@@ -1,38 +1,59 @@
 name: build
-on: [push, pull_request]
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+  schedule:
+    - cron: '0 0 * * *'
+
 jobs:
   build_and_test:
     name: Build and test
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
     steps:
       - name: deps
-        uses: ros-tooling/setup-ros@v0.2
+        uses: ros-tooling/setup-ros@v0.3
         with:
-          required-ros-distributions: foxy
+          required-ros-distributions: humble
+      - name: install_clang
+        run: sudo apt update && sudo apt install -y clang clang-tools lld
       - name: build
         uses: ros-tooling/action-ros-ci@v0.2
+        env:
+          CC: clang
+          CXX: clang++
         with:
-          target-ros2-distro: foxy
+          target-ros2-distro: humble
           # build all packages listed in the meta package
           package-name: |
             rmf_visualization
             rmf_visualization_building_systems
             rmf_visualization_fleet_states
+            rmf_visualization_floorplans
+            rmf_visualization_navgraphs
+            rmf_visualization_obstacles
             rmf_visualization_rviz2_plugins
             rmf_visualization_schedule
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
+            https://raw.githubusercontent.com/open-rmf/rmf/humble-image/rmf.repos
           colcon-defaults: |
             {
               "build": {
-                "mixin": ["coverage-gcc"]
+                "mixin": ["coverage-gcc", "lld"]
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - name: Upload failed test results
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ros_ws/build/*/test_results/*/*.catch2.xml
       - name: Upload coverage to Codecov
         uses: codecov/codecov-action@v1
         with:
           files: ros_ws/lcov/total_coverage.info
           flags: tests
           name: lean_and_mean_codecov_bot
-
 
@@ -0,0 +1,24 @@
+name: style
+on:
+  pull_request:
+  push:
+    branches: [ main ]
+defaults:
+  run:
+    shell: bash
+jobs:
+  linter:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ros:humble-ros-base']
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: checkout
+        uses: actions/checkout@v2
+      - name: uncrustify
+        run: |
+          sudo apt update && sudo apt install wget
+          wget https://raw.githubusercontent.com/open-rmf/rmf_utils/main/rmf_utils/test/format/rmf_code_style.cfg
+          /ros_entrypoint.sh ament_uncrustify -c rmf_code_style.cfg . --language C++ --exclude rmf_visualization_schedule/include/json.hpp rmf_visualization_schedule/include/jwt/* rmf_visualization_schedule/include/jwt/*/*
@@ -1,48 +1,78 @@
-# rmf_schedule_visualizer
+# Open-RMF Visualization
 
 ![](https://github.com/open-rmf/rmf_visualization/workflows/build/badge.svg)
+![](https://github.com/open-rmf/rmf_visualization/workflows/style/badge.svg)
 [![codecov](https://codecov.io/gh/open-rmf/rmf_visualization/branch/main/graph/badge.svg)](https://codecov.io/gh/open-rmf/rmf_visualization)
 
-This repository contains several packages that aid with visualizing various entities within RMF via RViz.
-* **rmf_visualization_building_systems**: to visualize the locations and states of lifts and doors in the facility.
-* **rmf_visualization_fleet_states**: to visualize the location of robots from various fleets.
-* **rmf_visualization_schedule**: to visualize the trajectories of participants in the RMF schedule database. This package also contains a websocket server that provides information on trajectories when queried.
-* **rmf_visualization_rviz2_plugins**: Rviz plugins for customizing the view of the participant schedules and interacting with building systems.
-* **rmf_visualization**: launch file to bring up the above systems
+![image](https://user-images.githubusercontent.com/13482049/176592672-8fdd3cd9-1e08-4370-8830-9a314b3ff776.png)
 
-![](docs/media/visualizer.gif)
+
+This repository contains several packages that aid with visualizing various entities within RMF via RViz.
+* [rmf_visualization](#rmfvisualization)
+* [rmf_visualization_building_systems](#rmfvisualizationbuildingsystems)
+* [rmf_visualization_fleet_states](#rmfvisualizationfleetstates)
+* [rmf_visualization_floorplans](#rmfvisualizationfloorplans)
+* [rmf_visualization_navgraphs](#rmfvisualizationnavgraphs)
+* [rmf_visualization_obstacles](#rmfvisualizationobstacles)
+* [rmf_visualization_rviz2_plugins](#rmfvisualizationrviz2plugins)
+* [rmf_visualization_schedule](#rmfvisualizationschedule)
 
 ## Installation
 It is recommended to follow the instructions [here](https://github.com/open-rmf/rmf#rmf) to setup an RMF workspace with the packages in this repository along with other dependencies.
 
