Create new service FindValidPose #316
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| # will be measured from the padded footprint | ||
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| uint8 FREE = 0 # found pose is completely in traversable space | ||
| uint8 INSCRIBED = 1 # found pose is partially in inscribed space |
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Suggestion: I think the FREE / INSCRIBED distinction is only meaningful for costs related to the center point of the robot, but not the footprint? Maybe just return max_cost and average_cost in the result?
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can be,,, we just provide the info and the user can decide to ignore it by checking state < LETHAL (most common case)
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Why would this be best implemented as a service? It might take a considerable amount of time to run (if tolerance is large?) maybe there are intermediate information to transmit in the future to allow the user to abort the search? |
sorry, I answered on the wrong place 3 weeks ago!!! 🙈 good question; 2 reasons:
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| @@ -21,6 +21,6 @@ uint8 UNKNOWN = 3 # path is partially in unknown spac | |||
| uint8 OUTSIDE = 4 # path is partially outside the map | |||
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| uint32 last_checked # index of the first pose along the path with return_on state or worse | |||
| uint8 state # path worst state (until last_checked): FREE, INFLATED, LETHAL, UNKNOWN... | |||
| uint8 state # path worst state (until last_checked): FREE, INSCRIBED, LETHAL, UNKNOWN... | |||
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OOS: make comment match the constant name
This should not change checksum: http://wiki.ros.org/ROS/Technical%20Overview#Message_serialization_and_msg_MD5_sums
(2 more)
| uint8 INSCRIBED = 1 # found pose is partially in inscribed space | ||
| uint8 LETHAL = 2 # found pose is partially in collision | ||
| uint8 UNKNOWN = 3 # found pose is partially in unknown space | ||
| uint8 OUTSIDE = 4 # found pose is partially outside the map |
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I'd sort these error codes by precedence, i.e. FREE=0, INSCRIBED=1, UNKNOWN=2, OUTSIDE=3, LETHAL=4 (+same ordering in the comments). Then the user can just do a <= check with whatever scenario is still acceptable for them.
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yes.... I know would be better,,, but the other services already have this ordering; so I wanted to avoid confusion giving different values to the same constant
we can change all services, thought. Hopefully nobody is using the numeric value!!!
Co-authored-by: ChristofDubs <christof.dubs@gmx.ch>
Co-authored-by: ChristofDubs <christof.dubs@gmx.ch>
Co-authored-by: ChristofDubs <christof.dubs@gmx.ch>
Co-authored-by: ChristofDubs <christof.dubs@gmx.ch>
New MBF service to add to mbf_costmap_nav: it goes in the line of the suggestion at issue #8; but less ambitious by now.
But we can add other services that for example finds a valid pose within an area.
The implementation is on PR #317