Test branch

src/auto_drive_misson_center/config/misson_center_params.yaml

@@ -2,7 +2,7 @@ auto_mission_handler_node:
   # parameters
   ros__parameters:
     # redis
-    redis_host: "192.168.1.110" # "127.0.0.1"
+    redis_host: "127.0.0.1" # "127.0.0.1"
     redis_port: 6379
     redis_db: 0
 
@@ -20,7 +20,7 @@ path_follow_handler_node:
   # parameters
   ros__parameters:
     # redis
-    redis_host: "192.168.1.110" # "127.0.0.1"
+    redis_host: "127.0.0.1" # "127.0.0.1"
     redis_port: 6379
     redis_db: 0
 
@@ -40,7 +40,7 @@ mission_center_node:
   # parameters
   ros__parameters:
     # redis
-    redis_host: "192.168.1.110" # "127.0.0.1"
+    redis_host: "127.0.0.1" # "127.0.0.1"
     redis_port: 6379
     redis_db: 0
 

src/auto_drive_misson_center/scripts/mock_start_pose_and_publish_rtk.py

@@ -20,20 +20,20 @@ class MockPoseNode(Node):
         )
         self.get_logger().info("Service /start_pose ready, always return success=True")
 
-        # 2. rtk_pose publisher
-        self.pub_rtk = self.create_publisher(
-            PoseWithCovarianceStamped,
-            "/rtk_pose",
-            10
-        )
+        # # 2. rtk_pose publisher
+        # self.pub_rtk = self.create_publisher(
+        #     PoseWithCovarianceStamped,
+        #     "/rtk_pose",
+        #     10
+        # )
 
-        self.url = url
-        self.coord_list = []
-        self.load_geojson()
+        # self.url = url
+        # self.coord_list = []
+        # self.load_geojson()
 
-        self.index = 0
-        self.timer_period = 0.2
-        self.timer = self.create_timer(self.timer_period, self.publish_rtk_pose_cb)
+        # self.index = 0
+        # self.timer_period = 0.2
+        # self.timer = self.create_timer(self.timer_period, self.publish_rtk_pose_cb)
 
     def load_geojson(self):
         try:
@@ -53,40 +53,40 @@ class MockPoseNode(Node):
         response.success = True
         return response
 
-    def publish_rtk_pose_cb(self):
-        if not self.coord_list:
-            return
+    # def publish_rtk_pose_cb(self):
+    #     if not self.coord_list:
+    #         return
 
-        lon, lat, alt = self.coord_list[self.index]
+    #     lon, lat, alt = self.coord_list[self.index]
 
-        msg = PoseWithCovarianceStamped()
-        msg.header.stamp = self.get_clock().now().to_msg()
-        msg.header.frame_id = "enu"
+    #     msg = PoseWithCovarianceStamped()
+    #     msg.header.stamp = self.get_clock().now().to_msg()
+    #     msg.header.frame_id = "enu"
 
-        msg.pose.pose.position.x = lon
-        msg.pose.pose.position.y = lat
-        msg.pose.pose.position.z = alt
+    #     msg.pose.pose.position.x = lon
+    #     msg.pose.pose.position.y = lat
+    #     msg.pose.pose.position.z = alt
 
-        msg.pose.pose.orientation.w = 1.0
-        msg.pose.pose.orientation.x = 0.0
-        msg.pose.pose.orientation.y = 0.0
-        msg.pose.pose.orientation.z = 0.0
+    #     msg.pose.pose.orientation.w = 1.0
+    #     msg.pose.pose.orientation.x = 0.0
+    #     msg.pose.pose.orientation.y = 0.0
+    #     msg.pose.pose.orientation.z = 0.0
 
-        for i in range(36):
-            msg.pose.covariance[i] = 0.0
+    #     for i in range(36):
+    #         msg.pose.covariance[i] = 0.0
 
-        self.pub_rtk.publish(msg)
+    #     self.pub_rtk.publish(msg)
 
-        self.index += 1
-        if self.index >= len(self.coord_list):
-            self.index = 0
+    #     self.index += 1
+    #     if self.index >= len(self.coord_list):
+    #         self.index = 0
 
 
 def main(args=None):
     # 解析命令行参数，注意：分离ros args和自定义argparse参数
     parser = argparse.ArgumentParser()
     parser.add_argument("--url", type=str,
-                        default="https://test.sweetai.cn:4433/load/locationCmdPath/1701148411059699712.json",
+                        default="https://test.sweetai.cn:4433/load/locationCmdPath/1700080420079468544.json",
                         help="geojson path url")
     parsed_args, ros_args = parser.parse_known_args(args)
 
@@ -119,4 +119,4 @@ if __name__ == "__main__":
 3. `/start_pose`服务不解析请求参数，任何入参直接返回`success=True`，完全匹配你的需求。
 4. frame_id 写为`map`，你可以根据实际工程改成`enu`。
 5. 发布周期`timer_period = 0.2`，可按需调快 / 调慢。
-'''
+'''

src/auto_drive_misson_center/src/mission_center_node.cpp

@@ -349,6 +349,7 @@ void MissionCenterNode::missionOnCallback(
     const auto_drive_proj_msg::srv::ReqString::Request::SharedPtr request,
     auto_drive_proj_msg::srv::ReqString::Response::SharedPtr response)
 {
+    LOG_INFO("========================== /invoke/missionOn request=");
     try {
         LOG_INFO("Received /invoke/missionOn request: {}", request->request);
 
@@ -427,7 +428,7 @@ void MissionCenterNode::missionOnCallback(
         response->success = true;
         response->message = "Mission request accepted, processing in background";
         LOG_INFO("mission on cb, set main state to WAIT MIS RSP, Mission request accepted, processing in background");
-
+        LOG_INFO("========================== /invoke/missionOn request=  end");
     } catch (const std::exception& e) {
         response->success = false;
         response->message = std::string("Exception: ") + e.what();