When single wpts is enable (mode 11), the waypoints module should send a "/sonia_common/AddPose" message on the topic "proc_control/add_pose". In this manner, the waypoint will be sent to proc_controc witch will generate a trajectory.
When planner mode is enable (mode 10) the waypoint module shoud send a "sonia_common/MultiAddPose" message on the topic "proc_planner/send_multi_addpose". A MultiAddPose msg contain a vector of AddPose. The telemetry shoud send a vector with 1 addpose element. This way, the waypoint will be sent to proc_planner instead of proc_control.
Current Behavior
Currently, the waypoint module send a "/sonia_common/AddPose" msg on the topic "proc_control/add_pose" regardless of the active mode.
Comments
This feature will be essential to test proc planner in pool .
Here is proc_planner WorkFlow
Expected Behavior
When single wpts is enable (mode 11), the waypoints module should send a "/sonia_common/AddPose" message on the topic "proc_control/add_pose". In this manner, the waypoint will be sent to proc_controc witch will generate a trajectory.
When planner mode is enable (mode 10) the waypoint module shoud send a "sonia_common/MultiAddPose" message on the topic "proc_planner/send_multi_addpose". A MultiAddPose msg contain a vector of AddPose. The telemetry shoud send a vector with 1 addpose element. This way, the waypoint will be sent to proc_planner instead of proc_control.
Current Behavior
Currently, the waypoint module send a "/sonia_common/AddPose" msg on the topic "proc_control/add_pose" regardless of the active mode.
Comments
This feature will be essential to test proc planner in pool . Here is proc_planner WorkFlow