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strands-project / strands_navigation

Higher-level navigation capabilities
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enable edge_reconfig for execute_policy_mode server #376

Closed gpdas closed 5 years ago

gpdas commented 5 years ago
  1. edge reconfig ported from topological_navigation/navigation.py (#374 )

When this mode is enabled via the /topological_navigation/execute_policy_mode/reconfigure_edges parameter, execute_navigation_mode action server will change edge action parameters (e.g. move_base/DWAPlannerROS) according to the /edge_nav_reconfig_groups parameter's values and edges being navigated, an example of this configuration is as follows:

edge_nav_reconfig_groups:
  irn:
    edges:
      - WayPoint1_WayPoint2
      - WayPoint2_WayPoint3
      - WayPoint3_WayPoint4
    parameters:
      - &id001
        name: forward_point_distance
        ns: move_base/DWAPlannerROS
        type: double
        value: 0.48297542551971
  orn:
    edges:
      - WayPoint66_WayPoint57
      - WayPoint57_WayPoint66
    parameters:
      - *id001
  utn:
    edges:
      - WayPoint46_WayPoint47
    parameters:
      - name: forward_point_distance
        ns: move_base/DWAPlannerROS
        type: double
        value: 0.1402690117118645
  1. minor fixes in
    • topological_navigation/navigation.py
    • topological_navigation/route_search.py
gpdas commented 5 years ago

Commit ac4c403 fixes #355

gpdas commented 5 years ago 
18:59:42 Traceback (most recent call last):
18:59:42   File "/tmp/ros_buildfarm/scripts/devel/create_devel_task_generator.py", line 235, in resolve_names
18:59:42     rosdep_key, view, installer, os_name, os_code_name)
18:59:42   File "/usr/lib/python3/dist-packages/rosdep2/catkin_support.py", line 87, in resolve_for_os
18:59:42     d = view.lookup(rosdep_key)
18:59:42   File "/usr/lib/python3/dist-packages/rosdep2/lookup.py", line 197, in lookup
18:59:42     return self.rosdep_defs[rosdep_name]
18:59:42 KeyError: 'message_store_map_switcher'
gpdas commented 5 years ago

@Jailander can you have a look at this please?

Jailander commented 5 years ago

Hi, I am happy with these, I tested them briefly didn't seem to break anything, but @bfalacerda maybe you want to double check this one before I merge?

bfalacerda commented 5 years ago

i can give it a quick test tmrw afternoon

Jailander commented 5 years ago

thanks!!!

bfalacerda commented 5 years ago

I didn't test the functionalities introduced by this PR but it doesn't break our setup, so happy for it to be merged

Jailander commented 5 years ago

:) thanks !! Will merge

gpdas commented 5 years ago

Thanks