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Global Path Service #30
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@hhenry01 FYI we're changing the global path topic from msg to srv
patrick-5546
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Nov 29, 2023
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Looks good, nice work Sean! |
SPDonaghy
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Dec 5, 2023
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Description
I implemented a Global Path Service message.
The request is a Path type and the response is a bool type. Given how infrequently the global path is expected to change, the choice was made to switch global path from a topic to a service. This way, nodes such as MockGlobalPath and LocalTransceiver (which have access to the global path) can send a "request" message containing the new global path to Navigate. Then Navigate can respond with True to acknowledge receipt of the message.
Verification
To verify my changes, I first ran the command "ros2 interface show custom_interfaces/srv/GlobalPath" and received the response:
Path global_path
HelperLatLon[] waypoints
float32 latitude
float32 longitude
bool response
So the service was built properly.
I then launched the local pathfinding package and the mock global path node (which will use this service) ran as expected, along with the navigate node.
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