Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[ROS2] Backport removal of viewpoint object #47

Merged
merged 1 commit into from
Feb 21, 2024
Merged

[ROS2] Backport removal of viewpoint object #47

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
183 changes: 0 additions & 183 deletions terrain_navigation/include/terrain_navigation/viewpoint.h
View file
Open in desktop

This file was deleted.

97 changes: 0 additions & 97 deletions terrain_navigation/include/terrain_navigation/visualization.h
View file
Open in desktop

This file was deleted.

9 changes: 0 additions & 9 deletions terrain_navigation_ros/include/terrain_navigation_ros/terrain_planner.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,6 @@
#define TERRAIN_PLANNER_H

#include <terrain_navigation/profiler.h>
#include <terrain_navigation/viewpoint.h>
#include <terrain_planner/common.h>
#include <terrain_planner/terrain_ompl_rrt.h>
#include <terrain_planner/visualization.h>
Expand Down Expand Up @@ -100,7 +99,6 @@ class TerrainPlanner : public rclcpp::Node {
void mavstateCallback(const mavros_msgs::msg::State &msg);
void mavGlobalOriginCallback(const geographic_msgs::msg::GeoPointStamped &msg);
void mavMissionCallback(const mavros_msgs::msg::WaypointList &msg);
void mavImageCapturedCallback(const mavros_msgs::msg::CameraImageCaptured &msg);

bool setLocationCallback(const std::shared_ptr<planner_msgs::srv::SetString::Request> req,
std::shared_ptr<planner_msgs::srv::SetString::Response> res);
Expand Down Expand Up @@ -177,7 +175,6 @@ class TerrainPlanner : public rclcpp::Node {
rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr vehicle_path_pub_;
rclcpp::Publisher<grid_map_msgs::msg::GridMap>::SharedPtr grid_map_pub_;
rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr vehicle_pose_pub_;
rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr camera_pose_pub_;
rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr posehistory_pub_;
rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr referencehistory_pub_;
rclcpp::Publisher<mavros_msgs::msg::GlobalPositionTarget>::SharedPtr global_position_setpoint_pub_;
Expand All @@ -187,8 +184,6 @@ class TerrainPlanner : public rclcpp::Node {
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr rallypoint_pub_;
rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr candidate_goal_pub_;
rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr candidate_start_pub_;
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr viewpoint_pub_;
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr planned_viewpoint_pub_;
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr tree_pub_;
rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr vehicle_velocity_pub_;
rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr path_segment_pub_;
Expand All @@ -199,7 +194,6 @@ class TerrainPlanner : public rclcpp::Node {
rclcpp::Subscription<mavros_msgs::msg::State>::SharedPtr mavstate_sub_;
rclcpp::Subscription<mavros_msgs::msg::WaypointList>::SharedPtr mavmission_sub_;
rclcpp::Subscription<geographic_msgs::msg::GeoPointStamped>::SharedPtr global_origin_sub_;
rclcpp::Subscription<mavros_msgs::msg::CameraImageCaptured>::SharedPtr image_captured_sub_;

rclcpp::Service<planner_msgs::srv::SetString>::SharedPtr setlocation_serviceserver_;
rclcpp::Service<planner_msgs::srv::SetString>::SharedPtr setmaxaltitude_serviceserver_;
Expand Down Expand Up @@ -257,11 +251,8 @@ class TerrainPlanner : public rclcpp::Node {
std::mutex goal_mutex_; // protects g_i

std::vector<Eigen::Vector3d> vehicle_position_history_;
std::vector<ViewPoint> added_viewpoint_list;
std::vector<ViewPoint> planned_viewpoint_list;
std::vector<geometry_msgs::msg::PoseStamped> posehistory_vector_;
std::vector<geometry_msgs::msg::PoseStamped> referencehistory_vector_;
std::vector<ViewPoint> viewpoints_;
Eigen::Vector3d vehicle_position_{Eigen::Vector3d::Zero()};
Eigen::Vector3d vehicle_velocity_{Eigen::Vector3d::Zero()};
Eigen::Vector4d vehicle_attitude_{Eigen::Vector4d(1.0, 0.0, 0.0, 0.0)};
Expand Down
12 changes: 0 additions & 12 deletions terrain_navigation_ros/include/terrain_navigation_ros/visualization.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,8 +34,6 @@
#ifndef TERRAIN_NAVIGATION_ROS_VISUALIZATION_H
#define TERRAIN_NAVIGATION_ROS_VISUALIZATION_H

#include <terrain_navigation/viewpoint.h>

#include <Eigen/Dense>
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/pose.hpp>
Expand All @@ -53,14 +51,4 @@ void publishVehiclePose(rclcpp::Publisher<visualization_msgs::msg::Marker>::Shar
const Eigen::Vector3d &position, const Eigen::Vector4d &attitude,
std::string mesh_resource_path);

visualization_msgs::msg::Marker Viewpoint2MarkerMsg(int id, ViewPoint &viewpoint,
Eigen::Vector3d color = Eigen::Vector3d(0.0, 0.0, 1.0));

void publishCameraView(rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr pub,
const Eigen::Vector3d &position, const Eigen::Vector4d &attitude);

void publishViewpoints(rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub,
std::vector<ViewPoint> &viewpoint_vector,
Eigen::Vector3d color = Eigen::Vector3d(0.0, 0.0, 1.0));

#endif
Loading