ROS2 docking manager plugins #394
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Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
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Sequence Diagram(s)sequenceDiagram
participant User
participant BehaviorTree
participant DockRobot
participant ActionServer
User->>BehaviorTree: Initiate Docking
BehaviorTree->>DockRobot: Set Goal
DockRobot->>ActionServer: Send Goal
ActionServer-->>DockRobot: Goal Accepted
DockRobot->>ActionServer: Monitor Result
ActionServer-->>DockRobot: Result Success
DockRobot-->>BehaviorTree: Notify Success
BehaviorTree-->>User: Docking Complete
sequenceDiagram
participant User
participant BehaviorTree
participant UndockRobot
participant ActionServer
User->>BehaviorTree: Initiate Undocking
BehaviorTree->>UndockRobot: Set Goal
UndockRobot->>ActionServer: Send Goal
ActionServer-->>UndockRobot: Goal Accepted
UndockRobot->>ActionServer: Monitor Result
ActionServer-->>UndockRobot: Result Success
UndockRobot-->>BehaviorTree: Notify Success
BehaviorTree-->>User: Undocking Complete
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Actionable comments posted: 2
Outside diff range, codebase verification and nitpick comments (7)
panther_manager/src/plugins/action/undock_robot_action_node.cpp (2)
39-51: Consider logging additional result details.In
onResultReceived, while the success and error code are set, consider logging additional details from the result to aid in debugging and monitoring.
60-63: Consider expandingonHaltfunctionality.The
onHaltmethod currently logs a message. Consider adding any necessary cleanup or state reset logic if applicable.panther_manager/include/panther_manager/plugins/action/undock_robot_action_node.hpp (1)
29-61: Add documentation for class methods.The methods in
UndockRobotActionlack documentation. Adding comments explaining the purpose and usage of each method would improve readability and maintainability.panther_manager/include/panther_manager/plugins/action/dock_robot_action_node.hpp (1)
29-65: Add documentation for class methods.The methods in
DockRobotActionlack documentation. Adding comments explaining the purpose and usage of each method would improve readability and maintainability.panther_manager/src/plugins/action/dock_robot_action_node.cpp (2)
63-76: Consider logging additional result details.In
onResultReceived, while the success and error code are set, consider logging additional details from the result to aid in debugging and monitoring.
85-88: Consider expandingonHaltfunctionality.The
onHaltmethod currently logs a message. Consider adding any necessary cleanup or state reset logic if applicable.panther_manager/test/utils/plugin_test_utils.hpp (1)
161-161: Document new member variableserver_.The new member variable
server_should be documented to clarify its purpose and usage within the class.
Review details
Configuration used: .coderabbit.yaml
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Files selected for processing (8)
- panther_manager/CMakeLists.txt (3 hunks)
- panther_manager/include/panther_manager/plugins/action/dock_robot_action_node.hpp (1 hunks)
- panther_manager/include/panther_manager/plugins/action/undock_robot_action_node.hpp (1 hunks)
- panther_manager/src/plugins/action/dock_robot_action_node.cpp (1 hunks)
- panther_manager/src/plugins/action/undock_robot_action_node.cpp (1 hunks)
- panther_manager/test/plugins/action/test_dock_robot_action_node.cpp (1 hunks)
- panther_manager/test/plugins/action/test_undock_robot_action_node.cpp (1 hunks)
- panther_manager/test/utils/plugin_test_utils.hpp (3 hunks)
Additional comments not posted (22)
panther_manager/src/plugins/action/undock_robot_action_node.cpp (1)
53-58: Verify error handling coverage inonFailure.The
onFailuremethod logs the error but does not take any corrective action. Ensure that this behavior aligns with the overall error handling strategy.panther_manager/src/plugins/action/dock_robot_action_node.cpp (1)
78-83: Verify error handling coverage inonFailure.The
onFailuremethod logs the error but does not take any corrective action. Ensure that this behavior aligns with the overall error handling strategy.panther_manager/test/utils/plugin_test_utils.hpp (1)
117-133: Ensure thread safety inCreateAction.The
CreateActionmethod creates a new node and executor thread. Ensure that the node and executor are properly managed and consider potential thread safety issues.panther_manager/test/plugins/action/test_undock_robot_action_node.cpp (6)
67-78: Test caseGoodLoadingUndockRobotActionPluginis well-implemented.The test correctly verifies that the
UndockRobotActionplugin loads without exceptions when provided with valid parameters.
