[RPP] add is_rotating_to_heading feedback

doisyg commented 1 month ago

Basic Info

Info	Please fill out this column
Ticket(s) this addresses
Primary OS tested on	Ubuntu
Robotic platform tested on	Dexory robot
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

A draft first to discuss, I would be interested in the feedback of RPP users. cc @james-ward

This PR adds the publisher topic is_rotating_to_heading in order to feedback to an external system if RPP is currently rotating to align with the path or final pose. A situation that happens either if shouldRotateToGoalHeading(carrot_pose) or shouldRotateToPath(rotate_to_path_carrot_pose, angle_to_heading, x_vel_sign) is true.

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

[ ] Check that any new parameters added are updated in docs.nav2.org
[ ] Check that any significant change is added to the migration guide
[ ] Check that any new features OR changes to existing behaviors are reflected in the tuning guide
[ ] Check that any new functions have Doxygen added
[ ] Check that any new features have test coverage
[ ] Check that any new plugins is added to the plugins page
[ ] If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

SteveMacenski commented 1 month ago

No issue with the implementation, though curious on the need. Feel free to merge when you're satisfied

doisyg commented 1 month ago

No issue with the implementation, though curious on the need. Feel free to merge when you're satisfied

Scanning application where I want to start scanning only after RPP is aligned with the path I want to scan. Hence I need the feedback

I will wait a bit to see if @james-ward has any feedback, and then we can merge!

SteveMacenski commented 1 month ago

Do you want it actively or passively (i.e. need event based topics or query based)? A parameter or service could also work. Also I was thinking that a diagnostic message with that instead could be useful.

Any way, happy with this PR, just some thoughts

doisyg commented 1 month ago

Active, and published in sync with the Twist is perfect for me. So as it is currently (I could use diagnostic too but a Bool topic seems simpler to produce and consume to me). Leaving it open for 24h and then I will merge

ros-navigation / navigation2