Mock global path implementation

[SPDonaghy]

Description

• Resolves Mock global path #49

Mock Global Path Node:

• subscribes to GPS
• accepts a global path parameter (List) which can be an actual path (list of waypoints) or a single element list (Destination)
• publishes to global_path

Other Features:

• Path interpolation function: This function analyzes the given path, including the starting position, and fills in any gaps (where waypoints are too far apart) with a subpath, using the same generate_path function
• interval spacing function: a helper function for the interpolator, which returns an array of all the actual interval lengths for a given path
• 3D plotting script
• Purge script for deleting any generated path files in the global_paths directory
• Instead of a service, in order to force the path to update, from the command line, you can just set the parameter force to true. The checks in the callback will be bypassed, the path updated, and then the param is set to false again.

Path Builder GUI Features:

• Export to CSV
• Clear
• 3D Plot (which exports to a CSV in the process)

would like to add:

• import paths from csv files
• edit paths
• join paths
• travel time estimate
• LatLon text fields for more precise point selection
• maybe a stylesheet and logo

Verification

No verification at this time

Resources

• Node file used as an example

[patrick-5546]

@SPDonaghy updated the ROS infrastructure so that ros2 launch local_pathfinding main_launch.py launches your node. If you want to make any changes to the files outside of local_pathfinding/local_pathfinding, you will have to build local_pathfinding to apply them.

[SPDonaghy]

@SPDonaghy updated the ROS infrastructure so that ros2 launch local_pathfinding main_launch.py launches your node. If you want to make any changes to the files outside of local_pathfinding/local_pathfinding, you will have to build local_pathfinding to apply them.

Okay, I made some changes in the latest commit to ensure that the mgp node runs upon launch. Seems to work as expected.

[patrick-5546]

@hhenry01 any update on the remote transceiver endpoint?

[hhenry01]

@hhenry01 any update on the remote transceiver endpoint?

Use http://localhost:8081/global-path

[patrick-5546]

What should the format be? JSON?

[patrick-5546]

Great start

[SPDonaghy]

@patrick-5546 I added some new features, it would be great to know your thoughts!

Major changes:

• Path interpolation function: This function analyzes the given path, including the starting position, and fills in any gaps (where waypoints are too far apart) with a subpath, using the same generate_path function
• interval spacing function: a helper function for the interpolator, which returns an array of all the actual interval lengths for a given path
• Purge script for deleting any generated path files in the global_paths directory
• Instead of a service, in order to force the path to update, from the command line, you can just set the parameter force to true. The checks in the callback will be bypassed, the path updated, and then the param is set to false again.

[SPDonaghy]

More Changes:

Implemented a Path Builder GUI with Flask. Basic functions include:

• Export to CSV
• Clear Path
• 3D Plot (which exports to a csv in the process)

I am a little behind on documentation for this stuff, so I'll be sure to catch up on that.
Also one persistent issue is I am not able to import plot_global_path.py (from the global_paths folder) in the path_builder.py module. Not sure why, so I have a workaround of pasting in the functions I needed, for now.

[FireBoyAJ24]

All your test cases rot variables will need to be in ints to match the type set in the custom interfaces.

[SPDonaghy]

All your test cases rot variables will need to be in ints to match the type set in the custom interfaces.
@FireBoyAJ24

Were you still going to make a new pr for that? Or would you like me to?

[patrick-5546]

WOW this is really great stuff Sean! Super impressed with path_builder and how you implemented my previous feedback