Extend World Generation with obstacles

[TheZomb]

adds /map_obstacles topic in map_generator to integrate obstacles in world generation
also fixes some bug in distance map calculation and add Pose to PositionOrientation function

[MaximilianSchreff]

@TheZomb do you have a scenario file to test the different new obstacles. Also, how do I test your world generation?

[TheZomb]

@MaximilianSchreff
The launch command
Gazebo roslaunch arena_bringup start_arena.launch simulator:=gazebo task_mode:=dynamic_map_random model:=jackal map_file:=dynamic_map
Unity: roslaunch arena_bringup start_arena.launch simulator:=unity task_mode:=dynamic_map_random model:=jackal map_file:=dynamic_map development_mode:=true

Please use the unity branch of the corresponding PR from the repo.

To see the different map_generators. edit the map_generator.yaml

[TheZomb]

P.S. added a warehouse generation. can be selected in map_generator.yaml
currently the pallet_jacks can spawn in shelf. will be fixed in a later commit.

[MaximilianSchreff]

Getting build error for map generator since commits from yesterday:

-- +++ processing catkin package: 'map_generator'
-- ==> add_subdirectory(arena-rosnav/utils/misc/map_generator)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- map_generator: 2 messages, 0 services
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:196 (message):
  catkin_package() the catkin package 'geometry_msgs' has been
  find_package()-ed but is not listed as a build dependency in the
  package.xml
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  arena-rosnav/utils/misc/map_generator/CMakeLists.txt:29 (catkin_package)

[linhdoan8]

@TheZomb pls fix the conflicts

[TheZomb]

@MaximilianSchreff please test if the Unity Integration is good as is and ready for merging into master. Use arena-unity/dynamic-obstacle-loading branch for testing.

And @linhdoan8, @voshch or @MaximilianSchreff . Someone please test for Gazebo too. Change arena_bringup/params/map_generator.yaml:algorithm to rosmap to test the new generation algorithms.

Standard Launch command:
roslaunch arena_bringup start_arena.launch tm_modules:=dynamic_map map_file:=dynamic_map simulator:=gazebo model:=jackal

Unity:
roslaunch arena_bringup start_arena.launch tm_modules:=dynamic_map map_file:=dynamic_map simulator:=unity model:=jackal development_mode:=true

[TheZomb]

@voshch conflicts are resolved. Should be able to merge without a problem.

was resolved