feat(dc_measurements): add Mission Measurement NavigateThroughPoses adapter - #404
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…dapter (#388) Adds `mission_nav2_through_poses` (class MissionNav2ThroughPoses), a passive rclcpp_action-topic observer emitting mission_start/mission_end Records for nav2's NavigateThroughPoses action, in #387's Record schema with mission_type: "navigate_through_poses". Watches the action's own _action/status + _action/feedback topics and _action/get_result service rather than sending a competing goal, so it never preempts the real navigation client. Closes #388 Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_012q87RuoZxzfQEBotiaS88u Signed-off-by: David Bensoussan <d.bensoussan@proton.me>
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…2_msgs CI's real Jazzy build failed with a missing-header error for nav2_msgs/msg/waypoint_status.hpp. The earlier field verification fetched ros-navigation/navigation2 without pinning a ref, resolving to its default (rolling) branch rather than the jazzy branch this repo's rosdep actually installs -- on jazzy, NavigateThroughPoses::Result has no waypoint_statuses field at all. Removed it from the core, plugin, schema, tests, and docs rather than working around a field that doesn't exist on the nav2 this repo targets; every other field (error_code/error_msg/number_of_recoveries, action_msgs' status_list/goal_info/goal_id) was re-verified against the jazzy branch directly and is unaffected. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_012q87RuoZxzfQEBotiaS88u Signed-off-by: David Bensoussan <d.bensoussan@proton.me>
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+ Coverage 68.09% 68.71% +0.62%
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… fixture CI's colcon test failed all 7 test_measurement_mission_nav2_through_poses cases with "goal_handle attempted invalid transition from state EXECUTING with event EXECUTE". The fake action-server fixture's handle_goal callback returns ACCEPT_AND_EXECUTE, which rcl_action already uses to drive the goal handle from ACCEPTED to EXECUTING before handle_accepted runs; calling execute() again there was a second EXECUTE event on an already-EXECUTING goal handle, which rcl_action treats as a hard error rather than a no-op. The plugin under test was never at fault. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_012q87RuoZxzfQEBotiaS88u Signed-off-by: David Bensoussan <d.bensoussan@proton.me>
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Summary
dc_measurementsplugin,mission_nav2_through_poses(classMissionNav2ThroughPoses), watching nav2'sNavigateThroughPosesaction and emittingmission_start/mission_endRecords in Add the Mission Measurement: nav2 adapter (mission_start/mission_end Records) #387's Record schema, withmission_type: "navigate_through_poses".rclcpp_action::Clientcompeting for the action server's single active goal: it subscribes to the action's
own
_action/status/_action/feedbacktopics and calls_action/get_resultdirectly, rather than sending its own goal (which would preempt whatever real
navigation client — BT navigator, fleet orchestrator — is actually driving the
robot). All generated-message field names used were cross-checked against the real
.msg/.actiondefinitions inros-navigation/navigation2andros2/rcl_interfaces/ros2/unique_identifier_msgson GitHub.mission_nav2_through_poses_core.hpp) interprets goal-status/resultinto
mission_start/mission_endfacts, following Two ROS-free modules in dc_common: StateTransitionDetector and BatteryCycleAccumulator #360'sStateTransitionDetector/BatteryCycleAccumulatorsplit precedent.mission_nav2_through_poses.json), doc page, and both a ROS-freecore unit test and a
MeasurementServerintegration test using a realrclcpp_action::Serverfixture standing in for nav2.Closes #388
Test plan
git add -A && prek run --all-files --skip build-docpasses cleancolcon build --packages-select dc_measurements(no ROS 2 toolchain available inthe sandbox this was written in — see
progress.txt's Add the Mission Measurement: NavigateThroughPoses adapter #388 entry for what wasverified without it)
colcon test --packages-select dc_measurements(new tests:dc_measurements_test_mission_nav2_through_poses_core,dc_measurements_test_measurement_mission_nav2_through_poses)🤖 Generated with Claude Code
https://claude.ai/code/session_012q87RuoZxzfQEBotiaS88u