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ported to new checkpoint msg #2

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ported to new checkpoint msg #2

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1 change: 1 addition & 0 deletions mbf_abstract_nav/include/mbf_abstract_nav/controller_action.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@
#include "mbf_abstract_nav/robot_information.h"
#include <actionlib/server/action_server.h>
#include <forklift_interfaces/NavigateAction.h>
#include <tf2/LinearMath/Quaternion.h>

namespace mbf_abstract_nav{

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1 change: 1 addition & 0 deletions mbf_abstract_nav/include/mbf_abstract_nav/move_base_action.h
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Expand Up @@ -47,6 +47,7 @@
#include <mbf_msgs/GetPathAction.h>
#include <forklift_interfaces/NavigateAction.h>
#include <mbf_msgs/RecoveryAction.h>
#include <tf2/LinearMath/Quaternion.h>

#include "mbf_abstract_nav/MoveBaseFlexConfig.h"
#include "mbf_abstract_nav/robot_information.h"
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20 changes: 18 additions & 2 deletions mbf_abstract_nav/src/controller_action.cpp
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Expand Up @@ -79,7 +79,15 @@ void ControllerAction::start(
std::vector<geometry_msgs::PoseStamped> goal_path;
for(std::size_t it = 0; it<goal.path.checkpoints.size(); it++)
{
goal_path.push_back(goal.path.checkpoints[it].pose);
geometry_msgs::PoseStamped checkpoint_posestamped;
checkpoint_posestamped.header.frame_id = "map";
checkpoint_posestamped.pose.position.x = goal.path.checkpoints[it].pose.x;
checkpoint_posestamped.pose.position.y = goal.path.checkpoints[it].pose.y;
tf2::Quaternion q;
q.setRPY( 0, 0, goal.path.checkpoints[it].pose.theta );
q.normalize();
checkpoint_posestamped.pose.orientation = tf2::toMsg(q);
goal_path.push_back(checkpoint_posestamped);
}
execution_ptr->setNewPlan(goal_path);
// Update also goal pose, so the feedback remains consistent
Expand Down Expand Up @@ -130,7 +138,15 @@ void ControllerAction::run(GoalHandle &goal_handle, AbstractControllerExecution
std::vector<geometry_msgs::PoseStamped> goal_path;
for (int it = 0; it < goal.path.checkpoints.size(); it++)
{
goal_path.push_back(goal.path.checkpoints[it].pose);
geometry_msgs::PoseStamped checkpoint_posestamped;
checkpoint_posestamped.header.frame_id = "map";
checkpoint_posestamped.pose.position.x = goal.path.checkpoints[it].pose.x;
checkpoint_posestamped.pose.position.y = goal.path.checkpoints[it].pose.y;
tf2::Quaternion q;
q.setRPY( 0, 0, goal.path.checkpoints[it].pose.theta );
q.normalize();
checkpoint_posestamped.pose.orientation = tf2::toMsg(q);
goal_path.push_back(checkpoint_posestamped);
}

const std::vector<geometry_msgs::PoseStamped> &plan = goal_path;
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16 changes: 14 additions & 2 deletions mbf_abstract_nav/src/move_base_action.cpp
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Expand Up @@ -263,7 +263,13 @@ void MoveBaseAction::actionGetPathDone(
navigate_goal_.path.header = result.path.header; //TODO handle conversion from nav_msgs/Path to NavigatePath/Path
for(std::size_t it=0; it<result.path.poses.size(); it++)
{
navigate_goal_.path.checkpoints[it].pose = result.path.poses[it];
navigate_goal_.path.checkpoints[it].pose.x = result.path.poses[it].pose.position.x;
navigate_goal_.path.checkpoints[it].pose.y = result.path.poses[it].pose.position.y;
tf2::Quaternion qp(result.path.poses[it].pose.orientation.x, result.path.poses[it].pose.orientation.y, result.path.poses[it].pose.orientation.z, result.path.poses[it].pose.orientation.w);
tf2::Matrix3x3 mp(qp);
double roll, pitch, yaw;
mp.getRPY(roll, pitch, yaw);
navigate_goal_.path.checkpoints[it].pose.theta = yaw;
}
ROS_DEBUG_STREAM_NAMED("move_base", "Action \""
<< "move_base\" sends the path to \""
Expand Down Expand Up @@ -579,7 +585,13 @@ void MoveBaseAction::actionGetPathReplanningDone(
navigate_goal_.path.header = result->path.header; //TODO handle conversion from nav_msgs/Path to NavigatePath/Path
for(std::size_t it=0; it<result->path.poses.size(); it++)
{
navigate_goal_.path.checkpoints[it].pose = result->path.poses[it];
navigate_goal_.path.checkpoints[it].pose.x = result->path.poses[it].pose.position.x;
navigate_goal_.path.checkpoints[it].pose.y = result->path.poses[it].pose.position.y;
tf2::Quaternion qp(result->path.poses[it].pose.orientation.x, result->path.poses[it].pose.orientation.y, result->path.poses[it].pose.orientation.z,result->path.poses[it].pose.orientation.w);
tf2::Matrix3x3 mp(qp);
double roll, pitch, yaw;
mp.getRPY(roll, pitch, yaw);
navigate_goal_.path.checkpoints[it].pose.theta = yaw;
}
forklift_interfaces::NavigateGoal goal(navigate_goal_);
action_client_navigate_.sendGoal(
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