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Rviz state machine waypoint follower updates #2227

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merged 3 commits into from
Mar 9, 2021
Merged

Rviz state machine waypoint follower updates #2227

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1ba3770
working on canceling state machine for waypoint mode
SteveMacenski Mar 9, 2021
13d03ed
fixing cancelation logic
SteveMacenski Mar 9, 2021
fb894a5
fix linting isue
SteveMacenski Mar 9, 2021
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33 changes: 28 additions & 5 deletions nav2_rviz_plugins/src/nav2_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ Nav2Panel::Nav2Panel(QWidget * parent)
// State entered when navigate_to_pose action is not active
accumulating_ = new QState();
accumulating_->setObjectName("accumulating");
accumulating_->assignProperty(start_reset_button_, "text", "Reset");
accumulating_->assignProperty(start_reset_button_, "text", "Cancel Waypoint Mode");
accumulating_->assignProperty(start_reset_button_, "toolTip", cancel_waypoint_msg);
accumulating_->assignProperty(start_reset_button_, "enabled", true);

Expand All @@ -131,6 +131,18 @@ Nav2Panel::Nav2Panel(QWidget * parent)
accumulating_->assignProperty(navigation_mode_button_, "toolTip", waypoint_goal_msg);

accumulated_ = new QState();
accumulated_->setObjectName("accumulated");
accumulated_->assignProperty(start_reset_button_, "text", "Cancel");
accumulated_->assignProperty(start_reset_button_, "toolTip", cancel_msg);
accumulated_->assignProperty(start_reset_button_, "enabled", true);

accumulated_->assignProperty(pause_resume_button_, "text", "Pause");
accumulated_->assignProperty(pause_resume_button_, "enabled", false);
accumulated_->assignProperty(pause_resume_button_, "toolTip", pause_msg);

accumulated_->assignProperty(navigation_mode_button_, "text", "Start Navigation");
accumulated_->assignProperty(navigation_mode_button_, "enabled", false);
accumulated_->assignProperty(navigation_mode_button_, "toolTip", waypoint_goal_msg);

// State entered to cancel the navigate_to_pose action
canceled_ = new QState();
Expand Down Expand Up @@ -186,12 +198,12 @@ Nav2Panel::Nav2Panel(QWidget * parent)
idle_->addTransition(navigation_mode_button_, SIGNAL(clicked()), accumulating_);
accumulating_->addTransition(navigation_mode_button_, SIGNAL(clicked()), accumulated_);
accumulating_->addTransition(start_reset_button_, SIGNAL(clicked()), idle_);
accumulated_->addTransition(start_reset_button_, SIGNAL(clicked()), canceled_);

// Internal state transitions
canceled_->addTransition(canceled_, SIGNAL(entered()), idle_);
reset_->addTransition(reset_, SIGNAL(entered()), initial_);
resumed_->addTransition(resumed_, SIGNAL(entered()), idle_);
accumulated_->addTransition(accumulated_, SIGNAL(entered()), idle_);

// Pause/Resume button click transitions
idle_->addTransition(pause_resume_button_, SIGNAL(clicked()), paused_);
Expand All @@ -206,6 +218,15 @@ Nav2Panel::Nav2Panel(QWidget * parent)
runningTransition->setTargetState(idle_);
running_->addTransition(runningTransition);

ROSActionQTransition * idleAccumulatedTransition =
new ROSActionQTransition(QActionState::INACTIVE);
idleAccumulatedTransition->setTargetState(accumulated_);
idle_->addTransition(idleAccumulatedTransition);

ROSActionQTransition * accumulatedTransition = new ROSActionQTransition(QActionState::ACTIVE);
accumulatedTransition->setTargetState(idle_);
accumulated_->addTransition(accumulatedTransition);

initial_thread_ = new InitialThread(client_nav_, client_loc_);
connect(initial_thread_, &InitialThread::finished, initial_thread_, &QObject::deleteLater);

Expand Down Expand Up @@ -408,7 +429,7 @@ Nav2Panel::onNewGoal(double x, double y, double theta, QString frame)
void
Nav2Panel::onCancelButtonPressed()
{
if (state_machine_.configuration().contains(accumulating_)) {
if (waypoint_follower_goal_handle_) {
auto future_cancel =
waypoint_follower_action_client_->async_cancel_goal(waypoint_follower_goal_handle_);

Expand All @@ -418,7 +439,9 @@ Nav2Panel::onCancelButtonPressed()
RCLCPP_ERROR(client_node_->get_logger(), "Failed to cancel waypoint follower");
return;
}
} else {
}

if (navigation_goal_handle_) {
auto future_cancel = navigation_action_client_->async_cancel_goal(navigation_goal_handle_);

if (rclcpp::spin_until_future_complete(client_node_, future_cancel, server_timeout_) !=
Expand Down Expand Up @@ -449,7 +472,7 @@ Nav2Panel::onAccumulating()
void
Nav2Panel::timerEvent(QTimerEvent * event)
{
if (state_machine_.configuration().contains(accumulating_)) {
if (state_machine_.configuration().contains(accumulated_)) {
if (event->timerId() == timer_.timerId()) {
if (!waypoint_follower_goal_handle_) {
RCLCPP_DEBUG(client_node_->get_logger(), "Waiting for Goal");
Expand Down