125 lines
4.2 KiB
C++
125 lines
4.2 KiB
C++
#include "behaviortree_ros2/bt_service_node.hpp"
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#include "rcl_interfaces/msg/parameter.hpp"
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#include "rcl_interfaces/srv/set_parameters.hpp"
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#include "ament_index_cpp/get_package_share_directory.hpp"
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#include "lifecycle_msgs/msg/transition.hpp"
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#include "lifecycle_msgs/srv/change_state.hpp"
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#include <behaviortree_ros2/plugins.hpp>
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#include <memory>
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using namespace BT;
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using namespace std::chrono_literals;
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using PoseEstimationSrv = lifecycle_msgs::srv::ChangeState;
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class PoseEstimation : public RosServiceNode<PoseEstimationSrv> {
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public:
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PoseEstimation(const std::string &name, const NodeConfig &conf,
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const RosNodeParams ¶ms)
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: RosServiceNode<PoseEstimationSrv>(name, conf, params) {
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RCLCPP_INFO_STREAM(logger(), "Start node.");
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m_params_client = std::make_shared<rclcpp::AsyncParametersClient>(
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node_.lock(), "/pose_estimation");
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while (!m_params_client->wait_for_service(1s)) {
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if (!rclcpp::ok()) {
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RCLCPP_ERROR(logger(),
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"Interrupted while waiting for the service. Exiting.");
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break;
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}
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RCLCPP_WARN(logger(), "service not available, waiting again...");
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}
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// Get model name paramter from BT ports
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getInput("ObjectName", m_model_name);
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}
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bool setRequest(Request::SharedPtr &request) override {
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getInput("ReqKind", m_req_type);
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request->set__transition(transition_event(m_req_type));
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return true;
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}
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NodeStatus onResponseReceived(const Response::SharedPtr &response) override {
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if (!response->success) {
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return NodeStatus::FAILURE;
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}
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return NodeStatus::SUCCESS;
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}
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static PortsList providedPorts() {
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return providedBasicPorts({
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InputPort<std::string>("ReqKind"),
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InputPort<std::string>("ObjectName"),
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InputPort<std::string>("ObjectPath"),
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});
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}
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private:
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uint8_t m_transition_id{};
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std::string m_model_name{};
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std::string m_model_type{};
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std::string m_req_type{};
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std::shared_ptr<rclcpp::AsyncParametersClient> m_params_client;
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std::vector<rcl_interfaces::msg::Parameter> m_params;
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rcl_interfaces::msg::Parameter m_param;
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lifecycle_msgs::msg::Transition
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transition_event(const std::string &req_type) {
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lifecycle_msgs::msg::Transition translation{};
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// ParamSetter param_setter(m_params_client);
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if (req_type == "configure") {
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set_mesh_param();
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// auto str_mesh_param = std::make_shared<SetParamShareDirectoryStrategy>("model_name", m_model_name);
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// param_setter.setStrategy(str_mesh_param);
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// param_setter.setParam()
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m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE;
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} else if (req_type == "calibrate") {
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set_str_param();
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m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE;
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} else if (req_type == "activate") {
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m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE;
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} else if (req_type == "deactivate") {
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m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE;
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} else if (req_type == "cleanup") {
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m_transition_id = lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP;
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}
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// calibrate
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translation.set__id(m_transition_id);
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return translation;
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}
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inline std::string build_model_path(const std::string &model_name,
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const std::string &package_path) {
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return package_path + "/config/" + model_name + ".ply";
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}
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inline std::string build_model_path(const std::string &model_path) {
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return model_path;
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}
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void set_str_param() {
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RCLCPP_INFO_STREAM(logger(),
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"Set string parameter: <" + m_model_name + ">");
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std::vector<rclcpp::Parameter> params{
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rclcpp::Parameter("model_name", m_model_name)};
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m_params_client->set_parameters(params);
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}
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void set_mesh_param() {
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auto t_package_name =
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ament_index_cpp::get_package_share_directory("rbs_perception");
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m_model_type = build_model_path(m_model_name, t_package_name);
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RCLCPP_INFO_STREAM(logger(), m_model_type);
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std::vector<rclcpp::Parameter> params{
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rclcpp::Parameter("mesh_path", m_model_name)};
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m_params_client->set_parameters(params);
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}
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};
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CreateRosNodePlugin(PoseEstimation, "PoseEstimation");
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