From 7ac7e8676f356be984f87306f40f1856c6f8f084 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Tue, 5 Dec 2023 14:39:32 +0900
Subject: [PATCH 01/12] refactor launch file and package information

---
 .clang-format                       | 75 -----------------------------
 .clang-tidy                         | 50 -------------------
 .github/workflows/ci.yml            | 25 ----------
 CMakeLists.txt                      | 11 +----
 dependencies.rosinstall             |  4 --
 include/cpp_template/cpp_template.h | 29 -----------
 launch/template.launch              |  3 +-
 package.xml                         | 12 ++---
 src/cpp_template.cpp                | 35 --------------
 9 files changed, 6 insertions(+), 238 deletions(-)
 delete mode 100644 .clang-format
 delete mode 100644 .clang-tidy
 delete mode 100644 dependencies.rosinstall
 delete mode 100644 include/cpp_template/cpp_template.h
 delete mode 100644 src/cpp_template.cpp

diff --git a/.clang-format b/.clang-format
deleted file mode 100644
index 9a6ec50..0000000
--- a/.clang-format
+++ /dev/null
@@ -1,75 +0,0 @@
----
-BasedOnStyle:  Google
-ColumnLimit:    120
-MaxEmptyLinesToKeep: 1
-SortIncludes: false
-
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-AccessModifierOffset: -2
-ConstructorInitializerIndentWidth: 2
-NamespaceIndentation: None
-ContinuationIndentWidth: 4
-IndentCaseLabels: true
-IndentFunctionDeclarationAfterType: false
-
-AlignEscapedNewlinesLeft: false
-AlignTrailingComments: true
-
-AllowAllParametersOfDeclarationOnNextLine: false
-ExperimentalAutoDetectBinPacking: false
-ObjCSpaceBeforeProtocolList: true
-Cpp11BracedListStyle: false
-
-AllowShortBlocksOnASingleLine: true
-AllowShortIfStatementsOnASingleLine: false
-AllowShortLoopsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: None
-AllowShortCaseLabelsOnASingleLine: false
-
-AlwaysBreakTemplateDeclarations: true
-AlwaysBreakBeforeMultilineStrings: false
-BreakBeforeBinaryOperators: false
-BreakBeforeTernaryOperators: false
-BreakConstructorInitializersBeforeComma: true
-
-BinPackParameters: true
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
-DerivePointerBinding: false
-PointerBindsToType: true
-
-PenaltyExcessCharacter: 50
-PenaltyBreakBeforeFirstCallParameter: 30
-PenaltyBreakComment: 1000
-PenaltyBreakFirstLessLess: 10
-PenaltyBreakString: 100
-PenaltyReturnTypeOnItsOwnLine: 50
-
-SpacesBeforeTrailingComments: 2
-SpacesInParentheses: false
-SpacesInAngles:  false
-SpaceInEmptyParentheses: false
-SpacesInCStyleCastParentheses: false
-SpaceAfterCStyleCast: false
-SpaceAfterControlStatementKeyword: true
-SpaceBeforeAssignmentOperators: true
-
-# Configure each individual brace in BraceWrapping
-BreakBeforeBraces: Custom
-