80-91: Test caseWrongLoadingUndockRobotActionPluginis correctly implemented.The test verifies that a
BT::RuntimeErroris thrown when an invalid action name is used.
93-109: Test caseWrongCallUndockRobotActionServerNotInitializedis valid.The test correctly expects a failure status when the action server is not initialized.
111-128: Test caseWrongCallUndockRobotActionServerWithNoDockTypeis correctly implemented.The test verifies that a failure status is returned when the
dock_typeparameter is empty.
130-146: Test caseCallUndockRobotActionServerFailureis valid.The test correctly expects a failure status when the goal response is rejected.
148-165: Test caseCallUndockRobotActionServerSuccessis well-implemented.The test correctly expects a success status when the action server processes the request successfully.
panther_manager/test/plugins/action/test_dock_robot_action_node.cpp (9)
68-81: Test caseGoodLoadingDockRobotActionPluginis well-implemented.The test correctly verifies that the
DockRobotActionplugin loads without exceptions when provided with valid parameters.
84-95: Test caseWrongLoadingDockRobotActionPluginis correctly implemented.The test verifies that a
BT::RuntimeErroris thrown when an invalid action name is used.
97-115: Test caseWrongCallDockRobotActionServerNotInitializedis valid.The test correctly expects a failure status when the action server is not initialized.
117-134: Test caseWrongCallDockRobotActionServerWithNoDockIDis correctly implemented.The test verifies that a failure status is returned when the
dock_idparameter is missing.
136-153: Test caseCallDockRobotActionServerWithoutDockIDis valid.The test correctly expects a success status when the
use_dock_idparameter is set to false.
155-175: Test caseCallDockRobotActionServerWithEmptyDockIDis correctly implemented.The test verifies that a failure status is returned when the
dock_idparameter is empty.
177-197: Test caseCallDockRobotActionServerWithEmptyDockTypeis correctly implemented.The test verifies that a failure status is returned when the
dock_typeparameter is empty.
199-217: Test caseCallDockRobotActionServerWithNavigateToStagingPoseFailureis valid.The test correctly expects a failure status when the goal response is rejected.
220-239: Test caseCallDockRobotActionServerWithNavigateToStagingPoseSuccessis well-implemented.The test correctly expects a success status when the action server processes the request successfully.
panther_manager/CMakeLists.txt (4)
20-21: Addition ofopennav_docking_msgsto dependencies is appropriate.The inclusion of
opennav_docking_msgsis necessary for the new docking and undocking functionalities.
59-61: Addition ofdock_robot_bt_nodelibrary is appropriate.The new shared library supports the docking action node functionality.
63-65: Addition ofundock_robot_bt_nodelibrary is appropriate.The new shared library supports the undocking action node functionality.
148-160: Addition of test cases for docking and undocking action nodes is appropriate.The new test configurations ensure that the functionalities are covered by unit tests, enhancing robustness.
panther_manager/src/plugins/action/undock_robot_action_node.cpp
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panther_manager/include/panther_manager/plugins/action/dock_robot_action_node.hpp
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panther_manager/include/panther_manager/plugins/action/dock_robot_action_node.hpp
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panther_manager/test/plugins/action/test_dock_robot_action_node.cpp
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panther_manager/test/plugins/action/test_dock_robot_action_node.cpp
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panther_manager/test/plugins/action/test_dock_robot_action_node.cpp
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| changed DockRobotAction to DockRobot Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
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Actionable comments posted: 0
Outside diff range, codebase verification and nitpick comments (1)
panther_manager/src/plugins/action/dock_robot_node.cpp (1)
23-27: Ensure consistency in error handling.The error message for the
dock_typeinput is clear. Ensure similar clarity and consistency for other error messages in the method.
