ComputeCoveragePath¶
Invokes the ComputeCoveragePath ROS 2 action server, which is implemented by the opennav_coverage server module.
The server address can be remapped using the server_name input port.
This server can take in both cartesian and GPS coordinates and is implemented using the Fields2Cover library.
Input Ports¶
- generate_headland
Type
Default
bool
true
- Description
Whether or not to generate a headland of the field or polygon to compute coverage of
- generate_route
Type
Default
bool
true
- Description
Whether or not to generate a route, e.g. an ordered set of swaths
- generate_path
Type
Default
bool
true
- Description
Whether or not to generate a path, e.g. adding path connectors to the ordered route
- file_field
Type
Default
string
N/A
- Description
The filepath to the field’s GML file to use, if not specifying the field via
polygons
- file_field_id
Type
Default
int
0
- Description
The ID of the field in the GML File to use, if multiple exist in the same file. This is the ordered number of the fields in the file.
- polygons
Type
Default
vector<geometry_msgs::msg::Polygon>
N/A
- Description
The polygons of the field, if not specifying via a GML file. The first polygon should be the outermost region, whereas additional polygons are voids.
- polygons_frame_id
Type
Default
string
“map”
- Description
The polygon’s frame ID, since the GML file provides the frame ID for its format, this is the frame ID for user-defined input
polygons.
Output Ports¶
- nav_path
Type
Default
nav_msgs::msg::Path
N/A
- Description
Path created by action server in the form of a navigation path. Takes in a blackboard variable, e.g. “{path}”.
- coverage_path
Type
Default
vector<PathComponents>
N/A
- Description
An ordered set of swaths and turns corresponding to the coverage path when its important to distinguish between turns and swaths for applications. A
opennav_coverage::utils::PathComponentsIteratorobject is provided to help make this easy to use by iterating through the outputs’s path components to return you the next swath and turn one at a time.
- error_code_id
Type
Default
uint16
N/A
- Description
Compute coverage error code. See
ComputeCoveragePathaction message for the enumerated set of error codes.
Example¶
<ComputeCoveragePath file_field="{field_filepath}" nav_path="{path}" coverage_path="{cov_path}" server_name="ComputeCoverage" server_timeout="10" error_code_id="{compute_coverage_error_code}"/>
Note: the blackboard IDs for the path, error code, and more may be adjusted,but need to match the corresponding parameters in the CoverageNavigator plugin to set on the blackboard for use from the action server.