-# Control of individual brace wrapping cases
-BraceWrapping:
-    AfterCaseLabel: true
-    AfterClass: true
-    AfterControlStatement: true
-    AfterEnum: true
-    AfterFunction: true
-    AfterNamespace: true
-    AfterStruct: true
-    AfterUnion: true
-    BeforeCatch: true
-    BeforeElse: true
-    IndentBraces: false
-...
diff --git a/.clang-tidy b/.clang-tidy
deleted file mode 100644
index 7fae366..0000000
--- a/.clang-tidy
+++ /dev/null
@@ -1,50 +0,0 @@
----
-Checks:          '-*,
-                  performance-*,
-                  llvm-namespace-comment,
-                  modernize-redundant-void-arg,
-                  modernize-use-nullptr,
-                  modernize-use-default,
-                  modernize-use-override,
-                  modernize-loop-convert,
-                  readability-named-parameter,
-                  readability-redundant-smartptr-get,
-                  readability-redundant-string-cstr,
-                  readability-simplify-boolean-expr,
-                  readability-container-size-empty,
-                  readability-identifier-naming,
-                  '
-HeaderFilterRegex: ''
-AnalyzeTemporaryDtors: false
-CheckOptions:
-  - key:             llvm-namespace-comment.ShortNamespaceLines
-    value:           '10'
-  - key:             llvm-namespace-comment.SpacesBeforeComments
-    value:           '2'
-  - key:             readability-braces-around-statements.ShortStatementLines
-    value:           '2'
-  # type names
-  - key:             readability-identifier-naming.ClassCase
-    value:           CamelCase
-  - key:             readability-identifier-naming.EnumCase
-    value:           CamelCase
-  - key:             readability-identifier-naming.UnionCase
-    value:           CamelCase
-  # method names
-  - key:             readability-identifier-naming.MethodCase
-    value:           camelBack
-  # variable names
-  - key:             readability-identifier-naming.VariableCase
-    value:           lower_case
-  - key:             readability-identifier-naming.ClassMemberSuffix
-    value:           '_'
-  # const static or global variables are UPPER_CASE
-  - key:             readability-identifier-naming.EnumConstantCase
-    value:           UPPER_CASE
-  - key:             readability-identifier-naming.StaticConstantCase
-    value:           UPPER_CASE
-  - key:             readability-identifier-naming.ClassConstantCase
-    value:           UPPER_CASE
-  - key:             readability-identifier-naming.GlobalVariableCase
-    value:           UPPER_CASE
-...
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 47c1609..c0595ef 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -6,31 +6,6 @@ on:
       - main
 
