +navmap::NavMap from_pointcloud2( + const sensor_msgs::msg::PointCloud2 & pc2, + navmap_ros_interfaces::msg::NavMap & out_msg, + BuildParams params) +{ + pcl::PointCloud input_points; + pcl::fromROSMsg(pc2, input_points); + + auto downsampled_points = downsample_voxelize_avgXYZ(input_points, params.resolution); + + pcl::KdTreeFLANN kdtree; + kdtree.setInputCloud(downsampled_points.makeShared()); + + pcl::PointXYZ origin(params.seed.x(), params.seed.y(), params.seed.z()); + + std::vector nbr_indices; + std::vector nbr_dists; + + nbr_indices.clear(); nbr_dists.clear(); + bool found = kdtree.radiusSearch(origin, params.resolution, nbr_indices, nbr_dists); + + if (!found) { + std::cerr << "Unable to find surface near seed" << std::endl; + return {}; + } + + int seed = nbr_indices[0]; + + auto triangles = grow_surface_from_seed(downsampled_points, seed, params); + + navmap::NavMap navmap; + if (!navmap_ros::build_navmap_from_mesh( + downsampled_points, triangles, "map", out_msg, &navmap)) + { + std::cerr << "Error building ::navmap::NavMap from mesh" << std::endl; + return {}; + } + + return navmap; +} + + } // namespace navmap_ros diff --git a/navmap_ros/src/navmap_ros/navmap_io.cpp b/navmap_ros/src/navmap_ros/navmap_io.cpp index 75c5385..e13ac6a 100644 --- a/navmap_ros/src/navmap_ros/navmap_io.cpp +++ b/navmap_ros/src/navmap_ros/navmap_io.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include diff --git a/navmap_ros/src/slam_server_app.cpp b/navmap_ros/src/slam_server_app.cpp new file mode 100644 index 0000000..c3665cf --- /dev/null +++ b/navmap_ros/src/slam_server_app.cpp @@ -0,0 +1,95 @@ +// Copyright 2025 Intelligent Robotics Lab +// +// This file is part of the project Easy Navigation (EasyNav in short) +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "navmap_core/NavMap.hpp" +#include "navmap_ros/conversions.hpp" +#include "navmap_ros/navmap_io.hpp" + +#include "nav_msgs/msg/occupancy_grid.hpp" +#include "sensor_msgs/msg/point_cloud2.hpp" +#include "std_srvs/srv/trigger.hpp" + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/macros.hpp" + +class SLAMServerNode : public rclcpp::Node +{ +public: + RCLCPP_SMART_PTR_DEFINITIONS(SLAMServerNode) + + SLAMServerNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()) + : Node("slam_server_node", options) + { + navmap_pub_ = create_publisher("navmap", + rclcpp::QoS(1).transient_local().reliable()); + + incoming_occ_map_sub_ = create_subscription( + "incoming_occ_map", rclcpp::QoS(1).transient_local().reliable(), + [this](nav_msgs::msg::OccupancyGrid::UniquePtr msg) { + RCLCPP_INFO(get_logger(), "Creating and publishing NavMap from OccupancyGrid"); + + navmap_ = navmap_ros::from_occupancy_grid(*msg); + + navmap_msg_ = navmap_ros::to_msg(navmap_); + navmap_msg_.header.frame_id = "map"; + navmap_msg_.header.stamp = now(); + navmap_pub_->publish(navmap_msg_); + }); + + incoming_pc2_map_sub_ = create_subscription( + "incoming_pc2_map", rclcpp::QoS(100), + [this](sensor_msgs::msg::PointCloud2::UniquePtr msg) { + RCLCPP_INFO(get_logger(), "Creating and publishing NavMap from PointCloud2"); + navmap_ros::BuildParams params; + navmap_ = navmap_ros::from_pointcloud2(*msg, navmap_msg_, params); + + navmap_msg_.header.frame_id = "map"; + navmap_msg_.header.stamp = now(); + navmap_pub_->publish(navmap_msg_); + }); + + savemap_srv_ = create_service("savemap", + [this]( + const std::shared_ptr request, + std::shared_ptr response) + { + (void)request; + (void)response; + RCLCPP_INFO(get_logger(), "Saving NavMap from /tmp/map.navmap"); + + navmap_ros::io::save_to_file(navmap_, "/tmp/map.navmap"); + }); + } + +private: + navmap::NavMap navmap_; + navmap_ros_interfaces::msg::NavMap navmap_msg_; + + rclcpp::Subscription::SharedPtr incoming_occ_map_sub_; + rclcpp::Subscription::SharedPtr incoming_pc2_map_sub_; + rclcpp::Publisher::SharedPtr navmap_pub_; + + rclcpp::Service::SharedPtr savemap_srv_; +}; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + + auto slam_server_node = SLAMServerNode::make_shared(); + rclcpp::spin(slam_server_node); + + return 0; +} diff --git a/navmap_ros/tests/test_conversions.cpp b/navmap_ros/tests/test_conversions.cpp index 710a5ed..54bc3f0 100644 --- a/navmap_ros/tests/test_conversions.cpp +++ b/navmap_ros/tests/test_conversions.