add documenation for PhotoAtWaypoint plugin (#104)

* add documenation for PhotoAtWaypoint plugin

Signed-off-by: jediofgever <[email protected]>

* add missing link to plugins/index.rst

Signed-off-by: jediofgever <[email protected]>

* resolve requested changes of first review

Signed-off-by: jediofgever <[email protected]>

* update image filename extension info

Signed-off-by: jediofgever <[email protected]>

* update default save_dir

Signed-off-by: jediofgever <[email protected]>

Author: jediofgever

configuration/packages/configuring-waypoint-follower.rst

@@ -42,7 +42,7 @@ Parameters
   ============== ========================
   Type           Default
   -------------- ------------------------
-  string         'waypoint_task_executor'
+  string         'wait_at_waypoint'
   ============== ========================
 
   Description
@@ -57,9 +57,11 @@ Parameters
 
         waypoint_follower:
           ros__parameters:
-            waypoint_task_executor_plugin: "waypoint_task_executor"
-            waypoint_task_executor:
+            waypoint_task_executor_plugin: "wait_at_waypoint"
+            wait_at_waypoint:
               plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+              enabled: True
+              waypoint_pause_duration: 0
     ..
 
 Provided Plugins
@@ -70,16 +72,17 @@ Provided Plugins
   :maxdepth: 1
 
   nav2_waypoint_follower-plugins/wait_at_waypoint.rst
+  nav2_waypoint_follower-plugins/photo_at_waypoint.rst
   nav2_waypoint_follower-plugins/input_at_waypoint.rst
 
 
-Default Plugins
+Default Plugin
 ***************
 
   ========================== ===================================================
   Namespace                  Plugin
   -------------------------- ---------------------------------------------------
-  "waypoint_task_executor"   "nav2_waypoint_follower::WaitAtWaypoint"
+  "wait_at_waypoint"         "nav2_waypoint_follower::WaitAtWaypoint"
   ========================== ===================================================
 
 Example
@@ -90,9 +93,8 @@ Example
       ros__parameters:
         loop_rate: 20
         stop_on_failure: false
-        waypoint_task_executor_plugin: "waypoint_task_executor"
-          waypoint_task_executor:
+        waypoint_task_executor_plugin: "wait_at_waypoint"
+          wait_at_waypoint:
             plugin: "nav2_waypoint_follower::WaitAtWaypoint"
-              enabled: True
-              waypoint_pause_duration: 0
-
+            enabled: True
+            waypoint_pause_duration: 0

configuration/packages/nav2_waypoint_follower-plugins/photo_at_waypoint.rst

@@ -0,0 +1,58 @@
+.. _configuring_nav2_waypoint_follower_waypoint_task_execution_plugin:
+
+PhotoAtWaypoint
+=================
+
+Run-time plugin that takes photos at waypoint arrivals when using waypoint follower node. Saves the taken photos to specified directory. The name for taken photos are determined by 
+the waypoint index and timestamp(seconds). For instance ``/home/atas/0_1602582820.png`` is an sample taken image, where ``0_1602582820`` is the file name determined by waypoint 
+index and time stamp. The leading digit in file name implies the waypoint index and the rest of digits at righthand side imples the time stamp when the photo was taken.
+
+Parameters
+**********
+
+``<nav2_waypoint_follower plugin>``: nav2_waypoint_follower plugin name defined in the **waypoint_task_executor_plugin_id** parameter in :ref:`configuring_waypoint_follower`.
+
+:``<nav2_waypoint_follower plugin>``.enabled:
+
+  ============== =============================
+  Type           Default                                               
+  -------------- -----------------------------
+  bool           true           
+  ============== =============================
+
+  Description
+    Whether waypoint_task_executor plugin is enabled.
+
+
+:``<nav2_waypoint_follower plugin>``.camera_image_topic_name:
+
+  ============== =============================
+  Type           Default                                               
+  -------------- -----------------------------
+  string         "/camera/color/image_raw"        
+  ============== =============================
+
+  Description
+     Camera image topic name to susbcribe
+
+:``<nav2_waypoint_follower plugin>``.save_images_dir:
+
+  ============== =============================
+  Type           Default                                               
+  -------------- -----------------------------
+  string         "/tmp/waypoint_images"          
+  ============== =============================
+
+  Description
+    Path to directory to save taken photos at waypoint arrivals.
+
+:``<nav2_waypoint_follower plugin>``.image_format:
+
+  ============== =============================
+  Type           Default                                               
+  -------------- -----------------------------
+  string         "png"          
+  ============== =============================
+
+  Description
+    Desired image format.

