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Update the way we publish and subscribe to the Continuous Hiking Process. Upgrade to ContinuousHikingAPI #523

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Update the way we publish and subscribe to the Continuous Hiking Process. Upgrade to ContinuousHikingAPI #523

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87a6693
Switched Continuous Hiking to use the ContinuousHikingAPI. This allow…
PotatoPeeler3000 Dec 8, 2024
ac2e7a7
Fixed high level UI to publish and stop correctly. But need to fix jo…
PotatoPeeler3000 Dec 9, 2024
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3 changes: 1 addition & 2 deletions ...ep-planning/src/main/java/us/ihmc/footstepPlanning/communication/ContinuousHikingAPI.java
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Expand Up @@ -4,7 +4,6 @@
import behavior_msgs.msg.dds.ContinuousWalkingStatusMessage;
import controller_msgs.msg.dds.FootstepDataListMessage;
import ihmc_common_msgs.msg.dds.PoseListMessage;
import std_msgs.Empty;
import us.ihmc.communication.property.StoredPropertySetROS2TopicPair;
import us.ihmc.ros2.ROS2Topic;

Expand All @@ -17,7 +16,7 @@ public class ContinuousHikingAPI

// 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

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yep

public static final ROS2Topic<PoseListMessage> PLACED_GOAL_FOOTSTEPS = IHMC_ROOT.withModule(moduleName).withType(PoseListMessage.class).withSuffix("placed_goal_footsteps");

// Statuses supported from the Continuous Hiking Process
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180 changes: 119 additions & 61 deletions ...high-level-behaviors/src/libgdx/java/us/ihmc/rdx/perception/RDXContinuousHikingPanel.java
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4 changes: 2 additions & 2 deletions ...h-level-behaviors/src/libgdx/java/us/ihmc/rdx/perception/RDXStancePoseSelectionPanel.java
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Expand Up @@ -18,7 +18,7 @@
import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.euclid.tuple2D.Point2D;
import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
import us.ihmc.footstepPlanning.communication.ContinuousWalkingAPI;
import us.ihmc.footstepPlanning.communication.ContinuousHikingAPI;
import us.ihmc.footstepPlanning.graphSearch.FootstepPlannerEnvironmentHandler;
import us.ihmc.footstepPlanning.tools.PlannerTools;
import us.ihmc.perception.heightMap.TerrainMapData;
Expand Down Expand Up @@ -263,7 +263,7 @@ private void setGoalFootsteps()
PoseListMessage poseListMessage = new PoseListMessage();
MessageTools.packPoseListMessage(poses, poseListMessage);

ros2Helper.publish(ContinuousWalkingAPI.PLACED_GOAL_FOOTSTEPS, poseListMessage);
ros2Helper.publish(ContinuousHikingAPI.PLACED_GOAL_FOOTSTEPS, poseListMessage);
}

public boolean isSelectionActive()
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1 change: 0 additions & 1 deletion ...s/src/main/generated-java/us/ihmc/behaviors/activeMapping/ContinuousHikingParameters.java
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Expand Up @@ -18,7 +18,6 @@ public class ContinuousHikingParameters extends StoredPropertySet implements Con
{
public static final StoredPropertyKeyList keys = new StoredPropertyKeyList();

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

public static final BooleanStoredPropertyKey stepPublisherEnabled = keys.addBooleanKey("Step publisher enabled");
public static final BooleanStoredPropertyKey overrideEntireQueueEachStep = keys.addBooleanKey("Override entire queue each step");
public static final IntegerStoredPropertyKey numberOfStepsToSend = keys.addIntegerKey("Number of steps to send");
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5 changes: 0 additions & 5 deletions ...main/generated-java/us/ihmc/behaviors/activeMapping/ContinuousHikingParametersBasics.java
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Expand Up @@ -8,11 +8,6 @@
*/
public interface ContinuousHikingParametersBasics extends ContinuousHikingParametersReadOnly, StoredPropertySetBasics
{
default void setEnableContinuousHiking(boolean enableContinuousHiking)
{
set(ContinuousHikingParameters.enableContinuousHiking, enableContinuousHiking);
}

default void setStepPublisherEnabled(boolean stepPublisherEnabled)
{
set(ContinuousHikingParameters.stepPublisherEnabled, stepPublisherEnabled);
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5 changes: 0 additions & 5 deletions ...in/generated-java/us/ihmc/behaviors/activeMapping/ContinuousHikingParametersReadOnly.java
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Expand Up @@ -10,11 +10,6 @@
*/
public interface ContinuousHikingParametersReadOnly extends StoredPropertySetReadOnly
{
default boolean getEnableContinuousHiking()
{
return get(enableContinuousHiking);
}

default boolean getStepPublisherEnabled()
{
return get(stepPublisherEnabled);
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25 changes: 11 additions & 14 deletions ...ehaviors/src/main/java/us/ihmc/behaviors/activeMapping/ActivePlanarMappingRemoteTask.java
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Expand Up @@ -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

{
if (walkingStatusMessage.get() != null)
if (walkingStatusMessage.get().getWalkingStatus() == WalkingStatusMessage.COMPLETED && !continuousPlanner.isPlanAvailable())
{
if (walkingStatusMessage.get().getWalkingStatus() == WalkingStatusMessage.COMPLETED && !continuousPlanner.isPlanAvailable())
{
continuousPlanner.planBodyPathWithPlanarRegionMap(planarRegionMap);
}
continuousPlanner.planBodyPathWithPlanarRegionMap(planarRegionMap);
}
}

if (continuousPlanner.isPlanAvailable())
{
// Publishing Plan Result
FootstepDataListMessage footstepDataList = continuousPlanner.getFootstepDataListMessage();
publisherMap.publish(controllerFootstepDataTopic, footstepDataList);
if (continuousPlanner.isPlanAvailable())
{
// Publishing Plan Result
FootstepDataListMessage footstepDataList = continuousPlanner.getFootstepDataListMessage();
publisherMap.publish(controllerFootstepDataTopic, footstepDataList);

continuousPlanner.setPlanAvailable(false);
}
// configurationParameters.setActiveMapping(false);
continuousPlanner.setPlanAvailable(false);
}
// configurationParameters.setActiveMapping(false);
}

public ContinuousPlannerForPlanarRegions getContinuousPlanner()
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