Added label editing to frontend

opentera_webrtc_ros/README.md

@@ -161,8 +161,7 @@ Manages labels.
 The stored labels are dependent on the `map` transform and the database needs to be cleaned if the map changes.
 A label represents a name grouped with an associated pose and a description.
 This node relies on a service provided by the `map_image_generator` package to convert the labels from image coordinates to map coordinates.
-
-<!-- This node can also send a label as a goal to `move_base` by its name. -->
+This node can also send a label as a goal to `move_base` by its name.
 
 ## Subscribed topics
 
@@ -175,6 +174,5 @@ This node relies on a service provided by the `map_image_generator` package to c
 ## Published topics
 
 - stored_labels (`opentera_webrtc_ros_msgs/LabelArray`): Array of labels currently stored
-- stored_labels_names (`std_msgs/String`): JSON message with an array of string which are the stored labels names. Used by the frontend to display a list of labels.
+- stored_labels_text (`std_msgs/String`): JSON message with an array of maps `{name: string, description: string}` labels names and descriptions. Used by the frontend to display a list of labels.
 - All published topics of `libnavigation`
-<!-- - stored_labels_simple (`openterat_webrtc_ros_msgs/LabelSimpleArray`): Version of `stored_labels` which contains `opentera_webrtc_ros_msgs/Waypoint` instead of `geometry_msgs/PoseStamped` for frontend communication. -->

opentera_webrtc_ros/scripts/labels_manager.py

@@ -113,8 +113,10 @@ def edit_label_simple_callback(self, msg: LabelSimpleEdit) -> None:
             if msg.current_name != msg.updated.name:
                 self.db.rename(msg.current_name, msg.updated.name)
 
-            self.db.replace(msg.updated.name, LabelData(
-                self.simple2label(msg.updated)))
+            updated = self.simple2label(msg.updated)
+            if msg.ignore_waypoint is True:
+                updated.pose = self.db[msg.updated.name].label.pose
+            self.db.replace(msg.updated.name, LabelData(updated))
 
             self.db.commit()
         except (IndexError, ConversionError) as e:

opentera_webrtc_ros/scripts/libnavigation.py

@@ -28,6 +28,7 @@ def __init__(self, stop_cb: Optional[Callable[..., Generator]] = None, stop_toke
 
         self.stop_cb = stop_cb or WaypointNavigationClient.__noop
         self.stop_token = stop_token or WaypointNavigationClient.__false
+        self.stop = False
 
         self.cancel_all_goals()
 
@@ -45,10 +46,11 @@ def add_to_image(self, pose_goal):
     def navigate_to_goal(self, pose_goal, reached_index):
         goal = MoveBaseGoal()
         goal.target_pose = pose_goal
+        self.stop = False
         self.move_base_client.send_goal(goal)
         self.move_base_client.wait_for_result()
         state = self.move_base_client.get_state()
-        if not self.stop_token(state):
+        if not self.stop and not self.stop_token(state):
             self._publish_waypoint_reached(reached_index, pose_goal)
 
     def cancel_all_goals(self, clear_goals=True):
@@ -80,6 +82,7 @@ def _publish_waypoint_reached(self, waypoint_index, goal_pose):
 
     def _stop_callback(self, msg):
         if msg.data == True:
+            self.stop = True
             cb = self.stop_cb(msg)
             next(cb)
             self.cancel_all_goals()

opentera_webrtc_ros/src/RosJsonDataHandler.cpp

@@ -181,7 +181,16 @@ void RosJsonDataHandler::onWebRTCDataReceived(
         labelEdit.current_name = serializedData["currentLabel"];
         labelEdit.updated.name = data["name"];
         labelEdit.updated.description = data["description"];
-        labelEdit.updated.waypoint = getWpFromData(data);
+        if (data["coordinate"].is_null())
+        {
+            labelEdit.ignore_waypoint = true;
+            labelEdit.updated.waypoint = opentera_webrtc_ros_msgs::Waypoint();
+        }
+        else
+        {
+            labelEdit.ignore_waypoint = false;
+            labelEdit.updated.waypoint = getWpFromData(data);
+        }
 
         m_editLabelPub.publish(labelEdit);
     }

opentera_webrtc_ros_msgs/msg/LabelEdit.msg

@@ -1,2 +1,3 @@
 string current_name
 opentera_webrtc_ros_msgs/Label updated
+bool ignore_pose

opentera_webrtc_ros_msgs/msg/LabelSimpleEdit.msg

@@ -1,2 +1,3 @@
 string current_name
 opentera_webrtc_ros_msgs/LabelSimple updated
+bool ignore_waypoint