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Change topic type and name #56

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Sep 1, 2024
Merged

Change topic type and name #56

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6 changes: 3 additions & 3 deletions wall_tracking_executor/include/wall_tracking_executor/wall_tracking_executor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@
#include <vector>
#include "wall_tracking_msgs/action/wall_tracking.hpp"
#include "wall_tracking_executor/ScanData.hpp"
#include <nav_msgs/msg/odometry.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <nav2_msgs/action/navigate_to_pose.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>

Expand Down Expand Up @@ -50,7 +50,7 @@ class WallTracking : public rclcpp::Node {
void pub_open_place_arrived(bool open_place_arrived);
void pub_open_place_detection(std::string open_place_detection);
void wall_tracking_flg_callback(std_msgs::msg::Bool::ConstSharedPtr msg);
void odom_gnss_callback(nav_msgs::msg::Odometry::ConstSharedPtr msg);
void gnss_pose_with_covariance_callback(geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr msg);
void goal_pose_callback(geometry_msgs::msg::PoseStamped::ConstSharedPtr msg);
void cancel_nav();
void resume_nav();
Expand Down Expand Up @@ -96,7 +96,7 @@ void nav_execute(
rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr open_place_arrived_pub_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr open_place_detection_pub_;
rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr wall_tracking_flg_sub_;
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_gnss_sub_;
rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr gnss_pose_with_covariance_sub_;
rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr goal_pose_sub_;

rclcpp_action::Server<WallTrackingAction>::SharedPtr wall_tracking_action_srv_;
Expand Down
16 changes: 8 additions & 8 deletions wall_tracking_executor/src/wall_tracking_executor.cpp
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Expand Up @@ -82,9 +82,9 @@ void WallTracking::init_sub()
wall_tracking_flg_sub_ = this->create_subscription<std_msgs::msg::Bool>(
"wall_tracking_flg", rclcpp::QoS(10),
std::bind(&WallTracking::wall_tracking_flg_callback, this, std::placeholders::_1));
odom_gnss_sub_ = this->create_subscription<nav_msgs::msg::Odometry>(
"odom/gnss", rclcpp::QoS(10),
std::bind(&WallTracking::odom_gnss_callback, this, std::placeholders::_1));
gnss_pose_with_covariance_sub_ = this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
"gnss_pose_with_covariance", rclcpp::QoS(10),
std::bind(&WallTracking::gnss_pose_with_covariance_callback, this, std::placeholders::_1));
goal_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>(
"goal_pose", rclcpp::QoS(1),
std::bind(&WallTracking::goal_pose_callback, this, std::placeholders::_1));
Expand Down Expand Up @@ -158,7 +158,7 @@ void WallTracking::scan_callback(sensor_msgs::msg::LaserScan::ConstSharedPtr msg
// float p = scan_data_->openPlaceCheck(-90., 90., open_place_distance_, per, mean);
scan_data_->openPlaceCheck(-90., 90., open_place_distance_, per, mean);
open_place_ = !open_place_ ? (per >= 0.7) : per >= 0.4;
if(gnss_nan_) open_place_ = false;
// if(gnss_nan_) open_place_ = false;
cmd_vel_ = !open_place_ ? max_linear_vel_ : vel_open_place_;
}
pub_open_place_arrived(open_place_);
Expand All @@ -178,7 +178,7 @@ void WallTracking::gnss_callback(sensor_msgs::msg::NavSatFix::ConstSharedPtr msg
// RCLCPP_INFO(this->get_logger(), "outdoor: %d", outdoor_);
}

void WallTracking::odom_gnss_callback(nav_msgs::msg::Odometry::ConstSharedPtr msg)
void WallTracking::gnss_pose_with_covariance_callback(geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr msg)
{
if(std::isnan(msg->pose.pose.position.x) && std::isnan(msg->pose.pose.position.y)) gnss_nan_ = true;
else gnss_nan_ = false;
Expand Down Expand Up @@ -247,7 +247,7 @@ void WallTracking::navigateOpenPlace()
scan_data_->openPlaceCheck(detection_div_deg_[i], detection_div_deg_[i+1], open_place_distance_, per, mean);
evals[j] = per < 0.7 ? -1. : per;
means[j] = mean;
RCLCPP_INFO(this->get_logger(), "Range %d : eval=%lf, mean=%lf", j+1, evals[j], means[j]);
// RCLCPP_INFO(this->get_logger(), "Range %d : eval=%lf, mean=%lf", j+1, evals[j], means[j]);
++j;
}
auto max_iter = std::max_element(evals.begin(), evals.end());
Expand Down Expand Up @@ -303,9 +303,8 @@ void WallTracking::handle_accepted(
void WallTracking::execute(
const std::shared_ptr<GoalHandleWallTracking> goal_handle)
{
// cancel_nav();
cancel_nav();
// rclcpp::sleep_for(5000ms);
// resume_nav();
RCLCPP_INFO(this->get_logger(), "EXECUTE");
const auto goal = goal_handle->get_goal();
auto feedback = std::make_shared<WallTrackingAction::Feedback>();
Expand All @@ -320,6 +319,7 @@ void WallTracking::execute(
goal_handle->canceled(result);
pub_cmd_vel(0.0, 0.0);
RCLCPP_INFO(this->get_logger(), "Goal Canceled");
resume_nav();
return;
}
loop_rate.sleep();
Expand Down
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