 jobs:
-  clang_format_check:
-    runs-on: ubuntu-latest
-    steps:
-      - name: checkout
-        uses: actions/checkout@v2
-      - name: run industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
-        env:
-          ROS_DISTRO: noetic # Replace noetic for your chosen distro.
-          CLANG_FORMAT_CHECK: file
-          CLANG_FORMAT_VERSION: "10"
-
-  clang_tidy_check:
-    runs-on: ubuntu-latest
-    steps:
-      - name: checkout
-        uses: actions/checkout@v2
-      - name: run industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
-        env:
-          ROS_DISTRO: noetic # Replace noetic for your chosen distro.
-          # UPSTREAM_WORKSPACE: dependencies.rosinstall
-          # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
-          CLANG_TIDY: pedantic
-
   black_check:
     runs-on: ubuntu-latest
     steps:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c3d761b..78d6659 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,20 +4,13 @@ project(template)
 set(CMAKE_CXX_STANDARD 14)
 
 # find dependencies
-find_package(catkin REQUIRED COMPONENTS roscpp rospy)
+find_package(catkin REQUIRED COMPONENTS rospy)
 
 # Declare a catkin package
-catkin_package(CATKIN_DEPENDS roscpp rospy)
+catkin_package(CATKIN_DEPENDS rospy)
 
 # Specify additional locations of header files
 include_directories(include ${catkin_INCLUDE_DIRS})
 
-# Create Cpp executable
-add_executable(cpp_template src/cpp_template.cpp)
-target_link_libraries(cpp_template ${catkin_LIBRARIES})
-
-# Install Cpp executable
-install(TARGETS cpp_template RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
 # Install Python executables
 install(PROGRAMS scripts/py_template.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/dependencies.rosinstall b/dependencies.rosinstall
deleted file mode 100644
index 9841329..0000000
--- a/dependencies.rosinstall
+++ /dev/null
@@ -1,4 +0,0 @@
-#- git:
-#    local-name: PACKAGE_NAME
-#    uri: https://github.com/USERNAME/REPOSITORY_NAME.git
-#    version: BRANCH_NAME
diff --git a/include/cpp_template/cpp_template.h b/include/cpp_template/cpp_template.h
deleted file mode 100644
index c884beb..0000000
--- a/include/cpp_template/cpp_template.h
+++ /dev/null
@@ -1,29 +0,0 @@
-/**
- * Copyright (C) 2023  template
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <ros/ros.h>
-
-class TemplateNode
-{
-private:
-  ros::NodeHandle nh_;
-
-public:
-  TemplateNode();
-  ~TemplateNode();
-};
diff --git a/launch/template.launch b/launch/template.launch
index c93e1dc..25b0e79 100644
--- a/launch/template.launch
+++ b/launch/template.launch
@@ -1,5 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <node name="cpp_template" pkg="template" type="cpp_template" output="screen" />
-  <node name="py_template" pkg="template" type="py_template.py" output="screen" />
+  <node name="py_template" pkg="template" type="py_template.py" output="screen"/>
 </launch>
diff --git a/package.xml b/package.xml
index 59d415d..c92ae37 100644
--- a/package.xml
+++ b/package.xml
@@ -1,22 +1,16 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>template</name>
+  <name>vgraph_planner</name>
   <version>0.0.0</version>
-  <description>The template package</description>
-  <maintainer email="template@todo.todo">template</maintainer>
+  <description>The vgraph_planner package</description>
+  <maintainer email="zip@todo.todo">Alpaca-zip</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
 
-  <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
 
-  <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
-
-  <export>
-  </export>
 </package>
diff --git a/src/cpp_template.cpp b/src/cpp_template.cpp
deleted file mode 100644
index c80b4d8..0000000
--- a/src/cpp_template.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-/**
- * Copyright (C) 2023  template
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "cpp_template/cpp_template.h"
-
-TemplateNode::TemplateNode()
-{
-  // constructor
-}
-
-TemplateNode::~TemplateNode()
-{
-  // destructor
-}
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "cpp_template");
-  TemplateNode node;
-  ROS_INFO("From C++: Hello, world!!");
-  return 0;
-}

From 10a71f3c90675ece1b028337b1bef49636820770 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Tue, 5 Dec 2023 14:43:28 +0900
Subject: [PATCH 02/12] change project name to vgraph_planner and initialize
 readme

---
 CMakeLists.txt |  2 +-
 README.md      | 80 +-------------------------------------------------
 2 files changed, 2 insertions(+), 80 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 78d6659..87aa6a9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(template)
+project(vgraph_planner)
 
 set(CMAKE_CXX_STANDARD 14)
 
