ROS2 Trapezoidal planner + mobility testing #704

marinagmoreira · 2023-03-22T00:20:39Z

No description provided.

…pp::Time

…oidal should be converted now, but waiting for other dependencies for testing

… config_server

…_export_dependencies to choreographer

…ility

…re we can't subtract different types of time

marinagmoreira · 2023-03-30T00:21:08Z

To test this:
ros2 launch astrobee sim.launch.py debug:=true gtloc:=true pose:="10.5 -9 4.5 0 0 0"
ros2 run mobility teleop -move -pos "10.5 -7 4.5" -att "1 0 0 0" -novalidate -nocollision

Did A LOT of things in this PR:

Made update rate for sim actually 125Hz which fixed all the update rates
Converted mapper, planner.h and trapezoidal_planner
multiple other fixes

bcoltin

Looks good! Just a few things I noticed that I think should be pretty easy to fix.

bcoltin · 2023-03-30T19:54:05Z

gnc/ctl/src/ctl_component.cc

@@ -30,7 +30,7 @@ class CtlComponent : public ff_util::FreeFlyerComponent {
  explicit CtlComponent(const rclcpp::NodeOptions & options) : ff_util::FreeFlyerComponent(options, NODE_CTL) {}
  ~CtlComponent() {}
  // This is called when the nodelet is loaded into the nodelet manager
-  void Initialize(NodeHandle nh) {
+  void Initialize(NodeHandle &nh) {


C++ is the worst language

mobility/choreographer/include/choreographer/planner.h

mobility/mapper/src/octoclass.cc

mobility/mobility/CMakeLists.txt

mobility/mobility/tools/teleop.cc

shared/ff_util/include/ff_util/config_client.h

shared/ff_util/include/ff_util/ff_action.h

mobility/choreographer/CMakeLists.txt

mobility/choreographer/include/choreographer/planner.h

mobility/mapper/CMakeLists.txt

mobility/mapper/src/octoclass.cc

mobility/mobility/tools/teleop.cc

mobility/planner_trapezoidal/src/planner_trapezoidal_component.cc

shared/ff_util/include/ff_util/ff_action.h

shared/ff_util/src/config_client/config_client.cc

…ility

joris997 and others added 30 commits February 19, 2023 15:05

initial work on trapezoidal, CMake and package.xml

8f7ed31

added trapezoidal launch.py file

81012f6

added trapezoidal header file, using rclcpp::Time

42fba4e

removed log files from most recent push

e1db1ff

changed ff_nodelet to ff_component

03dc426

removed more nodelet dependencies in package.xml and CMake

cfa00c7

removed comma in launch.py to avoid lint error?

e262be6

converted planner_trapezoid.cpp to ros2, only chaning import and rclc…

af5cf7f

…pp::Time

changed nodelet into component and rewrote core class methods, trapez…

7035294

…oidal should be converted now, but waiting for other dependencies for testing

trying to pass lint_check_cpp

f9959f2

many minor errors, still some issues with importing config_client and…

1583e02

… config_server

updates to actionlib, now need to pull upstream choreographer

8056eac

Merge branch 'ros2' into ros2-mobility

42a8801

upstream update

06479a9

push with updated CMakeLists (as general as possible) and added ament…

f557f40

…_export_dependencies to choreographer

Merge branch 'ros2' of https://github.com/nasa/astrobee into ros2-mob…

3087a00

…ility

trapezoidal planner compiling

2f94f1b

converting mobility - still issues

73e521a

mapper compiling

bd45e12

fixing runtime errors

01c97c1

choreographer comms with control + teleop tool; control crshing

fafd956

fixing pinv

4613305

debugging progress

e7e0241

disabling intra process communication

8c48c1b

fixing sim update rate

c411669

adding use_sim_time

428ce1f

adding _ to vars, and initializing them - was giving a ROS2 error whe…

d1a4a2b

…re we can't subtract different types of time

changing time method

0adadc5

add check to ff_timer

150d967

uncommenting the ConfigClient code

d9b34a1

fixing config client build

1a6ac4b

marinagmoreira marked this pull request as ready for review March 30, 2023 00:18

marinagmoreira requested review from bcoltin and kbrowne15 March 30, 2023 00:18

bcoltin requested changes Mar 30, 2023

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kbrowne15 reviewed Mar 30, 2023

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marinagmoreira added 2 commits March 31, 2023 10:53

comments from review

dfbc76a

removing old launchfiles

b6c361b

marinagmoreira mentioned this pull request Mar 31, 2023

ROS2 rclcpp::wait_for_message wait for implementation #714

Open

fixes from reviews

bf51ab4

marinagmoreira force-pushed the ros2-mobility branch from a48068b to bf51ab4 Compare March 31, 2023 18:06

marinagmoreira added 4 commits March 31, 2023 11:15

fixes from comments3

1f05987

delete diagnostics

68e0767

fixing cmake dependencies + converting plangen

d58d21d

Merge branch 'ros2' of https://github.com/nasa/astrobee into ros2-mob…

6a20b7d

…ility

marinagmoreira requested review from bcoltin and kbrowne15 March 31, 2023 20:51

moving logger out of planner.h

23c0eb7

bcoltin approved these changes Mar 31, 2023

View reviewed changes

kbrowne15 approved these changes Mar 31, 2023

View reviewed changes

marinagmoreira merged commit 7d1362a into nasa:ros2 Apr 3, 2023

kbrowne15 mentioned this pull request Apr 3, 2023

Figure out how to send progress in motion action feedback #711

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ROS2 Trapezoidal planner + mobility testing #704

ROS2 Trapezoidal planner + mobility testing #704

marinagmoreira commented Mar 22, 2023

marinagmoreira commented Mar 30, 2023

bcoltin left a comment

bcoltin Mar 30, 2023

ROS2 Trapezoidal planner + mobility testing #704

ROS2 Trapezoidal planner + mobility testing #704

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marinagmoreira commented Mar 22, 2023

marinagmoreira commented Mar 30, 2023

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