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (8)
- panther_manager/CMakeLists.txt (3 hunks)
- panther_manager/include/panther_manager/plugins/action/dock_robot_node.hpp (1 hunks)
- panther_manager/include/panther_manager/plugins/action/undock_robot_node.hpp (1 hunks)
- panther_manager/src/plugins/action/dock_robot_node.cpp (1 hunks)
- panther_manager/src/plugins/action/undock_robot_node.cpp (1 hunks)
- panther_manager/test/plugins/action/test_dock_robot_node.cpp (1 hunks)
- panther_manager/test/plugins/action/test_undock_robot_node.cpp (1 hunks)
- panther_manager/test/utils/plugin_test_utils.hpp (3 hunks)
Files skipped from review as they are similar to previous changes (2)
- panther_manager/CMakeLists.txt
- panther_manager/test/utils/plugin_test_utils.hpp
Additional context used
Learnings (5)
Common learnings
Learnt from: delihus PR: husarion/panther_ros#394 File: panther_manager/src/plugins/action/undock_robot_action_node.cpp:22-37 Timestamp: 2024-08-23T10:51:30.231Z Learning: The `dock_type` parameter in the `setGoal` method of the `UndockRobotAction` class cannot have a default value because it is essential for specifying the type of charging dock.panther_manager/src/plugins/action/undock_robot_node.cpp (1)
Learnt from: delihus PR: husarion/panther_ros#394 File: panther_manager/src/plugins/action/undock_robot_action_node.cpp:22-37 Timestamp: 2024-08-23T10:51:30.231Z Learning: The `dock_type` parameter in the `setGoal` method of the `UndockRobotAction` class cannot have a default value because it is essential for specifying the type of charging dock.panther_manager/include/panther_manager/plugins/action/undock_robot_node.hpp (1)
Learnt from: delihus PR: husarion/panther_ros#394 File: panther_manager/src/plugins/action/undock_robot_action_node.cpp:22-37 Timestamp: 2024-08-23T10:51:30.231Z Learning: The `dock_type` parameter in the `setGoal` method of the `UndockRobotAction` class cannot have a default value because it is essential for specifying the type of charging dock.panther_manager/include/panther_manager/plugins/action/dock_robot_node.hpp (1)
Learnt from: delihus PR: husarion/panther_ros#394 File: panther_manager/src/plugins/action/undock_robot_action_node.cpp:22-37 Timestamp: 2024-08-23T10:51:30.231Z Learning: The `dock_type` parameter in the `setGoal` method of the `UndockRobotAction` class cannot have a default value because it is essential for specifying the type of charging dock.panther_manager/src/plugins/action/dock_robot_node.cpp (1)
Learnt from: delihus PR: husarion/panther_ros#394 File: panther_manager/src/plugins/action/undock_robot_action_node.cpp:22-37 Timestamp: 2024-08-23T10:51:30.231Z Learning: The `dock_type` parameter in the `setGoal` method of the `UndockRobotAction` class cannot have a default value because it is essential for specifying the type of charging dock.
Additional comments not posted (36)
panther_manager/src/plugins/action/undock_robot_node.cpp (4)
21-35: LGTM! Ensuredock_typeis always provided.The
setGoalmethod correctly checks for the presence ofdock_typeandmax_undocking_timeinputs. The learning confirms thatdock_typecannot have a default value, which aligns with the implementation.
38-49: LGTM!The
onResultReceivedmethod correctly sets the output ports and returns the appropriate node status based on the result's success.
52-57: LGTM!The
onFailuremethod correctly logs the error and returns a failure status.
59-62: LGTM!The
onHaltmethod correctly logs an informational message indicating the node has been halted.panther_manager/include/panther_manager/plugins/action/undock_robot_node.hpp (6)
36-40: LGTM!The constructor for
UndockRobotcorrectly initializes the base class with the provided parameters.
42-42: LGTM!The
setGoalmethod is correctly declared to override the base class method.
44-44: LGTM!The
onHaltmethod is correctly declared to override the base class method.
46-46: LGTM!The
onResultReceivedmethod is correctly declared to override the base class method.
48-48: LGTM!The
onFailuremethod is correctly declared to override the base class method.