-## Run
+
+## rmf_visualization
+A package that contains the main [launch file](rmf_visualization/launch/visualization.launch.xml) to bringup all the visualizers. Descriptions of various configurable parameters is provided within the launch file.
 
 To launch the visualizer
 ```
 ros2 launch rmf_visualization visualization.launch.xml
 ```
 
-An active `rmf_traffic_schedule` node is prerequisite for the visualizer to initialize. If a schedule node is not running, it can be started with the command
-```
-ros2 run rmf_traffic_ros2 rmf_traffic_schedule
-```
->Note: Only one instance of `rmf_traffic_schedule` must be active at any moment.
+## rmf_visualization_building_systems
+A visualizer for lifts and doors in the facility. The ROS 2 node subscribes to `DoorState` and `LiftState` ROS 2 messages published over `/door_states` and `/lift_states` topics. It then publishes RViz markers depicting the location and status of these systems over `/building_systems_markers` with `Transient Local` durability.
+
+## rmf_visualization_fleet_states
+A visualizer for the current positions of various robot as reported by their fleet managers. The ROS 2 node subscribes to `FleetState` ROS 2 messages published over `/fleet_states`. It then publishes RViz markers depicting the location of the robots over `/fleet_markers`.
+
+## rmf_visualization_floorplans
+A visualizer for the floorplan images for each building level. The ROS 2 node subscribes to `BuildingMap` ROS 2 messages published over `/map`. It then converts the image to an `OccupancyGrid` and publishes it over `/floorplan`.
+
+## rmf_visualization_navgraphs
+https://user-images.githubusercontent.com/13482049/176585472-115ef57b-7792-4f02-93d3-c50a3ad70c95.mp4
 
-The various packages publish MarkerArray messages over these topics:
-* `/map_markers` visualizes the nav graphs, waypoints and waypoint labels. Topic durability is `Transient Local`.
-* `/schedule_markers` visualizes planned trajectory of the robots in the rmf_schedule along with the robot vicinities.
-* `/fleet_markers` renders the current pose of robots as purple spheres
-*  `/building_systems_markers` visualize the current states of doors and lifts in the facility. Topic durability is `Transient Local`.
+A visualizer for the navigation graphs used by each fleet of robots. Lanes that are closed are shared grey while speed limited ones have relatively narrower widths. The ROS 2 node subscribes to `Graph` ROS 2 messages published over `/nav_graphs`. It then publishes RViz markers depicting color coded lanes for each fleet over `/map_markers` with `Transient Local` durability.
 
+## rmf_visualization_obstacles
+![image](https://user-images.githubusercontent.com/13482049/176593610-22910b40-26e6-4a02-b6f2-24bd08c5d04c.png)
+
+A visualizer for obstacles detected. The ROS 2 node subscribes to `Obstacles` ROS 2 messages published over `/rmf_obstacles`. It then publishes RViz markers depicting the obstacles over `/fleet_markers` with `Transient Local` durability.
+
+## rmf_visualization_rviz2_plugins
 ![](docs/media/developer_panels.png)
+This package provides several RViz panels to update the view and submit requests to Open-RMF.
 
+### RMFSchedulePanel
 For a given `map_name`, the `rmf_visualization_schedule_data_node` queries for trajectories in the RMF schedule database over a duration that is specified by `start_duration` and `query_duration` parameters.
 The expected location and vicinity of a participant are visualized with concentric yellow and blue circles respectively.
 The expected trajectory for a participant is a green polyline when conflict-free and is red otherwise.
 The `SchedulePanel` in RViz allows users to modify the parameters used to query trajectories in the schedule database.
+### Door and Lift panels
 `Door` and `Lift` panels allow users to interact with these systems respectively.
 The `rmf.rviz` file is used to save the configuration of RViz along with default values of parameters used in the different panels.
 
