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Adding the following core functionalities #165

Merged
merged 14 commits into from
Nov 15, 2023
Merged

Adding the following core functionalities #165

merged 14 commits into from
Nov 15, 2023

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GPrathap
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@GPrathap GPrathap commented Nov 9, 2023 •
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  • Topological Navigation (Core)
  • Topological Navigation (ExecutePolicyMode Action Server)
  • Topological Navigation (GoToNode Action Server)
  • Topological Localisation (Core)

To validate

    ros2 action send_goal /topological_navigation topological_navigation_msgs/action/GotoNode "{target: WayPoint140}" 

    ros2 action send_goal /topological_navigation/execute_policy_mode 
      topological_navigation_msgs/action/ExecutePolicyMode `"{route: {source: [WayPoint140,WayPoint74], edge_id: 
     [WayPoint140_WayPoint74, WayPoint74_r4.5-ca]}}"

@marc-hanheide
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@Iranaphor , I added you to review, if that's okay? Great stuff!!

@marc-hanheide
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BTW, we may want to start implementing some decent unit test cases again ;-)

@GPrathap GPrathap marked this pull request as draft November 9, 2023 09:16
@Iranaphor Iranaphor self-assigned this Nov 9, 2023
@GPrathap GPrathap marked this pull request as ready for review November 15, 2023 05:25
@Iranaphor Iranaphor merged commit b433af8 into LCAS:humble-dev Nov 15, 2023
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@Iranaphor Iranaphor Awaiting requested review from Iranaphor

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@GPrathap @marc-hanheide @Iranaphor