50-61: LGTM!The
providedPortsmethod correctly defines input and output ports for the behavior tree. Thedock_typeinput port aligns with the learning that it cannot have a default value.panther_manager/include/panther_manager/plugins/action/dock_robot_node.hpp (6)
36-40: LGTM!The constructor for
DockRobotcorrectly initializes the base class with the provided parameters.
41-41: LGTM!The
setGoalmethod is correctly declared to override the base class method.
43-43: LGTM!The
onHaltmethod is correctly declared to override the base class method.
45-45: LGTM!The
onResultReceivedmethod is correctly declared to override the base class method.
47-47: LGTM!The
onFailuremethod is correctly declared to override the base class method.
49-63: LGTM!The
providedPortsmethod correctly defines input and output ports for the behavior tree. The ports are well-documented and align with the expected functionality.panther_manager/src/plugins/action/dock_robot_node.cpp (6)
29-33: Consider using default values for optional inputs.The
use_dock_idinput defaults tofalseif not set. Ensure this aligns with the intended behavior and document it if necessary.
51-57: Clarify error handling formax_staging_time.The error message for
max_staging_timeis triggered only ifnavigate_to_staging_poseis true. Ensure this conditional logic is intentional and documented.
62-74: LGTM!The method correctly sets outputs based on the received result and returns the appropriate status.
77-81: LGTM!The method correctly logs the error and returns a failure status.
84-86: LGTM!The method correctly logs an informational message on halt.
91-92: LGTM!The plugin registration appears correct and follows the expected pattern.
panther_manager/test/plugins/action/test_undock_robot_node.cpp (6)
66-77: LGTM!The test case correctly verifies the successful loading of the
UndockRobotplugin with valid parameters.
79-90: LGTM!The test case correctly checks for an exception when loading the plugin with invalid parameters.
92-108: LGTM!The test case correctly verifies failure when the server is not initialized.
110-126: LGTM!The test case correctly checks for failure when the
dock_typeis not provided.
129-144: LGTM!The test case correctly verifies failure when the server rejects the goal.
147-163: LGTM!The test case correctly verifies success when the server accepts and executes the goal.
panther_manager/test/plugins/action/test_dock_robot_node.cpp (8)
64-77: LGTM!The test case correctly verifies the successful loading of the
DockRobotplugin with valid parameters.
80-90: LGTM!The test case correctly checks for an exception when loading the plugin with invalid parameters.
93-110: LGTM!The test case correctly verifies failure when the server is not initialized.
113-129: LGTM!The test case correctly checks for failure when the
dock_idis not provided.
132-148: LGTM!The test case correctly verifies success when
use_dock_idis false, even ifdock_idis not provided.
151-170: LGTM!The test case correctly checks for failure when
dock_idis empty butuse_dock_idis true.
173-192: LGTM!The test case correctly verifies failure when
dock_typeis empty.
195-213: LGTM!The test case correctly checks for failure when the goal is rejected with
navigate_to_staging_poseset to true.
Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
panther_manager/include/panther_manager/plugins/action/dock_robot_node.hpp
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Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
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Configuration used: .coderabbit.yaml
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Files selected for processing (3)
- panther_manager/include/panther_manager/plugins/action/dock_robot_node.hpp (1 hunks)
- panther_manager/include/panther_manager/plugins/action/undock_robot_node.hpp (1 hunks)
- panther_manager/test/plugins/action/test_dock_robot_node.cpp (1 hunks)
Files skipped from review due to trivial changes (1)
- panther_manager/include/panther_manager/plugins/action/dock_robot_node.hpp
Files skipped from review as they are similar to previous changes (2)
- panther_manager/include/panther_manager/plugins/action/undock_robot_node.hpp
- panther_manager/test/plugins/action/test_dock_robot_node.cpp
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Merge to |
* added half tested panther_docking package Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added redme Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * run precommit Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fix typo Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * After coderabbit review Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * fixed parameters | fixed exporting_package Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Adjust cmake Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added getParameters and declareParameters | review suggestions Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added offsetPose | moved transformPose to ros_utils Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * removed hardware deps Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Moved TransformPose to tf2_utils Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added filter description Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * removed realtime_tools Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Modef OffsetFunction utils Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * added and applied ArePosesNear() Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * fix tf utils header guard Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added comment Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added locking node Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update docking to develop (#399) * Implement testing POC * Namespace refactor * Add EStop to Gazebo * unify CMakeLists.txt files * Add dependencies * Add remapping * Rename files in panther_diagnostics package * Update after changes in panther_diagnostics * Rename config and launch file in manager package * Correct include guards in manager package * Restructure files tree in manager tests * Ros2 estop sim gui (#384) * New format of documentation (#369) * Change 3 package for demo * Improve ROS_API * fix links * Update * Update * Table improvements * Format * Save work * Save work * update * fix * fix * fix * fix * fix * Add API warning * Improve links * lights simplify * Create CONFIGURATION.md files * Typos * pre-commit * Apply suggestions from code review Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> * Save work * Final unification * Delete trash * typos * Update README.md * Update ROS_API.md * Update ROS_API.md * Update README.md Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> * Change initial warning to beta warning * improve warn rendering * rendering * Update Diagram * Add Dawid suggestions * Dot * Change diagram ext and typos * Do not describe external nodes * Add Dawid suggestons * Add last Dawid suggestions * Format * Pawel suggestions * Diagram improvements * Update * Diagram Visual --------- Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> * Change scheme theme (#380) * unify CMakeLists.txt files (#381) * First working version * Ros2 increase bt service timeout (#382) * Parametrize and increase service timeout in managers * Format panther API drawio file * Add Estop GUI and docs --------- Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_gazebo/panther_hardware_plugins.xml Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> * Add david suggestion and change gui layout * Typos in Readme + estop publish on service call * Reorganize files in panther_lights * UPdate include guards in panther_lights * Reorganize files in panther_battery * Move estop to plugins folder * add nmea gps * Rename battery driver files * Rename shutdown hosts config * Inherit from IgnitionSystem * Change to Estop -> EStop * Reorganize panther_hardware_interfaces files * Dawid suggestions part 1 * Rename PantherSystem -> GzPantherSystem * Update references to files * Rename battery exec * Fix links in documentations (#387) * Refer to header files * Update panther_gazebo/include/panther_gazebo/gz_panther_system.hpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_gazebo/src/gz_panther_system.cpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Update panther_gazebo/src/gz_panther_system.cpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Dawid suggestions * delete typo * Minor modifications * Move BT plugins to src directory * Reorganize test utilities in hardware_interfaces * Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc * Add missing module configuration * Update panther_gazebo/include/panther_gazebo/gz_panther_system.hpp Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * Dawid suggestions * update docs * Extend filesystem responsibility * Update ROS_API.md Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> * update names * Add new common utility functions * System monitor improvements * Round temperature precision * Implement filesystem unit tests * Formatting * Add integration tests condition * Update ROS_API.md * Review changes * Add pre-commit workflow (#395) --------- Co-authored-by: pawelirh <pawel.irzyk@husarion.com> Co-authored-by: rafal-gorecki <rafal.gorecki@husarion.com> Co-authored-by: Dawid <kmakd197@gmail.com> Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com> * ROS2 docking manager plugins (#394) * Added base of BT docking plugins Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Teste dock and undock plugins Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed test dock manager Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * run precommit Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * moved plugins Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * changed names of files and classes | changed DockRobotAction to DockRobot Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed copyright Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Changed timeouts | changed using Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * JoySubscription BT node (#397) * changed main in manager's tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Changed to AreButtonsPressed Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed model Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Revert "Fixed model" This reverts commit 97d85c2. * Fixed model Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Readme update Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update panther_docking/README.md Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> * Added exec depend and pip install to cmake Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * add python as interpreter Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed namespaces and updated ros_component_description (#424) * Fixed namespaces and updated ros_component_description Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Remove panther_version --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> Co-authored-by: rafal-gorecki <rafal.gorecki@husarion.com> * Ros2 docking manager no lights (#430) * Manage lights * Simple working version * Clean up * Clean up and add types enums * Simplifications * Change ports * Add use_docking arg * Fix port * Fix port * Add more cases to tests * update * Fix ports * Add dock_pose field, improve description, add dependencies * Docking manager without lights * Auto review * Update CONFIGURATION.md * Typo * Coderabbit suggestions * Jakub suggestions * Fix tests * Jakub suggestions * ROS2 docking