uvt-plot

This crate provides utilities for showing the content of an Uncrewed Vehicle Trajectory (UVT) file, by plotting a bird-eye view of the recorded trajectory. 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.

Usage

CLI tool

To use uvt-plot as a CLI tool, you can install this crate with:

cargo install uvt-plot

You can run uvt-plot from the terminal:

$ uvt-plot --help
Utilities for plotting and displaying UVT data.

Usage: uvt-plot [OPTIONS] --input-file <INPUT_FILE>

Options:
  -i, --input-file <INPUT_FILE>  Input file path
  -m, --mode <MODE>              File mode [default: uvt] [possible values: uvt, rosbag, mcap]
      --map-topic <MAP_TOPIC>    Map topic [default: /map]
      --traj-topic <TRAJ_TOPIC>  Trajectory topic [default: /odom]
  -h, --help                     Print help
  -V, --version                  Print version

uvt-plot can be used with .uvt files and with rosbags, both with ROS (.bag) and with ROS 2 (.mcap):

# With a UVT file
uvt-plot -- --input-file example.uvt

# With a ROS bag file
uvt-plot -- --input-file example.bag --m rosbag --map-topic /my-map-topic --traj-topic /my-traj-topic

# With a ROS MCAP file
uvt-plot -- --input-file example.mcap --m mcap --map-topic /my-map-topic --traj-topic /my-traj-topic

Library

To use uvt-plot as a library, simply add the crate name to your Cargo.toml file:

[dependencies]
uvt-plot = "0.1"

uvt-plot provides a function to plot the trajectory in a UVT file:

use std::io;
use uvt;
use uvt_plot;

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

    // Plot trajectory
    uvt_plot::plot_trajectory(my_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.