Add Vector Object server #4680
Add Vector Object server #4680
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Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
* Corrected headers * Functions ordering * Comment fixes Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
* Correct licensing years * Fix Vector Object server dependencies * Funcion rename for better readability * Improve/fix comments Signed-off-by: Alexey Merzlyakov <[email protected]>
Signed-off-by: Alberto Tudela <[email protected]>
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Hi @SteveMacenski, if you have a moment, could you look at this and let me know what changes are needed. Thanks very much! |
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I took a look at about ~2/3 of it this afternoon. I didn't quite get to all of it, so I'll finish my review next time I get a chance :-) In glancing through the old PR, I came up on this comment #3930 (comment) -- what do you think? |
| 'container_name', default_value='nav2_container', | ||
| description='the name of conatiner that nodes will load in if use composition') | ||
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| configured_params = ParameterFile( |
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Check this against main: is this still how we handle this? I think this may have changed
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I checked and it's the same in other launch files in main.
| PushROSNamespace( | ||
| condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('namespace'), '')), | ||
| namespace=namespace), | ||
| Node( |
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Put the lifecycle manager last so it doesn't try to bring servers up that aren't yet initialized. Ditto in the composition version below
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| bool VectorObjectServer::obtainParams() | ||
| { | ||
| // Main ROS-parameters |
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Usually we do a auto node = shared_from_this() so that the node is used in all the calls below (its more natural looking)
| shared_from_this(), "shapes", std::vector<std::string>()).as_string_array(); | ||
| for (std::string shape_name : shape_names) { | ||
| std::string shape_type; | ||
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| } | ||
| shapes_.push_back(circle); | ||
| } else { | ||
| RCLCPP_ERROR(get_logger(), "Please specify correct shape %s type", shape_name.c_str()); |
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In the log, give the options so they can fix it fast
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| for (auto shape : shapes_) { | ||
| shape->getBoundaries(min_p_x, min_p_y, max_p_x, max_p_y); | ||
| if (min_p_x < min_x) { |
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std::min and std::max would be more concise
| if (!map_) { | ||
| map_ = std::make_shared<nav_msgs::msg::OccupancyGrid>(); | ||
| } | ||
| if ( |
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Add space between if statements
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| void VectorObjectServer::publishMap() | ||
| { | ||
| if (map_) { |
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Check also if map_pub_'s number of subscribers is > 0 to bother with the operation at all
| publishMap(); | ||
| } | ||
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| void VectorObjectServer::switchMapUpdate() |
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I am a little baffled on this method.
Do you have an idea why we create a map_timer_ for each object who's frame ID doesn't match the current frame ID? It seems to override each other. We then instantly cancel it if it exists too... and processMap
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I'm not exactly sure. I read this in the doc PR:
- If at least one of the shape is set in different than map's frame, dynamic update model to be enabled: this shape can move over the time, output map will be published dynamically with a given rate.
- If all shapes are set in the same as map frame, map is being published/updated once: during Vector Object server startup and per each shape changing call (
AddShapes.srvorRemoveShapes.srv).
| max_y = std::numeric_limits<double>::lowest(); | ||
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| for (auto point : polygon_->points) { | ||
| if (point.x < min_x) { |
Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alberto Tudela <[email protected]>
Basic Info
Description of contribution in a few bullet points
Just the commits from #3930
Description of documentation updates required from your changes
Future work that may be required in bullet points
For Maintainers: