search

LCAS / topological_navigation

The topological navigation framework
Apache License 2.0
31 stars 36 forks source link

Topological navigation can handle any type of goal. #75

Closed adambinch closed 3 years ago

adambinch commented 3 years ago

Resolves https://github.com/LCAS/topological_navigation/issues/36

The args in the edge's goal field map directly to the args of the ROS msg specified in the edge's action type field. Properties of the edge's destination node can be passed to the goal. Therefore actions that can be executed by toponav are no longer limited to those that use move base type goals. An 'EdgeActionManager' class has been made to handle most of this (generation of the goal, action client and the execution of the action). Monitored navigation removed.

New manager 2 srv for updating the action type of each edge in the tmap according to the action name.

get_node_from_tmap2 utility modified so it returns all of the node inc its meta info and consequent changes to other files.

Functions of edge reconf manager called only when there are params to reconfigure.

Lots of tidying :)

adambinch commented 3 years ago

This has now been tested in sim on a UV, transportation, and a super dense 70 cm in row node spacing data collection tmap and seems to be working fine