Using Custom Yaml Loader for topological map subscription#200
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arsh09 wants to merge 47 commits intohumble-devfrom
Closed
Using Custom Yaml Loader for topological map subscription#200arsh09 wants to merge 47 commits intohumble-devfrom
arsh09 wants to merge 47 commits intohumble-devfrom
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Adding new mission profile row operation
Row operation
Poop topo nodes
adding row operation action
pd regulator params
setting pd params for planner
publish node tag
…e accessing 'meta' or 'tag': list index out
…safe laoders using yaml
* Added toponap edit tool This Python script provides a graphical interface for editing a topological map stored in a YAML file. Using `tkinter` and `matplotlib`, users can interactively edit node attributes (position, orientation, properties), scale polygons, and globally update node names. The script allows for quaternion-to-yaw conversions and provides save and scale functionalities for adjusting polygon sizes. Node edges and positions are visually represented, and users can easily edit node details by clicking on them * Poop topo nodes (#187) * Add manual population node for topological navigation nodes [ROS2] * adding launch file * Update test_navigationcore.py - increase test timeout --------- Co-authored-by: Marc Hanheide <marc@hanheide.net> * added an initial schema (#196) * added an initial schema * changed additional properties * allow top-level optional elements like transformation * parameters shouldn't use ~ (#197) this fixes it. * Updating the topological map visualization when the map topic gets update. (#199) * using custom safe loader to load the topo map string. This avoids the float-type error in ROS2 for pose.x|y|z and orientaton.w|x|y|z. * updating the topological_map_visualisation on the topological_map_2 subscriber callback so rviz2 viz updates properly. --------- Co-authored-by: Marc Hanheide <marc@hanheide.net> Co-authored-by: Muhammad Arshad Khan <muhammadarshad0910@gmail.com>
…dgeActionManager and TopologicalNavServer
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This has been integrated in aoc_refactor branch |
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…safe laoders using yaml
What type of PR is this? (check all applicable)
Description
This PR is an extension of #199 and use the consistent
yamlpackage instead of a mix ofyamlandjsonto load thetopolological_map_2from topic subscription or local map file. It utilisesCustomYamlLoaderto make sure eachx,y,zandwfields are infloatinstead ofintotherwisegeometry_msgscomplain about it.Ideally, these loaders can be used to verify the formatting of
nodesandedgesor overalltopological_map.Related Tickets & Documents
QA Instructions, Screenshots, Recordings
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[optional] Are there any post deployment tasks we need to perform?