diff --git a/README.md b/README.md
index 439f66b..a137b33 100644
--- a/README.md
+++ b/README.md
@@ -1,79 +1 @@
-# ros1-pkg-template
-This is the template repository for the ROS1 package with [Industrial CI](https://github.com/ros-industrial/industrial_ci).
-## Before use
-Adjust the `ROS_DISTRO` tag in [ci.yml](https://github.com/Alpaca-zip/ros1-pkg-template/blob/main/.github/workflows/ci.yml) to suit your ROS environment:
-```yaml
-jobs:
-  clang_format_check:
-    runs-on: ubuntu-latest
-    steps:
-      - name: checkout
-        uses: actions/checkout@v2
-        with:
-          ref: ${{ github.head_ref }}
-      - name: run industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
-        env:
-          ROS_DISTRO: noetic # Replace noetic for your chosen distro.
-          CLANG_FORMAT_CHECK: file
-          CLANG_FORMAT_VERSION: "10"
-```
-## Industrial CI
-This template provides a comprehensive CI pipeline for ROS project using GitHub Actions and the ros-industrial/industrial_ci action.
-- `Clang Format Check` : Ensures code formatting adheres to defined standards using [clang-format](https://clang.llvm.org/docs/ClangFormat.html).
-- `Clang Tidy Check` : Validates code for potential issues and adherence to coding standards using [Clang-Tidy](https://clang.llvm.org/extra/clang-tidy/).
-- `Black Check` : Ensures code formatting adheres to PEP standards using [Black](https://black.readthedocs.io/en/stable/).
-- `Pylint Check` : Runs [Pylint](https://pylint.readthedocs.io/en/stable/) for static code analysis on Python code.
-- `Catkin Lint Check` : Validates our ROS package structure and dependencies with [catkin_lint](https://fkie.github.io/catkin_lint/).
-- `Build Check` : Performs a build for both main and testing ROS repositories to ensure the codebase builds correctly.
-## To pass all checks...
-### clang-format
-**1. install**
-```
-$ sudo apt-get install clang-format
-```
-**2. Format with clang-format**
-```
-$ roscd <this_package>
-$ find . -type f \( -name "*.cpp" -or -name "*.hpp" -or -name "*.h" \) -exec clang-format -i -style=file {} \;
-```
-### Clang-Tidy
-**1. install**
-```
-$ sudo apt-get install clang clang-tidy
-```
-**2. Format with Clang-Tidy**
-```
-$ cd <path_to_your_workspace> && catkin build <this_package> --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
-$ clang-tidy -p build/<this_package>/ <path_to_this_package>/src/<your_cpp> -fix
-```
-  Recommended tool : [catkin_tidy](https://github.com/nyxrobotics/catkin_tidy)
-### Black
-**1. install**
-```
-$ pip install black
-```
-**2. Format with Black**
-```
-$ roscd <this_package>
-$ find . -type f -name "*.py" -exec black {} \;
-```
-### Pylint
-**1. install**
-```
-$ pip install pylint
-```
-**2. Run Pylint**
-```
-$ roscd <this_package>
-$ find . -type f -name "*.py" -exec pylint {} \;
-```
-### catkin_lint
-**1. install**
-```
-$ sudo apt-get install catkin-lint
-```
-**2. Run catkin_lint**
-```
-$ catkin_lint --pkg <this_package>
-```
+# vgraph_planner

From 8fe0a1085932a61a4f4545d3c2370ad230dd2d41 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Tue, 5 Dec 2023 14:47:53 +0900
Subject: [PATCH 03/12] add map.pgm and map.yaml files

---
 map/map.pgm  | Bin 0 -> 184992 bytes
 map/map.yaml |   7 +++++++
 2 files changed, 7 insertions(+)
 create mode 100644 map/map.pgm
 create mode 100644 map/map.yaml

diff --git a/map/map.pgm b/map/map.pgm
new file mode 100644
index 0000000000000000000000000000000000000000..e92a7cd221a142594d959df0a4cec4e267c34530
GIT binary patch
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HcmV?d00001

diff --git a/map/map.yaml b/map/map.yaml
new file mode 100644
index 0000000..807ba0f
--- /dev/null
+++ b/map/map.yaml
@@ -0,0 +1,7 @@
+image: map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-9.84, -9.23, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

From 762a0ad2da302612bfb9d5edeec5019faa169de9 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Wed, 6 Dec 2023 16:29:02 +0900
Subject: [PATCH 04/12] add vgraph_planner node

---
 CMakeLists.txt               |   2 +-
 launch/template.launch       |   4 -
 launch/vgraph_planner.launch |  12 +++
 map/vgraph.png               | Bin 0 -> 7066 bytes
 scripts/py_template.py       |  38 ---------
 scripts/vgraph_planner.py    | 147 +++++++++++++++++++++++++++++++++++
 6 files changed, 160 insertions(+), 43 deletions(-)
 delete mode 100644 launch/template.launch
 create mode 100644 launch/vgraph_planner.launch
 create mode 100644 map/vgraph.png
 delete mode 100755 scripts/py_template.py
 create mode 100755 scripts/vgraph_planner.py

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 87aa6a9..123c247 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,4 +13,4 @@ catkin_package(CATKIN_DEPENDS rospy)
 include_directories(include ${catkin_INCLUDE_DIRS})
 
