Centralize GridMap column-major layout handling #132
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Centralizes the logic for converting between numpy arrays and Float32MultiArray messages with proper column-major (Fortran) order handling as required by the GridMap specification. - encode_layer_to_multiarray(): Converts (rows, cols) array to message - decode_multiarray_to_rows_cols(): Converts message back to array - Supports both gridmap_column and row_major layouts - Includes unit tests for roundtrip conversion
Replace inline GridMap encoding/decoding logic with calls to the centralized gridmap_utils module. This ensures consistent column-major layout handling across the codebase. - _numpy_to_multiarray() now delegates to encode_layer_to_multiarray() - _decode_gridmap_msg() now uses decode_multiarray_to_rows_cols() - Removes duplicated layout dimension construction code
The GridMap specification requires column-major (Fortran) order when flattening arrays. Changed flatten() to flatten(order="F") to match the layout dimension labels (column_index, row_index).
The marker injection test was unreliable because it published pointclouds without maintaining TF updates, causing the node to drop messages due to stale transforms. The axis-swap regression is already thoroughly covered by: - 11 unit tests in test_map_shifting.py - Integration tests 01-05 for TF → GridMap pipeline
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Summary
gridmap_utilsmodule with centralized encode/decode functions for proper column-major (Fortran) layout handlingelevation_mapping_node.pyto use the centralized utilitiesmasked_replace_tool.pyto use Fortran order when flattening arraystest_06marker injection test (axis-swap regression already covered by 11 unit tests + 4 integration tests)Test plan
test_gridmap_layout.py- 3 tests pass (roundtrip encode/decode)test_map_shifting.py- 11 tests pass (axis-swap regression)test_map_services.py- 2 tests pass