Replanning trigger for the navigation stack. #144

SimoneMic · 2023-04-12T14:50:30Z

On this PR a parallel thread monitors the status of the feet of the robot.
Once each double support we will stream a boolean value on a port that will be red by the navigation stack. This value is the command to replan the navigation path.

Part of the changes required for the integration with the navigation stack #142 and its PR #143

S-Dafarra

Some preliminary comments about the structure

src/WalkingModule/include/WalkingControllers/WalkingModule/Module.h

src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking_with_joypad.ini

src/WalkingModule/src/Module.cpp

… file

SimoneMic · 2023-04-27T14:30:35Z

I have removed more code possible from the Module and moved it to NavigationHelper.
Also now there are separate config files and all the navigation params are there.

S-Dafarra

Thanks for the update @SimoneMic, it is much clearer now. I have some more punctual comments

src/NavigationHelper/src/NavigationHelper.cpp

src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/common/navigation.ini

src/WalkingModule/include/WalkingControllers/WalkingModule/Module.h

src/WalkingModule/src/Module.cpp

…n/navigation.ini Co-authored-by: Stefano Dafarra <[email protected]>

Co-authored-by: Stefano Dafarra <[email protected]>

…ollers into nav_sync

S-Dafarra

I just noticed a potential concurrency issue.

src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/common/navigation.ini

src/NavigationHelper/src/NavigationHelper.cpp

…igation trigger delay

src/NavigationHelper/include/WalkingControllers/NavigationHelper/NavigationHelper.h

src/NavigationHelper/src/NavigationHelper.cpp

S-Dafarra

Some final minor comments, but overall the code looks good to me. @GiulioRomualdi how do you want to proceed?

src/NavigationHelper/src/NavigationHelper.cpp

S-Dafarra · 2023-04-28T15:12:52Z

src/NavigationHelper/include/WalkingControllers/NavigationHelper/NavigationHelper.h

+        /**
+         * Close the Navigation Helper Threads and ports
+         * @return true/false in case of success/failure.
+         */
+        bool closeThreads();


Probably also this can be private.

Yes and I would also add in the destructor (the same is valid for closeHelper)

I have moved it to private and added/fixed some comments/descriptions.
The destructor should never be called inside closeThreads(), since the ports could still be open.
In closeHelper() I don't see the reason to call the destructor inside a class method, since we are not dealing with special manual memory management. I would avoid that and let the owner handle it.

src/WalkingModule/include/WalkingControllers/WalkingModule/Module.h

Co-authored-by: Stefano Dafarra <[email protected]>

Replanning trigger for the navigation stack.

5bc9154

S-Dafarra requested changes Apr 12, 2023

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src/WalkingModule/include/WalkingControllers/WalkingModule/Module.h Outdated Show resolved Hide resolved

src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking_with_joypad.ini Outdated Show resolved Hide resolved

src/WalkingModule/src/Module.cpp Outdated Show resolved Hide resolved

SimoneMic mentioned this pull request Apr 12, 2023

Walking-controller expanded with navigation features #142

Open

S-Dafarra requested a review from GiulioRomualdi April 12, 2023 15:04

S-Dafarra mentioned this pull request Apr 12, 2023

Streaming odometry info, CoM and footsteps #145

Open

SimoneMic added 6 commits April 17, 2023 15:42

moved all navigation pertinent functions and parameters to a separate…

9950902

… file

removed unused dependencies

2d14446

bugfix: Removed unused code

2ac5531

removed continuous print

f5a0dbb

removed setStatus. Added comments in header

3d6ec29

added port prefix and publish info config flag

04a99e4

S-Dafarra requested changes Apr 27, 2023

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SimoneMic and others added 6 commits April 27, 2023 18:47

Update src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/commo…

2dfffb7

…n/navigation.ini Co-authored-by: Stefano Dafarra <[email protected]>

Update src/NavigationHelper/src/NavigationHelper.cpp

d87e0c6

Co-authored-by: Stefano Dafarra <[email protected]>

removed leftovers variables and include not needed

0a8c6af

Merge branch 'nav_sync' of https://github.com/SimoneMic/walking-contr…

012f9c9

…ollers into nav_sync

navigation helper is initialized only if its conf options are found

95b59cf

removed Yarp stamp and clock header includes

a085571

S-Dafarra requested changes Apr 28, 2023

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src/WalkingModule/app/robots/ergoCubGazeboV1/dcm_walking/common/navigation.ini Outdated Show resolved Hide resolved

src/NavigationHelper/src/NavigationHelper.cpp Outdated Show resolved Hide resolved

SimoneMic added 3 commits April 28, 2023 11:52

updated comments and improved explainations

c48bd21

added thread safety for updating feet contacts deques

6725373

added config param to switch between system and network clock for nav…

56e6997

…igation trigger delay

S-Dafarra reviewed Apr 28, 2023

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SimoneMic added 2 commits April 28, 2023 14:39

updated with minor improvements and comment fix

c78bb24

updateFeetDeques also in advanceReferenceSignals

d9ab019

S-Dafarra approved these changes Apr 28, 2023

View reviewed changes

SimoneMic and others added 3 commits April 28, 2023 17:53

Update m_navHelperUsed{false}

8ba752d

Co-authored-by: Stefano Dafarra <[email protected]>

Formatting

5827344

Co-authored-by: Stefano Dafarra <[email protected]>

moved closeThreads to private, added comments

f947612

Merge branch 'robotology:master' into nav_sync

0bd4df7

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Replanning trigger for the navigation stack. #144

Replanning trigger for the navigation stack. #144

SimoneMic commented Apr 12, 2023

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SimoneMic commented Apr 27, 2023

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S-Dafarra Apr 28, 2023

GiulioRomualdi May 2, 2023

SimoneMic May 2, 2023

Replanning trigger for the navigation stack. #144

Are you sure you want to change the base?

Replanning trigger for the navigation stack. #144

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