api endpoint/example code now coming from github repo

Author: jmastrangelo-cpr

docs_outdoornav_user_manual/api/api_endpoints/all_other_endpoints.mdx

@@ -19,7 +19,7 @@ Execute a task as a service.
 <Tabs groupId="autonomy_task_srv">
   <TabItem value="Python" label="Python" default>
 
-```python
+```python showLineNumbers
 import rclpy
 from rclpy.node import Node
 
@@ -56,7 +56,7 @@ if __name__ == '__main__':
   </TabItem>
   <TabItem value="C++" label="C++">
 
-```cpp
+```cpp showLineNumbers
 #include "rclcpp/rclcpp.hpp"
 #include "clearpath_task_msgs/srv/execute_task.hpp"
 

docs_outdoornav_user_manual/api/api_endpoints/autonomy/execute_task.mdx

@@ -17,269 +17,14 @@ Send the platform to a location on the map.
 <Tabs groupId="autonomy_goto">
   <TabItem value="Python" label="Python" default>
 
-```python
-from action_msgs.msg import GoalStatus  # Import for reference to status constants
-from clearpath_config.common.utils.yaml import read_yaml
-from clearpath_navigation_msgs.action import ExecuteGoTo
-from clearpath_navigation_msgs.msg import Waypoint
-import rclpy
-from rclpy.action import ActionClient
-from rclpy.node import Node
-
-ROBOT_CONFIG_PATH = '/etc/clearpath/robot.yaml'
-LOGGING_NAME = 'ExecuteGoTo'
-
-# TODO: Enter your map uuid and waypoint info
-MAP_ID: str = ''
-WAYPOINT = Waypoint(
-            uuid='',
-            name='',
-            latitude=,
-            longitude=,
-            heading=,
-            position_tolerance=-1.0,    # -1.0 means off
-            yaw_tolerance=-1.0,         # -1.0 means off
-            tasks=[]
-)
-
-
-class ExecuteGoToActionClient(Node):
-
-    def __init__(self, namespace: str):
-        super().__init__('execute_goto')
-        self._namespace = namespace
-        self._action_client = ActionClient(self, ExecuteGoTo, f'/{self._namespace}/autonomy/goto')
-        self._goto_goal_handle = None
-        self._goto_goal_cancelled = False
-        self._goto_running = False
-        self._goto_completed = False
-
-    ###################################
-    # GoTo Action Client Functions #
-    ###################################
-    def send_goto_goal(self, map_id, waypoint):
-        goal_msg = ExecuteGoTo.Goal()
-
-        # populate goal message
-        goal_msg.map_uuid = map_id
-        goal_msg.waypoint = waypoint
-
-        if not self._action_client.wait_for_server(timeout_sec=5.0):
-            self.get_logger().error(f'[{LOGGING_NAME}] /{self._namespace}/autonomy/goto action server not available!')
-            self.destroy_node()
-            rclpy.shutdown()
-            return
-
-        self._send_goal_future = self._action_client.send_goal_async(goal_msg, feedback_callback=self.goto_feedback_cb)
-        self._send_goal_future.add_done_callback(self.goto_goal_response_cb)
-
-    def goto_goal_response_cb(self, future):
-        self._goto_goal_handle = future.result()
-        if not self._goto_goal_handle.accepted:
-            self.get_logger().info(f'[{LOGGING_NAME}] GoTo Goal rejected')
-            self._goto_goal_handle = None
-            self.destroy_node()
-            rclpy.shutdown()
-            return
-
-        self._goto_running = True
-        self._goto_completed = False
-        self._goto_goal_cancelled = False
-        self.get_logger().info(f'[{LOGGING_NAME}] GoTo Goal accepted')
-
-        self._get_result_future = self._goto_goal_handle.get_result_async()
-        self._get_result_future.add_done_callback(self.goto_get_result_cb)
-
-    def goto_feedback_cb(self, feedback_msg):
-        feedback = feedback_msg.feedback
-        self.get_logger().info(f'[{LOGGING_NAME}] GoTo has been running for: {feedback.elapsed_time:.2f}s', throttle_duration_sec=60)
-
-    def goto_cancel_response_cb(self, future):
-        cancel_response = future.result()
-        self.get_logger().info(f'[{LOGGING_NAME}] Cancel response received: {cancel_response.return_code}')
-        if len(cancel_response.goals_canceling) > 0:
-            self.get_logger().info(f'[{LOGGING_NAME}] Canceling of goto goal complete')
-        else:
-            self.get_logger().warning(f'[{LOGGING_NAME}] GoTo Goal failed to cancel')
-
-    def goto_get_result_cb(self, future):
-        result = future.result().result
-        status = future.result().status
-
-        # Compare the status integer against the constants defined in the message
-        if status == GoalStatus.STATUS_SUCCEEDED:
-            if result.success:
-                self.get_logger().info(f'[{LOGGING_NAME}] [GoTo Goal Result] Succeeded! Result: Robot completed goto!')
-                self._goto_completed = True
-            else:
-                self.get_logger().info(f'[{LOGGING_NAME}] [GoTo Goal Result] Succeeded! Result: Robot failed to complete goto')
-
-        elif status == GoalStatus.STATUS_CANCELED:
-            self.get_logger().info(f'[{LOGGING_NAME}] [GoTo Goal Result] Cancelled!')
-            self._goto_goal_cancelled = True
-
-        elif status == GoalStatus.STATUS_ABORTED:
-            self.get_logger().info(f'[{LOGGING_NAME}] [GoTo Goal Result] Aborted!')
-        else:
-            self.get_logger().info(f'[{LOGGING_NAME}] [GoTo Goal Result] Finished with unknown status: {status}')
-
-        self._goto_goal_handle = None
-        self._goto_running = False
-
-        self.destroy_node()
-        rclpy.shutdown()
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    robot_config = read_yaml(ROBOT_CONFIG_PATH)
-    namespace = robot_config['system']['ros2']['namespace']
-
-    goto = ExecuteGoToActionClient(namespace)
-    goto.send_goto_goal(MAP_ID, WAYPOINT)
-    rclpy.spin(goto)
-
-
-if __name__ == '__main__':
-    main()
-
+```python reference showLineNumbers
+https://github.com/cpr-application/clearpath_outdoornav/blob/ros2/python/endpoints/autonomy/goto.py
 ```
   </TabItem>
   <TabItem value="C++" label="C++">
 
-```cpp
-#include <functional>
-#include <future>
-#include <memory>
-#include <string>
-#include <yaml-cpp/yaml.h>
-
-#include "clearpath_navigation_msgs/action/execute_go_to.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
-#include "rclcpp_components/register_node_macro.hpp"
-
-// TODO: Enter your map id and waypoint information
-const std::string MAP_ID = "";
-const std::string WAYPOINT_ID = "";
-const std::string WAYPOINT_NAME = "";
-const double WAYPOINT_LAT = ;
-const double WAYPOINT_LON = ;
-const double WAYPOINT_HEADING = ;
-const double WAYPOINT_POSITION_TOLERANCE = -1.0;  // -1.0 means off
-const double WAYPOINT_YAW_TOLERANCE = -1.0;       // -1.0 means off
-
-
-namespace goto_action_client
-{
-class ExecuteGoToActionClient : public rclcpp::Node
-{
-public:
-  using ExecuteGoTo = clearpath_navigation_msgs::action::ExecuteGoTo;
-  using GoalHandleExecuteGoTo = rclcpp_action::ClientGoalHandle<ExecuteGoTo>;
-
-  explicit ExecuteGoToActionClient(const rclcpp::NodeOptions & options)
-  : Node("execute_goto", options)
-  {
-    YAML::Node robot_config = YAML::LoadFile("/etc/clearpath/robot.yaml");
-    namespace_ = robot_config["system"]["ros2"]["namespace"].as<std::string>();
-
-    this->client_ptr_ = rclcpp_action::create_client<ExecuteGoTo>(
-      this, "/" + namespace_ + "/" + std::string("autonomy/goto"));
-
-    this->timer_ = this->create_wall_timer(
-      std::chrono::milliseconds(500),
-      std::bind(&ExecuteGoToActionClient::send_goal, this));
-  }
-
-  void send_goal()
-  {
-    using namespace std::placeholders;
-
-    this->timer_->cancel();
-
-    if (!this->client_ptr_->wait_for_action_server()) {
-      RCLCPP_ERROR(this->get_logger(), "%s/autonomy/goto action server not available after waiting", namespace_.c_str());
-      rclcpp::shutdown();
-    }
-
-    auto goal_msg = ExecuteGoTo::Goal();
-    goal_msg.map_uuid = MAP_ID;
-    
-    auto waypoint = clearpath_navigation_msgs::msg::Waypoint();
-    waypoint.uuid = WAYPOINT_ID;
-    waypoint.name = WAYPOINT_NAME;
-    waypoint.uuid = WAYPOINT_ID;
-    waypoint.latitude = WAYPOINT_LAT;
-    waypoint.longitude = WAYPOINT_LON;
-    waypoint.heading = WAYPOINT_HEADING;
-    waypoint.position_tolerance = WAYPOINT_POSITION_TOLERANCE;
-    waypoint.yaw_tolerance = WAYPOINT_YAW_TOLERANCE;
-    goal_msg.waypoint = waypoint;
-
-    auto send_goal_options = rclcpp_action::Client<ExecuteGoTo>::SendGoalOptions();
-
-    send_goal_options.goal_response_callback = [this](const GoalHandleExecuteGoTo::SharedPtr & goal_handle)
-    {
-      if (!goal_handle) {
-        RCLCPP_ERROR(this->get_logger(), "GoTo Goal was rejected by server");
-      } else {
-        RCLCPP_INFO(this->get_logger(), "GoTo Goal accepted by server, waiting for result");
-      }
-    };
-
-    send_goal_options.feedback_callback = [this](
-      GoalHandleExecuteGoTo::SharedPtr,
-      const std::shared_ptr<const ExecuteGoTo::Feedback> feedback)
-    {
-      RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 60000, "GoTo has been running for: %.3f", feedback->elapsed_time);
-    };
-
-    send_goal_options.result_callback = [this](const GoalHandleExecuteGoTo::WrappedResult & result)
-    {
-      switch (result.code) {
-        case rclcpp_action::ResultCode::SUCCEEDED:
-          if (result.result->success)
-          {
-            RCLCPP_INFO(this->get_logger(), "[GoTo Goal Result] Succeeded! Result: Robot arrived at goto position successfully!");
-          }
-          else
-          {
-            RCLCPP_ERROR(this->get_logger(), "[GoTo Goal Result] Succeeded! Result: Robot failed to arrive to goto position");
-          }
-          break;
-        case rclcpp_action::ResultCode::ABORTED:
-          RCLCPP_ERROR(this->get_logger(), "[GoTo Goal Result] Aborted!");
-          return;
-        case rclcpp_action::ResultCode::CANCELED:
-          RCLCPP_ERROR(this->get_logger(), "[GoTo Goal Result] Cancelled!");
-          return;
-        default:
-          RCLCPP_ERROR(this->get_logger(), "[GoTo Goal Result] Finished with unknown code");
-          return;
-      }
-      rclcpp::shutdown();
-    };
-
-    this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
-  }
-
-private:
-  rclcpp_action::Client<ExecuteGoTo>::SharedPtr client_ptr_;
-  rclcpp::TimerBase::SharedPtr timer_;
-  std::string namespace_;
-
-};  // class ExecuteGoToActionClient
-
-}  // namespace goto_action_client
-
-int main()
-{
-}
-
-RCLCPP_COMPONENTS_REGISTER_NODE(goto_action_client::ExecuteGoToActionClient)
-
+```cpp reference showLineNumbers
+https://github.com/cpr-application/clearpath_outdoornav/blob/ros2/cpp/endpoints/autonomy/goto.cpp
 ```
   </TabItem>