 # Install Python executables
-install(PROGRAMS scripts/py_template.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(PROGRAMS scripts/vgraph_planner.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/launch/template.launch b/launch/template.launch
deleted file mode 100644
index 25b0e79..0000000
--- a/launch/template.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-  <node name="py_template" pkg="template" type="py_template.py" output="screen"/>
-</launch>
diff --git a/launch/vgraph_planner.launch b/launch/vgraph_planner.launch
new file mode 100644
index 0000000..8b4ecb2
--- /dev/null
+++ b/launch/vgraph_planner.launch
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="pgm_file" default="$(find vgraph_planner)/map/map.pgm"/>
+  <arg name="save_graph_file" default="$(find vgraph_planner)/map/vgraph.png"/>
+  <arg name="resolution" default="0.1"/>
+
+  <node name="vgraph_planner_node" pkg="vgraph_planner" type="vgraph_planner.py" output="screen">
+    <param name="~pgm_file" value="$(arg pgm_file)"/>
+    <param name="~save_graph_file" value="$(arg save_graph_file)"/>
+    <param name="~resolution" value="$(arg resolution)"/>
+  </node>
+</launch>
diff --git a/map/vgraph.png b/map/vgraph.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd47cfb0f33c20a3604500ea579af397c24e6292
GIT binary patch
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diff --git a/scripts/py_template.py b/scripts/py_template.py
deleted file mode 100755
index f2aaff4..0000000
--- a/scripts/py_template.py
+++ /dev/null
@@ -1,38 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-# Copyright (C) 2023  template
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import rospy
-
-
-class TemplateNode:
-    def __init__(self):
-        # constructor
-        pass
-
-    def __del__(self):
-        # destructor
-        pass
-
-
-def main():
-    rospy.init_node("py_template")
-    TemplateNode()
-    rospy.loginfo("From Python: Hello, world!!")
-
-
-if __name__ == "__main__":
-    main()
diff --git a/scripts/vgraph_planner.py b/scripts/vgraph_planner.py
new file mode 100755
index 0000000..c3ad987
--- /dev/null
+++ b/scripts/vgraph_planner.py
@@ -0,0 +1,147 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+# Copyright (C) 2023  Alapaca-zip
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import rospy
+from PIL import Image, ImageDraw
+
+
+class VgraphPlannerNode:
+    def __init__(self):
+        self.pgm_file_path = rospy.get_param("~pgm_file", "map.pgm")
+        self.save_graph_file_path = rospy.get_param("~save_graph_file", "vgraph.png")
+        self.resolution = rospy.get_param("~resolution", 0.1)
+        self.start_point = rospy.get_param("~start_point", (200, 30))
+        self.end_point = rospy.get_param("~end_point", (150, 370))
+        up_scaled_image = self.change_image_resolution(
+            self.pgm_file_path, self.resolution
+        )
+        corners = self.find_black_pixel_corners(up_scaled_image)
+        corners.append(self.start_point)
+        corners.append(self.end_point)
+        line_marked_image = self.draw_lines_between_corners(up_scaled_image, corners)
+        line_marked_image.save(self.save_graph_file_path)
+
+    def __del__(self):
+        pass
+
+    def change_image_resolution(self, image, resolution):
+        original_image = Image.open(image)
+        width = int(original_image.width * resolution)
+        height = int(original_image.height * resolution)
+        black_pixels = self.find_black_pixels(original_image)
+        down_scaled_image = original_image.resize((width, height), Image.NEAREST)
+        down_scaled_image = self.apply_black_pixels(
+            down_scaled_image, black_pixels, resolution
+        )
