Function useNav2Waypoints

frontend/src/hooks/ros/useNav2Waypoints.tsx:84–610

()

}

export default function useNav2Waypoints() {
  // Log deprecation warning once per mount
  useEffect(() => {
    console.warn(
      '[DEPRECATED] useNav2Waypoints is deprecated. ' +
      'Please migrate to useFollowWaypoints which properly uses the Nav2 FollowWaypoints action server.'
    );
  }, []);

  const { connection } = useRobotConnection();
  const robotPose = useMapPose();
  const [isNavigating, setIsNavigating] = useState(false);
  const [currentWaypointIndex, setCurrentWaypointIndex] = useState(0);
  const [navigationError, setNavigationError] = useState<string | null>(null);
  const [actionServerConnected, setActionServerConnected] = useState(false);
  const [retryCount, setRetryCount] = useState(0);
  const [useSingleGoalFallback, setUseSingleGoalFallback] = useState(false);
  const [remainingWaypoints, setRemainingWaypoints] = useState<Waypoint[]>([]);
  const [goalReachedThreshold] = useState({ position: 0.5, orientation: 0.5 }); // meters and radians
  const lastLogTimeRef = useRef<number>(0);
  const lastMonitorLogRef = useRef<number>(0);
  const goalTopicRef = useRef<ROSLIB.Topic<unknown> | null>(null);
  const maxRetries = 3;
  
  // NavigateThroughPoses action client
  const actionClient = useMemo(() => {
    if (!connection.ros || !connection.online) return null;
    
    // Create action client for NavigateThroughPoses
    // Try without leading slash as some ROS2 setups don't use it
    const client = new ROSLIB.ActionClient({
      ros: connection.ros,
      serverName: 'navigate_through_poses',
      actionName: 'nav2_msgs/action/NavigateThroughPoses'
    });
    
    // Check if action server is available by querying the action server
    // This is a workaround since ROSLIB doesn't have a direct connection check
    try {
      // Set a flag to indicate the client was created successfully
      setActionServerConnected(true);
    } catch (error) {
      console.error('Failed to create Nav2 action client:', error);
      setActionServerConnected(false);
    }
    
    return client;
  }, [connection.ros, connection.online]);

  // Check if action server is available when client changes
  useEffect(() => {
    if (actionClient && connection.ros && connection.online) {
      // Test if server is available by checking ROS connection
      // In a real implementation, you might want to check available action servers
      const checkServerAvailability = () => {
        // This is a simple check - a more robust solution would query available action servers
        const isAvailable = !!(connection.ros && connection.online);
        setActionServerConnected(isAvailable);