Route Tool Rviz Panel

[john-chrosniak]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	NA
Primary OS tested on	Ubuntu
Robotic platform tested on	Gazebo turlebot simulation and Ackermann steering robot
Does this PR contain AI generated software?	Yes and it is marked inline in the code

---

Description of contribution in a few bullet points

• I added an Rviz panel to help create route graphs

Description of documentation updates required from your changes

• Documentation needed to highlight how to use the new Rviz panel

---

Future work that may be required in bullet points

• Could add support for bidirectional edges or adding route operations using the tool in future work

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

@john-chrosniak, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @nav2_route_server, but it must be in main
to have these changes reflected into new distributions.

[mergify]

This pull request is in conflict. Could you fix it @john-chrosniak?

[mergify]

This pull request is in conflict. Could you fix it @john-chrosniak?

[mergify]

This pull request is in conflict. Could you fix it @john-chrosniak?

[mergify]

This pull request is in conflict. Could you fix it @john-chrosniak?

[SteveMacenski]

Question before I review on Friday: I noticed that you didn't modify the original server to have a service in the Route Server itself to save the graph to file. If we did that, we'd probably have to create services to also modify the graph by adding / removing a edge / node but then there's less logic that's happening in the rviz program itself that isn't portable to another GUI window. Can you say a little bit about why you did this all inline in the rviz tool? I assume you modify a bunch of stuff inline that is easier with direct access. I just want that in in mind when giving this a critical look

Also: Does this dumping to file also do the metadata for the node semantics? Just checking.

[john-chrosniak]

Can you say a little bit about why you did this all inline in the rviz tool?

My assumption was that route graphs are almost always going to be defined ahead of time, so there wasn't a need to support editing/saving graphs on the fly using the route server. The data structures used in the route tool class are only needed to keep track of nodes/edges as new elements are added/edited/removed, so if we're only modifying route graphs through this UI then this logic should be specific to the route tool.

Also: Does this dumping to file also do the metadata for the node semantics? Just checking.

Yes both node and edge metadata is saved.

[codecov]

Codecov Report

Attention: Patch coverage is 95.42484% with 7 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...ins/graph_file_savers/geojson_graph_file_saver.cpp	95.91%	4 Missing ⚠️
nav2_route/src/graph_saver.cpp	96.00%	2 Missing ⚠️
nav2_route/include/nav2_route/utils.hpp	50.00%	1 Missing ⚠️

Files with missing lines	Coverage Δ
nav2_route/include/nav2_route/graph_saver.hpp	100.00% <100.00%> (ø)
...ins/graph_file_savers/geojson_graph_file_saver.hpp	100.00% <100.00%> (ø)
nav2_route/include/nav2_route/types.hpp	100.00% <ø> (ø)
nav2_route/src/route_server.cpp	96.19% <ø> (ø)
nav2_route/include/nav2_route/utils.hpp	98.85% <50.00%> (-1.15%)	⬇️
nav2_route/src/graph_saver.cpp	96.00% <96.00%> (ø)
...ins/graph_file_savers/geojson_graph_file_saver.cpp	95.91% <95.91%> (ø)

... and 5 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[SteveMacenski]

Just waiting on CI to merge! I announced on discourse, linkedin and other places for beta testers for the next 2 weeks so hopefully we'll start getting some big users of this work starting soon!

[john-chrosniak]

Awesome!!! I'm happy to help out with any fixes/maintenance needed as beta testers are brought on!

[SteveMacenski]

Great, I appreciate it!