migration/Foxy.rst

@@ -29,9 +29,14 @@ New Plugins
 
 ``nav2_waypoint_follower`` has an action server that takes in a list of waypoints to follow and follow them in order. In some cases we might want robot to 
 perform some tasks/behaviours at arrivals of these waypoints. In order to perform such tasks, a generic plugin interface `WaypointTaskExecutor` has been added to ``nav2_core``.
-Users can inherit from this interface to implement their own plugin to perform more specific tasks at waypoint arrivals for their needs. An example implementation `WaitAtWaypoint`, is included in 
-``nav2_waypoint_follower`` as a run-time loadable plugin. `WaitAtWaypoint` simply lets robot to pause for a specified amount of time in milliseconds, at waypoint arrivals. Loading a plugin of this type
-is done through `nav2_bringup/params/nav2_param.yaml`, by specifying plugin's name, type and it's used parameters. 
+Users can inherit from this interface to implement their own plugin to perform more specific tasks at waypoint arrivals for their needs. 
+
+Several example implementations are included in ``nav2_waypoint_follower``. ``WaitAtWaypoint`` and ``PhotoAtWaypoint`` plusings are included in 
+``nav2_waypoint_follower`` as run-time loadable plugins. ``WaitAtWaypoint`` simply lets robot to pause for a specified amount of time in milliseconds, at waypoint arrivals.
+ While ``PhotoAtWaypoint`` takes photos at waypoint arrivals and saves the taken photos to specified directory, the format for taken photos also can be configured through parameters.
+ All major image formats such as ``png``, ``jpeg``, ``jpg`` etc. are supported, the default format is ``png``.
+
+Loading a plugin of this type is done through ``nav2_bringup/params/nav2_param.yaml``, by specifying plugin's name, type and it's used parameters. 
 
 For instance; 
 .. code-block:: yaml
@@ -40,15 +45,17 @@ For instance;
       ros__parameters:
         loop_rate: 20
         stop_on_failure: false
-        waypoint_task_executor_plugin: "waypoint_task_executor"
-        waypoint_task_executor:
-          plugin: "nav2_waypoint_follower::WaitAtWaypoint"
-          enabled: True
-          waypoint_pause_duration: 0
+        waypoint_task_executor_plugin: "wait_at_waypoint"
+          wait_at_waypoint:
+            plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+            enabled: True
+            waypoint_pause_duration: 0
 
 Original GitHub tickets:
 
 - `WaypointTaskExecutor <https://github.com/ros-planning/navigation2/pull/1993>`_
+- `WaitAtWaypoint <https://github.com/ros-planning/navigation2/pull/1993>`_
+- `PhotoAtWaypoint <https://github.com/ros-planning/navigation2/pull/2041>`_
 - `InputAtWaypoint <https://github.com/ros-planning/navigation2/pull/2049>`_
 
 Costmap Filters

plugins/index.rst

@@ -156,12 +156,18 @@ Waypoint Task Executors
 |                                 |                        | waypoint arrivals.               |
 |                                 |                        |                                  |
 +---------------------------------+------------------------+----------------------------------+
+| `PhotoAtWaypoint`_              | Fetullah Atas          | A plugin to take and save photos |
+|                                 |                        | to specified directory on        |
+|                                 |                        | waypoint arrivals.               |
+|                                 |                        |                                  |
++---------------------------------+------------------------+----------------------------------+
 | `InputAtWaypoint`_              | Steve Macenski         | A plugin to wait for user input  |
 |                                 |                        | before moving onto the next      |
 |                                 |                        | waypoint.                        |
 +---------------------------------+------------------------+----------------------------------+
 
 .. _WaitAtWaypoint: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower/plugins/wait_at_waypoint.cpp
+.. _PhotoAtWaypoint: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp
 .. _InputAtWaypoint: https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower/plugins/input_at_waypoint.cpp
 
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