+        up_scaled_image = down_scaled_image.resize(original_image.size, Image.NEAREST)
+        return up_scaled_image
+
+    def find_black_pixels(self, image):
+        black_pixels = []
+        for y in range(image.height):
+            for x in range(image.width):
+                if image.getpixel((x, y)) == 0:
+                    black_pixels.append((x, y))
+        return black_pixels
+
+    def apply_black_pixels(self, image, black_pixels, scale):
+        for x, y in black_pixels:
+            scaled_x = int(x * scale)
+            scaled_y = int(y * scale)
+            if 0 <= scaled_x < image.width and 0 <= scaled_y < image.height:
+                image.putpixel((scaled_x, scaled_y), 0)
+        return image
+
+    def find_black_pixel_corners(self, image):
+        corners = []
+        for y in range(1, image.height - 1):
+            for x in range(1, image.width - 1):
+                if image.getpixel((x, y)) == 0:
+                    black_neighbors = sum(
+                        image.getpixel((j, i)) == 0
+                        for i in range(y - 1, y + 2)
+                        for j in range(x - 1, x + 2)
+                        if (i, j) != (y, x)
+                    )
+                    if black_neighbors == 3:
+                        corners.append((x, y))
+        return corners
+
+    def draw_lines_between_corners(self, image, corners):
+        rgb_image = image.convert("RGB")
+        draw = ImageDraw.Draw(rgb_image)
+        for i in range(len(corners)):
+            for j in range(i + 1, len(corners)):
+                if not self.check_line_crossing(image, corners[i], corners[j]):
+                    draw.line([corners[i], corners[j]], fill=(255, 0, 0), width=1)
+        return rgb_image
+
+    def check_line_crossing(self, image, start, end):
+        x0, y0 = start
+        x1, y1 = end
+        dx = abs(x1 - x0)
+        dy = abs(y1 - y0)
+        x, y = x0, y0
+        sx = -1 if x0 > x1 else 1
+        sy = -1 if y0 > y1 else 1
+        err = dx - dy
+        not_all_black = False
+        not_all_white = False
+        is_horizontal_or_vertical = x0 == x1 or y0 == y1
+        while True:
+            if (x, y) != start and (x, y) != end:
+                pixel = image.getpixel((x, y))
+                if pixel != 0:
+                    not_all_black = True
+                if pixel != 254:
+                    not_all_white = True
+                if is_horizontal_or_vertical:
+                    if x0 == x1:
+                        left_pixel = image.getpixel((x - 1, y)) if x > 0 else 0
+                        right_pixel = (
+                            image.getpixel((x + 1, y)) if x < image.width - 1 else 0
+                        )
+                        if left_pixel != 254 and right_pixel != 254:
+                            not_all_black = True
+                    else:
+                        top_pixel = image.getpixel((x, y - 1)) if y > 0 else 0
+                        bottom_pixel = (
+                            image.getpixel((x, y + 1)) if y < image.height - 1 else 0
+                        )
+                        if top_pixel != 254 and bottom_pixel != 254:
+                            not_all_black = True
+            if x == x1 and y == y1:
+                break
+            e2 = 2 * err
+            if e2 > -dy:
+                err -= dy
+                x += sx
+            if e2 < dx:
+                err += dx
+                y += sy
+        if not is_horizontal_or_vertical:
+            not_all_black = True
+        return not_all_black and not_all_white
+
+
+def main():
+    rospy.init_node("vgraph_planner_node")
+    VgraphPlannerNode()
+
+
+if __name__ == "__main__":
+    main()

