Add planner buttons

Created by: mrunaljsarvaiya

Add buttons to directly execute circle and lissajous planners. Arguments are passed in through comma separated string in rviz gui. This fixes https://github.com/arplaboratory/arpl_quadrotor_control/issues/224

here's a screenshot of what the gui should look like. the ui file has a alot of changes but I've only added buttons/text, not edited anything that was already present

assigned to @gli7

unassigned @gli7

requested review from @gli7

requested review from @gli7

Created by: Jm7752

Review: Changes requested

There are some problems with just writing in both Line 812/841 of waypoint_nav_frame_ros2.cpp

 auto result = client->async_send_request(request);

If the request is sent without a wait, then there is a possibility it will not be serviced. This gets worse if the two nodes are on a different computers. Like controller on drone and waypoint on your laptop. Please add an intelligent wait like the following

Please add the following line to after the

 auto result = client->async_send_request(request);
//Additionally wait change 300 mS to your desired wait value
 if(rclcpp::spin_until_future_complete(node->get_node_base_interface(), result,
   std::chrono::duration</*TimeRepT*/int64_t, /*TimeT*/ std::milli>(300))==
  rclcpp::FutureReturnCode::SUCCESS){
    RCLCPP_INFO(node->get_logger(), "%s Success callback", srvs_name.c_str());
  }
  else{    
    RCLCPP_ERROR(node->get_logger(), "%s Failed callback", srvs_name.c_str());  
  }
}

Created by: mrunaljsarvaiya

There are some problems with just writing in both Line 812/841 of waypoint_nav_frame_ros2.cpp

 auto result = client->async_send_request(request);

If the request is sent without a wait, then there is a possibility it will not be serviced. This gets worse if the two nodes are on a different computers. Like controller on drone and waypoint on your laptop. Please add an intelligent wait like the following

Please add the following line to after the

 auto result = client->async_send_request(request);
//Additionally wait change 300 mS to your desired wait value
 if(rclcpp::spin_until_future_complete(node->get_node_base_interface(), result,
   std::chrono::duration</*TimeRepT*/int64_t, /*TimeT*/ std::milli>(300))==
  rclcpp::FutureReturnCode::SUCCESS){
    RCLCPP_INFO(node->get_logger(), "%s Success callback", srvs_name.c_str());
  }
  else{    
    RCLCPP_ERROR(node->get_logger(), "%s Failed callback", srvs_name.c_str());  
  }
}

Got it, thanks for catching that! Just added it

Created by: Jm7752

Review: Approved

Created by: Jm7752

There are some problems with just writing in both Line 812/841 of waypoint_nav_frame_ros2.cpp

 auto result = client->async_send_request(request);

If the request is sent without a wait, then there is a possibility it will not be serviced. This gets worse if the two nodes are on a different computers. Like controller on drone and waypoint on your laptop. Please add an intelligent wait like the following Please add the following line to after the

 auto result = client->async_send_request(request);
//Additionally wait change 300 mS to your desired wait value
 if(rclcpp::spin_until_future_complete(node->get_node_base_interface(), result,
   std::chrono::duration</*TimeRepT*/int64_t, /*TimeT*/ std::milli>(300))==
  rclcpp::FutureReturnCode::SUCCESS){
    RCLCPP_INFO(node->get_logger(), "%s Success callback", srvs_name.c_str());
  }
  else{    
    RCLCPP_ERROR(node->get_logger(), "%s Failed callback", srvs_name.c_str());  
  }
}

Got it, thanks for catching that! Just added it

Ok sure thanks additional final edit in your picture here.

I think you forgot to add yaw_amp as one of the arguments on top. Everything else looks fine. Though I think the main branch of waypoint navigation plugin is master for both ROS1/ROS2. We can directly merge it in feature/ros2 for now, but the

master and feature/ros2 branches unfortunately have different plugin names. This is why station/simulator launch files do not automatically load your plugin because they are geared I think for the master version of the plugin names. We can fix this when we merge this branch to Master later on. Or you can stick to feature/ros2 and just manually load the plugin each time.

Merged by: Jm7752 at 2024-01-23 20:02:58 UTC

merged manually

closed