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Included functionality to execute an EMP goal is the robot is already on the route #240

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Included functionality to execute an EMP goal is the robot is already on the route #240

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18 changes: 18 additions & 0 deletions topological_navigation/topological_navigation/scripts/navigation2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -381,6 +381,13 @@ def executeCallback(self, goal):

return result

def trim_to_earliest(self, route, nodes):
idx = min([route.source.index(n) for n in nodes if n in route.source])
route.source = route.source[idx:]
route.edge_id = route.edge_id[idx:]
return route


def executeCallbackexecpolicy(self, goal):
"""
This Function is called when the execute policy Action Server is called
Expand All @@ -405,13 +412,24 @@ def executeCallbackexecpolicy(self, goal):
route = goal.request.route
valid_route = self.route_checker.check_route(route)

# CHECK IF ROBOT IS AT THE START OF THE ROUTE
if valid_route and (route.source[0] == self.current_node or route.source[0] == self.closest_node):
final_edge = get_edge_from_id_tmap2(self.lnodes, route.source[-1], route.edge_id[-1])
target = final_edge["node"]
route = self.enforce_navigable_route(route, target)
self.get_logger().warn("[executeCallbackexecpolicy] - publishing route")
self.publish_route(route, target)
result = self.execute_policy(route, target)
# CHECK IF ROBOT IS HALF WAY ALONG THE ROUTE
elif valid_route and (self.current_node in route.source or self.closest_node in route.source):
route = self.trim_to_earliest(route, [self.current_node, self.closest_node])
final_edge = get_edge_from_id_tmap2(self.lnodes, route.source[-1], route.edge_id[-1])
target = final_edge["node"]
route = self.enforce_navigable_route(route, target)
self.get_logger().warn("[executeCallbackexecpolicy] - publishing route starting midway")
self.publish_route(route, target)
result = self.execute_policy(route, target)
# ROBOT ISNT ON ANY PART OF THE ROUTE
else:
result = False
self.cancelled = True
Expand Down