Update the way we publish and subscribe to the Continuous Hiking Process. Upgrade to ContinuousHikingAPI #523
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…s for changing how we send and receive the messages. Removed the use of the planning mode as its no longer desired behavior.
PotatoPeeler3000
commented
Dec 8, 2024
| @@ -17,7 +16,7 @@ public class ContinuousHikingAPI | |||
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| // Commands supported for the Continuous Hiking Process | |||
| public static final ROS2Topic<ContinuousHikingCommandMessage> CONTINUOUS_HIKING_COMMAND = IHMC_ROOT.withModule(moduleName).withType(ContinuousHikingCommandMessage.class).withSuffix("command"); | |||
| public static final ROS2Topic<Empty> CLEAR_GOAL_FOOTSTEPS = IHMC_ROOT.withModule(moduleName).withType(Empty.class).withSuffix("clear_goal_footsteps"); | |||
| public static final ROS2Topic<std_msgs.msg.dds.Empty> CLEAR_GOAL_FOOTSTEPS = IHMC_ROOT.withModule(moduleName).withType(std_msgs.msg.dds.Empty.class).withSuffix("clear_goal_footsteps"); | |||
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I guess this is the right empty message to use
| @@ -18,7 +18,6 @@ public class ContinuousHikingParameters extends StoredPropertySet implements Con | |||
| { | |||
| public static final StoredPropertyKeyList keys = new StoredPropertyKeyList(); | |||
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| public static final BooleanStoredPropertyKey enableContinuousHiking = keys.addBooleanKey("Enable continuous hiking"); | |||
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This exists in the message now, its no longer a parameter
| @@ -93,26 +93,23 @@ private void generalUpdate() | |||
| */ | |||
| private void updateActiveMappingPlan() | |||
| { | |||
| if (continuousPlanningParameters.getEnableContinuousHiking()) | |||
| if (walkingStatusMessage.get() != null) | |||
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Removed the check for the parameter that got deleted, and the rest of the changes in this file are formatting
| @@ -81,6 +82,7 @@ public ContinuousPlanner(DRCRobotModel robotModel, | |||
| ContinuousHikingLogger continuousHikingLogger) | |||
| { | |||
| this.referenceFrames = referenceFrames; | |||
| this.commandMessage = commandMessage; | |||
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Pass this into the constructor
| { | ||
| latestFootstepPlan = generateMonteCarloFootstepPlan(goalPoses); | ||
| } | ||
| else if (command.getUseHybridPlanner()) |
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No hybrid planner anymore
…ystick on publishing all the time so the input of the joystick changes
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Switched Continuous Hiking to use the ContinuousHikingAPI. This allows for changing how we send and receive the messages. Removed the use of the planning mode as its no longer desired behavior.