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| geometry_msgs/Point[] waypoint_trajectory | |||
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Do we want to store orientations too? I guess we need at least a yaw angle for the last position. We could change it too geometry_msgs/Pose[]
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Added a separate float array for headings for now, to keep it more readable. But I am open to replace with geometry_msgs/Pose
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| # hector_ros_controllers_msgs | |||
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Please provide a short overview of the msgs package.
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Also update the top-level readme to include the waypoint controller
| Waypoint() | ||
| { | ||
| x = 0.0; | ||
| y = 0.0; |
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What about the (final) orientation?
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Added headings to the waipoints
| geometry_msgs::msg::TransformStamped t; | ||
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| try { | ||
| t = tf_buffer_->lookupTransform( "map", base_link_frame_, tf2::TimePointZero ); |
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Prefer not to hardcode any frames.
| std::pow( goal.y - current_pose.y, 2 ) ) <= goal_completion_tolerance_; | ||
| } | ||
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| // Simple placeholder implementation for testing. Proper controllers should override this method. |
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Refactor this into a SimpleWayPointController Class?
This would enforce that the function must be implemented.
| total_distance += std::sqrt( std::pow( trajectory[i].x - trajectory[i - 1].x, 2 ) + | ||
| std::pow( trajectory[i].y - trajectory[i - 1].y, 2 ) ); | ||
| } | ||
| if ( total_distance <= 0.0 ) { |
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Not sure if this is valid. E.g a trajectory might only attempt to rotate the base.
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Added consideration for change in headings
| success = success && command_interfaces_[1].set_value( cmd.angual_vel_cmd ); // angular velocity | ||
| } | ||
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| // Implement command setting logic here |
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Removed deprecated comment
| } | ||
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| controller_interface::return_type | ||
| WaypointControllerBase::update( const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/ ) |
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Not sure if this applies to all controllers. I guess the base controllers themself should track their current goal. Also, the goal completion differs between intermediate and final waypoints.
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Added a boolean parameter to the check goal completion function. Should this also apply to the computed Commands? Then each controller can adjust their strategy using this information
…letetion function. Controllers override this function to implement specific behavior when completing the final goal in the trajectory. Refactored computeCommand simple implementation into new controller class
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