From fad821e87d85bbab86c1ab27372f45a9213b6d43 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Tue, 12 Dec 2023 21:36:19 +0900
Subject: [PATCH 05/12] add check for surrounding pixels in line crossing
 function

---
 map/vgraph.png            | Bin 7066 -> 7794 bytes
 scripts/vgraph_planner.py |  12 +++++++++++-
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/map/vgraph.png b/map/vgraph.png
index fd47cfb0f33c20a3604500ea579af397c24e6292..79eca65f2044751aeee91f4fc4d921d81ab24740 100644
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diff --git a/scripts/vgraph_planner.py b/scripts/vgraph_planner.py
index c3ad987..2078d5e 100755
--- a/scripts/vgraph_planner.py
+++ b/scripts/vgraph_planner.py
@@ -91,6 +91,8 @@ def draw_lines_between_corners(self, image, corners):
         return rgb_image
 
     def check_line_crossing(self, image, start, end):
+        start_pixels = self.get_surrounding_pixels(start)
+        end_pixels = self.get_surrounding_pixels(end)
         x0, y0 = start
         x1, y1 = end
         dx = abs(x1 - x0)
@@ -103,7 +105,7 @@ def check_line_crossing(self, image, start, end):
         not_all_white = False
         is_horizontal_or_vertical = x0 == x1 or y0 == y1
         while True:
-            if (x, y) != start and (x, y) != end:
+            if (x, y) not in start_pixels and (x, y) not in end_pixels:
                 pixel = image.getpixel((x, y))
                 if pixel != 0:
                     not_all_black = True
@@ -136,6 +138,14 @@ def check_line_crossing(self, image, start, end):
         if not is_horizontal_or_vertical:
             not_all_black = True
         return not_all_black and not_all_white
+    
+    def get_surrounding_pixels(self, point):
+        x, y = point
+        pixels = []
+        for i in range(-1, 2):
+            for j in range(-1, 2):
+                pixels.append((x + i, y + j))
+        return pixels
 
 
 def main():

From b3043768c5e18ae25b8e31db2e63440f90e62c48 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Wed, 13 Dec 2023 12:50:01 +0900
Subject: [PATCH 06/12] apply black format

---
 scripts/vgraph_planner.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/vgraph_planner.py b/scripts/vgraph_planner.py
index 2078d5e..fd60dca 100755
--- a/scripts/vgraph_planner.py
+++ b/scripts/vgraph_planner.py
@@ -138,7 +138,7 @@ def check_line_crossing(self, image, start, end):
         if not is_horizontal_or_vertical:
             not_all_black = True
         return not_all_black and not_all_white
-    
+
     def get_surrounding_pixels(self, point):
         x, y = point
         pixels = []

From bb2d51b6990e04309e41d53f58037497d3cdc74a Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Wed, 13 Dec 2023 12:56:02 +0900
Subject: [PATCH 07/12] apply catkin_lint

---
 CMakeLists.txt | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 123c247..a6edbf1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,8 +9,5 @@ find_package(catkin REQUIRED COMPONENTS rospy)
 # Declare a catkin package
 catkin_package(CATKIN_DEPENDS rospy)
 
-# Specify additional locations of header files
-include_directories(include ${catkin_INCLUDE_DIRS})
-
 # Install Python executables
 install(PROGRAMS scripts/vgraph_planner.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

From a01b5496d6325002a39e2afab1d92fb74b7474e4 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Wed, 13 Dec 2023 13:02:16 +0900
Subject: [PATCH 08/12] fix dependency for pillow

---
 .github/workflows/ci.yml | 8 ++++----
 requirements.txt         | 1 +
 2 files changed, 5 insertions(+), 4 deletions(-)
 create mode 100644 requirements.txt

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index c0595ef..2955137 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -27,7 +27,7 @@ jobs:
         env:
           ROS_DISTRO: noetic # Replace noetic for your chosen distro.
           # UPSTREAM_WORKSPACE: dependencies.rosinstall
-          # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
+          BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
           PYLINT_ARGS: '--errors-only'
           PYLINT_CHECK: true
 
