All manager services available and working on new map type #44
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Navigation.py was checking the existence of move base params without providing the namespace.
Fixed issue that broke dynamic reconfigure of move base params.
… the origin map manager. map manager 2 can now load a new format topomap from a given file path.
- `get_topological_map ` - `get_tagged_nodes` - `get_tags` - `get_node_tags`
…ew msg and srv types for the new format topomap. Added services `/topological_map_manager2/switch_topological_map` and `/topological_map_manager2/get_edges_between_nodes`. Added function in map manager 2 that warns if you are trying to use it to load an old-format topomap. Some minor improvements.
… into manager2_srvs
… manager 2 class. Added service `/topological_map_manager2/write_topological_map` for writing new format topological maps to yaml files. If you dont specify the path/name of the map then it will just write to the one given to the manager 2 class. When loading a tmap (`tmap.tmap`) from a file using the original map manager, the converted tmap can now be written to a file (`tmap.yaml`) using the `write_topological_map` service. Added map sanity checking function to the manager 2 class.
…/topological_map_manager2/add_edges_between_nodes`
Corrected error when generating influence zone vertices removed unnecessary msg definition General improvements
…d `/topological_map_manager2/remove_edge`. General improvements.
…ical_map_manager2/update_node_tolerance`. General improvements.
…ical_map_manager2/add_tag_to_node`
…ical_map_manager2/update_edge`
…os/topological_maps`. General improvements.
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Ready for testing/review @gpdas @Jailander |
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To resolve #34.
These services have namespace
/topological_map_manager2.Service definitions are used from the strands navigation repo: https://github.com/strands-project/strands_navigation/tree/indigo-devel/strands_navigation_msgs/srv
New package
topological_navigation_msgsadded to store additional service and message definitions.Currently one srv has been added
WriteTopologicalMap.srvused by the services/topological_map_manager2/write_topological_mapand/topological_map_manager2/switch_topological_map.To create a map in the new format, load in an old format map
tmap.tmapdirectly from a file using the old map manager. The new manager will automatically convert it to the new format. Then call the/topological_map_manager2/write_topological_mapservice or use a service to modify the new map and it will be written totmap.yamlWhenever a service is used that modifies the map, the file is automatically overwritten.
Therefore when loading a map using the map manager 2, it is cached in
$HOME/.ros/topological_mapsso a backup is available if mistakes are made.To load a new format map use the new node
topological_navigation/scripts/map_manager2.py.To load an existing map
rosrun topological_navigation map_manager2.py MAP_FILENAMETo create a new map
rosrun topological_navigation map_manager2.py -n MAP_FILENAME