Edge reconfigure integration for the new map type #54
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The monitored navigation function in `navigation.py` expects a geom msgs Pose object rather than a monitored nav goal object (stops nav breaking when using the old map format). Navigation now reconfigures move base tolerances according to the values specified in the tmap.
…ogical_map_2`) to the old format (broadcast on the topic `/topological_map`). This allows nodes/actions that rely on the old map format to function whilst using/testing features from the new map.
…nversion happens or not
…namespace, name and value. The default config is empty and the tmap to tmap2 conversion sets an empty config.
… better reflect what it does. That service and `rm_param_from_edge_config` modified to account for the changes in the previous commit. Constructing new class `EdgeReconfigureManager` in `navigation.py` to handle everything edge reconfigure related.
adambinch
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This works from my end and is ready to be tested @ayu135 . I will send you instructions soon. |
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ayu135
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Feb 15, 2021
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Main addition is the
EdgeReconfigureManagerclass insrc/EdgeReconfigureManager.pyfor handling everything edge reconfigure related.Each edge in the new format map has a config field, which contains a list of parameters to be reconfigured when the edge is traversed (see #35).
Topological navigation calls functions from the EdgeReconfigureManager to do this.
Some additions to the new map manager:
A new service
/topological_map_manager2/add_param_to_edge_configfor adding parameters to an edge's config and a new service/topological_map_manager2/rm_param_from_edge_configfor removing a parameter from an edge's config.The map manager 2 converts new format maps (broadcast on the topic
/topological_map_2) to the old format (broadcast on the topic/topological_map). This allows nodes/actions that rely on the old map format to function whilst using/testing features from the new map.Some fixes:
The monitored navigation function in
navigation.pyexpects a geom msgs Pose object rather than a monitored nav goal object (stops nav breaking when using the old map format).Navigation now reconfigures move base tolerances according to the values specified in the tmap.
The variable
use_tmap2for using the new map type in localisation and navigation is now a ros parameter.Some minor improvements.