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Graph Matching

Overview

Graph Matching stores and performs graph operations related to S-Graphs.

License

The source code is released under GPLv3 License License: GPLv3.

Author: Jose Andres Millan Romera
Affiliation: University of Luxembourg
Maintainer: Jose Andres Millan Romera, josmilrom@gmail.com

The graph_matching package has been tested under [ROS2] Humble on Ubuntu 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Installation from Packages

The only tested ROS version for this package is ROS2 Humble

Dependencies

- pip install networkx[default]
- pip install -U scikit-learn
- CLIPPER https://github.com/mit-acl/clipper

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/snt-arg/graph_matching.git
cd ../
colcon build

Unit Tests (TODO)

Run the unit tests with

catkin_make run_tests_ros_package_template

Usage

Run the main node with

ros2 launch graph_matching graph_matching.launch.py

Run the main and tester node with

ros2 launch graph_matching graph_matching_tester.launch.py

Config files (TODO)

Config file folder/set 1

  • config_file_1.yaml Shortly explain the content of this config file

Config file folder/set 2

  • ...

Launch files

  • graph_matching.launch.py : Launch of graph matching node

  • graph_matching_tester.launch.py : Launch of graph matching node and, a second later, the tester node

Nodes

ros_package_template

Stores and performs graph operations related to S-Graphs.

Subscribed Topics

  • /graphs ([graph_matching_msgs/Graph])

Published Topics

  • /best_match ([graph_matching_msgs/Match])
  • /unique_match ([graph_matching_msgs/Match])
  • /best_match_visualization ([visualization_msgs/MarkerArray)
  • /visualization_match_visualization ([visualization_msgs/MarkerArray)

Services

  • subgraph_match_srv ([graph_matching_msgs/SubgraphMatchSrv])

    Returns the subgraph match (list of pairs of nodes) most probable, subject to matching type. NOT SUPPORTED AT THE MOMENT

      ros2 service call /subgraph_match_srv

Parameters (TODO)

  • subscriber_topic (string, default: "/temperature")

    The name of the input topic.

  • cache_size (int, default: 200, min: 0, max: 1000)

    The size of the cache.