Add Vector Object server #4680
Add Vector Object server #4680
Conversation
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
* Corrected headers * Functions ordering * Comment fixes Signed-off-by: Alexey Merzlyakov <[email protected]> Signed-off-by: Alberto Tudela <[email protected]>
* Correct licensing years * Fix Vector Object server dependencies * Funcion rename for better readability * Improve/fix comments Signed-off-by: Alexey Merzlyakov <[email protected]>
Signed-off-by: Alberto Tudela <[email protected]>
|
Hi @SteveMacenski, if you have a moment, could you look at this and let me know what changes are needed. Thanks very much! |
|
I took a look at about ~2/3 of it this afternoon. I didn't quite get to all of it, so I'll finish my review next time I get a chance :-) In glancing through the old PR, I came up on this comment #3930 (comment) -- what do you think? |
| 'container_name', default_value='nav2_container', | ||
| description='the name of conatiner that nodes will load in if use composition') | ||
|
|
||
| configured_params = ParameterFile( |
There was a problem hiding this comment.
Check this against main: is this still how we handle this? I think this may have changed
| PushROSNamespace( | ||
| condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('namespace'), '')), | ||
| namespace=namespace), | ||
| Node( |
There was a problem hiding this comment.
Put the lifecycle manager last so it doesn't try to bring servers up that aren't yet initialized. Ditto in the composition version below
|
|
||
| bool VectorObjectServer::obtainParams() | ||
| { | ||
| // Main ROS-parameters |
There was a problem hiding this comment.
Usually we do a auto node = shared_from_this() so that the node is used in all the calls below (its more natural looking)
| shared_from_this(), "shapes", std::vector<std::string>()).as_string_array(); | ||
| for (std::string shape_name : shape_names) { | ||
| std::string shape_type; | ||
|
|
| } | ||
| shapes_.push_back(circle); | ||
| } else { | ||
| RCLCPP_ERROR(get_logger(), "Please specify correct shape %s type", shape_name.c_str()); |
There was a problem hiding this comment.
In the log, give the options so they can fix it fast
|
|
||
| for (auto shape : shapes_) { | ||
| shape->getBoundaries(min_p_x, min_p_y, max_p_x, max_p_y); | ||
| if (min_p_x < min_x) { |
There was a problem hiding this comment.
std::min and std::max would be more concise
| if (!map_) { | ||
| map_ = std::make_shared<nav_msgs::msg::OccupancyGrid>(); | ||
| } | ||
| if ( |
There was a problem hiding this comment.
Add space between if statements
|
|
||
| void VectorObjectServer::publishMap() | ||
| { | ||
| if (map_) { |
There was a problem hiding this comment.
Check also if map_pub_'s number of subscribers is > 0 to bother with the operation at all
| publishMap(); | ||
| } | ||
|
|
||
| void VectorObjectServer::switchMapUpdate() |
There was a problem hiding this comment.
I am a little baffled on this method.
Do you have an idea why we create a map_timer_ for each object who's frame ID doesn't match the current frame ID? It seems to override each other. We then instantly cancel it if it exists too... and processMap
| max_y = std::numeric_limits<double>::lowest(); | ||
|
|
||
| for (auto point : polygon_->points) { | ||
| if (point.x < min_x) { |
Basic Info
Description of contribution in a few bullet points
Just the commits from #3930
Description of documentation updates required from your changes
Future work that may be required in bullet points
For Maintainers: