Make the rosgraph_manipulator script generic and configurable with a yaml file

[ipa-nhg]

related to #3

I am still not 100% happy, there is still one line that isn't generic 😢 https://github.com/tud-cor/mc_rosgraph_manipulator/blob/75f853a6967b4b5428a01da70c2a77bacd0dd1e6/src/mc_rosgraph_manipulator/rosgraph_manipulator.py#L21

@marioney could you please give a try to this version? at least it is a good step forward

[chcorbato]

@marioney can you test this and merge if it is ok for our current work with the MODELS paper?

[marioney]

I've just tried this, but I'm getting this error

[INFO] [1617893233.302706, 51.079000]: Connected to move_base server and sending Nav Goal
[ERROR] [1617893233.304733, 51.080000]: Exception in your execute callback: 'AnyMsg' object has no attribute 'target_pose'
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 289, in executeLoop
    self.execute_callback(goal)
  File "/home/mario/ros/metacontrol_ws/src/mc_rosgraph_manipulator/src/mc_rosgraph_manipulator/rosgraph_manipulator.py", line 107, in reconfiguration_action_cb
    self._action_client.send_goal( self.last_saved_goal )
  File "/opt/ros/melodic/lib/python2.7/dist-packages/actionlib/simple_action_client.py", line 92, in send_goal
    self.gh = self.action_client.send_goal(goal, self._handle_transition, self._handle_feedback)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/actionlib/action_client.py", line 553, in send_goal
    return self.manager.init_goal(goal, transition_cb, feedback_cb)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/actionlib/action_client.py", line 466, in init_goal
    self.send_goal_fn(action_goal)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 882, in publish
    self.impl.publish(data)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 1066, in publish
    serialize_message(b, self.seq, message)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/msg.py", line 152, in serialize_message
    msg.serialize(b)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/move_base_msgs/msg/_MoveBaseActionGoal.py", line 147, in serialize
    buff.write(_get_struct_3I().pack(_x.goal.target_pose.header.seq, _x.goal.target_pose.header.stamp.secs, _x.goal.target_pose.header.stamp.nsecs))
AttributeError: 'AnyMsg' object has no attribute 'target_pose'

@ipa-nhg did you get something similar?

[ipa-nhg]

try with:

rospy.Subscriber(self.save_action+'/goal', move_base_msgs.msg.MoveBaseActionGoal, self.callback)

instead of:

https://github.com/tud-cor/mc_rosgraph_manipulator/blob/75f853a6967b4b5428a01da70c2a77bacd0dd1e6/src/mc_rosgraph_manipulator/rosgraph_manipulator.py#L78

NOTE: I typed the line from memory, if fails please check that the message type exists...

[marioney]

I've found a way to solve this, by using importlib and then import the module specified on the .yaml so it stays more general

@ipa-nhg can you give write access to https://github.com/ipa-nhg/mc_rosgraph_manipulator so I can get my changes there.

[ipa-nhg]

The option "Allow edits by maintainers" is marked for this PR, you should be able to push to my branch GenericRosGraphManipulator

If you are not maintainer then just open a new PR with your changes on top of mines and this PR will be automatically closed once you merge the one that supersedes this. I think it is the cleanest way.

[marioney]

The option "Allow edits by maintainers" is marked for this PR, you should be able to push to my branch GenericRosGraphManipulator

I just pushed the changes I mentioned before to GenericRosGraphManipulator This version is working for me.

@ipa-nhg can you check them, if you agree with them, we can do the merge.

[ipa-nhg]

LGTM 👍🏽

@marioney Thanks a lot! you can merge the changes