Added error feedback to service responses #21
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nicolaslauzon
commented
Jun 12, 2024
| @@ -487,7 +505,11 @@ class WilnNode : public rclcpp::Node | |||
| } | |||
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| ltrFile.close(); | |||
| RCLCPP_INFO(this->get_logger(), "LTR file succesfully saved"); | |||
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| // TODO: handle errors | |||
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TODO : handle errors from saveLTRServiceCallback
nicolaslauzon
commented
Jun 12, 2024
| @@ -617,32 +639,46 @@ class WilnNode : public rclcpp::Node | |||
| void loadLTRServiceCallback(const std::shared_ptr<wiln::srv::LoadMapTraj::Request> req, std::shared_ptr<wiln::srv::LoadMapTraj::Response> res) | |||
| { | |||
| loadLTR(req->file_name.data, false); | |||
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| // TODO : handle errors | |||
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TODO : handle errors from LoadLTRServiceCallback
nicolaslauzon
commented
Jun 12, 2024
| return; | ||
| } | ||
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| void loadLTRFromEndServiceCallback(const std::shared_ptr<wiln::srv::LoadMapTraj::Request> req, std::shared_ptr<wiln::srv::LoadMapTraj::Response> res) | ||
| { | ||
| loadLTR(req->file_name.data, true); | ||
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| // TODO : handle errors |
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TODO : handle errors from LoadLTRFromEndServiceCallback
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Improving usability of wiln
Why?
To improve usability I created a foxglove interface where we can easily call the services and have good feedback on wheter it works or not.
The foxglove interface is named
Warthog_TnR_Foxglove.json.How ?
I added proper responses to every services in wiln.
⚠️ There is still a few that I assume will work. We should do some error checking on those. (Link in comments)
I also added a status publisher to be able to see in which state wiln is curently in. It's a more complete version of this PR
Tests
✔️ I tested :