@@ -41,7 +41,7 @@ jobs:
         env:
           ROS_DISTRO: noetic # Replace noetic for your chosen distro.
           # UPSTREAM_WORKSPACE: dependencies.rosinstall
-          # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
+          BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
           CATKIN_LINT: true
 
   build_check:
@@ -54,12 +54,12 @@ jobs:
           - ROS_DISTRO: noetic # Replace noetic for your chosen distro.
             ROS_REPO: main
             # UPSTREAM_WORKSPACE: dependencies.rosinstall
-            # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
+            BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
             IMMEDIATE_TEST_OUTPUT: true
           - ROS_DISTRO: noetic # Replace noetic for your chosen distro.
             ROS_REPO: testing
             # UPSTREAM_WORKSPACE: dependencies.rosinstall
-            # BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install ****'
+            BEFORE_BUILD_TARGET_WORKSPACE: 'apt update -q && python3 -m pip install -q -r requirements.txt'
             IMMEDIATE_TEST_OUTPUT: true
 
     steps:
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..7e2fba5
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1 @@
+Pillow

From f025b18a52dbac2a85d7d290490087d3ec770d38 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Wed, 13 Dec 2023 13:32:02 +0900
Subject: [PATCH 09/12] Update Pillow version in requirements.txt

---
 requirements.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/requirements.txt b/requirements.txt
index 7e2fba5..2fec29c 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1 +1 @@
-Pillow
+Pillow == 10.1.0

From f80a9caea4934fc59a38466103780c70f7649c02 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Wed, 13 Dec 2023 13:39:08 +0900
Subject: [PATCH 10/12] fix image resizing method

---
 scripts/vgraph_planner.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/vgraph_planner.py b/scripts/vgraph_planner.py
index fd60dca..5aff764 100755
--- a/scripts/vgraph_planner.py
+++ b/scripts/vgraph_planner.py
@@ -43,11 +43,11 @@ def change_image_resolution(self, image, resolution):
         width = int(original_image.width * resolution)
         height = int(original_image.height * resolution)
         black_pixels = self.find_black_pixels(original_image)
-        down_scaled_image = original_image.resize((width, height), Image.NEAREST)
+        down_scaled_image = original_image.resize((width, height), Image.Resampling.NEAREST)
         down_scaled_image = self.apply_black_pixels(
             down_scaled_image, black_pixels, resolution
         )
-        up_scaled_image = down_scaled_image.resize(original_image.size, Image.NEAREST)
+        up_scaled_image = down_scaled_image.resize(original_image.size, Image.Resampling.NEAREST)
         return up_scaled_image
 
     def find_black_pixels(self, image):

From 8aa19b5e812f8892af30f3495314cea8ae838b4d Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Wed, 13 Dec 2023 13:54:55 +0900
Subject: [PATCH 11/12] apply black format

---
 scripts/vgraph_planner.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/scripts/vgraph_planner.py b/scripts/vgraph_planner.py
index 5aff764..86d72a1 100755
--- a/scripts/vgraph_planner.py
+++ b/scripts/vgraph_planner.py
@@ -43,11 +43,15 @@ def change_image_resolution(self, image, resolution):
         width = int(original_image.width * resolution)
         height = int(original_image.height * resolution)
         black_pixels = self.find_black_pixels(original_image)
-        down_scaled_image = original_image.resize((width, height), Image.Resampling.NEAREST)
+        down_scaled_image = original_image.resize(
+            (width, height), Image.Resampling.NEAREST
+        )
         down_scaled_image = self.apply_black_pixels(
             down_scaled_image, black_pixels, resolution
         )
-        up_scaled_image = down_scaled_image.resize(original_image.size, Image.Resampling.NEAREST)
+        up_scaled_image = down_scaled_image.resize(
+            original_image.size, Image.Resampling.NEAREST
+        )
         return up_scaled_image
 
     def find_black_pixels(self, image):

From f8f9334023d51f02aaff16218a5cb36f179f2a74 Mon Sep 17 00:00:00 2001
From: Alpaca-zip <zip.lottestr@gmail.com>
Date: Wed, 13 Dec 2023 13:56:45 +0900
Subject: [PATCH 12/12] Update Pillow version in requirements.txt

---
 requirements.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/requirements.txt b/requirements.txt
index 2fec29c..7e2fba5 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1 +1 @@
-Pillow == 10.1.0
+Pillow