+## rmf_visualization_schedule
+![](docs/media/visualizer.gif)
+
+A visualizer of the predicted schedule of robots as submitted by fleet adapters to the RMF Schedule Database. The ROS 2 node spawns a `Mirror` of the RMF Schedule Database which is queries before publishing markers depicting the trajectory of robots as green line strips to `/schedule_markers`. The `footprint` and `vicinity` of each robot is represented by yellow and cyan cylindrical markers respectively.
+
+An active `rmf_traffic_schedule` node is prerequisite for the visualizer to initialize. If a schedule node is not running, it can be started with the command
+```
+ros2 run rmf_traffic_ros2 rmf_traffic_schedule
+```
+>Note: Only one instance of `rmf_traffic_schedule` must be active at any moment.
+
+
 ## Websocket Server for Custom UIs
 For developers looking to create custom UIs outside of the ROS2 environment, this repository provides a websocket server to exchange information contained in an active rmf schedule database. This may primarily be used to query for robot trajectories in the schedule along with conflict information if any. The format for various requests and corresponding responses are described below.
 
 
@@ -1,5 +1,9 @@
 ## Changelog for package rmf_visualization
 
+2.0.0 (2022-09-09)
+------------------
+* Update launch file to bringup navgraph, floorplan and obstacle visualizers: [#44](https://github.com/open-rmf/rmf_visualization/pull/44)
+
 1.2.1 (2021-09-01)
 ------------------
 * Fix style checking in CI: [#37](https://github.com/open-rmf/rmf_visualization/pull/37)
 
@@ -3,26 +3,66 @@
 <launch>
 
   <arg name="use_sim_time" default="false"/>
-  <arg name="rate" default="10"/>
-  <arg name="map_name" default="B1"/>
+  <arg name="rate" default="10.0" description= "The rate in hz at which the scheduler markers should publish"/>
+  <arg name="map_name" default="B1" description="The name of the map to initialize the visualizer"/>
   <arg name="viz_config_file" default="$(find-pkg-share rmf_visualization_schedule)/config/rmf.rviz"/>
   <arg name="display_names" default="true"/>
   <arg name="websocket_port" default="8006"/>
   <arg name="headless" default="false" description="Do not launch rviz2"/>
+  <arg name="path_width" default="0.2" description="Width of schedule path(m) to be rendered"/>
+  <arg name="lane_width" default="0.5" description="Width of lanes(m) to be rendered"/>
+  <arg name="waypoint_scale" default="1.3" description="The relative size of a waypoint wrt the lane width"/>
+  <arg name="text_scale" default="0.7" description="The relative size of a text label wrt the lane width"/>
+  <arg name="lane_transparency" default="0.6" description="The transparency of a rendered lane in default state"/>
+  <arg name="wait_secs" default="10" description="The nummber of seconds the schedule visualizer should keep trying to connect to the rmf_schedule_node"/>
+  <arg name="retained_history_count" default="50" description="The retained history count for negotiations"/>
+  <arg name="fleet_state_nose_scale" default="0.5" description="The radius of the nose marker as a fraction of the fleet's footprint radius"/>
+  <arg name="rmf_frame_id" default="map" description="The RMF global frame id"/>
 
   <group>
-    <node pkg="rmf_visualization_schedule" exec="schedule_visualizer" args="-r $(var rate) -m $(var map_name) -p $(var websocket_port) --history 50">
+    <node pkg="rmf_visualization_schedule" exec="schedule_visualizer_node">
       <param name="use_sim_time" value="$(var use_sim_time)"/>
+      <param name="rate" value="$(var rate)"/>
+      <param name="path_width" value="$(var path_width)"/>
+      <param name="initial_map_name" value="$(var map_name)"/>
+      <param name="wait_secs" value="$(var wait_secs)"/>
+      <param name="port" value="$(var websocket_port)"/>
+      <param name="retained_history_count" value="$(var retained_history_count)"/>
     </node>
 
-    <node pkg="rmf_visualization_fleet_states" exec="rmf_visualization_fleet_states" args="-m $(var map_name)">
-      <param name="display_names" value ="$(var display_names)"/>
+    <node pkg="rmf_visualization_fleet_states" exec="fleetstates_visualizer_node">
       <param name="use_sim_time" value="$(var use_sim_time)"/>
+      <param name="fleet_state_nose_scale" value="$(var fleet_state_nose_scale)"/>
+      <!-- Radius parameters for fleets available in rmf_demos -->
+      <param name="tinyRobot_radius" value="0.3"/>
+      <param name="deliveryRobot_radius" value="0.6"/>
+      <param name="cleanerBotA_radius" value="1.0"/>
+      <param name="cleanerBotE_radius" value="1.0"/>
+      <param name="caddy_radius" value="1.5"/>
     </node>
 
