Do a complete overhaul of the main follow_waypoints executable #17
Conversation
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I have taken a quick look to the proposed changes and I am very happy that somebody else is also using this project and pushing merge requests! 😍 |
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Awesome! Ευχαριστώ! :) |
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Awesome! 👍 |
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I will be watching your fork too 🤩 great stuff! |
Changes include: * Removal of the smach dependency * Imlement simpler design, where new goals are added to a FIFO and they get poped out, and passed to move_base. This allows adding additonal waypoints during the actual navigation run * Removal of the redundant `journey_*` logic, reading/writing to files of the repo * Allow for specifying the waypoints as either poses (using the "Pose Estimation" button from RViz) or by using the "Publish Point" functionality. In case of the latter, a default (0, 0, 0, 1) quaternion orientation is assumed. In the future, we could aslo use an orientation based on the vector connecting previous and current waypoint. * Add ROS Parameters for most of the settings in the algorithm. * Reformat code using `isort` and `black`. * Make it python3-compatible - see `print` statements.
Co-authored-by: Nikos Koukis <[email protected]> Co-authored-by: Konstantinos Konstantinidis <[email protected]>
@bergercookie , in these changes:Removal of the redundant journey_* logic, reading/writing to files
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@swjtuyang, well, it was redundant for the application I had in mind, but in general, there are more elegant ways of implementing this tbh, without having to explicitly code this behavior, or writing to a file inside the repository, for example: Subscribe to the poses topic and redirect the output to a file, using a variant of |
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Hi @bergercookie, I appreciate your efforts to simply this project. Unfortunately, I have realized that I do not have time to test large changes such as this. If you think you'll continue using |
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Hi @danielsnider, Sorry to hear that, Anyway, handle this PR as you see fit :) |
Hi @danielsnider , thanks for this package.
This is not really a PR, but rather a way to let you know of the changes I did in my fork.
I reimplemented large chunks of the follow_waypoints.py functionality in an attempt to make it simpler to develop on, and also make it more flexible.
Since this is a major rewrite, I don't expect to merge it :)
Feel free to extract any functionality you think is useful for your project.
Changes include:
get popped out, and passed to move_base. This allows adding additional
waypoints during the actual navigation run
journey_*logic, reading/writing to filesof the repo
Estimation" button from RViz) or by using the "Publish Point"
functionality. In case of the latter, a default (0, 0, 0, 1)
quaternion orientation is assumed. In the future, we could also use
an orientation based on the vector connecting previous and current
waypoint.
isortandblack.printstatements.path_ready,path_resetare now one-shot std_srvs::Trigger services.patrol_modedynamic-reconfigurable flag: Traverse the given waypoints over and over untilpath_resetis given.