uvt

This crate provides utilities for reading and writing files in the Uncrewed Vehicle Trajectory (UVT) format. The UVT format is an extension of the LTR file format introduced in Kilometer-Scale Autonomous Navigation in Subarctic Forests: Challenges and Lessons Learned.

A UVT file contains:

• a LiDAR map of the environment, stored in the VTK format.
• A trajectory recorded by an uncrewed vehicle.

An example UVT file is available on Zenodo.

Features

This crate:

• Parses .uvt files into Rust data structures.
• Exports trajectories and maps back into .uvt files
• Generate UVT files directly from rosbags:
  • ROS (1) (.bag)
  • ROS 2 (.mcap)

Usage

To use this library simply add the crate name to your Cargo.toml file:

[dependencies]
uvt = "0.1"

Examples

Import / Export

This crate allows to read, parse, and write uncrewed vehicle trajectories saved in the UVT format.

use std::io;
use uvt::{self, pose};

fn main() -> Result<(), io::Error> {
    // Open a UVT file
    let my_uvt = uvt::Uvt::read_file("example.uvt")?;

    // Retrieve map and trajectory
    let uvt_map = my_uvt.map.clone();
    let uvt_trajectory = my_uvt.trajectory.clone();

    // Retrieve all positions from the trajectory
    let positions: Vec<pose::Point> = uvt_trajectory
        .iter()
        .map(|pose| pose.pose.position)
        .collect();

    // Retrieve all orientations from the trajectory
    let orientations: Vec<pose::Quaternion> = uvt_trajectory
        .iter()
        .map(|pose| pose.pose.orientation)
        .collect();

    // Save my_uvt to a new file
    my_uvt.write_file("my_uvt.uvt")?;

    Ok(())
}

Generation from rosbags

You can also generate a UVT file from rosbags, be it in ROS (1) (.bag) or in ROS 2 (.mcap). Your rosbag must contain:

• a map topic with sensor_msgs/PointCloud2 messages
• a trajectory topic with nav_msgs/Odometry messages.

use std::io;
use uvt;

fn main() -> Result<(), io::Error> {
    let map_topic = "/map";
    let traj_topic = "/odom";

    // Create a UVT file from a ROS 1 bag file
    let bag_uvt = uvt::Uvt::read_rosbag("example.bag", map_topic, traj_topic)?;
    bag_uvt.write_file("bag.uvt")?;

    // Create a UVT file from a ROS 2 MCAP file
    let mcap_uvt = uvt::Uvt::read_mcap("example.mcap", map_topic, traj_topic)?;
    mcap_uvt.write_file("mcap.uvt")?;

    Ok(())
}

Citation

If you use the code or data in an academic context, please cite the following work:

@article{Baril2022,
  title = {Kilometer-Scale Autonomous Navigation in Subarctic Forests: Challenges and Lessons Learned},
  volume = {2},
  ISSN = {2771-3989},
  url = {http://dx.doi.org/10.55417/fr.2022050},
  DOI = {10.55417/fr.2022050},
  journal = {Field Robotics},
  publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
  author = {Baril,  Dominic and Desch\^enes,  Simon-Pierre and Gamache,  Olivier and Vaidis,  Maxime and LaRocque,  Damien and Laconte,  Johann and Kubelka,  Vladimír and Giguère,  Philippe and Pomerleau,  Fran\c{c}ois},
  year = {2022},
  month = jul,
  pages = {1628–1660}
}

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.