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waypoint_finder.py

Finds the sequence of buoy pairs (red left, green right) that the robot should follow based on the obstacles that it has seen until now (obtained from the obstacle map), and an area that's characterized by their midpoint and a radius that takes into account a safety margin; the robot should pass through that area and simultaneously avoid buoys (the node doesn't do obstacle avoidance).

Subscribed topics:

• /odometry/filtered: a nav_msgs/msg/Odometry message containing the robot's position with respect to the global reference frame (odom)

Published topics:

• buoy_pairs: a all_seaing_interfaces/BuoyPairArray message, which is an array of all_seaing_interfaces/BuoyPair objects, containing the left and right buoy (as all_seaing_interfaces/Obstacle objects) that the robot should go through (in order, as placed in the array), as well as a all_seaing_interfaces/Waypoint object that represents the position and orientation that the robot should optimally be in when it reaches the buoys (as geometry_msgs/msg/Pose) as well as a radius that represents an acceptable area that the robot can go through (in the same or similar orientation), which is computed by subtracting a safety margin (that's parametrizable, see below) from half the distance between the buoys.
• waypoints: a all_seaing_interfaces/WaypointArray message containing an array of waypoints as described above.
• waypoint_markers: a visualization_msgs/msg/MarkerArray message that is used to visualize the buoy pairs and the "acceptable" area that the robot should go through, in RViz.

Parameters:

• safe_margin: the radius around the buoys that the robot should avoid to not crash, defaults to 0
• color_label_mappings_file: a string parameter, the path of the YAML file that contains the mappings from colors to labels, defaults to `all_seaing_bringup/config/perception/color_label_mappings.yaml