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Add autowalk client methods #95

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Add autowalk client methods #95

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6ebdae3
[spoteus] add AutoWalk client command
sktometometo Mar 15, 2023
993c84c
[spoteus] add :start-recording and :stop-recording
sktometometo Mar 15, 2023
4d99c03
[spoteus] rename localization methods
sktometometo Mar 15, 2023
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49 changes: 37 additions & 12 deletions jsk_spot_robot/spoteus/spot-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -450,15 +450,15 @@
(if (< index (length ids))
(setq ret (elt ids index)))
ret))
(:initial-localization-fiducial
(:set-localization-fiducial
()
"initial the localization for autowalk based on the fiducial marker"
(let (r)
(setq r (ros::service-call "/spot/set_localization_fiducial"
(instance spot_msgs::SetLocalizationFiducialRequest :init)))
(ros::ros-info "Call \"/spot/set_localization_fiducial\" returns \"~A\"" (send r :message))
t))
(:initial-localization-waypoint
(:set-localization-waypoint
(init-waypoint)
"initial the localization for waypoint id in the graph"
(let (r)
Expand All @@ -470,16 +470,35 @@
(instance spot_msgs::SetLocalizationWaypointRequest :init :waypoint_id init-waypoint)))
(ros::ros-info "Call \"/spot/set_localization_waypoint\" returns \"~A\"" (send r :message))
t))
(:upload-path
(filepath &key (initial-localization-fiducial t) (wait nil))
"upload graph for autowalk"
(let (r)
(if wait (ros::wait-for-service srvname))
(setq r (ros::service-call "/spot/upload_graph"
(instance spot_msgs::UploadGraphRequest :init :upload_filepath filepath)))
(ros::ros-info "Call \"/spot/upload_graph\" returns .. \"~A\"" (send r :message))
(if initial-localization-fiducial (send self :initial-localization-fiducial))
(send r :message)))
(:start-recording
()
"Start AutoWalk recording"
(call-trigger-service "/spot/start-recording"))
(:stop-recording
()
"Stop AutoWalk recording"
(call-trigger-service "/spot/stop-recording"))
(:upload-graph
(path &key (initial-localization-fiducial t) (wait nil))
"upload graph for autowalk"
(let (r
(srvname "/spot/upload_graph"))
(if wait (ros::wait-for-service srvname))
(setq r (ros::service-call srvname
(instance spot_msgs::UploadGraphRequest :init :upload_filepath path)))
(ros::ros-info "Call \"~A\" returns .. \"~A\"" srvname (send r :message))
(if initial-localization-fiducial (send self :initial-localization-fiducial))
(send r :success)))
(:download-graph
(path &key (wait nil))
"Download AutoWalk graph from robot"
(let (r)
(if wait (ros::wait-for-service srvname))
(setq r (ros::service-call srvname
(instance spot_msgs::DownloadGraphRequest :init :download_filepath path)))
(ros::ros-info "Call \"~A\" returns... \"~A\"" srvname (send r :message))
(send r :success)
))
(:list-graph
()
"list up the waypoint (a string type hash id) list in the uploaded graph"
Expand All @@ -490,6 +509,12 @@
(dolist (id (send r :waypoint_ids))
(ros::ros-info " \"~A\"" id))
(send r :waypoint_ids)))
(:clear-graph
()
"Clear the AutoWalk graph in the robot."
(let ()
(call-trigger-service "/spot/clear_graph")
))
(:navigate-to
(navigate-to &key (initial-localization-waypoint nil))
(let (ids c goal ret)
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