[FEAT] added relative path option for trajectories

config/config_template.yaml

@@ -2,8 +2,10 @@ missions:
 
   mission_1:
     description: "Template"
+    # filepaths are relative to the `autonomy_engine/trajectory_dir` parameter
     filepaths:
-      - "/home/core/catkin_ws/src/flightstack/flightstack_bringup/trajectories/dh/toland.csv"
+      - "template_dir/template_trajectory.csv"
+    # for a full list of implemented entities see 'include/autonomy_core/autonomy_defs.h'
     entities_actions:
       - ["px4_gps", "continue"]
       - ["px4_imu", "failure"]

config/trajectories/template_dir/template_trajectory.csv

@@ -0,0 +1,2 @@
+x,y,z,yaw,holdtime
+0,0,1.0,0,10

include/autonomy_core/autonomy_options.h

@@ -50,6 +50,7 @@ struct autonomyOptions
   const std::string takeoff_service_name;
   const std::string estimator_init_service_name;
   const std::string logger_filepath;
+  const std::string trajectory_dir;
   const std::vector<std::string> inflight_sensor_init_services_name;
 
   /// Timeout in milliseconds for watchdog heartbeat
@@ -99,6 +100,7 @@ struct autonomyOptions
        << "LOADED PARAMETERS:\n\n"
        << " - User Interface:                      " << getStringfromBool(activate_user_interface) << '\n'
        << " - Logger filepath:                     " << logger_filepath << '\n'
+       << " - Trajectories Directory:              " << trajectory_dir << '\n'
        << " - Watchdog:                            " << getStringfromBool(activate_watchdog) << '\n'
        << " - Data recording:                      " << getStringfromBool(activate_data_recording) << '\n'
        << " - Estimator init service:              " << getStringfromBool(estimator_init_service) << '\n'

launch/autonomy.launch

@@ -31,7 +31,8 @@
     <arg name="preflight_fix_timeout_ms"                default="2500" />
     <arg name="data_recording_delay_after_failure_s"    default ="5" />
     <arg name="mission_id_no_ui"                        default="1" />
-    <arg name="logger_filepath"                         default="/home/alfornasier/tmp/log/" />
+    <arg name="logger_filepath"                         default="$(env HOME)/.ros/log/autonomy/" />
+    <arg name="trajectory_dir"                          default="$(find autonomy_engine)/config/trajectories/" />
     <arg name="landing_aux_channel"                     default="0" />
 
     <!-- arguments flags -->
@@ -80,6 +81,7 @@
         <param name="preflight_fix_timeout_ms"                  type="int"      value = "$(arg preflight_fix_timeout_ms)" />
         <param name="data_recording_delay_after_failure_s"      type="int"      value = "$(arg data_recording_delay_after_failure_s)" />
         <param name="logger_filepath"                           type="string"   value = "$(arg logger_filepath)" />
+        <param name="trajectory_dir"                            type="string"   value = "$(arg trajectory_dir)" />
         <param name="landing_aux_channel"                       type="int"      value = "$(arg landing_aux_channel)" />
 
         <!-- flags -->

src/autonomy_core/autonomy.cpp

@@ -184,7 +184,9 @@ void Autonomy::getMissions()
           if (XRV_filepaths[j].getType() == XmlRpc::XmlRpcValue::TypeString)
           {
             // assign filepath
-            filepaths.emplace_back(std::string(XRV_filepaths[j]));
+            std::string full_path = std::string(opts_->trajectory_dir) + std::string(XRV_filepaths[j]);
+            filepaths.emplace_back(opts_->trajectory_dir + std::string(XRV_filepaths[j]));
+//            filepaths.emplace_back(std::string(XRV_filepaths[j]));
           }
           else
           {
@@ -286,6 +288,7 @@ void Autonomy::parseParams()
   std::string estimator_init_service_name;
   std::string mission_sequencer_waypoints_topic;
   std::string logger_filepath;
+  std::string trajectory_dir;
   std::string rc_topic;
 
   // Define auxilliary variables foreach paramter: std::vector
@@ -332,6 +335,7 @@ void Autonomy::parseParams()
   getParameter(mission_sequencer_response_topic, "mission_sequencer_response_topic");
   getParameter(mission_sequencer_waypoints_topic, "mission_sequencer_waypoints_topic");
   getParameter(logger_filepath, "logger_filepath");
+  getParameter(trajectory_dir, "trajectory_dir");
   getParameter(flight_timeout_ms, "maximum_flight_time_min");
   getParameter(fix_timeout_ms, "fix_timeout_ms");
   getParameter(preflight_fix_timeout_ms, "preflight_fix_timeout_ms");
@@ -423,9 +427,6 @@ void Autonomy::parseParams()
   // Get aux channels
   getParameter(landing_aux_channel, "landing_aux_channel");
 
-  // Get missions
-  getMissions();
-
   // Make options
   opts_ = std::make_unique<autonomyOptions>(autonomyOptions({ watchdog_heartbeat_topic,
                                                               watchdog_status_topic,
@@ -441,6 +442,7 @@ void Autonomy::parseParams()
                                                               takeoff_service_name,
                                                               estimator_init_service_name,
                                                               logger_filepath,
+                                                              trajectory_dir,
                                                               inflight_sensor_init_services_name,
                                                               watchdog_timeout_ms,
                                                               flight_timeout_ms,
@@ -460,6 +462,9 @@ void Autonomy::parseParams()
                                                               sequence_multiple_in_flight,
                                                               mission_id_no_ui,
                                                               static_cast<size_t>(landing_aux_channel) }));
+
+  // Get missions
+  getMissions();
 }
 
 bool Autonomy::getSensorStatusFromMsg(const watchdog_msgs::Status& msg, SensorStatus& status)