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Migrate geometry_msgs/PoseStampedArray to nav_msgs/Goals (#656)
* Migrate bt_plugins to use nav_msg goals. Signed-off-by: Leander Stephen D'Souza <[email protected]> * Edited kilted migration guide to include nav_msg goals. Signed-off-by: Leander Stephen D'Souza <[email protected]> --------- Signed-off-by: Leander Stephen D'Souza <[email protected]>
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‎configuration/packages/bt-plugins/actions/ComputePathThroughPoses.rst‎

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:goals:
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===================================== =======
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Type Default
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------------------------------------- -------
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geometry_msgs::msg::PoseStampedArray N/A
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===================================== =======
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==================== =======
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Type Default
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-------------------- -------
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nav_msgs::msg::Goals N/A
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==================== =======
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Description
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Goal poses. Takes in a blackboard variable, e.g. "{goals}".

‎configuration/packages/bt-plugins/actions/NavigateThroughPoses.rst‎

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:goals:
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==================================== =======
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Type Default
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------------------------------------ -------
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geometry_msgs::msg::PoseStampedArray N/A
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==================================== =======
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==================== =======
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Type Default
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-------------------- -------
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nav_msgs::msg::Goals N/A
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==================== =======
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Description
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Goal poses. Takes in a blackboard variable, e.g. "{goals}".

‎configuration/packages/bt-plugins/actions/RemoveInCollisionGoals.rst‎

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:input_goals:
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==================================== =======
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Type Default
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------------------------------------ -------
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geometry_msgs::msg::PoseStampedArray N/A
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==================================== =======
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==================== =======
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Type Default
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-------------------- -------
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nav_msgs::msg::Goals N/A
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==================== =======
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Description
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A vector of goals to check if in collision

‎configuration/packages/bt-plugins/actions/RemovePassedGoals.rst‎

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:input_goals:
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==================================== =======
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Type Default
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------------------------------------ -------
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geometry_msgs::msg::PoseStampedArray N/A
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==================================== =======
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==================== =======
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Type Default
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-------------------- -------
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nav_msgs::msg::Goals N/A
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==================== =======
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Description
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A vector of goals to check if it passed any in the current iteration.
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:output_goals:
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==================================== =======
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Type Default
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------------------------------------ -------
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geometry_msgs::msg::PoseStampedArray N/A
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==================== =======
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Type Default
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-------------------- -------
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nav_msgs::msg::Goals N/A
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==================== =======
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Description
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A vector of goals with goals removed in proximity to the robot

‎configuration/packages/bt-plugins/conditions/GlobalUpdatedGoal.rst‎

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:goals:
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==================================== =========
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Type Default
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------------------------------------ ---------
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geometry_msgs::msg::PoseStampedArray "{goals}"
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==================================== =========
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==================== =========
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Type Default
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-------------------- ---------
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nav_msgs::msg::Goals "{goals}"
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==================== =========
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Description
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Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

‎configuration/packages/bt-plugins/conditions/GoalUpdated.rst‎

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:goals:
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==================================== =========
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Type Default
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------------------------------------ ---------
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geometry_msgs::msg::PoseStampedArray "{goals}"
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==================================== =========
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==================== =========
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Type Default
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-------------------- ---------
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nav_msgs::msg::Goals "{goals}"
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==================== =========
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Description
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Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

‎configuration/packages/bt-plugins/decorators/GoalUpdatedController.rst‎

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:goals:
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==================================== =========
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Type Default
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------------------------------------ ---------
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geometry_msgs::msg::PoseStampedArray "{goals}"
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==================================== =========
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==================== =========
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Type Default
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-------------------- ---------
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nav_msgs::msg::Goals "{goals}"
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==================== =========
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Description
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Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

‎configuration/packages/bt-plugins/decorators/GoalUpdater.rst‎

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:input_goals:
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============================== =======
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Type Default
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------------------------------ -------
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geometry_msgs/PoseStampedArray N/A
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============== =======
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Type Default
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-------------- -------
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nav_msgs/Goals N/A
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============== =======
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Description
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The original goals poses
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The resulting updated goal. If no goal received by subscription, it will be the input_goal
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:output_goals:
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geometry_msgs/PoseStampedArray N/A
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Type Default
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-------------- -------
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nav_msgs/Goals N/A
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============== =======
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Description
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The resulting updated goals. If no goals received by subscription, it will be the input_goals
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‎configuration/packages/bt-plugins/decorators/SpeedController.rst‎

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:goals:
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==================================== =========
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Type Default
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------------------------------------ ---------
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geometry_msgs::msg::PoseStampedArray "{goals}"
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==================== =========
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Type Default
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-------------------- ---------
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nav_msgs::msg::Goals "{goals}"
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==================== =========
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Description
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Vector of goals to check. Takes in a blackboard variable, "{goals}" if not specified.

‎migration/Jazzy.rst‎

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launch_arguments={"robots": "robot1={x: 0.5, y: 0.5, yaw: 1.5707}"}.items(),
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)
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ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use PoseStampedArray instead of vector<PoseStamped>
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ComputePathThroughPoses, NavigateThroughPoses and other BT nodes now use nav_msgs/Goals instead of vector<PoseStamped>
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************************************************************************************************************************
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In `PR #262 <https://github.com/ros2/common_interfaces/pull/262>`_ a new message type `PoseStampedArray` was introduced to the `geometry_msgs` package.
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In `PR #4791 <https://github.com/ros-navigation/navigation2/pull/4791>`_, most instances of `std::vector<geometry_msgs::msg::PoseStamped>` have been replaced with `geometry_msgs::msg::PoseStampedArray`. Most notably, `NavigateThroughPoses.action` and `ComputePathThroughPoses.action` have been updated to use `PoseStampedArray`.
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Since `PoseStampedArray` contains a header, the poses are now accessed via `NavigateThroughPoses.poses.poses` instead of `NavigateThroughPoses.poses` or `ComputePathThroughPoses.goals.poses` instead of `ComputePathThroughPoses.poses`. Please update your code accordingly when using these interfaces.
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In `PR #269 <https://github.com/ros2/common_interfaces/pull/269>`_ a new message type `Goals` was introduced to the `nav_msgs` package.
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In `PR #4980 <https://github.com/ros-navigation/navigation2/pull/4980>`_, all collections of `PoseStamped` has been migrated to use the `nav_msgs::msg::Goals` message. Most notably, `NavigateThroughPoses.action` and `ComputePathThroughPoses.action` have been updated to use `nav_msgs/Goals`.
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Since `nav_msgs/Goals` contains a header, the poses are now accessed via `NavigateThroughPoses.poses.goals` instead of `NavigateThroughPoses.poses` or `ComputePathThroughPoses.goals.goals` instead of `ComputePathThroughPoses.poses`. Please update your code accordingly when using these interfaces.
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MPPI controller re-implemented using Eigen library and performance improved by 40-45%
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*************************************************************************************

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