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some code refactoring aimed to have obstacles.cpp as a common file in…
… navLib added device simpleVelocityNavigationWithLaser
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app/simpleVelocityNavigationExamples/scripts/simpleVelocityNavigationExample2.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| <application> | ||
| <name>simpleVelocityNavigation (with Laser) EXAMPLE2</name> | ||
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| <dependencies> | ||
| </dependencies> | ||
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| <module> | ||
| <name>yarpdev</name> | ||
| <parameters>--device transformServer --ROS "(enable_ros_publisher 0)" "(enable_ros_subscriber 0)"</parameters> | ||
| <node>console</node> | ||
| </module> | ||
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| <module> | ||
| <name>yarpdev</name> | ||
| <parameters>--device fakeMotionControl --name /robot_2wheels/mobile_base --GENERAL::Joints 2</parameters> | ||
| <node>console</node> | ||
| </module> | ||
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| <module> | ||
| <name>baseControl</name> | ||
| <parameters>--context baseControl_SIM --from robot_2wheels.ini --skip_robot_interface_check</parameters> | ||
| <node>console</node> | ||
| </module> | ||
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| <module> | ||
| <name>yarpdev</name> | ||
| <parameters>--device localization2DServer --subdevice odomLocalizer --context simpleVelocityNavigationExamples --from localizationServer.ini</parameters> | ||
| <node>console</node> | ||
| </module> | ||
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| <module> | ||
| <name>yarpdev</name> | ||
| <parameters>--device map2DServer --mapCollectionContext mapsExample</parameters> | ||
| <node>console</node> | ||
| </module> | ||
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| <module> | ||
| <name>yarpdev</name> | ||
| <parameters>--device Rangefinder2DWrapper --subdevice fakeLaser --period 10 --name /robot_2wheels/laser:o --test use_mapfile --map_file C:\\software\\maps\\map_test.map</parameters> | ||
| <node>console</node> | ||
| </module> | ||
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| <module> | ||
| <name>yarpdev</name> | ||
| <parameters>--device navigation2DServer --subdevice simpleVelocityNavigationWithLaser --context simpleVelocityNavigationExamples --from simpleVelocityControl.ini</parameters> | ||
| <node>console</node> | ||
| </module> | ||
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| <connection> | ||
| <from>/simpleVelocityNavigation/control:o</from> | ||
| <to>/baseControl/control:i</to> | ||
| <protocol>udp</protocol> | ||
| </connection> | ||
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| <connection> | ||
| <from>/baseControl/odometry:o</from> | ||
| <to>/fakeLaser/location:i</to> | ||
| <protocol>tcp</protocol> | ||
| </connection> | ||
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| </application> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,19 +1,9 @@ | ||
| /* | ||
| * Copyright (C)2018 ICub Facility - Istituto Italiano di Tecnologia | ||
| * Author: Marco Randazzo | ||
| * email: [email protected] | ||
| * website: www.robotcub.org | ||
| * Permission is granted to copy, distribute, and/or modify this program | ||
| * under the terms of the GNU General Public License, version 2 or any | ||
| * later version published by the Free Software Foundation. | ||
| * | ||
| * A copy of the license can be found at | ||
| * http://www.robotcub.org/icub/license/gpl.txt | ||
| * | ||
| * This program is distributed in the hope that it will be useful, but | ||
| * WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General | ||
| * Public License for more details | ||
| • Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT) | ||
| • All rights reserved. | ||
| • | ||
| • This software may be modified and distributed under the terms of the | ||
| • GPL-2+ license. See the accompanying LICENSE file for details. | ||
| */ | ||
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| #include <yarp/os/LogStream.h> | ||
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@@ -133,19 +123,19 @@ void simpleVelocityNavigation::send_command(control_type control_data) | |
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| bool simpleVelocityNavigation::gotoTargetByAbsoluteLocation(yarp::dev::Map2DLocation loc) | ||
| { | ||
| yError() << "gotoTargetByAbsoluteLocation() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "gotoTargetByAbsoluteLocation() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::gotoTargetByRelativeLocation(double x, double y) | ||
| { | ||
| yError() << "gotoTargetByRelativeLocation() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "gotoTargetByRelativeLocation() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::gotoTargetByRelativeLocation(double x, double y, double theta) | ||
| { | ||
| yError() << "gotoTargetByRelativeLocation() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "gotoTargetByRelativeLocation() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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@@ -167,54 +157,54 @@ bool simpleVelocityNavigation::getNavigationStatus(yarp::dev::NavigationStatusEn | |
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| bool simpleVelocityNavigation::stopNavigation() | ||
| { | ||
| yError() << "stopNavigation() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "stopNavigation() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::getAbsoluteLocationOfCurrentTarget(yarp::dev::Map2DLocation& target) | ||
| { | ||
| yError() << "getAbsoluteLocationOfCurrentTarget() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "getAbsoluteLocationOfCurrentTarget() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::getRelativeLocationOfCurrentTarget(double& x, double& y, double& theta) | ||
| { | ||
| yError() << "getRelativeLocationOfCurrentTarget() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "getRelativeLocationOfCurrentTarget() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::getAllNavigationWaypoints(std::vector<yarp::dev::Map2DLocation>& waypoints) | ||
| { | ||
| yError() << "getAllNavigationWaypoints() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "getAllNavigationWaypoints() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::getCurrentNavigationWaypoint(yarp::dev::Map2DLocation& curr_waypoint) | ||
| { | ||
| yError() << "getCurrentNavigationWaypoint() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "getCurrentNavigationWaypoint() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::suspendNavigation(double time) | ||
| { | ||
| yError() << "suspendNavigation() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "suspendNavigation() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::resumeNavigation() | ||
| { | ||
| yError() << "resumeNavigation() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "resumeNavigation() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::recomputeCurrentNavigationPath() | ||
| { | ||
| yError() << "recomputeCurrentNavigationPath() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "recomputeCurrentNavigationPath() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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| bool simpleVelocityNavigation::getCurrentNavigationMap(yarp::dev::NavigationMapTypeEnum map_type, yarp::dev::MapGrid2D& map) | ||
| { | ||
| yError() << "getCurrentNavigationMap() Not implemented by simpleVelocityNavigation"; | ||
| yError() << "getCurrentNavigationMap() Not implemented by " << m_localName; | ||
| return NOT_IMPLEMENTED; | ||
| } | ||
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