[Fawkes Git] branch/timn/navgraph-deleteall: created (0.5.0-3083-g1187f71)

Tim Niemueller niemueller at kbsg.rwth-aachen.de
Thu Apr 14 21:41:35 CEST 2016


Changes have been pushed for the project "Fawkes Robotics Software Framework".

Gitweb: http://git.fawkesrobotics.org/fawkes.git
Trac:   http://trac.fawkesrobotics.org

The branch, timn/navgraph-deleteall has been created
        at  1187f710720064dc2ed5759cc5927d2d02fb3b72 (commit)

http://git.fawkesrobotics.org/fawkes.git/timn/navgraph-deleteall

- *Log* ---------------------------------------------------------------
commit 24540b8ba412220f6675146115e8417957270d5b
Author:     Tim Niemueller <niemueller at kbsg.rwth-aachen.de>
AuthorDate: Thu Apr 14 21:39:55 2016 +0200
Commit:     Tim Niemueller <niemueller at kbsg.rwth-aachen.de>
CommitDate: Thu Apr 14 21:39:55 2016 +0200

    navgraph: use DELETEALL marker instead of individual deletes
    
    This was officially added in ROS Jade, but works starting with Hydro.

http://git.fawkesrobotics.org/fawkes.git/commit/24540b8
http://trac.fawkesrobotics.org/changeset/24540b8

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
commit 1187f710720064dc2ed5759cc5927d2d02fb3b72
Author:     Tim Niemueller <niemueller at kbsg.rwth-aachen.de>
AuthorDate: Thu Apr 14 21:40:46 2016 +0200
Commit:     Tim Niemueller <niemueller at kbsg.rwth-aachen.de>
CommitDate: Thu Apr 14 21:40:46 2016 +0200

    navgraph: remove deprecated default navigation bits
    
    Tolerances must now be set in the graph file, rather than in the config
    file.

http://git.fawkesrobotics.org/fawkes.git/commit/1187f71
http://trac.fawkesrobotics.org/changeset/1187f71

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -


- *Summary* -----------------------------------------------------------
 cfg/conf.d/navgraph.yaml |   26 --------------------------
 1 files changed, 0 insertions(+), 26 deletions(-)


- *Diffs* -------------------------------------------------------------

- *commit* 24540b8ba412220f6675146115e8417957270d5b - - - - - - - - - -
Author:  Tim Niemueller <niemueller at kbsg.rwth-aachen.de>
Date:    Thu Apr 14 21:39:55 2016 +0200
Subject: navgraph: use DELETEALL marker instead of individual deletes

 src/plugins/navgraph/visualization_thread.cpp |   25 +++++++++++++++++++++++++
 1 files changed, 25 insertions(+), 0 deletions(-)

_Diff for modified files_:
diff --git a/src/plugins/navgraph/visualization_thread.cpp b/src/plugins/navgraph/visualization_thread.cpp
index b80e033..29f671c 100644
--- a/src/plugins/navgraph/visualization_thread.cpp
+++ b/src/plugins/navgraph/visualization_thread.cpp
@@ -75,6 +75,15 @@ NavGraphVisualizationThread::finalize()
 {
   visualization_msgs::MarkerArray m;
 
+#if ROS_VERSION_MINIMUM(1,10,0)
+  visualization_msgs::Marker delop;
+  delop.header.frame_id = cfg_global_frame_;
+  delop.header.stamp = ros::Time::now();
+  delop.ns = "navgraph-constraints";
+  delop.id = 0;
+  delop.action = 3; // visualization_msgs::Marker::DELETEALL;
+  m.markers.push_back(delop);
+#else
   for (size_t i = 0; i < last_id_num_; ++i) {
     visualization_msgs::Marker delop;
     delop.header.frame_id = cfg_global_frame_;
@@ -93,6 +102,7 @@ NavGraphVisualizationThread::finalize()
     delop.action = visualization_msgs::Marker::DELETE;
     m.markers.push_back(delop);
   }
+#endif
   vispub_.publish(m);
   usleep(500000); // needs some time to actually send
   vispub_.shutdown();
@@ -241,6 +251,19 @@ NavGraphVisualizationThread::publish()
   size_t constraints_id_num = 0;
 
   visualization_msgs::MarkerArray m;
+
+#if ROS_VERSION_MINIMUM(1,10,0)
+  {
+	  visualization_msgs::Marker delop;
+	  delop.header.frame_id = cfg_global_frame_;
+	  delop.header.stamp = ros::Time::now();
+	  delop.ns = "navgraph-constraints";
+	  delop.id = 0;
+	  delop.action = 3; // visualization_msgs::Marker::DELETEALL;
+	  m.markers.push_back(delop);
+  }
+#endif
+
   visualization_msgs::Marker lines;
   lines.header.frame_id = cfg_global_frame_;
   lines.header.stamp = ros::Time::now();
@@ -902,6 +925,7 @@ NavGraphVisualizationThread::publish()
   crepo_.unlock();
 
 
+#if ! ROS_VERSION_MINIMUM(1,10,0)
   for (size_t i = id_num; i < last_id_num_; ++i) {
     visualization_msgs::Marker delop;
     delop.header.frame_id = cfg_global_frame_;
@@ -921,6 +945,7 @@ NavGraphVisualizationThread::publish()
     delop.action = visualization_msgs::Marker::DELETE;
     m.markers.push_back(delop);
   }
+#endif
 
   last_id_num_ = id_num;
   constraints_last_id_num_ = constraints_id_num;

- *commit* 1187f710720064dc2ed5759cc5927d2d02fb3b72 - - - - - - - - - -
Author:  Tim Niemueller <niemueller at kbsg.rwth-aachen.de>
Date:    Thu Apr 14 21:40:46 2016 +0200
Subject: navgraph: remove deprecated default navigation bits

 cfg/conf.d/navgraph.yaml |   26 --------------------------
 1 files changed, 0 insertions(+), 26 deletions(-)

_Diff for modified files_:
diff --git a/cfg/conf.d/navgraph.yaml b/cfg/conf.d/navgraph.yaml
index ad3d947..cd27c92 100644
--- a/cfg/conf.d/navgraph.yaml
+++ b/cfg/conf.d/navgraph.yaml
@@ -11,32 +11,6 @@ navgraph:
   # Graph file to use for path planning
   graph_file: example.yaml
 
-  # Max. distance between actual and target positions to deem the target
-  # reached. This value is for intermediate nodes on a path; m
-  # The value can be overwritten per node in the graph file.
-  # NOTE: it is recommended to set this as graph default property
-  travel_tolerance: 0.25
-
-  # Max. distance between actual and target positions to deem the target
-  # reached. This value is for the last node on a path; m
-  # The value can be overwritten per node in the graph file.
-  # NOTE: it is recommended to set this as graph default property
-  target_tolerance: 0.15
-
-  # Max. distance between actual and target orientation to deem the target
-  # reached. This value is for the last node on a path; rad
-  # NOTE: it is recommended to set this as graph default property
-  orientation_tolerance: 0.2
-
-  # When following a plan the robot will check all upcoming nodes if they
-  # are close to the robot within this tolerance. If so, they take a shortcut
-  # and will go to the node in the plan after the shortcut node.
-  # This is potentially dangerous depending on the graph and navigator as it
-  # might violate the typical graph constraint of only having direct-line-of-tavel
-  # connections. The value can be overidden with a node property of the same name; m
-  # NOTE: it is recommended to set this as graph default property
-  shortcut_tolerance: 0.0
-
   # Interval in which the resend the goto command; sec
   resend_interval: 1.0
 




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Fawkes Robotics Framework                 http://www.fawkesrobotics.org


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