fix joy (#439) * Fixed utils test, fixed joy Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Revert "Fixed utils test, fixed joy" This reverts commit 3bd5e30. * Fixed bt utils test, changed dock jot input Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Joy input and typo Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Charging Dock Plugin based on dock pose subscriber (#431) * Fixed namespaces and updated ros_component_description Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Changed GetDockPose approach Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Cleanup charger Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added unit tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update docs: Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fix upside down Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added updateAndPublishStagingPose method Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added suggestins | added reading docking_server parameter is dock pose publisher Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Remove redundant tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added aprilros launch to simulation Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * update vsc and changed dock name Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Ros2 docking charging dock wibotic msgs (#436) * Fixed namespaces and updated ros_component_description Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Changed GetDockPose approach Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Cleanup charger Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added unit tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update docs: Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fix upside down Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added updateAndPublishStagingPose method Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added suggestins | added reading docking_server parameter is dock pose publisher Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Remove redundant tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added reading wibotic_info Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added launching wibotic_connector_can Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added right condition to wibotic_connector_can Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * wibotic_ros is needed to build Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update repose, update parameters Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added condition for use_docking Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * update repose Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed use_wibotic_info param Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Rafal's suggestions applied Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * README update and comment delete Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update docs Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update .repose Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * ROS2 docking nav2 (#443) * Fixed namespaces and updated ros_component_description Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Changed GetDockPose approach Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Cleanup charger Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added unit tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update docs: Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fix upside down Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added updateAndPublishStagingPose method Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added suggestins | added reading docking_server parameter is dock pose publisher Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Remove redundant tests Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added aprilros launch to simulation Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * update vsc and changed dock name Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Tested with nav2 in simulation | Added docking to multibple stations | Spawning multiple stations Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed after merge Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * described parameters | applied codeguides Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * coderabbitai suggestions Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Review Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * wibotic_connector_ros depends on hardware | fixed launch args Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * wibotic_connector_ros depends on hardware | fixed launch args Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added default values Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update panther_manager/launch/manager.launch.py --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> Co-authored-by: Rafal Gorecki <126687345+rafal-gorecki@users.noreply.github.com> * Ros2 docking tf compare (#451) * Changed camera pose Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed test Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update docs Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * typo Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * typo Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update panther_docking/README.md Co-authored-by: Rafal Gorecki <126687345+rafal-gorecki@users.noreply.github.com> * updated vcs Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> Co-authored-by: Rafal Gorecki <126687345+rafal-gorecki@users.noreply.github.com> * Ros2 docking lifecycle node (#453) * Changed camera pose Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed test Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Update docs Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * typo Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * typo Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Changed to lifecyclenode | added transition service client Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Updated docs Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Added timeout function Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Changed names in package Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Revert "Changed names in package" This reverts commit 31ae7ce. * ROS2 Docking - panther_docking to husarion_ugv_docking (#459) * Changed names in package Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * fixed param name Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed docking Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed docking manager Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed docking manager Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed after merge Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Code rabbit ai suggestions Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Remove accident panther_manager Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed dock plugins Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed path Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed path Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed path Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed docking files Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Removed tf2_utils Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * removed station launch Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> * Fixed HEADER GUARD Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> --------- Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com> Co-authored-by: pawelirh <pawel.irzyk@husarion.com> Co-authored-by: rafal-gorecki <rafal.gorecki@husarion.com> Co-authored-by: Dawid <kmakd197@gmail.com> Co-authored-by: rafal-gorecki <126687345+rafal-gorecki@users.noreply.github.com> Co-authored-by: coderabbitai[bot] <136622811+coderabbitai[bot]@users.noreply.github.com> Co-authored-by: Paweł Irzyk <108666440+pawelirh@users.noreply.github.com> Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
Description
Based on https://github.com/open-navigation/opennav_docking/tree/humble/opennav_docking_bt added
DockRobotActionandUndockRobotActionplugins to BehaviorTree and tested them.Summary by CodeRabbit
DockRobotandUndockRobotclasses to enhance robotic docking and undocking capabilities within the behavior tree framework.