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Modify TaskServer to not be a ROS node, but accept a ROS node pointer #44

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mjeronimo opened this issue Sep 5, 2018 · 1 comment
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Modify TaskServer to not be a ROS node, but accept a ROS node pointer #44

mjeronimo opened this issue Sep 5, 2018 · 1 comment
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1 - High High Priority enhancement New feature or request help wanted Extra attention is needed
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Navigation 2 Kanban
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November 2018

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mjeronimo commented Sep 5, 2018 •
edited

Currently, the TaskServer derives from the ROS Node class. Instead, it should accept a ROS Node SharedPtr in its constructor. This will allow more flexibility in deployment, such as having multiple TaskServers per node. Once the TaskServer is updated, the TaskClient can also be updated to accept a Node::SharedPtr instead of a Node *.
@mjeronimo mjeronimo self-assigned this Sep 5, 2018
@mjeronimo mjeronimo added this to To do in Navigation 2 Kanban via automation Sep 5, 2018
@mkhansenbot mkhansenbot added the enhancement New feature or request label Sep 17, 2018
@mjeronimo mjeronimo added the help wanted Extra attention is needed label Oct 18, 2018
@mkhansenbot mkhansenbot added this to the November 2018 milestone Oct 29, 2018
@mjeronimo mjeronimo moved this from To do to In progress in Navigation 2 Kanban Nov 8, 2018
@mjeronimo mjeronimo mentioned this issue Nov 10, 2018
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@mjeronimo mjeronimo moved this from In progress to Needs review in Navigation 2 Kanban Nov 10, 2018
@mjeronimo mjeronimo moved this from Needs review to Reviewer approved in Navigation 2 Kanban Nov 11, 2018
@mkhansenbot mkhansenbot added the 1 - High High Priority label Nov 12, 2018
mjeronimo pushed a commit that referenced this issue Nov 13, 2018
Task server not node (#311)
dacb85c 
* Getting started; not working yet
* Update the unit test
* Fix issue #44 to modify TaskServer to accept a ROS node rather than be a ROS node

Updated the TaskClient and TaskServer templates to accept a rclcpp::Node::SharedPtr
reference. Also updated the Robot class to do the same. Also had to then change
the execute method to be set on the TaskServer rather than have derived classes
override the method. Now, it is more like the SimpleActionServer from ROS1,
which sets us up a bit better for the port to Actions when ready on ROS2.

* Rename various execute methods to be specific now that they are not overrides of a base class virtual method
* Costmap service name should just be GetCostmap
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Navigation 2 Kanban automation moved this from Reviewer approved to Done Nov 13, 2018
ghost referenced this issue in logivations/navigation2 Mar 7, 2022
@liyuanlogi
AGVFM-132 Driving between pallets: tuning parameters for 1.2m-width n…
19e36d2 
…arrow lane (#44)

* decrease front camera horizontal_fov_angle

* tune forklift_params.yaml for 1.2-width narrow lane

* update params

* increase front camera unknown_threshold to 30

* set front camera unknown_threshold to 7
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