Comments (9)
This also overlaps the primary ticket: ros-navigation/docs.nav2.org#89
from navigation2_tutorials.
Rough review:
- The name... we should work on that. Also this plugin might be better suited to be in the waypoint follower directly, I think this is sufficiently useful to have as a plugin in the pkg.
- You have some cmake issues but we can deal with that in the real PR
- tabs... remove all tabs.... you should change your settings on your editor to never use tabs. I don't think any open source project in the ROS community will accept tabs
- The common.h stuff, isn't that stuff taken care of for your by image transport or image_common?
- Default paths / topic names should be more standardized, but we can clean that up quickly in the PR
- C++ contains proper filepath tools, you should use them
- Use image transport subscriber to allow people to use compression streams and it handles alot of the boiler plate for you
from navigation2_tutorials.
The name...
- Sure no problem, also welcome to suggest a name if there are any on your mind
You have some cmake issues
- Will be dealt with in PR
tabs... remove all tabs....
- Noted, I will use the auto formatting provided in ament_code_style.cfg
The common.h stuff
- I did saw these functions being embedded somewhere in image_pipeline. But in my case the simulated realsense camera encoding type is
rgb8
, a type which they don't cover in original implementation, so I had to add this modified function, I believe most of gazebo simulated cameras will have same encoding in default setting, so IMO it is better to keep functions here and have control over them.
Default paths / topic names
- Yes my username isn't the best default path, they will be modified
C++ contains proper filepath tools
- I need more info on this, for example at which lines we need to replace the existing code with native C++ path tools ?
Use image transport subscriber to allow
- This was my original ideal, but seems like we cannot do that at the moment, the parent node(waypoint_follower) is a managed
LifeCycleNode
, a type of Nodeimage_transport
does not support yet , relevant issue; ros-perception/image_common#108
So I will do modifications and submit a PR to navigation2
, does that mean the plugin wont be added to this repo ?
from navigation2_tutorials.
OK - on image_transport, it wouldn't take that long to make that all work. We have many examples of supporting different node types in Navigation2.
from navigation2_tutorials.
I suggest that we stick with the current state on that, to be able to make image_transport
work with LifecycleNode
will require modification image_transport API itself. I believe some time in future they will add that support. Also I haven't come across any package that use image_transport
with a LifecycleNode
at the moment
from navigation2_tutorials.
Images should always use image_transport, its really important. The efficiency gains of having access to compression is substantial. We can continue to a PR without it, but before merging, I'll want to have the image_transport stuff patched in.
from navigation2_tutorials.
I see , just an idea ,how about if we make this plugin to have double inheritance as such;
class WaypointPaparazzi : public nav2_core::WaypointTaskExecutor, public rclcpp::Node
{
};
then I believe we will be able to use image_transport
, but the parent LifecycleNode will be ghosted in that case ..
from navigation2_tutorials.
This will involve making image_transport lifecycle node compatible
from navigation2_tutorials.
We actually did this already :-)
from navigation2_tutorials.
Related Issues (20)
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from navigation2_tutorials.