Support for Json file along with xml file

[RamanaBotta]

Hi Team, I am not much familiar with XML format that you guys kept in this project, Can you Please add support for Geojson file, You guys are already having the utility to read from JSON in Fields2Cover.

[Gonzalo-Mier]

Hi @RamanaBotta, It's already there. You can import a GeoJson field in C++ or Python in a few lines.

[RamanaBotta]

I have changed the init_VisualizerNode function to as below, but still no success Error is : [ WARN] [1673261794.229063390]: Reconfigure callback failed with exception Coordinate system empty:

I have attached JSON file(zipped) also can you please help me with this.

  void VisualizerNode::init_VisualizerNode() {
    field_polygon_publisher_ = public_node_handle_.advertise<geometry_msgs::PolygonStamped>("/field/border", 1, true);
    field_no_headlands_publisher_ = public_node_handle_.advertise<geometry_msgs::PolygonStamped>("/field/no_headlands", 1, true);
    field_gps_publisher_ = public_node_handle_.advertise<sensor_msgs::NavSatFix>("/gps/fix", 1, true);
    field_swaths_publisher_ = public_node_handle_.advertise<visualization_msgs::Marker>("/field/swaths", 1, true);

    std::string field_file;
    private_node_handle_.getParam(
        "field_file", field_file);

    // f2c::Parser::importGml(field_file, fields_);
    f2c::Parser::importJson(field_file, fields_);
    auto field = fields_[0]; 
    field.setEPSGCoordSystem(4326);
    // f2c::Transform::transform(field, "UTM:32U");
    f2c::Transform::transform(field, "UTM:32U");
    robot_.cruise_speed = 2.0;
    robot_.setMinRadius(2.0);
    double headland_width = 3.0*robot_.op_width;
  }

test_2_cell.zip

launch file changes

 <launch>
<node pkg="fields2cover_ros" type="visualizer_node" name="visualizer" output="screen">
  <!-- <param name="field_file" type="string" value="$(find fields2cover_ros)/data/example1.xml"/> -->
  <param name="field_file" type="string" value="$(find fields2cover_ros)/data/test_2_cell.json"/>

</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find fields2cover_ros)/launch/demo.rviz"/>
<node pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="static_tf_fake" args="0 0 0 0.015 0 0 map base_link" />

</launch>

[Gonzalo-Mier]

Really weird. I'm able to read it fine. The error that you got comes from the transform, but you have set the coordinate system correctly. I would recommend you to add std::cerr<<"Error 1"<<std::endl; on several places to check where exactly it crash.

[RamanaBotta]

Okay, do you think it's worth adding geojson support to this project? If yes can you please add support for it?

[Gonzalo-Mier]

Hi @RamanaBotta, GeoJson is already supported by the project. There's no need to do anything else about that.

[RamanaBotta]

Okay, Thank you.