updated devices:

Localization2D_nws_yarp Localization2D_nwc_yarp Map2D_nws_yarp Map2D_nwc_yarp MobileBaseVelocityControl_nws_yarp MobileBaseVelocityControl_nwc_yarp Navigation2D_nwc_yarp Navigation2D_nws_yarp Odometry2D_nws_yarp
robotology · Jan 23, 2025 · a87f06a · a87f06a
1 parent c3b521c
commit a87f06a
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Showing 36 changed files with 706 additions and 683 deletions.
diff --git a/src/devices/fake/fakeNavigationDevice/FakeNavigation.cpp b/src/devices/fake/fakeNavigationDevice/FakeNavigation.cpp
@@ -51,25 +51,25 @@ ReturnValue FakeNavigation::gotoTargetByAbsoluteLocation(Map2DLocation loc)
         m_absgoal_loc = loc;
         m_time_counter= this->m_navigation_time;
     }
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::gotoTargetByRelativeLocation(double x, double y, double theta)
 {
     yCInfo(FAKENAVIGATION) << "gotoTargetByRelativeLocation not yet implemented";
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::gotoTargetByRelativeLocation(double x, double y)
 {
     yCInfo(FAKENAVIGATION) << "gotoTargetByRelativeLocation not yet implemented";
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::followPath(const yarp::dev::Nav2D::Map2DPath& path)
 {
     yCInfo(FAKENAVIGATION) << "followPath not yet implemented";
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::applyVelocityCommand(double x_vel, double y_vel, double theta_vel, double timeout)
@@ -79,7 +79,7 @@ ReturnValue FakeNavigation::applyVelocityCommand(double x_vel, double y_vel, dou
     m_control_out.angular_vel = theta_vel;
     m_control_out.timeout = timeout;
     m_control_out.reception_time = yarp::os::Time::now();
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::getLastVelocityCommand(double& x_vel, double& y_vel, double& theta_vel)
@@ -88,14 +88,14 @@ ReturnValue FakeNavigation::getLastVelocityCommand(double& x_vel, double& y_vel,
     x_vel = m_control_out.linear_xvel;
     y_vel = m_control_out.linear_yvel;
     theta_vel = m_control_out.angular_vel;
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::stopNavigation()
 {
     m_status=NavigationStatusEnum::navigation_status_idle;
     m_absgoal_loc=Map2DLocation();
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::suspendNavigation(double time)
@@ -104,7 +104,7 @@ ReturnValue FakeNavigation::suspendNavigation(double time)
     {
         m_status=NavigationStatusEnum::navigation_status_paused;
     }
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::resumeNavigation()
@@ -113,37 +113,37 @@ ReturnValue FakeNavigation::resumeNavigation()
     {
         m_status = NavigationStatusEnum::navigation_status_moving;
     }
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::getAllNavigationWaypoints(yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath& waypoints)
 {
     yCInfo(FAKENAVIGATION) << "getAllNavigationWaypoints not yet implemented";
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::getCurrentNavigationWaypoint(Map2DLocation& curr_waypoint)
 {
     yCInfo(FAKENAVIGATION) << "getCurrentNavigationWaypoint not yet implemented";
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::getCurrentNavigationMap(yarp::dev::Nav2D::NavigationMapTypeEnum map_type, MapGrid2D& map)
 {
     yCInfo(FAKENAVIGATION) << "getCurrentNavigationMap not yet implemented";
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::getNavigationStatus(yarp::dev::Nav2D::NavigationStatusEnum& status)
 {
     status = m_status;
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::getAbsoluteLocationOfCurrentTarget(Map2DLocation& target)
 {
-    target=m_absgoal_loc;
-    return true;
+    target = m_absgoal_loc;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::recomputeCurrentNavigationPath()
@@ -152,13 +152,13 @@ ReturnValue FakeNavigation::recomputeCurrentNavigationPath()
     {
         //do something
     }
-    return true;
+    return ReturnValue_ok;
 }
 
 ReturnValue FakeNavigation::getRelativeLocationOfCurrentTarget(double& x, double& y, double& theta)
 {
     yCInfo(FAKENAVIGATION) << "getRelativeLocationOfCurrentTarget not yet implemented";
-    return true;
+    return ReturnValue_ok;
 }
 
 bool FakeNavigation::threadInit()