Action Interface (5 pts) |
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NavigateToGoal.action definition
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2 |
Goal, result, and feedback sections match the specification
exactly (correct types and field names). |
CMake package configuration |
3 |
CMakeLists.txt generates the interface via
rosidl_generate_interfaces with geometry_msgs
dependency. package.xml includes
rosidl_default_generators,
rosidl_default_runtime, and the
rosidl_interface_packages group. Package builds cleanly.
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Action Server (18 pts) |
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Server registration |
2 |
ActionServer created with the correct name
(navigate_to_goal), interface, and callbacks
(goal / cancel / execute).
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Odometry subscription and pose tracking |
2 |
Subscribes to /odometry/filtered. Converts quaternion to
yaw with scipy. Tracks the latest (x, y, yaw) for
the control loop. |
Two-phase P-controller (position phase) |
4 |
Correctly computes rho, angle_to_goal, alpha.
Publishes TwistStamped on /cmd_vel with linear and
angular commands clamped to MAX_LINEAR / MAX_ANGULAR. |
Two-phase P-controller (orientation phase) |
3 |
Switches to orientation phase when within
goal_tolerance. Uses wrapped yaw_error with
k_yaw. Terminates when |yaw_error| < yaw_tolerance. |
Feedback publishing |
3 |
Publishes current_pose and distance_remaining at
1 to 5 Hz during execution. |
Cancellation handling (with demo) |
2 |
Detects goal_handle.is_cancel_requested, sends a
zero-velocity stop, calls goal_handle.canceled(), and
returns a result with success=False. A demonstration
log or screenshot (cancel_demo.txt /
cancel_demo.png) is included in the gp2/ folder, as
described in Expected Output. |
Result on success |
2 |
Calls goal_handle.succeed() and returns a result with
success=True, non-zero total_distance, and non-zero
elapsed_time. |
Action Client (12 pts) |
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|
Parameter loading |
3 |
Three named goal blocks (goal1, goal2, goal3)
loaded from config/goals.yaml via self.get_parameter()
using dot-namespaced names (e.g. goal1.x,
goal1.final_heading). All nine fields are validated as
present. Goals are logged at startup. |
Sequential goal dispatch |
4 |
Next goal is sent only after the previous goal’s result
is received. No queueing, no parallel dispatch. Uses
send_goal_async with goal-response callback. |
Feedback and result logging |
3 |
Feedback is logged at info (throttled to ≤ 1 Hz).
Each result logs success, total_distance, and
elapsed_time. |
Error handling |
2 |
If a goal is rejected or returns success=False, the
client logs an error and aborts the sequence (does not send
remaining goals). Mission summary is logged on full success. |
Launch File (5 pts) |
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Both nodes started |
2 |
Launch file starts navigate_to_goal_server and
navigate_to_goal_client. Both use output="screen"
and emulate_tty=True. |
Parameter file loading |
1 |
config/goals.yaml is loaded for the client node
using get_package_share_directory() and the
parameters field.
|
Launch arguments |
2 |
At least two launch arguments declared (goal_tolerance
and yaw_tolerance) and passed to the server.
--show-args displays them correctly. |
Documentation and Code Quality (10 pts) |
|
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README.md contributions |
4 |
README.md contains a contributions section with every
group member listed and a short, specific summary of what
each member personally worked on. Vague or boilerplate
entries (“helped with the project”) lose points.
|
Docstrings and type hints |
3 |
Every class and method has a Google-style docstring. All
method parameters and return types have type annotations. |
Logging and code quality |
3 |
ROS 2 logger used exclusively (no print()). Correct
severity levels. Consistent snake_case naming. No Ruff
linting errors. |
TOTAL |
50 |
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