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Added new message types Trajectory and Navigation Point. #515

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merged 5 commits into from
Nov 27, 2024
Merged

Added new message types Trajectory and Navigation Point. #515

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cfbd170
Added new message types Trajectory and Navigation Point.
seefelke Nov 21, 2024
a4355e7
Update code/planning/CMakeLists.txt
seefelke Nov 21, 2024
668b6d7
refactored enum into seperate file
seefelke Nov 24, 2024
63b4e0a
Merge branch '511-feature-create-new-message-type-for-trajectory-mess…
seefelke Nov 24, 2024
5c37dfc
Merge branch 'main' into 511-feature-create-new-message-type-for-traj…
THDThieleT Nov 27, 2024
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22 changes: 15 additions & 7 deletions code/planning/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,11 @@ project(planning)
find_package(catkin REQUIRED COMPONENTS
perception
rospy
rosout
roslaunch
std_msgs
geometry_msgs
message_generation
Comment on lines +16 to +20
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🛠️ Refactor suggestion

Remove unnecessary rosout dependency

The rosout package is a core ROS functionality and doesn't need to be explicitly listed as a dependency. It's automatically available to all ROS nodes.

find_package(catkin REQUIRED COMPONENTS
  perception
  rospy
-  rosout
  roslaunch
  std_msgs
  geometry_msgs
  message_generation
)
📝 Committable suggestion

‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change
rosout
roslaunch
std_msgs
geometry_msgs
message_generation
perception
rospy
roslaunch
std_msgs
geometry_msgs
message_generation

)

roslaunch_add_file_check(launch)
Expand Down Expand Up @@ -48,9 +51,11 @@ catkin_python_setup()
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
# MinDistance.msg
# )
add_message_files(
FILES
NavigationPoint.msg
Trajectory.msg
)

## Generate services in the 'srv' folder
# add_service_files(
Expand All @@ -67,9 +72,12 @@ catkin_python_setup()
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
# perception
# )
generate_messages(
DEPENDENCIES
std_msgs
perception
geometry_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
Expand Down Expand Up @@ -105,7 +113,7 @@ catkin_package(
# LIBRARIES planning
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
CATKIN_DEPENDS perception rospy
CATKIN_DEPENDS perception rospy message_runtime
)

###########
Expand Down
3 changes: 3 additions & 0 deletions code/planning/msg/NavigationPoint.msg
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@@ -0,0 +1,3 @@
geometry_msgs/Point position
float32 speed
uint8 behaviour
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💡 Codebase verification

Verify behaviour field constraints needs update

The behaviour field in NavigationPoint.msg is not properly constrained. The Behaviour enum in local_planner/utils.py only defines CRUISING = 0, but there's no documentation or validation of other possible values. This needs to be updated to:

  1. Document all valid behaviour values in the message definition
  2. Align with the complete set of behaviours defined in the enum
🔗 Analysis chain

Verify behaviour field constraints

The behaviour field should align with the Behaviour enum in localplanning/utils.py. Let's verify the implementation and usage.

🏁 Scripts executed

The following scripts were executed for the analysis:

Script:

#!/bin/bash
# Find and analyze the Behaviour enum definition and its usage
echo "Searching for Behaviour enum definition:"
rg -p "class Behaviour" --type py

echo -e "\nChecking for behaviour field usage:"
rg -p "behaviour.*=.*\d+" --type py

Length of output: 420

Script:

#!/bin/bash
# Let's examine the Behaviour enum definition and its values
echo "Checking Behaviour enum implementation:"
rg -A 10 "class Behaviour" code/planning/src/local_planner/utils.py

# Let's also check for any other usage of behaviour field
echo -e "\nChecking for other behaviour field references:"
rg -i "behaviour" --type py

Length of output: 44713

2 changes: 2 additions & 0 deletions code/planning/msg/Trajectory.msg
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@@ -0,0 +1,2 @@
Header header
planning/NavigationPoint[] navigationPoints
4 changes: 4 additions & 0 deletions code/planning/package.xml
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Expand Up @@ -47,6 +47,9 @@
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

<build_depend>rospy</build_depend>
<build_depend>roslaunch</build_depend>

Expand All @@ -57,6 +60,7 @@
<exec_depend>carla_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>perception</exec_depend>

<build_depend>perception</build_depend>
Expand Down
8 changes: 8 additions & 0 deletions code/planning/src/BehaviourEnum.py
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@@ -0,0 +1,8 @@
from enum import IntEnum

# getattr(Behaviour, "name").value returns the ID
# Behaviour(id) returns Behaviour.NAME


class BehaviourEnum(IntEnum):
CRUISING = 0
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