fix missing linters; tune tutorial params

mrpt_msgs_bridge/CMakeLists.txt

@@ -97,8 +97,6 @@ install(
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  find_package(ament_cmake_copyright REQUIRED)
-  find_package(ament_cmake_cpplint REQUIRED)
   find_package(ament_cmake_lint_cmake REQUIRED)
   find_package(ament_cmake_xmllint REQUIRED)
 

mrpt_tps_astar_planner/README.md

@@ -29,6 +29,8 @@ Uses A* over a SE(2) lattice and PTGs to sample collision-free paths. The implem
 
 ### ROS 2 parameters
 
+* `topic_wp_seq_pub` (Default: `/waypoints`) Desired name of the topic in which to publish the calculated paths.
+
 * `topic_goal_sub`: The name of the topic to subscribe for goal poses (`geometry_msgs/PoseStamped`).
 
 * `show_gui`: Shows its own MRPT GUI with the planned paths.
@@ -37,11 +39,13 @@ Uses A* over a SE(2) lattice and PTGs to sample collision-free paths. The implem
 
 * `topic_obstacle_points_sub`: One or more (comma separated) topic names to subscribe for obstacle points.
 
+
 ### Subscribed topics
 * xxx
 
 ### Published topics
-* `` (`mrpt_msgs::msg::WaypointSequence`)
+* `<topic_wp_seq_pub>`  (Default: `/waypoints`) (`mrpt_msgs::msg::WaypointSequence`): Calculated trajectory, in mrpt_msgs format with complete details for each waypoints.
+* `<topic_wp_seq_pub>_path`  (Default: `/waypoints_path`) (`nav_msgs::msg::Path`): Calculated trajectory, as `nav_msgs::Path`. Mostly useful for visualization only.
 
 ### Services
 

mrpt_tps_astar_planner/configs/params/costmap-obstacles.yaml

@@ -5,5 +5,5 @@ maxCost: 15.0
 
 useAverageOfPath: false
 
-maxRadiusFromRobot: 25.0  # [meters]
+maxRadiusFromRobot: 50.0  # [meters]
 

mrpt_tps_astar_planner/src/mrpt_tps_astar_planner_node.cpp

@@ -54,6 +54,7 @@
 #include <mutex>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
+#include <nav_msgs/msg/path.hpp>
 #include <optional>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -108,6 +109,7 @@ class TPS_Astar_Planner_Node : public rclcpp::Node
 
 	/// Publisher for waypoint sequence
 	rclcpp::Publisher<mrpt_msgs::msg::WaypointSequence>::SharedPtr pub_wp_seq_;
+	rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr pub_wp_path_seq_;
 
 	// tf2 buffer and listener
 	std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
@@ -342,6 +344,8 @@ TPS_Astar_Planner_Node::TPS_Astar_Planner_Node() : rclcpp::Node(NODE_NAME)
 	// Init ROS publishers:
 	// -----------------------
 	pub_wp_seq_ = this->create_publisher<mrpt_msgs::msg::WaypointSequence>(topic_wp_seq_pub_, qos);
+	pub_wp_path_seq_ =
+		this->create_publisher<nav_msgs::msg::Path>(topic_wp_seq_pub_ + "_path"s, qos);
 
 	// Init services:
 	// --------------------------
@@ -595,6 +599,17 @@ void TPS_Astar_Planner_Node::update_obstacles(
 void TPS_Astar_Planner_Node::publish_waypoint_sequence(const mrpt_msgs::msg::WaypointSequence& wps)
 {
 	pub_wp_seq_->publish(wps);
+
+	// As Path too:
+	nav_msgs::msg::Path p;
+	p.header = wps.header;
+	for (const auto& w : wps.waypoints)
+	{
+		auto& q = p.poses.emplace_back();
+		q.header = p.header;  // Add actual timestamp per path pose??
+		q.pose = w.target;
+	}
+	pub_wp_path_seq_->publish(p);
 }
 
 void TPS_Astar_Planner_Node::init_3d_debug()

mrpt_tutorials/launch/demo_astar_planner_gridmap.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
             'tps_astar_planner.launch.py')]),
         launch_arguments={
             'topic_goal_sub': '/goal_pose',
-            'show_gui': 'True',
+            'show_gui': 'False',
             'topic_obstacles_gridmap_sub': '/mrpt_map/map_gridmap',
             'topic_static_maps': '/mrpt_map/map_gridmap',
             'topic_wp_seq_pub': '/waypoints',
@@ -49,7 +49,7 @@ def generate_launch_description():
             {
                 "world_file": os.path.join(tutsDir, 'mvsim', 'demo_world2.world.xml'),
                 "do_fake_localization": True,
-                "show_gui": True,
+                "headless": True,
             }]
     )
 

mrpt_tutorials/rviz2/gridmap.rviz

@@ -210,6 +210,34 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.10000000149011612
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: Axes
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /waypoints_path
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -265,7 +293,7 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 10.372156143188477
+      Scale: 11.861957550048828
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
       X: 43.450077056884766
@@ -288,4 +316,4 @@ Window Geometry:
     collapsed: false
   Width: 1850
   X: 70
-  Y: 534
+  Y: 27