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feat(default_ad_api_helpers): support goal modification for rviz #3370

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Apr 13, 2023
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feat(default_ad_api_helpers): support goal modification for rviz #3370

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13 changes: 7 additions & 6 deletions system/default_ad_api_helpers/ad_api_adaptors/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,10 @@ When a goal pose topic is received, reset the waypoints and call the API.
When a waypoint pose topic is received, append it to the end of the waypoints to call the API.
The clear API is called automatically before setting the route.

| Interface | Local Name | Global Name | Description |
| ------------ | ---------------- | ------------------------------------- | --------------------------- |
| Subscription | ~/input/goal | /planning/mission_planning/goal | The goal pose of route. |
| Subscription | ~/input/waypoint | /planning/mission_planning/checkpoint | The waypoint pose of route. |
| Client | - | /api/routing/clear_route | The route clear API. |
| Client | - | /api/routing/set_route_points | The route points set API. |
| Interface | Local Name | Global Name | Description |
| ------------ | ------------------ | ------------------------------------- | -------------------------------------------------- |
| Subscription | ~/input/fixed_goal | /planning/mission_planning/goal | The goal pose of route. Disable goal modification. |
| Subscription | ~/input/rough_goal | /rviz/routing/rough_goal | The goal pose of route. Enable goal modification. |
| Subscription | ~/input/waypoint | /planning/mission_planning/checkpoint | The waypoint pose of route. |
| Client | - | /api/routing/clear_route | The route clear API. |
| Client | - | /api/routing/set_route_points | The route points set API. |
3 changes: 2 additions & 1 deletion system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml
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Expand Up @@ -9,7 +9,8 @@
<remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
</node>
<node pkg="ad_api_adaptors" exec="routing_adaptor" name="routing_adaptor">
<remap from="~/input/goal" to="/planning/mission_planning/goal"/>
<remap from="~/input/fixed_goal" to="/planning/mission_planning/goal"/>
<remap from="~/input/rough_goal" to="/rviz/routing/rough_goal"/>
<remap from="~/input/waypoint" to="/planning/mission_planning/checkpoint"/>
</node>
</group>
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22 changes: 18 additions & 4 deletions system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp
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Expand Up @@ -21,10 +21,14 @@ namespace ad_api_adaptors

RoutingAdaptor::RoutingAdaptor() : Node("routing_adaptor")
{
sub_goal_ = create_subscription<PoseStamped>(
"~/input/goal", 5, std::bind(&RoutingAdaptor::on_goal, this, std::placeholders::_1));
using std::placeholders::_1;

sub_fixed_goal_ = create_subscription<PoseStamped>(
"~/input/fixed_goal", 3, std::bind(&RoutingAdaptor::on_fixed_goal, this, _1));
sub_rough_goal_ = create_subscription<PoseStamped>(
"~/input/rough_goal", 3, std::bind(&RoutingAdaptor::on_rough_goal, this, _1));
sub_waypoint_ = create_subscription<PoseStamped>(
"~/input/waypoint", 5, std::bind(&RoutingAdaptor::on_waypoint, this, std::placeholders::_1));
"~/input/waypoint", 10, std::bind(&RoutingAdaptor::on_waypoint, this, _1));

const auto adaptor = component_interface_utils::NodeAdaptor(this);
adaptor.init_cli(cli_route_);
Expand Down Expand Up @@ -65,12 +69,22 @@ void RoutingAdaptor::on_timer()
}
}

void RoutingAdaptor::on_goal(const PoseStamped::ConstSharedPtr pose)
void RoutingAdaptor::on_fixed_goal(const PoseStamped::ConstSharedPtr pose)
{
request_timing_control_ = 1;
route_->header = pose->header;
route_->goal = pose->pose;
route_->waypoints.clear();
route_->option.allow_goal_modification = false;
}

void RoutingAdaptor::on_rough_goal(const PoseStamped::ConstSharedPtr pose)
{
request_timing_control_ = 1;
route_->header = pose->header;
route_->goal = pose->pose;
route_->waypoints.clear();
route_->option.allow_goal_modification = true;
}

void RoutingAdaptor::on_waypoint(const PoseStamped::ConstSharedPtr pose)
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6 changes: 4 additions & 2 deletions system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
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Expand Up @@ -39,7 +39,8 @@ class RoutingAdaptor : public rclcpp::Node
component_interface_utils::Client<SetRoutePoints>::SharedPtr cli_route_;
component_interface_utils::Client<ClearRoute>::SharedPtr cli_clear_;
component_interface_utils::Subscription<RouteState>::SharedPtr sub_state_;
rclcpp::Subscription<PoseStamped>::SharedPtr sub_goal_;
rclcpp::Subscription<PoseStamped>::SharedPtr sub_fixed_goal_;
rclcpp::Subscription<PoseStamped>::SharedPtr sub_rough_goal_;
rclcpp::Subscription<PoseStamped>::SharedPtr sub_waypoint_;
rclcpp::TimerBase::SharedPtr timer_;

Expand All @@ -49,7 +50,8 @@ class RoutingAdaptor : public rclcpp::Node
RouteState::Message::_state_type state_;

void on_timer();
void on_goal(const PoseStamped::ConstSharedPtr pose);
void on_fixed_goal(const PoseStamped::ConstSharedPtr pose);
void on_rough_goal(const PoseStamped::ConstSharedPtr pose);
void on_waypoint(const PoseStamped::ConstSharedPtr pose);
};

Expand Down