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include #include diff --git a/navmap_ros/tests/test_navmap_io.cpp b/navmap_ros/tests/test_navmap_io.cpp index 8c0eadf..07a6209 100644 --- a/navmap_ros/tests/test_navmap_io.cpp +++ b/navmap_ros/tests/test_navmap_io.cpp @@ -1,21 +1,17 @@ // Copyright 2025 Intelligent Robotics Lab // // This file is part of the project Easy Navigation (EasyNav in short) -// licensed under the GNU General Public License v3.0. -// See for details. +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at // -// Easy Navigation program is free software: you can redistribute it and/or modify -// it under the terms of the GNU General Public License as published by -// the Free Software Foundation, either version 3 of the License, or -// (at your option) any later version. +// http://www.apache.org/licenses/LICENSE-2.0 // -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program. If not, see . +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. #include #include diff --git a/navmap_ros_interfaces/package.xml b/navmap_ros_interfaces/package.xml index 24bf79f..ff35dc5 100644 --- a/navmap_ros_interfaces/package.xml +++ b/navmap_ros_interfaces/package.xml @@ -4,7 +4,7 @@ 0.0.1 ROS 2 interfaces for NavMap (messages for visualization and layers) Francisco Martín Rico - GPLv3 + Apache License, Version 2.0 ament_cmake diff --git a/navmap_rviz_plugin/include/navmap_rviz_plugin/NavMapDisplay.hpp b/navmap_rviz_plugin/include/navmap_rviz_plugin/NavMapDisplay.hpp index 049d1d6..d42830f 100644 --- a/navmap_rviz_plugin/include/navmap_rviz_plugin/NavMapDisplay.hpp +++ b/navmap_rviz_plugin/include/navmap_rviz_plugin/NavMapDisplay.hpp @@ -1,7 +1,18 @@ // Copyright 2025 Intelligent Robotics Lab // -// This file is part of Easy Navigation (EasyNav) under GPLv3. -// See for details. +// This file is part of the project Easy Navigation (EasyNav in short) +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + #ifndef NAVMAP_RVIZ_PLUGIN__NAVMAP_DISPLAY_HPP_ #define NAVMAP_RVIZ_PLUGIN__NAVMAP_DISPLAY_HPP_ diff --git a/navmap_rviz_plugin/package.xml b/navmap_rviz_plugin/package.xml index 3dfbbf0..670ae91 100644 --- a/navmap_rviz_plugin/package.xml +++ b/navmap_rviz_plugin/package.xml @@ -6,7 +6,8 @@ 0.1.0 RViz2 display plugin for NavMap surfaces and layers. Francisco Martín Rico - GPL-3.0-or-later + + Apache License, Version 2.0 ament_cmake diff --git a/navmap_rviz_plugin/src/NavMapDisplay.cpp b/navmap_rviz_plugin/src/NavMapDisplay.cpp index 7c2b778..825dddb 100644 --- a/navmap_rviz_plugin/src/NavMapDisplay.cpp +++ b/navmap_rviz_plugin/src/NavMapDisplay.cpp @@ -1,5 +1,18 @@ -// Copyright 2025 -// GPLv3 +// Copyright 2025 Intelligent Robotics Lab +// +// This file is part of the project Easy Navigation (EasyNav in short) +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + #include "navmap_rviz_plugin/NavMapDisplay.hpp" @@ -173,8 +186,8 @@ void NavMapDisplay::reset() layer_update_count_ = 0; last_navmap_stamp_ = rclcpp::Time(0, 0, RCL_ROS_TIME); last_layer_stamp_ = rclcpp::Time(0, 0, RCL_ROS_TIME); - setStatus(rviz_common::properties::StatusProperty::Warn, "NavMap Topic", "waiting for messages…"); - setStatus(rviz_common::properties::StatusProperty::Warn, "Layer Update", "waiting for updates…"); + setStatus(rviz_common::properties::StatusProperty::Ok, "NavMap Topic", "waiting for messages…"); + setStatus(rviz_common::properties::StatusProperty::Ok, "Layer Update", "waiting for updates…"); destroyMesh_(); updateNormals_();