"""FollowPath Behavior."""
# Copyright 2022 Universidad Politécnica de Madrid
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# this software without specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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__authors__ = 'Miguel Fernández Cortizas, Pedro Arias Pérez, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
from typing import TYPE_CHECKING, Union
from as2_msgs.action import FollowPath
from as2_msgs.msg import PoseWithID, YawMode
from geographic_msgs.msg import GeoPath
from geometry_msgs.msg import Pose
from nav_msgs.msg import Path
from pymap3d import geodetic2enu
from .behavior_handler import BehaviorHandler
from ..tools.utils import path_to_list
if TYPE_CHECKING:
from ..drone_interface_base import DroneInterfaceBase
[docs]
class FollowPathBehavior(BehaviorHandler):
"""FollowPath Behavior."""
def __init__(self, drone: 'DroneInterfaceBase') -> None:
self.__drone = drone
try:
super().__init__(drone, FollowPath, 'FollowPathBehavior')
except self.BehaviorNotAvailable as err:
self.__drone.get_logger().warn(str(err))
[docs]
def start(self, path: Union[list, tuple, Path, GeoPath, PoseWithID],
speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth',
wait_result: bool = True) -> bool:
"""Start behavior."""
goal_msg = FollowPath.Goal()
goal_msg.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.header.frame_id = frame_id
goal_msg.path = self.__get_path(path)
yaw_msg = YawMode()
yaw_msg.angle = yaw_angle
yaw_msg.mode = yaw_mode
goal_msg.yaw = yaw_msg
goal_msg.max_speed = speed
try:
return super().start(goal_msg, wait_result)
except self.GoalRejected as err:
self.__drone.get_logger().warn(str(err))
return False
[docs]
def modify(self, path: Union[list, tuple, Path, GeoPath, PoseWithID],
speed: float, yaw_mode: int, yaw_angle: float, frame_id: str = 'earth'):
"""Modify behavior."""
goal_msg = FollowPath.Goal()
goal_msg.header.stamp = self.__drone.get_clock().now().to_msg()
goal_msg.header.frame_id = frame_id
goal_msg.path = self.__get_path(path)
yaw_msg = YawMode()
yaw_msg.angle = yaw_angle
yaw_msg.mode = yaw_mode
goal_msg.yaw = yaw_msg
goal_msg.max_speed = speed
return super().modify(goal_msg)
def __get_path(self, path: Union[list, tuple, Path, GeoPath, PoseWithID]):
"""Get trajectory msg."""
point_list = []
if isinstance(path, list):
if len(path) > 0 and isinstance(path[0], PoseWithID):
return path
elif not path: # not empty
raise self.GoalRejected('Goal format invalid')
if isinstance(path[0], list):
point_list = path
else:
point_list = [path]
elif isinstance(path, tuple):
point_list = [list(path)]
elif isinstance(path, Path):
point_list = path_to_list(path)
elif isinstance(path, GeoPath):
point_list = []
lat0, lon0, h0 = self.__drone.gps.origin
for pose in path.poses:
x, y, z = geodetic2enu(pose.pose.position.latitude,
pose.pose.position.longitude,
pose.pose.position.altitude,
lat0, lon0, h0)
# CAUTION: using height from origin
point_list.append([x, y, pose.pose.position.altitude])
elif isinstance(path, PoseWithID):
return [path]
else:
raise self.GoalRejected('Goal format invalid')
pose_with_id_list = []
id_ = 0
for waypoint in point_list:
pose_with_id = PoseWithID()
pose_with_id.pose = Pose()
pose_with_id.id = str(id_)
pose_with_id.pose.position.x = float(waypoint[0])
pose_with_id.pose.position.y = float(waypoint[1])
pose_with_id.pose.position.z = float(waypoint[2])
pose_with_id_list.append(pose_with_id)
id_ += 1
return pose_with_id_list