     <node pkg="rmf_visualization_building_systems" exec="rmf_visualization_building_systems" args="-m $(var map_name)">
       <param name="use_sim_time" value="$(var use_sim_time)"/>
+    </node>
+
+    <node pkg="rmf_visualization_navgraphs" exec="navgraph_visualizer_node">
+      <param name="use_sim_time" value="$(var use_sim_time)"/>
+      <param name="initial_map_name" value="$(var map_name)"/>
+      <param name="lane_width" value="$(var lane_width)"/>
+      <param name="waypoint_scale" value="$(var waypoint_scale)"/>
+      <param name="text_scale" value="$(var text_scale)"/>
+      <param name="lane_transparency" value="$(var lane_transparency)"/>
+    </node>
+
+    <node pkg="rmf_visualization_floorplans" exec="floorplan_visualizer_node">
+      <param name="use_sim_time" value="$(var use_sim_time)"/>
+      <param name="initial_map_name" value="$(var map_name)"/>
+    </node>
+
+    <node pkg="rmf_visualization_obstacles" exec="obstacle_visualizer_node">
       <param name="use_sim_time" value="$(var use_sim_time)"/>
+      <param name="initial_map_name" value="$(var map_name)"/>
+      <param name="global_fixed_frame" value="$(var rmf_frame_id)"/>
     </node>
   </group>
 
 
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmf_visualization</name>
-  <version>1.3.0</version>
+  <version>2.0.0</version>
   <description>Package containing a single launch file to bringup various visualizations</description>
   <maintainer email="yadunund@openrobotics.org">Yadunund</maintainer>
   <maintainer email="marco@openrobotics.org">Marco A. Gutiérrez</maintainer>
@@ -13,6 +13,9 @@
   <exec_depend>rmf_visualization_schedule</exec_depend>
   <exec_depend>rmf_visualization_fleet_states</exec_depend>
   <exec_depend>rmf_visualization_building_systems</exec_depend>
+  <exec_depend>rmf_visualization_navgraphs</exec_depend>
+  <exec_depend>rmf_visualization_floorplans</exec_depend>
+  <exec_depend>rmf_visualization_obstacles</exec_depend>
   <exec_depend>rmf_visualization_rviz2_plugins</exec_depend>
   <exec_depend>launch_xml</exec_depend>
 
 
@@ -1,5 +1,8 @@
 ## Changelog for package rmf_visualization_building_systems
 
+2.0.0 (2022-09-09)
+------------------
+
 1.2.1 (2021-09-01)
 ------------------
 * Fix style checking in CI: [#37](https://github.com/open-rmf/rmf_visualization/pull/37)
@@ -17,5 +20,5 @@
 
 1.0.0 (2020-06-22)
 ------------------
-* A ROS 2 node that publishers RViz markers to visualize the states of doors and elevators as defined in the `building_map::msgs::BuildingMap` message. 
+* A ROS 2 node that publishers RViz markers to visualize the states of doors and elevators as defined in the `building_map::msgs::BuildingMap` message.
 * Contributors: Chen Bainian, Yadu
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmf_visualization_building_systems</name>
-  <version>1.3.0</version>
+  <version>2.0.0</version>
   <description>A visualizer for doors and lifts</description>
   <maintainer email="yadunund@openrobotics.org">Yadunund</maintainer>
   <maintainer email="marco@openrobotics.org">Marco A. Gutiérrez</maintainer>
 
@@ -1,10 +1,14 @@
 ## Changelog for package rmf_visualization_fleet_states
 
+2.0.0 (2022-09-09)
+------------------
+* Update to ROS 2 component: [#44](https://github.com/open-rmf/rmf_visualization/pull/44)
+
 1.2.1 (2021-09-01)
 ------------------
 * Fix style checking in CI: [#37](https://github.com/open-rmf/rmf_visualization/pull/37)
 * Contributors: Grey
-  
+
 1.2.0 (2021-06-14)
 ------------------
 * Renamed package to `rmf_visualization_fleet_states`: [#8](https://github.com/open-rmf/rmf_visualization/pull/8)